<?xml version="1.0"?>
<sdf version='1.9'>
  <world name='mir'>
    <physics name='1ms' type='{engine_type}'>
      <max_step_size>0.001</max_step_size>
      <real_time_factor>1.0</real_time_factor>
      <real_time_update_rate>1000</real_time_update_rate>
    </physics>
    <plugin
      name='ignition::gazebo::systems::Physics' filename='ignition-gazebo-physics-system' />
    <plugin
      name='ignition::gazebo::systems::UserCommands'
      filename='ignition-gazebo-user-commands-system' />
    <plugin
      name='ignition::gazebo::systems::SceneBroadcaster'
      filename='ignition-gazebo-scene-broadcaster-system' />
    <plugin
      name='ignition::gazebo::systems::Contact' filename='ignition-gazebo-contact-system' />
    <plugin
      name="ignition::gazebo::systems::Sensors" filename="ignition-gazebo-sensors-system">
      <render_engine>ogre2</render_engine>
    </plugin>
    <gravity>{gravity_x} {gravity_y} {gravity_z}</gravity>

    <magnetic_field>6e-06
    2.3e-05 -4.2e-05</magnetic_field>
    <atmosphere type='adiabatic' />
    <scene>
      <ambient>0.4 0.4 0.4 1</ambient>
      <background>0.7 0.7 0.7 1</background>
      <shadows>false</shadows>
    </scene>
    <gui fullscreen="0">
      <plugin filename="GzScene3D" name="3D View">
        <ignition-gui>
          <title>3D View</title>
          <property type="bool" key="showTitleBar">false</property>
          <property type="string" key="state">docked</property>
        </ignition-gui>
        <engine>ogre2</engine>
        <scene>scene</scene>
        <ambient_light>1.0 1.0 1.0</ambient_light>
        <background_color>0.4 0.6 1.0</background_color>
        <camera_pose>3.3 2.8 2.8 0 0.5 -2.4</camera_pose>
      </plugin>
      <plugin filename="WorldStats" name="World stats">
        <ignition-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>
        </ignition-gui>
        <sim_time>true</sim_time>
        <real_time>true</real_time>
        <real_time_factor>true</real_time_factor>
        <iterations>true</iterations>
      </plugin>
    </gui>
    <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>
    <model name='ground'>
      <static>true</static>
      <link name="link">
        <collision name="collision">
          <geometry>
            <plane>
              <normal>0 0 1</normal>
            </plane>
          </geometry>
        </collision>
        <visual name="visual">
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
          <material>
            <ambient>0.8 0.8 0.8 1</ambient>
            <diffuse>0.8 0.8 0.8 1</diffuse>
            <specular>0.8 0.8 0.8 1</specular>
          </material>
        </visual>
      </link>
    </model>
    {models} </world>
</sdf>