<robot name="robo">
<!-- links -->
<link name="root">
<inertial>
<origin xyz="0 0 0.5" rpy="0 0 0"/>
<mass value="1"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.2 0.2 0.4" />
</geometry>
<material name="Cyan">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<cylinder radius="1" length="0.5"/>
</geometry>
</collision>
</link>
<!-- left arm -->
<link name="l_shoulder1">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.1 0.1 0.1" />
</geometry>
<material name="Cyan">
<color rgba="0 1.0 1.0 1.0"/>
</material>
</visual>
</link>
<link name="l_shoulder2">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.1 0.1 0.1" />
</geometry>
<material name="Cyan">
<color rgba="1.0 1.0 0.0 1.0"/>
</material>
</visual>
</link>
<link name="l_shoulder3">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.1 0.1 0.2" />
</geometry>
<material name="Cyan">
<color rgba="0.5 0.5 0.2 1.0"/>
</material>
</visual>
</link>
<link name="l_elbow1">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.1 0.1 0.2" />
</geometry>
<material name="Cyan">
<color rgba="0.8 0.2 0.2 1.0"/>
</material>
</visual>
</link>
<link name="l_wrist1">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.1 0.15 0.1" />
</geometry>
<material name="Cyan">
<color rgba="1.0 0.0 0.0 1.0"/>
</material>
</visual>
</link>
<link name="l_wrist2">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.05 0.08 0.15" />
</geometry>
<material name="Cyan">
<color rgba="0.0 0.0 1.0 1.0"/>
</material>
</visual>
</link>
<!-- right arm -->
<link name="r_shoulder1">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.1 0.1 0.1" />
</geometry>
<material name="Cyan">
<color rgba="0 1.0 1.0 1.0"/>
</material>
</visual>
</link>
<link name="r_shoulder2">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.1 0.1 0.1" />
</geometry>
<material name="Cyan">
<color rgba="1.0 1.0 0.0 1.0"/>
</material>
</visual>
</link>
<link name="r_shoulder3">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.1 0.1 0.2" />
</geometry>
<material name="Cyan">
<color rgba="0.5 0.5 0.2 1.0"/>
</material>
</visual>
</link>
<link name="r_elbow1">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.1 0.1 0.2" />
</geometry>
<material name="Cyan">
<color rgba="0.8 0.2 0.2 1.0"/>
</material>
</visual>
</link>
<link name="r_wrist1">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.1 0.15 0.1" />
</geometry>
<material name="Cyan">
<color rgba="1.0 0.0 0.0 1.0"/>
</material>
</visual>
</link>
<link name="r_wrist2">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.05 0.08 0.15" />
</geometry>
<material name="Cyan">
<color rgba="0.0 0.0 1.0 1.0"/>
</material>
</visual>
</link>
<!-- joints -->
<!-- left arm -->
<joint name="l_shoulder_yaw" type="revolute">
<origin xyz="0.0 0.2 0.2" />
<parent link="root" />
<child link="l_shoulder1" />
<axis xyz="0 0 1" />
<limit lower="-1" upper="1.0" effort="0" velocity="1.0"/>
</joint>
<joint name="l_shoulder_pitch" type="revolute">
<origin xyz="0.0 0.1 0.0" />
<parent link="l_shoulder1" />
<child link="l_shoulder2" />
<axis xyz="0 1 0" />
<limit lower="-1" upper="1.0" effort="0" velocity="1.0"/>
</joint>
<joint name="l_shoulder_roll" type="revolute">
<origin xyz="0.0 0.1 0.0" />
<parent link="l_shoulder2" />
<child link="l_shoulder3" />
<axis xyz="1 0 0" />
<limit lower="-2" upper="1.0" effort="0" velocity="1.0"/>
</joint>
<joint name="l_elbow_pitch" type="revolute">
<origin xyz="0.0 0.0 -0.2" />
<parent link="l_shoulder3" />
<child link="l_elbow1" />
<axis xyz="0 1 0" />
<limit lower="-2" upper="1.0" effort="0" velocity="1.0"/>
</joint>
<joint name="l_wrist_yaw" type="revolute">
<origin xyz="0.0 0.0 -0.2" />
<parent link="l_elbow1" />
<child link="l_wrist1" />
<axis xyz="0 0 1" />
<limit lower="-2" upper="1.0" effort="0" velocity="1.0"/>
</joint>
<joint name="l_wrist_pitch" type="revolute">
<origin xyz="0.0 0.0 -0.2" />
<parent link="l_wrist1" />
<child link="l_wrist2" />
<axis xyz="0 1 0" />
<limit lower="-2" upper="1.0" effort="0" velocity="1.0"/>
</joint>
<!-- right arm -->
<joint name="r_shoulder_yaw" type="revolute">
<origin xyz="0.0 -0.2 0.2" />
<parent link="root" />
<child link="r_shoulder1" />
<axis xyz="0 0 1" />
<limit lower="-1" upper="1.0" effort="0" velocity="1.0"/>
</joint>
<joint name="r_shoulder_pitch" type="revolute">
<origin xyz="0.0 -0.1 0.0" />
<parent link="r_shoulder1" />
<child link="r_shoulder2" />
<axis xyz="0 1 0" />
<limit lower="-1" upper="1.0" effort="0" velocity="1.0"/>
</joint>
<joint name="r_shoulder_roll" type="revolute">
<origin xyz="0.0 -0.1 0.0" />
<parent link="r_shoulder2" />
<child link="r_shoulder3" />
<axis xyz="1 0 0" />
<limit lower="-2" upper="1.0" effort="0" velocity="1.0"/>
</joint>
<joint name="r_elbow_pitch" type="revolute">
<origin xyz="0.0 0.0 -0.2" />
<parent link="r_shoulder3" />
<child link="r_elbow1" />
<axis xyz="0 1 0" />
<limit lower="-2" upper="1.0" effort="0" velocity="1.0"/>
</joint>
<joint name="r_wrist_yaw" type="revolute">
<origin xyz="0.0 0.0 -0.2" />
<parent link="r_elbow1" />
<child link="r_wrist1" />
<axis xyz="0 0 1" />
<limit lower="-2" upper="1.0" effort="0" velocity="1.0"/>
</joint>
<joint name="r_wrist_pitch" type="revolute">
<origin xyz="0.0 0.0 -0.2" />
<parent link="r_wrist1" />
<child link="r_wrist2" />
<axis xyz="0 1 0" />
<limit lower="-2" upper="1.0" effort="0" velocity="1.0"/>
</joint>
</robot>