<robot name="twoLinks">
   <link name="base_link" />
   <joint name="base_fixed_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="base_link" />
        <child link="link1" />
    </joint>
    <link name="link1">
        <inertial>
            <mass value="1" />
            <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
        </inertial>
        <visual>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <geometry>
                 <box size="1 1 1" />
            </geometry>
            <material name="Cyan">
                <color rgba="0 1.0 1.0 1.0"/>
            </material>
        </visual>
        <collision>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <geometry>
                 <box size="1 1 1" />
            </geometry>
        </collision>
    </link>
    <joint name="joint_1_2" type="continuous">
        <origin xyz="1 0 0" rpy="0 -0 0" />
        <axis xyz="0 0 1" />
        <parent link="link1" />
        <child link="link2" />
    </joint>
    <link name="link2">
        <inertial>
            <mass value="1" />
            <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
            <origin xyz="1 0 0" rpy="0 -0 0" />
        </inertial>
        <visual>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <geometry>
                 <box size="1 1 1" />
            </geometry>
            <material name="Cyan">
                <color rgba="0 1.0 1.0 1.0"/>
            </material>
        </visual>
        <collision>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <geometry>
                 <box size="1 1 1" />
            </geometry>
        </collision>
    </link>
    <joint name="joint_2_3" type="continuous">
        <origin xyz="1 0 0" rpy="0 -0 0" />
        <axis xyz="0 0 1" />
        <parent link="link2" />
        <child link="link3" />
    </joint>
    <link name="link3">
        <inertial>
            <mass value="1" />
            <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
            <origin xyz="1 0 0" rpy="0 -0 0" />
        </inertial>
                <visual>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <geometry>
                 <box size="1 1 1" />
            </geometry>
            <material name="Cyan">
                <color rgba="0 1.0 1.0 1.0"/>
            </material>
        </visual>
        <collision>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <geometry>
                 <box size="1 1 1" />
            </geometry>
        </collision>
    </link>
</robot>
