<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from /home/dave/ros/ws_gazebo/src/gazebo_ros_demos/rrbot_description/urdf/rrbot.xacro | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<!-- Revolute-Revolute Manipulator -->
<robot name="rrbot" xmlns:xacro="http://www.ros.org/wiki/xacro">
  <!-- Used for fixing robot to Gazebo 'base_link' -->
  <link name="world"/>
  <joint name="joint1" type="continuous">
    <parent link="world"/>
    <child link="link1"/>
    <origin rpy="0 0 0" xyz="0 0.1 1.95"/>
    <axis xyz="0 1 0"/>
  </joint>
  <!-- Middle Link -->
  <link name="link1">
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.45"/>
      <geometry>
        <box size="0.1 0.1 1"/>
      </geometry>
    </collision>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0.45"/>
      <geometry>
        <box size="0.1 0.1 1"/>
      </geometry>
      <material name="black"/>
    </visual>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0.45"/>
      <mass value="1"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <joint name="joint2" type="continuous">
    <parent link="link1"/>
    <child link="link2"/>
    <origin rpy="0 0 0" xyz="0 0.1 0.9"/>
    <axis xyz="0 1 0"/>
  </joint>
  <!-- Top Link -->
  <link name="link2">
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.45"/>
      <geometry>
        <box size="0.1 0.1 1"/>
      </geometry>
    </collision>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0.45"/>
      <geometry>
        <box size="0.1 0.1 1"/>
      </geometry>
      <material name="orange"/>
    </visual>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0.45"/>
      <mass value="1"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <transmission name="tran1">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="joint1"/>
    <actuator name="motor1">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="tran2">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="joint2"/>
    <actuator name="motor2">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
</robot>
