<robot name="MOTOMAN-EH80">

	<!-- * * * Link Definitions * * * -->

	<link name="ziemia">
		<visual>
		    <origin xyz="0 0 0" rpy="0 0 0"/>
		    <geometry>
		    <box size="0 0 0."/>
		    </geometry>
		    <material name="Cyan1">
	       		<color rgba="0 0.9 0.9 1.0"/>
	     	    </material>
		</visual>
	</link>

 	<link name="podstawa_robota">
		<visual>
		    <origin xyz="0.0 0 0.0425" rpy="0 0 0"/>
			<geometry>
				<box size="0.455 0.455 0.1"/>
			</geometry>
			<material name="Cyan1">
	       		<color rgba="0 0.9 0.9 1.0"/>
	     	</material>
		</visual>
	</link>

 	<link name="obkrecacz_podstawy">
		<visual>
		    <origin xyz="0.0 0 0.1225" rpy="0 0 0"/>
			<geometry>
				<cylinder radius="0.242" length="0.06"/>
			</geometry>
			<material name="Black1">
	       		<color rgba="0.2 0.2 0.2 1.0"/>
	     	</material>
		</visual>
	</link>

	<link name="podstawa_ramienia1">
		<visual>
		    <origin xyz="0.0 0 0.3425" rpy="0 0 0"/>
			<geometry>
				<box size="0.455 0.455 0.38"/>
			</geometry>
			<material name="Cyan1">
	       		<color rgba="0 0.9 0.9 1.0"/>
	     	</material>
		</visual>
	</link>
	<link name="ramie1">
		<visual>
		    <origin xyz="0.0 0 0.9675" rpy="0 0 0"/>
			<geometry>
				<box size="0.165 0.165 0.87"/>
			</geometry>
			<material name="Yellow">
				<color rgba="0.8 0.8 0 1.0"/>
			</material>
		</visual>
	</link>
 	<link name="podstawa_ramienia2">
		<visual>
		    <origin xyz="0.0 0 1.5" rpy="0 0 0"/>
			<geometry>
				<box size="0.165 0.455 0.288"/>
			</geometry>
			<material name="Cyan1">
	       		<color rgba="0 0.9 0.9 1.0"/>
	     	</material>
		</visual>
	</link>
		<link name="ramie2">
		<visual>
		    <origin xyz="0 0.7425 1.5" rpy="0.0 0 0"/>
			<geometry>
				<box size="0.165 1.025 0.165"/>
			</geometry>
			<material name="Yellow">
				<color rgba="0.8 0.8 0 1.0"/>
			</material>
		</visual>
	</link>
	<link name="podstawa_lapaka">
		<visual>
		    <origin xyz="0.0 1.3 1.5" rpy="0 0 0"/>
			<geometry>
				<box size="0.165 0.455 0.288"/>
			</geometry>
			<material name="Cyan1">
	       		<color rgba="0 0.9 0.9 1.0"/>
	     	</material>
		</visual>
	</link>
		<link name="ramie_lapaka">
		<visual>
		    <origin xyz="0.0 1.6 1.5" rpy="0 0 0"/>
			<geometry>
				<box size="0.165 0.175 0.165"/>
			</geometry>
			<material name="Yellow">
				<color rgba="0.8 0.8 0 1.0"/>
			</material>
		</visual>
	</link>
	<link name="lapak">
		<visual>
		    <origin xyz="0.0 1.72 1.5" rpy="0 0 0"/>
			<geometry>
				<box size="0.165 0.085 0.288"/>
			</geometry>
			<material name="Cyan1">
	       		<color rgba="0 0.9 0.9 1.0"/>
	     	</material>
		</visual>
	</link>

	<!-- OBKRECACZE -->

	<joint name="spajacz0" type="fixed">
	    	<parent link="ziemia"/>
	    	<child link="podstawa_robota"/>
	    	<origin xyz="0.0 0 0.0" rpy="0 0 0"/>
	</joint>

	<joint name="Z0" type="revolute">
	    	<parent link="podstawa_robota"/>
	    	<child link="obkrecacz_podstawy"/>
	    	<origin xyz="0.0 0 0" rpy="0 0 0"/>
	    	<axis xyz="0 0 1"/>
	    	<limit lower="-3.1416" upper="3.1416" effort="10" velocity="3"/>
  	</joint>

	<joint name="spajacz1" type="fixed">
	    	<parent link="obkrecacz_podstawy"/>
	    	<child link="podstawa_ramienia1"/>
	    	<origin xyz="0.0 0 0.0" rpy="0 0 0"/>
	</joint>

	<joint name="Z1" type="revolute">
	    	<parent link="podstawa_ramienia1"/>
	    	<child link="ramie1"/>
	    	<origin xyz="0 0 0" rpy="0 0 0"/>
	    	<axis xyz="1 0 0"/>
	    	<limit lower="-2.356" upper="1.57" effort="10" velocity="3"/>
  	</joint>

	<joint name="Z2" type="revolute">
	    	<parent link="ramie1"/>
	    	<child link="podstawa_ramienia2"/>
	    	<origin xyz="0 0 0" rpy="0 0 0"/>
	    	<axis xyz="1 0 0"/>
	    	<limit lower="-1.34" upper="3.59" effort="10" velocity="3"/>
  	</joint>

	<joint name="Z3" type="revolute">
	    	<parent link="podstawa_ramienia2"/>
	    	<child link="ramie2"/>
	    	<origin xyz="0 0 0" rpy="0 0 0"/>
	    	<axis xyz="0 1 0"/>
	    	<limit lower="-6.283" upper="6.283" effort="10" velocity="3"/>
  	</joint>

	<joint name="Z4" type="revolute">
	    	<parent link="ramie2"/>
	    	<child link="podstawa_lapaka"/>
	    	<origin xyz="0.0 0 0" rpy="0 0 0"/>
	    	<axis xyz="1 0 0"/>
	    	<limit lower="-2.18" upper="2.18" effort="10" velocity="3"/>
  	</joint>

	<joint name="Z5" type="revolute">
	    	<parent link="podstawa_lapaka"/>
	    	<child link="ramie_lapaka"/>
	    	<origin xyz="0 0 0" rpy="0 0 0"/>
	    	<axis xyz="0 1 0"/>
	    	<limit lower="-6.283" upper="6.283" effort="10" velocity="3"/>
  	</joint>

	<joint name="spajacz7" type="fixed">
	    	<parent link="ramie_lapaka"/>
	    	<child link="lapak"/>
	    	<origin xyz="0.0 0 0.0" rpy="0 0 0"/>
	</joint>

</robot>