<?xml version="1.0"?>
<robot name="simple_arm">
  <link name="base_link">
    <visual>
      <geometry><box size="0.2 0.2 0.05"/></geometry>
      <material name="gray"><color rgba="0.6 0.6 0.6 1"/></material>
    </visual>
  </link>
  <link name="arm_link">
    <visual>
      <geometry><cylinder length="0.5" radius="0.03"/></geometry>
      <material name="blue"><color rgba="0.2 0.4 0.9 1"/></material>
    </visual>
  </link>
  <joint name="base_to_arm" type="revolute">
    <parent link="base_link"/>
    <child link="arm_link"/>
    <origin xyz="0 0 0.025"/>
    <axis xyz="0 0 1"/>
    <limit lower="-3.14" upper="3.14" effort="10" velocity="1.0"/>
  </joint>
</robot>
