<?xml version="1.0" ?>
<sdf version="1.5">
  <world name="default">
    <!-- A global light source -->
    <include>
      <uri>model://sun</uri>
    </include>
    <!-- A ground plane -->
    <include>
      <uri>model://ground_plane</uri>
    </include>

    <!-- Testing a population with 0 models -->
    <population name="can_population1">
      <model name="can1">
        <include>
          <uri>model://coke_can</uri>
        </include>
      </model>
      <pose>3 3 0 0 0 0</pose>
      <box>
        <size>1 1 0.1</size>
      </box>
      <model_count>0</model_count>
      <distribution>
        <type>random</type>
      </distribution>
    </population>

    <!-- Testing a population with a negative number of models -->
    <population name="can_population1">
      <model name="can1">
        <include>
          <uri>model://coke_can</uri>
        </include>
      </model>
      <pose>3 3 0 0 0 0</pose>
      <box>
        <size>1 1 0.1</size>
      </box>
      <model_count>-5</model_count>
      <distribution>
        <type>uniform</type>
      </distribution>
    </population>

    <!-- Testing a 2D grid population with 0 rows -->
    <population name="can_population2">
      <model name="can2">
        <include>
          <uri>model://coke_can</uri>
        </include>
      </model>
      <pose>-0.25 -0.5 0 0 0 0</pose>
      <distribution>
        <type>grid</type>
        <rows>0</rows>
        <cols>3</cols>
        <step>0.25 0.25 0</step>
      </distribution>
    </population>

    <!-- Testing a 2D grid population with a negative number of columns -->
    <population name="can_population2">
      <model name="can2">
        <include>
          <uri>model://coke_can</uri>
        </include>
      </model>
      <pose>-0.25 -0.5 0 0 0 0</pose>
      <distribution>
        <type>grid</type>
        <rows>2</rows>
        <cols>-3</cols>
        <step>0.25 0.25 0</step>
      </distribution>
    </population>

  </world>
</sdf>
