diff --git a/robots/tiago_description/robots/tiago_dual.urdf b/robots/tiago_description/robots/tiago_dual.urdf
index 7995de6a0011308de5169ce937424cc094f8c903..bf7a4ec1bd0ab54fdba258740209fc7e07b28cc3 100644
--- a/robots/tiago_description/robots/tiago_dual.urdf
+++ b/robots/tiago_description/robots/tiago_dual.urdf
@@ -1,6 +1,6 @@
<?xml version="1.0" ?>
<!-- =================================================================================== -->
-<!-- | This document was autogenerated by xacro from src/tiago_dual_robot/tiago_dual_description/robots/tiago_dual.urdf.xacro | -->
+<!-- | This document was autogenerated by xacro from tiago_dual.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<!--
@@ -103,262 +103,6 @@
<material name="Yellow">
<color rgba="0.96 0.88 0.14 1.0"/>
</material>
- <link name="base_laser_link" type="laser">
- <inertial>
- <origin rpy="0 0 0" xyz="-0.02559000000 -0.00056000000 -0.05732000000"/>
- <mass value="0.28922000000"/>
- <inertia ixx="0.00002628919" ixy="0.00000024298" ixz="-0.00000368129" iyy="0.00003374542" iyz="-0.00000001330" izz="0.00005832599"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://pmb2_description/meshes/sensors/sick_tim551.stl"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- </link>
- <joint name="base_laser_joint" type="fixed">
- <axis xyz="0 1 0"/>
- <origin rpy="0 0 0" xyz="0.202 0.0 -0.004"/>
- <parent link="base_link"/>
- <child link="base_laser_link"/>
- </joint>
- <gazebo reference="base_laser_link">
- <sensor name="base_laser" type="ray">
- <pose>0 0 0 0 0 0</pose>
- <update_rate>10</update_rate>
- <visualize>true</visualize>
- <ray>
- <scan>
- <horizontal>
- <!-- 818 (270/0.33) steps in 270deg fov -->
- <samples>666.5185185185185</samples>
- <resolution>1</resolution>
- <!-- not the sensor resolution; just 1 -->
- <min_angle>-1.9198621771937625</min_angle>
- <max_angle>1.9198621771937625</max_angle>
- </horizontal>
- </scan>
- <range>
- <min>0.05</min>
- <max>25.0</max>
- <resolution>0.001</resolution>
- </range>
- </ray>
- <plugin filename="libgazebo_ros_laser.so" name="gazebo_ros_sick_laser">
- <gaussianNoise>0.06</gaussianNoise>
- <alwaysOn>true</alwaysOn>
- <updateRate>10</updateRate>
- <topicName>scan_raw</topicName>
- <frameName>base_laser_link</frameName>
- </plugin>
- </sensor>
- <material>Gazebo/DarkGrey</material>
- </gazebo>
- <link name="base_sonar_03_link">
- <inertial>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <mass value="0.001"/>
- <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>
- <mesh filename="package://pmb2_description/meshes/sensors/srf05.stl"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- </link>
- <joint name="base_sonar_03_joint" type="fixed">
- <origin rpy="0 0 2.356194490192345" xyz="-0.183 0.183 0.173"/>
- <axis xyz="0 0 1"/>
- <parent link="base_link"/>
- <child link="base_sonar_03_link"/>
- </joint>
- <gazebo reference="base_sonar_03_link">
- <sensor name="base_sonar_03" type="ray">
- <pose>0 0 0 0 0 0</pose>
- <update_rate>5</update_rate>
- <visualize>false</visualize>
- <ray>
- <scan>
- <horizontal>
- <samples>5</samples>
- <resolution>1</resolution>
- <min_angle>-0.25</min_angle>
- <max_angle>0.25</max_angle>
- </horizontal>
- <vertical>
- <samples>5</samples>
- <resolution>1</resolution>
- <min_angle>-0.25</min_angle>
- <max_angle>0.25</max_angle>
- </vertical>
- </scan>
- <range>
- <min>0.02</min>
- <max>1.0</max>
- <resolution>0.01</resolution>
- </range>
- </ray>
- <plugin filename="libgazebo_ros_range.so" name="gazebo_ros_range">
- <gaussianNoise>0.005</gaussianNoise>
- <alwaysOn>true</alwaysOn>
- <updateRate>5</updateRate>
- <topicName>sonar_base</topicName>
- <frameName>base_sonar_03_link</frameName>
- <minRange>0.02</minRange>
- <maxRange>1.0</maxRange>
- <fov>0.5</fov>
- <radiation>ultrasound</radiation>
- </plugin>
- </sensor>
- <material>Gazebo/DarkGrey</material>
- </gazebo>
- <link name="base_sonar_02_link">
- <inertial>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <mass value="0.001"/>
- <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>
- <mesh filename="package://pmb2_description/meshes/sensors/srf05.stl"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- </link>
- <joint name="base_sonar_02_joint" type="fixed">
- <origin rpy="0 0 3.141592653589793" xyz="-0.259 0.0 0.173"/>
- <axis xyz="0 0 1"/>
- <parent link="base_link"/>
- <child link="base_sonar_02_link"/>
- </joint>
- <gazebo reference="base_sonar_02_link">
- <sensor name="base_sonar_02" type="ray">
- <pose>0 0 0 0 0 0</pose>
- <update_rate>5</update_rate>
- <visualize>false</visualize>
- <ray>
- <scan>
- <horizontal>
- <samples>5</samples>
- <resolution>1</resolution>
- <min_angle>-0.25</min_angle>
- <max_angle>0.25</max_angle>
- </horizontal>
- <vertical>
- <samples>5</samples>
- <resolution>1</resolution>
- <min_angle>-0.25</min_angle>
- <max_angle>0.25</max_angle>
- </vertical>
- </scan>
- <range>
- <min>0.02</min>
- <max>1.0</max>
- <resolution>0.01</resolution>
- </range>
- </ray>
