<sdf version="1.4">
  <world name="default">
    <physics type="ode">
      <gravity>0 0 0</gravity>
      <ode>
        <solver>
          <type>quick</type>
          <iters>1000</iters>
          <precon_iters>0</precon_iters>
          <sor>1.000000</sor>
        </solver>
        <constraints>
          <cfm>0.000000</cfm>
          <erp>0.200000</erp>
          <contact_max_correcting_vel>100.000000</contact_max_correcting_vel>
          <contact_surface_layer>0.01000</contact_surface_layer>
        </constraints>
      </ode>
      <bullet>
        <solver>
          <type>sequential_impulse</type>
          <iters>1000</iters>
          <sor>1.000000</sor>
        </solver>
        <constraints>
          <cfm>0.000000</cfm>
          <erp>0.200000</erp>
          <split_impulse>true</split_impulse>
          <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
          <contact_surface_layer>0.00000</contact_surface_layer>
        </constraints>
      </bullet>
      <real_time_update_rate>1000.000000</real_time_update_rate>
      <max_step_size>0.001</max_step_size>
    </physics>
    <include>
      <uri>model://sun</uri>
    </include>
    <model name="model_1">
      <link name="link_00">
        <gravity>true</gravity>
        <pose>0 0 2 0 0 0</pose>
        <inertial>
          <mass>0.1</mass>
          <pose>0 0 -0.5 0 0 0</pose>
          <inertia>
            <ixx>0.01</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.01</iyy>
            <iyz>0</iyz>
            <izz>0.01</izz>
          </inertia>
        </inertial>
        <collision name="col">
          <pose>0 0 -0.5 0 0 0</pose>
          <geometry>
            <box>
              <size>0.10 0.20 1.0</size>
            </box>
          </geometry>
        </collision>
        <visual name="vis">
          <pose>0 0 -0.5 0 0 0</pose>
          <geometry>
            <box>
              <size>0.10 0.20 1.0</size>
            </box>
          </geometry>
          <material>
            <script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/Green</name></script>
          </material>
        </visual>
        <visual name="vis2">
          <pose>0 0.125 -0.5 0 0 0</pose>
          <geometry>
            <sphere>
              <radius>0.05</radius>
            </sphere>
          </geometry>
          <material>
            <script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/Green</name></script>
          </material>
        </visual>
      </link>
      <link name="link_01">
        <gravity>true</gravity>
        <pose>0 0 1.0 0 0 0</pose>
        <inertial>
          <mass>0.1</mass>
          <pose>0 0 -0.5 0 0 0</pose>
          <inertia>
            <ixx>0.01</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.01</iyy>
            <iyz>0</iyz>
            <izz>0.01</izz>
          </inertia>
        </inertial>
        <collision name="col">
          <pose>0 0 -0.5 0 0 0</pose>
          <geometry>
            <box>
              <size>0.10 0.20 1.0</size>
            </box>
          </geometry>
          <surface>
            <contact>
              <ode>
                <min_depth>0.005</min_depth>
              </ode>
            </contact>
            <friction>
              <ode>
                <mu>1.0</mu>
                <mu2>1.0</mu2>
              </ode>
            </friction>
          </surface>
        </collision>
        <visual name="vis">
          <pose>0 0 -0.5 0 0 0</pose>
          <geometry>
            <box>
              <size>0.10 0.20 1.0</size>
            </box>
          </geometry>
          <material>
            <script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/Red</name></script>
          </material>
        </visual>
        <visual name="vis2">
          <pose>0 0.125 -0.5 0 0 0</pose>
          <geometry>
            <sphere>
              <radius>0.05</radius>
            </sphere>
          </geometry>
          <material>
            <script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/Green</name></script>
          </material>
        </visual>
      </link>
      <joint name="joint_00" type="screw">
        <parent>world</parent>
        <child>link_00</child>
        <!-- copy thread pitch from pr2 -->
        <thread_pitch>-3141.6</thread_pitch>
        <axis>
          <xyz>1 0 0</xyz>
          <limit>
            <lower>-1.7</lower>
            <upper>1.7</upper>
            <stiffness>1e6</stiffness>
            <dissipation>1.0</dissipation>
          </limit>
          <dynamics>
            <damping>0.1</damping>
          </dynamics>
        </axis>
        <physics>
          <ode>
            <cfm_damping>1</cfm_damping>
          </ode>
        </physics>
      </joint>
      <joint name="joint_01" type="screw">
        <child>link_01</child>
        <parent>link_00</parent>
        <!-- copy thread pitch from pr2 -->
        <thread_pitch>3141.6</thread_pitch>
        <axis>
          <xyz>1 0 0</xyz>
          <limit>
            <lower>-1.7</lower>
            <upper>1.7</upper>
            <stiffness>1e6</stiffness>
            <dissipation>1.0</dissipation>
          </limit>
          <dynamics>
            <damping>0.1</damping>
          </dynamics>
        </axis>
        <physics>
          <ode>
            <cfm_damping>1</cfm_damping>
          </ode>
        </physics>
      </joint>
    </model>
  </world>
</sdf>
