<robot name = "Planar 2DOF Manipulator">
	<!-- links section -->>
    
	<link name = "Base">
		<inertial>
			<origin 
                xyz = "0 0 0" 
                rpy = "0 0 0"/>
			<mass value = "0" />
			<inertia ixx = "0" iyy = "0" izz = "0" 
                     ixy = "0" ixz = "0" iyz = "0" />
		</inertial>
	</link>
	
	<link name = "link 1">
		<inertial>
			<origin xyz = "0.5 0 0" 
                    rpy = "0 0 0"/>
			<mass value = "1" />
			<inertia ixx = "1" iyy = "1" izz = "0.5" 
                     ixy = "0.01" ixz = "0.01" iyz = "0.01" />
		</inertial>
		<visual>
			<origin xyz = "0.5 0 0" 
                    rpy = "0 1.5708 0"/>
			<geometry>
				<cylinder radius = "0.1" length = "1"  />
			</geometry>
			<material name = "gray C">
				<color rgba = "0.3 0.6 0.1 1" />
			</material>
		</visual>
	</link>

    <link name = "link 2">
		<inertial>
			<origin xyz = "0.5 0 0" 
                    rpy = "0 0 0"/>
			<mass value = "0.45" />
			<inertia ixx = "1" iyy = "1" izz = "0.3" 
                     ixy = "0.01" ixz = "0.01" iyz = "0.01" />
		</inertial>
		<visual>
			<origin xyz = "0.5 0 0" 
                    rpy = "0 1.5708 0"/>
			<geometry>
				<cylinder radius = "0.1" length = "1"  />
			</geometry>
			<material name = "gray C">
				<color rgba = "0.22 0.67 0.95 1" />
			</material>
		</visual>
	</link>

    <link name="ee_link"/>

	<!-- joints section -->>
	
	<joint name = "joint 1" type = "revolute">
		<parent link = "Base" />
		<child link = "link 1" />
		<origin xyz = "0 0 0" 
                rpy = "1.5708 0 0"/>
		<axis xyz = "0 0 1" />
        <limit effort="100.0" lower="-6.2831853" upper="6.2831853" velocity="2.16"/>
	</joint>

    <joint name = "joint 2" type = "revolute">
		<parent link = "link 1" />
		<child link = "link 2" />
		<origin xyz = "1 0 0" 
                rpy = "0 0 0"/>
		<axis xyz = "0 0 1" />
        <limit effort="100.0" lower="-6.2831853" upper="6.2831853" velocity="2.16"/>
	</joint>

    <joint name = "ee_fixed_joint" type = "fixed">
		<parent link = "link 2" />
		<child link = "ee_link" />
		<origin xyz = "1 0 0" 
                rpy = "0 0 0"/>
	</joint>

</robot>