Unverified Commit c2f12dbc authored by Guilhem Saurel's avatar Guilhem Saurel Committed by GitHub
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Merge pull request #85 from nim65s/devel

baxter: add grippers
parents 01cb97fa c8371c44
Pipeline #14717 passed with stage
in 1 minute and 59 seconds
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\ No newline at end of file
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278 908 273 909 553 909 546 909 273 910 546 910 278 910 553 911 273 911 550 911 550 912 544 912 552 912 552 913 544 913 548 913 551 914 553 914 552 914 552 915 553 915 550 915 551 916 546 916 553 916 267 917 269 917 419 917 423 918 419 918 554 918 442 919 561 919 443 919 556 920 558 920 557 920 558 921 263 921 433 921 558 922 433 922 443 922 558 923 443 923 559 923 555 924 558 924 559 924 264 925 263 925 558 925 264 926 558 926 556 926 557 927 558 927 555 927 258 928 261 928 560 928 258 929 560 929 561 929 561 930 560 930 555 930 257 931 258 931 561 931 442 932 257 932 561 932 262 933 423 933 554 933 261 934 262 934 554 934 563 935 554 935 564 935 564 936 554 936 419 936 564 937 419 937 269 937 261 938 554 938 562 938 562 939 554 939 563 939 560 940 261 940 562 940 560 941 562 941 557 941 269 942 264 942 556 942 564 943 556 943 562 943 561 944 555 944 559 944 561 945 559 945 443 945 564 946 269 946 556 946 563 947 564 947 562 947 560 948 557 948 555 948 556 949 557 949 562 949 411 950 575 950 424 950 248 951 251 951 566 951 248 952 566 952 431 952 432 953 570 953 567 953 256 954 432 954 567 954 569 955 259 955 567 955 569 956 567 956 570 956 259 957 256 957 567 957 431 958 570 958 432 958 568 959 259 959 569 959 565 960 568 960 569 960 571 961 252 961 572 961 251 962 252 962 571 962 571 963 572 963 569 963 566 964 251 964 571 964 420 965 424 965 573 965 255 966 420 966 573 966 574 967 255 967 573 967 574 968 573 968 575 968 260 969 575 969 411 969 573 970 424 970 575 970 572 971 574 971 565 971 576 972 574 972 575 972 568 973 576 973 260 973 568 974 565 974 576 974 565 975 569 975 572 975 571 976 570 976 566 976 566 977 570 977 431 977 574 978 576 978 565 978 572 979 252 979 255 979 572 980 255 980 574 980 576 981 575 981 260 981 260 982 259 982 568 982 569 983 570 983 571 983 412 984 586 984 421 984 253 985 250 985 587 985 587 986 250 986 579 986 587 987 579 987 577 987 582 988 577 988 579 988 249 989 464 989 580 989 250 990 249 990 579 990 579 991 249 991 580 991 241 992 243 992 583 992 583 993 243 993 582 993 454 994 241 994 583 994 454 995 583 995 468 995 468 996 583 996 580 996 245 997 416 997 578 997 578 998 416 998 421 998 585 999 245 999 578 999 585 1000 578 1000 584 1000 584 1001 578 1001 586 1001 586 1002 578 1002 421 1002 586 1003 412 1003 254 1003 582 1004 243 1004 581 1004 581 1005 243 1005 245 1005 585 1006 584 1006 587 1006 587 1007 584 1007 586 1007 585 1008 587 1008 577 1008 586 1009 254 1009 253 1009 586 1010 253 1010 587 1010 585 1011 577 1011 581 1011 581 1012 577 1012 582 1012 582 1013 580 1013 583 1013 581 1014 245 1014 585 1014 582 1015 579 1015 580 1015 468 1016 580 1016 464 1016 247 1017 246 1017 595 1017 441 1018 588 1018 242 1018 441 1019 242 1019 240 1019 594 1020 589 1020 590 1020 244 1021 242 1021 589 1021 590 1022 589 1022 591 1022 589 1023 242 1023 588 1023 588 1024 441 1024 453 1024 589 1025 588 1025 591 1025 233 1026 235 1026 590 1026 235 1027 594 1027 590 1027 591 1028 233 1028 590 1028 233 1029 591 1029 471 1029 471 1030 591 1030 453 1030 239 1031 426 1031 592 1031 236 1032 239 1032 235 1032 235 1033 239 1033 593 1033 593 1034 239 1034 592 1034 594 1035 235 1035 593 1035 592 1036 426 1036 595 1036 595 1037 426 1037 