<?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>

    <include>
      <uri>model://table</uri>
    </include>

    <include>
      <uri>model://cricket_ball</uri>
      <pose> 0.6 250 1.015 0 0 0</pose>
    </include>

    <include>
      <uri>model://wood_block_10_2_1cm</uri>
      <pose> 0.4 250 1.015 0 0 0</pose>
    </include>

    <include>
      <uri>model://wood_cube_10cm</uri>
      <pose> 0.2 250 1.015 0 0 0</pose>
    </include>

    <include>
      <uri>model://wood_cube_7_5cm</uri>
      <pose> 0.0 250 1.015 0 0 0</pose>
    </include>

    <include>
      <uri>model://wood_cube_5cm</uri>
      <pose>-0.2 250 1.015 0 0 0</pose>
    </include>

    <include>
      <uri>model://wood_cube_2_5cm</uri>
      <pose>-0.4 250 1.015 0 0 0</pose>
    </include>

    <plugin name="arrange_plugin" filename="libArrangePlugin.so">
      <model_name>cricket_ball</model_name>
      <model_name>wood_block_10_2_1cm</model_name>
      <model_name>wood_cube_10cm</model_name>
      <model_name>wood_cube_7_5cm</model_name>
      <model_name>wood_cube_5cm</model_name>
      <model_name>wood_cube_2_5cm</model_name>
      <initial_arrangement>wood_blocks_stack</initial_arrangement>
      <topic_name>~/arrange</topic_name>
      <arrangement name="default">
        <pose model="cricket_ball"       > 0.6 -0.25 1.015 0 0 0</pose>
        <pose model="wood_block_10_2_1cm"> 0.4 -0.25 1.015 0 0 0</pose>
        <pose model="wood_cube_10cm"     > 0.2 -0.25 1.015 0 0 0</pose>
        <pose model="wood_cube_7_5cm"    > 0.0 -0.25 1.015 0 0 0</pose>
        <pose model="wood_cube_5cm"      >-0.2 -0.25 1.015 0 0 0</pose>
        <pose model="wood_cube_2_5cm"    >-0.4 -0.25 1.015 0 0 0</pose>
      </arrangement>
      <arrangement name="cricket_ball">
        <pose model="cricket_ball"       > 0.6 -0.25 1.015 0 0 0</pose>
      </arrangement>
      <arrangement name="wood_blocks">
        <pose model="wood_block_10_2_1cm"> 0.4 -0.25 1.015 0 0 0</pose>
        <pose model="wood_cube_10cm"     > 0.2 -0.25 1.015 0 0 0</pose>
        <pose model="wood_cube_7_5cm"    > 0.0 -0.25 1.015 0 0 0</pose>
        <pose model="wood_cube_5cm"      >-0.2 -0.25 1.015 0 0 0</pose>
        <pose model="wood_cube_2_5cm"    >-0.4 -0.25 1.015 0 0 0</pose>
      </arrangement>
      <arrangement name="wood_blocks_stack">
        <pose model="wood_cube_10cm"     > 0.2 -0.25 1.015 0 0 0</pose>
        <pose model="wood_cube_7_5cm"    > 0.2 -0.25 1.115 0 0 0</pose>
        <pose model="wood_cube_5cm"      > 0.2 -0.25 1.215 0 0 0</pose>
        <pose model="wood_cube_2_5cm"    > 0.2 -0.25 1.315 0 0 0</pose>
        <pose model="wood_block_10_2_1cm"> 0.2 -0.25 1.415 0 0 0</pose>
      </arrangement>
    </plugin>
  </world>
</sdf>
