<sdf version='1.6'>
  <world name='default'>
    <light name='sun' type='directional'>
      <cast_shadows>1</cast_shadows>
      <pose frame=''>0 0 10 0 -0 0</pose>
      <diffuse>0.8 0.8 0.8 1</diffuse>
      <specular>0.1 0.1 0.1 1</specular>
      <attenuation>
      	<range>1000</range>
      	<constant>0.9</constant>
      	<linear>0.01</linear>
      	<quadratic>0.001</quadratic>
      </attenuation>
      <direction>-0.5 0.5 -1</direction>
    </light>
    <gravity>0 0 -9.8</gravity>
    <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
    <atmosphere type='adiabatic'/>
    <physics name='default_physics' default='0' type='ode'>
      <max_step_size>0.001</max_step_size>
      <real_time_factor>1</real_time_factor>
      <real_time_update_rate>1000</real_time_update_rate>
    </physics>
    <scene>
      <ambient>0.4 0.4 0.4 1</ambient>
      <background>0.7 0.7 0.7 1</background>
      <shadows>1</shadows>
    </scene>
    <spherical_coordinates>
      <surface_model>EARTH_WGS84</surface_model>
      <latitude_deg>0</latitude_deg>
      <longitude_deg>0</longitude_deg>
      <elevation>0</elevation>
      <heading_deg>0</heading_deg>
    </spherical_coordinates>
    <model name='ground_plane'>
      <static>1</static>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>100</mu>
                <mu2>50</mu2>
              </ode>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <contact>
              <ode/>
            </contact>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='visual'>
          <cast_shadows>0</cast_shadows>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <pose frame=''>-1.64949 1.14493 0 0 -0 0</pose>
    </model>
    <state world_name='default'>
      <sim_time>0 0</sim_time>
      <real_time>0 0</real_time>
      <wall_time>1499307435 609513306</wall_time>
      <iterations>0</iterations>
      <model name='ground_plane'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
      </model>
    </state>
    <gui fullscreen='0'>
      <camera name='user_camera'>
        <pose frame=''>5 -5 2 0 0.275643 2.35619</pose>
        <view_controller>orbit</view_controller>
        <projection_type>perspective</projection_type>
      </camera>
    </gui>
  <model name="R1">
    <pose frame="">0 0 0 0 0 0</pose>
    <self_collide>1</self_collide>
    <link name="base">
     <pose>0 0 0.1 0 -0 0</pose>
     <inertial>
     <mass>2.5</mass>
     </inertial>
      <collision name="baseC">
      <pose>0 0 0 0 0 0</pose>
      <geometry>
       <box>
        <size>0.5 1 0.2</size>
       </box>
      </geometry> 
      <surface>
      <contact>
      <ode>
      <soft_cfm>0</soft_cfm>
      <soft_erp>0.2</soft_erp>
      <kp>1e+13</kp>
      <kd>1e+11</kd>
      <max_vel>-1</max_vel>
      <min_depth>0</min_depth>
      </ode>
      </contact>
      <friction>
      <torsional>
      <ode/>
      </torsional>
      <ode/>
      </friction>
      </surface>
     </collision>
     <visual name="baseV">
      <pose>0 0 0 0 0 0</pose>
      <geometry>
       <box>
        <size>0.5 1 0.2</size>
       </box>
      </geometry>     
     </visual>
    </link>
    <link name="eslabon1">
    <pose>0 0 0.7 0 -0 0</pose>
      <collision name="eslabon1C">
      <pose>0 0 0 0 0 0</pose>
      <geometry>
       <box>
        <size>0.05 0.05 1</size>
       </box>
      </geometry> 
      <surface>
      <contact>
      <ode>
      <soft_cfm>0</soft_cfm>
      <soft_erp>0.2</soft_erp>
      <kp>1e+13</kp>
      <kd>1e+11</kd>
      <max_vel>-1</max_vel>
      <min_depth>0</min_depth>
      </ode>
      </contact>
      <friction>
      <torsional>
      <ode/>
      </torsional>
      <ode/>
      </friction>
      </surface>
     </collision>
