+ <joint name="link1_joint" type="revolute">
+ <parent link="arm_base"/>
+ <child link="link1"/>
+ <axis xyz="0 0 -1"/>
+ <limit effort="1.0" lower="0.0" upper="5.672320068981571" velocity="0.2"/>
+ </joint>
+
+ <joint name="link2_joint" type="revolute">
+ <parent link="link1"/>
+ <child link="link2"/>
+ <axis xyz="0 0 1"/>
+ <origin xyz="0.0 0.0 0.123" rpy="1.5708 0 0"/>
+ <limit effort="1.0" lower="0.1505" upper="3.611" velocity="0.1"/>
+ </joint>
+
+ <joint name="link3_joint" type="revolute">
+ <parent link="link2"/>
+ <child link="link3"/>
+ <axis xyz="0 0 -1"/>
+ <origin xyz="0.240 0 0" rpy="0 0 0"/>
+ <limit effort="1.0" lower="0" upper="3.1416" velocity="0.2"/>
+ </joint>
+
+ <joint name="link4_joint" type="revolute">
+ <parent link="link3"/>
+ <child link="link4"/>
+ <axis xyz="0 0 -1"/>
+ <origin xyz="0 0.135 0" rpy="-1.5708 0 0"/>
+ <limit effort="1.0" lower="-0.15708" upper="5.4978" velocity="0.5"/>
+ </joint>
+
+ <joint name="link5_joint" type="revolute">
+ <parent link="link4"/>
+ <child link="link5"/>
+ <axis xyz="0 0 1"/>
+ <origin xyz="0 0 0.06" rpy="1.5708 0 0"/>
+ <limit effort="1.0" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="1.0"/>
+ </joint>
+
+ <joint name="gripper_pole_joint" type="fixed">
+ <parent link="link5"/>
+ <child link="gripper_pole"/>
+ <origin xyz="0 0.02275 0" rpy="1.5708 0 1.5708"/>
+ </joint>
+
+ <joint name="gripper_center_joint" type="fixed">
+ <parent link="gripper_pole"/>
+ <child link="gripper_center"/>
+ <origin xyz="0.08 0 0" rpy="0 0 0"/>
+ </joint>
+
+ <joint name="left_gripper_joint" type="revolute">
+ <parent link="gripper_pole"/>
+ <child link="left_gripper"/>
+ <axis xyz="0 0 1"/>
+ <origin xyz="0 0.015 0" rpy="0 0 0"/>
+ <limit effort="1.0" lower="0.0" upper="0.35" velocity="0.1"/>
+ </joint>
+
+ <joint name="right_gripper_joint" type="revolute">
+ <parent link="gripper_pole"/>
+ <child link="right_gripper"/>
+ <axis xyz="0 0 1"/>
+ <origin xyz="0 -0.015 0" rpy="3.1416 0 0"/>
+ <limit effort="1.0" lower="0.0" upper="0.35" velocity="0.1"/>
+ </joint>
+
+ <joint name="link2_motor_extension_joint" type="fixed">
+ <parent link="link2"/>
+ <child link="link2_motor_extension"/>
+ <origin xyz="0.165 -0.03 0" rpy="1.5708 0 0"/>
+ </joint>
+
+ <joint name="plate_box_joint" type="fixed">
+ <parent link="plate"/>
+ <child link="plate_box"/>
+ <origin xyz="-0.04 -0.035 0" rpy="0 0 0"/>