<?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>
        </physics>
        <skeleton name="skeleton 1">
            <body name="link 1">
                <gravity>0</gravity>
                <transformation>0.1 0 0 0 0 0</transformation>
                <inertia>
                    <mass>1.0</mass>
                    <offset>0 0 0</offset>
                </inertia>
                <soft_shape>
                    <total_mass>0.5</total_mass>
                    <geometry>
                        <box>
                            <size>0.2 0.05 0.05</size>
                        </box>
                    </geometry>
                    <kv>0.05</kv>
                    <ke>0.1</ke>
                    <damp>0.05</damp>
                </soft_shape>
                <visualization_shape>
                    <transformation>0 0 0 0 0 0</transformation>
                    <geometry>
                        <box>
                            <size>0.1 0.025 0.025</size>
                        </box>
                    </geometry>
                </visualization_shape>
                <collision_shape>
                    <transformation>0 0 0 0 0 0</transformation>
                    <geometry>
                        <box>
                            <size>0.1 0.025 0.025</size>
                        </box>
                    </geometry>
                </collision_shape>                                
            </body>
            <joint type="free" name="joint 1">
                <parent>world</parent>
                <child>link 1</child>
                <transformation>-0.1 0 0 0 0 0</transformation>
                <!--transformation>0 -0.1 0 0 0 0</transformation-->
                <axis>
                    <xyz>0 0 1</xyz>
                </axis>
            </joint>
        </skeleton>	
    </world>
</skel>
