<robot name="rasms">
<link name="world"/>
  <joint name="to_world" type="fixed">
    <parent link="world"/>
    <child link="base"/>
    <origin xyz="0.0 0.0 0.07" rpy="0.0 0.0 0.0"/>
  </joint>
  <link
    name="base">
      <inertial>
      <origin
        xyz="-0.000332122479320982 0.000107427994729828 -0.0364210136165633"
        rpy="0 0 0" />
      <mass
        value="1.31011976880718" />
      <inertia
        ixx="0.00259583556985636"
        ixy="9.78631121059142E-07"
        ixz="-1.47312310265428E-05"
        iyy="0.00238834687122552"
        iyz="5.81913913034168E-07"
        izz="0.00430679870377171" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rasms_description/meshes/base.stl" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rasms_description/meshes/base.stl" />
      </geometry>
    </collision>
  </link>
  <link
    name="link1">
    <inertial>
      <origin
        xyz="0.028753 0.080526 1.3501E-08"
        rpy="0 0 0" />
      <mass
        value="0.52648" />
      <inertia
        ixx="0.00076496"
        ixy="-3.5256E-05"
        ixz="-2.8173E-10"
        iyy="0.00038929"
        iyz="1.9918E-09"
        izz="0.00075521" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rasms_description/meshes/link1.stl" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.79216 0.81961 0.93333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rasms_description/meshes/link1.stl" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint1"
    type="continuous">
    <origin
      xyz="0 0 0"
      rpy="1.5708 0 -1.5708" />
    <parent
      link="base" />
    <child
      link="link1" />
    <axis
      xyz="0 1 0" />
  </joint>
  <link
    name="link2">
    <inertial>
      <origin
        xyz="-0.0098423932944443 0.025631709550142 2.62062855886029E-08"
        rpy="0 0 0" />
      <mass
        value="0.466449031624498" />
      <inertia
        ixx="0.000250149264856934"
        ixy="-6.39625267943634E-06"
        ixz="1.16240576365026E-09"
        iyy="0.000302356392836182"
        iyz="-5.72107071817652E-10"
        izz="0.000264859050215469" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rasms_description/meshes/link2.stl" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rasms_description/meshes/link2.stl" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint2"
    type="continuous">
    <origin
      xyz="0 0.14172 0"
      rpy="0 0 0" />
    <parent
      link="link1" />
    <child
      link="link2" />
    <axis
      xyz="1 0 0" />
  </joint>
  <link
    name="link3">
    <inertial>
      <origin
        xyz="0.0215100033761789 0.0694423986454957 3.93278649368959E-08"
        rpy="0 0 0" />
      <mass
        value="0.70816935413754" />
      <inertia
        ixx="0.000864850509477081"
        ixy="-3.62319530566251E-05"
        ixz="-2.95541145601842E-10"
        iyy="0.000482143975333292"
        iyz="2.00353934934295E-09"
        izz="0.000860394915615017" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rasms_description/meshes/link3.stl" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rasms_description/meshes/link3.stl" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint3"
    type="continuous">
    <origin
      xyz="0 0.081346 0"
      rpy="0 0.0071935 0" />
    <parent
      link="link2" />
    <child
      link="link3" />
    <axis
      xyz="0 1 0" />
  </joint>
  <link
    name="link4">
    <inertial>
      <origin
        xyz="-0.0098423941326931 0.025631710847922 2.62314079923008E-08"
        rpy="0 0 0" />
      <mass
        value="0.466449036998311" />
      <inertia
        ixx="0.0002501492525602"
        ixy="-6.39624584934821E-06"
        ixz="1.15937712750973E-09"
        iyy="0.000302356392948396"
        iyz="-5.70585180406975E-10"
        izz="0.000264859056361031" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rasms_description/meshes/link4.stl" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rasms_description/meshes/link4.stl" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint4"
    type="continuous">
    <origin
      xyz="0 0.14438 0"
      rpy="0 0 0" />
    <parent
      link="link3" />
    <child
      link="link4" />
    <axis
      xyz="1 0 0" />
  </joint>
  <link
    name="link5">
    <inertial>
      <origin
        xyz="0.0215100033039704 0.0694423990612557 3.93278667377771E-08"
        rpy="0 0 0" />
      <mass
        value="0.708169356775496" />
      <inertia
        ixx="0.000864850515095"
        ixy="-3.6231953093431E-05"
        ixz="-2.95541136548844E-10"
        iyy="0.000482143976309882"
        iyz="2.00353938873391E-09"
        izz="0.000860394921240315" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rasms_description/meshes/link5.stl" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rasms_description/meshes/link5.stl" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint5"
    type="continuous">
    <origin
      xyz="0 0.081346 0"
      rpy="0 0 0" />
    <parent
      link="link4" />
    <child
      link="link5" />
    <axis
      xyz="0 1 0" />
  </joint>
  <link
    name="link6">
    <inertial>
      <origin
        xyz="-0.0107961703559938 0.0337046197725978 6.41961769822694E-06"
        rpy="0 0 0" />
      <mass
        value="0.599356299495803" />
      <inertia
        ixx="0.000286310483854348"
        ixy="-5.79903953240378E-06"
        ixz="6.26853068396246E-08"
        iyy="0.000358508548445319"
        iyz="-4.97585335654749E-10"
        izz="0.000295138763544911" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rasms_description/meshes/link6.stl" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rasms_description/meshes/link6.stl" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint6"
    type="continuous">
    <origin
      xyz="0 0.14438 0"
      rpy="0 0 0" />
    <parent
      link="link5" />
    <child
      link="link6" />
    <axis
      xyz="1 0 0" />
  </joint>
</robot>