Commit 0e937867 authored by Olivier Stasse's avatar Olivier Stasse
Browse files

Fix talos_reduced_correcter

parent 2d376efb
Pipeline #13331 passed with stage
in 1 minute and 16 seconds
<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from talos_full.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<!--
Copyright (c) 2016, PAL Robotics, S.L.
All rights reserved.
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
-->
<robot name="talos" xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" xmlns:xacro="http://ros.org/wiki/xacro">
<!--File includes-->
<!--Constant parameters-->
<!--File includes-->
<!-- Macro -->
<!--Constant parameters-->
<!--************************-->
<!-- HEAD_1 (TILT) -->
<!--************************-->
<!--************************-->
<!-- HEAD_2 (PAN) -->
<!--************************-->
<!--File includes-->
<!--File includes-->
<!--Constant parameters-->
<!--Constant parameters-->
<!--File includes-->
<!-- VIRTUAL (mimic) JOINTS -->
<!-- 0.45deg -->
<!--************************-->
<!-- TORSO_2 (TILT) -->
<!--************************-->
<link name="torso_2_link">
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="-0.04551 -0.00053 0.16386"/>
<mass value="17.55011"/>
<inertia ixx="0.37376900000" ixy="0.00063900000" ixz="0.01219600000" iyy="0.24790200000" iyz="0.00000700000" izz="0.28140400000"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://example-robot-data/robots/talos_data/meshes/torso/torso_2.STL" scale="1 1 1"/>
</geometry>
<material name="LightGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://example-robot-data/robots/talos_data/meshes/torso/torso_2_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
<!--************************-->
<!-- TORSO_1 (PAN) -->
<!--************************-->
<link name="torso_1_link">
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00013 -0.00001 -0.01306"/>
<mass value="3.02433"/>
<inertia ixx="0.00759400000" ixy="0.00000100000" ixz="-0.00004800000" iyy="0.00429200000" iyz="-0.00000100000" izz="0.00749700000"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://example-robot-data/robots/talos_data/meshes/torso/torso_1.STL" scale="1 1 1"/>
</geometry>
<material name="LightGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://example-robot-data/robots/talos_data/meshes/torso/torso_1.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="torso_1_joint" type="revolute">
<parent link="base_link"/>
<child link="torso_1_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0722"/>
<axis xyz="0 0 1"/>
<limit effort="78.0" lower="-1.308996939" upper="1.308996939" velocity="5.4"/>
<dynamics damping="1.0" friction="1.0"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
soft_lower_limit="${-15.0 * deg_to_rad + torso_eps}"
soft_upper_limit="${ 45.0 * deg_to_rad - torso_eps}" /> -->
</joint>
<!--************************-->
<!-- BASE_LINK -->
<!--************************-->
<link name="base_link">
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="-0.08222 0.00838 -0.07261"/>
<mass value="13.53810"/>
<inertia ixx="0.06989000000" ixy="-0.00011700000" ixz="0.00023000000" iyy="0.03998200000" iyz="-0.00132500000" izz="0.08234500000"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://example-robot-data/robots/talos_data/meshes/torso/base_link.STL" scale="1 1 1"/>
</geometry>
<material name="LightGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://example-robot-data/robots/talos_data/meshes/torso/base_link_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="torso_2_joint" type="revolute">
<parent link="torso_1_link"/>
<child link="torso_2_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<axis xyz="0 1 0"/>
<limit effort="78.0" lower="-0.261799387799" upper="0.785398163397" velocity="5.4"/>
<dynamics damping="1.0" friction="1.0"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
soft_lower_limit="${-75.00000 * deg_to_rad + eps_radians}"
soft_upper_limit="${75.00000 * deg_to_rad - eps_radians}" /> -->
</joint>
<link name="imu_link">
<inertial>
<mass value="0.01"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.000001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.000001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.01 0.01 0.01"/>
</geometry>
</visual>
</link>
<joint name="imu_joint" type="fixed">
<origin rpy="3.14159265359 0 1.57079632679" xyz="0.04925 0 0.078"/>
<parent link="torso_2_link"/>
<child link="imu_link"/>
</joint>
<gazebo reference="torso_1_link">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
</gazebo>
<gazebo reference="torso_2_link">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
</gazebo>
<gazebo reference="base_link">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
</gazebo>
<gazebo reference="torso_1_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo reference="torso_2_joint">
<implicitSpringDamper>1</implicitSpringDamper>
<provideFeedback>1</provideFeedback>
</gazebo>
<!-- extensions -->
<transmission name="talos_torso_trans">
<type>transmission_interface/DifferentialTransmission</type>
<actuator name="torso_1_motor">
<role>actuator1</role>
<mechanicalReduction>1.0</mechanicalReduction>
</actuator>
<actuator name="torso_2_motor">
<role>actuator2</role>
<mechanicalReduction>1.0</mechanicalReduction>
</actuator>
<joint name="torso_1_joint">
<role>joint1</role>
<offset>0.0</offset>
<mechanicalReduction>1.0</mechanicalReduction>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<joint name="torso_2_joint">
<role>joint2</role>
<offset>0.0</offset>
<mechanicalReduction>1.0</mechanicalReduction>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
</transmission>
<link name="head_1_link">
