<?xml version="1.0"?>
<robot name="Kuka KR 6 1820 arc HW">

    <!-- Linki -->

    <link name="podstawa">
        <visual>
            <origin xyz="0 0 0.0425" rpy="0 0 0"/>
            <geometry>
                <box size="0.32 0.26 0.085"/>
            </geometry>
            <material name="Cyan1">
                <color rgba="0 0.9 0.9 1.0"/>
            </material>
        </visual>
    </link>

    <link name="kolumna1">
        <visual>
            <origin xyz="0 0 0.225" rpy="0 0 0"/>
            <geometry>
                <!-- <cylinder length="0.45" radius="0.075"/> -->
                <box size="0.32 0.26 0.085"/>
            </geometry>
            <material name="Yellow">
                <color rgba="0.8 0.8 0 1.0"/>
            </material>
        </visual>
    </link>


    <!-- Jointy -->

    <joint name="q1" type="revolute">
        <origin xyz="0 0 0.45" rpy="0 0 0"/>
        <parent link="podstawa"/>
        <child link="kolumna1"/>
        <axis xyz="0 0 1"/>
    </joint>

</robot>