<?xml version="1.0" ?>
<sdf version="1.5">
  <world name="default">
    <gui>
      <camera name="user_camera">
        <pose>-60 0 5 0 0 0</pose>
      </camera>
    </gui>
    <scene>
      <ambient>0.5 0.5 0.5 1</ambient>
      <background>0.5 0.5 0.5 1</background>
      <shadows>false</shadows>
    </scene>
    <include>
      <uri>model://sun</uri>
    </include>
    <physics type="ode">
      <gravity>0.0 0.0 -9.81</gravity>
      <ode>
        <solver>
          <type>quick</type>
          <iters>100</iters>
          <sor>1.0</sor>
        </solver>
        <constraints>
          <cfm>0</cfm>
          <erp>1.0</erp>
          <contact_max_correcting_vel>0.0</contact_max_correcting_vel>
          <contact_surface_layer>0.0</contact_surface_layer>
        </constraints>
      </ode>
      <max_step_size>0.001</max_step_size>
    </physics>
    <model name="model_1_mass_1_damping_10000">
      <pose>0.0 0.0 10.1 1.57079633 0.0 0.0</pose>
      <link name="link_1">
        <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
        <inertial>
          <pose>0.0 0.0 -10.0 0.0 0.0 0.0</pose>
          <inertia>
            <ixx>0.0</ixx>
            <ixy>0.0</ixy>
            <ixz>0.0</ixz>
            <iyy>0.0</iyy>
            <iyz>0.0</iyz>
            <izz>0.0</izz>
          </inertia>
          <mass>1.0</mass>
        </inertial>
        <velocity_decay>
          <linear>0.0</linear>
          <angular>0.0</angular>
        </velocity_decay>
        <visual name="visual_cylinder">
          <pose>0.0 0.0 -5.0 0.0 0.0 0.0</pose>
          <geometry>
            <cylinder>
              <radius>0.05</radius>
              <length>10.0</length>
            </cylinder>
          </geometry>
          <material>
            <script>Gazebo/Green</script>
          </material>
        </visual>
        <collision name="collision_cylinder">
          <pose>0.0 0.0 -5.0 0.0 0.0 0.0</pose>
          <max_contacts>250</max_contacts>
          <geometry>
            <cylinder>
              <radius>0.05</radius>
              <length>10.0</length>
            </cylinder>
          </geometry>
        </collision>
        <gravity>true</gravity>
        <self_collide>true</self_collide>
        <kinematic>false</kinematic>
      </link>
      <joint name="joint_0" type="revolute">
        <parent>world</parent>
        <child>link_1</child>
        <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
        <axis>
          <xyz>1.0 0.0 0.0</xyz>
          <dynamics>
            <damping>10000.0</damping>
            <friction>0.0</friction>
          </dynamics>
          <use_parent_model_frame>true</use_parent_model_frame>
        </axis>
      </joint>
      <static>false</static>
    </model>
    <model name="model_2_mass_01_damping_10">
      <pose>1.0 0.0 10.1 1.57079633 0.0 0.0</pose>
      <link name="link_1">
        <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
        <inertial>
          <pose>0.0 0.0 -10.0 0.0 0.0 0.0</pose>
          <inertia>
            <ixx>0.0</ixx>
            <ixy>0.0</ixy>
            <ixz>0.0</ixz>
            <iyy>0.0</iyy>
            <iyz>0.0</iyz>
            <izz>0.0</izz>
          </inertia>
          <mass>0.1</mass>
        </inertial>
        <velocity_decay>
          <linear>0.0</linear>
          <angular>0.0</angular>
        </velocity_decay>
        <visual name="visual_cylinder">
          <pose>0.0 0.0 -5.0 0.0 0.0 0.0</pose>
          <geometry>
            <cylinder>
              <radius>0.05</radius>
              <length>10.0</length>
            </cylinder>
          </geometry>
          <material>
            <script>Gazebo/Green</script>
          </material>
        </visual>
        <collision name="collision_cylinder">
          <pose>0.0 0.0 -5.0 0.0 0.0 0.0</pose>
          <max_contacts>250</max_contacts>
          <geometry>
            <cylinder>
              <radius>0.05</radius>
