<?xml version='1.0' encoding='utf-8'?>
<robot name="gantry_arm">
  <link name="world" />
  <joint name="world_up" type="fixed">
    <parent link="world" />
    <child link="base_link" />
    <origin xyz="0 0 0" rpy="1.5708 0 0" />
  </joint>
  <link name="base_link">
    <visual>
      <origin xyz="-0.25 0.5 0" rpy="0 0 0" />
      <geometry>
        <box size="0.04 1.0 0.04" />
      </geometry>
      <material name="m139944126497152">
        <color rgba="0.62 0.62 0.66 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0.25 0.5 0" rpy="0 0 0" />
      <geometry>
        <box size="0.04 1.0 0.04" />
      </geometry>
      <material name="m139944126497632">
        <color rgba="0.62 0.62 0.66 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 1.0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.58 0.04 0.04" />
      </geometry>
      <material name="m139944126498112">
        <color rgba="0.62 0.62 0.66 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0.02 0" rpy="0 0 0" />
      <geometry>
        <box size="0.54 0.04 0.04" />
      </geometry>
      <material name="m139944126498592">
        <color rgba="0.62 0.62 0.66 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="-0.25 0.01 0" rpy="0 0 0" />
      <geometry>
        <box size="0.16 0.02 0.18" />
      </geometry>
      <material name="m139944126499072">
        <color rgba="0.26 0.26 0.30 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0.25 0.01 0" rpy="0 0 0" />
      <geometry>
        <box size="0.16 0.02 0.18" />
      </geometry>
      <material name="m139944126499552">
        <color rgba="0.26 0.26 0.30 1" />
      </material>
    </visual>
  </link>
  <link name="x_carriage">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.07 0.05 0.07" />
      </geometry>
      <material name="m139944126500112">
        <color rgba="0.26 0.26 0.30 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 -0.045 0" rpy="0 0 0" />
      <geometry>
        <box size="0.04 0.04 0.54" />
      </geometry>
      <material name="m139944126500592">
        <color rgba="0.62 0.62 0.66 1" />
      </material>
    </visual>
  </link>
  <joint name="axis_X" type="prismatic">
    <parent link="base_link" />
    <child link="x_carriage" />
    <origin xyz="0 1.0 0" rpy="0 0 0" />
    <axis xyz="1 0 0" />
    <limit lower="-0.22" upper="0.22" effort="200" velocity="1" />
  </joint>
  <link name="z_carriage">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.06 0.05 0.06" />
      </geometry>
      <material name="m139944126501632">
        <color rgba="0.26 0.26 0.30 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 -0.25 0" rpy="0 0 0" />
      <geometry>
        <box size="0.04 0.5 0.04" />
      </geometry>
      <material name="m139944126502112">
        <color rgba="0.62 0.62 0.66 1" />
      </material>
    </visual>
  </link>
  <joint name="axis_Z" type="prismatic">
    <parent link="x_carriage" />
    <child link="z_carriage" />
    <origin xyz="0 -0.045 0" rpy="0 0 0" />
    <axis xyz="0 0 1" />
    <limit lower="-0.22" upper="0.22" effort="200" velocity="1" />
  </joint>
  <link name="y_carriage">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.07 0.06 0.07" />
      </geometry>
      <material name="m139944126503152">
        <color rgba="0.26 0.26 0.30 1" />
      </material>
    </visual>
  </link>
  <joint name="axis_Y" type="prismatic">
    <parent link="z_carriage" />
    <child link="y_carriage" />
    <origin xyz="0 -0.06 0" rpy="0 0 0" />
    <axis xyz="0 1 0" />
    <limit lower="-0.42" upper="0.0" effort="200" velocity="1" />
  </joint>
  <link name="arm1">
    <visual>
      <origin xyz="0 -0.015 0" rpy="1.5708 0 0" />
      <geometry>
        <mesh filename="st3215.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="m139944126504272">
        <color rgba="0.34 0.34 0.40 1" />
      </material>
    </visual>
  </link>
  <joint name="j_arm1" type="revolute">
    <parent link="y_carriage" />
    <child link="arm1" />
    <origin xyz="0 -0.05 0" rpy="0 0 0" />
    <axis xyz="0 1 0" />
    <limit lower="-1.57" upper="1.57" effort="200" velocity="1" />
  </joint>
  <link name="arm2">
    <visual>
      <origin xyz="0 -0.015 0" rpy="1.5708 0 0" />
      <geometry>
        <mesh filename="st3215.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="m139944126505312">
        <color rgba="0.34 0.34 0.40 1" />
      </material>
    </visual>
  </link>
  <joint name="j_arm2" type="revolute">
    <parent link="arm1" />
    <child link="arm2" />
    <origin xyz="0 -0.052 0" rpy="0 0 0" />
    <axis xyz="1 0 0" />
    <limit lower="-1.57" upper="1.57" effort="200" velocity="1" />
  </joint>
  <link name="arm3">
    <visual>
      <origin xyz="0 -0.015 0" rpy="1.5708 0 0" />
      <geometry>
        <mesh filename="st3215.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="m139944126506352">
        <color rgba="0.34 0.34 0.40 1" />
      </material>
    </visual>
  </link>
  <joint name="j_arm3" type="revolute">
    <parent link="arm2" />
    <child link="arm3" />
    <origin xyz="0 -0.052 0" rpy="0 0 0" />
    <axis xyz="1 0 0" />
    <limit lower="-1.57" upper="1.57" effort="200" velocity="1" />
  </joint>
  <link name="arm4">
    <visual>
      <origin xyz="0 -0.015 0" rpy="1.5708 0 0" />
      <geometry>
        <mesh filename="st3215.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="m139944126507392">
        <color rgba="0.34 0.34 0.40 1" />
      </material>
    </visual>
  </link>
  <joint name="j_arm4" type="revolute">
    <parent link="arm3" />
    <child link="arm4" />
    <origin xyz="0 -0.052 0" rpy="0 0 0" />
    <axis xyz="0 1 0" />
    <limit lower="-1.57" upper="1.57" effort="200" velocity="1" />
  </joint>
  <link name="tool">
    <visual>
      <origin xyz="0 -0.03 0" rpy="0 0 0" />
      <geometry>
        <box size="0.03 0.035 0.05" />
      </geometry>
      <material name="m139944126508352">
        <color rgba="0.90 0.52 0.16 1" />
      </material>
    </visual>
  </link>
  <joint name="j_tool" type="fixed">
    <parent link="arm4" />
    <child link="tool" />
    <origin xyz="0 -0.05 0" rpy="0 0 0" />
  </joint>
</robot>