<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from robot_arm.urdf.xacro           | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="six_axis_arm">
  <material name="grey">
    <color rgba="0.2 0.2 0.2 1.0"/>
  </material>
  <material name="orange">
    <color rgba="1.0 0.42 0.04 1.0"/>
  </material>
  <material name="blue">
    <color rgba="0.05 0.35 0.65 1.0"/>
  </material>
  <!-- <link name="world"/>

  <joint name="world_to_base" type="fixed">
    <parent link="world"/>
    <child link="base_link"/>
    <origin xyz="0 0 0" rpy="0 0 0"/>
  </joint> -->
  <link name="base_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0.05"/>
      <geometry>
        <cylinder length="0.1" radius="0.15"/>
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.05"/>
      <geometry>
        <cylinder length="0.1" radius="0.15"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0.05"/>
      <mass value="5.0"/>
      <inertia ixx="0.032291666666666656" ixy="0.0" ixz="0.0" iyy="0.032291666666666656" iyz="0.0" izz="0.056249999999999994"/>
    </inertial>
  </link>
  <joint name="joint_1" type="revolute">
    <parent link="base_link"/>
    <child link="link_1"/>
    <origin rpy="0 0 0" xyz="0 0 0.1"/>
    <axis xyz="0 0 1"/>
    <limit effort="300.0" lower="-3.141592653589793" upper="3.141592653589793" velocity="2.5"/>
    <dynamics damping="1.0" friction="1.0"/>
  </joint>
  <link name="link_1">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0.24"/>
      <geometry>
        <cylinder length="0.48" radius="0.08"/>
      </geometry>
      <material name="orange"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.24"/>
      <geometry>
        <cylinder length="0.48" radius="0.08"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0.24"/>
      <mass value="4.0"/>
      <inertia ixx="0.0832" ixy="0.0" ixz="0.0" iyy="0.0832" iyz="0.0" izz="0.0128"/>
    </inertial>
  </link>
  <joint name="joint_2" type="revolute">
    <parent link="link_1"/>
    <child link="link_2"/>
    <origin rpy="0 0 0" xyz="0 0 0.48"/>
    <axis xyz="0 1 0"/>
    <limit effort="300.0" lower="-2.0" upper="2.0" velocity="2.0"/>
    <dynamics damping="1.0" friction="1.0"/>
  </joint>
  <link name="link_2">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0.32000000000000006"/>
      <geometry>
        <cylinder length="0.6400000000000001" radius="0.07"/>
      </geometry>
      <material name="blue"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.32000000000000006"/>
      <geometry>
        <cylinder length="0.6400000000000001" radius="0.07"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0.32000000000000006"/>
      <mass value="3.5"/>
      <inertia ixx="0.1237541666666667" ixy="0.0" ixz="0.0" iyy="0.1237541666666667" iyz="0.0" izz="0.008575000000000001"/>
    </inertial>
  </link>
  <joint name="joint_3" type="revolute">
    <parent link="link_2"/>
    <child link="link_3"/>
    <origin rpy="0 0 0" xyz="0 0 0.6400000000000001"/>
    <axis xyz="0 1 0"/>
    <limit effort="200.0" lower="-2.5" upper="2.5" velocity="2.5"/>
    <dynamics damping="1.0" friction="1.0"/>
  </joint>
  <link name="link_3">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0.24"/>
      <geometry>
        <cylinder length="0.48" radius="0.06"/>
      </geometry>
      <material name="orange"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.24"/>
      <geometry>
        <cylinder length="0.48" radius="0.06"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0.24"/>
      <mass value="2.5"/>
      <inertia ixx="0.050249999999999996" ixy="0.0" ixz="0.0" iyy="0.050249999999999996" iyz="0.0" izz="0.0045"/>
    </inertial>
  </link>
  <joint name="joint_4" type="revolute">
    <parent link="link_3"/>
    <child link="link_4"/>
    <origin rpy="0 0 0" xyz="0 0 0.48"/>
    <axis xyz="0 0 1"/>
    <limit effort="100.0" lower="-3.141592653589793" upper="3.141592653589793" velocity="3.0"/>
    <dynamics damping="0.5" friction="0.5"/>
  </joint>
  <link name="link_4">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0.16000000000000003"/>
      <geometry>
        <cylinder length="0.32000000000000006" radius="0.05"/>
      </geometry>
