<?xml version="1.0"?>
<robot name="test_arm_40">
<link name="test_base_link">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.5"/>
<inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
</inertial>
</link>
<link name="test_link_1">
<inertial>
<origin rpy="0 0 0" xyz="0.05 0 0"/>
<mass value="0.5"/>
<inertia ixx="0.002" ixy="0" ixz="0" iyy="0.003" iyz="0" izz="0.004"/>
</inertial>
</link>
<joint name="test_joint_1" type="revolute">
<parent link="test_base_link"/>
<child link="test_link_1"/>
<origin rpy="0 0 0" xyz="0.1 0 0"/>
<axis xyz="0 0 1"/>
<limit effort="100" lower="-3.141592653589793" upper="3.141592653589793" velocity="10"/>
</joint>
<link name="test_link_2">
<inertial>
<origin rpy="0 0 0" xyz="0.05 0 0"/>
<mass value="0.5"/>
<inertia ixx="0.002" ixy="0" ixz="0" iyy="0.003" iyz="0" izz="0.004"/>
</inertial>
</link>
<joint name="test_joint_2" type="revolute">
<parent link="test_link_1"/>
<child link="test_link_2"/>
<origin rpy="0 0 0" xyz="0.1 0 0"/>
<axis xyz="0 1 0"/>
<limit effort="100" lower="-3.141592653589793" upper="3.141592653589793" velocity="10"/>
</joint>
<link name="test_link_3">
<inertial>
<origin rpy="0 0 0" xyz="0.05 0 0"/>
<mass value="0.5"/>
<inertia ixx="0.002" ixy="0" ixz="0" iyy="0.003" iyz="0" izz="0.004"/>
</inertial>
</link>
<joint name="test_joint_3" type="revolute">
<parent link="test_link_2"/>
<child link="test_link_3"/>
<origin rpy="0 0 0" xyz="0.1 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="100" lower="-3.141592653589793" upper="3.141592653589793" velocity="10"/>
</joint>
<link name="test_link_4">
<inertial>
<origin rpy="0 0 0" xyz="0.05 0 0"/>
<mass value="0.5"/>
<inertia ixx="0.002" ixy="0" ixz="0" iyy="0.003" iyz="0" izz="0.004"/>
</inertial>
</link>
<joint name="test_joint_4" type="revolute">
<parent link="test_link_3"/>
<child link="test_link_4"/>
<origin rpy="0 0 0" xyz="0.1 0 0"/>
<axis xyz="0 0 1"/>
<limit effort="100" lower="-3.141592653589793" upper="3.141592653589793" velocity="10"/>
</joint>
<link name="test_link_5">
<inertial>
<origin rpy="0 0 0" xyz="0.05 0 0"/>
<mass value="0.5"/>
<inertia ixx="0.002" ixy="0" ixz="0" iyy="0.003" iyz="0" izz="0.004"/>
</inertial>
</link>
<joint name="test_joint_5" type="revolute">
<parent link="test_link_4"/>
<child link="test_link_5"/>
<origin rpy="0 0 0" xyz="0.1 0 0"/>
<axis xyz="0 1 0"/>
<limit effort="100" lower="-3.141592653589793" upper="3.141592653589793" velocity="10"/>
</joint>
<link name="test_link_6">
<inertial>
<origin rpy="0 0 0" xyz="0.05 0 0"/>
<mass value="0.5"/>
<inertia ixx="0.002" ixy="0" ixz="0" iyy="0.003" iyz="0" izz="0.004"/>
</inertial>
</link>
<joint name="test_joint_6" type="revolute">
<parent link="test_link_5"/>
<child link="test_link_6"/>
<origin rpy="0 0 0" xyz="0.1 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="100" lower="-3.141592653589793" upper="3.141592653589793" velocity="10"/>
</joint>
<link name="test_link_7">
<inertial>
<origin rpy="0 0 0" xyz="0.05 0 0"/>
<mass value="0.5"/>
<inertia ixx="0.002" ixy="0" ixz="0" iyy="0.003" iyz="0" izz="0.004"/>
