<?xml version="1.0"?>
<robot name="model_urdf">
  <link name="base_link">
    <inertial>
      <mass value="1"/>
      <origin xyz="0 0 0" rpy="0 -0 0"/>
      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
    </inertial>
   <visual>
     <origin xyz="0 0 0.5" rpy="0 0 0" />
     <geometry>
       <box size="1 1 1" />
     </geometry>
     <material name="Red">
       <color rgba="1.0 0.0 0.0 1.0"/>
     </material>
   </visual>
   <collision>
     <origin xyz="0 0 0.5" rpy="0 0 0"/>
     <geometry>
       <box size="1 1 1" />
     </geometry>
   </collision>
  </link>
  <joint name="joint_a1" type="continuous">
    <origin xyz="0 0 1.0" rpy="0 -0 0"/>
    <axis xyz="0 0 -1"/>
    <parent link="base_link"/>
    <child link="link_1"/>
  </joint>
  <link name="link_1">
    <inertial>
      <mass value="1"/>
      <origin xyz="0 0 0" rpy="0 -0 0"/>
      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
    </inertial>
   <visual>
     <origin xyz="0 0 0.5" rpy="0 0 0" />
     <geometry>
       <cylinder radius="0.6" length="1.0"/>
     </geometry>
     <material name="Green">
       <color rgba="0.0 1.0 0.0 1.0"/>
     </material>
   </visual>
   <collision>
     <origin xyz="0 0 0.5" rpy="0 0 0"/>
     <geometry>
       <cylinder radius="0.6" length="1.0"/>
     </geometry>
   </collision>
  </link>
</robot>
