<robot name="test_robot">
    <link name="fixed_base">
        <visual>
	  <geometry>
	      <box size="0.6 .2 .1"/>
	  </geometry>
	  <origin rpy="0 1.57075 0" xyz="1 1 0.5"/>
	  <material name="white">
	      <color rgba="1 1 1 1"/>
	  </material>
        </visual>
    </link>
<!--    <link name="sensor_base_0" />
    <link name="sensor_base_1" />
    <link name="sensor_base_2" />
    <link name="sensor_base_3" />-->
    
    <link name="sensor_0">
        <visual>
	  <geometry>
	      <box size="0.6 .2 .1"/>
	  </geometry>
	  <origin rpy="0 1.57075 0" xyz="1 1 0.5"/>
	  <material name="white">
	      <color rgba="1 1 1 1"/>
	  </material>
        </visual>
    </link>
<!--    <link name="sensor_1" />
    <link name="sensor_2" />
    <link name="sensor_3" />-->
    
    <joint name="joint1" type="continuous">
        <parent link="fixed_base"/>
        <child link="sensor_0"/>
        <origin xyz="5 3 0" rpy="0 0 0" />
<!--         <axis xyz="-0.9 0.15 0" /> -->
    </joint>
</robot>