<?xml version="1.0" ?>
<sdf version="1.5">
  <world name="default">
    <gui>
      <camera name="user_camera">
        <pose>10 0 3 0 0 3.141592</pose>
      </camera>
    </gui>
    <physics type="ode">
      <gravity>0.0 0.0 -10.00</gravity>
      <ode>
        <solver>
          <type>quick</type>
          <iters>100</iters>
          <sor>0.823</sor>
        </solver>
        <constraints>
          <cfm>0.0</cfm>
          <erp>0.2</erp>
          <contact_max_correcting_vel>0.1</contact_max_correcting_vel>
          <contact_surface_layer>0.0</contact_surface_layer>
        </constraints>
      </ode>
      <real_time_update_rate>0</real_time_update_rate>
      <max_step_size>0.001</max_step_size>
    </physics>
   </world>
</sdf>
