<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from robot.xacro                    | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="z1_description">
  <gazebo>
    <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
      <robotNamespace>/z1_gazebo</robotNamespace>
      <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
    </plugin>
  </gazebo>
  <gazebo reference="link04">
    <self_collide>true</self_collide>
  </gazebo>
  <gazebo reference="link05">
    <self_collide>true</self_collide>
  </gazebo>
  <gazebo reference="link06">
    <self_collide>true</self_collide>
  </gazebo>
  <link name="world"/>
  <joint name="base_static_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <parent link="world"/>
    <child link="link00"/>
  </joint>
  <link name="link00">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://z1_description/meshes/visual/z1_Link00.dae" scale="1 1 1"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.051" radius="0.0325"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.0255"/>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.00334984 -0.00013615 0.02495843"/>
      <mass value="0.47247481"/>
      <inertia ixx="0.00037937" ixy="-3.5e-07" ixz="-1.037e-05" iyy="0.00041521" iyz="-9.9e-07" izz="0.00053066"/>
    </inertial>
  </link>
  <joint name="joint1" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 0.0585"/>
    <parent link="link00"/>
    <child link="link01"/>
    <axis xyz="0 0 1"/>
    <dynamics damping="1.0" friction="1.0"/>
    <limit effort="30.0" lower="-2.6179938779914944" upper="2.6179938779914944" velocity="3.1415"/>
  </joint>
  <link name="link01">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://z1_description/meshes/visual/z1_Link01.dae" scale="1 1 1"/>
      </geometry>
    </visual>
    <inertial>
      <origin rpy="0 0 0" xyz="2.47e-06 -0.00025198 0.02317169"/>
      <mass value="0.67332551"/>
      <inertia ixx="0.00128328" ixy="-6e-08" ixz="-4e-07" iyy="0.00071931" iyz="5e-07" izz="0.00083936"/>
    </inertial>
  </link>
  <joint name="joint2" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 0.045"/>
    <parent link="link01"/>
    <child link="link02"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="2.0" friction="2.0"/>
    <limit effort="60.0" lower="0.0" upper="2.9670597283903604" velocity="3.1415"/>
  </joint>
  <link name="link02">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://z1_description/meshes/visual/z1_Link02.dae" scale="1 1 1"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.102" radius="0.0325"/>
      </geometry>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
    </collision>
    <collision>
      <geometry>
        <cylinder length="0.235" radius="0.0225"/>
      </geometry>
      <origin rpy="0 1.5707963267948966 0" xyz="-0.16249999999999998 0 0"/>
    </collision>
    <collision>
      <geometry>
        <cylinder length="0.051" radius="0.0325"/>
      </geometry>
      <origin rpy="1.5707963267948966 0 0" xyz="-0.35 0 0"/>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.11012601 0.00240029 0.00158266"/>
      <mass value="1.19132258"/>
      <inertia ixx="0.00102138" ixy="0.00062358" ixz="5.13e-06" iyy="0.02429457" iyz="-2.1e-06" izz="0.02466114"/>
    </inertial>
  </link>
  <joint name="joint3" type="revolute">
    <origin rpy="0 0 0" xyz="-0.35 0 0"/>
    <parent link="link02"/>
    <child link="link03"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="1.0" friction="1.0"/>
    <limit effort="30.0" lower="-2.8797932657906435" upper="0.0" velocity="3.1415"/>
  </joint>
  <link name="link03">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://z1_description/meshes/visual/z1_Link03.dae" scale="1 1 1"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.116" radius="0.02"/>
      </geometry>
      <origin rpy="0 1.5707963267948966 0" xyz="0.128 0 0.055"/>
    </collision>
    <collision>
      <geometry>
        <cylinder length="0.059" radius="0.0325"/>
      </geometry>
      <origin rpy="0 1.5707963267948966 1.5707963267948966" xyz="0.2205 0 0.055"/>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.10609208 -0.00541815 0.03476383"/>
      <mass value="0.83940874"/>
      <inertia ixx="0.00108061" ixy="-8.669e-05" ixz="-0.00208102" iyy="0.00954238" iyz="-1.332e-05" izz="0.00886621"/>
    </inertial>
  </link>
  <joint name="joint4" type="revolute">
    <origin rpy="0 0 0" xyz="0.218 0 0.057"/>
    <parent link="link03"/>
    <child link="link04"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="1.0" friction="1.0"/>
    <limit effort="30.0" lower="-1.5184364492350666" upper="1.5184364492350666" velocity="3.1415"/>
  </joint>
  <link name="link04">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://z1_description/meshes/visual/z1_Link04.dae" scale="1 1 1"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.067" radius="0.0325"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0.072 0 0"/>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.04366681 0.00364738 -0.00170192"/>
      <mass value="0.56404563"/>
      <inertia ixx="0.00031576" ixy="8.13e-05" ixz="4.091e-05" iyy="0.00092996" iyz="-5.96e-06" izz="0.00097912"/>
    </inertial>
  </link>
  <joint name="joint5" type="revolute">
    <origin rpy="0 0 0" xyz="0.07 0.0 0.0"/>
    <parent link="link04"/>
    <child link="link05"/>
    <axis xyz="0 0 1"/>
    <dynamics damping="1.0" friction="1.0"/>
    <limit effort="30.0" lower="-1.3439035240356338" upper="1.3439035240356338" velocity="3.1415"/>
  </joint>
  <link name="link05">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://z1_description/meshes/visual/z1_Link05.dae" scale="1 1 1"/>
      </geometry>
    </visual>
    <inertial>
      <origin rpy="0 0 0" xyz="0.03121533 0.0 0.00646316"/>
      <mass value="0.38938492"/>
      <inertia ixx="0.00017605" ixy="4e-07" ixz="5.689e-05" iyy="0.00055896" iyz="-1.3e-07" izz="0.0005386"/>
    </inertial>
  </link>
  <joint name="joint6" type="revolute">
    <origin rpy="0 0 0" xyz="0.0492 0.0 0.0"/>
    <parent link="link05"/>
    <child link="link06"/>
    <axis xyz="1 0 0"/>
    <dynamics damping="1.0" friction="1.0"/>
    <limit effort="30.0" lower="-2.792526803190927" upper="2.792526803190927" velocity="3.1415"/>
  </joint>
  <link name="link06">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://z1_description/meshes/visual/z1_Link06.dae" scale="1 1 1"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.051" radius="0.0325"/>
      </geometry>
      <origin rpy="0 1.5707963267948966 0" xyz="0.0255 0 0"/>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.0241569 -0.00017355 -0.00143876"/>
      <mass value="0.28875807"/>
      <inertia ixx="0.00018328" ixy="1.22e-06" ixz="5.4e-07" iyy="0.0001475" iyz="8e-08" izz="0.0001468"/>
    </inertial>
  </link>
  <transmission name="JointTrans1">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="joint1">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="Actuator1">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="JointTrans2">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="joint2">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="Actuator2">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="JointTrans3">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="joint3">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="Actuator3">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="JointTrans4">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="joint4">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="Actuator4">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="JointTrans5">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="joint5">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="Actuator5">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="JointTrans6">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="joint6">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="Actuator6">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
</robot>

