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