<sdf version='1.6'>
<world name='default'>
  <model name='lbr_iiwa'>
  <pose>0 -2.3 0.7 0 0 0</pose>
    <link name='lbr_iiwa_link_0'>
      <pose>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>-0.1 0 0.07 0 -0 0</pose>
        <mass>0</mass>
        <inertia>
          <ixx>0.05</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.06</iyy>
          <iyz>0</iyz>
          <izz>0.03</izz>
        </inertia>
      </inertial>
      <collision name='lbr_iiwa_link_0_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>meshes/link_0.stl</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='lbr_iiwa_link_0_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>meshes/link_0.stl</uri>
          </mesh>
        </geometry>
        <material>
          <ambient>1 0 0 1</ambient>
          <diffuse>0.2 0.2 0.2 1</diffuse>
          <specular>0.1 0.1 0.1 1</specular>
          <emissive>0 0 0 0</emissive>
        </material>
      </visual>
    </link>
    <link name='lbr_iiwa_link_1'>
      <pose>0 0 0.1575 0 -0 0</pose>
      <inertial>
        <pose>0 -0.03 0.12 0 -0 0</pose>
        <mass>4</mass>
        <inertia>
          <ixx>0.1</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.09</iyy>
          <iyz>0</iyz>
          <izz>0.02</izz>
        </inertia>
      </inertial>
      <collision name='lbr_iiwa_link_1_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>meshes/link_1.stl</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='lbr_iiwa_link_1_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>meshes/link_1.stl</uri>
          </mesh>
        </geometry>
        <material>
          <ambient>1 0 0 1</ambient>
          <diffuse>0.5 0.7 1.0 1</diffuse>
          <specular>0.1 0.1 0.1 1</specular>
          <emissive>0 0 0 0</emissive>
        </material>
      </visual>
    </link>
    <joint name='lbr_iiwa_joint_1' type='revolute'>
      <child>lbr_iiwa_link_1</child>
      <parent>lbr_iiwa_link_0</parent>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <lower>-2.96706</lower>
          <upper>2.96706</upper>
          <effort>300</effort>
          <velocity>10</velocity>
        </limit>
        <dynamics>
          <damping>0.5</damping>
          <friction>0</friction>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>0</use_parent_model_frame>
      </axis>
    </joint>
    <link name='lbr_iiwa_link_2'>
      <pose>0 0 0.36 1.5708 -0 -3.14159</pose>
      <inertial>
        <pose>0.0003 0.059 0.042 0 -0 0</pose>
        <mass>4</mass>
        <inertia>
          <ixx>0.05</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.018</iyy>
          <iyz>0</iyz>
          <izz>0.044</izz>
        </inertia>
      </inertial>
      <collision name='lbr_iiwa_link_2_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>meshes/link_2.stl</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='lbr_iiwa_link_2_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>meshes/link_2.stl</uri>
          </mesh>
        </geometry>
        <material>
          <ambient>1 0 0 1</ambient>
          <diffuse>0.5 0.7 1.0 1</diffuse>
          <specular>0.1 0.1 0.1 1</specular>
          <emissive>0 0 0 0</emissive>
        </material>
      </visual>
    </link>
    <joint name='lbr_iiwa_joint_2' type='revolute'>
      <child>lbr_iiwa_link_2</child>
      <parent>lbr_iiwa_link_1</parent>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <lower>-2.0944</lower>
          <upper>2.0944</upper>
          <effort>300</effort>
          <velocity>10</velocity>
        </limit>
        <dynamics>
          <damping>0.5</damping>
          <friction>0</friction>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>0</use_parent_model_frame>
      </axis>
    </joint>
    <link name='lbr_iiwa_link_3'>
      <pose>0 -0 0.5645 0 0 0</pose>
      <inertial>
        <pose>0 0.03 0.13 0 -0 0</pose>
        <mass>3</mass>
        <inertia>
          <ixx>0.08</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.075</iyy>
          <iyz>0</iyz>
          <izz>0.01</izz>
        </inertia>
      </inertial>
      <collision name='lbr_iiwa_link_3_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>meshes/link_3.stl</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='lbr_iiwa_link_3_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>meshes/link_3.stl</uri>
          </mesh>
        </geometry>
				<material>
          <ambient>1 0 0 1</ambient>
          <diffuse>1.0 0.42 0.04 1</diffuse>
          <specular>0.1 0.1 0.1 1</specular>
          <emissive>0 0 0 0</emissive>
        </material>
      </visual>
    </link>
    <joint name='lbr_iiwa_joint_3' type='revolute'>
      <child>lbr_iiwa_link_3</child>
      <parent>lbr_iiwa_link_2</parent>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <lower>-2.96706</lower>
          <upper>2.96706</upper>
          <effort>300</effort>
          <velocity>10</velocity>
        </limit>
        <dynamics>
          <damping>0.5</damping>
          <friction>0</friction>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>0</use_parent_model_frame>
      </axis>
    </joint>
    <link name='lbr_iiwa_link_4'>
      <pose>0 -0 0.78 1.5708 0 0</pose>
      <inertial>
        <pose>0 0.067 0.034 0 -0 0</pose>
        <mass>2.7</mass>
        <inertia>
          <ixx>0.03</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.01</iyy>
