├── CMakeLists.txt
├── LICENSE
├── README.md
├── darwin.png
├── meshes
    ├── ankle1_l.STL
    ├── ankle1_l_coll.stl
    ├── ankle1_r.STL
    ├── ankle1_r_coll.stl
    ├── ankle2_l.STL
    ├── ankle2_l_coll.stl
    ├── ankle2_r.STL
    ├── ankle2_r_coll.stl
    ├── arm_high_l.STL
    ├── arm_high_l_coll.stl
    ├── arm_high_r.STL
    ├── arm_high_r_coll.stl
    ├── body.STL
    ├── body_coll.stl
    ├── head.STL
    ├── head_coll.stl
    ├── neck.STL
    ├── neck_coll.stl
    ├── pelvis_l.STL
    ├── pelvis_l_coll.stl
    ├── pelvis_r.STL
    ├── pelvis_r_coll.stl
    ├── shoulder_l.STL
    ├── shoulder_l_coll.stl
    ├── shoulder_r.STL
    ├── shoulder_r_coll.stl
    ├── thigh1_l.STL
    ├── thigh1_l_coll.stl
    ├── thigh1_r.STL
    ├── thigh1_r_coll.stl
    ├── thigh2_l.STL
    ├── thigh2_l_coll.stl
    ├── thigh2_r.STL
    ├── thigh2_r_coll.stl
    ├── tibia_l.STL
    ├── tibia_l_coll.stl
    ├── tibia_r.STL
    └── tibia_r_coll.stl
├── model.config
├── package.xml
└── urdf
    └── darwin.urdf


/CMakeLists.txt:
--------------------------------------------------------------------------------
1 | cmake_minimum_required(VERSION 2.8.3)
2 | project(darwin_description)
3 | 
4 | 
5 | 


--------------------------------------------------------------------------------
/LICENSE:
--------------------------------------------------------------------------------
 1 | This software is graciously provided by HumaRobotics under the Simplified BSD License.
 2 | HumaRobotics is a trademark of Generation Robots
 3 | 
 4 | Copyright (c) 2013, Generation Robots
 5 | All rights reserved.
 6 | 
 7 | Redistribution and use in source and binary forms, with or without
 8 | modification, are permitted provided that the following conditions are met:
 9 | 1. Redistributions of source code must retain the above copyright notice, this
10 | list of conditions and the following disclaimer.
11 | 2. Redistributions in binary form must reproduce the above copyright notice,
12 | this list of conditions and the following disclaimer in the documentation
13 | and/or other materials provided with the distribution.
14 | 
15 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
16 | ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
17 | WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
18 | ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
19 | (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
20 | LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
21 | ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
22 | (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
23 | SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
24 | 
25 | The views and conclusions contained in the software and documentation are those
26 | of the authors and should not be interpreted as representing official policies,
27 | either expressed or implied, of the FreeBSD Project. 


--------------------------------------------------------------------------------
/README.md:
--------------------------------------------------------------------------------
 1 | ## darwin_description
 2 | 
 3 | ROS package providing mesh files and URDF of the Darwin OP robot for use with the real robot or Gazebo.
 4 | URDF contains joint transmissions for controllers and Gazebo referenced plugins for camera and the IMU provided by hector_gazebo.
 5 | 
 6 | ![Darwin model in Gazebo](/darwin.png?raw=true "Darwin model in Gazebo")
 7 | 
 8 | ## Tutorial
 9 | 
10 | A tutorial describing how to use this package can be found at:
11 | 
12 | http://www.generationrobots.com/en/content/83-carry-out-simulations-and-make-your-darwin-op-walk-with-gazebo-and-ros
13 | 
14 | ## Install
15 | Just clone in your catkin workspace. You may need to install the hector_gazebo ROS package.
16 | 
17 | ## License
18 | 
19 | This software is provided by Génération Robots http://www.generationrobots.com and HumaRobotics http://www.humarobotics.com under the Simplified BSD license
20 | 


--------------------------------------------------------------------------------
/darwin.png:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/HumaRobotics/darwin_description/2a0c4ebc34561c2e02859d36d99e97736e11937c/darwin.png


--------------------------------------------------------------------------------
/meshes/ankle1_l.STL:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/HumaRobotics/darwin_description/2a0c4ebc34561c2e02859d36d99e97736e11937c/meshes/ankle1_l.STL


--------------------------------------------------------------------------------
/meshes/ankle1_l_coll.stl:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/HumaRobotics/darwin_description/2a0c4ebc34561c2e02859d36d99e97736e11937c/meshes/ankle1_l_coll.stl


--------------------------------------------------------------------------------
/meshes/ankle1_r.STL:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/HumaRobotics/darwin_description/2a0c4ebc34561c2e02859d36d99e97736e11937c/meshes/ankle1_r.STL


--------------------------------------------------------------------------------
/meshes/ankle1_r_coll.stl:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/HumaRobotics/darwin_description/2a0c4ebc34561c2e02859d36d99e97736e11937c/meshes/ankle1_r_coll.stl


