diff --git a/robots/kinova_description/robots/kinova.urdf b/robots/kinova_description/robots/kinova.urdf
index 5611306cdb15dbc84b2cb3bc81c2669a21c74029..2150d315f61352e4256c064081229f20e973e621 100644
--- a/robots/kinova_description/robots/kinova.urdf
+++ b/robots/kinova_description/robots/kinova.urdf
@@ -40,9 +40,21 @@
<!-- Xacro:Properties -->
<!-- [m] -->
<!-- Base link -->
- <link name="base"/>
+ <link name="base">
+ <inertial>
+ <mass value="0.0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ </link>
<link name="jaco_front_hatch_support_v2">
+ <inertial>
+ <mass value="0.0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/kinova_description/meshes/jaco_front_hatch_support_v2.dae"/>
@@ -56,11 +68,17 @@
</joint>
<link name="jaco_mounting_block">
- <visual>
- <geometry>
- <mesh filename="package://example-robot-data/robots/kinova_description/meshes/jaco_mounting_block.dae"/>
- </geometry>
- </visual>
+ <inertial>
+ <mass value="0.0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+
+ <visual>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/kinova_description/meshes/jaco_mounting_block.dae"/>
+ </geometry>
+ </visual>
</link>
<joint name="jaco_support_to_jaco_mounting_block" type="fixed">
<parent link="jaco_front_hatch_support_v2"/>
@@ -354,7 +372,13 @@
<mechanicalReduction>160</mechanicalReduction>
</actuator>
</transmission>
- <link name="j2s6s200_end_effector"/>
+ <link name="j2s6s200_end_effector">
+ <inertial>
+ <mass value="0.0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ </link>
<joint name="j2s6s200_joint_end_effector" type="fixed">
<parent link="j2s6s200_link_6"/>
<child link="j2s6s200_end_effector"/>
diff --git a/robots/panda_description/urdf/panda.urdf b/robots/panda_description/urdf/panda.urdf
index cf01eec9097959e1c79dbb68a81ce09e29916dd3..c767772cdfd7f94de0fa241bde31844e0833456c 100644
--- a/robots/panda_description/urdf/panda.urdf
+++ b/robots/panda_description/urdf/panda.urdf
@@ -17,6 +17,11 @@
</collision>
</link>
<link name="panda_link1">
+ <inertial>
+ <mass value="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ </inertial>
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link1.dae" />
@@ -37,6 +42,11 @@
<limit effort="87" lower="-2.9671" upper="2.9671" velocity="2.3925" />
</joint>
<link name="panda_link2">
+ <inertial>
+ <mass value="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ </inertial>
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link2.dae" />
@@ -57,6 +67,11 @@
<limit effort="87" lower="-1.8326" upper="1.8326" velocity="2.3925" />
</joint>
<link name="panda_link3">
+ <inertial>
+ <mass value="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ </inertial>
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link3.dae" />
@@ -77,6 +92,11 @@
<limit effort="87" lower="-2.9671" upper="2.9671" velocity="2.3925" />
</joint>
<link name="panda_link4">
+ <inertial>
+ <mass value="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ </inertial>
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link4.dae" />
@@ -97,6 +117,11 @@
<limit effort="87" lower="-3.1416" upper="0.0873" velocity="2.3925" />
</joint>
<link name="panda_link5">
+ <inertial>
+ <mass value="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ </inertial>
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link5.dae" />
@@ -117,6 +142,11 @@
<limit effort="12" lower="-2.9671" upper="2.9671" velocity="2.8710" />
</joint>
<link name="panda_link6">
+ <inertial>
+ <mass value="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ </inertial>
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link6.dae" />
@@ -137,6 +167,11 @@
<limit effort="12" lower="-0.0873" upper="3.8223" velocity="2.8710" />
</joint>
<link name="panda_link7">
+ <inertial>
+ <mass value="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ </inertial>
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link7.dae" />
@@ -156,7 +191,13 @@
<axis xyz="0 0 1" />
<limit effort="12" lower="-2.9671" upper="2.9671" velocity="2.8710" />
</joint>
- <link name="panda_link8" />
+ <link name="panda_link8">
+ <inertial>
+ <mass value="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ </inertial>
+ </link>
<joint name="panda_joint8" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.107" />
<parent link="panda_link7" />
@@ -169,6 +210,11 @@
<origin rpy="0 0 -0.785398163397" xyz="0 0 0" />
</joint>
<link name="panda_hand">
+ <inertial>
+ <mass value="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ </inertial>
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/hand.dae" />
@@ -181,6 +227,11 @@
</collision>
</link>
<link name="panda_leftfinger">
+ <inertial>
+ <mass value="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ </inertial>
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/finger.dae" />
@@ -193,6 +244,11 @@
</collision>
</link>
<link name="panda_rightfinger">
+ <inertial>
+ <mass value="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ </inertial>
<visual>
<origin rpy="0 0 3.14159265359" xyz="0 0 0" />
<geometry>
diff --git a/robots/romeo_description/urdf/romeo.urdf b/robots/romeo_description/urdf/romeo.urdf
index bab144e94f1065c76240b8cea2bdafdffc36ab67..4a0bd75507e427a2e54ba1a831e151dd9a734933 100644
--- a/robots/romeo_description/urdf/romeo.urdf
+++ b/robots/romeo_description/urdf/romeo.urdf
@@ -87,7 +87,14 @@
<child link="gaze"/>
<origin rpy="0 0 0" xyz="0.11017 0 0.05426"/>
</joint>
- <link name="gaze"/>
+ <link name="gaze">
+ <inertial>
+ <mass value="0.0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ </link>
+
<joint name="LHipYaw" type="revolute">
<parent link="body"/>
<child link="LHipYawLink"/>
@@ -207,7 +214,14 @@
<child link="l_sole"/>
<origin rpy="0 0 0" xyz="0 0 -0.0684"/>
</joint>
- <link name="l_sole"/>
+ <link name="l_sole">
+ <inertial>
+ <mass value="0.0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ </link>
+
<joint name="RHipYaw" type="revolute">
<parent link="body"/>
<child link="RHipYawLink"/>
@@ -327,8 +341,22 @@
<child link="r_sole"/>
<origin rpy="0 0 0" xyz="0 0 -0.0684"/>
</joint>
- <link name="r_sole"/>
- <link name="base_link"/>
+ <link name="r_sole">
+ <inertial>
+ <mass value="0.0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ </link>
+
+ <link name="base_link">
+ <inertial>
+ <mass value="0.0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ </link>
+
<joint name="waist" type="fixed">
<parent link="base_link"/>
<child link="body"/>
@@ -671,121 +699,261 @@
</geometry>
</collision>
</link>
- <link name="ImuTorsoGyrometer_frame"/>
+ <link name="ImuTorsoGyrometer_frame">
+ <inertial>
+ <mass value="0.0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ </link>
+
<joint name="ImuTorsoGyrometer_joint" type="fixed">
<parent link="body"/>
<child link="ImuTorsoGyrometer_frame"/>
<origin rpy="0 0 0" xyz="0.06185 0.0087 -0.1582"/>
</joint>
- <link name="RFsrRCenter_frame"/>
+ <link name="RFsrRCenter_frame">
+ <inertial>
+ <mass value="0.0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ </link>
+
<joint name="RFsrRCenter_joint" type="fixed">
<parent link="r_ankle"/>
<child link="RFsrRCenter_frame"/>
<origin rpy="0 0 0" xyz="-0.04 0 -0.0646"/>
</joint>
- <link name="LFsrRCenter_frame"/>
+ <link name="LFsrRCenter_frame">
+ <inertial>
+ <mass value="0.0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ </link>
+
<joint name="LFsrRCenter_joint" type="fixed">
<parent link="l_ankle"/>
<child link="LFsrRCenter_frame"/>
<origin rpy="0 0 0" xyz="-0.04 0 -0.0646"/>
</joint>
- <link name="RFsrFR_frame"/>
+ <link name="RFsrFR_frame">
+ <inertial>
+ <mass value="0.0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ </link>
+
<joint name="RFsrFR_joint" type="fixed">
<parent link="r_ankle"/>
<child link="RFsrFR_frame"/>
<origin rpy="0 0 0" xyz="0.13 -0.0337 -0.0646"/>
</joint>
- <link name="CameraLeftEye_frame"/>
+ <link name="CameraLeftEye_frame">
+ <inertial>
+ <mass value="0.0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ </link>
+
<joint name="CameraLeftEye_joint" type="fixed">
<parent link="HeadRollLink"/>
<child link="CameraLeftEye_frame"/>
<origin rpy="0 0 0" xyz="0.11017 0.03192 0.05426"/>
</joint>
- <link name="CameraRight_frame"/>
+ <link name="CameraRight_frame">
+ <inertial>
+ <mass value="0.0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ </link>
+
<joint name="CameraRight_joint" type="fixed">
<parent link="HeadRollLink"/>
<child link="CameraRight_frame"/>
<origin rpy="0 0 0" xyz="0.11999 -0.04 0.09938"/>
</joint>
- <link name="ImuHeadGyrometer_frame"/>
+ <link name="ImuHeadGyrometer_frame">
+ <inertial>
+ <mass value="0.0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ </link>
+
<joint name="ImuHeadGyrometer_joint" type="fixed">
<parent link="HeadRollLink"/>
<child link="ImuHeadGyrometer_frame"/>
<origin rpy="0 0 1.57079632679" xyz="-0.01135 -0.04225 0.16011"/>
</joint>
- <link name="ImuHeadAccelerometer_frame"/>
+ <link name="ImuHeadAccelerometer_frame">
+ <inertial>
+ <mass value="0.0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ </link>
+
<joint name="ImuHeadAccelerometer_joint" type="fixed">
<parent link="HeadRollLink"/>
<child link="ImuHeadAccelerometer_frame"/>
<origin rpy="0 0 1.57079632679" xyz="-0.01135 -0.04225 0.16011"/>
</joint>
- <link name="HeadTouchMiddle_frame"/>
+ <link name="HeadTouchMiddle_frame">
+ <inertial>
+ <mass value="0.0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ </link>
+
<joint name="HeadTouchMiddle_joint" type="fixed">
<parent link="HeadRollLink"/>
<child link="HeadTouchMiddle_frame"/>
<origin rpy="0 -1.57079632679 0" xyz="0.001 0 0.1099"/>
</joint>
- <link name="CameraLeft_frame"/>
+ <link name="CameraLeft_frame">
+ <inertial>
+ <mass value="0.0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ </link>
+
<joint name="CameraLeft_joint" type="fixed">
<parent link="HeadRollLink"/>
<child link="CameraLeft_frame"/>
<origin rpy="0 0 0" xyz="0.11999 0.04 0.09938"/>
</joint>
- <link name="RFsrCenter_frame"/>
+ <link name="RFsrCenter_frame">
+ <inertial>
+ <mass value="0.0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ </link>
+
<joint name="RFsrCenter_joint" type="fixed">
<parent link="r_ankle"/>
<child link="RFsrCenter_frame"/>
<origin rpy="0 0 0" xyz="0.073 0.02 -0.0646"/>
</joint>
- <link name="LFsrCenter_frame"/>
+ <link name="LFsrCenter_frame">
+ <inertial>
+ <mass value="0.0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ </link>
+
<joint name="LFsrCenter_joint" type="fixed">
<parent link="l_ankle"/>
<child link="LFsrCenter_frame"/>
<origin rpy="0 0 0" xyz="0.073 0.02 -0.0646"/>
</joint>
- <link name="CameraDepth_frame"/>
+ <link name="CameraDepth_frame">
+ <inertial>
+ <mass value="0.0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ </link>
+
<joint name="CameraDepth_joint" type="fixed">
<parent link="HeadRollLink"/>
<child link="CameraDepth_frame"/>
<origin rpy="2.0043951 0 1.57079632679" xyz="0.1403 -0.04708 0.14655"/>
</joint>
- <link name="ImuTorsoAccelerometer_frame"/>
+ <link name="ImuTorsoAccelerometer_frame">
+ <inertial>
+ <mass value="0.0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ </link>
+
<joint name="ImuTorsoAccelerometer_joint" type="fixed">
<parent link="body"/>
<child link="ImuTorsoAccelerometer_frame"/>
<origin rpy="0 0 0" xyz="0.06185 0.0087 -0.1582"/>
</joint>
- <link name="RFsrFL_frame"/>
+ <link name="RFsrFL_frame">
+ <inertial>
+ <mass value="0.0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ </link>
+
<joint name="RFsrFL_joint" type="fixed">
<parent link="r_ankle"/>
<child link="RFsrFL_frame"/>
<origin rpy="0 0 0" xyz="0.13 0.0337 -0.0646"/>
</joint>
- <link name="LFsrFL_frame"/>
+ <link name="LFsrFL_frame">
+ <inertial>
+ <mass value="0.0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ </link>
+
<joint name="LFsrFL_joint" type="fixed">
<parent link="l_ankle"/>
<child link="LFsrFL_frame"/>
<origin rpy="0 0 0" xyz="0.13 0.0337 -0.0646"/>
</joint>
- <link name="CameraRightEye_frame"/>
+ <link name="CameraRightEye_frame">
+ <inertial>
+ <mass value="0.0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ </link>
+
<joint name="CameraRightEye_joint" type="fixed">
<parent link="HeadRollLink"/>
<child link="CameraRightEye_frame"/>
<origin rpy="0 0 0" xyz="0.11017 -0.03192 0.05426"/>
</joint>
- <link name="HeadTouchFront_frame"/>
+ <link name="HeadTouchFront_frame">
+ <inertial>
+ <mass value="0.0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ </link>
+
<joint name="HeadTouchFront_joint" type="fixed">
<parent link="HeadRollLink"/>
<child link="HeadTouchFront_frame"/>
<origin rpy="0 -1.186099535 0" xyz="0.0312 0 0.1014"/>
</joint>
- <link name="LFsrFR_frame"/>
+ <link name="LFsrFR_frame">
+ <inertial>
+ <mass value="0.0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ </link>
+
<joint name="LFsrFR_joint" type="fixed">
<parent link="l_ankle"/>
<child link="LFsrFR_frame"/>
<origin rpy="0 0 0" xyz="0.13 -0.0337 -0.0646"/>
</joint>
- <link name="HeadTouchRear_frame"/>
+ <link name="HeadTouchRear_frame">
+ <inertial>
+ <mass value="0.0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ </link>
+
<joint name="HeadTouchRear_joint" type="fixed">
<parent link="HeadRollLink"/>
<child link="HeadTouchRear_frame"/>
@@ -796,13 +964,26 @@
<child link="l_gripper"/>
<origin rpy="-1.57079633 0 0" xyz="0.09 0 -0.02"/>
</joint>
- <link name="l_gripper"/>
+ <link name="l_gripper">
+ <inertial>
+ <mass value="0.0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ </link>
<joint name="r_gripper_joint" type="fixed">
<parent link="r_wrist"/>
<child link="r_gripper"/>
<origin rpy="-1.57079633 0 0" xyz="0.09 0 -0.02"/>
</joint>
- <link name="r_gripper"/>
+ <link name="r_gripper">
+ <inertial>
