diff --git a/src/sim/worlds/zylinder.world b/src/sim/worlds/zylinder.world
new file mode 100644
index 0000000000000000000000000000000000000000..6babff34596b6f1e1b75d110aa76d061a7bc3b29
--- /dev/null
+++ b/src/sim/worlds/zylinder.world
@@ -0,0 +1,1011 @@
+<sdf version='1.6'>
+  <world name='default'>
+    <scene>
+      <ambient>0.4 0.4 0.4 1</ambient>
+      <background>0.7 0.7 0.7 1</background>
+      <shadows>1</shadows>
+    </scene>
+    <light name='sun' type='directional'>
+      <cast_shadows>1</cast_shadows>
+      <pose frame=''>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='unit_cylinder10kg'>
+      <link name='link'>
+        <inertial>
+          <mass>7.77544</mass>
+          <inertia>
+            <ixx>1.13392</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>1.13392</iyy>
+            <iyz>0</iyz>
+            <izz>0.97193</izz>
+          </inertia>
+          <pose frame=''>0 0 0 0 -0 0</pose>
+        </inertial>
+        <self_collide>1</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>1</kinematic>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <gravity>1</gravity>
+        <visual name='visual'>
+          <geometry>
+            <cylinder>
+              <radius>0.13</radius>
+              <length>1</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <name>Gazebo/Gray</name>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+            </script>
+            <shader type='vertex'>
+              <normal_map>__default__</normal_map>
+            </shader>
+            <ambient>0.3 0.3 0.3 1</ambient>
+            <diffuse>0.7 0.7 0.7 1</diffuse>
+            <specular>0.01 0.01 0.01 1</specular>
+            <emissive>0 0 0 1</emissive>
+          </material>
+          <pose frame=''>0 0 0 0 -0 0</pose>
+          <transparency>0</transparency>
+          <cast_shadows>1</cast_shadows>
+        </visual>
+        <visual name='ModelPreview_10::link::visual_1'>
+          <geometry>
+            <cylinder>
+              <radius>0.13</radius>
+              <length>1</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <name>Gazebo/Gray</name>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+            </script>
+            <shader type='vertex'>
+              <normal_map>__default__</normal_map>
+            </shader>
+            <ambient>0.3 0.3 0.3 1</ambient>
+            <diffuse>0.7 0.7 0.7 1</diffuse>
+            <specular>0.01 0.01 0.01 1</specular>
+            <emissive>0 0 0 1</emissive>
+          </material>
+          <pose frame=''>0 0 0 0 -0 0</pose>
+          <transparency>0</transparency>
+          <cast_shadows>1</cast_shadows>
+        </visual>
+        <collision name='collision'>
+          <laser_retro>0</laser_retro>
+          <max_contacts>10</max_contacts>
+          <pose frame=''>0 0 0 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.13</radius>
+              <length>1</length>
+            </cylinder>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>1</mu>
+                <mu2>1</mu2>
+                <fdir1>0 0 0</fdir1>
+                <slip1>0</slip1>
+                <slip2>0</slip2>
+              </ode>
+              <torsional>
+                <coefficient>1</coefficient>
+                <patch_radius>0</patch_radius>
+                <surface_radius>0</surface_radius>
+                <use_patch_radius>1</use_patch_radius>
+                <ode>
+                  <slip>0</slip>
+                </ode>
+              </torsional>
+            </friction>
+            <bounce>
+              <restitution_coefficient>0</restitution_coefficient>
+              <threshold>1e+06</threshold>
+            </bounce>
+            <contact>
+              <collide_without_contact>0</collide_without_contact>
+              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+              <collide_bitmask>1</collide_bitmask>
+              <ode>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+                <max_vel>0.01</max_vel>
+                <min_depth>0</min_depth>
+              </ode>
+              <bullet>
+                <split_impulse>1</split_impulse>
+                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+              </bullet>
+            </contact>
+          </surface>
+        </collision>
+      </link>
+      <static>0</static>
+      <allow_auto_disable>1</allow_auto_disable>