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00120 0.00145 0.02165"/>
<mass value="0.65988"/>
<inertia ixx="0.00122100000" ixy="-0.00000400000" ixz="0.00007000000" iyy="0.00092400000" iyz="-0.00004100000" izz="0.00103300000"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://example-robot-data/robots/talos_data/meshes/head/head_1.stl" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://example-robot-data/robots/talos_data/meshes/head/head_1_collision.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="head_1_joint" type="revolute">
<parent link="torso_2_link"/>
<child link="head_1_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.31600"/>
<axis xyz="0 1 0"/>
<limit effort="8.0" lower="-0.261799387799" upper="0.785398163397" velocity="1.0"/>
<dynamics damping="0.5" friction="1.0"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
soft_lower_limit="${-15.00000 * deg_to_rad + eps_radians}"
soft_upper_limit="${45.00000 * deg_to_rad - eps_radians}" /> -->
</joint>
<gazebo reference="head_1_link">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
</gazebo>
<gazebo reference="head_1_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo reference="head_1_link">
<material>Gazebo/FlatBlack</material>
</gazebo>
<link name="head_2_link">
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="-0.01036 -0.00037 0.13778"/>
<mass value="1.40353"/>
<inertia ixx="0.00722500000" ixy="-0.00002500000" ixz="0.00032900000" iyy="0.00687300000" iyz="0.00004400000" izz="0.00437300000"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://example-robot-data/robots/talos_data/meshes/head/head_2.stl" scale="1 1 1"/>
</geometry>
<material name="LightGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://example-robot-data/robots/talos_data/meshes/head/head_2_collision.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="head_2_joint" type="revolute">
<parent link="head_1_link"/>
<child link="head_2_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
<axis xyz="0 0 1"/>
<limit effort="4.0" lower="-1.308996939" upper="1.308996939" velocity="1.0"/>
<dynamics damping="0.5" friction="1.0"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
soft_lower_limit="${-75.00000 * deg_to_rad + eps_radians}"
soft_upper_limit="${75.00000 * deg_to_rad - eps_radians}" /> -->
</joint>
<gazebo reference="head_2_link">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
</gazebo>
<gazebo reference="head_2_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo reference="head_2_link">
<material>Gazebo/White</material>
</gazebo>
<!-- frames in the center of the camera -->
<joint name="rgbd_joint" type="fixed">
<origin rpy="0 0 0" 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>
<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">
<inertial>
<mass value="0.0"/>
<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>
<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">
<inertial>
<mass value="0.0"/>
<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 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">
<inertial>
<mass value="0.0"/>
<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>
<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" >
<inertial>
<mass value="0.0"/>
<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>
<!-- 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="1.42896"/>
<inertia ixx="0.00555100000" ixy="-0.00073100000" ixz="0.00000800000" iyy="0.00167300000" iyz="-0.00006000000" izz="0.00582200000"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_1_collision.STL" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_1_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="arm_left_1_joint" type="revolute">
<parent link="torso_2_link"/>
<child link="arm_left_1_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.00000 0.1575 0.23200"/>
<axis xyz="0 0 1"/>
<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="1.67729"/>
<inertia ixx="0.00708700000" ixy="-0.00001400000" ixz="0.00214200000" iyy="0.00793600000" iyz="0.00003000000" izz="0.00378800000"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_2_collision.STL" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_2_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="arm_left_2_joint" type="revolute">
<parent link="arm_left_1_link"/>
<child link="arm_left_2_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.00493 0.1365 0.04673"/>
<axis xyz="1 0 0"/>
<limit effort="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="1.47029"/>
<inertia ixx="0.00433200000" ixy="0.00015300000" ixz="-0.00049600000" iyy="0.00434000000" iyz="-0.00060900000" izz="0.00254300000"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_3_collision.STL" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_3_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="arm_left_3_joint" type="revolute">
<parent link="arm_left_2_link"/>
<child link="arm_left_3_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
<axis xyz="0 0 1"/>
<limit effort="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="1.10216"/>
<inertia ixx="0.00221700000" ixy="-0.00010100000" ixz="0.00028800000" iyy="0.00241800000" iyz="-0.00039300000" izz="0.00111500000"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_4_collision.STL" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_4_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="arm_left_4_joint" type="revolute">
<parent link="arm_left_3_link"/>
<child link="arm_left_4_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.02000 0.00000 -0.27300"/>
<axis xyz="0 1 0"/>
<limit effort="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>