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name="Head_LSpeaker_frame_joint" type="fixed"> + <parent link="Head" /> + <child link="LSpeaker_frame" /> + </joint> + <joint name="Head_CameraTop_frame_joint" type="fixed"> + <origin xyz="0.08601 0 0.16284" /> + <parent link="Head" /> + <child link="CameraTop_frame" /> + </joint> + <joint name="CameraTop_frame_CameraTop_optical_frame_joint" type="fixed"> + <origin rpy="-1.570796 0 -1.570796" /> + <parent link="CameraTop_frame" /> + <child link="CameraTop_optical_frame" /> + </joint> + <joint name="Head_CameraDepth_frame_joint" type="fixed"> + <origin xyz="0.05138 0.039 0.1194" /> + <parent link="Head" /> + <child link="CameraDepth_frame" /> + </joint> + <joint name="CameraDepth_frame_CameraDepth_optical_frame_joint" type="fixed"> + <origin rpy="-1.570796 0 -1.570796" /> + <parent link="CameraDepth_frame" /> + <child link="CameraDepth_optical_frame" /> + </joint> + <joint name="Head_HeadTouchFront_frame_joint" type="fixed"> + <origin rpy="0 0.20944 0" xyz="0.028175 0 0.21267" /> + <parent link="Head" /> + <child link="HeadTouchFront_frame" /> + </joint> + <joint name="Head_CameraBottom_frame_joint" type="fixed"> + <origin rpy="0 0.698132 0" xyz="0.09262 0 0.06177" /> + <parent link="Head" /> + <child link="CameraBottom_frame" /> + </joint> + <joint name="CameraBottom_frame_CameraBottom_optical_frame_joint" type="fixed"> + <origin rpy="-1.570796 0 -1.570796" /> + <parent link="CameraBottom_frame" /> + <child link="CameraBottom_optical_frame" /> + </joint> + <joint name="Head_HeadTouchRear_frame_joint" type="fixed"> + <origin rpy="0 5.969026 0" xyz="-0.03376 0 0.21052" /> + <parent link="Head" /> + <child link="HeadTouchRear_frame" /> + </joint> + <joint name="Head_HeadTouchMiddle_frame_joint" type="fixed"> + <origin rpy="0 6.248279 0" xyz="0.0041 0 0.2159" /> + <parent link="Head" /> + <child link="HeadTouchMiddle_frame" /> + </joint> + <joint name="HipRoll" type="revolute"> + <origin xyz="2E-05 0 -0.139" /> + <parent link="torso" /> + <child link="Hip" /> + <axis xyz="1 0 0" /> + <limit lower="-0.514872" upper="0.514872" effort="1000" velocity="1000" /> + </joint> + <joint name="HipPitch" type="revolute"> + <origin xyz="0 0 -0.079" /> + <parent link="Hip" /> + <child link="Pelvis" /> + <axis xyz="0 1 0" /> + <limit lower="-1.03847" upper="1.03847" effort="1000" velocity="1000" /> + </joint> + <joint name="KneePitch" type="revolute"> + <origin xyz="0 0 -0.268" /> + <parent link="Pelvis" /> + <child link="Tibia" /> + <axis xyz="0 1 0" /> + <limit lower="-0.514872" upper="0.514872" effort="1000" velocity="1000" /> + </joint> + <joint name="Tibia_base_footprint_joint" type="fixed"> + <origin xyz="0 0 -0.334" /> + <parent link="Tibia" /> + <child link="base_footprint" /> + </joint> + <joint name="Tibia_SonarBack_frame_joint" type="fixed"> + <origin rpy="0 6.073747 -3.14159" xyz="-0.0718 0 -0.0534" /> + <parent link="Tibia" /> + <child link="SonarBack_frame" /> + </joint> + <joint name="Tibia_VerticalLeftLaser_frame_joint" type="fixed"> + <origin rpy="0 0.349066 0" xyz="0.0562 0 -0.0692" /> + <parent link="Tibia" /> + <child link="VerticalLeftLaser_frame" /> + </joint> + <joint name="Tibia_SurroundingFrontLaser_device_frame_joint" type="fixed"> + <origin rpy="0 0.349066 0" xyz="0.0562 0 -0.0692" /> + <parent link="Tibia" /> + <child link="SurroundingFrontLaser_device_frame" /> + </joint> + <joint name="Tibia_BumperB_frame_joint" type="fixed"> + <origin rpy="0 0 -3.14159" xyz="-0.251 0 -0.264" /> + <parent link="Tibia" /> + <child link="BumperB_frame" /> + </joint> + <joint name="Tibia_SurroundingLeftLaser_frame_joint" type="fixed"> + <origin rpy="0 0 -4.525905" xyz="-0.018 0.0899 -0.334" /> + <parent link="Tibia" /> + <child link="SurroundingLeftLaser_frame" /> + </joint> + <joint name="Tibia_ShovelLaser_frame_joint" type="fixed"> + <origin rpy="0 0.349066 0" xyz="0.0562 0 -0.0692" /> + <parent link="Tibia" /> + <child link="ShovelLaser_frame" /> + </joint> + <joint name="Tibia_SurroundingRightLaser_device_frame_joint" type="fixed"> + <origin rpy="0 0.349066 -1.5708" xyz="-0.018 -0.0899 -0.0759" /> + <parent link="Tibia" /> + <child link="SurroundingRightLaser_device_frame" /> + </joint> + <joint name="Tibia_SurroundingLeftLaser_device_frame_joint" type="fixed"> + <origin rpy="0 0.349066 -4.712386" xyz="-0.018 0.0899 -0.0759" /> + <parent link="Tibia" /> + <child link="SurroundingLeftLaser_device_frame" /> + </joint> + <joint name="Tibia_SurroundingRightLaser_frame_joint" type="fixed"> + <origin rpy="0 0 -1.75728" xyz="-0.018 -0.0899 -0.334" /> + <parent link="Tibia" /> + <child link="SurroundingRightLaser_frame" /> + </joint> + <joint name="Tibia_VerticalRightLaser_frame_joint" type="fixed"> + <origin rpy="0 0.349066 0" xyz="0.0562 0 -0.0692" /> + <parent link="Tibia" /> + <child link="VerticalRightLaser_frame" /> + </joint> + <joint name="Tibia_SonarFront_frame_joint" type="fixed"> + <origin rpy="0 5.960327 0" xyz="0.0699 0 -0.1023" /> + <parent link="Tibia" /> + <child link="SonarFront_frame" /> + </joint> + <joint name="Tibia_BumperFL_frame_joint" type="fixed"> + <origin rpy="0 0 -5.794325" xyz="0.129 0.227 -0.264" /> + <parent link="Tibia" /> + <child link="BumperFL_frame" /> + </joint> + <joint name="Tibia_ImuBaseAccelerometer_frame_joint" type="fixed"> + <origin xyz="0.0147 -0.0017 -0.26319" /> + <parent link="Tibia" /> + <child link="ImuBaseAccelerometer_frame" /> + </joint> + <joint name="Tibia_BumperFR_frame_joint" type="fixed"> + <origin rpy="0 0 -0.48886" xyz="0.129 -0.227 -0.264" /> + <parent link="Tibia" /> + <child link="BumperFR_frame" /> + </joint> + <joint name="Tibia_SurroundingFrontLaser_frame_joint" type="fixed"> + <origin xyz="0.0562 0 -0.334" /> + <parent link="Tibia" /> + <child link="SurroundingFrontLaser_frame" /> + </joint> + <joint name="WheelFL" type="continuous"> + <origin rpy="0 0 -5.208015" xyz="0.09 0.155 -0.264" /> + <parent link="Tibia" /> + <child link="WheelFL_link" /> + <axis xyz="1 0 0" /> + </joint> + <joint name="WheelB" type="continuous"> + <origin rpy="0 0 -3.14159" xyz="-0.17 0 -0.264" /> + <parent link="Tibia" /> + <child link="WheelB_link" /> + <axis xyz="1 0 0" /> + </joint> + <joint