- <plugin filename="libgazebo_ros_range.so" name="gazebo_ros_range">
- <gaussianNoise>0.005</gaussianNoise>
- <alwaysOn>true</alwaysOn>
- <updateRate>5</updateRate>
- <topicName>sonar_base</topicName>
- <frameName>base_sonar_02_link</frameName>
- <minRange>0.02</minRange>
- <maxRange>1.0</maxRange>
- <fov>0.5</fov>
- <radiation>ultrasound</radiation>
- </plugin>
- </sensor>
- <material>Gazebo/DarkGrey</material>
- </gazebo>
- <link name="base_sonar_01_link">
- <inertial>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <mass value="0.001"/>
- <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>
- <mesh filename="package://pmb2_description/meshes/sensors/srf05.stl"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- </link>
- <joint name="base_sonar_01_joint" type="fixed">
- <origin rpy="0 0 3.9269908169872414" xyz="-0.183 -0.183 0.173"/>
- <axis xyz="0 0 1"/>
- <parent link="base_link"/>
- <child link="base_sonar_01_link"/>
- </joint>
- <gazebo reference="base_sonar_01_link">
- <sensor name="base_sonar_01" type="ray">
- <pose>0 0 0 0 0 0</pose>
- <update_rate>5</update_rate>
- <visualize>false</visualize>
- <ray>
- <scan>
- <horizontal>
- <samples>5</samples>
- <resolution>1</resolution>
- <min_angle>-0.25</min_angle>
- <max_angle>0.25</max_angle>
- </horizontal>
- <vertical>
- <samples>5</samples>
- <resolution>1</resolution>
- <min_angle>-0.25</min_angle>
- <max_angle>0.25</max_angle>
- </vertical>
- </scan>
- <range>
- <min>0.02</min>
- <max>1.0</max>
- <resolution>0.01</resolution>
- </range>
- </ray>
- <plugin filename="libgazebo_ros_range.so" name="gazebo_ros_range">
- <gaussianNoise>0.005</gaussianNoise>
- <alwaysOn>true</alwaysOn>
- <updateRate>5</updateRate>
- <topicName>sonar_base</topicName>
- <frameName>base_sonar_01_link</frameName>
- <minRange>0.02</minRange>
- <maxRange>1.0</maxRange>
- <fov>0.5</fov>
- <radiation>ultrasound</radiation>
- </plugin>
- </sensor>
- <material>Gazebo/DarkGrey</material>
- </gazebo>
- <link name="base_mic_front_left_link"/>
- <joint name="base_mic_front_left_joint" type="fixed">
- <origin rpy="0 0 0" xyz="0.23182 0.03902 0.195"/>
- <child link="base_mic_front_left_link"/>
- <parent link="base_link"/>
- </joint>
- <link name="base_mic_front_right_link"/>
- <joint name="base_mic_front_right_joint" type="fixed">
- <origin rpy="0 0 0" xyz="0.23182 -0.03902 0.195"/>
- <child link="base_mic_front_right_link"/>
- <parent link="base_link"/>
- </joint>
- <link name="base_mic_back_left_link"/>
- <joint name="base_mic_back_left_joint" type="fixed">
- <origin rpy="0 0 0" xyz="-0.1082 -0.0599 0.195"/>
- <child link="base_mic_back_left_link"/>
- <parent link="base_link"/>
- </joint>
- <link name="base_mic_back_right_link"/>
- <joint name="base_mic_back_right_joint" type="fixed">
- <origin rpy="0 0 0" xyz="-0.1082 -0.13789 0.195"/>
- <child link="base_mic_back_right_link"/>
- <parent link="base_link"/>
- </joint>
<!-- Base -->
<link name="base_link">
<inertial>
@@ -369,14 +113,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://pmb2_description/meshes/base/base.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/base/base.stl"/>
</geometry>
<material name="White"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://pmb2_description/meshes/base/base_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/base/base_collision.stl"/>
</geometry>
<material name="White"/>
</collision>
@@ -385,23 +129,18 @@
<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"/>
<parent link="base_footprint"/>
</joint>
- <!-- gazebo parameters are given here for base_link thru base_footprint -->
- <gazebo reference="base_footprint">
- <kp>100000000.0</kp>
- <kd>10.0</kd>
- <mu1>0.1</mu1>
- <mu2>0.1</mu2>
- <fdir1>1 0 0</fdir1>
- <maxVel>10.0</maxVel>
- <minDepth>0.0005</minDepth>
- <laserRetro>0</laserRetro>
- </gazebo>
<link name="base_cover_link">
<inertial>
<origin rpy="0 0 0" xyz="0.22414000000 0.00002000000 0.04681000000"/>
@@ -411,7 +150,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://pmb2_description/meshes/base/base_ring.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/base/base_ring.stl"/>
</geometry>
<material name="Orange"/>
</visual>
@@ -433,7 +172,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://pmb2_description/meshes/objects/antenna.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/objects/antenna.stl"/>
</geometry>
<material name="Black"/>
</visual>
@@ -462,7 +201,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://pmb2_description/meshes/objects/antenna.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/objects/antenna.stl"/>
</geometry>
<material name="Black"/>
</visual>
@@ -532,7 +271,7 @@
<visual>
<origin rpy="-0.0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://pmb2_description/meshes/wheels/wheel.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/wheels/wheel.stl"/>
</geometry>
<material name="DarkGrey"/>
</visual>
@@ -607,7 +346,7 @@
<visual>
