<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from omni_description/robots/omnipointer_arm_only.urdf.xacro | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="omnipointer" xmlns:xacro="http://ros.org/wiki/xacro">
  <!--MX64trntbl + MX106:  ? + 0.153 -->
  <!-- singleaxismount + 2.5girder + singleaxismount + base + MX106: 0.007370876 + 0.0226796 + 0.007370876 + ? + 0.153 -->
  <!-- frame106 + singleaxismount + adjustgirder + singleaxismount + base + MX28: 0.0907185 + 0.00737088 + 0.110563 + 0.00737088 + ? + 0.077 -->
  <!-- frame28 + singleaxismount + 5girder + singleaxismount + base + MX28: 0.0907185 + 0.00737088 + 0.0368544 + 0.00737088 + ? + 0.077 -->
  <!-- frame28 + singleaxismount + 2.5girder + singleaxismount + tip: 0.0907185 + 0.00737088 + 0.0226796 + 0.00737088 + ? -->
  <material name="omni/Blue">
    <color rgba="0 0 0.8 1"/>
  </material>
  <material name="omni/Red">
    <color rgba="1 0 0 1"/>
  </material>
  <material name="omni/Green">
    <color rgba="0 1 0 1"/>
  </material>
  <material name="omni/Yellow">
    <color rgba="1 1 0 1"/>
  </material>
  <material name="omni/LightGrey">
    <color rgba="0.6 0.6 0.6 1"/>
  </material>
  <material name="omni/DarkGrey">
    <color rgba="0.4 0.4 0.4 1"/>
  </material>
  <!-- Now we can start using the macros xacro:included above to define the actual omnipointer -->
  <!-- The first use of a macro.  This one was defined in youbot_base/base.urdf.xacro above.
       A macro like this will expand to a set of link and joint definitions, and to additional
       Gazebo-related extensions (sensor plugins, etc).  The macro takes an argument, name,
       that equals "base", and uses it to generate names for its component links and joints
       (e.g., base_link).  The xacro:included origin block is also an argument to the macro.  By convention,
       the origin block defines where the component is w.r.t its parent (in this case the parent
       is the world frame). For more, see http://www.ros.org/wiki/xacro -->
  <!-- foot for arm-->
  <link name="base_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="10.0"/>
      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
    </inertial>
  </link>
  <!-- joint between base_link and arm_0_link -->
  <joint name="arm_joint_0" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <parent link="base_link"/>
    <child link="arm_link_0"/>
  </joint>
  <link name="arm_link_0">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0.02725"/>
      <geometry>
        <box size="0.1143 0.1143 0.0545"/>
      </geometry>
      <material name="omni/LightGrey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.02725"/>
      <geometry>
        <box size="0.1143 0.1143 0.0545"/>
      </geometry>
    </collision>
    <inertial>
      <!-- CENTER OF MASS -->
      <origin rpy="0 0 0" xyz="0 0 0.02725"/>
      <mass value="0.2"/>
      <!-- box inertia: 1/12*m(y^2+z^2), ... -->
      <inertia ixx="0.000267245666667" ixy="0" ixz="0" iyy="0.000267245666667" iyz="0" izz="0.000435483"/>
    </inertial>
  </link>
  <joint name="arm_joint_1" type="revolute">
    <parent link="arm_link_0"/>
    <child link="arm_link_1"/>
    <dynamics damping="3.0" friction="0.3"/>
    <limit effort="30.0" lower="-3.1415926535" upper="3.1415926535" velocity="5.0"/>
    <origin rpy="0 0 0" xyz="0 0 0.0545"/>
    <axis xyz="0 0 1"/>
  </joint>
  <link name="arm_link_1">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0.075"/>
      <geometry>
        <box size="0.0402 0.05 0.15"/>
      </geometry>
      <material name="omni/Blue"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.075"/>
      <geometry>
        <box size="0.0402 0.05 0.15"/>
      </geometry>
    </collision>
    <inertial>
      <!-- CENTER OF MASS -->
      <origin rpy="0 0 0" xyz="0 0 0.075"/>
      <mass value="0.190421352"/>
      <!-- box inertia: 1/12*m(y^2+z^2), ... -->
      <inertia ixx="0.000279744834534" ixy="0" ixz="0" iyy="0.000265717763008" iyz="0" izz="6.53151584738e-05"/>
    </inertial>
  </link>
  <joint name="arm_joint_2" type="revolute">
    <parent link="arm_link_1"/>
    <child link="arm_link_2"/>
    <dynamics damping="3.0" friction="0.3"/>
