<sdf version='1.5'>
  <world name='default'>
    <light name='sun' type='directional'>
      <cast_shadows>1</cast_shadows>
      <pose>0 0 10 0 -0 0</pose>
      <diffuse>0.8 0.8 0.8 1</diffuse>
      <specular>0.2 0.2 0.2 1</specular>
      <attenuation>
        <range>1000</range>
        <constant>0.9</constant>
        <linear>0.01</linear>
        <quadratic>0.001</quadratic>
      </attenuation>
      <direction>-0.5 0.1 -0.9</direction>
    </light>
    <model name='ground_plane'>
      <static>1</static>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>100</mu>
                <mu2>50</mu2>
              </ode>
            </friction>
            <contact>
              <ode/>
            </contact>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='visual'>
          <cast_shadows>0</cast_shadows>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
          </material>
        </visual>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
    </model>
    <model name="drc_qual4_block">
      <link name="drc_qual4_block_link">
        <pose>0.3 0 0 0 0 0</pose>
        <collision name="drc_qual4_block_collision">
          <geometry>
            <mesh>
              <uri>file://drc_qual4_block.stl</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
        </collision>
        <visual name="drc_qual4_block">
          <geometry>
            <mesh>
              <uri>file://drc_qual4_block.stl</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
          <cast_shadows>false</cast_shadows>
        </visual>
      </link>
      <static>true</static>
    </model>
    <physics type="ode">
      <gravity>0 0 -9.81</gravity>
      <simbody>
        <accuracy>0.005</accuracy>
        <max_transient_velocity>0.005</max_transient_velocity>
        <contact>
          <stiffness>1e8</stiffness>
          <dissipation>20.0</dissipation>
        </contact>
      </simbody>
      <ode>
        <solver>
          <use_dynamic_moi_rescaling>true</use_dynamic_moi_rescaling>
          <type>quick</type>
          <iters>200</iters>
          <sor>1.0</sor>
        </solver>
        <constraints>
          <cfm>0.0</cfm>
          <erp>0.2</erp>
          <contact_max_correcting_vel>100.0</contact_max_correcting_vel>
          <contact_surface_layer>0.0</contact_surface_layer>
        </constraints>
      </ode>
      <real_time_update_rate>1000</real_time_update_rate>
      <max_step_size>0.001</max_step_size>
    </physics>
    <scene>
      <ambient>0.4 0.4 0.4 1</ambient>
      <background>0.7 0.7 0.7 1</background>
      <shadows>1</shadows>
    </scene>
    <spherical_coordinates>
      <surface_model>EARTH_WGS84</surface_model>
      <latitude_deg>0</latitude_deg>
      <longitude_deg>0</longitude_deg>
      <elevation>0</elevation>
      <heading_deg>0</heading_deg>
    </spherical_coordinates>
    <state world_name='default'>
      <sim_time>5369 943000000</sim_time>
      <real_time>5800 685587240</real_time>
      <wall_time>1423245799 456557065</wall_time>
      <model name='ground_plane'>
        <pose>0 0 0 0 -0 0</pose>
        <link name='link'>
          <pose>0 0 0 0 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
      </model>
    </state>
    <gui fullscreen='0'>
      <camera name='user_camera'>
        <pose>-0.572734 7.93393 1.30199 -1.4159e-17 0.199643 -1.57102</pose>
        <view_controller>orbit</view_controller>
      </camera>
    </gui>
  </world>
</sdf>
