<?xml version="1.0" ?>
<sdf version="1.5">
<model name="simple_arm">
<link name="arm_base">
<inertial>
<pose>0 0 0.00099 0 0 0</pose>
<inertia>
<ixx>1.11</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>100.11</iyy>
<iyz>0</iyz>
<izz>1.01</izz>
</inertia>
<mass>101.0</mass>
</inertial>
<collision name="arm_base_geom">
<pose>0 0 0.05 0 0 0</pose>
<geometry>
<box>
<size>1.0 1.0 0.1</size>
</box>
</geometry>
</collision>
<visual name="arm_base_geom_visual">
<pose>0 0 0.05 0 0 0</pose>
<geometry>
<box>
<size>1.0 1.0 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Blue</name>
</script>
</material>
</visual>
<collision name="arm_base_geom_arm_trunk">
<pose>0 0 0.6 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.05</radius>
<length>1.0</length>
</cylinder>
</geometry>
</collision>
<visual name="arm_base_geom_arm_trunk_visual">
<pose>0 0 0.6 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.05</radius>
<length>1.0</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Red</name>
</script>
</material>
</visual>
</link>
<link name="arm_shoulder_pan">
<pose>0 0 1.1 0 0 0</pose>
<inertial>
<pose>0.045455 0 0 0 0 0</pose>
<inertia>
<ixx>0.011</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0225</iyy>
<iyz>0</iyz>
<izz>0.0135</izz>
</inertia>
<mass>1.1</mass>
</inertial>
<collision name="arm_shoulder_pan_geom">
<pose>0 0 0.05 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.05</radius>
<length>0.1</length>
</cylinder>
</geometry>
</collision>
<visual name="arm_shoulder_pan_geom_visual">
<pose>0 0 0.05 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.05</radius>
<length>0.1</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Yellow</name>
</script>
</material>
</visual>
<collision name="arm_shoulder_pan_geom_arm_shoulder">
<pose>0.55 0 0.05 0 0 0</pose>
<geometry>
<box>
<size>1.0 0.05 0.1</size>
</box>
</geometry>
</collision>
<visual name="arm_shoulder_pan_geom_arm_shoulder_visual">
<pose>0.55 0 0.05 0 0 0</pose>
<geometry>
<box>
<size>1.0 0.05 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Yellow</name>
</script>
</material>
</visual>
</link>
<link name="arm_elbow_pan">
<pose>1.05 0 1.1 0 0 0</pose>
<inertial>
<pose>0.0875 0 0.083333 0 0 0</pose>
<inertia>
<ixx>0.031</ixx>
<ixy>0</ixy>
<ixz>0.005</ixz>
<iyy>0.07275</iyy>
<iyz>0</iyz>
<izz>0.04475</izz>
</inertia>
<mass>1.2</mass>
</inertial>
<collision name="arm_elbow_pan_geom">
<pose>0 0 0.1 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.05</radius>
<length>0.2</length>
</cylinder>
</geometry>
</collision>
<visual name="arm_elbow_pan_geom_visual">
<pose>0 0 0.1 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.05</radius>
<length>0.2</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Red</name>
</script>
</material>
</visual>
<collision name="arm_elbow_pan_geom_arm_elbow">
<pose>0.3 0 0.15 0 0 0</pose>
<geometry>
<box>
<size>0.5 0.03 0.1</size>
</box>
</geometry>
</collision>
<visual name="arm_elbow_pan_geom_arm_elbow_visual">
<pose>0.3 0 0.15 0 0 0</pose>
<geometry>
<box>
<size>0.5 0.03 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Yellow</name>
</script>
</material>
</visual>
<collision name="arm_elbow_pan_geom_arm_wrist">
<pose>0.55 0 0.15 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.05</radius>
<length>0.3</length>
</cylinder>
</geometry>
</collision>
<visual name="arm_elbow_pan_geom_arm_wrist_visual">
<pose>0.55 0 0.15 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.05</radius>
<length>0.3</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Red</name>
</script>
</material>
</visual>
</link>
<link name="arm_wrist_lift">
<pose>1.6 0 1.05 0 0 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
<inertia>
<ixx>0.01</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.01</iyy>
<iyz>0</iyz>
<izz>0.001</izz>
</inertia>
<mass>0.1</mass>
</inertial>
<collision name="arm_wrist_lift_geom">
<pose>0 0 0.5 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.03</radius>
<length>1.0</length>
</cylinder>
</geometry>
</collision>
<visual name="arm_wrist_lift_geom_visual">
<pose>0 0 0.5 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.03</radius>
<length>1.0</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Yellow</name>
</script>
</material>
</visual>
</link>
<link name="arm_wrist_roll">
<pose>1.6 0 1.0 0 0 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
<inertia>
<ixx>0.01</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.01</iyy>
<iyz>0</iyz>
<izz>0.001</izz>
</inertia>
<mass>0.1</mass>
</inertial>
<collision name="arm_wrist_roll_geom">
<pose>0 0 0.025 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.05</radius>
<length>0.05</length>
</cylinder>
</geometry>
</collision>
<visual name="arm_wrist_roll_geom_visual">
<pose>0 0 0.025 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.05</radius>
<length>0.05</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Red</name>
</script>
</material>
</visual>
</link>
<joint name="arm_shoulder_pan_joint" type="revolute">
<parent>arm_base</parent>
<child>arm_shoulder_pan</child>
<axis>
<dynamics>
<damping>1.000000</damping>
<friction>0.000000</friction>
</dynamics>
<xyz>0 0 1</xyz>
<use_parent_model_frame>true</use_parent_model_frame>
</axis>
</joint>
<joint name="arm_elbow_pan_joint" type="revolute">
<parent>arm_shoulder_pan</parent>
<child>arm_elbow_pan</child>
<axis>
<dynamics>
<damping>1.000000</damping>
<friction>0.000000</friction>
</dynamics>
<xyz>0 0 1</xyz>
<use_parent_model_frame>true</use_parent_model_frame>
</axis>
</joint>
<joint name="arm_wrist_lift_joint" type="prismatic">
<parent>arm_elbow_pan</parent>
<child>arm_wrist_lift</child>
<axis>
<dynamics>
<damping>1.000000</damping>
<friction>0.000000</friction>
</dynamics>
<limit>
<lower>-0.8</lower>
<upper>0.1</upper>
</limit>
<xyz>0 0 1</xyz>
<use_parent_model_frame>true</use_parent_model_frame>
</axis>
</joint>
<joint name="arm_wrist_roll_joint" type="revolute">
<parent>arm_wrist_lift</parent>
<child>arm_wrist_roll</child>
<axis>
<dynamics>
<damping>1.000000</damping>
<friction>0.000000</friction>
</dynamics>
<limit>
<lower>-2.999994</lower>
<upper>2.999994</upper>
</limit>
<xyz>0 0 1</xyz>
<use_parent_model_frame>true</use_parent_model_frame>
</axis>
</joint>
</model>
</sdf>