<?xml version="1.0"?>
<robot name="physics">

    <link name="slideBar">
    <visual>
      <geometry>
        <box size="30 0.05 0.05"/>
      </geometry>
      <origin xyz="0 0 0"/>
      <material name="green">
        <color rgba="0 0.8 .8 1"/>
      </material>
    </visual>
    <inertial>
      <mass value="0"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>

  <link name="pole">
    <visual>
      <geometry>
        <box size="0.05 0.05 1.0"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <material name="white">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <inertial>
    <origin xyz="0 0 0"/>
      <mass value="10"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
     <collision>
      <geometry>
        <box size="0.05 0.05 1.0"/>	
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
  </link>

  <joint name="cart_to_pole" type="prismatic">
    <axis xyz="1 0 0"/>
    <origin xyz="0.0 0.0 0.5"/>
    <parent link="slideBar"/>
    <child link="pole"/>
    <limit effort="1000.0" lower="-5" upper="5" velocity="0.5"/>
  </joint>
  
   <link name="pole2">
    <visual>
      <geometry>
        <box size="0.05 0.05 1.0"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.5"/>
      <material name="white">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <inertial>
    <origin xyz="0 0 0.5"/>
      <mass value="10"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
     <collision>
      <geometry>
        <box size="0.05 0.05 1.0"/>	
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.5"/>
    </collision>
  </link>

  <joint name="pole_to_pole2" type="continuous">
    <axis xyz="1 0 0"/>
    <origin xyz="0.0 0.0 0.5"/>
    <parent link="pole"/>
    <child link="pole2"/>
  </joint>
  
  <link name="pole3">
    <visual>
      <geometry>
        <box size="0.05 0.05 1.0"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.5"/>
      <material name="white">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <inertial>
    <origin xyz="0 0 0.5"/>
      <mass value="10"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
     <collision>
      <geometry>
        <box size="0.05 0.05 1.0"/>	
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.5"/>
    </collision>
  </link>

  <joint name="pole2_to_pole3" type="continuous">
    <axis xyz="0 1 0"/>
    <origin xyz="0.0 0.0 1"/>
    <parent link="pole2"/>
    <child link="pole3"/>
  </joint>
  
   <link name="endeffector">
    <visual>
      <geometry>
        <box size="0.06 0.06 .06"/>	
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <material name="red">
        <color rgba="1 0 0 1"/>
      </material>
    </visual>
    <inertial>
    <origin xyz="0 0 0"/>
      <mass value="10"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
     <collision>
      <geometry>
        <box size="0.06 0.06 .06"/>	
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
  </link>

  <joint name="pole2_to_endeffector" type="fixed">
    <origin xyz="0.0 0.0 1"/>
    <parent link="pole3"/>
    <child link="endeffector"/>
  </joint>
 
</robot>