<origin rpy="-3.141592653589793 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://pmb2_description/meshes/wheels/wheel.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/wheels/wheel.stl"/>
</geometry>
<material name="DarkGrey"/>
</visual>
@@ -682,16 +421,10 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://pmb2_description/meshes/wheels/caster_1.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/wheels/caster_1.stl"/>
</geometry>
<material name="Grey"/>
</visual>
- <!--collision>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <cylinder radius="${radius}" length="${width}"/>
- </geometry>
- </collision-->
</link>
<link name="caster_front_right_2_link">
<inertial>
@@ -702,7 +435,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://pmb2_description/meshes/wheels/caster_2.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/wheels/caster_2.stl"/>
</geometry>
<material name="DarkGrey"/>
</visual>
@@ -762,7 +495,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://pmb2_description/meshes/wheels/caster_1.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/wheels/caster_1.stl"/>
</geometry>
<material name="Grey"/>
</visual>
@@ -782,7 +515,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://pmb2_description/meshes/wheels/caster_2.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/wheels/caster_2.stl"/>
</geometry>
<material name="DarkGrey"/>
</visual>
@@ -842,16 +575,10 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://pmb2_description/meshes/wheels/caster_1.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/wheels/caster_1.stl"/>
</geometry>
<material name="Grey"/>
</visual>
- <!--collision>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <cylinder radius="${radius}" length="${width}"/>
- </geometry>
- </collision-->
</link>
<link name="caster_back_right_2_link">
<inertial>
@@ -862,7 +589,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://pmb2_description/meshes/wheels/caster_2.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/wheels/caster_2.stl"/>
</geometry>
<material name="DarkGrey"/>
</visual>
@@ -922,16 +649,10 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://pmb2_description/meshes/wheels/caster_1.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/wheels/caster_1.stl"/>
</geometry>
<material name="Grey"/>
</visual>
- <!--collision>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <cylinder radius="${radius}" length="${width}"/>
- </geometry>
- </collision-->
</link>
<link name="caster_back_left_2_link">
<inertial>
@@ -942,7 +663,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://pmb2_description/meshes/wheels/caster_2.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/wheels/caster_2.stl"/>
</geometry>
<material name="DarkGrey"/>
</visual>
@@ -1003,7 +724,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_dual_description/meshes/torso/torso_fix.stl" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/torso/torso_fix.stl" scale="1 1 1"/>
</geometry>
<material name="LightGrey"/>
</visual>
@@ -1066,14 +787,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_dual_description/meshes/torso/torso_lift_dual_arm.stl" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/torso/torso_lift_with_arm.stl" scale="1 1 1"/>
</geometry>
<material name="White"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/torso/torso_lift_collision_core.dae" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/torso/torso_lift_collision_core.dae" scale="1 1 1"/>
</geometry>
<material name="LightGrey"/>
</collision>
@@ -1081,7 +802,7 @@
<collision>
<origin rpy="0 0 0" xyz="-0.131 0.17 -0.02556"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/torso/torso_lift_collision_shoulder.dae" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/torso/torso_lift_collision_shoulder.dae" scale="1 1 1"/>
</geometry>
<material name="LightGrey"/>
</collision>
@@ -1089,14 +810,14 @@
<collision>
<origin rpy="0 0 0" xyz="-0.131 -0.19 -0.02556"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/torso/torso_lift_collision_shoulder.dae" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/torso/torso_lift_collision_shoulder.dae" scale="1 1 1"/>
</geometry>
<material name="LightGrey"/>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/torso/torso_lift_collision_neck.dae" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/torso/torso_lift_collision_neck.dae" scale="1 1 1"/>
</geometry>
<material name="LightGrey"/>
</collision>
@@ -1131,14 +852,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/head/head_1.stl" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/head/head_1.stl" scale="1 1 1"/>
</geometry>
<material name="White"/>
</visual>
<collision>
<origin rpy="0 0 0.0" xyz="0.0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/head/head_1_collision.dae" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/head/head_1_collision.dae" scale="1 1 1"/>
</geometry>
<material name="White"/>
</collision>
@@ -1165,7 +886,7 @@
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="head_1_joint">
- <offset>0</offset>
+ <offset>0.0</offset>
<hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
@@ -1179,14 +900,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/head/head_2.stl" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/head/head_2.stl" scale="1 1 1"/>
</geometry>
<material name="White"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/head/head_2_collision.dae" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/head/head_2_collision.dae" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -1205,11 +926,139 @@
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="head_2_joint">
- <offset>0</offset>
+ <offset>0.0</offset>
<hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
</transmission>
+ <!-- frames in the center of the camera -->
+ <joint name="xtion_joint" type="fixed">
+ <origin rpy="-1.57079632679 0.0 0.0" xyz="0.0908 0.08 0.0"/>
+ <parent link="head_2_link"/>
+ <child link="xtion_link"/>
+ </joint>
+ <link name="xtion_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="-0.00936000000 -0.00003000000 -0.00273000000"/>
+ <mass value="0.21970000000"/>
+ <inertia ixx="0.00000429247" ixy="0.00000000000" ixz="0.00000002565" iyy="0.00000008027" iyz="0.00000000000" izz="0.00000427339"/>
+ </inertial>
+ <!--
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/sensors/xtion_pro_live/xtion_pro_live.dae" />
+ </geometry>
+ <material name="Grey">
+ <color rgba="0.5 0.5 0.5 1"/>
+ </material>
+ </visual>
+ <collision>
+ <origin xyz="-0.01 0.0025 0" rpy="0 0 0"/>
+ <geometry>
+ <box size="0.04 0.185 0.03"/>
+ </geometry>
+ </collision>
+ -->
+ </link>
+ <joint name="xtion_optical_joint" type="fixed">
+ <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
+ <parent link="xtion_link"/>
+ <child link="xtion_optical_frame"/>
+ </joint>
+ <link name="xtion_optical_frame">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0.001"/>
+ <inertia ixx="0.00001" ixy="0" ixz="0" iyy="0.00001" iyz="0" izz="0.00001"/>
+ </inertial>
+ </link>
+ <!-- frames of the depth sensor -->
+ <joint name="xtion_depth_joint" type="fixed">
+ <origin rpy="0 0 0" xyz="0.0 0.047 0.0"/>
+ <parent link="xtion_link"/>
+ <child link="xtion_depth_frame"/>
+ </joint>
+ <link name="xtion_depth_frame">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0.001"/>
+ <inertia ixx="0.00001" ixy="0" ixz="0" iyy="0.00001" iyz="0" izz="0.00001"/>
+ </inertial>
+ </link>
+ <joint name="xtion_depth_optical_joint" type="fixed">
+ <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
+ <parent link="xtion_depth_frame"/>
+ <child link="xtion_depth_optical_frame"/>
+ </joint>
+ <link name="xtion_depth_optical_frame">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0.001"/>
+ <inertia ixx="0.00001" ixy="0" ixz="0" iyy="0.00001" iyz="0" izz="0.00001"/>
+ </inertial>
+ </link>
+ <!-- frames of the rgb sensor -->
+ <joint name="xtion_rgb_joint" type="fixed">
+ <origin rpy="0 0 0" xyz="0.0 0.022 0.0"/>
+ <parent link="xtion_link"/>
+ <child link="xtion_rgb_frame"/>
+ </joint>
+ <link name="xtion_rgb_frame">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0.001"/>
+ <inertia ixx="0.00001" ixy="0" ixz="0" iyy="0.00001" iyz="0" izz="0.00001"/>
+ </inertial>
+ </link>
+ <joint name="xtion_rgb_optical_joint" type="fixed">
+ <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
+ <parent link="xtion_rgb_frame"/>
+ <child link="xtion_rgb_optical_frame"/>
+ </joint>
+ <link name="xtion_rgb_optical_frame">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0.001"/>
+ <inertia ixx="0.00001" ixy="0" ixz="0" iyy="0.00001" iyz="0" izz="0.00001"/>
+ </inertial>
+ </link>
+ <gazebo reference="xtion_rgb_frame">
+ <sensor name="xtion_frame_sensor" type="depth">
+ <always_on>true</always_on>
+ <update_rate>30.0</update_rate>
+ <camera>
+ <horizontal_fov>1.09955742876</horizontal_fov>
+ <image>
+ <format>B8G8R8</format>
+ <width>640</width>
+ <height>480</height>
+ </image>
+ <clip>
+ <near>0.3</near>
+ <far>8.0</far>
+ </clip>
+ </camera>
+ <plugin filename="libgazebo_ros_openni_kinect.so" name="xtion_frame_controller">
+ <alwaysOn>true</alwaysOn>
+ <updateRate>30.0</updateRate>
+ <cameraName>xtion</cameraName>
+ <imageTopicName>rgb/image_raw</imageTopicName>
+ <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
+ <depthImageTopicName>depth_registered/image_raw</depthImageTopicName>
+ <depthImageCameraInfoTopicName>depth_registered/camera_info</depthImageCameraInfoTopicName>
+ <pointCloudTopicName>depth_registered/points</pointCloudTopicName>
+ <frameName>xtion_rgb_optical_frame</frameName>
+ <pointCloudCutoff>0.5</pointCloudCutoff>
+ <pointCloudCutoffMax>8.0</pointCloudCutoffMax>
+ <distortionK1>0.00000001</distortionK1>
+ <distortionK2>0.00000001</distortionK2>
+ <distortionK3>0.00000001</distortionK3>
+ <distortionT1>0.00000001</distortionT1>
+ <distortionT2>0.00000001</distortionT2>
+ </plugin>
+ </sensor>
+ </gazebo>
<!--************************-->
<!-- SHOULDER -->
<!--************************-->
