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        <pose>0.15442 -3.50156 0.5 0 -0 0.691942</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose>0.15442 -3.50156 0.5 0 -0 0.691942</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='unit_box_0'>
        <pose>5.80896 0.105775 0.5 0 -0 0.665093</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose>5.80896 0.105775 0.5 0 -0 0.665093</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>7.28216 6.1355 9.84639 -2.8462 1.14378 -3.14153</acceleration>
          <wrench>7.28216 6.1355 9.84639 0 -0 0</wrench>
        </link>
      </model>
      <model name='unit_cylinder'>
        <pose>1.94616 -0.907634 0.499993 -3e-06 -3e-06 0</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose>1.94616 -0.907634 0.499993 -3e-06 -3e-06 0</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>
      <light name='sun'>
        <pose>0 0 10 0 -0 0</pose>
      </light>
    </state>
    <gui fullscreen='0'>
      <camera name='user_camera'>
        <pose>4.60766 -4.56851 22.292 -0 1.35564 1.44419</pose>
        <view_controller>orbit</view_controller>
        <projection_type>perspective</projection_type>
      </camera>
    </gui>
  </world>
</sdf>