--------------------------------------------------------------------------------
/meshes/ankle2_l.STL:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/HumaRobotics/darwin_description/2a0c4ebc34561c2e02859d36d99e97736e11937c/meshes/ankle2_l.STL


--------------------------------------------------------------------------------
/meshes/ankle2_l_coll.stl:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/HumaRobotics/darwin_description/2a0c4ebc34561c2e02859d36d99e97736e11937c/meshes/ankle2_l_coll.stl


--------------------------------------------------------------------------------
/meshes/ankle2_r.STL:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/HumaRobotics/darwin_description/2a0c4ebc34561c2e02859d36d99e97736e11937c/meshes/ankle2_r.STL


--------------------------------------------------------------------------------
/meshes/ankle2_r_coll.stl:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/HumaRobotics/darwin_description/2a0c4ebc34561c2e02859d36d99e97736e11937c/meshes/ankle2_r_coll.stl


--------------------------------------------------------------------------------
/meshes/arm_high_l.STL:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/HumaRobotics/darwin_description/2a0c4ebc34561c2e02859d36d99e97736e11937c/meshes/arm_high_l.STL


--------------------------------------------------------------------------------
/meshes/arm_high_l_coll.stl:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/HumaRobotics/darwin_description/2a0c4ebc34561c2e02859d36d99e97736e11937c/meshes/arm_high_l_coll.stl


--------------------------------------------------------------------------------
/meshes/arm_high_r.STL:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/HumaRobotics/darwin_description/2a0c4ebc34561c2e02859d36d99e97736e11937c/meshes/arm_high_r.STL


--------------------------------------------------------------------------------
/meshes/arm_high_r_coll.stl:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/HumaRobotics/darwin_description/2a0c4ebc34561c2e02859d36d99e97736e11937c/meshes/arm_high_r_coll.stl


--------------------------------------------------------------------------------
/meshes/body.STL:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/HumaRobotics/darwin_description/2a0c4ebc34561c2e02859d36d99e97736e11937c/meshes/body.STL


--------------------------------------------------------------------------------
/meshes/body_coll.stl:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/HumaRobotics/darwin_description/2a0c4ebc34561c2e02859d36d99e97736e11937c/meshes/body_coll.stl


--------------------------------------------------------------------------------
/meshes/head.STL:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/HumaRobotics/darwin_description/2a0c4ebc34561c2e02859d36d99e97736e11937c/meshes/head.STL


--------------------------------------------------------------------------------
/meshes/head_coll.stl:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/HumaRobotics/darwin_description/2a0c4ebc34561c2e02859d36d99e97736e11937c/meshes/head_coll.stl


--------------------------------------------------------------------------------
/meshes/neck.STL:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/HumaRobotics/darwin_description/2a0c4ebc34561c2e02859d36d99e97736e11937c/meshes/neck.STL


--------------------------------------------------------------------------------
/meshes/neck_coll.stl:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/HumaRobotics/darwin_description/2a0c4ebc34561c2e02859d36d99e97736e11937c/meshes/neck_coll.stl


--------------------------------------------------------------------------------
/meshes/pelvis_l.STL:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/HumaRobotics/darwin_description/2a0c4ebc34561c2e02859d36d99e97736e11937c/meshes/pelvis_l.STL


--------------------------------------------------------------------------------
/meshes/pelvis_l_coll.stl:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/HumaRobotics/darwin_description/2a0c4ebc34561c2e02859d36d99e97736e11937c/meshes/pelvis_l_coll.stl


--------------------------------------------------------------------------------
/meshes/pelvis_r.STL:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/HumaRobotics/darwin_description/2a0c4ebc34561c2e02859d36d99e97736e11937c/meshes/pelvis_r.STL


--------------------------------------------------------------------------------
/meshes/pelvis_r_coll.stl:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/HumaRobotics/darwin_description/2a0c4ebc34561c2e02859d36d99e97736e11937c/meshes/pelvis_r_coll.stl


--------------------------------------------------------------------------------
/meshes/shoulder_l.STL:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/HumaRobotics/darwin_description/2a0c4ebc34561c2e02859d36d99e97736e11937c/meshes/shoulder_l.STL


--------------------------------------------------------------------------------
/meshes/shoulder_l_coll.stl:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/HumaRobotics/darwin_description/2a0c4ebc34561c2e02859d36d99e97736e11937c/meshes/shoulder_l_coll.stl


--------------------------------------------------------------------------------
/meshes/shoulder_r.STL:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/HumaRobotics/darwin_description/2a0c4ebc34561c2e02859d36d99e97736e11937c/meshes/shoulder_r.STL


--------------------------------------------------------------------------------
/meshes/shoulder_r_coll.stl:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/HumaRobotics/darwin_description/2a0c4ebc34561c2e02859d36d99e97736e11937c/meshes/shoulder_r_coll.stl


--------------------------------------------------------------------------------
/meshes/thigh1_l.STL:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/HumaRobotics/darwin_description/2a0c4ebc34561c2e02859d36d99e97736e11937c/meshes/thigh1_l.STL