              <length>10.0</length>
            </cylinder>
          </geometry>
        </collision>
        <gravity>true</gravity>
        <self_collide>true</self_collide>
        <kinematic>false</kinematic>
      </link>
      <joint name="joint_0" type="revolute">
        <parent>world</parent>
        <child>link_1</child>
        <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
        <axis>
          <xyz>1.0 0.0 0.0</xyz>
          <dynamics>
            <damping>10.0</damping>
            <friction>0.0</friction>
          </dynamics>
          <use_parent_model_frame>true</use_parent_model_frame>
        </axis>
      </joint>
      <static>false</static>
    </model>
    <model name="model_3_mass_1_damping_10">
      <pose>2.0 0.0 10.1 1.57079633 0.0 0.0</pose>
      <link name="link_1">
        <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
        <inertial>
          <pose>0.0 0.0 -10.0 0.0 0.0 0.0</pose>
          <inertia>
            <ixx>0.0</ixx>
            <ixy>0.0</ixy>
            <ixz>0.0</ixz>
            <iyy>0.0</iyy>
            <iyz>0.0</iyz>
            <izz>0.0</izz>
          </inertia>
          <mass>1.0</mass>
        </inertial>
        <velocity_decay>
          <linear>0.0</linear>
          <angular>0.0</angular>
        </velocity_decay>
        <visual name="visual_cylinder">
          <pose>0.0 0.0 -5.0 0.0 0.0 0.0</pose>
          <geometry>
            <cylinder>
              <radius>0.05</radius>
              <length>10.0</length>
            </cylinder>
          </geometry>
          <material>
            <script>Gazebo/Green</script>
          </material>
        </visual>
        <collision name="collision_cylinder">
          <pose>0.0 0.0 -5.0 0.0 0.0 0.0</pose>
          <max_contacts>250</max_contacts>
          <geometry>
            <cylinder>
              <radius>0.05</radius>
              <length>10.0</length>
            </cylinder>
          </geometry>
        </collision>
        <gravity>true</gravity>
        <self_collide>true</self_collide>
        <kinematic>false</kinematic>
      </link>
      <joint name="joint_0" type="revolute">
        <parent>world</parent>
        <child>link_1</child>
        <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
        <axis>
          <xyz>1.0 0.0 0.0</xyz>
          <dynamics>
            <damping>10.0</damping>
            <friction>0.0</friction>
          </dynamics>
          <use_parent_model_frame>true</use_parent_model_frame>
        </axis>
      </joint>
      <static>false</static>
    </model>
    <model name="model_4_mass_1_ixx_1_damping_10">
      <pose>3.0 0.0 10.1 1.57079633 0.0 0.0</pose>
      <link name="link_1">
        <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
        <inertial>
          <pose>0.0 0.0 -10.0 0.0 0.0 0.0</pose>
          <inertia>
            <ixx>1.0</ixx>
            <ixy>0.0</ixy>
            <ixz>0.0</ixz>
            <iyy>0.0</iyy>
            <iyz>0.0</iyz>
            <izz>0.0</izz>
          </inertia>
          <mass>1.0</mass>
        </inertial>
        <velocity_decay>
          <linear>0.0</linear>
          <angular>0.0</angular>
        </velocity_decay>
        <visual name="visual_cylinder">
          <pose>0.0 0.0 -5.0 0.0 0.0 0.0</pose>
          <geometry>
            <cylinder>
              <radius>0.05</radius>
              <length>10.0</length>
            </cylinder>
          </geometry>
          <material>
            <script>Gazebo/Green</script>
          </material>
        </visual>
        <collision name="collision_cylinder">
          <pose>0.0 0.0 -5.0 0.0 0.0 0.0</pose>
          <max_contacts>250</max_contacts>
          <geometry>
            <cylinder>
              <radius>0.05</radius>
              <length>10.0</length>
            </cylinder>
          </geometry>
        </collision>
        <gravity>true</gravity>
        <self_collide>true</self_collide>
