<?xml version="1.0" ?>

<robot name="issue838">

  <material name="Blue">
    <color rgba="0 0 0.8 1"/>
  </material>
  <material name="Red">
    <color rgba="1 0 0 1"/>
  </material>
  <material name="Yellow">
    <color rgba="1 1 0 1"/>
  </material>

  <link name="link_0">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="10.0"/>
      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 -0.087"/>
      <geometry>
        <box size="1 1 1"/>
      </geometry>
      <material name="Blue"/>
    </visual>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="1 1 1"/>
      </geometry>
      <material name="Blue"/>
    </visual>
  </link>
  <joint name="0_to_1" type="fixed">
    <parent link="link_0"/>
    <child link="link_1"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
  </joint>
  <link name="link_1">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 -0.087"/>
      <geometry>
        <box size="1 1 1"/>
      </geometry>
      <material name="Red"/>
    </visual>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="1 1 1"/>
      </geometry>
      <material name="Red"/>
    </visual>
  </link>
  <joint name="1_to_2" type="revolute">
    <parent link="link_1"/>
    <child link="link_2"/>
    <limit effort="2.5" lower="-3.14159265359" upper="3.14159265359" velocity="3.00545697193"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="0 0 1"/>
  </joint>
  <link name="link_2">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.855"/>
      <inertia ixx="0.001449225" ixy="0" ixz="0" iyy="0.00041553" iyz="0" izz="0.001449225"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="1 1 1"/>
      </geometry>
      <material name="Yellow"/>
    </visual>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="1 1 1"/>
      </geometry>
      <material name="Yellow"/>
    </visual>
  </link>
  
</robot>