      <material name="blue"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.16000000000000003"/>
      <geometry>
        <cylinder length="0.32000000000000006" radius="0.05"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0.16000000000000003"/>
      <mass value="1.8"/>
      <inertia ixx="0.016485000000000007" ixy="0.0" ixz="0.0" iyy="0.016485000000000007" iyz="0.0" izz="0.0022500000000000003"/>
    </inertial>
  </link>
  <joint name="joint_5" type="revolute">
    <parent link="link_4"/>
    <child link="link_5"/>
    <origin rpy="0 0 0" xyz="0 0 0.32000000000000006"/>
    <axis xyz="0 1 0"/>
    <limit effort="100.0" lower="-2.0" upper="2.0" velocity="3.0"/>
    <dynamics damping="0.5" friction="0.5"/>
  </joint>
  <link name="link_5">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0.08000000000000002"/>
      <geometry>
        <cylinder length="0.16000000000000003" radius="0.04"/>
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.08000000000000002"/>
      <geometry>
        <cylinder length="0.16000000000000003" radius="0.04"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0.08000000000000002"/>
      <mass value="1.0"/>
      <inertia ixx="0.002533333333333334" ixy="0.0" ixz="0.0" iyy="0.002533333333333334" iyz="0.0" izz="0.0008"/>
    </inertial>
  </link>
  <joint name="joint_6" type="revolute">
    <parent link="link_5"/>
    <child link="link_6"/>
    <origin rpy="0 0 0" xyz="0 0 0.16000000000000003"/>
    <axis xyz="0 0 1"/>
    <limit effort="50.0" lower="-3.141592653589793" upper="3.141592653589793" velocity="4.0"/>
    <dynamics damping="0.2" friction="0.2"/>
  </joint>
  <link name="link_6">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0.032"/>
      <geometry>
        <cylinder length="0.064" radius="0.03"/>
      </geometry>
      <material name="orange"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.032"/>
      <geometry>
        <cylinder length="0.064" radius="0.03"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0.032"/>
      <mass value="0.5"/>
      <inertia ixx="0.00028316666666666665" ixy="0.0" ixz="0.0" iyy="0.00028316666666666665" iyz="0.0" izz="0.000225"/>
    </inertial>
  </link>
  <link name="tool_link"/>
  <joint name="tool_joint" type="fixed">
    <parent link="link_6"/>
    <child link="tool_link"/>
    <origin rpy="0 0 0" xyz="0 0 0.064"/>
  </joint>
  <ros2_control name="GazeboSimSystem" type="system">
    <hardware>
      <plugin>gz_ros2_control/GazeboSimSystem</plugin>
    </hardware>
    <joint name="joint_1">
      <command_interface name="position"/>
      <state_interface name="position">
        <param name="initial_value">0.0</param>
      </state_interface>
      <state_interface name="velocity"/>
    </joint>
    <joint name="joint_2">
      <command_interface name="position"/>
      <state_interface name="position">
        <param name="initial_value">0.0</param>
      </state_interface>
      <state_interface name="velocity"/>
    </joint>
    <joint name="joint_3">
      <command_interface name="position"/>
      <state_interface name="position">
        <param name="initial_value">0.0</param>
      </state_interface>
      <state_interface name="velocity"/>
    </joint>
    <joint name="joint_4">
      <command_interface name="position"/>
      <state_interface name="position">
        <param name="initial_value">0.0</param>
      </state_interface>
      <state_interface name="velocity"/>
    </joint>
    <joint name="joint_5">
      <command_interface name="position"/>
      <state_interface name="position">
        <param name="initial_value">0.0</param>
      </state_interface>
      <state_interface name="velocity"/>
    </joint>
    <joint name="joint_6">
      <command_interface name="position"/>
      <state_interface name="position">
        <param name="initial_value">0.0</param>
      </state_interface>
      <state_interface name="velocity"/>
    </joint>
  </ros2_control>
  <gazebo>
    <plugin filename="libgz_ros2_control-system.so" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
      <parameters>/home/marcin/arm_ws/install/robotarm_description/share/robotarm_description/config/ros2_controllers.yaml</parameters>
    </plugin>
  </gazebo>
</robot>
