From f8266875ef1b77f0b7441d594992ade03b8c2f60 Mon Sep 17 00:00:00 2001
From: Carlos Mastalli <carlos.mastalli@laas.fr>
Date: Fri, 5 Apr 2019 10:17:36 +0200
Subject: [PATCH] [tiago] Added two versions of tiago (with/out pal-hey5 hand)
+ tiago unit-test
---
.../collision/collision_parameters.yaml | 154 +
tiago_description/meshes/arm/arm_1.stl | Bin 0 -> 240384 bytes
.../meshes/arm/arm_1_collision.dae | 63 +
tiago_description/meshes/arm/arm_1_color.png | Bin 0 -> 117861 bytes
.../meshes/arm/arm_1_normals.png | Bin 0 -> 454033 bytes
.../meshes/arm/arm_1_specular.png | Bin 0 -> 15037 bytes
tiago_description/meshes/arm/arm_2.stl | Bin 0 -> 988384 bytes
.../meshes/arm/arm_2_collision.dae | 63 +
tiago_description/meshes/arm/arm_2_color.png | Bin 0 -> 114957 bytes
.../meshes/arm/arm_2_normals.png | Bin 0 -> 470706 bytes
.../meshes/arm/arm_2_specular.png | Bin 0 -> 15242 bytes
tiago_description/meshes/arm/arm_3.stl | Bin 0 -> 491084 bytes
.../meshes/arm/arm_3_collision.dae | 63 +
tiago_description/meshes/arm/arm_3_color.png | Bin 0 -> 146289 bytes
.../meshes/arm/arm_3_normals.png | Bin 0 -> 521156 bytes
.../meshes/arm/arm_3_specular.png | Bin 0 -> 15637 bytes
tiago_description/meshes/arm/arm_4.stl | Bin 0 -> 407534 bytes
.../meshes/arm/arm_4_collision.dae | 63 +
.../meshes/arm/arm_4_collision.stl | Bin 0 -> 3384 bytes
tiago_description/meshes/arm/arm_4_color.png | Bin 0 -> 124369 bytes
.../meshes/arm/arm_4_normals.png | Bin 0 -> 502570 bytes
.../meshes/arm/arm_4_specular.png | Bin 0 -> 14600 bytes
tiago_description/meshes/arm/arm_5.stl | Bin 0 -> 75084 bytes
.../meshes/arm/arm_5_collision.dae | 63 +
tiago_description/meshes/arm/arm_6.stl | Bin 0 -> 18284 bytes
.../meshes/arm/arm_6_collision.dae | 63 +
tiago_description/meshes/arm/arm_6_color.png | Bin 0 -> 97671 bytes
.../meshes/arm/arm_6_normals.png | Bin 0 -> 285953 bytes
.../meshes/arm/arm_6_specular.png | Bin 0 -> 3255 bytes
tiago_description/meshes/head/head_1.stl | Bin 0 -> 80884 bytes
.../meshes/head/head_1_collision.dae | 63 +
tiago_description/meshes/head/head_2.stl | Bin 0 -> 144884 bytes
.../meshes/head/head_2_collision.dae | 63 +
.../meshes/hey5/finger_abd_collision.stl | Bin 0 -> 5484 bytes
.../meshes/hey5/finger_flex_collision.stl | Bin 0 -> 5484 bytes
.../meshes/hey5/finger_flex_tip_collision.stl | Bin 0 -> 6684 bytes
tiago_description/meshes/hey5/palm.stl | Bin 0 -> 78084 bytes
.../meshes/hey5/palm_collision.stl | Bin 0 -> 30984 bytes
.../meshes/hey5/thumb_abd_collision.stl | Bin 0 -> 12284 bytes
tiago_description/meshes/pmb2/base/base.stl | Bin 0 -> 1072284 bytes
.../meshes/pmb2/base/base_collision.stl | Bin 0 -> 20084 bytes
.../meshes/pmb2/base/base_ring.stl | Bin 0 -> 86484 bytes
.../meshes/pmb2/objects/antenna.stl | Bin 0 -> 197484 bytes
.../meshes/pmb2/wheels/caster_1.stl | Bin 0 -> 40034 bytes
.../meshes/pmb2/wheels/caster_2.stl | Bin 0 -> 25084 bytes
.../meshes/pmb2/wheels/wheel.stl | Bin 0 -> 300034 bytes
.../sensors/xtion_pro_live/xtion_pro_live.dae | 137 +
.../sensors/xtion_pro_live/xtion_pro_live.png | Bin 0 -> 325 bytes
tiago_description/meshes/torso/torso_fix.stl | Bin 0 -> 299684 bytes
.../meshes/torso/torso_lift_collision.dae | 63 +
.../torso/torso_lift_collision_core.dae | 63 +
.../torso/torso_lift_collision_neck.dae | 63 +
.../torso/torso_lift_collision_shoulder.dae | 63 +
.../meshes/torso/torso_lift_with_arm.stl | Bin 0 -> 126784 bytes
.../meshes/torso/torso_lift_without_arm.stl | Bin 0 -> 85884 bytes
tiago_description/robots/tiago.urdf | 3180 +++++++++++++++++
tiago_description/robots/tiago_no_hand.urdf | 1411 ++++++++
unittest/test_load.py | 14 +-
unittest/unittest_utils.py | 26 +
59 files changed, 5677 insertions(+), 1 deletion(-)
create mode 100644 tiago_description/config/collision/collision_parameters.yaml
create mode 100644 tiago_description/meshes/arm/arm_1.stl
create mode 100644 tiago_description/meshes/arm/arm_1_collision.dae
create mode 100644 tiago_description/meshes/arm/arm_1_color.png
create mode 100644 tiago_description/meshes/arm/arm_1_normals.png
create mode 100644 tiago_description/meshes/arm/arm_1_specular.png
create mode 100644 tiago_description/meshes/arm/arm_2.stl
create mode 100644 tiago_description/meshes/arm/arm_2_collision.dae
create mode 100644 tiago_description/meshes/arm/arm_2_color.png
create mode 100644 tiago_description/meshes/arm/arm_2_normals.png
create mode 100644 tiago_description/meshes/arm/arm_2_specular.png
create mode 100644 tiago_description/meshes/arm/arm_3.stl
create mode 100644 tiago_description/meshes/arm/arm_3_collision.dae
create mode 100644 tiago_description/meshes/arm/arm_3_color.png
create mode 100644 tiago_description/meshes/arm/arm_3_normals.png
create mode 100644 tiago_description/meshes/arm/arm_3_specular.png
create mode 100644 tiago_description/meshes/arm/arm_4.stl
create mode 100644 tiago_description/meshes/arm/arm_4_collision.dae
create mode 100644 tiago_description/meshes/arm/arm_4_collision.stl
create mode 100644 tiago_description/meshes/arm/arm_4_color.png
create mode 100644 tiago_description/meshes/arm/arm_4_normals.png
create mode 100644 tiago_description/meshes/arm/arm_4_specular.png
create mode 100644 tiago_description/meshes/arm/arm_5.stl
create mode 100644 tiago_description/meshes/arm/arm_5_collision.dae
create mode 100644 tiago_description/meshes/arm/arm_6.stl
create mode 100644 tiago_description/meshes/arm/arm_6_collision.dae
create mode 100644 tiago_description/meshes/arm/arm_6_color.png
create mode 100644 tiago_description/meshes/arm/arm_6_normals.png
create mode 100644 tiago_description/meshes/arm/arm_6_specular.png
create mode 100644 tiago_description/meshes/head/head_1.stl
create mode 100644 tiago_description/meshes/head/head_1_collision.dae
create mode 100644 tiago_description/meshes/head/head_2.stl
create mode 100644 tiago_description/meshes/head/head_2_collision.dae
create mode 100644 tiago_description/meshes/hey5/finger_abd_collision.stl
create mode 100644 tiago_description/meshes/hey5/finger_flex_collision.stl
create mode 100644 tiago_description/meshes/hey5/finger_flex_tip_collision.stl
create mode 100644 tiago_description/meshes/hey5/palm.stl
create mode 100644 tiago_description/meshes/hey5/palm_collision.stl
create mode 100644 tiago_description/meshes/hey5/thumb_abd_collision.stl
create mode 100755 tiago_description/meshes/pmb2/base/base.stl
create mode 100644 tiago_description/meshes/pmb2/base/base_collision.stl
create mode 100755 tiago_description/meshes/pmb2/base/base_ring.stl
create mode 100755 tiago_description/meshes/pmb2/objects/antenna.stl
create mode 100644 tiago_description/meshes/pmb2/wheels/caster_1.stl
create mode 100644 tiago_description/meshes/pmb2/wheels/caster_2.stl
create mode 100644 tiago_description/meshes/pmb2/wheels/wheel.stl
create mode 100644 tiago_description/meshes/sensors/xtion_pro_live/xtion_pro_live.dae
create mode 100644 tiago_description/meshes/sensors/xtion_pro_live/xtion_pro_live.png
create mode 100644 tiago_description/meshes/torso/torso_fix.stl
create mode 100644 tiago_description/meshes/torso/torso_lift_collision.dae
create mode 100644 tiago_description/meshes/torso/torso_lift_collision_core.dae
create mode 100644 tiago_description/meshes/torso/torso_lift_collision_neck.dae
create mode 100644 tiago_description/meshes/torso/torso_lift_collision_shoulder.dae
create mode 100644 tiago_description/meshes/torso/torso_lift_with_arm.stl
create mode 100644 tiago_description/meshes/torso/torso_lift_without_arm.stl
create mode 100644 tiago_description/robots/tiago.urdf
create mode 100644 tiago_description/robots/tiago_no_hand.urdf
diff --git a/tiago_description/config/collision/collision_parameters.yaml b/tiago_description/config/collision/collision_parameters.yaml
new file mode 100644
index 0000000..3886d50
--- /dev/null
+++ b/tiago_description/config/collision/collision_parameters.yaml
@@ -0,0 +1,154 @@
+collision_model_parameters:
+ padding: 0.025
+ links_with_padding: [arm_4_link,
+ arm_5_link, arm_6_link, arm_7_link, gripper_link, gripper_right_finger_link,
+ gripper_left_finger_link]
+ blacklist:
+ default:
+ - first: arm_2_link
+ second: torso_lift_link
+ - first: arm_5_link
+ second: wrist_ft_link
+ - first: arm_5_link
+ second: wrist_ft_tool_link
+ - first: arm_6_link
+ second: wrist_ft_link
+ - first: arm_6_link
+ second: wrist_ft_tool_link
+ - first: arm_tool_link
+ second: wrist_ft_link
+ - first: ground_plane
+ second: base_link
+ - first: ground_plane
+ second: caster_back_left_1_link
+ - first: ground_plane
+ second: caster_back_left_1_link
+ - first: ground_plane
+ second: caster_back_left_2_link
+ - first: ground_plane
+ second: caster_back_right_1_link
+ - first: ground_plane
+ second: caster_back_right_2_link
+ - first: ground_plane
+ second: caster_front_left_1_link
+ - first: ground_plane
+ second: caster_front_left_2_link
+ - first: ground_plane
+ second: caster_front_right_1_link
+ - first: ground_plane
+ second: caster_front_right_2_link
+ - first: ground_plane
+ second: wheel_right_link
+ - first: ground_plane
+ second: wheel_left_link
+ - first: wrist_ft_link
+ second: wrist_ft_tool_link
+ - first: gripper_link # PAL and WSG Gripper link
+ second: gripper_tool_link
+ - first: gripper_link # PAL and WSG Gripper link
+ second: wrist_ft_tool_link
+ - first: gripper_link # PAL and WSG Gripper link
+ second: wrist_ft_link
+ - first: gripper_tool_link
+ second: gripper_right_finger_link
+ - first: gripper_tool_link
+ second: gripper_left_finger_link
+ - first: gripper_tool_link
+ second: wrist_ft_tool_link
+ # Hey5 links
+ - first: hand_link
+ second: wrist_ft_tool_link
+ - first: hand_link
+ second: wrist_ft_link
+ - first: hand_tool_link
+ second: hand_safety_box
+ - first: hand_tool_link
+ second: hand_little_virtual_2_link
+ - first: hand_tool_link
+ second: hand_middle_abd_link
+ - first: hand_tool_link
+ second: hand_ring_virtual_3_link
+ - first: hand_tool_link
+ second: hand_little_virtual_1_link
+ - first: hand_tool_link
+ second: hand_index_flex_1_link
+ - first: hand_tool_link
+ second: hand_index_flex_1_link
+ - first: hand_tool_link
+ second: hand_middle_virtual_3_link
+ - first: hand_tool_link
+ second: hand_ring_virtual_1_link
+ - first: hand_tool_link
+ second: hand_middle_virtual_2_link
+ - first: hand_tool_link
+ second: hand_thumb_flex_2_link
+ - first: hand_tool_link
+ second: hand_index_abd_link
+ - first: hand_tool_link
+ second: hand_index_flex_1_link
+ - first: hand_tool_link
+ second: hand_index_flex_2_link
+ - first: hand_tool_link
+ second: hand_index_flex_3_link
+ - first: hand_tool_link
+ second: hand_index_virtual_1_link
+ - first: hand_tool_link
+ second: hand_index_virtual_2_link
+ - first: hand_tool_link
+ second: hand_index_virtual_3_link
+ - first: hand_tool_link
+ second: hand_little_abd_link
+ - first: hand_tool_link
+ second: hand_little_flex_1_link
+ - first: hand_tool_link
+ second: hand_little_flex_2_link
+ - first: hand_tool_link
+ second: hand_little_flex_3_link
+ - first: hand_tool_link
+ second: hand_little_virtual_1_link
+ - first: hand_tool_link
+ second: hand_little_virtual_2_link
+ - first: hand_tool_link
+ second: hand_little_virtual_3_link
+ - first: hand_tool_link
+ second: hand_middle_abd_link
+ - first: hand_tool_link
+ second: hand_middle_flex_1_link
+ - first: hand_tool_link
+ second: hand_middle_flex_2_link
+ - first: hand_tool_link
+ second: hand_middle_flex_3_link
+ - first: hand_tool_link
+ second: hand_middle_virtual_1_link
+ - first: hand_tool_link
+ second: hand_middle_virtual_2_link
+ - first: hand_tool_link
+ second: hand_middle_virtual_3_link
+ - first: hand_tool_link
+ second: hand_palm_link
+ - first: hand_tool_link
+ second: hand_ring_abd_link
+ - first: hand_tool_link
+ second: hand_ring_flex_1_link
+ - first: hand_tool_link
+ second: hand_ring_flex_2_link
+ - first: hand_tool_link
+ second: hand_ring_flex_3_link
+ - first: hand_tool_link
+ second: hand_ring_virtual_1_link
+ - first: hand_tool_link
+ second: hand_ring_virtual_2_link
+ - first: hand_tool_link
+ second: hand_ring_virtual_3_link
+ - first: hand_tool_link
+ second: hand_safety_box
+ - first: hand_tool_link
+ second: hand_thumb_abd_link
+ - first: hand_tool_link
+ second: hand_thumb_flex_1_link
+ - first: hand_tool_link
+ second: hand_thumb_flex_2_link
+ - first: hand_tool_link
+ second: hand_thumb_virtual_1_link
+ - first: hand_tool_link
+ second: hand_thumb_virtual_2_link
diff --git a/tiago_description/meshes/arm/arm_1.stl b/tiago_description/meshes/arm/arm_1.stl
new file mode 100644
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diff --git a/tiago_description/meshes/arm/arm_1_collision.dae b/tiago_description/meshes/arm/arm_1_collision.dae
new file mode 100644
index 0000000..e34daae
--- /dev/null
+++ b/tiago_description/meshes/arm/arm_1_collision.dae
@@ -0,0 +1,63 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+ <asset>
+ <contributor>
+ <author>VCGLab</author>
+ <authoring_tool>VCGLib | MeshLab</authoring_tool>
+ </contributor>
+ <up_axis>Y_UP</up_axis>
+ <created>Thu Apr 7 16:05:24 2016</created>
+ <modified>Thu Apr 7 16:05:24 2016</modified>
+ </asset>
+ <library_images/>
+ <library_materials/>
+ <library_effects/>
+ <library_geometries>
+ <geometry id="shape0-lib" name="shape0">
+ <mesh>
+ <source id="shape0-lib-positions" name="position">
+ <float_array id="shape0-lib-positions-array" count="144">-0.0233805 0.0458868 -0.008 -0.0497177 -0.0134311 0.0187417 0.055 -0.0328774 -0.049 0.055 -0.0328774 -0.015 0.160975 0.0185 0.00585181 0.158511 0.076 0.00876188 0.175541 0.076 -0.0187704 0.176093 0.019 -0.0406678 0.175541 0.076 -0.0432296 0.0724895 0.0175 -0.0381867 0.0796442 0.0185 -0.0553947 0.145 0.0861179 -0.0664869 0.158511 0.076 -0.0707619 0.160529 0.087459 -0.0250202 0.059 0.0589651 -0.053 0.0840397 -0.0165518 0.00960628 0.052 -0.0379219 -0.012 -0.0438526 0.0190167 0.0242634 0.0351583 -0.0515 0.0308095 0.0748004 -0.0264211 -0.053 0.0751007 -0.0239885 -0.0131377 0.052 0.0534118 -0.012 0.0874382 0.0175 0.00752302 0.136626 0.076 0.0196837 0.122556 0.019 0.0209425 0.17412 0.0185 -0.0155243 0.159247 0.0185 -0.0694625 0.128492 0.076 -0.0828826 0.120177 0.019 -0.0827759 0.0944881 0.0733357 -0.0731073 0.0576163 -0.038805 -0.00881482 -0.0515 -1.67638e-08 -0.008 -0.0233805 -0.0458869 -0.008 -0.0441048 -0.0224725 -0.0114641 0.0351583 -0.0515 -0.008 0.055 0.0577859 -0.049 0.0399666 0.0512325 -0.01 7.45058e-09 0.0475 -0.012 0.0773997 0.074 -0.0510736 0.055 0.0577859 -0.015 -0.0328366 0.0396738 0.0232528 0.00980447 -0.0224887 0.038 0.0683718 -0.0310542 0.0327735 0.10084 0.056 0.0150469 0.0740075 0.0559561 0.0239338 0.0791341 0.074827 0.02135 0.037091 0.0515 0.0308095 0.00316839 0.047001 0.0357843</float_array>
+ <technique_common>
+ <accessor count="48" source="#shape0-lib-positions-array" stride="3">
+ <param name="X" type="float"/>
+ <param name="Y" type="float"/>
+ <param name="Z" type="float"/>
+ </accessor>
+ </technique_common>
+ </source>
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+ <param name="Z" type="float"/>
+ </accessor>
+ </technique_common>
+ </source>
+ <vertices id="shape0-lib-vertices">
+ <input semantic="POSITION" source="#shape0-lib-positions"/>
+ </vertices>
+ <triangles count="92">
+ <input offset="0" semantic="VERTEX" source="#shape0-lib-vertices"/>
+ <input offset="1" semantic="NORMAL" source="#shape0-lib-normals"/>
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+ </triangles>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="VisualSceneNode" name="VisualScene">
+ <node id="node" name="node">
+ <instance_geometry url="#shape0-lib">
+ <bind_material>
+ <technique_common/>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#VisualSceneNode"/>
+ </scene>
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diff --git a/tiago_description/meshes/arm/arm_2.stl b/tiago_description/meshes/arm/arm_2.stl
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diff --git a/tiago_description/meshes/arm/arm_2_collision.dae b/tiago_description/meshes/arm/arm_2_collision.dae
new file mode 100644
index 0000000..32176b7
--- /dev/null
+++ b/tiago_description/meshes/arm/arm_2_collision.dae
@@ -0,0 +1,63 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+ <asset>
+ <contributor>
+ <author>VCGLab</author>
+ <authoring_tool>VCGLib | MeshLab</authoring_tool>
+ </contributor>
+ <up_axis>Y_UP</up_axis>
+ <created>Thu Apr 7 16:05:03 2016</created>
+ <modified>Thu Apr 7 16:05:03 2016</modified>
+ </asset>
+ <library_images/>
+ <library_materials/>
+ <library_effects/>
+ <library_geometries>
+ <geometry id="shape0-lib" name="shape0">
+ <mesh>
+ <source id="shape0-lib-positions" name="position">
+ <float_array id="shape0-lib-positions-array" count="201">0.0790714 0.0340399 -0.0379478 0.046192 -0.00553625 0.0500064 -0.0415675 0.0308259 -0.00100001 -0.0183665 0.0486484 0.0465322 -0.0254094 0.0453692 -0.000749996 -0.0514682 -0.00741768 -0.000750011 -0.0508986 0.009349 -0.00100001 -0.0519723 -0.00169806 0.0465316 0.0330331 0.0436352 -0.0441172 0.0785 -0.00394362 -0.0513442 0.0539507 0.00106493 -0.051007 0.0790714 -0.0340399 -0.0379478 0.0790714 0.0167009 -0.0484919 0.0450286 0.0281155 -0.0483187 0.00344997 -0.0456581 0.0511011 0.0169369 -0.00498153 0.0553114 0.00945542 -0.0451433 0.0499098 -0.0352768 -0.0291835 0.0511892 -0.0186218 -0.0418253 0.0511892 -0.0455765 -0.0250356 0.0465315 0.0298519 -0.0437929 -0.0401425 0.0381466 -0.037945 -0.0468645 -0.0476787 -0.0207543 -0.000750022 -0.0245497 -0.0458401 -0.000750024 -0.0404998 -0.0326155 -0.000750023 -0.0249186 -0.0456406 0.0465312 -0.036689 -0.0368499 0.0465314 -0.0115641 -0.0506979 -0.000750024 0.0164269 -0.0497038 0.044518 0.0785 -0.0415735 0.0262785 -0.0406583 0.0324177 0.0465318 -0.0312138 0.0415546 0.046532 -0.0428994 0.0172806 0.0507671 -0.0493871 0.0162761 0.0465316 -0.0462488 0.000154256 0.0507669 -0.0082722 -0.00410637 0.0562867 0.0242056 0.049146 -0.0347566 -0.00540838 0.0514671 -0.000999996 0.0785 0.0490393 0.0082545 0.0785 0.0483303 -0.0143132 0.00487919 0.0516377 -0.000468955 0.00737906 0.0456527 0.0505432 0.00120363 0.0457671 0.0511911 0.00121716 0.0457669 0.0511911 -0.00745213 0.0456447 0.0507692 -0.00474284 0.0517832 0.0465324 0.011641 0.0483479 0.0495314 0.0587081 -0.049681 -0.000834584 0.025264 -0.0487912 -0.0333408 0.0790714 -0.048022 -0.0149552 -0.00467943 -0.051535 -0.00100002 0.0785 -0.0490393 0.0082545 -0.0018139 -0.0519568 0.046531 0.0790714 0.0167009 0.0454919 0.0790714 -0.0229441 0.0427801 -0.0276807 0.0364679 0.0511892 -0.0231498 0.0402803 0.0510092 0.00330732 0.0229896 0.0551354 -0.0326132 0.0332251 0.0510057 -0.0383972 0.0249355 0.0511892 0.0815 -0.0114919 0.0428842 0.0815 0.0458478 -0.00149999 0.0815 0.0315876 0.0317301 0.0815 0.0376302 -0.0276914 0.0815 -0.0201911 -0.0426623 0.0815 -0.0437452 -0.0152251 0.0815 -0.0347874 0.028364</float_array>
