<?xml version="1.0"?>
<robot name="D:/OneDrive - Universidad EAFIT/Seafile/Cursos/Robótica/2026-1/rob261/static/robots/Epson_SSR-H803N/urdf/Epson_SSR-H803N.urdf" xmlns:xacro="http://ros.org/wiki/xacro">
  <link name="base_link">
  </link>
  <joint name="joint_1" type="revolute">
    <parent link="base_link"/>
    <child link="link_1"/>
    <axis xyz="0 0 1"/>
    <limit effort="100" velocity="2"/>
    <origin xyz="0 0 0.5925" rpy="0 0 1.58"/>
  </joint>
  <link name="link_1">
  </link>
  <joint name="joint_2" type="revolute">
    <parent link="link_1"/>
    <child link="link_2"/>
    <axis xyz="0 0 1"/>
    <limit effort="10" lower="-2.574" upper="2.574" velocity="2"/>
    <origin xyz="0.4025 0 0" rpy="0 0 0"/>
  </joint>
  <link name="link_2">
  </link>
  <joint name="joint_3" type="prismatic">
    <parent link="link_2"/>
    <child link="link_3"/>
    <axis xyz="0 0 1"/>
    <origin xyz="0.37763 0 0.170231" rpy="0 0 0"/>
    <limit effort="10" velocity="10"/>
  </joint>
  <link name="link_3">
  </link>
  <joint name="joint_4" type="revolute">
    <parent link="link_3"/>
    <child link="link_4"/>
    <axis xyz="0 0 1"/>
    <limit effort="10" velocity="10"/>
    <origin xyz="0 0 0" rpy="0 0 0"/>
  </joint>
  <link name="link_4">
  </link>
  <link name="pen">
  </link>
  <joint name="link_4_pen_joint" type="fixed">
    <parent link="link_4"/>
    <child link="pen"/>
    <origin xyz="0 0 -0.409" rpy="0 0 0"/>
  </joint>
</robot>
