%%% Double Pendulum Model

% Number of Joints:
2
% Gravity Vector:
0 0 -9.81
% Global Position of Base Node: (xpos, ypos, zpos)
0 0 0
% Global Orientation of Base Node: (axis-x, axis-y, axis-z, angle)
% ::: Identity
1 0 0 0

%%% Joint 1: 
% Local Translation: (xpos, ypos, zpos)
0 0 0
% Local Rotation: (axis-x, axis-y, axis-z, angle)
1 0 0 0.261799
% Mass
1
% Position of COM: (xpos, ypos, zpos)
0 0 -0.125
% Inertia @ COM: (Ixx, Iyy, Izz)
0.00541666666667 0.00541666666667 4.166666666666668e-004
% Joint Type: (0 for prismatic, 1 for revolute)
1
% Joint Axis: (X=0, Y=1, Z=2)
0
% MyID: (first joint has to be 0)
0
% ParentID: (parent of first joint has to be -1)
-1
% Operational Space Point ID: (default: mark as -1 to be ignored)
-1

%%% Joint 2: 
% Local Translation: (xpos, ypos, zpos)
0 0 -0.25
% Local Rotation: (axis-x, axis-y, axis-z, angle)
1 0 0 -0.523599
% Mass
1
% Position of COM: (xpos, ypos, zpos)
0 0 -0.125
% Inertia @ COM: (Ixx, Iyy, Izz)
0.00541666666667 0.00541666666667 4.166666666666668e-004
% Joint Type: (0 for prismatic, 1 for revolute)
1
% Joint Axis: (X=0, Y=1, Z=2)
0
% MyID:
1
% ParentID:
0
% Operational Space Point ID: (default: mark as -1 to be ignored)
-1