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<?xml version="1.0" encoding="utf-8"?>
<sdf version="1.4">
<world name="default">
<!-- A global light source -->
<include>
<uri>model://sun</uri>
</include>
<!-- A ground plane -->
<include>
<uri>model://ground_plane</uri>
</include>
<physics type="ode">
<real_time_update_rate>1000.0</real_time_update_rate>
<max_step_size>0.001</max_step_size>
<real_time_factor>1</real_time_factor>
<ode>
<solver>
<type>quick</type>
<iters>150</iters>
<precon_iters>0</precon_iters>
<sor>1.400000</sor>
<use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling>
</solver>
<constraints>
<cfm>0.00001</cfm>
<erp>0.2</erp>
<contact_max_correcting_vel>2000.000000</contact_max_correcting_vel>
<contact_surface_layer>0.01000</contact_surface_layer>
</constraints>
</ode>
</physics>
<scene>
<ambient>0.4 0.4 0.4 1</ambient>
<background>0.7 0.7 0.7 1</background>
<shadows>true</shadows>
</scene>
<gui fullscreen="0">
<camera name="user_camera">
<pose>0.0 0.0 17.0 0 1.5708 0</pose>
<view_controller>orbit</view_controller>
</camera>
</gui>
<model name="obstacle_cylinder_0.1_s">
<pose>1 3 0 0 0 0</pose>
<link name="link">
<collision name="collision">
<geometry>
<cylinder>
<radius>0.1</radius>
<length>1</length>
</cylinder>
</geometry>
</collision>
<visual name="visual">
<geometry>
<cylinder>
<radius>0.1</radius>
<length>1</length>
</cylinder>
</geometry>
</visual>
</link>
</model>
</world>
</sdf>