<?xml version="1.0" ?>

<sdf version="1.6">
  <world name="default">
    <gui fullscreen='0'>
      <camera name='user_camera'>
        <pose frame=''>-20.1902 21.8384 17.2531 0 0.432 -0.868</pose>
        <view_controller>orbit</view_controller>
        <projection_type>perspective</projection_type>
      </camera>
    </gui>
    <physics type="ode">
      <ode>
        <solver>
          <type>quick</type>
          <iters>100</iters>
          <sor>1.0</sor>
        </solver>
        <constraints>
          <cfm>0.0</cfm>
          <erp>0.2</erp>
          <contact_max_correcting_vel>0.1</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>

    <include>
      <uri>model://sun</uri>
    </include>

    <include>
      <uri>model://fountain</uri>
    </include>

    <model name="ground_plane">
      <static>true</static>
      <link name="link">
        <collision name="collision">
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>5000 5000</size>
            </plane>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
              </ode>
            </friction>
          </surface>
        </collision>
        <visual name="runway">
          <pose>700 0 0.005 0 0 0</pose>
          <cast_shadows>false</cast_shadows>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>1829 45</size>
            </plane>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Runway</name>
            </script>
          </material>
        </visual>

        <visual name="grass">
          <pose>0 0 -0.1 0 0 0</pose>
          <cast_shadows>false</cast_shadows>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>5000 5000</size>
            </plane>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grass</name>
            </script>
          </material>
        </visual>

      </link>
    </model>

    <!-- This is where the spherical_coordinates block will be inserted by gazuavserver -->
    %SPHERICAL-COORDINATES-HERE%

    <!-- This is where UAV models will be automatically instantiated by gazuavserver -->
    %UAV-MODELS-HERE%

  </world>
</sdf>