+ <technique_common>
+ <accessor count="67" source="#shape0-lib-positions-array" stride="3">
+ <param name="X" type="float"/>
+ <param name="Y" type="float"/>
+ <param name="Z" type="float"/>
+ </accessor>
+ </technique_common>
+ </source>
+ <source id="shape0-lib-normals" name="normal">
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diff --git a/tiago_description/meshes/arm/arm_3.stl b/tiago_description/meshes/arm/arm_3.stl
new file mode 100644
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diff --git a/tiago_description/meshes/arm/arm_3_collision.dae b/tiago_description/meshes/arm/arm_3_collision.dae
new file mode 100644
index 0000000..6ca960b
--- /dev/null
+++ b/tiago_description/meshes/arm/arm_3_collision.dae
@@ -0,0 +1,63 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+ <asset>
+ <contributor>
+ <author>VCGLab</author>
+ <authoring_tool>VCGLib | MeshLab</authoring_tool>
+ </contributor>
+ <up_axis>Y_UP</up_axis>
+ <created>Fri Apr 8 11:17:49 2016</created>
+ <modified>Fri Apr 8 11:17:49 2016</modified>
+ </asset>
+ <library_images/>
+ <library_materials/>
+ <library_effects/>
+ <library_geometries>
+ <geometry id="shape0-lib" name="shape0">
+ <mesh>
+ <source id="shape0-lib-positions" name="position">
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+ <technique_common>
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+ <param name="Z" type="float"/>
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+ </technique_common>
+ </source>
+ <vertices id="shape0-lib-vertices">
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+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
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diff --git a/tiago_description/meshes/arm/arm_4.stl b/tiago_description/meshes/arm/arm_4.stl
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diff --git a/tiago_description/meshes/arm/arm_4_collision.dae b/tiago_description/meshes/arm/arm_4_collision.dae
new file mode 100644
index 0000000..504faf2
--- /dev/null
+++ b/tiago_description/meshes/arm/arm_4_collision.dae
@@ -0,0 +1,63 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+ <asset>
+ <contributor>
+ <author>VCGLab</author>
+ <authoring_tool>VCGLib | MeshLab</authoring_tool>
+ </contributor>
+ <up_axis>Y_UP</up_axis>
+ <created>Fri Apr 8 11:29:47 2016</created>
+ <modified>Fri Apr 8 11:29:47 2016</modified>
+ </asset>
+ <library_images/>
+ <library_materials/>
+ <library_effects/>
+ <library_geometries>
+ <geometry id="shape0-lib" name="shape0">
+ <mesh>
+ <source id="shape0-lib-positions" name="position">
+ <float_array id="shape0-lib-positions-array" count="168">-0.1 0.0163359 0.0768656 -0.0526742 -0.0116247 0.074073 -0.0456486 -0.0292651 0.069051 -0.00512992 0.0534872 0.0676401 -0.1895 -0.0246816 0.00456006 -0.1895 0.0113176 0.0762404 -0.1895 0.0229072 0.0769154 -0.1145 0.0686522 0.0154692 -0.1895 0.045 -0.0163013 0.0461291 -0.0232853 0.0264691 -0.00923762 -0.0138018 -0.030721 -0.1895 0.0113176 -0.0222404 -0.00847005 -0.0513055 -0.0202507 -0.1895 -0.03 0.027 -0.00871494 -0.0512645 0.026 -0.0326231 -0.0446283 0.0523652 -0.0384355 -0.0396293 0.0608126 -0.1895 -0.0246816 0.04944 -0.1895 -0.0183022 0.0591394 -0.1895 0.0696619 0.0328046 -0.0269412 0.0469682 0.074162 -0.1895 0.0617744 0.0544754 -0.00907994 0.060252 0.04425 -0.1895 0.045 0.0703013 -0.1895 0.0543121 0.0633687 0.00835682 0.0263348 -0.0290215 -0.1895 0.0343402 -0.0208995 -0.1895 0.0229072 -0.0229154 -0.00207306 0.00295974 -0.0313337 -0.0107614 0.0535303 -0.0190479 -0.1895 0.0543121 -0.00936867 -0.1895 0.0617744 -0.000475441 -0.1895 0.00019601 -0.0189108 0.0511201 0.00869039 0.0263536 -0.0352362 0.0592075 0.061356 -0.1895 0.0669846 0.009899 -0.018345 0.0514269 0.0722398 0.00846341 0.0486119 -0.0226252 0.0459711 0.0243035 0.026 -0.000725358 0.0581997 0.0116259 -0.1895 -0.0183022 -0.00513936 -0.0135511 -0.0464208 -0.025693 -0.1 0.0674654 0.0427174 0.00294707 0.0542729 0.0621394 0.0519425 0.00244442 -0.0202523 0.0369268 -0.0313718 -0.0258088 0.0234326 -0.046421 0.026 -0.0641075 0.0684722 0.0325466 0.043666 0.0207348 -0.0258089 0.0306101 0.0418935 -0.0201424 0.0168097 0.0514151 0.025999 0.0174108 -0.0489986 -0.0202511 -0.0539052 0.0643208 0.0049064 -0.1915 0.068 0.027 -0.1915 0.00098818 0.0710744 -0.1915 0.0227909 -0.0209188</float_array>
+ <technique_common>
+ <accessor count="56" source="#shape0-lib-positions-array" stride="3">
+ <param name="X" type="float"/>
+ <param name="Y" type="float"/>
+ <param name="Z" type="float"/>
+ </accessor>
+ </technique_common>
+ </source>
+ <source id="shape0-lib-normals" name="normal">
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diff --git a/tiago_description/meshes/arm/arm_5.stl b/tiago_description/meshes/arm/arm_5.stl
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diff --git a/tiago_description/meshes/arm/arm_5_collision.dae b/tiago_description/meshes/arm/arm_5_collision.dae
new file mode 100644
index 0000000..24c4d5e
--- /dev/null
+++ b/tiago_description/meshes/arm/arm_5_collision.dae
@@ -0,0 +1,63 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+ <asset>
+ <contributor>
+ <author>VCGLab</author>
+ <authoring_tool>VCGLib | MeshLab</authoring_tool>
+ </contributor>
+ <up_axis>Y_UP</up_axis>
+ <created>Fri Apr 8 11:36:03 2016</created>
+ <modified>Fri Apr 8 11:36:03 2016</modified>
+ </asset>
+ <library_images/>
+ <library_materials/>
+ <library_effects/>
+ <library_geometries>
+ <geometry id="shape0-lib" name="shape0">
+ <mesh>
+ <source id="shape0-lib-positions" name="position">
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diff --git a/tiago_description/meshes/arm/arm_6_collision.dae b/tiago_description/meshes/arm/arm_6_collision.dae
new file mode 100644
index 0000000..5c60e13
--- /dev/null
+++ b/tiago_description/meshes/arm/arm_6_collision.dae
@@ -0,0 +1,63 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+ <asset>
+ <contributor>
+ <author>VCGLab</author>
+ <authoring_tool>VCGLib | MeshLab</authoring_tool>
+ </contributor>
+ <up_axis>Y_UP</up_axis>
+ <created>Fri Apr 8 14:02:14 2016</created>
+ <modified>Fri Apr 8 14:02:14 2016</modified>
+ </asset>
+ <library_images/>
+ <library_materials/>
+ <library_effects/>
+ <library_geometries>
+ <geometry id="shape0-lib" name="shape0">
+ <mesh>
+ <source id="shape0-lib-positions" name="position">
+ <float_array id="shape0-lib-positions-array" count="138">-0.036859 -0.021497 0 -0.038774 -1.69487e-09 0.013937 -0.019152 -0.034535 0.013937 1.73045e-09 -0.039588 0.013937 -0.020373 -0.038062 0 -0.032944 -0.020636 0.013937 0.03341 -0.019242 0.014227 0.019152 -0.034535 0.013937 0.020373 -0.038062 0 -0.032944 0.020636 0.013937 -0.036859 0.021497 0 -1.8215e-09 0.041671 0 -0.020373 0.038062 0 -1.73045e-09 0.039588 0.013937 -0.019152 0.034535 0.013937 0.04733 0.018629 0.015678 0.04733 0.022725 0 0.019152 0.034535 0.013937 0.036859 0.022725 0 0.020373 0.038062 0 0.038774 1.69487e-09 0.020319 0.03341 0.019242 0.014227 -0.041671 -1.8215e-09 0 -0.038774 -1.69487e-09 -0.013937 -0.019152 -0.034535 -0.013937 1.73045e-09 -0.039588 -0.013937 -0.032944 -0.020636 -0.013937 0.036859 -0.022725 0 1.8215e-09 -0.041671 0 0.04733 2.06886e-09 -0.022291 0.04733 -0.018629 -0.015678 0.03341 -0.019242 -0.014227 -0.032944 0.020636 -0.013937 -1.73045e-09 0.039588 -0.013937 -0.019152 0.034535 -0.013937 0.04733 0.018629 -0.015678 0.03341 0.019242 -0.014227 0.019152 0.034535 -0.013937 0.04733 -0.018629 0.015678 0.041671 1.8215e-09 0 0.04733 2.06886e-09 0.022291 0.04733 -0.022725 0 0.038774 1.69487e-09 -0.018953 0 0 0.019322 0.019152 -0.034535 -0.013937 0 0 -0.019322</float_array>
+ <technique_common>
+ <accessor count="46" source="#shape0-lib-positions-array" stride="3">
+ <param name="X" type="float"/>
+ <param name="Y" type="float"/>
+ <param name="Z" type="float"/>
+ </accessor>
+ </technique_common>
+ </source>
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+ </source>
+ <vertices id="shape0-lib-vertices">
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+ </triangles>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="VisualSceneNode" name="VisualScene">
+ <node id="node" name="node">
+ <instance_geometry url="#shape0-lib">
+ <bind_material>
+ <technique_common/>
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diff --git a/tiago_description/meshes/head/head_1_collision.dae b/tiago_description/meshes/head/head_1_collision.dae
new file mode 100644
index 0000000..08cac68
--- /dev/null
+++ b/tiago_description/meshes/head/head_1_collision.dae
@@ -0,0 +1,63 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+ <asset>
+ <contributor>
+ <author>VCGLab</author>
+ <authoring_tool>VCGLib | MeshLab</authoring_tool>
+ </contributor>
+ <up_axis>Y_UP</up_axis>
+ <created>Tue Apr 5 14:17:37 2016</created>
+ <modified>Tue Apr 5 14:17:37 2016</modified>
+ </asset>
+ <library_images/>
+ <library_materials/>
+ <library_effects/>
+ <library_geometries>
+ <geometry id="shape0-lib" name="shape0">
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+ </triangles>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="VisualSceneNode" name="VisualScene">
+ <node id="node" name="node">
+ <instance_geometry url="#shape0-lib">
+ <bind_material>
+ <technique_common/>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#VisualSceneNode"/>
+ </scene>
+</COLLADA>
diff --git a/tiago_description/meshes/head/head_2.stl b/tiago_description/meshes/head/head_2.stl
new file mode 100644
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diff --git a/tiago_description/meshes/head/head_2_collision.dae b/tiago_description/meshes/head/head_2_collision.dae
new file mode 100644
index 0000000..6d07485
--- /dev/null
+++ b/tiago_description/meshes/head/head_2_collision.dae
@@ -0,0 +1,63 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+ <asset>
+ <contributor>
+ <author>VCGLab</author>
+ <authoring_tool>VCGLib | MeshLab</authoring_tool>
+ </contributor>
+ <up_axis>Y_UP</up_axis>
+ <created>Wed Apr 6 09:54:57 2016</created>
+ <modified>Wed Apr 6 09:54:57 2016</modified>
+ </asset>
+ <library_images/>
+ <library_materials/>
+ <library_effects/>
+ <library_geometries>
+ <geometry id="shape0-lib" name="shape0">
+ <mesh>
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+ </triangles>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="VisualSceneNode" name="VisualScene">
+ <node id="node" name="node">
+ <instance_geometry url="#shape0-lib">
+ <bind_material>
+ <technique_common/>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#VisualSceneNode"/>
+ </scene>
+</COLLADA>
diff --git a/tiago_description/meshes/hey5/finger_abd_collision.stl b/tiago_description/meshes/hey5/finger_abd_collision.stl
new file mode 100644
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diff --git a/tiago_description/meshes/pmb2/base/base.stl b/tiago_description/meshes/pmb2/base/base.stl
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diff --git a/tiago_description/meshes/pmb2/base/base_collision.stl b/tiago_description/meshes/pmb2/base/base_collision.stl
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diff --git a/tiago_description/meshes/pmb2/base/base_ring.stl b/tiago_description/meshes/pmb2/base/base_ring.stl
new file mode 100755
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diff --git a/tiago_description/meshes/pmb2/wheels/caster_2.stl b/tiago_description/meshes/pmb2/wheels/caster_2.stl
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diff --git a/tiago_description/meshes/pmb2/wheels/wheel.stl b/tiago_description/meshes/pmb2/wheels/wheel.stl
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diff --git a/tiago_description/meshes/sensors/xtion_pro_live/xtion_pro_live.dae b/tiago_description/meshes/sensors/xtion_pro_live/xtion_pro_live.dae
new file mode 100644
index 0000000..506f3cd
--- /dev/null
+++ b/tiago_description/meshes/sensors/xtion_pro_live/xtion_pro_live.dae
@@ -0,0 +1,137 @@
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+ </triangles>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="VisualSceneNode" name="VisualScene">
+ <node id="node" name="node">
+ <instance_geometry url="#shape0-lib">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="material0" target="#material0">
+ <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD"/>
+ </instance_material>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#VisualSceneNode"/>
+ </scene>
+</COLLADA>
diff --git a/tiago_description/meshes/sensors/xtion_pro_live/xtion_pro_live.png b/tiago_description/meshes/sensors/xtion_pro_live/xtion_pro_live.png
new file mode 100644
index 0000000000000000000000000000000000000000..b51bb875aa5033c1836c972463ec9379237debe8
GIT binary patch
literal 325
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XwA&f?t~lVT%m4(Qu6{1-oD!M<frT|c
literal 0
HcmV?d00001
diff --git a/tiago_description/meshes/torso/torso_fix.stl b/tiago_description/meshes/torso/torso_fix.stl
new file mode 100644
index 0000000000000000000000000000000000000000..316042010354ddbf00a953f013c1b1ec508d89f0
GIT binary patch
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diff --git a/tiago_description/meshes/torso/torso_lift_collision.dae b/tiago_description/meshes/torso/torso_lift_collision.dae
new file mode 100644
index 0000000..c3b044e
--- /dev/null
+++ b/tiago_description/meshes/torso/torso_lift_collision.dae
@@ -0,0 +1,63 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+ <asset>
+ <contributor>
+ <author>VCGLab</author>
+ <authoring_tool>VCGLib | MeshLab</authoring_tool>
+ </contributor>
+ <up_axis>Y_UP</up_axis>
+ <created>Fri Apr 8 14:11:59 2016</created>
+ <modified>Fri Apr 8 14:11:59 2016</modified>
+ </asset>
+ <library_images/>
+ <library_materials/>
+ <library_effects/>
+ <library_geometries>
+ <geometry id="shape0-lib" name="shape0">
+ <mesh>
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diff --git a/tiago_description/meshes/torso/torso_lift_collision_core.dae b/tiago_description/meshes/torso/torso_lift_collision_core.dae
new file mode 100644
index 0000000..6a8aed2
--- /dev/null
+++ b/tiago_description/meshes/torso/torso_lift_collision_core.dae
@@ -0,0 +1,63 @@
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diff --git a/tiago_description/meshes/torso/torso_lift_collision_neck.dae b/tiago_description/meshes/torso/torso_lift_collision_neck.dae
new file mode 100644
index 0000000..749a018
--- /dev/null
+++ b/tiago_description/meshes/torso/torso_lift_collision_neck.dae
@@ -0,0 +1,63 @@
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diff --git a/tiago_description/meshes/torso/torso_lift_collision_shoulder.dae b/tiago_description/meshes/torso/torso_lift_collision_shoulder.dae
new file mode 100644
index 0000000..9fe7d95
--- /dev/null
+++ b/tiago_description/meshes/torso/torso_lift_collision_shoulder.dae
@@ -0,0 +1,63 @@
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diff --git a/tiago_description/meshes/torso/torso_lift_with_arm.stl b/tiago_description/meshes/torso/torso_lift_with_arm.stl
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diff --git a/tiago_description/meshes/torso/torso_lift_without_arm.stl b/tiago_description/meshes/torso/torso_lift_without_arm.stl
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diff --git a/tiago_description/robots/tiago.urdf b/tiago_description/robots/tiago.urdf
new file mode 100644
index 0000000..fdf8055
--- /dev/null
+++ b/tiago_description/robots/tiago.urdf
@@ -0,0 +1,3180 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- | This document was autogenerated by xacro from tiago.urdf.xacro | -->
+<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
+<!-- =================================================================================== -->
+<!--
+ Copyright (c) 2011, 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="tiago" xmlns:xacro="http://ros.org/wiki/xacro">
+ <material name="Hey5DarkGrey">
+ <color rgba="0.1 0.1 0.1 1.0"/>
+ </material>
+ <!--TODO: Check-->
+ <gazebo>
+ <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
+ <ns/>
+ <robotSimType>pal_hardware_gazebo/PalHardwareGazebo</robotSimType>
+ <robotNamespace/>
+ <controlPeriod>0.001</controlPeriod>
+ </plugin>
+ <plugin filename="libgazebo_ros_p3d.so" name="gazebo_ros_p3d">
+ <bodyName>base_link</bodyName>
+ <topicName>ground_truth_odom</topicName>
+ <alwaysOn>true</alwaysOn>
+ <updateRate>100.0</updateRate>
+ </plugin>
+ </gazebo>
+ <gazebo>
+ <plugin filename="libgazebo_world_odometry.so" name="gazebo_ros_odometry">
+ <frameName>base_footprint</frameName>
+ <topicName>floating_base_pose_simulated</topicName>
+ </plugin>
+ </gazebo>
+ <gazebo reference="base_imu_link">
+ <!-- this is expected to be reparented to pelvis with appropriate offset
+ when imu_link is reduced by fixed joint reduction -->
+ <!-- todo: this is working with gazebo 1.4, need to write a unit test -->
+ <sensor name="imu_sensor" type="imu">
+ <always_on>1</always_on>
+ <update_rate>1000.0</update_rate>
+ <imu>
+ <noise>
+ <type>gaussian</type>
+ <!-- Noise parameters from Boston Dynamics
+ (http://gazebosim.org/wiki/Sensor_noise):
+ rates (rad/s): mean=0, stddev=2e-4
+ accels (m/s/s): mean=0, stddev=1.7e-2
+ rate bias (rad/s): 5e-6 - 1e-5
+ accel bias (m/s/s): 1e-1
+ Experimentally, simulation provide rates with noise of
+ about 1e-3 rad/s and accels with noise of about 1e-1 m/s/s.
+ So we don't expect to see the noise unless number of inner iterations
+ are increased.
