Add talos_reduced_v2.urdf.

urdf/talos_reduced_v2.urdf

+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from ./talos_full_v2.urdf.xacro     | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<!--
+
+  Copyright (c) 2016, PAL Robotics, S.L.
+  All rights reserved.
+
+  This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
+  To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
+  Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
+-->
+<robot name="talos" xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" xmlns:xacro="http://ros.org/wiki/xacro">
+  <!--************************-->
+  <!--        TORSO_2  (TILT) -->
+  <!--************************-->
+  <link name="torso_2_link">
+    <inertial>
+      <mass value="16.97403"/>
+      <inertia ixx="0.44372633826" ixy="0.00069132133" ixz="-0.01218206353" iyy="0.2998576068" iyz="-0.00019623338" izz="0.32201554742"/>
+      <origin rpy="0 0 0" xyz="-0.0463563 -0.00099023 0.1452805"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://talos_data/meshes/torso/torso_2.STL" scale="1 1 1"/>
+      </geometry>
+      <material name="LightGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://talos_data/meshes/torso/torso_2_collision.STL" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <!--************************-->
+  <!--        TORSO_1  (PAN)  -->
+  <!--************************-->
+  <link name="torso_1_link">
+    <inertial>
+      <mass value="2.294658"/>
+      <inertia ixx="0.00638508087" ixy="-7.107e-08" ixz="-3.065592e-05" iyy="0.00410256102" iyz="-1.46946e-06" izz="0.00622968815"/>
+      <origin rpy="0 0 0" xyz="0.00078223 3.528e-05 -0.01782457"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://talos_data/meshes/torso/torso_1.STL" scale="1 1 1"/>
+      </geometry>
+      <material name="LightGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://talos_data/meshes/torso/torso_1.STL" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="torso_1_joint" type="revolute">
+    <parent link="base_link"/>
+    <child link="torso_1_link"/>
+    <!-- XXX AS: The kinematic chain order for the torso was reversed manually. This value does not match the CAD model. XXX -->
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0722"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="200.0" lower="-1.25663706144" upper="1.25663706144" velocity="5.4"/>
+    <dynamics damping="1.0" friction="1.0"/>
+    <!-- <safety_controller k_position="20"
+                         k_velocity="20"
+                         soft_lower_limit="${-15.0 * deg_to_rad + torso_eps}"
+                         soft_upper_limit="${ 45.0 * deg_to_rad - torso_eps}" /> -->
+  </joint>
+  <!--************************-->
+  <!--        BASE_LINK       -->
+  <!--************************-->
+  <link name="base_link">
+    <inertial>
+      <mass value="15.36284"/>
+      <inertia ixx="0.20105075811" ixy="0.00023244734" ixz="0.0040167728" iyy="0.08411496729" iyz="-0.00087206649" izz="0.2318908414"/>
+      <origin rpy="0 0 0" xyz="-0.05709419 0.00153054 -0.0762521"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://talos_data/meshes/torso/base_link.STL" scale="1 1 1"/>
+      </geometry>
+      <material name="LightGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://talos_data/meshes/torso/base_link_collision.STL" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="torso_2_joint" type="revolute">
+    <parent link="torso_1_link"/>
+    <child link="torso_2_link"/>
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="200.0" lower="-0.226892802759" upper="0.733038285838" velocity="5.4"/>
+    <dynamics damping="1.0" friction="1.0"/>
+    <!-- <safety_controller k_position="20"
+                          k_velocity="20"
+                          soft_lower_limit="${-75.00000 * deg_to_rad + eps_radians}"
+                          soft_upper_limit="${75.00000 * deg_to_rad - eps_radians}" /> -->
+  </joint>
+  <link name="imu_link">
+    <inertial>
+      <mass value="0.01"/>
+      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.01 0.01"/>
+      </geometry>
+    </visual>
+  </link>
+  <joint name="imu_joint" type="fixed">
+    <origin rpy="3.14159265359 0 1.57079632679" xyz="0.04925 0 0.078"/>
