<?xml version="1.0" ?>
<sdf version="1.3">
    <world name="default">
        <gui>
            <camera name="user_camera">
                <pose>-60 0 5 0 0 0</pose>
            </camera>
        </gui>
        <scene>
            <ambient>0.5 0.5 0.5 1</ambient>
            <background>0.5 0.5 0.5 1</background>
            <shadows>false</shadows>
        </scene>
        <include>
            <uri>model://sun</uri>
        </include>
        <physics type="ode">
            <gravity>0.0 0.0 -9.81</gravity>
            <ode>
                <solver>
                    <type>quick</type>
                    <dt>0.001</dt>
                    <iters>100</iters>
                    <sor>1.0</sor>
                </solver>
                <constraints>
                    <cfm>0</cfm>
                    <erp>1.0</erp>
                    <contact_max_correcting_vel>0.0</contact_max_correcting_vel>
                    <contact_surface_layer>0.0</contact_surface_layer>
                </constraints>
            </ode>
        </physics>
        <model name="model_1_mass_1_damping_10000">
            <pose>0.0 0.0 10.1 1.57079633 0.0 0.0</pose>
            <link name="link_1">
                <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
                <inertial>
                    <pose>0.0 0.0 -10.0 0.0 0.0 0.0</pose>
                    <inertia>
                        <ixx>0.0</ixx>
                        <ixy>0.0</ixy>
                        <ixz>0.0</ixz>
                        <iyy>0.0</iyy>
                        <iyz>0.0</iyz>
                        <izz>0.0</izz>
                    </inertia>
                    <mass>1.0</mass>
                </inertial>
                <velocity_decay>
                    <linear>0.0</linear>
                    <angular>0.0</angular>
                </velocity_decay>
                <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>
                <gravity>true</gravity>
                <self_collide>true</self_collide>
                <kinematic>false</kinematic>
            </link>
            <joint name="joint_0" type="revolute">
                <parent>world</parent>
                <child>link_1</child>
                <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
                <axis>
                    <xyz>1.0 0.0 0.0</xyz>
                    <dynamics>
                        <damping>10000.0</damping>
                        <friction>0.0</friction>
                    </dynamics>
                </axis>
            </joint>
            <static>false</static>
        </model>
        <model name="model_2_mass_01_damping_10">
            <pose>1.0 0.0 10.1 1.57079633 0.0 0.0</pose>
            <link name="link_1">
                <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
                <inertial>
                    <pose>0.0 0.0 -10.0 0.0 0.0 0.0</pose>
                    <inertia>
                        <ixx>0.0</ixx>
                        <ixy>0.0</ixy>
                        <ixz>0.0</ixz>
                        <iyy>0.0</iyy>
                        <iyz>0.0</iyz>
                        <izz>0.0</izz>
                    </inertia>
                    <mass>0.1</mass>
                </inertial>
                <velocity_decay>
                    <linear>0.0</linear>
                    <angular>0.0</angular>
                </velocity_decay>
                <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>
                <gravity>true</gravity>
                <self_collide>true</self_collide>
                <kinematic>false</kinematic>
            </link>
            <joint name="joint_0" type="revolute">
                <parent>world</parent>
                <child>link_1</child>
                <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
                <axis>
                    <xyz>1.0 0.0 0.0</xyz>
                    <dynamics>
                        <damping>10.0</damping>
                        <friction>0.0</friction>
                    </dynamics>
                </axis>
            </joint>
            <static>false</static>
        </model>
        <model name="model_3_mass_1_damping_10">
            <pose>2.0 0.0 10.1 1.57079633 0.0 0.0</pose>
            <link name="link_1">
                <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
                <inertial>
                    <pose>0.0 0.0 -10.0 0.0 0.0 0.0</pose>
                    <inertia>
                        <ixx>0.0</ixx>
                        <ixy>0.0</ixy>
                        <ixz>0.0</ixz>
                        <iyy>0.0</iyy>
                        <iyz>0.0</iyz>
                        <izz>0.0</izz>
                    </inertia>
                    <mass>1.0</mass>
                </inertial>
                <velocity_decay>
                    <linear>0.0</linear>
                    <angular>0.0</angular>
                </velocity_decay>
                <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>
                <gravity>true</gravity>
                <self_collide>true</self_collide>
                <kinematic>false</kinematic>
            </link>
            <joint name="joint_0" type="revolute">
                <parent>world</parent>
                <child>link_1</child>
                <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
                <axis>
                    <xyz>1.0 0.0 0.0</xyz>
                    <dynamics>
                        <damping>10.0</damping>