@@ -1224,14 +1073,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/arm/arm_1.stl" scale="1 -1 -1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_1.stl" scale="1 -1 -1"/>
</geometry>
<material name="White"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/arm/arm_1_collision.dae" scale="1 -1 -1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_1_collision.dae" scale="1 -1 -1"/>
</geometry>
</collision>
</link>
@@ -1254,7 +1103,7 @@
<!-- <origin xyz="0 0 0" rpy="${180 * deg_to_rad} ${0 * deg_to_rad} ${-90 * deg_to_rad}" /> -->
<origin rpy="0.0 0.0 0.0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/arm/arm_2.stl" scale="1 1 -1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_2.stl" scale="1 1 -1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
@@ -1262,7 +1111,7 @@
<!-- <origin xyz="0 0 0" rpy="${180 * deg_to_rad} ${0 * deg_to_rad} ${-90 * deg_to_rad}" /> -->
<origin rpy="0.0 0.0 0.0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/arm/arm_2_collision.dae" scale="1 1 -1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_2_collision.dae" scale="1 1 -1"/>
</geometry>
</collision>
</link>
@@ -1284,14 +1133,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/arm/arm_3.stl" scale="1 1 -1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_3.stl" scale="1 1 -1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/arm/arm_3_collision.dae" scale="1 1 -1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_3_collision.dae" scale="1 1 -1"/>
</geometry>
</collision>
</link>
@@ -1316,14 +1165,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/arm/arm_4.stl" scale="-1 -1 -1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_4.stl" scale="-1 -1 -1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/arm/arm_4_collision.dae" scale="-1 -1 -1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_4_collision.dae" scale="-1 -1 -1"/>
</geometry>
</collision>
</link>
@@ -1371,9 +1220,6 @@
<!--************************-->
<!-- WRIST -->
<!--************************-->
- <!--************************-->
- <!-- WRIST -->
- <!--************************-->
<link name="arm_left_5_link">
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="0.001078 -0.000151 0.077173"/>
@@ -1383,14 +1229,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/arm/arm_5-wrist-2010.stl" scale="-1 -1 -1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_5-wrist-2010.stl" scale="-1 -1 -1"/>
</geometry>
<material name="LightGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/arm/arm_5_collision-wrist-2010.dae" scale="-1 -1 -1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_5_collision-wrist-2010.dae" scale="-1 -1 -1"/>
</geometry>
</collision>
</link>
@@ -1412,14 +1258,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/arm/arm_6-wrist-2010.stl" scale="-1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_6-wrist-2010.stl" scale="-1 1 1"/>
</geometry>
<material name="LightGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/arm/arm_6_collision-wrist-2010.dae" scale="-1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_6_collision-wrist-2010.dae" scale="-1 1 1"/>
</geometry>
</collision>
</link>
@@ -1669,14 +1515,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/palm.stl" scale="1 1 -1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/palm.stl" scale="1 1 -1"/>
</geometry>
<material name="Hey5DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/palm_collision.stl" scale="1 1 -1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/palm_collision.stl" scale="1 1 -1"/>
</geometry>
</collision>
</link>
@@ -1821,14 +1667,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/thumb_abd_collision.stl" scale="1 1 -1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/thumb_abd_collision.stl" scale="1 1 -1"/>
</geometry>
<material name="Hey5DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/thumb_abd_collision.stl" scale="1 -1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/thumb_abd_collision.stl" scale="1 -1 1"/>
</geometry>
</collision>
</link>
@@ -1886,14 +1732,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_flex_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
</geometry>
<material name="Hey5DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_flex_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
</geometry>
</collision>
</link>
@@ -1951,14 +1797,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_flex_tip_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
</geometry>
<material name="Hey5DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_flex_tip_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
</geometry>
</collision>
</link>
@@ -1983,14 +1829,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_abd_collision.stl" scale="1 1 -1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_abd_collision.stl" scale="1 1 -1"/>
</geometry>
<material name="Hey5DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_abd_collision.stl" scale="1 1 -1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_abd_collision.stl" scale="1 1 -1"/>