+ <mass value="0.0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ </link>
+
<link name="LFinger11Link">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
diff --git a/robots/talos_data/robots/talos_full_v2.urdf b/robots/talos_data/robots/talos_full_v2.urdf
index 42afc05a167215d6ea6e9de24b5ab9bfd9518471..245ee6abac5fdc945a96abca2501aff839902398 100644
--- a/robots/talos_data/robots/talos_full_v2.urdf
+++ b/robots/talos_data/robots/talos_full_v2.urdf
@@ -304,26 +304,50 @@
<parent link="rgbd_link"/>
<child link="rgbd_depth_frame"/>
</joint>
- <link name="rgbd_depth_frame"/>
+ <link name="rgbd_depth_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0.0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
<joint name="rgbd_depth_optical_joint" type="fixed">
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
<parent link="rgbd_depth_frame"/>
<child link="rgbd_depth_optical_frame"/>
</joint>
- <link name="rgbd_depth_optical_frame"/>
+ <link name="rgbd_depth_optical_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
<!-- frames of the rgb sensor -->
<joint name="rgbd_rgb_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.0 0.01251 0.0"/>
<parent link="rgbd_link"/>
<child link="rgbd_rgb_frame"/>
</joint>
- <link name="rgbd_rgb_frame"/>
+ <link name="rgbd_rgb_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
<joint name="rgbd_rgb_optical_joint" type="fixed">
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
<parent link="rgbd_rgb_frame"/>
<child link="rgbd_rgb_optical_frame"/>
</joint>
- <link name="rgbd_rgb_optical_frame"/>
+ <link name="rgbd_rgb_optical_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
<gazebo reference="rgbd_link">
<!-- IR + depth -->
<sensor name="rgbd_frame_sensor" type="depth">
diff --git a/robots/talos_data/robots/talos_full_v2_box.urdf b/robots/talos_data/robots/talos_full_v2_box.urdf
index 7c90cadf4305f1f0dcebe4dc1d3b8bd9f261a6c8..c5a797bfc8812c5e3703f1564399cfa4ab95dc39 100644
--- a/robots/talos_data/robots/talos_full_v2_box.urdf
+++ b/robots/talos_data/robots/talos_full_v2_box.urdf
@@ -304,26 +304,50 @@
<parent link="rgbd_link"/>
<child link="rgbd_depth_frame"/>
</joint>
- <link name="rgbd_depth_frame"/>
+ <link name="rgbd_depth_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0.0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
<joint name="rgbd_depth_optical_joint" type="fixed">
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
<parent link="rgbd_depth_frame"/>
<child link="rgbd_depth_optical_frame"/>
</joint>
- <link name="rgbd_depth_optical_frame"/>
+ <link name="rgbd_depth_optical_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
<!-- frames of the rgb sensor -->
<joint name="rgbd_rgb_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.0 0.01251 0.0"/>
<parent link="rgbd_link"/>
<child link="rgbd_rgb_frame"/>
</joint>
- <link name="rgbd_rgb_frame"/>
+ <link name="rgbd_rgb_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
<joint name="rgbd_rgb_optical_joint" type="fixed">
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
<parent link="rgbd_rgb_frame"/>
<child link="rgbd_rgb_optical_frame"/>
</joint>
- <link name="rgbd_rgb_optical_frame"/>
+ <link name="rgbd_rgb_optical_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
<gazebo reference="rgbd_link">
<!-- IR + depth -->
<sensor name="rgbd_frame_sensor" type="depth">
diff --git a/robots/talos_data/robots/talos_reduced.urdf b/robots/talos_data/robots/talos_reduced.urdf
index ae5397381292be4f1dad94a9ae21150e79b80afc..d1f125dcbe686c28f21a7af3327edacaefabee98 100644
--- a/robots/talos_data/robots/talos_reduced.urdf
+++ b/robots/talos_data/robots/talos_reduced.urdf
@@ -289,17 +289,6 @@
<!-- inertia tensor computed analytically for a solid cuboid -->
<inertia ixx="0.000030" ixy="0.0" ixz="0.0" iyy="0.000030" iyz="0.0" izz="0.000002"/>
</inertial>
- <!--
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://example-robot-data/robots/talos_data/meshes/sensors/orbbec/orbbec.STL"/>
- </geometry>
- <material name="DarkGrey">
- <color rgba="0.5 0.5 0.5 1"/>
- </material>
- </visual>
- -->
<collision>
<origin rpy="0 0 0" xyz="-0.01 0.0025 0"/>
<geometry>
@@ -325,26 +314,50 @@
<parent link="rgbd_link"/>
<child link="rgbd_depth_frame"/>
</joint>
- <link name="rgbd_depth_frame"/>
+ <link name="rgbd_depth_frame">
+ <inertial>
+ <mass value="0.0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ </link>
<joint name="rgbd_depth_optical_joint" type="fixed">
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
<parent link="rgbd_depth_frame"/>
<child link="rgbd_depth_optical_frame"/>
</joint>
- <link name="rgbd_depth_optical_frame"/>
+ <link name="rgbd_depth_optical_frame">
+ <inertial>
+ <mass value="0.0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ </link>
<!-- frames of the rgb sensor -->
<joint name="rgbd_rgb_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.0 0.01251 0.0"/>
<parent link="rgbd_link"/>
<child link="rgbd_rgb_frame"/>
</joint>
- <link name="rgbd_rgb_frame"/>
+ <link name="rgbd_rgb_frame">
+ <inertial>
+ <mass value="0.0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ </link>
<joint name="rgbd_rgb_optical_joint" type="fixed">
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
<parent link="rgbd_rgb_frame"/>
<child link="rgbd_rgb_optical_frame"/>
</joint>
- <link name="rgbd_rgb_optical_frame"/>
+ <link name="rgbd_rgb_optical_frame" >
+ <inertial>
+ <mass value="0.0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ </link>
<!-- extensions -->
<gazebo reference="rgbd_link">
<!-- IR + depth -->
@@ -449,7 +462,6 @@
<!-- TODO: Missing reflects of inertias -->
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="-0.01346 0.0913 0.04812"/>
- <!-- <mass value="1.52896"/> -->
<mass value="1.42896"/>
<inertia ixx="0.00555100000" ixy="-0.00073100000" ixz="0.00000800000" iyy="0.00167300000" iyz="-0.00006000000" izz="0.00582200000"/>
</inertial>
@@ -482,7 +494,6 @@
<link name="arm_left_2_link">
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="0.02607 0.00049 -0.05209"/>
- <!-- <mass value="1.77729"/> -->
<mass value="1.67729"/>
<inertia ixx="0.00708700000" ixy="-0.00001400000" ixz="0.00214200000" iyy="0.00793600000" iyz="0.00003000000" izz="0.00378800000"/>
</inertial>
@@ -515,7 +526,6 @@
<link name="arm_left_3_link">
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00841 0.01428 -0.22291"/>
- <!-- <mass value="1.57029"/> -->
<mass value="1.47029"/>
<inertia ixx="0.00433200000" ixy="0.00015300000" ixz="-0.00049600000" iyy="0.00434000000" iyz="-0.00060900000" izz="0.00254300000"/>
</inertial>
@@ -551,7 +561,6 @@
<link name="arm_left_4_link">
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="-0.00655 -0.02107 -0.02612"/>
- <!-- <mass value="1.20216"/> -->
<mass value="1.10216"/>
<inertia ixx="0.00221700000" ixy="-0.00010100000" ixz="0.00028800000" iyy="0.00241800000" iyz="-0.00039300000" izz="0.00111500000"/>
</inertial>
@@ -622,7 +631,6 @@
<link name="arm_left_5_link">
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="-0.00006 0.00326 0.07963"/>
- <!-- <mass value="1.87792"/> -->
<mass value="1.77792"/>
<inertia ixx="0.00349500000" ixy="-0.00001300000" ixz="-0.00001000000" iyy="0.00436800000" iyz="0.00009700000" izz="0.00228300000"/>
</inertial>
@@ -655,7 +663,6 @@
<link name="arm_left_6_link">
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00002 -0.00197 -0.00059"/>
- <!-- <mass value="0.40931"/> -->
<mass value="0.30931"/>
<inertia ixx="0.00010700000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00014100000" iyz="-0.00000000000" izz="0.00015400000"/>
</inertial>
@@ -686,15 +693,6 @@
soft_upper_limit="${80.00000 * deg_to_rad - eps_radians}" /> -->
</joint>
<link name="arm_left_7_link">
- <!-- WRONG VALUES
- <inertial>
- <origin xyz="-0.00089 0.00365 -0.07824" rpy="0.00000 0.00000 0.00000"/>
- <mass value="1.02604"/>
- <inertia ixx="0.00151400000" ixy="0.00000600000" ixz="0.00006600000"
- iyy="0.00146400000" iyz="0.00001200000"
- izz="0.00090300000"/>
- </inertial>
- -->
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="0.007525 0.001378 -0.024630"/>
<mass value="0.308441"/>
@@ -833,7 +831,6 @@
<!-- TODO: Missing reflects of inertias -->
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="-0.01346 -0.0913 0.04812"/>
- <!-- <mass value="1.52896"/> -->
<mass value="1.42896"/>
<inertia ixx="0.00555100000" ixy="-0.00073100000" ixz="0.00000800000" iyy="0.00167300000" iyz="-0.00006000000" izz="0.00582200000"/>
</inertial>
@@ -866,7 +863,6 @@
<link name="arm_right_2_link">
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="0.02607 0.00049 -0.05209"/>
- <!-- <mass value="1.77729"/> -->
<mass value="1.67729"/>
<inertia ixx="0.00708700000" ixy="-0.00001400000" ixz="0.00214200000" iyy="0.00793600000" iyz="0.00003000000" izz="0.00378800000"/>
</inertial>
@@ -899,7 +895,6 @@
<link name="arm_right_3_link">
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00841 0.01428 -0.22291"/>
- <!-- <mass value="1.57029"/> -->
<mass value="1.47029"/>
<inertia ixx="0.00433200000" ixy="0.00015300000" ixz="-0.00049600000" iyy="0.00434000000" iyz="-0.00060900000" izz="0.00254300000"/>
</inertial>
@@ -935,7 +930,6 @@
<link name="arm_right_4_link">
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="-0.00655 -0.02107 -0.02612"/>
- <!-- <mass value="1.20216"/> -->
<mass value="1.10216"/>
<inertia ixx="0.00221700000" ixy="-0.00010100000" ixz="0.00028800000" iyy="0.00241800000" iyz="-0.00039300000" izz="0.00111500000"/>
</inertial>
@@ -1006,7 +1000,6 @@
<link name="arm_right_5_link">
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="-0.00006 0.00326 0.07963"/>
- <!-- <mass value="1.87792"/> -->
<mass value="1.77792"/>
<inertia ixx="0.00349500000" ixy="-0.00001300000" ixz="-0.00001000000" iyy="0.00436800000" iyz="0.00009700000" izz="0.00228300000"/>
</inertial>
@@ -1039,7 +1032,6 @@
<link name="arm_right_6_link">
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00002 -0.00197 -0.00059"/>
- <!-- <mass value="0.40931"/> -->
<mass value="0.30931"/>
<inertia ixx="0.00010700000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00014100000" iyz="-0.00000000000" izz="0.00015400000"/>
</inertial>
@@ -1070,15 +1062,6 @@
soft_upper_limit="${80.00000 * deg_to_rad - eps_radians}" /> -->
</joint>
<link name="arm_right_7_link">
- <!-- WRONG VALUES
- <inertial>
- <origin xyz="-0.00089 0.00365 -0.07824" rpy="0.00000 0.00000 0.00000"/>
- <mass value="1.02604"/>
- <inertia ixx="0.00151400000" ixy="0.00000600000" ixz="0.00006600000"
- iyy="0.00146400000" iyz="0.00001200000"
- izz="0.00090300000"/>
- </inertial>
- -->
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="0.007525 0.001378 -0.024630"/>
<mass value="0.308441"/>
diff --git a/robots/talos_data/robots/talos_reduced_box.urdf b/robots/talos_data/robots/talos_reduced_box.urdf
index 0a18b6f854c43f8d411ab855d93cd98a221fb2e1..e1baf716d662a62b19a782733924d96b76835204 100644
--- a/robots/talos_data/robots/talos_reduced_box.urdf
+++ b/robots/talos_data/robots/talos_reduced_box.urdf
@@ -325,26 +325,50 @@
<parent link="rgbd_link"/>
<child link="rgbd_depth_frame"/>
</joint>
- <link name="rgbd_depth_frame"/>
+ <link name="rgbd_depth_frame">
+ <inertial>
+ <mass value="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ </inertial>
+ </link>
<joint name="rgbd_depth_optical_joint" type="fixed">
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
<parent link="rgbd_depth_frame"/>
<child link="rgbd_depth_optical_frame"/>
</joint>
- <link name="rgbd_depth_optical_frame"/>
+ <link name="rgbd_depth_optical_frame">
+ <inertial>
+ <mass value="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ </inertial>
+ </link>
<!-- frames of the rgb sensor -->
<joint name="rgbd_rgb_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.0 0.01251 0.0"/>
<parent link="rgbd_link"/>
<child link="rgbd_rgb_frame"/>
</joint>
- <link name="rgbd_rgb_frame"/>
+ <link name="rgbd_rgb_frame">
+ <inertial>
+ <mass value="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ </inertial>
+ </link>
<joint name="rgbd_rgb_optical_joint" type="fixed">
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
<parent link="rgbd_rgb_frame"/>
<child link="rgbd_rgb_optical_frame"/>
</joint>
- <link name="rgbd_rgb_optical_frame"/>
+ <link name="rgbd_rgb_optical_frame">
+ <inertial>
+ <mass value="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ </inertial>
+ </link>
<!-- extensions -->
<gazebo reference="rgbd_link">
<!-- IR + depth -->
@@ -2193,8 +2217,8 @@
<geometry>
<mesh filename="package://example-robot-data/robots/talos_data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
</geometry>
- </collision>
-
+ </collision>
+
-->
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.1"/>
@@ -2519,8 +2543,8 @@
<geometry>
<mesh filename="package://example-robot-data/robots/talos_data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
</geometry>
- </collision>
-
+ </collision>
+
-->
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.1"/>
@@ -2786,4 +2810,3 @@
<color rgba="1.0 0.5 0.0 1.0"/>
</material>
</robot>
-
diff --git a/robots/talos_data/robots/talos_reduced_corrected.urdf b/robots/talos_data/robots/talos_reduced_corrected.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8eb8e3643909890538dd998d8f20c37ae47ec409
--- /dev/null
+++ b/robots/talos_data/robots/talos_reduced_corrected.urdf
@@ -0,0 +1,2751 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- | This document was autogenerated by xacro from talos_full.urdf.xacro | -->
+<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
+<!-- =================================================================================== -->
+<!--
+
+ Copyright (c) 2016, PAL Robotics, S.L.
