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<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from stretch_gazebo.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="stretch">
<link name="base_link">
<inertial>
<origin rpy="0 0 0" xyz="-0.109461304328163 -0.000741018909047708 0.0914915269429946"/>
<mass value="1.0723782659782"/>
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</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stretch_description/meshes/base_link.STL"/>
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<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stretch_description/meshes/base_link.STL"/>
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</collision>
</link>
<link name="link_right_wheel">
<inertial>
<origin rpy="0 0 0" xyz="1.25554620866719E-07 3.54748938447003E-07 0.0239581106165018"/>
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<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stretch_description/meshes/link_right_wheel.STL"/>
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<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stretch_description/meshes/link_right_wheel.STL"/>
</geometry>
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</link>
<joint name="joint_right_wheel" type="continuous">
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<parent link="base_link"/>
<child link="link_right_wheel"/>
<axis xyz="0 0 1"/>
<dynamics damping="21.75" friction="10.48" spring_reference="0" spring_stiffness="{joint_spring_stiffness}"/>
</joint>
<link name="link_left_wheel">
<inertial>
<origin rpy="0 0 0" xyz="1.2555462092223E-07 -3.54748938502514E-07 -0.0239581106165035"/>
<mass value="0.01"/>
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<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stretch_description/meshes/link_left_wheel.STL"/>
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<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stretch_description/meshes/link_left_wheel.STL"/>
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</link>
<joint name="joint_left_wheel" type="continuous">
<origin rpy="-1.5707963267949 3.16227047920818E-31 7.88745438253713E-16" xyz="-0.00300000000001899 0.15765 0.0507999999999994"/>
<parent link="base_link"/>
<child link="link_left_wheel"/>
<axis xyz="0 0 1"/>
<dynamics damping="21.75" friction="10.48" spring_reference="0" spring_stiffness="{joint_spring_stiffness}"/>
</joint>
<link name="caster_link">
<collision>
<geometry>
<sphere radius="0.032"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
<surface>
<friction>
<ode>
<mu>0</mu>
<mu2>0</mu2>
<slip1>1.0</slip1>
<slip2>1.0</slip2>
</ode>
</friction>
</surface>
</collision>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stretch_description/meshes/omni_wheel_m.STL"/>
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<material name="">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
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<inertial>
<mass value="0.01"/>
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<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
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</link>
<joint name="caster_joint" type="fixed">
<parent link="base_link"/>
<child link="caster_link"/>
<origin rpy="-1.5707963267948966 0 0" xyz="-0.245 0.0 0.032"/>
<axis xyz="0 0 1"/>
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<link name="link_mast">
<inertial>
<origin rpy="0 0 0" xyz="0.00755818572975822 0.773971284176834 0.00647313086620024"/>
<mass value="0.749143203376401"/>
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</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stretch_description/meshes/link_mast.STL"/>
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<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stretch_description/meshes/link_mast.STL"/>
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</link>
<joint name="joint_mast" type="fixed">
<origin rpy="1.5707963267949 0 0.00925318926571245" xyz="-0.07 0.134999999999998 0.0284000000000001"/>
<parent link="base_link"/>
<child link="link_mast"/>
<axis xyz="0 0 0"/>
</joint>
<link name="link_lift">
<inertial>
<origin rpy="0 0 0" xyz="-0.0547636346252869 0.0380939689802074 0.00933159404448308"/>
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</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stretch_description/meshes/link_lift.STL"/>
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<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stretch_description/meshes/link_lift.STL"/>
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</collision>
</link>
<joint name="joint_lift" type="prismatic">
<origin rpy="-1.57079632679552 1.5615431375292 -6.2942004366467E-13" xyz="-0.0369217062323472 0.165471199999996 -0.000341653286793524"/>
<parent link="link_mast"/>
<child link="link_lift"/>
<axis xyz="0 0 1"/>
