first_world(2).sdf

<?xml version="1.0" ?>
<sdf version="1.8">
    <world name="car_world">
        <physics name="1ms" type="ignored">
            <max_step_size>0.001</max_step_size>
            <real_time_factor>1.0</real_time_factor>
        </physics>
        <plugin
            filename="libignition-gazebo-physics-system.so"
            name="ignition::gazebo::systems::Physics">
        </plugin>
        <plugin
            filename="libignition-gazebo-user-commands-system.so"
            name="ignition::gazebo::systems::UserCommands">
        </plugin>
        <plugin
            filename="libignition-gazebo-scene-broadcaster-system.so"
            name="ignition::gazebo::systems::SceneBroadcaster">
        </plugin>

        <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>

        <model name="ground_plane">
            <static>true</static>
            <link name="link">
                <collision name="collision">
                <geometry>
                    <plane>
                    <normal>0 0 1</normal>
                    </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>
        <model name='vehicle_blue' canonical_link='chassis'>
            <pose relative_to='world'>0 0 0 0 0 0</pose>
            <link name='chassis'>
                <pose relative_to='__model__'>0.5 0 0.4 0 0 0</pose>
                <inertial> <!--inertial properties of the link mass, inertia matix-->
                    <mass>1.14395</mass>
                    <inertia>
                        <ixx>0.095329</ixx>
                        <ixy>0</ixy>
                        <ixz>0</ixz>
                        <iyy>0.381317</iyy>
                        <iyz>0</iyz>
                        <izz>0.476646</izz>
                    </inertia>
                </inertial>
                <visual name='visual'>
                    <geometry>
                        <box>
                            <size>2.0 1.0 0.5</size>
                        </box>
                    </geometry>
                    <!--let's add color to our link-->
                    <material>
                        <ambient>0.0 0.0 1.0 1</ambient>
                        <diffuse>0.0 0.0 1.0 1</diffuse>
                        <specular>0.0 0.0 1.0 1</specular>
                    </material>
                </visual>
                <collision name='collision'>
                    <geometry>
                        <box>
                            <size>2.0 1.0 0.5</size>
                        </box>
                    </geometry>
                </collision>
            </link>
        </model>
    </world>
</sdf>