<?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="-0.0071030505291264975 0.0008511826488989179 0.007952020186701035" rpy="0 0 0" />
      <mass value="0.02110029934220782" />
      <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="0.060245187591695615 -0.07601707109312682 -0.0034636702158137786" rpy="0 0 0" />
      <mass value="0.03936742845036306" />
      <inertia ixx="6.202768755990066e-05" iyy="3.70078470430685e-05" izz="7.827356811788924e-05" ixy="-6.925117819616428e-06" 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>