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

    <!-- static model -->
    <model name="model_0">
      <static>true</static>
      <pose>1 0 0.5 0 0 0</pose>
      <link name="link">
        <visual name="visual">
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
        </visual>
        <collision name="collision">
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
        </collision>
      </link>
    </model>

    <!-- non-static model -->
    <model name="model_1">
      <static>false</static>
      <pose>-1 0 0.5 0 0 0</pose>
      <link name="link">
        <visual name="visual">
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
        </visual>
        <collision name="collision">
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
        </collision>
      </link>
    </model>
 </world>
</sdf>
