<?xml version="1.0" ?>

<sdf version="1.8">

<world name="world_demo">

<physics name="1ms" type="ignored">

<max_step_size>0.001</max_step_size>

<real_time_factor>1.0</real_time_factor>

</physics>

<plugin

filename="gz-sim-physics-system"

name="gz::sim::systems::Physics">

</plugin>

<plugin

filename="gz-sim-user-commands-system"

name="gz::sim::systems::UserCommands">

</plugin>

<plugin

filename="gz-sim-scene-broadcaster-system"

name="gz::sim::systems::SceneBroadcaster">

</plugin>

<gui fullscreen="0">

<!-- 3D scene -->

<plugin filename="MinimalScene" name="3D View">

<gz-gui>

<title>3D View</title>

<property type="bool" key="showTitleBar">false</property>

<property type="string" key="state">docked</property>

</gz-gui>

<engine>ogre2</engine>

<scene>scene</scene>

<ambient_light>0.4 0.4 0.4</ambient_light>

<background_color>0.8 0.8 0.8</background_color>

<camera_pose>-6 0 6 0 0.5 0</camera_pose>

<camera_clip>

<near>0.25</near>

<far>25000</far>

</camera_clip>

</plugin>

<plugin filename="GzSceneManager" name="Scene Manager">

<gz-gui>

<property key="resizable" type="bool">false</property>

<property key="width" type="double">5</property>

<property key="height" type="double">5</property>

<property key="state" type="string">floating</property>

<property key="showTitleBar" type="bool">false</property>

</gz-gui>

</plugin>

<plugin filename="WorldControl" name="World control">

<gz-gui>

<title>World control</title>

<property type="bool" key="showTitleBar">false</property>

<property type="bool" key="resizable">false</property>

<property type="double" key="height">72</property>

<property type="double" key="width">121</property>

<property type="double" key="z">1</property>

<property type="string" key="state">floating</property>

<anchors target="3D View">

<line own="left" target="left"/>

<line own="bottom" target="bottom"/>

</anchors>

</gz-gui>

<play_pause>true</play_pause>

<step>true</step>

<start_paused>true</start_paused>

<service>/world/world_demo/control</service>

<stats_topic>/world/world_demo/stats</stats_topic>

</plugin>

<plugin filename="WorldStats" name="World stats">

<gz-gui>

<title>World stats</title>

<property type="bool" key="showTitleBar">false</property>

<property type="bool" key="resizable">false</property>

<property type="double" key="height">110</property>

<property type="double" key="width">290</property>

<property type="double" key="z">1</property>

<property type="string" key="state">floating</property>

<anchors target="3D View">

<line own="right" target="right"/>

<line own="bottom" target="bottom"/>

</anchors>

</gz-gui>

<sim_time>true</sim_time>

<real_time>true</real_time>

<real_time_factor>true</real_time_factor>

<iterations>true</iterations>

<topic>/world/world_demo/stats</topic>

</plugin>

<plugin filename="EntityTree" name="Entity tree">

</plugin>

</gui>

<!--light-->

<light type="directional" name="sun">

<cast_shadows>true</cast_shadows>

<pose>0 0 10 0 0 0</pose>

<diffuse>0.8 0.8 0.8 1</diffuse>

<specular>0.2 0.2 0.2 1</specular>

<attenuation>

<range>1000</range>

<constant>0.9</constant>

<linear>0.01</linear>

<quadratic>0.001</quadratic>

</attenuation>

<direction>-0.5 0.1 -0.9</direction>

</light>

<include>

<name>Drone0</name>

<pose>0 0 0 0 0 0</pose>

<uri>

https://fuel.gazebosim.org/1.0/peash428/models/x500_fpv_cam

</uri>

</include>

<include>

<name>Coke0</name>

<pose>0 0 0 0 0 0</pose>

<uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Coke</uri>

</include>

<include>

<name>Coke1</name>

<pose>0 0.1 0 0 0 0</pose>

<uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Coke</uri>

</include>

</world>

</sdf>