wassname/kair_algorithms_draft
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<?xml version="1.0" ?>
<!-- ============================================================================================== -->
<!-- | | -->
<!-- | baxter.urdf is DEPRECATED. It is included here for backward compatibility. | -->
<!-- | Please use baxter.urdf.xacro by running: | -->
<!-- |$ rosrun xacro xacro.py - -inorder `rospack find baxter_description`/urdf/baxter.urdf.xacro | -->
<!-- | | -->
<!-- ============================================================================================== -->
<robot name="baxter">
<link name="base">
</link>
<link name="torso">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://baxter_description/meshes/torso/base_link.DAE"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://baxter_description/meshes/torso/base_link_collision.DAE"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.000000 0.000000 0.000000"/>
<mass value="35.336455"/>
<inertia ixx="1.849155" ixy="-0.000354" ixz="-0.154188" iyy="1.662671" iyz="0.003292" izz="0.802239"/>
</inertial>
</link>
<link name="left_torso_itb">
<inertial>
<origin rpy="0 0 0" xyz="0.000000 0.000000 0.000000"/>
<mass value="0.0001"/>
<inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
</inertial>
</link>
<link name="right_torso_itb">
<inertial>
<origin rpy="0 0 0" xyz="0.000000 0.000000 0.000000"/>
<mass value="0.0001"/>
<inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
</inertial>
</link>
<link name="pedestal">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://baxter_description/meshes/base/PEDESTAL.DAE"/>
</geometry>
<material name="darkgray">
<color rgba=".2 .2 .2 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://baxter_description/meshes/base/pedestal_link_collision.DAE"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="60.86397744"/>
<inertia ixx="5.0635929" ixy="0.00103417" ixz="0.80199628" iyy="6.08689388" iyz="0.00105311" izz="4.96191932"/>
</inertial>
</link>
<link name="head">
<visual>
<origin rpy="0 0 0" xyz="0 0 .00953"/>
<geometry>
<mesh filename="package://baxter_description/meshes/head/H0.DAE"/>
</geometry>
<material name="darkgray">
<color rgba=".2 .2 .2 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.0 0 0.0"/>
<geometry>
<sphere radius="0.001"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.547767"/>
<inertia ixx="0.004641" ixy="0.000159" ixz="0.000242" iyy="0.003295" iyz="-0.001324" izz="0.003415"/>
</inertial>
</link>
<link name="sonar_ring">
<visual>
<origin rpy="0 0 0" xyz="-.0347 0 .00953"/>
<geometry>
<cylinder length="0.01" radius="0.085"/>
</geometry>
<material name="darkgray">
<color rgba=".2 .2 .2 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.0 0 0.0"/>
<geometry>
<sphere radius="0.001"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.0001"/>
<inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
</inertial>
</link>
<link name="screen">
<visual>
<origin rpy="0 -1.57079632679 0" xyz="0 -.00953 -.0347"/>
<geometry>
<mesh filename="package://baxter_description/meshes/head/H1.DAE"/>
</geometry>
<material name="darkred">
<color rgba=".5 .1 .1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.0 0 0.0"/>
<geometry>
<sphere radius="0.001"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.440171"/>
<inertia ixx="0.004006" ixy="0.000230" ixz="0.000002" iyy="0.002800" iyz="0.000029" izz="0.001509"/>
</inertial>
</link>
<link name="display">
<visual>
<origin rpy="0.2617993877991494 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.218 0.16 0.001"/>
</geometry>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.0001"/>
<inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
</inertial>
</link>
<link name="head_camera">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.0001"/>
<inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
</inertial>
</link>
<link name="dummyhead1">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.0001"/>
<inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
</inertial>
</link>
<link name="collision_head_link_1">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.001"/>
</geometry>
<material name="red">
<color rgba="0.8 0.3 0.3 0.3"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0.0" xyz="-0.07 -0.04 0.0"/>
<geometry>
<sphere radius="0.22"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.0001"/>
<inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
</inertial>
</link>
<link name="collision_head_link_2">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.001"/>
</geometry>
<material name="red">
<color rgba="0.8 0.3 0.3 0.3"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.07 0.04 0.00"/>
<geometry>
<sphere radius="0.22"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.0001"/>
<inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
</inertial>
</link>
<joint name="collision_head_1" type="fixed">
<origin rpy="0 0 0" xyz="0.11 0 0.75"/>
<parent link="base"/>