<!-- for now: hand copied range_m: from lift: from ~/repos/stretch_fleet/stretch-re1-1001/stretch_re1_factory_params.yaml -->
<!--<limit effort="100" lower="0.0" upper="1.095" velocity="1.0"/>-->
<!-- copied value did not reach the top of mesh model with GUI sliders and RViz -->
<limit effort="100" lower="0.0" upper="1.1" velocity="1.0"/>
</joint>
<link name="link_arm_l4">
<inertial>
<origin rpy="0 0 0" xyz="-1.61247276464493E-06 1.54715589201215E-06 -0.0953252706040035"/>
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</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stretch_description/meshes/link_arm_l4.STL"/>
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<material name="">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
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</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stretch_description/meshes/link_arm_l4.STL"/>
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</collision>
</link>
<joint name="joint_arm_l4" type="fixed">
<origin rpy="1.5708 -3.1019E-16 -1.5708" xyz="-0.25471 0 0"/>
<parent link="link_lift"/>
<child link="link_arm_l4"/>
<axis xyz="0 0 0"/>
</joint>
<link name="link_arm_l3">
<inertial>
<origin rpy="0 0 0" xyz="-3.34873468621488E-07 4.7411336306924E-07 -0.0974069598289041"/>
<mass value="0.0626921047058405"/>
<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stretch_description/meshes/link_arm_l3.STL"/>
</geometry>
<material name="">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
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</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stretch_description/meshes/link_arm_l3.STL"/>
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</collision>
</link>
<joint name="joint_arm_l3" type="prismatic">
<origin rpy="3.5742E-16 3.2123E-16 -2.4565E-16" xyz="0 0 0.013"/>
<parent link="link_arm_l4"/>
<child link="link_arm_l3"/>
<axis xyz="0 0 1"/>
<!-- 0.13 = 0.52/4-->
<limit effort="100" lower="0.0" upper="0.13" velocity="1.0"/>
</joint>
<link name="link_arm_l2">
<inertial>
<origin rpy="0 0 0" xyz="-3.31043560508615E-07 3.13422303999111E-07 -0.097255883541891"/>
<mass value="0.0569074368576238"/>
<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stretch_description/meshes/link_arm_l2.STL"/>
</geometry>
<material name="">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
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</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stretch_description/meshes/link_arm_l2.STL"/>
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</collision>
</link>
<joint name="joint_arm_l2" type="prismatic">
<origin rpy="2.91385731014123E-16 4.44300759504684E-17 3.25691080516352E-16" xyz="0 0 0.013"/>
<parent link="link_arm_l3"/>
<child link="link_arm_l2"/>
<axis xyz="0 0 1"/>
<!-- 0.13 = 0.52/4-->
<limit effort="100" lower="0.0" upper="0.13" velocity="1.0"/>
</joint>
<link name="link_arm_l1">
<inertial>
<origin rpy="0 0 0" xyz="-3.36876635420591E-07 3.05876091066803E-07 -0.0969117032232756"/>
<mass value="0.0511763619538321"/>
<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
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<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stretch_description/meshes/link_arm_l1.STL"/>
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<material name="">
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<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stretch_description/meshes/link_arm_l1.STL"/>
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</link>
<joint name="joint_arm_l1" type="prismatic">
<origin rpy="7.41596560408007E-17 1.33876788296791E-16 -2.44545873596083E-16" xyz="0 0 0.013"/>
<parent link="link_arm_l2"/>
<child link="link_arm_l1"/>
<axis xyz="0 0 1"/>
<!-- 0.13 = 0.52/4-->
<limit effort="100" lower="0.0" upper="0.13" velocity="1.0"/>
</joint>
<link name="link_arm_l0">
<inertial>
<origin rpy="0 0 0" xyz="0.0230715049668191 -0.00195115833662818 -0.0360646347160285"/>
<mass value="0.101241250325294"/>
<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
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<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stretch_description/meshes/link_arm_l0.STL"/>
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<material name="">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
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<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stretch_description/meshes/link_arm_l0.STL"/>
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</collision>
</link>
<joint name="joint_arm_l0" type="prismatic">
<origin rpy="-3.05317390622457E-16 -4.23236224076729E-16 -2.68425135229209E-17" xyz="0 0 -0.0137499999999938"/>
<parent link="link_arm_l1"/>
<child link="link_arm_l0"/>
<axis xyz="0 0 1"/>
<!-- 0.13 = 0.52/4-->
<limit effort="100" lower="0.0" upper="0.13" velocity="1.0"/>
