<?xml version="1.0" ?>
<sdf version="1.6">
  <world name="apply_link_wrench">
    <gravity>0 0 0</gravity>

    <plugin
      filename="ignition-gazebo-physics-system"
      name="ignition::gazebo::systems::Physics">
    </plugin>
    <plugin
      filename="ignition-gazebo-apply-link-wrench-system"
      name="ignition::gazebo::systems::ApplyLinkWrench">
      <persistent>
        <entity_name>model1</entity_name>
        <entity_type>model</entity_type>
        <force>50 0 0</force>
        <torque>0 0 0.5</torque>
      </persistent>
      <persistent>
        <entity_name>model2::link</entity_name>
        <entity_type>link</entity_type>
        <force>-100 0 0</force>
        <torque>0 0 -1.0</torque>
      </persistent>
    </plugin>

    <model name="model1">
      <pose>0 0 0.5 0 0 0</pose>
      <link name="link">
        <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>
      </link>
    </model>

    <model name="model2">
      <pose>0 2 0.5 0 0 0</pose>
      <link name="link">
        <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>
      </link>
    </model>

    <model name="model3">
      <pose>0 4 0.5 0 0 0</pose>
      <link name="link">
        <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>
      </link>
    </model>

    <model name="model4">
      <pose>0 6 0.5 0 0 0</pose>
      <link name="link">
        <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>
      </link>
    </model>
  </world>
</sdf>
