<?xml version="1.0" ?>
<sdf version="1.4">
  <world name="default">
    <model name="model">
      <pose>0.0 0.0 10.1 0 0.0 0.0</pose>
      <link name="link_1">
        <inertial>
          <pose>0.0 0.0 -10.0 0.0 0.0 0.0</pose>
          <inertia>
            <ixx>1e-1</ixx>
            <ixy>0.0</ixy>
            <ixz>0.0</ixz>
            <iyy>1e-1</iyy>
            <iyz>0.0</iyz>
            <izz>1e-1</izz>
          </inertia>
          <mass>10.0</mass>
        </inertial>
        <visual name="visual_cylinder">
          <pose>0.0 0.0 -5.0 0.0 0.0 0.0</pose>
          <geometry>
            <cylinder>
              <radius>0.05</radius>
              <length>10.0</length>
            </cylinder>
          </geometry>
          <material>
            <script>Gazebo/Green</script>
          </material>
        </visual>
        <collision name="collision_cylinder">
          <pose>0.0 0.0 -5.0 0.0 0.0 0.0</pose>
          <max_contacts>250</max_contacts>
          <geometry>
            <cylinder>
              <radius>0.05</radius>
              <length>10.0</length>
            </cylinder>
          </geometry>
        </collision>

        <visual name="visual_sphere">
          <pose>0.0 0.0 -10.0 0.0 0.0 0.0</pose>
          <geometry>
            <sphere>
              <radius>0.1</radius>
            </sphere>
          </geometry>
          <material>
            <script>Gazebo/Red</script>
          </material>
        </visual>
        <collision name="collision_sphere">
          <pose>0.0 0.0 -10.0 0.0 0.0 0.0</pose>
          <geometry>
            <sphere>
              <radius>0.1</radius>
            </sphere>
          </geometry>
        </collision>
      </link>

      <joint name="joint" type="revolute">
        <parent>world</parent>
        <child>link_1</child>
        <axis>
          <xyz>1.0 0.0 0.0</xyz>
        </axis>
      </joint>
    </model>
  </world>
</sdf>