</joint>
<link name="link_wrist_yaw">
<inertial>
<origin rpy="0 0 0" xyz="-8.02795716750571E-06 1.93811447768422E-05 0.018946700595851"/>
<mass value="0.0405398981326229"/>
<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stretch_description/meshes/link_wrist_yaw.STL"/>
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<material name="">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
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</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stretch_description/meshes/link_wrist_yaw.STL"/>
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</collision>
</link>
<joint name="joint_wrist_yaw" type="revolute">
<origin rpy="1.5708 4.2595E-14 2.6415E-15" xyz="0.083 -0.03075 0"/>
<parent link="link_arm_l0"/>
<child link="link_wrist_yaw"/>
<axis xyz="0 0 -1"/>
<!--
stowed to front ~225 deg: 3.15159 x 1.25 = 3.9395
using 4.0
stowed to back ~100 deg: 100 / 180 x 3.14159 = 1.7453
using -1.75
-->
<limit effort="100" lower="-1.75" upper="4.0" velocity="1.0"/>
</joint>
<link name="link_head">
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<visual>
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<geometry>
<mesh filename="package://stretch_description/meshes/link_head.STL"/>
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<material name="">
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<collision>
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<geometry>
<mesh filename="package://stretch_description/meshes/link_head.STL"/>
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</link>
<joint name="joint_head" type="fixed">
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<parent link="link_mast"/>
<child link="link_head"/>
<axis xyz="0 0 0"/>
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<link name="link_head_pan">
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<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stretch_description/meshes/link_head_pan.STL"/>
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<material name="">
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<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stretch_description/meshes/link_head_pan.STL"/>
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</link>
<joint name="joint_head_pan" type="revolute">
<origin rpy="-6.4986E-15 -6.068E-24 1.5708" xyz="0.135 0.0731 -0.003"/>
<parent link="link_head"/>
<child link="link_head_pan"/>
<axis xyz="0 0 1"/>
<!-- unconstrained range for now -->
<limit effort="100" lower="-3.9" upper="1.5" velocity="1.0"/>
</joint>
<link name="link_head_tilt">
<inertial>
<origin rpy="0 0 0" xyz="0.00920211049011871 -0.0279724762416447 0.0306580436227023"/>
<mass value="0.0701242408063442"/>
<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stretch_description/meshes/link_head_tilt.STL"/>
</geometry>
<material name="">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
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</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stretch_description/meshes/link_head_tilt.STL"/>
</geometry>
</collision>
</link>
<joint name="joint_head_tilt" type="revolute">
<origin rpy="1.5708 6.068E-24 -2.5165E-15" xyz="-0.0013 0.027507 -0.053311"/>
<parent link="link_head_pan"/>
<child link="link_head_tilt"/>
<axis xyz="0 0 1"/>
<!-- unconstrained range for now -->
<limit effort="100" lower="-1.53" upper="0.79" velocity="1.0"/>
</joint>
<link name="link_aruco_right_base">
<inertial>
<origin rpy="0 0 0" xyz="0 0 -5.00000000014378E-07"/>
<mass value="3.59999999990368E-06"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stretch_description/meshes/link_aruco_right_base.STL"/>
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<material name="">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
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</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stretch_description/meshes/link_aruco_right_base.STL"/>
</geometry>
</collision>
</link>
<joint name="joint_aruco_right_base" type="fixed">
<origin rpy="0 0 -1.5707963267949" xyz="-0.00500000000000014 -0.1304972 0.1597482"/>
<parent link="base_link"/>
<child link="link_aruco_right_base"/>
<axis xyz="0 0 0"/>
</joint>
<link name="link_aruco_left_base">
<inertial>
<origin rpy="0 0 0" xyz="0 0 -5.00000000014378E-07"/>
<mass value="3.59999999990368E-06"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stretch_description/meshes/link_aruco_left_base.STL"/>
</geometry>
<material name="">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
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</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stretch_description/meshes/link_aruco_left_base.STL"/>
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</collision>
</link>
<joint name="joint_aruco_left_base" type="fixed">
<origin rpy="0 0 -1.5707963267949" xyz="-0.00500000000000014 0.1304972 0.1597482"/>
