From fb95c565ad259dcc90caeafb591406d92d5e9e36 Mon Sep 17 00:00:00 2001
From: Olivier Stasse <ostasse@laas.fr>
Date: Thu, 13 Sep 2018 06:04:13 +0200
Subject: [PATCH] Add talos_reduced_v2.urdf.
---
urdf/talos_reduced_v2.urdf | 2722 ++++++++++++++++++++++++++++++++++++
1 file changed, 2722 insertions(+)
create mode 100644 urdf/talos_reduced_v2.urdf
diff --git a/urdf/talos_reduced_v2.urdf b/urdf/talos_reduced_v2.urdf
new file mode 100644
index 0000000..79e6453
--- /dev/null
+++ b/urdf/talos_reduced_v2.urdf
@@ -0,0 +1,2722 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- | This document was autogenerated by xacro from ./talos_full_v2.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">
+ <!--************************-->
+ <!-- TORSO_2 (TILT) -->
+ <!--************************-->
+ <link name="torso_2_link">
+ <inertial>
+ <mass value="16.97403"/>
+ <inertia ixx="0.44372633826" ixy="0.00069132133" ixz="-0.01218206353" iyy="0.2998576068" iyz="-0.00019623338" izz="0.32201554742"/>
+ <origin rpy="0 0 0" xyz="-0.0463563 -0.00099023 0.1452805"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://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://talos_data/meshes/torso/torso_2_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <!--************************-->
+ <!-- TORSO_1 (PAN) -->
+ <!--************************-->
+ <link name="torso_1_link">
+ <inertial>
+ <mass value="2.294658"/>
+ <inertia ixx="0.00638508087" ixy="-7.107e-08" ixz="-3.065592e-05" iyy="0.00410256102" iyz="-1.46946e-06" izz="0.00622968815"/>
+ <origin rpy="0 0 0" xyz="0.00078223 3.528e-05 -0.01782457"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://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://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"/>
+ <!-- XXX AS: The kinematic chain order for the torso was reversed manually. This value does not match the CAD model. XXX -->
+ <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0722"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="200.0" lower="-1.25663706144" upper="1.25663706144" 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>
+ <mass value="15.36284"/>
+ <inertia ixx="0.20105075811" ixy="0.00023244734" ixz="0.0040167728" iyy="0.08411496729" iyz="-0.00087206649" izz="0.2318908414"/>
+ <origin rpy="0 0 0" xyz="-0.05709419 0.00153054 -0.0762521"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://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://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="200.0" lower="-0.226892802759" upper="0.733038285838" 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"/>
+ <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </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>
+ <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>
+ <mass value="0.73746"/>
+ <inertia ixx="0.00224878584" ixy="4.69375e-06" ixz="8.55557e-05" iyy="0.00111158492" iyz="-4.132536e-05" izz="0.00205225921"/>
+ <origin rpy="0 0 0" xyz="-0.00157211 -0.00157919 0.02175767"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://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://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="0.02000 0.00000 0.32100"/>
+ <axis xyz="0 1 0"/>
+ <limit effort="8.0" lower="-0.209439510239" 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>
+ <mass value="1.443954"/>
+ <inertia ixx="0.01084624339" ixy="1.050889e-05" ixz="0.00041594252" iyy="0.0109569176" iyz="2.367831e-05" izz="0.00571698895"/>
+ <origin rpy="0 0 0" xyz="0.01002657 5.218e-05 0.14136068"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://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://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 0.0 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"/>
+ <inertia ixx="3e-05" ixy="0.0" ixz="0.0" iyy="2e-06" iyz="0.0" izz="3e-05"/>
+ <origin rpy="-0.01 0.0025 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://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>
+ <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"/>
+ <inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 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"/>
+ <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"/>
+ <!-- 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"/>
+ <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"/>
