<?xml version="1.0" ?>
<sdf version="1.7">
  <world name="default">
    <physics name="my_physics" type="bullet">
      <max_step_size>0.1</max_step_size>
      <real_time_factor>0.5</real_time_factor>
    </physics>
    <audio>
      <device>/dev/audio</device>
    </audio>
    <wind>
      <linear_velocity>4 5 6</linear_velocity>
    </wind>
    <gravity>1 2 3</gravity>
    <magnetic_field>-1 0.5 10</magnetic_field>
    <atmosphere type="adiabatic">
      <temperature>23.1</temperature>
      <pressure>43.1</pressure>
      <temperature_gradient>4.3</temperature_gradient>
    </atmosphere>
    <gui fullscreen="true">
    </gui>
    <scene>
      <ambient>0.3 0.4 0.5</ambient>
      <background>0.6 0.7 0.8</background>
      <grid>true</grid>
      <shadows>true</shadows>
      <origin_visual>true</origin_visual>
    </scene>

    <light name="point_light" type="point">
      <cast_shadows>false</cast_shadows>
      <pose relative_to="world">1 2 10 0 0 0</pose>
      <diffuse>1.0 0.0 0.5 1.0</diffuse>
      <specular>0.2 0.1 0.0 1.0</specular>
      <attenuation>
        <range>123.5</range>
        <linear>2.0</linear>
        <constant>-2.0</constant>
        <quadratic>20.2</quadratic>
      </attenuation>
    </light>

    <light name="spot_light" type="spot">
      <cast_shadows>true</cast_shadows>
      <spot>
        <inner_angle>0.1</inner_angle>
        <outer_angle>0.5</outer_angle>
        <falloff>2.2</falloff>
      </spot>
    </light>

    <light name="directional_light" type="directional">
      <pose relative_to="frame1">0 10 20 0 0 0</pose>
      <attenuation>
        <range>-123.5</range>
        <linear>-1.0</linear>
        <constant>2.0</constant>
        <quadratic>-100.2</quadratic>
      </attenuation>
    </light>

    <frame name="frame1" attached_to="world">
      <pose>1 2 3 0 0 0</pose>
    </frame>

    <model name="model1">
      <pose relative_to="frame1"/>
      <frame name="frame2">
        <pose>4 5 6 0 0 0</pose>
      </frame>
      <link name="link">
        <light name="spot_light" type="spot">
          <pose relative_to="frame2">7 8 9 0 0 0</pose>
          <cast_shadows>true</cast_shadows>
          <spot>
            <inner_angle>0.1</inner_angle>
            <outer_angle>0.5</outer_angle>
            <falloff>2.2</falloff>
          </spot>
        </light>
      </link>
    </model>

    <actor name="actor_1">
      <skin>
        <filename>walk.dae</filename>
        <scale>1.0</scale>
      </skin>
      <pose>0 0 0 0 0 0</pose>
      <animation name="walking">
        <filename>walk.dae</filename>
        <scale>1.0</scale>
        <interpolate_x>true</interpolate_x>
      </animation>
      <script>
        <loop>true</loop>
        <delay_start>1.0</delay_start>
        <auto_start>true</auto_start>
        <trajectory id="0" type="walking">
          <waypoint>
            <time>0</time>
            <pose>0 1 0 0 0 0</pose>
          </waypoint>
          <waypoint>
            <time>0.5</time>
            <pose>0.1950 0.9807 0 0 0 -0.1963</pose>
          </waypoint>
          <waypoint>
            <time>1</time>
            <pose>0.3826 0.9238 0 0 0 -0.3926</pose>
          </waypoint>
          <waypoint>
            <time>1.5</time>
            <pose>0.5555 0.831 0 0 0 -0.589</pose>
          </waypoint>
        </trajectory>
      </script>
    </actor>

    <actor name="actor_2">
      <pose>0 0 1.1 0 0 0</pose>
      <skin>
        <filename>walk.dae</filename>
        <scale>1.0</scale>
      </skin>
      <animation name="walk">
        <filename>walk.dae</filename>
        <scale>1.0</scale>
        <interpolate_x>true</interpolate_x>
      </animation>
      <animation name="sit">
        <filename>sit.dae</filename>
        <scale>1.0</scale>
        <interpolate_x>true</interpolate_x>
      </animation>
      <animation name="gesture">
        <filename>gesture.bvh</filename>
        <scale>0.055</scale>
        <interpolate_x>true</interpolate_x>
      </animation>
      <script>
        <loop>true</loop>
        <delay_start>1.0</delay_start>
        <auto_start>true</auto_start>
        <trajectory id="0" type="gesture">
          <waypoint>
            <time>0</time>
            <pose>0 1 0 0 0 0</pose>
          </waypoint>
          <waypoint>
            <time>1.5</time>
            <pose>0 1 0 0 0 0</pose>
          </waypoint>
        </trajectory>
        <trajectory id="1" type="walk">
          <waypoint>
            <time>0</time>
            <pose>0 1 0 0 0 0</pose>
          </waypoint>
          <waypoint>
            <time>0.5</time>
            <pose>0.1950 0.9807 0 0 0 -0.1963</pose>
          </waypoint>
          <waypoint>
            <time>1</time>
            <pose>0.3826 0.9238 0 0 0 -0.3926</pose>
          </waypoint>
          <waypoint>
            <time>1.5</time>
            <pose>0.5555 0.831 0 0 0 -0.589</pose>
          </waypoint>
        </trajectory>
        <trajectory id="2" type="sit">
          <waypoint>
            <time>0</time>
            <pose>0.5555 0.831 0 0 0 -0.589</pose>
          </waypoint>
          <waypoint>
            <time>1.5</time>
            <pose>0.5555 0.831 0 0 0 -0.589</pose>
          </waypoint>
        </trajectory>
      </script>
      <link name="link1">
      </link>
      <link name="link2">
      </link>
      <joint name="fixed_joint" type="fixed">
        <pose>0 0 0 1 0 0</pose>
        <child>link1</child>
        <parent>link2</parent>
      </joint>
    </actor>

  </world>
</sdf>
