Manipulator XML v.2

<?xml version='1.0'?>
<sdf version="1.4">
  <model name="mymanip">
    <link name="base">
      <!--<gravity>0</gravity>-->
      <pose>0 0 0.04 0 0 0</pose>
      <inertial>
        <mass>10.0</mass>
        <inertia>
          <ixx>0.2096665828</ixx>
          <ixy>0.0</ixy>
          <ixz>0.0</ixz>
          <iyy>0.2096665828</iyy>
          <iyz>0.0</iyz>
          <izz>0.4166665</izz>
        </inertia>
      </inertial>
      <collision name="base_collision">
        <geometry>
          <box>
            <size>0.500 0.500 0.04</size>
          </box>
        </geometry>
      </collision>
      <visual name="base_visual">
        <geometry>
          <box>
            <size>0.500 0.500 0.04</size>
          </box>
        </geometry>
        <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
            <name>Gazebo/Blue</name>
          </script>
        </material>
      </visual>
    </link>
    <link name="first_link">
      <!--<gravity>0</gravity>-->
      <pose>0 0 0.2 0 0 0</pose>
      <inertial>
        <mass>2.0</mass>
        <inertia>
          <ixx>0.02006665864</ixx>
          <ixy>0.0</ixy>
          <ixz>0.0</ixz>
          <iyy>0.02006665864</iyy>
          <iyz>0.0</iyz>
          <izz>0.0081</izz>
        </inertia>
      </inertial>
      <collision name="first_link_collision">
        <geometry>
          <cylinder>
            <radius>0.09</radius>
            <length>0.31</length>
          </cylinder>
        </geometry>
      </collision>
      <visual name="first_link_visual">
        <geometry>
          <cylinder>
            <radius>0.09</radius>
            <length>0.31</length>
          </cylinder>
        </geometry>
        <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
            <name>Gazebo/Red</name>
          </script>
        </material>
      </visual>
    </link>
    <link name="second_link">
      <!--<gravity>0</gravity>-->
      <pose>0 0 0.345 0 0 0</pose>
      <inertial>
        <pose>0 0 0.18 0 0 0</pose>
        <mass>0.6</mass>
        <inertia>
          <ixx>0.00719999712</ixx>
          <ixy>0.0</ixy>
          <ixz>0.0</ixz>
          <iyy>0.006979997208</iyy>
          <iyz>0.0</iyz>
          <izz>0.001219999512</izz>
        </inertia>
      </inertial>
      <collision name="second_link_collision">
        <pose>0 0 0.05 1.57079633 0 0</pose>
        <geometry>
          <cylinder>
            <radius>0.04</radius>
            <length>0.12</length>
          </cylinder>
        </geometry>
      </collision>
      <visual name="second_link_visual">
        <pose>0 0 0.05 1.57079633 0 0</pose>
        <geometry>
          <cylinder>
            <radius>0.04</radius>
            <length>0.12</length>
          </cylinder>
        </geometry>
        <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
            <name>Gazebo/Blue</name>
          </script>
        </material>
      </visual>
      <collision name="second_link_arm_collision">
        <pose>0 0 0.2 0 0 0</pose>
        <geometry>
          <box>
            <size>0.1 0.12 0.28</size>
          </box>
        </geometry>
      </collision>
      <visual name="second_link_arm_visual">
        <pose>0 0 0.2 0 0 0</pose>
        <geometry>
          <box>
            <size>0.1 0.12 0.28</size>
          </box>
        </geometry>
        <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
            <name>Gazebo/Red</name>
          </script>
        </material>
      </visual>
    </link>
    <link name="third_link">
      <!--<gravity>0</gravity>-->
      <pose>0 0 0.625 0 0 0</pose>
      <inertial>
        <pose>0 0 0.13 0 0 0</pose>
        <mass>0.3</mass>
        <inertia>
          <ixx>0.00094562462175</ixx>
          <ixy>0.0</ixy>
          <ixz>0.0</ixz>
          <iyy>0.00094562462175</iyy>
          <iyz>0.0</iyz>
          <izz>0.000979999608</izz>
        </inertia>
      </inertial>
      <collision name="third_link_collision">
        <pose>0 0 0.07 1.57079633 0 0</pose>
        <geometry>
          <cylinder>
            <radius>0.035</radius>
            <length>0.12</length>
          </cylinder>
        </geometry>
      </collision>
      <visual name="third_link_visual">
        <pose>0 0 0.07 1.57079633 0 0</pose>
        <geometry>
          <cylinder>
            <radius>0.035</radius>
            <length>0.12</length>
          </cylinder>
        </geometry>
        <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
            <name>Gazebo/Blue</name>
          </script>
        </material>
      </visual>
      <collision name="third_link_arm_collision">
        <pose>0 0 0.15 0 0 0</pose>
        <geometry>
          <box>
            <size>0.14 0.14 0.1</size>
          </box>
        </geometry>
      </collision>
      <visual name="third_link_arm_visual">
        <pose>0 0 0.15 0 0 0</pose>
        <geometry>
          <box>
            <size>0.14 0.14 0.1</size>
          </box>
        </geometry>
        <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
            <name>Gazebo/Red</name>
          </script>
        </material>
      </visual>
    </link>
    <link name="fourth_link">
      <!--<gravity>0</gravity>-->
      <pose>0 0 0.875 0 0 0</pose>
      <inertial>
        <mass>0.2</mass>
        <inertia>
          <ixx>0.0004166665</ixx>
          <ixy>0.0</ixy>
          <ixz>0.0</ixz>
          <iyy>0.000448333154</iyy>
          <iyz>0.0</iyz>
          <izz>0.000301666546</izz>
