<?xml version="1.0"?>
<robot name="physics">
<link name="DOF_ArmRotate">
<visual>
<geometry>
<box size="0.42 0.11 0.22"/>
</geometry>
<origin rpy="0 0 0" xyz="0.21 0 0"/>
<material name="blue">
<color rgba="0 0 0.8 1"/>
</material>
</visual>
<collision>
<geometry>
<box size="0.42 0.11 0.22"/>
</geometry>
<origin rpy="0 0 0" xyz="0.21 0 0"/>
</collision>
<inertial>
<mass value="0"/>
<origin rpy="0 0 0" xyz="0.21 0 0 "/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>

<link name="DOF_Snodo1">
<visual>
<geometry>
<box size="0.68 0.23 0.64"/>
</geometry>
<origin rpy="0 0 0" xyz="0.34 0 0.32"/>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<geometry>
<box size="0.68 0.23 0.64"/>
</geometry>
<origin rpy="0 0 0" xyz="0.34 0 0.32"/>
</collision>
<inertial>
<mass value="2"/>
<origin rpy="0 0 0" xyz="0.34 0 0.32"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>

<joint name="Rotate_White_Joint" type="revolute">
<axis xyz="0 1 0"/>
<limit effort="1000.0" lower="-0.785" upper="0.785" velocity="0.5"/>
<origin rpy="0 0 0" xyz="0.42 0.0 0.0"/>
<parent link="DOF_ArmRotate"/>
<child link="DOF_Snodo1"/>
</joint>

<link name="DOF_Snodo2">
<visual>
<geometry>
<box size="0.42 0.12 0.20"/>
</geometry>
<origin rpy="0 0 0" xyz="0.21 0 0.10"/>
<material name="red">
<color rgba="1 0 0 1"/>
</material>
</visual>
<collision>
<geometry>
<box size="0.42 0.12 0.20"/>
</geometry>
<origin rpy="0 0 0" xyz="0.21 0 0.10"/>
</collision>
<inertial>
<mass value="1"/>
<origin rpy="0 0 0" xyz="0.21 0 0.10"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>

<joint name="Rotate_Red_Joint" type="revolute">
<axis xyz="0 1 0"/>
<limit effort="1000.0" lower="-0.785" upper="0.785" velocity="0.5"/>
<origin rpy="0 0 0" xyz="0.68 0.0 0.64"/>
<parent link="DOF_Snodo1"/>
<child link="DOF_Snodo2"/>
</joint>
</robot>