+
+ We will add bias. In this model, bias is sampled once for rates
+ and once for accels at startup; the sign (negative or positive)
+ of each bias is then switched with equal probability. Thereafter,
+ the biases are fixed additive offsets. We choose
+ bias means and stddevs to produce biases close to the provided
+ data. -->
+ <rate>
+ <mean>0.0</mean>
+ <stddev>2e-4</stddev>
+ <bias_mean>0.0000075</bias_mean>
+ <bias_stddev>0.0000008</bias_stddev>
+ </rate>
+ <accel>
+ <mean>0.0</mean>
+ <stddev>1.7e-2</stddev>
+ <bias_mean>0.1</bias_mean>
+ <bias_stddev>0.001</bias_stddev>
+ </accel>
+ </noise>
+ </imu>
+ </sensor>
+ </gazebo>
+ <material name="Blue">
+ <color rgba="0.0 0.0 0.8 1.0"/>
+ </material>
+ <material name="Green">
+ <color rgba="0.0 0.8 0.0 1.0"/>
+ </material>
+ <material name="Grey">
+ <color rgba="0.7 0.7 0.7 1.0"/>
+ </material>
+ <material name="LightGrey">
+ <color rgba="0.9 0.9 0.9 1.0"/>
+ </material>
+ <material name="DarkGrey">
+ <color rgba="0.1 0.1 0.1 1.0"/>
+ </material>
+ <material name="Red">
+ <color rgba="0.8 0.0 0.0 1.0"/>
+ </material>
+ <material name="White">
+ <color rgba="1.0 1.0 1.0 1.0"/>
+ </material>
+ <material name="Yellow">
+ <color rgba="0.96 0.88 0.14 1.0"/>
+ </material>
+ <!-- Base -->
+ <link name="base_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="-0.00000106 0.00000109 0.0000387"/>
+ <mass value="28.26649"/>
+ <inertia ixx="0.465408937" ixy="0.002160024" ixz="-0.001760255" iyy="0.483193291" iyz="-0.000655952" izz="0.550939703"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/pmb2/base/base.stl"/>
+ </geometry>
+ <material name="White"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/pmb2/base/base_collision.stl"/>
+ </geometry>
+ <material name="White"/>
+ </collision>
+ </link>
+ <gazebo reference="base_link">
+ <material>Gazebo/White</material>
+ </gazebo>
+ <!-- Base footprint -->
+ <link name="base_footprint"/>
+ <joint name="base_footprint_joint" type="fixed">
+ <origin rpy="0 0 0" xyz="0 0 0.0985"/>
+ <child link="base_link"/>
+ <parent link="base_footprint"/>
+ </joint>
+ <link name="base_cover_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0.22414000000 0.00002000000 0.04681000000"/>
+ <mass value="0.25821000000"/>
+ <inertia ixx="0.00023719188" ixy="0.00000006119" ixz="-0.00000011799" iyy="0.00028335052" iyz="0.00000000774" izz="0.00038497063"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/pmb2/base/base_ring.stl"/>
+ </geometry>
+ <material name="Orange"/>
+ </visual>
+ </link>
+ <joint name="cover_joint" type="fixed">
+ <parent link="base_footprint"/>
+ <child link="base_cover_link"/>
+ <origin rpy="0 0 0" xyz="0 0 0.13"/>
+ </joint>
+ <gazebo reference="base_cover_link">
+ <material>Gazebo/Orange</material>
+ </gazebo>
+ <link name="base_antenna_left_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0.000001"/>
+ <inertia ixx="0.00000002371" ixy="0.00000006119" ixz="0.00000001179" iyy="0.00000002833" iyz="0.00000000774" izz="0.00000003849"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/pmb2/objects/antenna.stl"/>
+ </geometry>
+ <material name="Black"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0.085"/>
+ <geometry>
+ <cylinder length="0.17" radius="0.005"/>
+ </geometry>
+ <material name="Black"/>
+ </collision>
+ </link>
+ <gazebo reference="base_antenna_left_link">
+ <material>Gazebo/Black</material>
+ </gazebo>
+ <joint name="base_antenna_left_joint" type="fixed">
+ <parent link="base_link"/>
+ <child link="base_antenna_left_link"/>
+ <origin rpy="0 0 0" xyz="-0.201 0.1062 0.195"/>
+ </joint>
+ <link name="base_antenna_right_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0.000001"/>
+ <inertia ixx="0.00000002371" ixy="0.00000006119" ixz="0.00000001179" iyy="0.00000002833" iyz="0.00000000774" izz="0.00000003849"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/pmb2/objects/antenna.stl"/>
+ </geometry>
+ <material name="Black"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0.085"/>
+ <geometry>
+ <cylinder length="0.17" radius="0.005"/>
+ </geometry>
+ <material name="Black"/>
+ </collision>
+ </link>
+ <gazebo reference="base_antenna_right_link">
+ <material>Gazebo/Black</material>
+ </gazebo>
+ <joint name="base_antenna_right_joint" type="fixed">
+ <parent link="base_link"/>
+ <child link="base_antenna_right_link"/>
+ <origin rpy="0 0 0" xyz="-0.201 -0.1062 0.195"/>
+ </joint>
+ <link name="base_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="base_imu_joint" type="fixed">
+ <parent link="base_link"/>
+ <child link="base_imu_link"/>
+ <origin rpy="0 3.14159265359 1.57079632679" xyz="0.10171 0 0.11282"/>
+ </joint>
+ <gazebo reference="base_imu_link">
+ <sensor name="base_imu_sensor" type="imu">
+ <always_on>1</always_on>
+ <update_rate>100.0</update_rate>
+ <imu>
+ <noise>
+ <type>gaussian</type>
+ <rate>
+ <mean>0.0</mean>
+ <stddev>2e-4</stddev>
+ <bias_mean>0.0000075</bias_mean>
+ <bias_stddev>0.0000008</bias_stddev>
+ </rate>
+ <accel>
+ <mean>0.0</mean>
+ <stddev>1.7e-2</stddev>
+ <bias_mean>0.1</bias_mean>
+ <bias_stddev>0.001</bias_stddev>
+ </accel>
+ </noise>
+ </imu>
+ </sensor>
+ </gazebo>
+ <link name="wheel_right_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 -0.00207"/>
+ <mass value="1.82362"/>
+ <inertia ixx="0.00499743171" ixy="4.464e-08" ixz="-0.00000002245" iyy="0.00499741733" iyz="-1.64e-09" izz="0.00839239692"/>
+ </inertial>
+ <visual>
+ <origin rpy="-0.0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/pmb2/wheels/wheel.stl"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <cylinder length="0.04" radius="0.0985"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="wheel_right_joint" type="continuous">
+ <parent link="base_link"/>
+ <child link="wheel_right_link"/>
+ <origin rpy="-1.57079632679 0 0" xyz="0 -0.2022 0"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="6.0" velocity="10.152284264"/>
+ </joint>
+ <transmission name="wheel_right_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="wheel_right_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="wheel_right_joint">
+ <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <!-- Contact model for the wheel surface -->
+ <gazebo reference="wheel_right_link">
+ <!--
+ <kp>1000000.0</kp>
+ <kd>100.0</kd>
+ <mu1>1.0</mu1>
+ <mu2>1.0</mu2>
+ <fdir1>1 0 0</fdir1>
+ <maxVel>1.0</maxVel>
+ <minDepth>0.00</minDepth>
+ <implicitSpringDamper>1</implicitSpringDamper>
+-->
+ <material>Gazebo/DarkGrey</material>
+ </gazebo>
+ <link name="wheel_left_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0.00207"/>
+ <mass value="1.82362"/>
+ <inertia ixx="0.00499743171" ixy="-4.464e-08" ixz="-0.00000002245" iyy="0.00499741733" iyz="1.64e-09" izz="0.00839239692"/>
+ </inertial>
+ <visual>
+ <origin rpy="-3.14159265359 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/pmb2/wheels/wheel.stl"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <cylinder length="0.04" radius="0.0985"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="wheel_left_joint" type="continuous">
+ <parent link="base_link"/>
+ <child link="wheel_left_link"/>
+ <origin rpy="-1.57079632679 0 0" xyz="0 0.2022 0"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="6.0" velocity="10.152284264"/>
+ </joint>
+ <transmission name="wheel_left_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="wheel_left_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="wheel_left_joint">
+ <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <!-- Contact model for the wheel surface -->
+ <gazebo reference="wheel_left_link">
+ <!--
+ <kp>1000000.0</kp>
+ <kd>100.0</kd>
+ <mu1>1.0</mu1>
+ <mu2>1.0</mu2>
+ <fdir1>1 0 0</fdir1>
+ <maxVel>1.0</maxVel>
+ <minDepth>0.00</minDepth>
+ <implicitSpringDamper>1</implicitSpringDamper>
+-->
+ <material>Gazebo/DarkGrey</material>
+ </gazebo>
+ <link name="caster_front_right_1_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="-0.01108 0.00003 -0.030"/>
+ <mass value="0.101"/>
+ <inertia ixx="0.00002779423" ixy="-0.00000001384" ixz="0.0000074479" iyy="0.00002767062" iyz="-0.00000002774" izz="0.00001727605"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/pmb2/wheels/caster_1.stl"/>
+ </geometry>
+ <material name="Grey"/>
+ </visual>
+ </link>
+ <link name="caster_front_right_2_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0.03677"/>
+ <inertia ixx="0.00000755221" ixy="0" ixz="0" iyy="0.00000755221" iyz="0" izz="0.00001281996"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/pmb2/wheels/caster_2.stl"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <sphere radius="0.025"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="caster_front_right_1_joint" type="fixed">
+ <parent link="base_link"/>
+ <child link="caster_front_right_1_link"/>
+ <origin rpy="0 0 0" xyz="0.1695 -0.102 -0.0335"/>
+ <axis xyz="0 0 1"/>
+ </joint>
+ <joint name="caster_front_right_2_joint" type="fixed">
+ <parent link="caster_front_right_1_link"/>
+ <child link="caster_front_right_2_link"/>
+ <origin rpy="-1.57079632679 0 0" xyz="-0.016 0.0000 -0.040"/>
+ <axis xyz="0 0 1"/>
+ </joint>
+ <!-- Transmission -->
+ <!--xacro:caster_transmission name="" side="${side}" number="" reduction=""-->
+ <!-- Contact model for the caster wheel surface -->
+ <gazebo reference="caster_front_right_1_link">
+ <kp>1000000.0</kp>
+ <kd>100.0</kd>
+ <mu1>0</mu1>
+ <mu2>0</mu2>
+ <fdir1>1 0 0</fdir1>
+ <maxVel>1.0</maxVel>
+ <minDepth>0.00</minDepth>
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="caster_front_right_2_link">
+ <kp>1000000.0</kp>
+ <kd>100.0</kd>
+ <mu1>0</mu1>
+ <mu2>0</mu2>
+ <fdir1>1 0 0</fdir1>
+ <maxVel>1.0</maxVel>
+ <minDepth>0.00</minDepth>
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <material>Gazebo/DarkGrey</material>
+ </gazebo>
+ <link name="caster_front_left_1_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="-0.01108 0.00003 -0.030"/>
+ <mass value="0.101"/>
+ <inertia ixx="0.00002779423" ixy="-0.00000001384" ixz="0.0000074479" iyy="0.00002767062" iyz="-0.00000002774" izz="0.00001727605"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/pmb2/wheels/caster_1.stl"/>
+ </geometry>
+ <material name="Grey"/>
+ </visual>
+ </link>
+ <link name="caster_front_left_2_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0.03677"/>
+ <inertia ixx="0.00000755221" ixy="0" ixz="0" iyy="0.00000755221" iyz="0" izz="0.00001281996"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/pmb2/wheels/caster_2.stl"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <sphere radius="0.025"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="caster_front_left_1_joint" type="fixed">
+ <parent link="base_link"/>
+ <child link="caster_front_left_1_link"/>
+ <origin rpy="0 0 0" xyz="0.1695 0.102 -0.0335"/>
+ <axis xyz="0 0 1"/>
+ </joint>
+ <joint name="caster_front_left_2_joint" type="fixed">
+ <parent link="caster_front_left_1_link"/>
+ <child link="caster_front_left_2_link"/>
+ <origin rpy="-1.57079632679 0 0" xyz="-0.016 0.0000 -0.040"/>
+ <axis xyz="0 0 1"/>
+ </joint>
+ <!-- Transmission -->
+ <!--xacro:caster_transmission name="" side="${side}" number="" reduction=""-->
+ <!-- Contact model for the caster wheel surface -->
+ <gazebo reference="caster_front_left_1_link">
+ <kp>1000000.0</kp>
+ <kd>100.0</kd>
+ <mu1>0</mu1>
+ <mu2>0</mu2>
+ <fdir1>1 0 0</fdir1>
+ <maxVel>1.0</maxVel>
+ <minDepth>0.00</minDepth>
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="caster_front_left_2_link">
+ <kp>1000000.0</kp>
+ <kd>100.0</kd>
+ <mu1>0</mu1>
+ <mu2>0</mu2>
+ <fdir1>1 0 0</fdir1>
+ <maxVel>1.0</maxVel>
+ <minDepth>0.00</minDepth>
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <material>Gazebo/DarkGrey</material>
+ </gazebo>
+ <link name="caster_back_right_1_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="-0.01108 0.00003 -0.030"/>
+ <mass value="0.101"/>
+ <inertia ixx="0.00002779423" ixy="-0.00000001384" ixz="0.0000074479" iyy="0.00002767062" iyz="-0.00000002774" izz="0.00001727605"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/pmb2/wheels/caster_1.stl"/>
+ </geometry>
+ <material name="Grey"/>
+ </visual>
+ </link>
+ <link name="caster_back_right_2_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0.03677"/>
+ <inertia ixx="0.00000755221" ixy="0" ixz="0" iyy="0.00000755221" iyz="0" izz="0.00001281996"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/pmb2/wheels/caster_2.stl"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <sphere radius="0.025"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="caster_back_right_1_joint" type="fixed">
+ <parent link="base_link"/>
+ <child link="caster_back_right_1_link"/>
+ <origin rpy="0 0 0" xyz="-0.1735 -0.102 -0.0335"/>
+ <axis xyz="0 0 1"/>
+ </joint>
+ <joint name="caster_back_right_2_joint" type="fixed">
+ <parent link="caster_back_right_1_link"/>
+ <child link="caster_back_right_2_link"/>
+ <origin rpy="-1.57079632679 0 0" xyz="-0.016 0.0000 -0.040"/>
+ <axis xyz="0 0 1"/>
+ </joint>
+ <!-- Transmission -->
+ <!--xacro:caster_transmission name="" side="${side}" number="" reduction=""-->
+ <!-- Contact model for the caster wheel surface -->
+ <gazebo reference="caster_back_right_1_link">
+ <kp>1000000.0</kp>
+ <kd>100.0</kd>
+ <mu1>0</mu1>
+ <mu2>0</mu2>
+ <fdir1>1 0 0</fdir1>
+ <maxVel>1.0</maxVel>
+ <minDepth>0.00</minDepth>
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="caster_back_right_2_link">
+ <kp>1000000.0</kp>
+ <kd>100.0</kd>
+ <mu1>0</mu1>
+ <mu2>0</mu2>
+ <fdir1>1 0 0</fdir1>
+ <maxVel>1.0</maxVel>
+ <minDepth>0.00</minDepth>
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <material>Gazebo/DarkGrey</material>
+ </gazebo>
+ <link name="caster_back_left_1_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="-0.01108 0.00003 -0.030"/>
+ <mass value="0.101"/>
+ <inertia ixx="0.00002779423" ixy="-0.00000001384" ixz="0.0000074479" iyy="0.00002767062" iyz="-0.00000002774" izz="0.00001727605"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/pmb2/wheels/caster_1.stl"/>
+ </geometry>
+ <material name="Grey"/>
+ </visual>
+ </link>
+ <link name="caster_back_left_2_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0.03677"/>
+ <inertia ixx="0.00000755221" ixy="0" ixz="0" iyy="0.00000755221" iyz="0" izz="0.00001281996"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/pmb2/wheels/caster_2.stl"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <sphere radius="0.025"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="caster_back_left_1_joint" type="fixed">
+ <parent link="base_link"/>
+ <child link="caster_back_left_1_link"/>
+ <origin rpy="0 0 0" xyz="-0.1735 0.102 -0.0335"/>
+ <axis xyz="0 0 1"/>
+ </joint>
+ <joint name="caster_back_left_2_joint" type="fixed">
+ <parent link="caster_back_left_1_link"/>
+ <child link="caster_back_left_2_link"/>
+ <origin rpy="-1.57079632679 0 0" xyz="-0.016 0.0000 -0.040"/>
+ <axis xyz="0 0 1"/>
+ </joint>
+ <!-- Transmission -->
+ <!--xacro:caster_transmission name="" side="${side}" number="" reduction=""-->
+ <!-- Contact model for the caster wheel surface -->
+ <gazebo reference="caster_back_left_1_link">
+ <kp>1000000.0</kp>
+ <kd>100.0</kd>
+ <mu1>0</mu1>
+ <mu2>0</mu2>
+ <fdir1>1 0 0</fdir1>
+ <maxVel>1.0</maxVel>
+ <minDepth>0.00</minDepth>
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="caster_back_left_2_link">
+ <kp>1000000.0</kp>
+ <kd>100.0</kd>
+ <mu1>0</mu1>
+ <mu2>0</mu2>
+ <fdir1>1 0 0</fdir1>
+ <maxVel>1.0</maxVel>
+ <minDepth>0.00</minDepth>
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <material>Gazebo/DarkGrey</material>
+ </gazebo>
+ <!-- Bottom fixed part of column -->
+ <link name="torso_fixed_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.02435 -0.00464 0.15900"/>
+ <mass value="14.01360"/>
+ <inertia ixx="0.38341100000" ixy="0.00036400000" ixz="-0.02438900000" iyy="0.40577300000" iyz="-0.00078200000" izz="0.07699800000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/torso/torso_fix.stl" scale="1 1 1"/>
+ </geometry>
+ <material name="LightGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0.085 0.0 0.02"/>
+ <geometry>
+ <box size="0.4 0.25 0.04"/>
+ </geometry>
+ </collision>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0.05"/>
+ <geometry>
+ <box size="0.25 0.25 0.1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="torso_fixed_joint" type="fixed">
+ <origin rpy="0 0 0" xyz="-0.062 0.0 0.193"/>
+ <parent link="base_link"/>
+ <child link="torso_fixed_link"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+ <!-- Middle extending -->
+ <link name="torso_fixed_column_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0.01"/>
+ <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 0.275"/>
+ <geometry>
+ <box size="0.18 0.2 0.55"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0.275"/>
+ <geometry>
+ <box size="0.23 0.23 0.55"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </collision>
+ </link>
+ <gazebo reference="torso_fixed_column_link">
+ <material>Gazebo/DarkGrey</material>
+ </gazebo>
+ <joint name="torso_fixed_column_joint" type="fixed">
+ <origin rpy="0 0 0" xyz="-0.062 0 0.195"/>
+ <parent link="base_link"/>
+ <child link="torso_fixed_column_link"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+ <link name="torso_lift_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.04361 -0.00116 -0.17334"/>
+ <mass value="6.93198"/>
+ <inertia ixx="0.24487000000" ixy="-0.00145600000" ixz="-0.00974200000" iyy="0.24926900000" iyz="0.00828100000" izz="0.09039500000"/>
+ </inertial>
+ <!-- Lifting body -->
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/torso/torso_lift_with_arm.stl" scale="1 1 1"/>
+ </geometry>
+ <material name="White"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/torso/torso_lift_collision_core.dae" scale="1 1 1"/>
+ </geometry>
+ <material name="LightGrey"/>
+ </collision>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/torso/torso_lift_collision_shoulder.dae" scale="1 1 1"/>
+ </geometry>
+ <material name="LightGrey"/>
+ </collision>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/torso/torso_lift_collision_neck.dae" scale="1 1 1"/>
+ </geometry>
+ <material name="LightGrey"/>
+ </collision>
+ </link>
+ <joint name="torso_lift_joint" type="prismatic">
+ <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.597"/>
+ <parent link="torso_fixed_link"/>
+ <child link="torso_lift_link"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="2000" lower="0" upper="0.35" velocity="0.07"/>
+ <calibration rising="0.0"/>
+ <dynamics damping="1000"/>
+ <safety_controller k_position="20" k_velocity="20" soft_lower_limit="0.0" soft_upper_limit="0.35"/>
+ </joint>
+ <transmission name="torso_lift_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="torso_lift_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="torso_lift_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <link name="head_1_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00508 0.00237 0.07229"/>
+ <mass value="0.62220"/>
+ <inertia ixx="0.00119200000" ixy="-0.00000700000" ixz="0.00009600000" iyy="0.00140200000" iyz="0.00000400000" izz="0.00088900000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/head/head_1.stl" scale="1 1 1"/>
+ </geometry>
+ <material name="White"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0.0" xyz="0.0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/head/head_1_collision.dae" scale="1 1 1"/>
+ </geometry>
+ <material name="White"/>
+ </collision>
+ </link>
+ <joint name="head_1_joint" type="revolute">
+ <parent link="torso_lift_link"/>
+ <child link="head_1_link"/>
+ <origin rpy="0 0 0" xyz="0.182 0.0 0.0"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="5.197" lower="-1.308996939" upper="1.308996939" velocity="3.0"/>
+ <dynamics damping="0.5" friction="1.0"/>
+ <safety_controller k_position="20" k_velocity="20" soft_lower_limit="-1.238996939" soft_upper_limit="1.238996939"/>
+ </joint>
+ <gazebo reference="head_1_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <gazebo reference="head_1_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <transmission name="head_1_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="head_1_motor">
+ <mechanicalReduction>1</mechanicalReduction>
+ </actuator>
+ <joint name="head_1_joint">
+ <offset>0.0</offset>
+ <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <link name="head_2_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.04700 0.05542 0.00022"/>
+ <mass value="0.66123"/>
+ <inertia ixx="0.00462000000" ixy="0.00068900000" ixz="0.00000600000" iyy="0.00486100000" iyz="0.00000600000" izz="0.00313200000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/head/head_2.stl" scale="1 1 1"/>
+ </geometry>
+ <material name="White"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/head/head_2_collision.dae" 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="1.57079632679 0 0" xyz="0.005 0.0 0.098"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="2.77" lower="-1.0471975512" upper="0.785398163397" velocity="3.0"/>
+ <dynamics damping="0.5" friction="1.0"/>
+ <safety_controller k_position="20" k_velocity="20" soft_lower_limit="-0.977197551197" soft_upper_limit="0.785398163397"/>
+ </joint>
+ <transmission name="head_2_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="head_2_motor">
+ <mechanicalReduction>1</mechanicalReduction>
+ </actuator>
+ <joint name="head_2_joint">
+ <offset>0.0</offset>
+ <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <!-- frames in the center of the camera -->
+ <joint name="xtion_joint" type="fixed">
+ <origin rpy="-1.57079632679 0.0 0.0" xyz="0.0908 0.08 0.0"/>
+ <parent link="head_2_link"/>
+ <child link="xtion_link"/>
+ </joint>
+ <link name="xtion_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="-0.00936000000 -0.00003000000 -0.00273000000"/>
+ <mass value="0.21970000000"/>
+ <inertia ixx="0.00000429247" ixy="0.00000000000" ixz="0.00000002565" iyy="0.00000008027" iyz="0.00000000000" izz="0.00000427339"/>
+ </inertial>
+ <!--
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/sensors/xtion_pro_live/xtion_pro_live.dae" />
+ </geometry>
+ <material name="Grey">
+ <color rgba="0.5 0.5 0.5 1"/>
+ </material>
+ </visual>
+ <collision>
+ <origin xyz="-0.01 0.0025 0" rpy="0 0 0"/>
+ <geometry>
+ <box size="0.04 0.185 0.03"/>
+ </geometry>
+ </collision>
+ -->
+ </link>
+ <joint name="xtion_optical_joint" type="fixed">
+ <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
+ <parent link="xtion_link"/>
+ <child link="xtion_optical_frame"/>
+ </joint>
+ <link name="xtion_optical_frame">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0.001"/>
+ <inertia ixx="0.00001" ixy="0" ixz="0" iyy="0.00001" iyz="0" izz="0.00001"/>
+ </inertial>
+ </link>
+ <!-- frames of the depth sensor -->
+ <joint name="xtion_depth_joint" type="fixed">
+ <origin rpy="0 0 0" xyz="0.0 0.047 0.0"/>
+ <parent link="xtion_link"/>
+ <child link="xtion_depth_frame"/>
+ </joint>
+ <link name="xtion_depth_frame">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0.001"/>
+ <inertia ixx="0.00001" ixy="0" ixz="0" iyy="0.00001" iyz="0" izz="0.00001"/>
+ </inertial>
+ </link>
+ <joint name="xtion_depth_optical_joint" type="fixed">
+ <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
+ <parent link="xtion_depth_frame"/>
+ <child link="xtion_depth_optical_frame"/>
+ </joint>
+ <link name="xtion_depth_optical_frame">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0.001"/>
+ <inertia ixx="0.00001" ixy="0" ixz="0" iyy="0.00001" iyz="0" izz="0.00001"/>
+ </inertial>
+ </link>
+ <!-- frames of the rgb sensor -->
