From 8df9e16bdfd65bb7eefd46a668c6f8a7b1448365 Mon Sep 17 00:00:00 2001
From: Rohan Budhiraja <budhiraja@laas.fr>
Date: Fri, 23 Dec 2016 15:25:11 +0100
Subject: [PATCH] [urdf] Create new urdf files in robots/ and symlinks in urdf/
*talos_small(without gripper),
*talos_full_collision(loading collision geometry)
*talos_full(loading full mesh geometry)
---
robots/talos_full.urdf | 2783 ++++++++++++++++++++++++++++++++
robots/talos_small.urdf | 2080 ++++++++++++++++++++++++
robots/talos_small.urdf.xacro | 45 +
urdf/talos_full.urdf | 1 +
urdf/talos_full_collision.urdf | 1 +
urdf/talos_small.urdf | 1 +
6 files changed, 4911 insertions(+)
create mode 100644 robots/talos_full.urdf
create mode 100644 robots/talos_small.urdf
create mode 100644 robots/talos_small.urdf.xacro
create mode 120000 urdf/talos_full.urdf
create mode 120000 urdf/talos_full_collision.urdf
create mode 120000 urdf/talos_small.urdf
diff --git a/robots/talos_full.urdf b/robots/talos_full.urdf
new file mode 100644
index 0000000..15b81ef
--- /dev/null
+++ b/robots/talos_full.urdf
@@ -0,0 +1,2783 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- | This document was autogenerated by xacro from talos_full.urdf.xacro | -->
+<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
+<!-- =================================================================================== -->
+<!--
+
+ Copyright (c) 2016, PAL Robotics, S.L.
+ All rights reserved.
+
+ This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
+ To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
+ Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
+-->
+<robot name="talos" xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" xmlns:xacro="http://ros.org/wiki/xacro">
+ <!--File includes-->
+ <!--Constant parameters-->
+ <!--File includes-->
+ <!-- Macro -->
+ <!--Constant parameters-->
+ <!--************************-->
+ <!-- HEAD_1 (TILT) -->
+ <!--************************-->
+ <!--************************-->
+ <!-- HEAD_2 (PAN) -->
+ <!--************************-->
+ <!--File includes-->
+ <!--File includes-->
+ <!--Constant parameters-->
+ <!--Constant parameters-->
+ <!--File includes-->
+ <!-- VIRTUAL (mimic) JOINTS -->
+ <!-- 0.45deg -->
+ <!--************************-->
+ <!-- TORSO_2 (TILT) -->
+ <!--************************-->
+ <link name="torso_2_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="-0.04551 -0.00053 0.16386"/>
+ <mass value="17.55011"/>
+ <inertia ixx="0.37376900000" ixy="0.00063900000" ixz="0.01219600000" iyy="0.24790200000" iyz="0.00000700000" izz="0.28140400000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/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_description/meshes/torso/torso_2_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <!--************************-->
+ <!-- TORSO_1 (PAN) -->
+ <!--************************-->
+ <link name="torso_1_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.00013 -0.00001 -0.01306"/>
+ <mass value="3.02433"/>
+ <inertia ixx="0.00759400000" ixy="0.00000100000" ixz="-0.00004800000" iyy="0.00429200000" iyz="-0.00000100000" izz="0.00749700000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/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_description/meshes/torso/torso_1.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="torso_1_joint" type="revolute">
+ <parent link="base_link"/>
+ <child link="torso_1_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0722"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="78.0" lower="-1.308996939" upper="1.308996939" velocity="5.4"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ <!-- <safety_controller k_position="20"
+ k_velocity="20"
+ soft_lower_limit="${-15.0 * deg_to_rad + torso_eps}"
+ soft_upper_limit="${ 45.0 * deg_to_rad - torso_eps}" /> -->
+ </joint>
+ <!--************************-->
+ <!-- BASE_LINK -->
+ <!--************************-->
+ <link name="base_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="-0.08222 0.00838 -0.07261"/>
+ <mass value="13.53810"/>
+ <inertia ixx="0.06989000000" ixy="-0.00011700000" ixz="0.00023000000" iyy="0.03998200000" iyz="-0.00132500000" izz="0.08234500000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/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_description/meshes/torso/base_link_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="torso_2_joint" type="revolute">
+ <parent link="torso_1_link"/>
+ <child link="torso_2_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+ <axis xyz="0 1 0"/>
+ <limit effort="78.0" lower="-0.261799387799" upper="0.785398163397" velocity="5.4"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ <!-- <safety_controller k_position="20"
+ k_velocity="20"
+ soft_lower_limit="${-75.00000 * deg_to_rad + eps_radians}"
+ soft_upper_limit="${75.00000 * deg_to_rad - eps_radians}" /> -->
+ </joint>
+ <link name="imu_link">
+ <inertial>
+ <mass value="0.01"/>
+ <origin xyz="0 0 0"/>
+ <inertia ixx="0.000001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.000001"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <box size="0.01 0.01 0.01"/>
+ </geometry>
+ </visual>
+ </link>
+ <joint name="imu_joint" type="fixed">
+ <origin rpy="3.14159265359 0 1.57079632679" xyz="0.04925 0 0.078"/>
+ <parent link="torso_2_link"/>
+ <child link="imu_link"/>
+ </joint>
+ <gazebo reference="torso_1_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <gazebo reference="torso_2_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <gazebo reference="base_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <gazebo reference="torso_1_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="torso_2_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <provideFeedback>1</provideFeedback>
+ </gazebo>
+ <!-- extensions -->
+ <transmission name="talos_torso_trans">
+ <type>transmission_interface/DifferentialTransmission</type>
+ <actuator name="torso_1_motor">
+ <role>actuator1</role>
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <actuator name="torso_2_motor">
+ <role>actuator2</role>
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="torso_1_joint">
+ <role>joint1</role>
+ <offset>0.0</offset>
+ <mechanicalReduction>1.0</mechanicalReduction>
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ <joint name="torso_2_joint">
+ <role>joint2</role>
+ <offset>0.0</offset>
+ <mechanicalReduction>1.0</mechanicalReduction>
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <link name="head_1_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.00120 0.00145 0.02165"/>
+ <mass value="0.65988"/>
+ <inertia ixx="0.00122100000" ixy="-0.00000400000" ixz="0.00007000000" iyy="0.00092400000" iyz="-0.00004100000" izz="0.00103300000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/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_description/meshes/head/head_1_collision.stl" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="head_1_joint" type="revolute">
+ <parent link="torso_2_link"/>
+ <child link="head_1_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.31600"/>
+ <axis xyz="0 1 0"/>
+ <limit effort="8.0" lower="-0.261799387799" upper="0.785398163397" velocity="1.0"/>
+ <dynamics damping="0.5" friction="1.0"/>
+ <!-- <safety_controller k_position="20"
+ k_velocity="20"
+ soft_lower_limit="${-15.00000 * deg_to_rad + eps_radians}"
+ soft_upper_limit="${45.00000 * deg_to_rad - eps_radians}" /> -->
+ </joint>
+ <gazebo reference="head_1_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <gazebo reference="head_1_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="head_1_link">
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <link name="head_2_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="-0.01036 -0.00037 0.13778"/>
+ <mass value="1.40353"/>
+ <inertia ixx="0.00722500000" ixy="-0.00002500000" ixz="0.00032900000" iyy="0.00687300000" iyz="0.00004400000" izz="0.00437300000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/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_description/meshes/head/head_2_collision.stl" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="head_2_joint" type="revolute">
+ <parent link="head_1_link"/>
+ <child link="head_2_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="4.0" lower="-1.308996939" upper="1.308996939" velocity="1.0"/>
+ <dynamics damping="0.5" friction="1.0"/>
+ <!-- <safety_controller k_position="20"
+ k_velocity="20"
+ soft_lower_limit="${-75.00000 * deg_to_rad + eps_radians}"
+ soft_upper_limit="${75.00000 * deg_to_rad - eps_radians}" /> -->
+ </joint>
+ <gazebo reference="head_2_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <gazebo reference="head_2_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="head_2_link">
+ <material>Gazebo/White</material>
+ </gazebo>
+ <!-- frames in the center of the camera -->
+ <joint name="rgbd_joint" type="fixed">
+ <origin rpy="0 0 0" xyz="0.066 0.0 0.1982"/>
+ <axis xyz="0 0 1"/>
+ <!-- <limit lower="0" upper="0.001" effort="100" velocity="0.01"/> -->
+ <parent link="head_2_link"/>
+ <child link="rgbd_link"/>
+ </joint>
+ <link name="rgbd_link">
+ <inertial>
+ <mass value="0.01"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <!-- inertia tensor computed analytically for a solid cuboid -->
+ <inertia ixx="0.000030" ixy="0.0" ixz="0.0" iyy="0.000030" iyz="0.0" izz="0.000002"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/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"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ </link>
+ <!-- frames of the depth sensor -->
+ <joint name="rgbd_depth_joint" type="fixed">
+ <origin rpy="0 0 0" xyz="0.0 0.03751 0.0"/>
+ <parent link="rgbd_link"/>
+ <child link="rgbd_depth_frame"/>
+ </joint>
+ <link name="rgbd_depth_frame"/>
+ <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"/>
+ <!-- extensions -->
+ <gazebo reference="rgbd_link">
+ <!-- IR + depth -->
+ <sensor name="rgbd_frame_sensor" type="depth">
+ <always_on>true</always_on>
+ <update_rate>6.0</update_rate>
+ <camera>
+ <horizontal_fov>1.01229096616</horizontal_fov>
+ <image>
+ <format>R8G8B8</format>
+ <width>320</width>
+ <height>240</height>
+ </image>
+ <clip>
+ <near>0.45</near>
+ <far>10.0</far>
+ </clip>
+ </camera>
+ <plugin filename="libgazebo_ros_openni_kinect.so" name="rgbd_frame_controller">
+ <alwaysOn>true</alwaysOn>
+ <updateRate>6.0</updateRate>
+ <cameraName>rgbd</cameraName>
+ <imageTopicName>ir/image_raw</imageTopicName>
+ <cameraInfoTopicName>ir/camera_info</cameraInfoTopicName>
+ <depthImageTopicName>depth/image_raw</depthImageTopicName>
+ <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
+ <pointCloudTopicName>depth/points</pointCloudTopicName>
+ <frameName>rgbd_optical_frame</frameName>
+ <pointCloudCutoff>0.45</pointCloudCutoff>
+ <rangeMax>10.0</rangeMax>
+ <distalostionK1>0.00000001</distalostionK1>
+ <distalostionK2>0.00000001</distalostionK2>
+ <distalostionK3>0.00000001</distalostionK3>
+ <distalostionT1>0.00000001</distalostionT1>
+ <distalostionT2>0.00000001</distalostionT2>
+ </plugin>
+ </sensor>
+ <!-- RGB -->
+ <sensor name="rgbd_frame_sensor" type="depth">
+ <always_on>true</always_on>
+ <update_rate>6.0</update_rate>
+ <camera>
+ <horizontal_fov>1.01229096616</horizontal_fov>
+ <image>
+ <format>R8G8B8</format>
+ <width>320</width>
+ <height>240</height>
+ </image>
+ <clip>
+ <near>0.45</near>
+ <far>10.0</far>
+ </clip>
+ </camera>
+ <plugin filename="libgazebo_ros_openni_kinect.so" name="rgbd_frame_controller">
+ <alwaysOn>true</alwaysOn>
+ <updateRate>6.0</updateRate>
+ <cameraName>rgbd</cameraName>
+ <imageTopicName>rgb/image_raw</imageTopicName>
+ <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
+ <pointCloudTopicName>rgb/points</pointCloudTopicName>
+ <frameName>rgbd_optical_frame</frameName>
+ <pointCloudCutoff>0.45</pointCloudCutoff>
+ <rangeMax>10.0</rangeMax>
+ <distalostionK1>0.00000001</distalostionK1>
+ <distalostionK2>0.00000001</distalostionK2>
+ <distalostionK3>0.00000001</distalostionK3>
+ <distalostionT1>0.00000001</distalostionT1>
+ <distalostionT2>0.00000001</distalostionT2>
+ </plugin>
+ </sensor>
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <transmission name="talos_trans">
+ <type>transmission_interface/HalfDifferentialTransmission</type>
+ <actuator name="head_1_motor">
+ <role>actuator1</role>
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <actuator name="head_2_motor">
+ <role>actuator2</role>
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="head_1_joint">
+ <role>joint1</role>
+ <offset>0.0</offset>
+ <mechanicalReduction>1.0</mechanicalReduction>
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ <joint name="head_2_joint">
+ <role>joint2</role>
+ <offset>0.0</offset>
+ <mechanicalReduction>2.0</mechanicalReduction>
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <!--************************-->
+ <!-- SHOULDER -->
+ <!--************************-->
+ <link name="arm_left_1_link">
+ <!-- TODO: Missing reflects of inertias -->
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="-0.01346 0.0913 0.04812"/>
+ <!-- <mass value="1.52896"/> -->
+ <mass value="1.42896"/>
+ <inertia ixx="0.00555100000" ixy="-0.00073100000" ixz="0.00000800000" iyy="0.00167300000" iyz="-0.00006000000" izz="0.00582200000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/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_description/meshes/arm/arm_1_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="arm_left_1_joint" type="revolute">
+ <parent link="torso_2_link"/>
+ <child link="arm_left_1_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.1575 0.23200"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="44.64" lower="-1.57079632679" upper="0.523598775598" velocity="2.7"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ <!-- <safety_controller k_position="20"
+ k_velocity="20"
+ soft_lower_limit="${-90.00000 * deg_to_rad + arm_eps}"
+ soft_upper_limit="${30.00000 * deg_to_rad - arm_eps}" /> -->
+ </joint>
+ <link name="arm_left_2_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.02607 0.00049 -0.05209"/>
+ <!-- <mass value="1.77729"/> -->
+ <mass value="1.67729"/>
+ <inertia ixx="0.00708700000" ixy="-0.00001400000" ixz="0.00214200000" iyy="0.00793600000" iyz="0.00003000000" izz="0.00378800000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/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_description/meshes/arm/arm_2_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="arm_left_2_joint" type="revolute">
+ <parent link="arm_left_1_link"/>
+ <child link="arm_left_2_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00493 0.1365 0.04673"/>
+ <axis xyz="1 0 0"/>
+ <limit effort="22.32" lower="0.0" upper="2.87979326579" velocity="3.66"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ <!-- <safety_controller k_position="20"
+ k_velocity="20"
+ soft_lower_limit="${0.00000 * deg_to_rad + arm_eps}"
+ soft_upper_limit="${165.00000 * deg_to_rad - arm_eps}" /> -->
+ </joint>
+ <link name="arm_left_3_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.00841 0.01428 -0.22291"/>
+ <!-- <mass value="1.57029"/> -->
+ <mass value="1.47029"/>
+ <inertia ixx="0.00433200000" ixy="0.00015300000" ixz="-0.00049600000" iyy="0.00434000000" iyz="-0.00060900000" izz="0.00254300000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/arm/arm_3.STL" scale="1 1 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/arm/arm_3_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="arm_left_3_joint" type="revolute">
+ <parent link="arm_left_2_link"/>
+ <child link="arm_left_3_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="17.86" lower="-2.44346095279" upper="2.44346095279" velocity="4.58"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ <!-- <safety_controller k_position="20"
+ k_velocity="20"
+ soft_lower_limit="${-140.0 * deg_to_rad + arm_eps}"
+ soft_upper_limit="${140.0 * deg_to_rad - arm_eps}" /> -->
+ </joint>
+ <!--************************-->
+ <!-- ELBOW -->
+ <!--************************-->
+ <link name="arm_left_4_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00655 -0.02107 -0.02612"/>
+ <!-- <mass value="1.20216"/> -->
+ <mass value="1.10216"/>
+ <inertia ixx="0.00221700000" ixy="-0.00010100000" ixz="0.00028800000" iyy="0.00241800000" iyz="-0.00039300000" izz="0.00111500000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/arm/arm_4.STL" scale="1 1 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/arm/arm_4_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="arm_left_4_joint" type="revolute">
+ <parent link="arm_left_3_link"/>
+ <child link="arm_left_4_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.02000 0.00000 -0.27300"/>
+ <axis xyz="0 1 0"/>
+ <limit effort="17.86" lower="-2.35619449019" upper="0.0" velocity="4.58"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ <!-- <safety_controller k_position="20"
+ k_velocity="20"
+ soft_lower_limit="${-135.0 * deg_to_rad + arm_eps}"
+ soft_upper_limit="${0.0 * deg_to_rad - arm_eps}" /> -->
+ </joint>
