From c6cbe15ba10c7f8952bac7d22f69d08731f72250 Mon Sep 17 00:00:00 2001
From: Fabien Grzeskowiak <fabien.grzeskowiak@inria.fr>
Date: Tue, 18 Jun 2019 15:45:22 +0200
Subject: [PATCH] edit launch to work with clock, pepper meshes

---
 crowdbotsim/launch/unity_sim.launch           |    1 +
 crowdbotsim/meshes/HeadPitch.stl              |  Bin 0 -> 78834 bytes
 crowdbotsim/meshes/HeadPitch_0.10.stl         |  Bin 0 -> 7934 bytes
 crowdbotsim/meshes/HeadYaw.stl                |  Bin 0 -> 42184 bytes
 crowdbotsim/meshes/HeadYaw_0.10.stl           |  Bin 0 -> 4284 bytes
 crowdbotsim/meshes/HipPitch.stl               |  Bin 0 -> 60134 bytes
 crowdbotsim/meshes/HipPitch_0.10.stl          |  Bin 0 -> 6084 bytes
 crowdbotsim/meshes/HipRoll.stl                |  Bin 0 -> 27584 bytes
 crowdbotsim/meshes/HipRoll_0.10.stl           |  Bin 0 -> 2784 bytes
 crowdbotsim/meshes/KneePitch.stl              |  Bin 0 -> 66484 bytes
 crowdbotsim/meshes/KneePitch_0.10.stl         |  Bin 0 -> 6634 bytes
 crowdbotsim/meshes/LElbowRoll.stl             |  Bin 0 -> 13384 bytes
 crowdbotsim/meshes/LElbowRoll_0.10.stl        |  Bin 0 -> 1384 bytes
 crowdbotsim/meshes/LElbowYaw.stl              |  Bin 0 -> 22084 bytes
 crowdbotsim/meshes/LElbowYaw_0.10.stl         |  Bin 0 -> 2284 bytes
 crowdbotsim/meshes/LFinger11.stl              |  Bin 0 -> 16784 bytes
 crowdbotsim/meshes/LFinger11_0.10.stl         |  Bin 0 -> 1684 bytes
 crowdbotsim/meshes/LFinger12.stl              |  Bin 0 -> 16784 bytes
 crowdbotsim/meshes/LFinger12_0.10.stl         |  Bin 0 -> 1684 bytes
 crowdbotsim/meshes/LFinger13.stl              |  Bin 0 -> 22284 bytes
 crowdbotsim/meshes/LFinger13_0.10.stl         |  Bin 0 -> 2284 bytes
 crowdbotsim/meshes/LFinger21.stl              |  Bin 0 -> 16784 bytes
 crowdbotsim/meshes/LFinger21_0.10.stl         |  Bin 0 -> 1684 bytes
 crowdbotsim/meshes/LFinger22.stl              |  Bin 0 -> 16784 bytes
 crowdbotsim/meshes/LFinger22_0.10.stl         |  Bin 0 -> 1684 bytes
 crowdbotsim/meshes/LFinger23.stl              |  Bin 0 -> 22284 bytes
 crowdbotsim/meshes/LFinger23_0.10.stl         |  Bin 0 -> 2284 bytes
 crowdbotsim/meshes/LFinger31.stl              |  Bin 0 -> 16784 bytes
 crowdbotsim/meshes/LFinger31_0.10.stl         |  Bin 0 -> 1684 bytes
 crowdbotsim/meshes/LFinger32.stl              |  Bin 0 -> 16784 bytes
 crowdbotsim/meshes/LFinger32_0.10.stl         |  Bin 0 -> 1684 bytes
 crowdbotsim/meshes/LFinger33.stl              |  Bin 0 -> 22284 bytes
 crowdbotsim/meshes/LFinger33_0.10.stl         |  Bin 0 -> 2284 bytes
 crowdbotsim/meshes/LFinger41.stl              |  Bin 0 -> 16784 bytes
 crowdbotsim/meshes/LFinger41_0.10.stl         |  Bin 0 -> 1684 bytes
 crowdbotsim/meshes/LFinger42.stl              |  Bin 0 -> 16784 bytes
 crowdbotsim/meshes/LFinger42_0.10.stl         |  Bin 0 -> 1684 bytes
 crowdbotsim/meshes/LFinger43.stl              |  Bin 0 -> 22284 bytes
 crowdbotsim/meshes/LFinger43_0.10.stl         |  Bin 0 -> 2284 bytes
 crowdbotsim/meshes/LShoulderPitch.stl         |  Bin 0 -> 21884 bytes
 crowdbotsim/meshes/LShoulderPitch_0.10.stl    |  Bin 0 -> 2184 bytes
 crowdbotsim/meshes/LShoulderRoll.stl          |  Bin 0 -> 21584 bytes
 crowdbotsim/meshes/LShoulderRoll_0.10.stl     |  Bin 0 -> 2184 bytes
 crowdbotsim/meshes/LThumb1.stl                |  Bin 0 -> 16784 bytes
 crowdbotsim/meshes/LThumb1_0.10.stl           |  Bin 0 -> 1684 bytes
