<?xml version="1.0" ?>
<sdf version="1.6">
  <model name="test">
    <link name="link1">
    </link>
    <link name="link2">
    </link>
    <link name="link3">
    </link>
    <link name="link4">
    </link>
    <link name="link5">
    </link>
    <link name="link6">
    </link>
    <link name="link7">
    </link>
    <link name="link8">
    </link>
    <link name="link9">
    </link>
    <link name="link10">
    </link>

    <joint name="revolute_joint" type="revolute">
      <pose>1 0 0 0 0 0</pose>
      <child>link1</child>
      <parent>link2</parent>
      <axis>
        <xyz>0 0 1</xyz>
        <use_parent_model_frame>true</use_parent_model_frame>
        <limit>
          <lower>-0.5</lower>
          <upper>0.5</upper>
          <effort>123.4</effort>
          <velocity>12</velocity>
        </limit>
        <dynamics>
          <damping>0.1</damping>
          <friction>0.2</friction>
          <spring_reference>1.3</spring_reference>
          <spring_stiffness>10.6</spring_stiffness>
        </dynamics>
      </axis>
      <axis2>
        <xyz>0 1 0</xyz>
        <use_parent_model_frame>false</use_parent_model_frame>
        <limit>
          <lower>-1</lower>
          <upper>1</upper>
          <effort>0.5</effort>
          <velocity>200</velocity>
        </limit>
      </axis2>
      <physics>
        <ode>
          <cfm_damping>1</cfm_damping>
          <limit>
            <cfm>0</cfm>
            <erp>0.2</erp>
          </limit>
        </ode>
      </physics>
    </joint>
    <joint name="ball_joint" type="ball">
      <pose>0 1 0 0 0 0</pose>
      <child>link2</child>
      <parent>link3</parent>
    </joint>
    <joint name="continuous_joint" type="continuous">
      <pose>0 0 1 0 0 0</pose>
      <child>link3</child>
      <parent>link4</parent>
      <axis>
        <xyz>0 0 1</xyz>
      </axis>
    </joint>
    <joint name="fixed_joint" type="fixed">
      <pose>0 0 0 1 0 0</pose>
      <child>link4</child>
      <parent>link5</parent>
    </joint>
    <joint name="gearbox_joint" type="gearbox">
      <pose>0 0 0 0 1 0</pose>
      <child>link5</child>
      <parent>link6</parent>
      <axis>
        <xyz>0 0 1</xyz>
      </axis>
    </joint>
    <joint name="prismatic_joint" type="prismatic">
      <pose>0 0 0 0 0 1</pose>
      <child>link6</child>
      <parent>link7</parent>
      <axis>
        <xyz>0 0 1</xyz>
      </axis>
    </joint>
    <joint name="revolute2_joint" type="revolute2">
      <pose>2 0 0 0 0 0</pose>
      <child>link7</child>
      <parent>link8</parent>
      <axis>
        <xyz>0 0 1</xyz>
      </axis>
    </joint>
    <joint name="screw_joint" type="screw">
      <pose>0 2 0 0 0 0</pose>
      <child>link8</child>
      <parent>link9</parent>
      <thread_pitch>20</thread_pitch>
      <axis>
        <xyz>0 0 1</xyz>
      </axis>
    </joint>
    <joint name="universal_joint" type="universal">
      <pose>0 0 2 0 0 0</pose>
      <child>link9</child>
      <parent>link10</parent>
      <axis>
        <xyz>0 0 1</xyz>
      </axis>
    </joint>

  </model>
</sdf>