     <visual name="eslabon1V">
      <pose>0 0 0 0 0 0</pose>
      <geometry>
       <box>
        <size>0.05 0.05 1</size>
       </box>
      </geometry>     </visual>
    </link>
    <joint name="eslabon1J" type="revolute">
    <pose frame="">0 0 -0.5 0 0 0</pose>
    <parent>base</parent>
    <child>eslabon1</child>
    <axis>
    <dynamics>
    <damping>1</damping>
    <friction>0</friction>
    <spring_reference>0</spring_reference>
    <spring_stiffness>0</spring_stiffness>
    </dynamics>
    <limit>
    <lower>-3.14</lower>
    <upper>3.14</upper>
    <effort>9</effort>
    <velocity>0.1</velocity>
    </limit>
    <xyz>0 0 -1</xyz>
    <use_parent_model_frame>1</use_parent_model_frame>
    </axis>
    </joint>
    
    <link name="eslabon2">
    <pose>0 0.05 1.652 0 -0 0</pose>
      <collision name="eslabon2C">
      <pose>0 0 0 0 0 0</pose>
      <geometry>
       <box>
        <size>0.05 0.05 1</size>
       </box>
      </geometry> 
      <surface>
      <contact>
      <ode>
      <soft_cfm>0</soft_cfm>
      <soft_erp>0.2</soft_erp>
      <kp>1e+13</kp>
      <kd>1e+11</kd>
      <max_vel>-1</max_vel>
      <min_depth>0</min_depth>
      </ode>
      </contact>
      <friction>
      <torsional>
      <ode/>
      </torsional>
      <ode/>
      </friction>
      </surface>
     </collision>
     <visual name="eslabon2V">
      <pose>0 0 0 0 0 0</pose>
      <geometry>
       <box>
        <size>0.05 0.05 1</size>
       </box>
      </geometry>     </visual>
    </link>
    <joint name="eslabon2J" type="revolute">
    <pose frame="">0 0 -0.475 0 0 0</pose>
    <parent>eslabon1</parent>
    <child>eslabon2</child>
    <axis>
    <dynamics>
    <damping>1</damping>
    <friction>0</friction>
    <spring_reference>0</spring_reference>
    <spring_stiffness>0</spring_stiffness>
    </dynamics>
    <limit>
    <lower>0</lower>
    <upper>3.14</upper>
    <effort>9</effort>
    <velocity>0.1</velocity>
    </limit>
    <xyz>1 0 0</xyz>
    <use_parent_model_frame>1</use_parent_model_frame>
    </axis>
    </joint>
    <link name="eslabon3">
    <pose>0 0.1 2.607 0 -0 0</pose>
      <collision name="eslabon2C">
      <pose>0 0 0 0 0 0</pose>
      <geometry>
       <box>
        <size>0.05 0.05 1</size>
       </box>
      </geometry> 
      <surface>
      <contact>
      <ode>
      <soft_cfm>0</soft_cfm>
      <soft_erp>0.2</soft_erp>
      <kp>1e+13</kp>
      <kd>1e+11</kd>
      <max_vel>-1</max_vel>
      <min_depth>0</min_depth>
      </ode>
      </contact>
      <friction>
      <torsional>
      <ode/>
      </torsional>
      <ode/>
      </friction>
      </surface>
     </collision>
     <visual name="eslabon3V">
      <pose>0 0 0 0 0 0</pose>
      <geometry>
       <box>
        <size>0.05 0.05 1</size>
       </box>
      </geometry> 
      </visual>
    </link>
    <joint name="eslabon3J" type="revolute">
    <pose frame="">0 0 -0.475 0 0 0</pose>
    <parent>eslabon2</parent>
    <child>eslabon3</child>
    <axis>
    <dynamics>
    <damping>1</damping>
    <friction>0</friction>
    <spring_reference>0</spring_reference>
    <spring_stiffness>0</spring_stiffness>
    </dynamics>
    <limit>
    <lower>-3.14</lower>
    <upper>3.14</upper>
    <effort>9</effort>
    <velocity>0</velocity>
    </limit>
    <xyz>1 0 0</xyz>
    <use_parent_model_frame>1</use_parent_model_frame>
    </axis>
    </joint>
     <link name="mano">
    <pose>0 0.1 3.157 0 -0 0</pose>
      <collision name="manoC">
      <pose>0 0 0 0 0 0</pose>
      <geometry>
       <box>
        <size>0.1 0.1 0.1</size>
       </box>
      </geometry> 
      <surface>
      <contact>
      <ode>
      <soft_cfm>0</soft_cfm>
      <soft_erp>0.2</soft_erp>