 crowdbotsim/meshes/LThumb2.stl                |  Bin 0 -> 22284 bytes
 crowdbotsim/meshes/LThumb2_0.10.stl           |  Bin 0 -> 2284 bytes
 crowdbotsim/meshes/LWristYaw.stl              |  Bin 0 -> 104584 bytes
 crowdbotsim/meshes/LWristYaw_0.10.stl         |  Bin 0 -> 10534 bytes
 crowdbotsim/meshes/RElbowRoll.stl             |  Bin 0 -> 13384 bytes
 crowdbotsim/meshes/RElbowRoll_0.10.stl        |  Bin 0 -> 1384 bytes
 crowdbotsim/meshes/RElbowYaw.stl              |  Bin 0 -> 22084 bytes
 crowdbotsim/meshes/RElbowYaw_0.10.stl         |  Bin 0 -> 2284 bytes
 crowdbotsim/meshes/RFinger11.stl              |  Bin 0 -> 16784 bytes
 crowdbotsim/meshes/RFinger11_0.10.stl         |  Bin 0 -> 1684 bytes
 crowdbotsim/meshes/RFinger12.stl              |  Bin 0 -> 16784 bytes
 crowdbotsim/meshes/RFinger12_0.10.stl         |  Bin 0 -> 1684 bytes
 crowdbotsim/meshes/RFinger13.stl              |  Bin 0 -> 22284 bytes
 crowdbotsim/meshes/RFinger13_0.10.stl         |  Bin 0 -> 2284 bytes
 crowdbotsim/meshes/RFinger21.stl              |  Bin 0 -> 16784 bytes
 crowdbotsim/meshes/RFinger21_0.10.stl         |  Bin 0 -> 1684 bytes
 crowdbotsim/meshes/RFinger22.stl              |  Bin 0 -> 16784 bytes
 crowdbotsim/meshes/RFinger22_0.10.stl         |  Bin 0 -> 1684 bytes
 crowdbotsim/meshes/RFinger23.stl              |  Bin 0 -> 22284 bytes
 crowdbotsim/meshes/RFinger23_0.10.stl         |  Bin 0 -> 2284 bytes
 crowdbotsim/meshes/RFinger31.stl              |  Bin 0 -> 16784 bytes
 crowdbotsim/meshes/RFinger31_0.10.stl         |  Bin 0 -> 1684 bytes
 crowdbotsim/meshes/RFinger32.stl              |  Bin 0 -> 16784 bytes
 crowdbotsim/meshes/RFinger32_0.10.stl         |  Bin 0 -> 1684 bytes
 crowdbotsim/meshes/RFinger33.stl              |  Bin 0 -> 22284 bytes
 crowdbotsim/meshes/RFinger33_0.10.stl         |  Bin 0 -> 2284 bytes
 crowdbotsim/meshes/RFinger41.stl              |  Bin 0 -> 16784 bytes
 crowdbotsim/meshes/RFinger41_0.10.stl         |  Bin 0 -> 1684 bytes
 crowdbotsim/meshes/RFinger42.stl              |  Bin 0 -> 16784 bytes
 crowdbotsim/meshes/RFinger42_0.10.stl         |  Bin 0 -> 1684 bytes
 crowdbotsim/meshes/RFinger43.stl              |  Bin 0 -> 22284 bytes
 crowdbotsim/meshes/RFinger43_0.10.stl         |  Bin 0 -> 2284 bytes
 crowdbotsim/meshes/RShoulderPitch.stl         |  Bin 0 -> 21884 bytes
 crowdbotsim/meshes/RShoulderPitch_0.10.stl    |  Bin 0 -> 2184 bytes
 crowdbotsim/meshes/RShoulderRoll.stl          |  Bin 0 -> 21584 bytes
 crowdbotsim/meshes/RShoulderRoll_0.10.stl     |  Bin 0 -> 2184 bytes
 crowdbotsim/meshes/RThumb1.stl                |  Bin 0 -> 16784 bytes
 crowdbotsim/meshes/RThumb1_0.10.stl           |  Bin 0 -> 1684 bytes
 crowdbotsim/meshes/RThumb2.stl                |  Bin 0 -> 22284 bytes
 crowdbotsim/meshes/RThumb2_0.10.stl           |  Bin 0 -> 2284 bytes
 crowdbotsim/meshes/RWristYaw.stl              |  Bin 0 -> 104584 bytes
 crowdbotsim/meshes/RWristYaw_0.10.stl         |  Bin 0 -> 10534 bytes
 crowdbotsim/meshes/Torso.stl                  |  Bin 0 -> 53484 bytes
 crowdbotsim/meshes/Torso_0.10.stl             |  Bin 0 -> 5384 bytes
 crowdbotsim/meshes/WheelB.stl                 |  Bin 0 -> 38084 bytes
 crowdbotsim/meshes/WheelB_0.10.stl            |  Bin 0 -> 3884 bytes
 crowdbotsim/meshes/WheelFL.stl                |  Bin 0 -> 38084 bytes
 crowdbotsim/meshes/WheelFL_0.10.stl           |  Bin 0 -> 3884 bytes