<parent link="base_link"/>
<child link="link_aruco_left_base"/>
<axis xyz="0 0 0"/>
</joint>
<link name="link_aruco_shoulder">
<inertial>
<origin rpy="0 0 0" xyz="-2.77555756156289E-17 2.56739074444567E-16 -0.000125000000000042"/>
<mass value="0"/>
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<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stretch_description/meshes/link_aruco_shoulder.STL"/>
</geometry>
<material name="">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
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</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stretch_description/meshes/link_aruco_shoulder.STL"/>
</geometry>
</collision>
</link>
<joint name="joint_aruco_shoulder" type="fixed">
<origin rpy="-1.53998860117704E-29 3.55962409571165E-15 0.0" xyz="-0.0133768876375287 0.0558540528812078 0.0861368272417975"/>
<parent link="link_lift"/>
<child link="link_aruco_shoulder"/>
<axis xyz="0 0 0"/>
</joint>
<link name="link_aruco_top_wrist">
<inertial>
<origin rpy="0 0 0" xyz="1.11022302462516E-16 3.05311331771918E-16 -0.00012499999999821"/>
<mass value="0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stretch_description/meshes/link_aruco_top_wrist.STL"/>
</geometry>
<material name="">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stretch_description/meshes/link_aruco_top_wrist.STL"/>
</geometry>
</collision>
</link>
<joint name="joint_aruco_top_wrist" type="fixed">
<origin rpy="1.5707963267949 -8.03728587323464E-15 3.14159265358979" xyz="0.0472500000000019 0.0292850000000015 0"/>
<parent link="link_arm_l0"/>
<child link="link_aruco_top_wrist"/>
<axis xyz="0 0 0"/>
</joint>
<link name="link_aruco_inner_wrist">
<inertial>
<origin rpy="0 0 0" xyz="8.32667268468867E-17 1.77635683940025E-15 -0.000125000000000264"/>
<mass value="0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stretch_description/meshes/link_aruco_inner_wrist.STL"/>
</geometry>
<material name="">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stretch_description/meshes/link_aruco_inner_wrist.STL"/>
</geometry>
</collision>
</link>
<joint name="joint_aruco_inner_wrist" type="fixed">
<origin rpy="3.14159265358979 4.23377442363088E-14 3.14159265358979" xyz="0.0472499999999947 -0.0119000000000034 -0.0272499999991938"/>
<parent link="link_arm_l0"/>
<child link="link_aruco_inner_wrist"/>
<axis xyz="0 0 0"/>
</joint>
<material name="aluminum">
<color rgba="0.5 0.5 0.5 1"/>
</material>
<material name="plastic">
<color rgba="0.1 0.1 0.1 1"/>
</material>
<!-- camera body, with origin at bottom screw mount -->
<joint name="camera_joint" type="fixed">
<origin rpy="0.0 0.0 0.0" xyz="0.03 -0.0122 0.0182"/>
<parent link="link_head_tilt"/>
<child link="camera_bottom_screw_frame"/>
</joint>
<link name="camera_bottom_screw_frame"/>
<joint name="camera_link_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.010600000000000002 0.0175 0.0125"/>
<parent link="camera_bottom_screw_frame"/>
<child link="camera_link"/>
</joint>
<link name="camera_link">
<visual>
<!-- the mesh origin is at front plate in between the two infrared camera axes -->
<origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.0043 -0.0175 0"/>
<geometry>
<mesh filename="package://realsense2_description/meshes/d435.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 -0.0175 0"/>
<geometry>
<box size="0.02505 0.09 0.025"/>
</geometry>
</collision>
<inertial>
<!-- The following are not reliable values, and should not be used for modeling -->
<mass value="0.072"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
</inertial>
</link>
<!-- camera depth joints and links -->
<joint name="camera_depth_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="camera_link"/>
<child link="camera_depth_frame"/>
</joint>
<link name="camera_depth_frame"/>
<joint name="camera_depth_optical_joint" type="fixed">
<origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
<parent link="camera_depth_frame"/>
<child link="camera_depth_optical_frame"/>
</joint>
<link name="camera_depth_optical_frame"/>
<!-- camera left IR joints and links -->
<joint name="camera_infra1_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0.0 0"/>
<parent link="camera_link"/>
<child link="camera_infra1_frame"/>
</joint>
<link name="camera_infra1_frame"/>
<joint name="camera_infra1_optical_joint" type="fixed">
<origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
<parent link="camera_infra1_frame"/>
<child link="camera_infra1_optical_frame"/>
</joint>
<link name="camera_infra1_optical_frame"/>
<!-- camera right IR joints and links -->
<joint name="camera_infra2_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 -0.05 0"/>
<parent link="camera_link"/>
<child link="camera_infra2_frame"/>
</joint>
<link name="camera_infra2_frame"/>
<joint name="camera_infra2_optical_joint" type="fixed">
<origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
<parent link="camera_infra2_frame"/>