+ All rights reserved.
+
+ This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
+ To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
+ Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
+-->
+<robot name="talos" xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" xmlns:xacro="http://ros.org/wiki/xacro">
+ <!--File includes-->
+ <!--Constant parameters-->
+ <!--File includes-->
+ <!-- Macro -->
+ <!--Constant parameters-->
+ <!--************************-->
+ <!-- HEAD_1 (TILT) -->
+ <!--************************-->
+ <!--************************-->
+ <!-- HEAD_2 (PAN) -->
+ <!--************************-->
+ <!--File includes-->
+ <!--File includes-->
+ <!--Constant parameters-->
+ <!--Constant parameters-->
+ <!--File includes-->
+ <!-- VIRTUAL (mimic) JOINTS -->
+ <!-- 0.45deg -->
+ <!--************************-->
+ <!-- TORSO_2 (TILT) -->
+ <!--************************-->
+ <link name="torso_2_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="-0.04551 -0.00053 0.16386"/>
+ <mass value="17.55011"/>
+ <inertia ixx="0.37376900000" ixy="0.00063900000" ixz="0.01219600000" iyy="0.24790200000" iyz="0.00000700000" izz="0.28140400000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/torso/torso_2.STL" scale="1 1 1"/>
+ </geometry>
+ <material name="LightGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/torso/torso_2_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <!--************************-->
+ <!-- TORSO_1 (PAN) -->
+ <!--************************-->
+ <link name="torso_1_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.00013 -0.00001 -0.01306"/>
+ <mass value="3.02433"/>
+ <inertia ixx="0.00759400000" ixy="0.00000100000" ixz="-0.00004800000" iyy="0.00429200000" iyz="-0.00000100000" izz="0.00749700000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/torso/torso_1.STL" scale="1 1 1"/>
+ </geometry>
+ <material name="LightGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/torso/torso_1.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="torso_1_joint" type="revolute">
+ <parent link="base_link"/>
+ <child link="torso_1_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0722"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="78.0" lower="-1.308996939" upper="1.308996939" velocity="5.4"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ <!-- <safety_controller k_position="20"
+ k_velocity="20"
+ soft_lower_limit="${-15.0 * deg_to_rad + torso_eps}"
+ soft_upper_limit="${ 45.0 * deg_to_rad - torso_eps}" /> -->
+ </joint>
+ <!--************************-->
+ <!-- BASE_LINK -->
+ <!--************************-->
+ <link name="base_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="-0.08222 0.00838 -0.07261"/>
+ <mass value="13.53810"/>
+ <inertia ixx="0.06989000000" ixy="-0.00011700000" ixz="0.00023000000" iyy="0.03998200000" iyz="-0.00132500000" izz="0.08234500000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/torso/base_link.STL" scale="1 1 1"/>
+ </geometry>
+ <material name="LightGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/torso/base_link_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="torso_2_joint" type="revolute">
+ <parent link="torso_1_link"/>
+ <child link="torso_2_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+ <axis xyz="0 1 0"/>
+ <limit effort="78.0" lower="-0.261799387799" upper="0.785398163397" velocity="5.4"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ <!-- <safety_controller k_position="20"
+ k_velocity="20"
+ soft_lower_limit="${-75.00000 * deg_to_rad + eps_radians}"
+ soft_upper_limit="${75.00000 * deg_to_rad - eps_radians}" /> -->
+ </joint>
+ <link name="imu_link">
+ <inertial>
+ <mass value="0.01"/>
+ <origin xyz="0 0 0"/>
+ <inertia ixx="0.000001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.000001"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <box size="0.01 0.01 0.01"/>
+ </geometry>
+ </visual>
+ </link>
+ <joint name="imu_joint" type="fixed">
+ <origin rpy="3.14159265359 0 1.57079632679" xyz="0.04925 0 0.078"/>
+ <parent link="torso_2_link"/>
+ <child link="imu_link"/>
+ </joint>
+ <gazebo reference="torso_1_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <gazebo reference="torso_2_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <gazebo reference="base_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <gazebo reference="torso_1_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="torso_2_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <provideFeedback>1</provideFeedback>
+ </gazebo>
+ <!-- extensions -->
+ <transmission name="talos_torso_trans">
+ <type>transmission_interface/DifferentialTransmission</type>
+ <actuator name="torso_1_motor">
+ <role>actuator1</role>
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <actuator name="torso_2_motor">
+ <role>actuator2</role>
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="torso_1_joint">
+ <role>joint1</role>
+ <offset>0.0</offset>
+ <mechanicalReduction>1.0</mechanicalReduction>
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ <joint name="torso_2_joint">
+ <role>joint2</role>
+ <offset>0.0</offset>
+ <mechanicalReduction>1.0</mechanicalReduction>
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <link name="head_1_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.00120 0.00145 0.02165"/>
+ <mass value="0.65988"/>
+ <inertia ixx="0.00122100000" ixy="-0.00000400000" ixz="0.00007000000" iyy="0.00092400000" iyz="-0.00004100000" izz="0.00103300000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/head/head_1.stl" scale="1 1 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/head/head_1_collision.stl" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="head_1_joint" type="revolute">
+ <parent link="torso_2_link"/>
+ <child link="head_1_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.31600"/>
+ <axis xyz="0 1 0"/>
+ <limit effort="8.0" lower="-0.261799387799" upper="0.785398163397" velocity="1.0"/>
+ <dynamics damping="0.5" friction="1.0"/>
+ <!-- <safety_controller k_position="20"
+ k_velocity="20"
+ soft_lower_limit="${-15.00000 * deg_to_rad + eps_radians}"
+ soft_upper_limit="${45.00000 * deg_to_rad - eps_radians}" /> -->
+ </joint>
+ <gazebo reference="head_1_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <gazebo reference="head_1_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="head_1_link">
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <link name="head_2_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="-0.01036 -0.00037 0.13778"/>
+ <mass value="1.40353"/>
+ <inertia ixx="0.00722500000" ixy="-0.00002500000" ixz="0.00032900000" iyy="0.00687300000" iyz="0.00004400000" izz="0.00437300000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/head/head_2.stl" scale="1 1 1"/>
+ </geometry>
+ <material name="LightGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/head/head_2_collision.stl" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="head_2_joint" type="revolute">
+ <parent link="head_1_link"/>
+ <child link="head_2_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="4.0" lower="-1.308996939" upper="1.308996939" velocity="1.0"/>
+ <dynamics damping="0.5" friction="1.0"/>
+ <!-- <safety_controller k_position="20"
+ k_velocity="20"
+ soft_lower_limit="${-75.00000 * deg_to_rad + eps_radians}"
+ soft_upper_limit="${75.00000 * deg_to_rad - eps_radians}" /> -->
+ </joint>
+ <gazebo reference="head_2_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <gazebo reference="head_2_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="head_2_link">
+ <material>Gazebo/White</material>
+ </gazebo>
+ <!-- frames in the center of the camera -->
+ <joint name="rgbd_joint" type="fixed">
+ <origin rpy="0 0 0" xyz="0.066 0.0 0.1982"/>
+ <axis xyz="0 0 1"/>
+ <!-- <limit lower="0" upper="0.001" effort="100" velocity="0.01"/> -->
+ <parent link="head_2_link"/>
+ <child link="rgbd_link"/>
+ </joint>
+ <link name="rgbd_link">
+ <inertial>
+ <mass value="0.01"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <!-- inertia tensor computed analytically for a solid cuboid -->
+ <inertia ixx="0.000030" ixy="0.0" ixz="0.0" iyy="0.000030" iyz="0.0" izz="0.000002"/>
+ </inertial>
+ <collision>
+ <origin rpy="0 0 0" xyz="-0.01 0.0025 0"/>
+ <geometry>
+ <box size="0.04 0.185 0.03"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="rgbd_optical_joint" type="fixed">
+ <origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0"/>
+ <parent link="rgbd_link"/>
+ <child link="rgbd_optical_frame"/>
+ </joint>
+ <link name="rgbd_optical_frame">
+ <inertial>
+ <mass value="0.01"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ </link>
+ <!-- frames of the depth sensor -->
+ <joint name="rgbd_depth_joint" type="fixed">
+ <origin rpy="0 0 0" xyz="0.0 0.03751 0.0"/>
+ <parent link="rgbd_link"/>
+ <child link="rgbd_depth_frame"/>
+ </joint>
+ <link name="rgbd_depth_frame">
+ <inertial>
+ <mass value="0.0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ </link>
+ <joint name="rgbd_depth_optical_joint" type="fixed">
+ <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
+ <parent link="rgbd_depth_frame"/>
+ <child link="rgbd_depth_optical_frame"/>
+ </joint>
+ <link name="rgbd_depth_optical_frame">
+ <inertial>
+ <mass value="0.0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ </link>
+ <!-- frames of the rgb sensor -->
+ <joint name="rgbd_rgb_joint" type="fixed">
+ <origin rpy="0 0 0" xyz="0.0 0.01251 0.0"/>
+ <parent link="rgbd_link"/>
+ <child link="rgbd_rgb_frame"/>
+ </joint>
+ <link name="rgbd_rgb_frame">
+ <inertial>
+ <mass value="0.0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ </link>
+ <joint name="rgbd_rgb_optical_joint" type="fixed">
+ <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
+ <parent link="rgbd_rgb_frame"/>
+ <child link="rgbd_rgb_optical_frame"/>
+ </joint>
+ <link name="rgbd_rgb_optical_frame" >
+ <inertial>
+ <mass value="0.0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ </link>
+ <!-- extensions -->
+ <gazebo reference="rgbd_link">
+ <!-- IR + depth -->
+ <sensor name="rgbd_frame_sensor" type="depth">
+ <always_on>true</always_on>
+ <update_rate>6.0</update_rate>
+ <camera>
+ <horizontal_fov>1.01229096616</horizontal_fov>
+ <image>
+ <format>R8G8B8</format>
+ <width>320</width>
+ <height>240</height>
+ </image>
+ <clip>
+ <near>0.45</near>
+ <far>10.0</far>
+ </clip>
+ </camera>
+ <plugin filename="libgazebo_ros_openni_kinect.so" name="rgbd_frame_controller">
+ <alwaysOn>true</alwaysOn>
+ <updateRate>6.0</updateRate>
+ <cameraName>rgbd</cameraName>
+ <imageTopicName>ir/image_raw</imageTopicName>
+ <cameraInfoTopicName>ir/camera_info</cameraInfoTopicName>
+ <depthImageTopicName>depth/image_raw</depthImageTopicName>
+ <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
+ <pointCloudTopicName>depth/points</pointCloudTopicName>
+ <frameName>rgbd_optical_frame</frameName>
+ <pointCloudCutoff>0.45</pointCloudCutoff>
+ <rangeMax>10.0</rangeMax>
+ <distalostionK1>0.00000001</distalostionK1>
+ <distalostionK2>0.00000001</distalostionK2>
+ <distalostionK3>0.00000001</distalostionK3>
+ <distalostionT1>0.00000001</distalostionT1>
+ <distalostionT2>0.00000001</distalostionT2>
+ </plugin>
+ </sensor>
+ <!-- RGB -->
+ <sensor name="rgbd_frame_sensor" type="depth">
+ <always_on>true</always_on>
+ <update_rate>6.0</update_rate>
+ <camera>
+ <horizontal_fov>1.01229096616</horizontal_fov>
+ <image>
+ <format>R8G8B8</format>
+ <width>320</width>
+ <height>240</height>
+ </image>
+ <clip>
+ <near>0.45</near>
+ <far>10.0</far>
+ </clip>
+ </camera>
+ <plugin filename="libgazebo_ros_openni_kinect.so" name="rgbd_frame_controller">
+ <alwaysOn>true</alwaysOn>
+ <updateRate>6.0</updateRate>
+ <cameraName>rgbd</cameraName>
+ <imageTopicName>rgb/image_raw</imageTopicName>
+ <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
+ <pointCloudTopicName>rgb/points</pointCloudTopicName>
+ <frameName>rgbd_optical_frame</frameName>
+ <pointCloudCutoff>0.45</pointCloudCutoff>
+ <rangeMax>10.0</rangeMax>
+ <distalostionK1>0.00000001</distalostionK1>
+ <distalostionK2>0.00000001</distalostionK2>
+ <distalostionK3>0.00000001</distalostionK3>
+ <distalostionT1>0.00000001</distalostionT1>
+ <distalostionT2>0.00000001</distalostionT2>
+ </plugin>
+ </sensor>
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <transmission name="talos_trans">
+ <type>transmission_interface/HalfDifferentialTransmission</type>
+ <actuator name="head_1_motor">
+ <role>actuator1</role>
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <actuator name="head_2_motor">
+ <role>actuator2</role>
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="head_1_joint">
+ <role>joint1</role>
+ <offset>0.0</offset>
+ <mechanicalReduction>1.0</mechanicalReduction>
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ <joint name="head_2_joint">
+ <role>joint2</role>
+ <offset>0.0</offset>
+ <mechanicalReduction>2.0</mechanicalReduction>
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <!--************************-->
+ <!-- SHOULDER -->
+ <!--************************-->
+ <link name="arm_left_1_link">
+ <!-- TODO: Missing reflects of inertias -->
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="-0.01346 0.0913 0.04812"/>
+ <mass value="1.42896"/>
+ <inertia ixx="0.00555100000" ixy="-0.00073100000" ixz="0.00000800000" iyy="0.00167300000" iyz="-0.00006000000" izz="0.00582200000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_1_collision.STL" scale="1 1 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_1_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="arm_left_1_joint" type="revolute">
+ <parent link="torso_2_link"/>
+ <child link="arm_left_1_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.1575 0.23200"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="44.64" lower="-1.57079632679" upper="0.523598775598" velocity="2.7"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ <!-- <safety_controller k_position="20"
+ k_velocity="20"
+ soft_lower_limit="${-90.00000 * deg_to_rad + arm_eps}"
+ soft_upper_limit="${30.00000 * deg_to_rad - arm_eps}" /> -->
+ </joint>
+ <link name="arm_left_2_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.02607 0.00049 -0.05209"/>
+ <mass value="1.67729"/>
+ <inertia ixx="0.00708700000" ixy="-0.00001400000" ixz="0.00214200000" iyy="0.00793600000" iyz="0.00003000000" izz="0.00378800000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_2_collision.STL" scale="1 1 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_2_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="arm_left_2_joint" type="revolute">
+ <parent link="arm_left_1_link"/>
+ <child link="arm_left_2_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00493 0.1365 0.04673"/>
+ <axis xyz="1 0 0"/>
+ <limit effort="22.32" lower="0.0" upper="2.87979326579" velocity="3.66"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ <!-- <safety_controller k_position="20"
+ k_velocity="20"
+ soft_lower_limit="${0.00000 * deg_to_rad + arm_eps}"
+ soft_upper_limit="${165.00000 * deg_to_rad - arm_eps}" /> -->
+ </joint>
+ <link name="arm_left_3_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.00841 0.01428 -0.22291"/>
+ <mass value="1.47029"/>
+ <inertia ixx="0.00433200000" ixy="0.00015300000" ixz="-0.00049600000" iyy="0.00434000000" iyz="-0.00060900000" izz="0.00254300000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_3_collision.STL" scale="1 1 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_3_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="arm_left_3_joint" type="revolute">
+ <parent link="arm_left_2_link"/>