+ <gazebo reference="rgbd_link">
+ <!-- IR + depth -->
+ <sensor name="rgbd_frame_sensor" type="depth">
+ <always_on>true</always_on>
+ <update_rate>30.0</update_rate>
+ <camera>
+ <horizontal_fov>1.0471975512</horizontal_fov>
+ <image>
+ <format>B8G8R8</format>
+ <width>640</width>
+ <height>480</height>
+ </image>
+ <clip>
+ <near>0.6</near>
+ <far>8.0</far>
+ </clip>
+ </camera>
+ <plugin filename="libgazebo_ros_openni_kinect.so" name="rgbd_frame_controller">
+ <alwaysOn>true</alwaysOn>
+ <updateRate>30.0</updateRate>
+ <cameraName>rgbd</cameraName>
+ <imageTopicName>rgb/image_raw</imageTopicName>
+ <cameraInfoTopicName>rgb/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>
+ <distortionK1>0.00000001</distortionK1>
+ <distortionK2>0.00000001</distortionK2>
+ <distortionK3>0.00000001</distortionK3>
+ <distortionT1>0.00000001</distortionT1>
+ <distortionT2>0.00000001</distortionT2>
+ </plugin>
+ </sensor>
+ <!-- RGB High res-->
+ <sensor name="rgbd_high_res_frame_sensor" type="camera">
+ <update_rate>30.0</update_rate>
+ <camera name="head">
+ <horizontal_fov>1.0471975512</horizontal_fov>
+ <image>
+ <width>1280</width>
+ <height>720</height>
+ <format>R8G8B8</format>
+ </image>
+ <clip>
+ <near>0.05</near>
+ <far>100</far>
+ </clip>
+ <noise>
+ <type>gaussian</type>
+ <!-- Noise is sampled independently per pixel on each frame.
+ That pixel's noise value is added to each of its color
+ channels, which at that point lie in the range [0,1]. -->
+ <mean>0.0</mean>
+ <stddev>0.007</stddev>
+ </noise>
+ </camera>
+ <plugin filename="libgazebo_ros_camera.so" name="rgbd_high_res_frame_controller">
+ <alwaysOn>true</alwaysOn>
+ <!-- Patch to publish at 30 Hz -->
+ <updateRate>45.0</updateRate>
+ <cameraName>rgbd/high_res</cameraName>
+ <imageTopicName>/rgbd/rgb/high_res/image_raw</imageTopicName>
+ <cameraInfoTopicName>/rgbd/rgb/high_res/camera_info</cameraInfoTopicName>
+ <frameName>rgbd_optical_frame</frameName>
+ <hackBaseline>0.0</hackBaseline>
+ <distortionK1>0.00000001</distortionK1>
+ <distortionK2>0.00000001</distortionK2>
+ <distortionK3>0.00000001</distortionK3>
+ <distortionT1>0.00000001</distortionT1>
+ <distortionT2>0.00000001</distortionT2>
+ </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">
+ <inertial>
+ <mass value="2.714567"/>
+ <inertia ixx="0.01237818683" ixy="-3.625571e-05" ixz="7.14472e-05" iyy="0.004191372" iyz="-0.00023639064" izz="0.01358161109"/>
+ <origin rpy="0 0 0" xyz="-0.0002762 0.10060223 0.04437419"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_data/meshes/arm/arm_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://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"/>
+ <!-- v1 TALOS has 1st arm left joint (-90,30) and right joint (-30,90) -->
+ <!-- v2 TALOS has 1st arm left joint (-90,50) and right joint (-50,90) -->
+ <limit effort="100.0" lower="-1.57079632679" upper="0.785398163397" 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>
+ <mass value="2.425086"/>
+ <inertia ixx="0.01297822101" ixy="1.208791e-05" ixz="-0.00320370433" iyy="0.01380870278" iyz="-0.00012770059" izz="0.00478856621"/>
+ <origin rpy="0 0 0" xyz="0.01438831 0.00092938 -0.08684268"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_data/meshes/arm/arm_2.STL" scale="1 1 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://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="100.0" lower="0.00872664625997" upper="2.87106661953" 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>
+ <mass value="2.208741"/>
+ <inertia ixx="0.00718831493" ixy="-0.00011563551" ixz="0.00075969733" iyy="0.00693528503" iyz="0.00042134743" izz="0.00388359007"/>
+ <origin rpy="0 0 0" xyz="0.0136084 0.01241619 -0.2499004"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_data/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://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="70.0" lower="-2.42600766027" upper="2.42600766027" 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>
+ <mass value="0.877346"/>
+ <inertia ixx="0.00251207716" ixy="0.00010070062" ixz="-0.00032788214" iyy="0.00275869324" iyz="0.00040022227" izz="0.00120735959"/>
+ <origin rpy="0 0 0" xyz="-0.00742138 -0.0213895 -0.03312656"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_data/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://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="70.0" lower="-2.23402144255" upper="0.00349065850399" 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 -->
