<?xml version="1.0" ?>
<sdf version="1.4">
  <world name="default">
    <!-- A ground plane -->
    <include>
      <uri>model://ground_plane</uri>
    </include>
    <!-- A global light source -->
    <include>
      <uri>model://sun</uri>
    </include>
    <model name="model_1">
      <static>true</static>
      <pose>0 0 0.5 0. 0 0</pose>
      <link name="link_1">
        <inertial>
          <mass>0.1</mass>
        </inertial>
        <visual name="visual">
          <geometry>
            <mesh>
              <uri>model://hokuyo/meshes/hokuyo.dae</uri>
            </mesh>
          </geometry>
        </visual>
        <collision name="collision-base">
          <pose>0 0 -0.0145 0 0 0</pose>
          <geometry>
            <box>
              <size>0.05 0.05 0.041</size>
            </box>
          </geometry>
        </collision>
        <collision name="collision-top">
          <pose>0 0 0.0205 0 0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.021</radius>
              <length>0.029</length>
            </cylinder>
          </geometry>
        </collision>
        <sensor name="laser_sensor" type="ray">
          <pose>0.1 0 0.0175 0 -0 0</pose>
          <ray>
            <scan>
              <horizontal>
                <samples>320</samples>
                <resolution>1</resolution>
                <min_angle>-1.0</min_angle>
                <max_angle>1.0</max_angle>
              </horizontal>
              <vertical>
                <samples>3</samples>
                <resolution>1</resolution>
                <min_angle>-0.1</min_angle>
                <max_angle>0.1</max_angle>
              </vertical>
            </scan>
            <range>
              <min>0.08</min>
              <max>10.0</max>
              <resolution>0.01</resolution>
            </range>
          </ray>
          <always_on>1</always_on>
          <update_rate>30</update_rate>
          <visualize>true</visualize>
        </sensor>
      </link>
    </model>


    <!-- a static object -->
    <model name="cylinder_model">
      <static>true</static>
      <pose>6 -1.5 0 0 0 0</pose>
      <link name="cylinder_link">
        <visual name="cylinder_visual">
          <pose>0 0 0.5 0 0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.5</radius>
              <length>1.0</length>
            </cylinder>
          </geometry>
        </visual>
        <collision name="cylinder_collision">
          <pose>0 0 0.5 0 0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.5</radius>
              <length>1.0</length>
            </cylinder>
          </geometry>
        </collision>
      </link>
    </model>

    <!-- a non-static object -->
    <model name="box_model">
      <static>false</static>
      <pose>3 0.8 0 0 0 0</pose>
      <link name="box_link">
        <visual name="box_visual">
          <pose>0 0 0.5 0 0 0</pose>
          <geometry>
            <box>
            <size>1.0 1.0 1.0</size>
            </box>
          </geometry>
        </visual>
        <collision name="box_collision">
          <pose>0 0 0.5 0 0 0</pose>
          <geometry>
            <box>
            <size>1.0 1.0 1.0</size>
            </box>
          </geometry>
        </collision>
      </link>
    </model>
  </world>
</sdf>