247 1037 596 1038 592 1038 595 1038 244 1039 595 1039 246 1039 591 1040 588 1040 453 1040 595 1041 244 1041 596 1041 592 1042 596 1042 594 1042 594 1043 593 1043 592 1043 244 1044 589 1044 596 1044 596 1045 589 1045 594 1045 231 1046 425 1046 598 1046 470 1047 458 1047 599 1047 459 1048 600 1048 440 1048 597 1049 601 1049 602 1049 602 1050 601 1050 603 1050 599 1051 600 1051 459 1051 232 1052 440 1052 601 1052 601 1053 440 1053 600 1053 603 1054 600 1054 599 1054 601 1055 600 1055 603 1055 599 1056 459 1056 470 1056 234 1057 232 1057 601 1057 234 1058 601 1058 597 1058 228 1059 230 1059 603 1059 603 1060 230 1060 605 1060 603 1061 605 1061 602 1061 226 1062 228 1062 604 1062 604 1063 228 1063 603 1063 458 1064 226 1064 604 1064 458 1065 604 1065 599 1065 230 1066 231 1066 598 1066 230 1067 598 1067 605 1067 606 1068 598 1068 425 1068 606 1069 605 1069 598 1069 606 1070 238 1070 607 1070 606 1071 425 1071 238 1071 605 1072 597 1072 602 1072 604 1073 603 1073 599 1073 607 1074 234 1074 606 1074 606 1075 234 1075 597 1075 597 1076 605 1076 606 1076 607 1077 238 1077 237 1077 417 1078 608 1078 422 1078 612 1079 614 1079 616 1079 227 1080 439 1080 463 1080 227 1081 463 1081 613 1081 610 1082 227 1082 614 1082 613 1083 463 1083 609 1083 614 1084 227 1084 613 1084 614 1085 613 1085 616 1085 612 1086 610 1086 614 1086 610 1087 612 1087 611 1087 149 1088 152 1088 619 1088 149 1089 619 1089 615 1089 617 1090 149 1090 616 1090 616 1091 149 1091 615 1091 151 1092 149 1092 617 1092 609 1093 151 1093 617 1093 618 1094 418 1094 422 1094 619 1095 153 1095 418 1095 619 1096 418 1096 618 1096 620 1097 618 1097 422 1097 620 1098 608 1098 621 1098 152 1099 153 1099 619 1099 620 1100 422 1100 608 1100 621 1101 608 1101 417 1101 615 1102 619 1102 611 1102 611 1103 620 1103 621 1103 617 1104 613 1104 609 1104 621 1105 229 1105 610 1105 621 1106 610 1106 611 1106 616 1107 613 1107 617 1107 611 1108 619 1108 620 1108 620 1109 619 1109 618 1109 611 1110 612 1110 615 1110 615 1111 612 1111 616 1111 631 1112 406 1112 225 1112 402 1113 623 1113 435 1113 627 1114 436 1114 435 1114 624 1115 224 1115 625 1115 622 1116 625 1116 628 1116 625 1117 626 1117 628 1117 224 1118 436 1118 627 1118 223 1119 436 1119 224 1119 625 1120 224 1120 627 1120 625 1121 627 1121 626 1121 628 1122 626 1122 388 1122 626 1123 623 1123 388 1123 629 1124 395 1124 630 1124 225 1125 624 1125 631 1125 406 1126 631 1126 395 1126 628 1127 629 1127 622 1127 632 1128 624 1128 625 1128 632 1129 625 1129 622 1129 632 1130 622 1130 630 1130 628 1131 388 1131 629 1131 631 1132 624 1132 632 1132 631 1133 632 1133 395 1133 395 1134 632 1134 630 1134 630 1135 622 1135 629 1135 626 1136 627 1136 623 1136 623 1137 627 1137 435 1137 687 1138 6 1138 633 1138 14 1139 27 1139 6 1139 6 1140 27 1140 19 1140 634 1141 633 1141 19 1141 19 1142 633 1142 6 1142 634 1143 19 1143 693 1143 693 1144 19 1144 644 1144 35 1145 635 1145 642 1145 35 1146 642 1146 31 1146 133 1147 134 1147 1 1147 1 1148 134 1148 148 1148 1 1149 148 1149 643 1149 643 1150 148 1150 147 1150 1 1151 2 1151 113 1151 158 1152 148 1152 134 1152 113 1153 192 1153 1 1153 1 1154 192 1154 122 1154 1 1155 122 1155 133 1155 171 1156 133 1156 169 1156 190 1157 192 1157 113 1157 122 1158 169 1158 133 1158 190 1159 191 1159 192 1159 135 1160 138 1160 636 1160 135 1161 636 1161 653 1161 653 1162 636 1162 637 1162 138 1163 136 1163 636 1163 636 1164 136 1164 638 1164 145 1165 639 1165 137 1165 137 1166 639 1166 638 1166 137 1167 638 1167 136 1167 144 1168 640 1168 145 1168 144 1169 143 1169 641 1169 641 1170 143 1170 142 1170 641 1171 142 1171 179 1171 120 1172 4 1172 119 1172 119 1173 4 1173 641 1173 