<?xml version="1.0" ?>
<robot name="urdf_robot">
  <link name="baseLink">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0.35"/>
       <mass value="0.0"/>
       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0.35"/>
      <geometry>
      <box size="0.08 0.16 0.7"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.35"/>
      <geometry>
	 <box size="0.08 0.16 0.7"/>
      </geometry>
    </collision>
  </link>
   <link name="childA">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 -0.36"/>
      <mass value="1.0"/>
      <inertia ixx="0.048966669" ixy="0" ixz="0" iyy="0.046466667" iyz="0" izz="0.0041666669"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 -0.36"/>
      <geometry>
        <box size="0.1  0.2 0.72"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 -0.36"/>
      <geometry>
        <box size="0.1 0.2 0.72 "/>
      </geometry>
    </collision>
  </link>
   <joint name="joint_baseLink_childA" type="spherical">
    <parent link="baseLink"/>
    <child link="childA"/>
    <origin xyz="0 0 0"/>
		<axis xyz="1 0 0"/>
  </joint>
 
   <link name="childB">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 -0.36"/>
      <mass value="1.0"/>
      <inertia ixx="0.048966669" ixy="0" ixz="0" iyy="0.046466667" iyz="0" izz="0.0041666669"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 -0.36"/>
      <geometry>
         <box size="0.1 0.2 0.3 "/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 -0.36"/>
      <geometry>
        <box size="0.1 0.2 0.3 "/>
      </geometry>
    </collision>
  </link>
   <joint name="joint_childA_childB" type="continuous">
    <parent link="childA"/>
    <child link="childB"/>
    <origin xyz="0 0 -0.2"/>
    <axis xyz="1 0 0"/>
  </joint>
</robot>

