<?xml version="1.0" ?>
<sdf version="1.6">
  <world name='default' xmlns:ignition="http://ignitionrobotics.org/schema">
    <include>
      <uri>model://ground_plane</uri>
    </include>
    <include>
      <uri>model://sun</uri>
    </include>

    <ignition:model_plugin_loading_timeout>5</ignition:model_plugin_loading_timeout>
    <plugin filename="libWorldSpawnModelPlugin.so" name="world_spawn_model">
      <sdf version="1.6">
        <model name="slow_loading_model">
          <pose>0 0 0.45 0 0 0</pose>
          <link name="box">
            <inertial>
              <mass>12</mass>
              <inertia>
                <ixx>0.97</ixx>
                <iyy>0.82</iyy>
                <izz>0.17</izz>
                <ixy>0</ixy>
                <ixz>0</ixz>
                <iyz>0</iyz>
              </inertia>
            </inertial>
            <collision name="collision">
              <geometry>
                <box>
                  <size>0.1 0.4 0.9</size>
                </box>
              </geometry>
            </collision>
            <visual name="visual">
              <geometry>
                <box>
                  <size>0.1 0.4 0.9</size>
                </box>
              </geometry>
              <material>
                <script>
                  <uri>file://media/materials/scripts/gazebo.material</uri>
                  <name>Gazebo/Grey</name>
                </script>
              </material>
            </visual>
            <sensor name='box_camera' type='camera'>
              <camera>
                <horizontal_fov>1.047</horizontal_fov>
                <image>
                  <width>320</width>
                  <height>240</height>
                  <format>R8G8B8</format>
                </image>
                <clip>
                  <near>0.1</near>
                  <far>100</far>
                </clip>
              </camera>
              <always_on>1</always_on>
              <update_rate>10</update_rate>
              <plugin filename="libSlowLoadingSensorPlugin.so" name="slow_load">
                <load_seconds>15</load_seconds>
              </plugin>
            </sensor>
          </link>
          <plugin name="large_wz" filename="libInitialVelocityPlugin.so">
            <linear>-1 -1 5</linear>
            <angular>0.1 5.0 0.1</angular>
          </plugin>
        </model>
      </sdf>
    </plugin>
  </world>
</sdf>