165 1174 142 1174 143 1174 200 1175 119 1175 129 1175 179 1176 128 1176 641 1176 641 1177 128 1177 129 1177 641 1178 129 1178 119 1178 180 1179 128 1179 179 1179 34 1180 642 1180 1 1180 4 1181 1 1181 642 1181 4 1182 642 1182 641 1182 641 1183 642 1183 635 1183 643 1184 636 1184 33 1184 643 1185 33 1185 1 1185 1 1186 33 1186 34 1186 638 1187 635 1187 636 1187 636 1188 635 1188 33 1188 636 1189 643 1189 637 1189 640 1190 641 1190 638 1190 638 1191 639 1191 640 1191 638 1192 641 1192 635 1192 35 1193 31 1193 32 1193 652 1194 35 1194 32 1194 46 1195 68 1195 47 1195 47 1196 68 1196 310 1196 47 1197 310 1197 39 1197 39 1198 310 1198 307 1198 39 1199 307 1199 40 1199 40 1200 307 1200 345 1200 283 1201 7 1201 6 1201 343 1202 283 1202 344 1202 283 1203 6 1203 344 1203 67 1204 644 1204 21 1204 19 1205 21 1205 644 1205 67 1206 281 1206 69 1206 69 1207 281 1207 107 1207 56 1208 55 1208 69 1208 99 1209 69 1209 111 1209 111 1210 69 1210 107 1210 100 1211 101 1211 99 1211 51 1212 56 1212 69 1212 51 1213 69 1213 101 1213 101 1214 69 1214 99 1214 111 1215 107 1215 109 1215 78 1216 70 1216 62 1216 62 1217 70 1217 69 1217 62 1218 69 1218 63 1218 63 1219 69 1219 55 1219 63 1220 55 1220 83 1220 90 1221 56 1221 51 1221 99 1222 93 1222 100 1222 102 1223 109 1223 107 1223 78 1224 62 1224 71 1224 345 1225 306 1225 342 1225 516 1226 342 1226 515 1226 515 1227 342 1227 306 1227 290 1228 531 1228 342 1228 297 1229 342 1229 298 1229 298 1230 342 1230 516 1230 526 1231 290 1231 342 1231 526 1232 342 1232 293 1232 293 1233 342 1233 297 1233 306 1234 514 1234 515 1234 532 1235 280 1235 531 1235 285 1236 342 1236 280 1236 280 1237 342 1237 531 1237 520 1238 298 1238 516 1238 528 1239 290 1239 526 1239 45 1240 36 1240 645 1240 45 1241 645 1241 44 1241 648 1242 646 1242 647 1242 44 1243 645 1243 649 1243 649 1244 645 1244 650 1244 44 1245 649 1245 37 1245 37 1246 649 1246 647 1246 37 1247 647 1247 36 1247 36 1248 647 1248 646 1248 36 1249 646 1249 645 1249 380 1250 648 1250 383 1250 383 1251 648 1251 647 1251 383 1252 647 1252 694 1252 651 1253 694 1253 649 1253 649 1254 694 1254 647 1254 387 1255 651 1255 649 1255 387 1256 649 1256 650 1256 387 1257 650 1257 378 1257 380 1258 378 1258 646 1258 646 1259 378 1259 645 1259 145 1260 653 1260 146 1260 135 1261 653 1261 145 1261 135 1262 145 1262 137 1262 26 1263 25 1263 12 1263 12 1264 25 1264 13 1264 24 1265 23 1265 15 1265 15 1266 23 1266 16 1266 17 1267 20 1267 10 1267 10 1268 20 1268 11 1268 22 1269 18 1269 8 1269 8 1270 18 1270 9 1270 673 1271 352 1271 354 1271 673 1272 354 1272 674 1272 680 1273 355 1273 654 1273 654 1274 355 1274 353 1274 654 1275 353 1275 363 1275 342 1276 285 1276 283 1276 342 1277 283 1277 343 1277 306 1278 345 1278 307 1278 69 1279 70 1279 310 1279 69 1280 310 1280 68 1280 67 1281 21 1281 281 1281 43 1282 365 1282 656 1282 655 1283 656 1283 346 1283 346 1284 681 1284 655 1284 656 1285 365 1285 346 1285 657 1286 346 1286 667 1286 667 1287 346 1287 365 1287 682 1288 657 1288 658 1288 682 1289 658 1289 659 1289 659 1290 658 1290 660 1290 659 1291 660 1291 661 1291 661 1292 660 1292 662 1292 661 1293 662 1293 684 1293 684 1294 662 1294 663 1294 684 1295 663 1295 664 1295 664 1296 663 1296 665 1296 664 1297 665 1297 684 1297 684 1298 665 1298 666 1298 667 1299 666 1299 657 1299 657 1300 662 1300 668 1300 657 1301 668 1301 658 1301 658 1302 668 1302 660 1302 657 1303 666 1303 662 1303 668 1304 662 1304 660 1304 662 1305 666 1305 669 1305 662 1306 669 1306 663 1306 663 1307 669 1307 665 1307 669 1308 666 1308 665 1308 670 1309 404 1309 685 1309 685 1310 672 1310 670 1310 671 1311 666 1311 366 1311 666 1312 667 1312 366 1312 673 1313 671 1313 