<?xml version="1.0" ?>
<sdf version="1.3">
    <world name="default">
        <physics type="ode">
            <gravity>0 0 0</gravity>
            <update_rate>1000</update_rate>
            <ode>
                <solver>
                    <type>quick</type>
                    <dt>0.001</dt>
                    <iters>40</iters>
                    <sor>1.0</sor>
                </solver>
                <constraints>
                    <cfm>0.0</cfm>
                    <erp>0.2</erp>
                    <contact_max_correcting_vel>100.0</contact_max_correcting_vel>
                    <contact_surface_layer>0.0</contact_surface_layer>
                </constraints>
            </ode>
        </physics>
        <!-- A global light source -->
        <include>
            <uri>model://sun</uri>
        </include>
        <model name="model_1">
            <pose>0 0 0 0 0 0</pose>
            <link name="link_1">
                <pose>0 0 0 0 0 0</pose>
                <inertial>
                    <pose>0 0 0 0 0 0</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 0 -0.5 0 0 0</pose>
                    <geometry>
                        <cylinder>
                            <radius>0.100000</radius>
                            <length>1.000000</length>
                        </cylinder>
                    </geometry>
                    <material>
                        <script>Gazebo/Green</script>
                    </material>
                </visual>
                <collision name="collision_cylinder">
                    <pose>0 0 -0.5 0 0 0</pose>
                    <geometry>
                        <cylinder>
                            <radius>0.100000</radius>
                            <length>1.000000</length>
                        </cylinder>
                    </geometry>
                </collision>
            </link>
            <link name="link_2">
                <pose>0 0 -1 0 0 0</pose>
                <inertial>
                    <pose>0 0 -0.5 0 0 0</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_box">
                    <pose>0 0 -0.5 0 0 0</pose>
                    <geometry>
                        <box>
                            <size>0.100000 0.100000 1.000000</size>
                        </box>
                    </geometry>
                    <material>
                        <script>Gazebo/Red</script>
                    </material>
                </visual>
                <collision name="collision_box">
                    <pose>0 0 -0.5 0 0 0</pose>
                    <max_contacts>250</max_contacts>
                    <geometry>
                        <box>
                            <size>0.100000 0.100000 1.000000</size>
                        </box>
                    </geometry>
                </collision>
                <gravity>1</gravity>
                <self_collide>0</self_collide>
                <kinematic>0</kinematic>
            </link>
            <joint name="joint_0" type="revolute">
                <parent>world</parent>
                <child>link_1</child>
                <pose>0 0 0 0 0 0</pose>
                <axis>
                    <limit>
                        <!-- effectively fixed -->
                        <lower>0.000000</lower>
                        <upper>0.000000</upper>
                    </limit>
                    <dynamics>
                        <damping>1.000000</damping>
                    </dynamics>
                    <xyz>1.000000 0.000000 0.000000</xyz>
                </axis>
                <physics>
                    <ode>
                        <cfm_damping>1</cfm_damping>
                    </ode>
                </physics>
            </joint>
            <joint name="joint_1" type="universal">
                <parent>link_1</parent>
                <child>link_2</child>
                <pose>0 0 0 0 0 0</pose>
                <axis>
                    <limit>
                        <lower>-0.7</lower>
                        <upper>0.7</upper>
                        <effort>1000.000000</effort>
                        <velocity>1000.000000</velocity>
                    </limit>
                    <dynamics>
                        <damping>1000.000000</damping>
                    </dynamics>
                    <xyz>1.000000 0.000000 0.000000</xyz>
                </axis>
                <axis2>
                    <limit>
                        <lower>-0.7</lower>
                        <upper>0.7</upper>
                        <effort>1000.000000</effort>
                        <velocity>1000.000000</velocity>
                    </limit>
                    <dynamics>
                        <damping>2000.000000</damping>
                    </dynamics>
                    <xyz>0.000000 1.000000 0.000000</xyz>
                </axis2>
                <physics>
                    <ode>
                        <cfm_damping>1</cfm_damping>
                    </ode>
                </physics>
            </joint>
            <static>0</static>
        </model>
    </world>
</sdf>
