Fix talos_reduced_correcter

robots/talos_data/robots/talos_reduced_corrected.urdf

+<?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>
+  <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>