model://ground_plane model://sun 0 0 0 1.5 0 0 0 0.2 0.0333333 0 0 0.0333333 0 0.0333333 1 1 1 1 1 1 0 0 2 0 0 0 world link 1 1 1 10 -2.5 0 10000 -1 0 0 1 0.0 0.0 joint1

400

0 0 0 0 10000 -10000

400

0 0 0 0 10000 0 joint1