366 1313 672 1314 671 1314 674 1314 672 1315 674 1315 670 1315 674 1316 671 1316 673 1316 675 1317 341 1317 689 1317 689 1318 341 1318 688 1318 364 1319 41 1319 341 1319 364 1320 341 1320 675 1320 690 1321 360 1321 340 1321 690 1322 340 1322 691 1322 675 1323 340 1323 677 1323 675 1324 677 1324 364 1324 676 1325 678 1325 361 1325 676 1326 361 1326 362 1326 340 1327 360 1327 677 1327 360 1328 359 1328 677 1328 677 1329 359 1329 679 1329 680 1330 361 1330 678 1330 359 1331 361 1331 680 1331 359 1332 363 1332 679 1332 359 1333 654 1333 363 1333 359 1334 680 1334 654 1334 692 1335 655 1335 693 1335 693 1336 655 1336 389 1336 681 1337 389 1337 655 1337 681 1338 682 1338 389 1338 389 1339 682 1339 392 1339 659 1340 661 1340 683 1340 684 1341 682 1341 683 1341 683 1342 682 1342 659 1342 392 1343 682 1343 684 1343 684 1344 683 1344 661 1344 684 1345 685 1345 392 1345 685 1346 404 1346 392 1346 686 1347 687 1347 688 1347 688 1348 687 1348 398 1348 398 1349 687 1349 633 1349 688 1350 398 1350 689 1350 691 1351 689 1351 391 1351 391 1352 689 1352 398 1352 691 1353 391 1353 690 1353 362 1354 690 1354 676 1354 676 1355 690 1355 391 1355 644 1356 692 1356 693 1356 6 1357 687 1357 344 1357 344 1358 687 1358 686 1358 643 1359 147 1359 146 1359 643 1360 146 1360 637 1360 653 1361 637 1361 146 1361 640 1362 144 1362 641 1362 639 1363 145 1363 640 1363 34 1364 32 1364 642 1364 642 1365 32 1365 31 1365 30 1366 13 1366 61 1366 380 1367 646 1367 648 1367 378 1368 650 1368 645 1368 695 1369 697 1369 696 1369 695 1370 698 1370 697 1370 697 1371 698 1371 704 1371 698 1372 699 1372 704 1372 704 1373 699 1373 387 1373 651 1374 387 1374 699 1374 383 1375 694 1375 0 1375 700 1376 383 1376 0 1376 700 1377 701 1377 383 1377 702 1378 701 1378 700 1378 702 1379 703 1379 701 1379 351 1380 703 1380 702 1380 351 1381 350 1381 703 1381 382 1382 381 1382 705 1382 704 1383 387 1383 382 1383 705 1384 704 1384 382 1384 697 1385 704 1385 705 1385 696 1386 697 1386 705 1386 706 1387 705 1387 381 1387 707 1388 381 1388 377 1388 706 1389 696 1389 705 1389 707 1390 706 1390 381 1390 696 1391 397 1391 349 1391 707 1392 399 1392 397 1392 397 1393 696 1393 706 1393 397 1394 706 1394 707 1394 399 1395 707 1395 377 1395 701 1396 384 1396 383 1396 703 1397 384 1397 701 1397 708 1398 376 1398 384 1398 709 1399 708 1399 384 1399 709 1400 384 1400 703 1400 427 1401 376 1401 708 1401 709 1402 427 1402 708 1402 350 1403 709 1403 703 1403 350 1404 396 1404 709 1404 709 1405 396 1405 401 1405 709 1406 401 1406 427 1406 390 1407 351 1407 712 1407 390 1408 712 1408 394 1408 394 1409 712 1409 713 1409 700 1410 0 1410 711 1410 711 1411 0 1411 710 1411 702 1412 700 1412 711 1412 713 1413 711 1413 710 1413 712 1414 702 1414 711 1414 712 1415 711 1415 713 1415 351 1416 702 1416 712 1416 0 1417 699 1417 717 1417 0 1418 717 1418 710 1418 710 1419 717 1419 716 1419 698 1420 695 1420 714 1420 698 1421 714 1421 715 1421 716 1422 698 1422 715 1422 699 1423 698 1423 717 1423 717 1424 698 1424 716 1424 393 1425 715 1425 348 1425 348 1426 715 1426 714 1426 348 1427 714 1427 695 1427</p>
</polylist>
</mesh>
</geometry>
</library_geometries>
<library_controllers/>
<library_visual_scenes>
<visual_scene id="Scene" name="Scene">
<node id="_0017835" name="_0017835" type="NODE">
<matrix sid="transform">-1 -6.60024e-15 1.50996e-7 0 -1.50996e-7 4.37114e-8 -1 0 0 -1 -4.37114e-8 0 0 0 0 1</matrix>
<instance_geometry url="#_0017835-mesh">
<bind_material>
<technique_common>
<instance_material symbol="Material_001-material" target="#Material_001-material"/>
</technique_common>
</bind_material>
</instance_geometry>
</node>
</visual_scene>
</library_visual_scenes>