name="WheelFR" type="continuous"> + <origin rpy="0 0 -1.07517" xyz="0.09 -0.155 -0.264" /> + <parent link="Tibia" /> + <child link="WheelFR_link" /> + <axis xyz="1 0 0" /> + </joint> + <joint name="LShoulderPitch" type="revolute"> + <origin xyz="-0.057 0.14974 0.08682" /> + <parent link="torso" /> + <child link="LShoulder" /> + <axis xyz="0 1 0" /> + <limit lower="-2.08567" upper="2.08567" effort="1000" velocity="1000" /> + </joint> + <joint name="LShoulderRoll" type="revolute"> + <parent link="LShoulder" /> + <child link="LBicep" /> + <axis xyz="0 0 1" /> + <limit lower="0.008727" upper="1.56207" effort="1000" velocity="1000" /> + </joint> + <joint name="LElbowYaw" type="revolute"> + <origin rpy="0 6.126106 0" xyz="0.1812 0.015 0.00013" /> + <parent link="LBicep" /> + <child link="LElbow" /> + <axis xyz="1 0 0" /> + <limit lower="-2.08567" upper="2.08567" effort="1000" velocity="1000" /> + </joint> + <joint name="LElbowRoll" type="revolute"> + <parent link="LElbow" /> + <child link="LForeArm" /> + <axis xyz="0 0 1" /> + <limit lower="-1.56207" upper="-0.008727" effort="1000" velocity="1000" /> + </joint> + <joint name="LWristYaw" type="revolute"> + <origin xyz="0.15 0 0" /> + <parent link="LForeArm" /> + <child link="l_wrist" /> + <axis xyz="1 0 0" /> + <limit lower="-1.82387" upper="1.82387" effort="1000" velocity="1000" /> + </joint> + <joint name="LHand" type="revolute"> + <origin xyz="0.025 0 0" /> + <parent link="l_wrist" /> + <child link="l_gripper" /> + <axis xyz="1 0 0" /> + <limit lower="0.02" upper="0.98" effort="1000" velocity="1000" /> + </joint> + <joint name="l_wrist_LHandTouchBack_frame_joint" type="fixed"> + <origin rpy="0 4.712389 -1.570786" xyz="0.0523 0 0.0304" /> + <parent link="l_wrist" /> + <child link="LHandTouchBack_frame" /> + </joint> + <joint name="LFinger21" type="continuous"> + <origin rpy="-4.712385 1.0472 -0.061086" xyz="0.0873 -0.0073 0.006" /> + <parent link="l_wrist" /> + <child link="LFinger21_link" /> + <axis xyz="0 0 1" /> + </joint> + <joint name="LFinger22" type="continuous"> + <origin rpy="0 0 -1.0472" xyz="0.018 0 0" /> + <parent link="LFinger21_link" /> + <child link="LFinger22_link" /> + <axis xyz="0 0 1" /> + </joint> + <joint name="LFinger23" type="continuous"> + <origin rpy="0 0 -1.0472" xyz="0.018 0 0" /> + <parent link="LFinger22_link" /> + <child link="LFinger23_link" /> + <axis xyz="0 0 1" /> + </joint> + <joint name="LFinger11" type="continuous"> + <origin rpy="-4.539165 1.04064 -0.033433" xyz="0.0821 -0.0268 0.004" /> + <parent link="l_wrist" /> + <child link="LFinger11_link" /> + <axis xyz="0 0 1" /> + </joint> + <joint name="LFinger12" type="continuous"> + <origin rpy="0 0 -1.0472" xyz="0.018 0 0" /> + <parent link="LFinger11_link" /> + <child link="LFinger12_link" /> + <axis xyz="0 0 1" /> + </joint> + <joint name="LFinger13" type="continuous"> + <origin rpy="0 0 -1.0472" xyz="0.018 0 0" /> + <parent link="LFinger12_link" /> + <child link="LFinger13_link" /> + <axis xyz="0 0 1" /> + </joint> + <joint name="LFinger41" type="continuous"> + <origin rpy="-4.885615 1.04064 -6.214846" xyz="0.074 0.0309 0" /> + <parent link="l_wrist" /> + <child link="LFinger41_link" /> + <axis xyz="0 0 1" /> + </joint> + <joint name="LFinger42" type="continuous"> + <origin rpy="0 0 -1.0472" xyz="0.018 0 0" /> + <parent link="LFinger41_link" /> + <child link="LFinger42_link" /> + <axis xyz="0 0 1" /> + </joint> + <joint name="LFinger43" type="continuous"> + <origin rpy="0 0 -1.0472" xyz="0.018 0 0" /> + <parent link="LFinger42_link" /> + <child link="LFinger43_link" /> + <axis xyz="0 0 1" /> + </joint> + <joint name="LFinger31" type="continuous"> + <origin rpy="-4.816825 1.04483 -0.029314" xyz="0.0833 0.0123 0.004" /> + <parent link="l_wrist" /> + <child link="LFinger31_link" /> + <axis xyz="0 0 1" /> + </joint> + <joint name="LFinger32" type="continuous"> + <origin rpy="0 0 -1.0472" xyz="0.018 0 0" /> + <parent link="LFinger31_link" /> + <child link="LFinger32_link" /> + <axis xyz="0 0 1" /> + </joint> + <joint name="LFinger33" type="continuous"> + <origin rpy="0 0 -1.0472" xyz="0.018 0 0" /> + <parent link="LFinger32_link" /> + <child link="LFinger33_link" /> + <axis xyz="0 0 1" /> + </joint> + <joint name="LThumb1" type="continuous"> + <origin rpy="-1.95836 0.60626 -5.749207" xyz="0.0482 -0.0357 -0.0199" /> + <parent link="l_wrist" /> + <child link="LThumb1_link" /> + <axis xyz="0 0 1" /> + </joint> + <joint name="LThumb2" type="continuous"> + <origin rpy="0 0 -1.0472" xyz="0.022 0 0" /> + <parent link="LThumb1_link" /> + <child link="LThumb2_link" /> + <axis xyz="0 0 1" /> + </joint> + <joint name="RShoulderPitch" type="revolute"> + <origin xyz="-0.057 -0.14974 0.08682" /> + <parent link="torso" /> + <child link="RShoulder" /> + <axis xyz="0 1 0" /> + <limit lower="-2.08567" upper="2.08567" effort="1000" velocity="1000" /> + </joint> + <joint name="RShoulderRoll" type="revolute"> + <parent link="RShoulder" /> + <child link="RBicep" /> + <axis xyz="0 0 1" /> + <limit lower="-1.56207" upper="-0.008727" effort="1000" velocity="1000" /> + </joint> + <joint name="RElbowYaw" type="revolute"> + <origin rpy="0 6.126106 0" xyz="0.1812 -0.015 0.00013" /> + <parent link="RBicep" /> + <child link="RElbow" /> + <axis xyz="1 0 0" /> + <limit lower="-2.08567" upper="2.08567" effort="1000" velocity="1000" /> + </joint> + <joint name="RElbowRoll" type="revolute"> + <parent link="RElbow" /> + <child link="RForeArm" /> + <axis xyz="0 0 1" /> + <limit lower="0.008727" upper="1.56207" effort="1000" velocity="1000" /> + </joint> + <joint name="RWristYaw" type="revolute"> + <origin xyz="0.15 0 0" /> + <parent link="RForeArm" /> + <child link="r_wrist" /> + <axis xyz="1 0 0" /> + <limit lower="-1.82387" upper="1.82387" effort="1000" velocity="1000" /> + </joint> + <joint name="RHand" type="revolute"> + <origin xyz="0.025 0 0" /> + <parent link="r_wrist" /> + <child link="r_gripper" /> + <axis xyz="1 0 0" /> + <limit lower="0.02" upper="0.98" effort="1000" velocity="1000" /> + </joint> + <joint name="r_wrist_RHandTouchBack_frame_joint" type="fixed"> + <origin rpy="0 4.712389 -1.570786" xyz="0.0523 0 0.0304" /> + <parent link="r_wrist" /> + <child link="RHandTouchBack_frame" /> + </joint> + <joint