<child link="collision_head_link_1"/>
</joint>
<joint name="collision_head_2" type="fixed">
<origin rpy="0 0 0" xyz="0.11 0 0.75"/>
<parent link="base"/>
<child link="collision_head_link_2"/>
</joint>
<joint name="dummy" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="head"/>
<child link="dummyhead1"/>
</joint>
<joint name="torso_t0" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base"/>
<child link="torso"/>
<limit effort="50000" lower="-3.01" upper="3.01" velocity="10000"/>
</joint>
<joint name="left_torso_itb_fixed" type="fixed">
<origin rpy="-1.57079632679 3.1415 0" xyz="-0.08897 0.15593 0.389125"/>
<parent link="torso"/>
<child link="left_torso_itb"/>
</joint>
<joint name="right_torso_itb_fixed" type="fixed">
<origin rpy="1.57079632679 0 0" xyz="-0.08897 -0.15593 0.389125"/>
<parent link="torso"/>
<child link="right_torso_itb"/>
</joint>
<joint name="pedestal_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<parent link="torso"/>
<child link="pedestal"/>
</joint>
<joint name="head_pan" type="revolute">
<origin rpy="0 0 0" xyz="0.06 0 0.686"/>
<axis xyz="0 0 1"/>
<parent link="torso"/>
<child link="head"/>
<limit effort="50000" lower="-1.57079632679" upper="1.57079632679" velocity="10000"/>
<dynamics damping="0.7" friction="0.0"/>
</joint>
<joint name="head_nod" type="fixed">
<origin rpy="1.75057 0 1.57079632679" xyz=".1227 0 0"/>
<parent link="head"/>
<child link="screen"/>
</joint>
<joint name="head_camera" type="fixed">
<origin rpy="1.75057 0 1.57079632679" xyz="0.12839 0 0.06368"/>
<parent link="head"/>
<child link="head_camera"/>
</joint>
<joint name="display_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.0 -0.016 0.0"/>
<parent link="screen"/>
<child link="display"/>
</joint>
<joint name="sonar_s0" type="fixed">
<origin rpy="0 0 0" xyz="0.0947 0 .817"/>
<axis xyz="0 0 1"/>
<parent link="torso"/>
<child link="sonar_ring"/>
</joint>
<link name="right_arm_mount">
<!-- all defaults -->
<gravity>0</gravity>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.0001"/>
<inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
</inertial>
</link>
<link name="right_upper_shoulder">
<gravity>0</gravity>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://baxter_description/meshes/upper_shoulder/S0.DAE"/>
</geometry>
<material name="darkred">
<color rgba=".5 .1 .1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.1361"/>
<geometry>
<cylinder length="0.2722" radius="0.06"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.01783 0.00086 0.19127"/>
<mass value="5.70044"/>
<inertia ixx="0.04709102262" ixy="0.00012787556" ixz="0.00614870039" iyy="0.03766976455" iyz="0.00078086899" izz="0.03595988478"/>
</inertial>
</link>
<link name="right_lower_shoulder">
<gravity>0</gravity>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://baxter_description/meshes/lower_shoulder/S1.DAE"/>
</geometry>
<material name="darkred">
<color rgba=".5 .1 .1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.12" radius="0.06"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.06845 0.00269 -0.00529"/>
<mass value="3.22698"/>
<inertia ixx="0.01175209419" ixy="-0.00030096398" ixz="0.00207675762" iyy="0.0278859752" iyz="-0.00018821993" izz="0.02078749298"/>
</inertial>
</link>
<link name="right_upper_elbow">
<gravity>0</gravity>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://baxter_description/meshes/upper_elbow/E0.DAE"/>
</geometry>
<material name="darkred">
<color rgba=".5 .1 .1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.0535"/>
<geometry>
<cylinder length="0.107" radius="0.06"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.00276 0.00132 0.18086"/>
<mass value="4.31272"/>
<inertia ixx="0.02661733557" ixy="0.00029270634" ixz="0.00392189887" iyy="0.02844355207" iyz="0.0010838933" izz="0.01248008322"/>
</inertial>
</link>
<link name="right_upper_elbow_visual">
<gravity>0</gravity>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.1365"/>
<geometry>
<cylinder length="0.273" radius="0.06"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.0001"/>
<inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
</inertial>
</link>
<link name="right_lower_elbow">
<gravity>0</gravity>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://baxter_description/meshes/lower_elbow/E1.DAE"/>
</geometry>
<material name="darkred">
<color rgba=".5 .1 .1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<geometry>
<cylinder length="0.10" radius="0.06"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.02611 0.00159 -0.01117"/>
<mass value="2.07206"/>
<inertia ixx="0.00711582686" ixy="0.00036036173" ixz="0.0007459496" iyy="0.01318227876" iyz="-0.00019663418" izz="0.00926852064"/>
</inertial>
</link>
<link name="right_upper_forearm">
<gravity>0</gravity>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://baxter_description/meshes/upper_forearm/W0.DAE"/>
</geometry>
<material name="darkred">
<color rgba=".5 .1 .1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.044"/>
