<?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>fcl_mesh</collision_detector>
        </physics>

	<skeleton name="ground skeleton">
            <body name="ground">
                <transformation>0 -0.375 0 0 0 0</transformation>
                <visualization_shape>
                    <transformation>0 0 0 0 0 0</transformation>
                    <geometry>
                        <box>
                            <size>5.0 0.05 5.0</size>
                        </box>
                    </geometry>
                    <color>0.95 0.95 0.95</color>
                </visualization_shape>
                <collision_shape>
                    <transformation>0 0 0 0 0 0</transformation>
                    <geometry>
                        <box>
                            <size>5.0 0.05 5.0</size>
                        </box>
                    </geometry>
                </collision_shape>                                
            </body>
            <joint type="weld" name="joint 1">
                <parent>world</parent>
                <child>ground</child>
            </joint>
        </skeleton>	

        <skeleton name="skeleton 1">
            <transformation>0 5.0 0 0 0 0</transformation>
            <body name="link 1">
                <gravity>1</gravity>
                <transformation>0 0.0 0 0 0 0</transformation>
                <inertia>
                    <mass>0.1</mass>
                    <offset>0 0 0</offset>
                </inertia>
                <soft_shape>
                    <total_mass>0.5</total_mass>
                    <geometry>
                        <box>
                            <size>0.1 0.5 0.1</size>
                            <frags>2 2 2</frags>
                        </box>
                    </geometry>
		    <kv>500.0</kv>
		    <ke>10.0</ke>
		    <damp>5.0</damp>
                </soft_shape>
                <visualization_shape>
                    <geometry>
                        <box>
                            <size>0.075 0.375 0.075</size>
                        </box>
                    </geometry>
                </visualization_shape>
                <collision_shape>
                    <geometry>
                        <box>
                            <size>0.075 0.375 0.075</size>
                        </box>
                    </geometry>
                </collision_shape>
            </body>
            <body name="link 2">
                <gravity>1</gravity>
                <transformation>0 -0.5 0 0 0 0</transformation>
                <inertia>
                    <mass>0.1</mass>
                    <offset>0 0 0</offset>
                </inertia>
                <visualization_shape>
                    <geometry>
                        <box>
                            <size>0.075 0.375 0.075</size>
                        </box>
                    </geometry>
                </visualization_shape>
                <collision_shape>
                    <geometry>
                        <box>
                            <size>0.075 0.375 0.075</size>
                        </box>
                    </geometry>
                </collision_shape>
            </body>
            <body name="link 3">
                <gravity>1</gravity>
                <transformation>0 -1.0 0 0 0 0</transformation>
                <inertia>
                    <mass>0.1</mass>
                    <offset>0 0 0</offset>
                </inertia>
                <soft_shape>
                    <total_mass>0.5</total_mass>
                    <geometry>
                        <box>
                            <size>0.1 0.5 0.1</size>
                            <frags>2 2 2</frags>
                        </box>
                    </geometry>
		    <kv>500.0</kv>
		    <ke>10.0</ke>
		    <damp>5.0</damp>
                </soft_shape>
                <visualization_shape>
                    <geometry>
                        <box>
                            <size>0.075 0.375 0.075</size>
                        </box>
                    </geometry>
                </visualization_shape>
                <collision_shape>
                    <geometry>
                        <box>
                            <size>0.075 0.375 0.075</size>
                        </box>
                    </geometry>
                </collision_shape>
            </body>
            <body name="link 4">
                <gravity>1</gravity>
                <transformation>0 -1.5 0 0 0 0</transformation>
                <inertia>
                    <mass>0.1</mass>
                    <offset>0 0 0</offset>
                </inertia>
                <visualization_shape>
                    <geometry>
                        <box>
                            <size>0.075 0.375 0.075</size>
                        </box>
                    </geometry>
                </visualization_shape>
                <collision_shape>
                    <geometry>
                        <box>
                            <size>0.075 0.375 0.075</size>
                        </box>
                    </geometry>
                </collision_shape>
            </body>
            <body name="link 5">
                <gravity>1</gravity>
                <transformation>0 -2.0 0 0 0 0</transformation>
                <inertia>
                    <mass>0.1</mass>
                    <offset>0 0 0</offset>
                </inertia>
                <soft_shape>
                    <total_mass>0.5</total_mass>
                    <geometry>
                        <box>
                            <size>0.1 0.5 0.1</size>
                            <frags>2 2 2</frags>
                        </box>
                    </geometry>
		    <kv>500.0</kv>
		    <ke>10.0</ke>
		    <damp>5.0</damp>
                </soft_shape>
                <visualization_shape>
                    <geometry>
                        <box>
                            <size>0.075 0.375 0.075</size>
                        </box>
                    </geometry>
                </visualization_shape>
                <collision_shape>
                    <geometry>
                        <box>
                            <size>0.075 0.375 0.075</size>
                        </box>
                    </geometry>
                </collision_shape>
            </body>
            <body name="link 6">
                <gravity>1</gravity>
                <transformation>0 -2.5 0 0 0 0</transformation>
                <inertia>
                    <mass>0.1</mass>
                    <offset>0 0 0</offset>
                </inertia>
                <visualization_shape>
                    <geometry>
                        <box>
                            <size>0.075 0.375 0.075</size>
                        </box>
                    </geometry>
