pytorch_kinematics/tests/prismatic_robot.urdf

<robot name="prismatic_robot"> 
<link name="link1" />
<link name="link2" />
<link name="link3" />
<link name="link4" />

<joint name="joint1" type="prismatic">
    <origin xyz="0.0 0.0 1.0"/>
    <axis xyz="0 0 1"/>
    <limit lower="-0.5" upper="0.5" effort="1" velocity="1"/>
    <parent link="link1"/>
    <child link="link2"/>
</joint>
<joint name="joint2" type="prismatic">
    <origin xyz="0.0 0.0 0.0" rpy="1.57079632679 0 0"/>
    <axis xyz="0 0 1"/>
    <limit lower="-0.5" upper="0.5" effort="1" velocity="1"/>
    <parent link="link2"/>
    <child link="link3"/>
</joint>
<joint name="joint3" type="prismatic">
    <origin xyz="0.0 0.0 0.0" rpy="0 1.57079632679 0"/>
    <axis xyz="0 0 1"/>
    <limit lower="-0.5" upper="0.5" effort="1" velocity="1"/>
    <parent link="link3"/>
    <child link="link4"/>
</joint>

</robot>