<?xml version="1.0" ?>
<gazebo version="1.2">
  <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_base_joint" type="revolute">
      <parent>world</parent>
      <child>arm_base</child>
      <axis>
        <limit>
          <lower>0</lower>
          <upper>0</upper>
        </limit>
        <xyz>0 0 1</xyz>
      </axis>
    </joint>
    <joint name="arm_shoulder_pan_joint" type="revolute">
      <parent>world</parent>
      <child>arm_shoulder_pan</child>
      <axis>
        <xyz>0 0 1</xyz>
      </axis>
    </joint>
    <joint name="arm_elbow_pan_joint" type="revolute">
      <parent>arm_shoulder_pan</parent>
      <child>arm_elbow_pan</child>
      <axis>
        <xyz>0 0 1</xyz>
      </axis>
    </joint>
    <joint name="arm_wrist_lift_joint" type="prismatic">
      <parent>arm_elbow_pan</parent>
      <child>arm_wrist_lift</child>
      <axis>
        <limit>
          <lower>-0.8</lower>
          <upper>0.1</upper>
        </limit>
        <xyz>0 0 1</xyz>
      </axis>
    </joint>
    <joint name="arm_wrist_roll_joint" type="revolute">
      <parent>arm_wrist_lift</parent>
      <child>arm_wrist_roll</child>
      <axis>
        <limit>
          <lower>-2.999994</lower>
          <upper>2.999994</upper>
        </limit>
        <xyz>0 0 1</xyz>
      </axis>
    </joint>
  </model>
</gazebo>
