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<robot name="prismatic_robot">
<link name="link1" />
<link name="link2" />
<link name="link3" />
<link name="link4" />
<joint name="joint1" type="prismatic">
<origin xyz="0.0 0.0 1.0"/>
<axis xyz="0 0 1"/>
<limit lower="-0.5" upper="0.5" effort="1" velocity="1"/>
<parent link="link1"/>
<child link="link2"/>
</joint>
<joint name="joint2" type="prismatic">
<origin xyz="0.0 0.0 0.0" rpy="1.57079632679 0 0"/>
<axis xyz="0 0 1"/>
<limit lower="-0.5" upper="0.5" effort="1" velocity="1"/>
<parent link="link2"/>
<child link="link3"/>
</joint>
<joint name="joint3" type="prismatic">
<origin xyz="0.0 0.0 0.0" rpy="0 1.57079632679 0"/>
<axis xyz="0 0 1"/>
<limit lower="-0.5" upper="0.5" effort="1" velocity="1"/>
<parent link="link3"/>
<child link="link4"/>
</joint>
</robot>
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