<child link="camera_infra2_optical_frame"/>
</joint>
<link name="camera_infra2_optical_frame"/>
<!-- camera color joints and links -->
<joint name="camera_color_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0.015 0"/>
<parent link="camera_link"/>
<child link="camera_color_frame"/>
</joint>
<link name="camera_color_frame"/>
<joint name="camera_color_optical_joint" type="fixed">
<origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
<parent link="camera_color_frame"/>
<child link="camera_color_optical_frame"/>
</joint>
<link name="camera_color_optical_frame"/>
<link name="camera_accel_frame"/>
<link name="camera_accel_optical_frame"/>
<link name="camera_gyro_frame"/>
<link name="camera_gyro_optical_frame"/>
<joint name="camera_accel_joint" type="fixed">
<origin rpy="0 0 0" xyz="-0.01174 -0.00552 0.0051"/>
<parent link="camera_link"/>
<child link="camera_accel_frame"/>
</joint>
<joint name="camera_accel_optical_joint" type="fixed">
<origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
<parent link="camera_accel_frame"/>
<child link="camera_accel_optical_frame"/>
</joint>
<joint name="camera_gyro_joint" type="fixed">
<origin rpy="0 0 0" xyz="-0.01174 -0.00552 0.0051"/>
<parent link="camera_link"/>
<child link="camera_gyro_frame"/>
</joint>
<joint name="camera_gyro_optical_joint" type="fixed">
<origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
<parent link="camera_gyro_frame"/>
<child link="camera_gyro_optical_frame"/>
</joint>
<link name="laser">
<inertial>
<origin rpy="0 0 0" xyz="0 0 -0.000755956127492408"/>
<mass value="0.0749979022894495"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stretch_description/meshes/laser.STL"/>
</geometry>
<material name="">
<color rgba="0.250980392156863 0.250980392156863 0.250980392156863 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stretch_description/meshes/laser.STL"/>
</geometry>
</collision>
</link>
<joint name="joint_laser" type="fixed">
<origin rpy="0 0 -3.14159265358979" xyz="0.000502800000000914 0 0.1664"/>
<parent link="base_link"/>
<child link="laser"/>
<axis xyz="0 0 0"/>
</joint>
<link name="respeaker_base">
<inertial>
<origin rpy="0 0 0" xyz="-0.00078082896792734 0.00765742173486017 -0.0042488298301937"/>
<mass value="0.00969129410417277"/>
<inertia ixx="8.95656300428405E-07" ixy="2.67330745809535E-08" ixz="-3.84519793580934E-08" iyy="4.0421099617056E-07" iyz="3.15533542838673E-07" izz="7.08282597118018E-07"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stretch_description/meshes/link_respeaker.STL"/>
</geometry>
<material name="">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stretch_description/meshes/link_respeaker.STL"/>
</geometry>
</collision>
</link>
<joint name="joint_respeaker" type="fixed">
<!-- rpy=" ? rotate_sound_source_direction ? " -->
<origin rpy="1.57079632679553 0.0 3.14159265358916" xyz="1.09074743137871E-05 1.36992 0.00303572796911382"/>
<parent link="link_mast"/>
<child link="respeaker_base"/>
<axis xyz="0 0 0"/>
</joint>
<link name="link_gripper">
<inertial>
<origin rpy="0 0 0" xyz="-0.0170229132730066 0.0131410320934285 -0.0371614759484659"/>
<mass value="0.101902711393094"/>
<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stretch_description/meshes/link_gripper.STL"/>
</geometry>
<material name="">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stretch_description/meshes/link_gripper.STL"/>
</geometry>
</collision>
</link>
<!-- rpy="3.1416 0 1.5708" -->
<!-- rpy="0.0 0 1.5708" -->
<joint name="joint_gripper" type="fixed">
<origin rpy="3.14159 0 -1.5708" xyz="0 0 0"/>
<parent link="link_wrist_yaw"/>
<child link="link_gripper"/>
<axis xyz="0 0 0"/>
</joint>
<link name="link_gripper_finger_left">
<inertial>
<origin rpy="0 0 0" xyz="0.0945047483510102 0.0124301080924361 -4.44089209850063E-16"/>
<mass value="0.0476207785199474"/>
<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stretch_description/meshes/link_gripper_finger_left.STL" scale="0.9 1.0 1.0"/>
</geometry>
<material name="">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stretch_description/meshes/link_gripper_finger_left.STL" scale="0.9 1.0 1.0"/>
</geometry>
</collision>
</link>
<joint name="joint_gripper_finger_left" type="revolute">
<origin rpy="2.1762E-15 0.5236 3.1416" xyz="-0.047231 -0.010151 -0.04679"/>
<parent link="link_gripper"/>
<child link="link_gripper_finger_left"/>
<axis xyz="0 0 1"/>
<limit effort="100" lower="-0.6" upper="0.6" velocity="1.0"/>
</joint>
<link name="link_gripper_fingertip_left">
<inertial>
<origin rpy="0 0 0" xyz="-3.16381381648689E-08 -2.91408530639359E-09 0.00812579670381812"/>
<mass value="0.00382159917455729"/>
<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stretch_description/meshes/link_gripper_fingertip_left.STL"/>
</geometry>
<material name="">
<color rgba="0.250980392156863 0.250980392156863 0.250980392156863 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stretch_description/meshes/link_gripper_fingertip_left.STL"/>