+    </model>
+    <model name='ground_plane'>
+      <static>1</static>
+      <link name='link'>
+        <collision name='collision'>
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <surface>
+            <contact>
+              <collide_bitmask>65535</collide_bitmask>
+              <ode/>
+            </contact>
+            <friction>
+              <ode>
+                <mu>100</mu>
+                <mu2>50</mu2>
+              </ode>
+              <torsional>
+                <ode/>
+              </torsional>
+            </friction>
+            <bounce/>
+          </surface>
+          <max_contacts>10</max_contacts>
+        </collision>
+        <visual name='visual'>
+          <cast_shadows>0</cast_shadows>
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+    </model>
+    <physics name='default_physics' default='0' type='ode'>
+      <real_time_update_rate>1000</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>1.4</sor>
+          <use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling>
+        </solver>
+        <constraints>
+          <cfm>1e-05</cfm>
+          <erp>0.2</erp>
+          <contact_max_correcting_vel>2000</contact_max_correcting_vel>
+          <contact_surface_layer>0.01</contact_surface_layer>
+        </constraints>
+      </ode>
+    </physics>
+    <gravity>0 0 -9.8</gravity>
+    <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
+    <atmosphere type='adiabatic'/>
+    <audio>
+      <device>default</device>
+    </audio>
+    <wind/>
+    <spherical_coordinates>
+      <surface_model>EARTH_WGS84</surface_model>
+      <latitude_deg>0</latitude_deg>
+      <longitude_deg>0</longitude_deg>
+      <elevation>0</elevation>
+      <heading_deg>0</heading_deg>
+    </spherical_coordinates>
+    <model name='turtlebot3_burger'>
+      <link name='base_footprint'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <inertial>
+          <pose frame=''>-0.00429 0 0.030734 0 -0 0</pose>
+          <mass>0.944735</mass>
+          <inertia>
+            <ixx>0.00717896</ixx>
+            <ixy>-1.22941e-05</ixy>
+            <ixz>0.00057674</ixz>
+            <iyy>0.00721804</iyy>
+            <iyz>-5.01209e-06</iyz>
+            <izz>0.00413858</izz>
+          </inertia>
+        </inertial>
+        <collision name='base_footprint_fixed_joint_lump__base_link_collision'>
+          <pose frame=''>-0.032 0 0.08 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.14 0.14 0.143</size>
+            </box>
+          </geometry>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <friction>
+              <ode/>
+              <torsional>
+                <ode/>
+              </torsional>
+            </friction>
+            <bounce/>
+          </surface>
+          <max_contacts>10</max_contacts>
+        </collision>
+        <collision name='base_footprint_fixed_joint_lump__caster_back_link_collision_1'>
+          <pose frame=''>-0.081 1e-06 0.005 -1.57 0 0</pose>
+          <geometry>
+            <box>
+              <size>0.03 0.009 0.02</size>
+            </box>
+          </geometry>
+          <surface>
+            <contact>
+              <ode>
+                <kp>1e+06</kp>
+                <kd>100</kd>
+                <max_vel>1</max_vel>
+                <min_depth>0.001</min_depth>
+              </ode>
+            </contact>
+            <friction>
+              <ode>
+                <mu>0.1</mu>
+                <mu2>0.1</mu2>
+              </ode>
+              <torsional>
+                <ode/>
+              </torsional>
+            </friction>
+            <bounce/>
+          </surface>
+          <max_contacts>10</max_contacts>
+        </collision>
+        <collision name='base_footprint_fixed_joint_lump__base_scan_collision_2'>
+          <pose frame=''>-0.017 0 0.1755 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <length>0.0315</length>
+              <radius>0.055</radius>
+            </cylinder>
+          </geometry>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <friction>
+              <ode/>
+              <torsional>
+                <ode/>
+              </torsional>
+            </friction>
+            <bounce/>
+          </surface>
+          <max_contacts>10</max_contacts>
+        </collision>
+        <visual name='base_footprint_fixed_joint_lump__base_link_visual'>
