<robot name="placard">
  <link name="placard">
    <inertial>
      <mass value="5"/>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="1"/>
    </inertial>
    <visual>
      <geometry>
	<cylinder length="1.4" radius="0.015" />
      </geometry>
    </visual>
    <collision>
      <geometry>
	<cylinder length="1.4" radius="0.015" />
      </geometry>
    </collision>
    <visual>
      <geometry>
	<box size="0.01 0.62 0.3" />
      </geometry>
      <origin xyz="0.03 0.0 0.55" />
      <material name="blue">
	<color rgba="0.11 0.42 0.56 1.0"/>
      </material>
      <!--material name="logo_romeo">
	<texture filename="package://hpp_environments/texture/logo_romeo.jpg"/>
      </material-->
    </visual>
  </link>
  <link name="base_link">
  </link>
  <link name="ltx">
  </link>
  <link name="lty">
  </link>
  <link name="ltz">
  </link>
  <joint name="tx" type="prismatic">
    <limit effort="10" velocity="1" lower="-1" upper="1"/>
    <axis xyz="1 0 0"/>
    <parent link="base_link"/>
    <child link="ltx"/>
  </joint>
  <joint name="ty" type="prismatic">
    <limit effort="10" velocity="1" lower="-1" upper="1"/>
    <axis xyz="0 1 0"/>
    <parent link="ltx"/>
    <child link="lty"/>
  </joint>
  <joint name="tz" type="prismatic">
    <limit effort="10" velocity="1" lower="0" upper="2"/>
    <axis xyz="0 0 1"/>
    <parent link="lty"/>
    <child link="ltz"/>
  </joint>
  <joint name="rz" type="revolute">
    <limit effort="10" velocity="1" lower="-1" upper="4"/>
    <axis xyz="0 0 1"/>
    <parent link="ltz"/>
    <child link="placard"/>
  </joint>
</robot>
