<sdf version="1.4">
  <model name="model_1">
    <link name="link_00">
      <gravity>true</gravity>
      <pose>0 0 2 0 0 0</pose>
      <inertial>
        <mass>0.1</mass>
        <pose>0 0 -0.5 0 0 0</pose>
        <inertia>
          <ixx>0.01</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.01</iyy>
          <iyz>0</iyz>
          <izz>0.01</izz>
        </inertia>
      </inertial>
      <collision name="col">
        <pose>0 0 -0.5 0 0 0</pose>
        <geometry>
          <box>
            <size>0.10 0.20 1.0</size>
          </box>
        </geometry>
      </collision>
      <visual name="vis">
        <pose>0 0 -0.5 0 0 0</pose>
        <geometry>
          <box>
            <size>0.10 0.20 1.0</size>
          </box>
        </geometry>
        <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
            <name>Gazebo/Green</name>
          </script>
        </material>
      </visual>
      <visual name="vis2">
        <pose>0 0.125 -0.5 0 0 0</pose>
        <geometry>
          <sphere>
            <radius>0.05</radius>
          </sphere>
        </geometry>
        <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
            <name>Gazebo/Green</name>
          </script>
        </material>
      </visual>
    </link>
    <link name="link_01">
      <gravity>true</gravity>
      <pose>0 0 1.0 0 0 0</pose>
      <inertial>
        <mass>0.1</mass>
        <pose>0 0 -0.5 0 0 0</pose>
        <inertia>
          <ixx>0.01</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.01</iyy>
          <iyz>0</iyz>
          <izz>0.01</izz>
        </inertia>
      </inertial>
      <collision name="col">
        <pose>0 0 -0.5 0 0 0</pose>
        <geometry>
          <box>
            <size>0.10 0.20 1.0</size>
          </box>
        </geometry>
        <surface>
          <contact>
            <ode>
              <min_depth>0.005</min_depth>
            </ode>
          </contact>
          <friction>
            <ode>
              <mu>1.0</mu>
              <mu2>1.0</mu2>
            </ode>
          </friction>
        </surface>
      </collision>
      <visual name="vis">
        <pose>0 0 -0.5 0 0 0</pose>
        <geometry>
          <box>
            <size>0.10 0.20 1.0</size>
          </box>
        </geometry>
        <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
            <name>Gazebo/Red</name>
          </script>
        </material>
      </visual>
      <visual name="vis2">
        <pose>0 0.125 -0.5 0 0 0</pose>
        <geometry>
          <sphere>
            <radius>0.05</radius>
          </sphere>
        </geometry>
        <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
            <name>Gazebo/Green</name>
          </script>
        </material>
      </visual>
    </link>

    <joint name="joint_00" type="universal">
      <parent>world</parent>
      <child>link_00</child>
      <axis>
        <xyz>1 0 0</xyz>
        <limit>
          <lower>-1.2</lower>
          <upper>1.2</upper>
          <stiffness>1e6</stiffness>
        </limit>
        <dynamics>
          <damping>0.0001</damping>
        </dynamics>
      </axis>
      <axis2>
        <xyz>0 1 0</xyz>
        <limit>
          <lower>-1.2</lower>
          <upper>1.2</upper>
          <stiffness>1e6</stiffness>
        </limit>
        <dynamics>
          <damping>0.0001</damping>
        </dynamics>
      </axis2>
      <physics>
        <ode>
          <cfm_damping>1</cfm_damping>
        </ode>
      </physics>
    </joint>
    <joint name="joint_01" type="universal">
      <child>link_01</child>
      <parent>link_00</parent>
      <axis>
        <xyz>1 0 0</xyz>
        <limit>
          <lower>-1.2</lower>
          <upper>1.2</upper>
        </limit>
        <dynamics>
          <damping>0.1</damping>
        </dynamics>
      </axis>
      <axis2>
        <xyz>0 1 0</xyz>
        <limit>
          <lower>-1.2</lower>
          <upper>1.2</upper>
        </limit>
        <dynamics>
          <damping>0.1</damping>
        </dynamics>
      </axis2>
      <physics>
        <ode>
          <cfm_damping>1</cfm_damping>
        </ode>
      </physics>
    </joint>
  </model>
</sdf>
