<?xml version="1.0"?>
<robot name="arm">
  <link name="L1">
    <collision name='L1'>
      <geometry>
        <sphere radius='0.4'/>
      </geometry>
    </collision>
  </link>
  <joint name="J1" type="revolute">
    <origin xyz="1 2 3" rpy="0.1 0.2 0.3"/>
    <parent link="L1"/>
    <child link="L2"/>
  </joint>
  <link name="L2">
    <collision name='L2'>
      <geometry>
        <sphere radius='0.4'/>
      </geometry>
    </collision>
  </link>
</robot>