</inertial>
</link>
<joint name="test_joint_7" type="revolute">
<parent link="test_link_6"/>
<child link="test_link_7"/>
<origin rpy="0 0 0" xyz="0.1 0 0"/>
<axis xyz="0 0 1"/>
<limit effort="100" lower="-3.141592653589793" upper="3.141592653589793" velocity="10"/>
</joint>
<link name="test_link_8">
<inertial>
<origin rpy="0 0 0" xyz="0.05 0 0"/>
<mass value="0.5"/>
<inertia ixx="0.002" ixy="0" ixz="0" iyy="0.003" iyz="0" izz="0.004"/>
</inertial>
</link>
<joint name="test_joint_8" type="revolute">
<parent link="test_link_7"/>
<child link="test_link_8"/>
<origin rpy="0 0 0" xyz="0.1 0 0"/>
<axis xyz="0 1 0"/>
<limit effort="100" lower="-3.141592653589793" upper="3.141592653589793" velocity="10"/>
</joint>
<link name="test_link_9">
<inertial>
<origin rpy="0 0 0" xyz="0.05 0 0"/>
<mass value="0.5"/>
<inertia ixx="0.002" ixy="0" ixz="0" iyy="0.003" iyz="0" izz="0.004"/>
</inertial>
</link>
<joint name="test_joint_9" type="revolute">
<parent link="test_link_8"/>
<child link="test_link_9"/>
<origin rpy="0 0 0" xyz="0.1 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="100" lower="-3.141592653589793" upper="3.141592653589793" velocity="10"/>
</joint>
<link name="test_link_10">
<inertial>
<origin rpy="0 0 0" xyz="0.05 0 0"/>
<mass value="0.5"/>
<inertia ixx="0.002" ixy="0" ixz="0" iyy="0.003" iyz="0" izz="0.004"/>
</inertial>
</link>
<joint name="test_joint_10" type="revolute">
<parent link="test_link_9"/>
<child link="test_link_10"/>
<origin rpy="0 0 0" xyz="0.1 0 0"/>
<axis xyz="0 0 1"/>
<limit effort="100" lower="-3.141592653589793" upper="3.141592653589793" velocity="10"/>
</joint>
<link name="test_link_11">
<inertial>
<origin rpy="0 0 0" xyz="0.05 0 0"/>
<mass value="0.5"/>
<inertia ixx="0.002" ixy="0" ixz="0" iyy="0.003" iyz="0" izz="0.004"/>
</inertial>
</link>
<joint name="test_joint_11" type="revolute">
<parent link="test_link_10"/>
<child link="test_link_11"/>
<origin rpy="0 0 0" xyz="0.1 0 0"/>
<axis xyz="0 1 0"/>
<limit effort="100" lower="-3.141592653589793" upper="3.141592653589793" velocity="10"/>
</joint>
<link name="test_link_12">
<inertial>
<origin rpy="0 0 0" xyz="0.05 0 0"/>
<mass value="0.5"/>
<inertia ixx="0.002" ixy="0" ixz="0" iyy="0.003" iyz="0" izz="0.004"/>
</inertial>
</link>
<joint name="test_joint_12" type="revolute">
<parent link="test_link_11"/>
<child link="test_link_12"/>
<origin rpy="0 0 0" xyz="0.1 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="100" lower="-3.141592653589793" upper="3.141592653589793" velocity="10"/>
</joint>
<link name="test_link_13">
<inertial>
<origin rpy="0 0 0" xyz="0.05 0 0"/>
<mass value="0.5"/>
<inertia ixx="0.002" ixy="0" ixz="0" iyy="0.003" iyz="0" izz="0.004"/>
</inertial>
</link>
<joint name="test_joint_13" type="revolute">
<parent link="test_link_12"/>
<child link="test_link_13"/>
<origin rpy="0 0 0" xyz="0.1 0 0"/>
<axis xyz="0 0 1"/>
<limit effort="100" lower="-3.141592653589793" upper="3.141592653589793" velocity="10"/>
</joint>
<link name="test_link_14">
<inertial>
