<?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="skeleton1">
            <body name="link1">
                <transformation>0.1 0 0 0 0 0</transformation>
            </body>
            <body name="link2">
                <transformation>0.1 0 0 0 0 0</transformation>
            </body>
            <body name="link3">
                <transformation>0.1 0 0 0 0 0</transformation>
            </body>
            <body name="link4">
                <transformation>0.1 0 0 0 0 0</transformation>
            </body>
            <joint type="planar" name="joint1">
                <parent>world</parent>
                <child>link1</child>
		<plane type="xy"/>
                <axis>
		    <damping>1</damping>
                    <limit>
                        <lower>-1</lower>
                        <upper>+1</upper>
                    </limit>
                </axis>
                <axis2>
		    <damping>2</damping>
                    <limit>
                        <lower>-2</lower>
                        <upper>+2</upper>
                    </limit>
                </axis2>
                <axis3>
		    <damping>3</damping>
                    <limit>
                        <lower>-3</lower>
                        <upper>+3</upper>
                    </limit>
                </axis3>
                <init_pos>1 2 3</init_pos>
                <init_vel>4 5 6</init_vel>
            </joint>
            <joint type="planar" name="joint2">
                <parent>link1</parent>
                <child>link2</child>
		<plane type="yz"/>
                <axis>
		    <damping>1</damping>
                    <limit>
                        <lower>-1</lower>
                        <upper>+1</upper>
                    </limit>
                </axis>
                <axis2>
		    <damping>2</damping>
                    <limit>
                        <lower>-2</lower>
                        <upper>+2</upper>
                    </limit>
                </axis2>
                <axis3>
		    <damping>3</damping>
                    <limit>
                        <lower>-3</lower>
                        <upper>+3</upper>
                    </limit>
                </axis3>
                <init_pos>1 2 3</init_pos>
                <init_vel>4 5 6</init_vel>
            </joint>
            <joint type="planar" name="joint3">
                <parent>link2</parent>
                <child>link3</child>
		<plane type="zx"/>
                <axis>
		    <damping>1</damping>
                    <limit>
                        <lower>-1</lower>
                        <upper>+1</upper>
                    </limit>
                </axis>
                <axis2>
		    <damping>2</damping>
                    <limit>
                        <lower>-2</lower>
                        <upper>+2</upper>
                    </limit>
                </axis2>
                <axis3>
		    <damping>3</damping>
                    <limit>
                        <lower>-3</lower>
                        <upper>+3</upper>
                    </limit>
                </axis3>
                <init_pos>1 2 3</init_pos>
                <init_vel>4 5 6</init_vel>
            </joint>
            <joint type="planar" name="joint4">
                <parent>link3</parent>
                <child>link4</child>
		<plane type="arbitrary">
		    <translation_axis1>
                        <xyz>1 0 0</xyz>
                    </translation_axis1>
                    <translation_axis2>
                        <xyz>0 1 0</xyz>
                    </translation_axis2>
		</plane>
                <axis>
		    <damping>1</damping>
                    <limit>
                        <lower>-1</lower>
                        <upper>+1</upper>
                    </limit>
                </axis>
                <axis2>
		    <damping>2</damping>
                    <limit>
                        <lower>-2</lower>
                        <upper>+2</upper>
                    </limit>
                </axis2>
                <axis3>
		    <damping>3</damping>
                    <limit>
                        <lower>-3</lower>
                        <upper>+3</upper>
                    </limit>
                </axis3>
                <init_pos>1 2 3</init_pos>
                <init_vel>4 5 6</init_vel>
            </joint>
        </skeleton>	
    </world>
</skel>
