<?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>dart</collision_detector>
        </physics>
        <skeleton name="static_skeleton">
            <body name="link 1">
                <gravity>1</gravity>
                <transformation>0 -0.5 0 0 0 0</transformation>
                <inertia>
                    <mass>5</mass>
                    <offset>0 0 0</offset>
                </inertia>
                <visualization_shape>
                    <transformation>0 0 0 0 0 0</transformation>
                    <geometry>
                        <box>
                            <size>4.0 0.1 0.5</size>
                        </box>
                    </geometry>
                    <color>0.8 0.2 0.2</color>
                </visualization_shape>
                <collision_shape>
                    <transformation>0 0 0 0 0 0</transformation>
                    <geometry>
                        <box>
                            <size>4.0 0.1 0.5</size>
                        </box>
                    </geometry>
                </collision_shape>                                
            </body>
            <joint type="free" name="joint 1" actuator="acceleration">
                <parent>world</parent>
                <child>link 1</child>
                <transformation>-0 0 0 0 0 0</transformation>
                <axis>
                    <xyz>0 0 1</xyz>
                </axis>
            </joint>
        </skeleton> 
        <skeleton name="skeleton 1">
            <body name="link 1">
                <gravity>1</gravity>
                <transformation>-1.2 -0.3 0 0 0 0</transformation>
                <inertia>
                    <mass>5</mass>
                    <offset>0 0 0</offset>
                </inertia>
                <visualization_shape>
                    <transformation>0 0 0 0 0 0</transformation>
                    <geometry>
                        <box>
                            <size>0.25 0.05 0.05</size>
                        </box>
                    </geometry>
                </visualization_shape>
                <collision_shape>
                    <transformation>0 0 0 0 0 0</transformation>
                    <geometry>
                        <box>
                            <size>0.25 0.05 0.05</size>
                        </box>
                    </geometry>
                </collision_shape>                                
            </body>
            <joint type="revolute" name="joint 1" actuator="force">
                <parent>world</parent>
                <child>link 1</child>
                <transformation>-0.125 0 0 0 0 0</transformation>
                <axis>
                    <xyz>0 0 1</xyz>
                </axis>
            </joint>
        </skeleton> 
        <skeleton name="skeleton 2">
            <body name="link 1">
                <gravity>1</gravity>
                <transformation>-0.6 -0.3 0 0 0 0</transformation>
                <inertia>
                    <mass>5</mass>
                    <offset>0 0 0</offset>
                </inertia>
                <visualization_shape>
                    <transformation>0 0 0 0 0 0</transformation>
                    <geometry>
                        <box>
                            <size>0.25 0.05 0.05</size>
                        </box>
                    </geometry>
                </visualization_shape>
                <collision_shape>
                    <transformation>0 0 0 0 0 0</transformation>
                    <geometry>
                        <box>
                            <size>0.25 0.05 0.05</size>
                        </box>
                    </geometry>
                </collision_shape>                                
            </body>
            <joint type="revolute" name="joint 1" actuator="passive">
                <parent>world</parent>
                <child>link 1</child>
                <transformation>-0.125 0 0 0 0 0</transformation>
                <axis>
                    <xyz>0 0 1</xyz>
                </axis>
            </joint>
        </skeleton> 
        <skeleton name="skeleton 3">
            <body name="link 1">
                <gravity>1</gravity>
                <transformation> 0.0 -0.3 0 0 0 0</transformation>
                <inertia>
                    <mass>5</mass>
                    <offset>0 0 0</offset>
                </inertia>
                <visualization_shape>
                    <transformation>0 0 0 0 0 0</transformation>
                    <geometry>
                        <box>
                            <size>0.25 0.05 0.05</size>
                        </box>
                    </geometry>
                </visualization_shape>
                <collision_shape>
                    <transformation>0 0 0 0 0 0</transformation>
                    <geometry>
                        <box>
                            <size>0.25 0.05 0.05</size>
                        </box>
                    </geometry>
                </collision_shape>                                
            </body>
            <joint type="revolute" name="joint 1" actuator="servo">
                <parent>world</parent>
                <child>link 1</child>
                <transformation>-0.125 0 0 0 0 0</transformation>
                <axis>
                    <xyz>0 0 1</xyz>
                </axis>
            </joint>
        </skeleton> 
        <skeleton name="skeleton 4">
            <body name="link 1">
                <gravity>1</gravity>
                <transformation>+0.6 -0.3 0 0 0 0</transformation>
                <inertia>
                    <mass>5</mass>
                    <offset>0 0 0</offset>
                </inertia>
                <visualization_shape>
                    <transformation>0 0 0 0 0 0</transformation>
                    <geometry>
                        <box>
                            <size>0.25 0.05 0.05</size>
                        </box>
                    </geometry>
                </visualization_shape>
                <collision_shape>
                    <transformation>0 0 0 0 0 0</transformation>
                    <geometry>
                        <box>
                            <size>0.25 0.05 0.05</size>
                        </box>
                    </geometry>
                </collision_shape>                                
            </body>
            <joint type="revolute" name="joint 1" actuator="acceleration">
                <parent>world</parent>
                <child>link 1</child>
                <transformation>-0.125 0 0 0 0 0</transformation>
                <axis>
                    <xyz>0 0 1</xyz>
                </axis>
            </joint>
        </skeleton> 
        <skeleton name="skeleton 5">
            <body name="link 1">
                <gravity>1</gravity>
                <transformation>+1.2 -0.3 0 0 0 0</transformation>
                <inertia>
                    <mass>5</mass>
                    <offset>0 0 0</offset>
                </inertia>
                <visualization_shape>
                    <transformation>0 0 0 0 0 0</transformation>
                    <geometry>
                        <box>
                            <size>0.25 0.05 0.05</size>
                        </box>
                    </geometry>
                </visualization_shape>
                <collision_shape>
                    <transformation>0 0 0 0 0 0</transformation>
                    <geometry>
                        <box>
                            <size>0.25 0.05 0.05</size>
                        </box>
                    </geometry>
                </collision_shape>                                
            </body>
            <joint type="revolute" name="joint 1" actuator="velocity">
                <parent>world</parent>
                <child>link 1</child>
                <transformation>-0.125 0 0 0 0 0</transformation>
                <axis>
                    <xyz>0 0 1</xyz>
                </axis>
            </joint>
        </skeleton> 
        <skeleton name="skeleton 6">
            <body name="link 1">
                <gravity>1</gravity>
                <transformation>+1.8 -0.3 0 0 0 0</transformation>
                <inertia>
                    <mass>5</mass>
                    <offset>0 0 0</offset>
                </inertia>
                <visualization_shape>
                    <transformation>0 0 0 0 0 0</transformation>
                    <geometry>
                        <box>
                            <size>0.25 0.05 0.05</size>
                        </box>
                    </geometry>
                </visualization_shape>
                <collision_shape>
                    <transformation>0 0 0 0 0 0</transformation>
                    <geometry>
                        <box>
                            <size>0.25 0.05 0.05</size>
                        </box>
                    </geometry>
                </collision_shape>                                
            </body>
            <joint type="revolute" name="joint 1" actuator="locked">
                <parent>world</parent>
                <child>link 1</child>
                <transformation>-0.125 0 0 0 0 0</transformation>
                <axis>
                    <xyz>0 0 1</xyz>
                </axis>
            </joint>
        </skeleton> 
    </world>
</skel>