                </visualization_shape>
                <collision_shape>
                    <geometry>
                        <box>
                            <size>0.075 0.375 0.075</size>
                        </box>
                    </geometry>
                </collision_shape>
            </body>
            <body name="link 7">
                <gravity>1</gravity>
                <transformation>0 -3.0 0 0 0 0</transformation>
                <inertia>
                    <mass>0.1</mass>
                    <offset>0 0 0</offset>
                </inertia>
                <soft_shape>
                    <total_mass>0.5</total_mass>
                    <geometry>
                        <box>
                            <size>0.1 0.5 0.1</size>
                            <frags>2 2 2</frags>
                        </box>
                    </geometry>
		    <kv>500.0</kv>
		    <ke>10.0</ke>
		    <damp>5.0</damp>
                </soft_shape>
                <visualization_shape>
                    <geometry>
                        <box>
                            <size>0.075 0.375 0.075</size>
                        </box>
                    </geometry>
                </visualization_shape>
                <collision_shape>
                    <geometry>
                        <box>
                            <size>0.075 0.375 0.075</size>
                        </box>
                    </geometry>
                </collision_shape>
            </body>
            <body name="link 8">
                <gravity>1</gravity>
                <transformation>0 -3.5 0 0 0 0</transformation>
                <inertia>
                    <mass>0.1</mass>
                    <offset>0 0 0</offset>
                </inertia>
                <visualization_shape>
                    <geometry>
                        <box>
                            <size>0.075 0.375 0.075</size>
                        </box>
                    </geometry>
                </visualization_shape>
                <collision_shape>
                    <geometry>
                        <box>
                            <size>0.075 0.375 0.075</size>
                        </box>
                    </geometry>
                </collision_shape>
            </body>
            <body name="link 9">
                <gravity>1</gravity>
                <transformation>0 -4.0 0 0 0 0</transformation>
                <inertia>
                    <mass>0.1</mass>
                    <offset>0 0 0</offset>
                </inertia>
                <soft_shape>
                    <total_mass>0.5</total_mass>
                    <geometry>
                        <box>
                            <size>0.1 0.5 0.1</size>
                            <frags>2 2 2</frags>
                        </box>
                    </geometry>
		    <kv>500.0</kv>
		    <ke>10.0</ke>
		    <damp>5.0</damp>
                </soft_shape>
                <visualization_shape>
                    <geometry>
                        <box>
                            <size>0.075 0.375 0.075</size>
                        </box>
                    </geometry>
                </visualization_shape>
                <collision_shape>
                    <geometry>
                        <box>
                            <size>0.075 0.375 0.075</size>
                        </box>
                    </geometry>
                </collision_shape>
            </body>
            <body name="link 10">
                <gravity>1</gravity>
                <transformation>0 -4.5 0 0 0 0</transformation>
                <inertia>
                    <mass>0.1</mass>
                    <offset>0 0 0</offset>
                </inertia>
                <visualization_shape>
                    <geometry>
                        <box>
                            <size>0.075 0.375 0.075</size>
                        </box>
                    </geometry>
                </visualization_shape>
                <collision_shape>
                    <geometry>
                        <box>
                            <size>0.075 0.375 0.075</size>
                        </box>
                    </geometry>
                </collision_shape>
            </body>
            <joint type="free" name="joint 1">
                <parent>world</parent>
                <child>link 1</child>
                <axis><xyz>0 0 1</xyz></axis>
                <transformation>0 0.25 0 0 0 0</transformation>
            </joint>
            <joint type="ball" name="joint 2">
                <parent>link 1</parent>
                <child>link 2</child>
                <axis><xyz>0 0 1</xyz></axis>
                <transformation>0 0.25 0 0 0 0</transformation>
            </joint>
            <joint type="ball" name="joint 3">
                <parent>link 2</parent>
                <child>link 3</child>
                <axis><xyz>0 0 1</xyz></axis>
                <transformation>0 0.25 0 0 0 0</transformation>
            </joint>
            <joint type="ball" name="joint 4">
                <parent>link 3</parent>
                <child>link 4</child>
                <axis><xyz>0 0 1</xyz></axis>
                <transformation>0 0.25 0 0 0 0</transformation>
            </joint>
            <joint type="ball" name="joint 5">
                <parent>link 4</parent>
                <child>link 5</child>
                <axis><xyz>0 0 1</xyz></axis>
                <transformation>0 0.25 0 0 0 0</transformation>
            </joint>
            <joint type="ball" name="joint 6">
                <parent>link 5</parent>
                <child>link 6</child>
                <axis><xyz>0 0 1</xyz></axis>
                <transformation>0 0.25 0 0 0 0</transformation>
            </joint>
            <joint type="ball" name="joint 7">
                <parent>link 6</parent>
                <child>link 7</child>
                <axis><xyz>0 0 1</xyz></axis>
                <transformation>0 0.25 0 0 0 0</transformation>
            </joint>
            <joint type="ball" name="joint 8">
                <parent>link 7</parent>
                <child>link 8</child>
                <axis><xyz>0 0 1</xyz></axis>
                <transformation>0 0.25 0 0 0 0</transformation>
            </joint>
            <joint type="ball" name="joint 9">
                <parent>link 8</parent>
                <child>link 9</child>
                <axis><xyz>0 0 1</xyz></axis>
                <transformation>0 0.25 0 0 0 0</transformation>
            </joint>
            <joint type="ball" name="joint 10">
                <parent>link 9</parent>
                <child>link 10</child>
                <axis><xyz>0 0 1</xyz></axis>
                <transformation>0 0.25 0 0 0 0</transformation>
            </joint>
        </skeleton>	
    </world>
</skel>
