<joint
    name="Y_joint"
    type="prismatic">
    <origin
      xyz="0.032304 -0.2237 -0.0070416"
      rpy="0 0 0" />
    <parent
      link="Z_Link" />
    <child
      link="Y_Link" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-2.2"
      upper="0.7"
      effort="30"
      velocity="1" />
    <calibration
      rising="0" />
    <dynamics
      damping="0"
      friction="0" />
    <safety_controller
      soft_upper="0.5"
      soft_lower="-2"
      k_position="15"
      k_velocity="10" />
  </joint>
</robot>