+ <child link="arm_left_3_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="17.86" lower="-2.44346095279" upper="2.44346095279" velocity="4.58"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ <!-- <safety_controller k_position="20"
+ k_velocity="20"
+ soft_lower_limit="${-140.0 * deg_to_rad + arm_eps}"
+ soft_upper_limit="${140.0 * deg_to_rad - arm_eps}" /> -->
+ </joint>
+ <!--************************-->
+ <!-- ELBOW -->
+ <!--************************-->
+ <link name="arm_left_4_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00655 -0.02107 -0.02612"/>
+ <mass value="1.10216"/>
+ <inertia ixx="0.00221700000" ixy="-0.00010100000" ixz="0.00028800000" iyy="0.00241800000" iyz="-0.00039300000" izz="0.00111500000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_4_collision.STL" scale="1 1 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_4_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="arm_left_4_joint" type="revolute">
+ <parent link="arm_left_3_link"/>
+ <child link="arm_left_4_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.02000 0.00000 -0.27300"/>
+ <axis xyz="0 1 0"/>
+ <limit effort="17.86" lower="-2.35619449019" upper="0.0" velocity="4.58"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ <!-- <safety_controller k_position="20"
+ k_velocity="20"
+ soft_lower_limit="${-135.0 * deg_to_rad + arm_eps}"
+ soft_upper_limit="${0.0 * deg_to_rad - arm_eps}" /> -->
+ </joint>
+ <gazebo reference="arm_left_1_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="arm_left_2_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="arm_left_3_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="arm_left_4_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="arm_left_1_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="arm_left_2_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="arm_left_3_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="arm_left_4_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <!--************************-->
+ <!-- WRIST -->
+ <!--************************-->
+ <!--************************-->
+ <!-- WRIST -->
+ <!--************************-->
+ <link name="arm_left_5_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00006 0.00326 0.07963"/>
+ <mass value="1.77792"/>
+ <inertia ixx="0.00349500000" ixy="-0.00001300000" ixz="-0.00001000000" iyy="0.00436800000" iyz="0.00009700000" izz="0.00228300000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_5_collision.STL" scale="1 1 1"/>
+ </geometry>
+ <material name="LightGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_5_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="arm_left_5_joint" type="revolute">
+ <parent link="arm_left_4_link"/>
+ <child link="arm_left_5_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="-0.02000 0.00000 -0.26430"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="3" lower="-2.53072741539" upper="2.53072741539" velocity="1.95"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ <!-- <safety_controller k_position="20"
+ k_velocity="20"
+ soft_lower_limit="${-145.00000 * deg_to_rad + wrist_eps}"
+ soft_upper_limit="${145.00000 * deg_to_rad - wrist_eps}" /> -->
+ </joint>
+ <link name="arm_left_6_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.00002 -0.00197 -0.00059"/>
+ <mass value="0.30931"/>
+ <inertia ixx="0.00010700000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00014100000" iyz="-0.00000000000" izz="0.00015400000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_6_collision.STL" scale="1 1 1"/>
+ </geometry>
+ <material name="LightGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_6_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="arm_left_6_joint" type="revolute">
+ <parent link="arm_left_5_link"/>
+ <child link="arm_left_6_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
+ <axis xyz="1 0 0"/>
+ <limit effort="6.6" lower="-1.3962634016" upper="1.3962634016" velocity="1.76"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ <!-- <safety_controller k_position="20"
+ k_velocity="20"
+ soft_lower_limit="${-80.00000 * deg_to_rad + eps_radians}"
+ soft_upper_limit="${80.00000 * deg_to_rad - eps_radians}" /> -->
+ </joint>
+ <link name="arm_left_7_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.007525 0.001378 -0.024630"/>
+ <mass value="0.308441"/>
+ <inertia ixx="0.000309" ixy="0.000002" ixz="-0.000002" iyy="0.000219" iyz="0.000012" izz="0.000176"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_7.STL" scale="1 1 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_7_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="arm_left_7_joint" type="revolute">
+ <parent link="arm_left_6_link"/>
+ <child link="arm_left_7_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+ <axis xyz="0 1 0"/>
+ <limit effort="6.6" lower="-0.698131700798" upper="0.698131700798" velocity="1.76"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ <!-- <safety_controller k_position="20"
+ k_velocity="20"
+ soft_lower_limit="${-40.00000 * deg_to_rad + eps_radians}"
+ soft_upper_limit="${40.00000 * deg_to_rad - eps_radians}" /> -->
+ </joint>
+ <gazebo reference="arm_left_5_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <gazebo reference="arm_left_6_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <gazebo reference="arm_left_7_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="arm_left_5_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="arm_left_6_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="arm_left_7_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <provideFeedback>1</provideFeedback>
+ </gazebo>
+ <!-- extensions -->
+ <transmission name="arm_left_5_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="arm_left_5_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="arm_left_5_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <transmission name="wrist_left_trans">
+ <type>transmission_interface/DifferentialTransmission</type>
+ <actuator name="arm_left_6_motor">
+ <role>actuator1</role>
+ <mechanicalReduction>-1.0</mechanicalReduction>
+ </actuator>
+ <actuator name="arm_left_7_motor">
+ <role>actuator2</role>
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="arm_left_6_joint">
+ <role>joint1</role>
+ <offset>0.0</offset>
+ <mechanicalReduction>-1.0</mechanicalReduction>
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ <joint name="arm_left_7_joint">
+ <role>joint2</role>
+ <offset>0.0</offset>
+ <mechanicalReduction>-1.0</mechanicalReduction>
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <!-- extensions -->
+ <transmission name="arm_left_1_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="arm_left_1_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="arm_left_1_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <transmission name="arm_left_2_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="arm_left_2_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="arm_left_2_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <transmission name="arm_left_3_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="arm_left_3_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="arm_left_3_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <transmission name="arm_left_4_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="arm_left_4_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="arm_left_4_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <!--************************-->
+ <!-- SHOULDER -->
+ <!--************************-->
+ <link name="arm_right_1_link">
+ <!-- TODO: Missing reflects of inertias -->
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="-0.01346 -0.0913 0.04812"/>
+ <mass value="1.42896"/>
+ <inertia ixx="0.00555100000" ixy="-0.00073100000" ixz="0.00000800000" iyy="0.00167300000" iyz="-0.00006000000" izz="0.00582200000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_1_collision.STL" scale="1 -1 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_1_collision.STL" scale="1 -1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="arm_right_1_joint" type="revolute">
+ <parent link="torso_2_link"/>
+ <child link="arm_right_1_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00000 -0.1575 0.23200"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="44.64" lower="-0.523598775598" upper="1.57079632679" velocity="2.7"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ <!-- <safety_controller k_position="20"
+ k_velocity="20"
+ soft_lower_limit="${-90.00000 * deg_to_rad + arm_eps}"
+ soft_upper_limit="${30.00000 * deg_to_rad - arm_eps}" /> -->
+ </joint>
+ <link name="arm_right_2_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.02607 0.00049 -0.05209"/>
+ <mass value="1.67729"/>
+ <inertia ixx="0.00708700000" ixy="-0.00001400000" ixz="0.00214200000" iyy="0.00793600000" iyz="0.00003000000" izz="0.00378800000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_2_collision.STL" scale="1 -1 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_2_collision.STL" scale="1 -1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="arm_right_2_joint" type="revolute">
+ <parent link="arm_right_1_link"/>
+ <child link="arm_right_2_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00493 -0.1365 0.04673"/>
+ <axis xyz="1 0 0"/>
+ <limit effort="22.32" lower="-2.87979326579" upper="0.0" velocity="3.66"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ <!-- <safety_controller k_position="20"
+ k_velocity="20"
+ soft_lower_limit="${0.00000 * deg_to_rad + arm_eps}"
+ soft_upper_limit="${165.00000 * deg_to_rad - arm_eps}" /> -->
+ </joint>
+ <link name="arm_right_3_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.00841 0.01428 -0.22291"/>
+ <mass value="1.47029"/>
+ <inertia ixx="0.00433200000" ixy="0.00015300000" ixz="-0.00049600000" iyy="0.00434000000" iyz="-0.00060900000" izz="0.00254300000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_3_collision.STL" scale="1 -1 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_3_collision.STL" scale="1 -1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="arm_right_3_joint" type="revolute">
+ <parent link="arm_right_2_link"/>
+ <child link="arm_right_3_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="17.86" lower="-2.44346095279" upper="2.44346095279" velocity="4.58"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ <!-- <safety_controller k_position="20"
+ k_velocity="20"
+ soft_lower_limit="${-140.0 * deg_to_rad + arm_eps}"
+ soft_upper_limit="${140.0 * deg_to_rad - arm_eps}" /> -->
+ </joint>
+ <!--************************-->
+ <!-- ELBOW -->
+ <!--************************-->
+ <link name="arm_right_4_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00655 -0.02107 -0.02612"/>
+ <mass value="1.10216"/>
+ <inertia ixx="0.00221700000" ixy="-0.00010100000" ixz="0.00028800000" iyy="0.00241800000" iyz="-0.00039300000" izz="0.00111500000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_4_collision.STL" scale="1 -1 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_4_collision.STL" scale="1 -1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="arm_right_4_joint" type="revolute">
+ <parent link="arm_right_3_link"/>
+ <child link="arm_right_4_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.02000 0.00000 -0.27300"/>
+ <axis xyz="0 1 0"/>
+ <limit effort="17.86" lower="-2.35619449019" upper="0.0" velocity="4.58"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ <!-- <safety_controller k_position="20"
+ k_velocity="20"
+ soft_lower_limit="${-135.0 * deg_to_rad + arm_eps}"
+ soft_upper_limit="${0.0 * deg_to_rad - arm_eps}" /> -->
+ </joint>
+ <gazebo reference="arm_right_1_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="arm_right_2_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="arm_right_3_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="arm_right_4_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="arm_right_1_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="arm_right_2_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="arm_right_3_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="arm_right_4_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <!--************************-->
+ <!-- WRIST -->
+ <!--************************-->
+ <!--************************-->
+ <!-- WRIST -->
+ <!--************************-->
+ <link name="arm_right_5_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00006 0.00326 0.07963"/>
+ <mass value="1.77792"/>
+ <inertia ixx="0.00349500000" ixy="-0.00001300000" ixz="-0.00001000000" iyy="0.00436800000" iyz="0.00009700000" izz="0.00228300000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_5_collision.STL" scale="1 -1 1"/>
+ </geometry>
+ <material name="LightGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_5_collision.STL" scale="1 -1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="arm_right_5_joint" type="revolute">
+ <parent link="arm_right_4_link"/>
+ <child link="arm_right_5_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="-0.02000 0.00000 -0.26430"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="3" lower="-2.53072741539" upper="2.53072741539" velocity="1.95"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ <!-- <safety_controller k_position="20"
+ k_velocity="20"
+ soft_lower_limit="${-145.00000 * deg_to_rad + wrist_eps}"
+ soft_upper_limit="${145.00000 * deg_to_rad - wrist_eps}" /> -->
+ </joint>
+ <link name="arm_right_6_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.00002 -0.00197 -0.00059"/>
+ <mass value="0.30931"/>
+ <inertia ixx="0.00010700000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00014100000" iyz="-0.00000000000" izz="0.00015400000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_6_collision.STL" scale="1 -1 1"/>
+ </geometry>
+ <material name="LightGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_6_collision.STL" scale="1 -1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="arm_right_6_joint" type="revolute">
+ <parent link="arm_right_5_link"/>
+ <child link="arm_right_6_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
+ <axis xyz="1 0 0"/>
+ <limit effort="6.6" lower="-1.3962634016" upper="1.3962634016" velocity="1.76"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ <!-- <safety_controller k_position="20"
+ k_velocity="20"
+ soft_lower_limit="${-80.00000 * deg_to_rad + eps_radians}"
+ soft_upper_limit="${80.00000 * deg_to_rad - eps_radians}" /> -->
+ </joint>
+ <link name="arm_right_7_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.007525 0.001378 -0.024630"/>
+ <mass value="0.308441"/>
+ <inertia ixx="0.000309" ixy="0.000002" ixz="-0.000002" iyy="0.000219" iyz="0.000012" izz="0.000176"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_7_collision.STL" scale="1 -1 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_7_collision.STL" scale="1 -1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="arm_right_7_joint" type="revolute">
+ <parent link="arm_right_6_link"/>
+ <child link="arm_right_7_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+ <axis xyz="0 1 0"/>
+ <limit effort="6.6" lower="-0.698131700798" upper="0.698131700798" velocity="1.76"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ <!-- <safety_controller k_position="20"
+ k_velocity="20"
+ soft_lower_limit="${-40.00000 * deg_to_rad + eps_radians}"
+ soft_upper_limit="${40.00000 * deg_to_rad - eps_radians}" /> -->
+ </joint>