name="RFinger41" type="continuous"> + <origin rpy="-4.539165 1.04064 -0.06834" xyz="0.074 -0.0309 0" /> + <parent link="r_wrist" /> + <child link="RFinger41_link" /> + <axis xyz="0 0 1" /> + </joint> + <joint name="RFinger42" type="continuous"> + <origin rpy="0 0 -1.0472" xyz="0.018 0 0" /> + <parent link="RFinger41_link" /> + <child link="RFinger42_link" /> + <axis xyz="0 0 1" /> + </joint> + <joint name="RFinger43" type="continuous"> + <origin rpy="0 0 -1.0472" xyz="0.018 0 0" /> + <parent link="RFinger42_link" /> + <child link="RFinger43_link" /> + <axis xyz="0 0 1" /> + </joint> + <joint name="RFinger31" type="continuous"> + <origin rpy="-4.607955 1.04483 -6.253869" xyz="0.0833 -0.0123 0.004" /> + <parent link="r_wrist" /> + <child link="RFinger31_link" /> + <axis xyz="0 0 1" /> + </joint> + <joint name="RFinger32" type="continuous"> + <origin rpy="0 0 -1.0472" xyz="0.018 0 0" /> + <parent link="RFinger31_link" /> + <child link="RFinger32_link" /> + <axis xyz="0 0 1" /> + </joint> + <joint name="RFinger33" type="continuous"> + <origin rpy="0 0 -1.0472" xyz="0.018 0 0" /> + <parent link="RFinger32_link" /> + <child link="RFinger33_link" /> + <axis xyz="0 0 1" /> + </joint> + <joint name="RFinger21" type="continuous"> + <origin rpy="-4.712386 1.0472 -6.222099" xyz="0.0873 0.0073 0.006" /> + <parent link="r_wrist" /> + <child link="RFinger21_link" /> + <axis xyz="0 0 1" /> + </joint> + <joint name="RFinger22" type="continuous"> + <origin rpy="0 0 -1.0472" xyz="0.018 0 0" /> + <parent link="RFinger21_link" /> + <child link="RFinger22_link" /> + <axis xyz="0 0 1" /> + </joint> + <joint name="RFinger23" type="continuous"> + <origin rpy="0 0 -1.0472" xyz="0.018 0 0" /> + <parent link="RFinger22_link" /> + <child link="RFinger23_link" /> + <axis xyz="0 0 1" /> + </joint> + <joint name="RFinger11" type="continuous"> + <origin rpy="-4.885615 1.04064 -6.249752" xyz="0.0821 0.0268 0.004" /> + <parent link="r_wrist" /> + <child link="RFinger11_link" /> + <axis xyz="0 0 1" /> + </joint> + <joint name="RFinger12" type="continuous"> + <origin rpy="0 0 -1.0472" xyz="0.018 0 0" /> + <parent link="RFinger11_link" /> + <child link="RFinger12_link" /> + <axis xyz="0 0 1" /> + </joint> + <joint name="RFinger13" type="continuous"> + <origin rpy="0 0 -1.0472" xyz="0.018 0 0" /> + <parent link="RFinger12_link" /> + <child link="RFinger13_link" /> + <axis xyz="0 0 1" /> + </joint> + <joint name="RThumb1" type="continuous"> + <origin rpy="-1.18323 0.60626 -0.533978" xyz="0.0482 0.0357 -0.0199" /> + <parent link="r_wrist" /> + <child link="RThumb1_link" /> + <axis xyz="0 0 1" /> + </joint> + <joint name="RThumb2" type="continuous"> + <origin rpy="0 0 -1.0472" xyz="0.022 0 0" /> + <parent link="RThumb1_link" /> + <child link="RThumb2_link" /> + <axis xyz="0 0 1" /> + </joint> + <joint name="torso_ImuTorsoAccelerometer_frame_joint" type="fixed"> + <origin xyz="0.00239 -0.03575 0.00626" /> + <parent link="torso" /> + <child link="ImuTorsoAccelerometer_frame" /> + </joint> + <joint name="torso_ImuTorsoGyrometer_frame_joint" type="fixed"> + <origin xyz="0.00204 -0.03491 -0.00959" /> + <parent link="torso" /> + <child link="ImuTorsoGyrometer_frame" /> + </joint> + <joint name="torso_Tablet_frame_joint" type="fixed"> + <origin rpy="0 5.759586 0" xyz="0.083925 0 0.06251" /> + <parent link="torso" /> + <child link="Tablet_frame" /> + </joint> + <joint name="torso_ChestButton_frame_joint" type="fixed"> + <origin xyz="0.049871 0.001588 0.055163" /> + <parent link="torso" /> + <child link="ChestButton_frame" /> + </joint> + <gazebo> + <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control"> + <robotNamespace /> + <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType> + </plugin> + <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_LFinger11"> + <joint>LHand</joint> + <mimicJoint>LFinger11</mimicJoint> + <multiplier>-0.785398163398</multiplier> + <offset>0.785398163398</offset> + <hasPID /> + </plugin> + <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_LFinger12"> + <joint>LHand</joint> + <mimicJoint>LFinger12</mimicJoint> + <multiplier>-0.785398163398</multiplier> + <offset>0.785398163398</offset> + <hasPID /> + </plugin> + <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_LFinger13"> + <joint>LHand</joint> + <mimicJoint>LFinger13</mimicJoint> + <multiplier>-0.785398163398</multiplier> + <offset>0.785398163398</offset> + <hasPID /> + </plugin> + <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_LFinger21"> + <joint>LHand</joint> + <mimicJoint>LFinger21</mimicJoint> + <multiplier>-0.785398163398</multiplier> + <offset>0.785398163398</offset> + <hasPID /> + </plugin> + <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_LFinger22"> + <joint>LHand</joint> + <mimicJoint>LFinger22</mimicJoint> + <multiplier>-0.785398163398</multiplier> + <offset>0.785398163398</offset> + <hasPID /> + </plugin> + <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_LFinger23"> + <joint>LHand</joint> + <mimicJoint>LFinger23</mimicJoint> + <multiplier>-0.785398163398</multiplier> + <offset>0.785398163398</offset> + <hasPID /> + </plugin> + <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_LFinger31"> + <joint>LHand</joint> + <mimicJoint>LFinger31</mimicJoint> + <multiplier>-0.785398163398</multiplier> + <offset>0.785398163398</offset> + <hasPID /> + </plugin> + <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_LFinger32"> + <joint>LHand</joint> + <mimicJoint>LFinger32</mimicJoint> + <multiplier>-0.785398163398</multiplier> + <offset>0.785398163398</offset> + <hasPID /> + </plugin> + <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_LFinger33"> + <joint>LHand</joint> + <mimicJoint>LFinger33</mimicJoint> + <multiplier>-0.785398163398</multiplier> + <offset>0.785398163398</offset> + <hasPID /> + </plugin> + <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_LFinger41"> + <joint>LHand</joint> + <mimicJoint>LFinger41</mimicJoint> + <multiplier>-0.785398163398</multiplier> + <offset>0.785398163398</offset> + <hasPID /> + </plugin> + <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_LFinger42"> + <joint>LHand</joint> + <mimicJoint>LFinger42</mimicJoint> + <multiplier>-0.785398163398</multiplier> + <offset>0.785398163398</offset> + <hasPID /> + </plugin> + <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_LFinger43"> + <joint>LHand</joint> + <mimicJoint>LFinger43</mimicJoint> + <multiplier>-0.785398163398</multiplier> + <offset>0.785398163398</offset> + <hasPID /> + </plugin> + <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_RFinger11"> + <joint>RHand</joint> + <mimicJoint>RFinger11</mimicJoint> + <multiplier>-0.785398163398</multiplier> + <offset>0.785398163398</offset> + <hasPID /> + </plugin> + <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_RFinger12"> + <joint>RHand</joint> + <mimicJoint>RFinger12</mimicJoint> + <multiplier>-0.785398163398</multiplier> + <offset>0.785398163398</offset> + <hasPID /> + </plugin> + <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_RFinger13"> + <joint>RHand</joint> + <mimicJoint>RFinger13</mimicJoint> + <multiplier>-0.785398163398</multiplier> + <offset>0.785398163398</offset> + <hasPID /> + </plugin> + <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_RFinger21"> + <joint>RHand</joint> + <mimicJoint>RFinger21</mimicJoint> + <multiplier>-0.785398163398</multiplier> + <offset>0.785398163398</offset> + <hasPID /> + </plugin> + <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_RFinger22"> + <joint>RHand</joint> + <mimicJoint>RFinger22</mimicJoint> + <multiplier>-0.785398163398</multiplier> + <offset>0.785398163398</offset> + <hasPID /> + </plugin> + <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_RFinger23"> + <joint>RHand</joint> + <mimicJoint>RFinger23</mimicJoint> + <multiplier>-0.785398163398</multiplier> + <offset>0.785398163398</offset> + <hasPID /> + </plugin> + <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_RFinger31"> + <joint>RHand</joint> + <mimicJoint>RFinger31</mimicJoint> + <multiplier>-0.785398163398</multiplier> + <offset>0.785398163398</offset> + <hasPID /> + </plugin> + <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_RFinger32"> + <joint>RHand</joint> + <mimicJoint>RFinger32</mimicJoint> + <multiplier>-0.785398163398</multiplier> + <offset>0.785398163398</offset> + <hasPID /> + </plugin> + <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_RFinger33"> + <joint>RHand</joint> + <mimicJoint>RFinger33</mimicJoint> + <multiplier>-0.785398163398</multiplier> + <offset>0.785398163398</offset> + <hasPID /> + </plugin> + <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_RFinger41"> + <joint>RHand</joint> + <mimicJoint>RFinger41</mimicJoint> + <multiplier>-0.785398163398</multiplier> + <offset>0.785398163398</offset> + <hasPID /> + </plugin> + <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_RFinger42"> + <joint>RHand</joint> + <mimicJoint>RFinger42</mimicJoint> + <multiplier>-0.785398163398</multiplier> + <offset>0.785398163398</offset> + <hasPID /> + </plugin> + <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_RFinger43"> + <joint>RHand</joint> + <mimicJoint>RFinger43</mimicJoint> + <multiplier>-0.785398163398</multiplier> + <offset>0.785398163398</offset> + <hasPID /> + </plugin> + <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="LThumb1"> + <joint>LHand</joint> + <mimicJoint>LThumb1</mimicJoint> + <multiplier>-0.785398163398</multiplier> + <offset>0.785398163398</offset> + <hasPID /> + </plugin> + <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="LThumb2"> + <joint>LHand</joint> + <mimicJoint>LThumb2</mimicJoint> + <multiplier>-0.785398163398</multiplier> + <offset>0.785398163398</offset> + <hasPID /> + </plugin> + <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="RThumb1"> + <joint>RHand</joint> + <mimicJoint>RThumb1</mimicJoint> + <multiplier>-0.785398163398</multiplier> + <offset>0.785398163398</offset> + <hasPID /> + </plugin> + <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="RThumb2"> + <joint>RHand</joint> + <mimicJoint>RThumb2</mimicJoint> + <multiplier>-0.785398163398</multiplier> + <offset>0.785398163398</offset> + <hasPID /> + </plugin> + <plugin filename="libroboticsgroup_gazebo_disable_link_plugin.so" name="LFinger11_link"> + <link>LFinger11_link</link> + </plugin> + <plugin filename="libroboticsgroup_gazebo_disable_link_plugin.so" name="LFinger12_link"> + <link>LFinger12_link</link> + </plugin> + <plugin filename="libroboticsgroup_gazebo_disable_link_plugin.so" name="LFinger13_link"> + <link>LFinger13_link</link> + </plugin> + <plugin filename="libroboticsgroup_gazebo_disable_link_plugin.so" name="LFinger21_link"> + <link>LFinger21_link</link> + </plugin> + <plugin filename="libroboticsgroup_gazebo_disable_link_plugin.so" name="LFinger22_link"> + <link>LFinger22_link</link> + </plugin> + <plugin filename="libroboticsgroup_gazebo_disable_link_plugin.so" name="LFinger23_link"> + <link>LFinger23_link</link> + </plugin> + <plugin filename="libroboticsgroup_gazebo_disable_link_plugin.so" name="LFinger31_link"> + <link>LFinger31_link</link> + </plugin> + <plugin filename="libroboticsgroup_gazebo_disable_link_plugin.so" name="LFinger32_link"> + <link>LFinger32_link</link> + </plugin> + <plugin filename="libroboticsgroup_gazebo_disable_link_plugin.so" name="LFinger33_link"> + <link>LFinger33_link</link> + </plugin> + <plugin filename="libroboticsgroup_gazebo_disable_link_plugin.so" name="LFinger41_link"> + <link>LFinger41_link</link> + </plugin> + <plugin filename="libroboticsgroup_gazebo_disable_link_plugin.so" name="LFinger42_link"> + <link>LFinger42_link</link> + </plugin> + <plugin filename="libroboticsgroup_gazebo_disable_link_plugin.so" name="LFinger43_link"> + <link>LFinger43_link</link> + </plugin> + <plugin filename="libroboticsgroup_gazebo_disable_link_plugin.so" name="LThumb1_link"> + <link>LThumb1_link</link> + </plugin> + <plugin filename="libroboticsgroup_gazebo_disable_link_plugin.so" name="LThumb2_link"> + <link>LThumb2_link</link> + </plugin> + <plugin filename="libroboticsgroup_gazebo_disable_link_plugin.so" name="l_gripper"> + <link>l_gripper</link> + </plugin> + <plugin filename="libroboticsgroup_gazebo_disable_link_plugin.so" name="RFinger11_link"> + <link>RFinger11_link</link> + </plugin> + <plugin filename="libroboticsgroup_gazebo_disable_link_plugin.so" name="RFinger12_link"> + <link>RFinger12_link</link> + </plugin> + <plugin