+    <parent link="torso_2_link"/>
+    <child link="imu_link"/>
+  </joint>
+  <gazebo reference="torso_1_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+  </gazebo>
+  <gazebo reference="torso_2_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+  </gazebo>
+  <gazebo reference="base_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+  </gazebo>
+  <gazebo reference="torso_1_joint">
+    <implicitSpringDamper>1</implicitSpringDamper>
+  </gazebo>
+  <gazebo reference="torso_2_joint">
+    <implicitSpringDamper>1</implicitSpringDamper>
+    <provideFeedback>1</provideFeedback>
+  </gazebo>
+  <transmission name="talos_torso_trans">
+    <type>transmission_interface/DifferentialTransmission</type>
+    <actuator name="torso_1_motor">
+      <role>actuator1</role>
+      <mechanicalReduction>1.0</mechanicalReduction>
+    </actuator>
+    <actuator name="torso_2_motor">
+      <role>actuator2</role>
+      <mechanicalReduction>1.0</mechanicalReduction>
+    </actuator>
+    <joint name="torso_1_joint">
+      <role>joint1</role>
+      <offset>0.0</offset>
+      <mechanicalReduction>1.0</mechanicalReduction>
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <joint name="torso_2_joint">
+      <role>joint2</role>
+      <offset>0.0</offset>
+      <mechanicalReduction>1.0</mechanicalReduction>
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <link name="head_1_link">
+    <inertial>
+      <mass value="0.73746"/>
+      <inertia ixx="0.00224878584" ixy="4.69375e-06" ixz="8.55557e-05" iyy="0.00111158492" iyz="-4.132536e-05" izz="0.00205225921"/>
+      <origin rpy="0 0 0" xyz="-0.00157211 -0.00157919 0.02175767"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://talos_data/meshes/head/head_1.stl" scale="1 1 1"/>
+      </geometry>
+      <material name="DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://talos_data/meshes/head/head_1_collision.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="head_1_joint" type="revolute">
+    <parent link="torso_2_link"/>
+    <child link="head_1_link"/>
+    <origin rpy="0.0 0.0 0.0" xyz="0.02000 0.00000 0.32100"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="8.0" lower="-0.209439510239" upper="0.785398163397" velocity="1.0"/>
+    <dynamics damping="0.5" friction="1.0"/>
+    <!-- <safety_controller k_position="20"
+                          k_velocity="20"
+                          soft_lower_limit="${-15.00000 * deg_to_rad + eps_radians}"
+                          soft_upper_limit="${45.00000 * deg_to_rad - eps_radians}" /> -->
+  </joint>
+  <gazebo reference="head_1_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+  </gazebo>
+  <gazebo reference="head_1_joint">
+    <implicitSpringDamper>1</implicitSpringDamper>
+  </gazebo>
+  <gazebo reference="head_1_link">
+    <material>Gazebo/FlatBlack</material>
+  </gazebo>
+  <link name="head_2_link">
+    <inertial>
+      <mass value="1.443954"/>
+      <inertia ixx="0.01084624339" ixy="1.050889e-05" ixz="0.00041594252" iyy="0.0109569176" iyz="2.367831e-05" izz="0.00571698895"/>
+      <origin rpy="0 0 0" xyz="0.01002657 5.218e-05 0.14136068"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://talos_data/meshes/head/head_2.stl" scale="1 1 1"/>
+      </geometry>
+      <material name="LightGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://talos_data/meshes/head/head_2_collision.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="head_2_joint" type="revolute">
+    <parent link="head_1_link"/>
+    <child link="head_2_link"/>
+    <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="4.0" lower="-1.308996939" upper="1.308996939" velocity="1.0"/>
+    <dynamics damping="0.5" friction="1.0"/>
+    <!-- <safety_controller k_position="20"
+                          k_velocity="20"
+                          soft_lower_limit="${-75.00000 * deg_to_rad + eps_radians}"
+                          soft_upper_limit="${75.00000 * deg_to_rad - eps_radians}" /> -->
+  </joint>
+  <gazebo reference="head_2_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+  </gazebo>
+  <gazebo reference="head_2_joint">
+    <implicitSpringDamper>1</implicitSpringDamper>
+  </gazebo>
+  <gazebo reference="head_2_link">
