<sdf version='1.10'>
  <world name='corn_field_wide'>
    <physics name='1ms' type='ignored'>
      <max_step_size>0.001</max_step_size>
      <real_time_factor>1</real_time_factor>
      <real_time_update_rate>1000</real_time_update_rate>
    </physics>
    <plugin name='gz::sim::systems::Physics' filename='gz-sim-physics-system'/>
    <plugin name='gz::sim::systems::UserCommands' filename='gz-sim-user-commands-system'/>
    <plugin name='gz::sim::systems::SceneBroadcaster' filename='gz-sim-scene-broadcaster-system'/>
    
    <gravity>0 0 -9.8</gravity>
    
    <scene>
      <ambient>0.4 0.4 0.4 1</ambient>
      <background>0.7 0.7 0.7 1</background>
      <shadows>true</shadows>
      <sky>
        <clouds>
          <speed>0.6</speed>
        </clouds>
      </sky>
    </scene>

    <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>
          <surface>
            <friction>
              <ode>
                <mu>100</mu>
                <mu2>50</mu2>
              </ode>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <cast_shadows>false</cast_shadows>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
          <material>
            <ambient>0.2 0.15 0.1 1</ambient>
            <diffuse>0.25 0.18 0.12 1</diffuse>
            <specular>0 0 0 1</specular>
          </material>
        </visual>
      </link>
    </model>

    <light name='sun' type='directional'>
      <pose>0 0 10 0 0 0</pose>
      <cast_shadows>true</cast_shadows>
      <intensity>1</intensity>
      <direction>-0.5 0.1 -0.9</direction>
      <diffuse>0.8 0.8 0.8 1</diffuse>
    </light>

    <include>
      <uri>file:///home/marcin/arm_ws/src/world_description/harvester.sdf</uri>
      <pose>-10 -10 3.3 0 0 0</pose>
    </include>

  </world>
</sdf>