<sdf version="1.6">
  <world name="default">
    <physics name="1ms" type="ignored">
      <max_step_size>0.001</max_step_size>
      <real_time_factor>1.0</real_time_factor>
    </physics>
    <plugin name='ignition::gazebo::systems::Physics' filename='ignition-gazebo-physics-system'/>
    <plugin name='ignition::gazebo::systems::UserCommands' filename='ignition-gazebo-user-commands-system'/>
    <plugin name='ignition::gazebo::systems::SceneBroadcaster' filename='ignition-gazebo-scene-broadcaster-system'/>
    <plugin name='ignition::gazebo::systems::Contact' filename='ignition-gazebo-contact-system'/>

    <light type="directional" name="sun">
      <cast_shadows>true</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>-0.5 0.1 -0.9</direction>
    </light>
    
    <actor name="actor_walking">
      <plugin name="ignition::gazebo::ActorSystem" filename="/home/ros/workspace/install/ign_actor_plugin/lib/ign_actor_plugin/libign_actor_plugin.so">
        <x>2</x>
        <y>2</y>
        <rot>180</rot>
      </plugin>
      <skin>
        <filename>/home/ros/walk.dae</filename>
        <scale>1.0</scale>
      </skin>
      <animation name='walk'>
        <filename>/home/ros/walk.dae</filename>
        <interpolate_x>true</interpolate_x>
      </animation>
      <animation name='standing_extend_arm'>
        <filename>/home/ros/standing_extend_arm.dae</filename>
      </animation>
      <animation name='standing_retract_arm'>
        <filename>/home/ros/standing_retract_arm.dae</filename>
      </animation>
    </actor>
    
    <model name="ground_plane">
      <static>true</static>
      <link name="link">
        <collision name="collision">
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
        </collision>
        <visual name="visual">
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
          <material>
            <ambient>0.8 0.8 0.8 1</ambient>
            <diffuse>0.8 0.8 0.8 1</diffuse>
            <specular>0.8 0.8 0.8 1</specular>
          </material>
        </visual>
      </link>
    </model>
  </world>
</sdf>