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
</COLLADA>
\ No newline at end of file
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<?xml version="1.0" ?>
<!-- ============================================================================================== -->
<!-- | | -->
<!-- | baxter.urdf is DEPRECATED. It is included here for backward compatibility. | -->
<!-- | Please use baxter.urdf.xacro by running: | -->
<!-- |$ rosrun xacro xacro.py - -inorder `rospack find baxter_description`/urdf/baxter.urdf.xacro | -->
<!-- | | -->
<!-- ============================================================================================== -->
<robot name="baxter">
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from /opt/ros/indigo/share/baxter_description/urdf/baxter.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="baxter" xmlns:xacro="http://www.ros.org/wiki/xacro">
<link name="base">
</link>
<link name="torso">
......@@ -15,6 +12,9 @@
<geometry>
<mesh filename="package://example-robot-data/robots/baxter_description/meshes/torso/base_link.DAE"/>
</geometry>
<material name="darkgray">
<color rgba=".2 .2 .2 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
......@@ -42,28 +42,6 @@
<inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
</inertial>
</link>
<link name="pedestal">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://example-robot-data/robots/baxter_description/meshes/base/PEDESTAL.DAE"/>
</geometry>
<material name="darkgray">
<color rgba=".2 .2 .2 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://example-robot-data/robots/baxter_description/meshes/base/pedestal_link_collision.DAE"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="60.86397744"/>
<inertia ixx="5.0635929" ixy="0.00103417" ixz="0.80199628" iyy="6.08689388" iyz="0.00105311" izz="4.96191932"/>
</inertial>
</link>
<link name="head">
<visual>
<origin rpy="0 0 0" xyz="0 0 .00953"/>
......@@ -146,7 +124,7 @@
<inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
</inertial>
</link>
<link name="head_camera">
<link name="head_camera_link">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.0001"/>
......@@ -235,17 +213,12 @@
<parent link="torso"/>
<child link="right_torso_itb"/>
</joint>
<joint name="pedestal_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<parent link="torso"/>
<child link="pedestal"/>
</joint>
<joint name="head_pan" type="revolute">
<origin rpy="0 0 0" xyz="0.06 0 0.686"/>
<axis xyz="0 0 1"/>
<parent link="torso"/>
<child link="head"/>
<limit effort="50000" lower="-1.57079632679" upper="1.57079632679" velocity="10000"/>
<limit effort="50000" lower="-1.3963" upper="1.3963" velocity="10000"/>
<dynamics damping="0.7" friction="0.0"/>
</joint>
<joint name="head_nod" type="fixed">
......@@ -253,10 +226,10 @@
<parent link="head"/>
<child link="screen"/>
</joint>
<joint name="head_camera" type="fixed">
<joint name="head_camera_joint" type="fixed">
<origin rpy="1.75057 0 1.57079632679" xyz="0.12839 0 0.06368"/>
<parent link="head"/>
<child link="head_camera"/>
<child link="head_camera_link"/>
</joint>
<joint name="display_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.0 -0.016 0.0"/>
......@@ -271,7 +244,6 @@
</joint>
<link name="right_arm_mount">
<!-- all defaults -->
<gravity>0</gravity>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.0001"/>
......@@ -279,7 +251,6 @@
</inertial>
</link>
<link name="right_upper_shoulder">
<gravity>0</gravity>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
......@@ -302,7 +273,6 @@
</inertial>
</link>
<link name="right_lower_shoulder">
<gravity>0</gravity>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
