<?xml version="1.0" ?>
<sdf version="1.4">
  <world name="default">
    <include><uri>model://sun</uri></include>
    <include><uri>model://ground_plane</uri></include>
    <model name="sphere_min_depth_1cm">
      <pose>-3 0.66 2.0  0 0 0</pose>
      <allow_auto_disable>false</allow_auto_disable>
      <link name="link">
        <collision name="col">
          <geometry>
            <sphere><radius>0.5</radius></sphere>
          </geometry>
          <surface>
            <contact>
              <ode>
                <min_depth>0.01</min_depth>
              </ode>
            </contact>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
              </ode>
            </friction>
          </surface>
        </collision>
        <visual name="vis">
          <transparency>0.5</transparency>
          <geometry>
            <sphere><radius>0.5</radius></sphere>
          </geometry>
        </visual>
      </link>
    </model>
    <model name="sphere_min_depth_default">
      <pose>-1.95 1.24 2.0  0 0 0</pose>
      <allow_auto_disable>false</allow_auto_disable>
      <link name="link">
        <collision name="col">
          <geometry>
            <sphere><radius>0.5</radius></sphere>
          </geometry>
          <surface>
            <contact>
              <ode>
              </ode>
            </contact>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
              </ode>
            </friction>
          </surface>
        </collision>
        <visual name="vis">
          <transparency>0.5</transparency>
          <geometry>
            <sphere><radius>0.5</radius></sphere>
          </geometry>
        </visual>
      </link>
    </model>
    <model name="box_min_depth_1cm">
      <pose>2 0 0.5  0 0 0</pose>
      <allow_auto_disable>false</allow_auto_disable>
      <link name="link">
        <collision name="col">
          <geometry>
            <box><size>1 1 1</size></box>
          </geometry>
          <surface>
            <contact>
              <ode>
                <max_vel>0.00</max_vel>
                <min_depth>0.01</min_depth>
              </ode>
            </contact>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
              </ode>
            </friction>
          </surface>
        </collision>
        <visual name="vis">
          <transparency>0.5</transparency>
          <geometry>
            <box><size>1 1 1</size></box>
          </geometry>
        </visual>
      </link>
    </model>
    <model name="box_min_depth_default">
      <pose>2 1.5 0.5  0 0 0</pose>
      <allow_auto_disable>false</allow_auto_disable>
      <link name="link">
        <collision name="col">
          <geometry>
            <box><size>1 1 1</size></box>
          </geometry>
          <surface>
            <contact>
              <ode>
              </ode>
            </contact>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
              </ode>
            </friction>
          </surface>
        </collision>
        <visual name="vis">
          <transparency>0.5</transparency>
          <geometry>
            <box><size>1 1 1</size></box>
          </geometry>
        </visual>
      </link>
    </model>
    <model name="kinematic_coupling">
      <pose>-3 0 1.0  0 0 0</pose>
      <static>true</static>
      <link name="link1">
        <pose>1.05 0 0  0 0 0</pose>
        <collision name="sphere">
          <geometry>
            <sphere><radius>1.0</radius></sphere>
          </geometry>
          <surface>
            <contact>
              <ode>
                <min_depth>0.01</min_depth>
              </ode>
            </contact>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
              </ode>
            </friction>
          </surface>
        </collision>
        <visual name="vis">
          <geometry>
            <sphere><radius>1.0</radius></sphere>
          </geometry>
        </visual>
      </link>
      <link name="link2">
        <pose>-1.05 0 0  0 0 0</pose>
        <collision name="sphere">
          <geometry>
            <sphere><radius>1.0</radius></sphere>
          </geometry>
          <surface>
            <contact>
              <ode>
                <min_depth>0.01</min_depth>
              </ode>
            </contact>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
              </ode>
            </friction>
          </surface>
        </collision>
        <visual name="vis">
          <geometry>
            <sphere><radius>1.0</radius></sphere>
          </geometry>
        </visual>
      </link>
      <link name="link3">
        <pose>0 1.9 0  0 0 0</pose>
        <collision name="sphere">
          <geometry>
            <sphere><radius>1.0</radius></sphere>
          </geometry>
          <surface>
            <contact>
              <ode>
                <min_depth>0.01</min_depth>
              </ode>
            </contact>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
              </ode>
            </friction>
          </surface>
        </collision>
        <visual name="vis">
          <geometry>
            <sphere><radius>1.0</radius></sphere>
          </geometry>
        </visual>
      </link>
      <link name="link4">
        <pose>2.1 1.9 0  0 0 0</pose>
        <collision name="sphere">
          <geometry>
            <sphere><radius>1.0</radius></sphere>
          </geometry>
          <surface>
            <contact>
              <ode>
                <min_depth>0.01</min_depth>
              </ode>
            </contact>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
              </ode>
            </friction>
          </surface>
        </collision>
        <visual name="vis">
          <geometry>
            <sphere><radius>1.0</radius></sphere>
          </geometry>
        </visual>
      </link>
    </model>
    <gui fullscreen='0'>
      <camera name='user_camera'>
        <pose>-1.143380 -0.837949 7.142050  0.000000 1.263640 1.992190</pose>
        <view_controller>orbit</view_controller>
      </camera>
    </gui>
  </world>
</sdf>