+ <joint name="xtion_rgb_joint" type="fixed">
+ <origin rpy="0 0 0" xyz="0.0 0.022 0.0"/>
+ <parent link="xtion_link"/>
+ <child link="xtion_rgb_frame"/>
+ </joint>
+ <link name="xtion_rgb_frame">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0.001"/>
+ <inertia ixx="0.00001" ixy="0" ixz="0" iyy="0.00001" iyz="0" izz="0.00001"/>
+ </inertial>
+ </link>
+ <joint name="xtion_rgb_optical_joint" type="fixed">
+ <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
+ <parent link="xtion_rgb_frame"/>
+ <child link="xtion_rgb_optical_frame"/>
+ </joint>
+ <link name="xtion_rgb_optical_frame">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0.001"/>
+ <inertia ixx="0.00001" ixy="0" ixz="0" iyy="0.00001" iyz="0" izz="0.00001"/>
+ </inertial>
+ </link>
+ <gazebo reference="xtion_rgb_frame">
+ <sensor name="xtion_frame_sensor" type="depth">
+ <always_on>true</always_on>
+ <update_rate>30.0</update_rate>
+ <camera>
+ <horizontal_fov>1.09955742876</horizontal_fov>
+ <image>
+ <format>B8G8R8</format>
+ <width>640</width>
+ <height>480</height>
+ </image>
+ <clip>
+ <near>0.3</near>
+ <far>8.0</far>
+ </clip>
+ </camera>
+ <plugin filename="libgazebo_ros_openni_kinect.so" name="xtion_frame_controller">
+ <alwaysOn>true</alwaysOn>
+ <updateRate>30.0</updateRate>
+ <cameraName>xtion</cameraName>
+ <imageTopicName>rgb/image_raw</imageTopicName>
+ <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
+ <depthImageTopicName>depth_registered/image_raw</depthImageTopicName>
+ <depthImageCameraInfoTopicName>depth_registered/camera_info</depthImageCameraInfoTopicName>
+ <pointCloudTopicName>depth_registered/points</pointCloudTopicName>
+ <frameName>xtion_rgb_optical_frame</frameName>
+ <pointCloudCutoff>0.5</pointCloudCutoff>
+ <pointCloudCutoffMax>8.0</pointCloudCutoffMax>
+ <distortionK1>0.00000001</distortionK1>
+ <distortionK2>0.00000001</distortionK2>
+ <distortionK3>0.00000001</distortionK3>
+ <distortionT1>0.00000001</distortionT1>
+ <distortionT2>0.00000001</distortionT2>
+ </plugin>
+ </sensor>
+ </gazebo>
+ <!--************************-->
+ <!-- SHOULDER -->
+ <!--************************-->
+ <link name="arm_1_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.063989 0.022546 -0.014608"/>
+ <mass value="2.083078"/>
+ <inertia ixx="0.003003" ixy="0.002396" ixz="0.001531" iyy="0.008613" iyz="0.000588" izz="0.009348"/>
+ </inertial>
+ <!-- M90 module -->
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/arm/arm_1.stl" scale="1 1 1"/>
+ </geometry>
+ <material name="White"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/arm/arm_1_collision.dae" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="arm_1_joint" type="revolute">
+ <parent link="torso_lift_link"/>
+ <child link="arm_1_link"/>
+ <origin rpy="0 0 -1.57079632679" xyz="0.15505 0.014 -0.151"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="39.0" lower="0.0" upper="2.74889357189" velocity="2.7"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ <safety_controller k_position="20" k_velocity="20" soft_lower_limit="0.07" soft_upper_limit="2.67889357189"/>
+ </joint>
+ <link name="arm_2_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.035264 0.000327 0.008489"/>
+ <mass value="1.792499"/>
+ <inertia ixx="0.001683" ixy="-0.000010" ixz="-0.000387" iyy="0.004708" iyz="-0.000028" izz="0.004780"/>
+ </inertial>
+ <visual>
+ <!-- <origin xyz="0 0 0" rpy="${180 * deg_to_rad} ${0 * deg_to_rad} ${-90 * deg_to_rad}" /> -->
+ <origin rpy="0.0 0.0 0.0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/arm/arm_2.stl" scale="1 1 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <!-- <origin xyz="0 0 0" rpy="${180 * deg_to_rad} ${0 * deg_to_rad} ${-90 * deg_to_rad}" /> -->
+ <origin rpy="0.0 0.0 0.0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/arm/arm_2_collision.dae" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="arm_2_joint" type="revolute">
+ <parent link="arm_1_link"/>
+ <child link="arm_2_link"/>
+ <origin rpy="1.57079632679 0.0 0.0" xyz="0.125 0.0165 -0.031"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="39.0" lower="-1.57079632679" upper="1.0908307825" velocity="3.66"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ <safety_controller k_position="20" k_velocity="20" soft_lower_limit="-1.50079632679" soft_upper_limit="1.0208307825"/>
+ </joint>
+ <link name="arm_3_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="-0.007956 0.005368 -0.136320"/>
+ <mass value="2.275860"/>
+ <inertia ixx="0.018178" ixy="-0.000143" ixz="0.001379" iyy="0.018552" iyz="-0.000888" izz="0.002774"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/arm/arm_3.stl" scale="1 1 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/arm/arm_3_collision.dae" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="arm_3_joint" type="revolute">
+ <parent link="arm_2_link"/>
+ <child link="arm_3_link"/>
+ <origin rpy="-1.57079632679 0.0 1.57079632679" xyz="0.0895 0.0 0.0015"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="17.86" lower="-3.53429173529" upper="1.57079632679" velocity="4.58"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ <safety_controller k_position="20" k_velocity="20" soft_lower_limit="-3.46429173529" soft_upper_limit="1.50079632679"/>
+ </joint>
+ <!--************************-->
+ <!-- ELBOW -->
+ <!--************************-->
+ <link name="arm_4_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="-0.095658 0.014666 0.018133"/>
+ <mass value="1.892788"/>
+ <inertia ixx="0.002542" ixy="-0.000956" ixz="-0.001457" iyy="0.011789" iyz="0.000229" izz="0.012058"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/arm/arm_4.stl" scale="1 1 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/arm/arm_4_collision.dae" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="arm_4_joint" type="revolute">
+ <parent link="arm_3_link"/>
+ <child link="arm_4_link"/>
+ <origin rpy="-1.57079632679 -1.57079632679 0.0" xyz="-0.02 -0.027 -0.222"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="17.86" lower="-0.392699081699" upper="2.35619449019" velocity="4.58"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ <safety_controller k_position="20" k_velocity="20" soft_lower_limit="-0.322699081699" soft_upper_limit="2.28619449019"/>
+ </joint>
+ <gazebo reference="arm_1_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ <material>Gazebo/DarkGrey</material>
+ </gazebo>
+ <gazebo reference="arm_2_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ <material>Gazebo/DarkGrey</material>
+ </gazebo>
+ <gazebo reference="arm_3_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ <material>Gazebo/DarkGrey</material>
+ </gazebo>
+ <gazebo reference="arm_4_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ <material>Gazebo/DarkGrey</material>
+ </gazebo>
+ <gazebo reference="arm_1_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="arm_2_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="arm_3_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="arm_4_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <!--************************-->
+ <!-- WRIST -->
+ <!--************************-->
+ <link name="arm_5_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.00003 -0.00028 0.07831"/>
+ <mass value="1.07424"/>
+ <inertia ixx="0.00168000000" ixy="0.00000100000" ixz="-0.00001500000" iyy="0.00160300000" iyz="-0.00001900000" izz="0.00040400000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/arm/arm_5.stl" scale="1 1 1"/>
+ </geometry>
+ <material name="LightGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/arm/arm_5_collision.dae" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="arm_5_joint" type="revolute">
+ <parent link="arm_4_link"/>
+ <child link="arm_5_link"/>
+ <origin rpy="0.0 -1.57079632679 0.0" xyz="-0.162 0.02 0.027"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="3" lower="-2.09439510239" upper="2.09439510239" velocity="1.95"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ <safety_controller k_position="20" k_velocity="20" soft_lower_limit="-2.07439510239" soft_upper_limit="2.07439510239"/>
+ </joint>
+ <link name="arm_6_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.00531 0.00021 0.00002"/>
+ <mass value="0.28722"/>
+ <inertia ixx="0.00005900000" ixy="-0.00000000000" ixz="-0.00000000000" iyy="0.00010600000" iyz="0.00000000000" izz="0.00012600000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/arm/arm_6.stl" scale="1 1 1"/>
+ </geometry>
+ <material name="LightGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/arm/arm_6_collision.dae" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="arm_6_joint" type="revolute">
+ <parent link="arm_5_link"/>
+ <child link="arm_6_link"/>
+ <origin rpy="0.0 -1.57079632679 -1.57079632679" xyz="0 0 0.15"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="6.6" lower="-1.41371669412" upper="1.41371669412" velocity="1.76"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ <safety_controller k_position="20" k_velocity="20" soft_lower_limit="-1.39371669412" soft_upper_limit="1.39371669412"/>
+ </joint>
+ <link name="arm_7_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.00011 -0.00034 0.02405"/>
+ <mass value="0.05935"/>
+ <inertia ixx="0.00001400000" ixy="-0.00000000000" ixz="-0.00000000000" iyy="0.00001400000" iyz="0.00000000000" izz="0.00000400000"/>
+ </inertial>
+ </link>
+ <joint name="arm_7_joint" type="revolute">
+ <parent link="arm_6_link"/>
+ <child link="arm_7_link"/>
+ <origin rpy="1.57079632679 0.0 1.57079632679" xyz="0 0 0"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="6.6" lower="-2.09439510239" upper="2.09439510239" velocity="1.76"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ <safety_controller k_position="20" k_velocity="20" soft_lower_limit="-2.07439510239" soft_upper_limit="2.07439510239"/>
+ </joint>
+ <gazebo reference="arm_5_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <gazebo reference="arm_6_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <gazebo reference="arm_7_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <gazebo reference="arm_5_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="arm_6_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="arm_7_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <provideFeedback>1</provideFeedback>
+ </gazebo>
+ <transmission name="arm_5_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="arm_5_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="arm_5_joint">
+ <offset>0.0</offset>
+ <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <transmission name="wrist_trans">
+ <type>transmission_interface/DifferentialTransmission</type>
+ <actuator name="arm_6_motor">
+ <role>actuator1</role>
+ <mechanicalReduction>-1.0</mechanicalReduction>
+ </actuator>
+ <actuator name="arm_7_motor">
+ <role>actuator2</role>
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="arm_6_joint">
+ <role>joint1</role>
+ <offset>0.0</offset>
+ <mechanicalReduction>1.0</mechanicalReduction>
+ <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <ignoreTransmissionAbsoluteEncoder>1</ignoreTransmissionAbsoluteEncoder>
+ </joint>
+ <joint name="arm_7_joint">
+ <role>joint2</role>
+ <offset>0.0</offset>
+ <mechanicalReduction>-1</mechanicalReduction>
+ <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <ignoreTransmissionAbsoluteEncoder>1</ignoreTransmissionAbsoluteEncoder>
+ </joint>
+ </transmission>
+ <!--***********************-->
+ <!-- TOOL -->
+ <!--***********************-->
+ <link name="arm_tool_link">
+ <inertial>
+ <mass value="0.1"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 1.57079632679 0" xyz="0.001 0 0"/>
+ <geometry>
+ <cylinder length="0.005" radius="0.005"/>
+ </geometry>
+ <material name="LightGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 1.57079632679 0" xyz="0.001 0 0"/>
+ <geometry>
+ <cylinder length="0.005" radius="0.005"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="arm_tool_joint" type="fixed">
+ <parent link="arm_7_link"/>
+ <child link="arm_tool_link"/>
+ <origin rpy="1.57079632679 -1.57079632679 3.14159265359" xyz="0 0 0.046"/>
+ </joint>
+ <transmission name="arm_1_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="arm_1_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="arm_1_joint">
+ <offset>0.0</offset>
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <transmission name="arm_2_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="arm_2_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="arm_2_joint">
+ <offset>0.0</offset>
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <transmission name="arm_3_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="arm_3_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="arm_3_joint">
+ <offset>0.0</offset>
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <transmission name="arm_4_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="arm_4_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="arm_4_joint">
+ <offset>0.0</offset>
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <!-- Tool Link -->
+ <link name="hand_tool_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0.0001"/>
+ <inertia ixx="0.00001" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.00001"/>
+ </inertial>
+ </link>
+ <joint name="hand_tool_joint" type="fixed">
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <parent link="wrist_ft_tool_link"/>
+ <child link="hand_tool_link"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+ <joint name="hand_palm_joint" type="fixed">
+ <parent link="wrist_ft_tool_link"/>
+ <child link="hand_palm_link"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </joint>
+ <link name="hand_palm_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0.0641 -0.0022 0.0021"/>
+ <!-- NOTE: Less than total palm mass of 0.598kg because actuator masses are specified separately -->
+ <mass value="0.4"/>
+ <inertia ixx="0.000305100" ixy="0.000005037" ixz="0.000015302" iyy="0.000811920" iyz="0.000007622" izz="0.000655851"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/hey5/palm.stl" scale="1 1 1"/>
+ </geometry>
+ <material name="Hey5DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/hey5/palm_collision.stl" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <gazebo reference="hand_palm_link">
+ <material>Gazebo/Black</material>
+ </gazebo>
+ <joint name="hand_thumb_joint" type="revolute">
+ <parent link="hand_palm_link"/>
+ <child link="hand_thumb_link"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="2.0" lower="-2.61799387799" upper="6.28318530718" velocity="3.35"/>
+ <dynamics damping="0.5" friction="0.0"/>
+ <!-- TODO: Tune -->
+ <safety_controller k_position="20" k_velocity="20" soft_lower_limit="-2.61799387799" soft_upper_limit="6.28318530718"/>
+ </joint>
+ <link name="hand_thumb_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0.05"/>
+ <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+ <!--To stabilize simulation-->
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <sphere radius="0.001"/>
+ </geometry>
+ <material name="Hey5DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <sphere radius="0.001"/>
+ </geometry>
+ </collision>
+ </link>
+ <transmission name="hand_thumb_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="hand_thumb_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="hand_thumb_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <joint name="hand_index_joint" type="revolute">
+ <parent link="hand_palm_link"/>
+ <child link="hand_index_link"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="2.0" lower="-3.05432619099" upper="6.80678408278" velocity="3.35"/>
+ <dynamics damping="0.5" friction="0.0"/>
+ <!-- TODO: Tune -->
+ <safety_controller k_position="20" k_velocity="20" soft_lower_limit="-3.05432619099" soft_upper_limit="6.80678408278"/>
+ </joint>
+ <link name="hand_index_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0.05"/>
+ <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+ <!--To stabilize simulation-->
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <sphere radius="0.001"/>
+ </geometry>
+ <material name="Hey5DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <sphere radius="0.001"/>
+ </geometry>
+ </collision>
+ </link>
+ <transmission name="hand_index_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="hand_index_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="hand_index_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <joint name="hand_mrl_joint" type="revolute">
+ <parent link="hand_palm_link"/>
+ <child link="hand_mrl_link"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="2.0" lower="-2.53072741539" upper="9.25024503557" velocity="3.56"/>
+ <dynamics damping="0.5" friction="0.0"/>
+ <!-- TODO: Tune -->
+ <safety_controller k_position="20" k_velocity="20" soft_lower_limit="-2.53072741539" soft_upper_limit="9.25024503557"/>
+ </joint>
+ <link name="hand_mrl_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0.05"/>
+ <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+ <!--To stabilize simulation-->
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <sphere radius="0.001"/>
+ </geometry>
+ <material name="Hey5DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <sphere radius="0.001"/>
+ </geometry>
+ </collision>
+ </link>
+ <transmission name="hand_mrl_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="hand_mrl_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="hand_mrl_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <joint name="hand_thumb_abd_joint" type="revolute">
+ <parent link="hand_palm_link"/>
+ <child link="hand_thumb_abd_link"/>
+ <origin rpy="0 -1.1344640138 0" xyz="0.0901 0.0134 0.038"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="2.0" lower="0.0" upper="1.57079632679" velocity="2.0"/>
+ <dynamics damping="0.5" friction="0.0"/>
+ </joint>
+ <link name="hand_thumb_abd_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="-0.0132 0.0037 -0.0017"/>
+ <mass value="0.014"/>
+ <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+ <!-- To stabilize simulation -->
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/hey5/thumb_abd_collision.stl" scale="1 1 1"/>
+ </geometry>
+ <material name="Hey5DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/hey5/thumb_abd_collision.stl" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <gazebo reference="hand_thumb_abd_link">
+ <material>Gazebo/Black</material>
+ </gazebo>
+ <joint name="hand_thumb_virtual_1_joint" type="revolute">
+ <parent link="hand_thumb_abd_link"/>
+ <child link="hand_thumb_virtual_1_link"/>
+ <origin rpy="-1.14423785761 0 0" xyz="0.0225 0.003 0"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="2.0" lower="0.0" upper="0.785398163397" velocity="2.0"/>
+ <dynamics damping="0.5" friction="0.0"/>
+ </joint>
+ <link name="hand_thumb_virtual_1_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0.0065 0 0"/>
+ <mass value="0.01"/>
+ <!--TODO: can we make it zero and still have a stable dynamic simulation?-->
+ <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+ <!-- To stabilize simulation -->
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0.0065 0 0"/>
+ <geometry>
+ <box size="0.013 0.002 0.012"/>
+ </geometry>
+ <material name="Hey5DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <box size="0.013 0.002 0.012"/>
+ </geometry>
+ </collision>
+ </link>
+ <gazebo reference="hand_thumb_virtual_1_link">
+ <material>Gazebo/Black</material>
+ </gazebo>
+ <joint name="hand_thumb_flex_1_joint" type="revolute">
+ <parent link="hand_thumb_virtual_1_link"/>
+ <child link="hand_thumb_flex_1_link"/>
+ <origin rpy="0 0 0" xyz="0.013 0 0"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="2.0" lower="0.0" upper="0.785398163397" velocity="2.0"/>
+ <dynamics damping="0.5" friction="0.0"/>
+ </joint>
+ <link name="hand_thumb_flex_1_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0.0047 0.0031 0.0"/>
+ <mass value="0.009"/>
+ <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+ <!-- To stabilize simulation -->
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+ </geometry>
+ <material name="Hey5DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+ </geometry>
+ </collision>
+ </link>
+ <gazebo reference="hand_thumb_flex_1_link">
+ <material>Gazebo/Black</material>
+ </gazebo>
+ <joint name="hand_thumb_virtual_2_joint" type="revolute">
+ <parent link="hand_thumb_flex_1_link"/>
+ <child link="hand_thumb_virtual_2_link"/>
+ <origin rpy="0 0 0" xyz="0.009 0 0"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="2.0" lower="0.0" upper="0.785398163397" velocity="2.0"/>
+ <dynamics damping="0.5" friction="0.0"/>
+ </joint>
+ <link name="hand_thumb_virtual_2_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0.0065 0 0"/>
+ <mass value="0.01"/>
+ <!--TODO: can we make it zero and still have a stable dynamic simulation?-->
+ <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+ <!-- To stabilize simulation -->
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0.0065 0 0"/>
+ <geometry>
+ <box size="0.013 0.002 0.012"/>
+ </geometry>
+ <material name="Hey5DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <box size="0.013 0.002 0.012"/>
+ </geometry>
+ </collision>
+ </link>
+ <gazebo reference="hand_thumb_virtual_2_link">
+ <material>Gazebo/Black</material>
+ </gazebo>
+ <joint name="hand_thumb_flex_2_joint" type="revolute">
+ <parent link="hand_thumb_virtual_2_link"/>
+ <child link="hand_thumb_flex_2_link"/>
+ <origin rpy="0 0 0" xyz="0.013 0 0"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="2.0" lower="0.0" upper="0.785398163397" velocity="2.0"/>
+ <dynamics damping="0.5" friction="0.0"/>
+ </joint>
+ <link name="hand_thumb_flex_2_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0.0096 0.003 0.0"/>
+ <mass value="0.015"/>
+ <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+ <!-- To stabilize simulation -->
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
+ </geometry>
+ <material name="Hey5DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
+ </geometry>
+ </collision>
+ </link>
+ <gazebo reference="hand_thumb_flex_2_link">
+ <material>Gazebo/Black</material>
+ </gazebo>
+ <joint name="hand_index_abd_joint" type="revolute">
+ <parent link="hand_palm_link"/>
+ <child link="hand_index_abd_link"/>
+ <origin rpy="-1.57079632679 -0.523598775598 0" xyz="0.1265 0.0042 0.0265"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="2.0" lower="-0.523598775598" upper="0.523598775598" velocity="2.0"/>
+ <dynamics damping="0.5" friction="0.0"/>
+ </joint>
+ <link name="hand_index_abd_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="-0.0018 0.0 0.0028"/>
+ <mass value="0.018"/>
+ <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+ <!-- To stabilize simulation -->
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/hey5/finger_abd_collision.stl" scale="1 1 1"/>
+ </geometry>
+ <material name="Hey5DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/hey5/finger_abd_collision.stl" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <gazebo reference="hand_index_abd_link">
+ <material>Gazebo/Black</material>
+ </gazebo>
+ <joint name="hand_index_virtual_1_joint" type="revolute">
+ <parent link="hand_index_abd_link"/>
+ <child link="hand_index_virtual_1_link"/>
+ <origin rpy="1.57079632679 0 0" xyz="0.009 0 0"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="2.0" lower="0.0" upper="0.785398163397" velocity="2.0"/>
+ <dynamics damping="0.5" friction="0.0"/>
+ </joint>
