<?xml version="1.0" ?>
<sdf version="1.4">
  <world name="default">
    <physics type="ode">
      <gravity>1 0 0</gravity>
      <ode>
        <solver>
          <type>quick</type>
          <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>
      <real_time_update_rate>1000</real_time_update_rate>
      <max_step_size>0.001</max_step_size>
    </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>
            <implicit_spring_damper>1</implicit_spring_damper>
          </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>
            <implicit_spring_damper>1</implicit_spring_damper>
          </ode>
        </physics>
      </joint>
      <static>0</static>
    </model>
  </world>
</sdf>
