# DynaMechs V 3.0 ascii
# pendulum parameter file

Articulation {
    Name 		""
    Graphics_Model	"../models/obj_plate_z.xan"
    Position	 	 10.0   10.0   8.7
    Orientation_Quat 	 0.0 0.7071 0.0 0.7071

    Branch {
	RevoluteLink {
	    Name "link0"
	    Graphics_Model	"../models/obj_cylinder_x.xan"

	    Mass			 0.5
	    Inertia			 0.1   0.0  0.0
					 0.0   1.7  0.0
					 0.0   0.0  1.7
	    Center_of_Gravity		 1.5 0.0 0.0

	    Number_of_Contact_Points	 1
	    Contact_Locations		 3.0  0.0  0.0

	    MDH_Parameters		 0.0 1.5708 0.0 1.0
	    Initial_Joint_Velocity	 0.0
	    Joint_Limits		-10.172 10.172 
	    Joint_Limit_Spring_Constant  50.0
	    Joint_Limit_Damper_Constant  5.0

	    Actuator_Type		 0
	    Joint_Friction		 0.35
	}

	RevoluteLink {
	    Name "link1"
	    Graphics_Model	"../models/obj_cylinder_x.xan"

	    Mass			 0.5
	    Inertia			 0.1   0.0  0.0
					 0.0   1.7  0.0
					 0.0   0.0  1.7
	    Center_of_Gravity		 1.5 0.0 0.0

	    Number_of_Contact_Points	 1
	    Contact_Locations		 3.0  0.0  0.0

	    MDH_Parameters		 3.0 0.0 0.0 0.0
	    Initial_Joint_Velocity	 0.0
	    Joint_Limits		-10.172 10.172 
	    Joint_Limit_Spring_Constant  50.0
	    Joint_Limit_Damper_Constant  5.0

	    Actuator_Type		 0
	    Joint_Friction		 0.35
	}

	RevoluteLink {
	    Name "link2"
	    Graphics_Model	"../models/obj_cylinder_x.xan"

	    Mass			 0.5
	    Inertia			 0.1   0.0  0.0
					 0.0   1.7  0.0
					 0.0   0.0  1.7
	    Center_of_Gravity		 1.5 0.0 0.0

	    Number_of_Contact_Points	 1
	    Contact_Locations		 3.0  0.0  0.0

	    MDH_Parameters		 3.0 0.0 0.0 0.0
	    Initial_Joint_Velocity	 0.0
	    Joint_Limits		-10.172 10.172 
	    Joint_Limit_Spring_Constant  50.0
	    Joint_Limit_Damper_Constant  5.0

	    Actuator_Type		 0
	    Joint_Friction		 0.35
	}
    }

	RevoluteLink {
	    Name "link01"
	    Graphics_Model	"../models/obj_cylinder_x.xan"

	    Mass			 0.5
	    Inertia			 0.1   0.0  0.0
					 0.0   1.7  0.0
					 0.0   0.0  1.7
	    Center_of_Gravity		 1.5 0.0 0.0

	    Number_of_Contact_Points	 1
	    Contact_Locations		 3.0  0.0  0.0

	    MDH_Parameters		 0.0 1.5708 3.0 1.0
	    Initial_Joint_Velocity	 0.0
	    Joint_Limits		-10.172 10.172 
	    Joint_Limit_Spring_Constant  50.0
	    Joint_Limit_Damper_Constant  5.0

	    Actuator_Type		 0
	    Joint_Friction		 0.35
	}

	RevoluteLink {
	    Name "link11"
	    Graphics_Model	"../models/obj_cylinder_x.xan"

	    Mass			 0.5
	    Inertia			 0.1   0.0  0.0
					 0.0   1.7  0.0
					 0.0   0.0  1.7
	    Center_of_Gravity		 1.5 0.0 0.0

	    Number_of_Contact_Points	 1
	    Contact_Locations		 3.0  0.0  0.0

	    MDH_Parameters		 3.0 0.0 0.0 0.0
	    Initial_Joint_Velocity	 0.0
	    Joint_Limits		-10.172 10.172 
	    Joint_Limit_Spring_Constant  50.0
	    Joint_Limit_Damper_Constant  5.0

	    Actuator_Type		 0
	    Joint_Friction		 0.35
	}

	RevoluteLink {
	    Name "link21"
	    Graphics_Model	"../models/obj_cylinder_x.xan"

	    Mass			 0.5
	    Inertia			 0.1   0.0  0.0
					 0.0   1.7  0.0
					 0.0   0.0  1.7
	    Center_of_Gravity		 1.5 0.0 0.0

	    Number_of_Contact_Points	 1
	    Contact_Locations		 3.0  0.0  0.0

	    MDH_Parameters		 3.0 0.0 0.0 0.0
	    Initial_Joint_Velocity	 0.0
	    Joint_Limits		-10.172 10.172 
	    Joint_Limit_Spring_Constant  50.0
	    Joint_Limit_Damper_Constant  5.0

	    Actuator_Type		 0
	    Joint_Friction		 0.35
	}
}