<?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>
            <collision_detector>fcl_mesh</collision_detector>
        </physics>
        <skeleton name="double_pendulum">
            <body name="link 1">
                <gravity>1</gravity>
                <transformation>0.1 0 0 0 0 0</transformation>
                <inertia>
                    <mass>5</mass>
                    <offset>0 0 0</offset>
                </inertia>
                <visualization_shape>
                    <transformation>0 0 0 0 0 0</transformation>
                    <geometry>
                        <box>
                            <size>0.1 0.2 0.3</size>
                        </box>
                    </geometry>
                </visualization_shape>
                <collision_shape>
                    <transformation>0 0 0 0 0 0</transformation>
                    <geometry>
                        <box>
                            <size>0.1 0.2 0.3</size>
                        </box>
                    </geometry>
                </collision_shape>                                
            </body>
            <body name="link 2">
                <gravity>1</gravity>
                <transformation>0.3 0 0 0 0 0</transformation>
                <inertia>
                    <mass>5</mass>
                    <offset>0 0 0</offset>
                </inertia>
                <visualization_shape>
                    <transformation>0 0 0 0 0 0</transformation>
                    <geometry>
                        <box>
                            <size>0.1 0.2 0.3</size>
                        </box>
                    </geometry>
                </visualization_shape>
                <collision_shape>
                    <transformation>0 0 0 0 0 0</transformation>
                    <geometry>
                        <box>
                            <size>0.1 0.2 0.3</size>
                        </box>
                    </geometry>
                </collision_shape>                                
            </body>
            <joint type="euler" name="joint 1">
                <parent>world</parent>
                <child>link 1</child>
                <transformation>-0.1 0 0 0 0 0</transformation>
                <axis_order>zyx</axis_order>
                <axis>
                    <xyz>0 0 1</xyz>
                </axis>
            </joint>
            <joint type="euler" name="joint 2">
                <parent>link 1</parent>
                <child>link 2</child>
                <transformation>-0.1 0 0 0 0 0</transformation>
                <axis_order>zyx</axis_order>
                <axis>
                    <xyz>0 0 1</xyz>
                </axis>
            </joint>
        </skeleton>	
    </world>
</skel>
