arm urdf

<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from luxo_descriptions/descriptions/two_axes.xacro | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<!-- arm -->
<robot name="arm" xmlns:xacro="http://www.ros.org/wiki/xacro">
  <!-- Arm has 5 joints and 5 links -->
  <!--  Constants for robot dimensions -->
  <!-- Link 1 -->
  <!-- Link 2 -->
  <!-- Square dimensions (widthxwidth) of beams -->
  <!-- Distance gap between each axis -->
  <!-- arbitrary value for mass -->
  <!-- Space btw top of beam and the each joint -->
  <!-- Import Rviz colors -->
  <material name="black">
    <color rgba="0.0 0.0 0.0 1.0"/>
  </material>
  <material name="blue">
    <color rgba="0.0 0.0 0.8 1.0"/>
  </material>
  <material name="green">
    <color rgba="0.0 0.8 0.0 1.0"/>
  </material>
  <material name="grey">
    <color rgba="0.2 0.2 0.2 1.0"/>
  </material>
  <material name="orange">
    <color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
  </material>
  <material name="brown">
    <color rgba="0.870588235294 0.811764705882 0.764705882353 1.0"/>
  </material>
  <material name="red">
    <color rgba="0.8 0.0 0.0 1.0"/>
  </material>
  <material name="white">
    <color rgba="1.0 1.0 1.0 1.0"/>
  </material>
  <!-- ***************** WORLD ********************* -->
  <!-- Used for fixing the robot to Gazebo 'base_link' -->
  <link name="world"/>
  <joint name="fixed" type="fixed">
    <parent link="world"/>
    <child link="link1"/>
  </joint>
  <!-- Base Link -->
  <link name="link1">
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.1"/>
      <geometry>
        <box size="0.02 0.02 0.2"/>
      </geometry>
    </collision>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0.1"/>
      <geometry>
        <box size="0.02 0.02 0.2"/>
      </geometry>
      <material name="orange"/>
    </visual>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0.1"/>
      <mass value="1"/>
      <inertia ixx="0.00336666666667" ixy="0.0" ixz="0.0" iyy="0.00336666666667" iyz="0.0" izz="6.66666666667e-05"/>
    </inertial>
  </link>
  <!-- ***************** JOINT1 ********************* -->
  <!-- Used for fixing link1 to link2  -->
  <joint name="joint1" type="continuous">
    <parent link="link1"/>
    <child link="link2"/>
    <origin rpy="0 0 0" xyz="0 0.0 0.2"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0.7"/>
  </joint>
  <link name="link2">
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.05"/>
      <geometry>
        <box size="0.02 0.02 0.1"/>
      </geometry>
    </collision>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0.05"/>
      <geometry>
        <box size="0.02 0.02 0.1"/>
      </geometry>
      <material name="black"/>
    </visual>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0.05"/>
      <mass value="1"/>
      <inertia ixx="0.000866666666667" ixy="0.0" ixz="0.0" iyy="0.000866666666667" iyz="0.0" izz="6.66666666667e-05"/>
    </inertial>
  </link>
</robot>