<geometry>
<cylinder length="0.088" radius="0.06"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.00168 0.0046 0.13952"/>
<mass value="2.24665"/>
<inertia ixx="0.01667742825" ixy="0.00018403705" ixz="0.00018657629" iyy="0.01675457264" iyz="-0.00064732352" izz="0.0037463115"/>
</inertial>
</link>
<link name="right_upper_forearm_visual">
<gravity>0</gravity>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.136"/>
<geometry>
<cylinder length="0.272" radius="0.06"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.0001"/>
<inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
</inertial>
</link>
<link name="right_arm_itb">
<gravity>0</gravity>
<inertial>
<origin rpy="0 0 0" xyz="0.000000 0.000000 0.000000"/>
<mass value="0.0001"/>
<inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
</inertial>
</link>
<link name="right_lower_forearm">
<gravity>0</gravity>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://baxter_description/meshes/lower_forearm/W1.DAE"/>
</geometry>
<material name="darkred">
<color rgba=".5 .1 .1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.10" radius="0.06"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.06041 0.00697 0.006"/>
<mass value="1.60979"/>
<inertia ixx="0.00387607152" ixy="-0.00044384784" ixz="-0.00021115038" iyy="0.00700537914" iyz="0.00015348067" izz="0.0055275524"/>
</inertial>
</link>
<link name="right_wrist">
<gravity>0</gravity>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://baxter_description/meshes/wrist/W2.DAE"/>
</geometry>
<material name="lightgrey">
<color rgba=".1 .1 .1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.165" radius="0.06"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.00198 0.00125 0.01855"/>
<mass value="0.35093"/>
<inertia ixx="0.00025289155" ixy="0.00000575311" ixz="-0.00000159345" iyy="0.0002688601" iyz="-0.00000519818" izz="0.0003074118"/>
</inertial>
</link>
<link name="right_hand">
<gravity>0</gravity>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.0232"/>
<geometry>
<cylinder length="0.0464" radius="0.04"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.01093 0.00042 -0.01532"/>
<mass value="0.19125"/>
<inertia ixx="0.00017588" ixy="0.00000147073" ixz="0.0000243633" iyy="0.00021166377" iyz="0.00000172689" izz="0.00023745397"/>
</inertial>
</link>
<link name="right_hand_camera">
<gravity>0</gravity>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.01" radius="0.02"/>
</geometry>
<material name="blue">
<color rgba="0 0 1 0.8"/>
</material>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.0001"/>
<inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
</inertial>
</link>
<link name="right_hand_camera_axis">
<gravity>0</gravity>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.0001"/>
<inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
</inertial>
</link>
<link name="right_hand_range">
<gravity>0</gravity>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.005 .02 .005"/>
</geometry>
<material name="blue">
<color rgba="0 0 1 0.8"/>
</material>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.0001"/>
<inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
</inertial>
</link>
<link name="right_hand_accelerometer">
<gravity>0</gravity>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.01 0.01 0.01"/>
</geometry>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="0.000000 0.000000 0.000000"/>
<mass value="0.0001"/>
<inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
</inertial>
</link>
<link name="right_gripper_base">
<gravity>0</gravity>
<visual>
<origin rpy="0 0 0" xyz="0 0 -0.02"/>
<geometry>
<box size="0.025 0.075 0.035"/>
</geometry>
<material name="darkred">
<color rgba=".5 .1 .1 1"/>
</material>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="0.000000 0.000000 0.000000"/>
<mass value="0.0001"/>
<inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
</inertial>
</link>
<link name="right_gripper">
<gravity>0</gravity>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.01 0.01 0.01"/>
</geometry>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="0.000000 0.000000 0.000000"/>
<mass value="0.0001"/>
<inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
</inertial>
</link>
<joint name="right_torso_arm_mount" type="fixed">
<origin rpy="0 0 -0.7854" xyz="0.024645 -0.219645 0.118588"/>
<parent link="torso"/>
<child link="right_arm_mount"/>
</joint>
<joint name="right_s0" type="revolute">
<origin rpy="0 0 0" xyz="0.055695 0 0.011038"/>
<axis xyz="0 0 1"/>
<parent link="right_arm_mount"/>
<child link="right_upper_shoulder"/>
<limit effort="50.0" lower="-1.70167993878" upper="1.70167993878" velocity="1.5"/>
<dynamics damping="0.7" friction="0.0"/>
</joint>
<joint name="right_s1" type="revolute">
<origin rpy="-1.57079632679 0 0" xyz="0.069 0 0.27035"/>
<axis xyz="0 0 1"/>
<parent link="right_upper_shoulder"/>
<child link="right_lower_shoulder"/>
<limit effort="100.0" lower="-2.147" upper="1.047" velocity="1.5"/>