 crowdbotsim/meshes/WheelFR.stl                |  Bin 0 -> 38084 bytes
 crowdbotsim/meshes/WheelFR_0.10.stl           |  Bin 0 -> 3884 bytes
 crowdbotsim/resources/juliette_eyes.png       |  Bin 0 -> 309 bytes
 crowdbotsim/urdf/JulietteY20MP.urdf           | 2401 +++++++++++++++++
 .../launch/publish_description_pepper.launch  |   27 +
 98 files changed, 2429 insertions(+)
 create mode 100644 crowdbotsim/meshes/HeadPitch.stl
 create mode 100644 crowdbotsim/meshes/HeadPitch_0.10.stl
 create mode 100644 crowdbotsim/meshes/HeadYaw.stl
 create mode 100644 crowdbotsim/meshes/HeadYaw_0.10.stl
 create mode 100644 crowdbotsim/meshes/HipPitch.stl
 create mode 100644 crowdbotsim/meshes/HipPitch_0.10.stl
 create mode 100644 crowdbotsim/meshes/HipRoll.stl
 create mode 100644 crowdbotsim/meshes/HipRoll_0.10.stl
 create mode 100644 crowdbotsim/meshes/KneePitch.stl
 create mode 100644 crowdbotsim/meshes/KneePitch_0.10.stl
 create mode 100644 crowdbotsim/meshes/LElbowRoll.stl
 create mode 100644 crowdbotsim/meshes/LElbowRoll_0.10.stl
 create mode 100644 crowdbotsim/meshes/LElbowYaw.stl
 create mode 100644 crowdbotsim/meshes/LElbowYaw_0.10.stl
 create mode 100644 crowdbotsim/meshes/LFinger11.stl
 create mode 100644 crowdbotsim/meshes/LFinger11_0.10.stl
 create mode 100644 crowdbotsim/meshes/LFinger12.stl
 create mode 100644 crowdbotsim/meshes/LFinger12_0.10.stl
 create mode 100644 crowdbotsim/meshes/LFinger13.stl
 create mode 100644 crowdbotsim/meshes/LFinger13_0.10.stl
 create mode 100644 crowdbotsim/meshes/LFinger21.stl
 create mode 100644 crowdbotsim/meshes/LFinger21_0.10.stl
 create mode 100644 crowdbotsim/meshes/LFinger22.stl
 create mode 100644 crowdbotsim/meshes/LFinger22_0.10.stl
 create mode 100644 crowdbotsim/meshes/LFinger23.stl
 create mode 100644 crowdbotsim/meshes/LFinger23_0.10.stl
 create mode 100644 crowdbotsim/meshes/LFinger31.stl
 create mode 100644 crowdbotsim/meshes/LFinger31_0.10.stl
 create mode 100644 crowdbotsim/meshes/LFinger32.stl
 create mode 100644 crowdbotsim/meshes/LFinger32_0.10.stl
 create mode 100644 crowdbotsim/meshes/LFinger33.stl
 create mode 100644 crowdbotsim/meshes/LFinger33_0.10.stl
 create mode 100644 crowdbotsim/meshes/LFinger41.stl
 create mode 100644 crowdbotsim/meshes/LFinger41_0.10.stl
 create mode 100644 crowdbotsim/meshes/LFinger42.stl
 create mode 100644 crowdbotsim/meshes/LFinger42_0.10.stl
 create mode 100644 crowdbotsim/meshes/LFinger43.stl
 create mode 100644 crowdbotsim/meshes/LFinger43_0.10.stl
 create mode 100644 crowdbotsim/meshes/LShoulderPitch.stl
 create mode 100644 crowdbotsim/meshes/LShoulderPitch_0.10.stl
 create mode 100644 crowdbotsim/meshes/LShoulderRoll.stl
 create mode 100644 crowdbotsim/meshes/LShoulderRoll_0.10.stl
 create mode 100644 crowdbotsim/meshes/LThumb1.stl
 create mode 100644 crowdbotsim/meshes/LThumb1_0.10.stl
 create mode 100644 crowdbotsim/meshes/LThumb2.stl
 create mode 100644 crowdbotsim/meshes/LThumb2_0.10.stl
 create mode 100644 crowdbotsim/meshes/LWristYaw.stl
 create mode 100644 crowdbotsim/meshes/LWristYaw_0.10.stl
 create mode 100644 crowdbotsim/meshes/RElbowRoll.stl
 create mode 100644 crowdbotsim/meshes/RElbowRoll_0.10.stl
 create mode 100644 crowdbotsim/meshes/RElbowYaw.stl
 create mode 100644 crowdbotsim/meshes/RElbowYaw_0.10.stl
 create mode 100644 crowdbotsim/meshes/RFinger11.stl
 create mode 100644 crowdbotsim/meshes/RFinger11_0.10.stl
 create mode 100644 crowdbotsim/meshes/RFinger12.stl
