talos_reduced_box.urdf 109 KB
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<?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>
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        <mesh filename="package://example-robot-data/robots/talos_data/meshes/torso/torso_2.STL" scale="1 1 1"/>
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      </geometry>
      <material name="LightGrey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
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        <mesh filename="package://example-robot-data/robots/talos_data/meshes/torso/torso_2_collision.STL" scale="1 1 1"/>
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      </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>
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        <mesh filename="package://example-robot-data/robots/talos_data/meshes/torso/torso_1.STL" scale="1 1 1"/>
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      </geometry>
      <material name="LightGrey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
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        <mesh filename="package://example-robot-data/robots/talos_data/meshes/torso/torso_1.STL" scale="1 1 1"/>
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      </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>
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        <mesh filename="package://example-robot-data/robots/talos_data/meshes/torso/base_link.STL" scale="1 1 1"/>
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      </geometry>
      <material name="LightGrey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
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        <mesh filename="package://example-robot-data/robots/talos_data/meshes/torso/base_link_collision.STL" scale="1 1 1"/>
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      </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>
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        <mesh filename="package://example-robot-data/robots/talos_data/meshes/head/head_1.stl" scale="1 1 1"/>
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      </geometry>
      <material name="DarkGrey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
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        <mesh filename="package://example-robot-data/robots/talos_data/meshes/head/head_1_collision.stl" scale="1 1 1"/>
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      </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>
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        <mesh filename="package://example-robot-data/robots/talos_data/meshes/head/head_2.stl" scale="1 1 1"/>
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      </geometry>
      <material name="LightGrey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
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        <mesh filename="package://example-robot-data/robots/talos_data/meshes/head/head_2_collision.stl" scale="1 1 1"/>
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      </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>
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          <mesh filename="package://example-robot-data/robots/talos_data/meshes/sensors/orbbec/orbbec.STL"/>
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      </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>
456
        <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_1_collision.STL" scale="1 1 1"/>
457
458
459
460
461
462
      </geometry>
      <material name="DarkGrey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
463
        <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_1_collision.STL" scale="1 1 1"/>
464
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488
      </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>
489
        <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_2_collision.STL" scale="1 1 1"/>
490
491
492
493
494
495
      </geometry>
      <material name="DarkGrey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
496
        <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_2_collision.STL" scale="1 1 1"/>
497
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510
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513
514
515
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521
      </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>
522
        <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_3_collision.STL" scale="1 1 1"/>
523
524
525
526
527
528
      </geometry>
      <material name="DarkGrey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
529
        <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_3_collision.STL" scale="1 1 1"/>
530
531
532
533
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541
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546
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550
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554
555
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557
      </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>
558
        <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_4_collision.STL" scale="1 1 1"/>
559
560
561
562
563
564
      </geometry>
      <material name="DarkGrey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
565
        <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_4_collision.STL" scale="1 1 1"/>
566
567
568
569
570
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619
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621
622
623
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626
627
628
      </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>
629
        <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_5_collision.STL" scale="1 1 1"/>
630
631
632
633
634
635
      </geometry>
      <material name="LightGrey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
636
        <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_5_collision.STL" scale="1 1 1"/>
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
      </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>
662
        <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_6_collision.STL" scale="1 1 1"/>
663
664
665
666
667
668
      </geometry>
      <material name="LightGrey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
669
        <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_6_collision.STL" scale="1 1 1"/>
670
671
672
673
674
675
676
677
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685
686
687
688
689
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700
701
702
      </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>
703
        <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_7.STL" scale="1 1 1"/>
704
705
706
707
708
709
      </geometry>
      <material name="DarkGrey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
710
        <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_7_collision.STL" scale="1 1 1"/>
711
712
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834
835
836
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838
839
      </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>
840
        <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_1_collision.STL" scale="1 -1 1"/>
841
842
843
844
845
846
      </geometry>
      <material name="DarkGrey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
847
        <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_1_collision.STL" scale="1 -1 1"/>
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
      </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>
873
        <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_2_collision.STL" scale="1 -1 1"/>
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878
879
      </geometry>
      <material name="DarkGrey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
880
        <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_2_collision.STL" scale="1 -1 1"/>
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894
895
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899
900
901
902
903
904
905
      </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>
906
        <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_3_collision.STL" scale="1 -1 1"/>
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908
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911
912
      </geometry>
      <material name="DarkGrey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
913
        <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_3_collision.STL" scale="1 -1 1"/>
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919
920
921
922
923
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925
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927
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929
930
931
932
933
934
935
936
937
938
939
940
941
      </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>
942
        <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_4_collision.STL" scale="1 -1 1"/>
943
944
945
946
947
948
      </geometry>
      <material name="DarkGrey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
949
        <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_4_collision.STL" scale="1 -1 1"/>
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951
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957
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959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
      </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           -->
  <!--************************-->
  <!--************************-->