filename="libroboticsgroup_gazebo_disable_link_plugin.so" name="RFinger13_link"> + <link>RFinger13_link</link> + </plugin> + <plugin filename="libroboticsgroup_gazebo_disable_link_plugin.so" name="RFinger21_link"> + <link>RFinger21_link</link> + </plugin> + <plugin filename="libroboticsgroup_gazebo_disable_link_plugin.so" name="RFinger22_link"> + <link>RFinger22_link</link> + </plugin> + <plugin filename="libroboticsgroup_gazebo_disable_link_plugin.so" name="RFinger23_link"> + <link>RFinger23_link</link> + </plugin> + <plugin filename="libroboticsgroup_gazebo_disable_link_plugin.so" name="RFinger31_link"> + <link>RFinger31_link</link> + </plugin> + <plugin filename="libroboticsgroup_gazebo_disable_link_plugin.so" name="RFinger32_link"> + <link>RFinger32_link</link> + </plugin> + <plugin filename="libroboticsgroup_gazebo_disable_link_plugin.so" name="RFinger33_link"> + <link>RFinger33_link</link> + </plugin> + <plugin filename="libroboticsgroup_gazebo_disable_link_plugin.so" name="RFinger41_link"> + <link>RFinger41_link</link> + </plugin> + <plugin filename="libroboticsgroup_gazebo_disable_link_plugin.so" name="RFinger42_link"> + <link>RFinger42_link</link> + </plugin> + <plugin filename="libroboticsgroup_gazebo_disable_link_plugin.so" name="RFinger43_link"> + <link>RFinger43_link</link> + </plugin> + <plugin filename="libroboticsgroup_gazebo_disable_link_plugin.so" name="RThumb1_link"> + <link>RThumb1_link</link> + </plugin> + <plugin filename="libroboticsgroup_gazebo_disable_link_plugin.so" name="RThumb2_link"> + <link>RThumb2_link</link> + </plugin> + <plugin filename="libroboticsgroup_gazebo_disable_link_plugin.so" name="r_gripper"> + <link>r_gripper</link> + </plugin> +</gazebo> +<gazebo reference="base_footprint"> + <turnGravityOff>false</turnGravityOff> +</gazebo> +<gazebo reference="base_link"> + <turnGravityOff>false</turnGravityOff> +</gazebo> +<gazebo reference="torso"> + <mu1>0.5</mu1> + <mu2>0.5</mu2> + <selfCollide>false</selfCollide> + <turnGravityOff>false</turnGravityOff> +</gazebo> +<gazebo reference="Neck"> + <mu1>0.5</mu1> + <mu2>0.5</mu2> + <selfCollide>false</selfCollide> + <turnGravityOff>false</turnGravityOff> +</gazebo> +<gazebo reference="Head"> + <mu1>0.5</mu1> + <mu2>0.5</mu2> + <selfCollide>false</selfCollide> + <turnGravityOff>false</turnGravityOff> +</gazebo> +<gazebo reference="gaze"> + <mu1>0.5</mu1> + <mu2>0.5</mu2> + <selfCollide>false</selfCollide> + <turnGravityOff>false</turnGravityOff> +</gazebo> +<gazebo reference="LShoulder"> + <mu1>0.5</mu1> + <mu2>0.5</mu2> + <selfCollide>false</selfCollide> + <turnGravityOff>false</turnGravityOff> +</gazebo> +<gazebo reference="LBicep"> + <mu1>0.5</mu1> + <mu2>0.5</mu2> + <selfCollide>false</selfCollide> + <turnGravityOff>false</turnGravityOff> +</gazebo> +<gazebo reference="LElbow"> + <mu1>0.5</mu1> + <mu2>0.5</mu2> + <selfCollide>false</selfCollide> + <turnGravityOff>false</turnGravityOff> +</gazebo> +<gazebo reference="LForeArm"> + <mu1>0.5</mu1> + <mu2>0.5</mu2> + <selfCollide>false</selfCollide> + <turnGravityOff>false</turnGravityOff> +</gazebo> +<gazebo reference="l_wrist"> + <mu1>0.5</mu1> + <mu2>0.5</mu2> + <selfCollide>false</selfCollide> + <turnGravityOff>false</turnGravityOff> +</gazebo> +<gazebo reference="l_gripper"> + <mu1>0.5</mu1> + <mu2>0.5</mu2> + <selfCollide>false</selfCollide> + <turnGravityOff>true</turnGravityOff> +</gazebo> +<gazebo reference="RShoulder"> + <mu1>0.5</mu1> + <mu2>0.5</mu2> + <selfCollide>false</selfCollide> + <turnGravityOff>false</turnGravityOff> +</gazebo> +<gazebo reference="RBicep"> + <mu1>0.5</mu1> + <mu2>0.5</mu2> + <selfCollide>false</selfCollide> + <turnGravityOff>false</turnGravityOff> +</gazebo> +<gazebo reference="RElbow"> + <mu1>0.5</mu1> + <mu2>0.5</mu2> + <selfCollide>false</selfCollide> + <turnGravityOff>false</turnGravityOff> +</gazebo> +<gazebo reference="RForeArm"> + <mu1>0.5</mu1> + <mu2>0.5</mu2> + <selfCollide>false</selfCollide> + <turnGravityOff>false</turnGravityOff> +</gazebo> +<gazebo reference="r_wrist"> + <mu1>0.5</mu1> + <mu2>0.5</mu2> + <selfCollide>false</selfCollide> + <turnGravityOff>false</turnGravityOff> +</gazebo> +<gazebo reference="r_gripper"> + <mu1>0.5</mu1> + <mu2>0.5</mu2> + <selfCollide>false</selfCollide> + <turnGravityOff>true</turnGravityOff> +</gazebo> +<gazebo reference="LFinger11_link"> + <mu1>0.5</mu1> + <mu2>0.5</mu2> + <selfCollide>false</selfCollide> + <turnGravityOff>true</turnGravityOff> +</gazebo> +<gazebo reference="LFinger12_link"> + <mu1>0.5</mu1> + <mu2>0.5</mu2> + <selfCollide>false</selfCollide> + <turnGravityOff>true</turnGravityOff> +</gazebo> +<gazebo reference="LFinger13_link"> + <mu1>0.5</mu1> + <mu2>0.5</mu2> + <selfCollide>false</selfCollide> + <turnGravityOff>true</turnGravityOff> +</gazebo> +<gazebo reference="LFinger21_link"> + <mu1>0.5</mu1> + <mu2>0.5</mu2> + <selfCollide>false</selfCollide> + <turnGravityOff>true</turnGravityOff> +</gazebo> +<gazebo reference="LFinger22_link"> + <mu1>0.5</mu1> + <mu2>0.5</mu2> + <selfCollide>false</selfCollide> + <turnGravityOff>true</turnGravityOff> +</gazebo> +<gazebo reference="LFinger23_link"> + <mu1>0.5</mu1> + <mu2>0.5</mu2> + <selfCollide>false</selfCollide> + <turnGravityOff>true</turnGravityOff> +</gazebo> +<gazebo reference="LFinger31_link"> + <mu1>0.5</mu1> + <mu2>0.5</mu2> + <selfCollide>false</selfCollide> + <turnGravityOff>true</turnGravityOff> +</gazebo> +<gazebo reference="LFinger32_link"> + <mu1>0.5</mu1> + <mu2>0.5</mu2> + <selfCollide>false</selfCollide> + <turnGravityOff>true</turnGravityOff> +</gazebo> +<gazebo reference="LFinger33_link"> + <mu1>0.5</mu1> + <mu2>0.5</mu2> + <selfCollide>false</selfCollide> + <turnGravityOff>true</turnGravityOff> +</gazebo> +<gazebo reference="LFinger41_link"> + <mu1>0.5</mu1> + <mu2>0.5</mu2> + <selfCollide>false</selfCollide> + <turnGravityOff>true</turnGravityOff> +</gazebo> +<gazebo reference="LFinger42_link"> + <mu1>0.5</mu1> + <mu2>0.5</mu2> + <selfCollide>false</selfCollide> + <turnGravityOff>true</turnGravityOff> +</gazebo> +<gazebo reference="LFinger43_link"> + <mu1>0.5</mu1> + <mu2>0.5</mu2> + <selfCollide>false</selfCollide> + <turnGravityOff>true</turnGravityOff> +</gazebo> +<gazebo