        <kinematic>false</kinematic>
      </link>
      <joint name="joint_0" type="revolute">
        <parent>world</parent>
        <child>link_1</child>
        <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
        <axis>
          <xyz>1.0 0.0 0.0</xyz>
          <dynamics>
            <damping>10.0</damping>
            <friction>0.0</friction>
          </dynamics>
          <use_parent_model_frame>true</use_parent_model_frame>
        </axis>
      </joint>
      <static>false</static>
    </model>
    <model name="model_5_mass_1_damping_1">
      <pose>4.0 0.0 10.1 1.57079633 0.0 0.0</pose>
      <link name="link_1">
        <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
        <inertial>
          <pose>0.0 0.0 -10.0 0.0 0.0 0.0</pose>
          <inertia>
            <ixx>0.0</ixx>
            <ixy>0.0</ixy>
            <ixz>0.0</ixz>
            <iyy>0.0</iyy>
            <iyz>0.0</iyz>
            <izz>0.0</izz>
          </inertia>
          <mass>1.0</mass>
        </inertial>
        <velocity_decay>
          <linear>0.0</linear>
          <angular>0.0</angular>
        </velocity_decay>
        <visual name="visual_cylinder">
          <pose>0.0 0.0 -5.0 0.0 0.0 0.0</pose>
          <geometry>
            <cylinder>
              <radius>0.05</radius>
              <length>10.0</length>
            </cylinder>
          </geometry>
          <material>
            <script>Gazebo/Green</script>
          </material>
        </visual>
        <collision name="collision_cylinder">
          <pose>0.0 0.0 -5.0 0.0 0.0 0.0</pose>
          <max_contacts>250</max_contacts>
          <geometry>
            <cylinder>
              <radius>0.05</radius>
              <length>10.0</length>
            </cylinder>
          </geometry>
        </collision>
        <gravity>true</gravity>
        <self_collide>true</self_collide>
        <kinematic>false</kinematic>
      </link>
      <joint name="joint_0" type="revolute">
        <parent>world</parent>
        <child>link_1</child>
        <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
        <axis>
          <xyz>1.0 0.0 0.0</xyz>
          <dynamics>
            <damping>1.0</damping>
            <friction>0.0</friction>
          </dynamics>
          <use_parent_model_frame>true</use_parent_model_frame>
        </axis>
      </joint>
      <static>false</static>
    </model>
    <model name="model_6_mass_1_damping_10">
      <pose>5.0 0.0 10.1 1.57079633 0.0 0.0</pose>
      <link name="link_1">
        <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
        <inertial>
          <pose>0.0 0.0 -10.0 0.0 0.0 0.0</pose>
          <inertia>
            <ixx>0.0</ixx>
            <ixy>0.0</ixy>
            <ixz>0.0</ixz>
            <iyy>0.0</iyy>
            <iyz>0.0</iyz>
            <izz>0.0</izz>
          </inertia>
          <mass>1.0</mass>
        </inertial>
        <velocity_decay>
          <linear>0.0</linear>
          <angular>0.0</angular>
        </velocity_decay>
        <visual name="visual_cylinder">
          <pose>0.0 0.0 -5.0 0.0 0.0 0.0</pose>
          <geometry>
            <cylinder>
              <radius>0.05</radius>
              <length>10.0</length>
            </cylinder>
          </geometry>
          <material>
            <script>Gazebo/Green</script>
          </material>
        </visual>
        <collision name="collision_cylinder">
          <pose>0.0 0.0 -5.0 0.0 0.0 0.0</pose>
          <max_contacts>250</max_contacts>
          <geometry>
            <cylinder>
              <radius>0.05</radius>
              <length>10.0</length>
            </cylinder>
          </geometry>
        </collision>
        <gravity>true</gravity>
        <self_collide>true</self_collide>
        <kinematic>false</kinematic>
      </link>
      <joint name="joint_0" type="revolute">
        <parent>world</parent>
        <child>link_1</child>
