<mujoco model="2link_robot">
    <compiler angle="radian" />
    <size njmax="500" nconmax="100" />
    <visual>
        <quality shadowsize="2048" />
        <headlight ambient="0.4 0.4 0.4" diffuse="0.8 0.8 0.8" specular="0.1 0.1 0.1" />
    </visual>
    <asset>
        <material name="self" rgba="0.7 0.5 0.3 1" />
        <material name="self2" rgba="0.4 0.3 0.1 1" />
    </asset>
    <worldbody>
        <light name="light" pos="0 0 1" dir="0 0 -1" />
        <body name="b1" pos="0 0 0">
            <inertial pos="0.5 0 0" mass="1" diaginertia="1 2 3" />
            <joint name="j1" pos="0 0 0" axis="0 0 1" />
            <geom name="b1" size="0.5 0.05 0.05" pos="0.5 0 0" type="box" material="self" />
            <body name="b2" pos="1 0 0">
                <geom name="b2" size="0.5 0.05 0.05" pos="0.5 0 0" type="box" material="self2" />
                <inertial pos="0.5 0 0" mass="1" diaginertia="1 2 3" />
                <joint name="j2" pos="0 0 0" axis="0 0 1" />
                <body name="ee_b2" pos="1 0 0">
                    <inertial pos="0 0 0" mass="0" diaginertia="0 0 0" />
                    <geom name="ee_b2" size="0.05 0.005 0.005" type="box" material="self" />
                </body>
            </body>
        </body>
    </worldbody>
</mujoco>
