<?xml version="1.0"?>
<robot name="blog_planar2r">
  <link name="base"/>
  <link name="upper"/>
  <link name="forearm"/>
  <link name="tip"/>
  <joint name="shoulder" type="revolute">
    <parent link="base"/><child link="upper"/>
    <origin xyz="0 0 0"/><axis xyz="0 0 1"/>
    <limit lower="-2.5" upper="2.5" effort="1" velocity="1"/>
  </joint>
  <joint name="elbow" type="revolute">
    <parent link="upper"/><child link="forearm"/>
    <origin xyz="0.8 0 0"/><axis xyz="0 0 1"/>
    <limit lower="-2.5" upper="2.5" effort="1" velocity="1"/>
  </joint>
  <joint name="tool" type="fixed">
    <parent link="forearm"/><child link="tip"/>
    <origin xyz="0.6 0 0"/>
  </joint>
</robot>
