<?xml version="1.0"?>
<robot name="rrbot">

  <!-- *************** Link 1 *************** -->
  <link name="link1">
    <inertial>
      <origin xyz="0 0 0.5" rpy="0 0 0"/>
      <mass value="1"/>
      <inertia
        ixx="0.334167"
        ixy="0"
        ixz="0"
        iyy="0.334167"
        iyz="0"
        izz="0.00166667"/>
    </inertial>

    <collision>
      <origin xyz="0 0 0.5" rpy="0 0 0"/>
      <geometry>
        <box size="0.1 0.1 2"/>
      </geometry>
    </collision>

    <visual>
      <origin xyz="0 0 0.5" rpy="0 0 0"/>
      <geometry>
        <box size="0.1 0.1 2"/>
      </geometry>
      <material name="orange">
        <color rgba="1 0.423529412 0.039215686 1"/>
      </material>
    </visual>
  </link>



  <!-- *************** Link 2 *************** -->
  <link name="link2">
    <inertial>
      <origin xyz="0 0 0.5" rpy="0 0 0"/>
      <mass value="1"/>
      <inertia
        ixx="0.0841667"
        ixy="0"
        ixz="0"
        iyy="0.0841667"
        iyz="0"
        izz="0.00166667"/>
    </inertial>

    <collision>
      <origin xyz="0 0 0.5" rpy="0 0 0"/>
      <geometry>
        <box size="0.1 0.1 1"/>
      </geometry>
    </collision>

    <visual>
      <origin xyz="0 0 0.5" rpy="0 0 0"/>
      <geometry>
        <box size="0.1 0.1 1"/>
      </geometry>
      <material name="black">
        <color rgba="0 0 0 1"/>
      </material>
    </visual>
  </link>

  <!-- *************** Revolute Joint *************** -->
  <joint name="joint1" type="revolute">
    <parent link="link1"/>
    <child link="link2"/>
    <origin xyz="0 0.1 1.5" rpy="0 0 0"/>
    <axis xyz="0 1 0"/>

    <limit
      lower="-10000000000000000"
      upper="10000000000000000"
      effort="1000"
      velocity="10"/>

    <dynamics damping="1.0" friction="0.0"/>
  </joint>

</robot>
