test2.world

<sdf version='1.7'>
  <world name='default'>

    <model name="cylinder_1_1_2.0">
      <pose>0 0 0 0 0 0</pose>
      <link name="cylinder_1_1_2.0">
        <!-- The visual is mostly a copy of the collision -->
        <pose>0 0 0 0 0 0</pose>
        <collision name='collision'>
          <geometry>
            <mesh>
              <uri>model://cylinder_1_1_2/meshes/cylinder_1_1_2.0.dae</uri>
            </mesh>
          </geometry>
            <surface>
              <friction>
                <ode>
                <!-- mu: vertical friction coefficient -->
                  <mu>100</mu> 
                <!-- mu2: horizontal friction coefficient -->  
                  <mu2>50</mu2>
                </ode>
              </friction>
            </surface>
        </collision>
        <visual name="visual">
      <!-- Offset the visual by have the base's height. We are not rotating
          mesh since symmetrical -->
          <geometry>
            <mesh>
              <uri>model://cylinder_1_1_2/meshes/cylinder_1_1_2.0.dae</uri>
            </mesh>
          </geometry>
        </visual>
      </link>
      <plugin name="obstacle_motion" filename="libobstaclePathPlugin.so">
        <loop>1</loop>
        <velocity>0.5</velocity>
        <angular_velocity>0.8</angular_velocity>
        <path>
          <waypoint>3.0 4.0 0.0</waypoint>
          <waypoint>3.0 -4.0 0.0</waypoint>
        </path>
      </plugin>
    </model> 
    <light name='sun' type='directional'>
      <cast_shadows>1</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>
      <spot>
        <inner_angle>0</inner_angle>
        <outer_angle>0</outer_angle>
        <falloff>0</falloff>
      </spot>
    </light>
    <model name='ground_plane'>
      <static>1</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>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <contact>
              <ode/>
            </contact>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='visual'>
          <cast_shadows>0</cast_shadows>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
    </model>
    <gravity>0 0 -9.8</gravity>
    <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
    <atmosphere type='adiabatic'/>
    <physics type='ode'>
      <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>
    <scene>
      <ambient>0.4 0.4 0.4 1</ambient>
      <background>0.7 0.7 0.7 1</background>
      <shadows>1</shadows>
    </scene>
    <wind/>
    <spherical_coordinates>
      <surface_model>EARTH_WGS84</surface_model>
      <latitude_deg>0</latitude_deg>
      <longitude_deg>0</longitude_deg>
      <elevation>0</elevation>
      <heading_deg>0</heading_deg>
    </spherical_coordinates>
    <state world_name='default'>
      <sim_time>32 572000000</sim_time>
      <real_time>32 666591599</real_time>
      <wall_time>1731670200 698657619</wall_time>
      <iterations>32572</iterations>
      <model name='ground_plane'>
        <pose>0 0 0 0 -0 0</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose>0 0 0 0 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
      </model>
      <light name='sun'>
        <pose>0 0 10 0 -0 0</pose>
      </light>
    </state>
    <gui fullscreen='0'>
      <camera name='user_camera'>
        <pose>2.10352 -8.60887 14.313 -0 0.931644 1.26819</pose>
        <view_controller>orbit</view_controller>
        <projection_type>perspective</projection_type>
      </camera>
    </gui>
  </world>
</sdf>