<?xml version="1.0" ?>
<sdf version="1.5">
  <model name="cfm_damping_implicit_spring_damper_conversion_test">
    <link name="world" />
    <link name="link1" />
    <link name="link2" />
    <joint name="jointw1" type="continuous">
      <parent>link1</parent>
      <child>link2</child>
      <axis>
        <xyz>1.0 0 0</xyz>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
    </joint>
    <joint name="joint12a" type="revolute">
      <parent>link1</parent>
      <child>link2</child>
      <axis>
        <xyz>1.0 0 0</xyz>
        <limit>
          <lower>0.000000</lower>
          <upper>1.000000</upper>
        </limit>
        <dynamics>
          <damping>1.000000</damping>
        </dynamics>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
      <physics>
        <ode>
          <cfm_damping>0</cfm_damping>
        </ode>
      </physics>
    </joint>
    <joint name="joint12b" type="revolute">
      <parent>link1</parent>
      <child>link2</child>
      <axis>
        <xyz>1.0 0 0</xyz>
        <limit>
          <lower>0.000000</lower>
          <upper>1.000000</upper>
        </limit>
        <dynamics>
          <damping>1.000000</damping>
        </dynamics>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
      <physics>
        <ode>
          <cfm_damping>true</cfm_damping>
        </ode>
      </physics>
    </joint>
    <joint name="joint12c" type="revolute">
      <parent>link1</parent>
      <child>link2</child>
      <axis>
        <xyz>1.0 0 0</xyz>
        <limit>
          <lower>0.000000</lower>
          <upper>1.000000</upper>
        </limit>
        <dynamics>
          <damping>1.000000</damping>
        </dynamics>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
      <physics>
        <ode>
          <implicit_spring_damper>0</implicit_spring_damper>
        </ode>
      </physics>
    </joint>
    <joint name="joint12d" type="revolute">
      <parent>link1</parent>
      <child>link2</child>
      <axis>
        <xyz>1.0 0 0</xyz>
        <limit>
          <lower>0.000000</lower>
          <upper>1.000000</upper>
        </limit>
        <dynamics>
          <damping>1.000000</damping>
        </dynamics>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
      <physics>
        <ode>
          <implicit_spring_damper>true</implicit_spring_damper>
        </ode>
      </physics>
    </joint>
  </model>
</sdf>
