<robot name="teaching_arm">
  <link name="base" />
  <link name="link1">
    <inertial>
      <origin xyz="0.15 0 0" rpy="0 0 0" />
      <mass value="2" />
      <inertia ixx="0.0004" iyy="0.0152" izz="0.0152" ixy="0" ixz="0" iyz="0" />
    </inertial>
    <visual>
      <origin xyz="0.15 0 0" rpy="0 1.57079632679 0" />
      <geometry>
        <cylinder radius="0.02" length="0.3" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.15 0 0" rpy="0 1.57079632679 0" />
      <geometry>
        <cylinder radius="0.02" length="0.3" />
      </geometry>
    </collision>
  </link>
  <joint name="joint1" type="continuous">
    <parent link="base" />
    <child link="link1" />
    <origin xyz="0 0 0" rpy="0 0 0" />
    <axis xyz="0 0 1" />
  </joint>
  <link name="link2">
    <inertial>
      <origin xyz="0.125 0 0" rpy="0 0 0" />
      <mass value="1" />
      <inertia ixx="0.0002" iyy="0.00530833333333" izz="0.00530833333333" ixy="0" ixz="0" iyz="0" />
    </inertial>
    <visual>
      <origin xyz="0.125 0 0" rpy="0 1.57079632679 0" />
      <geometry>
        <cylinder radius="0.02" length="0.25" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.125 0 0" rpy="0 1.57079632679 0" />
      <geometry>
        <cylinder radius="0.02" length="0.25" />
      </geometry>
    </collision>
  </link>
  <joint name="joint2" type="continuous">
    <parent link="link1" />
    <child link="link2" />
    <origin xyz="0.3 0 0" rpy="0 0 0" />
    <axis xyz="0 0 1" />
  </joint>
</robot>
