<?xml version="1.0" encoding="UTF-8" ?>
<sdf version='1.6'>
  <world name='default'>
    <include>
      <uri>model://ground_plane</uri>
    </include>

    <model name="camera">
      <pose>0 0 0.5 0 0 0</pose>
      <static>true</static>
      <link name="link">
        <collision name="collision">
          <geometry>
            <box>
              <size>0.1 0.1 0.1</size>
            </box>
          </geometry>
        </collision>
        <visual name="visual">
          <geometry>
            <box>
              <size>0.1 0.1 0.1</size>
            </box>
          </geometry>
        </visual>
        <sensor name="camera" type="camera">
          <camera>
            <horizontal_fov>1.047</horizontal_fov>
            <image>
              <width>10</width>
              <height>10</height>
            </image>
            <clip>
              <near>0.1</near>
              <far>100</far>
            </clip>
          </camera>
          <always_on>1</always_on>
          <update_rate>10</update_rate>
          <visualize>false</visualize>
        </sensor>
      </link>
    </model>

    <model name='wall'>
      <static>1</static>
      <pose>2 0 0 0 0 0</pose>
      <link name='link'>
        <pose>0 0 1 0 0 0</pose>
        <visual name='visual'>
          <geometry>
            <box>
              <size>0.5 2 2</size>
            </box>
          </geometry>
          <material>
            <ambient>0 0 0 1</ambient>
            <diffuse>0 0 0 1</diffuse>
            <specular>0 0 0 1</specular>
            <emissive>0 0 0 1</emissive>
          </material>
        </visual>
      </link>
    </model>

    <model name='light_model'>
      <static>1</static>
      <pose>1 0 0 0 0 0</pose>
      <link name='light_source'>
        <pose>0 0 1 0 0 0</pose>
        <light name='lamp' type='point'>
          <attenuation>
            <range>5</range>
            <linear>0.05</linear>
          </attenuation>
          <diffuse>1 1 1 1</diffuse>
          <specular>1 1 1 1</specular>
        </light>
        <visual name='lamp'>
          <geometry>
            <box>
              <size>0.5 2 2</size>
            </box>
          </geometry>
          <transparency>1.0</transparency>
          <material>
            <ambient>0 0 0 1</ambient>
            <diffuse>0 0 0 1</diffuse>
            <specular>0 0 0 1</specular>
            <emissive>1 1 1 1</emissive>
          </material>
        </visual>
      </link>
      <plugin name='light_control' filename='libLedPlugin.so'>
        <enable>true</enable>
        <light>
          <id>light_source/lamp</id>
          <block>
            <duration>1</duration>
            <interval>1</interval>
            <color>1 0.5 0.5</color>
          </block>
          <enable>true</enable>
        </light>
      </plugin>
    </model>
    <gravity>0 0 -9.8</gravity>
  </world>
</sdf>
