<?xml version="1.0" ?>
<sdf version="1.5">
  <world name="default">
    <model name ='model'>
      <pose>0 0 1 0 0 0</pose>

      <link name='baselink'>
        <inertial>
          <mass>1.0</mass>
          <inertia>
            <ixx>0.0016667</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.0016667</iyy>
            <iyz>0</iyz>
            <izz>0.0016667</izz>
          </inertia>
        </inertial>
        <collision name='collision'>
          <geometry>
            <box><size>0.1 .1 0.1</size></box>
          </geometry>
        </collision>"
        <visual name='visual'>
          <geometry>
            <box><size>0.1 0.1 0.1</size></box>
          </geometry>"
        </visual>
      </link>

      <link name='link'>
        <inertial>
          <mass>1.0</mass>
          <inertia>
            <ixx>8.33416667</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.00166667</iyy>
            <iyz>0</iyz>
            <izz>8.33416667</izz>
          </inertia>
        </inertial>
        <pose>0 5 0 0 0 0</pose>
        <collision name='contact_collision'>
          <geometry>
            <box><size>0.1 10 0.1</size></box>
          </geometry>
        </collision>"
        <visual name='visual'>
          <geometry>
            <box><size>0.1 10 0.1</size></box>
          </geometry>"
        </visual>
        <sensor name='altimeter' type='altimeter'>
          <pose>0 5 0 0 0 0</pose>
          <always_on>true</always_on>
          <altimeter>
          </altimeter>
        </sensor>
      </link>

      <joint name="joint" type="revolute">
        <pose>0 -5 0 0 0 0</pose>
        <parent>baselink</parent>
        <child>link</child>
        <axis>
          <xyz>1 0 0</xyz>
        </axis>
      </joint>

      <joint name="joint_drop" type="prismatic">
        <pose>0 -5 0 0 0 0</pose>
        <parent>world</parent>
        <child>baselink</child>
        <axis>
          <xyz>0 0 1</xyz>
          <dynamics>
            <damping>100</damping>
          </dynamics>
        </axis>
      </joint>

    </model>
  </world>
</sdf>
