<?xml version="1.0"?>
<robot name="acrobot">
  <!-- This urdf file produces a model with the default parameters documented
     in AcrobotParameters in make_acrobot_plant.h.
     They MUST be kept in sync. -->
  <link name="Link1">
    <inertial>
      <mass value="1"/>
      <origin xyz="0 0 -0.5"/>
      <!-- This inertia is based on a solid cylinder with
         radius=0.001 meters and height=1.0 meters. -->
      <inertia ixx="0.083" iyy="0.083" izz="5e-7" ixy="0" ixz="0" iyz="0"/>
    </inertial>
    <visual name="Link1_visual">
      <origin xyz="0 0 -0.5"/>
      <geometry>
        <cylinder length="1.1" radius="0.05"/>
      </geometry>
      <material>
        <color rgba="0 1 0 1"/>
      </material>
    </visual>
    <!-- A visual to show the link's pivot point -->
    <visual name="Link1_pivot_visual">
      <!-- Pose of the sphere used for visual in Link1's frame -->
      <origin xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.125"/>
      </geometry>
      <material>
        <color rgba="0 0 1 1"/>
      </material>
    </visual>
  </link>
  <joint name="ShoulderJoint" type="revolute">
    <child link="Link1"/>
    <parent link="world"/>
    <origin xyz="0 0.15 0"/>
    <axis xyz="0 1 0"/>
    <limit effort="0"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="Link2">
    <!-- The origin of the Link2 frame is defined to be coincident with
         the origin of the x-z plane in the elbow joint frame. -->
    <inertial>
      <origin xyz="0 0 -1"/>
      <mass value="1"/>
      <!-- This inertia is based on a solid cylinder with
           radius=1.0 meters and height=2.0 meters. -->
      <inertia ixx="0.33" iyy="0.33" izz="5e-7" ixy="0" ixz="0" iyz="0"/>
    </inertial>
    <visual name="Link2_visual">
      <origin xyz="0 0 -1"/>
      <geometry>
        <cylinder length="2.1" radius="0.05"/>
      </geometry>
      <material>
        <color rgba="1 0 0 1"/>
      </material>
    </visual>
  </link>
  <joint name="ElbowJoint" type="revolute">
    <parent link="Link1"/>
    <child link="Link2"/>
    <axis xyz="0 1 0"/>
    <origin xyz="0 0.15 -1"/>
    <dynamics damping="0.1"/>
  </joint>
  <transmission type="SimpleTransmission" name="elbow_trans">
    <actuator name="ElbowJoint"/>
    <joint name="ElbowJoint"/>
    <mechanicalReduction>1</mechanicalReduction>
  </transmission>
</robot>
