<?xml version="1.0" ?>
<skel version="1.0">
    <world name="world 1">
        <physics>
            <time_step>0.001</time_step>
            <gravity>0 -9.81 0</gravity>
            <collision_detector>bullet</collision_detector>
        </physics>

        <skeleton name="ground skeleton">
            <body name="ground">
                <transformation>0 -0.375 0 0 0 0</transformation>
                <visualization_shape>
                    <transformation>0 -0.005 0 0 0 0</transformation>
                    <geometry>
                        <box>
                            <size>10 0.01 10</size>
                        </box>
                    </geometry>
                    <color>0.95 0.95 0.95</color>
                </visualization_shape>
                <collision_shape>
                    <transformation>0 -0.005 0 0 0 0</transformation>
                    <geometry>
                        <box>
                            <size>10 0.01 10</size>
                        </box>
                    </geometry>
                </collision_shape>
            </body>
            <joint type="weld" name="joint 1">
                <parent>world</parent>
                <child>ground</child>
            </joint>
        </skeleton>

        <skeleton name="box skeleton">
            <body name="box">
                <gravity>1</gravity>
                <transformation>-0.6 -0.0 0 1 2 3</transformation>
                <inertia>
                    <mass>1</mass>
                    <offset>0 0 0</offset>
                </inertia>
                <visualization_shape>
                    <transformation>0 0 0 0 0 0</transformation>
                    <geometry>
                        <box>
                            <size>0.1 0.05 0.1</size>
                        </box>
                    </geometry>
                    <color>0.8 0.3 0.3</color>
                </visualization_shape>
                <collision_shape>
                    <transformation>0 0 0 0 0 0</transformation>
                    <geometry>
                        <box>
                            <size>0.1 0.05 0.1</size>
                        </box>
                    </geometry>
                </collision_shape>
            </body>

            <joint type="free" name="joint 1">
                <parent>world</parent>
                <child>box</child>
            </joint>
        </skeleton>

        <skeleton name="sphere skeleton">
            <body name="sphere">
                <gravity>1</gravity>
                <transformation>-0.4 -0.0 0 1 2 3</transformation>
                <inertia>
                    <mass>1</mass>
                    <offset>0 0 0</offset>
                </inertia>
                <visualization_shape>
                    <transformation>0 0 0 0 0 0</transformation>
                    <geometry>
                        <sphere>
                            <radius>0.05</radius>
                        </sphere>
                    </geometry>
                    <color>0.3 0.8 0.3</color>
                </visualization_shape>
                <collision_shape>
                    <transformation>0 0 0 0 0 0</transformation>
                    <geometry>
                        <sphere>
                            <radius>0.05</radius>
                        </sphere>
                    </geometry>
                </collision_shape>
            </body>

            <joint type="free" name="joint 1">
                <parent>world</parent>
                <child>sphere</child>
            </joint>
        </skeleton>

        <skeleton name="ellipsoid skeleton">
            <body name="ellipsoid">
                <gravity>1</gravity>
                <transformation>-0.2 -0.0 0 1 2 3</transformation>
                <inertia>
                    <mass>1</mass>
                    <offset>0 0 0</offset>
                </inertia>
                <visualization_shape>
                    <transformation>0 0 0 0 0 0</transformation>
                    <geometry>
                        <ellipsoid>
                            <size>0.05 0.10 0.15</size>
                        </ellipsoid>
                    </geometry>
                    <color>0.8 0.8 0.4</color>
                </visualization_shape>
                <collision_shape>
                    <transformation>0 0 0 0 0 0</transformation>
                    <geometry>
                        <ellipsoid>
                            <size>0.05 0.10 0.15</size>
                        </ellipsoid>
                    </geometry>
                </collision_shape>
            </body>

            <joint type="free" name="joint 1">
                <parent>world</parent>
                <child>ellipsoid</child>
            </joint>
        </skeleton>

        <skeleton name="cylinder skeleton">
            <body name="cylinder">
                <gravity>1</gravity>
                <transformation>0.0 -0.0 0 1 2 3</transformation>
                <inertia>
                    <mass>1</mass>
                    <offset>0 0 0</offset>
                </inertia>
                <visualization_shape>
                    <transformation>0 0 0 0 0 0</transformation>
                    <geometry>
                        <cylinder>
                            <height>0.1</height>
                            <radius>0.05</radius>
                        </cylinder>
                    </geometry>
                    <color>0.6 0.6 0.8</color>
                </visualization_shape>
                <collision_shape>
                    <transformation>0 0 0 0 0 0</transformation>
                    <geometry>
                        <cylinder>
                            <height>0.1</height>
                            <radius>0.05</radius>
                        </cylinder>
                    </geometry>
                </collision_shape>
            </body>

            <joint type="free" name="joint 1">
                <parent>world</parent>
                <child>cylinder</child>
            </joint>
        </skeleton>

        <skeleton name="capsule skeleton">
            <body name="capsule">
                <gravity>1</gravity>
                <transformation>0.2 -0.0 0 1 2 3</transformation>
                <inertia>
                    <mass>1</mass>
                    <offset>0 0 0</offset>
                </inertia>
                <visualization_shape>
                    <transformation>0 0 0 0 0 0</transformation>
                    <geometry>
                        <capsule>
                            <height>0.1</height>
                            <radius>0.05</radius>
                        </capsule>
                    </geometry>
                    <color>0.6 0.6 0.8</color>
                </visualization_shape>
                <collision_shape>
                    <transformation>0 0 0 0 0 0</transformation>
                    <geometry>
                        <capsule>
                            <height>0.1</height>
                            <radius>0.05</radius>
                        </capsule>
                    </geometry>
                </collision_shape>
            </body>

