<sdf version="1.5">
  <world name="default">
    <physics type="ode">
      <gravity>0.000000 0.000000 -9.810000</gravity>
      <ode>
        <solver>
          <type>world</type>
          <iters>250</iters>
          <precon_iters>0</precon_iters>
          <sor>1.400000</sor>
        </solver>
        <constraints>
          <cfm>0.000000</cfm>
          <erp>0.200000</erp>
          <contact_max_correcting_vel>0.000000</contact_max_correcting_vel>
          <contact_surface_layer>0.00000</contact_surface_layer>
        </constraints>
      </ode>
      <real_time_update_rate>1000.000000</real_time_update_rate>
      <max_step_size>0.001000</max_step_size>
    </physics>
    <model name="ground_plane">
      <static>true</static>
      <link name="link">
        <collision name="collision">
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
        </collision>
        <visual name="visual">
          <cast_shadows>false</cast_shadows>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
          </material>
        </visual>
      </link>
    </model>
    <model name="box_model">
      <static>false</static>
      <pose>0 0 1.0 0 0 0</pose>
      <link name="box_link">
        <visual name="box_visual">
          <pose>0 0 0.5 0 0 0</pose>
          <geometry>
            <box>
            <size>1.0 1.0 1.0</size>
            </box>
          </geometry>
        </visual>
        <collision name="box_collision">
          <pose>0 0 0.5 0 0 0</pose>
          <geometry>
            <box>
            <size>1.0 1.0 1.0</size>
            </box>
          </geometry>
        </collision>
      </link>
    </model>
  </world>
</sdf>