--------------------------------------------------------------------------------
/meshes/thigh1_l_coll.stl:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/HumaRobotics/darwin_description/2a0c4ebc34561c2e02859d36d99e97736e11937c/meshes/thigh1_l_coll.stl


--------------------------------------------------------------------------------
/meshes/thigh1_r.STL:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/HumaRobotics/darwin_description/2a0c4ebc34561c2e02859d36d99e97736e11937c/meshes/thigh1_r.STL


--------------------------------------------------------------------------------
/meshes/thigh1_r_coll.stl:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/HumaRobotics/darwin_description/2a0c4ebc34561c2e02859d36d99e97736e11937c/meshes/thigh1_r_coll.stl


--------------------------------------------------------------------------------
/meshes/thigh2_l.STL:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/HumaRobotics/darwin_description/2a0c4ebc34561c2e02859d36d99e97736e11937c/meshes/thigh2_l.STL


--------------------------------------------------------------------------------
/meshes/thigh2_l_coll.stl:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/HumaRobotics/darwin_description/2a0c4ebc34561c2e02859d36d99e97736e11937c/meshes/thigh2_l_coll.stl


--------------------------------------------------------------------------------
/meshes/thigh2_r.STL:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/HumaRobotics/darwin_description/2a0c4ebc34561c2e02859d36d99e97736e11937c/meshes/thigh2_r.STL


--------------------------------------------------------------------------------
/meshes/thigh2_r_coll.stl:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/HumaRobotics/darwin_description/2a0c4ebc34561c2e02859d36d99e97736e11937c/meshes/thigh2_r_coll.stl


--------------------------------------------------------------------------------
/meshes/tibia_l.STL:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/HumaRobotics/darwin_description/2a0c4ebc34561c2e02859d36d99e97736e11937c/meshes/tibia_l.STL


--------------------------------------------------------------------------------
/meshes/tibia_l_coll.stl:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/HumaRobotics/darwin_description/2a0c4ebc34561c2e02859d36d99e97736e11937c/meshes/tibia_l_coll.stl


--------------------------------------------------------------------------------
/meshes/tibia_r.STL:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/HumaRobotics/darwin_description/2a0c4ebc34561c2e02859d36d99e97736e11937c/meshes/tibia_r.STL


--------------------------------------------------------------------------------
/meshes/tibia_r_coll.stl:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/HumaRobotics/darwin_description/2a0c4ebc34561c2e02859d36d99e97736e11937c/meshes/tibia_r_coll.stl


--------------------------------------------------------------------------------
/model.config:
--------------------------------------------------------------------------------
 1 | <?xml version='1.0'?>
 2 | <model>
 3 |   <name>darwin</name>
 4 |   <version>1.0.0</version>
 5 |   <author>
 6 |     <name>Taegoo Kim, Bharadwaj Ramesh</name>
 7 |     <email>tk375@drexel.edu</email>
 8 |   </author>
 9 |   <author>
10 |     <name>Philippe Capdepuy</name>
11 |     <email>pc@humarobotics.com</email>
12 |   </author>
13 |   <sdf>urdf/darwin.urdf</sdf>
14 |   <description>
15 |     Describes DarwinOP robot model with camera plugin and accelerometer plugin (hector) for Gazebo
16 |   </description>
17 | </model>
18 | 


--------------------------------------------------------------------------------
/package.xml:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | <package>
 3 |   <name>darwin_description</name>
 4 |   <version>1.0.0</version>
 5 |   <description>Describes DarwinOP robot model with camera plugin and accelerometer plugin (hector) for Gazebo</description>
 6 | 
 7 |   <maintainer email="pc@humarobotics.com">Philippe Capdepuy</maintainer>
 8 | 
 9 | 
10 |   <license>BSD</license>
11 | 
12 | 
13 |   <url type="website">http://wiki.ros.org/darwin_description</url>
14 | 
15 | 
16 |   <author email="tk375@drexel.edu">Taegoo Kim, Bharadwaj Ramesh</author>
17 |   <author email="pc@humarobotics.com">Philippe Capdepuy</author>
18 | 
19 |   <buildtool_depend>catkin</buildtool_depend>
20 | 
21 |   <export>
22 |   </export>
23 | </package>


