<?xml version="1.0" ?>
<sdf version="1.4">
  <world name="default">
    <include>
      <uri>model://ground_plane</uri>
    </include>
    <include>
      <uri>model://sun</uri>
    </include>
    <include>
      <uri>model://table</uri>
      <name>table</name>
      <pose>0.0 -0.84 0 0 0 0</pose>
    </include>

    <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>
      <!-- (2022-12-20) humble: change gravity from [0 0 -9.81] to [0 0 0] -->
      <gravity>0 0 0</gravity>
    </physics>

  </world>
</sdf>
