<?xml version="1.0" ?>
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<sdf version="1.5">
  <world name="inertia_rotations">
    <include>
      <uri>model://sun</uri>
    </include>
    <include>
      <uri>model://ground_plane</uri>
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    <model name="box010409_ref">
      <pose>0 0 0.45  0 0 0</pose>
      <link name="link">
        <inertial>
          <pose>0 0 0  0 0 0</pose>
          <mass>12</mass>
          <inertia>
            <ixx>0.97</ixx>
            <iyy>0.82</iyy>
            <izz>0.17</izz>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyz>0</iyz>
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        <collision name="collision">
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            <box>
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        <visual name="visual">
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          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
          </material>
        </visual>
      </link>
    </model>

    <model name="box010409_x90">
      <pose>0 1 0.45  0 0 0</pose>
      <link name="link">
        <inertial>
          <pose>0 0 0  1.5707963267948966 0 0</pose>
          <mass>12</mass>
          <inertia>
            <ixx>0.97</ixx>
            <iyy>0.17</iyy>
            <izz>0.82</izz>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyz>0</iyz>
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        </inertial>
        <collision name="collision">
          <geometry>
            <box>
              <size>0.1 0.4 0.9</size>
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                <mu2>1</mu2>
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                <min_depth>0.001</min_depth>
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        <visual name="visual">
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            <box>
              <size>0.1 0.4 0.9</size>
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          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
          </material>
        </visual>
      </link>
    </model>

    <model name="box010409_y90">
      <pose>0 2 0.45  0 0 0</pose>
      <link name="link">
        <inertial>
          <pose>0 0 0  0 1.5707963267948966 0</pose>
          <mass>12</mass>
          <inertia>
            <ixx>0.17</ixx>
            <iyy>0.82</iyy>
            <izz>0.97</izz>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyz>0</iyz>
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        </inertial>
        <collision name="collision">
          <geometry>
            <box>
              <size>0.1 0.4 0.9</size>
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          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
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            <contact>
              <ode>
                <max_vel>0.01</max_vel>
                <min_depth>0.001</min_depth>
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            </contact>
          </surface>
        </collision>
        <visual name="visual">
          <geometry>
            <box>
              <size>0.1 0.4 0.9</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
          </material>
        </visual>
      </link>
    </model>

    <model name="box010409_z90">
      <pose>0 3 0.45  0 0 0</pose>
      <link name="link">
        <inertial>
          <pose>0 0 0  0 0 1.5707963267948966</pose>
          <mass>12</mass>
          <inertia>
            <ixx>0.82</ixx>
            <iyy>0.97</iyy>
            <izz>0.17</izz>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyz>0</iyz>
          </inertia>
        </inertial>
        <collision name="collision">
          <geometry>
            <box>
              <size>0.1 0.4 0.9</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
              </ode>
            </friction>
            <contact>
              <ode>
                <max_vel>0.01</max_vel>
                <min_depth>0.001</min_depth>
              </ode>
            </contact>
          </surface>
        </collision>
        <visual name="visual">
          <geometry>
            <box>
              <size>0.1 0.4 0.9</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
          </material>
        </visual>
      </link>
    </model>

    <model name="box010409_x45">
      <pose>0 4 0.45  0 0 0</pose>
      <link name="link">
        <inertial>
          <pose>0 0 0  -0.7853981633974483 0 0</pose>
          <mass>12</mass>
          <inertia>
            <ixx>0.97</ixx>
            <iyy>0.495</iyy>
            <izz>0.495</izz>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyz>0.325</iyz>
          </inertia>
        </inertial>
        <collision name="collision">
          <geometry>
            <box>
              <size>0.1 0.4 0.9</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
              </ode>
            </friction>
            <contact>
              <ode>
                <max_vel>0.01</max_vel>
                <min_depth>0.001</min_depth>
              </ode>
            </contact>
          </surface>
        </collision>
        <visual name="visual">
          <geometry>
            <box>
              <size>0.1 0.4 0.9</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
          </material>
        </visual>
      </link>
    </model>

    <model name="box010409_y45">
      <pose>0 5 0.45  0 0 0</pose>
      <link name="link">
        <inertial>
          <pose>0 0 0  0 -0.7853981633974483 0</pose>
          <mass>12</mass>
          <inertia>
            <ixx>0.57</ixx>
            <iyy>0.82</iyy>
            <izz>0.57</izz>
            <ixy>0</ixy>
            <ixz>-0.4</ixz>
            <iyz>0</iyz>
          </inertia>
        </inertial>
        <collision name="collision">
          <geometry>
            <box>
              <size>0.1 0.4 0.9</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
              </ode>
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            <contact>
              <ode>
                <max_vel>0.01</max_vel>
                <min_depth>0.001</min_depth>
              </ode>
            </contact>
          </surface>
        </collision>
        <visual name="visual">
          <geometry>
            <box>
              <size>0.1 0.4 0.9</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
          </material>
        </visual>
      </link>
    </model>

    <model name="box010409_z45">
      <pose>0 6 0.45  0 0 0</pose>
      <link name="link">
        <inertial>
          <pose>0 0 0  0 0 -0.7853981633974483</pose>
          <mass>12</mass>
          <inertia>
            <ixx>0.895</ixx>
            <iyy>0.895</iyy>
            <izz>0.17</izz>
            <ixy>0.075</ixy>
            <ixz>0</ixz>
            <iyz>0</iyz>
          </inertia>
        </inertial>
        <collision name="collision">
          <geometry>
            <box>
              <size>0.1 0.4 0.9</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
              </ode>
            </friction>
            <contact>
              <ode>
                <max_vel>0.01</max_vel>
                <min_depth>0.001</min_depth>
              </ode>
            </contact>
          </surface>
        </collision>
        <visual name="visual">
          <geometry>
            <box>
              <size>0.1 0.4 0.9</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
          </material>
        </visual>
      </link>
    </model>

    <gui fullscreen='0'>
      <camera name='user_camera'>
        <pose>4.2 -0.7 2.0  0 0.3 2.57</pose>
        <view_controller>orbit</view_controller>
      </camera>
    </gui>
  </world>
</sdf>
