<robot name="testInertialRPYmodel1">
   <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>
    </link>
    <joint name="joint_1_2" type="continuous">
        <origin xyz="0 0 0" rpy="0 -0 0" />
        <axis xyz="0 0 1" />
        <parent link="link1" />
        <child link="link2" />
    </joint>
    <link name="link2">
        <inertial>
            <mass value="100" />
            <origin xyz="1 2 3" rpy="0 -0 0" />
            <inertia ixx="5" ixy="0.0" ixz="0.0" iyy="15" iyz="0.0" izz="25" />
        </inertial>
    </link>
</robot>
