<?xml version="1.0"?>
<sdf xmlns:drake="http://drake.mit.edu" version="1.8">
  <model name="top">
    <link name="torso">
      <collision name='torso'>
        <geometry>
          <sphere>
            <radius>0.4</radius>
          </sphere>
        </geometry>
      </collision>
    </link>

    <model name="tactile_sensor">
      <pose relative_to="gripper::grasp_frame"/>
      <link name="sensor_link"/>
    </model>

    <joint name="arm_attach" type="fixed">
      <parent>torso</parent>
      <child>arm::L1</child>
    </joint>

    <include>
      <uri>package://interface_api_test/arm.urdf</uri>
      <name>arm</name>
      <pose relative_to="torso">1 0 0 0 0 0</pose>
    </include>

    <include>
      <uri>package://interface_api_test/gripper.sdf</uri>
      <name>gripper</name>
      <pose relative_to="arm::L2"/>
    </include>

    <include>
      <uri>package://interface_api_test/table.sdf</uri>
      <name>table</name>
      <pose>3 0 0 0 0 0</pose>
    </include>
    <include>
      <uri>package://interface_api_test/mug.sdf</uri>
      <name>mug</name>
      <placement_frame>top</placement_frame>
      <pose relative_to="table::top">0 0 0 1.5707963267948966 0 0</pose>
    </include>
    <frame name="table_top_alias" attached_to="table::top"/>
    <frame name="mug_top_alias" attached_to="mug::top"/>
    <joint name="j1" type="fixed">
      <parent>table_top_alias</parent>
      <child>mug_top_alias</child>
    </joint>
    <frame name="test_joint_frame" attached_to="j1"/>

    <drake:collision_filter_group name="g1">
      <drake:member>torso</drake:member>
      <drake:member>arm::L1</drake:member>
      <drake:member>gripper::gripper_link</drake:member>
      <drake:ignored_collision_filter_group>g1</drake:ignored_collision_filter_group>
    </drake:collision_filter_group>
  </model>
</sdf>
