<?xml version="1.0" ?>
<sdf version='1.7'>
  <world name='default' xmlns:ignition="http://ignitionrobotics.org/schema">
    <light name='sun' type='directional'>
      <cast_shadows>1</cast_shadows>
      <pose>0 0 0 0 -0 0</pose>
      <diffuse>1 1 1 1</diffuse>
      <specular>0.2 0.2 0.2 1</specular>
      <direction>-1 0 -0.2</direction>
      <attenuation>
        <range>10</range>
      </attenuation>
      <spot>
        <inner_angle>0</inner_angle>
        <outer_angle>0</outer_angle>
        <falloff>0</falloff>
      </spot>
    </light>
    <scene>
      <shadows>0</shadows>
    </scene>

    <model name='camera_distortion_default'>
      <static>1</static>
      <pose>0.3 0 0.15 0 0 3.14159265</pose>
      <link name='link'>
        <visual name='visual'>
          <geometry>
            <box>
              <size>0.1 0.1 0.1</size>
            </box>
          </geometry>
        </visual>
        <sensor name='camera_distortion_default' type='camera'>
          <camera>
            <horizontal_fov>1.047</horizontal_fov>
            <image>
              <width>12</width>
              <height>12</height>
            </image>
            <clip>
              <near>0.1</near>
              <far>100</far>
            </clip>
            <distortion>
              <k1>-0.25</k1>
              <k2>0</k2>
              <k3>0</k3>
              <p1>0</p1>
              <p2>0</p2>
              <center>0.5 0.5</center>
            </distortion>
          </camera>
          <always_on>1</always_on>
          <update_rate>10</update_rate>
        </sensor>
      </link>
    </model>

    <model name='camera_distortion_test'>
      <static>1</static>
      <pose>0.3 2 0.15 0 0 3.14159265</pose>
      <link name='link'>
        <visual name='visual'>
          <geometry>
            <box>
              <size>0.1 0.1 0.1</size>
            </box>
          </geometry>
        </visual>
        <sensor name='camera_distortion_test' type='camera'>
          <camera>
            <horizontal_fov>1.047</horizontal_fov>
            <image>
              <width>12</width>
              <height>12</height>
            </image>
            <clip>
              <near>0.1</near>
              <far>100</far>
            </clip>
            <distortion>
              <k1>-0.25</k1>
              <k2>0</k2>
              <k3>0</k3>
              <p1>0</p1>
              <p2>0</p2>
              <center>0.5 0.5</center>
              <ignition:compositor>CameraDistortionMap/PF_FLOAT32_R</ignition:compositor>
            </distortion>
          </camera>
          <always_on>1</always_on>
          <update_rate>10</update_rate>
        </sensor>
      </link>
    </model>

    <model name='camera_lens_flare_default'>
      <static>1</static>
      <pose>0.3 4 0.15 0 0 3.14159265</pose>
      <link name='link'>
        <visual name='visual'>
          <geometry>
            <box>
              <size>0.1 0.1 0.1</size>
            </box>
          </geometry>
        </visual>
        <sensor name='camera_lens_flare_default' type='camera'>
          <camera>
            <horizontal_fov>1.047</horizontal_fov>
            <image>
              <width>12</width>
              <height>12</height>
            </image>
            <clip>
              <near>0.1</near>
              <far>100</far>
            </clip>
          </camera>
          <always_on>1</always_on>
          <update_rate>10</update_rate>
          <plugin name="lensflare" filename="libLensFlareSensorPlugin.so">
          </plugin>
        </sensor>
      </link>
    </model>

    <model name='camera_lens_flare_test'>
      <static>1</static>
      <pose>0.3 6 0.15 0 0 3.14159265</pose>
      <link name='link'>
        <visual name='visual'>
          <geometry>
            <box>
              <size>0.1 0.1 0.1</size>
            </box>
          </geometry>
        </visual>
        <sensor name='camera_lens_flare_test' type='camera'>
          <camera>
            <horizontal_fov>1.047</horizontal_fov>
            <image>
              <width>12</width>
              <height>12</height>
            </image>
            <clip>
              <near>0.1</near>
              <far>100</far>
            </clip>
          </camera>
          <always_on>1</always_on>
          <update_rate>10</update_rate>
          <plugin name="lensflare" filename="libLensFlareSensorPlugin.so">
            <compositor>CameraLensFlare/PF_FLOAT32_R</compositor>
          </plugin>
        </sensor>
      </link>
    </model>

    <model name='Construction Cone 1'>
      <static>1</static>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <mesh>
              <scale>10 10 10</scale>
              <uri>model://construction_cone/meshes/construction_cone.dae</uri>
            </mesh>
          </geometry>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='visual'>
          <geometry>
            <mesh>
              <scale>10 10 10</scale>
              <uri>model://construction_cone/meshes/construction_cone.dae</uri>
            </mesh>
          </geometry>
        </visual>
      </link>
      <pose>0 0 0 0 0 0</pose>
    </model>
    <model name='Construction Cone 2'>
      <static>1</static>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <mesh>
              <scale>10 10 10</scale>
              <uri>model://construction_cone/meshes/construction_cone.dae</uri>
            </mesh>
          </geometry>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='visual'>
          <geometry>
            <mesh>
              <scale>10 10 10</scale>
              <uri>model://construction_cone/meshes/construction_cone.dae</uri>
            </mesh>
          </geometry>
        </visual>
      </link>
      <pose>0 2 0 0 0 0</pose>
    </model>
    <model name='Construction Cone 3'>
      <static>1</static>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <mesh>
              <scale>10 10 10</scale>
              <uri>model://construction_cone/meshes/construction_cone.dae</uri>
            </mesh>
          </geometry>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='visual'>
          <geometry>
            <mesh>
              <scale>10 10 10</scale>
              <uri>model://construction_cone/meshes/construction_cone.dae</uri>
            </mesh>
          </geometry>
        </visual>
      </link>
      <pose>0 4 0 0 0 0</pose>
    </model>
    <model name='Construction Cone 4'>
      <static>1</static>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <mesh>
              <scale>10 10 10</scale>
              <uri>model://construction_cone/meshes/construction_cone.dae</uri>
            </mesh>
          </geometry>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='visual'>
          <geometry>
            <mesh>
              <scale>10 10 10</scale>
              <uri>model://construction_cone/meshes/construction_cone.dae</uri>
            </mesh>
          </geometry>
        </visual>
      </link>
      <pose>0 6 0 0 0 0</pose>
    </model>
  </world>
</sdf>