+    <material>Gazebo/White</material>
+  </gazebo>
+  <!-- frames in the center of the camera -->
+  <joint name="rgbd_joint" type="fixed">
+    <origin rpy="0.0 0.0 0.0" xyz="0.066 0.0 0.1982"/>
+    <axis xyz="0 0 1"/>
+    <!-- <limit lower="0" upper="0.001" effort="100" velocity="0.01"/> -->
+    <parent link="head_2_link"/>
+    <child link="rgbd_link"/>
+  </joint>
+  <link name="rgbd_link">
+    <inertial>
+      <mass value="0.01"/>
+      <inertia ixx="3e-05" ixy="0.0" ixz="0.0" iyy="2e-06" iyz="0.0" izz="3e-05"/>
+      <origin rpy="-0.01 0.0025 0" xyz="0 0 0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://talos_data/meshes/sensors/orbbec/orbbec.STL"/>
+      </geometry>
+      <material name="DarkGrey">
+        <color rgba="0.5 0.5 0.5 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.01 0.0025 0"/>
+      <geometry>
+        <box size="0.04 0.185 0.03"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="rgbd_optical_joint" type="fixed">
+    <origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="rgbd_link"/>
+    <child link="rgbd_optical_frame"/>
+  </joint>
+  <link name="rgbd_optical_frame">
+    <inertial>
+      <mass value="0.01"/>
+      <inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </inertial>
+  </link>
+  <!-- frames of the depth sensor -->
+  <joint name="rgbd_depth_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 0.03751 0.0"/>
+    <parent link="rgbd_link"/>
+    <child link="rgbd_depth_frame"/>
+  </joint>
+  <link name="rgbd_depth_frame"/>
+  <joint name="rgbd_depth_optical_joint" type="fixed">
+    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="rgbd_depth_frame"/>
+    <child link="rgbd_depth_optical_frame"/>
+  </joint>
+  <link name="rgbd_depth_optical_frame"/>
+  <!-- frames of the rgb sensor -->
+  <joint name="rgbd_rgb_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 0.01251 0.0"/>
+    <parent link="rgbd_link"/>
+    <child link="rgbd_rgb_frame"/>
+  </joint>
+  <link name="rgbd_rgb_frame"/>
+  <joint name="rgbd_rgb_optical_joint" type="fixed">
+    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="rgbd_rgb_frame"/>
+    <child link="rgbd_rgb_optical_frame"/>
+  </joint>
+  <link name="rgbd_rgb_optical_frame"/>
+  <gazebo reference="rgbd_link">
+    <!-- IR + depth -->
+    <sensor name="rgbd_frame_sensor" type="depth">
+      <always_on>true</always_on>
+      <update_rate>30.0</update_rate>
+      <camera>
+        <horizontal_fov>1.0471975512</horizontal_fov>
+        <image>
+          <format>B8G8R8</format>
+          <width>640</width>
+          <height>480</height>
+        </image>
+        <clip>
+          <near>0.6</near>
+          <far>8.0</far>
+        </clip>
+      </camera>
+      <plugin filename="libgazebo_ros_openni_kinect.so" name="rgbd_frame_controller">
+        <alwaysOn>true</alwaysOn>
+        <updateRate>30.0</updateRate>
+        <cameraName>rgbd</cameraName>
+        <imageTopicName>rgb/image_raw</imageTopicName>
+        <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
+        <depthImageTopicName>depth/image_raw</depthImageTopicName>
+        <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
+        <pointCloudTopicName>depth/points</pointCloudTopicName>
+        <frameName>rgbd_optical_frame</frameName>
+        <pointCloudCutoff>0.45</pointCloudCutoff>
+        <rangeMax>10.0</rangeMax>
+        <distortionK1>0.00000001</distortionK1>
+        <distortionK2>0.00000001</distortionK2>
+        <distortionK3>0.00000001</distortionK3>
+        <distortionT1>0.00000001</distortionT1>
+        <distortionT2>0.00000001</distortionT2>
+      </plugin>
+    </sensor>
+    <!-- RGB High res-->
+    <sensor name="rgbd_high_res_frame_sensor" type="camera">
+      <update_rate>30.0</update_rate>
+      <camera name="head">
+        <horizontal_fov>1.0471975512</horizontal_fov>
+        <image>
+          <width>1280</width>
+          <height>720</height>
+          <format>R8G8B8</format>
+        </image>
+        <clip>
+          <near>0.05</near>
+          <far>100</far>
+        </clip>
+        <noise>
+          <type>gaussian</type>
+          <!-- Noise is sampled independently per pixel on each frame.
