Cleans up Pendulum.urdf. (#5164)

drake/examples/Pendulum/Pendulum.urdf

@@ -1,74 +1,73 @@
 <?xml version="1.0"?>
-
-<robot xmlns="http://drake.mit.edu"
- xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
- xsi:schemaLocation="http://drake.mit.edu ../../doc/drakeURDF.xsd" name="Pendulum">
+<robot name="Pendulum"
+    xmlns="http://drake.mit.edu"
+    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+    xsi:schemaLocation="http://drake.mit.edu ../../doc/drakeURDF.xsd">
   <material name="green">
- 	  <color rgba=".3 .6 .4 1" />
+    <color rgba=".3 .6 .4 1"/>
   </material>
   <material name="red">
-    <color rgba=".9 .1 0 1" />
+    <color rgba=".9 .1 0 1"/>
   </material>
   <material name="blue">
-    <color rgba="0 0 1 1" />
+    <color rgba="0 0 1 1"/>
   </material>
-
-
-  <link name="world" drake_ignore="true">
-    <inertial> <!-- drc-viewer needs this to have inertia to parse properly.  remove it when that bug is fixed -->
-      <origin xyz="0 0 0" />
-      <mass value="0.01" />
-      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
+  <link drake_ignore="true" name="world">
+    <inertial>
+      <!-- drc-viewer needs this to have inertia to parse properly. Remove it when that bug is fixed. -->
+      <origin xyz="0 0 0"/>
+      <mass value="0.01"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
     </inertial>
   </link>
   <link name="base_part2">
     <inertial>
-      <origin xyz="0 0 .015" rpy="0 0 0"/>
+      <origin rpy="0 0 0" xyz="0 0 .015"/>
       <mass value="1"/>
-      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
+      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
     </inertial>
     <visual>
-      <origin xyz="0 0 .015" />
+      <origin xyz="0 0 .015"/>
       <geometry>
-        <sphere radius=".015" />
-      </geometry> 
-      <material name="green" />
+        <sphere radius=".015"/>
+      </geometry>
+      <material name="green"/>
     </visual>
   </link>
-  <joint name="base_weld" type="fixed" drake_ignore="true">
-    <parent link="world" />
-    <child link="base_part2" />
-    <origin xyz="0 0 1" />
+  <joint drake_ignore="true" name="base_weld" type="fixed">
+    <parent link="world"/>
+    <child link="base_part2"/>
+    <origin xyz="0 0 1"/>
   </joint>
   <link name="arm">
-    <inertial> 
-      <origin xyz="0 0 -.5" rpy="0 0 0" />
-      <mass value="0.5" />
-      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/> 
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 -.5"/>
+      <mass value="0.5"/>
+      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
     </inertial>
     <visual>
-      <origin xyz="0 0 -.375" rpy="0 0 0" />
+      <origin rpy="0 0 0" xyz="0 0 -.375"/>
       <geometry>
-         <cylinder length=".75" radius=".01" />
+        <cylinder length=".75" radius=".01"/>
       </geometry>
-      <material name="red" />
-    </visual> 
+      <material name="red"/>
+    </visual>
     <collision>
-      <origin xyz="0 0 -.375" rpy="0 0 0" />
+      <origin rpy="0 0 0" xyz="0 0 -.375"/>
       <geometry>
-         <cylinder length=".75" radius=".01" />
+        <cylinder length=".75" radius=".01"/>
       </geometry>
     </collision>
   </link>
   <joint name="theta" type="continuous">
     <parent link="base_part2"/>
-    <child link="arm" />
-    <axis xyz="0 1 0" />
-    <dynamics damping="0.1" />
+    <child link="arm"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0.1"/>
   </joint>
   <link name="arm_com">
     <inertial>
-      <origin xyz="0 0 -0.5" rpy="0 0 0" />
+      <origin rpy="0 0 0" xyz="0 0 -0.5"/>
       <mass value="0.5"/>
       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
     </inertial>
@@ -77,7 +76,7 @@
       <geometry>
         <sphere radius=".025"/>
       </geometry>
-      <material name="blue" />
+      <material name="blue"/>
     </visual>
     <collision>
       <origin xyz="0 0 -.5"/>
@@ -87,13 +86,12 @@
     </collision>
   </link>
   <joint name="arm_weld" type="fixed">
-    <parent link="arm" />
-    <child link="arm_com" />
+    <parent link="arm"/>
+    <child link="arm_com"/>
   </joint>
-
-  <transmission type="SimpleTransmission" name="elbow_trans">
-    <actuator name="tau" />
-    <joint name="theta" />
+  <transmission name="elbow_trans" type="SimpleTransmission">
+    <actuator name="tau"/>
+    <joint name="theta"/>
     <mechanicalReduction>1</mechanicalReduction>
   </transmission>
   <gazebo reference="base_part2">
@@ -105,7 +103,6 @@
   <gazebo reference="arm_com">
     <material>Gazebo/Blue</material>
   </gazebo>
-
   <gazebo>
     <plugin filename="libgazebo_ros_pub_robot_state.so" name="gazebo_ros_pub_robot_controller">
       <alwaysOn>true</alwaysOn>