Schunk LWA-3 Gazebo model

<?xml version="1.0"?>
<sdf version='1.3'>
    <model name="lwa">
        <!-- <static>true</static> -->
        <pose>0 0 0.0001 0 0 0</pose>
        <joint name="base_joint" type="revolute">
            <pose>0 0 0 0 0 0</pose>
            <parent>world</parent>
            <child>base_link</child>
            <axis>
                <xyz>0 0 1</xyz>
                <limit>
                    <upper>0</upper>
                    <lower>0</lower>
                </limit>
            </axis>
        </joint>
        <link name="base_link">
            <pose>0 0 0 0 0 0</pose>
            <collision name="base_link_collision">
                <pose>0 0 .25 0 0 0</pose>
                <geometry>
                    <cylinder>
                        <radius>.1</radius>
                        <length>.5</length>
                    </cylinder>
                </geometry>
            </collision>
            <visual name="base_link_visual">
                <pose>0 0 .25 0 0 0</pose>
                <geometry>
                    <cylinder>
                        <radius>.1</radius>
                        <length>.5</length>
                    </cylinder>
                </geometry>
                <material>
                    <script>
                        <uri>file://media/materials/scripts/gazebo.material</uri>
                        <name>Gazebo/Grey</name>
                    </script>
                </material>
            </visual>
        </link>
        <!-- Vertical Link -->
        <joint name="arm_0_joint" type="revolute">
            <pose>0 0 0 0 0 0</pose>
            <parent>base_link</parent>
            <child>arm_0_link</child>
            <axis>
                <xyz>0 0 1</xyz>
                <limit>
                    <upper>0</upper>
                    <lower>0</lower>
                </limit>
            </axis>
        </joint>
        <link name="arm_0_link">
            <pose>0 0 .5 3.1415926 0 0</pose>
            <inertial>
                <mass>1.0</mass>
                <inertia>
                    <ixx>.01</ixx><ixy>0</ixy><ixz>0</ixz>
                    <iyy>.01</iyy><iyz>0</iyz><izz>.01</izz>
                </inertia>
            </inertial>
            <collision name="arm_0_link_collision">
                <pose>0 0 .005 0 0 0</pose>
                <geometry>
                    <box>
                        <size>.01 .01 .01</size>
                    </box>
                </geometry>
            </collision>
            <visual name="arm_0_visual">
                <pose>0 0 .004 0 0 0</pose>
                <geometry>
                    <cylinder>
                        <radius>.045</radius>
                        <length>.08</length>
                    </cylinder>
                </geometry>
                <material>
                    <script>
                        <uri>file://media/materials/scripts/gazebo.material</uri>
                        <name>Gazebo/Green</name>
                    </script>
                </material>
            </visual>
        </link>
        <!-- Vertical Link -->
        <joint name="arm_1_joint" type="revolute">
            <pose>0 0 0 0 0 0</pose>
            <parent>arm_0_link</parent>
            <child>arm_1_link</child>
            <axis>
                <xyz>0 0 1</xyz>
                <limit>
                    <effort>370</effort>
                    <upper>6.2831853</upper>
                    <lower>-6.2831853</lower>
                    <velocity>2.0</velocity>
                </limit>
                <dynamics>
                    <damping>10</damping>
                </dynamics>
            </axis>
        </joint>
        <link name="arm_1_link">
            <pose>0 0 .75 3.1415926 0 3.1415926</pose>
            <inertial>
                <mass>2.0</mass>
                <inertia>
                    <ixx>.01</ixx><iyy>.01</iyy><izz>.01</izz>
                    <ixy>0</ixy><ixz>0</ixz><iyz>0</iyz>
                </inertia>
            </inertial>
            <collision name="arm_1_link_collision">
                <geometry>
                    <mesh>
                        <uri>model://schunk_lwa/meshes/lwa1.stl</uri>
                    </mesh>
                </geometry>
            </collision>
            <visual name="arm_1_link_visual">
                <geometry>
                    <mesh>
                        <uri>model://schunk_lwa/meshes/lwa1.stl</uri>
                    </mesh>
                </geometry>
                <material>
                    <script>
                        <uri>file://media/materials/scripts/gazebo.material</uri>
                        <name>Gazebo/Blue</name>
                    </script>
                </material>
            </visual>
        </link>
        <!-- Horizontal Link -->
        <joint name="arm_2_joint" type="revolute">
            <pose>0 0 0 0 0 0</pose>
            <parent>arm_1_link</parent>
            <child>arm_2_link</child>
            <axis>
                <xyz>0 1 0</xyz>
                <limit>
                    <effort>370</effort>
                    <upper>2.0943951</upper>
                    <lower>-2.0943951</lower>
                    <velocity>2.0</velocity>
                </limit>
                <dynamics>
                    <damping>10</damping>
                </dynamics>
            </axis>
        </joint>
        <link name="arm_2_link">
            <pose>0 0 .75 -1.5708 0 3.1415926</pose>
            <inertial>
                <mass>2.0</mass>
                <inertia>
                    <ixx>.03</ixx><iyy>.03</iyy><izz>.03</izz>
                    <ixy>0</ixy><ixz>0</ixz><iyz>0</iyz>