                        <friction>0.0</friction>
                    </dynamics>
                </axis>
            </joint>
            <static>false</static>
        </model>
        <model name="model_4_mass_1_ixx_1_damping_10">
            <pose>3.0 0.0 10.1 1.57079633 0.0 0.0</pose>
            <link name="link_1">
                <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
                <inertial>
                    <pose>0.0 0.0 -10.0 0.0 0.0 0.0</pose>
                    <inertia>
                        <ixx>1.0</ixx>
                        <ixy>0.0</ixy>
                        <ixz>0.0</ixz>
                        <iyy>0.5</iyy>
                        <iyz>0.0</iyz>
                        <izz>0.5</izz>
                    </inertia>
                    <mass>1.0</mass>
                </inertial>
                <velocity_decay>
                    <linear>0.0</linear>
                    <angular>0.0</angular>
                </velocity_decay>
                <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>
                <gravity>true</gravity>
                <self_collide>true</self_collide>
                <kinematic>false</kinematic>
            </link>
            <joint name="joint_0" type="revolute">
                <parent>world</parent>
                <child>link_1</child>
                <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
                <axis>
                    <xyz>1.0 0.0 0.0</xyz>
                    <dynamics>
                        <damping>10.0</damping>
                        <friction>0.0</friction>
                    </dynamics>
                </axis>
            </joint>
            <static>false</static>
        </model>
        <model name="model_5_mass_1_damping_1">
            <pose>4.0 0.0 10.1 1.57079633 0.0 0.0</pose>
            <link name="link_1">
                <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
                <inertial>
                    <pose>0.0 0.0 -10.0 0.0 0.0 0.0</pose>
                    <inertia>
                        <ixx>0.0</ixx>
                        <ixy>0.0</ixy>
                        <ixz>0.0</ixz>
                        <iyy>0.0</iyy>
                        <iyz>0.0</iyz>
                        <izz>0.0</izz>
                    </inertia>
                    <mass>1.0</mass>
                </inertial>
                <velocity_decay>
                    <linear>0.0</linear>
                    <angular>0.0</angular>
                </velocity_decay>
                <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>
                <gravity>true</gravity>
                <self_collide>true</self_collide>
                <kinematic>false</kinematic>
            </link>
            <joint name="joint_0" type="revolute">
                <parent>world</parent>
                <child>link_1</child>
                <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
                <axis>
                    <xyz>1.0 0.0 0.0</xyz>
                    <dynamics>
                        <damping>1.0</damping>
                        <friction>0.0</friction>
                    </dynamics>
                </axis>
            </joint>
            <static>false</static>
        </model>
        <model name="model_6_mass_1_damping_10">
            <pose>5.0 0.0 10.1 1.57079633 0.0 0.0</pose>
            <link name="link_1">
                <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
                <inertial>
                    <pose>0.0 0.0 -10.0 0.0 0.0 0.0</pose>
                    <inertia>
                        <ixx>0.0</ixx>
                        <ixy>0.0</ixy>
                        <ixz>0.0</ixz>
                        <iyy>0.0</iyy>
                        <iyz>0.0</iyz>
                        <izz>0.0</izz>
                    </inertia>
                    <mass>1.0</mass>
                </inertial>
                <velocity_decay>
                    <linear>0.0</linear>
                    <angular>0.0</angular>
                </velocity_decay>
                <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>
                <gravity>true</gravity>
                <self_collide>true</self_collide>
                <kinematic>false</kinematic>
            </link>
            <joint name="joint_0" type="revolute">
                <parent>world</parent>
                <child>link_1</child>
                <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
                <axis>
                    <xyz>1.0 0.0 0.0</xyz>
                    <dynamics>
                        <damping>10.0</damping>
                        <friction>0.0</friction>
                    </dynamics>
                </axis>
            </joint>
            <static>false</static>
        </model>
        <model name="model_7_mass_1_damping_100">
            <pose>6.0 0.0 10.1 1.57079633 0.0 0.0</pose>
            <link name="link_1">
                <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
                <inertial>
                    <pose>0.0 0.0 -10.0 0.0 0.0 0.0</pose>
                    <inertia>
                        <ixx>0.0</ixx>
                        <ixy>0.0</ixy>
                        <ixz>0.0</ixz>
                        <iyy>0.0</iyy>
                        <iyz>0.0</iyz>
                        <izz>0.0</izz>
                    </inertia>
                    <mass>1.0</mass>
                </inertial>
                <velocity_decay>
