<?xml version="1.0"?>
<robot name="sample_robot">
  <!-- links: main serial chain -->
  <link name="base_link">
    <inertial>
      <mass value="1.0" />
      <inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.005" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0.1" />
      <geometry>
        <box size="0.2 0.2 0.2" />
      </geometry>
      <material name="grey">
        <color rgba="0.0 0 0 1.0" />
      </material>
    </visual>
  </link>
  <link name="link_1">
    <inertial>
      <mass value="1.0" />
      <inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.005" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0.2473" />
      <geometry>
        <box size="0.1 0.1 0.4946" />
      </geometry>
      <material name="red">
        <color rgba="1.0 0.0 0.0 1.0" />
      </material>
    </visual>
  </link>
  <link name="link_2">
    <inertial>
      <mass value="1.0" />
      <inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.005" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0.3649605" />
      <geometry>
        <box size="0.1 0.1 0.729921" />
      </geometry>
      <material name="blue">
        <color rgba="0 0.0 1.0 1.0" />
      </material>
    </visual>
  </link>
  <link name="link_3">
    <inertial>
      <mass value="1.0" />
      <inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.005" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0.049" />
      <geometry>
        <box size="0.1 0.1 0.098277" />
      </geometry>
      <material name="lightblue">
        <color rgba="0. 0.22 1.00 1.0" />
      </material>
    </visual>
  </link>
  <link name="link_4">
    <inertial>
      <mass value="1.0" />
      <inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.005" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0.5545195" />
      <geometry>
        <box size="0.1 0.1 1.109039" />
      </geometry>
      <material name="yellow">
        <color rgba="0.96 0.76 0.13 1.0" />
      </material>
    </visual>
  </link>
  <link name="link_5">
    <inertial>
      <mass value="1.0" />
      <inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.005" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0.0585" />
      <geometry>
        <box size="0.1 0.1 0.117" />
      </geometry>
      <material name="orange">
        <color rgba="1.0 0.5 0.0 1.0" />
      </material>
    </visual>
  </link>
  <link name="link_6">
    <inertial>
      <mass value="1.0" />
      <inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.005" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0.05" />
      <geometry>
        <box size="0.1 0.1 0.1" />
      </geometry>
      <material name="black">
        <color rgba="0.15 0.15 0.15 1.0" />
      </material>
    </visual>
  </link>
  <!-- joints: main serial chain -->
  <joint name="joint_1" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 0.2" />
    <parent link="base_link" />
    <child link="link_1" />
    <axis xyz="0 0 1" />
    <limit effort="0" lower="-2.7925" upper="2.7925" velocity="3.1415" />
  </joint>
  <joint name="joint_2" type="revolute">
    <origin rpy="0 0 0" xyz="0.0170450 0 0.494600" />
    <parent link="link_1" />
    <child link="link_2" />
    <axis xyz="0 1 0" />
    <limit effort="0" lower="-0.5759" upper="2.6529" velocity="3.1415" />
  </joint>
  <joint name="joint_3" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 0.729921" />
    <parent link="link_2" />
    <child link="link_3" />
    <axis xyz="0 -1 0" />
    <limit effort="0" lower="-2.6145" upper="2.8797" velocity="3.9269" />
  </joint>
  <joint name="joint_4" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 0.098277" />
    <parent link="link_3" />
    <child link="link_4" />
    <axis xyz="-1 0 0" />
    <limit effort="0" lower="-3.3161" upper="3.3161" velocity="6.9813" />
  </joint>
  <joint name="joint_5" type="revolute">
    <origin rpy="0 0 0" xyz="0.0 0 1.109039" />
    <parent link="link_4" />
    <child link="link_5" />
    <axis xyz="0 -1 0" />
    <limit effort="0" lower="-2.0943" upper="2.0943" velocity="5.7595" />
  </joint>
  <joint name="joint_6" type="revolute">
    <origin rpy="0 0 0" xyz="0.0 0 0.117" />
    <parent link="link_5" />
    <child link="link_6" />
    <axis xyz="-1 0 0" />
    <limit effort="0" lower="-6.2831" upper="6.2831" velocity="8.3775" />
  </joint>
</robot>