</geometry>
</collision>
</link>
@@ -2048,14 +1894,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_flex_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
</geometry>
<material name="Hey5DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_flex_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
</geometry>
</collision>
</link>
@@ -2113,14 +1959,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_flex_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
</geometry>
<material name="Hey5DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_flex_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
</geometry>
</collision>
</link>
@@ -2178,14 +2024,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_flex_tip_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
</geometry>
<material name="Hey5DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_flex_tip_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
</geometry>
</collision>
</link>
@@ -2210,14 +2056,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_abd_collision.stl" scale="1 1 -1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_abd_collision.stl" scale="1 1 -1"/>
</geometry>
<material name="Hey5DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_abd_collision.stl" scale="1 1 -1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_abd_collision.stl" scale="1 1 -1"/>
</geometry>
</collision>
</link>
@@ -2275,14 +2121,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_flex_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
</geometry>
<material name="Hey5DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_flex_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
</geometry>
</collision>
</link>
@@ -2340,14 +2186,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_flex_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
</geometry>
<material name="Hey5DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_flex_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
</geometry>
</collision>
</link>
@@ -2405,14 +2251,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_flex_tip_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
</geometry>
<material name="Hey5DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_flex_tip_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
</geometry>
</collision>
</link>
@@ -2437,14 +2283,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_abd_collision.stl" scale="1 1 -1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_abd_collision.stl" scale="1 1 -1"/>
</geometry>
<material name="Hey5DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_abd_collision.stl" scale="1 1 -1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_abd_collision.stl" scale="1 1 -1"/>
</geometry>
</collision>
</link>
@@ -2502,14 +2348,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_flex_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
</geometry>
<material name="Hey5DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_flex_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
</geometry>
</collision>
</link>
@@ -2567,14 +2413,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_flex_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
</geometry>
<material name="Hey5DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_flex_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
</geometry>
</collision>
</link>
@@ -2632,14 +2478,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_flex_tip_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
</geometry>
<material name="Hey5DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_flex_tip_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
</geometry>
</collision>
</link>
@@ -2664,14 +2510,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_abd_collision.stl" scale="1 1 -1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_abd_collision.stl" scale="1 1 -1"/>
</geometry>
<material name="Hey5DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_abd_collision.stl" scale="1 1 -1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_abd_collision.stl" scale="1 1 -1"/>
</geometry>
</collision>
</link>
@@ -2729,14 +2575,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_flex_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
</geometry>
<material name="Hey5DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_flex_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
</geometry>
</collision>
</link>
@@ -2794,14 +2640,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_flex_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
</geometry>
<material name="Hey5DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_flex_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
</geometry>
</collision>
</link>
@@ -2859,14 +2705,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_flex_tip_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
</geometry>
<material name="Hey5DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_flex_tip_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