+          <pose frame=''>-0.032 0 0.01 0 -0 0</pose>
+          <geometry>
+            <mesh>
+              <scale>0.001 0.001 0.001</scale>
+              <uri>/home/dan/catkin_ws/src/turtlebot3/turtlebot3_description/meshes/bases/burger_base.stl</uri>
+            </mesh>
+          </geometry>
+          <material>
+            <script>
+              <name>Gazebo/DarkGrey</name>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+            </script>
+          </material>
+        </visual>
+        <visual name='base_footprint_fixed_joint_lump__base_scan_visual_1'>
+          <pose frame=''>-0.032 0 0.182 0 -0 0</pose>
+          <geometry>
+            <mesh>
+              <scale>0.001 0.001 0.001</scale>
+              <uri>/home/dan/catkin_ws/src/turtlebot3/turtlebot3_description/meshes/sensors/lds.stl</uri>
+            </mesh>
+          </geometry>
+          <material>
+            <script>
+              <name>Gazebo/FlatBlack</name>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+            </script>
+          </material>
+        </visual>
+        <velocity_decay/>
+        <velocity_decay/>
+        <velocity_decay/>
+        <sensor name='imu' type='imu'>
+          <always_on>1</always_on>
+          <visualize>0</visualize>
+          <pose frame=''>-0.032 0 0.078 0 -0 0</pose>
+          <imu/>
+        </sensor>
+        <gravity>1</gravity>
+        <velocity_decay/>
+        <sensor name='lds_lfcd_sensor' type='ray'>
+          <visualize>0</visualize>
+          <update_rate>5</update_rate>
+          <ray>
+            <scan>
+              <horizontal>
+                <samples>360</samples>
+                <resolution>1</resolution>
+                <min_angle>0</min_angle>
+                <max_angle>6.28319</max_angle>
+              </horizontal>
+              <vertical>
+                <samples>1</samples>
+                <min_angle>0</min_angle>
+                <max_angle>0</max_angle>
+              </vertical>
+            </scan>
+            <range>
+              <min>0.12</min>
+              <max>3.5</max>
+              <resolution>0.015</resolution>
+            </range>
+            <noise>
+              <type>gaussian</type>
+              <mean>0</mean>
+              <stddev>0.01</stddev>
+            </noise>
+          </ray>
+          <plugin name='gazebo_ros_lds_lfcd_controller' filename='libgazebo_ros_laser.so'>
+            <topicName>scan</topicName>
+            <frameName>base_scan</frameName>
+            <robotNamespace>/</robotNamespace>
+          </plugin>
+          <pose frame=''>-0.032 0 0.182 0 -0 0</pose>
+        </sensor>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <link name='wheel_left_link'>
+        <pose frame=''>0 0.08 0.033 -1.57 0 0</pose>
+        <inertial>
+          <pose frame=''>0 0 0 0 -0 0</pose>
+          <mass>0.0284989</mass>
+          <inertia>
+            <ixx>1.11756e-05</ixx>
+            <ixy>-4.23698e-11</ixy>
+            <ixz>-5.93817e-09</ixz>
+            <iyy>1.11924e-05</iyy>
+            <iyz>-1.44001e-11</iyz>
+            <izz>2.07126e-05</izz>
+          </inertia>
+        </inertial>
+        <collision name='wheel_left_link_collision'>
+          <pose frame=''>0 0 0 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <length>0.018</length>
+              <radius>0.033</radius>
+            </cylinder>
+          </geometry>
+          <surface>
+            <contact>
+              <ode>
+                <kp>500000</kp>
+                <kd>10</kd>
+                <max_vel>0.1</max_vel>
+                <min_depth>0.001</min_depth>
+              </ode>
+            </contact>
+            <friction>
+              <ode>
+                <mu>0.1</mu>
+                <mu2>0.1</mu2>
+                <fdir1>1 0 0</fdir1>
+              </ode>
+              <torsional>
+                <ode/>
+              </torsional>
+            </friction>
+            <bounce/>
+          </surface>
+          <max_contacts>10</max_contacts>
+        </collision>
+        <visual name='wheel_left_link_visual'>
+          <pose frame=''>0 0 0 1.57 -0 0</pose>
+          <geometry>
+            <mesh>
+              <scale>0.001 0.001 0.001</scale>
+              <uri>/home/dan/catkin_ws/src/turtlebot3/turtlebot3_description/meshes/wheels/left_tire.stl</uri>
+            </mesh>
+          </geometry>
