<robot name="oneLink">
    <link name="base_link" />
    <joint name="base_fixed_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="base_link" />
        <child link="link1" />
    </joint>
    <link name="link1">
        <inertial>
            <mass value="1" />
            <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
        </inertial>
        <visual>
          <origin xyz="0 0 0" rpy="0 0 0" />
          <geometry>
            <mesh filename="cube.stl" scale="0.1 0.1 0.1"/>
          </geometry>
        </visual>
        <collision>
          <origin xyz="0 0 0" rpy="0 0 0" />
          <geometry>
            <mesh filename="cube.stl" scale="0.1 0.1 0.1"/>
          </geometry>
        </collision>
    </link>
    <!-- frames , modeled as "fake links" -->
     <joint name="frame1_fixed_joint" type="fixed">
        <origin xyz="0 10 0" rpy="0 -30 0" />
        <axis xyz="0 0 0" />
        <parent link="link1" />
        <child link="frame1" />
    </joint>
    <link name="frame1">
        <inertial>
            <mass value="0.0" />
            <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.00" iyz="0.0" izz="0.0" />
        </inertial>
    </link>
    <joint name="frame2_fixed_joint" type="fixed">
        <origin xyz="0 30 0" rpy="0.0 0.0 0.0" />
        <axis xyz="0 0 0" />
        <parent link="link1" />
        <child link="frame2" />
    </joint>
    <link name="frame2">
        <inertial>
            <mass value="0.0" />
            <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.00" iyz="0.0" izz="0.0" />
        </inertial>
    </link>
    <!-- sensors -->
    <sensor name="dummy_accl" type="accelerometer">
        <parent link="link1"/>
    </sensor>
    <sensor name="dummy_gyro" type="gyroscope">
        <parent link="link1"/>
        <origin xyz="0 -0.01 +0.01" rpy="0 -0 0" />
    </sensor>
    <sensor name="dummy_accl2" type="accelerometer">
        <parent link="link1"/>
    </sensor>
</robot>
