<?xml version="1.0" ?>
<sdf version="1.5">
  <world name="default">
    <plugin name="world_edit" filename="libworld_edit.so" />
    <include>
      <uri>model://ground_plane</uri>
    </include>
    <include>
      <uri>model://sun</uri>
    </include>
    <model name="box_model">
      <pose>0 0 0.5 0 0 0</pose>
      <link name="body">
        <inertial>
          <inertia>
            <ixx>1</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>1</iyy>
            <iyz>0</iyz>
            <izz>1</izz>
          </inertia>
          <mass>1.0</mass>
        </inertial>
        <collision name="geom">
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>0</mu>
                <mu2>0</mu2>
              </ode>
            </friction>
          </surface>
        </collision>
        <visual name="visual">
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
          <material>
            <script>Gazebo/WoodPallet</script>
          </material>
        </visual>
      </link>
      <plugin name="my_plugin" filename="libmodel_push.so" />
    </model>
  </world>
</sdf>
