<?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>