</geometry>
</collision>
</link>
<joint name="joint_gripper_fingertip_left" type="fixed">
<origin rpy="-1.5708 -4.774E-15 -2.5545" xyz="0.171099 0.014912 0"/>
<parent link="link_gripper_finger_left"/>
<child link="link_gripper_fingertip_left"/>
<axis xyz="0 0 0"/>
</joint>
<link name="link_gripper_finger_right">
<inertial>
<origin rpy="0 0 0" xyz="-0.0945047483510099 -0.0124301080924345 0"/>
<mass value="0.0476207785199481"/>
<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stretch_description/meshes/link_gripper_finger_right.STL" scale="0.9 1.0 1.0"/>
</geometry>
<material name="">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stretch_description/meshes/link_gripper_finger_right.STL" scale="0.9 1.0 1.0"/>
</geometry>
</collision>
</link>
<joint name="joint_gripper_finger_right" type="revolute">
<origin rpy="3.1416 -0.5236 1.2943E-15" xyz="-0.047231 0.010049 -0.04679"/>
<parent link="link_gripper"/>
<child link="link_gripper_finger_right"/>
<axis xyz="0 0 1"/>
<limit effort="100" lower="-0.6" upper="0.6" velocity="1.0"/>
</joint>
<link name="link_gripper_fingertip_right">
<inertial>
<origin rpy="0 0 0" xyz="2.59386303963494E-08 6.70949018566347E-09 0.00812579516130402"/>
<mass value="0.00382160037319545"/>
<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stretch_description/meshes/link_gripper_fingertip_right.STL"/>
</geometry>
<material name="">
<color rgba="0.250980392156863 0.250980392156863 0.250980392156863 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stretch_description/meshes/link_gripper_fingertip_right.STL"/>
</geometry>
</collision>
</link>
<joint name="joint_gripper_fingertip_right" type="fixed">
<origin rpy="-1.5708 -2.0539E-15 0.58705" xyz="-0.171099 -0.014912 0"/>
<parent link="link_gripper_finger_right"/>
<child link="link_gripper_fingertip_right"/>
<axis xyz="0 0 0"/>
</joint>
<link name="link_grasp_center">
</link>
<joint name="joint_grasp_center" type="fixed">
<origin rpy="0 0 3.141579" xyz="-0.205478 0 -0.138154"/>
<parent link="link_gripper"/>
<child link="link_grasp_center"/>
</joint>
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<robotNamespace>/</robotNamespace>
</plugin>
</gazebo>
<!-- Base and Drive -->
<gazebo reference="base_link">
<material>Gazebo/Gray</material>
</gazebo>
<gazebo reference="link_right_wheel">
<mu1 value="100.0"/>
<mu2 value="200.0"/>
<kp value="10000000.0"/>
<kd value="100.0"/>
<material>Gazebo/Blue</material>
<minDepth>0.001</minDepth>
</gazebo>
<gazebo reference="link_left_wheel">
<mu1 value="100.0"/>
<mu2 value="200.0"/>
<kp value="10000000.0"/>
<kd value="100.0"/>
<material>Gazebo/Blue</material>
<minDepth>0.001</minDepth>
</gazebo>
<gazebo reference="caster_link">
<turnGravityOff>false</turnGravityOff>
<minDepth>0.001</minDepth>
<material>Gazebo/Blue</material>
<mu1>0.0</mu1>
<mu2>0.0</mu2>
</gazebo>
<transmission name="right_wheel_trans" type="SimpleTransmission">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="right_wheel_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="joint_right_wheel">
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
</joint>
</transmission>
<transmission name="left_wheel_trans" type="SimpleTransmission">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="left_wheel_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="joint_left_wheel">
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
</joint>
</transmission>
<!-- Sensors -->
<!-- Realsense D435i -->
<gazebo reference="camera_color_frame">
<sensor name="color" type="camera">
<pose frame="">0 0 0 0 0 0</pose>
<camera name="__default__">
<horizontal_fov>1.5009831567151233</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>RGB_INT8</format>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>0</visualize>
</sensor>
</gazebo>
<gazebo reference="camera_infra1_frame">
<sensor name="ired1" type="camera">
<pose frame="">0 0 0 0 0 0</pose>
<camera name="__default__">
<horizontal_fov>1.5009831567151233</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>L_INT8</format>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>0</visualize>
</sensor>
</gazebo>
<gazebo reference="camera_infra2_frame">
<sensor name="ired2" type="camera">
<pose frame="">0 0 0 0 0 0</pose>
<camera name="__default__">
<horizontal_fov>1.5009831567151233</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>L_INT8</format>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>0</visualize>
</sensor>
</gazebo>
<gazebo reference="camera_depth_frame">
<sensor name="depth" type="depth">
<pose frame="">0 0 0 0 0 0</pose>
<camera name="__default__">
<horizontal_fov>1.5009831567151233</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>0</visualize>
</sensor>
</gazebo>
<gazebo>
<plugin filename="librealsense_gazebo_plugin.so" name="camera">
<depthUpdateRate>30</depthUpdateRate>
<colorUpdateRate>30</colorUpdateRate>
<infraredUpdateRate>30</infraredUpdateRate>