+          <material>
+            <script>
+              <name>Gazebo/FlatBlack</name>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+            </script>
+          </material>
+        </visual>
+        <gravity>1</gravity>
+        <velocity_decay/>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <joint name='wheel_left_joint' type='revolute'>
+        <child>wheel_left_link</child>
+        <parent>base_footprint</parent>
+        <axis>
+          <xyz>0 1 0.000796</xyz>
+          <limit>
+            <lower>-1e+16</lower>
+            <upper>1e+16</upper>
+          </limit>
+          <dynamics>
+            <spring_reference>0</spring_reference>
+            <spring_stiffness>0</spring_stiffness>
+          </dynamics>
+          <use_parent_model_frame>1</use_parent_model_frame>
+        </axis>
+      </joint>
+      <link name='wheel_right_link'>
+        <pose frame=''>0 -0.08 0.033 -1.57 0 0</pose>
+        <inertial>
+          <pose frame=''>0 0 0 0 -0 0</pose>
+          <mass>0.0284989</mass>
+          <inertia>
+            <ixx>1.11756e-05</ixx>
+            <ixy>-4.23698e-11</ixy>
+            <ixz>-5.93817e-09</ixz>
+            <iyy>1.11924e-05</iyy>
+            <iyz>-1.44001e-11</iyz>
+            <izz>2.07126e-05</izz>
+          </inertia>
+        </inertial>
+        <collision name='wheel_right_link_collision'>
+          <pose frame=''>0 0 0 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <length>0.018</length>
+              <radius>0.033</radius>
+            </cylinder>
+          </geometry>
+          <surface>
+            <contact>
+              <ode>
+                <kp>500000</kp>
+                <kd>10</kd>
+                <max_vel>0.1</max_vel>
+                <min_depth>0.001</min_depth>
+              </ode>
+            </contact>
+            <friction>
+              <ode>
+                <mu>0.1</mu>
+                <mu2>0.1</mu2>
+                <fdir1>1 0 0</fdir1>
+              </ode>
+              <torsional>
+                <ode/>
+              </torsional>
+            </friction>
+            <bounce/>
+          </surface>
+          <max_contacts>10</max_contacts>
+        </collision>
+        <visual name='wheel_right_link_visual'>
+          <pose frame=''>0 0 0 1.57 -0 0</pose>
+          <geometry>
+            <mesh>
+              <scale>0.001 0.001 0.001</scale>
+              <uri>/home/dan/catkin_ws/src/turtlebot3/turtlebot3_description/meshes/wheels/right_tire.stl</uri>
+            </mesh>
+          </geometry>
+          <material>
+            <script>
+              <name>Gazebo/FlatBlack</name>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+            </script>
+          </material>
+        </visual>
+        <gravity>1</gravity>
+        <velocity_decay/>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <joint name='wheel_right_joint' type='revolute'>
+        <child>wheel_right_link</child>
+        <parent>base_footprint</parent>
+        <axis>
+          <xyz>0 1 0.000796</xyz>
+          <limit>
+            <lower>-1e+16</lower>
+            <upper>1e+16</upper>
+          </limit>
+          <dynamics>
+            <spring_reference>0</spring_reference>
+            <spring_stiffness>0</spring_stiffness>
+          </dynamics>
+          <use_parent_model_frame>1</use_parent_model_frame>
+        </axis>
+      </joint>
+      <plugin name='turtlebot3_burger_controller' filename='libgazebo_ros_diff_drive.so'>
+        <commandTopic>cmd_vel</commandTopic>
+        <odometryTopic>odom</odometryTopic>
+        <odometryFrame>odom</odometryFrame>
+        <odometrySource>world</odometrySource>
+        <publishOdomTF>1</publishOdomTF>
+        <robotBaseFrame>base_footprint</robotBaseFrame>
+        <publishWheelTF>0</publishWheelTF>
+        <publishTf>1</publishTf>
+        <publishWheelJointState>1</publishWheelJointState>
+        <legacyMode>0</legacyMode>
+        <updateRate>30</updateRate>
+        <leftJoint>wheel_left_joint</leftJoint>
+        <rightJoint>wheel_right_joint</rightJoint>
+        <wheelSeparation>0.160</wheelSeparation>
+        <wheelDiameter>0.066</wheelDiameter>
+        <wheelAcceleration>1</wheelAcceleration>
+        <wheelTorque>10</wheelTorque>
+        <rosDebugLevel>na</rosDebugLevel>
+        <robotNamespace>/</robotNamespace>
+      </plugin>
+      <static>0</static>
