<sdf version="1.4">
  <world name="default">

    <scene>
      <ambient>0.4 0.4 0.4 1</ambient>
      <background>0.7 0.7 0.7 1</background>
      <shadows>true</shadows>
    </scene>

    <!-- A global light source -->
    <include>
      <uri>model://sun</uri>
    </include>

    <!-- A ground plane -->
    <include>
      <uri>model://ground_plane</uri>
    </include>


    <!-- object map -->
    <include>
      <uri>model://lcmap</uri>
      <pose> 2 2 0 0 0 0</pose>
    </include>


    <!-- RI sign object -->
    <include>
      <uri>model://ri_sign</uri>
      <pose> 4 4 0 0 0 0</pose>
    </include>


    <physics type="ode">
      <real_time_update_rate>1000.0</real_time_update_rate>
      <max_step_size>0.001</max_step_size>
      <real_time_factor>1</real_time_factor>
      <ode>
        <solver>
          <type>quick</type>
          <iters>150</iters>
          <precon_iters>0</precon_iters>
          <sor>1.400000</sor>
          <use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling>
        </solver>
        <constraints>
          <cfm>0.00001</cfm>
          <erp>0.2</erp>
          <contact_max_correcting_vel>2000.000000</contact_max_correcting_vel>
          <contact_surface_layer>0.01000</contact_surface_layer>
        </constraints>
      </ode>
    </physics>


    <!-- camera -->
    <gui fullscreen='0'>
      <camera name='user_camera'>
        <pose frame=''>5.4 -0.83 6.18 0 0.9 2.4721</pose>
        <view_controller>orbit</view_controller>
        <projection_type>perspective</projection_type>
      </camera>
    </gui>


  </world>

</sdf>
