<?xml version="1.0" ?>
<!--
  Demonstration of a joint attached to the world.
-->
<sdf version="1.6">
  <world name="shapes">
    <physics name="1ms" type="ignored">
      <max_step_size>0.001</max_step_size>
      <real_time_factor>1.0</real_time_factor>
    </physics>
    <plugin
      filename="ignition-gazebo-physics-system"
      name="ignition::gazebo::systems::Physics">
    </plugin>
    <plugin
      filename="ignition-gazebo-user-commands-system"
      name="ignition::gazebo::systems::UserCommands">
    </plugin>
    <plugin
      filename="ignition-gazebo-scene-broadcaster-system"
      name="ignition::gazebo::systems::SceneBroadcaster">
    </plugin>

    <light type="directional" name="sun">
      <cast_shadows>true</cast_shadows>
      <pose>0 0 10 0 0 0</pose>
      <diffuse>0.8 0.8 0.8 1</diffuse>
      <specular>0.2 0.2 0.2 1</specular>
      <attenuation>
        <range>1000</range>
        <constant>0.9</constant>
        <linear>0.01</linear>
        <quadratic>0.001</quadratic>
      </attenuation>
      <direction>-0.5 0.1 -0.9</direction>
    </light>

    <model name="pendulum">
      <pose>0 0 0.5 1.57 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>
            <cylinder>
              <radius>0.1</radius>
              <length>0.5</length>
            </cylinder>
          </geometry>
        </collision>

        <visual name="visual">
          <geometry>
            <cylinder>
              <radius>0.1</radius>
              <length>0.5</length>
            </cylinder>
          </geometry>
          <material>
            <ambient>1 1 0 1</ambient>
            <diffuse>1 1 0 1</diffuse>
            <specular>1 1 0 1</specular>
          </material>
        </visual>
      </link>

      <joint name="world_joint" type="revolute">
        <pose>0 0 0.25 0 0 0</pose>
        <parent>world</parent>
        <child>link</child>
        <axis>
          <xyz>1 0 0</xyz>
        </axis>
      </joint>
    </model>
  </world>
</sdf>
