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Simulation of pendulum not working as expected using ODE physics

I am evaluating the physics engine of Gazebo and am having a strange problem getting a simple rotary inverted pendulum to work. My analytical solution shows that the natural period should be less than 1 second, but in the simulation it has a period of around of 5 seconds. The horizontal support arm is not moving in reaction to the pendulum swinging. I am applying a moment to the pendulum using the GUI to cause it to swing to observe the period. I have placed the SDF file on pastebin:

http://pastebin.com/EJK1AANe

Note that the meshes have been replaced with basic geometry for simplicity. The inertial parameters were generated using a rough Solidworks model of a brass pendulum with an aluminum arm.

Is there a problem with the SDF file causing the weird simulation result?