+ <!--************************-->
+ <link name="arm_left_5_link">
+ <inertial>
+ <mass value="1.877923"/>
+ <inertia ixx="0.00349507283" ixy="1.265489e-05" ixz="1.038286e-05" iyy="0.00436830072" iyz="-9.736042e-05" izz="0.0022826337"/>
+ <origin rpy="0 0 0" xyz="-6e-05 0.003262 0.079625"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_data/meshes/arm/arm_5.STL" scale="1 1 1"/>
+ </geometry>
+ <material name="LightGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://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="20.0" lower="-2.51327412287" upper="2.51327412287" 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>
+ <mass value="0.40931"/>
+ <inertia ixx="0.00010700023" ixy="-8.899e-08" ixz="-4.392e-08" iyy="0.00014101316" iyz="4.1702e-07" izz="0.00015398658"/>
+ <origin rpy="0 0 0" xyz="2.1e-05 -0.001965 -0.000591"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_data/meshes/arm/arm_6.STL" scale="1 1 1"/>
+ </geometry>
+ <material name="LightGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://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="8.0" lower="-1.37008346282" upper="1.37008346282" 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>
+ <mass value="0.308441"/>
+ <inertia ixx="0.00030894317" ixy="-1.58687e-06" ixz="1.73418e-06" iyy="0.00021886181" iyz="-1.221167e-05" izz="0.00017519492"/>
+ <origin rpy="0 0 0" xyz="0.007525 0.001378 -0.02463"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://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://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="8.0" lower="-0.680678408278" upper="0.680678408278" 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>
+ <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">
+ <offset>0.0</offset>
+ <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>
+ <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">
+ <offset>0.0</offset>
+ <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">
+ <offset>0.0</offset>
+ <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">
+ <offset>0.0</offset>
+ <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">
+ <offset>0.0</offset>
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <!--************************-->
+ <!-- SHOULDER -->
+ <!--************************-->
+ <link name="arm_right_1_link">
+ <inertial>
+ <mass value="2.714567"/>
+ <inertia ixx="0.01237818683" ixy="3.625571e-05" ixz="7.14472e-05" iyy="0.004191372" iyz="0.00023639064" izz="0.01358161109"/>
+ <origin rpy="0 0 0" xyz="-0.0002762 -0.10060223 0.04437419"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_data/meshes/arm/arm_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://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"/>
+ <!-- v1 TALOS has 1st arm left joint (-90,30) and right joint (-30,90) -->
+ <!-- v2 TALOS has 1st arm left joint (-90,50) and right joint (-50,90) -->
+ <limit effort="100.0" lower="-0.785398163397" 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>
+ <mass value="2.425086"/>
+ <inertia ixx="0.01297822101" ixy="-1.208791e-05" ixz="-0.00320370433" iyy="0.01380870278" iyz="0.00012770059" izz="0.00478856621"/>
+ <origin rpy="0 0 0" xyz="0.01438831 -0.00092938 -0.08684268"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_data/meshes/arm/arm_2.STL" scale="1 -1 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://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="100.0" lower="-2.87106661953" upper="-0.00872664625997" 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>
+ <mass value="2.208741"/>
+ <inertia ixx="0.00718831493" ixy="0.00011563551" ixz="0.00075969733" iyy="0.00693528503" iyz="-0.00042134743" izz="0.00388359007"/>
+ <origin rpy="0 0 0" xyz="0.0136084 -0.01241619 -0.2499004"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_data/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://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="70.0" lower="-2.42600766027" upper="2.42600766027" 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>
+ <mass value="0.877346"/>
+ <inertia ixx="0.00251207716" ixy="-0.00010070062" ixz="-0.00032788214" iyy="0.00275869324" iyz="-0.00040022227" izz="0.00120735959"/>
