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<?xml version="1.0"?>
<robot name="universal_robot">
<link name="base_link" />
<joint name="shoulder_pan_joint" type="revolute">
<parent link="base_link" />
<child link = "shoulder_link" />
<origin xyz="0.0 0.0 0.10" rpy="0.0 0.0 0.0" />
<axis xyz="0.0 0.0 1.0" />
<limit lower="-3.14" upper="3.14" effort="10.0" velocity="1.0"/>
</joint>
<link name="shoulder_link">
<visual>
<geometry>
<cylinder length="0.20" radius="0.1"/>
</geometry>
</visual>
</link>
<joint name="shoulder_lift_joint" type="revolute">
<parent link="shoulder_link" />
<child link = "upper_arm_link" />
<axis xyz="0.0 1.0 0.0" />
<limit lower="-3.14" upper="3.14" effort="10.0" velocity="1.0"/>
</joint>
<link name="upper_arm_link">
<visual>
<geometry>
<cylinder length="0.50" radius="0.05"/>
</geometry>
<origin xyz="0.0 0.20 0.25" rpy="0.0 0.0 0.0" />
</visual>
</link>
<joint name="elbow_joint" type="revolute">
<parent link="upper_arm_link" />
<child link = "forearm_link" />
<origin xyz="0.0 0.0 0.50" rpy="0.0 0.0 0.0" />
<axis xyz="0.0 -1.0 0.0" />
<limit lower="-3.14" upper="3.14" effort="10.0" velocity="1.0"/>
</joint>
<link name="forearm_link">
<visual>
<geometry>
<cylinder length="0.50" radius="0.05"/>
</geometry>
<origin xyz="0.0 0.0 0.25" rpy="0.0 0.0 0.0" />
</visual>
</link>
</robot>