<?xml version="1.0" ?>
<sdf version="1.10">
  <world name="wind_box_lab">
    <physics name="1ms" type="ignored">
      <max_step_size>0.001</max_step_size>
      <real_time_factor>1.0</real_time_factor>
    </physics>

    <plugin filename="gz-sim-physics-system" name="gz::sim::systems::Physics"/>
    <plugin filename="gz-sim-scene-broadcaster-system" name="gz::sim::systems::SceneBroadcaster"/>
    <plugin filename="gz-sim-user-commands-system" name="gz::sim::systems::UserCommands"/>

    <wind>
      <linear_velocity>0 0 0</linear_velocity>
    </wind>
    <plugin filename="gz-sim-wind-effects-system" name="gz::sim::systems::WindEffects">
      <force_approximation_scaling_factor>1</force_approximation_scaling_factor>
    </plugin>

    <scene>
      <ambient>0.8 0.8 0.8 1</ambient>
      <background>0.55 0.7 0.85 1</background>
      <grid>true</grid>
    </scene>


    <light type="directional" name="sun">
      <cast_shadows>true</cast_shadows>
      <pose>0 0 8 0 0 0</pose>
      <diffuse>0.9 0.9 0.85 1</diffuse>
      <specular>0.2 0.2 0.2 1</specular>
      <direction>-0.4 0.2 -0.9</direction>
    </light>

    <model name="ground_plane">
      <static>true</static>
      <link name="link">
        <collision name="collision">
          <geometry><plane><normal>0 0 1</normal><size>20 20</size></plane></geometry>
          <surface>
            <friction>
              <ode>
                <mu>0.2</mu>
                <mu2>0.2</mu2>
              </ode>
            </friction>
          </surface>
        </collision>
        <visual name="visual">
          <geometry><plane><normal>0 0 1</normal><size>20 20</size></plane></geometry>
          <material><ambient>0.35 0.35 0.35 1</ambient><diffuse>0.35 0.35 0.35 1</diffuse></material>
        </visual>
      </link>
    </model>

    <model name="wind_box">
      <static>false</static>
      <pose>0 0 0.5 0 0 0</pose>
      <link name="link">
        <enable_wind>true</enable_wind>
        <inertial>
          <mass>1.0</mass>
          <inertia>
            <ixx>0.1666667</ixx>
            <iyy>0.1666667</iyy>
            <izz>0.1666667</izz>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyz>0</iyz>
          </inertia>
        </inertial>
        <collision name="collision">
          <geometry><box><size>1 1 1</size></box></geometry>
          <surface>
            <friction>
              <ode>
                <mu>0.2</mu>
                <mu2>0.2</mu2>
              </ode>
            </friction>
          </surface>
        </collision>
        <visual name="visual">
          <geometry><box><size>1 1 1</size></box></geometry>
          <material><ambient>0.8 0.05 0.05 1</ambient><diffuse>1 0.05 0.05 1</diffuse></material>
        </visual>
      </link>
    </model>
  </world>
</sdf>
