<?xml version="1.0" ?>
<sdf version="1.6">
  <world name="default">
    <include>
      <uri>model://ground_plane</uri>
    </include>
    <include>
      <uri>model://sun</uri>
    </include>

    <model name="gpu_ray_model">
      <static>true</static>
      <pose>0 0 0.035 0. 0 0</pose>
      <link name="link">
        <inertial>
          <mass>0.1</mass>
        </inertial>
        <visual name="visual">
          <geometry>
            <mesh>
              <uri>model://hokuyo/meshes/hokuyo.dae</uri>
            </mesh>
          </geometry>
        </visual>
        <sensor name="gpu_ray_sensor" type="gpu_ray">
          <pose>0.1 0 0.0175 0 -0 0</pose>
          <ray>
            <scan>
              <horizontal>
                <samples>640</samples>
                <resolution>1</resolution>
                <min_angle>-1.396263</min_angle>
                <max_angle>1.396263</max_angle>
              </horizontal>
              <vertical>
                <samples>480</samples>
                <resolution>1</resolution>
                <min_angle>-1.396263</min_angle>
                <max_angle>1.396263</max_angle>
              </vertical>
            </scan>
            <range>
              <min>0.08</min>
              <max>10.0</max>
              <resolution>0.01</resolution>
            </range>
          </ray>
          <always_on>1</always_on>
          <!-- We choose a high fps on purpose. The goal is to check the effect
            of lockstep. -->
          <update_rate>500</update_rate>
          <visualize>false</visualize>
        </sensor>
      </link>
    </model>

    <model name="box">
      <pose>13 0 0.5 0 0 0</pose>
      <link name="link">
        <collision name="collision">
          <geometry>
            <box>
              <size>5 5 5</size>
            </box>
          </geometry>
        </collision>
        <visual name="visual">
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
        </visual>
      </link>
    </model>

    <!-- Double pendulum -->
    <include>
      <name>active_pendulum</name>
      <uri>model://double_pendulum_with_base</uri>
      <pose>2 0 0 0 0 0</pose>
      <scale>0.5 0.5 0.5</scale>
    </include>

  </world>
</sdf>