+ <gazebo reference="arm_right_5_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <gazebo reference="arm_right_6_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <gazebo reference="arm_right_7_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="arm_right_5_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="arm_right_6_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="arm_right_7_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <provideFeedback>1</provideFeedback>
+ </gazebo>
+ <!-- extensions -->
+ <transmission name="arm_right_5_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="arm_right_5_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="arm_right_5_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <transmission name="wrist_right_trans">
+ <type>transmission_interface/DifferentialTransmission</type>
+ <actuator name="arm_right_6_motor">
+ <role>actuator1</role>
+ <mechanicalReduction>-1.0</mechanicalReduction>
+ </actuator>
+ <actuator name="arm_right_7_motor">
+ <role>actuator2</role>
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="arm_right_6_joint">
+ <role>joint1</role>
+ <offset>0.0</offset>
+ <mechanicalReduction>-1.0</mechanicalReduction>
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ <joint name="arm_right_7_joint">
+ <role>joint2</role>
+ <offset>0.0</offset>
+ <mechanicalReduction>1.0</mechanicalReduction>
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <!-- extensions -->
+ <transmission name="arm_right_1_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="arm_right_1_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="arm_right_1_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <transmission name="arm_right_2_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="arm_right_2_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="arm_right_2_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <transmission name="arm_right_3_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="arm_right_3_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="arm_right_3_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <transmission name="arm_right_4_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="arm_right_4_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="arm_right_4_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <!--************************-->
+ <!-- ft sensor -->
+ <!--************************-->
+ <link name="wrist_right_ft_link">
+ <inertial>
+ <mass value="0.1"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <cylinder length="0.0157" radius="0.0225"/>
+ </geometry>
+ <material name="LightGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <cylinder length="0.0157" radius="0.0225"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="wrist_right_ft_joint" type="fixed">
+ <parent link="arm_right_7_link"/>
+ <child link="wrist_right_ft_link"/>
+ <origin rpy="0.0 0 -1.57079632679" xyz="0 0 -0.051"/>
+ </joint>
+ <!--***********************-->
+ <!-- FT TOOL -->
+ <!--***********************-->
+ <link name="wrist_right_ft_tool_link">
+ <inertial>
+ <mass value="0.1"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0.0 0" xyz="0.0 0 0"/>
+ <geometry>
+ <cylinder length="0.00975" radius="0.025"/>
+ </geometry>
+ <material name="FlatBlack"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0.0 0" xyz="0.0 0 0"/>
+ <geometry>
+ <cylinder length="0.00975" radius="0.025"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="wrist_right_tool_joint" type="fixed">
+ <parent link="wrist_right_ft_link"/>
+ <child link="wrist_right_ft_tool_link"/>
+ <origin rpy="0 0 -1.57079632679" xyz="0 0 -0.012725"/>
+ </joint>
+ <!--************************-->
+ <!-- ft sensor -->
+ <!--************************-->
+ <link name="wrist_left_ft_link">
+ <inertial>
+ <mass value="0.1"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <cylinder length="0.0157" radius="0.0225"/>
+ </geometry>
+ <material name="LightGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <cylinder length="0.0157" radius="0.0225"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="wrist_left_ft_joint" type="fixed">
+ <parent link="arm_left_7_link"/>
+ <child link="wrist_left_ft_link"/>
+ <origin rpy="0.0 0 -4.71238898038" xyz="0 0 -0.051"/>
+ </joint>
+ <!--***********************-->
+ <!-- FT TOOL -->
+ <!--***********************-->
+ <link name="wrist_left_ft_tool_link">
+ <inertial>
+ <mass value="0.1"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0.0 0" xyz="0.0 0 0"/>
+ <geometry>
+ <cylinder length="0.00975" radius="0.025"/>
+ </geometry>
+ <material name="FlatBlack"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0.0 0" xyz="0.0 0 0"/>
+ <geometry>
+ <cylinder length="0.00975" radius="0.025"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="wrist_left_tool_joint" type="fixed">
+ <parent link="wrist_left_ft_link"/>
+ <child link="wrist_left_ft_tool_link"/>
+ <origin rpy="0 0 4.71238898038" xyz="0 0 -0.012725"/>
+ </joint>
+ <link name="gripper_left_base_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00534 0.00362 -0.02357"/>
+ <mass value="0.61585"/>
+ <inertia ixx="0.00047200000" ixy="-0.00000800000" ixz="0.00003500000" iyy="0.00052100000" iyz="0.00000000000" izz="0.00069000000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/base_link.STL" scale="1 1 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/base_link_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="gripper_left_base_link_joint" type="fixed">
+ <parent link="wrist_left_ft_tool_link"/>
+ <child link="gripper_left_base_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 -0.02875"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+ <link name="gripper_left_motor_double_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.02270 0.01781 -0.00977"/>
+ <mass value="0.16889"/>
+ <!-- In order for Gazebo not to explode we needed to add these 0.001 values to the diagonal,
+ also the tool pal_dynamics InertiaMassVisualization gave NaN on the computation of the inertia box -->
+ <inertia ixx="0.001159" ixy="-0.00007000000" ixz="0.00003800000" iyy="0.001221" iyz="-0.00005300000" izz="0.001268"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/gripper_motor_double.STL" scale="1 1 1"/>
+ </geometry>
+ <material name="Orange"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/gripper_motor_double_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="gripper_left_joint" type="revolute">
+ <parent link="gripper_left_base_link"/>
+ <child link="gripper_left_motor_double_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.0 0.02025 -0.03"/>
+ <axis xyz="1 0 0"/>
+ <limit effort="1.0" lower="-1.0471975512" upper="0.0" velocity="1.0"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ </joint>
+ <link name="gripper_left_inner_double_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00056 0.03358 -0.01741"/>
+ <mass value="0.11922"/>
+ <inertia ixx="0.00009100000" ixy="0.00000100000" ixz="-0.00000100000" iyy="0.00015600000" iyz="-0.00003200000" izz="0.00012600000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/inner_double.STL" scale="1 1 1"/>
+ </geometry>
+ <material name="Orange"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/inner_double_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="gripper_left_inner_double_joint" type="fixed">
+ <parent link="gripper_left_base_link"/>
+ <child link="gripper_left_inner_double_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00525 -0.05598"/>
+ <axis xyz="1 0 0"/>
+ <limit effort="100.0" lower="-1.0471975512" upper="0.0" velocity="1.0"/>
+ <mimic joint="gripper_left_joint" multiplier="1.0" offset="0.0"/>
+ </joint>
+ <link name="gripper_left_fingertip_1_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00460 -0.00254"/>
+ <mass value="0.02630"/>
+ <inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00000900000" iyz="0.00000100000" izz="0.00000200000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="gripper_left_fingertip_1_joint" type="fixed">
+ <parent link="gripper_left_inner_double_link"/>
+ <child link="gripper_left_fingertip_1_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.03200 0.04589 -0.06553"/>
+ <axis xyz="1 0 0"/>
+ <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
+ <mimic joint="gripper_left_joint" multiplier="-1.0" offset="0.0"/>
+ </joint>
+ <link name="gripper_left_fingertip_2_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00460 -0.00254"/>
+ <mass value="0.02630"/>
+ <inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00000900000" iyz="0.00000100000" izz="0.00000200000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="gripper_left_fingertip_2_joint" type="fixed">
+ <parent link="gripper_left_inner_double_link"/>
+ <child link="gripper_left_fingertip_2_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="-0.03200 0.04589 -0.06553"/>
+ <axis xyz="1 0 0"/>
+ <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
+ <mimic joint="gripper_left_joint" multiplier="-1.0" offset="0.0"/>
+ </joint>
+ <link name="gripper_left_motor_single_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.02589 -0.01284 -0.00640"/>
+ <mass value="0.14765"/>
+ <inertia ixx="0.00011500000" ixy="0.00005200000" ixz="0.00002500000" iyy="0.00015300000" iyz="0.00003400000" izz="0.00019000000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/gripper_motor_single.STL" scale="1 1 1"/>
+ </geometry>
+ <material name="Orange"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/gripper_motor_single_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="gripper_left_motor_single_joint" type="fixed">
+ <parent link="gripper_left_base_link"/>
+ <child link="gripper_left_motor_single_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00000 -0.02025 -0.03000"/>
+ <axis xyz="1 0 0"/>
+ <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
+ <mimic joint="gripper_left_joint" multiplier="-1.0" offset="0.0"/>
+ </joint>
+ <link name="gripper_left_inner_single_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 -0.03253 -0.01883"/>
+ <mass value="0.05356"/>
+ <inertia ixx="0.00004700000" ixy="-0.00000000000" ixz="-0.00000000000" iyy="0.00003500000" iyz="0.00001700000" izz="0.00002400000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/inner_single.STL" scale="1 1 1"/>
+ </geometry>
+ <material name="Orange"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/inner_single_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="gripper_left_inner_single_joint" type="fixed">
+ <parent link="gripper_left_base_link"/>
+ <child link="gripper_left_inner_single_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00000 -0.00525 -0.05598"/>
+ <axis xyz="1 0 0"/>
+ <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
+ <mimic joint="gripper_left_joint" multiplier="-1.0" offset="0.0"/>
+ </joint>
+ <link name="gripper_left_fingertip_3_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00460 -0.00254"/>
+ <mass value="0.02630"/>
+ <inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00000900000" iyz="0.00000100000" izz="0.00000200000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="gripper_left_fingertip_3_joint" type="fixed">
+ <parent link="gripper_left_inner_single_link"/>
+ <child link="gripper_left_fingertip_3_link"/>
+ <origin rpy="0.0 0.0 3.14159265359" xyz="0.00000 -0.04589 -0.06553"/>
+ <axis xyz="1 0 0"/>
+ <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
+ <mimic joint="gripper_left_joint" multiplier="-1.0" offset="0.0"/>
+ </joint>
+ <gazebo>
+ <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_inner_double_joint">
+ <joint>gripper_left_joint</joint>
+ <mimicJoint>gripper_left_inner_double_joint</mimicJoint>
+ <multiplier>1.0</multiplier>
+ <offset>0.0</offset>
+ <!-- <hasPID/> -->
+ </plugin>
+ <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_fingertip_1_joint">
+ <joint>gripper_left_joint</joint>
+ <mimicJoint>gripper_left_fingertip_1_joint</mimicJoint>
+ <multiplier>-1.0</multiplier>
+ <offset>0.0</offset>
+ <!-- <hasPID/> -->
+ </plugin>
+ <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_fingertip_2_joint">
+ <joint>gripper_left_joint</joint>
+ <mimicJoint>gripper_left_fingertip_2_joint</mimicJoint>
+ <multiplier>-1.0</multiplier>
+ <offset>0.0</offset>
+ <!-- <hasPID/> -->
+ </plugin>
+ <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_inner_single_joint">
+ <joint>gripper_left_joint</joint>
+ <mimicJoint>gripper_left_inner_single_joint</mimicJoint>
+ <multiplier>-1.0</multiplier>
+ <offset>0.0</offset>
+ <!-- <hasPID/> -->
+ </plugin>
+ <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_motor_single_joint">
+ <joint>gripper_left_joint</joint>
+ <mimicJoint>gripper_left_motor_single_joint</mimicJoint>
+ <multiplier>-1.0</multiplier>
+ <offset>0.0</offset>
+ <!-- <hasPID/> -->
+ </plugin>
+ <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_fingertip_3_joint">
+ <joint>gripper_left_joint</joint>
+ <mimicJoint>gripper_left_fingertip_3_joint</mimicJoint>
+ <multiplier>-1.0</multiplier>
+ <offset>0.0</offset>
+ <!-- <hasPID/> -->
+ </plugin>
+ </gazebo>
+ <!-- <plugin filename="libgazebo_underactuated_finger.so" name="gazebo_${name}_underactuated">
+ <actuatedJoint>${name}_joint</actuatedJoint>
+ <virtualJoint>
+ <name>${name}_inner_double_joint</name>
+ <scale_factor>1.0</scale_factor>
+ </virtualJoint> -->
+ <!-- <virtualJoint>
+ <name>${name}_fingertip_1_joint</name>
+ <scale_factor>-1.0</scale_factor>
+ </virtualJoint>
+ <virtualJoint>
+ <name>${name}_fingertip_2_joint</name>
+ <scale_factor>-1.0</scale_factor>
+ </virtualJoint>
+ <virtualJoint>
+ <name>${name}_motor_single_joint</name>
+ <scale_factor>1.0</scale_factor>
+ </virtualJoint>
+ <virtualJoint>
+ <name>${name}_fingertip_3_joint</name>
+ <scale_factor>-1.0</scale_factor>
+ </virtualJoint> -->
+ <!-- </plugin> -->
+ <gazebo reference="gripper_left_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <provideFeedback>1</provideFeedback>
+ </gazebo>
+ <gazebo reference="gripper_left_inner_double_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <provideFeedback>1</provideFeedback>
+ </gazebo>
+ <gazebo reference="gripper_left_fingertip_1_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <provideFeedback>1</provideFeedback>
+ </gazebo>
+ <gazebo reference="gripper_left_fingertip_2_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <provideFeedback>1</provideFeedback>
+ </gazebo>
+ <gazebo reference="gripper_left_motor_single_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <provideFeedback>1</provideFeedback>
+ </gazebo>
+ <gazebo reference="gripper_left_fingertip_3_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <provideFeedback>1</provideFeedback>
+ </gazebo>
+ <gazebo reference="gripper_left_base_link">
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="gripper_left_motor_double_link">
+ <material>Gazebo/Orange</material>
+ </gazebo>
+ <gazebo reference="gripper_left_inner_double_link">
+ <material>Gazebo/Orange</material>
+ </gazebo>
+ <gazebo reference="gripper_left_fingertip_1_link">
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="gripper_left_motor_single_link">
+ <material>Gazebo/Orange</material>
+ </gazebo>
+ <gazebo reference="gripper_left_inner_single_link">
+ <material>Gazebo/Orange</material>
+ </gazebo>
+ <gazebo reference="gripper_left_fingertip_2_link">
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="gripper_left_fingertip_3_link">
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <transmission name="gripper_left_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="gripper_left_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="gripper_left_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <!-- virtual mimic joints -->
+ <!-- <xacro:gripper_virtual_transmission name="${name}_inner_double" reduction="1.0"/>