+ <gazebo reference="arm_left_1_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="arm_left_2_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="arm_left_3_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="arm_left_4_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="arm_left_1_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="arm_left_2_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="arm_left_3_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="arm_left_4_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <!--************************-->
+ <!-- WRIST -->
+ <!--************************-->
+ <!--************************-->
+ <!-- WRIST -->
+ <!--************************-->
+ <link name="arm_left_5_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00006 0.00326 0.07963"/>
+ <!-- <mass value="1.87792"/> -->
+ <mass value="1.77792"/>
+ <inertia ixx="0.00349500000" ixy="-0.00001300000" ixz="-0.00001000000" iyy="0.00436800000" iyz="0.00009700000" izz="0.00228300000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/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_description/meshes/arm/arm_5_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="arm_left_5_joint" type="revolute">
+ <parent link="arm_left_4_link"/>
+ <child link="arm_left_5_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="-0.02000 0.00000 -0.26430"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="3" lower="-2.53072741539" upper="2.53072741539" velocity="1.95"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ <!-- <safety_controller k_position="20"
+ k_velocity="20"
+ soft_lower_limit="${-145.00000 * deg_to_rad + wrist_eps}"
+ soft_upper_limit="${145.00000 * deg_to_rad - wrist_eps}" /> -->
+ </joint>
+ <link name="arm_left_6_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.00002 -0.00197 -0.00059"/>
+ <!-- <mass value="0.40931"/> -->
+ <mass value="0.30931"/>
+ <inertia ixx="0.00010700000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00014100000" iyz="-0.00000000000" izz="0.00015400000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/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_description/meshes/arm/arm_6_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="arm_left_6_joint" type="revolute">
+ <parent link="arm_left_5_link"/>
+ <child link="arm_left_6_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
+ <axis xyz="1 0 0"/>
+ <limit effort="6.6" lower="-1.3962634016" upper="1.3962634016" velocity="1.76"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ <!-- <safety_controller k_position="20"
+ k_velocity="20"
+ soft_lower_limit="${-80.00000 * deg_to_rad + eps_radians}"
+ soft_upper_limit="${80.00000 * deg_to_rad - eps_radians}" /> -->
+ </joint>
+ <link name="arm_left_7_link">
+ <!-- WRONG VALUES
+ <inertial>
+ <origin xyz="-0.00089 0.00365 -0.07824" rpy="0.00000 0.00000 0.00000"/>
+ <mass value="1.02604"/>
+ <inertia ixx="0.00151400000" ixy="0.00000600000" ixz="0.00006600000"
+ iyy="0.00146400000" iyz="0.00001200000"
+ izz="0.00090300000"/>
+ </inertial>
+ -->
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.007525 0.001378 -0.024630"/>
+ <mass value="0.308441"/>
+ <inertia ixx="0.000309" ixy="0.000002" ixz="-0.000002" iyy="0.000219" iyz="0.000012" izz="0.000176"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/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_description/meshes/arm/arm_7_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="arm_left_7_joint" type="revolute">
+ <parent link="arm_left_6_link"/>
+ <child link="arm_left_7_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+ <axis xyz="0 1 0"/>
+ <limit effort="6.6" lower="-0.698131700798" upper="0.698131700798" velocity="1.76"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ <!-- <safety_controller k_position="20"
+ k_velocity="20"
+ soft_lower_limit="${-40.00000 * deg_to_rad + eps_radians}"
+ soft_upper_limit="${40.00000 * deg_to_rad - eps_radians}" /> -->
+ </joint>
+ <gazebo reference="arm_left_5_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <gazebo reference="arm_left_6_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <gazebo reference="arm_left_7_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="arm_left_5_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="arm_left_6_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="arm_left_7_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <provideFeedback>1</provideFeedback>
+ </gazebo>
+ <!-- extensions -->
+ <transmission name="arm_left_5_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="arm_left_5_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="arm_left_5_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <transmission name="wrist_left_trans">
+ <type>transmission_interface/DifferentialTransmission</type>
+ <actuator name="arm_left_6_motor">
+ <role>actuator1</role>
+ <mechanicalReduction>-1.0</mechanicalReduction>
+ </actuator>
+ <actuator name="arm_left_7_motor">
+ <role>actuator2</role>
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="arm_left_6_joint">
+ <role>joint1</role>
+ <offset>0.0</offset>
+ <mechanicalReduction>-1.0</mechanicalReduction>
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ <joint name="arm_left_7_joint">
+ <role>joint2</role>
+ <offset>0.0</offset>
+ <mechanicalReduction>-1.0</mechanicalReduction>
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <!-- extensions -->
+ <transmission name="arm_left_1_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="arm_left_1_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="arm_left_1_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <transmission name="arm_left_2_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="arm_left_2_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="arm_left_2_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <transmission name="arm_left_3_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="arm_left_3_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="arm_left_3_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <transmission name="arm_left_4_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="arm_left_4_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="arm_left_4_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <!--************************-->
+ <!-- SHOULDER -->
+ <!--************************-->
+ <link name="arm_right_1_link">
+ <!-- TODO: Missing reflects of inertias -->
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="-0.01346 -0.0913 0.04812"/>
+ <!-- <mass value="1.52896"/> -->
+ <mass value="1.42896"/>
+ <inertia ixx="0.00555100000" ixy="-0.00073100000" ixz="0.00000800000" iyy="0.00167300000" iyz="-0.00006000000" izz="0.00582200000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/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_description/meshes/arm/arm_1_collision.STL" scale="1 -1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="arm_right_1_joint" type="revolute">
+ <parent link="torso_2_link"/>
+ <child link="arm_right_1_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00000 -0.1575 0.23200"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="44.64" lower="-0.523598775598" upper="1.57079632679" velocity="2.7"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ <!-- <safety_controller k_position="20"
+ k_velocity="20"
+ soft_lower_limit="${-90.00000 * deg_to_rad + arm_eps}"
+ soft_upper_limit="${30.00000 * deg_to_rad - arm_eps}" /> -->
+ </joint>
+ <link name="arm_right_2_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.02607 0.00049 -0.05209"/>
+ <!-- <mass value="1.77729"/> -->
+ <mass value="1.67729"/>
+ <inertia ixx="0.00708700000" ixy="-0.00001400000" ixz="0.00214200000" iyy="0.00793600000" iyz="0.00003000000" izz="0.00378800000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/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_description/meshes/arm/arm_2_collision.STL" scale="1 -1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="arm_right_2_joint" type="revolute">
+ <parent link="arm_right_1_link"/>
+ <child link="arm_right_2_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00493 -0.1365 0.04673"/>
+ <axis xyz="1 0 0"/>
+ <limit effort="22.32" lower="-2.87979326579" upper="0.0" velocity="3.66"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ <!-- <safety_controller k_position="20"
+ k_velocity="20"
+ soft_lower_limit="${0.00000 * deg_to_rad + arm_eps}"
+ soft_upper_limit="${165.00000 * deg_to_rad - arm_eps}" /> -->
+ </joint>
+ <link name="arm_right_3_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.00841 0.01428 -0.22291"/>
+ <!-- <mass value="1.57029"/> -->
+ <mass value="1.47029"/>
+ <inertia ixx="0.00433200000" ixy="0.00015300000" ixz="-0.00049600000" iyy="0.00434000000" iyz="-0.00060900000" izz="0.00254300000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/arm/arm_3.STL" scale="1 -1 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/arm/arm_3_collision.STL" scale="1 -1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="arm_right_3_joint" type="revolute">
+ <parent link="arm_right_2_link"/>
+ <child link="arm_right_3_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="17.86" lower="-2.44346095279" upper="2.44346095279" velocity="4.58"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ <!-- <safety_controller k_position="20"
+ k_velocity="20"
+ soft_lower_limit="${-140.0 * deg_to_rad + arm_eps}"
+ soft_upper_limit="${140.0 * deg_to_rad - arm_eps}" /> -->
+ </joint>
+ <!--************************-->
+ <!-- ELBOW -->
+ <!--************************-->
+ <link name="arm_right_4_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00655 -0.02107 -0.02612"/>
+ <!-- <mass value="1.20216"/> -->
+ <mass value="1.10216"/>
+ <inertia ixx="0.00221700000" ixy="-0.00010100000" ixz="0.00028800000" iyy="0.00241800000" iyz="-0.00039300000" izz="0.00111500000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/arm/arm_4.STL" scale="1 -1 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/arm/arm_4_collision.STL" scale="1 -1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="arm_right_4_joint" type="revolute">
+ <parent link="arm_right_3_link"/>
+ <child link="arm_right_4_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.02000 0.00000 -0.27300"/>
+ <axis xyz="0 1 0"/>
+ <limit effort="17.86" lower="-2.35619449019" upper="0.0" velocity="4.58"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ <!-- <safety_controller k_position="20"
+ k_velocity="20"
+ soft_lower_limit="${-135.0 * deg_to_rad + arm_eps}"
+ soft_upper_limit="${0.0 * deg_to_rad - arm_eps}" /> -->
+ </joint>
+ <gazebo reference="arm_right_1_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="arm_right_2_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="arm_right_3_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="arm_right_4_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="arm_right_1_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="arm_right_2_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="arm_right_3_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="arm_right_4_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <!--************************-->
+ <!-- WRIST -->
+ <!--************************-->
+ <!--************************-->
+ <!-- WRIST -->
+ <!--************************-->
+ <link name="arm_right_5_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00006 0.00326 0.07963"/>
+ <!-- <mass value="1.87792"/> -->
+ <mass value="1.77792"/>
+ <inertia ixx="0.00349500000" ixy="-0.00001300000" ixz="-0.00001000000" iyy="0.00436800000" iyz="0.00009700000" izz="0.00228300000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/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_description/meshes/arm/arm_5_collision.STL" scale="1 -1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="arm_right_5_joint" type="revolute">
+ <parent link="arm_right_4_link"/>
+ <child link="arm_right_5_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="-0.02000 0.00000 -0.26430"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="3" lower="-2.53072741539" upper="2.53072741539" velocity="1.95"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ <!-- <safety_controller k_position="20"
+ k_velocity="20"
+ soft_lower_limit="${-145.00000 * deg_to_rad + wrist_eps}"
+ soft_upper_limit="${145.00000 * deg_to_rad - wrist_eps}" /> -->
+ </joint>
+ <link name="arm_right_6_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.00002 -0.00197 -0.00059"/>
+ <!-- <mass value="0.40931"/> -->
+ <mass value="0.30931"/>
+ <inertia ixx="0.00010700000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00014100000" iyz="-0.00000000000" izz="0.00015400000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/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_description/meshes/arm/arm_6_collision.STL" scale="1 -1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="arm_right_6_joint" type="revolute">
+ <parent link="arm_right_5_link"/>
+ <child link="arm_right_6_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
+ <axis xyz="1 0 0"/>
+ <limit effort="6.6" lower="-1.3962634016" upper="1.3962634016" velocity="1.76"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ <!-- <safety_controller k_position="20"
+ k_velocity="20"
+ soft_lower_limit="${-80.00000 * deg_to_rad + eps_radians}"
+ soft_upper_limit="${80.00000 * deg_to_rad - eps_radians}" /> -->
+ </joint>
+ <link name="arm_right_7_link">
+ <!-- WRONG VALUES
+ <inertial>
+ <origin xyz="-0.00089 0.00365 -0.07824" rpy="0.00000 0.00000 0.00000"/>
+ <mass value="1.02604"/>
+ <inertia ixx="0.00151400000" ixy="0.00000600000" ixz="0.00006600000"
+ iyy="0.00146400000" iyz="0.00001200000"
+ izz="0.00090300000"/>
+ </inertial>
+ -->
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.007525 0.001378 -0.024630"/>
+ <mass value="0.308441"/>
+ <inertia ixx="0.000309" ixy="0.000002" ixz="-0.000002" iyy="0.000219" iyz="0.000012" izz="0.000176"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/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_description/meshes/arm/arm_7_collision.STL" scale="1 -1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="arm_right_7_joint" type="revolute">
+ <parent link="arm_right_6_link"/>
+ <child link="arm_right_7_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+ <axis xyz="0 1 0"/>
+ <limit effort="6.6" lower="-0.698131700798" upper="0.698131700798" velocity="1.76"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ <!-- <safety_controller k_position="20"
+ k_velocity="20"
+ soft_lower_limit="${-40.00000 * deg_to_rad + eps_radians}"
+ soft_upper_limit="${40.00000 * deg_to_rad - eps_radians}" /> -->
+ </joint>
+ <gazebo reference="arm_right_5_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <gazebo reference="arm_right_6_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <gazebo reference="arm_right_7_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="arm_right_5_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="arm_right_6_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="arm_right_7_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <provideFeedback>1</provideFeedback>
+ </gazebo>
+ <!-- extensions -->
+ <transmission name="arm_right_5_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="arm_right_5_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="arm_right_5_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <transmission name="wrist_right_trans">
+ <type>transmission_interface/DifferentialTransmission</type>
+ <actuator name="arm_right_6_motor">
+ <role>actuator1</role>
+ <mechanicalReduction>-1.0</mechanicalReduction>
+ </actuator>
+ <actuator name="arm_right_7_motor">
+ <role>actuator2</role>
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="arm_right_6_joint">
+ <role>joint1</role>
+ <offset>0.0</offset>
+ <mechanicalReduction>-1.0</mechanicalReduction>
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ <joint name="arm_right_7_joint">
+ <role>joint2</role>
+ <offset>0.0</offset>
+ <mechanicalReduction>1.0</mechanicalReduction>
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <!-- extensions -->
+ <transmission name="arm_right_1_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="arm_right_1_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="arm_right_1_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <transmission name="arm_right_2_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="arm_right_2_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="arm_right_2_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <transmission name="arm_right_3_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="arm_right_3_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="arm_right_3_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <transmission name="arm_right_4_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="arm_right_4_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="arm_right_4_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <!--************************-->
