<?xml version='1.0'?>
<sdf version="1.4">
  <model name="double_pendulum_kinematics_14">
    <link name="base"/>
    <!-- upper link, length 1, IC -90 degrees -->
    <link name="upper_link">
      <pose>0 0 2.1  -1.5708 0 0</pose>
      <inertial>
        <pose>0 0 0.5  0 0 0</pose>
      </inertial>
    </link>
    <!-- lower link, length 1, IC ~-120 degrees more -->
    <link name="lower_link">
      <pose>0.25 1.0 2.1  -2 0 0</pose>
      <inertial>
        <pose>0 0 0.5  0 0 0</pose>
      </inertial>
    </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>
</sdf>
