<?xml version="1.0" ?>
<sdf version="1.5">
  <world name="default">
    <!-- A global light source -->
    <include>
      <uri>model://sun</uri>
    </include>
    <!-- A ground plane -->
    <include>
      <uri>model://ground_plane</uri>
    </include>
    <include>
      <uri>model://asphalt_plane</uri>
    </include>
    <plugin name='wind_plugin' filename='libgazebo_wind_plugin.so'>
      <frameId>base_link</frameId>
      <robotNamespace/>
      <xyzOffset>1 0 0</xyzOffset>
      <windDirectionMean>0 1 0</windDirectionMean>
      <windVelocityMean>4.0</windVelocityMean>
      <windGustDirection>0 0 0</windGustDirection>
      <windGustDuration>0</windGustDuration>
      <windGustStart>0</windGustStart>
      <windGustVelocityMean>0</windGustVelocityMean>
      <windPubTopic>world_wind</windPubTopic>
    </plugin>
    <physics name='default_physics' default='0' type='ode'>
      <gravity>0 0 -9.8066</gravity>
      <ode>
        <solver>
          <type>quick</type>
          <iters>10</iters>
          <sor>1.3</sor>
          <use_dynamic_moi_rescaling>0</use_dynamic_moi_rescaling>
        </solver>
        <constraints>
          <cfm>0</cfm>
          <erp>0.2</erp>
          <contact_max_correcting_vel>100</contact_max_correcting_vel>
          <contact_surface_layer>0.001</contact_surface_layer>
        </constraints>
      </ode>
      <max_step_size>0.004</max_step_size>
      <real_time_factor>1</real_time_factor>
      <real_time_update_rate>250</real_time_update_rate>
      <magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
    </physics>
  </world>
</sdf>