+ <!-- ft sensor -->
+ <!--************************-->
+ <link name="wrist_right_ft_link">
+ <inertial>
+ <mass value="0.1"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <cylinder length="0.0157" radius="0.0225"/>
+ </geometry>
+ <material name="LightGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <cylinder length="0.0157" radius="0.0225"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="wrist_right_ft_joint" type="fixed">
+ <parent link="arm_right_7_link"/>
+ <child link="wrist_right_ft_link"/>
+ <origin rpy="0.0 0 -1.57079632679" xyz="0 0 -0.051"/>
+ </joint>
+ <!--***********************-->
+ <!-- FT TOOL -->
+ <!--***********************-->
+ <link name="wrist_right_ft_tool_link">
+ <inertial>
+ <mass value="0.1"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0.0 0" xyz="0.0 0 0"/>
+ <geometry>
+ <cylinder length="0.00975" radius="0.025"/>
+ </geometry>
+ <material name="FlatBlack"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0.0 0" xyz="0.0 0 0"/>
+ <geometry>
+ <cylinder length="0.00975" radius="0.025"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="wrist_right_tool_joint" type="fixed">
+ <parent link="wrist_right_ft_link"/>
+ <child link="wrist_right_ft_tool_link"/>
+ <origin rpy="0 0 -1.57079632679" xyz="0 0 -0.012725"/>
+ </joint>
+ <!--************************-->
+ <!-- ft sensor -->
+ <!--************************-->
+ <link name="wrist_left_ft_link">
+ <inertial>
+ <mass value="0.1"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <cylinder length="0.0157" radius="0.0225"/>
+ </geometry>
+ <material name="LightGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <cylinder length="0.0157" radius="0.0225"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="wrist_left_ft_joint" type="fixed">
+ <parent link="arm_left_7_link"/>
+ <child link="wrist_left_ft_link"/>
+ <origin rpy="0.0 0 -4.71238898038" xyz="0 0 -0.051"/>
+ </joint>
+ <!--***********************-->
+ <!-- FT TOOL -->
+ <!--***********************-->
+ <link name="wrist_left_ft_tool_link">
+ <inertial>
+ <mass value="0.1"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0.0 0" xyz="0.0 0 0"/>
+ <geometry>
+ <cylinder length="0.00975" radius="0.025"/>
+ </geometry>
+ <material name="FlatBlack"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0.0 0" xyz="0.0 0 0"/>
+ <geometry>
+ <cylinder length="0.00975" radius="0.025"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="wrist_left_tool_joint" type="fixed">
+ <parent link="wrist_left_ft_link"/>
+ <child link="wrist_left_ft_tool_link"/>
+ <origin rpy="0 0 4.71238898038" xyz="0 0 -0.012725"/>
+ </joint>
+ <link name="gripper_left_base_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00534 0.00362 -0.02357"/>
+ <mass value="0.61585"/>
+ <inertia ixx="0.00047200000" ixy="-0.00000800000" ixz="0.00003500000" iyy="0.00052100000" iyz="0.00000000000" izz="0.00069000000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/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_description/meshes/gripper/base_link_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="gripper_left_base_link_joint" type="fixed">
+ <parent link="wrist_left_ft_tool_link"/>
+ <child link="gripper_left_base_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 -0.02875"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+ <link name="gripper_left_motor_double_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.02270 0.01781 -0.00977"/>
+ <mass value="0.16889"/>
+ <!-- In order for Gazebo not to explode we needed to add these 0.001 values to the diagonal,
+ also the tool pal_dynamics InertiaMassVisualization gave NaN on the computation of the inertia box -->
+ <inertia ixx="0.001159" ixy="-0.00007000000" ixz="0.00003800000" iyy="0.001221" iyz="-0.00005300000" izz="0.001268"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/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_description/meshes/gripper/gripper_motor_double_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="gripper_left_joint" type="revolute">
+ <parent link="gripper_left_base_link"/>
+ <child link="gripper_left_motor_double_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.0 0.02025 -0.03"/>
+ <axis xyz="1 0 0"/>
+ <limit effort="1.0" lower="-1.0471975512" upper="0.0" velocity="1.0"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ </joint>
+ <link name="gripper_left_inner_double_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00056 0.03358 -0.01741"/>
+ <mass value="0.11922"/>
+ <inertia ixx="0.00009100000" ixy="0.00000100000" ixz="-0.00000100000" iyy="0.00015600000" iyz="-0.00003200000" izz="0.00012600000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/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_description/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>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00460 -0.00254"/>
+ <mass value="0.02630"/>
+ <inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00000900000" iyz="0.00000100000" izz="0.00000200000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/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_description/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="gripper_left_fingertip_1_joint" type="revolute">
+ <parent link="gripper_left_inner_double_link"/>
+ <child link="gripper_left_fingertip_1_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.03200 0.04589 -0.06553"/>
+ <axis xyz="1 0 0"/>
+ <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
+ <mimic joint="gripper_left_joint" multiplier="-1.0" offset="0.0"/>
+ </joint>
+ <link name="gripper_left_fingertip_2_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00460 -0.00254"/>
+ <mass value="0.02630"/>
+ <inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00000900000" iyz="0.00000100000" izz="0.00000200000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/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_description/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="gripper_left_fingertip_2_joint" type="revolute">
+ <parent link="gripper_left_inner_double_link"/>
+ <child link="gripper_left_fingertip_2_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="-0.03200 0.04589 -0.06553"/>
+ <axis xyz="1 0 0"/>
+ <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
+ <mimic joint="gripper_left_joint" multiplier="-1.0" offset="0.0"/>
+ </joint>
+ <link name="gripper_left_motor_single_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.02589 -0.01284 -0.00640"/>
+ <mass value="0.14765"/>
+ <inertia ixx="0.00011500000" ixy="0.00005200000" ixz="0.00002500000" iyy="0.00015300000" iyz="0.00003400000" izz="0.00019000000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/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_description/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>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 -0.03253 -0.01883"/>
+ <mass value="0.05356"/>
+ <inertia ixx="0.00004700000" ixy="-0.00000000000" ixz="-0.00000000000" iyy="0.00003500000" iyz="0.00001700000" izz="0.00002400000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/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_description/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>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00460 -0.00254"/>
+ <mass value="0.02630"/>
+ <inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00000900000" iyz="0.00000100000" izz="0.00000200000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/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_description/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="gripper_left_fingertip_3_joint" type="revolute">
+ <parent link="gripper_left_inner_single_link"/>
+ <child link="gripper_left_fingertip_3_link"/>
+ <origin rpy="0.0 0.0 3.14159265359" xyz="0.00000 -0.04589 -0.06553"/>
+ <axis xyz="1 0 0"/>
+ <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
+ <mimic joint="gripper_left_joint" multiplier="-1.0" offset="0.0"/>
+ </joint>
+ <gazebo>
+ <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_inner_double_joint">
+ <joint>gripper_left_joint</joint>
+ <mimicJoint>gripper_left_inner_double_joint</mimicJoint>
+ <multiplier>1.0</multiplier>
+ <offset>0.0</offset>
+ <!-- <hasPID/> -->
+ </plugin>
+ <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_fingertip_1_joint">
+ <joint>gripper_left_joint</joint>
+ <mimicJoint>gripper_left_fingertip_1_joint</mimicJoint>
+ <multiplier>-1.0</multiplier>
+ <offset>0.0</offset>
+ <!-- <hasPID/> -->
+ </plugin>
+ <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_fingertip_2_joint">
+ <joint>gripper_left_joint</joint>
+ <mimicJoint>gripper_left_fingertip_2_joint</mimicJoint>
+ <multiplier>-1.0</multiplier>
+ <offset>0.0</offset>
+ <!-- <hasPID/> -->
+ </plugin>
+ <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_inner_single_joint">
+ <joint>gripper_left_joint</joint>
+ <mimicJoint>gripper_left_inner_single_joint</mimicJoint>
+ <multiplier>-1.0</multiplier>
+ <offset>0.0</offset>
+ <!-- <hasPID/> -->
+ </plugin>
+ <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_motor_single_joint">
+ <joint>gripper_left_joint</joint>
+ <mimicJoint>gripper_left_motor_single_joint</mimicJoint>
+ <multiplier>-1.0</multiplier>
+ <offset>0.0</offset>
+ <!-- <hasPID/> -->
+ </plugin>
+ <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_fingertip_3_joint">
+ <joint>gripper_left_joint</joint>
+ <mimicJoint>gripper_left_fingertip_3_joint</mimicJoint>
+ <multiplier>-1.0</multiplier>
+ <offset>0.0</offset>
+ <!-- <hasPID/> -->
+ </plugin>
+ </gazebo>
+ <!-- <plugin filename="libgazebo_underactuated_finger.so" name="gazebo_${name}_underactuated">
+ <actuatedJoint>${name}_joint</actuatedJoint>
+ <virtualJoint>
+ <name>${name}_inner_double_joint</name>
+ <scale_factor>1.0</scale_factor>
+ </virtualJoint> -->
+ <!-- <virtualJoint>
+ <name>${name}_fingertip_1_joint</name>
+ <scale_factor>-1.0</scale_factor>
+ </virtualJoint>
+ <virtualJoint>
+ <name>${name}_fingertip_2_joint</name>
+ <scale_factor>-1.0</scale_factor>
+ </virtualJoint>
+ <virtualJoint>
+ <name>${name}_motor_single_joint</name>
+ <scale_factor>1.0</scale_factor>
+ </virtualJoint>
+ <virtualJoint>
+ <name>${name}_fingertip_3_joint</name>
+ <scale_factor>-1.0</scale_factor>
+ </virtualJoint> -->
+ <!-- </plugin> -->
+ <gazebo reference="gripper_left_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <provideFeedback>1</provideFeedback>
+ </gazebo>
+ <gazebo reference="gripper_left_inner_double_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <provideFeedback>1</provideFeedback>
+ </gazebo>
+ <gazebo reference="gripper_left_fingertip_1_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <provideFeedback>1</provideFeedback>
+ </gazebo>
+ <gazebo reference="gripper_left_fingertip_2_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <provideFeedback>1</provideFeedback>
+ </gazebo>
+ <gazebo reference="gripper_left_motor_single_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <provideFeedback>1</provideFeedback>
+ </gazebo>
+ <gazebo reference="gripper_left_fingertip_3_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <provideFeedback>1</provideFeedback>
+ </gazebo>
+ <gazebo reference="gripper_left_base_link">
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="gripper_left_motor_double_link">
+ <material>Gazebo/Orange</material>
+ </gazebo>
+ <gazebo reference="gripper_left_inner_double_link">
+ <material>Gazebo/Orange</material>
+ </gazebo>
+ <gazebo reference="gripper_left_fingertip_1_link">
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="gripper_left_motor_single_link">
+ <material>Gazebo/Orange</material>
+ </gazebo>
+ <gazebo reference="gripper_left_inner_single_link">
+ <material>Gazebo/Orange</material>
+ </gazebo>
+ <gazebo reference="gripper_left_fingertip_2_link">
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="gripper_left_fingertip_3_link">
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <transmission name="gripper_left_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="gripper_left_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="gripper_left_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <!-- virtual mimic joints -->
+ <!-- <xacro:gripper_virtual_transmission name="${name}_inner_double" reduction="1.0"/>
+ <xacro:gripper_virtual_transmission name="${name}_fingertip_1" reduction="1.0"/>
+ <xacro:gripper_virtual_transmission name="${name}_fingertip_2" reduction="1.0"/>
+ <xacro:gripper_virtual_transmission name="${name}_inner_single" reduction="1.0"/>
+ <xacro:gripper_virtual_transmission name="${name}_motor_single" reduction="1.0"/>
+ <xacro:gripper_virtual_transmission name="${name}_fingertip_3" reduction="1.0"/> -->
+ <link name="gripper_right_base_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00534 0.00362 -0.02357"/>
+ <mass value="0.61585"/>
+ <inertia ixx="0.00047200000" ixy="-0.00000800000" ixz="0.00003500000" iyy="0.00052100000" iyz="0.00000000000" izz="0.00069000000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/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_description/meshes/gripper/base_link_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="gripper_right_base_link_joint" type="fixed">
+ <parent link="wrist_right_ft_tool_link"/>
+ <child link="gripper_right_base_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 -0.02875"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+ <link name="gripper_right_motor_double_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.02270 0.01781 -0.00977"/>
+ <mass value="0.16889"/>
+ <!-- In order for Gazebo not to explode we needed to add these 0.001 values to the diagonal,
+ also the tool pal_dynamics InertiaMassVisualization gave NaN on the computation of the inertia box -->
+ <inertia ixx="0.001159" ixy="-0.00007000000" ixz="0.00003800000" iyy="0.001221" iyz="-0.00005300000" izz="0.001268"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/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_description/meshes/gripper/gripper_motor_double_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="gripper_right_joint" type="revolute">
+ <parent link="gripper_right_base_link"/>
+ <child link="gripper_right_motor_double_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.0 0.02025 -0.03"/>
+ <axis xyz="1 0 0"/>
+ <limit effort="1.0" lower="-1.0471975512" upper="0.0" velocity="1.0"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ </joint>
+ <link name="gripper_right_inner_double_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00056 0.03358 -0.01741"/>
+ <mass value="0.11922"/>
+ <inertia ixx="0.00009100000" ixy="0.00000100000" ixz="-0.00000100000" iyy="0.00015600000" iyz="-0.00003200000" izz="0.00012600000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/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_description/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>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00460 -0.00254"/>
+ <mass value="0.02630"/>
+ <inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00000900000" iyz="0.00000100000" izz="0.00000200000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/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_description/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="gripper_right_fingertip_1_joint" type="revolute">
+ <parent link="gripper_right_inner_double_link"/>
+ <child link="gripper_right_fingertip_1_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.03200 0.04589 -0.06553"/>
+ <axis xyz="1 0 0"/>
+ <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
+ <mimic joint="gripper_right_joint" multiplier="-1.0" offset="0.0"/>
+ </joint>
+ <link name="gripper_right_fingertip_2_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00460 -0.00254"/>
+ <mass value="0.02630"/>
+ <inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00000900000" iyz="0.00000100000" izz="0.00000200000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/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_description/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="gripper_right_fingertip_2_joint" type="revolute">
+ <parent link="gripper_right_inner_double_link"/>
+ <child link="gripper_right_fingertip_2_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="-0.03200 0.04589 -0.06553"/>
+ <axis xyz="1 0 0"/>
+ <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
+ <mimic joint="gripper_right_joint" multiplier="-1.0" offset="0.0"/>
+ </joint>
+ <link name="gripper_right_motor_single_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.02589 -0.01284 -0.00640"/>
+ <mass value="0.14765"/>
+ <inertia ixx="0.00011500000" ixy="0.00005200000" ixz="0.00002500000" iyy="0.00015300000" iyz="0.00003400000" izz="0.00019000000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/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_description/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>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 -0.03253 -0.01883"/>
+ <mass value="0.05356"/>
