<?xml version='1.0'?>
<sdf version='1.5'>
  <world name='default'>
    <light name='sun' type='directional'>
      <cast_shadows>1</cast_shadows>
      <pose>0 0 10 0 -0 0</pose>
      <diffuse>0.8 0.8 0.8 1</diffuse>
      <specular>0.2 0.2 0.2 1</specular>
      <attenuation>
        <range>1000</range>
        <constant>0.9</constant>
        <linear>0.01</linear>
        <quadratic>0.001</quadratic>
      </attenuation>
      <direction>-0.5 0.1 -0.9</direction>
    </light>
    <model name='ground_plane'>
      <static>1</static>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>100</mu>
                <mu2>50</mu2>
              </ode>
            </friction>
            <contact>
              <ode/>
            </contact>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='visual'>
          <cast_shadows>0</cast_shadows>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
          </material>
        </visual>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
    </model>
    <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</mass>
        </inertial>
        <collision name='arm_base_geom'>
          <pose>0 0 0.05 0 -0 0</pose>
          <geometry>
            <box>
              <size>1 1 0.1</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='arm_base_geom_visual'>
          <pose>0 0 0.05 0 -0 0</pose>
          <geometry>
            <box>
              <size>1 1 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</length>
            </cylinder>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <ode/>
            </friction>
          </surface>
        </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</length>
            </cylinder>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Red</name>
            </script>
          </material>
        </visual>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </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>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <ode/>
            </friction>
          </surface>
        </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 0.05 0.1</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='arm_shoulder_pan_geom_arm_shoulder_visual'>
          <pose>0.55 0 0.05 0 -0 0</pose>
          <geometry>
            <box>
              <size>1 0.05 0.1</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Yellow</name>
            </script>
          </material>
        </visual>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </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>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <ode/>
            </friction>
          </surface>
        </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>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <ode/>
            </friction>
          </surface>
        </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>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <ode/>
            </friction>
          </surface>
        </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>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </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</length>
            </cylinder>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <ode/>
            </friction>
          </surface>
        </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</length>
            </cylinder>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Yellow</name>
            </script>
          </material>
        </visual>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <link name='arm_wrist_roll'>
        <pose>1.6 0 1 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>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <ode/>
            </friction>
          </surface>
        </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>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <joint name='arm_shoulder_pan_joint' type='revolute'>
        <parent>arm_base</parent>
        <child>arm_shoulder_pan</child>
        <axis>
          <dynamics>
            <damping>1</damping>
            <friction>0</friction>
          </dynamics>
          <xyz>0 0 1</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
          </limit>
        </axis>
      </joint>
      <joint name='arm_elbow_pan_joint' type='revolute'>
        <parent>arm_shoulder_pan</parent>
        <child>arm_elbow_pan</child>
        <axis>
          <dynamics>
            <damping>1</damping>
            <friction>0</friction>
          </dynamics>
          <xyz>0 0 1</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
          </limit>
        </axis>
      </joint>
      <joint name='arm_wrist_lift_joint' type='prismatic'>
        <parent>arm_elbow_pan</parent>
        <child>arm_wrist_lift</child>
        <axis>
          <dynamics>
            <damping>1</damping>
            <friction>0</friction>
          </dynamics>
          <limit>
            <lower>-0.8</lower>
            <upper>0.1</upper>
          </limit>
          <xyz>0 0 1</xyz>
          <use_parent_model_frame>1</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</damping>
            <friction>0</friction>
          </dynamics>
          <limit>
            <lower>-2.99999</lower>
            <upper>2.99999</upper>
          </limit>
          <xyz>0 0 1</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <static>0</static>
    </model>
    <physics type='ode'>
      <max_step_size>0.001</max_step_size>
      <real_time_factor>1</real_time_factor>
      <real_time_update_rate>1000</real_time_update_rate>
      <gravity>0 0 -9.8</gravity>
    </physics>
  </world>
</sdf>