+      <plugin name='imu_plugin' filename='libgazebo_ros_imu.so'>
+        <alwaysOn>1</alwaysOn>
+        <topicName>imu</topicName>
+        <serviceName>imu_service</serviceName>
+        <gaussianNoise>0.0</gaussianNoise>
+        <updateRate>200</updateRate>
+        <imu>
+          <noise>
+            <type>gaussian</type>
+            <rate>
+              <mean>0.0</mean>
+              <stddev>2e-4</stddev>
+              <bias_mean>0.0000075</bias_mean>
+              <bias_stddev>0.0000008</bias_stddev>
+            </rate>
+            <accel>
+              <mean>0.0</mean>
+              <stddev>1.7e-2</stddev>
+              <bias_mean>0.1</bias_mean>
+              <bias_stddev>0.001</bias_stddev>
+            </accel>
+          </noise>
+        </imu>
+        <robotNamespace>/</robotNamespace>
+        <bodyName>base_footprint</bodyName>
+        <frameName>base_footprint</frameName>
+        <xyzOffset>0.064 0 -0.156</xyzOffset>
+        <rpyOffset>0 -0 0</rpyOffset>
+      </plugin>
+      <pose frame=''>0.97476 0.002505 -0.002505 0 -0 0</pose>
+    </model>
+    <state world_name='default'>
+      <sim_time>474 281000000</sim_time>
+      <real_time>28 772391965</real_time>
+      <wall_time>1575484618 892167167</wall_time>
+      <iterations>27726</iterations>
+      <model name='ground_plane'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <scale>1 1 1</scale>
+        <link name='link'>
+          <pose frame=''>0 0 0 0 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='turtlebot3_burger'>
+        <pose frame=''>0.974879 0.002273 -0.001001 -1.4e-05 0.007706 -3.12032</pose>
+        <scale>1 1 1</scale>
+        <link name='base_footprint'>
+          <pose frame=''>0.974879 0.002273 -0.001001 -1.4e-05 0.007706 -3.12032</pose>
+          <velocity>-0 -1e-06 3.6e-05 -4.3e-05 0.000179 1.2e-05</velocity>
+          <acceleration>0 -0 -0 0 -0 0</acceleration>
+          <wrench>0 -0 -0 0 -0 0</wrench>
+        </link>
+        <link name='wheel_left_link'>
+          <pose frame=''>0.976326 -0.077715 0.031997 -1.57002 -0.002839 -3.12033</pose>
+          <velocity>7e-06 1e-06 3.9e-05 -4e-05 0.000201 1.2e-05</velocity>
+          <acceleration>0 -0 -0 0 -0 0</acceleration>
+          <wrench>0 -0 -0 0 -0 0</wrench>
+        </link>
+        <link name='wheel_right_link'>
+          <pose frame=''>0.972924 0.082249 0.031999 -1.57002 0.017898 -3.12032</pose>
+          <velocity>5e-06 1e-06 3.3e-05 -4e-05 0.000161 1.3e-05</velocity>
+          <acceleration>-0 -0 -0 0 -0 0</acceleration>
+          <wrench>-0 -0 -0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='unit_box_clone'>
+        <pose frame=''>0.012462 -0.75549 0.185345 0.000505 -1e-06 -1.55618</pose>
+        <scale>1 1 1</scale>
+        <link name='link'>
+          <pose frame=''>0.012462 -0.75549 0.185345 0.000505 -1e-06 -1.55618</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 -9.8 0 -0 0</acceleration>
+          <wrench>0 0 -9.8 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='unit_cylinder10kg'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <scale>1 1 1</scale>
+        <link name='link'>
+          <pose frame=''>0 0 0 0 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 -1.26038 0 -0 0</acceleration>
+          <wrench>0 0 -9.8 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='unit_cylinder10kg_clone'>
+        <pose frame=''>0 0.8 0 0 -0 0</pose>
+        <scale>1 1 1</scale>
+        <link name='link'>
+          <pose frame=''>0 0.8 0 0 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 -1.26038 0 -0 0</acceleration>
+          <wrench>0 0 -9.8 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='unit_cylinder10kg_clone_0'>
+        <pose frame=''>0 -0.7 0 0 -0 0</pose>
+        <scale>1 1 1</scale>
+        <link name='link'>
+          <pose frame=''>0 -0.7 0.026103 0 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 -1.26038 0 -0 0</acceleration>
+          <wrench>0 0 -9.8 0 -0 0</wrench>
+        </link>
+      </model>
+      <light name='sun'>
+        <pose frame=''>0 0 10 0 -0 0</pose>
+      </light>
+    </state>
+    <gui fullscreen='0'>
+      <camera name='user_camera'>
+        <pose frame=''>0.68661 -0.175633 2.26538 0 1.27543 2.94111</pose>
+        <view_controller>orbit</view_controller>
+        <projection_type>perspective</projection_type>
+      </camera>