+                 That pixel's noise value is added to each of its color
+                 channels, which at that point lie in the range [0,1]. -->
+          <mean>0.0</mean>
+          <stddev>0.007</stddev>
+        </noise>
+      </camera>
+      <plugin filename="libgazebo_ros_camera.so" name="rgbd_high_res_frame_controller">
+        <alwaysOn>true</alwaysOn>
+        <!-- Patch to publish at 30 Hz -->
+        <updateRate>45.0</updateRate>
+        <cameraName>rgbd/high_res</cameraName>
+        <imageTopicName>/rgbd/rgb/high_res/image_raw</imageTopicName>
+        <cameraInfoTopicName>/rgbd/rgb/high_res/camera_info</cameraInfoTopicName>
+        <frameName>rgbd_optical_frame</frameName>
+        <hackBaseline>0.0</hackBaseline>
+        <distortionK1>0.00000001</distortionK1>
+        <distortionK2>0.00000001</distortionK2>
+        <distortionK3>0.00000001</distortionK3>
+        <distortionT1>0.00000001</distortionT1>
+        <distortionT2>0.00000001</distortionT2>
+      </plugin>
+    </sensor>
+    <material>Gazebo/FlatBlack</material>
+  </gazebo>
+  <transmission name="talos_trans">
+    <type>transmission_interface/HalfDifferentialTransmission</type>
+    <actuator name="head_1_motor">
+      <role>actuator1</role>
+      <mechanicalReduction>1.0</mechanicalReduction>
+    </actuator>
+    <actuator name="head_2_motor">
+      <role>actuator2</role>
+      <mechanicalReduction>1.0</mechanicalReduction>
+    </actuator>
+    <joint name="head_1_joint">
+      <role>joint1</role>
+      <offset>0.0</offset>
+      <mechanicalReduction>1.0</mechanicalReduction>
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <joint name="head_2_joint">
+      <role>joint2</role>
+      <offset>0.0</offset>
+      <mechanicalReduction>2.0</mechanicalReduction>
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <!--************************-->
+  <!--        SHOULDER        -->
+  <!--************************-->
+  <link name="arm_left_1_link">
+    <inertial>
+      <mass value="2.714567"/>
+      <inertia ixx="0.01237818683" ixy="-3.625571e-05" ixz="7.14472e-05" iyy="0.004191372" iyz="-0.00023639064" izz="0.01358161109"/>
+      <origin rpy="0 0 0" xyz="-0.0002762 0.10060223 0.04437419"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://talos_data/meshes/arm/arm_1.STL" scale="1 1 1"/>
+      </geometry>
+      <material name="DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://talos_data/meshes/arm/arm_1_collision.STL" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="arm_left_1_joint" type="revolute">
+    <parent link="torso_2_link"/>
+    <child link="arm_left_1_link"/>
+    <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.1575 0.23200"/>
+    <axis xyz="0 0 1"/>
+    <!-- v1 TALOS has 1st arm left joint (-90,30) and right joint (-30,90) -->
+    <!-- v2 TALOS has 1st arm left joint (-90,50) and right joint (-50,90) -->
+    <limit effort="100.0" lower="-1.57079632679" upper="0.785398163397" velocity="2.7"/>
+    <dynamics damping="1.0" friction="1.0"/>
+    <!--        <safety_controller k_position="20"
+                          k_velocity="20"
+                          soft_lower_limit="${-90.00000 * deg_to_rad + arm_eps}"
+                          soft_upper_limit="${30.00000 * deg_to_rad - arm_eps}" /> -->
+  </joint>
+  <link name="arm_left_2_link">
+    <inertial>
+      <mass value="2.425086"/>
+      <inertia ixx="0.01297822101" ixy="1.208791e-05" ixz="-0.00320370433" iyy="0.01380870278" iyz="-0.00012770059" izz="0.00478856621"/>
+      <origin rpy="0 0 0" xyz="0.01438831 0.00092938 -0.08684268"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://talos_data/meshes/arm/arm_2.STL" scale="1 1 1"/>
+      </geometry>
+      <material name="DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://talos_data/meshes/arm/arm_2_collision.STL" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="arm_left_2_joint" type="revolute">
+    <parent link="arm_left_1_link"/>
+    <child link="arm_left_2_link"/>
+    <origin rpy="0.0 0.0 0.0" xyz="0.00493 0.1365 0.04673"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="100.0" lower="0.00872664625997" upper="2.87106661953" velocity="3.66"/>
+    <dynamics damping="1.0" friction="1.0"/>
+    <!--        <safety_controller k_position="20"
