<sdf version='1.6'>
  <world name='default'>
    <light name='sun' type='directional'>
      <cast_shadows>1</cast_shadows>
      <pose frame=''>0 0 10 0 -0 0</pose>
      <diffuse>0.8 0.8 0.8 1</diffuse>
      <specular>0.1 0.1 0.1 1</specular>
      <attenuation>
        <range>1000</range>
        <constant>0.9</constant>
        <linear>0.01</linear>
        <quadratic>0.001</quadratic>
      </attenuation>
      <direction>-0.5 0.5 -1</direction>
    </light>
    <model name='box'>
      <pose frame=''>1.61196 -2.08957 0.5 0 -0 0</pose>
      <link name='link'>
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>0.166667</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.166667</iyy>
            <iyz>0</iyz>
            <izz>0.166667</izz>
          </inertia>
        </inertial>
        <collision name='collision'>
          <geometry>
            <box>
              <size>1 0.999999 1</size>
            </box>
          </geometry>
        </collision>
        <visual name='visual'>
          <geometry>
            <box>
              <size>1 0.999999 1</size>
            </box>
          </geometry>
        </visual>
        <gravity>0</gravity>
      </link>
    </model>
    <model name='sphere'>
      <pose frame=''>2.17152 1.84984 0.5 0 -0 0</pose>
      <link name='link'>
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>0.1</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.1</iyy>
            <iyz>0</iyz>
            <izz>0.1</izz>
          </inertia>
        </inertial>
        <collision name='collision'>
          <geometry>
            <sphere>
              <radius>0.5</radius>
            </sphere>
          </geometry>
        </collision>
        <visual name='visual'>
          <geometry>
            <sphere>
              <radius>0.5</radius>
            </sphere>
          </geometry>
        </visual>
        <gravity>0</gravity>
      </link>
    </model>
    <model name='cylinder'>
      <pose frame=''>-1.70923 -3.91252 0.5 0 -0 0</pose>
      <link name='link'>
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>0.145833</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.145833</iyy>
            <iyz>0</iyz>
            <izz>0.125</izz>
          </inertia>
        </inertial>
        <collision name='collision'>
          <geometry>
            <cylinder>
              <radius>0.499999</radius>
              <length>1</length>
            </cylinder>
          </geometry>
        </collision>
        <visual name='visual'>
          <geometry>
            <cylinder>
              <radius>0.499999</radius>
              <length>1</length>
            </cylinder>
          </geometry>
        </visual>
        <gravity>0</gravity>
      </link>
    </model>
    <state world_name='default'>
      <sim_time>12 964000000</sim_time>
      <real_time>13 6842744</real_time>
      <wall_time>1452197074 906380472</wall_time>
      <iterations>12964</iterations>
      <model name='box'>
        <pose frame=''>1.61196 -2.08959 0.499859 9.8e-05 -0 0</pose>
        <scale>3.34637 2.87999 0.123722</scale>
        <link name='link'>
          <pose frame=''>1.61196 -2.08959 0.499859 9.8e-05 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>1e-06 -9.8 0 -1.28813 8e-06 -0</acceleration>
          <wrench>1e-06 -9.8 0 0 -0 0</wrench>
        </link>
      </model>
      <model name='cylinder'>
        <pose frame=''>-1.70923 -3.91252 0.5 0 -0 0</pose>
        <scale>2.2969 2.2969 2.09564</scale>
        <link name='link'>
          <pose frame=''>-1.70923 -3.91252 0.5 0 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
      </model>
      <model name='sphere'>
        <pose frame=''>2.17152 1.84984 0.5 0 -0 0</pose>
        <scale>0.402674 0.402674 0.402674</scale>
        <link name='link'>
          <pose frame=''>2.17152 1.84984 0.5 0 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
      </model>
      <light name='sun'>
        <pose frame=''>0 0 10 0 -0 0</pose>
      </light>
    </state>
  </world>
</sdf>