+    </gui>
+    <model name='unit_cylinder10kg_clone'>
+      <link name='link'>
+        <inertial>
+          <mass>7.77544</mass>
+          <inertia>
+            <ixx>1.13392</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>1.13392</iyy>
+            <iyz>0</iyz>
+            <izz>0.97193</izz>
+          </inertia>
+          <pose frame=''>0 0 0 0 -0 0</pose>
+        </inertial>
+        <self_collide>1</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>1</kinematic>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <gravity>1</gravity>
+        <visual name='visual'>
+          <geometry>
+            <cylinder>
+              <radius>0.13</radius>
+              <length>1</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <name>Gazebo/Gray</name>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+            </script>
+            <shader type='vertex'>
+              <normal_map>__default__</normal_map>
+            </shader>
+            <ambient>0.3 0.3 0.3 1</ambient>
+            <diffuse>0.7 0.7 0.7 1</diffuse>
+            <specular>0.01 0.01 0.01 1</specular>
+            <emissive>0 0 0 1</emissive>
+          </material>
+          <pose frame=''>0 0 0 0 -0 0</pose>
+          <transparency>0</transparency>
+          <cast_shadows>1</cast_shadows>
+        </visual>
+        <visual name='ModelPreview_10::link::visual_1'>
+          <geometry>
+            <cylinder>
+              <radius>0.13</radius>
+              <length>1</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <name>Gazebo/Gray</name>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+            </script>
+            <shader type='vertex'>
+              <normal_map>__default__</normal_map>
+            </shader>
+            <ambient>0.3 0.3 0.3 1</ambient>
+            <diffuse>0.7 0.7 0.7 1</diffuse>
+            <specular>0.01 0.01 0.01 1</specular>
+            <emissive>0 0 0 1</emissive>
+          </material>
+          <pose frame=''>0 0 0 0 -0 0</pose>
+          <transparency>0</transparency>
+          <cast_shadows>1</cast_shadows>
+        </visual>
+        <collision name='collision'>
+          <laser_retro>0</laser_retro>
+          <max_contacts>10</max_contacts>
+          <pose frame=''>0 0 0 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.13</radius>
+              <length>1</length>
+            </cylinder>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>1</mu>
+                <mu2>1</mu2>
+                <fdir1>0 0 0</fdir1>
+                <slip1>0</slip1>
+                <slip2>0</slip2>
+              </ode>
+              <torsional>
+                <coefficient>1</coefficient>
+                <patch_radius>0</patch_radius>
+                <surface_radius>0</surface_radius>
+                <use_patch_radius>1</use_patch_radius>
+                <ode>
+                  <slip>0</slip>
+                </ode>
+              </torsional>
+            </friction>
+            <bounce>
+              <restitution_coefficient>0</restitution_coefficient>
+              <threshold>1e+06</threshold>
+            </bounce>
+            <contact>
+              <collide_without_contact>0</collide_without_contact>
+              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+              <collide_bitmask>1</collide_bitmask>
+              <ode>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+                <max_vel>0.01</max_vel>
+                <min_depth>0</min_depth>
+              </ode>
+              <bullet>
+                <split_impulse>1</split_impulse>
+                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+              </bullet>
+            </contact>
+          </surface>
+        </collision>
+      </link>
+      <static>0</static>
+      <allow_auto_disable>1</allow_auto_disable>
+      <pose frame=''>-0.01955 0.742963 0 0 -0 0</pose>
+    </model>
+    <model name='unit_cylinder10kg_clone_0'>
+      <link name='link'>
+        <inertial>
+          <mass>7.77544</mass>
+          <inertia>
+            <ixx>1.13392</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>1.13392</iyy>
+            <iyz>0</iyz>
+            <izz>0.97193</izz>
+          </inertia>
+          <pose frame=''>0 0 0 0 -0 0</pose>
+        </inertial>
+        <self_collide>1</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>1</kinematic>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <gravity>1</gravity>