</geometry>
</collision>
</link>
@@ -3423,14 +3269,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/arm/arm_1.stl" scale="1 -1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_1.stl" scale="1 -1 1"/>
</geometry>
<material name="White"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/arm/arm_1_collision.dae" scale="1 -1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_1_collision.dae" scale="1 -1 1"/>
</geometry>
</collision>
</link>
@@ -3453,7 +3299,7 @@
<!-- <origin xyz="0 0 0" rpy="${180 * deg_to_rad} ${0 * deg_to_rad} ${-90 * deg_to_rad}" /> -->
<origin rpy="0.0 0.0 0.0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/arm/arm_2.stl" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_2.stl" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
@@ -3461,7 +3307,7 @@
<!-- <origin xyz="0 0 0" rpy="${180 * deg_to_rad} ${0 * deg_to_rad} ${-90 * deg_to_rad}" /> -->
<origin rpy="0.0 0.0 0.0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/arm/arm_2_collision.dae" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_2_collision.dae" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -3483,14 +3329,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/arm/arm_3.stl" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_3.stl" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/arm/arm_3_collision.dae" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_3_collision.dae" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -3515,14 +3361,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/arm/arm_4.stl" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_4.stl" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/arm/arm_4_collision.dae" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_4_collision.dae" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -3570,9 +3416,6 @@
<!--************************-->
<!-- WRIST -->
<!--************************-->
- <!--************************-->
- <!-- WRIST -->
- <!--************************-->
<link name="arm_right_5_link">
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="0.001078 -0.000151 -0.077173"/>
@@ -3582,14 +3425,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/arm/arm_5-wrist-2010.stl" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_5-wrist-2010.stl" scale="1 1 1"/>
</geometry>
<material name="LightGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/arm/arm_5_collision-wrist-2010.dae" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_5_collision.dae" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -3611,14 +3454,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/arm/arm_6-wrist-2010.stl" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_6-wrist-2010.stl" scale="1 1 1"/>
</geometry>
<material name="LightGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tiago_description/meshes/arm/arm_6_collision-wrist-2010.dae" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_6_collision-wrist-2010.dae" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -3868,14 +3711,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/palm.stl" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/palm.stl" scale="1 1 1"/>
</geometry>
<material name="Hey5DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/palm_collision.stl" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/palm_collision.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -4020,14 +3863,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/thumb_abd_collision.stl" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/thumb_abd_collision.stl" scale="1 1 1"/>
</geometry>
<material name="Hey5DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/thumb_abd_collision.stl" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/thumb_abd_collision.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -4085,14 +3928,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_flex_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
</geometry>
<material name="Hey5DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_flex_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
</geometry>
</collision>
</link>
@@ -4150,14 +3993,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_flex_tip_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
</geometry>
<material name="Hey5DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_flex_tip_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
</geometry>
</collision>
</link>
@@ -4182,14 +4025,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_abd_collision.stl" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_abd_collision.stl" scale="1 1 1"/>
</geometry>
<material name="Hey5DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_abd_collision.stl" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_abd_collision.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -4247,14 +4090,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_flex_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