<origin rpy="0 0 0" xyz="0.05 0 0"/>
<mass value="0.5"/>
<inertia ixx="0.002" ixy="0" ixz="0" iyy="0.003" iyz="0" izz="0.004"/>
</inertial>
</link>
<joint name="test_joint_14" type="revolute">
<parent link="test_link_13"/>
<child link="test_link_14"/>
<origin rpy="0 0 0" xyz="0.1 0 0"/>
<axis xyz="0 1 0"/>
<limit effort="100" lower="-3.141592653589793" upper="3.141592653589793" velocity="10"/>
</joint>
<link name="test_link_15">
<inertial>
<origin rpy="0 0 0" xyz="0.05 0 0"/>
<mass value="0.5"/>
<inertia ixx="0.002" ixy="0" ixz="0" iyy="0.003" iyz="0" izz="0.004"/>
</inertial>
</link>
<joint name="test_joint_15" type="revolute">
<parent link="test_link_14"/>
<child link="test_link_15"/>
<origin rpy="0 0 0" xyz="0.1 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="100" lower="-3.141592653589793" upper="3.141592653589793" velocity="10"/>
</joint>
<link name="test_link_16">
<inertial>
<origin rpy="0 0 0" xyz="0.05 0 0"/>
<mass value="0.5"/>
<inertia ixx="0.002" ixy="0" ixz="0" iyy="0.003" iyz="0" izz="0.004"/>
</inertial>
</link>
<joint name="test_joint_16" type="revolute">
<parent link="test_link_15"/>
<child link="test_link_16"/>
<origin rpy="0 0 0" xyz="0.1 0 0"/>
<axis xyz="0 0 1"/>
<limit effort="100" lower="-3.141592653589793" upper="3.141592653589793" velocity="10"/>
</joint>
<link name="test_link_17">
<inertial>
<origin rpy="0 0 0" xyz="0.05 0 0"/>
<mass value="0.5"/>
<inertia ixx="0.002" ixy="0" ixz="0" iyy="0.003" iyz="0" izz="0.004"/>
</inertial>
</link>
<joint name="test_joint_17" type="revolute">
<parent link="test_link_16"/>
<child link="test_link_17"/>
<origin rpy="0 0 0" xyz="0.1 0 0"/>
<axis xyz="0 1 0"/>
<limit effort="100" lower="-3.141592653589793" upper="3.141592653589793" velocity="10"/>
</joint>
<link name="test_link_18">
<inertial>
<origin rpy="0 0 0" xyz="0.05 0 0"/>
<mass value="0.5"/>
<inertia ixx="0.002" ixy="0" ixz="0" iyy="0.003" iyz="0" izz="0.004"/>
</inertial>
</link>
<joint name="test_joint_18" type="revolute">
<parent link="test_link_17"/>
<child link="test_link_18"/>
<origin rpy="0 0 0" xyz="0.1 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="100" lower="-3.141592653589793" upper="3.141592653589793" velocity="10"/>
</joint>
<link name="test_link_19">
<inertial>
<origin rpy="0 0 0" xyz="0.05 0 0"/>
<mass value="0.5"/>
<inertia ixx="0.002" ixy="0" ixz="0" iyy="0.003" iyz="0" izz="0.004"/>
</inertial>
</link>
<joint name="test_joint_19" type="revolute">
<parent link="test_link_18"/>
<child link="test_link_19"/>
<origin rpy="0 0 0" xyz="0.1 0 0"/>
<axis xyz="0 0 1"/>
<limit effort="100" lower="-3.141592653589793" upper="3.141592653589793" velocity="10"/>
</joint>
<link name="test_link_20">
<inertial>
<origin rpy="0 0 0" xyz="0.05 0 0"/>
<mass value="0.5"/>
<inertia ixx="0.002" ixy="0" ixz="0" iyy="0.003" iyz="0" izz="0.004"/>
</inertial>
</link>
<joint name="test_joint_20" type="revolute">
<parent link="test_link_19"/>
<child link="test_link_20"/>
<origin rpy="0 0 0" xyz="0.1 0 0"/>
<axis xyz="0 1 0"/>