+ <origin rpy="0 0 0" xyz="-0.00742138 0.0213895 -0.03312656"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_data/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://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="70.0" lower="-2.23402144255" upper="0.00349065850399" 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 -->
+ <!--************************-->
+ <link name="arm_right_5_link">
+ <inertial>
+ <mass value="1.877923"/>
+ <inertia ixx="0.00349507283" ixy="-1.265489e-05" ixz="1.038286e-05" iyy="0.00436830072" iyz="9.736042e-05" izz="0.0022826337"/>
+ <origin rpy="0 0 0" xyz="-6e-05 -0.003262 0.079625"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_data/meshes/arm/arm_5.STL" scale="1 -1 1"/>
+ </geometry>
+ <material name="LightGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://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="20.0" lower="-2.51327412287" upper="2.51327412287" 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>
+ <mass value="0.40931"/>
+ <inertia ixx="0.00010700023" ixy="8.899e-08" ixz="-4.392e-08" iyy="0.00014101316" iyz="-4.1702e-07" izz="0.00015398658"/>
+ <origin rpy="0 0 0" xyz="2.1e-05 0.001965 -0.000591"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_data/meshes/arm/arm_6.STL" scale="1 -1 1"/>
+ </geometry>
+ <material name="LightGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://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="8.0" lower="-1.37008346282" upper="1.37008346282" 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>
+ <mass value="0.308441"/>
+ <inertia ixx="0.00030894317" ixy="1.58687e-06" ixz="1.73418e-06" iyy="0.00021886181" iyz="1.221167e-05" izz="0.00017519492"/>
+ <origin rpy="0 0 0" xyz="0.007525 -0.001378 -0.02463"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://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://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="8.0" lower="-0.680678408278" upper="0.680678408278" 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>
+ <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">
+ <offset>0.0</offset>
+ <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>
+ <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">
+ <offset>0.0</offset>
+ <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">
+ <offset>0.0</offset>
+ <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">
+ <offset>0.0</offset>
+ <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">
+ <offset>0.0</offset>
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <!--************************-->
+ <!-- ft sensor -->
+ <!--************************-->
+ <link name="wrist_right_ft_link">
+ <inertial>
+ <mass value="0.095"/>
+ <inertia ixx="1.108502e-05" ixy="9.9077e-07" ixz="-2.3811e-07" iyy="1.092725e-05" iyz="2.3137e-07" izz="1.898772e-05"/>
+ <origin rpy="0 0 0" xyz="-0.001001 0.000995 -0.008108"/>
+ </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="0.001"/>
+ <inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 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="0.095"/>
+ <inertia ixx="1.108502e-05" ixy="9.9077e-07" ixz="-2.3811e-07" iyy="1.092725e-05" iyz="2.3137e-07" izz="1.898772e-05"/>
+ <origin rpy="0 0 0" xyz="-0.001001 0.000995 -0.008108"/>
+ </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="0.001"/>
+ <inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 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>
+ <mass value="0.637534"/>
+ <inertia ixx="0.0005849692" ixy="4.37159e-06" ixz="-1.2589e-05" iyy="0.00067076439" iyz="2.824361e-05" izz="0.00085526645"/>
+ <origin rpy="0 0 0" xyz="2.8e-05 0.005394 -0.023654"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://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://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>
+ <mass value="0.134356"/>
+ <inertia ixx="0.00013479919" ixy="6.184429e-05" ixz="-3.0798e-05" iyy="0.00019602207" iyz="4.707722e-05" izz="0.00024217879"/>
+ <origin rpy="0 0 0" xyz="0.019654 0.018572 -0.011998"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://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://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="-0.959931088597" upper="0.0" velocity="1.0"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ </joint>
+ <link name="gripper_left_inner_double_link">
+ <inertial>
