<?xml version="1.0" encoding="utf-8"?>
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
     Commit Version: 1.5.1-0-g916b5db  Build Version: 1.5.7152.31018
     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot
  name="2dof_planar">
  <link
    name="base_link">
    <inertial>
      <origin
        xyz="0.0030299 2.6279E-13 0.02912"
        rpy="0 0 0" />
      <mass
        value="0.10159" />
      <inertia
        ixx="2.636E-05"
        ixy="-1.007E-16"
        ixz="-2.3835E-06"
        iyy="1.8042E-05"
        iyz="-4.6617E-09"
        izz="1.8795E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://example-robot-data/robots/double_pendulum_description/meshes/base_link.stl" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.96078 1 0 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://example-robot-data/robots/double_pendulum_description/meshes/base_link.stl" />
      </geometry>
    </collision>
  </link>
  <link
    name="link1">
    <inertial>
      <origin
        xyz="0.0086107 2.1727E-06 0.036012"
        rpy="0 0 0" />
      <mass
        value="0.26703" />
      <inertia
        ixx="0.00040827"
        ixy="1.2675E-09"
        ixz="1.8738E-05"
        iyy="0.00038791"
        iyz="3.5443E-08"
        izz="3.6421E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://example-robot-data/robots/double_pendulum_description/meshes/link1.stl" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.64706 0.61961 0.58824 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://example-robot-data/robots/double_pendulum_description/meshes/link1.stl" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint1"
    type="revolute">
    <origin
      xyz="0.0060872 0 0.035"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="link1" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="0"
      upper="0"
      effort="0"
      velocity="0" />
    <dynamics
      damping="0.05" />
  </joint>
  <link
    name="link2">
    <inertial>
      <origin
        xyz="-0.0050107 1.9371E-10 0.10088"
        rpy="0 0 0" />
      <mass
        value="0.33238" />
      <inertia
        ixx="0.0011753"
        ixy="-3.854E-13"
        ixz="-2.9304E-08"
        iyy="0.0011666"
        iyz="-5.2365E-12"
        izz="1.4553E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://example-robot-data/robots/double_pendulum_description/meshes/link2.stl" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.64706 0.61961 0.58824 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://example-robot-data/robots/double_pendulum_description/meshes/link2.stl" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint2"
    type="revolute">
    <origin
      xyz="0.023 0 0.1"
      rpy="0 0 0" />
    <parent
      link="link1" />
    <child
      link="link2" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="0"
      upper="0"
      effort="0"
      velocity="0" />
    <dynamics
      damping="0.05" />
  </joint>
</robot>
