<?xml version="1.0"?>
<robot name="planar2r">
  <link name="base"/>
  <link name="link1">
    <inertial>
      <origin xyz="0.5 0 0"/>
      <mass value="1.0"/>
      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
    </inertial>
  </link>
  <link name="link2">
    <inertial>
      <origin xyz="0.5 0 0"/>
      <mass value="1.0"/>
      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
    </inertial>
  </link>
  <joint name="j1" type="revolute">
    <origin xyz="1 0 0" rpy="0 0 0"/>
    <parent link="base"/>
    <child link="link1"/>
    <axis xyz="0 0 1"/>
    <limit lower="-3.14159" upper="3.14159" effort="10" velocity="1"/>
  </joint>
  <joint name="j2" type="revolute">
    <origin xyz="1 0 0" rpy="0 0 0"/>
    <parent link="link1"/>
    <child link="link2"/>
    <axis xyz="0 0 1"/>
    <limit lower="-3.14159" upper="3.14159" effort="10" velocity="1"/>
  </joint>
</robot>