+ <link name="hand_index_virtual_1_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0.0065 0 0"/>
+ <mass value="0.01"/>
+ <!--TODO: can we make it zero and still have a stable dynamic simulation?-->
+ <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+ <!-- To stabilize simulation -->
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0.0065 0 0"/>
+ <geometry>
+ <box size="0.013 0.002 0.012"/>
+ </geometry>
+ <material name="Hey5DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <box size="0.013 0.002 0.012"/>
+ </geometry>
+ </collision>
+ </link>
+ <gazebo reference="hand_index_virtual_1_link">
+ <material>Gazebo/Black</material>
+ </gazebo>
+ <joint name="hand_index_flex_1_joint" type="revolute">
+ <parent link="hand_index_virtual_1_link"/>
+ <child link="hand_index_flex_1_link"/>
+ <origin rpy="0 0 0" xyz="0.013 0 0"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="2.0" lower="0.0" upper="0.785398163397" velocity="2.0"/>
+ <dynamics damping="0.5" friction="0.0"/>
+ </joint>
+ <link name="hand_index_flex_1_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0.0047 0.0031 0.0"/>
+ <mass value="0.009"/>
+ <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+ <!-- To stabilize simulation -->
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+ </geometry>
+ <material name="Hey5DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+ </geometry>
+ </collision>
+ </link>
+ <gazebo reference="hand_index_flex_1_link">
+ <material>Gazebo/Black</material>
+ </gazebo>
+ <joint name="hand_index_virtual_2_joint" type="revolute">
+ <parent link="hand_index_flex_1_link"/>
+ <child link="hand_index_virtual_2_link"/>
+ <origin rpy="0 0 0" xyz="0.009 0 0"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="2.0" lower="0.0" upper="0.785398163397" velocity="2.0"/>
+ <dynamics damping="0.5" friction="0.0"/>
+ </joint>
+ <link name="hand_index_virtual_2_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0.0065 0 0"/>
+ <mass value="0.01"/>
+ <!--TODO: can we make it zero and still have a stable dynamic simulation?-->
+ <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+ <!-- To stabilize simulation -->
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0.0065 0 0"/>
+ <geometry>
+ <box size="0.013 0.002 0.012"/>
+ </geometry>
+ <material name="Hey5DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <box size="0.013 0.002 0.012"/>
+ </geometry>
+ </collision>
+ </link>
+ <gazebo reference="hand_index_virtual_2_link">
+ <material>Gazebo/Black</material>
+ </gazebo>
+ <joint name="hand_index_flex_2_joint" type="revolute">
+ <parent link="hand_index_virtual_2_link"/>
+ <child link="hand_index_flex_2_link"/>
+ <origin rpy="0 0 0" xyz="0.013 0 0"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="2.0" lower="0.0" upper="0.785398163397" velocity="2.0"/>
+ <dynamics damping="0.5" friction="0.0"/>
+ </joint>
+ <link name="hand_index_flex_2_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0.0047 0.0031 0.0"/>
+ <mass value="0.009"/>
+ <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+ <!-- To stabilize simulation -->
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+ </geometry>
+ <material name="Hey5DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+ </geometry>
+ </collision>
+ </link>
+ <gazebo reference="hand_index_flex_2_link">
+ <material>Gazebo/Black</material>
+ </gazebo>
+ <joint name="hand_index_virtual_3_joint" type="revolute">
+ <parent link="hand_index_flex_2_link"/>
+ <child link="hand_index_virtual_3_link"/>
+ <origin rpy="0 0 0" xyz="0.009 0 0"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="2.0" lower="0.0" upper="0.785398163397" velocity="2.0"/>
+ <dynamics damping="0.5" friction="0.0"/>
+ </joint>
+ <link name="hand_index_virtual_3_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0.0065 0 0"/>
+ <mass value="0.01"/>
+ <!--TODO: can we make it zero and still have a stable dynamic simulation?-->
+ <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+ <!-- To stabilize simulation -->
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0.0065 0 0"/>
+ <geometry>
+ <box size="0.013 0.002 0.012"/>
+ </geometry>
+ <material name="Hey5DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <box size="0.013 0.002 0.012"/>
+ </geometry>
+ </collision>
+ </link>
+ <gazebo reference="hand_index_virtual_3_link">
+ <material>Gazebo/Black</material>
+ </gazebo>
+ <joint name="hand_index_flex_3_joint" type="revolute">
+ <parent link="hand_index_virtual_3_link"/>
+ <child link="hand_index_flex_3_link"/>
+ <origin rpy="0 0 0" xyz="0.013 0 0"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="2.0" lower="0.0" upper="0.785398163397" velocity="2.0"/>
+ <dynamics damping="0.5" friction="0.0"/>
+ </joint>
+ <link name="hand_index_flex_3_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0.0096 0.003 0.0"/>
+ <mass value="0.015"/>
+ <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+ <!-- To stabilize simulation -->
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
+ </geometry>
+ <material name="Hey5DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
+ </geometry>
+ </collision>
+ </link>
+ <gazebo reference="hand_index_flex_3_link">
+ <material>Gazebo/Black</material>
+ </gazebo>
+ <joint name="hand_middle_abd_joint" type="revolute">
+ <parent link="hand_palm_link"/>
+ <child link="hand_middle_abd_link"/>
+ <origin rpy="-1.57079632679 0 0" xyz="0.1335 0.0042 0.007"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="2.0" lower="-0.523598775598" upper="0.523598775598" velocity="2.0"/>
+ <dynamics damping="0.5" friction="0.0"/>
+ </joint>
+ <link name="hand_middle_abd_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="-0.0018 0.0 0.0028"/>
+ <mass value="0.018"/>
+ <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+ <!-- To stabilize simulation -->
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/hey5/finger_abd_collision.stl" scale="1 1 1"/>
+ </geometry>
+ <material name="Hey5DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/hey5/finger_abd_collision.stl" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <gazebo reference="hand_middle_abd_link">
+ <material>Gazebo/Black</material>
+ </gazebo>
+ <joint name="hand_middle_virtual_1_joint" type="revolute">
+ <parent link="hand_middle_abd_link"/>
+ <child link="hand_middle_virtual_1_link"/>
+ <origin rpy="1.57079632679 0 0" xyz="0.009 0 0"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="2.0" lower="0.0" upper="0.785398163397" velocity="2.0"/>
+ <dynamics damping="0.5" friction="0.0"/>
+ </joint>
+ <link name="hand_middle_virtual_1_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0.0065 0 0"/>
+ <mass value="0.01"/>
+ <!--TODO: can we make it zero and still have a stable dynamic simulation?-->
+ <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+ <!-- To stabilize simulation -->
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0.0065 0 0"/>
+ <geometry>
+ <box size="0.013 0.002 0.012"/>
+ </geometry>
+ <material name="Hey5DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <box size="0.013 0.002 0.012"/>
+ </geometry>
+ </collision>
+ </link>
+ <gazebo reference="hand_middle_virtual_1_link">
+ <material>Gazebo/Black</material>
+ </gazebo>
+ <joint name="hand_middle_flex_1_joint" type="revolute">
+ <parent link="hand_middle_virtual_1_link"/>
+ <child link="hand_middle_flex_1_link"/>
+ <origin rpy="0 0 0" xyz="0.013 0 0"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="2.0" lower="0.0" upper="0.785398163397" velocity="2.0"/>
+ <dynamics damping="0.5" friction="0.0"/>
+ </joint>
+ <link name="hand_middle_flex_1_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0.0047 0.0031 0.0"/>
+ <mass value="0.009"/>
+ <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+ <!-- To stabilize simulation -->
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+ </geometry>
+ <material name="Hey5DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+ </geometry>
+ </collision>
+ </link>
+ <gazebo reference="hand_middle_flex_1_link">
+ <material>Gazebo/Black</material>
+ </gazebo>
+ <joint name="hand_middle_virtual_2_joint" type="revolute">
+ <parent link="hand_middle_flex_1_link"/>
+ <child link="hand_middle_virtual_2_link"/>
+ <origin rpy="0 0 0" xyz="0.009 0 0"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="2.0" lower="0.0" upper="0.785398163397" velocity="2.0"/>
+ <dynamics damping="0.5" friction="0.0"/>
+ </joint>
+ <link name="hand_middle_virtual_2_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0.0065 0 0"/>
+ <mass value="0.01"/>
+ <!--TODO: can we make it zero and still have a stable dynamic simulation?-->
+ <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+ <!-- To stabilize simulation -->
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0.0065 0 0"/>
+ <geometry>
+ <box size="0.013 0.002 0.012"/>
+ </geometry>
+ <material name="Hey5DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <box size="0.013 0.002 0.012"/>
+ </geometry>
+ </collision>
+ </link>
+ <gazebo reference="hand_middle_virtual_2_link">
+ <material>Gazebo/Black</material>
+ </gazebo>
+ <joint name="hand_middle_flex_2_joint" type="revolute">
+ <parent link="hand_middle_virtual_2_link"/>
+ <child link="hand_middle_flex_2_link"/>
+ <origin rpy="0 0 0" xyz="0.013 0 0"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="2.0" lower="0.0" upper="0.785398163397" velocity="2.0"/>
+ <dynamics damping="0.5" friction="0.0"/>
+ </joint>
+ <link name="hand_middle_flex_2_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0.0047 0.0031 0.0"/>
+ <mass value="0.009"/>
+ <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+ <!-- To stabilize simulation -->
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+ </geometry>
+ <material name="Hey5DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+ </geometry>
+ </collision>
+ </link>
+ <gazebo reference="hand_middle_flex_2_link">
+ <material>Gazebo/Black</material>
+ </gazebo>
+ <joint name="hand_middle_virtual_3_joint" type="revolute">
+ <parent link="hand_middle_flex_2_link"/>
+ <child link="hand_middle_virtual_3_link"/>
+ <origin rpy="0 0 0" xyz="0.009 0 0"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="2.0" lower="0.0" upper="0.785398163397" velocity="2.0"/>
+ <dynamics damping="0.5" friction="0.0"/>
+ </joint>
+ <link name="hand_middle_virtual_3_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0.0065 0 0"/>
+ <mass value="0.01"/>
+ <!--TODO: can we make it zero and still have a stable dynamic simulation?-->
+ <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+ <!-- To stabilize simulation -->
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0.0065 0 0"/>
+ <geometry>
+ <box size="0.013 0.002 0.012"/>
+ </geometry>
+ <material name="Hey5DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <box size="0.013 0.002 0.012"/>
+ </geometry>
+ </collision>
+ </link>
+ <gazebo reference="hand_middle_virtual_3_link">
+ <material>Gazebo/Black</material>
+ </gazebo>
+ <joint name="hand_middle_flex_3_joint" type="revolute">
+ <parent link="hand_middle_virtual_3_link"/>
+ <child link="hand_middle_flex_3_link"/>
+ <origin rpy="0 0 0" xyz="0.013 0 0"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="2.0" lower="0.0" upper="0.785398163397" velocity="2.0"/>
+ <dynamics damping="0.5" friction="0.0"/>
+ </joint>
+ <link name="hand_middle_flex_3_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0.0096 0.003 0.0"/>
+ <mass value="0.015"/>
+ <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+ <!-- To stabilize simulation -->
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
+ </geometry>
+ <material name="Hey5DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
+ </geometry>
+ </collision>
+ </link>
+ <gazebo reference="hand_middle_flex_3_link">
+ <material>Gazebo/Black</material>
+ </gazebo>
+ <joint name="hand_ring_abd_joint" type="revolute">
+ <parent link="hand_palm_link"/>
+ <child link="hand_ring_abd_link"/>
+ <origin rpy="-1.57079632679 0.261799387799 0" xyz="0.1265 0.0042 -0.0125"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="2.0" lower="-0.523598775598" upper="0.523598775598" velocity="2.0"/>
+ <dynamics damping="0.5" friction="0.0"/>
+ </joint>
+ <link name="hand_ring_abd_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="-0.0018 0.0 0.0028"/>
+ <mass value="0.018"/>
+ <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+ <!-- To stabilize simulation -->
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/hey5/finger_abd_collision.stl" scale="1 1 1"/>
+ </geometry>
+ <material name="Hey5DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/hey5/finger_abd_collision.stl" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <gazebo reference="hand_ring_abd_link">
+ <material>Gazebo/Black</material>
+ </gazebo>
+ <joint name="hand_ring_virtual_1_joint" type="revolute">
+ <parent link="hand_ring_abd_link"/>
+ <child link="hand_ring_virtual_1_link"/>
+ <origin rpy="1.57079632679 0 0" xyz="0.009 0 0"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="2.0" lower="0.0" upper="0.785398163397" velocity="2.0"/>
+ <dynamics damping="0.5" friction="0.0"/>
+ </joint>
+ <link name="hand_ring_virtual_1_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0.0065 0 0"/>
+ <mass value="0.01"/>
+ <!--TODO: can we make it zero and still have a stable dynamic simulation?-->
+ <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+ <!-- To stabilize simulation -->
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0.0065 0 0"/>
+ <geometry>
+ <box size="0.013 0.002 0.012"/>
+ </geometry>
+ <material name="Hey5DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <box size="0.013 0.002 0.012"/>
+ </geometry>
+ </collision>
+ </link>
+ <gazebo reference="hand_ring_virtual_1_link">
+ <material>Gazebo/Black</material>
+ </gazebo>
+ <joint name="hand_ring_flex_1_joint" type="revolute">
+ <parent link="hand_ring_virtual_1_link"/>
+ <child link="hand_ring_flex_1_link"/>
+ <origin rpy="0 0 0" xyz="0.013 0 0"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="2.0" lower="0.0" upper="0.785398163397" velocity="2.0"/>
+ <dynamics damping="0.5" friction="0.0"/>
+ </joint>
+ <link name="hand_ring_flex_1_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0.0047 0.0031 0.0"/>
+ <mass value="0.009"/>
+ <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+ <!-- To stabilize simulation -->
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+ </geometry>
+ <material name="Hey5DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+ </geometry>
+ </collision>
+ </link>
+ <gazebo reference="hand_ring_flex_1_link">
+ <material>Gazebo/Black</material>
+ </gazebo>
+ <joint name="hand_ring_virtual_2_joint" type="revolute">
+ <parent link="hand_ring_flex_1_link"/>
+ <child link="hand_ring_virtual_2_link"/>
+ <origin rpy="0 0 0" xyz="0.009 0 0"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="2.0" lower="0.0" upper="0.785398163397" velocity="2.0"/>
+ <dynamics damping="0.5" friction="0.0"/>
+ </joint>
+ <link name="hand_ring_virtual_2_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0.0065 0 0"/>
+ <mass value="0.01"/>
+ <!--TODO: can we make it zero and still have a stable dynamic simulation?-->
+ <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+ <!-- To stabilize simulation -->
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0.0065 0 0"/>
+ <geometry>
+ <box size="0.013 0.002 0.012"/>
+ </geometry>
+ <material name="Hey5DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <box size="0.013 0.002 0.012"/>
+ </geometry>
+ </collision>
+ </link>
+ <gazebo reference="hand_ring_virtual_2_link">
+ <material>Gazebo/Black</material>
+ </gazebo>
+ <joint name="hand_ring_flex_2_joint" type="revolute">
+ <parent link="hand_ring_virtual_2_link"/>
+ <child link="hand_ring_flex_2_link"/>
+ <origin rpy="0 0 0" xyz="0.013 0 0"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="2.0" lower="0.0" upper="0.785398163397" velocity="2.0"/>
+ <dynamics damping="0.5" friction="0.0"/>
+ </joint>
+ <link name="hand_ring_flex_2_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0.0047 0.0031 0.0"/>
+ <mass value="0.009"/>
+ <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+ <!-- To stabilize simulation -->
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+ </geometry>
+ <material name="Hey5DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+ </geometry>
+ </collision>
+ </link>
+ <gazebo reference="hand_ring_flex_2_link">
+ <material>Gazebo/Black</material>
+ </gazebo>
+ <joint name="hand_ring_virtual_3_joint" type="revolute">
+ <parent link="hand_ring_flex_2_link"/>
+ <child link="hand_ring_virtual_3_link"/>
+ <origin rpy="0 0 0" xyz="0.009 0 0"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="2.0" lower="0.0" upper="0.785398163397" velocity="2.0"/>
+ <dynamics damping="0.5" friction="0.0"/>
+ </joint>
+ <link name="hand_ring_virtual_3_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0.0065 0 0"/>
+ <mass value="0.01"/>
+ <!--TODO: can we make it zero and still have a stable dynamic simulation?-->
+ <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+ <!-- To stabilize simulation -->
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0.0065 0 0"/>
+ <geometry>
+ <box size="0.013 0.002 0.012"/>
+ </geometry>
+ <material name="Hey5DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <box size="0.013 0.002 0.012"/>
+ </geometry>
+ </collision>
+ </link>
+ <gazebo reference="hand_ring_virtual_3_link">
+ <material>Gazebo/Black</material>
+ </gazebo>
+ <joint name="hand_ring_flex_3_joint" type="revolute">
+ <parent link="hand_ring_virtual_3_link"/>
+ <child link="hand_ring_flex_3_link"/>
+ <origin rpy="0 0 0" xyz="0.013 0 0"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="2.0" lower="0.0" upper="0.785398163397" velocity="2.0"/>
+ <dynamics damping="0.5" friction="0.0"/>
+ </joint>
+ <link name="hand_ring_flex_3_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0.0096 0.003 0.0"/>
+ <mass value="0.015"/>
+ <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+ <!-- To stabilize simulation -->
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
+ </geometry>
+ <material name="Hey5DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
+ </geometry>
+ </collision>
+ </link>
+ <gazebo reference="hand_ring_flex_3_link">
+ <material>Gazebo/Black</material>
+ </gazebo>
+ <joint name="hand_little_abd_joint" type="revolute">
+ <parent link="hand_palm_link"/>
+ <child link="hand_little_abd_link"/>
+ <origin rpy="-1.57079632679 0.523598775598 0" xyz="0.1165 0.0042 -0.032"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="2.0" lower="-0.523598775598" upper="0.523598775598" velocity="2.0"/>
+ <dynamics damping="0.5" friction="0.0"/>
+ </joint>
+ <link name="hand_little_abd_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="-0.0018 0.0 0.0028"/>
+ <mass value="0.018"/>
+ <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+ <!-- To stabilize simulation -->
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/hey5/finger_abd_collision.stl" scale="1 1 1"/>
+ </geometry>
+ <material name="Hey5DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/hey5/finger_abd_collision.stl" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <gazebo reference="hand_little_abd_link">
+ <material>Gazebo/Black</material>
+ </gazebo>
+ <joint name="hand_little_virtual_1_joint" type="revolute">
+ <parent link="hand_little_abd_link"/>
+ <child link="hand_little_virtual_1_link"/>
+ <origin rpy="1.57079632679 0 0" xyz="0.009 0 0"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="2.0" lower="0.0" upper="0.785398163397" velocity="2.0"/>
+ <dynamics damping="0.5" friction="0.0"/>
+ </joint>
+ <link name="hand_little_virtual_1_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0.0065 0 0"/>
+ <mass value="0.01"/>
+ <!--TODO: can we make it zero and still have a stable dynamic simulation?-->
+ <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+ <!-- To stabilize simulation -->
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0.0065 0 0"/>
+ <geometry>
+ <box size="0.013 0.002 0.012"/>
+ </geometry>
+ <material name="Hey5DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <box size="0.013 0.002 0.012"/>
+ </geometry>
+ </collision>
+ </link>
+ <gazebo reference="hand_little_virtual_1_link">
+ <material>Gazebo/Black</material>
+ </gazebo>
+ <joint name="hand_little_flex_1_joint" type="revolute">
+ <parent link="hand_little_virtual_1_link"/>
+ <child link="hand_little_flex_1_link"/>
+ <origin rpy="0 0 0" xyz="0.013 0 0"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="2.0" lower="0.0" upper="0.785398163397" velocity="2.0"/>
+ <dynamics damping="0.5" friction="0.0"/>
+ </joint>
+ <link name="hand_little_flex_1_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0.0047 0.0031 0.0"/>
+ <mass value="0.009"/>
+ <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+ <!-- To stabilize simulation -->
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+ </geometry>
+ <material name="Hey5DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+ </geometry>
+ </collision>
+ </link>
+ <gazebo reference="hand_little_flex_1_link">
+ <material>Gazebo/Black</material>
+ </gazebo>
+ <joint name="hand_little_virtual_2_joint" type="revolute">
+ <parent link="hand_little_flex_1_link"/>
+ <child link="hand_little_virtual_2_link"/>
+ <origin rpy="0 0 0" xyz="0.009 0 0"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="2.0" lower="0.0" upper="0.785398163397" velocity="2.0"/>
+ <dynamics damping="0.5" friction="0.0"/>
+ </joint>
+ <link name="hand_little_virtual_2_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0.0065 0 0"/>
+ <mass value="0.01"/>
+ <!--TODO: can we make it zero and still have a stable dynamic simulation?-->
+ <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+ <!-- To stabilize simulation -->
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0.0065 0 0"/>
+ <geometry>
+ <box size="0.013 0.002 0.012"/>
+ </geometry>
+ <material name="Hey5DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <box size="0.013 0.002 0.012"/>
+ </geometry>
+ </collision>
+ </link>
+ <gazebo reference="hand_little_virtual_2_link">
+ <material>Gazebo/Black</material>
+ </gazebo>
+ <joint name="hand_little_flex_2_joint" type="revolute">
+ <parent link="hand_little_virtual_2_link"/>
+ <child link="hand_little_flex_2_link"/>
+ <origin rpy="0 0 0" xyz="0.013 0 0"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="2.0" lower="0.0" upper="0.785398163397" velocity="2.0"/>
+ <dynamics damping="0.5" friction="0.0"/>
+ </joint>
+ <link name="hand_little_flex_2_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0.0047 0.0031 0.0"/>
+ <mass value="0.009"/>
+ <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+ <!-- To stabilize simulation -->
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+ </geometry>
+ <material name="Hey5DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+ </geometry>
+ </collision>
+ </link>
+ <gazebo reference="hand_little_flex_2_link">
+ <material>Gazebo/Black</material>
+ </gazebo>
+ <joint name="hand_little_virtual_3_joint" type="revolute">
+ <parent link="hand_little_flex_2_link"/>
+ <child link="hand_little_virtual_3_link"/>
+ <origin rpy="0 0 0" xyz="0.009 0 0"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="2.0" lower="0.0" upper="0.785398163397" velocity="2.0"/>
+ <dynamics damping="0.5" friction="0.0"/>
+ </joint>
+ <link name="hand_little_virtual_3_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0.0065 0 0"/>
+ <mass value="0.01"/>
+ <!--TODO: can we make it zero and still have a stable dynamic simulation?-->