                </inertia>
            </inertial>
            <collision name="arm_2_link_collision">
                <geometry>
                    <mesh>
                        <uri>model://schunk_lwa/meshes/lwa2.stl</uri>
                    </mesh>
                </geometry>
            </collision>
            <visual name="arm_2_link_visual">
                <geometry>
                    <mesh>
                        <uri>model://schunk_lwa/meshes/lwa2.stl</uri>
                    </mesh>
                </geometry>
                <material>
                    <script>
                        <uri>file://media/materials/scripts/gazebo.material</uri>
                        <name>Gazebo/Red</name>
                    </script>
                </material>
            </visual>
        </link>
        <!-- Vertical Link -->
        <joint name="arm_3_joint" type="revolute">
            <pose>0 0 0 0 0 0</pose>
            <parent>arm_2_link</parent>
            <child>arm_3_link</child>
            <axis>
                <xyz>0 0 1</xyz>
                <limit>
                    <effort>176</effort>
                    <upper>6.2831853</upper>
                    <lower>-6.2831853</lower>
                    <velocity>2.0</velocity>
                </limit>
                <dynamics>
                    <damping>5</damping>
                </dynamics>
            </axis>
        </joint>
        <link name="arm_3_link">
            <pose>0 0 1.158 3.1415926 0 3.1415926</pose>
            <inertial>
                <mass>2.0</mass>
                <inertia>
                    <ixx>.03</ixx><iyy>.03</iyy><izz>.03</izz>
                    <ixy>0</ixy><ixz>0</ixz><iyz>0</iyz>
                </inertia>
            </inertial>
            <collision name="arm_3_link_collision">
                <geometry>
                    <mesh>
                        <uri>model://schunk_lwa/meshes/lwa3.stl</uri>
                    </mesh>
                </geometry>
            </collision>
            <visual name="arm_3_link_visual">
                <geometry>
                    <mesh>
                        <uri>model://schunk_lwa/meshes/lwa3.stl</uri>
                    </mesh>
                </geometry>
                <material>
                    <script>
                        <uri>file://media/materials/scripts/gazebo.material</uri>
                        <name>Gazebo/Blue</name>
                    </script>
                </material>
            </visual>
        </link>
        <!-- Horizontal Link -->
        <joint name="arm_4_joint" type="revolute">
            <pose>0 0 0 0 0 0</pose>
            <parent>arm_3_link</parent>
            <child>arm_4_link</child>
            <axis>
                <xyz>0 1 0</xyz>
                <limit>
                    <effort>176</effort>
                    <upper>2.0943951</upper>
                    <lower>-2.0943951</lower>
                    <velocity>2.0</velocity>
                </limit>
                <dynamics>
                    <damping>5</damping>
                </dynamics>
            </axis>
        </joint>
        <link name="arm_4_link">
            <pose>0 0 1.158 -1.5708 0 3.1415926</pose>
            <inertial>
                <mass>2.0</mass>
                <inertia>
                    <ixx>.03</ixx><iyy>.03</iyy><izz>.03</izz>
                    <ixy>0</ixy><ixz>0</ixz><iyz>0</iyz>
                </inertia>
            </inertial>
            <collision name="arm_4_link_collision">
                <geometry>
                    <mesh>
                        <uri>model://schunk_lwa/meshes/lwa4.stl</uri>
                    </mesh>
                </geometry>
            </collision>
            <visual name="arm_4_link_visual">
                <geometry>
                    <mesh>
                        <uri>model://schunk_lwa/meshes/lwa4.stl</uri>
                    </mesh>
                </geometry>
                <material>
                    <script>
                        <uri>file://media/materials/scripts/gazebo.material</uri>
                        <name>Gazebo/Red</name>
                    </script>
                </material>
            </visual>
        </link>
        <!-- Vertical Link -->
        <joint name="arm_5_joint" type="revolute">
            <pose>0 0 0 0 0 0</pose>
            <parent>arm_4_link</parent>
            <child>arm_5_link</child>
            <axis>
                <xyz>0 0 1</xyz>
                <limit>
                    <effort>41.6</effort>
                    <upper>6.2831853</upper>
                    <lower>-6.2831853</lower>
                    <velocity>2.0</velocity>
                </limit>
                <dynamics>
                    <damping>5</damping>
                </dynamics>
            </axis>
        </joint>
        <link name="arm_5_link">
            <self_collide>true</self_collide>
            <pose>0 0 1.4745 3.1415926 0 3.1415926</pose>
            <inertial>
                <mass>2.0</mass>
                <inertia>
                    <ixx>.03</ixx><iyy>.03</iyy><izz>.03</izz>
                    <ixy>0</ixy><ixz>0</ixz><iyz>0</iyz>
                </inertia>
            </inertial>
            <collision name="arm_5_link_collision">
                <geometry>
                    <mesh>
                        <uri>model://schunk_lwa/meshes/lwa5.stl</uri>
                    </mesh>
                </geometry>
            </collision>
            <visual name="arm_5_link_visual">
                <geometry>
                    <mesh>
                        <uri>model://schunk_lwa/meshes/lwa5.stl</uri>
                    </mesh>