+ <inertia ixx="0.00004700000" ixy="-0.00000000000" ixz="-0.00000000000" iyy="0.00003500000" iyz="0.00001700000" izz="0.00002400000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/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_description/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>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00460 -0.00254"/>
+ <mass value="0.02630"/>
+ <inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00000900000" iyz="0.00000100000" izz="0.00000200000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/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_description/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="gripper_right_fingertip_3_joint" type="revolute">
+ <parent link="gripper_right_inner_single_link"/>
+ <child link="gripper_right_fingertip_3_link"/>
+ <origin rpy="0.0 0.0 3.14159265359" xyz="0.00000 -0.04589 -0.06553"/>
+ <axis xyz="1 0 0"/>
+ <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
+ <mimic joint="gripper_right_joint" multiplier="-1.0" offset="0.0"/>
+ </joint>
+ <gazebo>
+ <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_right_inner_double_joint">
+ <joint>gripper_right_joint</joint>
+ <mimicJoint>gripper_right_inner_double_joint</mimicJoint>
+ <multiplier>1.0</multiplier>
+ <offset>0.0</offset>
+ <!-- <hasPID/> -->
+ </plugin>
+ <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_right_fingertip_1_joint">
+ <joint>gripper_right_joint</joint>
+ <mimicJoint>gripper_right_fingertip_1_joint</mimicJoint>
+ <multiplier>-1.0</multiplier>
+ <offset>0.0</offset>
+ <!-- <hasPID/> -->
+ </plugin>
+ <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_right_fingertip_2_joint">
+ <joint>gripper_right_joint</joint>
+ <mimicJoint>gripper_right_fingertip_2_joint</mimicJoint>
+ <multiplier>-1.0</multiplier>
+ <offset>0.0</offset>
+ <!-- <hasPID/> -->
+ </plugin>
+ <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_right_inner_single_joint">
+ <joint>gripper_right_joint</joint>
+ <mimicJoint>gripper_right_inner_single_joint</mimicJoint>
+ <multiplier>-1.0</multiplier>
+ <offset>0.0</offset>
+ <!-- <hasPID/> -->
+ </plugin>
+ <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_right_motor_single_joint">
+ <joint>gripper_right_joint</joint>
+ <mimicJoint>gripper_right_motor_single_joint</mimicJoint>
+ <multiplier>-1.0</multiplier>
+ <offset>0.0</offset>
+ <!-- <hasPID/> -->
+ </plugin>
+ <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_right_fingertip_3_joint">
+ <joint>gripper_right_joint</joint>
+ <mimicJoint>gripper_right_fingertip_3_joint</mimicJoint>
+ <multiplier>-1.0</multiplier>
+ <offset>0.0</offset>
+ <!-- <hasPID/> -->
+ </plugin>
+ </gazebo>
+ <!-- <plugin filename="libgazebo_underactuated_finger.so" name="gazebo_${name}_underactuated">
+ <actuatedJoint>${name}_joint</actuatedJoint>
+ <virtualJoint>
+ <name>${name}_inner_double_joint</name>
+ <scale_factor>1.0</scale_factor>
+ </virtualJoint> -->
+ <!-- <virtualJoint>
+ <name>${name}_fingertip_1_joint</name>
+ <scale_factor>-1.0</scale_factor>
+ </virtualJoint>
+ <virtualJoint>
+ <name>${name}_fingertip_2_joint</name>
+ <scale_factor>-1.0</scale_factor>
+ </virtualJoint>
+ <virtualJoint>
+ <name>${name}_motor_single_joint</name>
+ <scale_factor>1.0</scale_factor>
+ </virtualJoint>
+ <virtualJoint>
+ <name>${name}_fingertip_3_joint</name>
+ <scale_factor>-1.0</scale_factor>
+ </virtualJoint> -->
+ <!-- </plugin> -->
+ <gazebo reference="gripper_right_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <provideFeedback>1</provideFeedback>
+ </gazebo>
+ <gazebo reference="gripper_right_inner_double_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <provideFeedback>1</provideFeedback>
+ </gazebo>
+ <gazebo reference="gripper_right_fingertip_1_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <provideFeedback>1</provideFeedback>
+ </gazebo>
+ <gazebo reference="gripper_right_fingertip_2_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <provideFeedback>1</provideFeedback>
+ </gazebo>
+ <gazebo reference="gripper_right_motor_single_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <provideFeedback>1</provideFeedback>
+ </gazebo>
+ <gazebo reference="gripper_right_fingertip_3_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <provideFeedback>1</provideFeedback>
+ </gazebo>
+ <gazebo reference="gripper_right_base_link">
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="gripper_right_motor_double_link">
+ <material>Gazebo/Orange</material>
+ </gazebo>
+ <gazebo reference="gripper_right_inner_double_link">
+ <material>Gazebo/Orange</material>
+ </gazebo>
+ <gazebo reference="gripper_right_fingertip_1_link">
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="gripper_right_motor_single_link">
+ <material>Gazebo/Orange</material>
+ </gazebo>
+ <gazebo reference="gripper_right_inner_single_link">
+ <material>Gazebo/Orange</material>
+ </gazebo>
+ <gazebo reference="gripper_right_fingertip_2_link">
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="gripper_right_fingertip_3_link">
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <transmission name="gripper_right_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="gripper_right_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="gripper_right_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <!-- virtual mimic joints -->
+ <!-- <xacro:gripper_virtual_transmission name="${name}_inner_double" reduction="1.0"/>
+ <xacro:gripper_virtual_transmission name="${name}_fingertip_1" reduction="1.0"/>
+ <xacro:gripper_virtual_transmission name="${name}_fingertip_2" reduction="1.0"/>
+ <xacro:gripper_virtual_transmission name="${name}_inner_single" reduction="1.0"/>
+ <xacro:gripper_virtual_transmission name="${name}_motor_single" reduction="1.0"/>
+ <xacro:gripper_virtual_transmission name="${name}_fingertip_3" reduction="1.0"/> -->
+ <!-- Joint hip_z (mesh link) : child link hip_x -> parent link base_link -->
+ <link name="leg_left_1_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.02320 -0.00009 0.04949"/>
+ <mass value="1.88569"/>
+ <inertia ixx="0.00384800000" ixy="0.00003200000" ixz="-0.00082600000" iyy="0.00599400000" iyz="0.00007800000" izz="0.00322200000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/v2/hip_z_lo_res.stl" scale="1 1.0 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/v2/hip_z_collision.stl" scale="1 1.0 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="leg_left_1_joint" type="revolute">
+ <parent link="base_link"/>
+ <child link="leg_left_1_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="-0.02 0.085 -0.27105"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="100" lower="-0.349065850399" upper="1.57079632679" velocity="3.87"/>
+ <dynamics damping="0.0" friction="0.0"/>
+ </joint>
+ <!-- Joint hip_x (mesh link) : child link hip_y -> parent link hip_z -->
+ <link name="leg_left_2_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.01583 -0.00021 0.00619"/>
+ <mass value="2.37607"/>
+ <inertia ixx="0.00342100000" ixy="-0.00011300000" ixz="-0.00022500000" iyy="0.00402400000" iyz="-0.00003100000" izz="0.00416400000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0.0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/v2/hip_x_lo_res.stl" scale="1 1.0 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0.0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/v2/hip_x_collision.stl" scale="1 1.0 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="leg_left_2_joint" type="revolute">
+ <parent link="leg_left_1_link"/>
+ <child link="leg_left_2_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
+ <axis xyz="1 0 0"/>
+ <limit effort="160" lower="-0.5236" upper="0.5236" velocity="5.8"/>
+ <dynamics damping="0.0" friction="0.0"/>
+ </joint>
+ <!-- Joint hip_y (mesh link) : child link knee -> parent link hip_x -->
+ <link name="leg_left_3_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.00658 0.06563 -0.17278"/>
+ <mass value="6.82734"/>
+ <inertia ixx="0.12390600000" ixy="-0.000412" ixz="-0.00205900000" iyy="0.10844700000" iyz="0.016725" izz="0.02781200000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/v2/hip_y_lo_res.stl" scale="1 1.0 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/v2/hip_y_collision.stl" scale="1 1.0 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="leg_left_3_joint" type="revolute">
+ <parent link="leg_left_2_link"/>
+ <child link="leg_left_3_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
+ <axis xyz="0 1 0"/>
+ <limit effort="160" lower="-2.095" upper="0.7" velocity="5.8"/>
+ <dynamics damping="0.0" friction="0.0"/>
+ </joint>
+ <!-- Joint knee (mesh link) : child link ankle_y -> parent link hip_y -->
+ <link name="leg_left_4_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.01520 0.02331 -0.12063"/>
+ <mass value="3.63668"/>
+ <inertia ixx="0.03531500000" ixy="2.9e-05" ixz="-0.00016600000" iyy="0.02933600000" iyz="-0.001305" izz="0.01174000000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/v2/knee_lo_res.stl" scale="1 1.0 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/v2/knee_collision.stl" scale="1 1.0 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="leg_left_4_joint" type="revolute">
+ <parent link="leg_left_3_link"/>
+ <child link="leg_left_4_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 -0.38000"/>
+ <axis xyz="0 1 0"/>
+ <limit effort="300" lower="0" upper="2.618" velocity="7"/>
+ <dynamics damping="0.0" friction="0.0"/>
+ </joint>
+ <!-- Joint ankle_y (mesh link) : child link ankle_x -> parent link knee -->
+ <link name="leg_left_5_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="-0.01106 0.04708 0.05271"/>
+ <mass value="1.24433"/>
+ <inertia ixx="0.01148700000" ixy="-0.000686" ixz="-0.00052600000" iyy="0.00952600000" iyz="0.002633" izz="0.00390800000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0.0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/v2/ankle_Y_lo_res.stl" scale="1 1.0 1"/>
+ </geometry>
+ <material name="Grey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0.0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/v2/ankle_Y_collision.stl" scale="1 1.0 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="leg_left_5_joint" type="revolute">
+ <parent link="leg_left_4_link"/>
+ <child link="leg_left_5_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 -0.32500"/>
+ <axis xyz="0 1 0"/>
+ <limit effort="160" lower="-1.309" upper="0.768" velocity="5.8"/>
+ <dynamics damping="0.0" friction="0.0"/>
+ </joint>
+ <!-- Joint ankle_x (mesh link) : child link None -> parent link ankle_y -->
+ <link name="leg_left_6_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="-0.02087 -0.00019 -0.06059"/>
+ <mass value="1.59457"/>
+ <inertia ixx="0.00383800000" ixy="0.00001600000" ixz="-0.00104100000" iyy="0.00657200000" iyz="-0.00001700000" izz="0.00504400000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/v2/ankle_X_lo_res.stl" scale="1 1.0 1"/>
+ </geometry>
+ <material name="Grey"/>
+ </visual>
+ <!--
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://talos_description/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
+ </geometry>
+ </collision>
+
+ -->
+ <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>
+ <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+ <mass value="0.01"/>
+ <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
+ </inertial>
+ </link>
+ <joint name="leg_left_sole_fix_joint" type="fixed">
+ <parent link="leg_left_6_link"/>
+ <child link="left_sole_link"/>
+ <origin rpy="0 0 0" xyz="0.00 0.00 -0.107"/>
+ <axis xyz="1 0 0"/>
+ <dynamics damping="0.0" friction="0.0"/>
+ </joint>
+ <transmission name="leg_left_1_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="leg_left_1_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="leg_left_1_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <transmission name="leg_left_2_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="leg_left_2_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="leg_left_2_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <transmission name="leg_left_3_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="leg_left_3_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="leg_left_3_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <transmission name="leg_left_4_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="leg_left_4_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="leg_left_4_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <transmission name="leg_left_5_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="leg_left_5_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="leg_left_5_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <transmission name="leg_left_6_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="leg_left_6_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="leg_left_6_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <gazebo reference="leg_left_1_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <gazebo reference="leg_left_2_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <gazebo reference="leg_left_3_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <gazebo reference="leg_left_4_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <gazebo reference="leg_left_5_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <!-- contact model for foot surface -->
+ <gazebo reference="leg_left_6_link">
+ <kp>1000000.0</kp>
+ <kd>100.0</kd>
+ <mu1>1.0</mu1>
+ <mu2>1.0</mu2>
+ <fdir1>1 0 0</fdir1>
+ <maxVel>1.0</maxVel>
+ <minDepth>0.00</minDepth>
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="leg_left_1_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="leg_left_2_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="leg_left_3_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="leg_left_4_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="leg_left_5_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="leg_left_6_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <provideFeedback>1</provideFeedback>
+ </gazebo>
+ <gazebo reference="leg_left_1_link">
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="leg_left_2_link">
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="leg_left_3_link">
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="leg_left_4_link">
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="leg_left_5_link">
+ <material>Gazebo/White</material>
+ </gazebo>
+ <gazebo reference="leg_left_6_link">
+ <material>Gazebo/White</material>
+ </gazebo>
+ <!-- Joint hip_z (mesh link) : child link hip_x -> parent link base_link -->
+ <link name="leg_right_1_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.02320 -0.00009 0.04949"/>
+ <mass value="1.88569"/>
+ <inertia ixx="0.00384800000" ixy="0.00003200000" ixz="-0.00082600000" iyy="0.00599400000" iyz="0.00007800000" izz="0.00322200000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/v2/hip_z_lo_res.stl" scale="1 -1.0 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/v2/hip_z_collision.stl" scale="1 -1.0 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="leg_right_1_joint" type="revolute">
+ <parent link="base_link"/>
+ <child link="leg_right_1_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="-0.02 -0.085 -0.27105"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="100" lower="-1.57079632679" upper="0.349065850399" velocity="3.87"/>
+ <dynamics damping="0.0" friction="0.0"/>
+ </joint>
+ <!-- Joint hip_x (mesh link) : child link hip_y -> parent link hip_z -->
+ <link name="leg_right_2_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.01583 -0.00021 0.00619"/>
+ <mass value="2.37607"/>
+ <inertia ixx="0.00342100000" ixy="-0.00011300000" ixz="-0.00022500000" iyy="0.00402400000" iyz="-0.00003100000" izz="0.00416400000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0.0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/v2/hip_x_lo_res.stl" scale="1 -1.0 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0.0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/v2/hip_x_collision.stl" scale="1 -1.0 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="leg_right_2_joint" type="revolute">
+ <parent link="leg_right_1_link"/>
+ <child link="leg_right_2_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
+ <axis xyz="1 0 0"/>
+ <limit effort="160" lower="-0.5236" upper="0.5236" velocity="5.8"/>
+ <dynamics damping="0.0" friction="0.0"/>
+ </joint>
+ <!-- Joint hip_y (mesh link) : child link knee -> parent link hip_x -->
+ <link name="leg_right_3_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.00658 -0.06563 -0.17278"/>
+ <mass value="6.82734"/>
+ <inertia ixx="0.12390600000" ixy="0.000412" ixz="-0.00205900000" iyy="0.10844700000" iyz="-0.016725" izz="0.02781200000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/v2/hip_y_lo_res.stl" scale="1 -1.0 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/v2/hip_y_collision.stl" scale="1 -1.0 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="leg_right_3_joint" type="revolute">
+ <parent link="leg_right_2_link"/>