reference="LThumb1_link"> + <mu1>0.5</mu1> + <mu2>0.5</mu2> + <selfCollide>false</selfCollide> + <turnGravityOff>true</turnGravityOff> +</gazebo> +<gazebo reference="LThumb2_link"> + <mu1>0.5</mu1> + <mu2>0.5</mu2> + <selfCollide>false</selfCollide> + <turnGravityOff>true</turnGravityOff> +</gazebo> +<gazebo reference="Hip"> + <mu1>0.5</mu1> + <mu2>0.5</mu2> + <selfCollide>false</selfCollide> + <turnGravityOff>false</turnGravityOff> +</gazebo> +<gazebo reference="Pelvis"> + <mu1>0.5</mu1> + <mu2>0.5</mu2> + <selfCollide>false</selfCollide> + <turnGravityOff>false</turnGravityOff> +</gazebo> +<gazebo reference="Tibia"> + <mu1>0.5</mu1> + <mu2>0.5</mu2> + <selfCollide>false</selfCollide> + <turnGravityOff>false</turnGravityOff> +</gazebo> +<gazebo reference="WheelFL_link"> + <mu1>1</mu1> + <mu2>0</mu2> + <kp value="10000000.0" /> + <kd value="1.0" /> + <fdir1 value="1 0 0" /> + <minDepth>0.003</minDepth> + <turnGravityOff>false</turnGravityOff> +</gazebo> +<gazebo reference="WheelB_link"> + <mu1>0.5</mu1> + <mu2>0.5</mu2> + <kp value="10000000.0" /> + <kd value="1.0" /> + <fdir1 value="1 0 0" /> + <minDepth>0.003</minDepth> + <turnGravityOff>false</turnGravityOff> +</gazebo> +<gazebo reference="WheelFR_link"> + <mu1>0</mu1> + <mu2>1</mu2> + <kp value="10000000.0" /> + <kd value="1.0" /> + <fdir1 value="0 1 0" /> + <minDepth>0.003</minDepth> + <turnGravityOff>false</turnGravityOff> +</gazebo> +<gazebo reference="RFinger11_link"> + <mu1>0.5</mu1> + <mu2>0.5</mu2> + <selfCollide>false</selfCollide> + <turnGravityOff>true</turnGravityOff> +</gazebo> +<gazebo reference="RFinger12_link"> + <mu1>0.5</mu1> + <mu2>0.5</mu2> + <selfCollide>false</selfCollide> + <turnGravityOff>true</turnGravityOff> +</gazebo> +<gazebo reference="RFinger13_link"> + <mu1>0.5</mu1> + <mu2>0.5</mu2> + <selfCollide>false</selfCollide> + <turnGravityOff>true</turnGravityOff> +</gazebo> +<gazebo reference="RFinger21_link"> + <mu1>0.5</mu1> + <mu2>0.5</mu2> + <selfCollide>false</selfCollide> + <turnGravityOff>true</turnGravityOff> +</gazebo> +<gazebo reference="RFinger22_link"> + <mu1>0.5</mu1> + <mu2>0.5</mu2> + <selfCollide>false</selfCollide> + <turnGravityOff>true</turnGravityOff> +</gazebo> +<gazebo reference="RFinger23_link"> + <mu1>0.5</mu1> + <mu2>0.5</mu2> + <selfCollide>false</selfCollide> + <turnGravityOff>true</turnGravityOff> +</gazebo> +<gazebo reference="RFinger31_link"> + <mu1>0.5</mu1> + <mu2>0.5</mu2> + <selfCollide>false</selfCollide> + <turnGravityOff>true</turnGravityOff> +</gazebo> +<gazebo reference="RFinger32_link"> + <mu1>0.5</mu1> + <mu2>0.5</mu2> + <selfCollide>false</selfCollide> + <turnGravityOff>true</turnGravityOff> +</gazebo> +<gazebo reference="RFinger33_link"> + <mu1>0.5</mu1> + <mu2>0.5</mu2> + <selfCollide>false</selfCollide> + <turnGravityOff>true</turnGravityOff> +</gazebo> +<gazebo reference="RFinger41_link"> + <mu1>0.5</mu1> + <mu2>0.5</mu2> + <selfCollide>false</selfCollide> + <turnGravityOff>true</turnGravityOff> +</gazebo> +<gazebo reference="RFinger42_link"> + <mu1>0.5</mu1> + <mu2>0.5</mu2> + <selfCollide>false</selfCollide> + <turnGravityOff>true</turnGravityOff> +</gazebo> +<gazebo reference="RFinger43_link"> + <mu1>0.5</mu1> + <mu2>0.5</mu2> + <selfCollide>false</selfCollide> + <turnGravityOff>true</turnGravityOff> +</gazebo> +<gazebo reference="RThumb1_link"> + <mu1>0.5</mu1> + <mu2>0.5</mu2> + <selfCollide>false</selfCollide> + <turnGravityOff>true</turnGravityOff> +</gazebo> +<gazebo reference="RThumb2_link"> + <mu1>0.5</mu1> + <mu2>0.5</mu2> + <selfCollide>false</selfCollide> + <turnGravityOff>true</turnGravityOff> +</gazebo> +<gazebo reference="CameraTop_frame"> + <sensor name="CameraTop" type="camera"> + <update_rate>5.0</update_rate> + <camera name="camera_top"> + <horizontal_fov>1.0</horizontal_fov> + <image> + <width>640</width> + <height>480</height> + <format>R8G8B8</format> + </image> + <clip> + <near>0.3</near> + <far>500</far> + </clip> + <noise> + <type>gaussian</type> + <mean>0.0</mean> + <stddev>0.007</stddev> + </noise> + </camera> + <plugin filename="libgazebo_ros_camera.so" name="camera_controller"> + <robotNamespace>/pepper_robot</robotNamespace> + <alwaysOn>true</alwaysOn> + <updateRate>5.0</updateRate> + <cameraName>camera/front</cameraName> + <imageTopicName>image_raw</imageTopicName> + <cameraInfoTopicName>camera_info</cameraInfoTopicName> + <frameName>CameraTop_optical_frame</frameName> + <hackBaseline>0.07</hackBaseline> + <distortionK1>-0.0545211</distortionK1> + <distortionK2>0.06919734</distortionK2> + <distortionK3>-0.0241095</distortionK3> + <distortionT1>-0.0112245</distortionT1> + <distortionT2>0.0</distortionT2> + </plugin> + </sensor> +</gazebo> +<gazebo reference="CameraBottom_frame"> + <sensor name="CameraBottom" type="camera"> + <update_rate>5.0</update_rate> + <camera name="camera_bottom"> + <horizontal_fov>1.0</horizontal_fov> + <image> + <width>640</width> + <height>480</height> + <format>R8G8B8</format> + </image> + <clip> + <near>0.05</near> + <far>500</far> + </clip> + <noise> + <type>gaussian</type> + <mean>0.0</mean> + <stddev>0.007</stddev> + </noise> + </camera> + <plugin filename="libgazebo_ros_camera.so" name="camera_controller"> + <robotNamespace>/pepper_robot</robotNamespace> + <alwaysOn>true</alwaysOn> + <updateRate>5.0</updateRate> + <cameraName>camera/bottom</cameraName> + <imageTopicName>image_raw</imageTopicName> + <cameraInfoTopicName>camera_info</cameraInfoTopicName> + <frameName>CameraBottom_optical_frame</frameName> + <hackBaseline>0.07</hackBaseline> + <distortionK1>-0.0648764</distortionK1> + <distortionK2>0.06125202</distortionK2> + <distortionK3>0.00382815</distortionK3> + <distortionT1>-0.00551104</distortionT1> + <distortionT2>0.0</distortionT2> + </plugin> + </sensor> +</gazebo> +<gazebo reference="CameraDepth_frame"> + <sensor name="CameraDepth_frame_sensor" type="depth"> + <always_on>true</always_on> + <update_rate>20.0</update_rate> + <camera> + <horizontal_fov>1.01229096616</horizontal_fov> + <image> + <format>B8G8R8</format> + <width>320</width> + <height>240</height> + </image> + <clip> + <near>0.4</near> + <far>8.0</far> + </clip> + </camera> + <plugin