<?xml version="1.0" ?>
<sdf version="1.5">
  <world name="default">
    <gravity>0 0 0</gravity>
    <!-- A ground plane -->
    <model name='fixed_joint_test'>
      <link name='base_link'>
        <pose frame=''>0 0 0.5 0 -0 0</pose>
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>0.16</ixx>
            <ixy>0.01</ixy>
            <ixz>0</ixz>
            <iyy>0.16</iyy>
            <iyz>0</iyz>
            <izz>0.16</izz>
          </inertia>
        </inertial>
        <visual name='base_link_visual'>
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
        </visual>
        <collision name='base_link_collision'>
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
        </collision>
      </link>
      <joint name='world_to_base_joint' type='fixed'>
        <child>base_link</child>
        <parent>world</parent>
      </joint>
    </model>
  </world>
</sdf>
