AL5D_arm.URDF

<robot name="AL5D_arm">
	<link name="base_link">
	</link>
	<link name="link1">
	</link>
	<link name="link2">
	</link>
	<link name="link3">
	</link>
        <link name="link4">
        </link>
	<joint name="joint0" type="continuous">
		<parent link="base_link"/>
		<child link="link1"/>
		<origin rpy="0 0 0" xyz="0 0 0.001"/>
		<axis xyz="0 0 1" />
	</joint>
	<joint name="joint1" type="revolute">
		<parent link="link1"/>
		<child link="link2"/>
		<origin rpy="0 0 0" xyz="0 0 .56"/>
		<axis xyz="1 0 0" />
		<limit lower="-1.3962634016" upper="1.3962634016" effort="3.1" velocity="7.0"></limit>	
	</joint>	
	<joint name="joint2" type="revolute">
		<parent link="link2"/>
		<child link="link3"/>
		<origin rpy="0 0 0" xyz="0 0 14.6"/>
		<axis xyz="1 0 0" />
		<limit lower="-1.3962634016" upper="1.3962634016" effort="3.1" velocity="7.0"></limit>	
	</joint>
        <joint name="joint3" type="revolute">
                <parent link="link3"/>
                <child link="link4"/>
                <origin rpy="0 0 0" xyz="0 0 15"/>
                <axis xyz="1 0 0" />
		<limit lower="-1.3962634016" upper="1.3962634016" effort="3.1" velocity="7.0"></limit>
        </joint>
</robot>