 create mode 100644 crowdbotsim/meshes/RFinger12_0.10.stl
 create mode 100644 crowdbotsim/meshes/RFinger13.stl
 create mode 100644 crowdbotsim/meshes/RFinger13_0.10.stl
 create mode 100644 crowdbotsim/meshes/RFinger21.stl
 create mode 100644 crowdbotsim/meshes/RFinger21_0.10.stl
 create mode 100644 crowdbotsim/meshes/RFinger22.stl
 create mode 100644 crowdbotsim/meshes/RFinger22_0.10.stl
 create mode 100644 crowdbotsim/meshes/RFinger23.stl
 create mode 100644 crowdbotsim/meshes/RFinger23_0.10.stl
 create mode 100644 crowdbotsim/meshes/RFinger31.stl
 create mode 100644 crowdbotsim/meshes/RFinger31_0.10.stl
 create mode 100644 crowdbotsim/meshes/RFinger32.stl
 create mode 100644 crowdbotsim/meshes/RFinger32_0.10.stl
 create mode 100644 crowdbotsim/meshes/RFinger33.stl
 create mode 100644 crowdbotsim/meshes/RFinger33_0.10.stl
 create mode 100644 crowdbotsim/meshes/RFinger41.stl
 create mode 100644 crowdbotsim/meshes/RFinger41_0.10.stl
 create mode 100644 crowdbotsim/meshes/RFinger42.stl
 create mode 100644 crowdbotsim/meshes/RFinger42_0.10.stl
 create mode 100644 crowdbotsim/meshes/RFinger43.stl
 create mode 100644 crowdbotsim/meshes/RFinger43_0.10.stl
 create mode 100644 crowdbotsim/meshes/RShoulderPitch.stl
 create mode 100644 crowdbotsim/meshes/RShoulderPitch_0.10.stl
 create mode 100644 crowdbotsim/meshes/RShoulderRoll.stl
 create mode 100644 crowdbotsim/meshes/RShoulderRoll_0.10.stl
 create mode 100644 crowdbotsim/meshes/RThumb1.stl
 create mode 100644 crowdbotsim/meshes/RThumb1_0.10.stl
 create mode 100644 crowdbotsim/meshes/RThumb2.stl
 create mode 100644 crowdbotsim/meshes/RThumb2_0.10.stl
 create mode 100644 crowdbotsim/meshes/RWristYaw.stl
 create mode 100644 crowdbotsim/meshes/RWristYaw_0.10.stl
 create mode 100644 crowdbotsim/meshes/Torso.stl
 create mode 100644 crowdbotsim/meshes/Torso_0.10.stl
 create mode 100644 crowdbotsim/meshes/WheelB.stl
 create mode 100644 crowdbotsim/meshes/WheelB_0.10.stl
 create mode 100644 crowdbotsim/meshes/WheelFL.stl
 create mode 100644 crowdbotsim/meshes/WheelFL_0.10.stl
 create mode 100644 crowdbotsim/meshes/WheelFR.stl
 create mode 100644 crowdbotsim/meshes/WheelFR_0.10.stl
 create mode 100644 crowdbotsim/resources/juliette_eyes.png
 create mode 100644 crowdbotsim/urdf/JulietteY20MP.urdf
 create mode 100755 file_server/launch/publish_description_pepper.launch

diff --git a/crowdbotsim/launch/unity_sim.launch b/crowdbotsim/launch/unity_sim.launch
index 9271e2a..2182c9b 100755
--- a/crowdbotsim/launch/unity_sim.launch
+++ b/crowdbotsim/launch/unity_sim.launch
@@ -14,6 +14,7 @@ limitations under the License.
 -->
 
 <launch>
+	<param name ="/use_sim_time" value="true"/>
 
 	<include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch">
 		<param name="port" value="9090"/>
diff --git a/crowdbotsim/meshes/HeadPitch.stl b/crowdbotsim/meshes/HeadPitch.stl
new file mode 100644
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GIT binary patch
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diff --git a/crowdbotsim/meshes/HipPitch.stl b/crowdbotsim/meshes/HipPitch.stl
new file mode 100644
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diff --git a/crowdbotsim/meshes/LWristYaw_0.10.stl b/crowdbotsim/meshes/LWristYaw_0.10.stl
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diff --git a/crowdbotsim/meshes/RFinger11_0.10.stl b/crowdbotsim/meshes/RFinger11_0.10.stl
