Robot creation in Matlab with multiple bases

Hi all,

I have the following problem: I want to create a robot that consists out of the following rigid bodies. At the connection of body 1 and 4 a motor is located for rotation.

The problem is that I don't know how to implement a 'second' base, above or below the first one. Thus a way of constraining the a point of body 1 and 4 above eachother.

The code which I have now is as follows (not fully functional):

clc, clear all, close all

%-----------------------------------------------------------

robot = robotics.RigidBodyTree; %creates body tree

body1 = robotics.RigidBody('body1'); % creates body

jnt1 = robotics.Joint('jnt1','revolute');

jnt1.HomePosition = pi/2;

tform = trvec2tform([1, 0 , 0]); %

setFixedTransform(jnt1,tform);

body1.Joint = jnt1; %assigns joint to body

addBody(robot,body1,'base') %adds body to tree base

body2 = robotics.RigidBody('body2');

jnt2 = robotics.Joint('jnt2','revolute');

jnt2.HomePosition = pi/4;

tform2 = trvec2tform([0,0,-2]);

setFixedTransform(jnt2,tform2);

body2.Joint = jnt2;

addBody(robot,body2,'body1'); % Add body2 to body1

body3 = robotics.RigidBody('body3');

jnt3 = robotics.Joint('jnt3','revolute');

tform3 = trvec2tform([1, 0, 0])*eul2tform([0, 0, 0]); % User defined

setFixedTransform(jnt3,tform3);

jnt3.HomePosition = 0; % User defined

body3.Joint = jnt3

addBody(robot,body3,'body2'); % Add body3 to body2

body5 = robotics.RigidBody('body5');

jnt5 = robotics.Joint('jnt5','revolute');

tform5 = trvec2tform([1, 2, 0]); % User defined

setFixedTransform(jnt5,tform5);

jnt5.HomePosition = pi/4; % User defined

addBody(robot,body5,'body3')

show(robot)

Thanks in advance!