<limit effort="100" lower="-3.141592653589793" upper="3.141592653589793" velocity="10"/>
</joint>
<link name="test_link_21">
<inertial>
<origin rpy="0 0 0" xyz="0.05 0 0"/>
<mass value="0.5"/>
<inertia ixx="0.002" ixy="0" ixz="0" iyy="0.003" iyz="0" izz="0.004"/>
</inertial>
</link>
<joint name="test_joint_21" type="revolute">
<parent link="test_link_20"/>
<child link="test_link_21"/>
<origin rpy="0 0 0" xyz="0.1 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="100" lower="-3.141592653589793" upper="3.141592653589793" velocity="10"/>
</joint>
<link name="test_link_22">
<inertial>
<origin rpy="0 0 0" xyz="0.05 0 0"/>
<mass value="0.5"/>
<inertia ixx="0.002" ixy="0" ixz="0" iyy="0.003" iyz="0" izz="0.004"/>
</inertial>
</link>
<joint name="test_joint_22" type="revolute">
<parent link="test_link_21"/>
<child link="test_link_22"/>
<origin rpy="0 0 0" xyz="0.1 0 0"/>
<axis xyz="0 0 1"/>
<limit effort="100" lower="-3.141592653589793" upper="3.141592653589793" velocity="10"/>
</joint>
<link name="test_link_23">
<inertial>
<origin rpy="0 0 0" xyz="0.05 0 0"/>
<mass value="0.5"/>
<inertia ixx="0.002" ixy="0" ixz="0" iyy="0.003" iyz="0" izz="0.004"/>
</inertial>
</link>
<joint name="test_joint_23" type="revolute">
<parent link="test_link_22"/>
<child link="test_link_23"/>
<origin rpy="0 0 0" xyz="0.1 0 0"/>
<axis xyz="0 1 0"/>
<limit effort="100" lower="-3.141592653589793" upper="3.141592653589793" velocity="10"/>
</joint>
<link name="test_link_24">
<inertial>
<origin rpy="0 0 0" xyz="0.05 0 0"/>
<mass value="0.5"/>
<inertia ixx="0.002" ixy="0" ixz="0" iyy="0.003" iyz="0" izz="0.004"/>
</inertial>
</link>
<joint name="test_joint_24" type="revolute">
<parent link="test_link_23"/>
<child link="test_link_24"/>
<origin rpy="0 0 0" xyz="0.1 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="100" lower="-3.141592653589793" upper="3.141592653589793" velocity="10"/>
</joint>
<link name="test_link_25">
<inertial>
<origin rpy="0 0 0" xyz="0.05 0 0"/>
<mass value="0.5"/>
<inertia ixx="0.002" ixy="0" ixz="0" iyy="0.003" iyz="0" izz="0.004"/>
</inertial>
</link>
<joint name="test_joint_25" type="revolute">
<parent link="test_link_24"/>
<child link="test_link_25"/>
<origin rpy="0 0 0" xyz="0.1 0 0"/>
<axis xyz="0 0 1"/>
<limit effort="100" lower="-3.141592653589793" upper="3.141592653589793" velocity="10"/>
</joint>
<link name="test_link_26">
<inertial>
<origin rpy="0 0 0" xyz="0.05 0 0"/>
<mass value="0.5"/>
<inertia ixx="0.002" ixy="0" ixz="0" iyy="0.003" iyz="0" izz="0.004"/>
</inertial>
</link>
<joint name="test_joint_26" type="revolute">
<parent link="test_link_25"/>
<child link="test_link_26"/>
<origin rpy="0 0 0" xyz="0.1 0 0"/>
<axis xyz="0 1 0"/>
<limit effort="100" lower="-3.141592653589793" upper="3.141592653589793" velocity="10"/>
</joint>
<link name="test_link_27">
<inertial>
<origin rpy="0 0 0" xyz="0.05 0 0"/>
<mass value="0.5"/>
<inertia ixx="0.002" ixy="0" ixz="0" iyy="0.003" iyz="0" izz="0.004"/>
</inertial>
</link>
<joint name="test_joint_27" type="revolute">
<parent link="test_link_26"/>