<dynamics damping="0.7" friction="0.0"/>
</joint>
<joint name="right_e0" type="revolute">
<origin rpy="1.57079632679 0 1.57079632679" xyz="0.102 0 0"/>
<axis xyz="0 0 1"/>
<parent link="right_lower_shoulder"/>
<child link="right_upper_elbow"/>
<limit effort="50.0" lower="-3.05417993878" upper="3.05417993878" velocity="1.5"/>
<dynamics damping="0.7" friction="0.0"/>
</joint>
<joint name="right_e0_fixed" type="fixed">
<origin rpy="1.57079632679 0 1.57079632679" xyz="0.107 0 0"/>
<axis xyz="0 0 1"/>
<parent link="right_lower_shoulder"/>
<child link="right_upper_elbow_visual"/>
</joint>
<joint name="right_e1" type="revolute">
<origin rpy="-1.57079632679 -1.57079632679 0" xyz="0.069 0 0.26242"/>
<axis xyz="0 0 1"/>
<parent link="right_upper_elbow"/>
<child link="right_lower_elbow"/>
<limit effort="50.0" lower="-0.05" upper="2.618" velocity="1.5"/>
<dynamics damping="0.7" friction="0.0"/>
</joint>
<joint name="right_w0" type="revolute">
<origin rpy="1.57079632679 0 1.57079632679" xyz="0.10359 0 0"/>
<axis xyz="0 0 1"/>
<parent link="right_lower_elbow"/>
<child link="right_upper_forearm"/>
<limit effort="15.0" lower="-3.059" upper="3.059" velocity="4.0"/>
<dynamics damping="0.7" friction="0.0"/>
</joint>
<joint name="right_w0_fixed" type="fixed">
<origin rpy="1.57079632679 0 1.57079632679" xyz="0.088 0 0"/>
<axis xyz="0 0 1"/>
<parent link="right_lower_elbow"/>
<child link="right_upper_forearm_visual"/>
</joint>
<joint name="right_w0_to_itb_fixed" type="fixed">
<origin rpy="-1.57079632679 0 1.57079632679" xyz="-0.0565 0 0.12"/>
<axis xyz="0 0 1"/>
<parent link="right_upper_forearm"/>
<child link="right_arm_itb"/>
</joint>
<joint name="right_w1" type="revolute">
<origin rpy="-1.57079632679 -1.57079632679 0" xyz="0.01 0 0.2707"/>
<axis xyz="0 0 1"/>
<parent link="right_upper_forearm"/>
<child link="right_lower_forearm"/>
<limit effort="15.0" lower="-1.57079632679" upper="2.094" velocity="4.0"/>
<dynamics damping="0.7" friction="0.0"/>
</joint>
<joint name="right_w2" type="revolute">
<origin rpy="1.57079632679 0 1.57079632679" xyz="0.115975 0 0"/>
<axis xyz="0 0 1"/>
<parent link="right_lower_forearm"/>
<child link="right_wrist"/>
<limit effort="15.0" lower="-3.059" upper="3.059" velocity="4.0"/>
<dynamics damping="0.7" friction="0.0"/>
</joint>
<joint name="right_hand" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.11355"/>
<axis xyz="0 0 1"/>
<parent link="right_wrist"/>
<child link="right_hand"/>
<dynamics damping="0.7" friction="0.0"/>
</joint>
<joint name="right_hand_camera" type="fixed">
<origin rpy="0 0 -1.57079633" xyz="0.03825 0.012 0.015355"/>
<parent link="right_hand"/>
<child link="right_hand_camera"/>
</joint>
<joint name="right_hand_camera_axis" type="fixed">
<origin rpy="0 0 0" xyz="0.03825 0.012 0.015355"/>
<parent link="right_hand"/>
<child link="right_hand_camera_axis"/>
</joint>
<joint name="right_hand_range" type="fixed">
<origin rpy="0 -1.57079632679 -1.57079632679" xyz="0.032 -0.020245 0.0288"/>
<parent link="right_hand"/>
<child link="right_hand_range"/>
</joint>
<joint name="right_hand_accelerometer" type="fixed">
<origin rpy="0 0 0" xyz="0.00198 0.000133 -0.0146"/>
<parent link="right_hand"/>
<child link="right_hand_accelerometer"/>
</joint>
<joint name="right_gripper_base" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="right_hand"/>
<child link="right_gripper_base"/>
</joint>
<joint name="right_endpoint" type="fixed">
<origin rpy="0 0 0" xyz="0.0 0 0.025"/>
<parent link="right_gripper_base"/>
<child link="right_gripper"/>
</joint>
<link name="left_arm_mount">
<!-- all defaults -->
<gravity>0</gravity>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.0001"/>
<inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
</inertial>
</link>
<link name="left_upper_shoulder">
<gravity>0</gravity>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://baxter_description/meshes/upper_shoulder/S0.DAE"/>
</geometry>
<material name="darkred">
<color rgba=".5 .1 .1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.1361"/>
<geometry>
<cylinder length="0.2722" radius="0.06"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.01783 0.00086 0.19127"/>
<mass value="5.70044"/>
<inertia ixx="0.04709102262" ixy="0.00012787556" ixz="0.00614870039" iyy="0.03766976455" iyz="0.00078086899" izz="0.03595988478"/>
</inertial>
</link>
<link name="left_lower_shoulder">
<gravity>0</gravity>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://baxter_description/meshes/lower_shoulder/S1.DAE"/>
</geometry>
<material name="darkred">
<color rgba=".5 .1 .1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.12" radius="0.06"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.06845 0.00269 -0.00529"/>
<mass value="3.22698"/>
<inertia ixx="0.01175209419" ixy="-0.00030096398" ixz="0.00207675762" iyy="0.0278859752" iyz="-0.00018821993" izz="0.02078749298"/>
</inertial>
</link>
<link name="left_upper_elbow">