filename="libgazebo_ros_openni_kinect.so" name="CameraDepth_frame_controller"> + <alwaysOn>true</alwaysOn> + <updateRate>20.0</updateRate> + <cameraName>pepper_robot/camera</cameraName> + <imageTopicName>ir/image_raw</imageTopicName> + <cameraInfoTopicName>depth/camera_info</cameraInfoTopicName> + <depthImageTopicName>depth/image_raw</depthImageTopicName> + <pointCloudTopicName>depth/points</pointCloudTopicName> + <frameName>CameraDepth_optical_frame</frameName> + <pointCloudCutoff>0.4</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> +<gazebo reference="SonarBack_frame"> + <sensor name="SonarBack" type="ray"> + <pose>0 0 0 0 0 0</pose> + <update_rate>20</update_rate> + <visualize>false</visualize> + <ray> + <scan> + <horizontal> + <samples>5</samples> + <resolution>3</resolution> + <min_angle>-0.52</min_angle> + <max_angle>0.52</max_angle> + </horizontal> + <vertical> + <samples>5</samples> + <resolution>3</resolution> + <min_angle>-0.52</min_angle> + <max_angle>0.52</max_angle> + </vertical> + </scan> + <range> + <min>0.0</min> + <max>5.0</max> + <resolution>3</resolution> + </range> + </ray> + <plugin filename="libgazebo_ros_range.so" name="gazebo_ros_range"> + <robotNamespace>/pepper_robot</robotNamespace> + <gaussianNoise>0.05</gaussianNoise> + <alwaysOn>true</alwaysOn> + <updateRate>20</updateRate> + <topicName>sonar_back</topicName> + <frameName>SonarBack_frame</frameName> + <minRange>0.0</minRange> + <maxRange>5.0</maxRange> + <fov>1.05</fov> + <radiation>ultrasound</radiation> + </plugin> + </sensor> +</gazebo> +<gazebo reference="SonarFront_frame"> + <sensor name="SonarFront" type="ray"> + <pose>0 0 0 0 0 0</pose> + <update_rate>20</update_rate> + <visualize>false</visualize> + <ray> + <scan> + <horizontal> + <samples>5</samples> + <resolution>3</resolution> + <min_angle>-0.52</min_angle> + <max_angle>0.52</max_angle> + </horizontal> + <vertical> + <samples>5</samples> + <resolution>3</resolution> + <min_angle>-0.52</min_angle> + <max_angle>0.52</max_angle> + </vertical> + </scan> + <range> + <min>0.0</min> + <max>5.0</max> + <resolution>3</resolution> + </range> + </ray> + <plugin filename="libgazebo_ros_range.so" name="gazebo_ros_range"> + <robotNamespace>/pepper_robot</robotNamespace> + <gaussianNoise>0.05</gaussianNoise> + <alwaysOn>true</alwaysOn> + <updateRate>20</updateRate> + <topicName>sonar_front</topicName> + <frameName>SonarFront_frame</frameName> + <minRange>0.0</minRange> + <maxRange>5.0</maxRange> + <fov>1.05</fov> + <radiation>ultrasound</radiation> + </plugin> + </sensor> +</gazebo> +<gazebo> + <plugin filename="libgazebo_ros_diff_drive.so" name="differential_drive_controller"> + <alwaysOn>true</alwaysOn> + <legacyMode>false</legacyMode> + <updateRate>100</updateRate> + <robotNamespace>/</robotNamespace> + <leftJoint>WheelFL</leftJoint> + <rightJoint>WheelFR</rightJoint> + <wheelSeparation>0.170</wheelSeparation> + <wheelDiameter>0.140</wheelDiameter> + <torque>36.9</torque> + <commandTopic>cmd_vel</commandTopic> + <odometryTopic>odom_diffdrive</odometryTopic> + <odometryFrame>odom</odometryFrame> + <odometrySource>world</odometrySource> + <publishTf>1</publishTf> + <rosDebugLevel>na</rosDebugLevel> + <wheelAcceleration>0</wheelAcceleration> + <wheelTorque>5</wheelTorque> + <robotBaseFrame>base_link</robotBaseFrame> + <publishWheelTF>false</publishWheelTF> + <publishWheelJointState>false</publishWheelJointState> + </plugin> +</gazebo> +<transmission name="HeadYaw_Transmission"> + <type>transmission_interface/SimpleTransmission</type> + <joint name="HeadYaw"> + <hardwareInterface>PositionJointInterface</hardwareInterface> + </joint> + <actuator name="HeadYaw_Motor"> + <!-- Dummy Values --> + <hardwareInterface>PositionJointInterface</hardwareInterface> + <mechanicalReduction>101.3</mechanicalReduction> + </actuator> +</transmission> +<transmission name="HeadPitch_Transmission"> + <type>transmission_interface/SimpleTransmission</type> + <joint name="HeadPitch"> + <hardwareInterface>PositionJointInterface</hardwareInterface> + </joint> + <actuator name="HeadPitch_Motor"> + <!-- Dummy Values --> + <hardwareInterface>PositionJointInterface</hardwareInterface> + <mechanicalReduction>118.1</mechanicalReduction> + </actuator> +</transmission> +<transmission name="LShoulderPitch_Transmission"> + <type>transmission_interface/SimpleTransmission</type> + <joint name="LShoulderPitch"> + <hardwareInterface>PositionJointInterface</hardwareInterface> + </joint> + <actuator name="LShoulderPitch_Motor"> + <hardwareInterface>PositionJointInterface</hardwareInterface> + <mechanicalReduction>101.3</mechanicalReduction> + </actuator> +</transmission> +<transmission name="LShoulderRoll_Transmission"> + <type>transmission_interface/SimpleTransmission</type> + <joint name="LShoulderRoll"> + <hardwareInterface>PositionJointInterface</hardwareInterface> + </joint> + <actuator name="LShoulderRoll_Motor"> + <hardwareInterface>PositionJointInterface</hardwareInterface> + <mechanicalReduction>118.1</mechanicalReduction> + </actuator> +</transmission> +<transmission name="LElbowYaw_Transmission"> + <type>transmission_interface/SimpleTransmission</type> + <joint name="LElbowYaw"> + <hardwareInterface>PositionJointInterface</hardwareInterface> + </joint> + <actuator name="LElbowYaw_Motor"> + <hardwareInterface>PositionJointInterface</hardwareInterface> + <mechanicalReduction>101.3</mechanicalReduction> + </actuator> +</transmission> +<transmission name="LElbowRoll_Transmission"> + <type>transmission_interface/SimpleTransmission</type> + <joint name="LElbowRoll"> + <hardwareInterface>PositionJointInterface</hardwareInterface> + </joint> + <actuator name="LElbowRoll_Motor"> + <hardwareInterface>PositionJointInterface</hardwareInterface> + <mechanicalReduction>118.1</mechanicalReduction> + </actuator> +</transmission> +<transmission name="LWristYaw_Transmission"> + <type>transmission_interface/SimpleTransmission</type> + <joint name="LWristYaw"> + <hardwareInterface>PositionJointInterface</hardwareInterface> + </joint> + <actuator name="LWristYaw_Motor"> + <hardwareInterface>PositionJointInterface</hardwareInterface> + <mechanicalReduction>118.1</mechanicalReduction> + </actuator> +</transmission> +<transmission