<!-- Usage notes are located in this file, look for "Usage"-->
<?xml version="1.0" ?>
<sdf version="1.5">
  <world name="default">
    <gui>
      <camera name="user_camera">
        <pose>0 -18 8.0 0 0.523 1.5707</pose>
      </camera>
    </gui>
    <light name="sun" type="directional">
      <cast_shadows>1</cast_shadows>
      <pose>0 0 10 0 -0 0</pose>
      <diffuse>0.8 0.8 0.8 1</diffuse>
      <specular>0.2 0.2 0.2 1</specular>
      <attenuation>
        <range>1000</range>
        <constant>0.9</constant>
        <linear>0.01</linear>
        <quadratic>0.001</quadratic>
      </attenuation>
      <direction>0 0.5 -0.9</direction>
    </light>

    <light name="point_light" type="point">
      <pose>0 -0.377195 6.59868 0 -0 0</pose>
      <diffuse>0.784314 0.784314 0.784314 1</diffuse>
      <specular>0.0980392 0.0980392 0.0980392 1</specular>
      <attenuation>
        <range>50</range>
        <constant>0.8</constant>
        <linear>0</linear>
        <quadratic>0.001</quadratic>
      </attenuation>
      <cast_shadows>0</cast_shadows>
      <direction>0 0 -1</direction>
    </light>

    <include>
      <uri>model://ground_plane</uri>
    </include>

    <include>
      <uri>model://cafe</uri>
    </include>

    <include>
      <name>table1</name>
      <pose>0.5 -1.6 0.2 0 0 0</pose>
      <uri>model://cafe_table</uri>
    </include>

    <include>
      <name>table2</name>
      <pose>2.4 -5.5 0.2 0 0 0</pose>
      <uri>model://cafe_table</uri>
    </include>

    <include>
      <name>table3</name>
      <pose>-1.5 -5.5 0.2 0 0 0</pose>
      <uri>model://cafe_table</uri>
    </include>

    <include>
      <name>table4</name>
      <pose>2.4 -9 0.2 0 0 0</pose>
      <uri>model://cafe_table</uri>
    </include>

    <include>
      <name>table5</name>
      <pose>-1.5 -9 0.2 0 0 0</pose>
      <uri>model://cafe_table</uri>
    </include>

    <!-- Usage: modify the <pose> elements of each actor to change their
         starting location. Modify the <target> elements of each actor to
         change their destination. The <target_weight> can be used to
         tune the vector field used by the ActorPlugin to control the Actor. -->
    <actor name="actor1">
      <pose>0 1 1.25 0 0 0</pose>
      <skin>
        <filename>file://media/models/walk.dae</filename>
        <scale>1.0</scale>
      </skin>
      <animation name="walking">
        <filename>file://media/models/walk.dae</filename>
        <scale>1.000000</scale>
        <interpolate_x>true</interpolate_x>
      </animation>

      <plugin name="actor1_plugin" filename="libActorPlugin.so">
        <target>0 -5 1.2138</target>
        <target_weight>1.15</target_weight>
        <obstacle_weight>1.8</obstacle_weight>
        <animation_factor>5.1</animation_factor>
        <!-- Usage: Modify the set of models that the vector field should
             ignore when moving the actor -->
        <ignore_obstacles>
          <model>cafe</model>
          <model>ground_plane</model>
        </ignore_obstacles>
      </plugin>
    </actor>

    <actor name="actor2">
      <pose>-2 -2 1.25 0 0 0</pose>
      <skin>
        <filename>file://media/models/walk.dae</filename>
        <scale>1.0</scale>
      </skin>
      <animation name="walking">
        <filename>file://media/models/walk.dae</filename>
        <scale>1.000000</scale>
        <interpolate_x>true</interpolate_x>
      </animation>
      <plugin name="actor2_plugin" filename="libActorPlugin.so">
        <target>3 2 1.24</target>
        <target_weight>1.15</target_weight>
        <obstacle_weight>1.8</obstacle_weight>
        <animation_factor>5.1</animation_factor>
        <ignore_obstacles>
          <model>cafe</model>
          <model>ground_plane</model>
        </ignore_obstacles>
      </plugin>
    </actor>

  </world>
</sdf>