<gravity>0</gravity>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://baxter_description/meshes/upper_elbow/E0.DAE"/>
</geometry>
<material name="darkred">
<color rgba=".5 .1 .1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.0535"/>
<geometry>
<cylinder length="0.107" radius="0.06"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.00276 0.00132 0.18086"/>
<mass value="4.31272"/>
<inertia ixx="0.02661733557" ixy="0.00029270634" ixz="0.00392189887" iyy="0.02844355207" iyz="0.0010838933" izz="0.01248008322"/>
</inertial>
</link>
<link name="left_upper_elbow_visual">
<gravity>0</gravity>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.1365"/>
<geometry>
<cylinder length="0.273" radius="0.06"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.0001"/>
<inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
</inertial>
</link>
<link name="left_lower_elbow">
<gravity>0</gravity>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://baxter_description/meshes/lower_elbow/E1.DAE"/>
</geometry>
<material name="darkred">
<color rgba=".5 .1 .1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<geometry>
<cylinder length="0.10" radius="0.06"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.02611 0.00159 -0.01117"/>
<mass value="2.07206"/>
<inertia ixx="0.00711582686" ixy="0.00036036173" ixz="0.0007459496" iyy="0.01318227876" iyz="-0.00019663418" izz="0.00926852064"/>
</inertial>
</link>
<link name="left_upper_forearm">
<gravity>0</gravity>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://baxter_description/meshes/upper_forearm/W0.DAE"/>
</geometry>
<material name="darkred">
<color rgba=".5 .1 .1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.044"/>
<geometry>
<cylinder length="0.088" radius="0.06"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.00168 0.0046 0.13952"/>
<mass value="2.24665"/>
<inertia ixx="0.01667742825" ixy="0.00018403705" ixz="0.00018657629" iyy="0.01675457264" iyz="-0.00064732352" izz="0.0037463115"/>
</inertial>
</link>
<link name="left_upper_forearm_visual">
<gravity>0</gravity>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.136"/>
<geometry>
<cylinder length="0.272" radius="0.06"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.0001"/>
<inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
</inertial>
</link>
<link name="left_arm_itb">
<gravity>0</gravity>
<inertial>
<origin rpy="0 0 0" xyz="0.000000 0.000000 0.000000"/>
<mass value="0.0001"/>
<inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
</inertial>
</link>
<link name="left_lower_forearm">
<gravity>0</gravity>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://baxter_description/meshes/lower_forearm/W1.DAE"/>
</geometry>
<material name="darkred">
<color rgba=".5 .1 .1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.10" radius="0.06"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.06041 0.00697 0.006"/>
<mass value="1.60979"/>
<inertia ixx="0.00387607152" ixy="-0.00044384784" ixz="-0.00021115038" iyy="0.00700537914" iyz="0.00015348067" izz="0.0055275524"/>
</inertial>
</link>
<link name="left_wrist">
<gravity>0</gravity>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://baxter_description/meshes/wrist/W2.DAE"/>
</geometry>
<material name="lightgrey">
<color rgba=".1 .1 .1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.165" radius="0.06"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.00198 0.00125 0.01855"/>
<mass value="0.35093"/>
<inertia ixx="0.00025289155" ixy="0.00000575311" ixz="-0.00000159345" iyy="0.0002688601" iyz="-0.00000519818" izz="0.0003074118"/>
</inertial>
</link>
<link name="left_hand">
<gravity>0</gravity>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.0232"/>
<geometry>
<cylinder length="0.0464" radius="0.04"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.01093 0.00042 -0.01532"/>
<mass value="0.19125"/>
<inertia ixx="0.00017588" ixy="0.00000147073" ixz="0.0000243633" iyy="0.00021166377" iyz="0.00000172689" izz="0.00023745397"/>
</inertial>
</link>
<link name="left_hand_camera">
<gravity>0</gravity>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.01" radius="0.02"/>
</geometry>
<material name="blue">
<color rgba="0 0 1 0.8"/>
</material>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.0001"/>
<inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
</inertial>
</link>
<link name="left_hand_camera_axis">
<gravity>0</gravity>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.0001"/>
<inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
</inertial>
</link>
<link name="left_hand_range">
<gravity>0</gravity>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.005 .02 .005"/>
</geometry>
<material name="blue">
<color rgba="0 0 1 0.8"/>
</material>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.0001"/>
<inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
</inertial>
</link>
<link name="left_hand_accelerometer">
<gravity>0</gravity>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.01 0.01 0.01"/>
