<?xml version="1.0" ?>
<sdf version="1.4">
  <world name="default">
    <!-- Put a camera in the driverstation -->
    <gui>
      <camera name="user_camera">
        <pose>0.0 9.0 1.31 0 0 -1.57</pose>
      </camera>
    </gui>

    <!-- Make the world faster! -->
    <physics type="ode">
      <max_step_size>0.002</max_step_size>
      <real_time_update_rate>500</real_time_update_rate>
    </physics>
    
    <!-- A global light source -->
    <include>
      <uri>model://sun</uri>
    </include>
    <!-- Field -->
    <include>
      <uri>model://frc_2014_field</uri>
      <pose>0 0 0 0 0 0</pose>
    </include>
    <!-- Robot -->
    <include>
      <uri>model://PacGoat</uri>
      <pose>1.5 -2.15 0.1 1.57 0 0</pose>
    </include>
    <!-- Balls -->
    <include>
      <uri>model://frc_2014_ball_red</uri>
         <!-- Relative to: <pose>0.0 -0.5111 0.0875 1.57 0 0</pose> -->
         <!--   <pose>0.29 -0.45 1.05 0 0 0</pose> -->
         <pose>1.79 -2.0889 1.125 0 0 0</pose>
    </include>
    <include>
      <uri>model://frc_2014_ball_red</uri>
         <pose>-1.79 -2.0889 0.32 0 0 0</pose>
    </include>
    <include>
      <uri>model://frc_2014_ball_blue</uri>
         <pose>1.79 2.0889 0.31 0 0 0</pose>
    </include>
    <include>
      <uri>model://frc_2014_ball_blue</uri>
         <pose>-1.79 2.0889 0.31 0 0 0</pose>
    </include>
  </world>
</sdf>
