<?xml version="1.0" ?>
<robot name="robot">
  <link name="Board">
    <visual>
      <origin xyz="0.000000 0.000000 0.000000" rpy="0.000000 0.000000 -1.570796"/>
      <geometry>
        <mesh filename="surfaces/Board.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <visual>
      <origin xyz="0.000000 0.000000 0.000000" rpy="0.000000 0.000000 -1.570796"/>
      <geometry>
        <mesh filename="surfaces/BoardRail.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.500000 0.000000 0.016000" rpy="0.000000 1.570796 0.000000"/>
      <geometry>
        <cylinder radius="0.004000" length="1.000000"/>
      </geometry>
    </collision>
  </link>
  <link name="Base">
    <visual>
      <origin xyz="-0.030000 0.000000 -0.035000" rpy="0.000000 0.000000 0.000000"/>
      <geometry>
        <mesh filename="surfaces/Base.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.055000 0.108000 0.045000" rpy="0.000000 1.570796 0.000000"/>
      <geometry>
        <cylinder radius="0.004000" length="0.110000"/>
      </geometry>
    </collision>
  </link>
  <link name="Arm1">
    <visual>
      <origin xyz="-0.029000 0.025000 0.028500" rpy="3.141593 0.000000 -1.570796"/>
      <geometry>
        <mesh filename="surfaces/Holm.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.000000 -0.125000 0.000000" rpy="0.000000 1.570796 1.570796"/>
      <geometry>
        <cylinder radius="0.004000" length="0.250000"/>
      </geometry>
    </collision>
  </link>
  <link name="Ellbow">
    <collision>
      <origin xyz="0.035000 0.000000 0.000000" rpy="0.000000 1.570796 0.000000"/>
      <geometry>
        <cylinder radius="0.004000" length="0.070000"/>
      </geometry>
    </collision>
  </link>
  <link name="Arm2">
    <collision>
      <origin xyz="0.000000 -0.125000 0.000000" rpy="0.000000 1.570796 1.570796"/>
      <geometry>
        <cylinder radius="0.004000" length="0.250000"/>
      </geometry>
    </collision>
  </link>
  <joint name="Slider" type="prismatic">
    <parent link="Board"/>
    <child link="Base"/>
    <origin xyz="0.000000 0.000000 0.016000" rpy="0.000000 0.000000 0.000000"/>
    <axis xyz="1.000000 0.000000 0.000000"/>
    <limit lower="-1.0" upper="1.0" effort="100" velocity="10"/>
  </joint>
  <joint name="Joint1" type="revolute">
    <parent link="Base"/>
    <child link="Arm1"/>
    <origin xyz="0.110000 0.108000 0.045000" rpy="0.000000 0.000000 0.000000"/>
    <axis xyz="-1.000000 0.000000 0.000000"/>
    <limit lower="-3.141593" upper="3.141593" effort="100" velocity="10"/>
  </joint>
  <joint name="Joint2" type="revolute">
    <parent link="Arm1"/>
    <child link="Ellbow"/>
    <origin xyz="0.000000 -0.250000 0.000000" rpy="0.000000 0.000000 0.000000"/>
    <axis xyz="-1.000000 0.000000 0.000000"/>
    <limit lower="-3.141593" upper="3.141593" effort="100" velocity="10"/>
  </joint>
  <joint name="Joint3" type="revolute">
    <parent link="Ellbow"/>
    <child link="Arm2"/>
    <origin xyz="0.070000 0.000000 0.000000" rpy="0.000000 0.000000 0.000000"/>
    <axis xyz="0.000000 -1.000000 0.000000"/>
    <limit lower="-3.141593" upper="3.141593" effort="100" velocity="10"/>
  </joint>
</robot>