name="LHand_Transmission"> + <type>transmission_interface/SimpleTransmission</type> + <joint name="LHand"> + <hardwareInterface>PositionJointInterface</hardwareInterface> + </joint> + <actuator name="LHand_Motor"> + <hardwareInterface>PositionJointInterface</hardwareInterface> + <mechanicalReduction>36.24</mechanicalReduction> + </actuator> +</transmission> +<transmission name="RShoulderPitch_Transmission"> + <type>transmission_interface/SimpleTransmission</type> + <joint name="RShoulderPitch"> + <hardwareInterface>PositionJointInterface</hardwareInterface> + </joint> + <actuator name="RShoulderPitch_Motor"> + <hardwareInterface>PositionJointInterface</hardwareInterface> + <mechanicalReduction>101.3</mechanicalReduction> + </actuator> +</transmission> +<transmission name="RShoulderRoll_Transmission"> + <type>transmission_interface/SimpleTransmission</type> + <joint name="RShoulderRoll"> + <hardwareInterface>PositionJointInterface</hardwareInterface> + </joint> + <actuator name="RShoulderRoll_Motor"> + <hardwareInterface>PositionJointInterface</hardwareInterface> + <mechanicalReduction>118.1</mechanicalReduction> + </actuator> +</transmission> +<transmission name="RElbowYaw_Transmission"> + <type>transmission_interface/SimpleTransmission</type> + <joint name="RElbowYaw"> + <hardwareInterface>PositionJointInterface</hardwareInterface> + </joint> + <actuator name="RElbowYaw_Motor"> + <hardwareInterface>PositionJointInterface</hardwareInterface> + <mechanicalReduction>101.3</mechanicalReduction> + </actuator> +</transmission> +<transmission name="RElbowRoll_Transmission"> + <type>transmission_interface/SimpleTransmission</type> + <joint name="RElbowRoll"> + <hardwareInterface>PositionJointInterface</hardwareInterface> + </joint> + <actuator name="RElbowRoll_Motor"> + <hardwareInterface>PositionJointInterface</hardwareInterface> + <mechanicalReduction>118.1</mechanicalReduction> + </actuator> +</transmission> +<transmission name="RWristYaw_Transmission"> + <type>transmission_interface/SimpleTransmission</type> + <joint name="RWristYaw"> + <hardwareInterface>PositionJointInterface</hardwareInterface> + </joint> + <actuator name="RWristYaw_Motor"> + <hardwareInterface>PositionJointInterface</hardwareInterface> + <mechanicalReduction>118.1</mechanicalReduction> + </actuator> +</transmission> +<transmission name="RHand_Transmission"> + <type>transmission_interface/SimpleTransmission</type> + <joint name="RHand"> + <hardwareInterface>PositionJointInterface</hardwareInterface> + </joint> + <actuator name="RHand_Motor"> + <hardwareInterface>PositionJointInterface</hardwareInterface> + <mechanicalReduction>36.24</mechanicalReduction> + </actuator> +</transmission> +<transmission name="HipRoll_Transmission"> + <type>transmission_interface/SimpleTransmission</type> + <joint name="HipRoll"> + <hardwareInterface>PositionJointInterface</hardwareInterface> + </joint> + <actuator name="HipRoll_Motor"> + <!-- Dummy Values --> + <hardwareInterface>PositionJointInterface</hardwareInterface> + <mechanicalReduction>108.33</mechanicalReduction> + </actuator> +</transmission> +<transmission name="HipPitch_Transmission"> + <type>transmission_interface/SimpleTransmission</type> + <joint name="HipPitch"> + <hardwareInterface>PositionJointInterface</hardwareInterface> + </joint> + <actuator name="HipPitch_Motor"> + <!-- Dummy Values --> + <hardwareInterface>PositionJointInterface</hardwareInterface> + <mechanicalReduction>108.33</mechanicalReduction> + </actuator> +</transmission> +<transmission name="KneePitch_Transmission"> + <type>transmission_interface/SimpleTransmission</type> + <joint name="KneePitch"> + <hardwareInterface>PositionJointInterface</hardwareInterface> + </joint> + <actuator name="KneePitch_Motor"> + <!-- Dummy Values --> + <hardwareInterface>PositionJointInterface</hardwareInterface> + <mechanicalReduction>108.33</mechanicalReduction> + </actuator> +</transmission> +<transmission name="WheelFL_Transmission"> + <type>transmission_interface/SimpleTransmission</type> + <joint name="WheelFL"> + <hardwareInterface>EffortJointInterface</hardwareInterface> + </joint> + <actuator name="WheelFL_Motor"> + <!-- Dummy Values --> + <hardwareInterface>EffortJointInterface</hardwareInterface> + <mechanicalReduction>25.0</mechanicalReduction> + </actuator> +</transmission> +<transmission name="WheelB_Transmission"> + <type>transmission_interface/SimpleTransmission</type> + <joint name="WheelB"> + <hardwareInterface>EffortJointInterface</hardwareInterface> + </joint> + <actuator name="WheelB_Motor"> + <!-- Dummy Values --> + <hardwareInterface>EffortJointInterface</hardwareInterface> + <mechanicalReduction>25.0</mechanicalReduction> + </actuator> +</transmission> +<transmission name="WheelFR_Transmission"> + <type>transmission_interface/SimpleTransmission</type> + <joint name="WheelFR"> + <hardwareInterface>EffortJointInterface</hardwareInterface> + </joint> + <actuator name="WheelFR_Motor"> + <!-- Dummy Values --> + <hardwareInterface>EffortJointInterface</hardwareInterface> + <mechanicalReduction>25.0</mechanicalReduction> + </actuator> +</transmission> +</robot> \ No newline at end of file diff --git a/file_server/launch/publish_description_pepper.launch b/file_server/launch/publish_description_pepper.launch new file mode 100755 index 0000000000000000000000000000000000000000..967fad3c1703ae6c6f93b59e5760558953c96ed3 --- /dev/null +++ b/file_server/launch/publish_description_pepper.launch @@ -0,0 +1,27 @@ +<!-- +© Siemens AG, 2018 +Author: Berkay Alp Cakal (berkay_alp.cakal.ct@siemens.com) + +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at +<http://www.apache.org/licenses/LICENSE-2.0>. +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. +--> + +<launch> + + <include file="$(find file_server)/launch/ros_sharp_communication.launch"> + <arg name="port" value="9090" /> + </include> + + <arg name="urdf_file" default="$(find xacro)/xacro.py '$(find pepper_description)/robots/$(arg base)_$(arg stacks)_$(arg 3d_sensor).urdf.xacro'" /> + + <param name="robot/name" value="pepper_official" /> + <param name="robot_description" command="$(arg urdf_file)" /> + +</launch>