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diff --git a/crowdbotsim/meshes/RFinger12.stl b/crowdbotsim/meshes/RFinger12.stl
new file mode 100644
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diff --git a/crowdbotsim/meshes/RFinger23_0.10.stl b/crowdbotsim/meshes/RFinger23_0.10.stl
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diff --git a/crowdbotsim/meshes/RFinger31.stl b/crowdbotsim/meshes/RFinger31.stl
new file mode 100644
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diff --git a/crowdbotsim/meshes/RThumb2.stl b/crowdbotsim/meshes/RThumb2.stl
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diff --git a/crowdbotsim/meshes/RWristYaw_0.10.stl b/crowdbotsim/meshes/RWristYaw_0.10.stl
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new file mode 100644
index 0000000..c03dc14
--- /dev/null
+++ b/crowdbotsim/urdf/JulietteY20MP.urdf
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+      <material name="milky_white" />
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+    </visual>
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+    </collision>
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+      <material name="face_tex" />
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+    <visual>
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+      <material name="shiny_white" />
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+  <link name="BumperFR_frame" />
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+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <mass value="2E-06" />
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://crowdbotsim/meshes/RFinger32.stl" scale="0.1 0.1 0.1" />
+      </geometry>
+      <material name="milky_white" />
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://crowdbotsim/meshes/RFinger32_0.10.stl" scale="0.1 0.1 0.1" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="RFinger33_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <mass value="2E-06" />
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://crowdbotsim/meshes/RFinger33.stl" scale="0.1 0.1 0.1" />
+      </geometry>
+      <material name="milky_white" />
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://crowdbotsim/meshes/RFinger33_0.10.stl" scale="0.1 0.1 0.1" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="RFinger21_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <mass value="2E-06" />
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://crowdbotsim/meshes/RFinger21.stl" scale="0.1 0.1 0.1" />
+      </geometry>
+      <material name="milky_white" />
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://crowdbotsim/meshes/RFinger21_0.10.stl" scale="0.1 0.1 0.1" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="RFinger22_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <mass value="2E-06" />
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://crowdbotsim/meshes/RFinger22.stl" scale="0.1 0.1 0.1" />
+      </geometry>
+      <material name="milky_white" />
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://crowdbotsim/meshes/RFinger22_0.10.stl" scale="0.1 0.1 0.1" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="RFinger23_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <mass value="2E-06" />
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://crowdbotsim/meshes/RFinger23.stl" scale="0.1 0.1 0.1" />
+      </geometry>