</geometry>
<material name="Hey5DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_flex_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
</geometry>
</collision>
</link>
@@ -4312,14 +4155,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_flex_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
</geometry>
<material name="Hey5DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_flex_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
</geometry>
</collision>
</link>
@@ -4377,14 +4220,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_flex_tip_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
</geometry>
<material name="Hey5DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_flex_tip_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
</geometry>
</collision>
</link>
@@ -4409,14 +4252,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_abd_collision.stl" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_abd_collision.stl" scale="1 1 1"/>
</geometry>
<material name="Hey5DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_abd_collision.stl" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_abd_collision.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -4474,14 +4317,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_flex_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
</geometry>
<material name="Hey5DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_flex_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
</geometry>
</collision>
</link>
@@ -4539,14 +4382,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_flex_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
</geometry>
<material name="Hey5DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_flex_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
</geometry>
</collision>
</link>
@@ -4604,14 +4447,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_flex_tip_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
</geometry>
<material name="Hey5DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_flex_tip_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
</geometry>
</collision>
</link>
@@ -4636,14 +4479,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_abd_collision.stl" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_abd_collision.stl" scale="1 1 1"/>
</geometry>
<material name="Hey5DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_abd_collision.stl" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_abd_collision.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -4701,14 +4544,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_flex_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
</geometry>
<material name="Hey5DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_flex_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
</geometry>
</collision>
</link>
@@ -4766,14 +4609,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_flex_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
</geometry>
<material name="Hey5DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_flex_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
</geometry>
</collision>
</link>
@@ -4831,14 +4674,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_flex_tip_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
</geometry>
<material name="Hey5DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_flex_tip_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
</geometry>
</collision>
</link>
@@ -4863,14 +4706,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_abd_collision.stl" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_abd_collision.stl" scale="1 1 1"/>
</geometry>
<material name="Hey5DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_abd_collision.stl" scale="1 1 1"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_abd_collision.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -4928,14 +4771,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_flex_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
</geometry>
<material name="Hey5DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_flex_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
</geometry>
</collision>
</link>
@@ -4993,14 +4836,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_flex_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
</geometry>
<material name="Hey5DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_flex_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
</geometry>
</collision>
</link>
@@ -5058,14 +4901,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_flex_tip_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
</geometry>
<material name="Hey5DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://hey5_description/meshes/finger_flex_tip_collision.stl"/>
+ <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
</geometry>
</collision>
</link>
@@ -5622,4 +5465,3 @@
</inertial>
</link>
</robot>
-