+ <mass value="0.087986"/>
+ <inertia ixx="7.410642e-05" ixy="-7.4773e-07" ixz="1.01536e-06" iyy="0.0001279418" iyz="2.504083e-05" izz="0.00010495175"/>
+ <origin rpy="0 0 0" xyz="-0.013283 0.036852 -0.023153"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://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://talos_data/meshes/gripper/inner_double_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="gripper_left_inner_double_joint" type="revolute">
+ <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>
+ <mass value="0.026301"/>
+ <inertia ixx="8e-06" ixy="0.0" ixz="0.0" iyy="8.69179e-06" iyz="-1.43612e-06" izz="2.3082e-06"/>
+ <origin rpy="0 0 0" xyz="0 0.004604 -0.002537"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://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://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>
+ <mass value="0.026301"/>
+ <inertia ixx="8e-06" ixy="0.0" ixz="0.0" iyy="8.69179e-06" iyz="-1.43612e-06" izz="2.3082e-06"/>
+ <origin rpy="0 0 0" xyz="0 0.004604 -0.002537"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://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://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>
+ <mass value="0.107923"/>
+ <inertia ixx="8.973662e-05" ixy="-4.082027e-05" ixz="-1.927099e-05" iyy="0.00011957255" iyz="-2.873284e-05" izz="0.00015469079"/>
+ <origin rpy="0 0 0" xyz="0.025237 -0.011231 -0.008158"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://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://talos_data/meshes/gripper/gripper_motor_single_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="gripper_left_motor_single_joint" type="revolute">
+ <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>
+ <mass value="0.047177"/>
+ <inertia ixx="4.199818e-05" ixy="1.3418e-07" ixz="1.9358e-07" iyy="3.231338e-05" iyz="-1.509136e-05" izz="2.168842e-05"/>
+ <origin rpy="0 0 0" xyz="0 -0.034565 -0.021412"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://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://talos_data/meshes/gripper/inner_single_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="gripper_left_inner_single_joint" type="revolute">
+ <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>
+ <mass value="0.026301"/>
+ <inertia ixx="8e-06" ixy="0.0" ixz="0.0" iyy="8.69179e-06" iyz="-1.43612e-06" izz="2.3082e-06"/>
+ <origin rpy="0 0 0" xyz="0 0.004604 -0.002537"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://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://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>
+ <mass value="0.637534"/>
+ <inertia ixx="0.0005849692" ixy="4.37159e-06" ixz="-1.2589e-05" iyy="0.00067076439" iyz="2.824361e-05" izz="0.00085526645"/>
+ <origin rpy="0 0 0" xyz="2.8e-05 0.005394 -0.023654"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://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://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>
+ <mass value="0.134356"/>
+ <inertia ixx="0.00013479919" ixy="6.184429e-05" ixz="-3.0798e-05" iyy="0.00019602207" iyz="4.707722e-05" izz="0.00024217879"/>
+ <origin rpy="0 0 0" xyz="0.019654 0.018572 -0.011998"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://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://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="-0.959931088597" upper="0.0" velocity="1.0"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ </joint>
+ <link name="gripper_right_inner_double_link">
+ <inertial>
+ <mass value="0.087986"/>
+ <inertia ixx="7.410642e-05" ixy="-7.4773e-07" ixz="1.01536e-06" iyy="0.0001279418" iyz="2.504083e-05" izz="0.00010495175"/>
+ <origin rpy="0 0 0" xyz="-0.013283 0.036852 -0.023153"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://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://talos_data/meshes/gripper/inner_double_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="gripper_right_inner_double_joint" type="revolute">
+ <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>
+ <mass value="0.026301"/>
+ <inertia ixx="8e-06" ixy="0.0" ixz="0.0" iyy="8.69179e-06" iyz="-1.43612e-06" izz="2.3082e-06"/>
+ <origin rpy="0 0 0" xyz="0 0.004604 -0.002537"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://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://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>
