<?xml version="1.0" ?>
<sdf version='1.6'>
  <world name="default">
    <gravity>0 0 0</gravity>

    <include>
      <uri>model://ground_plane</uri>
    </include>

    <include>
      <uri>model://sun</uri>
    </include>

    <model name='model'>
      <pose>0 0 1 0 0 0</pose>

      <link name='link0'>
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>0.16666667</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.16666667</iyy>
            <iyz>0</iyz>
            <izz>0.16666667</izz>
          </inertia>
        </inertial>
        <visual name='vis'>
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
        </visual>
        <collision name='col'>
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
        </collision>
      </link>

      <link name='link1'>
        <pose>2 0 0 0 0 0</pose>
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>0.16666667</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.16666667</iyy>
            <iyz>0</iyz>
            <izz>0.16666667</izz>
          </inertia>
        </inertial>
        <visual name='vis'>
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
        </visual>
        <collision name='col'>
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
        </collision>
      </link>

      <joint name='joint' type='revolute'>
        <parent>link0</parent>
        <child>link1</child>
        <axis>
          <xyz>0 0 1</xyz>
        </axis>
      </joint>
    </model>

  </world>
</sdf>