        </inertia>
      </inertial>
      <collision name="fourth_link_collision">
        <geometry>
          <box>
            <size>0.1 0.09 0.13</size>
          </box>
        </geometry>
      </collision>
      <visual name="fourth_link_visual">
        <geometry>
          <box>
            <size>0.1 0.09 0.13</size>
          </box>
        </geometry>
      </visual>
    </link>
    <link name="fifth_link">
      <!--<gravity>0</gravity>-->
      <pose>0 0 0.965 0 0 0</pose>
      <inertial>
        <pose>0 0 0.035 0 0 0</pose>
        <mass>0.2</mass>
        <inertia>
          <ixx>0.00040833317</ixx>
          <ixy>0.0</ixy>
          <ixz>0.0</ixz>
          <iyy>0.00040833317</iyy>
          <iyz>0.0</iyz>
          <izz>0.00040833317</izz>
        </inertia>
      </inertial>
      <collision name="fifth_link_collision">
        <pose>0 0 0 1.57079633 0 0</pose>
        <geometry>
          <cylinder>
            <radius>0.035</radius>
            <length>0.14</length>
          </cylinder>
        </geometry>
      </collision>
      <visual name="fifth_link_visual">
        <pose>0 0 0 1.57079633 0 0</pose>
        <geometry>
          <cylinder>
            <radius>0.035</radius>
            <length>0.14</length>
          </cylinder>
        </geometry>
        <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
            <name>Gazebo/Red</name>
          </script>
        </material>
      </visual>
      <collision name="fifth_link_arm_collision">
        <pose>0 0 0.05 0 0 0</pose>
        <geometry>
          <box>
            <size>0.08 0.07 0.07</size>
          </box>
        </geometry>
      </collision>
      <visual name="fifth_link_arm_visual">
        <pose>0 0 0.05 0 0 0</pose>
        <geometry>
          <box>
            <size>0.08 0.07 0.07</size>
          </box>
        </geometry>
        <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
            <name>Gazebo/Green</name>
          </script>
        </material>
      </visual>
    </link>
    <link name="sixth_link">
      <!--<gravity>0</gravity>-->
      <pose>0 0 1.05 0 0 0</pose>
      <inertial>
        <mass>0.2</mass>
        <inertia>
          <ixx>0.0000729166375</ixx>
          <ixy>0.0</ixy>
          <ixz>0.0</ixz>
          <iyy>0.0000729166375</iyy>
          <iyz>0.0</iyz>
          <izz>0.0000625</izz>
        </inertia>
      </inertial>
      <collision name="sixth_link_collision">
        <geometry>
          <cylinder>
            <radius>0.025</radius>
            <length>0.05</length>
          </cylinder>
        </geometry>
      </collision>
      <visual name="sixth_link_visual">
        <geometry>
          <cylinder>
            <radius>0.025</radius>
            <length>0.05</length>
          </cylinder>
        </geometry>
        <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
            <name>Gazebo/Yellow</name>
          </script>
        </material>
      </visual>
    </link>
    <joint name="base_revolute" type="revolute">
      <parent>base</parent>
      <child>first_link</child>
      <axis>
        <dynamics>
          <damping>1.000000</damping>
          <friction>0.000000</friction>
        </dynamics>
        <limit>
          <lower>-2.96705973</lower>
          <upper>2.96705973</upper>
        </limit>
        <xyz>0 0 1</xyz>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
    </joint>
    <joint name="first_rotation" type="revolute">
      <parent>first_link</parent>
      <child>second_link</child>
      <pose>0 0 0.05 0 0 0</pose>
      <axis>
        <dynamics>
          <damping>1.000000</damping>
          <friction>0.000000</friction>
        </dynamics>
        <limit>
          <lower>-2.96705973</lower>
          <upper>0.872664626</upper>
        </limit>
        <xyz>0 1 0</xyz>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
    </joint>
    <joint name="second_rotation" type="revolute">
      <parent>second_link</parent>
      <child>third_link</child>
      <pose>0 0 0.07 0 0 0</pose>
      <axis>
        <dynamics>
          <damping>1.000000</damping>
          <friction>0.000000</friction>
        </dynamics>
        <limit>
          <lower>-3.14159265</lower>
          <upper>2.70526034</upper>
        </limit>
        <xyz>0 1 0</xyz>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
    </joint>
    <joint name="third_rotation" type="revolute">
      <parent>third_link</parent>
      <child>fourth_link</child>
      <axis>
        <dynamics>
          <damping>1.000000</damping>
          <friction>0.000000</friction>
        </dynamics>
        <xyz>0 0 1</xyz>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
    </joint>
    <joint name="fourth_rotation" type="revolute">
      <parent>fourth_link</parent>
      <child>fifth_link</child>
      <axis>
        <dynamics>
          <damping>1.000000</damping>
          <friction>0.000000</friction>
        </dynamics>
        <limit>
          <lower>-1.04719755</lower>
          <upper>1.04719755</upper>
        </limit>
        <xyz>0 1 0</xyz>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
    </joint>
    <joint name="fifth_rotation" type="revolute">
      <parent>fifth_link</parent>
      <child>sixth_link</child>
      <axis>
        <dynamics>
          <damping>1.000000</damping>
          <friction>0.000000</friction>
        </dynamics>
        <xyz>0 0 1</xyz>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
    </joint>
  </model>
</sdf>