<?xml version="1.0" encoding="UTF-8"?>
<job xmlns="http://lim.ii.udc.es/mbsml">
  <model id="A04_Model_MBsML">  
      <ground>
			<geometry>
				<point id="O">
					<x>0.0</x>
					<y>0.0</y>
					<z>0.0</z>
				</point>
				<point id="A">
					<x>1.0</x>
					<y>0.0</y>
					<z>0.0</z>
				</point>
				<vector id="x">
					<x>1.0</x>
					<y>0.0</y>
					<z>0.0</z>
				</vector>
				<vector id="y">
					<x>0.0</x>
					<y>1.0</y>
					<z>0.0</z>
				</vector>
				<vector id="z">
					<x>0.0</x>
					<y>0.0</y>
					<z>1.0</z>
				</vector>
			</geometry>
      </ground>
      <body id="rod1">
				<geometry>
					<point id="p1">
						<x>0.0</x>
						<y>0.0</y>
						<z>0.0</z>
					</point>
					<point id="p2">
						<x>1.0</x>
						<y>0.0</y>
						<z>0.0</z>
					</point>
					<vector id="x">
						<x>1.0</x>
						<y>0.0</y>
						<z>0.0</z>
					</vector>
					<vector id="y">
						<x>0.0</x>
						<y>1.0</y>
						<z>0.0</z>
					</vector>
					<vector id="z">
						<x>0.0</x>
						<y>0.0</y>
						<z>1.0</z>
					</vector>
				</geometry>
				<inertia>
					<rod>
						<mass uom="kg">1.0</mass>
						<fromPoint idref="p1"/>
						<toPoint idref="p2"/>
					</rod>
				</inertia>
			</body>
			<body id="rod2">
			    <xi:include xpointer="xpointer(/mbsml/model/body[@id='1'])" xmlns:xi="http://www.w3.org/2003/XInclude"/>
			</body>
			<body id="rod3">
			     <xi:include xpointer="xpointer(/mbsml/model/body[@id='1'])" xmlns:xi="http://www.w3.org/2003/XInclude"/>
			</body>
			<body id="rod4">
			    <xi:include xpointer="xpointer(/mbsml/model/body[@id='1'])" xmlns:xi="http://www.w3.org/2003/XInclude"/>
			</body>
			<body id="rod5">
			    <xi:include xpointer="xpointer(/mbsml/model/body[@id='1'])" xmlns:xi="http://www.w3.org/2003/XInclude"/>
			</body>
			<joint.revolute id="rod1ToGround">
				<body idref="ground">
					<axisPoint idref="O"/>
					<axisDir idref="y"/>
				</body>
				<body idref="rod1">
					<axisPoint idref="p1"/>
					<axisDir idref="y"/>
				</body>
			</joint.revolute>
			<joint.revolute id="rod1ToRod2">
				<body idref="rod1">
					<axisPoint idref="p2"/>
					<axisDir idref="z"/>
				</body>
				<body idref="rod2">
					<axisPoint idref="p1"/>
					<axisDir idref="y"/>
				</body>
			</joint.revolute>
			<joint.revolute id="rod2ToRod3">
				<body idref="rod2">
					<axisPoint idref="p2"/>
					<axisDir idref="z"/>
				</body>
				<body idref="rod3">
					<axisPoint idref="p1"/>
					<axisDir idref="z"/>
				</body>
			</joint.revolute>
			<joint.revolute id="rod3ToRod4">
				<body idref="rod3">
					<axisPoint idref="p2"/>
					<axisDir idref="y"/>
				</body>
				<body idref="rod4">
					<axisPoint idref="p1"/>
					<axisDir idref="y"/>
				</body>
			</joint.revolute>
			<joint.revolute id="rod4ToRod5">
				<body idref="rod4">
					<axisPoint idref="p2"/>
					<axisDir idref="z"/>
				</body>
				<body idref="rod5">
					<axisPoint idref="p1"/>
					<axisDir idref="y"/>
				</body>
			</joint.revolute>
			<joint.revolute id="rod5ToGround">
				<body idref="ground">
					<axisPoint idref="A"/>
					<axisDir idref="z"/>
				</body>
				<body idref="rod5">
					<axisPoint idref="p2"/>
					<axisDir idref="z"/>
				</body>
			</joint.revolute>
			<load.gravity>
				<direction bodyRef="ground" id="g">
				        <x>0.0</x>
					    <y>-1.0</y>
					    <z>0.0</z>					    
				</direction>
				<magnitude uom="m/s2">9.81</magnitude>
			</load.gravity>
  </model>
  <task>
      <analysis>
      </analysis>
  </task>
</job>
