<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from src/tm_description/xacro/tm7s.urdf.xacro | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="tm7s">
  <gazebo reference="link_1">
    <selfCollide>true</selfCollide>
  </gazebo>
  <gazebo reference="link_2">
    <selfCollide>true</selfCollide>
  </gazebo>
  <gazebo reference="link_3">
    <selfCollide>true</selfCollide>
  </gazebo>
  <gazebo reference="link_4">
    <selfCollide>true</selfCollide>
  </gazebo>
  <gazebo reference="link_5">
    <selfCollide>true</selfCollide>
  </gazebo>
  <gazebo reference="link_6">
    <selfCollide>true</selfCollide>
  </gazebo>
  <gazebo>
    <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
      <robotNamespace>/</robotNamespace>
      <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
    </plugin>
  </gazebo>
  <transmission name="trans_1">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="joint_1">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor_1">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="trans_2">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="joint_2">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor_2">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="trans_3">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="joint_3">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor_3">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="trans_4">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="joint_4">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor_4">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="trans_5">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="joint_5">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor_5">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="trans_6">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="joint_6">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor_6">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <material name="none">
    <color rgba="0.0 0.0 0.0 1.0"/>
  </material>
  <material name="lightgrey">
    <color rgba="0.5 0.5 0.5 1.0"/>
  </material>
  <material name="grey">
    <color rgba="0.75 0.75 0.75 1.0"/>
  </material>
  <material name="white">
    <color rgba="0.95 0.95 0.95 1.0"/>
  </material>
  <material name="red">
    <color rgba="0.95 0.0 0.0 1.0"/>
  </material>
  <material name="orange">
    <color rgba="1.0 0.5 0.0 1.0"/>
  </material>
  <material name="yellow">
    <color rgba="1.0 1.0 0.0 1.0"/>
  </material>
  <material name="green">
    <color rgba="0.0 1.0 0.0 1.0"/>
  </material>
  <material name="blue">
    <color rgba="0.0 0.0 1.0 1.0"/>
  </material>
  <material name="indigo">
    <color rgba="0.3 0.3 0.6 1.0"/>
  </material>
  <material name="violet">
    <color rgba="0.6 0.0 1.0 1.0"/>
  </material>
  <material name="black">
    <color rgba="0.0 0.0 0.0 1.0"/>
  </material>
  <material name="darkolive">
    <color rgba="0.3 0.3 0.25 1.0"/>
  </material>
  <!--LinkDescription-->
  <link name="link_0">
    <visual>
      <geometry>
        <mesh filename="package://tm_description/meshes/tm7s/visual/tm7s-base.obj"/>
      </geometry>
      <material name="none"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://tm_description/meshes/tm7s/collision/tm7s-base_c.stl"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1.0"/>
      <origin rpy="0.000000 0.000000 0.000000" xyz="0.000000 0.000000 0.000000"/>
      <inertia ixx="0.00110833289" ixy="0.0" ixz="0.0" iyy="0.00110833289" iyz="0.0" izz="0.0018"/>
    </inertial>
  </link>
  <joint name="joint_1" type="revolute">
    <parent link="link_0"/>
    <child link="link_1"/>
    <origin rpy="0.000000 -0.000000 0.000001" xyz="0.000000 0.000000 0.148400"/>
    <axis xyz="0 0 1"/>
    <limit effort="170" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.6651914291880923"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <link name="link_1">
    <visual>
      <geometry>
        <mesh filename="package://tm_description/meshes/tm7s/visual/tm7s-j1.obj"/>
      </geometry>
      <material name="none"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://tm_description/meshes/tm7s/collision/tm7s-j1_c.stl"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0.000000 0.000000 0.000000" xyz="0.000000 0.000000 0.000000"/>
      <mass value="4.32"/>
      <inertia ixx="0.0084392993" ixy="0.000000" ixz="0.000000" iyy="0.013793963999999999" iyz="0.000000" izz="0.014241226"/>
    </inertial>
  </link>
  <joint name="joint_2" type="revolute">
    <parent link="link_1"/>
    <child link="link_2"/>
    <origin rpy="-1.330839 -1.569479 -0.239957" xyz="0.000017 -0.000022 -0.000000"/>
    <axis xyz="0 0 1"/>
    <limit effort="170" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.6651914291880923"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <link name="link_2">