+ <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+ <!-- To stabilize simulation -->
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0.0065 0 0"/>
+ <geometry>
+ <box size="0.013 0.002 0.012"/>
+ </geometry>
+ <material name="Hey5DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <box size="0.013 0.002 0.012"/>
+ </geometry>
+ </collision>
+ </link>
+ <gazebo reference="hand_little_virtual_3_link">
+ <material>Gazebo/Black</material>
+ </gazebo>
+ <joint name="hand_little_flex_3_joint" type="revolute">
+ <parent link="hand_little_virtual_3_link"/>
+ <child link="hand_little_flex_3_link"/>
+ <origin rpy="0 0 0" xyz="0.013 0 0"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="2.0" lower="0.0" upper="0.785398163397" velocity="2.0"/>
+ <dynamics damping="0.5" friction="0.0"/>
+ </joint>
+ <link name="hand_little_flex_3_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0.0096 0.003 0.0"/>
+ <mass value="0.015"/>
+ <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+ <!-- To stabilize simulation -->
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
+ </geometry>
+ <material name="Hey5DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
+ </geometry>
+ </collision>
+ </link>
+ <gazebo reference="hand_little_flex_3_link">
+ <material>Gazebo/Black</material>
+ </gazebo>
+ <!--Abductor-->
+ <transmission name="hand_thumb_abd_trans">
+ <type>tiago_transmissions/Hey5Reducer</type>
+ <joint name="hand_thumb_abd_joint">
+ <saturationLower>0.0</saturationLower>
+ <saturationUpper>1.57079632679</saturationUpper>
+ <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+ </joint>
+ <actuator name="hand_thumb_motor">
+ <mechanicalReduction>0.654498469498</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <!--First flexor-->
+ <transmission name="hand_thumb_virtual_1_trans">
+ <type>tiago_transmissions/Hey5Reducer</type>
+ <joint name="hand_thumb_virtual_1_joint">
+ <saturationLower>0.0</saturationLower>
+ <deadBandUpper>2.0</deadBandUpper>
+ <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+ </joint>
+ <actuator name="hand_thumb_motor">
+ <mechanicalReduction>0.162993578547</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <transmission name="hand_thumb_flex_1_trans">
+ <type>tiago_transmissions/Hey5Reducer</type>
+ <joint name="hand_thumb_flex_1_joint">
+ <saturationLower>0.0</saturationLower>
+ <deadBandUpper>2.0</deadBandUpper>
+ <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+ </joint>
+ <actuator name="hand_thumb_motor">
+ <mechanicalReduction>0.162993578547</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <!--Second flexor-->
+ <transmission name="hand_thumb_virtual_2_trans">
+ <type>tiago_transmissions/Hey5Reducer</type>
+ <joint name="hand_thumb_virtual_2_joint">
+ <saturationLower>0.0</saturationLower>
+ <deadBandUpper>2.0</deadBandUpper>
+ <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+ </joint>
+ <actuator name="hand_thumb_motor">
+ <mechanicalReduction>0.162993578547</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <transmission name="hand_thumb_flex_2_trans">
+ <type>tiago_transmissions/Hey5Reducer</type>
+ <joint name="hand_thumb_flex_2_joint">
+ <saturationLower>0.0</saturationLower>
+ <deadBandUpper>2.0</deadBandUpper>
+ <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+ </joint>
+ <actuator name="hand_thumb_motor">
+ <mechanicalReduction>0.162993578547</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <!--Abductor-->
+ <transmission name="hand_index_abd_trans">
+ <type>tiago_transmissions/Hey5Reducer</type>
+ <joint name="hand_index_abd_joint">
+ <saturationLower>0.0</saturationLower>
+ <saturationUpper>0.523598775598</saturationUpper>
+ <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+ </joint>
+ <actuator name="hand_index_motor">
+ <mechanicalReduction>0.49866550057</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <!--First flexor-->
+ <transmission name="hand_index_virtual_1_trans">
+ <type>tiago_transmissions/Hey5Reducer</type>
+ <joint name="hand_index_virtual_1_joint">
+ <saturationLower>0.0</saturationLower>
+ <deadBandUpper>0.7</deadBandUpper>
+ <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+ </joint>
+ <actuator name="hand_index_motor">
+ <mechanicalReduction>0.102888610798</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <transmission name="hand_index_flex_1_trans">
+ <type>tiago_transmissions/Hey5Reducer</type>
+ <joint name="hand_index_flex_1_joint">
+ <saturationLower>0.0</saturationLower>
+ <deadBandUpper>0.7</deadBandUpper>
+ <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+ </joint>
+ <actuator name="hand_index_motor">
+ <mechanicalReduction>0.102888610798</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <!--Second flexor-->
+ <transmission name="hand_index_virtual_2_trans">
+ <type>tiago_transmissions/Hey5Reducer</type>
+ <joint name="hand_index_virtual_2_joint">
+ <saturationLower>0.0</saturationLower>
+ <deadBandUpper>0.7</deadBandUpper>
+ <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+ </joint>
+ <actuator name="hand_index_motor">
+ <mechanicalReduction>0.102888610798</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <transmission name="hand_index_flex_2_trans">
+ <type>tiago_transmissions/Hey5Reducer</type>
+ <joint name="hand_index_flex_2_joint">
+ <saturationLower>0.0</saturationLower>
+ <deadBandUpper>0.7</deadBandUpper>
+ <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+ </joint>
+ <actuator name="hand_index_motor">
+ <mechanicalReduction>0.102888610798</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <!--Third flexor-->
+ <transmission name="hand_index_virtual_3_trans">
+ <type>tiago_transmissions/Hey5Reducer</type>
+ <joint name="hand_index_virtual_3_joint">
+ <saturationLower>0.0</saturationLower>
+ <deadBandUpper>0.7</deadBandUpper>
+ <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+ </joint>
+ <actuator name="hand_index_motor">
+ <mechanicalReduction>0.102888610798</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <transmission name="hand_index_flex_3_trans">
+ <type>tiago_transmissions/Hey5Reducer</type>
+ <joint name="hand_index_flex_3_joint">
+ <saturationLower>0.0</saturationLower>
+ <deadBandUpper>0.7</deadBandUpper>
+ <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+ </joint>
+ <actuator name="hand_index_motor">
+ <mechanicalReduction>0.102888610798</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <!--Abductor-->
+ <transmission name="hand_middle_abd_trans">
+ <type>tiago_transmissions/Hey5Reducer</type>
+ <joint name="hand_middle_abd_joint">
+ <saturationLower>0.0</saturationLower>
+ <saturationUpper>0.0</saturationUpper>
+ <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+ </joint>
+ <actuator name="hand_mrl_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <!--First flexor-->
+ <transmission name="hand_middle_virtual_1_trans">
+ <type>tiago_transmissions/Hey5Reducer</type>
+ <joint name="hand_middle_virtual_1_joint">
+ <saturationLower>0.0</saturationLower>
+ <deadBandUpper>0.0</deadBandUpper>
+ <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+ </joint>
+ <actuator name="hand_mrl_motor">
+ <mechanicalReduction>0.0679245283019</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <transmission name="hand_middle_flex_1_trans">
+ <type>tiago_transmissions/Hey5Reducer</type>
+ <joint name="hand_middle_flex_1_joint">
+ <saturationLower>0.0</saturationLower>
+ <deadBandUpper>0.0</deadBandUpper>
+ <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+ </joint>
+ <actuator name="hand_mrl_motor">
+ <mechanicalReduction>0.0679245283019</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <!--Second flexor-->
+ <transmission name="hand_middle_virtual_2_trans">
+ <type>tiago_transmissions/Hey5Reducer</type>
+ <joint name="hand_middle_virtual_2_joint">
+ <saturationLower>0.0</saturationLower>
+ <deadBandUpper>0.0</deadBandUpper>
+ <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+ </joint>
+ <actuator name="hand_mrl_motor">
+ <mechanicalReduction>0.0679245283019</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <transmission name="hand_middle_flex_2_trans">
+ <type>tiago_transmissions/Hey5Reducer</type>
+ <joint name="hand_middle_flex_2_joint">
+ <saturationLower>0.0</saturationLower>
+ <deadBandUpper>0.0</deadBandUpper>
+ <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+ </joint>
+ <actuator name="hand_mrl_motor">
+ <mechanicalReduction>0.0679245283019</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <!--Third flexor-->
+ <transmission name="hand_middle_virtual_3_trans">
+ <type>tiago_transmissions/Hey5Reducer</type>
+ <joint name="hand_middle_virtual_3_joint">
+ <saturationLower>0.0</saturationLower>
+ <deadBandUpper>0.0</deadBandUpper>
+ <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+ </joint>
+ <actuator name="hand_mrl_motor">
+ <mechanicalReduction>0.0679245283019</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <transmission name="hand_middle_flex_3_trans">
+ <type>tiago_transmissions/Hey5Reducer</type>
+ <joint name="hand_middle_flex_3_joint">
+ <saturationLower>0.0</saturationLower>
+ <deadBandUpper>0.0</deadBandUpper>
+ <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+ </joint>
+ <actuator name="hand_mrl_motor">
+ <mechanicalReduction>0.0679245283019</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <!--Abductor-->
+ <transmission name="hand_ring_abd_trans">
+ <type>tiago_transmissions/Hey5Reducer</type>
+ <joint name="hand_ring_abd_joint">
+ <saturationLower>-0.261799387799</saturationLower>
+ <saturationUpper>0.0</saturationUpper>
+ <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+ </joint>
+ <actuator name="hand_mrl_motor">
+ <mechanicalReduction>-0.232710566933</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <!--First flexor-->
+ <transmission name="hand_ring_virtual_1_trans">
+ <type>tiago_transmissions/Hey5Reducer</type>
+ <joint name="hand_ring_virtual_1_joint">
+ <saturationLower>0.0</saturationLower>
+ <deadBandUpper>0.75</deadBandUpper>
+ <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+ </joint>
+ <actuator name="hand_mrl_motor">
+ <mechanicalReduction>0.0739176962651</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <transmission name="hand_ring_flex_1_trans">
+ <type>tiago_transmissions/Hey5Reducer</type>
+ <joint name="hand_ring_flex_1_joint">
+ <saturationLower>0.0</saturationLower>
+ <deadBandUpper>0.75</deadBandUpper>
+ <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+ </joint>
+ <actuator name="hand_mrl_motor">
+ <mechanicalReduction>0.0739176962651</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <!--Second flexor-->
+ <transmission name="hand_ring_virtual_2_trans">
+ <type>tiago_transmissions/Hey5Reducer</type>
+ <joint name="hand_ring_virtual_2_joint">
+ <saturationLower>0.0</saturationLower>
+ <deadBandUpper>0.75</deadBandUpper>
+ <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+ </joint>
+ <actuator name="hand_mrl_motor">
+ <mechanicalReduction>0.0739176962651</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <transmission name="hand_ring_flex_2_trans">
+ <type>tiago_transmissions/Hey5Reducer</type>
+ <joint name="hand_ring_flex_2_joint">
+ <saturationLower>0.0</saturationLower>
+ <deadBandUpper>0.75</deadBandUpper>
+ <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+ </joint>
+ <actuator name="hand_mrl_motor">
+ <mechanicalReduction>0.0739176962651</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <!--Third flexor-->
+ <transmission name="hand_ring_virtual_3_trans">
+ <type>tiago_transmissions/Hey5Reducer</type>
+ <joint name="hand_ring_virtual_3_joint">
+ <saturationLower>0.0</saturationLower>
+ <deadBandUpper>0.75</deadBandUpper>
+ <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+ </joint>
+ <actuator name="hand_mrl_motor">
+ <mechanicalReduction>0.0739176962651</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <transmission name="hand_ring_flex_3_trans">
+ <type>tiago_transmissions/Hey5Reducer</type>
+ <joint name="hand_ring_flex_3_joint">
+ <saturationLower>0.0</saturationLower>
+ <deadBandUpper>0.75</deadBandUpper>
+ <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+ </joint>
+ <actuator name="hand_mrl_motor">
+ <mechanicalReduction>0.0739176962651</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <!--Abductor-->
+ <transmission name="hand_little_abd_trans">
+ <type>tiago_transmissions/Hey5Reducer</type>
+ <joint name="hand_little_abd_joint">
+ <saturationLower>-0.523598775598</saturationLower>
+ <saturationUpper>0.0</saturationUpper>
+ <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+ </joint>
+ <actuator name="hand_mrl_motor">
+ <mechanicalReduction>-0.465421133865</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <!--First flexor-->
+ <transmission name="hand_little_virtual_1_trans">
+ <type>tiago_transmissions/Hey5Reducer</type>
+ <joint name="hand_little_virtual_1_joint">
+ <saturationLower>0.0</saturationLower>
+ <deadBandUpper>0.75</deadBandUpper>
+ <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+ </joint>
+ <actuator name="hand_mrl_motor">
+ <mechanicalReduction>0.0739176962651</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <transmission name="hand_little_flex_1_trans">
+ <type>tiago_transmissions/Hey5Reducer</type>
+ <joint name="hand_little_flex_1_joint">
+ <saturationLower>0.0</saturationLower>
+ <deadBandUpper>0.75</deadBandUpper>
+ <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+ </joint>
+ <actuator name="hand_mrl_motor">
+ <mechanicalReduction>0.0739176962651</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <!--Second flexor-->
+ <transmission name="hand_little_virtual_2_trans">
+ <type>tiago_transmissions/Hey5Reducer</type>
+ <joint name="hand_little_virtual_2_joint">
+ <saturationLower>0.0</saturationLower>
+ <deadBandUpper>0.75</deadBandUpper>
+ <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+ </joint>
+ <actuator name="hand_mrl_motor">
+ <mechanicalReduction>0.0739176962651</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <transmission name="hand_little_flex_2_trans">
+ <type>tiago_transmissions/Hey5Reducer</type>
+ <joint name="hand_little_flex_2_joint">
+ <saturationLower>0.0</saturationLower>
+ <deadBandUpper>0.75</deadBandUpper>
+ <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+ </joint>
+ <actuator name="hand_mrl_motor">
+ <mechanicalReduction>0.0739176962651</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <!--Third flexor-->
+ <transmission name="hand_little_virtual_3_trans">
+ <type>tiago_transmissions/Hey5Reducer</type>
+ <joint name="hand_little_virtual_3_joint">
+ <saturationLower>0.0</saturationLower>
+ <deadBandUpper>0.75</deadBandUpper>
+ <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+ </joint>
+ <actuator name="hand_mrl_motor">
+ <mechanicalReduction>0.0739176962651</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <transmission name="hand_little_flex_3_trans">
+ <type>tiago_transmissions/Hey5Reducer</type>
+ <joint name="hand_little_flex_3_joint">
+ <saturationLower>0.0</saturationLower>
+ <deadBandUpper>0.75</deadBandUpper>
+ <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+ </joint>
+ <actuator name="hand_mrl_motor">
+ <mechanicalReduction>0.0739176962651</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <link name="hand_grasping_frame"/>
+ <joint name="hand_grasping_fixed_joint" type="fixed">
+ <parent link="hand_palm_link"/>
+ <child link="hand_grasping_frame"/>
+ <axis xyz="0 0 1"/>
+ <origin rpy="0 0 0" xyz="0.13 0.02 0"/>
+ </joint>
+ <gazebo>
+ <plugin filename="libgazebo_underactuated_finger.so" name="gazebo_hand_thumb">
+ <actuatedJoint>hand_thumb_joint</actuatedJoint>
+ <virtualJoint>
+ <name>hand_thumb_abd_joint</name>
+ <scale_factor>2.0</scale_factor>
+ </virtualJoint>
+ <virtualJoint>
+ <name>hand_thumb_flex_1_joint</name>
+ <scale_factor>2.5</scale_factor>
+ </virtualJoint>
+ <virtualJoint>
+ <name>hand_thumb_virtual_1_joint</name>
+ <scale_factor>3.0</scale_factor>
+ </virtualJoint>
+ <virtualJoint>
+ <name>hand_thumb_flex_2_joint</name>
+ <scale_factor>3.5</scale_factor>
+ </virtualJoint>
+ <virtualJoint>
+ <name>hand_thumb_virtual_2_joint</name>
+ <scale_factor>3.0</scale_factor>
+ </virtualJoint>
+ </plugin>
+ <plugin filename="libgazebo_underactuated_finger.so" name="gazebo_hand_index">
+ <actuatedJoint>hand_index_joint</actuatedJoint>
+ <virtualJoint>
+ <name>hand_index_abd_joint</name>
+ <scale_factor>5.0</scale_factor>
+ </virtualJoint>
+ <virtualJoint>
+ <name>hand_index_flex_1_joint</name>
+ <scale_factor>2.5</scale_factor>
+ </virtualJoint>
+ <virtualJoint>
+ <name>hand_index_virtual_1_joint</name>
+ <scale_factor>3.0</scale_factor>
+ </virtualJoint>
+ <virtualJoint>
+ <name>hand_index_flex_2_joint</name>
+ <scale_factor>3.5</scale_factor>
+ </virtualJoint>
+ <virtualJoint>
+ <name>hand_index_virtual_2_joint</name>
+ <scale_factor>3.5</scale_factor>
+ </virtualJoint>
+ <virtualJoint>
+ <name>hand_index_flex_3_joint</name>
+ <scale_factor>4.0</scale_factor>
+ </virtualJoint>
+ </plugin>
+ <plugin filename="libgazebo_underactuated_finger.so" name="gazebo_hand_middle">
+ <actuatedJoint>hand_mrl_joint</actuatedJoint>
+ <virtualJoint>
+ <name>hand_middle_flex_1_joint</name>
+ <scale_factor>2.5</scale_factor>
+ </virtualJoint>
+ <virtualJoint>
+ <name>hand_middle_virtual_1_joint</name>
+ <scale_factor>3.0</scale_factor>
+ </virtualJoint>
+ <virtualJoint>
+ <name>hand_middle_flex_2_joint</name>
+ <scale_factor>3.5</scale_factor>
+ </virtualJoint>
+ <virtualJoint>
+ <name>hand_middle_virtual_2_joint</name>
+ <scale_factor>3.5</scale_factor>
+ </virtualJoint>
+ <virtualJoint>
+ <name>hand_middle_flex_3_joint</name>
+ <scale_factor>4.0</scale_factor>
+ </virtualJoint>
+ </plugin>
+ <plugin filename="libgazebo_underactuated_finger.so" name="gazebo_hand_ring">
+ <actuatedJoint>hand_mrl_joint</actuatedJoint>
+ <virtualJoint>
+ <name>hand_ring_flex_1_joint</name>
+ <scale_factor>2.5</scale_factor>
+ </virtualJoint>
+ <virtualJoint>
+ <name>hand_ring_virtual_1_joint</name>
+ <scale_factor>3.0</scale_factor>
+ </virtualJoint>
+ <virtualJoint>
+ <name>hand_ring_flex_2_joint</name>
+ <scale_factor>3.5</scale_factor>
+ </virtualJoint>
+ <virtualJoint>
+ <name>hand_ring_virtual_2_joint</name>
+ <scale_factor>3.5</scale_factor>
+ </virtualJoint>
+ <virtualJoint>
+ <name>hand_ring_flex_3_joint</name>
+ <scale_factor>4.0</scale_factor>
+ </virtualJoint>
+ </plugin>
+ <plugin filename="libgazebo_underactuated_finger.so" name="gazebo_hand_little">
+ <actuatedJoint>hand_mrl_joint</actuatedJoint>
+ <virtualJoint>
+ <name>hand_little_flex_1_joint</name>
+ <scale_factor>2.5</scale_factor>
+ </virtualJoint>
+ <virtualJoint>
+ <name>hand_little_virtual_1_joint</name>
+ <scale_factor>3.0</scale_factor>
+ </virtualJoint>
+ <virtualJoint>
+ <name>hand_little_flex_2_joint</name>
+ <scale_factor>3.5</scale_factor>
+ </virtualJoint>
+ <virtualJoint>
+ <name>hand_little_virtual_2_joint</name>
+ <scale_factor>3.5</scale_factor>
+ </virtualJoint>
+ <virtualJoint>
+ <name>hand_little_flex_3_joint</name>
+ <scale_factor>4.0</scale_factor>
+ </virtualJoint>
+ </plugin>
+ </gazebo>
+ <joint name="hand_safety_box_joint" type="fixed">
+ <parent link="wrist_ft_tool_link"/>
+ <child link="hand_safety_box"/>
+ <origin rpy="0 0 0" xyz="0.1 0.02 0.02"/>
+ </joint>
+ <link name="hand_safety_box">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0.0001"/>
+ <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
+ </inertial>
+ <!--
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <box size="0.2 0.115 0.18" />
+ </geometry>
+ </visual>
+ -->
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <box size="0.2 0.115 0.18"/>
+ </geometry>
+ </collision>
+ </link>
+ <!--************************-->
+ <!-- ft sensor -->
+ <!--************************-->
+ <link name="wrist_ft_link">
+ <inertial>
+ <mass value="0.1"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <cylinder length="0.0157" radius="0.0225"/>
+ </geometry>
+ <material name="LightGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <cylinder length="0.0157" radius="0.0225"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="wrist_ft_joint" type="fixed">
+ <parent link="arm_tool_link"/>
+ <child link="wrist_ft_link"/>
+ <origin rpy="1.57079632679 0 1.57079632679" xyz="0.00785 0 0"/>
+ </joint>
+ <!--***********************-->
+ <!-- FT TOOL -->
+ <!--***********************-->
+ <link name="wrist_ft_tool_link">
+ <inertial>
+ <mass value="0.1"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 1.57079632679 0" xyz="0.0 0 0"/>
+ <geometry>
+ <cylinder length="0.00975" radius="0.025"/>
+ </geometry>
+ <material name="FlatBlack"/>
+ </visual>
+ <collision>
+ <origin rpy="0 1.57079632679 0" xyz="0.0 0 0"/>
+ <geometry>
+ <cylinder length="0.00975" radius="0.025"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="wrist_tool_joint" type="fixed">
+ <parent link="wrist_ft_link"/>
+ <child link="wrist_ft_tool_link"/>
+ <origin rpy="-1.57079632679 -1.57079632679 0" xyz="0 0 0.012725"/>
+ </joint>
+ <!-- RGBD Laser Link -->
+ <joint name="rgbd_laser_joint" type="fixed">
+ <parent link="base_footprint"/>
+ <child link="rgbd_laser_link"/>
+ <origin rpy="0 0 0" xyz="-0.9 0 0"/>
+ </joint>
+ <link name="rgbd_laser_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0.0001"/>
+ <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
+ </inertial>
+ </link>
+</robot>
diff --git a/tiago_description/robots/tiago_no_hand.urdf b/tiago_description/robots/tiago_no_hand.urdf
new file mode 100644
index 0000000..acaa8d6
--- /dev/null
+++ b/tiago_description/robots/tiago_no_hand.urdf
@@ -0,0 +1,1411 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- | This document was autogenerated by xacro from tiago.urdf.xacro | -->
+<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
+<!-- =================================================================================== -->
+<!--
+ Copyright (c) 2011, 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="tiago" xmlns:xacro="http://ros.org/wiki/xacro">
+ <material name="Hey5DarkGrey">
+ <color rgba="0.1 0.1 0.1 1.0"/>
+ </material>
+ <!--TODO: Check-->
+ <gazebo>
+ <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
+ <ns/>
+ <robotSimType>pal_hardware_gazebo/PalHardwareGazebo</robotSimType>
+ <robotNamespace/>
+ <controlPeriod>0.001</controlPeriod>
+ </plugin>
+ <plugin filename="libgazebo_ros_p3d.so" name="gazebo_ros_p3d">
+ <bodyName>base_link</bodyName>
+ <topicName>ground_truth_odom</topicName>
+ <alwaysOn>true</alwaysOn>
+ <updateRate>100.0</updateRate>
+ </plugin>
+ </gazebo>
+ <gazebo>
+ <plugin filename="libgazebo_world_odometry.so" name="gazebo_ros_odometry">
+ <frameName>base_footprint</frameName>
+ <topicName>floating_base_pose_simulated</topicName>
+ </plugin>
+ </gazebo>
+ <gazebo reference="base_imu_link">
+ <!-- this is expected to be reparented to pelvis with appropriate offset
+ when imu_link is reduced by fixed joint reduction -->
+ <!-- todo: this is working with gazebo 1.4, need to write a unit test -->
+ <sensor name="imu_sensor" type="imu">
+ <always_on>1</always_on>
+ <update_rate>1000.0</update_rate>
+ <imu>
+ <noise>
+ <type>gaussian</type>
+ <!-- Noise parameters from Boston Dynamics
+ (http://gazebosim.org/wiki/Sensor_noise):
+ rates (rad/s): mean=0, stddev=2e-4
+ accels (m/s/s): mean=0, stddev=1.7e-2
+ rate bias (rad/s): 5e-6 - 1e-5
+ accel bias (m/s/s): 1e-1
+ Experimentally, simulation provide rates with noise of
+ about 1e-3 rad/s and accels with noise of about 1e-1 m/s/s.
