<?xml version="1.0"?>
<robot name="simple_arm">
  <link name="base_link">
    <visual>
      <geometry>
        <box size="0.1 0.1 0.1"/>
      </geometry>
      <material name="blue">
        <color rgba="0 0 1 1"/>
      </material>
    </visual>
    <inertial>
      <mass value="1.0"/>
      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
    </inertial>
  </link>
  
  <link name="link1">
    <visual>
      <geometry>
        <cylinder radius="0.05" length="0.3"/>
      </geometry>
      <material name="red">
        <color rgba="1 0 0 1"/>
      </material>
    </visual>
    <inertial>
      <mass value="0.5"/>
      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
    </inertial>
  </link>
  
  <link name="link2">
    <visual>
      <geometry>
        <cylinder radius="0.04" length="0.25"/>
      </geometry>
      <material name="green">
        <color rgba="0 1 0 1"/>
      </material>
    </visual>
    <inertial>
      <mass value="0.3"/>
      <inertia ixx="0.005" ixy="0" ixz="0" iyy="0.005" iyz="0" izz="0.005"/>
    </inertial>
  </link>
  
  <joint name="joint1" type="revolute">
    <parent link="base_link"/>
    <child link="link1"/>
    <origin xyz="0 0 0.05" rpy="0 0 0"/>
    <axis xyz="0 0 1"/>
    <limit lower="-3.14" upper="3.14" effort="10" velocity="1"/>
  </joint>
  
  <joint name="joint2" type="revolute">
    <parent link="link1"/>
    <child link="link2"/>
    <origin xyz="0 0 0.15" rpy="0 0 0"/>
    <axis xyz="0 1 0"/>
    <limit lower="-1.57" upper="1.57" effort="10" velocity="1"/>
  </joint>
</robot>