/usr/share/gazebo-9/worlds/sim_events.world is in gazebo9-common 9.0.0+dfsg5-3ubuntu1.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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<sdf version="1.5">
<world name="default">
<include>
<uri>model://ground_plane</uri>
</include>
<include>
<uri>model://sun</uri>
</include>
<plugin name="SimEvents" filename="libSimEventsPlugin.so">
<session></session>
<region>
<name>start</name>
<volume>
<!-- min and max are ignition::math::Vector3d -->
<!-- around the origin -->
<min>-3 -3 -3</min>
<max>3 3 3</max>
</volume>
</region>
<region>
<name>end</name>
<volume>
<!-- around 10,10 -->
<min>7 7 0</min>
<max>13 13 3</max>
</volume>
</region>
<event>
<name>NewBeer</name>
<type>existence</type>
<model>beer</model>
</event>
<event>
<name>Inactive</name>
<type>sim_state</type>
<!-- elements can be active or not,
and this property can be set at runtime or in the world file
with the active element
by default, they are.
-->
<active>false</active>
</event>
<event>
<name>All_spawn_and_delete</name>
<type>existence</type>
<!-- no model is specified -->
</event>
<!-- when the simulation state changes (pause/play) -->
<event>
<name>Sim</name>
<type>sim_state</type>
</event>
<!-- bounding box intersection event-->
<event>
<name>Can1_in_0_0</name>
<type>inclusion</type>
<model>can1</model>
<region>start</region>
</event>
<!-- bounding box inclusion event -->
<event>
<name>Can1_in_10_10</name>
<type>inclusion</type>
<model>can1</model>
<region>end</region>
</event>
<!-- Joint trigger events -->
<!-- position (linear or angular) -->
<event>
<name>joint_position</name>
<type>joint</type>
<model>revoluter</model>
<joint>joint</joint>
<range>
<type>position</type>
<min>5</min>
<max>10</max>
</range>
</event>
<!-- Angle: must be in range -PI to PI -->
<event>
<name>joint_angle</name>
<type>joint</type>
<model>revoluter</model>
<joint>joint</joint>
<range>
<type>normalized_angle</type>
<min>3</min>
<max>3.1416</max>
</range>
</event>
<!-- Velocity -->
<event>
<name>joint_velocity</name>
<type>joint</type>
<model>revoluter</model>
<joint>joint</joint>
<range>
<type>velocity</type>
<min>3</min>
<max>3.3</max>
</range>
</event>
<!-- Applied Force -->
<event>
<name>joint_force</name>
<type>joint</type>
<model>revoluter</model>
<joint>joint</joint>
<type>applied_force</type>
<range>
<type>applied_force</type>
<min>3</min>
<max>3.3</max>
</range>
</event>
<!-- Close the plugin element -->
</plugin>
<!--
spawn a few beers in the world (not coke cans, they have
meshes that can't be loaded with all engines yet
-->
<include>
<pose>0 0 0 0 0 0</pose>
<name>can1</name>
<uri>model://beer</uri>
</include>
<include>
<pose>5 0 0 0 0 0</pose>
<name>can2</name>
<uri>model://beer</uri>
</include>
<include>
<pose>10 0 0 0 0 0</pose>
<uri>model://beer</uri>
<name>can3</name>
</include>
<include>
<pose>15 0 0 0 0 0</pose>
<name>can4</name>
<uri>model://beer</uri>
</include>
<!--
Model with a revolute joint
-->
<model name='revoluter'>
<pose>0.5 0.5 0.5 0 0 0</pose>
<link name='base'>
<pose>0 0 0 0 -0 0</pose>
<visual name='visual'>
<geometry>
<box>
<size>0.5 1 1</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Orange</name>
</script>
</material>
</visual>
<collision name='collision'>
<geometry>
<box>
<size>0.5 1 1</size>
</box>
</geometry>
</collision>
</link>
<link name='needle'>
<pose>0.25 0 -0.2 0 -0 0</pose>
<visual name='visual'>
<geometry>
<cylinder>
<radius>0.05</radius>
<length>0.5</length>
</cylinder>
</geometry>
</visual>
<collision name='collision'>
<geometry>
<cylinder>
<radius>0.05</radius>
<length>0.5</length>
</cylinder>
</geometry>
</collision>
</link>
<joint name='joint' type='revolute'>
<parent>base</parent>
<child>needle</child>
<pose>0 0 0 0 0 0</pose>
<axis>
<xyz>1 0 0</xyz>
</axis>
</joint>
<!-- this joint keeps the model from moving around -->
<joint name ='fix' type='fixed'>
<parent>world</parent>
<child>base</child>
</joint>
</model>
</world>
</sdf>
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