+ So we don't expect to see the noise unless number of inner iterations
+ are increased.
+
+ We will add bias. In this model, bias is sampled once for rates
+ and once for accels at startup; the sign (negative or positive)
+ of each bias is then switched with equal probability. Thereafter,
+ the biases are fixed additive offsets. We choose
+ bias means and stddevs to produce biases close to the provided
+ data. -->
+ <rate>
+ <mean>0.0</mean>
+ <stddev>2e-4</stddev>
+ <bias_mean>0.0000075</bias_mean>
+ <bias_stddev>0.0000008</bias_stddev>
+ </rate>
+ <accel>
+ <mean>0.0</mean>
+ <stddev>1.7e-2</stddev>
+ <bias_mean>0.1</bias_mean>
+ <bias_stddev>0.001</bias_stddev>
+ </accel>
+ </noise>
+ </imu>
+ </sensor>
+ </gazebo>
+ <material name="Blue">
+ <color rgba="0.0 0.0 0.8 1.0"/>
+ </material>
+ <material name="Green">
+ <color rgba="0.0 0.8 0.0 1.0"/>
+ </material>
+ <material name="Grey">
+ <color rgba="0.7 0.7 0.7 1.0"/>
+ </material>
+ <material name="LightGrey">
+ <color rgba="0.9 0.9 0.9 1.0"/>
+ </material>
+ <material name="DarkGrey">
+ <color rgba="0.1 0.1 0.1 1.0"/>
+ </material>
+ <material name="Red">
+ <color rgba="0.8 0.0 0.0 1.0"/>
+ </material>
+ <material name="White">
+ <color rgba="1.0 1.0 1.0 1.0"/>
+ </material>
+ <material name="Yellow">
+ <color rgba="0.96 0.88 0.14 1.0"/>
+ </material>
+ <!-- Base -->
+ <link name="base_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="-0.00000106 0.00000109 0.0000387"/>
+ <mass value="28.26649"/>
+ <inertia ixx="0.465408937" ixy="0.002160024" ixz="-0.001760255" iyy="0.483193291" iyz="-0.000655952" izz="0.550939703"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/pmb2/base/base.stl"/>
+ </geometry>
+ <material name="White"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/pmb2/base/base_collision.stl"/>
+ </geometry>
+ <material name="White"/>
+ </collision>
+ </link>
+ <gazebo reference="base_link">
+ <material>Gazebo/White</material>
+ </gazebo>
+ <!-- Base footprint -->
+ <link name="base_footprint"/>
+ <joint name="base_footprint_joint" type="fixed">
+ <origin rpy="0 0 0" xyz="0 0 0.0985"/>
+ <child link="base_link"/>
+ <parent link="base_footprint"/>
+ </joint>
+ <link name="base_cover_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0.22414000000 0.00002000000 0.04681000000"/>
+ <mass value="0.25821000000"/>
+ <inertia ixx="0.00023719188" ixy="0.00000006119" ixz="-0.00000011799" iyy="0.00028335052" iyz="0.00000000774" izz="0.00038497063"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/pmb2/base/base_ring.stl"/>
+ </geometry>
+ <material name="Orange"/>
+ </visual>
+ </link>
+ <joint name="cover_joint" type="fixed">
+ <parent link="base_footprint"/>
+ <child link="base_cover_link"/>
+ <origin rpy="0 0 0" xyz="0 0 0.13"/>
+ </joint>
+ <gazebo reference="base_cover_link">
+ <material>Gazebo/Orange</material>
+ </gazebo>
+ <link name="base_antenna_left_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0.000001"/>
+ <inertia ixx="0.00000002371" ixy="0.00000006119" ixz="0.00000001179" iyy="0.00000002833" iyz="0.00000000774" izz="0.00000003849"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/pmb2/objects/antenna.stl"/>
+ </geometry>
+ <material name="Black"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0.085"/>
+ <geometry>
+ <cylinder length="0.17" radius="0.005"/>
+ </geometry>
+ <material name="Black"/>
+ </collision>
+ </link>
+ <gazebo reference="base_antenna_left_link">
+ <material>Gazebo/Black</material>
+ </gazebo>
+ <joint name="base_antenna_left_joint" type="fixed">
+ <parent link="base_link"/>
+ <child link="base_antenna_left_link"/>
+ <origin rpy="0 0 0" xyz="-0.201 0.1062 0.195"/>
+ </joint>
+ <link name="base_antenna_right_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0.000001"/>
+ <inertia ixx="0.00000002371" ixy="0.00000006119" ixz="0.00000001179" iyy="0.00000002833" iyz="0.00000000774" izz="0.00000003849"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/pmb2/objects/antenna.stl"/>
+ </geometry>
+ <material name="Black"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0.085"/>
+ <geometry>
+ <cylinder length="0.17" radius="0.005"/>
+ </geometry>
+ <material name="Black"/>
+ </collision>
+ </link>
+ <gazebo reference="base_antenna_right_link">
+ <material>Gazebo/Black</material>
+ </gazebo>
+ <joint name="base_antenna_right_joint" type="fixed">
+ <parent link="base_link"/>
+ <child link="base_antenna_right_link"/>
+ <origin rpy="0 0 0" xyz="-0.201 -0.1062 0.195"/>
+ </joint>
+ <link name="base_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="base_imu_joint" type="fixed">
+ <parent link="base_link"/>
+ <child link="base_imu_link"/>
+ <origin rpy="0 3.14159265359 1.57079632679" xyz="0.10171 0 0.11282"/>
+ </joint>
+ <gazebo reference="base_imu_link">
+ <sensor name="base_imu_sensor" type="imu">
+ <always_on>1</always_on>
+ <update_rate>100.0</update_rate>
+ <imu>
+ <noise>
+ <type>gaussian</type>
+ <rate>
+ <mean>0.0</mean>
+ <stddev>2e-4</stddev>
+ <bias_mean>0.0000075</bias_mean>
+ <bias_stddev>0.0000008</bias_stddev>
+ </rate>
+ <accel>
+ <mean>0.0</mean>
+ <stddev>1.7e-2</stddev>
+ <bias_mean>0.1</bias_mean>
+ <bias_stddev>0.001</bias_stddev>
+ </accel>
+ </noise>
+ </imu>
+ </sensor>
+ </gazebo>
+ <link name="wheel_right_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 -0.00207"/>
+ <mass value="1.82362"/>
+ <inertia ixx="0.00499743171" ixy="4.464e-08" ixz="-0.00000002245" iyy="0.00499741733" iyz="-1.64e-09" izz="0.00839239692"/>
+ </inertial>
+ <visual>
+ <origin rpy="-0.0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/pmb2/wheels/wheel.stl"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <cylinder length="0.04" radius="0.0985"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="wheel_right_joint" type="continuous">
+ <parent link="base_link"/>
+ <child link="wheel_right_link"/>
+ <origin rpy="-1.57079632679 0 0" xyz="0 -0.2022 0"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="6.0" velocity="10.152284264"/>
+ </joint>
+ <transmission name="wheel_right_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="wheel_right_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="wheel_right_joint">
+ <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <!-- Contact model for the wheel surface -->
+ <gazebo reference="wheel_right_link">
+ <!--
+ <kp>1000000.0</kp>
+ <kd>100.0</kd>
+ <mu1>1.0</mu1>
+ <mu2>1.0</mu2>
+ <fdir1>1 0 0</fdir1>
+ <maxVel>1.0</maxVel>
+ <minDepth>0.00</minDepth>
+ <implicitSpringDamper>1</implicitSpringDamper>
+-->
+ <material>Gazebo/DarkGrey</material>
+ </gazebo>
+ <link name="wheel_left_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0.00207"/>
+ <mass value="1.82362"/>
+ <inertia ixx="0.00499743171" ixy="-4.464e-08" ixz="-0.00000002245" iyy="0.00499741733" iyz="1.64e-09" izz="0.00839239692"/>
+ </inertial>
+ <visual>
+ <origin rpy="-3.14159265359 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/pmb2/wheels/wheel.stl"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <cylinder length="0.04" radius="0.0985"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="wheel_left_joint" type="continuous">
+ <parent link="base_link"/>
+ <child link="wheel_left_link"/>
+ <origin rpy="-1.57079632679 0 0" xyz="0 0.2022 0"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="6.0" velocity="10.152284264"/>
+ </joint>
+ <transmission name="wheel_left_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="wheel_left_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="wheel_left_joint">
+ <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <!-- Contact model for the wheel surface -->
+ <gazebo reference="wheel_left_link">
+ <!--
+ <kp>1000000.0</kp>
+ <kd>100.0</kd>
+ <mu1>1.0</mu1>
+ <mu2>1.0</mu2>
+ <fdir1>1 0 0</fdir1>
+ <maxVel>1.0</maxVel>
+ <minDepth>0.00</minDepth>
+ <implicitSpringDamper>1</implicitSpringDamper>
+-->
+ <material>Gazebo/DarkGrey</material>
+ </gazebo>
+ <link name="caster_front_right_1_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="-0.01108 0.00003 -0.030"/>
+ <mass value="0.101"/>
+ <inertia ixx="0.00002779423" ixy="-0.00000001384" ixz="0.0000074479" iyy="0.00002767062" iyz="-0.00000002774" izz="0.00001727605"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/pmb2/wheels/caster_1.stl"/>
+ </geometry>
+ <material name="Grey"/>
+ </visual>
+ </link>
+ <link name="caster_front_right_2_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0.03677"/>
+ <inertia ixx="0.00000755221" ixy="0" ixz="0" iyy="0.00000755221" iyz="0" izz="0.00001281996"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/pmb2/wheels/caster_2.stl"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <sphere radius="0.025"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="caster_front_right_1_joint" type="fixed">
+ <parent link="base_link"/>
+ <child link="caster_front_right_1_link"/>
+ <origin rpy="0 0 0" xyz="0.1695 -0.102 -0.0335"/>
+ <axis xyz="0 0 1"/>
+ </joint>
+ <joint name="caster_front_right_2_joint" type="fixed">
+ <parent link="caster_front_right_1_link"/>
+ <child link="caster_front_right_2_link"/>
+ <origin rpy="-1.57079632679 0 0" xyz="-0.016 0.0000 -0.040"/>
+ <axis xyz="0 0 1"/>
+ </joint>
+ <!-- Transmission -->
+ <!--xacro:caster_transmission name="" side="${side}" number="" reduction=""-->
+ <!-- Contact model for the caster wheel surface -->
+ <gazebo reference="caster_front_right_1_link">
+ <kp>1000000.0</kp>
+ <kd>100.0</kd>
+ <mu1>0</mu1>
+ <mu2>0</mu2>
+ <fdir1>1 0 0</fdir1>
+ <maxVel>1.0</maxVel>
+ <minDepth>0.00</minDepth>
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="caster_front_right_2_link">
+ <kp>1000000.0</kp>
+ <kd>100.0</kd>
+ <mu1>0</mu1>
+ <mu2>0</mu2>
+ <fdir1>1 0 0</fdir1>
+ <maxVel>1.0</maxVel>
+ <minDepth>0.00</minDepth>
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <material>Gazebo/DarkGrey</material>
+ </gazebo>
+ <link name="caster_front_left_1_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="-0.01108 0.00003 -0.030"/>
+ <mass value="0.101"/>
+ <inertia ixx="0.00002779423" ixy="-0.00000001384" ixz="0.0000074479" iyy="0.00002767062" iyz="-0.00000002774" izz="0.00001727605"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/pmb2/wheels/caster_1.stl"/>
+ </geometry>
+ <material name="Grey"/>
+ </visual>
+ </link>
+ <link name="caster_front_left_2_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0.03677"/>
+ <inertia ixx="0.00000755221" ixy="0" ixz="0" iyy="0.00000755221" iyz="0" izz="0.00001281996"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/pmb2/wheels/caster_2.stl"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <sphere radius="0.025"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="caster_front_left_1_joint" type="fixed">
+ <parent link="base_link"/>
+ <child link="caster_front_left_1_link"/>
+ <origin rpy="0 0 0" xyz="0.1695 0.102 -0.0335"/>
+ <axis xyz="0 0 1"/>
+ </joint>
+ <joint name="caster_front_left_2_joint" type="fixed">
+ <parent link="caster_front_left_1_link"/>
+ <child link="caster_front_left_2_link"/>
+ <origin rpy="-1.57079632679 0 0" xyz="-0.016 0.0000 -0.040"/>
+ <axis xyz="0 0 1"/>
+ </joint>
+ <!-- Transmission -->
+ <!--xacro:caster_transmission name="" side="${side}" number="" reduction=""-->
+ <!-- Contact model for the caster wheel surface -->
+ <gazebo reference="caster_front_left_1_link">
+ <kp>1000000.0</kp>
+ <kd>100.0</kd>
+ <mu1>0</mu1>
+ <mu2>0</mu2>
+ <fdir1>1 0 0</fdir1>
+ <maxVel>1.0</maxVel>
+ <minDepth>0.00</minDepth>
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="caster_front_left_2_link">
+ <kp>1000000.0</kp>
+ <kd>100.0</kd>
+ <mu1>0</mu1>
+ <mu2>0</mu2>
+ <fdir1>1 0 0</fdir1>
+ <maxVel>1.0</maxVel>
+ <minDepth>0.00</minDepth>
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <material>Gazebo/DarkGrey</material>
+ </gazebo>
+ <link name="caster_back_right_1_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="-0.01108 0.00003 -0.030"/>
+ <mass value="0.101"/>
+ <inertia ixx="0.00002779423" ixy="-0.00000001384" ixz="0.0000074479" iyy="0.00002767062" iyz="-0.00000002774" izz="0.00001727605"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/pmb2/wheels/caster_1.stl"/>
+ </geometry>
+ <material name="Grey"/>
+ </visual>
+ </link>
+ <link name="caster_back_right_2_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0.03677"/>
+ <inertia ixx="0.00000755221" ixy="0" ixz="0" iyy="0.00000755221" iyz="0" izz="0.00001281996"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/pmb2/wheels/caster_2.stl"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <sphere radius="0.025"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="caster_back_right_1_joint" type="fixed">
+ <parent link="base_link"/>
+ <child link="caster_back_right_1_link"/>
+ <origin rpy="0 0 0" xyz="-0.1735 -0.102 -0.0335"/>
+ <axis xyz="0 0 1"/>
+ </joint>
+ <joint name="caster_back_right_2_joint" type="fixed">
+ <parent link="caster_back_right_1_link"/>
+ <child link="caster_back_right_2_link"/>
+ <origin rpy="-1.57079632679 0 0" xyz="-0.016 0.0000 -0.040"/>
+ <axis xyz="0 0 1"/>
+ </joint>
+ <!-- Transmission -->
+ <!--xacro:caster_transmission name="" side="${side}" number="" reduction=""-->
+ <!-- Contact model for the caster wheel surface -->
+ <gazebo reference="caster_back_right_1_link">
+ <kp>1000000.0</kp>
+ <kd>100.0</kd>
+ <mu1>0</mu1>
+ <mu2>0</mu2>
+ <fdir1>1 0 0</fdir1>
+ <maxVel>1.0</maxVel>
+ <minDepth>0.00</minDepth>
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="caster_back_right_2_link">
+ <kp>1000000.0</kp>
+ <kd>100.0</kd>
+ <mu1>0</mu1>
+ <mu2>0</mu2>
+ <fdir1>1 0 0</fdir1>
+ <maxVel>1.0</maxVel>
+ <minDepth>0.00</minDepth>
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <material>Gazebo/DarkGrey</material>
+ </gazebo>
+ <link name="caster_back_left_1_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="-0.01108 0.00003 -0.030"/>
+ <mass value="0.101"/>
+ <inertia ixx="0.00002779423" ixy="-0.00000001384" ixz="0.0000074479" iyy="0.00002767062" iyz="-0.00000002774" izz="0.00001727605"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/pmb2/wheels/caster_1.stl"/>
+ </geometry>
+ <material name="Grey"/>
+ </visual>
+ </link>
+ <link name="caster_back_left_2_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0.03677"/>
+ <inertia ixx="0.00000755221" ixy="0" ixz="0" iyy="0.00000755221" iyz="0" izz="0.00001281996"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/pmb2/wheels/caster_2.stl"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <sphere radius="0.025"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="caster_back_left_1_joint" type="fixed">
+ <parent link="base_link"/>
+ <child link="caster_back_left_1_link"/>
+ <origin rpy="0 0 0" xyz="-0.1735 0.102 -0.0335"/>
+ <axis xyz="0 0 1"/>
+ </joint>
+ <joint name="caster_back_left_2_joint" type="fixed">
+ <parent link="caster_back_left_1_link"/>
+ <child link="caster_back_left_2_link"/>
+ <origin rpy="-1.57079632679 0 0" xyz="-0.016 0.0000 -0.040"/>
+ <axis xyz="0 0 1"/>
+ </joint>
+ <!-- Transmission -->
+ <!--xacro:caster_transmission name="" side="${side}" number="" reduction=""-->
+ <!-- Contact model for the caster wheel surface -->
+ <gazebo reference="caster_back_left_1_link">
+ <kp>1000000.0</kp>
+ <kd>100.0</kd>
+ <mu1>0</mu1>
+ <mu2>0</mu2>
+ <fdir1>1 0 0</fdir1>
+ <maxVel>1.0</maxVel>
+ <minDepth>0.00</minDepth>
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="caster_back_left_2_link">
+ <kp>1000000.0</kp>
+ <kd>100.0</kd>
+ <mu1>0</mu1>
+ <mu2>0</mu2>
+ <fdir1>1 0 0</fdir1>
+ <maxVel>1.0</maxVel>
+ <minDepth>0.00</minDepth>
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <material>Gazebo/DarkGrey</material>
+ </gazebo>
+ <!-- Bottom fixed part of column -->
+ <link name="torso_fixed_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.02435 -0.00464 0.15900"/>
+ <mass value="14.01360"/>
+ <inertia ixx="0.38341100000" ixy="0.00036400000" ixz="-0.02438900000" iyy="0.40577300000" iyz="-0.00078200000" izz="0.07699800000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/torso/torso_fix.stl" scale="1 1 1"/>
+ </geometry>
+ <material name="LightGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0.085 0.0 0.02"/>
+ <geometry>
+ <box size="0.4 0.25 0.04"/>
+ </geometry>
+ </collision>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0.05"/>
+ <geometry>
+ <box size="0.25 0.25 0.1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="torso_fixed_joint" type="fixed">
+ <origin rpy="0 0 0" xyz="-0.062 0.0 0.193"/>
+ <parent link="base_link"/>
+ <child link="torso_fixed_link"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+ <!-- Middle extending -->
+ <link name="torso_fixed_column_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0.01"/>
+ <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 0.275"/>
+ <geometry>
+ <box size="0.18 0.2 0.55"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0.275"/>
+ <geometry>
+ <box size="0.23 0.23 0.55"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </collision>
+ </link>
+ <gazebo reference="torso_fixed_column_link">
+ <material>Gazebo/DarkGrey</material>
+ </gazebo>
+ <joint name="torso_fixed_column_joint" type="fixed">
+ <origin rpy="0 0 0" xyz="-0.062 0 0.195"/>
+ <parent link="base_link"/>
+ <child link="torso_fixed_column_link"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+ <link name="torso_lift_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.04361 -0.00116 -0.17334"/>
+ <mass value="6.93198"/>
+ <inertia ixx="0.24487000000" ixy="-0.00145600000" ixz="-0.00974200000" iyy="0.24926900000" iyz="0.00828100000" izz="0.09039500000"/>
+ </inertial>
+ <!-- Lifting body -->
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/torso/torso_lift_with_arm.stl" scale="1 1 1"/>
+ </geometry>
+ <material name="White"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/torso/torso_lift_collision_core.dae" scale="1 1 1"/>
+ </geometry>
+ <material name="LightGrey"/>
+ </collision>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/torso/torso_lift_collision_shoulder.dae" scale="1 1 1"/>
+ </geometry>
+ <material name="LightGrey"/>
+ </collision>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/torso/torso_lift_collision_neck.dae" scale="1 1 1"/>
+ </geometry>
+ <material name="LightGrey"/>
+ </collision>
+ </link>
+ <joint name="torso_lift_joint" type="prismatic">
+ <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.597"/>
+ <parent link="torso_fixed_link"/>
+ <child link="torso_lift_link"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="2000" lower="0" upper="0.35" velocity="0.07"/>
+ <calibration rising="0.0"/>
+ <dynamics damping="1000"/>
+ <safety_controller k_position="20" k_velocity="20" soft_lower_limit="0.0" soft_upper_limit="0.35"/>
+ </joint>
+ <transmission name="torso_lift_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="torso_lift_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="torso_lift_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <link name="head_1_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00508 0.00237 0.07229"/>
+ <mass value="0.62220"/>
+ <inertia ixx="0.00119200000" ixy="-0.00000700000" ixz="0.00009600000" iyy="0.00140200000" iyz="0.00000400000" izz="0.00088900000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/head/head_1.stl" scale="1 1 1"/>
+ </geometry>
+ <material name="White"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0.0" xyz="0.0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/head/head_1_collision.dae" scale="1 1 1"/>
+ </geometry>
+ <material name="White"/>
+ </collision>
+ </link>
+ <joint name="head_1_joint" type="revolute">
+ <parent link="torso_lift_link"/>
+ <child link="head_1_link"/>
+ <origin rpy="0 0 0" xyz="0.182 0.0 0.0"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="5.197" lower="-1.308996939" upper="1.308996939" velocity="3.0"/>
+ <dynamics damping="0.5" friction="1.0"/>
+ <safety_controller k_position="20" k_velocity="20" soft_lower_limit="-1.238996939" soft_upper_limit="1.238996939"/>
+ </joint>
+ <gazebo reference="head_1_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <gazebo reference="head_1_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <transmission name="head_1_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="head_1_motor">