+ <xacro:gripper_virtual_transmission name="${name}_fingertip_1" reduction="1.0"/>
+ <xacro:gripper_virtual_transmission name="${name}_fingertip_2" reduction="1.0"/>
+ <xacro:gripper_virtual_transmission name="${name}_inner_single" reduction="1.0"/>
+ <xacro:gripper_virtual_transmission name="${name}_motor_single" reduction="1.0"/>
+ <xacro:gripper_virtual_transmission name="${name}_fingertip_3" reduction="1.0"/> -->
+ <link name="gripper_right_base_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00534 0.00362 -0.02357"/>
+ <mass value="0.61585"/>
+ <inertia ixx="0.00047200000" ixy="-0.00000800000" ixz="0.00003500000" iyy="0.00052100000" iyz="0.00000000000" izz="0.00069000000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/base_link.STL" scale="1 1 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/base_link_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="gripper_right_base_link_joint" type="fixed">
+ <parent link="wrist_right_ft_tool_link"/>
+ <child link="gripper_right_base_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 -0.02875"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+ <link name="gripper_right_motor_double_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.02270 0.01781 -0.00977"/>
+ <mass value="0.16889"/>
+ <!-- In order for Gazebo not to explode we needed to add these 0.001 values to the diagonal,
+ also the tool pal_dynamics InertiaMassVisualization gave NaN on the computation of the inertia box -->
+ <inertia ixx="0.001159" ixy="-0.00007000000" ixz="0.00003800000" iyy="0.001221" iyz="-0.00005300000" izz="0.001268"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/gripper_motor_double.STL" scale="1 1 1"/>
+ </geometry>
+ <material name="Orange"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/gripper_motor_double_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="gripper_right_joint" type="revolute">
+ <parent link="gripper_right_base_link"/>
+ <child link="gripper_right_motor_double_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.0 0.02025 -0.03"/>
+ <axis xyz="1 0 0"/>
+ <limit effort="1.0" lower="-1.0471975512" upper="0.0" velocity="1.0"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ </joint>
+ <link name="gripper_right_inner_double_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00056 0.03358 -0.01741"/>
+ <mass value="0.11922"/>
+ <inertia ixx="0.00009100000" ixy="0.00000100000" ixz="-0.00000100000" iyy="0.00015600000" iyz="-0.00003200000" izz="0.00012600000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/inner_double.STL" scale="1 1 1"/>
+ </geometry>
+ <material name="Orange"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/inner_double_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="gripper_right_inner_double_joint" type="fixed">
+ <parent link="gripper_right_base_link"/>
+ <child link="gripper_right_inner_double_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00525 -0.05598"/>
+ <axis xyz="1 0 0"/>
+ <limit effort="100.0" lower="-1.0471975512" upper="0.0" velocity="1.0"/>
+ <mimic joint="gripper_right_joint" multiplier="1.0" offset="0.0"/>
+ </joint>
+ <link name="gripper_right_fingertip_1_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00460 -0.00254"/>
+ <mass value="0.02630"/>
+ <inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00000900000" iyz="0.00000100000" izz="0.00000200000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="gripper_right_fingertip_1_joint" type="fixed">
+ <parent link="gripper_right_inner_double_link"/>
+ <child link="gripper_right_fingertip_1_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.03200 0.04589 -0.06553"/>
+ <axis xyz="1 0 0"/>
+ <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
+ <mimic joint="gripper_right_joint" multiplier="-1.0" offset="0.0"/>
+ </joint>
+ <link name="gripper_right_fingertip_2_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00460 -0.00254"/>
+ <mass value="0.02630"/>
+ <inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00000900000" iyz="0.00000100000" izz="0.00000200000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="gripper_right_fingertip_2_joint" type="fixed">
+ <parent link="gripper_right_inner_double_link"/>
+ <child link="gripper_right_fingertip_2_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="-0.03200 0.04589 -0.06553"/>
+ <axis xyz="1 0 0"/>
+ <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
+ <mimic joint="gripper_right_joint" multiplier="-1.0" offset="0.0"/>
+ </joint>
+ <link name="gripper_right_motor_single_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.02589 -0.01284 -0.00640"/>
+ <mass value="0.14765"/>
+ <inertia ixx="0.00011500000" ixy="0.00005200000" ixz="0.00002500000" iyy="0.00015300000" iyz="0.00003400000" izz="0.00019000000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/gripper_motor_single.STL" scale="1 1 1"/>
+ </geometry>
+ <material name="Orange"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/gripper_motor_single_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="gripper_right_motor_single_joint" type="fixed">
+ <parent link="gripper_right_base_link"/>
+ <child link="gripper_right_motor_single_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00000 -0.02025 -0.03000"/>
+ <axis xyz="1 0 0"/>
+ <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
+ <mimic joint="gripper_right_joint" multiplier="-1.0" offset="0.0"/>
+ </joint>
+ <link name="gripper_right_inner_single_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 -0.03253 -0.01883"/>
+ <mass value="0.05356"/>
+ <inertia ixx="0.00004700000" ixy="-0.00000000000" ixz="-0.00000000000" iyy="0.00003500000" iyz="0.00001700000" izz="0.00002400000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/inner_single.STL" scale="1 1 1"/>
+ </geometry>
+ <material name="Orange"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/inner_single_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="gripper_right_inner_single_joint" type="fixed">
+ <parent link="gripper_right_base_link"/>
+ <child link="gripper_right_inner_single_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00000 -0.00525 -0.05598"/>
+ <axis xyz="1 0 0"/>
+ <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
+ <mimic joint="gripper_right_joint" multiplier="-1.0" offset="0.0"/>
+ </joint>
+ <link name="gripper_right_fingertip_3_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00460 -0.00254"/>
+ <mass value="0.02630"/>
+ <inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00000900000" iyz="0.00000100000" izz="0.00000200000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="gripper_right_fingertip_3_joint" type="fixed">
+ <parent link="gripper_right_inner_single_link"/>
+ <child link="gripper_right_fingertip_3_link"/>
+ <origin rpy="0.0 0.0 3.14159265359" xyz="0.00000 -0.04589 -0.06553"/>
+ <axis xyz="1 0 0"/>
+ <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
+ <mimic joint="gripper_right_joint" multiplier="-1.0" offset="0.0"/>
+ </joint>
+ <gazebo>
+ <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_right_inner_double_joint">
+ <joint>gripper_right_joint</joint>
+ <mimicJoint>gripper_right_inner_double_joint</mimicJoint>
+ <multiplier>1.0</multiplier>
+ <offset>0.0</offset>
+ <!-- <hasPID/> -->
+ </plugin>
+ <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_right_fingertip_1_joint">
+ <joint>gripper_right_joint</joint>
+ <mimicJoint>gripper_right_fingertip_1_joint</mimicJoint>
+ <multiplier>-1.0</multiplier>
+ <offset>0.0</offset>
+ <!-- <hasPID/> -->
+ </plugin>
+ <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_right_fingertip_2_joint">
+ <joint>gripper_right_joint</joint>
+ <mimicJoint>gripper_right_fingertip_2_joint</mimicJoint>
+ <multiplier>-1.0</multiplier>
+ <offset>0.0</offset>
+ <!-- <hasPID/> -->
+ </plugin>
+ <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_right_inner_single_joint">
+ <joint>gripper_right_joint</joint>
+ <mimicJoint>gripper_right_inner_single_joint</mimicJoint>
+ <multiplier>-1.0</multiplier>
+ <offset>0.0</offset>
+ <!-- <hasPID/> -->
+ </plugin>
+ <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_right_motor_single_joint">
+ <joint>gripper_right_joint</joint>
+ <mimicJoint>gripper_right_motor_single_joint</mimicJoint>
+ <multiplier>-1.0</multiplier>
+ <offset>0.0</offset>
+ <!-- <hasPID/> -->
+ </plugin>
+ <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_right_fingertip_3_joint">
+ <joint>gripper_right_joint</joint>
+ <mimicJoint>gripper_right_fingertip_3_joint</mimicJoint>
+ <multiplier>-1.0</multiplier>
+ <offset>0.0</offset>
+ <!-- <hasPID/> -->
+ </plugin>
+ </gazebo>
+ <!-- <plugin filename="libgazebo_underactuated_finger.so" name="gazebo_${name}_underactuated">
+ <actuatedJoint>${name}_joint</actuatedJoint>
+ <virtualJoint>
+ <name>${name}_inner_double_joint</name>
+ <scale_factor>1.0</scale_factor>
+ </virtualJoint> -->
+ <!-- <virtualJoint>
+ <name>${name}_fingertip_1_joint</name>
+ <scale_factor>-1.0</scale_factor>
+ </virtualJoint>
+ <virtualJoint>
+ <name>${name}_fingertip_2_joint</name>
+ <scale_factor>-1.0</scale_factor>
+ </virtualJoint>
+ <virtualJoint>
+ <name>${name}_motor_single_joint</name>
+ <scale_factor>1.0</scale_factor>
+ </virtualJoint>
+ <virtualJoint>
+ <name>${name}_fingertip_3_joint</name>
+ <scale_factor>-1.0</scale_factor>
+ </virtualJoint> -->
+ <!-- </plugin> -->
+ <gazebo reference="gripper_right_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <provideFeedback>1</provideFeedback>
+ </gazebo>
+ <gazebo reference="gripper_right_inner_double_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <provideFeedback>1</provideFeedback>
+ </gazebo>
+ <gazebo reference="gripper_right_fingertip_1_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <provideFeedback>1</provideFeedback>
+ </gazebo>
+ <gazebo reference="gripper_right_fingertip_2_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <provideFeedback>1</provideFeedback>
+ </gazebo>
+ <gazebo reference="gripper_right_motor_single_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <provideFeedback>1</provideFeedback>
+ </gazebo>
+ <gazebo reference="gripper_right_fingertip_3_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <provideFeedback>1</provideFeedback>
+ </gazebo>
+ <gazebo reference="gripper_right_base_link">
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="gripper_right_motor_double_link">
+ <material>Gazebo/Orange</material>
+ </gazebo>
+ <gazebo reference="gripper_right_inner_double_link">
+ <material>Gazebo/Orange</material>
+ </gazebo>
+ <gazebo reference="gripper_right_fingertip_1_link">
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="gripper_right_motor_single_link">
+ <material>Gazebo/Orange</material>
+ </gazebo>
+ <gazebo reference="gripper_right_inner_single_link">
+ <material>Gazebo/Orange</material>
+ </gazebo>
+ <gazebo reference="gripper_right_fingertip_2_link">
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="gripper_right_fingertip_3_link">
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <transmission name="gripper_right_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="gripper_right_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="gripper_right_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <!-- virtual mimic joints -->
+ <!-- <xacro:gripper_virtual_transmission name="${name}_inner_double" reduction="1.0"/>
+ <xacro:gripper_virtual_transmission name="${name}_fingertip_1" reduction="1.0"/>
+ <xacro:gripper_virtual_transmission name="${name}_fingertip_2" reduction="1.0"/>
+ <xacro:gripper_virtual_transmission name="${name}_inner_single" reduction="1.0"/>
+ <xacro:gripper_virtual_transmission name="${name}_motor_single" reduction="1.0"/>
+ <xacro:gripper_virtual_transmission name="${name}_fingertip_3" reduction="1.0"/> -->
+ <!-- Joint hip_z (mesh link) : child link hip_x -> parent link base_link -->
+ <link name="leg_left_1_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.02320 -0.00009 0.04949"/>
+ <mass value="1.88569"/>
+ <inertia ixx="0.00384800000" ixy="0.00003200000" ixz="-0.00082600000" iyy="0.00599400000" iyz="0.00007800000" izz="0.00322200000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/v2/hip_z_lo_res.stl" scale="1 1.0 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/v2/hip_z_collision.stl" scale="1 1.0 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="leg_left_1_joint" type="revolute">
+ <parent link="base_link"/>
+ <child link="leg_left_1_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="-0.02 0.085 -0.27105"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="100" lower="-0.349065850399" upper="1.57079632679" velocity="3.87"/>
+ <dynamics damping="0.0" friction="0.0"/>
+ </joint>
+ <!-- Joint hip_x (mesh link) : child link hip_y -> parent link hip_z -->
+ <link name="leg_left_2_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.01583 -0.00021 0.00619"/>
+ <mass value="2.37607"/>
+ <inertia ixx="0.00342100000" ixy="-0.00011300000" ixz="-0.00022500000" iyy="0.00402400000" iyz="-0.00003100000" izz="0.00416400000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0.0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/v2/hip_x_lo_res.stl" scale="1 1.0 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0.0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/v2/hip_x_collision.stl" scale="1 1.0 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="leg_left_2_joint" type="revolute">
+ <parent link="leg_left_1_link"/>
+ <child link="leg_left_2_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
+ <axis xyz="1 0 0"/>
+ <limit effort="160" lower="-0.5236" upper="0.5236" velocity="5.8"/>
+ <dynamics damping="0.0" friction="0.0"/>
+ </joint>
+ <!-- Joint hip_y (mesh link) : child link knee -> parent link hip_x -->
+ <link name="leg_left_3_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.00658 0.06563 -0.17278"/>
+ <mass value="6.82734"/>
+ <inertia ixx="0.12390600000" ixy="-0.000412" ixz="-0.00205900000" iyy="0.10844700000" iyz="0.016725" izz="0.02781200000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/v2/hip_y_lo_res.stl" scale="1 1.0 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/v2/hip_y_collision.stl" scale="1 1.0 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="leg_left_3_joint" type="revolute">
+ <parent link="leg_left_2_link"/>
+ <child link="leg_left_3_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
+ <axis xyz="0 1 0"/>
+ <limit effort="160" lower="-2.095" upper="0.7" velocity="5.8"/>
+ <dynamics damping="0.0" friction="0.0"/>
+ </joint>
+ <!-- Joint knee (mesh link) : child link ankle_y -> parent link hip_y -->
+ <link name="leg_left_4_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.01520 0.02331 -0.12063"/>
+ <mass value="3.63668"/>
+ <inertia ixx="0.03531500000" ixy="2.9e-05" ixz="-0.00016600000" iyy="0.02933600000" iyz="-0.001305" izz="0.01174000000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/v2/knee_lo_res.stl" scale="1 1.0 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/v2/knee_collision.stl" scale="1 1.0 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="leg_left_4_joint" type="revolute">
+ <parent link="leg_left_3_link"/>
+ <child link="leg_left_4_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 -0.38000"/>
+ <axis xyz="0 1 0"/>
+ <limit effort="300" lower="0" upper="2.618" velocity="7"/>
+ <dynamics damping="0.0" friction="0.0"/>
+ </joint>
+ <!-- Joint ankle_y (mesh link) : child link ankle_x -> parent link knee -->
+ <link name="leg_left_5_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="-0.01106 0.04708 0.05271"/>
+ <mass value="1.24433"/>
