<?xml version="1.0"?>
<sdf version="1.5">
  <world name="default">
    <gui>
      <camera name='user_default'>
        <pose>16 0 12 0 0.6 -3.141</pose>
      </camera>
    </gui>

    <include>
      <uri>model://ground_plane</uri>
    </include>

    <include>
      <uri>model://sun</uri>
    </include>

    <light type="directional" name="my_light0">
      <pose>0 0 30 0 0 0</pose>
      <diffuse>0.5 0.5 0.5 1</diffuse>
      <specular>0.1 0.1 0.1 1</specular>
      <direction>0.1 0.1 -0.9</direction>
      <attenuation>
        <range>20</range>
        <linear>0.01</linear>
        <constant>0.5</constant>
        <quadratic>0.001</quadratic>
      </attenuation>
      <cast_shadows>1</cast_shadows>
    </light>

<!-- SIMPLE WORLD 
    <include>
      <pose>0 0 0 0 0 0</pose>
      <static>1</static>
      <uri>model://simple_block_world</uri>
    </include>
    <plugin name="USARGazebo" filename="libUSARGazebo.so"/>
-->

<!--  Portmessa Nagoya (The RoboCup 2017 venue) -->
    <include>
      <static>1</static>
      <uri>model://portmessa</uri>
    </include>
    <plugin name="USARGazebo" filename="libUSARGazebo.so">
      <StartPose_1>EASTENTRANCE   1.5,-40,0.3 0,0,0</StartPose_1>
      <StartPose_2>WESTENTRANCE   -1,85,0.3 0,0,0</StartPose_2>
    </plugin>
-->

<!-- 
=============================================================
  HOW TO GET robocup2012_rvrl_pre1  
    You can get it by using following commands  
     $ cd ~/.gazebo/models  
     $ git clone https://github.com/m-shimizu/robocup2012_rvrl_pre1/  
     $ cd robocup2012_rvrl_pre1/meshes  
     $ unzip RC2012Pre1.dae.zip  
=============================================================
-->
<!-- RoboCup 2012 Rescue Virtual Robot League Pre-Liminary 1
    <include>
      <static>1</static>
      <uri>model://robocup2012_rvrl_pre1</uri>
    </include>
    <plugin name="USARGazebo" filename="libUSARGazebo.so">
      <StartPose_1>Hall         5,10,0.3 0,0,0</StartPose_1>
      <StartPose_2>OfficeRoom -12,12,0.3 0,0,0</StartPose_2>
      <StartPose_3>JumpPoint    0, 0,  0 0,0,0</StartPose_3>
    </plugin>
-->

<!--
=============================================================
  HOW TO GET JVRC_O* and JVRC_R*
    You can get it by using following commands  
     $ cd ~  
     $ git clone https://github.com/m-shimizu/JVRC_task_models/  
     $ cd JVRC_task_models
     $ mv JVRC_* ~/.gazebo/models
     $ \rm -r ~/JVRC_task_models
=============================================================
-->
<!-- JVRC Task O1
    <include>
      <static>1</static>
      <uri>model://JVRC_O1</uri>
    </include>
    <plugin name="USARGazebo" filename="libUSARGazebo.so">
      <StartPose_1>STARTPOINT  3.24,2.49,0.8 0,0,0</StartPose_1>
    </plugin>
-->
<!-- JVRC Task O2
    <include>
      <static>1</static>
      <uri>model://JVRC_O2</uri>
    </include>
    <plugin name="USARGazebo" filename="libUSARGazebo.so">
      <StartPose_1>STARTPOINT  3.035,2.183,3.8 0,0,0</StartPose_1>
    </plugin>
-->
<!-- JVRC Task R1
    <include>
      <static>1</static>
      <uri>model://JVRC_R1</uri>
    </include>
    <plugin name="USARGazebo" filename="libUSARGazebo.so">
      <StartPose_1>STARTPOINT  3.3,1.853,0.8 0,0,0</StartPose_1>
    </plugin>
-->
<!-- JVRC Task R11L
    <include>
      <static>1</static>
      <uri>model://JVRC_R11L</uri>
    </include>
    <plugin name="USARGazebo" filename="libUSARGazebo.so">
      <StartPose_1>STARTPOINT  3.24,1.895,0.8 0,0,0</StartPose_1>
    </plugin>
-->
<!-- JVRC Task R11M
    <include>
      <static>1</static>
      <uri>model://JVRC_R11M</uri>
    </include>
    <plugin name="USARGazebo" filename="libUSARGazebo.so">
      <StartPose_1>STARTPOINT  3.24,2.035,0.8 0,0,0</StartPose_1>
    </plugin>
-->
<!-- JVRC Task R12
    <include>
      <static>1</static>
      <uri>model://JVRC_R12</uri>
    </include>
    <plugin name="USARGazebo" filename="libUSARGazebo.so">
      <StartPose_1>STARTPOINT  3.24,2.035,0.8 0,0,0</StartPose_1>
    </plugin>
-->
<!-- JVRC Task R2AB
    <include>
      <static>1</static>
      <uri>model://JVRC_R2AB</uri>
    </include>
    <plugin name="USARGazebo" filename="libUSARGazebo.so">
      <StartPose_1>STARTPOINT  4.45,2.1,0.8 0,0,0</StartPose_1>
    </plugin>
-->
<!-- JVRC Task R2C
    <include>
      <static>1</static>
      <uri>model://JVRC_R2C</uri>
    </include>
    <plugin name="USARGazebo" filename="libUSARGazebo.so">
      <StartPose_1>STARTPOINT  6.85,2.1,0.8 0,0,0</StartPose_1>
    </plugin>
-->
<!-- JVRC Task R3A
    <include>
      <static>1</static>
      <uri>model://JVRC_R3A_field</uri>
    </include>
    <include>
      <uri>model://JVRC_R3A_obj</uri>
    </include>
    <plugin name="USARGazebo" filename="libUSARGazebo.so">
      <StartPose_1>STARTPOINT  3.24,2.035,0.8 0,0,0</StartPose_1>
    </plugin>
-->
<!-- JVRC Task R3B
    <include>
      <static>1</static>
      <uri>model://JVRC_R3B</uri>
    </include>
    <plugin name="USARGazebo" filename="libUSARGazebo.so">
      <StartPose_1>STARTPOINT  3.19,2.035,0.8 0,0,0</StartPose_1>
    </plugin>
-->
<!-- JVRC Task R4
    <include>
      <static>1</static>
      <uri>model://JVRC_R4_field</uri>
    </include>
    <include>
      <uri>model://JVRC_R4_obj</uri>
    </include>
    <plugin name="USARGazebo" filename="libUSARGazebo.so">
      <StartPose_1>STARTPOINT  4.68,2.183,0.8 0,0,0</StartPose_1>
    </plugin>
-->
<!-- JVRC Task R5
    <include>
      <static>1</static>
      <uri>model://JVRC_R5_field</uri>
    </include>
    <include>
      <uri>model://JVRC_R5_obj</uri>
    </include>
    <plugin name="USARGazebo" filename="libUSARGazebo.so">
      <StartPose_1>STARTPOINT  3.19,2.61,0.8 0,0,0</StartPose_1>
    </plugin>
-->

  </world>
</sdf>