<child link="test_link_27"/>
<origin rpy="0 0 0" xyz="0.1 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="100" lower="-3.141592653589793" upper="3.141592653589793" velocity="10"/>
</joint>
<link name="test_link_28">
<inertial>
<origin rpy="0 0 0" xyz="0.05 0 0"/>
<mass value="0.5"/>
<inertia ixx="0.002" ixy="0" ixz="0" iyy="0.003" iyz="0" izz="0.004"/>
</inertial>
</link>
<joint name="test_joint_28" type="revolute">
<parent link="test_link_27"/>
<child link="test_link_28"/>
<origin rpy="0 0 0" xyz="0.1 0 0"/>
<axis xyz="0 0 1"/>
<limit effort="100" lower="-3.141592653589793" upper="3.141592653589793" velocity="10"/>
</joint>
<link name="test_link_29">
<inertial>
<origin rpy="0 0 0" xyz="0.05 0 0"/>
<mass value="0.5"/>
<inertia ixx="0.002" ixy="0" ixz="0" iyy="0.003" iyz="0" izz="0.004"/>
</inertial>
</link>
<joint name="test_joint_29" type="revolute">
<parent link="test_link_28"/>
<child link="test_link_29"/>
<origin rpy="0 0 0" xyz="0.1 0 0"/>
<axis xyz="0 1 0"/>
<limit effort="100" lower="-3.141592653589793" upper="3.141592653589793" velocity="10"/>
</joint>
<link name="test_link_30">
<inertial>
<origin rpy="0 0 0" xyz="0.05 0 0"/>
<mass value="0.5"/>
<inertia ixx="0.002" ixy="0" ixz="0" iyy="0.003" iyz="0" izz="0.004"/>
</inertial>
</link>
<joint name="test_joint_30" type="revolute">
<parent link="test_link_29"/>
<child link="test_link_30"/>
<origin rpy="0 0 0" xyz="0.1 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="100" lower="-3.141592653589793" upper="3.141592653589793" velocity="10"/>
</joint>
<link name="test_link_31">
<inertial>
<origin rpy="0 0 0" xyz="0.05 0 0"/>
<mass value="0.5"/>
<inertia ixx="0.002" ixy="0" ixz="0" iyy="0.003" iyz="0" izz="0.004"/>
</inertial>
</link>
<joint name="test_joint_31" type="revolute">
<parent link="test_link_30"/>
<child link="test_link_31"/>
<origin rpy="0 0 0" xyz="0.1 0 0"/>
<axis xyz="0 0 1"/>
<limit effort="100" lower="-3.141592653589793" upper="3.141592653589793" velocity="10"/>
</joint>
<link name="test_link_32">
<inertial>
<origin rpy="0 0 0" xyz="0.05 0 0"/>
<mass value="0.5"/>
<inertia ixx="0.002" ixy="0" ixz="0" iyy="0.003" iyz="0" izz="0.004"/>
</inertial>
</link>
<joint name="test_joint_32" type="revolute">
<parent link="test_link_31"/>
<child link="test_link_32"/>
<origin rpy="0 0 0" xyz="0.1 0 0"/>
<axis xyz="0 1 0"/>
<limit effort="100" lower="-3.141592653589793" upper="3.141592653589793" velocity="10"/>
</joint>
<link name="test_link_33">
<inertial>
<origin rpy="0 0 0" xyz="0.05 0 0"/>
<mass value="0.5"/>
<inertia ixx="0.002" ixy="0" ixz="0" iyy="0.003" iyz="0" izz="0.004"/>
</inertial>
</link>
<joint name="test_joint_33" type="revolute">
<parent link="test_link_32"/>
<child link="test_link_33"/>
<origin rpy="0 0 0" xyz="0.1 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="100" lower="-3.141592653589793" upper="3.141592653589793" velocity="10"/>
</joint>
<link name="test_link_34">
<inertial>
<origin rpy="0 0 0" xyz="0.05 0 0"/>
<mass value="0.5"/>
