<?xml version='1.0'?>
<sdf version="1.4">
<model name="Legs">
  <static>false</static>

  <joint name="world_fix" type='fixed'>
    <parent>world</parent>
    <child>chassis</child>
  </joint>

  <link name='chassis'>
            <pose>0 0 0.62844327 0 0 0</pose>

            <collision name='collision'>
              <geometry>
                <cylinder>
                  <radius> 0.095 </radius>
                  <length> 0.012 </length>
                </cylinder>
              </geometry>
            </collision>

            <visual name='visual'>
              <geometry>
                <cylinder>
                  <radius> 0.095 </radius>
                  <length> 0.012 </length>
                </cylinder>
              </geometry>
            </visual>
  </link>

  <link name='arm1'>
    <pose>0.095 0 0.47111289 0 0 0</pose>

    <collision name='collision'>
      <geometry>
        <box>
          <size>0.01 0.01 0.25</size>
        </box>
      </geometry>
    </collision>

    <visual name='visual'>
      <geometry>
        <box>
          <size>0.01 0.01 0.25</size>
        </box>
      </geometry>
    </visual>

  </link>

  <link name='arm2'>
    <pose>-0.0475 0.08227241 0.47111289 0 0 2.094395</pose>

    <collision name='collision'>
      <geometry>
        <box>
          <size>0.01 0.01 0.25</size>
        </box>
      </geometry>
    </collision>

    <visual name='visual'>
      <geometry>
        <box>
          <size>0.01 0.01 0.25</size>
        </box>
      </geometry>
    </visual>

  </link>

  <link name='arm3'>
    <pose>-0.0475 -0.08227241 0.47111289 0 0 -2.094395</pose>

    <collision name='collision'>
      <geometry>
        <box>
          <size>0.01 0.01 0.25</size>
        </box>
      </geometry>
    </collision>

    <visual name='visual'>
      <geometry>
        <box>
          <size>0.01 0.01 0.25</size>
        </box>
      </geometry>
    </visual>

  </link>

  <joint name="arm1_chassis" type="revolute">
    <parent>chassis</parent>
    <child>arm1</child>
    <axis>
      <xyz>0 1 0</xyz>
      <dynamics>
        <friction> 5 </friction>
      </dynamics>
    </axis>
    <pose> 0 0 0.13 0 0 0 </pose>
  </joint>

  <joint name="arm2_chassis" type="revolute">
    <parent>chassis</parent>
    <child>arm2</child>
    <axis>
      <xyz>0.866025 0.5 0</xyz>
      <dynamics>
        <friction> 5 </friction>
      </dynamics>
    </axis>
    <pose> 0 0 0.13 0 0 0 </pose>
  </joint>

  <joint name="arm3_chassis" type="revolute">
    <parent>chassis</parent>
    <child>arm3</child>
    <axis>
      <xyz>0.866025 -0.5 0</xyz>
      <dynamics>
        <friction> 5 </friction>
      </dynamics>
    </axis>
    <pose> 0 0 0.13 0 0 0 </pose>
  </joint>

  <link name='forearm1'>
    <pose>0.06936738 0 0.17305644 0 0.1513578 0</pose>

    <collision name='collision'>
      <geometry>
        <box>
          <size>0.01 0.07 0.34</size>
        </box>
      </geometry>
    </collision>

    <visual name='visual'>
      <geometry>
        <box>
          <size>0.01 0.07 0.34</size>
        </box>
      </geometry>
    </visual>

  </link>

  <link name='forearm2'>
    <pose>-0.03468369 0.06007391 0.17305644 0 0.1513578 2.094395</pose>

    <collision name='collision'>
      <geometry>
        <box>
          <size>0.01 0.07 0.34</size>
        </box>
      </geometry>
    </collision>

    <visual name='visual'>
      <geometry>
        <box>
          <size>0.01 0.07 0.34</size>
        </box>
      </geometry>
    </visual>

  </link>

  <link name='forearm3'>
    <pose>-0.03468369 -0.06007391 0.17305644 0 0.1513578 -2.094395</pose>

    <collision name='collision'>
      <geometry>
        <box>
          <size>0.01 0.07 0.34</size>
        </box>
      </geometry>
    </collision>

    <visual name='visual'>
      <geometry>
        <box>
          <size>0.01 0.07 0.34</size>
        </box>
      </geometry>
    </visual>

  </link>

  <joint name="forearm1_arm1" type="universal">
    <parent>arm1</parent>
    <child>forearm1</child>
    <axis>
      <xyz>0 1 0</xyz>
    </axis>
    <axis2>
      <xyz>1 0 0</xyz>
    </axis2>
    <pose> 0 0 0.17 0 0 0 </pose>
  </joint>

  <joint name="forearm2_arm2" type="universal">
    <parent>arm2</parent>
    <child>forearm2</child>
    <axis>
      <xyz>-0.866025 -0.5 0</xyz>
    </axis>
    <axis2>
      <xyz>-0.5 0.866025 0</xyz>
    </axis2>
    <pose> 0 0 0.17 0 0 0 </pose>
  </joint>

  <joint name="forearm3_arm3" type="universal">
    <parent>arm3</parent>
    <child>forearm3</child>
    <axis>
      <xyz>-0.866025 0.5 0</xyz>
    </axis>
    <axis2>
      <xyz>-0.5 -0.866025 0</xyz>
    </axis2>
    <pose> 0 0 0.17 0 0 0 </pose>
  </joint>


  <link name='gripper'>
    <pose>0 0 0.0025 0 0 0</pose>

    <inertia>
      <mass> 2000 </mass>
    </inertia>

    <collision name='collision'>
      <geometry>
        <cylinder>
          <radius> 0.04373475 </radius>
          <length> 0.005 </length>
        </cylinder>
      </geometry>
    </collision>

    <visual name='visual'>
      <geometry>
        <cylinder>
          <radius> 0.04373475 </radius>
          <length> 0.005 </length>
        </cylinder>
      </geometry>
    </visual>

  </link>

  <joint name="forearm1_gripper" type="universal">
    <parent>forearm1</parent>
    <child>gripper</child>
    <axis>
      <xyz>0 1 0</xyz>
      <dynamics>
        <friction> 5 </friction>
      </dynamics>
    </axis>
    <axis2>
      <xyz>1 0 0</xyz>
      <dynamics>
        <friction> 5 </friction>
      </dynamics>
    </axis2>
    <pose> 0.04373475 0 0.0025 0 0 0 </pose>
  </joint>

  <joint name="forearm2_gripper" type="universal">
    <parent>forearm2</parent>
    <child>gripper</child>
    <axis>
      <xyz>-0.866025 0.5 0</xyz>
      <dynamics>
        <friction> 5 </friction>
      </dynamics>
    </axis>
    <axis2>
      <xyz>-0.5 0.866025 0</xyz>
      <dynamics>
        <friction> 5 </friction>
      </dynamics>
    </axis2>
    <pose> -0.02186738 0.0378754 0.0025 0 0 0 </pose>
  </joint>

  <joint name="forearm3_gripper" type="universal">
    <parent>forearm3</parent>
    <child>gripper</child>
    <axis>
      <xyz>-0.866025 -0.5 0</xyz>
      <dynamics>
        <friction> 5 </friction>
      </dynamics>
    </axis>
    <axis2>
      <xyz>-0.5 -0.866025 0</xyz>
      <dynamics>
        <friction> 5 </friction>
      </dynamics>
    </axis2>
    <pose> -0.02186738 -0.0378754 0.0025 0 0 0 </pose>
  </joint>

  </model>
</sdf>