<?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="skeleton 1">
            <body name="link 1">
                <gravity>1</gravity>
                <transformation>0 0 0 0 0 0</transformation>
                <inertia>
                    <mass>5</mass>
                    <offset>0 0.5 0</offset>
                </inertia>
                <visualization_shape>
                    <transformation>0 0 0 0 0 0</transformation>
                    <geometry>
                        <box>
                            <size>0.1 1.0 0.1</size>
                        </box>
                    </geometry>
                </visualization_shape>
                <collision_shape>
                    <transformation>0 0 0 0 0 0</transformation>
                    <geometry>
                        <box>
                            <size>0.1 1.0 0.1</size>
                        </box>
                    </geometry>
                </collision_shape>
            </body>
            <body name="link 2">
                <gravity>1</gravity>
                <transformation>0 -1.0 0 0 0 0</transformation>
                <inertia>
                    <mass>5</mass>
                    <offset>0 0.5 0</offset>
                </inertia>
                <visualization_shape>
                    <transformation>0 0 0 0 0 0</transformation>
                    <geometry>
                        <box>
                            <size>0.1 1.0 0.1</size>
                        </box>
                    </geometry>
                </visualization_shape>
                <collision_shape>
                    <transformation>0 0 0 0 0 0</transformation>
                    <geometry>
                        <box>
                            <size>0.1 1.0 0.1</size>
                        </box>
                    </geometry>
                </collision_shape>
            </body>
            <body name="link 3">
                <gravity>1</gravity>
                <transformation>0 -2.0 0 0 0 0</transformation>
                <inertia>
                    <mass>5</mass>
                    <offset>0 0.5 0</offset>
                </inertia>
                <visualization_shape>
                    <transformation>0 0 0 0 0 0</transformation>
                    <geometry>
                        <box>
                            <size>0.1 1.0 0.1</size>
                        </box>
                    </geometry>
                </visualization_shape>
                <collision_shape>
                    <transformation>0 0 0 0 0 0</transformation>
                    <geometry>
                        <box>
                            <size>0.1 1.0 0.1</size>
                        </box>
                    </geometry>
                </collision_shape>
            </body>
            <body name="link 4">
                <gravity>1</gravity>
                <transformation>0 -3.0 0 0 0 0</transformation>
                <inertia>
                    <mass>5</mass>
                    <offset>0 0.5 0</offset>
                </inertia>
                <visualization_shape>
                    <transformation>0 0 0 0 0 0</transformation>
                    <geometry>
                        <box>
                            <size>0.1 1.0 0.1</size>
                        </box>
                    </geometry>
                </visualization_shape>
                <collision_shape>
                    <transformation>0 0 0 0 0 0</transformation>
                    <geometry>
                        <box>
                            <size>0.1 1.0 0.1</size>
                        </box>
                    </geometry>
                </collision_shape>
            </body>
            <body name="link 5">
                <gravity>1</gravity>
                <transformation>0 -4.0 0 0 0 0</transformation>
                <inertia>
                    <mass>5</mass>
                    <offset>0 0.5 0</offset>
                </inertia>
                <visualization_shape>
                    <transformation>0 0 0 0 0 0</transformation>
                    <geometry>
                        <box>
                            <size>0.1 1.0 0.1</size>
                        </box>
                    </geometry>
                </visualization_shape>
                <collision_shape>
                    <transformation>0 0 0 0 0 0</transformation>
                    <geometry>
                        <box>
                            <size>0.1 1.0 0.1</size>
                        </box>
                    </geometry>
                </collision_shape>
            </body>
            <joint type="revolute" name="joint0">
                <parent>world</parent>
                <child>link 1</child>
                <transformation>0 0.5 0 0 0 0</transformation>
                <axis>
                    <xyz>1 0 0</xyz>
                </axis>
            </joint>
            <joint type="revolute" name="joint1" actuator="force">
                <parent>link 1</parent>
                <child>link 2</child>
                <transformation>0 0.5 0 0 0 0</transformation>
                <axis>
                    <xyz>1 0 0</xyz>
                    <limit>
                        <lower>-1.57</lower>
                        <upper>+1.57</upper>
                    </limit>
                </axis>
            </joint>
            <joint type="prismatic" name="joint2" actuator="passive">
                <parent>link 2</parent>
                <child>link 3</child>
                <transformation>0 0.5 0 0 0 0</transformation>
                <axis>
                    <xyz>1 0 0</xyz>
                </axis>
            </joint>
            <joint type="universal" name="joint3" actuator="acceleration">
                <parent>link 3</parent>
                <child>link 4</child>
                <transformation>0 0.5 0 0 0 0</transformation>
                <axis>
                    <xyz>1 0 0</xyz>
                    <limit>
                        <lower>-1</lower>
                        <upper>+1</upper>
                    </limit>
                </axis>
                <axis2>
                    <xyz>0 1 0</xyz>
                    <limit>
                        <lower>-2</lower>
                        <upper>+2</upper>
                    </limit>
                </axis2>
            </joint>
            <joint type="euler" name="joint4" actuator="velocity">
                <parent>link 4</parent>
                <child>link 5</child>
                <transformation>0 0.5 0 0 0 0</transformation>
                <axis_order>xyz</axis_order>
            </joint>
        </skeleton>
    </world>
</skel>