<?xml version="1.0" ?>
<sdf version="1.6">
  <world name="default">
    <!-- A global light source -->
    <include>
      <uri>model://sun</uri>
    </include>
    <!-- A ground plane -->
    <include>
      <uri>model://ground_plane</uri>
    </include>

    <gui>
      <camera name="user_camera">
        <track_visual>
          <static>true</static>
          <use_model_frame>false</use_model_frame>
          <name>box</name>
          <xyz>-3 0 1</xyz>
        </track_visual>
      </camera>
    </gui>

    <model name="box">
      <pose>4 4 0.5 0 0 0</pose>
      <link name="link">
        <kinematic>true</kinematic>
        <collision name="collision">
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>0.0</mu>
                <mu2>0.0</mu2>
              </ode>
            </friction>
          </surface>
        </collision>
        <visual name="visual">
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
        </visual>
      </link>

      <!-- Apply a random velocity to the specified link-->
      <!-- In this example, we move a box around. A key property of the link
           is the frictionless surface -->
      <plugin name="random" filename="libRandomVelocityPlugin.so">

        <!-- Name of the link in this model that receives the velocity -->
        <link>link</link>

        <!-- Initial velocity that is applied to the link -->
        <initial_velocity>0 0.5 0</initial_velocity>

        <!-- Scaling factor that is used to compute a new velocity -->
        <velocity_factor>0.5</velocity_factor>

        <!-- Time, in seconds, between new velocities -->
        <update_period>5</update_period>

        <!-- Clamp the Z velocity value to zero. You can also clamp x and
             y values -->
        <min_z>0</min_z>
        <max_z>0</max_z>
      </plugin>
    </model>
  </world>
</sdf>
