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

    <physics type="dart">
      <gravity>0.0 0.0 -9.81</gravity>
      <real_time_update_rate>0.000000</real_time_update_rate>
      <max_step_size>0.001000</max_step_size>
    </physics>

    <model name="skeleton 1">
      <pose>0 0 0 0 0 0</pose>
      <link name="link 1">
        <pose>0 0 0  0 0 0</pose>
        <self_collide>0</self_collide>
        <inertial>
          <pose>0 0 0  0 0 0</pose>
        </inertial>
        <visual name="visual 1">
          <pose>0 0 0  0 0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.1</radius>
              <length>0.3</length>
            </cylinder>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
          </material>
        </visual>
        <collision name="collision 1">
          <pose>0 0 0  0 0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.1</radius>
              <length>0.3</length>
            </cylinder>
          </geometry>
        </collision>
      </link>
      <link name="link 2">
        <pose>0 0 0  0 0 0</pose>
        <self_collide>0</self_collide>
        <inertial>
          <pose>0 0 0  0 0 0</pose>
        </inertial>
        <visual name="visual 2">
          <pose>0 0 0  0 0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.1</radius>
              <length>0.3</length>
            </cylinder>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
          </material>
        </visual>
        <collision name="collision 2">
          <pose>0 0 0  0 0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.1</radius>
              <length>0.3</length>
            </cylinder>
          </geometry>
        </collision>
      </link>
      <link name="link 3">
        <pose>0 0 0  0 0 0</pose>
        <self_collide>0</self_collide>
        <inertial>
          <pose>0 0 0  0 0 0</pose>
        </inertial>
        <visual name="visual 3">
          <pose>0 0 0  0 0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.1</radius>
              <length>0.3</length>
            </cylinder>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
          </material>
        </visual>
        <collision name="collision 3">
          <pose>0 0 0  0 0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.1</radius>
              <length>0.3</length>
            </cylinder>
          </geometry>
        </collision>
      </link>
      <link name="link 4">
        <pose>0 0 0  0 0 0</pose>
        <self_collide>0</self_collide>
        <inertial>
          <pose>0 0 0  0 0 0</pose>
        </inertial>
        <visual name="visual 4">
          <pose>0 0 0  0 0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.1</radius>
              <length>0.3</length>
            </cylinder>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
          </material>
        </visual>
        <collision name="collision 4">
          <pose>0 0 0  0 0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.1</radius>
              <length>0.3</length>
            </cylinder>
          </geometry>
        </collision>
      </link>
      <link name="link 5">
        <pose>0 0 0  0 0 0</pose>
        <self_collide>0</self_collide>
        <inertial>
          <pose>0 0 0  0 0 0</pose>
        </inertial>
        <visual name="visual 5">
          <pose>0 0 0  0 0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.1</radius>
              <length>0.3</length>
            </cylinder>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
          </material>
        </visual>
        <collision name="collision 5">
          <pose>0 0 0  0 0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.1</radius>
              <length>0.3</length>
            </cylinder>
          </geometry>
        </collision>
      </link>
      <joint name="joint_prismatic" type="prismatic">
        <pose>0 0 0  0 0 0</pose>
        <use_parent_model_frame>0</use_parent_model_frame>
        <parent>link 1</parent>
        <child>link 2</child>
        <axis>
          <xyz>0 1 2</xyz>
          <limit>
            <lower>0</lower>
            <upper>3</upper>
            <effort>1</effort>
            <velocity>2</velocity>
          </limit>
          <dynamics>
            <damping>0</damping>
            <friction>1</friction>
            <spring_reference>2</spring_reference>
            <spring_stiffness>3</spring_stiffness>
          </dynamics>
        </axis>
      </joint>
      <joint name="joint_revolute" type="revolute">
        <pose>0 0 0  0 0 0</pose>
        <use_parent_model_frame>0</use_parent_model_frame>
        <parent>link 2</parent>
        <child>link 3</child>
        <axis>
          <xyz>0 1 2</xyz>
          <limit>
            <lower>0</lower>
            <upper>3</upper>
            <effort>1</effort>
            <velocity>2</velocity>
          </limit>
          <dynamics>
            <damping>0</damping>
            <friction>1</friction>
            <spring_reference>2</spring_reference>
            <spring_stiffness>3</spring_stiffness>
          </dynamics>
        </axis>
      </joint>
      <joint name="joint_screw" type="screw">
        <pose>0 0 0  0 0 0</pose>
        <use_parent_model_frame>0</use_parent_model_frame>
        <parent>link 3</parent>
        <child>link 4</child>
        <axis>
          <xyz>0 1 2</xyz>
          <limit>
            <lower>0</lower>
            <upper>3</upper>
            <effort>1</effort>
            <velocity>2</velocity>
          </limit>
          <dynamics>
            <damping>0</damping>
            <friction>1</friction>
            <spring_reference>2</spring_reference>
            <spring_stiffness>3</spring_stiffness>
          </dynamics>
        </axis>
      </joint>
      <joint name="joint_revolute2" type="revolute2">
        <pose>0 0 0  0 0 0</pose>
        <use_parent_model_frame>0</use_parent_model_frame>
        <parent>link 4</parent>
        <child>link 5</child>
        <axis>
          <xyz>0 1 2</xyz>
          <limit>
            <lower>0</lower>
            <upper>3</upper>
            <effort>1</effort>
            <velocity>2</velocity>
          </limit>
          <dynamics>
            <damping>0</damping>
            <friction>1</friction>
            <spring_reference>2</spring_reference>
            <spring_stiffness>3</spring_stiffness>
          </dynamics>
        </axis>
        <axis2>
          <xyz>1 2 3</xyz>
          <limit>
            <lower>0</lower>
            <upper>3</upper>
            <effort>1</effort>
            <velocity>2</velocity>
          </limit>
          <dynamics>
            <damping>0</damping>
            <friction>1</friction>
            <spring_reference>2</spring_reference>
            <spring_stiffness>3</spring_stiffness>
          </dynamics>
        </axis2>
      </joint>
    </model>

  </world>
</sdf>
