<?xml version="1.0" ?>
<sdf version="1.3">
  <world name="default">
    <scene>
      <ambient>1.0 1.0 1.0 1</ambient>
      <background>0 0 0 1.0</background>
      <shadows>true</shadows>
    </scene>
    <physics type="ode">
      <gravity>0 0 -10.0</gravity>
      <ode>
        <solver>
          <type>quick</type>
          <dt>0.001</dt>
          <iters>1000</iters>
          <sor>1.3</sor>
        </solver>
        <constraints>
          <cfm>0.0</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>
    <include><uri>model://ground_plane</uri></include>
    <model name="box">
      <pose>0 0 10.5 0 0 0</pose>
      <allow_auto_disable>false</allow_auto_disable>
      <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>1.0</mass>
        </inertial>
        <velocity_decay>
          <linear>0.0</linear>
          <angular>0.0</angular>
        </velocity_decay>
        <collision name="collision">
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
              </ode>
            </friction>
            <contact>
              <ode>
                <max_vel>0</max_vel>
                <min_depth>0</min_depth>
              </ode>
            </contact>
          </surface>
        </collision>
        <visual name="visual">
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
          <material>
            <script>Gazebo/WoodPallet</script>
          </material>
        </visual>
      </link>
    </model>
    <model name="sphere">
      <pose>0 1.5 10.5 0 0 0</pose>
      <allow_auto_disable>false</allow_auto_disable>
      <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>1.0</mass>
        </inertial>
        <velocity_decay>
          <linear>0.0</linear>
          <angular>0.0</angular>
        </velocity_decay>
        <collision name="collision">
          <geometry>
            <sphere>
              <radius>0.5</radius>
            </sphere>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
              </ode>
            </friction>
            <contact>
              <ode>
                <max_vel>0</max_vel>
                <min_depth>0</min_depth>
              </ode>
            </contact>
          </surface>
        </collision>
        <visual name="visual">
          <geometry>
            <sphere>
              <radius>0.5</radius>
            </sphere>
          </geometry>
          <material>
            <script>Gazebo/WoodPallet</script>
          </material>
        </visual>
      </link>
    </model>
    <model name="cylinder">
      <pose>0 -1.5 10.5 0 0 0</pose>
      <allow_auto_disable>false</allow_auto_disable>
      <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>1.0</mass>
        </inertial>
        <velocity_decay>
          <linear>0.0</linear>
          <angular>0.0</angular>
        </velocity_decay>
        <collision name="collision">
          <geometry>
            <cylinder>
              <radius>0.5</radius>
              <length>1.0</length>
            </cylinder>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
              </ode>
            </friction>
            <contact>
              <ode>
                <max_vel>0</max_vel>
                <min_depth>0</min_depth>
              </ode>
            </contact>
          </surface>
        </collision>
        <visual name="visual">
          <geometry>
            <cylinder>
              <radius>0.5</radius>
              <length>1.0</length>
            </cylinder>
          </geometry>
          <material>
            <script>Gazebo/WoodPallet</script>
          </material>
        </visual>
      </link>
    </model>
    <light type="directional" name="sun">
      <pose>0 0 10 0 0 0</pose>
      <diffuse>8 .8 .8 1</diffuse>
      <specular>.1 .1 .1 1</specular>
      <attenuation>
        <range>10</range>
        <linear>0.01</linear>
        <constant>0.8</constant>
        <quadratic>0.0</quadratic>
      </attenuation>
      <direction>0 .5 -.5</direction>
      <cast_shadows>true</cast_shadows>
    </light>
  </world>
</sdf>