--------------------------------------------------------------------------------
/urdf/darwin.urdf:
--------------------------------------------------------------------------------
   1 | <?xml version="1.0" ?>
   2 | <robot name="darwinOP">
   3 | 
   4 | 
   5 | <link name="base_link"/>
   6 |   
   7 |   <joint name="base_link_to_body" type="fixed">
   8 |     <parent link="base_link"/>
   9 |     <child link="MP_BODY"/>
  10 |   </joint>
  11 | 
  12 | 
  13 | 
  14 |   <link name="MP_BODY">
  15 |     <inertial>
  16 |       <origin xyz="-0.003053 -0.038651 -0.019268" />
  17 |       <mass value="0.97559947"/>
  18 |       <inertia ixx="3.1081800"  ixy="-0.25460189"  ixz="2.0318174" iyy="6.3787776" iyz="0.16417863" izz="5.3316425" />
  19 |     </inertial>
  20 |     <visual>
  21 |       <!--origin xyz="-0.0235 0 -0.03525" rpy="0 0 0" /-->
  22 |       <origin xyz="0 0 0" rpy="0 0 0" />
  23 |       <geometry>
  24 |         <!--box size="0.102 0.109 0.106" /-->
  25 |         <mesh filename="package://darwin_description/meshes/body.STL"  scale="1 1 1"/>
  26 |       </geometry>
  27 |       <material name="Grey">
  28 |         <color rgba="0.20 0.20 0.20 1.0"/>
  29 |       </material>
  30 |     </visual>
  31 |     <collision>
  32 |       <geometry>
  33 |         <mesh filename="package://darwin_description/meshes/body_coll.stl"  scale="1 1 1"/>
  34 |       </geometry>
  35 |     </collision>
  36 |   </link>
  37 | 
  38 |   <link name="MP_NECK">
  39 |     <inertial>
  40 |       <origin xyz="0.001424 -0.016567 -0.007128" />
  41 |       <mass value="0.024357719"/>
  42 |      <inertia ixx="0.0051411124"  ixy="-0.00057530255"  ixz="-0.000024729049" iyy="0.0081915737" iyz="-0.000019223094" izz="0.0011379812" />
  43 |     </inertial>
  44 |     <visual>
  45 |       <origin xyz="0 0 0" rpy="0 0 0" />
  46 |       <geometry>
  47 |         <!--box size="0.045 0.022 0.0325" /-->
  48 |         <mesh filename="package://darwin_description/meshes/neck.STL"  scale="1 1 1"/>
  49 |       </geometry>
  50 |       <material name="Grey">
  51 |         <color rgba="0.20 0.20 0.20 1.0"/>
  52 |       </material>
  53 |     </visual>
  54 |     <collision>
  55 |       <geometry>
  56 |         <mesh filename="package://darwin_description/meshes/neck_coll.stl"  scale="1 1 1"/>
  57 |       </geometry>
  58 |     </collision>
  59 |   </link>
  60 | 
  61 |   <link name="MP_HEAD">
  62 |     <inertial>
  63 |       <origin xyz="0.000064 -0.018565 -0.007667" />
  64 |       <mass value="0.15804192"/>
  65 |      <inertia ixx="0.1239683"  ixy="0.000078494368"  ixz="0.000007645979" iyy="0.11783781" iyz="0.0012199205" izz="0.1583601" />
  66 |     </inertial>
  67 |     <visual>
  68 |       <origin xyz="0 0 0" rpy="0 0 0" />
  69 |       <geometry>
  70 |         <!-- box size="0.0634 0.061 0.033" /-->
  71 |         <mesh filename="package://darwin_description/meshes/head.STL"  scale="1 1 1"/>
  72 |       </geometry>
  73 |       <material name="Grey">
  74 |         <color rgba="0.20 0.20 0.20 1.0"/>
  75 |       </material>
  76 |     </visual>
  77 |     <collision>
  78 |       <geometry>
  79 |         <mesh filename="package://darwin_description/meshes/head_coll.stl"  scale="1 1 1"/>
  80 |       </geometry>
  81 |     </collision>
  82 |   </link>
  83 | 
  84 |   <link name="MP_BACK_L">
  85 |     <inertial>
  86 |       <origin xyz="-0.0031158909 0.020443695 -0.019663084" />
  87 |       <mass value="0.010"/>
  88 |       <inertia ixx="3.1081800"  ixy="-0.25460189"  ixz="2.0318174" iyy="6.3787776" iyz="0.16417863" izz="5.3316425" />
  89 |     </inertial>
  90 |     <visual>
  91 |       <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
  92 |       <geometry>
  93 |         <box size="0.001 0.001 0.001"  scale="1 1 1"/>
  94 |       </geometry>
  95 |       <material name="Grey">
  96 |         <color rgba="0.20 0.20 0.20 1.0"/>
  97 |       </material>
  98 |     </visual>
  99 |     <collision>
