Gazebo Rotary Inverted Pendulum World

<?xml version="1.0" ?>
<sdf version="1.5">
  <world name="default">
    <!-- Ground -->
    <include>
      <uri>model://ground_plane</uri>
    </include>
    <!-- A global light source -->
    <include>
      <uri>model://sun</uri>
    </include>

    <physics type='ode'>
      <max_step_size>0.001</max_step_size>
      <real_time_factor>1</real_time_factor>
      <real_time_update_rate>1000</real_time_update_rate>
      <gravity>0 0 -9.8</gravity>
    </physics>

    <!-- Rotary Inverted Pendulum -->
    <model name="rip">
      <link name='base'>
        <pose>0 0 0 0 0 0</pose>
        <visual name="visual">
          <pose>0 0 .148 0 0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.015</radius>
              <length>.297</length>
            </cylinder>
          </geometry>
        </visual>
      </link>

      <joint name="base_joint" type="fixed">
        <parent>world</parent>
        <child>base</child>
        <pose>0 0 0 0 0 0</pose>
      </joint>

      <link name='arm'>
        <pose>0 0 .3 0 0 0</pose>
        <gravity>true</gravity>
        <inertial>
          <mass>0.0395</mass>
          <inertia>
            <ixx>0</ixx>
            <iyy>.000125</iyy>
            <izz>.000125</izz>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyz>0</iyz>
          </inertia>
          <pose>.09 0 0 0 0 0</pose>
        </inertial>
        <visual name="visual">
          <pose>.095 0 0 0 0 0</pose>
          <geometry>
            <box>
              <size>.200 .020 .005</size>
            </box>
          </geometry>
        </visual>
      </link>

      <joint name="joint_1" type="revolute">
        <parent>base</parent>
        <child>arm</child>
        <axis>
          <xyz>0 0 1</xyz>
          <dynamics>
            <damping>0.00001</damping>
            <friction>0.000000</friction>
          </dynamics>
        </axis>
      </joint>

      <link name='pendulum'>
        <pose>.2 0 .3 0 0 0</pose>
        <gravity>true</gravity>
        <inertial>
          <mass>0.192</mass>
          <inertia>
            <ixx>.000866</ixx>
            <iyy>.000866</iyy>
            <izz>0</izz>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyz>0</iyz>
          </inertia>
          <pose>0 0 -.128 0 0 0</pose>
        </inertial>
        <visual name="visual">
          <pose>0 0 -.125 0 0 0</pose>
          <geometry>
            <cylinder>
             <radius>.005</radius>
             <length>.250</length>
            </cylinder>
          </geometry>
        </visual>
      </link>

      <joint name="joint_2" type="revolute">
        <parent>arm</parent>
        <child>pendulum</child>
        <axis>
          <xyz>1 0 0</xyz>
          <dynamics>
            <damping>0.00001</damping>
            <friction>0.000000</friction>
          </dynamics>
        </axis>
      </joint>
    </model>

  </world>
</sdf>