<?xml version="1.0"?>
<robot name="Acrobot">
  <link name="base_link">
    <visual>
      <geometry>
        <box size="0.2 0.2 0.2"/>
      </geometry>
      <material name="green">
        <color rgba="0 1 0 1"/>
      </material>
    </visual>
  </link>
  <link name="upper_link">
    <inertial>
      <origin xyz="0 0 -.5" rpy="0 0 0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0" ixz="0" iyy="0.083" iyz="0" izz="1"/>
    </inertial>
    <visual>
      <origin xyz="0 0 -0.5" rpy="0 0 0"/>
      <geometry>
        <cylinder length="1.1" radius="0.05"/>
      </geometry>
      <material name="red">
        <color rgba="1 0 0 1"/>
      </material>
    </visual>
  </link>
  <link name="lower_link">
    <inertial>
      <origin xyz="0 0 -1" rpy="0 0 0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0" ixz="0" iyy="0.33" iyz="0" izz="1"/>
    </inertial>
    <visual>
      <origin xyz="0 0 -1" rpy="0 0 0"/>
      <geometry>
        <cylinder length="2.1" radius=".05"/>
      </geometry>
      <material name="blue">
        <color rgba="0 0 1 1"/>
      </material>
    </visual>
  </link>
  <joint name="shoulder" type="continuous">
    <parent link="base_link"/>
    <child link="upper_link"/>
    <origin xyz="0 0.15 0"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0.1"/>
  </joint>
  <joint name="elbow" type="continuous">
    <parent link="upper_link"/>
    <child link="lower_link"/>
    <origin xyz="0 0.1 -1"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0.1"/>
  </joint>
  <transmission type="SimpleTransmission" name="elbow_trans">
    <actuator name="elbow"/>
    <joint name="elbow"/>
    <mechanicalReduction>1</mechanicalReduction>
  </transmission>
  <frame name="hand" link="lower_link" xyz="0 0 -2.1" rpy="0 0 0"/>
</robot>
