<?xml version="1.0"?>
<robot name="mug">
  <link name="base"/>
  <link name="base1"/>
  <link name="base2"/>
  <link name="base3"/>
  <link name="base4"/>
  <link name="base5"/>
  <joint name="x_joint" type="prismatic">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="base"/>
    <child link="base1"/>
    <axis xyz="1 0 0"/>
    <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
  </joint>

  <joint name="y_joint" type="prismatic">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="base1"/>
    <child link="base2"/>
    <axis xyz="0 1 0"/>
    <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
  </joint>

  <joint name="z_joint" type="prismatic">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="base2"/>
    <child link="base3"/>
    <axis xyz="0 0 1"/>
    <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
  </joint>
  <joint name="rx_joint" type="revolute">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="base3"/>
    <child link="base4"/>
    <axis xyz="1 0 0"/>
    <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
  </joint>
  <joint name="ry_joint" type="revolute">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="base4"/>
    <child link="base5"/>
    <axis xyz="0 1 0"/>
    <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
  </joint>
  <joint name="rz_joint" type="revolute">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="base5"/>
    <child link="gripper"/>
    <axis xyz="0 0 1"/>
    <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
  </joint>
  <link name="gripper">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0 0"/>
      <geometry>
         <mesh filename="meshes/visual/hand.obj"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0"/>
      <geometry>
          <mesh filename="meshes/visual/hand.obj"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.0"/>
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
    </inertial>
  </link>
</robot>