 100 |       <geometry>
 101 |         <box size="0.001 0.001 0.001"  scale="1 1 1"/>
 102 |       </geometry>
 103 |     </collision>
 104 | 
 105 |   </link>
 106 | 
 107 |   <link name="MP_SHOULDER_L">
 108 |     <inertial>
 109 |       <origin xyz="-0.013522619 0.010264050 0.0013935747" />
 110 |       <mass value="0.025913024"/>
 111 |       <inertia ixx="0.0097758165"  ixy="0.0016911839"  ixz="-0.00045174329" iyx="0.0016911839" iyy="0.010511104" iyz="0.00033406955" izx="-0.00045174329" izy="0.00033406955" izz="0.005476798" />
 112 |     </inertial>
 113 |     
 114 |     <visual>
 115 |       <origin xyz="0 0 0" rpy="0 0 0" />
 116 |       <geometry>
 117 |         <!--box size="0.016 0.033 0.02165" /-->
 118 |         <mesh filename="package://darwin_description/meshes/shoulder_l.STL"  scale="1 1 1"/>
 119 |       </geometry>
 120 |       <material name="Grey">
 121 |         <color rgba="0.20 0.20 0.20 1.0"/>
 122 |       </material>
 123 |     </visual>
 124 |     <collision>
 125 |       <geometry>
 126 |         <mesh filename="package://darwin_description/meshes/shoulder_l_coll.stl"  scale="1 1 1"/>
 127 |       </geometry>
 128 |     </collision>
 129 |   </link>
 130 | 
 131 |   <link name="MP_ARM_HIGH_L" >
 132 |     <inertial>
 133 |       <origin xyz="-0.036239 0.000734 0.000660" />
 134 |       <mass value="0.16837715"/>
 135 |       <inertia ixx="0.12202839"  ixy="-0.0020812626"  ixz="-0.00088143449" iyx="-0.0020812626" iyy="0.038088441" iyz="0.0018251448" izx="-0.00088143449" izy="0.0018251448" izz="0.11340830" />
 136 |     </inertial>
 137 |     <visual>
 138 |       <origin xyz="0 0 0" rpy="0 0 0" />
 139 |       <geometry>
 140 |         <!--box size="0.06 0.032 0.035" /-->
 141 |         <mesh filename="package://darwin_description/meshes/arm_high_l.STL"  scale="1 1 1"/>
 142 |       </geometry>
 143 |       <material name="Grey">
 144 |         <color rgba="0.20 0.20 0.20 1.0"/>
 145 |       </material>
 146 |     </visual>
 147 |     <collision>
 148 |       <geometry>
 149 |         <mesh filename="package://darwin_description/meshes/arm_high_l_coll.stl"  scale="1 1 1"/>
 150 |       </geometry>
 151 |     </collision>
 152 |   </link>
 153 | 
 154 |   <link name="MP_ARM_LOW_L" >
 155 |     <inertial>
 156 |       <origin xyz="0.000000 0.000000 0.000000"/>
 157 |       <mass value="0.059288504"/>
 158 |       <inertia ixx="0.086855267"  ixy="0.0053020311"  ixz="0.00043636051" iyx="0.0053020311" iyy="0.021192085" iyz="-0.0064855932" izx="0.00043636051" izy="-0.0064855932" izz="0.086845450" />
 159 |     </inertial>
 160 | 
 161 |     <visual>
 162 |       <origin xyz="0.016 0.016 0" rpy="0 0 0" />
 163 |       <geometry>
 164 |         <box size="0.032 0.032 0.035" />
 165 |       </geometry>
 166 |       <material name="Grey">
 167 |         <color rgba="0.20 0.20 0.20 1.0"/>
 168 |       </material>
 169 |     </visual>
 170 |     <collision>
 171 |       <origin xyz="0.016 0.016 0" rpy="0 0 0" />
 172 |       <geometry>
 173 |         <box size="0.032 0.032 0.035" />
 174 |       </geometry>
 175 |     </collision>
 176 |   </link>
 177 | 
 178 | 
 179 |  <link name="MP_ARM_GRIPPER_FIX_L" >
 180 |     <inertial>
 181 |       <origin xyz="0.045838 -0.013490 0.006666"/>
 182 |       <mass value="0.010"/>
 183 |       <inertia ixx="0.12202839"  ixy="-0.0020812626"  ixz="-0.00088143449" iyx="-0.0020812626" iyy="0.038088441" iyz="0.0018251448" izx="-0.00088143449" izy="0.0018251448" izz="0.11340830" />
 184 |     </inertial>
 185 |     <visual>
 186 |       <origin xyz="0.016 0 0" rpy="0 0 0" />
 187 |       <geometry>
 188 |         <box size="0.064 0.032 0.032" />
 189 |       </geometry>
 190 |       <material name="Grey">
 191 |         <color rgba="0.20 0.20 0.20 1.0"/>
 192 |       </material>
 193 |     </visual>
 194 |     <collision>
 195 |       <origin xyz="0.016 0 0" rpy="0 0 0" />
 196 |       <geometry>
 197 |         <box size="0.064 0.032 0.032" />
