function T = fk_urdf_example(q)
% Example usage: T = fk_urdf_example(q) --- Actuated joints in kinematic order -
joints = zeros(6,6);
joints(1,:) = [0 0 0.056 0 0 0];
joints(2,:) = [0 0 0.0799 1.57079633 0 0];
joints(3,:) = [0.694 0 0 0 0 0];
joints(4,:) = [0.675 0 0.1155 0 0 0];
joints(5,:) = [0 -0.1155 0 1.57079633 0 0];
joints(6,:) = [0 0.0675 0 -1.57079633 0 0];
T = fk_urdf(joints, q);