<?xml version="1.0" ?>
<sdf version="1.5">
  <world name="default">
    <scene>
      <ambient>1 1 1 1</ambient>
      <background>0 0 0 0</background>
      <grid>false</grid>
      <origin_visual>false</origin_visual>
    </scene>
    <gui>
      <camera name="user_camera">
        <pose>0 0 1.2 0 1.5707 0</pose>
      </camera>
    </gui>

    <model name="ground_plane">
      <static>true</static>
      <link name="link">
        <collision name="collision">
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>10 10</size>
            </plane>
          </geometry>
        </collision>
      </link>
    </model>

    <model name="box">
      <pose>10 10 0.5 0 0 0</pose>
      <link name="link">
        <collision name="collision">
          <geometry>
            <box>
              <size>10 10 1</size>
            </box>
          </geometry>
        </collision>
        <visual name="visual">
          <geometry>
            <box>
              <size>10 10 1</size>
            </box>
          </geometry>
          <material>
            <script>Gazebo/White</script>
          </material>
        </visual>
      </link>
    </model>

    <plugin filename="libTransporterPlugin.so" name="transporter">
      <activation_topic>~/transporter</activation_topic>

      <pad name="pad1">
        <destination>pad2</destination>
        <activation>auto</activation>

        <outgoing>
          <min>100 -0.5 0</min>
          <max>101  0.5 1</max>
        </outgoing>

        <incoming>
          <pose>0 0 0.5 0 0 0</pose>
        </incoming>
      </pad>

      <pad name="pad2">
        <destination>pad1</destination>
        <activation>manual</activation>

        <outgoing>
          <min>-101 -0.5 0</min>
          <max>-100  0.5 1</max>
        </outgoing>

        <incoming>
          <pose>0 0 0.5 0 0 0</pose>
        </incoming>
      </pad>
    </plugin>

  </world>
</sdf>
