<?xml version="1.0" encoding="utf-8"?>
<robot name="pendulum">
  <!--
  Author: Erwin Coumans <erwincoumans@google.com>
  Contributers:
-->
  
  <link name="world"/>
  <material name="Blue">
    <color rgba="0.28 0.52 0.92 1.0"/>
  </material>
  <link name="link0">
    <visual>
      <geometry>
        <sphere radius="0.05"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0.5 0"/>
      <material name="Blue"/>
    </visual>
    <collision>
      <geometry>
        <sphere radius="0.05"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0.5 0"/>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.5 0.0"/>
      <mass value="1."/>
      <inertia ixx="0.00494875" ixy="0" ixz="0" iyy="0.00494174" iyz="0" izz="0.002219"/>
    </inertial>
  </link>
  <joint name="joint0" type="continuous">
    <parent link="world"/>
    <child link="link0"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="1 0 0"/>
    <dynamics damping="1.0" friction="1.0"/>
  </joint>
  <link name="link1">
    <visual>
      <geometry>
        <sphere radius="0.05"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0.5 0"/>
      <material name="Red"/>
    </visual>
    <collision>
      <geometry>
        <sphere radius="0.05"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0.5 0"/>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0.5 0"/>
      <mass value="2.16"/>
      <inertia ixx="0.00539427" ixy="0" ixz="0" iyy="0.0048979" iyz="0" izz="0.00311573"/>
    </inertial>
  </link>
  <joint name="joint1" type="continuous">
    <parent link="link0"/>
    <child link="link1"/>
    <origin rpy="0 0 0" xyz="0 0.5 0"/>
    <axis xyz="1 0 0"/>
    <dynamics damping="1.0" friction="1.0"/>
  </joint>
 <link name="link2">
    <visual>
      <geometry>
        <sphere radius="0.05"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0.5 0"/>
      <material name="Red"/>
    </visual>
    <collision>
      <geometry>
        <sphere radius="0.05"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0.5 0"/>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0.5 0"/>
      <mass value="2.16"/>
      <inertia ixx="0.00539427" ixy="0" ixz="0" iyy="0.0048979" iyz="0" izz="0.00311573"/>
    </inertial>
  </link>
  <joint name="joint2" type="continuous">
    <parent link="link1"/>
    <child link="link2"/>
    <origin rpy="0 0 0" xyz="0 0.5 0"/>
    <axis xyz="1 0 0"/>
    <dynamics damping="1.0" friction="1.0"/>
  </joint>
  <link name="link3">
    <visual>
      <geometry>
        <sphere radius="0.05"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0.5 0"/>
      <material name="Red"/>
    </visual>
    <collision>
      <geometry>
        <sphere radius="0.05"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0.5 0"/>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0.5 0"/>
      <mass value="2.16"/>
      <inertia ixx="0.00539427" ixy="0" ixz="0" iyy="0.0048979" iyz="0" izz="0.00311573"/>
    </inertial>
  </link>
  <joint name="joint3" type="continuous">
    <parent link="link2"/>
    <child link="link3"/>
    <origin rpy="0 0 0" xyz="0 0.5 0"/>
    <axis xyz="1 0 0"/>
    <dynamics damping="1.0" friction="1.0"/>
  </joint>
   <link name="link4">
    <visual>
      <geometry>
        <sphere radius="0.05"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0.5 0"/>
      <material name="Red"/>
    </visual>
    <collision>
      <geometry>
        <sphere radius="0.05"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0.5 0"/>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0.5 0"/>
      <mass value="2.16"/>
      <inertia ixx="0.00539427" ixy="0" ixz="0" iyy="0.0048979" iyz="0" izz="0.00311573"/>
    </inertial>
  </link>
  <joint name="joint4" type="continuous">
    <parent link="link3"/>
    <child link="link4"/>
    <origin rpy="0 0 0" xyz="0 0.5 0"/>
    <axis xyz="1 0 0"/>
    <dynamics damping="1.0" friction="1.0"/>
  </joint>
</robot>