    <visual>
      <geometry>
        <mesh filename="package://tm_description/meshes/tm7s/visual/tm7s-a1.obj"/>
      </geometry>
      <material name="none"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://tm_description/meshes/tm7s/collision/tm7s-a1_c.stl"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0.000000 0.000000 0.000000" xyz="0.000000 0.000000 0.000000"/>
      <mass value="9.456"/>
      <inertia ixx="0.028756422999999996" ixy="0.000000" ixz="0.000000" iyy="0.24070010999999997" iyz="0.000000" izz="0.25229609999999997"/>
    </inertial>
  </link>
  <joint name="joint_3" type="revolute">
    <parent link="link_2"/>
    <child link="link_3"/>
    <origin rpy="0.000451 -0.000434 0.004107" xyz="0.329004 0.000000 -0.000022"/>
    <axis xyz="0 0 1"/>
    <limit effort="170" lower="-2.652900463031381" upper="2.652900463031381" velocity="3.6651914291880923"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <link name="link_3">
    <visual>
      <geometry>
        <mesh filename="package://tm_description/meshes/tm7s/visual/tm7s-a2.obj"/>
      </geometry>
      <material name="none"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://tm_description/meshes/tm7s/collision/tm7s-a2_c.stl"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0.000000 0.000000 0.000000" xyz="0.000000 0.000000 0.000000"/>
      <mass value="2.618"/>
      <inertia ixx="0.004027884" ixy="0.000000" ixz="0.000000" iyy="0.035507262" iyz="0.000000" izz="0.036908834"/>
    </inertial>
  </link>
  <joint name="joint_4" type="revolute">
    <parent link="link_3"/>
    <child link="link_4"/>
    <origin rpy="-0.000402 -0.002823 1.569122" xyz="0.298064 0.000417 -0.147822"/>
    <axis xyz="0 0 1"/>
    <limit effort="45" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.9269908169872414"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <link name="link_4">
    <visual>
      <geometry>
        <mesh filename="package://tm_description/meshes/tm7s/visual/tm7s-j5.obj"/>
      </geometry>
      <material name="none"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://tm_description/meshes/tm7s/collision/tm7s-j5_c.stl"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0.000000 0.000000 0.000000" xyz="0.000000 0.000000 0.000000"/>
      <mass value="1.77"/>
      <inertia ixx="0.0020460318" ixy="0.000000" ixz="0.000000" iyy="0.0031718293" iyz="0.000000" izz="0.0034789517999999995"/>
    </inertial>
  </link>
  <joint name="joint_5" type="revolute">
    <parent link="link_4"/>
    <child link="link_5"/>
    <origin rpy="1.571564 -0.000593 -0.001681" xyz="-0.000329 -0.131470 -0.000101"/>
    <axis xyz="0 0 1"/>
    <limit effort="45" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.9269908169872414"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <link name="link_5">
    <visual>
      <geometry>
        <mesh filename="package://tm_description/meshes/tm7s/visual/tm7s-j6.obj"/>
      </geometry>
      <material name="none"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://tm_description/meshes/tm7s/collision/tm7s-j6_c.stl"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0.000000 0.000000 0.000000" xyz="0.000000 0.000000 0.000000"/>
      <mass value="1.77"/>
      <inertia ixx="0.0020460318" ixy="0.000000" ixz="0.000000" iyy="0.0031718293" iyz="0.000000" izz="0.0034789517999999995"/>
    </inertial>
  </link>
  <joint name="joint_6" type="revolute">
    <parent link="link_5"/>
    <child link="link_6"/>
    <origin rpy="1.569861 -0.006099 0.000597" xyz="0.000125 -0.134925 0.000126"/>
    <axis xyz="0 0 1"/>
    <limit effort="45" lower="-6.283185307179586" upper="6.283185307179586" velocity="7.853981633974483"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <link name="link_6">
    <visual>
      <geometry>
        <mesh filename="package://tm_description/meshes/tm7s/visual/tm7s-io.obj"/>
      </geometry>
      <material name="none"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://tm_description/meshes/tm7s/collision/tm7s-io_c.stl"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0.000000 0.000000 0.000000" xyz="0.000000 0.000000 0.000000"/>
      <mass value="0.72"/>
      <inertia ixx="0.00070344734" ixy="0.000000" ixz="0.000000" iyy="0.0017110225" iyz="0.000000" izz="0.0018544783"/>
    </inertial>
  </link>
  <link name="base"/>
  <joint name="base_fixed_joint" type="fixed">
    <parent link="base"/>
    <child link="link_0"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
  </joint>
  <link name="flange"/>
  <joint name="flange_fixed_joint" type="fixed">
    <parent link="link_6"/>
    <child link="flange"/>
    <origin rpy="0.003745 0.003914 0.000015" xyz="-0.000068 0.000000 0.000000"/>
  </joint>
  <!--LinkDescription-->
</robot>