+ <mass value="0.026301"/>
+ <inertia ixx="8e-06" ixy="0.0" ixz="0.0" iyy="8.69179e-06" iyz="-1.43612e-06" izz="2.3082e-06"/>
+ <origin rpy="0 0 0" xyz="0 0.004604 -0.002537"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://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://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>
+ <mass value="0.107923"/>
+ <inertia ixx="8.973662e-05" ixy="-4.082027e-05" ixz="-1.927099e-05" iyy="0.00011957255" iyz="-2.873284e-05" izz="0.00015469079"/>
+ <origin rpy="0 0 0" xyz="0.025237 -0.011231 -0.008158"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://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://talos_data/meshes/gripper/gripper_motor_single_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="gripper_right_motor_single_joint" type="revolute">
+ <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>
+ <mass value="0.047177"/>
+ <inertia ixx="4.199818e-05" ixy="1.3418e-07" ixz="1.9358e-07" iyy="3.231338e-05" iyz="-1.509136e-05" izz="2.168842e-05"/>
+ <origin rpy="0 0 0" xyz="0 -0.034565 -0.021412"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://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://talos_data/meshes/gripper/inner_single_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="gripper_right_inner_single_joint" type="revolute">
+ <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>
+ <mass value="0.026301"/>
+ <inertia ixx="8e-06" ixy="0.0" ixz="0.0" iyy="8.69179e-06" iyz="-1.43612e-06" izz="2.3082e-06"/>
+ <origin rpy="0 0 0" xyz="0 0.004604 -0.002537"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://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://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>
+ <mass value="1.845591"/>
+ <inertia ixx="0.00541533521" ixy="-0.00015428714" ixz="0.00131612622" iyy="0.00848624936" iyz="-1.906103e-05" izz="0.00474512541"/>
+ <origin rpy="0 0 0" xyz="0.02247868 0.00106736 0.03130665"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_data/meshes/v2/hip_z_lo_res.stl" scale="1 1 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_data/meshes/v2/hip_z_collision.stl" scale="1 1 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>
+ <mass value="1.490952"/>
+ <inertia ixx="0.00497152259" ixy="-0.0001311358" ixz="-4.86648e-06" iyy="0.00190550993" iyz="4.585381e-05" izz="0.00474289754"/>
+ <origin rpy="0 0 0" xyz="-0.00704703 0.02592659 0.00273385"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0.0"/>
+ <geometry>
+ <mesh filename="package://talos_data/meshes/v2/hip_x_lo_res.stl" scale="1 1 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0.0"/>
+ <geometry>
+ <mesh filename="package://talos_data/meshes/v2/hip_x_collision.stl" scale="1 1 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>
+ <mass value="6.239871"/>
+ <inertia ixx="0.15337403915" ixy="0.00068913396" ixz="0.00168034366" iyy="0.13648139346" iyz="-0.02187635445" izz="0.03001594885"/>
+ <origin rpy="0 0 0" xyz="0.0058523 0.0636967 -0.18339564"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_data/meshes/v2/hip_y_lo_res.stl" scale="1 1 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_data/meshes/v2/hip_y_collision.stl" scale="1 1 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>
+ <mass value="3.759951"/>
+ <inertia ixx="0.04287677484" ixy="0.00043705397" ixz="0.00078292368" iyy="0.03598906971" iyz="0.00037717694" izz="0.01364791564"/>
+ <origin rpy="0 0 0" xyz="0.01317717 0.02917508 -0.11594602"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_data/meshes/v2/knee_lo_res.stl" scale="1 1 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_data/meshes/v2/knee_collision.stl" scale="1 1 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>
+ <mass value="1.29096"/>
+ <inertia ixx="0.01143430819" ixy="0.00096978273" ixz="0.00039976581" iyy="0.00888974312" iyz="-0.00277808667" izz="0.00506373875"/>
+ <origin rpy="0 0 0" xyz="-0.01400838 0.04180064 0.03820186"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0.0"/>
+ <geometry>
+ <mesh filename="package://talos_data/meshes/v2/ankle_Y_lo_res.stl" scale="1 1 1"/>
+ </geometry>
+ <material name="Grey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0.0"/>
+ <geometry>
