<?xml version="1.0"?>
<robot name="testRobot">
  <link name="link_0">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 -0.087"/>
      <geometry>
        <box size="1 1 1"/>
      </geometry>
    </visual>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="1 1 1"/>
      </geometry>
    </visual>
  </link>
  <joint name="0_to_1" type="revolute">
    <parent link="link_0"/>
    <child link="link_1"/>
    <limit effort="2.5" lower="-3.14159265359"
           upper="3.14159265359" velocity="3.00545697193"/>
    <axis xyz="0 0 1"/>
    <dynamics damping="1.2" friction="2.3"/>
  </joint>
  <link name="link_1">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 -0.087"/>
      <geometry>
        <box size="1 1 1"/>
      </geometry>
    </visual>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="1 1 1"/>
      </geometry>
    </visual>
  </link>
  <joint name="1_to_2" type="continuous">
    <parent link="link_1"/>
    <child link="link_2"/>
    <limit effort="2.5" velocity="3.00545697193"/>
    <axis xyz="0 0 1"/>
    <dynamics damping="1.2" friction="2.3"/>
  </joint>
  <link name="link_2">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 -0.087"/>
      <geometry>
        <box size="1 1 1"/>
      </geometry>
    </visual>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="1 1 1"/>
      </geometry>
    </visual>
  </link>
</robot>