+                          k_velocity="20"
+                          soft_lower_limit="${0.00000 * deg_to_rad + arm_eps}"
+                          soft_upper_limit="${165.00000 * deg_to_rad - arm_eps}" /> -->
+  </joint>
+  <link name="arm_left_3_link">
+    <inertial>
+      <mass value="2.208741"/>
+      <inertia ixx="0.00718831493" ixy="-0.00011563551" ixz="0.00075969733" iyy="0.00693528503" iyz="0.00042134743" izz="0.00388359007"/>
+      <origin rpy="0 0 0" xyz="0.0136084 0.01241619 -0.2499004"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://talos_data/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://talos_data/meshes/arm/arm_3_collision.STL" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="arm_left_3_joint" type="revolute">
+    <parent link="arm_left_2_link"/>
+    <child link="arm_left_3_link"/>
+    <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="70.0" lower="-2.42600766027" upper="2.42600766027" velocity="4.58"/>
+    <dynamics damping="1.0" friction="1.0"/>
+    <!--       <safety_controller k_position="20"
+                          k_velocity="20"
+                          soft_lower_limit="${-140.0 * deg_to_rad + arm_eps}"
+                          soft_upper_limit="${140.0 * deg_to_rad - arm_eps}" /> -->
+  </joint>
+  <!--************************-->
+  <!--        ELBOW           -->
+  <!--************************-->
+  <link name="arm_left_4_link">
+    <inertial>
+      <mass value="0.877346"/>
+      <inertia ixx="0.00251207716" ixy="0.00010070062" ixz="-0.00032788214" iyy="0.00275869324" iyz="0.00040022227" izz="0.00120735959"/>
+      <origin rpy="0 0 0" xyz="-0.00742138 -0.0213895 -0.03312656"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://talos_data/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://talos_data/meshes/arm/arm_4_collision.STL" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="arm_left_4_joint" type="revolute">
+    <parent link="arm_left_3_link"/>
+    <child link="arm_left_4_link"/>
+    <origin rpy="0.0 0.0 0.0" xyz="0.02000 0.00000 -0.27300"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="70.0" lower="-2.23402144255" upper="0.00349065850399" velocity="4.58"/>
+    <dynamics damping="1.0" friction="1.0"/>
+    <!--       <safety_controller k_position="20"
+                          k_velocity="20"
+                          soft_lower_limit="${-135.0 * deg_to_rad + arm_eps}"
+                          soft_upper_limit="${0.0 * deg_to_rad - arm_eps}" /> -->
+  </joint>
+  <gazebo reference="arm_left_1_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+    <material>Gazebo/FlatBlack</material>
+  </gazebo>
+  <gazebo reference="arm_left_2_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+    <material>Gazebo/FlatBlack</material>
+  </gazebo>
+  <gazebo reference="arm_left_3_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+    <material>Gazebo/FlatBlack</material>
+  </gazebo>
+  <gazebo reference="arm_left_4_link">
+    <mu1>0.9</mu1>
+    <mu2>0.9</mu2>
+    <material>Gazebo/FlatBlack</material>
+  </gazebo>
+  <gazebo reference="arm_left_1_joint">
+    <implicitSpringDamper>1</implicitSpringDamper>
+  </gazebo>
+  <gazebo reference="arm_left_2_joint">
+    <implicitSpringDamper>1</implicitSpringDamper>
+  </gazebo>
+  <gazebo reference="arm_left_3_joint">
+    <implicitSpringDamper>1</implicitSpringDamper>
+  </gazebo>
+  <gazebo reference="arm_left_4_joint">
+    <implicitSpringDamper>1</implicitSpringDamper>
+  </gazebo>
+  <!--************************-->
+  <!--        WRIST           -->
+  <!--************************-->
+  <link name="arm_left_5_link">
+    <inertial>
+      <mass value="1.877923"/>
+      <inertia ixx="0.00349507283" ixy="1.265489e-05" ixz="1.038286e-05" iyy="0.00436830072" iyz="-9.736042e-05" izz="0.0022826337"/>
+      <origin rpy="0 0 0" xyz="-6e-05 0.003262 0.079625"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://talos_data/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://talos_data/meshes/arm/arm_5_collision.STL" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="arm_left_5_joint" type="revolute">
+    <parent link="arm_left_4_link"/>
+    <child link="arm_left_5_link"/>
+    <origin rpy="0.0 0.0 0.0" xyz="-0.02000 0.00000 -0.26430"/>
+    <axis xyz="0 0 1"/>