<robot name="myrobot">
  <material name="orange">
    <color rgba="1.0 0.5 0.2 1" />
  </material>
  <material name="gray">
    <color rgba="0.2 0.2 0.2 1" />
  </material>

  <link name="imu_link">
    <visual>
      <origin xyz="0 0 0" />
      <geometry>
        <cylinder length="0.05" radius="0.03" />
      </geometry>
      <material name="gray" />
    </visual>
  </link>

  <link name="up_laser_link">
    <visual>
      <origin xyz="0 0 0" />
      <geometry>
        <cylinder length="0.05" radius="0.03" />
      </geometry>
      <material name="gray" />
    </visual>
  </link>

  <link name="base_link" />
 

  <joint name="imu_link_joint" type="fixed">
    <parent link="base_link" />
    <child link="imu_link" />
    <origin rpy="0 0 0" xyz="0 0 0" />
  </joint>

  <joint name="up_laser_link_joint" type="fixed">
    <parent link="base_link" />
    <child link="up_laser_link" />
    <origin rpy="0 0 -1.7453" xyz="0 0 0" />
  </joint>

</robot>