    <limit effort="30.0" lower="-1.75079632679" upper="1.75079632679" velocity="5.0"/>
    <origin rpy="0 0 0" xyz="0 0 0.15"/>
    <axis xyz="0 1 0"/>
  </joint>
  <link name="arm_link_2">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0.2355"/>
      <geometry>
        <box size="0.0356 0.05 0.471"/>
      </geometry>
      <material name="omni/Red"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.2355"/>
      <geometry>
        <box size="0.0356 0.05 0.471"/>
      </geometry>
    </collision>
    <inertial>
      <!-- CENTER OF MASS -->
      <origin rpy="0 0 0" xyz="0 0 0.2355"/>
      <mass value="0.29302326"/>
      <!-- box inertia: 1/12*m(y^2+z^2), ... -->
      <inertia ixx="0.00251484771035" ixy="0" ixz="0" iyy="0.00248474836108" iyz="0" izz="9.19936757328e-05"/>
    </inertial>
  </link>
  <joint name="arm_joint_3" type="revolute">
    <parent link="arm_link_2"/>
    <child link="arm_link_3"/>
    <dynamics damping="3.0" friction="0.3"/>
    <limit effort="30.0" lower="-1.75079632679" upper="1.75079632679" velocity="5.0"/>
    <origin rpy="0 0 0" xyz="0 0 0.471"/>
    <axis xyz="0 1 0"/>
  </joint>
  <link name="arm_link_3">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0.1885"/>
      <geometry>
        <box size="0.0356 0.05 0.377"/>
      </geometry>
      <material name="omni/Yellow"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.1885"/>
      <geometry>
        <box size="0.0356 0.05 0.377"/>
      </geometry>
    </collision>
    <inertial>
      <!-- CENTER OF MASS -->
      <origin rpy="0 0 0" xyz="0 0 0.1885"/>
      <mass value="0.21931466"/>
      <!-- box inertia: 1/12*m(y^2+z^2), ... -->
      <inertia ixx="0.000791433503053" ixy="0" ixz="0" iyy="0.000768905501178" iyz="0" izz="6.88531064581e-05"/>
    </inertial>
  </link>
  <joint name="arm_joint_4" type="revolute">
    <parent link="arm_link_3"/>
    <child link="arm_link_4"/>
    <dynamics damping="3.0" friction="0.3"/>
    <limit effort="30.0" lower="-1.75079632679" upper="1.75079632679" velocity="5.0"/>
    <origin rpy="0 0 0" xyz="0 0 0.377"/>
    <axis xyz="0 1 0"/>
  </joint>
  <link name="arm_link_4">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0.066"/>
      <geometry>
        <box size="0.0356 0.05 0.132"/>
      </geometry>
      <material name="omni/Green"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.066"/>
      <geometry>
        <box size="0.0356 0.05 0.132"/>
      </geometry>
    </collision>
    <inertial>
      <!-- CENTER OF MASS -->
      <origin rpy="0 0 0" xyz="0 0 0.066"/>
      <mass value="0.15813986"/>
      <!-- box inertia: 1/12*m(y^2+z^2), ... -->
      <inertia ixx="0.00037242266488" ixy="0" ixz="0" iyy="0.000356178538461" iyz="0" izz="4.96474819141e-05"/>
    </inertial>
  </link>
  <joint name="arm_joint_5" type="revolute">
    <parent link="arm_link_4"/>
    <child link="arm_link_5"/>
    <dynamics damping="3.0" friction="0.3"/>
    <limit effort="30.0" lower="-1.75079632679" upper="1.75079632679" velocity="5.0"/>
    <origin rpy="0 0 0" xyz="0 0 0.132"/>
    <axis xyz="1 0 0"/>
  </joint>
  <link name="arm_link_5">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0.124"/>
      <geometry>
        <box size="0.0356 0.05 0.248"/>
      </geometry>
      <material name="omni/Blue"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.124"/>
      <geometry>
        <box size="0.0356 0.05 0.248"/>
      </geometry>
    </collision>
    <inertial>
      <!-- CENTER OF MASS -->
      <origin rpy="0 0 0" xyz="0 0 0.124"/>
      <mass value="0.15813986"/>
      <!-- box inertia: 1/12*m(y^2+z^2), ... -->
      <inertia ixx="0.00037242266488" ixy="0" ixz="0" iyy="0.000356178538461" iyz="0" izz="4.96474819141e-05"/>
    </inertial>
  </link>
  <joint name="arm_joint_6" type="fixed">
    <parent link="arm_link_5"/>
    <child link="arm_link_6"/>
    <origin rpy="0 0 0" xyz="0 0 0.248"/>
  </joint>
  <link name="arm_link_6">
    <inertial>
      <!-- CENTER OF MASS -->
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="1e-12"/>
      <!-- box inertia: 1/12*m(y^2+z^2), ... -->
      <inertia ixx="1e-12" ixy="0" ixz="0" iyy="1e-12" iyz="0" izz="1e-12"/>
    </inertial>
  </link>
  <!-- END OF ARM LINKS/JOINTS -->
</robot>