 198 |       </geometry>
 199 |     </collision>
 200 |   </link>
 201 | 
 202 |   <link name="MP_ARM_GRIPPER_FIX_DUMMY_L" >
 203 |     <inertial>
 204 |       <origin xyz="0 0 0"/>
 205 |       <mass value="0.010"/>
 206 |       <inertia ixx="0.12202839"  ixy="-0.0020812626"  ixz="-0.00088143449" iyx="-0.0020812626" iyy="0.038088441" iyz="0.0018251448" izx="-0.00088143449" izy="0.0018251448" izz="0.11340830" />
 207 |     </inertial> 
 208 |     <visual>
 209 |       <origin xyz="0 0 0" rpy="0 0 0" />
 210 |       <geometry>
 211 |         <box size="0.032 0.005 0.032" />
 212 |       </geometry>
 213 |       <material name="Grey">
 214 |         <color rgba="0.20 0.20 0.20 1.0"/>
 215 |       </material>
 216 |     </visual>
 217 |     <collision>
 218 |       <geometry>
 219 |         <box size="0.032 0.005 0.032" />
 220 |       </geometry>
 221 |     </collision>
 222 |   </link>
 223 | 
 224 |   <link name="MP_ARM_GRIPPER_MOV_L" >
 225 |     <inertial>
 226 |       <origin xyz="0.000000 0.000000 0.000000"/>
 227 |       <mass value="0.010"/>
 228 |       <inertia ixx="0.12202839"  ixy="-0.0020812626"  ixz="-0.00088143449" iyx="-0.0020812626" iyy="0.038088441" iyz="0.0018251448" izx="-0.00088143449" izy="0.0018251448" izz="0.11340830" />
 229 |     </inertial>
 230 |     <visual name="VIS_MP_ARM_GRIPPER_MOV_L">
 231 |       <origin xyz="0.016 0 0" rpy="0 0 0" />
 232 |       <geometry>
 233 |         <box size="0.032 0.005 0.032" />
 234 |       </geometry>
 235 |       <material name="Grey">
 236 |         <color rgba="0.20 0.20 0.20 1.0"/>
 237 |       </material>
 238 |     </visual>
 239 |     <collision name="COL_MP_ARM_GRIPPER_MOV_L">
 240 |       <origin xyz="0.016 0 0" rpy="0 0 0" />
 241 |       <geometry>
 242 |         <box size="0.032 0.005 0.032" />
 243 |       </geometry>
 244 |     </collision>
 245 | 
 246 |     <visual name="VIS_MP_ARM_GRIPPER_MOV_EXT_L">
 247 |       <origin xyz="0.031 -0.0025 0" rpy="0 0 0" />
 248 |       <geometry>
 249 |         <box size="0.002 0.01 0.032" />
 250 |       </geometry>
 251 |       <material name="Grey">
 252 |         <color rgba="0.20 0.20 0.20 1.0"/>
 253 |       </material>
 254 |     </visual>
 255 |     <collision name="COL_MP_ARM_GRIPPER_MOV_EXT_L">
 256 |       <origin xyz="0.031 -0.0025 0" rpy="0 0 0" />
 257 |       <geometry>
 258 |         <box size="0.002 0.01 0.032" />
 259 |       </geometry>
 260 |     </collision>
 261 | 
 262 | 
 263 |   </link>
 264 | 
 265 |   <link name="MP_BACK_R">
 266 |     <inertial>
 267 |       <origin xyz="0 0 0" />
 268 |       <mass value="0.010"/>
 269 |       <inertia ixx="3.1081800"  ixy="-0.25460189"  ixz="2.0318174" iyy="6.3787776" iyz="0.16417863" izz="5.3316425" />
 270 |     </inertial>
 271 |     
 272 |     <visual>
 273 |       <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
 274 |       <geometry>
 275 |         <box size="0.001 0.001 0.001" />
 276 |       </geometry>
 277 |       <material name="Grey">
 278 |         <color rgba="0.20 0.20 0.20 1.0"/>
 279 |       </material>
 280 |     </visual>
 281 |     <collision>
 282 |       <geometry>
 283 |         <box size="0.001 0.001 0.001" />
 284 |       </geometry>
 285 |     </collision>
 286 |     
 287 |   </link>
 288 | 
 289 |   <link name="MP_SHOULDER_R" >
 290 |     <inertial>
 291 |       <origin xyz="-0.013523 0.010264 0.001394" />
 292 |       <mass value="0.025913024"/>
 293 |       <inertia ixx="0.0097758165"  ixy="0.0016911839"  ixz="-0.00045174329" iyx="0.0016911839" iyy="0.010511104" iyz="0.00033406955" izx="-0.00045174329" izy="0.00033406955" izz="0.005476798" />
 294 |     </inertial>
 295 |     <visual>
 296 |       <origin xyz="0 0 0" rpy="0 0 3.14" />
 297 |       <geometry>
 298 |         <!--box size="0.016 0.033 0.02165" /-->
 299 |         <mesh filename="package://darwin_description/meshes/shoulder_r.STL"  scale="1 1 1"/>
 300 |       </geometry>
 301 |       <material name="Grey">
 302 |         <color rgba="0.20 0.20 0.20 1.0"/>
