<?xml version="1.0" ?>
<sdf version="1.5">
  <world name="default">
    <!-- A ground plane -->
    <include>
      <uri>model://ground_plane</uri>
    </include>
    <!-- A global light source -->
    <include>
      <uri>model://sun</uri>
    </include>
    <plugin filename="libTriggerPlugin.so" name="trigger">
      <point>0 0 0</point>
      <radius>5</radius>
    </plugin>
    <model name="sphere">
      <pose>0 0 10.0 0 0 0</pose>
      <link name="link">
        <inertial>
          <mass>1</mass>
        </inertial>
        <collision name="collision">
          <geometry>
            <sphere>
              <radius>0.1</radius>
            </sphere>
          </geometry>
        </collision>
        <visual name="visual">
          <geometry>
            <sphere>
              <radius>0.1</radius>
            </sphere>
          </geometry>
          <material>
            <script>Gazebo/Grey</script>
          </material>
        </visual>
      </link>
    </model>
    <model name="box">
      <pose>1 0 50.0 0 0 0</pose>
      <link name="link">
        <inertial>
          <mass>1</mass>
        </inertial>
        <collision name="collision">
          <geometry>
            <sphere>
              <radius>0.1</radius>
            </sphere>
          </geometry>
        </collision>
        <visual name="visual">
          <geometry>
            <sphere>
              <radius>0.1</radius>
            </sphere>
          </geometry>
          <material>
            <script>Gazebo/Grey</script>
          </material>
        </visual>
      </link>
    </model>
    <model name="cylinder">
      <pose>5 0 50.0 0 0 0</pose>
      <link name="link">
        <inertial>
          <mass>1</mass>
        </inertial>
        <collision name="collision">
          <geometry>
            <sphere>
              <radius>0.2</radius>
            </sphere>
          </geometry>
        </collision>
        <visual name="visual">
          <geometry>
            <sphere>
              <radius>0.2</radius>
            </sphere>
          </geometry>
          <material>
            <script>Gazebo/Grey</script>
          </material>
        </visual>
      </link>
    </model>
  </world>
</sdf>
