<?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>

    <gui>
      <camera name="user_camera">
        <track_visual>
          <name>box</name>
          <static>true</static>
          <use_model_frame>true</use_model_frame>
          <xyz>-1 -1 -1</xyz>
          <inherit_yaw>true</inherit_yaw>
        </track_visual>
      </camera>
    </gui>

    <model name="box">
      <pose>0 0 0.5 0 0 0</pose>
      <link name="link">
        <kinematic>true</kinematic>
        <collision name="collision">
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>0.0</mu>
                <mu2>0.0</mu2>
              </ode>
            </friction>
          </surface>
        </collision>
        <visual name="visual">
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
        </visual>
      </link>
    </model>
  </world>
</sdf>