+ <child link="leg_right_3_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
+ <axis xyz="0 1 0"/>
+ <limit effort="160" lower="-2.095" upper="0.7" velocity="5.8"/>
+ <dynamics damping="0.0" friction="0.0"/>
+ </joint>
+ <!-- Joint knee (mesh link) : child link ankle_y -> parent link hip_y -->
+ <link name="leg_right_4_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.01520 -0.02331 -0.12063"/>
+ <mass value="3.63668"/>
+ <inertia ixx="0.03531500000" ixy="-2.9e-05" ixz="-0.00016600000" iyy="0.02933600000" iyz="0.001305" izz="0.01174000000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/v2/knee_lo_res.stl" scale="1 -1.0 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/v2/knee_collision.stl" scale="1 -1.0 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="leg_right_4_joint" type="revolute">
+ <parent link="leg_right_3_link"/>
+ <child link="leg_right_4_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 -0.38000"/>
+ <axis xyz="0 1 0"/>
+ <limit effort="300" lower="0" upper="2.618" velocity="7"/>
+ <dynamics damping="0.0" friction="0.0"/>
+ </joint>
+ <!-- Joint ankle_y (mesh link) : child link ankle_x -> parent link knee -->
+ <link name="leg_right_5_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="-0.01106 -0.04708 0.05271"/>
+ <mass value="1.24433"/>
+ <inertia ixx="0.01148700000" ixy="0.000686" ixz="-0.00052600000" iyy="0.00952600000" iyz="-0.002633" izz="0.00390800000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0.0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/v2/ankle_Y_lo_res.stl" scale="1 -1.0 1"/>
+ </geometry>
+ <material name="Grey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0.0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/v2/ankle_Y_collision.stl" scale="1 -1.0 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="leg_right_5_joint" type="revolute">
+ <parent link="leg_right_4_link"/>
+ <child link="leg_right_5_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 -0.32500"/>
+ <axis xyz="0 1 0"/>
+ <limit effort="160" lower="-1.309" upper="0.768" velocity="5.8"/>
+ <dynamics damping="0.0" friction="0.0"/>
+ </joint>
+ <!-- Joint ankle_x (mesh link) : child link None -> parent link ankle_y -->
+ <link name="leg_right_6_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="-0.02087 -0.00019 -0.06059"/>
+ <mass value="1.59457"/>
+ <inertia ixx="0.00383800000" ixy="0.00001600000" ixz="-0.00104100000" iyy="0.00657200000" iyz="-0.00001700000" izz="0.00504400000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/v2/ankle_X_lo_res.stl" scale="1 -1.0 1"/>
+ </geometry>
+ <material name="Grey"/>
+ </visual>
+ <!--
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://talos_description/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
+ </geometry>
+ </collision>
+
+ -->
+ <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>
+ <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+ <mass value="0.01"/>
+ <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
+ </inertial>
+ </link>
+ <joint name="leg_right_sole_fix_joint" type="fixed">
+ <parent link="leg_right_6_link"/>
+ <child link="right_sole_link"/>
+ <origin rpy="0 0 0" xyz="0.00 0.00 -0.107"/>
+ <axis xyz="1 0 0"/>
+ <dynamics damping="0.0" friction="0.0"/>
+ </joint>
+ <transmission name="leg_right_1_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="leg_right_1_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="leg_right_1_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <transmission name="leg_right_2_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="leg_right_2_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="leg_right_2_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <transmission name="leg_right_3_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="leg_right_3_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="leg_right_3_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <transmission name="leg_right_4_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="leg_right_4_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="leg_right_4_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <transmission name="leg_right_5_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="leg_right_5_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="leg_right_5_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <transmission name="leg_right_6_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="leg_right_6_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="leg_right_6_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <gazebo reference="leg_right_1_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <gazebo reference="leg_right_2_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <gazebo reference="leg_right_3_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <gazebo reference="leg_right_4_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <gazebo reference="leg_right_5_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <!-- contact model for foot surface -->
+ <gazebo reference="leg_right_6_link">
+ <kp>1000000.0</kp>
+ <kd>100.0</kd>
+ <mu1>1.0</mu1>
+ <mu2>1.0</mu2>
+ <fdir1>1 0 0</fdir1>
+ <maxVel>1.0</maxVel>
+ <minDepth>0.00</minDepth>
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="leg_right_1_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="leg_right_2_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="leg_right_3_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="leg_right_4_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="leg_right_5_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="leg_right_6_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <provideFeedback>1</provideFeedback>
+ </gazebo>
+ <gazebo reference="leg_right_1_link">
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="leg_right_2_link">
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="leg_right_3_link">
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="leg_right_4_link">
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="leg_right_5_link">
+ <material>Gazebo/White</material>
+ </gazebo>
+ <gazebo reference="leg_right_6_link">
+ <material>Gazebo/White</material>
+ </gazebo>
+ <!-- Generic simulatalos_gazebo plugins -->
+ <gazebo>
+ <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
+ <ns/>
+ <robotSimType>pal_hardware_gazebo/PalHardwareGazebo</robotSimType>
+ <robotNamespace/>
+ <controlPeriod>0.001</controlPeriod>
+ </plugin>
+ </gazebo>
+ <gazebo>
+ <plugin filename="libgazebo_world_odometry.so" name="gazebo_ros_odometry">
+ <frameName>base_link</frameName>
+ <topicName>floating_base_pose_simulated</topicName>
+ </plugin>
+ </gazebo>
+ <gazebo>
+ <plugin filename="libgazebo_ros_force.so" name="gazebo_ros_force">
+ <bodyName>base_link</bodyName>
+ <topicName>wrench</topicName>
+ </plugin>
+ </gazebo>
+ <gazebo reference="imu_link">
+ <!-- this is expected to be reparented to pelvis with appropriate offset
+ when imu_link is reduced by fixed joint reduction -->
+ <!-- todo: this is working with gazebo 1.4, need to write a unit test -->
+ <sensor name="imu_sensor" type="imu">
+ <always_on>1</always_on>
+ <update_rate>1000.0</update_rate>
+ <imu>
+ <noise>
+ <type>gaussian</type>
+ <!-- Noise parameters from Boston Dynamics
+ (http://gazebosim.org/wiki/Sensor_noise):
+ rates (rad/s): mean=0, stddev=2e-4
+ accels (m/s/s): mean=0, stddev=1.7e-2
+ rate bias (rad/s): 5e-6 - 1e-5
+ accel bias (m/s/s): 1e-1
+ Experimentally, simulation provide rates with noise of
+ about 1e-3 rad/s and accels with noise of about 1e-1 m/s/s.
+ So we don't expect to see the noise unless number of inner iterations
+ are increased.
+
+ We will add bias. In this model, bias is sampled once for rates
+ and once for accels at startup; the sign (negative or positive)
+ of each bias is then switched with equal probability. Thereafter,
+ the biases are fixed additive offsets. We choose
+ bias means and stddevs to produce biases close to the provided
+ data. -->
+ <!--
+ <rate>
+ <mean>0.0</mean>
+ <stddev>2e-4</stddev>
+ <bias_mean>0.0000075</bias_mean>
+ <bias_stddev>0.0000008</bias_stddev>
+ </rate>
+ <accel>
+ <mean>0.0</mean>
+ <stddev>1.7e-2</stddev>
+ <bias_mean>0.1</bias_mean>
+ <bias_stddev>0.001</bias_stddev>
+ </accel>
+ -->
+ <rate>
+ <mean>0.0</mean>
+ <stddev>0.0</stddev>
+ <bias_mean>0.000000</bias_mean>
+ <bias_stddev>0.0000008</bias_stddev>
+ </rate>
+ <accel>
+ <mean>0.0</mean>
+ <stddev>0.0</stddev>
+ <bias_mean>0.0</bias_mean>
+ <bias_stddev>0.000</bias_stddev>
+ </accel>
+ </noise>
+ </imu>
+ </sensor>
+ </gazebo>
+ <!-- define global properties -->
+ <!-- <xacro:property name="M_PI" value="3.1415926535897931" /> -->
+ <!-- Materials for visualization -->
+ <material name="Blue">
+ <color rgba="0.0 0.0 0.8 1.0"/>
+ </material>
+ <material name="Green">
+ <color rgba="0.0 0.8 0.0 1.0"/>
+ </material>
+ <material name="Grey">
+ <color rgba="0.7 0.7 0.7 1.0"/>
+ </material>
+ <material name="LightGrey">
+ <color rgba="0.9 0.9 0.9 1.0"/>
+ </material>
+ <material name="DarkGrey">
+ <color rgba="0.2 0.2 0.2 1.0"/>
+ </material>
+ <material name="Red">
+ <color rgba="0.8 0.0 0.0 1.0"/>
+ </material>
+ <material name="White">
+ <color rgba="1.0 1.0 1.0 1.0"/>
+ </material>
+ <material name="Orange">
+ <color rgba="1.0 0.5 0.0 1.0"/>
+ </material>
+</robot>
diff --git a/robots/talos_small.urdf b/robots/talos_small.urdf
new file mode 100644
index 0000000..8f5eefa
--- /dev/null
+++ b/robots/talos_small.urdf
@@ -0,0 +1,2080 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- | This document was autogenerated by xacro from talos_small.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">
+ <!--
+ Talos configuration without the grippers
+
+ -->
+ <!--File includes-->
+ <!--Constant parameters-->
+ <!--File includes-->
+ <!-- Macro -->
+ <!--Constant parameters-->
+ <!--************************-->
+ <!-- HEAD_1 (TILT) -->
+ <!--************************-->
+ <!--************************-->
+ <!-- HEAD_2 (PAN) -->
+ <!--************************-->
+ <!--File includes-->
+ <!--File includes-->
+ <!--Constant parameters-->
+ <!--Constant parameters-->
+ <!-- <xacro:include filename="$(find talos_description)/urdf/gripper/gripper.urdf.xacro" /> -->
+ <!-- 0.45deg -->
+ <!--************************-->
+ <!-- TORSO_2 (TILT) -->
+ <!--************************-->
+ <link name="torso_2_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="-0.04551 -0.00053 0.16386"/>
+ <mass value="17.55011"/>
+ <inertia ixx="0.37376900000" ixy="0.00063900000" ixz="0.01219600000" iyy="0.24790200000" iyz="0.00000700000" izz="0.28140400000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/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_description/meshes/torso/torso_2_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <!--************************-->
+ <!-- TORSO_1 (PAN) -->
+ <!--************************-->
+ <link name="torso_1_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.00013 -0.00001 -0.01306"/>
+ <mass value="3.02433"/>
+ <inertia ixx="0.00759400000" ixy="0.00000100000" ixz="-0.00004800000" iyy="0.00429200000" iyz="-0.00000100000" izz="0.00749700000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/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_description/meshes/torso/torso_1.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="torso_1_joint" type="revolute">
+ <parent link="base_link"/>
+ <child link="torso_1_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0722"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="78.0" lower="-1.308996939" upper="1.308996939" velocity="5.4"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ <!-- <safety_controller k_position="20"
+ k_velocity="20"
+ soft_lower_limit="${-15.0 * deg_to_rad + torso_eps}"
+ soft_upper_limit="${ 45.0 * deg_to_rad - torso_eps}" /> -->
+ </joint>
+ <!--************************-->
+ <!-- BASE_LINK -->
+ <!--************************-->
+ <link name="base_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="-0.08222 0.00838 -0.07261"/>
+ <mass value="13.53810"/>
+ <inertia ixx="0.06989000000" ixy="-0.00011700000" ixz="0.00023000000" iyy="0.03998200000" iyz="-0.00132500000" izz="0.08234500000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/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_description/meshes/torso/base_link_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="torso_2_joint" type="revolute">
+ <parent link="torso_1_link"/>
+ <child link="torso_2_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+ <axis xyz="0 1 0"/>
+ <limit effort="78.0" lower="-0.261799387799" upper="0.785398163397" velocity="5.4"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ <!-- <safety_controller k_position="20"
+ k_velocity="20"
+ soft_lower_limit="${-75.00000 * deg_to_rad + eps_radians}"
+ soft_upper_limit="${75.00000 * deg_to_rad - eps_radians}" /> -->
+ </joint>
+ <link name="imu_link">
+ <inertial>
+ <mass value="0.01"/>
+ <origin xyz="0 0 0"/>
+ <inertia ixx="0.000001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.000001"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <box size="0.01 0.01 0.01"/>
+ </geometry>
+ </visual>
+ </link>
+ <joint name="imu_joint" type="fixed">
+ <origin rpy="3.14159265359 0 1.57079632679" xyz="0.04925 0 0.078"/>
+ <parent link="torso_2_link"/>
+ <child link="imu_link"/>
+ </joint>
+ <gazebo reference="torso_1_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <gazebo reference="torso_2_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <gazebo reference="base_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <gazebo reference="torso_1_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="torso_2_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <provideFeedback>1</provideFeedback>
+ </gazebo>
+ <!-- extensions -->
+ <transmission name="talos_torso_trans">
+ <type>transmission_interface/DifferentialTransmission</type>
+ <actuator name="torso_1_motor">
+ <role>actuator1</role>
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <actuator name="torso_2_motor">
+ <role>actuator2</role>
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="torso_1_joint">
+ <role>joint1</role>
+ <offset>0.0</offset>
+ <mechanicalReduction>1.0</mechanicalReduction>
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ <joint name="torso_2_joint">
+ <role>joint2</role>
+ <offset>0.0</offset>
+ <mechanicalReduction>1.0</mechanicalReduction>
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <link name="head_1_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.00120 0.00145 0.02165"/>
+ <mass value="0.65988"/>
+ <inertia ixx="0.00122100000" ixy="-0.00000400000" ixz="0.00007000000" iyy="0.00092400000" iyz="-0.00004100000" izz="0.00103300000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/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_description/meshes/head/head_1_collision.stl" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="head_1_joint" type="revolute">
+ <parent link="torso_2_link"/>
+ <child link="head_1_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.31600"/>
+ <axis xyz="0 1 0"/>
+ <limit effort="8.0" lower="-0.261799387799" upper="0.785398163397" velocity="1.0"/>
+ <dynamics damping="0.5" friction="1.0"/>
+ <!-- <safety_controller k_position="20"
+ k_velocity="20"
+ soft_lower_limit="${-15.00000 * deg_to_rad + eps_radians}"
+ soft_upper_limit="${45.00000 * deg_to_rad - eps_radians}" /> -->
+ </joint>
+ <gazebo reference="head_1_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <gazebo reference="head_1_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="head_1_link">
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <link name="head_2_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="-0.01036 -0.00037 0.13778"/>
+ <mass value="1.40353"/>
+ <inertia ixx="0.00722500000" ixy="-0.00002500000" ixz="0.00032900000" iyy="0.00687300000" iyz="0.00004400000" izz="0.00437300000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/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_description/meshes/head/head_2_collision.stl" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="head_2_joint" type="revolute">
+ <parent link="head_1_link"/>
+ <child link="head_2_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="4.0" lower="-1.308996939" upper="1.308996939" velocity="1.0"/>
+ <dynamics damping="0.5" friction="1.0"/>
+ <!-- <safety_controller k_position="20"
+ k_velocity="20"
+ soft_lower_limit="${-75.00000 * deg_to_rad + eps_radians}"
+ soft_upper_limit="${75.00000 * deg_to_rad - eps_radians}" /> -->
+ </joint>
+ <gazebo reference="head_2_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <gazebo reference="head_2_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="head_2_link">
+ <material>Gazebo/White</material>
+ </gazebo>
+ <!-- frames in the center of the camera -->
+ <joint name="rgbd_joint" type="fixed">
+ <origin rpy="0 0 0" xyz="0.066 0.0 0.1982"/>
+ <axis xyz="0 0 1"/>
+ <!-- <limit lower="0" upper="0.001" effort="100" velocity="0.01"/> -->
