<?xml version="1.0" ?>
<sdf version="1.4">
  <world name="default">
    <physics type="ode">
      <gravity>1 0 -9.81</gravity>
      <max_step_size>0.00101</max_step_size>
    </physics>
    <include>
      <uri>model://sun</uri>
    </include>
    <model name="double_pendulum">
      
      <pose>0 0 0.9  0.7853981633974483 0 0</pose>
      <link name="upper_link">
        <pose>0 0 -0.05  0 0 0</pose>
        <inertial>
          <mass>0.02700000000000001</mass>
          <inertia>
            <ixx>2.272500000000001e-05</ixx>
            <iyy>2.272500000000001e-05</iyy>
            <izz>4.5000000000000035e-07</izz>
            <ixy>0.0</ixy>
            <ixz>0.0</ixz>
            <iyz>0.0</iyz>
          </inertia>
        </inertial>
        <collision name="collision">
          <geometry>
            <box>
              <size>0.010000000000000002 0.010000000000000002 0.1</size>
            </box>
          </geometry>
        </collision>
        <visual name="visual">
          <geometry>
            <box>
              <size>0.010000000000000002 0.010000000000000002 0.1</size>
            </box>
          </geometry>
        </visual>
      </link>
      <joint name="upper_joint" type="revolute">
        <pose>0 0 0.05  0 0 0</pose>
        <parent>world</parent>
        <child>upper_link</child>
        <axis>
          <xyz>1 0 0</xyz>
        </axis>
      </joint>
      <link name="lower_link">
        <pose>0 0.17677669529663687 -0.2767766952966369  0.7853981633974483 0 0</pose>
        <inertial>
          <mass>3.375</mass>
          <inertia>
            <ixx>0.071015625</ixx>
            <iyy>0.071015625</iyy>
            <izz>0.0014062500000000004</izz>
            <ixy>0.0</ixy>
            <ixz>0.0</ixz>
            <iyz>0.0</iyz>
          </inertia>
        </inertial>
        <collision name="collision">
          <geometry>
            <box>
              <size>0.05 0.05 0.5</size>
            </box>
          </geometry>
        </collision>
        <visual name="visual">
          <geometry>
            <box>
              <size>0.05 0.05 0.5</size>
            </box>
          </geometry>
        </visual>
      </link>
      <joint name="lower_joint" type="revolute">
        <pose>0 0 0.25  0 0 0</pose>
        <parent>upper_link</parent>
        <child>lower_link</child>
        <axis>
          <xyz>1 0 0</xyz>
        </axis>
      </joint>
    </model>
  </world>
</sdf>