</geometry>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="0.000000 0.000000 0.000000"/>
<mass value="0.0001"/>
<inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
</inertial>
</link>
<link name="left_gripper_base">
<gravity>0</gravity>
<visual>
<origin rpy="0 0 0" xyz="0 0 -0.02"/>
<geometry>
<box size="0.025 0.075 0.035"/>
</geometry>
<material name="darkred">
<color rgba=".5 .1 .1 1"/>
</material>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="0.000000 0.000000 0.000000"/>
<mass value="0.0001"/>
<inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
</inertial>
</link>
<link name="left_gripper">
<gravity>0</gravity>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.01 0.01 0.01"/>
</geometry>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="0.000000 0.000000 0.000000"/>
<mass value="0.0001"/>
<inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
</inertial>
</link>
<joint name="left_torso_arm_mount" type="fixed">
<origin rpy="0 0 0.7854" xyz="0.024645 0.219645 0.118588"/>
<parent link="torso"/>
<child link="left_arm_mount"/>
</joint>
<joint name="left_s0" type="revolute">
<origin rpy="0 0 0" xyz="0.055695 0 0.011038"/>
<axis xyz="0 0 1"/>
<parent link="left_arm_mount"/>
<child link="left_upper_shoulder"/>
<limit effort="50.0" lower="-1.70167993878" upper="1.70167993878" velocity="1.5"/>
<dynamics damping="0.7" friction="0.0"/>
</joint>
<joint name="left_s1" type="revolute">
<origin rpy="-1.57079632679 0 0" xyz="0.069 0 0.27035"/>
<axis xyz="0 0 1"/>
<parent link="left_upper_shoulder"/>
<child link="left_lower_shoulder"/>
<limit effort="100.0" lower="-2.147" upper="1.047" velocity="1.5"/>
<dynamics damping="0.7" friction="0.0"/>
</joint>
<joint name="left_e0" type="revolute">
<origin rpy="1.57079632679 0 1.57079632679" xyz="0.102 0 0"/>
<axis xyz="0 0 1"/>
<parent link="left_lower_shoulder"/>
<child link="left_upper_elbow"/>
<limit effort="50.0" lower="-3.05417993878" upper="3.05417993878" velocity="1.5"/>
<dynamics damping="0.7" friction="0.0"/>
</joint>
<joint name="left_e0_fixed" type="fixed">
<origin rpy="1.57079632679 0 1.57079632679" xyz="0.107 0 0"/>
<axis xyz="0 0 1"/>
<parent link="left_lower_shoulder"/>
<child link="left_upper_elbow_visual"/>
</joint>
<joint name="left_e1" type="revolute">
<origin rpy="-1.57079632679 -1.57079632679 0" xyz="0.069 0 0.26242"/>
<axis xyz="0 0 1"/>
<parent link="left_upper_elbow"/>
<child link="left_lower_elbow"/>
<limit effort="50.0" lower="-0.05" upper="2.618" velocity="1.5"/>
<dynamics damping="0.7" friction="0.0"/>
</joint>
<joint name="left_w0" type="revolute">
<origin rpy="1.57079632679 0 1.57079632679" xyz="0.10359 0 0"/>
<axis xyz="0 0 1"/>
<parent link="left_lower_elbow"/>
<child link="left_upper_forearm"/>
<limit effort="15.0" lower="-3.059" upper="3.059" velocity="4.0"/>
<dynamics damping="0.7" friction="0.0"/>
</joint>
<joint name="left_w0_fixed" type="fixed">
<origin rpy="1.57079632679 0 1.57079632679" xyz="0.088 0 0"/>
<axis xyz="0 0 1"/>
<parent link="left_lower_elbow"/>
<child link="left_upper_forearm_visual"/>
</joint>
<joint name="left_w0_to_itb_fixed" type="fixed">
<origin rpy="-1.57079632679 0 1.57079632679" xyz="-0.0565 0 0.12"/>
<axis xyz="0 0 1"/>
<parent link="left_upper_forearm"/>
<child link="left_arm_itb"/>
</joint>
<joint name="left_w1" type="revolute">
<origin rpy="-1.57079632679 -1.57079632679 0" xyz="0.01 0 0.2707"/>
<axis xyz="0 0 1"/>
<parent link="left_upper_forearm"/>
<child link="left_lower_forearm"/>
<limit effort="15.0" lower="-1.57079632679" upper="2.094" velocity="4.0"/>
<dynamics damping="0.7" friction="0.0"/>
</joint>
<joint name="left_w2" type="revolute">
<origin rpy="1.57079632679 0 1.57079632679" xyz="0.115975 0 0"/>
<axis xyz="0 0 1"/>
<parent link="left_lower_forearm"/>
<child link="left_wrist"/>
<limit effort="15.0" lower="-3.059" upper="3.059" velocity="4.0"/>
<dynamics damping="0.7" friction="0.0"/>
</joint>
<joint name="left_hand" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.11355"/>
<axis xyz="0 0 1"/>
<parent link="left_wrist"/>
<child link="left_hand"/>
<dynamics damping="0.7" friction="0.0"/>
</joint>
<joint name="left_hand_camera" type="fixed">
<origin rpy="0 0 -1.57079633" xyz="0.03825 0.012 0.015355"/>
<parent link="left_hand"/>
<child link="left_hand_camera"/>
</joint>
<joint name="left_hand_camera_axis" type="fixed">
<origin rpy="0 0 0" xyz="0.03825 0.012 0.015355"/>
<parent link="left_hand"/>
<child link="left_hand_camera_axis"/>
</joint>
<joint name="left_hand_range" type="fixed">
<origin rpy="0 -1.57079632679 -1.57079632679" xyz="0.032 -0.020245 0.0288"/>
<parent link="left_hand"/>
<child link="left_hand_range"/>
</joint>
<joint name="left_hand_accelerometer" type="fixed">
<origin rpy="0 0 0" xyz="0.00198 0.000133 -0.0146"/>
<parent link="left_hand"/>
<child link="left_hand_accelerometer"/>
</joint>
<joint name="left_gripper_base" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="left_hand"/>
