<?xml version="1.0" ?>
<sdf version="1.5">
  <model name="simple_joint_test">
    <pose>10 10 2 0  0 0</pose>
    <link name="base">
      <inertial>
        <mass>100</mass>
      </inertial>
      <visual name="visual">
        <pose>0 0 0 -1.57 0 0</pose>
        <geometry>
          <cylinder>
            <radius>0.1</radius>
            <length>0.2</length>
          </cylinder>
        </geometry>
      </visual>
    </link>
    <link name="bar">
      <pose>0 0 -1 0 0 0</pose>
      <inertial>
        <mass>1</mass>
      </inertial>
      <visual name="visual">
        <geometry>
          <box>
            <size>0.1 0.1 0.1</size>
          </box>
        </geometry>
      </visual>
    </link>
    <joint name="j0" type="fixed">
      <parent>world</parent>
      <child>base</child>
    </joint>
    <joint name="j1" type="revolute">
      <pose>0 0 1 0 0 0</pose>
      <parent>base</parent>
      <child>bar</child>
      <axis>
        <xyz>0 1 0</xyz>
      </axis>
    </joint>
  </model>
</sdf>