        <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
        <axis>
          <xyz>1.0 0.0 0.0</xyz>
          <dynamics>
            <damping>10.0</damping>
            <friction>0.0</friction>
          </dynamics>
          <use_parent_model_frame>true</use_parent_model_frame>
        </axis>
      </joint>
      <static>false</static>
    </model>
    <model name="model_7_mass_1_damping_100">
      <pose>6.0 0.0 10.1 1.57079633 0.0 0.0</pose>
      <link name="link_1">
        <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
        <inertial>
          <pose>0.0 0.0 -10.0 0.0 0.0 0.0</pose>
          <inertia>
            <ixx>0.0</ixx>
            <ixy>0.0</ixy>
            <ixz>0.0</ixz>
            <iyy>0.0</iyy>
            <iyz>0.0</iyz>
            <izz>0.0</izz>
          </inertia>
          <mass>1.0</mass>
        </inertial>
        <velocity_decay>
          <linear>0.0</linear>
          <angular>0.0</angular>
        </velocity_decay>
        <visual name="visual_cylinder">
          <pose>0.0 0.0 -5.0 0.0 0.0 0.0</pose>
          <geometry>
            <cylinder>
              <radius>0.05</radius>
              <length>10.0</length>
            </cylinder>
          </geometry>
          <material>
            <script>Gazebo/Green</script>
          </material>
        </visual>
        <collision name="collision_cylinder">
          <pose>0.0 0.0 -5.0 0.0 0.0 0.0</pose>
          <max_contacts>250</max_contacts>
          <geometry>
            <cylinder>
              <radius>0.05</radius>
              <length>10.0</length>
            </cylinder>
          </geometry>
        </collision>
        <gravity>true</gravity>
        <self_collide>true</self_collide>
        <kinematic>false</kinematic>
      </link>
      <joint name="joint_0" type="revolute">
        <parent>world</parent>
        <child>link_1</child>
        <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
        <axis>
          <xyz>1.0 0.0 0.0</xyz>
          <dynamics>
            <damping>100.0</damping>
            <friction>0.0</friction>
          </dynamics>
          <use_parent_model_frame>true</use_parent_model_frame>
        </axis>
      </joint>
      <static>false</static>
    </model>
    <model name="model_8_mass_1_damping_1000">
      <pose>7.0 0.0 10.1 1.57079633 0.0 0.0</pose>
      <link name="link_1">
        <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
        <inertial>
          <pose>0.0 0.0 -10.0 0.0 0.0 0.0</pose>
          <inertia>
            <ixx>0.0</ixx>
            <ixy>0.0</ixy>
            <ixz>0.0</ixz>
            <iyy>0.0</iyy>
            <iyz>0.0</iyz>
            <izz>0.0</izz>
          </inertia>
          <mass>1.0</mass>
        </inertial>
        <velocity_decay>
          <linear>0.0</linear>
          <angular>0.0</angular>
        </velocity_decay>
        <visual name="visual_cylinder">
          <pose>0.0 0.0 -5.0 0.0 0.0 0.0</pose>
          <geometry>
            <cylinder>
              <radius>0.05</radius>
              <length>10.0</length>
            </cylinder>
          </geometry>
          <material>
            <script>Gazebo/Green</script>
          </material>
        </visual>
        <collision name="collision_cylinder">
          <pose>0.0 0.0 -5.0 0.0 0.0 0.0</pose>
          <max_contacts>250</max_contacts>
          <geometry>
            <cylinder>
              <radius>0.05</radius>
              <length>10.0</length>
            </cylinder>
          </geometry>
        </collision>
        <gravity>true</gravity>
        <self_collide>true</self_collide>
        <kinematic>false</kinematic>
      </link>
      <joint name="joint_0" type="revolute">
        <parent>world</parent>
        <child>link_1</child>
        <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
        <axis>
          <xyz>1.0 0.0 0.0</xyz>
          <dynamics>
            <damping>1000.0</damping>
            <friction>0.0</friction>