<child link="left_gripper_base"/>
</joint>
<joint name="left_endpoint" type="fixed">
<origin rpy="0 0 0" xyz="0.0 0 0.025"/>
<parent link="left_gripper_base"/>
<child link="left_gripper"/>
</joint>
<!-- Transmissions -->
<!-- Right Arm -->
<transmission name="right_tran1">
<type>transmission_interface/SimpleTransmission</type>
<joint name="right_s0">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="right_motor1">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="right_tran2">
<type>transmission_interface/SimpleTransmission</type>
<joint name="right_s1">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="right_motor2">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="right_tran3">
<type>transmission_interface/SimpleTransmission</type>
<joint name="right_e0">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="right_motor3">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="right_tran4">
<type>transmission_interface/SimpleTransmission</type>
<joint name="right_e1">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="right_motor4">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="right_tran5">
<type>transmission_interface/SimpleTransmission</type>
<joint name="right_w0">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="right_motor5">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="right_tran6">
<type>transmission_interface/SimpleTransmission</type>
<joint name="right_w1">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="right_motor6">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="right_tran7">
<type>transmission_interface/SimpleTransmission</type>
<joint name="right_w2">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="right_motor7">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- Left Arm -->
<transmission name="left_tran1">
<type>transmission_interface/SimpleTransmission</type>
<joint name="left_s0">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="left_motor1">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="left_tran2">
<type>transmission_interface/SimpleTransmission</type>
<joint name="left_s1">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="left_motor2">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="left_tran3">
<type>transmission_interface/SimpleTransmission</type>
<joint name="left_e0">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="left_motor3">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="left_tran4">
<type>transmission_interface/SimpleTransmission</type>
<joint name="left_e1">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="left_motor4">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="left_tran5">
<type>transmission_interface/SimpleTransmission</type>
<joint name="left_w0">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="left_motor5">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="left_tran6">
<type>transmission_interface/SimpleTransmission</type>
<joint name="left_w1">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="left_motor6">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="left_tran7">
<type>transmission_interface/SimpleTransmission</type>
<joint name="left_w2">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="left_motor7">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- Head -->
<transmission name="head1">
<type>transmission_interface/SimpleTransmission</type>
<joint name="head_pan">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="head_motor1">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- ros_control plugin -->
<gazebo>
<plugin name="baxter_ros_control" filename="libbaxter_gazebo_ros_control.so">
<robotNamespace>/robot</robotNamespace>
</plugin>
</gazebo>
<!-- Gazebo-Specific Link Properties -->
<gazebo reference="torso">
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="head_pan">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo reference="right_s0">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo reference="right_s1">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo reference="right_e0">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo reference="right_e1">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo reference="right_w0">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo reference="right_w1">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo reference="right_w2">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo reference="left_s0">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo reference="left_s1">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo reference="left_e0">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo reference="left_e1">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo reference="left_w0">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo reference="left_w1">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo reference="left_w2">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo reference="head_camera">
