<?xml version="1.0" ?>
<sdf version="1.6">
  <world name="default">
    <plugin
      filename="libignition-gazebo-physics-system.so"
      name="gz::sim::systems::v0::Physics">
    </plugin>
    <model name="sphere">
      <pose>0 0 2 0 0.78539816339 0</pose>
      <link name="sphere_link">
        <pose>0.0 0.0 0.0 0 0 0</pose>
        <inertial>
          <inertia>
            <ixx>0.4</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.4</iyy>
            <iyz>0</iyz>
            <izz>0.4</izz>
          </inertia>
          <mass>1.0</mass>
        </inertial>
        <visual name="sphere_visual">
          <pose>0.0 0.0 0.0 0 0 0</pose>
          <geometry>
            <sphere>
              <radius>1</radius>
            </sphere>
          </geometry>
        </visual>
        <collision name="sphere_collision">
          <pose>0.0 0.0 0.0 0 0 0</pose>
          <geometry>
            <sphere>
              <radius>1</radius>
            </sphere>
          </geometry>
        </collision>
      </link>
    </model>
    <model name="box">
      <static>true</static>
      <pose>0 0 -0.5 0 0 0.78539816339</pose>
      <link name="box_link">
        <inertial>
          <inertia>
            <ixx>1</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>1</iyy>
            <iyz>0</iyz>
            <izz>1</izz>
          </inertia>
          <mass>1.0</mass>
        </inertial>
        <pose>0.0 0.0 0.0 0 0 0</pose>
        <collision name="box_collision">
          <geometry>
            <box>
              <size>100 100 1</size>
            </box>
          </geometry>
        </collision>

        <visual name="box_visual">
          <geometry>
            <box>
              <size>100 100 1</size>
            </box>
          </geometry>
        </visual>
      </link>
    </model>
    <model name='sphere_no_gravity'>
      <link name='link'>
        <gravity>false</gravity>
        <pose>10 10 10 0 0 0</pose>
        <visual name='visual'>
          <geometry><sphere><radius>1</radius></sphere></geometry>
        </visual>
        <collision name='collision'>
          <geometry><sphere><radius>1</radius></sphere></geometry>
        </collision>
      </link>
    </model>
  </world>
</sdf>
