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

    <group name="end_effector">
        <joint name="j2s6s200_joint_1" />
        <joint name="j2s6s200_joint_2" />
        <joint name="j2s6s200_joint_3" />
        <joint name="j2s6s200_joint_4" />
        <joint name="j2s6s200_joint_5" />
        <joint name="j2s6s200_joint_5" />
        <chain base_link="base" tip_link="j2s6s200_end_effector" />
    </group>

    <end_effector name="end_effector" parent_link="j2s6s200_end_effector" group="end_effector" />

    <group_state name="arm_up">
        <joint name="j2s6s200_joint_1" value="1.5707" />
        <joint name="j2s6s200_joint_2" value="2.618" />
        <joint name="j2s6s200_joint_3" value="-1.5707" />
        <joint name="j2s6s200_joint_4" value="3.1415" />
        <joint name="j2s6s200_joint_5" value="2.618" />
        <joint name="j2s6s200_joint_6" value="0." />
    </group_state>

</robot>
