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<?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>
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