<?xml version="1.0"?>

<robot name="scara">

  <link name="base_link">
  </link>

  <link name="link_1">
  </link>

  <link name="link_2">
  </link>

  <link name="link_3">
  </link>

  <joint name="link1_to_base" type="revolute">
    <parent link="base_link"/>
    <child link="link_1"/>
    <origin xyz="0 0 0.129"/>
    <axis xyz="0 0 1" />
    <limit effort="300" velocity="0.1" lower="-3.14" upper="3.14"/>
  </joint>

  <joint name="link2_to_link1" type="revolute">
    <parent link="link_1"/>
    <child link="link_2"/>
    <origin xyz="0.120 0 0"/>
    <axis xyz="0 0 1" />
    <limit effort="300" velocity="0.1" lower="-3.14" upper="3.14"/>
  </joint>

  <joint name="link3_to_link2" type="prismatic">
    <parent link="link_2"/>
    <child link="link_3"/>
    <origin xyz="0.130 0 0"/>
    <axis xyz="0 0 1" />
    <limit effort="300" velocity="0.1" lower="-0.150" upper="0"/>
  </joint>


</robot>
