<robot name = "motoman">
	<link name = "1">
		<visual>
            <origin xyz = "0 0 0.2775" rpy = "0 0 0" />
			<material name = "Grey1">
				<color rgba = "0.7 0.7 0.7 1.0" />
			</material>
			<geometry>
				<cylinder length = "0.555" radius = "0.1" />
			</geometry>
		</visual>
	</link>
	<link name = "2">
		<visual>
		<origin xyz = "0 0.075 0.555" rpy = "0 1.5708 0" />
			<material name = "Grey1">
				<color rgba = "0.7 0.7 0.7 1.0" />
			</material>
			<geometry>
				<cylinder length = "0.150" radius = "0.1" />
			</geometry>
		</visual>
	</link>
	<link name="3">
		<visual>
		<origin xyz="0 0.075 0.935" rpy="0 0 0"/>
			<material name = "Grey1">
				<color rgba = "0.7 0.7 0.7 1.0" />
			</material>
			<geometry>
				<box size="0.085 0.085 0.76"/>
			</geometry>
		</visual>
	</link>
<link name = "4">
		<visual>
		<origin xyz = "0 0.075 1.315" rpy = "0 1.5708 0" />
			<material name = "Grey1">
				<color rgba = "0.7 0.7 0.7 1.0" />
			</material>
			<geometry>
				<cylinder length = "0.150" radius = "0.1" />
			</geometry>
		</visual>
	</link>
<link name="5">
		<visual>
		<origin xyz="0 0.075 1.425" rpy="0 0 0"/>
			<material name = "Grey1">
				<color rgba = "0.7 0.7 0.7 1.0" />
			</material>
			<geometry>
				<box size="0.085 0.085 0.22"/>
			</geometry>
		</visual>
	</link>
<link name = "6">
		<visual>
            <origin xyz = "0 0.075 1.535" rpy = "0 1.5708 0" />
			<material name = "Grey1">
				<color rgba = "0.7 0.7 0.7 1.0" />
			</material>
			<geometry>
				<cylinder length = "0.870" radius = "0.1" />
			</geometry>
		</visual>
	</link>
</robot>