<robot name="DoubleInvertedPendulum">
  <link name="DoubleInvertedPendulumBase">
    <inertial>
      <origin xyz="0 0 0"/>
      <mass value="1.0"/>
      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
    </inertial>
    <visual>
      <origin rpy="0 1.57 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.015" radius="0.015"/>
      </geometry>
      <material name="red">
        <color rgba="0.8 0 0 1"/>
      </material>
    </visual>
  </link>
  <link name="Link1">
    <inertial>
      <origin xyz="0.0 0.0 0.137"/>
      <mass value="1.811"/>
      <inertia ixx="0.009055" ixy="0.0" ixz="0.0" iyy="0.00047" iyz="0.0" izz="0.00047"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0.137"/>
      <geometry>
          <cylinder length="0.27" radius="0.01"/>
      </geometry>
      <material name="blue">
          <color rgba="0 0 .8 1"/>
      </material>
    </visual>
  </link>
  <link name="Link2">
    <inertial>
      <origin xyz="0.0 0.0 0.137"/>
      <mass value="1.811"/>
      <inertia ixx="0.009055" ixy="0.0" ixz="0.0" iyy="0.00047" iyz="0.0" izz="0.00047"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0.137"/>
      <geometry>
          <cylinder length="0.27" radius="0.01"/>
      </geometry>
      <material name="blue">
          <color rgba="0 0 .8 1"/>
      </material>
    </visual>
  </link>
  <joint name="Joint1" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <parent link="InvertedPendulumBase"/>
    <child link="Link1"/>
    <axis xyz="1 0 0"/>
    <limit effort="150.0" lower="-3.1416" upper="3.1416" velocity="12.0"/>
  </joint>
  <joint name="Joint2" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <parent link="Link1"/>
    <child link="Link2"/>
    <axis xyz="1 0 0"/>
    <limit effort="150.0" lower="-3.1416" upper="3.1416" velocity="12.0"/>
  </joint>
</robot>