            <joint type="free" name="joint 1">
                <parent>world</parent>
                <child>capsule</child>
            </joint>
        </skeleton>

        <skeleton name="cone skeleton">
            <body name="cone">
                <gravity>1</gravity>
                <transformation>0.4 -0.0 0 1 2 3</transformation>
                <inertia>
                    <mass>1</mass>
                    <offset>0 0 0</offset>
                </inertia>
                <visualization_shape>
                    <transformation>0 0 0 0 0 0</transformation>
                    <geometry>
                        <cone>
                            <height>0.1</height>
                            <radius>0.05</radius>
                        </cone>
                    </geometry>
                    <color>0.6 0.6 0.8</color>
                </visualization_shape>
                <collision_shape>
                    <transformation>0 0 0 0 0 0</transformation>
                    <geometry>
                        <cone>
                            <height>0.1</height>
                            <radius>0.05</radius>
                        </cone>
                    </geometry>
                </collision_shape>
            </body>

            <joint type="free" name="joint 1">
                <parent>world</parent>
                <child>cone</child>
            </joint>
        </skeleton>

        <skeleton name="pyramid skeleton">
            <body name="pyramid">
                <gravity>1</gravity>
                <transformation>0.6 -0.0 0 1 2 3</transformation>
                <inertia>
                    <mass>1</mass>
                    <offset>0 0 0</offset>
                    <!-- MOI is not correct -->
                    <moment_of_inertia>
                        <ixx>0.01</ixx>
                        <iyy>0.01</iyy>
                        <izz>0.01</izz>
                        <ixy>0</ixy>
                        <ixz>0</ixz>
                        <iyz>0</iyz>
                    </moment_of_inertia>
                </inertia>
                <visualization_shape>
                    <transformation>0 0 0 0 0 0</transformation>
                    <geometry>
                        <pyramid>
                            <base_width>0.05</base_width>
                            <base_depth>0.1</base_depth>
                            <height>0.1</height>
                        </pyramid>
                    </geometry>
                    <color>0.6 0.6 0.8</color>
                </visualization_shape>
                <collision_shape>
                    <transformation>0 0 0 0 0 0</transformation>
                    <geometry>
                        <pyramid>
                            <base_width>0.05</base_width>
                            <base_depth>0.1</base_depth>
                            <height>0.1</height>
                        </pyramid>
                    </geometry>
                </collision_shape>
            </body>

            <joint type="free" name="joint 1">
                <parent>world</parent>
                <child>pyramid</child>
            </joint>
        </skeleton>

        <skeleton name="multi sphere skeleton">
            <body name="multi sphere">
                <gravity>1</gravity>
                <transformation>0.8 -0.0 0 1 2 3</transformation>
                <inertia>
                    <mass>1</mass>
                    <offset>0 0 0</offset>
                </inertia>
                <visualization_shape>
                    <transformation>0 0 0 0 0 0</transformation>
                    <geometry>
                        <multi_sphere>
                            <sphere>
                                <radius>0.05</radius>
                                <position>-0.075 0.0 0.0</position>
                            </sphere>
                            <sphere>
                                <radius>0.075</radius>
                                <position>0.075 0.0 0.0</position>
                            </sphere>
                            <sphere>
                                <radius>0.1</radius>
                                <position>0 0.1 0</position>
                            </sphere>
                        </multi_sphere>
                    </geometry>
                    <color>0.6 0.6 0.8</color>
                </visualization_shape>
                <collision_shape>
                    <transformation>0 0 0 0 0 0</transformation>
                    <geometry>
                        <multi_sphere>
                            <sphere>
                                <radius>0.05</radius>
                                <position>-0.075 0.0 0.0</position>
                            </sphere>
                            <sphere>
                                <radius>0.075</radius>
                                <position>0.075 0.0 0.0</position>
                            </sphere>
                            <sphere>
                                <radius>0.1</radius>
                                <position>0 0.1 0</position>
                            </sphere>
                        </multi_sphere>
                    </geometry>
                </collision_shape>
            </body>

            <joint type="free" name="joint 1">
                <parent>world</parent>
                <child>multi sphere</child>
            </joint>
        </skeleton>

        <skeleton name="mesh skeleton">
            <body name="mesh">
                <gravity>1</gravity>
                <transformation>1.0 -0.0 0 1 2 3</transformation>
                <inertia>
                    <mass>1</mass>
                    <offset>0 0 0</offset>
                </inertia>
                <visualization_shape>
                    <transformation>0 0 0 0 0 0</transformation>
                    <geometry>
                        <mesh>
                            <file_name>../obj/foot.obj</file_name>
                            <scale>1.0 1.0 1.0</scale>
                        </mesh>
                    </geometry>
                    <color>0.6 0.6 0.8</color>
                </visualization_shape>
                <collision_shape>
                    <transformation>0 0 0 0 0 0</transformation>
                    <geometry>
                        <mesh>
                            <file_name>../obj/foot.obj</file_name>
                            <scale>1.0 1.0 1.0</scale>
                        </mesh>
                    </geometry>
                </collision_shape>
            </body>

            <joint type="free" name="joint 1">
                <parent>world</parent>
                <child>mesh</child>
            </joint>
        </skeleton>

    </world>
</skel>
