<?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>3.0</mass>
                    <offset>0 -0.2 0</offset>
                </inertia>
                <visualization_shape>
                    <transformation>0 -0.2 0 0 0 0</transformation>
                    <geometry>
                        <box>
                            <size>0.08 0.4 0.08</size>
                        </box>
                    </geometry>
                </visualization_shape>
            </body>
            <body name="link 2">
                <gravity>1</gravity>
                <transformation>0 -0.4 0 0 0 0</transformation>
                <inertia>
                    <mass>20.0</mass>
                    <offset>0 -0.3 0</offset>
                </inertia>
                <visualization_shape>
                    <transformation>0 -0.3 0 0 0 0</transformation>
                    <geometry>
                        <box>
                            <size>0.12 0.6 0.12</size>
                        </box>
                    </geometry>
                </visualization_shape>
            </body>
            <body name="link 3">
                <gravity>1</gravity>
                <transformation>0 -1.0 0 0 0 0</transformation>
                <inertia>
                    <mass>2.0</mass>
                    <offset>0 -0.3 0</offset>
                </inertia>
                <visualization_shape>
                    <transformation>0 -0.3 0 0 0 0</transformation>
                    <geometry>
                        <box>
                            <size>0.12 0.6 0.12</size>
                        </box>
                    </geometry>
                </visualization_shape>
            </body>

            <joint type="euler" name="joint 1">
                <parent>world</parent>
                <child>link 1</child>
                <axis_order>zyx</axis_order>
                <transformation>0 0 0 0 0 0</transformation>
                <axis>
                    <limit>
                        <lower>0.0000</lower>
                        <upper>3.1416</upper>
                    </limit>
                </axis>
                <axis2>
                    <limit>
                        <lower>0.0000</lower>
                        <upper>3.1416</upper>
                    </limit>
                </axis2>
                <axis3>
                    <limit>
                        <lower>0.0000</lower>
                        <upper>3.1416</upper>
                    </limit>
                </axis3>
            </joint>
            <joint type="euler" name="joint 2">
                <parent>link 1</parent>
                <child>link 2</child>
                <axis_order>zyx</axis_order>
                <transformation>0 0 0 0 0 0</transformation>
                <axis>
                    <limit>
                        <lower>0.0000</lower>
                        <upper>3.1416</upper>
                    </limit>
                </axis>
                <axis2>
                    <limit>
                        <lower>0.0000</lower>
                        <upper>3.1416</upper>
                    </limit>
                </axis2>
                <axis3>
                    <limit>
                        <lower>0.0000</lower>
                        <upper>3.1416</upper>
                    </limit>
                </axis3>
            </joint>
            <joint type="euler" name="joint 3">
                <parent>link 2</parent>
                <child>link 3</child>
                <axis_order>zyx</axis_order>
                <transformation>0 0 0 0 0 0</transformation>
                <axis>
                    <limit>
                        <lower>0.0000</lower>
                        <upper>3.1416</upper>
                    </limit>
                </axis>
                <axis2>
                    <limit>
                        <lower>0.0000</lower>
                        <upper>3.1416</upper>
                    </limit>
                </axis2>
                <axis3>
                    <limit>
                        <lower>0.0000</lower>
                        <upper>3.1416</upper>
                    </limit>
                </axis3>
            </joint>

        </skeleton>	
    </world>
</skel>

<!--
dofs {
	root_len { 0.0, 0.0000, 1.0000 }
	hip_euler_z { 0.0, 0.0000, 3.1416 }
	hip_euler_y { 0.0, 0.0000, 3.1416 }
    hip_euler_x { 0.0, 0.0000, 3.1416 }	
	hip_len { 0.4000, 0.0000, 1.0000 }
	thigh_euler_z { 0.0, 0.0000, 3.1416 }
	thigh_euler_y { 0.0, 0.0000, 3.1416 }
    thigh_euler_x { 0.0, 0.0000, 3.1416 }	
	thigh_len { 0.6000, 0.0000, 1.0000 }
	shin_euler_z { 0.0, 0.0000, 3.1416 }
	shin_euler_y { 0.0, 0.0000, 3.1416 }
    shin_euler_x { 0.0, 0.0000, 3.1416 }	
	shin_len { 0.6000, 0.0000, 1.0000 }
}

mass {
		total_mass { 25.0000 }
      	hip_mass { 3.0000 }
		thigh_mass { 20.0000 }
		shin_mass { 2.0000 }
}

node hip { 0
	chain { 3
		telescope { <0.0000,0.0000,0.0000>, root_len}
		rotate_euler { hip_euler_z, z }
	    rotate_euler { hip_euler_y, y }
	    rotate_euler { hip_euler_x, x }			
	}
	primitive {	<0.2000,1.0000,0.2000>, <0.0000,-0.5000,0.0000>, hip_len, hip_mass	}

	node thigh { 1
		chain { 3
			telescope { <0.0000,-1.0000,0.0000>, hip_len }
			rotate_euler { thigh_euler_z, z }
	        rotate_euler { thigh_euler_y, y }
	        rotate_euler { thigh_euler_x, x }	
		}
		primitive {	<0.2000,1.0000,0.2000>, <0.0000,-0.5000,0.0000>, thigh_len, thigh_mass	}
		
		node shin { 2
		    chain { 3
			    telescope { <0.0000,-1.0000,0.0000>, thigh_len }
			    rotate_euler { shin_euler_z, z }
	            rotate_euler { shin_euler_y, y }
	            rotate_euler { shin_euler_x, x }	
		    }
		    primitive {	<0.2000,1.0000,0.2000>, <0.0000,-0.5000,0.0000>, shin_len, shin_mass	}
	    }
	}
	
}
handles {
    R { <0.0000,0.0000,0.0000>, 1, hip }
}
-->
