<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (py backend), content 9ee7ef5738ea7676 -->
<robot name="poppy_ergo_jr">
  <link name="base_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://poppy_ergo_jr_description/meshes/base.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.038 0.015" rpy="0.0 0.0 0.0" />
      <geometry>
        <cylinder length="0.03" radius="0.08" />
      </geometry>
    </collision>
  </link>
  <link name="long_U">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://poppy_ergo_jr_description/meshes/long_U.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.01" rpy="0.0 0.0 0.0" />
      <geometry>
        <cylinder length="0.02" radius="0.02" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.1" />
      <inertia ixx="0.03" ixy="0.0" ixz="0.0" iyy="0.03" iyz="0.0" izz="0.03" />
    </inertial>
  </link>
  <joint name="m1" type="continuous">
    <origin xyz="0.0 0.0 0.0327993216120967" rpy="0.0 0.0 0.0" />
    <parent link="base_link" />
    <child link="long_U" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="0.0" velocity="0.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="section_1">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 1.5707963267949 0.0" />
      <geometry>
        <mesh filename="package://poppy_ergo_jr_description/meshes/section_1.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.025 0.0 0.0" rpy="0.0 1.5707963267949 0.0" />
      <geometry>
        <cylinder length="0.05" radius="0.02" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.1" />
      <inertia ixx="0.03" ixy="0.0" ixz="0.0" iyy="0.03" iyz="0.0" izz="0.03" />
    </inertial>
  </link>
  <joint name="m2" type="continuous">
    <origin xyz="0.0 0.0 0.0240006783879033" rpy="0.0 -1.5707963267949 0.0" />
    <parent link="long_U" />
    <child link="section_1" />
    <axis xyz="0.0 0.0 -1.0" />
    <limit effort="0.0" velocity="0.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="section_2">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 1.5707963267949 0.0" />
      <geometry>
        <mesh filename="package://poppy_ergo_jr_description/meshes/section_2.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.025 0.0 0.0" rpy="0.0 1.5707963267949 0.0" />
      <geometry>
        <cylinder length="0.05" radius="0.02" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.1" />
      <inertia ixx="0.03" ixy="0.0" ixz="0.0" iyy="0.03" iyz="0.0" izz="0.03" />
    </inertial>
  </link>
  <joint name="m3" type="continuous">
    <origin xyz="0.054 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="section_1" />
    <child link="section_2" />
    <axis xyz="0.0 0.0 -1.0" />
    <limit effort="0.0" velocity="0.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="section_3">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 3.14159268 0.0" />
      <geometry>
        <mesh filename="package://poppy_ergo_jr_description/meshes/section_3.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 -0.025 0.0" rpy="1.5707963267949 0.0 0.0" />
      <geometry>
        <cylinder length="0.05" radius="0.02" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.1" />
      <inertia ixx="0.03" ixy="0.0" ixz="0.0" iyy="0.03" iyz="0.0" izz="0.03" />
    </inertial>
  </link>
  <joint name="m4" type="continuous">
    <origin xyz="0.045 0.0 0.0" rpy="0.0 -1.5707963267949 0.0" />
    <parent link="section_2" />
    <child link="section_3" />
    <axis xyz="0.0 0.0 -1.0" />
    <limit effort="0.0" velocity="0.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="section_4">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 -1.5707963267949 1.5707963267949" />
      <geometry>
        <mesh filename="package://poppy_ergo_jr_description/meshes/section_1.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 -0.035 0.0" rpy="1.5707963267949 0.0 0.0" />
      <geometry>
        <cylinder length="0.06" radius="0.02" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.1" />
      <inertia ixx="0.03" ixy="0.0" ixz="0.0" iyy="0.03" iyz="0.0" izz="0.03" />
    </inertial>
  </link>
  <joint name="m5" type="continuous">
    <origin xyz="0.0 -0.048 0.0" rpy="0.0 -1.5707963267949 0.0" />
    <parent link="section_3" />
    <child link="section_4" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="0.0" velocity="0.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="fixed_tip" />
  <joint name="t7f" type="fixed">
    <origin xyz="0.0 -0.075 0.0" rpy="-1.5707963267949 0.0 0.0" />
    <parent link="section_5" />
    <child link="fixed_tip" />
  </joint>
  <link name="section_5">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 1.5707963267949" />
      <geometry>
        <mesh filename="package://poppy_ergo_jr_description/meshes/lamp.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 -0.045 0.0" rpy="1.5707963267949 0.0 0.0" />
      <geometry>
        <cylinder length="0.06" radius="0.03" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.1" />
      <inertia ixx="0.03" ixy="0.0" ixz="0.0" iyy="0.03" iyz="0.0" izz="0.03" />
    </inertial>
  </link>
  <joint name="m6" type="continuous">
    <origin xyz="0.0 -0.054 0.0" rpy="0.0 0.0 0.0" />
    <parent link="section_4" />
    <child link="section_5" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="0.0" velocity="0.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
</robot>