      <kp>1e+13</kp>
      <kd>1e+11</kd>
      <max_vel>-1</max_vel>
      <min_depth>0</min_depth>
      </ode>
      </contact>
      <friction>
      <torsional>
      <ode/>
      </torsional>
      <ode/>
      </friction>
      </surface>
     </collision>
     <visual name="manoV">
      <pose>0 0 0 0 0 0</pose>
      <geometry>
       <box>
        <size>0.1 0.1 0.1</size>
       </box>
      </geometry>     </visual>
    </link>
    <joint name="manoJ" type="revolute">
    <pose frame="">0 0 -0.475 0 0 0</pose>
    <parent>eslabon3</parent>
    <child>mano</child>
    <axis>
    <dynamics>
    <damping>1</damping>
    <friction>0</friction>
    <spring_reference>0</spring_reference>
    <spring_stiffness>0</spring_stiffness>
    </dynamics>
    <limit>
    <lower>-3.14</lower>
    <upper>3.14</upper>
    <effort>9</effort>
    <velocity>0.1</velocity>
    </limit>
    <xyz>0 0 1</xyz>
    <use_parent_model_frame>1</use_parent_model_frame>
    </axis>
    </joint>
    <link name="dedo1">
    <pose>0.01 0.1 3.2095 0 -0 0</pose>
      <collision name="dedo1C">
      <pose>0 0 0 0 0 0</pose>
      <geometry>
       <box>
        <size>0.02 0.02 0.05</size>
       </box>
      </geometry> 
      <surface>
      <contact>
      <ode>
      <soft_cfm>0</soft_cfm>
      <soft_erp>0.2</soft_erp>
      <kp>1e+13</kp>
      <kd>1e+11</kd>
      <max_vel>-1</max_vel>
      <min_depth>0</min_depth>
      </ode>
      </contact>
      <friction>
      <torsional>
      <ode/>
      </torsional>
      <ode/>
      </friction>
      </surface>
     </collision>
     <visual name="dedo1V">
      <pose>0 0 0 0 0 0</pose>
      <geometry>
       <box>
        <size>0.02 0.02 0.05</size>
       </box>
      </geometry>     </visual>
    </link>
    <joint name="dedo1J" type="prismatic">
    <pose frame="">0 0.01 0 0 0 0</pose>
    <parent>mano</parent>
    <child>dedo1</child>
    <axis>
    <dynamics>
    <damping>1</damping>
    <friction>0</friction>
    <spring_reference>0</spring_reference>
    <spring_stiffness>0</spring_stiffness>
    </dynamics>
    <limit>
    <lower>0</lower>
    <upper>0.05</upper>
    <effort>9</effort>
    <velocity>0.1</velocity>
    </limit>
    <xyz>0 1 0</xyz>
    <use_parent_model_frame>1</use_parent_model_frame>
    </axis>
    </joint>
    <link name="dedo2">
    <pose>-0.01 0.1 3.2095 0 -0 0</pose>
      <collision name="dedo2C">
      <pose>0 0 0 0 0 0</pose>
      <geometry>
       <box>
        <size>0.02 0.02 0.05</size>
       </box>
      </geometry> 
      <surface>
      <contact>
      <ode>
      <soft_cfm>0</soft_cfm>
      <soft_erp>0.2</soft_erp>
      <kp>1e+13</kp>
      <kd>1e+11</kd>
      <max_vel>-1</max_vel>
      <min_depth>0</min_depth>
      </ode>
      </contact>
      <friction>
      <torsional>
      <ode/>
      </torsional>
      <ode/>
      </friction>
      </surface>
     </collision>
     <visual name="dedo2V">
      <pose>0 0 0 0 0 0</pose>
      <geometry>
       <box>
        <size>0.02 0.02 0.05</size>
       </box>
      </geometry>     </visual>
    </link>
    <joint name="dedo2J" type="prismatic">
    <pose frame="">0 0 -0.01 0 0 0</pose>
    <parent>mano</parent>
    <child>dedo2</child>
    <axis>
    <dynamics>
    <damping>1</damping>
    <friction>0</friction>
    <spring_reference>0</spring_reference>
    <spring_stiffness>0</spring_stiffness>
    </dynamics>
    <limit>
    <lower>0</lower>
    <upper>0.05</upper>
    <effort>9</effort>
    <velocity>0.1</velocity>
    </limit>
    <xyz>0 1 0</xyz>
    <use_parent_model_frame>1</use_parent_model_frame>
    </axis>
    </joint>
    <plugin name="actuador" filename="libTry_1.so">
    
    </plugin>
    
  </model>
  
  </world>
</sdf>
