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                <coefficient>0.005</coefficient>
                <surface_radius>0.01</surface_radius>
                <use_patch_radius>false</use_patch_radius>
              </torsional>
            </friction>
            <contact>
              <ode>
                <kp>500000</kp>
              </ode>
            </contact>
          </surface>
        </collision>
        <visual name="visual">
          <geometry>
            <sphere>
              <radius>0.01</radius>
            </sphere>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/CoM</name>
            </script>
          </material>
        </visual>
      </link>
    </model>

    <model name='sphere_radius_2'>
      <allow_auto_disable>0</allow_auto_disable>
      <pose>0.8 3 0.1  0 0 0</pose>
      <link name="link">
        <inertial>
          <mass>11.309733552923259</mass>
          <inertia>
            <ixx>0.045238934211693047</ixx>
            <iyy>0.045238934211693047</iyy>
            <izz>0.045238934211693047</izz>
            <ixy>0.0</ixy>
            <ixz>0.0</ixz>
            <iyz>0.0</iyz>
          </inertia>
        </inertial>
        <collision name="collision">
          <geometry>
            <sphere>
              <radius>0.1</radius>
            </sphere>
          </geometry>
          <surface>
            <friction>
              <torsional>
                <coefficient>0.005</coefficient>
                <surface_radius>0.1</surface_radius>
                <use_patch_radius>false</use_patch_radius>
              </torsional>
            </friction>
            <contact>
              <ode>
                <kp>500000</kp>
              </ode>
            </contact>
          </surface>
        </collision>
        <visual name="visual">
          <geometry>
            <sphere>
              <radius>0.1</radius>
            </sphere>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/CoM</name>
            </script>
          </material>
        </visual>
      </link>
    </model>

    <model name='sphere_radius_3'>
      <allow_auto_disable>0</allow_auto_disable>
      <pose>9.600000000000001 3 0.8  0 0 0</pose>
      <link name="link">
        <inertial>
          <mass>11.309733552923259</mass>
          <inertia>
            <ixx>0.045238934211693047</ixx>
            <iyy>0.045238934211693047</iyy>
            <izz>0.045238934211693047</izz>
            <ixy>0.0</ixy>
            <ixz>0.0</ixz>
            <iyz>0.0</iyz>
          </inertia>
        </inertial>
        <collision name="collision">
          <geometry>
            <sphere>
              <radius>0.8</radius>
            </sphere>
          </geometry>
          <surface>
            <friction>
              <torsional>
                <coefficient>0.005</coefficient>
                <surface_radius>0.8</surface_radius>
                <use_patch_radius>false</use_patch_radius>
              </torsional>
            </friction>
            <contact>
              <ode>
                <kp>500000</kp>
              </ode>
            </contact>
          </surface>
        </collision>
        <visual name="visual">
          <geometry>
            <sphere>
              <radius>0.8</radius>
            </sphere>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/CoM</name>
            </script>
          </material>
        </visual>
      </link>
    </model>

    <model name='sphere_radius_4'>
      <allow_auto_disable>0</allow_auto_disable>
      <pose>32.0 3 2.0  0 0 0</pose>
      <link name="link">
        <inertial>
          <mass>11.309733552923259</mass>
          <inertia>
            <ixx>0.045238934211693047</ixx>
            <iyy>0.045238934211693047</iyy>
            <izz>0.045238934211693047</izz>
            <ixy>0.0</ixy>
            <ixz>0.0</ixz>
            <iyz>0.0</iyz>
          </inertia>
        </inertial>
        <collision name="collision">
          <geometry>
            <sphere>
              <radius>2.0</radius>
            </sphere>
          </geometry>
          <surface>
            <friction>
              <torsional>
                <coefficient>0.005</coefficient>
                <surface_radius>2.0</surface_radius>
                <use_patch_radius>false</use_patch_radius>
              </torsional>
            </friction>
            <contact>
              <ode>
                <kp>500000</kp>
              </ode>
            </contact>
          </surface>
        </collision>
        <visual name="visual">
          <geometry>
            <sphere>
              <radius>2.0</radius>
            </sphere>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/CoM</name>
            </script>
          </material>
        </visual>
      </link>
    </model>

    <model name='sphere_radius_5'>
      <allow_auto_disable>0</allow_auto_disable>
      <pose>200.0 3 10.0  0 0 0</pose>
      <link name="link">
        <inertial>
          <mass>11.309733552923259</mass>
          <inertia>
            <ixx>0.045238934211693047</ixx>
            <iyy>0.045238934211693047</iyy>
            <izz>0.045238934211693047</izz>
            <ixy>0.0</ixy>
            <ixz>0.0</ixz>
            <iyz>0.0</iyz>
          </inertia>
        </inertial>
        <collision name="collision">
          <geometry>
            <sphere>
              <radius>10.0</radius>
            </sphere>
          </geometry>
          <surface>
            <friction>
              <torsional>
                <coefficient>0.005</coefficient>
                <surface_radius>10.0</surface_radius>
                <use_patch_radius>false</use_patch_radius>
              </torsional>
            </friction>
            <contact>
              <ode>
                <kp>500000</kp>
              </ode>
            </contact>
          </surface>
        </collision>
        <visual name="visual">
          <geometry>
            <sphere>
              <radius>10.0</radius>
            </sphere>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/CoM</name>
            </script>
          </material>
        </visual>
      </link>
    </model>


  </world>
</sdf>
