model://sun model://ground_plane model://double_pendulum_with_base pendulum_thick_mud -2.0 0 0 0 0 0 model://double_pendulum_with_base pendulum_thin_mud 0 0 0 0 0 0 model://double_pendulum_with_base pendulum_no_mud 2.0 0 0 0 0 0 0 -1.0 0.7 0 0 0 true 5 1 0.2 true 5 1 0.2 0.2 0.2 0.2 1.0 .421 0.225 0.0 1.0 true 1000 collision link/mud_contact 0.0 1.0 pendulum_thin_mud::lower_link pendulum_thick_mud::lower_link 0.0 -1.0 1.0 0 0 0 true 5 1 0.2 true 5 1 0.2 0.2 0.2 0.2 1.0 .421 0.225 0.0 1.0 true 1000 collision link/mud_contact 0.0 10.0 pendulum_thick_mud::lower_link