 303 |       </material>
 304 |     </visual>
 305 |     <collision>
 306 |       <origin xyz="0 0 0" rpy="0 0 3.14" />
 307 |       <geometry>
 308 |         <mesh filename="package://darwin_description/meshes/shoulder_r_coll.stl"  scale="1 1 1"/>
 309 |       </geometry>
 310 |     </collision>
 311 |   </link>
 312 | 
 313 |   <link name="MP_ARM_HIGH_R" >
 314 |     <inertial>
 315 |       <origin xyz="-0.036239 0.000734 -0.000660" />
 316 |       <mass value="0.16837715"/>
 317 |       <inertia ixx="0.12202839"  ixy="-0.0020812626"  ixz="-0.00088143449" iyx="-0.0020812626" iyy="0.038088441" iyz="0.0018251448" izx="-0.00088143449" izy="0.0018251448" izz="0.11340830" />
 318 |     </inertial>
 319 |     <visual>
 320 |       <origin xyz="0 0 0" rpy="3.14 0 0" />
 321 |       <geometry>
 322 |         <!--box size="0.06 0.032 0.035"/-->
 323 |         <mesh filename="package://darwin_description/meshes/arm_high_r.STL"  scale="1 1 1"/>
 324 |       </geometry>
 325 |       <material name="Grey">
 326 |         <color rgba="0.20 0.20 0.20 1.0"/>
 327 |       </material>
 328 |     </visual>
 329 |     <collision>
 330 |       <geometry>
 331 |         <mesh filename="package://darwin_description/meshes/arm_high_r_coll.stl"  scale="1 1 1"/>
 332 |       </geometry>
 333 |     </collision>
 334 |   </link>
 335 | 
 336 |   <link name="MP_ARM_LOW_R" >
 337 |     <inertial>
 338 |       <origin xyz="0.000000 0.000000 0.000000" />
 339 |       <mass value="0.059288504"/>
 340 |       <inertia ixx="0.086855267"  ixy="0.0053020311"  ixz="0.00043636051" iyx="0.0053020311" iyy="0.021192085" iyz="-0.0064855932" izx="0.00043636051" izy="-0.0064855932" izz="0.086845450" />
 341 |     </inertial>
 342 | 
 343 |     <visual>
 344 |       <origin xyz="0.016 -0.016 0" rpy="0 0 0" />
 345 |       <geometry>
 346 |         <box size="0.032 0.032 0.035" />
 347 |       </geometry>
 348 |       <material name="Grey">
 349 |         <color rgba="0.20 0.20 0.20 1.0"/>
 350 |       </material>
 351 |     </visual>
 352 |     <collision>
 353 |       <origin xyz="0.016 -0.016 0" rpy="0 0 0" />
 354 |       <geometry>
 355 |         <box size="0.032 0.032 0.035" />
 356 |       </geometry>
 357 |     </collision>
 358 |   </link>
 359 | 
 360 |   <link name="MP_ARM_GRIPPER_FIX_R" >
 361 |     <inertial>
 362 |       <origin xyz="0.045838 -0.013490 0.006666"/>
 363 |       <mass value="0.010"/>
 364 |       <inertia ixx="0.12202839"  ixy="-0.0020812626"  ixz="-0.00088143449" iyx="-0.0020812626" iyy="0.038088441" iyz="0.0018251448" izx="-0.00088143449" izy="0.0018251448" izz="0.11340830" />
 365 |     </inertial>
 366 |     <visual>
 367 |       <origin xyz="0.016 0 0" rpy="0 0 0" />
 368 |       <geometry>
 369 |         <box size="0.064 0.032 0.032" />
 370 |       </geometry>
 371 |       <material name="Grey">
 372 |         <color rgba="0.20 0.20 0.20 1.0"/>
 373 |       </material>
 374 |     </visual>
 375 |     <collision>
 376 |       <origin xyz="0.016 0 0" rpy="0 0 0" />
 377 |       <geometry>
 378 |         <box size="0.064 0.032 0.032" />
 379 |       </geometry>
 380 |     </collision>
 381 |   </link>
 382 | 
 383 |   <link name="MP_ARM_GRIPPER_FIX_DUMMY_R" >
 384 |     <inertial>
 385 |       <origin xyz="0 0 0"/>
 386 |       <mass value="0.010"/>
 387 |       <inertia ixx="0.12202839"  ixy="-0.0020812626"  ixz="-0.00088143449" iyx="-0.0020812626" iyy="0.038088441" iyz="0.0018251448" izx="-0.00088143449" izy="0.0018251448" izz="0.11340830" />
 388 |     </inertial> 
 389 |     <visual>
 390 |       <origin xyz="0 0 0" rpy="0 0 0" />
 391 |       <geometry>
 392 |         <box size="0.032 0.005 0.032" />
 393 |       </geometry>
 394 |       <material name="Grey">
 395 |         <color rgba="0.20 0.20 0.20 1.0"/>
 396 |       </material>
 397 |     </visual>
 398 |     <collision>
 399 |       <geometry>
 400 |         <box size="0.032 0.005 0.032" />
 401 |       </geometry>
 402 |     </collision>