+      <material name="milky_white" />
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://crowdbotsim/meshes/RFinger23_0.10.stl" scale="0.1 0.1 0.1" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="RFinger11_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <mass value="2E-06" />
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://crowdbotsim/meshes/RFinger11.stl" scale="0.1 0.1 0.1" />
+      </geometry>
+      <material name="milky_white" />
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://crowdbotsim/meshes/RFinger11_0.10.stl" scale="0.1 0.1 0.1" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="RFinger12_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <mass value="2E-06" />
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://crowdbotsim/meshes/RFinger12.stl" scale="0.1 0.1 0.1" />
+      </geometry>
+      <material name="milky_white" />
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://crowdbotsim/meshes/RFinger12_0.10.stl" scale="0.1 0.1 0.1" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="RFinger13_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <mass value="2E-06" />
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://crowdbotsim/meshes/RFinger13.stl" scale="0.1 0.1 0.1" />
+      </geometry>
+      <material name="milky_white" />
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://crowdbotsim/meshes/RFinger13_0.10.stl" scale="0.1 0.1 0.1" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="RThumb1_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <mass value="2E-06" />
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://crowdbotsim/meshes/RThumb1.stl" scale="0.1 0.1 0.1" />
+      </geometry>
+      <material name="milky_white" />
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://crowdbotsim/meshes/RThumb1_0.10.stl" scale="0.1 0.1 0.1" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="RThumb2_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <mass value="2E-06" />
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://crowdbotsim/meshes/RThumb2.stl" scale="0.1 0.1 0.1" />
+      </geometry>
+      <material name="milky_white" />
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://crowdbotsim/meshes/RThumb2_0.10.stl" scale="0.1 0.1 0.1" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="ImuTorsoAccelerometer_frame" />
+  <link name="ImuTorsoGyrometer_frame" />
+  <link name="Tablet_frame" />
+  <link name="ChestButton_frame" />
+  <joint name="base_link_torso_joint" type="fixed">
+    <parent link="base_link" />
+    <child link="torso" />
+  </joint>
+  <joint name="HeadYaw" type="revolute">
+    <origin xyz="-0.038 0 0.1699" />
+    <parent link="torso" />
+    <child link="Neck" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.08567" upper="2.08567" effort="1000" velocity="1000" />
+  </joint>
+  <joint name="HeadPitch" type="revolute">
+    <parent link="Neck" />
+    <child link="Head" />
+    <axis xyz="0 1 0" />
+    <limit lower="-0.706858" upper="0.637045" effort="1000" velocity="1000" />
+  </joint>
+  <joint name="Head_RSpeaker_frame_joint" type="fixed">
+    <parent link="Head" />
+    <child link="RSpeaker_frame" />
+  </joint>
+  <joint 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 0000000..967fad3
--- /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>
-- 
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