<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from TwoJointRobot.xacro            | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="TwoJointRobot" xmlns:xacro="http://www.ros.org/wiki/xacro">
  <material name="blue">
    <color rgba="0 0 0.8 1"/>
  </material>
  <material name="white">
    <color rgba="1 1 1 1"/>
  </material>
  <link name="base_link">
    <visual>
      <geometry>
        <cylinder length="0.05" radius="0.075"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.025"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.05" radius="0.075"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.025"/>
    </collision>
    <inertial>
      <mass value="0.2"/>
      <inertia ixx="0.000322916666667" ixy="0.0" ixz="0.0" iyy="0.000322916666667" iyz="0.0" izz="0.0005625"/>
    </inertial>
  </link>
  <link name="link_01_cyl">
    <visual>
      <geometry>
        <cylinder length="0.05" radius="0.075"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <material name="blue"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.05" radius="0.075"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
    <inertial>
      <mass value="0.2"/>
      <inertia ixx="0.000322916666667" ixy="0.0" ixz="0.0" iyy="0.000322916666667" iyz="0.0" izz="0.0005625"/>
    </inertial>
  </link>
  <link name="link_12_cyl">
    <visual>
      <geometry>
        <cylinder length="0.05" radius="0.075"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <material name="blue"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.05" radius="0.075"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
    <inertial>
      <mass value="0.2"/>
      <inertia ixx="0.000322916666667" ixy="0.0" ixz="0.0" iyy="0.000322916666667" iyz="0.0" izz="0.0005625"/>
    </inertial>
  </link>
  <link name="link_21_cyl">
    <visual>
      <geometry>
        <cylinder length="0.05" radius="0.075"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <material name="white"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.05" radius="0.075"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
    <inertial>
      <mass value="0.2"/>
      <inertia ixx="0.000322916666667" ixy="0.0" ixz="0.0" iyy="0.000322916666667" iyz="0.0" izz="0.0005625"/>
    </inertial>
  </link>
  <link name="link_23_cyl">
    <visual>
      <geometry>
        <cylinder length="0.05" radius="0.075"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <material name="white"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.05" radius="0.075"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
    <inertial>
      <mass value="0.2"/>
      <inertia ixx="0.000322916666667" ixy="0.0" ixz="0.0" iyy="0.000322916666667" iyz="0.0" izz="0.0005625"/>
    </inertial>
  </link>
  <link name="link_1">
    <visual>
      <geometry>
        <box size="1.0 0.1 0.05"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0.5 0 0"/>
      <material name="blue"/>
    </visual>
    <collision>
      <geometry>
        <box size="1.0 0.1 0.05"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0.5 0 0"/>
    </collision>
    <inertial>
      <mass value="0.5"/>
      <inertia ixx="0.00208333333333" ixy="0.0125" ixz="0.00625" iyy="0.167083333333" iyz="0.000625" izz="0.168333333333"/>
    </inertial>
  </link>
  <link name="link_2">
    <visual>
      <geometry>
        <box size="1.0 0.1 0.05"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0.5 0 0"/>
      <material name="white"/>
    </visual>
    <collision>
      <geometry>
        <box size="1.0 0.1 0.05"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0.5 0 0"/>
    </collision>
    <inertial>
      <mass value="0.5"/>
      <inertia ixx="0.00208333333333" ixy="0.0125" ixz="0.00625" iyy="0.167083333333" iyz="0.000625" izz="0.168333333333"/>
    </inertial>
  </link>
  <joint name="link_01" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <parent link="link_01_cyl"/>
    <child link="link_1"/>
  </joint>
  <joint name="link_12" type="fixed">
    <origin rpy="0 0 0" xyz="1.0 0 0"/>
    <parent link="link_1"/>
    <child link="link_12_cyl"/>
  </joint>
  <joint name="link_21" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <parent link="link_21_cyl"/>
    <child link="link_2"/>
  </joint>
  <joint name="link_23" type="fixed">
    <origin rpy="0 0 0" xyz="1.0 0 0"/>
    <parent link="link_2"/>
    <child link="link_23_cyl"/>
  </joint>
  <joint name="joint_1" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort="10000" lower="-3" upper="+3" velocity="5"/>
    <dynamics damping="0" friction="0"/>
    <origin rpy="0 0 0" xyz="0 0 0.075"/>
    <parent link="base_link"/>
    <child link="link_01_cyl"/>
  </joint>
  <joint name="joint_2" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort="10000" lower="-3" upper="+3" velocity="5"/>
    <dynamics damping="0" friction="0"/>
    <origin rpy="0 0 0" xyz="0.0 0. 0.05"/>
    <parent link="link_12_cyl"/>
    <child link="link_21_cyl"/>
  </joint>
</robot>