+ <mechanicalReduction>1</mechanicalReduction>
+ </actuator>
+ <joint name="head_1_joint">
+ <offset>0.0</offset>
+ <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <link name="head_2_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.04700 0.05542 0.00022"/>
+ <mass value="0.66123"/>
+ <inertia ixx="0.00462000000" ixy="0.00068900000" ixz="0.00000600000" iyy="0.00486100000" iyz="0.00000600000" izz="0.00313200000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/head/head_2.stl" scale="1 1 1"/>
+ </geometry>
+ <material name="White"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/head/head_2_collision.dae" 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="1.57079632679 0 0" xyz="0.005 0.0 0.098"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="2.77" lower="-1.0471975512" upper="0.785398163397" velocity="3.0"/>
+ <dynamics damping="0.5" friction="1.0"/>
+ <safety_controller k_position="20" k_velocity="20" soft_lower_limit="-0.977197551197" soft_upper_limit="0.785398163397"/>
+ </joint>
+ <transmission name="head_2_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="head_2_motor">
+ <mechanicalReduction>1</mechanicalReduction>
+ </actuator>
+ <joint name="head_2_joint">
+ <offset>0.0</offset>
+ <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <!-- frames in the center of the camera -->
+ <joint name="xtion_joint" type="fixed">
+ <origin rpy="-1.57079632679 0.0 0.0" xyz="0.0908 0.08 0.0"/>
+ <parent link="head_2_link"/>
+ <child link="xtion_link"/>
+ </joint>
+ <link name="xtion_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="-0.00936000000 -0.00003000000 -0.00273000000"/>
+ <mass value="0.21970000000"/>
+ <inertia ixx="0.00000429247" ixy="0.00000000000" ixz="0.00000002565" iyy="0.00000008027" iyz="0.00000000000" izz="0.00000427339"/>
+ </inertial>
+ <!--
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/sensors/xtion_pro_live/xtion_pro_live.dae" />
+ </geometry>
+ <material name="Grey">
+ <color rgba="0.5 0.5 0.5 1"/>
+ </material>
+ </visual>
+ <collision>
+ <origin xyz="-0.01 0.0025 0" rpy="0 0 0"/>
+ <geometry>
+ <box size="0.04 0.185 0.03"/>
+ </geometry>
+ </collision>
+ -->
+ </link>
+ <joint name="xtion_optical_joint" type="fixed">
+ <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
+ <parent link="xtion_link"/>
+ <child link="xtion_optical_frame"/>
+ </joint>
+ <link name="xtion_optical_frame">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0.001"/>
+ <inertia ixx="0.00001" ixy="0" ixz="0" iyy="0.00001" iyz="0" izz="0.00001"/>
+ </inertial>
+ </link>
+ <!-- frames of the depth sensor -->
+ <joint name="xtion_depth_joint" type="fixed">
+ <origin rpy="0 0 0" xyz="0.0 0.047 0.0"/>
+ <parent link="xtion_link"/>
+ <child link="xtion_depth_frame"/>
+ </joint>
+ <link name="xtion_depth_frame">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0.001"/>
+ <inertia ixx="0.00001" ixy="0" ixz="0" iyy="0.00001" iyz="0" izz="0.00001"/>
+ </inertial>
+ </link>
+ <joint name="xtion_depth_optical_joint" type="fixed">
+ <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
+ <parent link="xtion_depth_frame"/>
+ <child link="xtion_depth_optical_frame"/>
+ </joint>
+ <link name="xtion_depth_optical_frame">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0.001"/>
+ <inertia ixx="0.00001" ixy="0" ixz="0" iyy="0.00001" iyz="0" izz="0.00001"/>
+ </inertial>
+ </link>
+ <!-- frames of the rgb sensor -->
+ <joint name="xtion_rgb_joint" type="fixed">
+ <origin rpy="0 0 0" xyz="0.0 0.022 0.0"/>
+ <parent link="xtion_link"/>
+ <child link="xtion_rgb_frame"/>
+ </joint>
+ <link name="xtion_rgb_frame">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0.001"/>
+ <inertia ixx="0.00001" ixy="0" ixz="0" iyy="0.00001" iyz="0" izz="0.00001"/>
+ </inertial>
+ </link>
+ <joint name="xtion_rgb_optical_joint" type="fixed">
+ <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
+ <parent link="xtion_rgb_frame"/>
+ <child link="xtion_rgb_optical_frame"/>
+ </joint>
+ <link name="xtion_rgb_optical_frame">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0.001"/>
+ <inertia ixx="0.00001" ixy="0" ixz="0" iyy="0.00001" iyz="0" izz="0.00001"/>
+ </inertial>
+ </link>
+ <gazebo reference="xtion_rgb_frame">
+ <sensor name="xtion_frame_sensor" type="depth">
+ <always_on>true</always_on>
+ <update_rate>30.0</update_rate>
+ <camera>
+ <horizontal_fov>1.09955742876</horizontal_fov>
+ <image>
+ <format>B8G8R8</format>
+ <width>640</width>
+ <height>480</height>
+ </image>
+ <clip>
+ <near>0.3</near>
+ <far>8.0</far>
+ </clip>
+ </camera>
+ <plugin filename="libgazebo_ros_openni_kinect.so" name="xtion_frame_controller">
+ <alwaysOn>true</alwaysOn>
+ <updateRate>30.0</updateRate>
+ <cameraName>xtion</cameraName>
+ <imageTopicName>rgb/image_raw</imageTopicName>
+ <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
+ <depthImageTopicName>depth_registered/image_raw</depthImageTopicName>
+ <depthImageCameraInfoTopicName>depth_registered/camera_info</depthImageCameraInfoTopicName>
+ <pointCloudTopicName>depth_registered/points</pointCloudTopicName>
+ <frameName>xtion_rgb_optical_frame</frameName>
+ <pointCloudCutoff>0.5</pointCloudCutoff>
+ <pointCloudCutoffMax>8.0</pointCloudCutoffMax>
+ <distortionK1>0.00000001</distortionK1>
+ <distortionK2>0.00000001</distortionK2>
+ <distortionK3>0.00000001</distortionK3>
+ <distortionT1>0.00000001</distortionT1>
+ <distortionT2>0.00000001</distortionT2>
+ </plugin>
+ </sensor>
+ </gazebo>
+ <!--************************-->
+ <!-- SHOULDER -->
+ <!--************************-->
+ <link name="arm_1_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.063989 0.022546 -0.014608"/>
+ <mass value="2.083078"/>
+ <inertia ixx="0.003003" ixy="0.002396" ixz="0.001531" iyy="0.008613" iyz="0.000588" izz="0.009348"/>
+ </inertial>
+ <!-- M90 module -->
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/arm/arm_1.stl" scale="1 1 1"/>
+ </geometry>
+ <material name="White"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/arm/arm_1_collision.dae" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="arm_1_joint" type="revolute">
+ <parent link="torso_lift_link"/>
+ <child link="arm_1_link"/>
+ <origin rpy="0 0 -1.57079632679" xyz="0.15505 0.014 -0.151"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="39.0" lower="0.0" upper="2.74889357189" velocity="2.7"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ <safety_controller k_position="20" k_velocity="20" soft_lower_limit="0.07" soft_upper_limit="2.67889357189"/>
+ </joint>
+ <link name="arm_2_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.035264 0.000327 0.008489"/>
+ <mass value="1.792499"/>
+ <inertia ixx="0.001683" ixy="-0.000010" ixz="-0.000387" iyy="0.004708" iyz="-0.000028" izz="0.004780"/>
+ </inertial>
+ <visual>
+ <!-- <origin xyz="0 0 0" rpy="${180 * deg_to_rad} ${0 * deg_to_rad} ${-90 * deg_to_rad}" /> -->
+ <origin rpy="0.0 0.0 0.0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/arm/arm_2.stl" scale="1 1 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <!-- <origin xyz="0 0 0" rpy="${180 * deg_to_rad} ${0 * deg_to_rad} ${-90 * deg_to_rad}" /> -->
+ <origin rpy="0.0 0.0 0.0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/arm/arm_2_collision.dae" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="arm_2_joint" type="revolute">
+ <parent link="arm_1_link"/>
+ <child link="arm_2_link"/>
+ <origin rpy="1.57079632679 0.0 0.0" xyz="0.125 0.0165 -0.031"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="39.0" lower="-1.57079632679" upper="1.0908307825" velocity="3.66"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ <safety_controller k_position="20" k_velocity="20" soft_lower_limit="-1.50079632679" soft_upper_limit="1.0208307825"/>
+ </joint>
+ <link name="arm_3_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="-0.007956 0.005368 -0.136320"/>
+ <mass value="2.275860"/>
+ <inertia ixx="0.018178" ixy="-0.000143" ixz="0.001379" iyy="0.018552" iyz="-0.000888" izz="0.002774"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/arm/arm_3.stl" scale="1 1 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/arm/arm_3_collision.dae" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="arm_3_joint" type="revolute">
+ <parent link="arm_2_link"/>
+ <child link="arm_3_link"/>
+ <origin rpy="-1.57079632679 0.0 1.57079632679" xyz="0.0895 0.0 0.0015"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="17.86" lower="-3.53429173529" upper="1.57079632679" velocity="4.58"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ <safety_controller k_position="20" k_velocity="20" soft_lower_limit="-3.46429173529" soft_upper_limit="1.50079632679"/>
+ </joint>
+ <!--************************-->
+ <!-- ELBOW -->
+ <!--************************-->
+ <link name="arm_4_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="-0.095658 0.014666 0.018133"/>
+ <mass value="1.892788"/>
+ <inertia ixx="0.002542" ixy="-0.000956" ixz="-0.001457" iyy="0.011789" iyz="0.000229" izz="0.012058"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/arm/arm_4.stl" scale="1 1 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/arm/arm_4_collision.dae" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="arm_4_joint" type="revolute">
+ <parent link="arm_3_link"/>
+ <child link="arm_4_link"/>
+ <origin rpy="-1.57079632679 -1.57079632679 0.0" xyz="-0.02 -0.027 -0.222"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="17.86" lower="-0.392699081699" upper="2.35619449019" velocity="4.58"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ <safety_controller k_position="20" k_velocity="20" soft_lower_limit="-0.322699081699" soft_upper_limit="2.28619449019"/>
+ </joint>
+ <gazebo reference="arm_1_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ <material>Gazebo/DarkGrey</material>
+ </gazebo>
+ <gazebo reference="arm_2_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ <material>Gazebo/DarkGrey</material>
+ </gazebo>
+ <gazebo reference="arm_3_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ <material>Gazebo/DarkGrey</material>
+ </gazebo>
+ <gazebo reference="arm_4_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ <material>Gazebo/DarkGrey</material>
+ </gazebo>
+ <gazebo reference="arm_1_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="arm_2_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="arm_3_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="arm_4_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <!--************************-->
+ <!-- WRIST -->
+ <!--************************-->
+ <link name="arm_5_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.00003 -0.00028 0.07831"/>
+ <mass value="1.07424"/>
+ <inertia ixx="0.00168000000" ixy="0.00000100000" ixz="-0.00001500000" iyy="0.00160300000" iyz="-0.00001900000" izz="0.00040400000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/arm/arm_5.stl" scale="1 1 1"/>
+ </geometry>
+ <material name="LightGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/arm/arm_5_collision.dae" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="arm_5_joint" type="revolute">
+ <parent link="arm_4_link"/>
+ <child link="arm_5_link"/>
+ <origin rpy="0.0 -1.57079632679 0.0" xyz="-0.162 0.02 0.027"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="3" lower="-2.09439510239" upper="2.09439510239" velocity="1.95"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ <safety_controller k_position="20" k_velocity="20" soft_lower_limit="-2.07439510239" soft_upper_limit="2.07439510239"/>
+ </joint>
+ <link name="arm_6_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.00531 0.00021 0.00002"/>
+ <mass value="0.28722"/>
+ <inertia ixx="0.00005900000" ixy="-0.00000000000" ixz="-0.00000000000" iyy="0.00010600000" iyz="0.00000000000" izz="0.00012600000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/arm/arm_6.stl" scale="1 1 1"/>
+ </geometry>
+ <material name="LightGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://tiago_description/meshes/arm/arm_6_collision.dae" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="arm_6_joint" type="revolute">
+ <parent link="arm_5_link"/>
+ <child link="arm_6_link"/>
+ <origin rpy="0.0 -1.57079632679 -1.57079632679" xyz="0 0 0.15"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="6.6" lower="-1.41371669412" upper="1.41371669412" velocity="1.76"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ <safety_controller k_position="20" k_velocity="20" soft_lower_limit="-1.39371669412" soft_upper_limit="1.39371669412"/>
+ </joint>
+ <link name="arm_7_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.00011 -0.00034 0.02405"/>
+ <mass value="0.05935"/>
+ <inertia ixx="0.00001400000" ixy="-0.00000000000" ixz="-0.00000000000" iyy="0.00001400000" iyz="0.00000000000" izz="0.00000400000"/>
+ </inertial>
+ </link>
+ <joint name="arm_7_joint" type="revolute">
+ <parent link="arm_6_link"/>
+ <child link="arm_7_link"/>
+ <origin rpy="1.57079632679 0.0 1.57079632679" xyz="0 0 0"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="6.6" lower="-2.09439510239" upper="2.09439510239" velocity="1.76"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ <safety_controller k_position="20" k_velocity="20" soft_lower_limit="-2.07439510239" soft_upper_limit="2.07439510239"/>
+ </joint>
+ <gazebo reference="arm_5_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <gazebo reference="arm_6_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <gazebo reference="arm_7_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <gazebo reference="arm_5_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="arm_6_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="arm_7_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <provideFeedback>1</provideFeedback>
+ </gazebo>
+ <transmission name="arm_5_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="arm_5_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="arm_5_joint">
+ <offset>0.0</offset>
+ <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <transmission name="wrist_trans">
+ <type>transmission_interface/DifferentialTransmission</type>
+ <actuator name="arm_6_motor">
+ <role>actuator1</role>
+ <mechanicalReduction>-1.0</mechanicalReduction>
+ </actuator>
+ <actuator name="arm_7_motor">
+ <role>actuator2</role>
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="arm_6_joint">
+ <role>joint1</role>
+ <offset>0.0</offset>
+ <mechanicalReduction>1.0</mechanicalReduction>
+ <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <ignoreTransmissionAbsoluteEncoder>1</ignoreTransmissionAbsoluteEncoder>
+ </joint>
+ <joint name="arm_7_joint">
+ <role>joint2</role>
+ <offset>0.0</offset>
+ <mechanicalReduction>-1</mechanicalReduction>
+ <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <ignoreTransmissionAbsoluteEncoder>1</ignoreTransmissionAbsoluteEncoder>
+ </joint>
+ </transmission>
+ <!--***********************-->
+ <!-- TOOL -->
+ <!--***********************-->
+ <link name="arm_tool_link">
+ <inertial>
+ <mass value="0.1"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 1.57079632679 0" xyz="0.001 0 0"/>
+ <geometry>
+ <cylinder length="0.005" radius="0.005"/>
+ </geometry>
+ <material name="LightGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 1.57079632679 0" xyz="0.001 0 0"/>
+ <geometry>
+ <cylinder length="0.005" radius="0.005"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="arm_tool_joint" type="fixed">
+ <parent link="arm_7_link"/>
+ <child link="arm_tool_link"/>
+ <origin rpy="1.57079632679 -1.57079632679 3.14159265359" xyz="0 0 0.046"/>
+ </joint>
+ <transmission name="arm_1_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="arm_1_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="arm_1_joint">
+ <offset>0.0</offset>
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <transmission name="arm_2_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="arm_2_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="arm_2_joint">
+ <offset>0.0</offset>
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <transmission name="arm_3_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="arm_3_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="arm_3_joint">
+ <offset>0.0</offset>
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <transmission name="arm_4_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="arm_4_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="arm_4_joint">
+ <offset>0.0</offset>
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <!--************************-->
+ <!-- ft sensor -->
+ <!--************************-->
+ <link name="wrist_ft_link">
+ <inertial>
+ <mass value="0.1"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <cylinder length="0.0157" radius="0.0225"/>
+ </geometry>
+ <material name="LightGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <cylinder length="0.0157" radius="0.0225"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="wrist_ft_joint" type="fixed">
+ <parent link="arm_tool_link"/>
+ <child link="wrist_ft_link"/>
+ <origin rpy="1.57079632679 0 1.57079632679" xyz="0.00785 0 0"/>
+ </joint>
+ <!--***********************-->
+ <!-- FT TOOL -->
+ <!--***********************-->
+ <link name="wrist_ft_tool_link">
+ <inertial>
+ <mass value="0.1"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 1.57079632679 0" xyz="0.0 0 0"/>
+ <geometry>
+ <cylinder length="0.00975" radius="0.025"/>
+ </geometry>
+ <material name="FlatBlack"/>
+ </visual>
+ <collision>
+ <origin rpy="0 1.57079632679 0" xyz="0.0 0 0"/>
+ <geometry>
+ <cylinder length="0.00975" radius="0.025"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="wrist_tool_joint" type="fixed">
+ <parent link="wrist_ft_link"/>
+ <child link="wrist_ft_tool_link"/>
+ <origin rpy="-1.57079632679 -1.57079632679 0" xyz="0 0 0.012725"/>
+ </joint>
+ <!-- RGBD Laser Link -->
+ <joint name="rgbd_laser_joint" type="fixed">
+ <parent link="base_footprint"/>
+ <child link="rgbd_laser_link"/>
+ <origin rpy="0 0 0" xyz="-0.9 0 0"/>
+ </joint>
+ <link name="rgbd_laser_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0.0001"/>
+ <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
+ </inertial>
+ </link>
+</robot>
diff --git a/unittest/test_load.py b/unittest/test_load.py
index af6ca01..545f03e 100755
--- a/unittest/test_load.py
+++ b/unittest/test_load.py
@@ -2,7 +2,7 @@
import unittest
-from unittest_utils import loadHyQ, loadTalos, loadTalosArm
+from unittest_utils import loadHyQ, loadTalos, loadTalosArm, loadTiago, loadTiagoNoHand
class RobotTestCase(unittest.TestCase):
@@ -46,5 +46,17 @@ class HyQTest(RobotTestCase):
RobotTestCase.NV = 18
+class TiagoTest(RobotTestCase):
+ RobotTestCase.ROBOT = loadTiago()
+ RobotTestCase.NQ = 50
+ RobotTestCase.NV = 48
+
+
+class TiagoNoHandTest(RobotTestCase):
+ RobotTestCase.ROBOT = loadTiagoNoHand()
+ RobotTestCase.NQ = 14
+ RobotTestCase.NV = 12
+
+
if __name__ == '__main__':
unittest.main()
diff --git a/unittest/unittest_utils.py b/unittest/unittest_utils.py
index 81896aa..cb93bec 100644
--- a/unittest/unittest_utils.py
+++ b/unittest/unittest_utils.py
@@ -77,3 +77,29 @@ def loadHyQ():
# Load SRDF file
readParamsFromSrdf(robot, modelPath+SRDF_SUBPATH, False)
return robot
+
+
+def loadTiago():
+ URDF_FILENAME = "tiago.urdf"
+# SRDF_FILENAME = "tiago.srdf"
+# SRDF_SUBPATH = "/tiago_description/srdf/" + SRDF_FILENAME
+ URDF_SUBPATH = "/tiago_description/robots/" + URDF_FILENAME
+ modelPath = getModelPath(URDF_SUBPATH)
+ # Load URDF file
+ robot = RobotWrapper.BuildFromURDF(modelPath+URDF_SUBPATH, [modelPath])
+ # Load SRDF file
+# readParamsFromSrdf(robot, modelPath+SRDF_SUBPATH, False)
+ return robot
+
+
+def loadTiagoNoHand():
+ URDF_FILENAME = "tiago_no_hand.urdf"
+# SRDF_FILENAME = "tiago.srdf"
+# SRDF_SUBPATH = "/tiago_description/srdf/" + SRDF_FILENAME
+ URDF_SUBPATH = "/tiago_description/robots/" + URDF_FILENAME
+ modelPath = getModelPath(URDF_SUBPATH)
+ # Load URDF file
+ robot = RobotWrapper.BuildFromURDF(modelPath+URDF_SUBPATH, [modelPath])
+ # Load SRDF file
+# readParamsFromSrdf(robot, modelPath+SRDF_SUBPATH, False)
+ return robot
--
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