......@@ -325,7 +295,6 @@
</inertial>
</link>
<link name="right_upper_elbow">
<gravity>0</gravity>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
......@@ -348,7 +317,6 @@
</inertial>
</link>
<link name="right_upper_elbow_visual">
<gravity>0</gravity>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.1365"/>
<geometry>
......@@ -362,7 +330,6 @@
</inertial>
</link>
<link name="right_lower_elbow">
<gravity>0</gravity>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
......@@ -385,7 +352,6 @@
</inertial>
</link>
<link name="right_upper_forearm">
<gravity>0</gravity>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
......@@ -408,7 +374,6 @@
</inertial>
</link>
<link name="right_upper_forearm_visual">
<gravity>0</gravity>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.136"/>
<geometry>
......@@ -422,7 +387,6 @@
</inertial>
</link>
<link name="right_arm_itb">
<gravity>0</gravity>
<inertial>
<origin rpy="0 0 0" xyz="0.000000 0.000000 0.000000"/>
<mass value="0.0001"/>
......@@ -430,7 +394,6 @@
</inertial>
</link>
<link name="right_lower_forearm">
<gravity>0</gravity>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
......@@ -453,7 +416,6 @@
</inertial>
</link>
<link name="right_wrist">
<gravity>0</gravity>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
......@@ -475,8 +437,7 @@
<inertia ixx="0.00025289155" ixy="0.00000575311" ixz="-0.00000159345" iyy="0.0002688601" iyz="-0.00000519818" izz="0.0003074118"/>
</inertial>
</link>
<link name="right_hand">
<gravity>0</gravity>
<link name="right_hand_link">
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.0232"/>
<geometry>
......@@ -489,8 +450,7 @@
<inertia ixx="0.00017588" ixy="0.00000147073" ixz="0.0000243633" iyy="0.00021166377" iyz="0.00000172689" izz="0.00023745397"/>
</inertial>
</link>
<link name="right_hand_camera">
<gravity>0</gravity>
<link name="right_hand_camera_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
......@@ -506,16 +466,14 @@
<inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
</inertial>
</link>
<link name="right_hand_camera_axis">
<gravity>0</gravity>
<link name="right_hand_camera_axis_link">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.0001"/>
<inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
</inertial>
</link>
<link name="right_hand_range">
<gravity>0</gravity>
<link name="right_hand_range_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
......@@ -531,42 +489,7 @@
<inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
</inertial>
</link>
<link name="right_hand_accelerometer">
<gravity>0</gravity>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.01 0.01 0.01"/>
</geometry>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="0.000000 0.000000 0.000000"/>
<mass value="0.0001"/>
<inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
</inertial>
</link>
<link name="right_gripper_base">
<gravity>0</gravity>
<visual>
<origin rpy="0 0 0" xyz="0 0 -0.02"/>
<geometry>
<box size="0.025 0.075 0.035"/>
</geometry>
<material name="darkred">
<color rgba=".5 .1 .1 1"/>
</material>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="0.000000 0.000000 0.000000"/>
<mass value="0.0001"/>
<inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
</inertial>
</link>
<link name="right_gripper">
<gravity>0</gravity>
<link name="right_hand_accelerometer_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
......@@ -600,7 +523,7 @@
<axis xyz="0 0 1"/>
<parent link="right_upper_shoulder"/>
<child link="right_lower_shoulder"/>
<limit effort="100.0" lower="-2.147" upper="1.047" velocity="1.5"/>
<limit effort="50.0" lower="-2.147" upper="1.047" velocity="1.5"/>