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<!DOCTYPE StepCoreXML>
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        <weightConstVariance>1e-10</weightConstVariance>
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    <solver class="AdaptiveEulerSolver" id="13">
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    <collisionSolver class="GJKCollisionSolver" id="14">
        <name>collisionSolver1</name>
        <toleranceAbs>0.001</toleranceAbs>
    </collisionSolver>

    <constraintSolver class="CGConstraintSolver" id="15">
        <name>constraintSolver1</name>
    </constraintSolver>

</world>
