<sdf version='1.5'>
  <world name='default'>
    <physics name='default_physics' default='0' type='ode'>
      <gravity>-100 0 0</gravity>
      <ode>
        <solver>
          <type>quick</type>
          <iters>300</iters>
          <sor>1.0</sor>
        </solver>
        <constraints>
          <cfm>0</cfm>
          <erp>0.5</erp>
          <contact_max_correcting_vel>1000.0</contact_max_correcting_vel>
          <contact_surface_layer>0</contact_surface_layer>
        </constraints>
      </ode>
      <real_time_update_rate>0.000000</real_time_update_rate>
      <max_step_size>0.001</max_step_size>
    </physics>
    <model name='box'>
      <allow_auto_disable>0</allow_auto_disable>
      <pose>0 0 0 0 -0 0</pose>
      <link name='link'>
        <inertial>
          <inertia>
            <ixx>1</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>1</iyy>
            <iyz>0</iyz>
            <izz>1</izz>
          </inertia>
          <mass>5</mass>
        </inertial>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
        <collision name='collision'>
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
          <surface>
            <contact>
              <poissons_ratio>0.3</poissons_ratio>
              <elastic_modulus>500000.0</elastic_modulus>
              <ode>
                <kp>1</kp>
                <kd>100.0</kd>
                <max_vel>100.0</max_vel>
                <min_depth>0.0015</min_depth>
              </ode>
            </contact>
            <friction>
              <torsional>
                <coefficient>1.0</coefficient>
                <use_patch_radius>0</use_patch_radius>
                <surface_radius>0.08</surface_radius>
              </torsional>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
              </ode>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>__default__</uri>
              <name>__default__</name>
            </script>
          </material>
        </visual>
      </link>
      <static>1</static>
    </model>
    <model name='sphere'>
      <allow_auto_disable>0</allow_auto_disable>
      <pose>2 0.3 0.2 0 -0 0</pose>
      <link name='link'>
        <inertial>
          <inertia>
            <ixx>1</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>1</iyy>
            <iyz>0</iyz>
            <izz>1</izz>
          </inertia>
          <mass>3</mass>
        </inertial>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
        <collision name='collision'>
          <geometry>
            <sphere>
              <radius>0.5</radius>
            </sphere>
          </geometry>
          <surface>
            <contact>
              <poissons_ratio>0.4</poissons_ratio>
              <elastic_modulus>600000.0</elastic_modulus>
              <ode>
                <kp>1</kp>
                <kd>100.0</kd>
                <max_vel>100.0</max_vel>
                <min_depth>0.001</min_depth>
              </ode>
            </contact>
            <friction>
              <torsional>
                <coefficient>1.0</coefficient>
                <use_patch_radius>0</use_patch_radius>
                <surface_radius>0.06</surface_radius>
              </torsional>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
              </ode>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
            <sphere>
              <radius>0.5</radius>
            </sphere>
          </geometry>
          <material>
            <script>
              <uri>__default__</uri>
              <name>__default__</name>
            </script>
          </material>
        </visual>
      </link>
    </model>
    <light name='sun' type='directional'>
      <pose>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>10</range>
        <linear>0.01</linear>
        <constant>0.8</constant>
        <quadratic>0</quadratic>
      </attenuation>
      <direction>0 0.5 -0.5</direction>
      <cast_shadows>1</cast_shadows>
    </light>
    <scene>
      <ambient>0.4 0.4 0.4 1</ambient>
      <background>0.7 0.7 0.7 1</background>
      <shadows>1</shadows>
    </scene>
  </world>
</sdf>