+ <inertia ixx="0.01148700000" ixy="-0.000686" ixz="-0.00052600000" iyy="0.00952600000" iyz="0.002633" izz="0.00390800000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0.0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/v2/ankle_Y_lo_res.stl" scale="1 1.0 1"/>
+ </geometry>
+ <material name="Grey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0.0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/v2/ankle_Y_collision.stl" scale="1 1.0 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="leg_left_5_joint" type="revolute">
+ <parent link="leg_left_4_link"/>
+ <child link="leg_left_5_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 -0.32500"/>
+ <axis xyz="0 1 0"/>
+ <limit effort="160" lower="-1.309" upper="0.768" velocity="5.8"/>
+ <dynamics damping="0.0" friction="0.0"/>
+ </joint>
+ <!-- Joint ankle_x (mesh link) : child link None -> parent link ankle_y -->
+ <link name="leg_left_6_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="-0.02087 -0.00019 -0.06059"/>
+ <mass value="1.59457"/>
+ <inertia ixx="0.00383800000" ixy="0.00001600000" ixz="-0.00104100000" iyy="0.00657200000" iyz="-0.00001700000" izz="0.00504400000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/v2/ankle_X_lo_res.stl" scale="1 1.0 1"/>
+ </geometry>
+ <material name="Grey"/>
+ </visual>
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/v2/ankle_X_collision.stl" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="leg_left_6_joint" type="revolute">
+ <parent link="leg_left_5_link"/>
+ <child link="leg_left_6_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
+ <axis xyz="1 0 0"/>
+ <limit effort="100" lower="-0.5236" upper="0.5236" velocity="4.8"/>
+ <dynamics damping="0.0" friction="0.0"/>
+ </joint>
+ <!-- from here is copy paste -->
+ <link name="left_sole_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+ <mass value="0.01"/>
+ <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
+ </inertial>
+ </link>
+ <joint name="leg_left_sole_fix_joint" type="fixed">
+ <parent link="leg_left_6_link"/>
+ <child link="left_sole_link"/>
+ <origin rpy="0 0 0" xyz="0.00 0.00 -0.107"/>
+ <axis xyz="1 0 0"/>
+ <dynamics damping="0.0" friction="0.0"/>
+ </joint>
+ <transmission name="leg_left_1_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="leg_left_1_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="leg_left_1_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <transmission name="leg_left_2_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="leg_left_2_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="leg_left_2_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <transmission name="leg_left_3_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="leg_left_3_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="leg_left_3_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <transmission name="leg_left_4_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="leg_left_4_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="leg_left_4_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <transmission name="leg_left_5_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="leg_left_5_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="leg_left_5_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <transmission name="leg_left_6_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="leg_left_6_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="leg_left_6_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <gazebo reference="leg_left_1_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <gazebo reference="leg_left_2_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <gazebo reference="leg_left_3_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <gazebo reference="leg_left_4_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <gazebo reference="leg_left_5_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <!-- contact model for foot surface -->
+ <gazebo reference="leg_left_6_link">
+ <kp>1000000.0</kp>
+ <kd>100.0</kd>
+ <mu1>1.0</mu1>
+ <mu2>1.0</mu2>
+ <fdir1>1 0 0</fdir1>
+ <maxVel>1.0</maxVel>
+ <minDepth>0.00</minDepth>
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="leg_left_1_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="leg_left_2_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="leg_left_3_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="leg_left_4_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="leg_left_5_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="leg_left_6_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <provideFeedback>1</provideFeedback>
+ </gazebo>
+ <gazebo reference="leg_left_1_link">
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="leg_left_2_link">
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="leg_left_3_link">
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="leg_left_4_link">
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="leg_left_5_link">
+ <material>Gazebo/White</material>
+ </gazebo>
+ <gazebo reference="leg_left_6_link">
+ <material>Gazebo/White</material>
+ </gazebo>
+ <!-- Joint hip_z (mesh link) : child link hip_x -> parent link base_link -->
+ <link name="leg_right_1_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.02320 -0.00009 0.04949"/>
+ <mass value="1.88569"/>
+ <inertia ixx="0.00384800000" ixy="0.00003200000" ixz="-0.00082600000" iyy="0.00599400000" iyz="0.00007800000" izz="0.00322200000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/v2/hip_z_lo_res.stl" scale="1 -1.0 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/v2/hip_z_collision.stl" scale="1 -1.0 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="leg_right_1_joint" type="revolute">
+ <parent link="base_link"/>
+ <child link="leg_right_1_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="-0.02 -0.085 -0.27105"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="100" lower="-1.57079632679" upper="0.349065850399" velocity="3.87"/>
+ <dynamics damping="0.0" friction="0.0"/>
+ </joint>
+ <!-- Joint hip_x (mesh link) : child link hip_y -> parent link hip_z -->
+ <link name="leg_right_2_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.01583 -0.00021 0.00619"/>
+ <mass value="2.37607"/>
+ <inertia ixx="0.00342100000" ixy="-0.00011300000" ixz="-0.00022500000" iyy="0.00402400000" iyz="-0.00003100000" izz="0.00416400000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0.0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/v2/hip_x_lo_res.stl" scale="1 -1.0 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0.0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/v2/hip_x_collision.stl" scale="1 -1.0 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="leg_right_2_joint" type="revolute">
+ <parent link="leg_right_1_link"/>
+ <child link="leg_right_2_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
+ <axis xyz="1 0 0"/>
+ <limit effort="160" lower="-0.5236" upper="0.5236" velocity="5.8"/>
+ <dynamics damping="0.0" friction="0.0"/>
+ </joint>
+ <!-- Joint hip_y (mesh link) : child link knee -> parent link hip_x -->
+ <link name="leg_right_3_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.00658 -0.06563 -0.17278"/>
+ <mass value="6.82734"/>
+ <inertia ixx="0.12390600000" ixy="0.000412" ixz="-0.00205900000" iyy="0.10844700000" iyz="-0.016725" izz="0.02781200000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/v2/hip_y_lo_res.stl" scale="1 -1.0 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/v2/hip_y_collision.stl" scale="1 -1.0 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="leg_right_3_joint" type="revolute">
+ <parent link="leg_right_2_link"/>
+ <child link="leg_right_3_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
+ <axis xyz="0 1 0"/>
+ <limit effort="160" lower="-2.095" upper="0.7" velocity="5.8"/>
+ <dynamics damping="0.0" friction="0.0"/>
+ </joint>
+ <!-- Joint knee (mesh link) : child link ankle_y -> parent link hip_y -->
+ <link name="leg_right_4_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.01520 -0.02331 -0.12063"/>
+ <mass value="3.63668"/>
+ <inertia ixx="0.03531500000" ixy="-2.9e-05" ixz="-0.00016600000" iyy="0.02933600000" iyz="0.001305" izz="0.01174000000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/v2/knee_lo_res.stl" scale="1 -1.0 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/v2/knee_collision.stl" scale="1 -1.0 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="leg_right_4_joint" type="revolute">
+ <parent link="leg_right_3_link"/>
+ <child link="leg_right_4_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 -0.38000"/>
+ <axis xyz="0 1 0"/>
+ <limit effort="300" lower="0" upper="2.618" velocity="7"/>
+ <dynamics damping="0.0" friction="0.0"/>
+ </joint>
+ <!-- Joint ankle_y (mesh link) : child link ankle_x -> parent link knee -->
+ <link name="leg_right_5_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="-0.01106 -0.04708 0.05271"/>
+ <mass value="1.24433"/>
+ <inertia ixx="0.01148700000" ixy="0.000686" ixz="-0.00052600000" iyy="0.00952600000" iyz="-0.002633" izz="0.00390800000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0.0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/v2/ankle_Y_lo_res.stl" scale="1 -1.0 1"/>
+ </geometry>
+ <material name="Grey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0.0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/v2/ankle_Y_collision.stl" scale="1 -1.0 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="leg_right_5_joint" type="revolute">
+ <parent link="leg_right_4_link"/>
+ <child link="leg_right_5_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 -0.32500"/>
+ <axis xyz="0 1 0"/>
+ <limit effort="160" lower="-1.309" upper="0.768" velocity="5.8"/>
+ <dynamics damping="0.0" friction="0.0"/>
+ </joint>
+ <!-- Joint ankle_x (mesh link) : child link None -> parent link ankle_y -->
+ <link name="leg_right_6_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="-0.02087 -0.00019 -0.06059"/>
+ <mass value="1.59457"/>
+ <inertia ixx="0.00383800000" ixy="0.00001600000" ixz="-0.00104100000" iyy="0.00657200000" iyz="-0.00001700000" izz="0.00504400000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/v2/ankle_X_lo_res.stl" scale="1 -1.0 1"/>
+ </geometry>
+ <material name="Grey"/>
+ </visual>
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/talos_data/meshes/v2/ankle_X_collision.stl" scale="1 -1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="leg_right_6_joint" type="revolute">
+ <parent link="leg_right_5_link"/>
+ <child link="leg_right_6_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
+ <axis xyz="1 0 0"/>
+ <limit effort="100" lower="-0.5236" upper="0.5236" velocity="4.8"/>
+ <dynamics damping="0.0" friction="0.0"/>
+ </joint>
+ <!-- from here is copy paste -->
+ <link name="right_sole_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+ <mass value="0.01"/>
+ <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
+ </inertial>
+ </link>
+ <joint name="leg_right_sole_fix_joint" type="fixed">
+ <parent link="leg_right_6_link"/>
+ <child link="right_sole_link"/>
+ <origin rpy="0 0 0" xyz="0.00 0.00 -0.107"/>
+ <axis xyz="1 0 0"/>
+ <dynamics damping="0.0" friction="0.0"/>
+ </joint>
+ <transmission name="leg_right_1_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="leg_right_1_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="leg_right_1_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <transmission name="leg_right_2_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="leg_right_2_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="leg_right_2_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <transmission name="leg_right_3_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="leg_right_3_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="leg_right_3_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <transmission name="leg_right_4_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="leg_right_4_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="leg_right_4_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <transmission name="leg_right_5_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="leg_right_5_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="leg_right_5_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <transmission name="leg_right_6_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="leg_right_6_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="leg_right_6_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <gazebo reference="leg_right_1_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <gazebo reference="leg_right_2_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <gazebo reference="leg_right_3_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <gazebo reference="leg_right_4_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <gazebo reference="leg_right_5_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <!-- contact model for foot surface -->
+ <gazebo reference="leg_right_6_link">
+ <kp>1000000.0</kp>
+ <kd>100.0</kd>
+ <mu1>1.0</mu1>
+ <mu2>1.0</mu2>
+ <fdir1>1 0 0</fdir1>
+ <maxVel>1.0</maxVel>
+ <minDepth>0.00</minDepth>
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="leg_right_1_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="leg_right_2_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="leg_right_3_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="leg_right_4_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="leg_right_5_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="leg_right_6_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <provideFeedback>1</provideFeedback>
+ </gazebo>
+ <gazebo reference="leg_right_1_link">
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="leg_right_2_link">
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="leg_right_3_link">
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="leg_right_4_link">
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="leg_right_5_link">
+ <material>Gazebo/White</material>
+ </gazebo>
+ <gazebo reference="leg_right_6_link">
+ <material>Gazebo/White</material>
+ </gazebo>
+ <!-- Generic simulatalos_gazebo plugins -->
+ <gazebo>
+ <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
+ <ns/>
+ <robotSimType>pal_hardware_gazebo/PalHardwareGazebo</robotSimType>
+ <robotNamespace/>
+ <controlPeriod>0.001</controlPeriod>
+ </plugin>
+ </gazebo>
+ <gazebo>
+ <plugin filename="libgazebo_world_odometry.so" name="gazebo_ros_odometry">
+ <frameName>base_link</frameName>
+ <topicName>floating_base_pose_simulated</topicName>
+ </plugin>
+ </gazebo>
+ <gazebo>
+ <plugin filename="libgazebo_ros_force.so" name="gazebo_ros_force">
+ <bodyName>base_link</bodyName>
+ <topicName>wrench</topicName>
+ </plugin>
+ </gazebo>
+ <gazebo reference="imu_link">
+ <!-- this is expected to be reparented to pelvis with appropriate offset
+ when imu_link is reduced by fixed joint reduction -->
+ <!-- todo: this is working with gazebo 1.4, need to write a unit test -->
+ <sensor name="imu_sensor" type="imu">
+ <always_on>1</always_on>
+ <update_rate>1000.0</update_rate>
+ <imu>
+ <noise>
+ <type>gaussian</type>
+ <!-- Noise parameters from Boston Dynamics
+ (http://gazebosim.org/wiki/Sensor_noise):
+ rates (rad/s): mean=0, stddev=2e-4
+ accels (m/s/s): mean=0, stddev=1.7e-2
+ rate bias (rad/s): 5e-6 - 1e-5
+ accel bias (m/s/s): 1e-1
+ Experimentally, simulation provide rates with noise of
+ about 1e-3 rad/s and accels with noise of about 1e-1 m/s/s.
+ So we don't expect to see the noise unless number of inner iterations
+ are increased.
