<?xml version="1.0" ?>
<sdf version="1.5">
  <world name="default">
    <physics type="ode">
      <gravity>0 0 -9.8</gravity>
    </physics>
    <include>
      <uri>model://sun</uri>
    </include>

    <include>
      <uri>model://ground_plane</uri>
    </include>

    <model name="model_00">
      <pose>0 0 0.5 0 0 0</pose>
      <link name="link_00">
        <pose>0 0 0 0 0 0</pose>
        <collision name="collision_00">
          <geometry>
            <sphere>
              <radius>0.5</radius>
            </sphere>
          </geometry>
        </collision>
        <visual name="visual_00">
          <geometry>
            <sphere>
              <radius>0.5</radius>
            </sphere>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
          </material>
        </visual>
      </link>

      <model name="model_01">
        <pose>1 0 0.0 0 0 0</pose>
        <link name="link_01">
          <pose>0.25 0 0.0 0 0 0</pose>
          <collision name="collision_01">
            <geometry>
              <box>
                <size>1 1 1</size>
              </box>
            </geometry>
          </collision>
          <visual name="visual_01">
            <geometry>
              <box>
                <size>1 1 1</size>
              </box>
            </geometry>
            <material>
              <script>
                <uri>file://media/materials/scripts/gazebo.material</uri>
                <name>Gazebo/Grey</name>
              </script>
            </material>
          </visual>
        </link>
      </model>

      <joint name="joint_00" type="revolute">
        <parent>link_00</parent>
        <child>model_01::link_01</child>
        <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
        <axis>
          <xyz>1.0 0.0 0.0</xyz>
        </axis>
      </joint>
    </model>

  </world>
</sdf>