+        <visual name='visual'>
+          <geometry>
+            <cylinder>
+              <radius>0.13</radius>
+              <length>1</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <name>Gazebo/Gray</name>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+            </script>
+            <shader type='vertex'>
+              <normal_map>__default__</normal_map>
+            </shader>
+            <ambient>0.3 0.3 0.3 1</ambient>
+            <diffuse>0.7 0.7 0.7 1</diffuse>
+            <specular>0.01 0.01 0.01 1</specular>
+            <emissive>0 0 0 1</emissive>
+          </material>
+          <pose frame=''>0 0 0 0 -0 0</pose>
+          <transparency>0</transparency>
+          <cast_shadows>1</cast_shadows>
+        </visual>
+        <visual name='ModelPreview_10::link::visual_1'>
+          <geometry>
+            <cylinder>
+              <radius>0.13</radius>
+              <length>1</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <name>Gazebo/Gray</name>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+            </script>
+            <shader type='vertex'>
+              <normal_map>__default__</normal_map>
+            </shader>
+            <ambient>0.3 0.3 0.3 1</ambient>
+            <diffuse>0.7 0.7 0.7 1</diffuse>
+            <specular>0.01 0.01 0.01 1</specular>
+            <emissive>0 0 0 1</emissive>
+          </material>
+          <pose frame=''>0 0 0 0 -0 0</pose>
+          <transparency>0</transparency>
+          <cast_shadows>1</cast_shadows>
+        </visual>
+        <collision name='collision'>
+          <laser_retro>0</laser_retro>
+          <max_contacts>10</max_contacts>
+          <pose frame=''>0 0 0 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.13</radius>
+              <length>1</length>
+            </cylinder>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>1</mu>
+                <mu2>1</mu2>
+                <fdir1>0 0 0</fdir1>
+                <slip1>0</slip1>
+                <slip2>0</slip2>
+              </ode>
+              <torsional>
+                <coefficient>1</coefficient>
+                <patch_radius>0</patch_radius>
+                <surface_radius>0</surface_radius>
+                <use_patch_radius>1</use_patch_radius>
+                <ode>
+                  <slip>0</slip>
+                </ode>
+              </torsional>
+            </friction>
+            <bounce>
+              <restitution_coefficient>0</restitution_coefficient>
+              <threshold>1e+06</threshold>
+            </bounce>
+            <contact>
+              <collide_without_contact>0</collide_without_contact>
+              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+              <collide_bitmask>1</collide_bitmask>
+              <ode>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+                <max_vel>0.01</max_vel>
+                <min_depth>0</min_depth>
+              </ode>
+              <bullet>
+                <split_impulse>1</split_impulse>
+                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+              </bullet>
+            </contact>
+          </surface>
+        </collision>
+      </link>
+      <static>0</static>
+      <allow_auto_disable>1</allow_auto_disable>
+      <pose frame=''>-0.012854 -0.545208 0 0 -0 0</pose>
+    </model>
+    <model name='unit_box_clone'>
+      <pose frame=''>-0.002142 -0.348604 0.185339 0 -0 -1.58003</pose>
+      <link name='link'>
+        <inertial>
+          <mass>1</mass>
+          <inertia>
+            <ixx>0.166667</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>0.166667</iyy>
+            <iyz>0</iyz>
+            <izz>0.166667</izz>
+          </inertia>
+        </inertial>
+        <collision name='collision'>
+          <geometry>
+            <box>
+              <size>0.197182 0.024952 0.370678</size>
+            </box>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='visual'>
+          <geometry>
+            <box>
+              <size>0.197182 0.024952 0.370678</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <name>Gazebo/Grey</name>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+            </script>
+          </material>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+    </model>
+  </world>
+</sdf>