<?xml version="1.0" ?>
<sdf version="1.6">

	<model name="Corn">

		<static>true</static>

		<!-- ========================= -->
		<!-- STEM -->
		<!-- ========================= -->

		<link name="corn_stem">

			<visual name="stem_visual">			  
				<geometry>
					<mesh>
						<uri>meshes/corn_stem.glb</uri>
					</mesh>
				</geometry>
			</visual>

			<collision name="stem_collision">
				<pose>0 0 1.0 0 0 0</pose>
				<geometry>
					<cylinder>
						<radius>0.025</radius>
						<length>1.95</length>
					</cylinder>
				</geometry>
			</collision>

			<inertial>
				<mass>1.0</mass>
				<inertia>
					<ixx>0.35</ixx>
					<iyy>0.001</iyy>
					<izz>0.35</izz>
					<ixy>0</ixy>
					<ixz>0</ixz>
					<iyz>0</iyz>
				</inertia>
			</inertial>

		</link>

		<!-- ========================= -->
		<!-- COB 1 -->
		<!-- ========================= -->

		<link name="corn_cob1">

			<pose>0.00 0.0 0.00 0.0 0 0</pose>

			<visual name="visual">
				<geometry>
					<mesh>
						<uri>meshes/corn_cob1.glb</uri>
					</mesh>
				</geometry>
			</visual>

			<collision name="collision">
			  <pose>0 0.2 1.05 -0.80 0.0 0.0</pose>
        <geometry>
          <cylinder>
            <radius>0.03</radius>
            <length>0.4</length>
          </cylinder>
        </geometry>
			</collision>

			<inertial>
				<mass>0.25</mass>
				<inertia>
					<ixx>0.001</ixx>
					<iyy>0.001</iyy>
					<izz>0.001</izz>
					<ixy>0</ixy>
					<ixz>0</ixz>
					<iyz>0</iyz>
				</inertia>
			</inertial>

		</link>

		<!-- ========================= -->
		<!-- COB 2 -->
		<!-- ========================= -->

		<link name="corn_cob2">

			<pose>0.00 0.0 0.00 0.0 0 0</pose>

			<visual name="visual">
				<geometry>
					<mesh>
						<uri>meshes/corn_cob2.glb</uri>
					</mesh>
				</geometry>
			</visual>

			<collision name="collision">
			  <pose>-0.13 -0.18 1.28 0.61 -0.75 -0.41</pose>
				<geometry>
          <cylinder>
            <radius>0.03</radius>
            <length>0.4</length>
          </cylinder>-1.535890
        </geometry>
			</collision>

			<inertial>
				<mass>0.25</mass>
				<inertia>
					<ixx>0.001</ixx>
					<iyy>0.001</iyy>
					<izz>0.001</izz>
					<ixy>0</ixy>
					<ixz>0</ixz>
					<iyz>0</iyz>
				</inertia>
			</inertial>

		</link>

		<!-- ========================= -->
		<!-- COB 3 -->
		<!-- ========================= -->

		<link name="corn_cob3">

			<pose>0.00 0.0 0.00 0.0 0 0</pose>

			<visual name="visual">
				<geometry>
					<mesh>
						<uri>meshes/corn_cob3.glb</uri>
					</mesh>
				</geometry>
			</visual>

			<collision name="collision">
			  <pose>00.18 -0.04 1.65 0.31 -2.37 -0.16</pose>
				<geometry>
          <cylinder>
            <radius>0.03</radius>
            <length>0.4</length>
          </cylinder>
        </geometry>
			</collision>

			<inertial>
				<mass>0.25</mass>
				<inertia>
					<ixx>0.001</ixx>
					<iyy>0.001</iyy>
					<izz>0.001</izz>
					<ixy>0</ixy>
					<ixz>0</ixz>
					<iyz>0</iyz>
				</inertia>
			</inertial>

		</link>

		<!-- ========================= -->
		<!-- COB 4 -->
		<!-- ========================= -->

		<link name="corn_cob4">

			<pose>0.00 0.0 0.00 0.0 0 0</pose>

			<visual name="visual">
				<geometry>
					<mesh>
						<uri>meshes/corn_cob4.glb</uri>
					</mesh>
				</geometry>
			</visual>

			<collision name="collision">
			  <pose>0 0 2.17 0 0 0.0</pose>
				<geometry>
          <cylinder>
            <radius>0.03</radius>
            <length>0.4</length>
          </cylinder>
        </geometry>
			</collision>

			<inertial>
				<mass>0.25</mass>
				<inertia>
					<ixx>0.001</ixx>
					<iyy>0.001</iyy>
					<izz>0.001</izz>
					<ixy>0</ixy>
					<ixz>0</ixz>
					<iyz>0</iyz>
				</inertia>
			</inertial>

		</link><pose>0 0 1.0 0 0 0</pose>

		<!-- ========================= -->
		<!-- LEAF (VISUAL ONLY) -->
		<!-- ========================= -->

		<link name="corn_leaf">

			<pose>0.00 0.0 0.00 0.0 0 0</pose>

			<visual name="visual">
			  <geometry>
					<mesh>
						<uri>meshes/corn_leaf.glb</uri>
					</mesh>
				</geometry>
			</visual>

			<inertial>
				<mass>0.01</mass>
				<inertia>
					<ixx>0.00001</ixx>
					<iyy>0.00001</iyy>
					<izz>0.00001</izz>
					<ixy>0</ixy>
					<ixz>0</ixz>
					<iyz>0</iyz>
				</inertia>
			</inertial>

		</link>

		<!-- ========================= -->
		<!-- JOINTS -->
		<!-- ========================= -->

		<joint name="cob1_joint" type="fixed">
			<parent>corn_stem</parent>
			<child>corn_cob1</child>
		</joint>

		<joint name="cob2_joint" type="fixed">
			<parent>corn_stem</parent>
			<child>corn_cob2</child>
		</joint>

		<joint name="cob3_joint" type="fixed">
			<parent>corn_stem</parent>
			<child>corn_cob3</child>
		</joint>

		<joint name="cob4_joint" type="fixed">
			<parent>corn_stem</parent>
			<child>corn_cob4</child>
		</joint>

		<joint name="leaf_joint" type="fixed">
			<parent>corn_stem</parent>
			<child>corn_leaf</child>
		</joint>

	</model>

</sdf>