+ <mesh filename="package://talos_data/meshes/v2/ankle_Y_collision.stl" scale="1 1 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="-1.27" upper="0.68" 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>
+ <mass value="1.597773"/>
+ <inertia ixx="0.00439027267" ixy="-6.743674e-05" ixz="0.00113816363" iyy="0.00743063029" iyz="3.943143e-05" izz="0.00550906699"/>
+ <origin rpy="0 0 0" xyz="-0.02034668 -0.00051514 -0.05987428"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_data/meshes/v2/ankle_X_lo_res.stl" scale="1 1 1"/>
+ </geometry>
+ <material name="Grey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 -0.1"/>
+ <geometry>
+ <box size="0.21 0.13 0.02"/>
+ </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>
+ <mass value="0.01"/>
+ <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </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>
+ <mass value="1.845591"/>
+ <inertia ixx="0.00541533521" ixy="0.00015428714" ixz="0.00131612622" iyy="0.00848624936" iyz="1.906103e-05" izz="0.00474512541"/>
+ <origin rpy="0 0 0" xyz="0.02247868 -0.00106736 0.03130665"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_data/meshes/v2/hip_z_lo_res.stl" scale="1 -1 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_data/meshes/v2/hip_z_collision.stl" scale="1 -1 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>
+ <mass value="1.490952"/>
+ <inertia ixx="0.00497152259" ixy="0.0001311358" ixz="-4.86648e-06" iyy="0.00190550993" iyz="-4.585381e-05" izz="0.00474289754"/>
+ <origin rpy="0 0 0" xyz="-0.00704703 -0.02592659 0.00273385"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0.0"/>
+ <geometry>
+ <mesh filename="package://talos_data/meshes/v2/hip_x_lo_res.stl" scale="1 -1 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0.0"/>
+ <geometry>
+ <mesh filename="package://talos_data/meshes/v2/hip_x_collision.stl" scale="1 -1 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>
+ <mass value="6.239871"/>
+ <inertia ixx="0.15337403915" ixy="-0.00068913396" ixz="0.00168034366" iyy="0.13648139346" iyz="0.02187635445" izz="0.03001594885"/>
+ <origin rpy="0 0 0" xyz="0.0058523 -0.0636967 -0.18339564"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_data/meshes/v2/hip_y_lo_res.stl" scale="1 -1 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_data/meshes/v2/hip_y_collision.stl" scale="1 -1 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>
+ <mass value="3.759951"/>
+ <inertia ixx="0.04287677484" ixy="-0.00043705397" ixz="0.00078292368" iyy="0.03598906971" iyz="-0.00037717694" izz="0.01364791564"/>
+ <origin rpy="0 0 0" xyz="0.01317717 -0.02917508 -0.11594602"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_data/meshes/v2/knee_lo_res.stl" scale="1 -1 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_data/meshes/v2/knee_collision.stl" scale="1 -1 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>
+ <mass value="1.29096"/>
+ <inertia ixx="0.01143430819" ixy="-0.00096978273" ixz="0.00039976581" iyy="0.00888974312" iyz="0.00277808667" izz="0.00506373875"/>
+ <origin rpy="0 0 0" xyz="-0.01400838 -0.04180064 0.03820186"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0.0"/>
+ <geometry>
+ <mesh filename="package://talos_data/meshes/v2/ankle_Y_lo_res.stl" scale="1 -1 1"/>
+ </geometry>
+ <material name="Grey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0.0"/>
+ <geometry>
+ <mesh filename="package://talos_data/meshes/v2/ankle_Y_collision.stl" scale="1 -1 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="-1.27" upper="0.68" 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>
+ <mass value="1.597773"/>
+ <inertia ixx="0.00439027267" ixy="6.743674e-05" ixz="0.00113816363" iyy="0.00743063029" iyz="-3.943143e-05" izz="0.00550906699"/>
+ <origin rpy="0 0 0" xyz="-0.02034668 0.00051514 -0.05987428"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_data/meshes/v2/ankle_X_lo_res.stl" scale="1 -1 1"/>
+ </geometry>
+ <material name="Grey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 -0.1"/>
+ <geometry>
+ <box size="0.21 0.13 0.02"/>
+ </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>
+ <mass value="0.01"/>
+ <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </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>
+ <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" /> -->
+ <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>
+
--
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