+
+ We will add bias. In this model, bias is sampled once for rates
+ and once for accels at startup; the sign (negative or positive)
+ of each bias is then switched with equal probability. Thereafter,
+ the biases are fixed additive offsets. We choose
+ bias means and stddevs to produce biases close to the provided
+ data. -->
+ <!--
+ <rate>
+ <mean>0.0</mean>
+ <stddev>2e-4</stddev>
+ <bias_mean>0.0000075</bias_mean>
+ <bias_stddev>0.0000008</bias_stddev>
+ </rate>
+ <accel>
+ <mean>0.0</mean>
+ <stddev>1.7e-2</stddev>
+ <bias_mean>0.1</bias_mean>
+ <bias_stddev>0.001</bias_stddev>
+ </accel>
+ -->
+ <rate>
+ <mean>0.0</mean>
+ <stddev>0.0</stddev>
+ <bias_mean>0.000000</bias_mean>
+ <bias_stddev>0.0000008</bias_stddev>
+ </rate>
+ <accel>
+ <mean>0.0</mean>
+ <stddev>0.0</stddev>
+ <bias_mean>0.0</bias_mean>
+ <bias_stddev>0.000</bias_stddev>
+ </accel>
+ </noise>
+ </imu>
+ </sensor>
+ </gazebo>
+ <!-- define global properties -->
+ <!-- <xacro:property name="M_PI" value="3.1415926535897931" /> -->
+ <!-- Materials for visualization -->
+ <material name="Blue">
+ <color rgba="0.0 0.0 0.8 1.0"/>
+ </material>
+ <material name="Green">
+ <color rgba="0.0 0.8 0.0 1.0"/>
+ </material>
+ <material name="Grey">
+ <color rgba="0.7 0.7 0.7 1.0"/>
+ </material>
+ <material name="LightGrey">
+ <color rgba="0.9 0.9 0.9 1.0"/>
+ </material>
+ <material name="DarkGrey">
+ <color rgba="0.2 0.2 0.2 1.0"/>
+ </material>
+ <material name="Red">
+ <color rgba="0.8 0.0 0.0 1.0"/>
+ </material>
+ <material name="White">
+ <color rgba="1.0 1.0 1.0 1.0"/>
+ </material>
+ <material name="Orange">
+ <color rgba="1.0 0.5 0.0 1.0"/>
+ </material>
+</robot>
+
diff --git a/robots/tiago_description/robots/tiago.urdf b/robots/tiago_description/robots/tiago.urdf
index 9a8ea780c1214963b08e4c34d3bba9068f8764ff..f05f48c9e80132284a4b5d200bb9a94439699fd4 100644
--- a/robots/tiago_description/robots/tiago.urdf
+++ b/robots/tiago_description/robots/tiago.urdf
@@ -132,7 +132,13 @@
<material>Gazebo/White</material>
</gazebo>
<!-- Base footprint -->
- <link name="base_footprint"/>
+ <link name="base_footprint">
+ <inertial>
+ <mass value="0.0"/>
+ <origin xyz="0.0 0.0 0.0"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ </link>
<joint name="base_footprint_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.0985"/>
<child link="base_link"/>
@@ -2959,7 +2965,13 @@
<mechanicalReduction>0.0739176962651</mechanicalReduction>
</actuator>
</transmission>
- <link name="hand_grasping_frame"/>
+ <link name="hand_grasping_frame">
+ <inertial>
+ <mass value="0.0"/>
+ <origin xyz="0 0 0"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0" izz="0.0"/>
+ </inertial>
+ </link>
<joint name="hand_grasping_fixed_joint" type="fixed">
<parent link="hand_palm_link"/>
<child link="hand_grasping_frame"/>
diff --git a/robots/tiago_description/robots/tiago_no_hand.urdf b/robots/tiago_description/robots/tiago_no_hand.urdf
index d088c5d3e7a3c9534afc3320f3b4b945d866e5ee..94f9ad0842208d45db4c7225f76995bccc58d9e2 100644
--- a/robots/tiago_description/robots/tiago_no_hand.urdf
+++ b/robots/tiago_description/robots/tiago_no_hand.urdf
@@ -132,7 +132,14 @@
<material>Gazebo/White</material>
</gazebo>
<!-- Base footprint -->
- <link name="base_footprint"/>
+ <link name="base_footprint">
+ <inertial>
+ <mass value="0.0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ </link>
+
<joint name="base_footprint_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.0985"/>
<child link="base_link"/>
diff --git a/robots/ur_description/urdf/ur10_robot.urdf b/robots/ur_description/urdf/ur10_robot.urdf
index a174c7d0e0e167c7abc4f32e064671e8ea0dabd2..5bc3ff2ac32c1e806cf1112206bd514ce50e0fc6 100644
--- a/robots/ur_description/urdf/ur10_robot.urdf
+++ b/robots/ur_description/urdf/ur10_robot.urdf
@@ -229,7 +229,13 @@
</geometry>
<origin rpy="0 0 0" xyz="-0.01 0 0"/>
</collision>
+ <inertial>
+ <mass value="0.0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
</link>
+
<transmission name="shoulder_pan_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="shoulder_pan_joint">
@@ -306,7 +312,14 @@
<selfCollide>true</selfCollide>
</gazebo>
<!-- ROS base_link to UR 'Base' Coordinates transform -->
- <link name="base"/>
+ <link name="base">
+ <inertial>
+ <mass value="0.0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ </link>
+
<joint name="base_link-base_fixed_joint" type="fixed">
<!-- NOTE: this rotation is only needed as long as base_link itself is
not corrected wrt the real robot (ie: rotated over 180
@@ -317,7 +330,14 @@
<child link="base"/>
</joint>
<!-- Frame coincident with all-zeros TCP on UR controller -->
- <link name="tool0"/>
+ <link name="tool0">
+ <inertial>
+ <mass value="0.0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ </link>
+
<joint name="wrist_3_link-tool0_fixed_joint" type="fixed">
<origin rpy="-1.57079632679 0 0" xyz="0 0.0922 0"/>
<parent link="wrist_3_link"/>
diff --git a/robots/ur_description/urdf/ur3_joint_limited_robot.urdf b/robots/ur_description/urdf/ur3_joint_limited_robot.urdf
index 6c13ca1e669aa8195ea2afcac344cbae832abdac..55ad8b1a1f98ad5db8bf403333f7aa14518a8915 100644
--- a/robots/ur_description/urdf/ur3_joint_limited_robot.urdf
+++ b/robots/ur_description/urdf/ur3_joint_limited_robot.urdf
@@ -228,6 +228,11 @@
</geometry>
<origin rpy="0 0 0" xyz="-0.01 0 0"/>
</collision>
+ <inertial>
+ <mass value="0.0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
</link>
<transmission name="shoulder_pan_trans">
<type>transmission_interface/SimpleTransmission</type>
@@ -305,7 +310,13 @@
<selfCollide>true</selfCollide>
</gazebo>
<!-- ROS base_link to UR 'Base' Coordinates transform -->
- <link name="base"/>
+ <link name="base">
+ <inertial>
+ <mass value="0.0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ </link>
<joint name="base_link-base_fixed_joint" type="fixed">
<!-- NOTE: this rotation is only needed as long as base_link itself is
not corrected wrt the real robot (ie: rotated over 180
@@ -316,7 +327,14 @@
<child link="base"/>
</joint>
<!-- Frame coincident with all-zeros TCP on UR controller -->
- <link name="tool0"/>
+ <link name="tool0">
+ <inertial>
+ <mass value="0.0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ </link>
+
<joint name="wrist_3_link-tool0_fixed_joint" type="fixed">
<origin rpy="-1.57079632679 0 0" xyz="0 0.0819 0"/>
<parent link="wrist_3_link"/>
diff --git a/robots/ur_description/urdf/ur3_robot.urdf b/robots/ur_description/urdf/ur3_robot.urdf
index 54b18af20dd97024dcea1cf85cb80a855124c475..d4aac18844b2d36bfb63af0b66cf57caf314acff 100644
--- a/robots/ur_description/urdf/ur3_robot.urdf
+++ b/robots/ur_description/urdf/ur3_robot.urdf
@@ -228,6 +228,11 @@
</geometry>
<origin rpy="0 0 0" xyz="-0.01 0 0"/>
</collision>
+ <inertial>
+ <mass value="0.0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
</link>
<transmission name="shoulder_pan_trans">
<type>transmission_interface/SimpleTransmission</type>
@@ -305,7 +310,14 @@
<selfCollide>true</selfCollide>
</gazebo>
<!-- ROS base_link to UR 'Base' Coordinates transform -->
- <link name="base"/>
+ <link name="base">
+ <inertial>
+ <mass value="0.0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ </link>
+
<joint name="base_link-base_fixed_joint" type="fixed">
<!-- NOTE: this rotation is only needed as long as base_link itself is
not corrected wrt the real robot (ie: rotated over 180
@@ -316,7 +328,14 @@
<child link="base"/>
</joint>
<!-- Frame coincident with all-zeros TCP on UR controller -->
- <link name="tool0"/>
+ <link name="tool0">
+ <inertial>
+ <mass value="0.0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ </link>
+
<joint name="wrist_3_link-tool0_fixed_joint" type="fixed">
<origin rpy="-1.57079632679 0 0" xyz="0 0.0819 0"/>
<parent link="wrist_3_link"/>
diff --git a/robots/ur_description/urdf/ur5_gripper.urdf b/robots/ur_description/urdf/ur5_gripper.urdf
index eaf5b05975bf0bc217e5338d77cf9b846fd726e4..45f2901f64ca0bb88e4e8c4d09ec4d1431a6ff9f 100644
--- a/robots/ur_description/urdf/ur5_gripper.urdf
+++ b/robots/ur_description/urdf/ur5_gripper.urdf
@@ -17,7 +17,7 @@
<timeout>5</timeout>
<powerStateTopic>power_state</powerStateTopic>
<powerStateRate>10.0</powerStateRate>
- <fullChargeCapacity>87.78</fullChargeCapacity>
+ <fullChargeCapacity>87.78</fullChargeCapacity>
<dischargeRate>-474</dischargeRate>
<chargeRate>525</chargeRate>
<dischargeVoltage>15.52</dischargeVoltage>
@@ -256,6 +256,11 @@
<origin rpy="0.0 0.0 1.570796325" xyz="0.0 0.0823 0.0"/>
</joint>
<link name="ee_link">
+ <inertial>
+ <mass value="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ </inertial>
<collision>
<geometry>
<box size="0.01 0.01 0.01"/>
@@ -319,7 +324,13 @@
</transmission>
<!-- nothing to do here at the moment -->
<!-- ROS base_link to UR 'Base' Coordinates transform -->
- <link name="base"/>
+ <link name="base">
+ <inertial>
+ <mass value="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ </inertial>
+ </link>
<joint name="base_link-base_fixed_joint" type="fixed">
<!-- NOTE: this rotation is only needed as long as base_link itself is
not corrected wrt the real robot (ie: rotated over 180
@@ -331,6 +342,11 @@
</joint>
<!-- Frame coincident with all-zeros TCP on UR controller -->
<link name="tool0">
+ <inertial>
+ <mass value="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ </inertial>
<visual>
<geometry>
<box size="0.005 0.02 0.05" />
diff --git a/robots/ur_description/urdf/ur5_joint_limited_robot.urdf b/robots/ur_description/urdf/ur5_joint_limited_robot.urdf
index 9d4cbe54bbe145e1c22acfa66e22597189fe6fd7..266efddc82a3fde9434879d051c29f98a576af61 100644
--- a/robots/ur_description/urdf/ur5_joint_limited_robot.urdf
+++ b/robots/ur_description/urdf/ur5_joint_limited_robot.urdf
@@ -238,6 +238,11 @@
</geometry>
<origin rpy="0 0 0" xyz="-0.01 0 0"/>
</collision>
+ <inertial>
+ <mass value="0.0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
</link>
<transmission name="shoulder_pan_trans">
<type>transmission_interface/SimpleTransmission</type>
@@ -315,7 +320,13 @@
<selfCollide>true</selfCollide>
</gazebo>
<!-- ROS base_link to UR 'Base' Coordinates transform -->
- <link name="base"/>
+ <link name="base">
+ <inertial>
+ <mass value="0.0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ </link>
<joint name="base_link-base_fixed_joint" type="fixed">
<!-- NOTE: this rotation is only needed as long as base_link itself is
not corrected wrt the real robot (ie: rotated over 180
@@ -326,7 +337,13 @@
<child link="base"/>
</joint>
<!-- Frame coincident with all-zeros TCP on UR controller -->
- <link name="tool0"/>
+ <link name="tool0">
+ <inertial>
+ <mass value="0.0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ </link>
<joint name="wrist_3_link-tool0_fixed_joint" type="fixed">
<origin rpy="-1.57079632679 0 0" xyz="0 0.0823 0"/>
<parent link="wrist_3_link"/>
diff --git a/robots/ur_description/urdf/ur5_robot.urdf b/robots/ur_description/urdf/ur5_robot.urdf
index cce6b6aaa0a4b036607ab991ac9614a9f273abb9..49d6cc5269e50e52b78ebc8f784826ef1f93dde7 100644
--- a/robots/ur_description/urdf/ur5_robot.urdf
+++ b/robots/ur_description/urdf/ur5_robot.urdf
@@ -16,7 +16,7 @@
<timeout>5</timeout>
<powerStateTopic>power_state</powerStateTopic>
<powerStateRate>10.0</powerStateRate>
- <fullChargeCapacity>87.78</fullChargeCapacity>
+ <fullChargeCapacity>87.78</fullChargeCapacity>
<dischargeRate>-474</dischargeRate>
<chargeRate>525</chargeRate>
<dischargeVoltage>15.52</dischargeVoltage>
@@ -232,6 +232,11 @@
<origin rpy="0.0 0.0 1.57079632679" xyz="0.0 0.0823 0.0"/>
</joint>
<link name="ee_link">
+ <inertial>
+ <mass value="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ </inertial>
<collision>
<geometry>
<box size="0.01 0.01 0.01"/>
@@ -315,7 +320,13 @@
<selfCollide>true</selfCollide>
</gazebo>
<!-- ROS base_link to UR 'Base' Coordinates transform -->
- <link name="base"/>
+ <link name="base">
+ <inertial>
+ <mass value="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ </inertial>
+ </link>
<joint name="base_link-base_fixed_joint" type="fixed">
<!-- NOTE: this rotation is only needed as long as base_link itself is
not corrected wrt the real robot (ie: rotated over 180
@@ -326,7 +337,13 @@
<child link="base"/>
</joint>
<!-- Frame coincident with all-zeros TCP on UR controller -->
- <link name="tool0"/>
+ <link name="tool0">
+ <inertial>
+ <mass value="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ </inertial>
+ </link>
<joint name="wrist_3_link-tool0_fixed_joint" type="fixed">
<origin rpy="-1.57079632679 0 0" xyz="0 0.0823 0"/>
<parent link="wrist_3_link"/>
diff --git a/unittest/test_load.py b/unittest/test_load.py
index 9b5d7420cd5d5d07e90feb95fb21c33fc20f62d3..604c3ea5b6e5768c07859c5fef16b482efbfc18f 100755
--- a/unittest/test_load.py
+++ b/unittest/test_load.py
@@ -2,16 +2,34 @@
import unittest
-from example_robot_data import load
+try:
+ import pybullet
+except ImportError:
+ pybullet = False
+
+from example_robot_data import load_full
class RobotTestCase(unittest.TestCase):
- def check(self, name, expected_nq, expected_nv):
+ def check(self, name, expected_nq, expected_nv, one_kg_bodies=[]):
"""Helper function for the real tests"""
- robot = load(name, display=False)
+ robot, _, urdf, _ = load_full(name, display=False)
self.assertEqual(robot.model.nq, expected_nq)
self.assertEqual(robot.model.nv, expected_nv)
self.assertTrue(hasattr(robot, "q0"))
+ if pybullet:
+ self.check_pybullet(urdf, one_kg_bodies)
+
+ def check_pybullet(self, urdf, one_kg_bodies):
+ client_id = pybullet.connect(pybullet.DIRECT)
+ robot_id = pybullet.loadURDF(urdf, physicsClientId=client_id)
+ for joint_id in range(pybullet.getNumJoints(robot_id, client_id)):
+ dynamics = pybullet.getDynamicsInfo(robot_id, joint_id, client_id)
+ if dynamics[0] == 1:
+ joint = pybullet.getJointInfo(robot_id, joint_id, client_id)
+ # with self.subTest(): # uncomment on python >= 3.4 to get full list of wrong bodies at once
+ self.assertIn(joint[12].decode(), one_kg_bodies)
+ pybullet.disconnect(client_id)
def test_anymal(self):
self.check('anymal', 19, 18)