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<?xml version="1.0"?>
<robot xmlns="http://drake.mit.edu"
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
name="CartPole">
<link name="ground">
<visual>
<origin xyz="0 0 -5" rpy="0 0 0" />
<geometry>
<box size="1000 1000 10" />
</geometry>
<material>
<color rgba="0.93 .74 .4 1" />
</material>
</visual>
</link>
<link name="cart">
<inertial>
<origin xyz="0 0 -.5" rpy="0 0 0" />
<mass value="10" />
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial>
<visual>
<origin xyz="0 0 .25" rpy="0 0 0" />
<geometry>
<box size=".6 .3 .3" />
</geometry>
<material>
<color rgba="0 1 0 1" />
</material>
</visual>
<visual>
<origin xyz=".15 0 .025" rpy="0 0 0" />
<geometry>
<sphere radius=".05" />
</geometry>
<material>
<color rgba="0 0 0 1" />
</material>
</visual>
<visual>
<origin xyz="-.15 0 .025" rpy="0 0 0" />
<geometry>
<sphere radius=".05" />
</geometry>
<material>
<color rgba="0 0 0 1" />
</material>
</visual>
</link>
<link name="pole">
<inertial>
<origin xyz="0 0 -.5" rpy="0 0 0" />
<mass value="1" />
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial>
<visual>
<origin xyz="0 0 -.25" rpy="0 0 0" />
<geometry>
<cylinder length=".5" radius=".01" />
</geometry>
<material>
<color rgba="1 0 0 1" />
</material>
</visual>
<visual>
<origin xyz="0 0 -.5" rpy="0 0 0" />
<geometry>
<sphere radius=".05" />
</geometry>
<material>
<color rgba="0 0 1 1" />
</material>
</visual>
</link>
<joint name="x" type="prismatic">
<parent link="ground" />
<child link="cart" />
<origin xyz="0 0 0" />
<axis xyz="1 0 0" />
<dynamics damping="0.1" />
</joint>
<joint name="theta" type="continuous">
<parent link="cart" />
<child link="pole" />
<origin xyz="0 0 .25" />
<axis xyz="0 1 0" />
<dynamics damping="0.1" />
</joint>
<transmission type="SimpleTransmission" name="cart_force">
<actuator name="force" />
<joint name="x" />
<mechanicalReduction>1</mechanicalReduction>
</transmission>
</robot>
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