+ <parent link="head_2_link"/>
+ <child link="rgbd_link"/>
+ </joint>
+ <link name="rgbd_link">
+ <inertial>
+ <mass value="0.01"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <!-- inertia tensor computed analytically for a solid cuboid -->
+ <inertia ixx="0.000030" ixy="0.0" ixz="0.0" iyy="0.000030" iyz="0.0" izz="0.000002"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/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"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ </link>
+ <!-- frames of the depth sensor -->
+ <joint name="rgbd_depth_joint" type="fixed">
+ <origin rpy="0 0 0" xyz="0.0 0.03751 0.0"/>
+ <parent link="rgbd_link"/>
+ <child link="rgbd_depth_frame"/>
+ </joint>
+ <link name="rgbd_depth_frame"/>
+ <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"/>
+ <!-- extensions -->
+ <gazebo reference="rgbd_link">
+ <!-- IR + depth -->
+ <sensor name="rgbd_frame_sensor" type="depth">
+ <always_on>true</always_on>
+ <update_rate>6.0</update_rate>
+ <camera>
+ <horizontal_fov>1.01229096616</horizontal_fov>
+ <image>
+ <format>R8G8B8</format>
+ <width>320</width>
+ <height>240</height>
+ </image>
+ <clip>
+ <near>0.45</near>
+ <far>10.0</far>
+ </clip>
+ </camera>
+ <plugin filename="libgazebo_ros_openni_kinect.so" name="rgbd_frame_controller">
+ <alwaysOn>true</alwaysOn>
+ <updateRate>6.0</updateRate>
+ <cameraName>rgbd</cameraName>
+ <imageTopicName>ir/image_raw</imageTopicName>
+ <cameraInfoTopicName>ir/camera_info</cameraInfoTopicName>
+ <depthImageTopicName>depth/image_raw</depthImageTopicName>
+ <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
+ <pointCloudTopicName>depth/points</pointCloudTopicName>
+ <frameName>rgbd_optical_frame</frameName>
+ <pointCloudCutoff>0.45</pointCloudCutoff>
+ <rangeMax>10.0</rangeMax>
+ <distalostionK1>0.00000001</distalostionK1>
+ <distalostionK2>0.00000001</distalostionK2>
+ <distalostionK3>0.00000001</distalostionK3>
+ <distalostionT1>0.00000001</distalostionT1>
+ <distalostionT2>0.00000001</distalostionT2>
+ </plugin>
+ </sensor>
+ <!-- RGB -->
+ <sensor name="rgbd_frame_sensor" type="depth">
+ <always_on>true</always_on>
+ <update_rate>6.0</update_rate>
+ <camera>
+ <horizontal_fov>1.01229096616</horizontal_fov>
+ <image>
+ <format>R8G8B8</format>
+ <width>320</width>
+ <height>240</height>
+ </image>
+ <clip>
+ <near>0.45</near>
+ <far>10.0</far>
+ </clip>
+ </camera>
+ <plugin filename="libgazebo_ros_openni_kinect.so" name="rgbd_frame_controller">
+ <alwaysOn>true</alwaysOn>
+ <updateRate>6.0</updateRate>
+ <cameraName>rgbd</cameraName>
+ <imageTopicName>rgb/image_raw</imageTopicName>
+ <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
+ <pointCloudTopicName>rgb/points</pointCloudTopicName>
+ <frameName>rgbd_optical_frame</frameName>
+ <pointCloudCutoff>0.45</pointCloudCutoff>
+ <rangeMax>10.0</rangeMax>
+ <distalostionK1>0.00000001</distalostionK1>
+ <distalostionK2>0.00000001</distalostionK2>
+ <distalostionK3>0.00000001</distalostionK3>
+ <distalostionT1>0.00000001</distalostionT1>
+ <distalostionT2>0.00000001</distalostionT2>
+ </plugin>
+ </sensor>
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <transmission name="talos_trans">
+ <type>transmission_interface/HalfDifferentialTransmission</type>
+ <actuator name="head_1_motor">
+ <role>actuator1</role>
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <actuator name="head_2_motor">
+ <role>actuator2</role>
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="head_1_joint">
+ <role>joint1</role>
+ <offset>0.0</offset>
+ <mechanicalReduction>1.0</mechanicalReduction>
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ <joint name="head_2_joint">
+ <role>joint2</role>
+ <offset>0.0</offset>
+ <mechanicalReduction>2.0</mechanicalReduction>
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <!--************************-->
+ <!-- SHOULDER -->
+ <!--************************-->
+ <link name="arm_left_1_link">
+ <!-- TODO: Missing reflects of inertias -->
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="-0.01346 0.0913 0.04812"/>
+ <!-- <mass value="1.52896"/> -->
+ <mass value="1.42896"/>
+ <inertia ixx="0.00555100000" ixy="-0.00073100000" ixz="0.00000800000" iyy="0.00167300000" iyz="-0.00006000000" izz="0.00582200000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/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_description/meshes/arm/arm_1_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="arm_left_1_joint" type="revolute">
+ <parent link="torso_2_link"/>
+ <child link="arm_left_1_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.1575 0.23200"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="44.64" lower="-1.57079632679" upper="0.523598775598" velocity="2.7"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ <!-- <safety_controller k_position="20"
+ k_velocity="20"
+ soft_lower_limit="${-90.00000 * deg_to_rad + arm_eps}"
+ soft_upper_limit="${30.00000 * deg_to_rad - arm_eps}" /> -->
+ </joint>
+ <link name="arm_left_2_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.02607 0.00049 -0.05209"/>
+ <!-- <mass value="1.77729"/> -->
+ <mass value="1.67729"/>
+ <inertia ixx="0.00708700000" ixy="-0.00001400000" ixz="0.00214200000" iyy="0.00793600000" iyz="0.00003000000" izz="0.00378800000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/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_description/meshes/arm/arm_2_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="arm_left_2_joint" type="revolute">
+ <parent link="arm_left_1_link"/>
+ <child link="arm_left_2_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00493 0.1365 0.04673"/>
+ <axis xyz="1 0 0"/>
+ <limit effort="22.32" lower="0.0" upper="2.87979326579" velocity="3.66"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ <!-- <safety_controller k_position="20"
+ k_velocity="20"
+ soft_lower_limit="${0.00000 * deg_to_rad + arm_eps}"
+ soft_upper_limit="${165.00000 * deg_to_rad - arm_eps}" /> -->
+ </joint>
+ <link name="arm_left_3_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.00841 0.01428 -0.22291"/>
+ <!-- <mass value="1.57029"/> -->
+ <mass value="1.47029"/>
+ <inertia ixx="0.00433200000" ixy="0.00015300000" ixz="-0.00049600000" iyy="0.00434000000" iyz="-0.00060900000" izz="0.00254300000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/arm/arm_3.STL" scale="1 1 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/arm/arm_3_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="arm_left_3_joint" type="revolute">
+ <parent link="arm_left_2_link"/>
+ <child link="arm_left_3_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="17.86" lower="-2.44346095279" upper="2.44346095279" velocity="4.58"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ <!-- <safety_controller k_position="20"
+ k_velocity="20"
+ soft_lower_limit="${-140.0 * deg_to_rad + arm_eps}"
+ soft_upper_limit="${140.0 * deg_to_rad - arm_eps}" /> -->
+ </joint>
+ <!--************************-->
+ <!-- ELBOW -->
+ <!--************************-->
+ <link name="arm_left_4_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00655 -0.02107 -0.02612"/>
+ <!-- <mass value="1.20216"/> -->
+ <mass value="1.10216"/>
+ <inertia ixx="0.00221700000" ixy="-0.00010100000" ixz="0.00028800000" iyy="0.00241800000" iyz="-0.00039300000" izz="0.00111500000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/arm/arm_4.STL" scale="1 1 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/arm/arm_4_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="arm_left_4_joint" type="revolute">
+ <parent link="arm_left_3_link"/>
+ <child link="arm_left_4_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.02000 0.00000 -0.27300"/>
+ <axis xyz="0 1 0"/>
+ <limit effort="17.86" lower="-2.35619449019" upper="0.0" velocity="4.58"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ <!-- <safety_controller k_position="20"
+ k_velocity="20"
+ soft_lower_limit="${-135.0 * deg_to_rad + arm_eps}"
+ soft_upper_limit="${0.0 * deg_to_rad - arm_eps}" /> -->
+ </joint>
+ <gazebo reference="arm_left_1_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="arm_left_2_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="arm_left_3_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="arm_left_4_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="arm_left_1_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="arm_left_2_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="arm_left_3_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="arm_left_4_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <!--************************-->
+ <!-- WRIST -->
+ <!--************************-->
+ <!--************************-->
+ <!-- WRIST -->
+ <!--************************-->
+ <link name="arm_left_5_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00006 0.00326 0.07963"/>
+ <!-- <mass value="1.87792"/> -->
+ <mass value="1.77792"/>
+ <inertia ixx="0.00349500000" ixy="-0.00001300000" ixz="-0.00001000000" iyy="0.00436800000" iyz="0.00009700000" izz="0.00228300000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/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_description/meshes/arm/arm_5_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="arm_left_5_joint" type="revolute">
+ <parent link="arm_left_4_link"/>
+ <child link="arm_left_5_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="-0.02000 0.00000 -0.26430"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="3" lower="-2.53072741539" upper="2.53072741539" velocity="1.95"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ <!-- <safety_controller k_position="20"
+ k_velocity="20"
+ soft_lower_limit="${-145.00000 * deg_to_rad + wrist_eps}"
+ soft_upper_limit="${145.00000 * deg_to_rad - wrist_eps}" /> -->
+ </joint>
+ <link name="arm_left_6_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.00002 -0.00197 -0.00059"/>
+ <!-- <mass value="0.40931"/> -->
+ <mass value="0.30931"/>
+ <inertia ixx="0.00010700000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00014100000" iyz="-0.00000000000" izz="0.00015400000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/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_description/meshes/arm/arm_6_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="arm_left_6_joint" type="revolute">
+ <parent link="arm_left_5_link"/>
+ <child link="arm_left_6_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
+ <axis xyz="1 0 0"/>
+ <limit effort="6.6" lower="-1.3962634016" upper="1.3962634016" velocity="1.76"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ <!-- <safety_controller k_position="20"
+ k_velocity="20"
+ soft_lower_limit="${-80.00000 * deg_to_rad + eps_radians}"
+ soft_upper_limit="${80.00000 * deg_to_rad - eps_radians}" /> -->
+ </joint>
+ <link name="arm_left_7_link">
+ <!-- WRONG VALUES
+ <inertial>
+ <origin xyz="-0.00089 0.00365 -0.07824" rpy="0.00000 0.00000 0.00000"/>
+ <mass value="1.02604"/>
+ <inertia ixx="0.00151400000" ixy="0.00000600000" ixz="0.00006600000"
+ iyy="0.00146400000" iyz="0.00001200000"
+ izz="0.00090300000"/>
+ </inertial>
+ -->
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.007525 0.001378 -0.024630"/>
+ <mass value="0.308441"/>
+ <inertia ixx="0.000309" ixy="0.000002" ixz="-0.000002" iyy="0.000219" iyz="0.000012" izz="0.000176"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/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_description/meshes/arm/arm_7_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="arm_left_7_joint" type="revolute">
+ <parent link="arm_left_6_link"/>
+ <child link="arm_left_7_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+ <axis xyz="0 1 0"/>
+ <limit effort="6.6" lower="-0.698131700798" upper="0.698131700798" velocity="1.76"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ <!-- <safety_controller k_position="20"
+ k_velocity="20"
+ soft_lower_limit="${-40.00000 * deg_to_rad + eps_radians}"
+ soft_upper_limit="${40.00000 * deg_to_rad - eps_radians}" /> -->
+ </joint>
+ <gazebo reference="arm_left_5_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <gazebo reference="arm_left_6_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <gazebo reference="arm_left_7_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="arm_left_5_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="arm_left_6_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="arm_left_7_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <provideFeedback>1</provideFeedback>
+ </gazebo>
+ <!-- extensions -->
+ <transmission name="arm_left_5_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="arm_left_5_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="arm_left_5_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <transmission name="wrist_left_trans">
+ <type>transmission_interface/DifferentialTransmission</type>
+ <actuator name="arm_left_6_motor">
+ <role>actuator1</role>
+ <mechanicalReduction>-1.0</mechanicalReduction>
+ </actuator>
+ <actuator name="arm_left_7_motor">
+ <role>actuator2</role>
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="arm_left_6_joint">
+ <role>joint1</role>
+ <offset>0.0</offset>
+ <mechanicalReduction>-1.0</mechanicalReduction>
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ <joint name="arm_left_7_joint">
+ <role>joint2</role>
+ <offset>0.0</offset>
+ <mechanicalReduction>-1.0</mechanicalReduction>
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <!-- extensions -->
+ <transmission name="arm_left_1_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="arm_left_1_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="arm_left_1_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <transmission name="arm_left_2_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="arm_left_2_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="arm_left_2_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <transmission name="arm_left_3_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="arm_left_3_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="arm_left_3_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <transmission name="arm_left_4_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="arm_left_4_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="arm_left_4_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <!--************************-->
+ <!-- SHOULDER -->
+ <!--************************-->
+ <link name="arm_right_1_link">
+ <!-- TODO: Missing reflects of inertias -->
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="-0.01346 -0.0913 0.04812"/>
+ <!-- <mass value="1.52896"/> -->
+ <mass value="1.42896"/>
+ <inertia ixx="0.00555100000" ixy="-0.00073100000" ixz="0.00000800000" iyy="0.00167300000" iyz="-0.00006000000" izz="0.00582200000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/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_description/meshes/arm/arm_1_collision.STL" scale="1 -1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="arm_right_1_joint" type="revolute">
+ <parent link="torso_2_link"/>
+ <child link="arm_right_1_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00000 -0.1575 0.23200"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="44.64" lower="-0.523598775598" upper="1.57079632679" velocity="2.7"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ <!-- <safety_controller k_position="20"
+ k_velocity="20"
+ soft_lower_limit="${-90.00000 * deg_to_rad + arm_eps}"
+ soft_upper_limit="${30.00000 * deg_to_rad - arm_eps}" /> -->
+ </joint>
+ <link name="arm_right_2_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.02607 0.00049 -0.05209"/>
+ <!-- <mass value="1.77729"/> -->
+ <mass value="1.67729"/>
+ <inertia ixx="0.00708700000" ixy="-0.00001400000" ixz="0.00214200000" iyy="0.00793600000" iyz="0.00003000000" izz="0.00378800000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/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_description/meshes/arm/arm_2_collision.STL" scale="1 -1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="arm_right_2_joint" type="revolute">
+ <parent link="arm_right_1_link"/>
+ <child link="arm_right_2_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00493 -0.1365 0.04673"/>
+ <axis xyz="1 0 0"/>
+ <limit effort="22.32" lower="-2.87979326579" upper="0.0" velocity="3.66"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ <!-- <safety_controller k_position="20"
+ k_velocity="20"
+ soft_lower_limit="${0.00000 * deg_to_rad + arm_eps}"
+ soft_upper_limit="${165.00000 * deg_to_rad - arm_eps}" /> -->
+ </joint>
+ <link name="arm_right_3_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.00841 0.01428 -0.22291"/>
+ <!-- <mass value="1.57029"/> -->
+ <mass value="1.47029"/>
+ <inertia ixx="0.00433200000" ixy="0.00015300000" ixz="-0.00049600000" iyy="0.00434000000" iyz="-0.00060900000" izz="0.00254300000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/arm/arm_3.STL" scale="1 -1 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/arm/arm_3_collision.STL" scale="1 -1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="arm_right_3_joint" type="revolute">
