<?xml version="1.0" ?>
<sdf version="1.5">
  <world name="default">
    <!-- A global light source -->
    <include>
      <uri>model://sun</uri>
    </include>
    <!-- A ground plane -->
    <include>
      <uri>model://ground_plane</uri>
    </include>
    <physics type="ode">
      <gravity>0.000000 0.000000 0.00000</gravity>
      <max_step_size>0.000100</max_step_size>
      <ode>
        <solver>
          <type>quick</type>
          <iters>200</iters>
          <precon_iters>0</precon_iters>
          <sor>1.000000</sor>
        </solver>
        <constraints>
          <cfm>0.000000</cfm>
          <erp>1.000000</erp>
          <contact_max_correcting_vel>0.000000</contact_max_correcting_vel>
          <contact_surface_layer>0.000000</contact_surface_layer>
        </constraints>
      </ode>
      <real_time_update_rate>0.000000</real_time_update_rate>
    </physics>
    <model name="model_1">
      <pose>0.000000 0.000000 2.100000 -1.57079 -0.000000 0.000000</pose>
      <link name="link_1">
        <pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
        <inertial>
          <pose>0.000000 0.000000 -0.500000 0.000000 -0.000000 0.000000</pose>
          <inertia>
            <ixx>1.000000</ixx>
            <ixy>0.000000</ixy>
            <ixz>0.000000</ixz>
            <iyy>1.000000</iyy>
            <iyz>0.000000</iyz>
            <izz>1.000000</izz>
          </inertia>
          <mass>10.000000</mass>
        </inertial>
        <visual name="visual_cylinder">
          <pose>0.000000 0.000000 -0.500000 0.000000 -0.000000 0.000000</pose>
          <geometry>
            <cylinder>
              <radius>0.100000</radius>
              <length>1.000000</length>
            </cylinder>
          </geometry>
          <material>
            <script>Gazebo/Green</script>
          </material>
          <cast_shadows>1</cast_shadows>
          <laser_retro>100.000000</laser_retro>
          <transparency>0.000000</transparency>
        </visual>
        <collision name="collision_cylinder">
          <pose>0.000000 0.000000 -0.500000 0.000000 -0.000000 0.000000</pose>
          <max_contacts>250</max_contacts>
          <geometry>
            <cylinder>
              <radius>0.100000</radius>
              <length>1.000000</length>
            </cylinder>
          </geometry>
        </collision>
        <gravity>1</gravity>
        <self_collide>1</self_collide>
        <kinematic>0</kinematic>
      </link>
      <link name="link_2">
        <pose>0.500000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
        <inertial>
          <pose>0.000000 0.000000 -0.500000 0.000000 -0.000000 0.000000</pose>
          <inertia>
            <ixx>1.000000</ixx>
            <ixy>0.000000</ixy>
            <ixz>0.000000</ixz>
            <iyy>1.000000</iyy>
            <iyz>0.000000</iyz>
            <izz>1.000000</izz>
          </inertia>
          <mass>10.000000</mass>
        </inertial>
        <visual name="visual_cylinder">
          <pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
          <geometry>
            <box>
              <size>0.2 0.2 0.2</size>
            </box>
          </geometry>
          <material>
            <script>Gazebo/Green</script>
          </material>
          <cast_shadows>1</cast_shadows>
          <laser_retro>100.000000</laser_retro>
          <transparency>0.000000</transparency>
        </visual>
        <collision name="collision_cylinder">
          <pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
          <max_contacts>250</max_contacts>
          <geometry>
            <box>
              <size>0.2 0.2 0.2</size>
            </box>
          </geometry>
        </collision>
        <gravity>1</gravity>
        <self_collide>1</self_collide>
        <kinematic>0</kinematic>
      </link>
      <link name="link_3">
        <pose>1.000000 1.000000 1.000000 0.000000 -0.000000 0.000000</pose>
        <inertial>
          <pose>0.000000 0.000000 -0.500000 0.000000 -0.000000 0.000000</pose>
          <inertia>
            <ixx>1.000000</ixx>
            <ixy>0.000000</ixy>
            <ixz>0.000000</ixz>
            <iyy>1.000000</iyy>
            <iyz>0.000000</iyz>
            <izz>1.000000</izz>
          </inertia>
          <mass>10.000000</mass>
        </inertial>
        <visual name="visual_cylinder">
          <pose>0.000000 0.000000 -0.500000 0.000000 -0.000000 0.000000</pose>
          <geometry>
            <cylinder>
              <radius>0.100000</radius>
              <length>1.000000</length>
            </cylinder>
          </geometry>
          <material>
            <script>Gazebo/Green</script>
          </material>
          <cast_shadows>1</cast_shadows>
          <laser_retro>100.000000</laser_retro>
          <transparency>0.000000</transparency>
        </visual>
        <collision name="collision_cylinder">
          <pose>0.000000 0.000000 -0.500000 0.000000 -0.000000 0.000000</pose>
          <max_contacts>250</max_contacts>
          <geometry>
            <cylinder>
              <radius>0.100000</radius>
              <length>1.000000</length>
            </cylinder>
          </geometry>
        </collision>
        <gravity>1</gravity>
        <self_collide>1</self_collide>
        <kinematic>0</kinematic>
      </link>
      <joint name="joint_02" type="revolute">
        <parent>world</parent>
        <child>link_2</child>
        <axis>
          <xyz>0.000000 0.000000 1.000000</xyz>
          <limit>
            <upper>-1000.0</upper>
            <lower>1000.0</lower>
          </limit>
          <use_parent_model_frame>true</use_parent_model_frame>
        </axis>
      </joint>
      <joint name="joint_12" type="revolute">
        <parent>link_2</parent>
        <child>link_1</child>
        <axis>
          <xyz>1.000000 0.000000 0.000000</xyz>
          <use_parent_model_frame>true</use_parent_model_frame>
        </axis>
      </joint>
      <joint name="joint_23" type="revolute">
        <parent>link_2</parent>
        <child>link_3</child>
        <axis>
          <xyz>1.000000 0.000000 0.000000</xyz>
          <use_parent_model_frame>true</use_parent_model_frame>
        </axis>
      </joint>
      <joint name="joint_13" type="gearbox">
        <!--
              theta_1 = joint angle in the direction specified by <axis> from <gearbox_refrence_body> to <parent>
              theta_2 = joint angle in the direction specified by <axis2> from <gearbox_refrence_body> to <child>
              this gearbox constraint enforces that
              theta_2 = - <gearbox_ratio> * theta_1
            -->
        <parent>link_1</parent>
        <child>link_3</child>
        <gearbox_ratio>-1.5</gearbox_ratio>
        <gearbox_reference_body>link_2</gearbox_reference_body>
        <axis>
          <xyz>1.000000 0.000000 0.000000</xyz>
          <use_parent_model_frame>true</use_parent_model_frame>
        </axis>
        <axis2>
          <xyz>1.000000 0.000000 0.000000</xyz>
          <use_parent_model_frame>true</use_parent_model_frame>
        </axis2>
      </joint>
      <static>0</static>
    </model>
  </world>
</sdf>