                    <linear>0.0</linear>
                    <angular>0.0</angular>
                </velocity_decay>
                <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>
                <gravity>true</gravity>
                <self_collide>true</self_collide>
                <kinematic>false</kinematic>
            </link>
            <joint name="joint_0" type="revolute">
                <parent>world</parent>
                <child>link_1</child>
                <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
                <axis>
                    <xyz>1.0 0.0 0.0</xyz>
                    <dynamics>
                        <damping>100.0</damping>
                        <friction>0.0</friction>
                    </dynamics>
                </axis>
            </joint>
            <static>false</static>
        </model>
        <model name="model_8_mass_1_damping_1000">
            <pose>7.0 0.0 10.1 1.57079633 0.0 0.0</pose>
            <link name="link_1">
                <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
                <inertial>
                    <pose>0.0 0.0 -10.0 0.0 0.0 0.0</pose>
                    <inertia>
                        <ixx>0.0</ixx>
                        <ixy>0.0</ixy>
                        <ixz>0.0</ixz>
                        <iyy>0.0</iyy>
                        <iyz>0.0</iyz>
                        <izz>0.0</izz>
                    </inertia>
                    <mass>1.0</mass>
                </inertial>
                <velocity_decay>
                    <linear>0.0</linear>
                    <angular>0.0</angular>
                </velocity_decay>
                <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>
                <gravity>true</gravity>
                <self_collide>true</self_collide>
                <kinematic>false</kinematic>
            </link>
            <joint name="joint_0" type="revolute">
                <parent>world</parent>
                <child>link_1</child>
                <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
                <axis>
                    <xyz>1.0 0.0 0.0</xyz>
                    <dynamics>
                        <damping>1000.0</damping>
                        <friction>0.0</friction>
                    </dynamics>
                </axis>
            </joint>
            <static>false</static>
        </model>
        <model name="model_9_mass_1_damping_0">
            <pose>8.0 0.0 10.1 1.57079633 0.0 0.0</pose>
            <link name="link_1">
                <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
                <inertial>
                    <pose>0.0 0.0 -10.0 0.0 0.0 0.0</pose>
                    <inertia>
                        <ixx>0.0</ixx>
                        <ixy>0.0</ixy>
                        <ixz>0.0</ixz>
                        <iyy>0.0</iyy>
                        <iyz>0.0</iyz>
                        <izz>0.0</izz>
                    </inertia>
                    <mass>1.0</mass>
                </inertial>
                <velocity_decay>
                    <linear>0.0</linear>
                    <angular>0.0</angular>
                </velocity_decay>
                <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>
                <gravity>true</gravity>
                <self_collide>true</self_collide>
                <kinematic>false</kinematic>
            </link>
            <joint name="joint_0" type="revolute">
                <parent>world</parent>
                <child>link_1</child>
                <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
                <axis>
                    <xyz>1.0 0.0 0.0</xyz>
                    <dynamics>
                        <damping>0.0</damping>
                        <friction>0.0</friction>
                    </dynamics>
                </axis>
            </joint>
            <static>false</static>
        </model>
        <model name="model_10_mass_10_damping_0">
            <pose>9.0 0.0 10.1 1.57079633 0.0 0.0</pose>
            <link name="link_1">
                <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
                <inertial>
                    <pose>0.0 0.0 -10.0 0.0 0.0 0.0</pose>
                    <inertia>
                        <ixx>0.0</ixx>
                        <ixy>0.0</ixy>
                        <ixz>0.0</ixz>
                        <iyy>0.0</iyy>
                        <iyz>0.0</iyz>
                        <izz>0.0</izz>
                    </inertia>
                    <mass>10.0</mass>
                </inertial>
                <velocity_decay>
                    <linear>0.0</linear>
                    <angular>0.0</angular>
                </velocity_decay>
                <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>
                <gravity>true</gravity>
                <self_collide>true</self_collide>
                <kinematic>false</kinematic>
            </link>
            <joint name="joint_0" type="revolute">
                <parent>world</parent>
                <child>link_1</child>
                <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
                <axis>
                    <xyz>1.0 0.0 0.0</xyz>
                    <dynamics>
                        <damping>0.0</damping>
                        <friction>0.0</friction>
                    </dynamics>
                </axis>
            </joint>
            <static>false</static>
        </model>
    </world>
</sdf>