                </geometry>
                <material>
                    <script>
                        <uri>file://media/materials/scripts/gazebo.material</uri>
                        <name>Gazebo/Blue</name>
                    </script>
                </material>
            </visual>
        </link>
        <!-- Horizontal Link -->
        <joint name="arm_6_joint" type="revolute">
            <pose>0 0 0 0 0 0</pose>
            <parent>arm_5_link</parent>
            <child>arm_6_link</child>
            <axis>
                <xyz>0 1 0</xyz>
                <limit>
                    <effort>20.1</effort>
                    <upper>2.0943951</upper>
                    <lower>-2.0943951</lower>
                    <velocity>2.0</velocity>
                </limit>
                <dynamics>
                    <damping>5</damping>
                </dynamics>
            </axis>
        </joint>
        <link name="arm_6_link">
            <self_collide>true</self_collide>
            <pose>0 0 1.4745 -1.5708 0 3.1415926</pose>
            <inertial>
                <mass>2.057856</mass>
                <inertia>
                    <ixx>.03</ixx><iyy>.03</iyy><izz>.03</izz>
                    <ixy>0</ixy><ixz>0</ixz><iyz>0</iyz>
                </inertia>
            </inertial>
            <collision name="arm_6_link_collision">
                <geometry>
                    <mesh>
                        <uri>model://schunk_lwa/meshes/lwa6.stl</uri>
                    </mesh>
                </geometry>
            </collision>
            <visual name="arm_6_link_visual">
                <geometry>
                    <mesh>
                        <uri>model://schunk_lwa/meshes/lwa6.stl</uri>
                    </mesh>
                </geometry>
                <material>
                    <script>
                        <uri>file://media/materials/scripts/gazebo.material</uri>
                        <name>Gazebo/Red</name>
                    </script>
                </material>
            </visual>
        </link>
        <!-- Vertical Link -->
        <joint name="arm_7_joint" type="revolute">
            <pose>0 0 0 0 0 0</pose>
            <parent>arm_6_link</parent>
            <child>arm_7_link</child>
            <axis>
                <xyz>0 0 1</xyz>
                <limit>
                    <effort>9.6</effort>
                    <upper>6.2831853</upper>
                    <lower>-6.2831853</lower>
                    <velocity>2.0</velocity>
                </limit>
                <dynamics>
                    <damping>5</damping>
                </dynamics>
            </axis>
        </joint>
        <link name="arm_7_link">
            <self_collide>true</self_collide>
            <pose>0 0 1.6672 3.1415926 0 3.1415926</pose>
            <inertial>
                <mass>1.120198</mass>
                <inertia>
                    <ixx>.01</ixx><iyy>.01</iyy><izz>.01</izz>
                    <ixy>0</ixy><ixz>0</ixz><iyz>0</iyz>
                </inertia>
            </inertial>
            <collision name="arm_7_link_collision">
                <geometry>
                    <mesh>
                        <uri>model://schunk_lwa/meshes/lwa7.stl</uri>
                    </mesh>
                </geometry>
            </collision>
            <visual name="arm_7_link_visual">
                <geometry>
                    <mesh>
                        <uri>model://schunk_lwa/meshes/lwa7.stl</uri>
                    </mesh>
                </geometry>
                <material>
                    <script>
                        <uri>file://media/materials/scripts/gazebo.material</uri>
                        <name>Gazebo/Blue</name>
                    </script>
                </material>
            </visual>
        </link>
        <!-- Tool/Sensor Link -->
        <joint name="tool_joint" type="revolute">
            <pose>0 0 0 0 0 0</pose>
            <parent>arm_7_link</parent>
            <child>tool_link</child>
            <axis>
                <xyz>0 0 1</xyz>
                <limit>
                    <upper>0</upper>
                    <lower>0</lower>
                </limit>
            </axis>
        </joint>
        <link name="tool_link">
            <self_collide>true</self_collide>
            <pose>0 0 1.6922 3.1415926 0 3.1415926</pose>
            <collision name="tool_link_collision">
                <geometry>
                    <box>
                        <size>0.05 0.05 0.05</size>
                    </box>
                </geometry>
            </collision>
            <visual name="tool_link_visual">
                <geometry>
                    <box>
                        <size>0.05 0.05 0.05</size>
                    </box>
                </geometry>
                <material>
                    <script>
                        <uri>file://media/materials/scripts/gazebo.material</uri>
                        <name>Gazebo/GreenTransparent</name>
                    </script>
                </material>
            </visual>
            <sensor name='ft_sensor_0' type='contact'>
                <plugin name="ft_sensor_plugin" filename="libgazebo_ros_ft_sensor.so">
                    <robotNamespace>lwa</robotNamespace>
                    <topicName>ft_sensor</topicName>
                    <frameName>tool_link</frameName>
                </plugin>
                <contact>
                    <collision>tool_link_collision</collision>
                </contact>
            </sensor>
        </link>
        <plugin name="gazebo_ros_controller_manager" filename="libgazebo_ros_controller_manager.so" />
    </model>
</sdf>