<depthTopicName>depth/image_raw</depthTopicName>
<depthCameraInfoTopicName>depth/camera_info</depthCameraInfoTopicName>
<colorTopicName>color/image_raw</colorTopicName>
<colorCameraInfoTopicName>color/camera_info</colorCameraInfoTopicName>
<infrared1TopicName>infrared/image_raw</infrared1TopicName>
<infrared1CameraInfoTopicName>infrared/camera_info</infrared1CameraInfoTopicName>
<infrared2TopicName>infrared2/image_raw</infrared2TopicName>
<infrared2CameraInfoTopicName>infrared2/camera_info</infrared2CameraInfoTopicName>
<colorOpticalframeName>camera_color_optical_frame</colorOpticalframeName>
<depthOpticalframeName>camera_depth_optical_frame</depthOpticalframeName>
<infrared1OpticalframeName>camera_left_ir_optical_frame</infrared1OpticalframeName>
<infrared2OpticalframeName>camera_right_ir_optical_frame</infrared2OpticalframeName>
<rangeMinDepth>0.1</rangeMinDepth>
<rangeMaxDepth>10</rangeMaxDepth>
<pointCloud>1</pointCloud>
<pointCloudTopicName>depth/color/points</pointCloudTopicName>
<pointCloudCutoff>0.15</pointCloudCutoff>
<pointCloudCutoffMax>10</pointCloudCutoffMax>
</plugin>
</gazebo>
<gazebo reference="camera_gyro_frame">
<gravity>true</gravity>
<sensor name="imu_sensor" type="imu">
<always_on>true</always_on>
<visualize>false</visualize>
<plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
<topicName>camera/imu/data</topicName>
<bodyName>camera_gyro_frame</bodyName>
<updateRateHZ>50.0</updateRateHZ>
<gaussianNoise>0.001</gaussianNoise>
<xyzOffset>0 0 0</xyzOffset>
<rpyOffset>0 0 0</rpyOffset>
<frameName>camera_gyro_frame</frameName>
<initialOrientationAsReference>false</initialOrientationAsReference>
</plugin>
<pose>0 0 0 0 0 0</pose>
</sensor>
</gazebo>
<!-- Aruco -->
<gazebo reference="link_aruco_right_base">
<material>Gazebo/Black</material>
</gazebo>
<gazebo reference="link_aruco_left_base">
<material>Gazebo/Black</material>
</gazebo>
<gazebo reference="link_aruco_shoulder">
<material>Gazebo/Black</material>
</gazebo>
<gazebo reference="link_aruco_top_wrist">
<material>Gazebo/Black</material>
</gazebo>
<gazebo reference="link_aruco_inner_wrist">
<material>Gazebo/Black</material>
</gazebo>
<!-- Respeaker -->
<gazebo reference="respeaker_base">
<material>Gazebo/Green</material>
</gazebo>
<gazebo reference="laser">
<material>Gazebo/Black</material>
<sensor name="laser_sensor" type="ray">
<pose>0 0 0 0 0 0</pose>
<visualize>false</visualize>
<update_rate>5.5</update_rate>
<ray>
<scan>
<horizontal>
<samples>2000</samples>
<resolution>1</resolution>
<min_angle>-0.9</min_angle>
<max_angle>5.0</max_angle>
</horizontal>
</scan>
<range>
<min>0.15</min>
<max>12.0</max>
<resolution>0.01</resolution>
</range>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.001</stddev>
</noise>
</ray>
<plugin filename="libgazebo_ros_laser.so" name="gazebo_ros_lidar_controller">
<topicName>scan</topicName>
<frameName>laser</frameName>
</plugin>
</sensor>
</gazebo>
<!-- Base IMU -->
<gazebo reference="base_link">
<gravity>true</gravity>
<sensor name="base_imu" type="imu">
<always_on>true</always_on>
<visualize>false</visualize>
<plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
<topicName>imu/data</topicName>
<bodyName>base_link</bodyName>
<updateRateHZ>25.0</updateRateHZ>
<gaussianNoise>0.001</gaussianNoise>
<xyzOffset>0 0 0</xyzOffset>
<rpyOffset>0 0 0</rpyOffset>
<frameName>base_link</frameName>
<initialOrientationAsReference>false</initialOrientationAsReference>
</plugin>
<pose>0 0 0 0 0 0</pose>
</sensor>
</gazebo>
<!-- Wrist IMU -->
<gazebo reference="link_wrist_yaw">
<gravity>true</gravity>
<sensor name="wrist_imu" type="imu">
<always_on>true</always_on>
<visualize>false</visualize>
<plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
<topicName>wrist_imu/data</topicName>
<bodyName>link_wrist_yaw</bodyName>
<updateRateHZ>25.0</updateRateHZ>
<gaussianNoise>0.001</gaussianNoise>
<xyzOffset>0 0 0</xyzOffset>
<rpyOffset>0 0 0</rpyOffset>
<frameName>link_wrist_yaw</frameName>
<initialOrientationAsReference>false</initialOrientationAsReference>
</plugin>
<pose>0 0 0 0 0 0</pose>
</sensor>
</gazebo>
<!-- Lift -->
<gazebo reference="link_lift">
<mu1 value="10000.0"/>
<mu2 value="10000.0"/>
<kp value="10000000.0"/>
<kd value="100.0"/>
<material>Gazebo/Black</material>
<minDepth>0.001</minDepth>
</gazebo>
<gazebo reference="link_mast">
<material>Gazebo/Gray</material>
</gazebo>
<transmission name="trans_lift">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="motor_lift">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="joint_lift">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
</transmission>
<!-- Arm -->
<gazebo reference="link_arm_l0">
<mu1 value="100.0"/>
<mu2 value="200.0"/>
<kp value="10000000.0"/>
<kd value="100.0"/>
<material>Gazebo/Gray</material>
<minDepth>0.001</minDepth>
</gazebo>
<gazebo reference="link_arm_l1">
<mu1 value="100.0"/>
<mu2 value="200.0"/>
<kp value="10000000.0"/>
