1<?xml version="1.0" ?>
2<skel version="1.0">
3    <world name="world 1">
4        <physics>
5            <time_step>0.001</time_step>
6            <gravity>0 -9.81 0</gravity>
7            <collision_detector>fcl_mesh</collision_detector>
8        </physics>
9
10	<skeleton name="ground skeleton">
11            <body name="ground">
12                <transformation>0 -0.375 0 0 0 0</transformation>
13                <visualization_shape>
14                    <transformation>0 0 0 0 0 0</transformation>
15                    <geometry>
16                        <box>
17                            <size>2.5 0.05 2.5</size>
18                            <!--size>0.01 0.01 0.01</size-->
19                        </box>
20                    </geometry>
21                    <color>0.95 0.95 0.95</color>
22                </visualization_shape>
23                <collision_shape>
24                    <transformation>0 0 0 0 0 0</transformation>
25                    <geometry>
26                        <box>
27                            <size>2.5 0.05 2.5</size>
28                        </box>
29                    </geometry>
30                </collision_shape>
31            </body>
32            <joint type="weld" name="joint 1">
33                <parent>world</parent>
34                <child>ground</child>
35            </joint>
36        </skeleton>
37
38        <skeleton name="skeleton 1">
39            <body name="link 1">
40                <gravity>1</gravity>
41                <transformation>0 -0.10 0 0 0 0</transformation>
42                <inertia>
43                    <mass>0.5</mass>
44                    <offset>0 0 0</offset>
45                </inertia>
46                <soft_shape>
47                    <total_mass>0.5</total_mass>
48                    <geometry>
49                        <box>
50                            <size>0.5 0.25 0.5</size>
51                            <frags>2 2 2</frags>
52                        </box>
53                    </geometry>
54		<kv>500.0</kv>
55		<ke>0.0</ke>
56		<damp>5.0</damp>
57                </soft_shape>
58                <visualization_shape>
59                    <transformation>0 0 0 0 0 0</transformation>
60                    <geometry>
61                        <box>
62                            <size>0.4 0.2 0.4</size>
63                        </box>
64                    </geometry>
65                </visualization_shape>
66                <!--collision_shape>
67                    <transformation>0 0 0 0 0 0</transformation>
68                    <geometry>
69                        <box>
70                            <size>0.1 0.025 0.025</size>
71                        </box>
72                    </geometry>
73                </collision_shape-->
74            </body>
75            <joint type="free" name="joint 1">
76                <parent>world</parent>
77                <child>link 1</child>
78                <!--transformation>-0.1 0 0 0 0 0</transformation-->
79                <!--transformation>0 -0.1 0 0 0 0</transformation-->
80                <axis>
81                    <xyz>0 1 0</xyz>
82                </axis>
83            </joint>
84        </skeleton>
85
86        <skeleton name="skeleton 2">
87            <body name="link 2">
88                <gravity>1</gravity>
89                <transformation>0 0.25 0 0 0 0</transformation>
90                <inertia>
91                    <mass>0.5</mass>
92                    <offset>0 0 0</offset>
93                </inertia>
94                <soft_shape>
95                    <total_mass>0.5</total_mass>
96                    <geometry>
97                        <box>
98                            <size>0.25 0.25 0.25</size>
99                            <frags>2 2 2</frags>
100                        </box>
101                    </geometry>
102		<kv>5000.0</kv>
103		<ke>0.0</ke>
104		<damp>5.0</damp>
105                </soft_shape>
106                <visualization_shape>
107                    <transformation>0 0 0 0 0 0</transformation>
108                    <geometry>
109                        <box>
110                            <size>0.2 0.2 0.2</size>
111                        </box>
112                    </geometry>
113                </visualization_shape>
114                <!--collision_shape>
115                    <transformation>0 0 0 0 0 0</transformation>
116                    <geometry>
117                        <box>
118                            <size>0.1 0.025 0.025</size>
119                        </box>
120                    </geometry>
121                </collision_shape-->
122            </body>
123            <joint type="free" name="joint 2">
124                <parent>world</parent>
125                <child>link 2</child>
126                <!--transformation>-0.1 0 0 0 0 0</transformation-->
127                <!--transformation>0 -0.1 0 0 0 0</transformation-->
128                <axis>
129                    <xyz>0 1 0</xyz>
130                </axis>
131            </joint>
132        </skeleton>
133    </world>
134</skel>
135