          </dynamics>
          <use_parent_model_frame>true</use_parent_model_frame>
        </axis>
      </joint>
      <static>false</static>
    </model>
    <model name="model_9_mass_1_damping_0">
      <pose>8.0 0.0 10.1 1.57079633 0.0 0.0</pose>
      <link name="link_1">
        <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
        <inertial>
          <pose>0.0 0.0 -10.0 0.0 0.0 0.0</pose>
          <inertia>
            <ixx>0.0</ixx>
            <ixy>0.0</ixy>
            <ixz>0.0</ixz>
            <iyy>0.0</iyy>
            <iyz>0.0</iyz>
            <izz>0.0</izz>
          </inertia>
          <mass>1.0</mass>
        </inertial>
        <velocity_decay>
          <linear>0.0</linear>
          <angular>0.0</angular>
        </velocity_decay>
        <visual name="visual_cylinder">
          <pose>0.0 0.0 -5.0 0.0 0.0 0.0</pose>
          <geometry>
            <cylinder>
              <radius>0.05</radius>
              <length>10.0</length>
            </cylinder>
          </geometry>
          <material>
            <script>Gazebo/Green</script>
          </material>
        </visual>
        <collision name="collision_cylinder">
          <pose>0.0 0.0 -5.0 0.0 0.0 0.0</pose>
          <max_contacts>250</max_contacts>
          <geometry>
            <cylinder>
              <radius>0.05</radius>
              <length>10.0</length>
            </cylinder>
          </geometry>
        </collision>
        <gravity>true</gravity>
        <self_collide>true</self_collide>
        <kinematic>false</kinematic>
      </link>
      <joint name="joint_0" type="revolute">
        <parent>world</parent>
        <child>link_1</child>
        <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
        <axis>
          <xyz>1.0 0.0 0.0</xyz>
          <dynamics>
            <damping>0.0</damping>
            <friction>0.0</friction>
          </dynamics>
          <use_parent_model_frame>true</use_parent_model_frame>
        </axis>
      </joint>
      <static>false</static>
    </model>
    <model name="model_10_mass_10_damping_0">
      <pose>9.0 0.0 10.1 1.57079633 0.0 0.0</pose>
      <link name="link_1">
        <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
        <inertial>
          <pose>0.0 0.0 -10.0 0.0 0.0 0.0</pose>
          <inertia>
            <ixx>0.0</ixx>
            <ixy>0.0</ixy>
            <ixz>0.0</ixz>
            <iyy>0.0</iyy>
            <iyz>0.0</iyz>
            <izz>0.0</izz>
          </inertia>
          <mass>10.0</mass>
        </inertial>
        <velocity_decay>
          <linear>0.0</linear>
          <angular>0.0</angular>
        </velocity_decay>
        <visual name="visual_cylinder">
          <pose>0.0 0.0 -5.0 0.0 0.0 0.0</pose>
          <geometry>
            <cylinder>
              <radius>0.05</radius>
              <length>10.0</length>
            </cylinder>
          </geometry>
          <material>
            <script>Gazebo/Green</script>
          </material>
        </visual>
        <collision name="collision_cylinder">
          <pose>0.0 0.0 -5.0 0.0 0.0 0.0</pose>
          <max_contacts>250</max_contacts>
          <geometry>
            <cylinder>
              <radius>0.05</radius>
              <length>10.0</length>
            </cylinder>
          </geometry>
        </collision>
        <gravity>true</gravity>
        <self_collide>true</self_collide>
        <kinematic>false</kinematic>
      </link>
      <joint name="joint_0" type="revolute">
        <parent>world</parent>
        <child>link_1</child>
        <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
        <axis>
          <xyz>1.0 0.0 0.0</xyz>
          <dynamics>
            <damping>0.0</damping>
            <friction>0.0</friction>
          </dynamics>
          <use_parent_model_frame>true</use_parent_model_frame>
        </axis>
      </joint>
      <static>false</static>
    </model>
  </world>
</sdf>