<kd value="100.0"/>
<material>Gazebo/Gray</material>
<minDepth>0.001</minDepth>
</gazebo>
<gazebo reference="link_arm_l2">
<mu1 value="100.0"/>
<mu2 value="200.0"/>
<kp value="10000000.0"/>
<kd value="100.0"/>
<material>Gazebo/Gray</material>
<minDepth>0.001</minDepth>
</gazebo>
<gazebo reference="link_arm_l3">
<mu1 value="100.0"/>
<mu2 value="200.0"/>
<kp value="10000000.0"/>
<kd value="100.0"/>
<material>Gazebo/Gray</material>
<minDepth>0.001</minDepth>
</gazebo>
<gazebo reference="link_arm_l4">
<mu1 value="100.0"/>
<mu2 value="200.0"/>
<kp value="10000000.0"/>
<kd value="100.0"/>
<material>Gazebo/Gray</material>
<minDepth>0.001</minDepth>
</gazebo>
<transmission name="trans_arm_l0">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="motor_arm_l0">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="joint_arm_l0">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
</transmission>
<transmission name="trans_arm_l1">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="motor_arm_l1">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="joint_arm_l1">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
</transmission>
<transmission name="trans_arm_l2">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="motor_arm_l2">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="joint_arm_l2">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
</transmission>
<transmission name="trans_arm_l3">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="motor_arm_l3">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="joint_arm_l3">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
</transmission>
<!-- Wrist -->
<gazebo reference="link_wrist_yaw">
<mu1 value="100.0"/>
<mu2 value="200.0"/>
<kp value="10000000.0"/>
<kd value="100.0"/>
<material>Gazebo/Black</material>
<minDepth>0.001</minDepth>
</gazebo>
<transmission name="trans_wrist_yaw">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="motor_wrist_yaw">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="joint_wrist_yaw">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
</transmission>
<!-- Head -->
<gazebo reference="link_head">
<mu1 value="100.0"/>
<mu2 value="200.0"/>
<material>Gazebo/Gray</material>
</gazebo>
<gazebo reference="link_head_tilt">
<mu1 value="100.0"/>
<mu2 value="200.0"/>
<kp value="10000000.0"/>
<kd value="100.0"/>
<material>Gazebo/Gray</material>
<minDepth>0.001</minDepth>
</gazebo>
<gazebo reference="link_head_pan">
<mu1 value="100.0"/>
<mu2 value="200.0"/>
<kp value="10000000.0"/>
<kd value="100.0"/>
<material>Gazebo/Gray</material>
<minDepth>0.001</minDepth>
</gazebo>
<transmission name="trans_head_pan">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="motor_head_pan">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="joint_head_pan">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
</transmission>
<transmission name="trans_head_tilt">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="motor_head_tilt">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="joint_head_tilt">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
</transmission>
<!-- Gripper -->
<gazebo reference="link_gripper_finger_left">
<mu1 value="100.0"/>
<mu2 value="200.0"/>
<kp value="10000000.0"/>
<kd value="100.0"/>
<material>Gazebo/Gray</material>
<minDepth>0.001</minDepth>
</gazebo>
<gazebo reference="link_gripper_finger_right">
<mu1 value="100.0"/>
<mu2 value="200.0"/>
<kp value="10000000.0"/>
<kd value="100.0"/>
<material>Gazebo/Gray</material>
<minDepth>0.001</minDepth>
</gazebo>
<gazebo reference="link_grasp_center">
<mu1 value="100.0"/>
<mu2 value="200.0"/>
<kp value="10000000.0"/>
<kd value="100.0"/>
<material>Gazebo/Gray</material>
<minDepth>0.001</minDepth>
</gazebo>
<gazebo reference="link_gripper_fingertip_left">
<mu1 value="100.0"/>
<mu2 value="200.0"/>
<kp value="10000000.0"/>
<kd value="100.0"/>
<material>Gazebo/Black</material>
<minDepth>0.001</minDepth>
</gazebo>
<gazebo reference="link_gripper_fingertip_right">
<mu1 value="100.0"/>
<mu2 value="200.0"/>
<kp value="10000000.0"/>
<kd value="100.0"/>
<material>Gazebo/Black</material>
<minDepth>0.001</minDepth>
</gazebo>
<gazebo reference="link_gripper">
<mu1 value="100.0"/>
<mu2 value="200.0"/>
<kp value="10000000.0"/>
<kd value="100.0"/>
<material>Gazebo/Gray</material>
<minDepth>0.001</minDepth>
</gazebo>
<transmission name="trans_gripper_finger_left">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="motor_gripper_finger_left">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="joint_gripper_finger_left">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
</transmission>
<transmission name="trans_gripper_finger_right">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="motor_gripper_finger_right">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="joint_gripper_finger_right">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
</transmission>
</robot>Editor is loading...