+ <parent link="arm_right_2_link"/>
+ <child link="arm_right_3_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="17.86" lower="-2.44346095279" upper="2.44346095279" velocity="4.58"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ <!-- <safety_controller k_position="20"
+ k_velocity="20"
+ soft_lower_limit="${-140.0 * deg_to_rad + arm_eps}"
+ soft_upper_limit="${140.0 * deg_to_rad - arm_eps}" /> -->
+ </joint>
+ <!--************************-->
+ <!-- ELBOW -->
+ <!--************************-->
+ <link name="arm_right_4_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00655 -0.02107 -0.02612"/>
+ <!-- <mass value="1.20216"/> -->
+ <mass value="1.10216"/>
+ <inertia ixx="0.00221700000" ixy="-0.00010100000" ixz="0.00028800000" iyy="0.00241800000" iyz="-0.00039300000" izz="0.00111500000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/arm/arm_4.STL" scale="1 -1 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/arm/arm_4_collision.STL" scale="1 -1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="arm_right_4_joint" type="revolute">
+ <parent link="arm_right_3_link"/>
+ <child link="arm_right_4_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.02000 0.00000 -0.27300"/>
+ <axis xyz="0 1 0"/>
+ <limit effort="17.86" lower="-2.35619449019" upper="0.0" velocity="4.58"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ <!-- <safety_controller k_position="20"
+ k_velocity="20"
+ soft_lower_limit="${-135.0 * deg_to_rad + arm_eps}"
+ soft_upper_limit="${0.0 * deg_to_rad - arm_eps}" /> -->
+ </joint>
+ <gazebo reference="arm_right_1_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="arm_right_2_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="arm_right_3_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="arm_right_4_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="arm_right_1_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="arm_right_2_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="arm_right_3_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="arm_right_4_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <!--************************-->
+ <!-- WRIST -->
+ <!--************************-->
+ <!--************************-->
+ <!-- WRIST -->
+ <!--************************-->
+ <link name="arm_right_5_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00006 0.00326 0.07963"/>
+ <!-- <mass value="1.87792"/> -->
+ <mass value="1.77792"/>
+ <inertia ixx="0.00349500000" ixy="-0.00001300000" ixz="-0.00001000000" iyy="0.00436800000" iyz="0.00009700000" izz="0.00228300000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/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_description/meshes/arm/arm_5_collision.STL" scale="1 -1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="arm_right_5_joint" type="revolute">
+ <parent link="arm_right_4_link"/>
+ <child link="arm_right_5_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="-0.02000 0.00000 -0.26430"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="3" lower="-2.53072741539" upper="2.53072741539" velocity="1.95"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ <!-- <safety_controller k_position="20"
+ k_velocity="20"
+ soft_lower_limit="${-145.00000 * deg_to_rad + wrist_eps}"
+ soft_upper_limit="${145.00000 * deg_to_rad - wrist_eps}" /> -->
+ </joint>
+ <link name="arm_right_6_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.00002 -0.00197 -0.00059"/>
+ <!-- <mass value="0.40931"/> -->
+ <mass value="0.30931"/>
+ <inertia ixx="0.00010700000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00014100000" iyz="-0.00000000000" izz="0.00015400000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/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_description/meshes/arm/arm_6_collision.STL" scale="1 -1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="arm_right_6_joint" type="revolute">
+ <parent link="arm_right_5_link"/>
+ <child link="arm_right_6_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
+ <axis xyz="1 0 0"/>
+ <limit effort="6.6" lower="-1.3962634016" upper="1.3962634016" velocity="1.76"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ <!-- <safety_controller k_position="20"
+ k_velocity="20"
+ soft_lower_limit="${-80.00000 * deg_to_rad + eps_radians}"
+ soft_upper_limit="${80.00000 * deg_to_rad - eps_radians}" /> -->
+ </joint>
+ <link name="arm_right_7_link">
+ <!-- WRONG VALUES
+ <inertial>
+ <origin xyz="-0.00089 0.00365 -0.07824" rpy="0.00000 0.00000 0.00000"/>
+ <mass value="1.02604"/>
+ <inertia ixx="0.00151400000" ixy="0.00000600000" ixz="0.00006600000"
+ iyy="0.00146400000" iyz="0.00001200000"
+ izz="0.00090300000"/>
+ </inertial>
+ -->
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.007525 0.001378 -0.024630"/>
+ <mass value="0.308441"/>
+ <inertia ixx="0.000309" ixy="0.000002" ixz="-0.000002" iyy="0.000219" iyz="0.000012" izz="0.000176"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/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_description/meshes/arm/arm_7_collision.STL" scale="1 -1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="arm_right_7_joint" type="revolute">
+ <parent link="arm_right_6_link"/>
+ <child link="arm_right_7_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+ <axis xyz="0 1 0"/>
+ <limit effort="6.6" lower="-0.698131700798" upper="0.698131700798" velocity="1.76"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ <!-- <safety_controller k_position="20"
+ k_velocity="20"
+ soft_lower_limit="${-40.00000 * deg_to_rad + eps_radians}"
+ soft_upper_limit="${40.00000 * deg_to_rad - eps_radians}" /> -->
+ </joint>
+ <gazebo reference="arm_right_5_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <gazebo reference="arm_right_6_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <gazebo reference="arm_right_7_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="arm_right_5_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="arm_right_6_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="arm_right_7_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <provideFeedback>1</provideFeedback>
+ </gazebo>
+ <!-- extensions -->
+ <transmission name="arm_right_5_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="arm_right_5_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="arm_right_5_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <transmission name="wrist_right_trans">
+ <type>transmission_interface/DifferentialTransmission</type>
+ <actuator name="arm_right_6_motor">
+ <role>actuator1</role>
+ <mechanicalReduction>-1.0</mechanicalReduction>
+ </actuator>
+ <actuator name="arm_right_7_motor">
+ <role>actuator2</role>
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="arm_right_6_joint">
+ <role>joint1</role>
+ <offset>0.0</offset>
+ <mechanicalReduction>-1.0</mechanicalReduction>
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ <joint name="arm_right_7_joint">
+ <role>joint2</role>
+ <offset>0.0</offset>
+ <mechanicalReduction>1.0</mechanicalReduction>
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <!-- extensions -->
+ <transmission name="arm_right_1_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="arm_right_1_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="arm_right_1_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <transmission name="arm_right_2_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="arm_right_2_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="arm_right_2_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <transmission name="arm_right_3_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="arm_right_3_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="arm_right_3_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <transmission name="arm_right_4_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="arm_right_4_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="arm_right_4_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <!--************************-->
+ <!-- ft sensor -->
+ <!--************************-->
+ <link name="wrist_right_ft_link">
+ <inertial>
+ <mass value="0.1"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <cylinder length="0.0157" radius="0.0225"/>
+ </geometry>
+ <material name="LightGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <cylinder length="0.0157" radius="0.0225"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="wrist_right_ft_joint" type="fixed">
+ <parent link="arm_right_7_link"/>
+ <child link="wrist_right_ft_link"/>
+ <origin rpy="0.0 0 -1.57079632679" xyz="0 0 -0.051"/>
+ </joint>
+ <!--***********************-->
+ <!-- FT TOOL -->
+ <!--***********************-->
+ <link name="wrist_right_ft_tool_link">
+ <inertial>
+ <mass value="0.1"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0.0 0" xyz="0.0 0 0"/>
+ <geometry>
+ <cylinder length="0.00975" radius="0.025"/>
+ </geometry>
+ <material name="FlatBlack"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0.0 0" xyz="0.0 0 0"/>
+ <geometry>
+ <cylinder length="0.00975" radius="0.025"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="wrist_right_tool_joint" type="fixed">
+ <parent link="wrist_right_ft_link"/>
+ <child link="wrist_right_ft_tool_link"/>
+ <origin rpy="0 0 -1.57079632679" xyz="0 0 -0.012725"/>
+ </joint>
+ <!--************************-->
+ <!-- ft sensor -->
+ <!--************************-->
+ <link name="wrist_left_ft_link">
+ <inertial>
+ <mass value="0.1"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <cylinder length="0.0157" radius="0.0225"/>
+ </geometry>
+ <material name="LightGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <cylinder length="0.0157" radius="0.0225"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="wrist_left_ft_joint" type="fixed">
+ <parent link="arm_left_7_link"/>
+ <child link="wrist_left_ft_link"/>
+ <origin rpy="0.0 0 -4.71238898038" xyz="0 0 -0.051"/>
+ </joint>
+ <!--***********************-->
+ <!-- FT TOOL -->
+ <!--***********************-->
+ <link name="wrist_left_ft_tool_link">
+ <inertial>
+ <mass value="0.1"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0.0 0" xyz="0.0 0 0"/>
+ <geometry>
+ <cylinder length="0.00975" radius="0.025"/>
+ </geometry>
+ <material name="FlatBlack"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0.0 0" xyz="0.0 0 0"/>
+ <geometry>
+ <cylinder length="0.00975" radius="0.025"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="wrist_left_tool_joint" type="fixed">
+ <parent link="wrist_left_ft_link"/>
+ <child link="wrist_left_ft_tool_link"/>
+ <origin rpy="0 0 4.71238898038" xyz="0 0 -0.012725"/>
+ </joint>
+ <!--
+ <xacro:talos_gripper name="gripper_left" parent="wrist_left_ft_tool_link" reflect="1" />
+ <xacro:talos_gripper name="gripper_right" parent="wrist_right_ft_tool_link" reflect="-1" />
+ -->
+ <!-- Joint hip_z (mesh link) : child link hip_x -> parent link base_link -->
+ <link name="leg_left_1_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.02320 -0.00009 0.04949"/>
+ <mass value="1.88569"/>
+ <inertia ixx="0.00384800000" ixy="0.00003200000" ixz="-0.00082600000" iyy="0.00599400000" iyz="0.00007800000" izz="0.00322200000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/v2/hip_z_lo_res.stl" scale="1 1.0 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/v2/hip_z_collision.stl" scale="1 1.0 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="leg_left_1_joint" type="revolute">
+ <parent link="base_link"/>
+ <child link="leg_left_1_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="-0.02 0.085 -0.27105"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="100" lower="-0.349065850399" upper="1.57079632679" velocity="3.87"/>
+ <dynamics damping="0.0" friction="0.0"/>
+ </joint>
+ <!-- Joint hip_x (mesh link) : child link hip_y -> parent link hip_z -->
+ <link name="leg_left_2_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.01583 -0.00021 0.00619"/>
+ <mass value="2.37607"/>
+ <inertia ixx="0.00342100000" ixy="-0.00011300000" ixz="-0.00022500000" iyy="0.00402400000" iyz="-0.00003100000" izz="0.00416400000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0.0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/v2/hip_x_lo_res.stl" scale="1 1.0 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0.0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/v2/hip_x_collision.stl" scale="1 1.0 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="leg_left_2_joint" type="revolute">
+ <parent link="leg_left_1_link"/>
+ <child link="leg_left_2_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
+ <axis xyz="1 0 0"/>
+ <limit effort="160" lower="-0.5236" upper="0.5236" velocity="5.8"/>
+ <dynamics damping="0.0" friction="0.0"/>
+ </joint>
+ <!-- Joint hip_y (mesh link) : child link knee -> parent link hip_x -->
+ <link name="leg_left_3_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.00658 0.06563 -0.17278"/>
+ <mass value="6.82734"/>
+ <inertia ixx="0.12390600000" ixy="-0.000412" ixz="-0.00205900000" iyy="0.10844700000" iyz="0.016725" izz="0.02781200000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/v2/hip_y_lo_res.stl" scale="1 1.0 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/v2/hip_y_collision.stl" scale="1 1.0 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="leg_left_3_joint" type="revolute">
+ <parent link="leg_left_2_link"/>
+ <child link="leg_left_3_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
+ <axis xyz="0 1 0"/>
+ <limit effort="160" lower="-2.095" upper="0.7" velocity="5.8"/>
+ <dynamics damping="0.0" friction="0.0"/>
+ </joint>
+ <!-- Joint knee (mesh link) : child link ankle_y -> parent link hip_y -->
+ <link name="leg_left_4_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.01520 0.02331 -0.12063"/>
+ <mass value="3.63668"/>
+ <inertia ixx="0.03531500000" ixy="2.9e-05" ixz="-0.00016600000" iyy="0.02933600000" iyz="-0.001305" izz="0.01174000000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/v2/knee_lo_res.stl" scale="1 1.0 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/v2/knee_collision.stl" scale="1 1.0 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="leg_left_4_joint" type="revolute">
+ <parent link="leg_left_3_link"/>
+ <child link="leg_left_4_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 -0.38000"/>
+ <axis xyz="0 1 0"/>
+ <limit effort="300" lower="0" upper="2.618" velocity="7"/>
+ <dynamics damping="0.0" friction="0.0"/>
+ </joint>
+ <!-- Joint ankle_y (mesh link) : child link ankle_x -> parent link knee -->
+ <link name="leg_left_5_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="-0.01106 0.04708 0.05271"/>
+ <mass value="1.24433"/>
+ <inertia ixx="0.01148700000" ixy="-0.000686" ixz="-0.00052600000" iyy="0.00952600000" iyz="0.002633" izz="0.00390800000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0.0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/v2/ankle_Y_lo_res.stl" scale="1 1.0 1"/>
+ </geometry>
+ <material name="Grey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0.0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/v2/ankle_Y_collision.stl" scale="1 1.0 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="leg_left_5_joint" type="revolute">
+ <parent link="leg_left_4_link"/>
+ <child link="leg_left_5_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 -0.32500"/>
+ <axis xyz="0 1 0"/>
+ <limit effort="160" lower="-1.309" upper="0.768" velocity="5.8"/>
+ <dynamics damping="0.0" friction="0.0"/>
+ </joint>
+ <!-- Joint ankle_x (mesh link) : child link None -> parent link ankle_y -->
+ <link name="leg_left_6_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="-0.02087 -0.00019 -0.06059"/>
+ <mass value="1.59457"/>
+ <inertia ixx="0.00383800000" ixy="0.00001600000" ixz="-0.00104100000" iyy="0.00657200000" iyz="-0.00001700000" izz="0.00504400000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/v2/ankle_X_lo_res.stl" scale="1 1.0 1"/>
+ </geometry>
+ <material name="Grey"/>
+ </visual>
+ <!--
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://talos_description/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
+ </geometry>
+ </collision>
+
+ -->
+ <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>
+ <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+ <mass value="0.01"/>
+ <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
+ </inertial>
+ </link>
+ <joint name="leg_left_sole_fix_joint" type="fixed">
+ <parent link="leg_left_6_link"/>
+ <child link="left_sole_link"/>
+ <origin rpy="0 0 0" xyz="0.00 0.00 -0.107"/>
+ <axis xyz="1 0 0"/>
+ <dynamics damping="0.0" friction="0.0"/>
+ </joint>