          <iyz>0</iyz>
          <izz>0.029</izz>
        </inertia>
      </inertial>
      <collision name='lbr_iiwa_link_4_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>meshes/link_4.stl</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='lbr_iiwa_link_4_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>meshes/link_4.stl</uri>
          </mesh>
        </geometry>
        <material>
          <ambient>1 0 0 1</ambient>
          <diffuse>0.5 0.7 1.0 1</diffuse>
          <specular>0.1 0.1 0.1 1</specular>
          <emissive>0 0 0 0</emissive>
        </material>
      </visual>
    </link>
    <joint name='lbr_iiwa_joint_4' type='revolute'>
      <child>lbr_iiwa_link_4</child>
      <parent>lbr_iiwa_link_3</parent>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <lower>-2.0944</lower>
          <upper>2.0944</upper>
          <effort>300</effort>
          <velocity>10</velocity>
        </limit>
        <dynamics>
          <damping>0.5</damping>
          <friction>0</friction>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>0</use_parent_model_frame>
      </axis>
    </joint>
    <link name='lbr_iiwa_link_5'>
      <pose>0 -0 0.9645 0 -0 -3.14159</pose>
      <inertial>
        <pose>0.0001 0.021 0.076 0 -0 0</pose>
        <mass>1.7</mass>
        <inertia>
          <ixx>0.02</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.018</iyy>
          <iyz>0</iyz>
          <izz>0.005</izz>
        </inertia>
      </inertial>
      <collision name='lbr_iiwa_link_5_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>meshes/link_5.stl</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='lbr_iiwa_link_5_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>meshes/link_5.stl</uri>
          </mesh>
        </geometry>
        <material>
          <ambient>1 0 0 1</ambient>
          <diffuse>0.5 0.7 1.0 1</diffuse>
          <specular>0.1 0.1 0.1 1</specular>
          <emissive>0 0 0 0</emissive>
        </material>
      </visual>
    </link>
    <joint name='lbr_iiwa_joint_5' type='revolute'>
      <child>lbr_iiwa_link_5</child>
      <parent>lbr_iiwa_link_4</parent>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <lower>-2.96706</lower>
          <upper>2.96706</upper>
          <effort>300</effort>
          <velocity>10</velocity>
        </limit>
        <dynamics>
          <damping>0.5</damping>
          <friction>0</friction>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>0</use_parent_model_frame>
      </axis>
    </joint>
    <link name='lbr_iiwa_link_6'>
      <pose>0 0 1.18 1.5708 -0 -3.14159</pose>
      <inertial>
        <pose>0 0.0006 0.0004 0 -0 0</pose>
        <mass>1.8</mass>
        <inertia>
          <ixx>0.005</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.0036</iyy>
          <iyz>0</iyz>
          <izz>0.0047</izz>
        </inertia>
      </inertial>
      <collision name='lbr_iiwa_link_6_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>meshes/link_6.stl</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='lbr_iiwa_link_6_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>meshes/link_6.stl</uri>
          </mesh>
        </geometry>
        <material>
          <ambient>1 0 0 1</ambient>
          <diffuse>1.0 0.42 0.04 1</diffuse>
          <specular>0.1 0.1 0.1 1</specular>
          <emissive>0 0 0 0</emissive>
        </material>
      </visual>
    </link>
    <joint name='lbr_iiwa_joint_6' type='revolute'>
      <child>lbr_iiwa_link_6</child>
      <parent>lbr_iiwa_link_5</parent>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <lower>-2.0944</lower>
          <upper>2.0944</upper>
          <effort>300</effort>
          <velocity>10</velocity>
        </limit>
        <dynamics>
          <damping>0.5</damping>
          <friction>0</friction>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>0</use_parent_model_frame>
      </axis>
    </joint>
    <link name='lbr_iiwa_link_7'>
      <pose>0 0 1.261 0 0 0</pose>
      <inertial>
        <pose>0 0 0.02 0 -0 0</pose>
        <mass>0.3</mass>
        <inertia>
          <ixx>0.001</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.001</iyy>
          <iyz>0</iyz>
          <izz>0.001</izz>
        </inertia>
      </inertial>
      <collision name='lbr_iiwa_link_7_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>meshes/link_7.stl</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='lbr_iiwa_link_7_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>meshes/link_7.stl</uri>
          </mesh>
        </geometry>
        <material>
          <ambient>1 0 0 1</ambient>
          <diffuse>0.2 0.2 0.2 1</diffuse>
          <specular>0.1 0.1 0.1 1</specular>
          <emissive>0 0 0 0</emissive>
        </material>
      </visual>
    </link>
    <joint name='lbr_iiwa_joint_7' type='revolute'>
      <child>lbr_iiwa_link_7</child>
      <parent>lbr_iiwa_link_6</parent>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <lower>-3.05433</lower>
          <upper>3.05433</upper>
          <effort>300</effort>
          <velocity>10</velocity>
        </limit>
        <dynamics>
          <damping>0.5</damping>
          <friction>0</friction>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>0</use_parent_model_frame>
      </axis>
    </joint>
  </model>
 </world>
</sdf>
