<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

    <gazebo reference="arm_base_link">
        <material>Gazebo/Orange</material>
    </gazebo>

    <gazebo reference="forearm_link">
        <material>Gazebo/Yellow</material>
    </gazebo>
    
    <gazebo reference="hand_link">
        <material>Gazebo/Orange</material>
    </gazebo>

    <gazebo>
        <plugin name="joint_state_publisher_controller"
                filename="libgazebo_ros_joint_state_publisher.so">
            <!-- Update rate in Hertz -->
            <update_rate>10</update_rate>
            <!-- Name of joints in the model whose states will be published. -->
            <joint_name>arm_base_forearm_joint</joint_name>
            <joint_name>forearm_hand_joint</joint_name>
        </plugin>
    </gazebo>

    <gazebo>
        <plugin name="joint_pose_trajectory_controller"
                filename="libgazebo_ros_joint_pose_trajectory.so">
            <!-- Update rate in Hz -->
            <update_rate>2</update_rate>
        </plugin>
    </gazebo>

</robot>