<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from rm_65.urdf.xacro               | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="rm_65">
  <link name="dummy">
  </link>
  <!-- ///////////////////////////////////////   bottom_joint   ////////////////////////////////////////// -->
  <joint name="bottom_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <parent link="base_link"/>
    <child link="bottom_link"/>
  </joint>
  <link name="bottom_link">
    <visual>
      <origin rpy="0 0 0" xyz=" 0 0 -0.02"/>
      <geometry>
        <box size="0.06 0.06 0.02"/>
      </geometry>
      <material name="Brown"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz=" 0 0 0"/>
      <geometry>
        <box size="0.06 0.06 0.02"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="500"/>
      <inertia ixx="41.68333333333333" ixy="0" ixz="0" iyy="83.33333333333333" iyz="0" izz="41.68333333333333"/>
    </inertial>
  </link>
  <link name="base_link">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.000433277303987328 -3.54664423471128E-05 0.0599427668933796"/>
      <mass value="0.841070778135659"/>
      <inertia ixx="0.0017261110801622" ixy="2.52746264980217E-06" ixz="-3.67690303614961E-05" iyy="0.00170987405835604" iyz="1.67996364994424E-06" izz="0.000904023422915791"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/base_link.STL"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/base_link.STL"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="base_link">
    <mu1 value="200000.0"/>
    <mu2 value="200000.0"/>
    <kp value="100000000.0"/>
    <kd value="1.0"/>
  </gazebo>
  <joint name="dummy_joint" type="fixed">
    <parent link="dummy"/>
    <child link="base_link"/>
  </joint>
  <link name="Link1">
    <inertial>
      <origin rpy="0 0 0" xyz="1.2226305431569E-08 0.0211079974844683 -0.0251854220842269"/>
      <mass value="0.593563443690403"/>
      <inertia ixx="0.00126614120341847" ixy="-1.294980943835E-08" ixz="-9.80120923066996E-09" iyy="0.00118168178300364" iyz="-0.00021121727444415" izz="0.00056135241627747"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link1.STL"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link1.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="joint1" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 0.2405"/>
    <parent link="base_link"/>
    <child link="Link1"/>
    <axis xyz="0 0 1"/>
    <limit effort="60" lower="-3.1" upper="3.1" velocity="3.14"/>
    <dynamics damping="50" friction="1"/>
  </joint>
  <link name="Link2">
    <inertial>
      <origin rpy="0 0 0" xyz="0.152256463426163 4.75383656106654E-07 -0.00620260383607792"/>
      <mass value="0.864175046869043"/>
      <inertia ixx="0.00089150298478414" ixy="-2.23268489334765E-08" ixz="0.00156246461035015" iyy="0.00733754343083901" iyz="6.28110889329165E-09" izz="0.00697869103915473"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link2.STL"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link2.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="joint2" type="revolute">
    <origin rpy="1.5708 -1.5708 0" xyz="0 0 0"/>
    <parent link="Link1"/>
    <child link="Link2"/>
    <axis xyz="0 0 1"/>
    <limit effort="60" lower="-2.268" upper="2.268" velocity="3.14"/>
    <dynamics damping="50" friction="1"/>
  </joint>
  <link name="Link3">
    <inertial>
      <origin rpy="0 0 0" xyz="5.05312670989961E-06 -0.0595925663694732 0.010569069212336"/>
      <mass value="0.289633681624654"/>
      <inertia ixx="0.00063737100450158" ixy="-7.05261293649751E-08" ixz="-3.86643272239426E-08" iyy="0.00015648388095025" iyz="-0.00014461035994916" izz="0.000614178164773085"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link3.STL"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link3.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="joint3" type="revolute">
    <origin rpy="0 0 1.5708" xyz="0.256 0 0"/>
    <parent link="Link2"/>
    <child link="Link3"/>
    <axis xyz="0 0 1"/>
    <limit effort="30" lower="-2.355" upper="2.355" velocity="3.92"/>
    <dynamics damping="50" friction="1"/>
  </joint>
  <link name="Link4">
    <inertial>
      <origin rpy="0 0 0" xyz="1.15516617405898E-06 -0.0180424468598241 -0.0215394748352687"/>
      <mass value="0.239419768320061"/>
      <inertia ixx="0.000285938919722783" ixy="3.07101359163101E-09" ixz="-2.21994118981953E-09" iyy="0.000262727540304212" iyz="4.4236583260078E-05" izz="0.000119888082791859"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link4.STL"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link4.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="joint4" type="revolute">
    <origin rpy="1.5708 0 0" xyz="0 -0.21 0"/>
    <parent link="Link3"/>
    <child link="Link4"/>
    <axis xyz="0 0 1"/>
    <limit effort="10" lower="-3.1" upper="3.1" velocity="3.92"/>
    <dynamics damping="50" friction="1"/>
  </joint>
  <link name="Link5">
    <inertial>
      <origin rpy="0 0 0" xyz="3.19794786262152E-06 -0.0593808368101458 0.00736804250989326"/>
      <mass value="0.218799761431678"/>
      <inertia ixx="0.000350540363914072" ixy="-3.41781619975602E-08" ixz="-1.77056457224373E-08" iyy="0.000104927867487581" iyz="-7.82431228461971E-05" izz="0.000334482418423629"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link5.STL"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link5.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="joint5" type="revolute">
    <origin rpy="-1.5708 0 0" xyz="0 0 0"/>
    <parent link="Link4"/>
    <child link="Link5"/>
    <axis xyz="0 0 1"/>
    <limit effort="10" lower="-2.233" upper="2.233" velocity="3.92"/>
    <dynamics damping="50" friction="1"/>
  </joint>
  <link name="Link6">
    <inertial>
      <origin rpy="0 0 0" xyz="0.000714234511756999 -0.000396718732824521 -0.0126723660946126"/>
      <mass value="0.0649018034311231"/>
      <inertia ixx="2.02766547502765E-05" ixy="-1.32505200276849E-06" ixz="-2.5845091522508E-08" iyy="1.87986725225022E-05" iyz="3.39471452125439E-09" izz="3.17885459163081E-05"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link6.STL"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ocs2_robotic_assets/resources/mobile_manipulator/realman/meshes/link6.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="joint6" type="revolute">
    <origin rpy="1.5708 0 0" xyz="0 -0.144 0"/>
    <parent link="Link5"/>
    <child link="Link6"/>
    <axis xyz="0 0 1"/>
    <limit effort="10" lower="-6.28" upper="6.28" velocity="3.92"/>
    <dynamics damping="50" friction="1"/>
  </joint>
  <transmission name="tran1">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="joint1">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor1">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="tran1">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="joint2">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor1">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="tran1">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="joint3">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor1">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="tran1">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="joint4">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor1">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="tran1">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="joint5">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor1">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="tran1">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="joint6">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor1">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <!-- ros_control plugin -->
  <gazebo>
    <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
      <robotNamespace>/arm</robotNamespace>
      <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
      <legacyModeNS>true</legacyModeNS>
    </plugin>
  </gazebo>
</robot>

