<?xml version="1.0" ?>
<sdf version="1.4">
  <world name="default">
    <!-- A global light source -->
    <include>
      <uri>model://sun</uri>
    </include>
    <!-- A ground plane -->
    <!--include>
      <uri>model://ground_plane</uri>
    </include-->

    <physics type="ode">
      <gravity>0.0 0.0 -9.81</gravity>
      <real_time_update_rate>0.000000</real_time_update_rate>
      <max_step_size>0.001000</max_step_size>
    </physics>

  <model name="ground_plane">
    <static>true</static>
    <link name="link">
      <collision name="collision">
        <geometry>
          <plane>
            <normal>0 0 1</normal>
            <size>100 100</size>
          </plane>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>100</mu>
              <mu2>50</mu2>
            </ode>
          </friction>
        </surface>
      </collision>
      <visual name="visual">
        <cast_shadows>false</cast_shadows>
        <geometry>
          <plane>
            <normal>0 0 1</normal>
            <size>100 100</size>
          </plane>
        </geometry>
        <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
            <name>Gazebo/Grey</name>
          </script>
        </material>
      </visual>
    </link>
  </model>

 <model name="double_pendulum_with_base">
    <link name="base">
      <inertial>
        <mass>100</mass>
      </inertial>
      <visual name="vis_plate_on_ground">
        <pose>0 0 0.01  0 0 0</pose>
        <geometry>
          <cylinder>
            <radius>0.8</radius>
            <length>0.02</length>
          </cylinder>
        </geometry>
        <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
            <name>Gazebo/Grey</name>
          </script>
        </material>
      </visual>
      <visual name="vis_pole">
        <pose>-0.275 0 1.1  0 0 0</pose>
        <geometry>
          <box><size>0.2 0.2 2.2</size></box>
        </geometry>
        <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
            <name>Gazebo/Grey</name>
          </script>
        </material>
      </visual>
      <collision name="col_plate_on_ground">
        <pose>0 0 0.01  0 0 0</pose>
        <geometry>
          <cylinder>
            <radius>0.8</radius>
            <length>0.02</length>
          </cylinder>
        </geometry>
      </collision>
      <collision name="col_pole">
        <pose>-0.275 0 1.1  0 0 0</pose>
        <geometry>
          <box><size>0.2 0.2 2.2</size></box>
        </geometry>
      </collision>
    </link>
    <!-- upper link, length 1, IC -90 degrees -->
    <link name="upper_link">
      <pose>0 0 2.1  -1.5708 0 0</pose>
      <self_collide>0</self_collide>
      <inertial>
        <pose>0 0 0.5  0 0 0</pose>
      </inertial>
      <visual name="vis_upper_joint">
        <pose>-0.05 0 0  0 1.5708 0</pose>
        <geometry>
          <cylinder>
            <radius>0.1</radius>
            <length>0.3</length>
          </cylinder>
        </geometry>
        <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
            <name>Gazebo/Grey</name>
          </script>
        </material>
      </visual>
      <visual name="vis_lower_joint">
        <pose>0 0 1.0  0 1.5708 0</pose>
        <geometry>
          <cylinder>
            <radius>0.1</radius>
            <length>0.2</length>
          </cylinder>
        </geometry>
        <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
            <name>Gazebo/Grey</name>
          </script>
        </material>
      </visual>
      <visual name="vis_cylinder">
        <pose>0 0 0.5  0 0 0</pose>
        <geometry>
          <cylinder>
            <radius>0.1</radius>
            <length>0.9</length>
          </cylinder>
        </geometry>
        <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
            <name>Gazebo/Grey</name>
          </script>
        </material>
      </visual>
      <collision name="col_upper_joint">
        <pose>-0.05 0 0  0 1.5708 0</pose>
        <geometry>
          <cylinder>
            <radius>0.1</radius>
            <length>0.3</length>
          </cylinder>
        </geometry>
      </collision>
      <collision name="col_lower_joint">
        <pose>0 0 1.0  0 1.5708 0</pose>
        <geometry>
          <cylinder>
            <radius>0.1</radius>
            <length>0.2</length>
          </cylinder>
        </geometry>
      </collision>
      <collision name="col_cylinder">
        <pose>0 0 0.5  0 0 0</pose>
        <geometry>
          <cylinder>
            <radius>0.1</radius>
            <length>0.9</length>
          </cylinder>
        </geometry>
      </collision>
    </link>
    <!-- lower link, length 1, IC ~-120 degrees more -->
    <link name="lower_link">
      <pose>0.25 1.0 2.1  -2 0 0</pose>
      <self_collide>0</self_collide>
      <inertial>
        <pose>0 0 0.5  0 0 0</pose>
      </inertial>
      <visual name="vis_lower_joint">
        <pose>0 0 0  0 1.5708 0</pose>
        <geometry>
          <cylinder>
            <radius>0.08</radius>
            <length>0.3</length>
          </cylinder>
        </geometry>
        <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
            <name>Gazebo/Grey</name>
          </script>
        </material>
      </visual>
      <visual name="vis_cylinder">
        <pose>0 0 0.5  0 0 0</pose>
        <geometry>
          <cylinder>
            <radius>0.1</radius>
            <length>0.9</length>
          </cylinder>
        </geometry>
        <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
            <name>Gazebo/Grey</name>
          </script>
        </material>
      </visual>
      <collision name="col_lower_joint">
        <pose>0 0 0  0 1.5708 0</pose>
        <geometry>
          <cylinder>
            <radius>0.08</radius>
            <length>0.3</length>
          </cylinder>
        </geometry>
      </collision>
      <collision name="col_cylinder">
        <pose>0 0 0.5  0 0 0</pose>
        <geometry>
          <cylinder>
            <radius>0.1</radius>
            <length>0.9</length>
          </cylinder>
        </geometry>
      </collision>
    </link>
    <!-- pin joint for upper link, at origin of upper link -->
    <joint name="upper_joint" type="revolute">
      <parent>base</parent>
      <child>upper_link</child>
      <axis>
        <xyz>1.0 0 0</xyz>
      </axis>
    </joint>
    <!-- pin joint for lower link, at origin of child link -->
    <joint name="lower_joint" type="revolute">
      <parent>upper_link</parent>
      <child>lower_link</child>
      <axis>
        <xyz>1.0 0 0</xyz>
      </axis>
    </joint>
  </model>

  </world>
</sdf>
