<?xml version="1.0"?>
<robot name="y_branch">
  <link name="base"/>
  <link name="trunk"/>
  <link name="left_ee"/>
  <link name="right_ee"/>
  <joint name="j_trunk" type="revolute">
    <origin xyz="1 0 0" rpy="0 0 0"/>
    <parent link="base"/>
    <child link="trunk"/>
    <axis xyz="0 0 1"/>
    <limit lower="-3.14159" upper="3.14159" effort="10" velocity="1"/>
  </joint>
  <joint name="j_left" type="revolute">
    <origin xyz="1 0 0" rpy="0 0 0"/>
    <parent link="trunk"/>
    <child link="left_ee"/>
    <axis xyz="0 0 1"/>
    <limit lower="-3.14159" upper="3.14159" effort="10" velocity="1"/>
  </joint>
  <joint name="j_right" type="revolute">
    <origin xyz="0 1 0" rpy="0 0 0"/>
    <parent link="trunk"/>
    <child link="right_ee"/>
    <axis xyz="0 0 1"/>
    <limit lower="-3.14159" upper="3.14159" effort="10" velocity="1"/>
  </joint>
</robot>
