<?xml version="1.0" ?>
<sdf version="1.3">
    <world name="default">
        <physics type="ode">
            <gravity>0 0 0</gravity>
            <update_rate>1000</update_rate>
            <ode>
                <solver>
                    <type>quick</type>
                    <dt>0.001</dt>
                    <iters>1000</iters>
                    <sor>1.0</sor>
                </solver>
                <constraints>
                    <cfm>0.0</cfm>
                    <erp>0.2</erp>
                    <contact_max_correcting_vel>100.0</contact_max_correcting_vel>
                    <contact_surface_layer>0.0</contact_surface_layer>
                </constraints>
            </ode>
        </physics>
        <!-- A global light source -->
        <include>
            <uri>model://sun</uri>
        </include>
        <model name="model_1">
            <pose>0 0 0 0 0 0</pose>
            <link name="link_1">
                <pose>0 0 0 0 0 0</pose>
                <inertial>
                    <pose>0 0 0 0 0 0</pose>
                    <inertia>
                        <ixx>200.000000</ixx>
                        <ixy>0.000000</ixy>
                        <ixz>0.000000</ixz>
                        <iyy>300.000000</iyy>
                        <iyz>0.000000</iyz>
                        <izz>400.000000</izz>
                    </inertia>
                    <mass>1.000000</mass>
                </inertial>
                <visual name="visual_cylinder">
                    <pose>0 0 -0.5 0 0 0</pose>
                    <geometry>
                        <cylinder>
                            <radius>0.100000</radius>
                            <length>1.000000</length>
                        </cylinder>
                    </geometry>
                    <material>
                        <script>Gazebo/Green</script>
                    </material>
                </visual>
                <collision name="collision_cylinder">
                    <pose>0 0 -0.5 0 0 0</pose>
                    <geometry>
                        <cylinder>
                            <radius>0.100000</radius>
                            <length>1.000000</length>
                        </cylinder>
                    </geometry>
                </collision>
            </link>
            <joint name="joint_01" type="revolute">
              <parent>world</parent>
              <child>link_1</child>
              <pose>0 0 0 0 0 0</pose>
              <axis>
                <limit>
                  <effort>1000.000000</effort>
                  <velocity>1000.000000</velocity>
                </limit>
                <dynamics>
                  <damping>0.000000</damping>
                  <friction>0.000000</friction>
                </dynamics>
                <xyz>1.000000 0.000000 0.000000</xyz>
              </axis>
              <physics>
                <provide_feedback>true</provide_feedback>
              </physics>
            </joint>
            <static>0</static>
        </model>
        <model name="model_2">
            <pose>2 0 0 0 0 0</pose>
            <link name="link_1">
                <pose>0 0 0 0 0 0</pose>
                <inertial>
                    <pose>0 0 0 0 0 0</pose>
                    <inertia>
                        <ixx>200.000000</ixx>
                        <ixy>0.000000</ixy>
                        <ixz>0.000000</ixz>
                        <iyy>300.000000</iyy>
                        <iyz>0.000000</iyz>
                        <izz>400.000000</izz>
                    </inertia>
                    <mass>1.000000</mass>
                </inertial>
                <visual name="visual_cylinder">
                    <pose>0 0 -0.5 0 0 0</pose>
                    <geometry>
                        <cylinder>
                            <radius>0.100000</radius>
                            <length>1.000000</length>
                        </cylinder>
                    </geometry>
                    <material>
                        <script>Gazebo/Green</script>
                    </material>
                </visual>
                <collision name="collision_cylinder">
                    <pose>0 0 -0.5 0 0 0</pose>
                    <geometry>
                        <cylinder>
                            <radius>0.100000</radius>
                            <length>1.000000</length>
                        </cylinder>
                    </geometry>
                </collision>
            </link>
            <joint name="joint_01" type="revolute">
              <parent>world</parent>
              <child>link_1</child>
              <pose>0 0 0 0 0 0</pose>
              <axis>
                <limit>
                  <effort>1000.000000</effort>
                  <velocity>1000.000000</velocity>
                </limit>
                <dynamics>
                  <damping>0.000000</damping>
                  <friction>0.000000</friction>
                </dynamics>
                <xyz>0.000000 0.000000 1.000000</xyz>
              </axis>
              <physics>
                <provide_feedback>true</provide_feedback>
              </physics>
            </joint>
            <static>0</static>
        </model>
    </world>
</sdf>
