<? xml version ="1.0"? >
< robot name =" robot0 " >

< link name =" world " / >

< joint name =" joint_0 " type =" fixed " >
< parent link =" world "/ >
< child link =" link_0 "/ >
</ joint >

< link name =" link_0 " >
< visual >
< geometry >
< cylinder length ="0.6" radius ="0.2"/ >
</ geometry >
< material name =" gray " >
< color rgba ="0.5 0.5 0.5 1"/ >
</ material >
</ visual >
</ link >

< joint name =" joint_1 " type =" revolute " >
< origin xyz ="0 0 0.35" rpy ="1.57079632679 0 0"/ >
< parent link =" link_0 "/ >
< child link =" link_1 "/ >
< limit effort ="30" velocity ="1.0" lower =" -3.1415926535897931" upper
="3 .141 59265 3589 7931 " / >
< axis xyz ="0 1 0"/ >
</ joint >

< link name =" link_1 " >
< visual >
< origin xyz ="0 0 0.35" rpy ="0 0 0"/ >
< geometry >
< box size ="0.1 0.1 0.7" / >
</ geometry >
< material name =" red " >
< color rgba ="0.5 0.0 0.0 1"/ >
</ material >
</ visual >
</ link >

< joint name =" end_efector_joint " type =" fixed " >
< origin xyz ="0 0 0.7" rpy ="1.57079632679 0 0"/ >
< parent link =" link_1 "/ >
< child link =" end_effector "/ >
</ joint >

< link name =" end_effector " / >

</ robot >