+ <transmission name="leg_left_1_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="leg_left_1_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="leg_left_1_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <transmission name="leg_left_2_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="leg_left_2_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="leg_left_2_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <transmission name="leg_left_3_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="leg_left_3_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="leg_left_3_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <transmission name="leg_left_4_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="leg_left_4_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="leg_left_4_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <transmission name="leg_left_5_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="leg_left_5_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="leg_left_5_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <transmission name="leg_left_6_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="leg_left_6_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="leg_left_6_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <gazebo reference="leg_left_1_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <gazebo reference="leg_left_2_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <gazebo reference="leg_left_3_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <gazebo reference="leg_left_4_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <gazebo reference="leg_left_5_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <!-- contact model for foot surface -->
+ <gazebo reference="leg_left_6_link">
+ <kp>1000000.0</kp>
+ <kd>100.0</kd>
+ <mu1>1.0</mu1>
+ <mu2>1.0</mu2>
+ <fdir1>1 0 0</fdir1>
+ <maxVel>1.0</maxVel>
+ <minDepth>0.00</minDepth>
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="leg_left_1_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="leg_left_2_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="leg_left_3_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="leg_left_4_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="leg_left_5_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="leg_left_6_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <provideFeedback>1</provideFeedback>
+ </gazebo>
+ <gazebo reference="leg_left_1_link">
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="leg_left_2_link">
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="leg_left_3_link">
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="leg_left_4_link">
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="leg_left_5_link">
+ <material>Gazebo/White</material>
+ </gazebo>
+ <gazebo reference="leg_left_6_link">
+ <material>Gazebo/White</material>
+ </gazebo>
+ <!-- Joint hip_z (mesh link) : child link hip_x -> parent link base_link -->
+ <link name="leg_right_1_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.02320 -0.00009 0.04949"/>
+ <mass value="1.88569"/>
+ <inertia ixx="0.00384800000" ixy="0.00003200000" ixz="-0.00082600000" iyy="0.00599400000" iyz="0.00007800000" izz="0.00322200000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/v2/hip_z_lo_res.stl" scale="1 -1.0 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/v2/hip_z_collision.stl" scale="1 -1.0 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="leg_right_1_joint" type="revolute">
+ <parent link="base_link"/>
+ <child link="leg_right_1_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="-0.02 -0.085 -0.27105"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="100" lower="-1.57079632679" upper="0.349065850399" velocity="3.87"/>
+ <dynamics damping="0.0" friction="0.0"/>
+ </joint>
+ <!-- Joint hip_x (mesh link) : child link hip_y -> parent link hip_z -->
+ <link name="leg_right_2_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.01583 -0.00021 0.00619"/>
+ <mass value="2.37607"/>
+ <inertia ixx="0.00342100000" ixy="-0.00011300000" ixz="-0.00022500000" iyy="0.00402400000" iyz="-0.00003100000" izz="0.00416400000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0.0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/v2/hip_x_lo_res.stl" scale="1 -1.0 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0.0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/v2/hip_x_collision.stl" scale="1 -1.0 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="leg_right_2_joint" type="revolute">
+ <parent link="leg_right_1_link"/>
+ <child link="leg_right_2_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
+ <axis xyz="1 0 0"/>
+ <limit effort="160" lower="-0.5236" upper="0.5236" velocity="5.8"/>
+ <dynamics damping="0.0" friction="0.0"/>
+ </joint>
+ <!-- Joint hip_y (mesh link) : child link knee -> parent link hip_x -->
+ <link name="leg_right_3_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.00658 -0.06563 -0.17278"/>
+ <mass value="6.82734"/>
+ <inertia ixx="0.12390600000" ixy="0.000412" ixz="-0.00205900000" iyy="0.10844700000" iyz="-0.016725" izz="0.02781200000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/v2/hip_y_lo_res.stl" scale="1 -1.0 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/v2/hip_y_collision.stl" scale="1 -1.0 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="leg_right_3_joint" type="revolute">
+ <parent link="leg_right_2_link"/>
+ <child link="leg_right_3_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
+ <axis xyz="0 1 0"/>
+ <limit effort="160" lower="-2.095" upper="0.7" velocity="5.8"/>
+ <dynamics damping="0.0" friction="0.0"/>
+ </joint>
+ <!-- Joint knee (mesh link) : child link ankle_y -> parent link hip_y -->
+ <link name="leg_right_4_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.01520 -0.02331 -0.12063"/>
+ <mass value="3.63668"/>
+ <inertia ixx="0.03531500000" ixy="-2.9e-05" ixz="-0.00016600000" iyy="0.02933600000" iyz="0.001305" izz="0.01174000000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/v2/knee_lo_res.stl" scale="1 -1.0 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/v2/knee_collision.stl" scale="1 -1.0 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="leg_right_4_joint" type="revolute">
+ <parent link="leg_right_3_link"/>
+ <child link="leg_right_4_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 -0.38000"/>
+ <axis xyz="0 1 0"/>
+ <limit effort="300" lower="0" upper="2.618" velocity="7"/>
+ <dynamics damping="0.0" friction="0.0"/>
+ </joint>
+ <!-- Joint ankle_y (mesh link) : child link ankle_x -> parent link knee -->
+ <link name="leg_right_5_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="-0.01106 -0.04708 0.05271"/>
+ <mass value="1.24433"/>
+ <inertia ixx="0.01148700000" ixy="0.000686" ixz="-0.00052600000" iyy="0.00952600000" iyz="-0.002633" izz="0.00390800000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0.0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/v2/ankle_Y_lo_res.stl" scale="1 -1.0 1"/>
+ </geometry>
+ <material name="Grey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0.0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/v2/ankle_Y_collision.stl" scale="1 -1.0 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="leg_right_5_joint" type="revolute">
+ <parent link="leg_right_4_link"/>
+ <child link="leg_right_5_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 -0.32500"/>
+ <axis xyz="0 1 0"/>
+ <limit effort="160" lower="-1.309" upper="0.768" velocity="5.8"/>
+ <dynamics damping="0.0" friction="0.0"/>
+ </joint>
+ <!-- Joint ankle_x (mesh link) : child link None -> parent link ankle_y -->
+ <link name="leg_right_6_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="-0.02087 -0.00019 -0.06059"/>
+ <mass value="1.59457"/>
+ <inertia ixx="0.00383800000" ixy="0.00001600000" ixz="-0.00104100000" iyy="0.00657200000" iyz="-0.00001700000" izz="0.00504400000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/v2/ankle_X_lo_res.stl" scale="1 -1.0 1"/>
+ </geometry>
+ <material name="Grey"/>
+ </visual>
+ <!--
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://talos_description/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
+ </geometry>
+ </collision>
+
+ -->
+ <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>
+ <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+ <mass value="0.01"/>
+ <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
+ </inertial>
+ </link>
+ <joint name="leg_right_sole_fix_joint" type="fixed">
+ <parent link="leg_right_6_link"/>
+ <child link="right_sole_link"/>
+ <origin rpy="0 0 0" xyz="0.00 0.00 -0.107"/>
+ <axis xyz="1 0 0"/>
+ <dynamics damping="0.0" friction="0.0"/>
+ </joint>
+ <transmission name="leg_right_1_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="leg_right_1_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="leg_right_1_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <transmission name="leg_right_2_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="leg_right_2_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="leg_right_2_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <transmission name="leg_right_3_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="leg_right_3_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="leg_right_3_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <transmission name="leg_right_4_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="leg_right_4_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="leg_right_4_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <transmission name="leg_right_5_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="leg_right_5_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="leg_right_5_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <transmission name="leg_right_6_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="leg_right_6_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="leg_right_6_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <gazebo reference="leg_right_1_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <gazebo reference="leg_right_2_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <gazebo reference="leg_right_3_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <gazebo reference="leg_right_4_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <gazebo reference="leg_right_5_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <!-- contact model for foot surface -->
+ <gazebo reference="leg_right_6_link">
+ <kp>1000000.0</kp>
+ <kd>100.0</kd>
+ <mu1>1.0</mu1>
+ <mu2>1.0</mu2>
+ <fdir1>1 0 0</fdir1>
+ <maxVel>1.0</maxVel>
+ <minDepth>0.00</minDepth>
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="leg_right_1_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="leg_right_2_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="leg_right_3_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="leg_right_4_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="leg_right_5_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="leg_right_6_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <provideFeedback>1</provideFeedback>
+ </gazebo>
+ <gazebo reference="leg_right_1_link">
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="leg_right_2_link">
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="leg_right_3_link">
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="leg_right_4_link">
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="leg_right_5_link">
+ <material>Gazebo/White</material>
+ </gazebo>
+ <gazebo reference="leg_right_6_link">
+ <material>Gazebo/White</material>
+ </gazebo>
+ <!-- Generic simulatalos_gazebo plugins -->
+ <gazebo>
+ <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
+ <ns/>
+ <robotSimType>pal_hardware_gazebo/PalHardwareGazebo</robotSimType>
+ <robotNamespace/>
+ <controlPeriod>0.001</controlPeriod>
+ </plugin>
+ </gazebo>
+ <gazebo>
+ <plugin filename="libgazebo_world_odometry.so" name="gazebo_ros_odometry">
+ <frameName>base_link</frameName>
+ <topicName>floating_base_pose_simulated</topicName>
+ </plugin>
+ </gazebo>
+ <gazebo>
+ <plugin filename="libgazebo_ros_force.so" name="gazebo_ros_force">
+ <bodyName>base_link</bodyName>
+ <topicName>wrench</topicName>
+ </plugin>
+ </gazebo>
+ <gazebo reference="imu_link">
+ <!-- this is expected to be reparented to pelvis with appropriate offset
+ when imu_link is reduced by fixed joint reduction -->
+ <!-- todo: this is working with gazebo 1.4, need to write a unit test -->
+ <sensor name="imu_sensor" type="imu">
+ <always_on>1</always_on>
+ <update_rate>1000.0</update_rate>
+ <imu>
+ <noise>
+ <type>gaussian</type>
+ <!-- Noise parameters from Boston Dynamics
+ (http://gazebosim.org/wiki/Sensor_noise):
+ rates (rad/s): mean=0, stddev=2e-4
+ accels (m/s/s): mean=0, stddev=1.7e-2
+ rate bias (rad/s): 5e-6 - 1e-5
+ accel bias (m/s/s): 1e-1
+ Experimentally, simulation provide rates with noise of
+ about 1e-3 rad/s and accels with noise of about 1e-1 m/s/s.
+ So we don't expect to see the noise unless number of inner iterations
+ are increased.
+
+ We will add bias. In this model, bias is sampled once for rates
+ and once for accels at startup; the sign (negative or positive)
+ of each bias is then switched with equal probability. Thereafter,
+ the biases are fixed additive offsets. We choose
+ bias means and stddevs to produce biases close to the provided
+ data. -->
+ <!--
+ <rate>
+ <mean>0.0</mean>
+ <stddev>2e-4</stddev>
+ <bias_mean>0.0000075</bias_mean>
+ <bias_stddev>0.0000008</bias_stddev>
+ </rate>
+ <accel>
+ <mean>0.0</mean>
+ <stddev>1.7e-2</stddev>
+ <bias_mean>0.1</bias_mean>
+ <bias_stddev>0.001</bias_stddev>
+ </accel>
+ -->
+ <rate>
+ <mean>0.0</mean>
+ <stddev>0.0</stddev>
+ <bias_mean>0.000000</bias_mean>
+ <bias_stddev>0.0000008</bias_stddev>
+ </rate>
+ <accel>
+ <mean>0.0</mean>
+ <stddev>0.0</stddev>
+ <bias_mean>0.0</bias_mean>
+ <bias_stddev>0.000</bias_stddev>
+ </accel>
+ </noise>
+ </imu>
+ </sensor>
+ </gazebo>
+ <!-- define global properties -->
+ <!-- <xacro:property name="M_PI" value="3.1415926535897931" /> -->
+ <!-- Materials for visualization -->
+ <material name="Blue">
+ <color rgba="0.0 0.0 0.8 1.0"/>
+ </material>
+ <material name="Green">
+ <color rgba="0.0 0.8 0.0 1.0"/>
+ </material>
+ <material name="Grey">
+ <color rgba="0.7 0.7 0.7 1.0"/>
+ </material>
+ <material name="LightGrey">
+ <color rgba="0.9 0.9 0.9 1.0"/>
+ </material>
+ <material name="DarkGrey">
+ <color rgba="0.2 0.2 0.2 1.0"/>
+ </material>
+ <material name="Red">
+ <color rgba="0.8 0.0 0.0 1.0"/>
+ </material>
+ <material name="White">
+ <color rgba="1.0 1.0 1.0 1.0"/>
+ </material>
+ <material name="Orange">
+ <color rgba="1.0 0.5 0.0 1.0"/>
+ </material>
+</robot>
diff --git a/robots/talos_small.urdf.xacro b/robots/talos_small.urdf.xacro
new file mode 100644
index 0000000..0ce44a7
--- /dev/null
+++ b/robots/talos_small.urdf.xacro
@@ -0,0 +1,45 @@
+<?xml version="1.0"?>
+<!--
+
+ 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:xacro="http://ros.org/wiki/xacro"
+ xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+ xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+ xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
+
+ <xacro:include filename="$(find talos_description)/urdf/torso/torso.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/head/head.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/arm/arm.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/sensors/ftsensor.urdf.xacro" />
+ <!-- <xacro:include filename="$(find talos_description)/urdf/gripper/gripper.urdf.xacro" /> -->
+ <xacro:include filename="$(find talos_description)/urdf/leg/leg.urdf.xacro" />
+
+ <xacro:talos_torso name="torso" />
+
+ <xacro:talos_head name="head" parent="torso_2_link"/>
+
+ <xacro:talos_arm name="arm" parent="torso_2_link" side="left" reflect="1"/>
+ <xacro:talos_arm name="arm" parent="torso_2_link" side="right" reflect="-1"/>
+
+ <xacro:ft_sensor name="wrist" parent="arm_right_7_link" side="right" reflect="1" />
+ <xacro:ft_sensor name="wrist" parent="arm_left_7_link" side="left" reflect="-1" />
+
+ <!--
+ <xacro:talos_gripper name="gripper_left" parent="wrist_left_ft_tool_link" reflect="1" />
+ <xacro:talos_gripper name="gripper_right" parent="wrist_right_ft_tool_link" reflect="-1" />
+ -->
+ <xacro:talos_leg prefix="left" reflect="1" />
+ <xacro:talos_leg prefix="right" reflect="-1" />
+
+ <!-- Generic simulatalos_gazebo plugins -->
+ <xacro:include filename="$(find talos_description)/gazebo/gazebo.urdf.xacro" />
+ <!-- Materials for visualization -->
+ <xacro:include filename="$(find talos_description)/urdf/materials.urdf.xacro" />
+
+</robot>
diff --git a/urdf/talos_full.urdf b/urdf/talos_full.urdf
new file mode 120000
index 0000000..f9231b6
--- /dev/null
+++ b/urdf/talos_full.urdf
@@ -0,0 +1 @@
+../robots/talos_full.urdf
\ No newline at end of file
diff --git a/urdf/talos_full_collision.urdf b/urdf/talos_full_collision.urdf
new file mode 120000
index 0000000..3023e60
--- /dev/null
+++ b/urdf/talos_full_collision.urdf
@@ -0,0 +1 @@
+../robots/talos_full_collision.urdf
\ No newline at end of file
diff --git a/urdf/talos_small.urdf b/urdf/talos_small.urdf
new file mode 120000
index 0000000..2f83698
--- /dev/null
+++ b/urdf/talos_small.urdf
@@ -0,0 +1 @@
+../robots/talos_small.urdf
\ No newline at end of file
--
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