lighter_than_air_blimp.sdf

<?xml version="1.0" ?>
<sdf version="1.6">
  <world name="blimp">

   <physics name="1ms" type="ode">
      <max_step_size>0.001</max_step_size>
      <!-- Zero to run as fast as possible -->
      <real_time_factor>1</real_time_factor>
    </physics>

    <gravity>0 0 -9.81</gravity>

    <plugin
      filename="gz-sim-physics-system"
      name="gz::sim::systems::Physics">
    </plugin>
    <plugin
      filename="gz-sim-user-commands-system"
      name="gz::sim::systems::UserCommands">
    </plugin>
    <plugin
      filename="gz-sim-scene-broadcaster-system"
      name="gz::sim::systems::SceneBroadcaster">
    </plugin>

    <plugin
      filename="gz-sim-buoyancy-system"
      name="gz::sim::systems::Buoyancy">
      <uniform_fluid_density>1.097</uniform_fluid_density>
    </plugin>

    <light type="directional" name="sun">
      <cast_shadows>true</cast_shadows>
      <pose>0 0 10 0 0 0</pose>
      <diffuse>1 1 1 1</diffuse>
      <specular>0.5 0.5 0.5 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>
    </light>

    <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>
        </collision>
        <visual name="visual">
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
          <material>
            <ambient>0.8 0.8 0.8 1</ambient>
            <diffuse>0.8 0.8 0.8 1</diffuse>
            <specular>0.8 0.8 0.8 1</specular>
          </material>
        </visual>
      </link>
    </model>
    <include>
      <uri>
        https://fuel.gazebosim.org/1.0/hkotze/models/airship
      </uri>
    </include>
  </world>
</sdf>