<?xml version='1.0' encoding='utf-8'?>
<robot name="rotary_cartpole">
  <link name="world" />
  <link name="base_link">
    <inertial>
      <origin xyz="-0.00011 0.00117 0.06055" rpy="0 0 0" />
      <mass value="0.921" />
      <inertia ixx="0.002385" iyy="0.002484" izz="0.000559" ixy="0.0" iyz="-0.000149" ixz="6e-06" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/base_link.stl" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/base_link.stl" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
  </link>
  <joint name="base_joint" type="fixed">
    <parent link="world" />
    <child link="base_link" />
  </joint>
  <link name="arm">
    <inertial>
      <origin xyz="0.02679980831009001 -0.015110803875962989 -0.005337417994989926" rpy="0 0 0" />
      <mass value="0.04052645463607292" />
      <inertia ixx="2.70e-06" iyy="7.80e-07" izz="2.44e-06" ixy="0.0" iyz="7.20e-08" ixz="0.0" />
    </inertial>
    <visual>
      <origin xyz="0.006947 -0.00395 -0.14796" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/arm_1.stl" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.006947 -0.00395 -0.14796" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/arm_1.stl" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
  </link>
  <joint name="motor_joint" type="revolute">
    <origin xyz="-0.006947 0.00395 0.14796" rpy="0 0 0" />
    <parent link="base_link" />
    <child link="arm" />
    <axis xyz="0 0 1" />
    <limit lower="-1.5708" upper="1.5708" effort="10.0" velocity="200.0" />
    <dynamics damping="0.001" />
  </joint>
  <link name="pendulum">
    <inertial>
      <origin xyz="0.04237886229290564 -0.05762212306183831 -0.0006039324398328591" rpy="0 0 0" />
      <mass value="0.056793277126969105" />
      <inertia ixx="0.0005956997356690322" iyy="8.986080748758447e-05" izz="0.0006855370063143978" ixy="-1.074983574165622e-05" iyz="0.0" ixz="0.0" />
    </inertial>
    <visual>
      <origin xyz="0.006895 -0.023224 -0.162953" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/pendulum_1.stl" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.006895 -0.023224 -0.162953" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/pendulum_1.stl" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
  </link>
  <joint name="pendulum_joint" type="continuous">
    <origin xyz="0.000052 0.019274 0.014993" rpy="0 1.5708 0" />
    <parent link="arm" />
    <child link="pendulum" />
    <axis xyz="0 -1 0" />
    <dynamics damping="0.0001" />
  </joint>
</robot>