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<?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>1</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>0.1</total_mass>
<geometry>
<box>
<size>0.2 0.05 0.05</size>
</box>
</geometry>
<kv>100</kv>
<ke>10</ke>
<damp>0.1</damp>
</soft_shape>
<visualization_shape>
<transformation>0 0 0 0 0 0</transformation>
<geometry>
<box>
<size>0.2 0.05 0.05</size>
</box>
</geometry>
</visualization_shape>
<collision_shape>
<transformation>0 0 0 0 0 0</transformation>
<geometry>
<box>
<size>0.2 0.05 0.05</size>
</box>
</geometry>
</collision_shape>
</body>
<joint type="revolute" 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>
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