<sdf version='1.5'>
  <world name='world_1'>
    <scene>
      <shadows>1</shadows>
      <ambient>0.4 0.4 0.4 1</ambient>
      <background>0.7 0.7 0.7 1</background>
    </scene>
    <physics type='ode'>
      <max_contacts>250</max_contacts>
      <ode>
        <solver>
          <type>quick</type>
          <iters>20</iters>
          <sor>1.3</sor>
          <use_dynamic_moi_rescaling>0</use_dynamic_moi_rescaling>
        </solver>
        <constraints>
          <cfm>0</cfm>
          <erp>0.2</erp>
          <contact_max_correcting_vel>100</contact_max_correcting_vel>
          <contact_surface_layer>0</contact_surface_layer>
        </constraints>
      </ode>
      <gravity>0 0 -10</gravity>
      <max_step_size>0.001</max_step_size>
      <real_time_factor>1</real_time_factor>
      <real_time_update_rate>1000</real_time_update_rate>
      <magnetic_field>5.5645e-06 2.28758e-05 -4.23884e-05</magnetic_field>
    </physics>
    <model name='model_1'>
      <pose>0 0 2 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</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>1</iyy>
            <iyz>0</iyz>
            <izz>1</izz>
          </inertia>
          <mass>10</mass>
        </inertial>
        <visual name='visual_box'>
          <pose>0 0 0 0 -0 0</pose>
          <geometry>
            <box>
              <size>1 1 2</size>
            </box>
          </geometry>
          <cast_shadows>1</cast_shadows>
          <laser_retro>100</laser_retro>
        </visual>
        <collision name='collision_box'>
          <pose>0 0 0 0 -0 0</pose>
          <max_contacts>250</max_contacts>
          <geometry>
            <box>
              <size>1 1 2</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>0.5</mu>
                <mu2>0.2</mu2>
                <fdir1>1 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
            </friction>
            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
              <threshold>1e+06</threshold>
            </bounce>
            <contact>
              <ode>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+15</kp>
                <kd>1e+13</kd>
                <max_vel>100</max_vel>
                <min_depth>0.0001</min_depth>
              </ode>
            </contact>
          </surface>
          <laser_retro>100</laser_retro>
        </collision>
        <sensor name='sensor_contact' type='contact'>
          <pose>0 0 0 0 -0 0</pose>
          <contact>
            <collision>__default__</collision>
            <topic>__default_topic__</topic>
          </contact>
          <always_on>1</always_on>
          <update_rate>2</update_rate>
        </sensor>
        <gravity>1</gravity>
        <self_collide>1</self_collide>
        <kinematic>0</kinematic>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
      </link>
      <static>0</static>
    </model>
    <model name='gplane'>
      <pose>0 0 0 0 -0 0</pose>
      <link name='plane'>
        <pose>0 0 0 0 -0 0</pose>
        <collision name='plane'>
          <pose>0 0 0 0 -0 0</pose>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>1 1</size>
            </plane>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>50</mu>
                <mu2>50</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
            </friction>
            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
              <threshold>0</threshold>
            </bounce>
            <contact>
              <ode>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0</soft_erp>
                <kp>1e+09</kp>
                <kd>1</kd>
                <max_vel>-1</max_vel>
                <min_depth>0</min_depth>
              </ode>
            </contact>
          </surface>
          <laser_retro>0</laser_retro>
        </collision>
        <visual name='old_gazebo_xml_visual'>
          <pose>0 0 0 0 -0 0</pose>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>1 1</size>
            </plane>
          </geometry>
          <cast_shadows>1</cast_shadows>
          <laser_retro>0</laser_retro>
          <transparency>0</transparency>
        </visual>
        <gravity>1</gravity>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
      </link>
      <static>1</static>
    </model>
  </world>
</sdf>
