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# This file is part of the interface_api integration test. The test contains a
# very limited toml parser that is not capable of parsing the full toml syntax.
# Specifically, arrays are not supported.
name = "double_pendulum"
pose = "1 0 0 0 0 0"
canonical_link = "base"
[links.base]
pose = "1 0 0.5 0 0 0"
[links.upper_link]
pose = "0 0 2.1 -1.5708 0 0"
[links.lower_link]
pose = "0.25 1.0 2.1 -2 0 0"
[joints.upper_joint]
parent = "base"
child = "upper_link"
type = "revolute"
pose = "0.001 0.0 0.0 0 0 0"
[joints.lower_joint]
parent = "upper_link"
child = "lower_link"
type = "revolute"
pose = "0.0 0.001 0.0 0 0 0"
[frames.frame_1]
pose = "0 1 0 0 0 0"
[frames.frame_2]
attached_to = "lower_link"
pose = "0 0 1 0 0 0"
[models.child_model]
pose = "2 0 0 0 0 0"
canonical_link = "base_link"
[models.child_model.links.base_link]
pose = "1 0 0 0 0 0"
[models.child_dp]
pose = "3 0 0 0 0 0"
canonical_link = "base"
[models.child_dp.links.base]
pose = "1 0 0.5 0 0 0"
[models.child_dp.models.model_0]
canonical_link = "upper_link"
[models.child_dp.models.model_0.links.upper_link]
pose = "0 0 2.1 -1.5708 0 0"
[models.child_dp.models.model_1]
canonical_link = "lower_link"
[models.child_dp.models.model_1.links.lower_link]
pose = "0.25 1.0 2.1 -2 0 0"
[models.child_dp.joints.upper_joint]
parent = "base"
child = "model_0::upper_link"
type = "revolute"
pose = "0.001 0.0 0.0 0 0 0"
[models.child_dp.joints.lower_joint]
parent = "model_0::upper_link"
child = "model_1::lower_link"
type = "revolute"
pose = "0.0 0.001 0.0 0 0 0"
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