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<?xml version="1.0" ?>
<sdf version="1.4">
<world name="default">
<include>
<uri>model://ground_plane</uri>
</include>
<!-- Global light source -->
<include>
<uri>model://sun</uri>
</include>
<!-- Focus camera on tall pendulum -->
<!--<gui fullscreen='0'>
<camera name='user_camera'>
<pose frame=''>0.335835 -0.310984 0.241033 0 0.275643 2.35619</pose>
<view_controller>orbit</view_controller>
<projection_type>perspective</projection_type>
</camera>
</gui>-->
<light name='sun' type='directional'>
<cast_shadows>1</cast_shadows>
<pose frame=''>0 0 10 0 -0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.1 0.1 0.1 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.5 -1</direction>
</light>
<model name='unit_sphere'>
<pose frame=''>1.14411 -1.30574 0.5 0 -0 0</pose>
<link name='link'>
<inertial>
<mass>1</mass>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
<collision name='collision'>
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
</model>
<state world_name='default'>
<model name='unit_sphere'>
<pose frame=''>1.14411 -1.30574 0.163291 0 -0 0</pose>
<scale>0.326581 0.326581 0.326581</scale>
<link name='link'>
<pose frame=''>1.14411 -1.30574 0.163291 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<light name='sun'>
<pose frame=''>0 0 10 0 -0 0</pose>
</light>
</state>
</world>
</sdf>