<?xml version="1.0" ?>
<sdf version="1.4">
  <world name="default">
    <scene>
      <ambient>0.0 0.0 0.0 1</ambient>
      <background>1 1 1 1</background>
      <shadows>true</shadows>
    </scene>
    <physics type="ode">
      <gravity>0 0 -9.8</gravity>
      <ode>
        <solver>
          <type>quick</type>
          <iters>100</iters>
          <sor>1.3</sor>
        </solver>
      </ode>
      <real_time_update_rate>100</real_time_update_rate>
      <max_step_size>0.01</max_step_size>
    </physics>
    <!-- Ground Plane -->
    <include><uri>model://ground_plane</uri></include>
    <model name="box">
      <link name="base_link">
        <pose>0 0 0.5 0 0 0</pose>
        <inertial>
          <inertia>
            <ixx>1</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>1</iyy>
            <iyz>0</iyz>
            <izz>1</izz>
          </inertia>
          <mass>1.0</mass>
        </inertial>
        <collision name="collision">
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
        </collision>
        <visual name="visual">
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
        </visual>
      </link>
      <link name="top_link">
        <pose>0 0 1.3 0 0 0</pose>
        <inertial>
          <inertia>
            <ixx>1</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>1</iyy>
            <iyz>0</iyz>
            <izz>1</izz>
          </inertia>
          <mass>1.0</mass>
        </inertial>
        <collision name="collision">
          <geometry>
            <box>
              <size>.5 .5 .5</size>
            </box>
          </geometry>
        </collision>
        <visual name="visual">
          <geometry>
            <box>
              <size>.5 .5 .5</size>
            </box>
          </geometry>
        </visual>
      </link>
      <joint name="my_joint" type="prismatic">
        <parent>base_link</parent>
        <child>top_link</child>
        <axis>
          <xyz>0 0 1</xyz>
        </axis>
      </joint>
      <plugin name="animate_joints" filename="libanimate_joints.so" />
    </model>
    <light type="directional" name="sun">
      <pose>0 0 10 0 0 0</pose>
      <diffuse>1.0 1.0 1.0 1</diffuse>
      <specular>.1 .1 .1 1</specular>
      <attenuation>
        <range>10</range>
        <linear>0.01</linear>
        <constant>0.8</constant>
        <quadratic>0.0</quadratic>
      </attenuation>
      <direction>0 .2 -1.0</direction>
      <cast_shadows>true</cast_shadows>
    </light>
  </world>
</sdf>