<sensor name="head_camera" type="camera">
<update_rate>30.0</update_rate>
<camera name="head_camera">
<pose>0.0 0.21 0.0 0.0 -0.8 -1.570796327 </pose>
<horizontal_fov>1.3962634</horizontal_fov>
<image>
<width>800</width>
<height>800</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.02</near>
<far>300</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<plugin filename="libgazebo_ros_camera.so" name="camera_controller">
<alwaysOn>true</alwaysOn>
<updateRate>0.0</updateRate>
<cameraName>head_camera</cameraName>
<imageTopicName>image</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<frameName>head_camera</frameName>
<hackBaseline>0.07</hackBaseline>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
<robotNamespace>/cameras</robotNamespace>
</plugin>
</sensor>
</gazebo>
<gazebo reference="right_hand_camera">
<sensor name="right_hand_camera" type="camera">
<update_rate>30.0</update_rate>
<camera name="right_hand_camera">
<pose>0.0 0.0 0.0 0.0 -1.570796327 1.570796327 </pose>
<horizontal_fov>1.3962634</horizontal_fov>
<image>
<width>800</width>
<height>800</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.02</near>
<far>300</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<plugin filename="libgazebo_ros_camera.so" name="camera_controller">
<alwaysOn>true</alwaysOn>
<updateRate>0.0</updateRate>
<cameraName>right_hand_camera</cameraName>
<imageTopicName>image</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<frameName>right_hand_camera</frameName>
<hackBaseline>0.07</hackBaseline>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
<robotNamespace>/cameras</robotNamespace>
</plugin>
</sensor>
</gazebo>
<gazebo reference="left_hand_camera">
<sensor name="left_hand_camera" type="camera">
<update_rate>30.0</update_rate>
<camera name="left_hand_camera">
<pose>0.0 0.0 0.0 0.0 -1.570796327 1.570796327 </pose>
<horizontal_fov>1.3962634</horizontal_fov>
<image>
<width>800</width>
<height>800</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.02</near>
<far>300</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<plugin filename="libgazebo_ros_camera.so" name="camera_controller">
<alwaysOn>true</alwaysOn>
<updateRate>0.0</updateRate>
<cameraName>left_hand_camera</cameraName>
<imageTopicName>image</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<frameName>left_hand_camera</frameName>
<hackBaseline>0.07</hackBaseline>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
<robotNamespace>/cameras</robotNamespace>
</plugin>
</sensor>
</gazebo>
<gazebo reference="display">
<visual>
<plugin name="screen_video_controller" filename="libgazebo_ros_video.so">
<height>600</height>
<width>1024</width>
<topicName>/robot/xdisplay</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="sonar_ring">
<sensor name="sonar" type="ray">
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<ray>
<scan>
<horizontal>
<samples>12</samples>
<resolution>1.0</resolution>
<min_angle>-3.14</min_angle>
<max_angle>3.14</max_angle>
</horizontal>
<vertical>
<samples>2</samples>
<resolution>1.0</resolution>
<min_angle>-0.001</min_angle>
<max_angle>0</max_angle>
</vertical>
</scan>
<range>
<min>0.05</min>
<max>50.0</max>
</range>
</ray>
<plugin name="sonar_plugin" filename="libgazebo_ros_block_laser.so">
<gaussianNoise>0.00</gaussianNoise>
<alwaysOn>true</alwaysOn>
<updateRate>100.0</updateRate>
<topicName>/robot/sonar/head_sonar/state</topicName>
<frameName>sonar_ring</frameName>
</plugin>
<always_on>true</always_on>
<update_rate>100.0</update_rate>
</sensor>
</gazebo>
<gazebo reference="right_hand_range">
<sensor name="ir_right" type="ray">
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<ray>
<scan>
<horizontal>
<samples>1</samples>
<resolution>1.0</resolution>
<min_angle>-0.5</min_angle>
<max_angle>0.5</max_angle>
</horizontal>
</scan>
<range>
<min>0.004</min>
<max>0.4</max>
</range>
</ray>
<plugin name="plugin_3" filename="libgazebo_ros_laser.so">
<gaussianNoise>0.005</gaussianNoise>
<alwaysOn>true</alwaysOn>
<updateRate>100</updateRate>
<topicName>/sim/laserscan/right_hand_range/state</topicName>
<frameName>right_hand_range</frameName>
</plugin>
<always_on>true</always_on>
<update_rate>100.0</update_rate>
</sensor>
</gazebo>
<gazebo reference="left_hand_range">
<sensor name="ir_left" type="ray">
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<ray>
<scan>
<horizontal>
<samples>1</samples>
<resolution>1.0</resolution>
<min_angle>-0.5</min_angle>
<max_angle>0.5</max_angle>
</horizontal>
</scan>
<range>
<min>0.004</min>
<max>0.4</max>
</range>
</ray>
<plugin name="plugin_4" filename="libgazebo_ros_laser.so">
<gaussianNoise>0.005</gaussianNoise>
<alwaysOn>true</alwaysOn>
<updateRate>100</updateRate>
<topicName>/sim/laserscan/left_hand_range/state</topicName>
<frameName>left_hand_range</frameName>
</plugin>
<always_on>true</always_on>
<update_rate>100.0</update_rate>
</sensor>
</gazebo>
</robot>
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