<inertia ixx="0.002" ixy="0" ixz="0" iyy="0.003" iyz="0" izz="0.004"/>
</inertial>
</link>
<joint name="test_joint_34" type="revolute">
<parent link="test_link_33"/>
<child link="test_link_34"/>
<origin rpy="0 0 0" xyz="0.1 0 0"/>
<axis xyz="0 0 1"/>
<limit effort="100" lower="-3.141592653589793" upper="3.141592653589793" velocity="10"/>
</joint>
<link name="test_link_35">
<inertial>
<origin rpy="0 0 0" xyz="0.05 0 0"/>
<mass value="0.5"/>
<inertia ixx="0.002" ixy="0" ixz="0" iyy="0.003" iyz="0" izz="0.004"/>
</inertial>
</link>
<joint name="test_joint_35" type="revolute">
<parent link="test_link_34"/>
<child link="test_link_35"/>
<origin rpy="0 0 0" xyz="0.1 0 0"/>
<axis xyz="0 1 0"/>
<limit effort="100" lower="-3.141592653589793" upper="3.141592653589793" velocity="10"/>
</joint>
<link name="test_link_36">
<inertial>
<origin rpy="0 0 0" xyz="0.05 0 0"/>
<mass value="0.5"/>
<inertia ixx="0.002" ixy="0" ixz="0" iyy="0.003" iyz="0" izz="0.004"/>
</inertial>
</link>
<joint name="test_joint_36" type="revolute">
<parent link="test_link_35"/>
<child link="test_link_36"/>
<origin rpy="0 0 0" xyz="0.1 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="100" lower="-3.141592653589793" upper="3.141592653589793" velocity="10"/>
</joint>
<link name="test_link_37">
<inertial>
<origin rpy="0 0 0" xyz="0.05 0 0"/>
<mass value="0.5"/>
<inertia ixx="0.002" ixy="0" ixz="0" iyy="0.003" iyz="0" izz="0.004"/>
</inertial>
</link>
<joint name="test_joint_37" type="revolute">
<parent link="test_link_36"/>
<child link="test_link_37"/>
<origin rpy="0 0 0" xyz="0.1 0 0"/>
<axis xyz="0 0 1"/>
<limit effort="100" lower="-3.141592653589793" upper="3.141592653589793" velocity="10"/>
</joint>
<link name="test_link_38">
<inertial>
<origin rpy="0 0 0" xyz="0.05 0 0"/>
<mass value="0.5"/>
<inertia ixx="0.002" ixy="0" ixz="0" iyy="0.003" iyz="0" izz="0.004"/>
</inertial>
</link>
<joint name="test_joint_38" type="revolute">
<parent link="test_link_37"/>
<child link="test_link_38"/>
<origin rpy="0 0 0" xyz="0.1 0 0"/>
<axis xyz="0 1 0"/>
<limit effort="100" lower="-3.141592653589793" upper="3.141592653589793" velocity="10"/>
</joint>
<link name="test_link_39">
<inertial>
<origin rpy="0 0 0" xyz="0.05 0 0"/>
<mass value="0.5"/>
<inertia ixx="0.002" ixy="0" ixz="0" iyy="0.003" iyz="0" izz="0.004"/>
</inertial>
</link>
<joint name="test_joint_39" type="revolute">
<parent link="test_link_38"/>
<child link="test_link_39"/>
<origin rpy="0 0 0" xyz="0.1 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="100" lower="-3.141592653589793" upper="3.141592653589793" velocity="10"/>
</joint>
<link name="test_link_40">
<inertial>
<origin rpy="0 0 0" xyz="0.05 0 0"/>
<mass value="0.5"/>
<inertia ixx="0.002" ixy="0" ixz="0" iyy="0.003" iyz="0" izz="0.004"/>
</inertial>
</link>
<joint name="test_joint_40" type="revolute">
<parent link="test_link_39"/>
<child link="test_link_40"/>
<origin rpy="0 0 0" xyz="0.1 0 0"/>
<axis xyz="0 0 1"/>
<limit effort="100" lower="-3.141592653589793" upper="3.141592653589793" velocity="10"/>
</joint>
</robot>