 403 |   </link>
 404 | 
 405 |   <link name="MP_ARM_GRIPPER_MOV_R" >
 406 |     <inertial>
 407 |       <origin xyz="0.000000 0.000000 0.000000"/>
 408 |       <mass value="0.010"/>
 409 |       <inertia ixx="0.12202839"  ixy="-0.0020812626"  ixz="-0.00088143449" iyx="-0.0020812626" iyy="0.038088441" iyz="0.0018251448" izx="-0.00088143449" izy="0.0018251448" izz="0.11340830" />
 410 |     </inertial>
 411 |     <visual name="VIS_MP_ARM_GRIPPER_MOV_R">
 412 |       <origin xyz="0.016 0 0" rpy="0 0 0" />
 413 |       <geometry>
 414 |         <box size="0.032 0.005 0.032" />
 415 |       </geometry>
 416 |       <material name="Grey">
 417 |         <color rgba="0.20 0.20 0.20 1.0"/>
 418 |       </material>
 419 |     </visual>
 420 |     <collision name="COL_MP_ARM_GRIPPER_MOV_R">
 421 |       <origin xyz="0.016 0 0" rpy="0 0 0" />
 422 |       <geometry>
 423 |         <box size="0.032 0.005 0.032" />
 424 |       </geometry>
 425 |     </collision>
 426 | 
 427 |     <visual name="VIS_MP_ARM_GRIPPER_MOV_EXT_R">
 428 |       <origin xyz="0.031 -0.0025 0" rpy="0 0 0" />
 429 |       <geometry>
 430 |         <box size="0.002 0.01 0.032" />
 431 |       </geometry>
 432 |       <material name="Grey">
 433 |         <color rgba="0.20 0.20 0.20 1.0"/>
 434 |       </material>
 435 |     </visual>
 436 |     <collision name="COL_MP_ARM_GRIPPER_MOV_EXT_R">
 437 |       <origin xyz="0.031 -0.0025 0" rpy="0 0 0" />
 438 |       <geometry>
 439 |         <box size="0.002 0.01 0.032" />
 440 |       </geometry>
 441 |     </collision>
 442 | 
 443 | 
 444 |   </link>
 445 | 
 446 |   <link name="MP_PELVIS_L" >
 447 |     <inertial>
 448 |       <origin xyz="0.000000 0.000480 0.018437" />
 449 |       <mass value="0.167"/>
 450 |       <inertia ixx="0.12259691"  ixy="0.00071127469"  ixz="0.00081143913" iyx="0.00071127469" iyy="0.11066637" iyz="-0.0071635476" izx="0.00081143913" izy="-0.0071635476" izz="0.041877668" />
 451 |     </inertial>
 452 |     <visual>
 453 |       <origin xyz="0 0 0" rpy="0 0 0" />
 454 |       <geometry>
 455 |         <!--box size="0.045 0.08175 0.028652" /-->
 456 |         <mesh filename="package://darwin_description/meshes/pelvis_l.STL"  scale="1 1 1"/>
 457 |       </geometry>
 458 |       <material name="Grey">
 459 |         <color rgba="0.20 0.20 0.20 1.0"/>
 460 |       </material>
 461 |     </visual>
 462 |     <collision>
 463 |       <geometry>
 464 |         <mesh filename="package://darwin_description/meshes/pelvis_l_coll.stl"  scale="1 1 1"/>
 465 |       </geometry>
 466 |     </collision>
 467 |   </link>
 468 | 
 469 |   <link name="MP_THIGH1_L" >
 470 |     <inertial>
 471 |       <origin xyz="0.000079 0.018242 0.013873" />
 472 |       <mass value="0.11904336"/>
 473 |       <inertia ixx="0.097950272"  ixy="0.0012119368"  ixz="-0.00021223016" iyx="0.00122119368" iyy="0.032848287" iyz="-0.0019474021" izx="-0.00021223016" izy="-0.0019474021" izz="0.11493509" />
 474 |     </inertial>
 475 |     <visual>
 476 |       <origin xyz="0 0 0" rpy="0 0 0" />
 477 |       <geometry>
 478 |         <!--box size="0.001 0.001 0.001"/-->
 479 |         <mesh filename="package://darwin_description/meshes/thigh1_l.STL"  scale="1 1 1"/>
 480 |       </geometry>
 481 |       <material name="Grey">
 482 |         <color rgba="0.20 0.20 0.20 1.0"/>
 483 |       </material>
 484 |     </visual>
 485 |     <collision>
 486 |       <geometry>
 487 |         <mesh filename="package://darwin_description/meshes/thigh1_l_coll.stl"  scale="1 1 1"/>
 488 |       </geometry>
 489 |     </collision>
 490 |   </link>
 491 | 
 492 |   <link name="MP_THIGH2_L" >
 493 |     <inertial>
 494 |       <origin xyz="-0.062965 -0.000323 0.000692" />
 495 |       <mass value="0.11904336"/>
 496 |       <inertia ixx="0.097950272"  ixy="0.0012119368"  ixz="-0.00021223016" iyx="0.00122119368" iyy="0.032848287" iyz="-0.0019474021" izx="-0.00021223016" izy="-0.0019474021" izz="0.11493509" />
 497 |     </inertial>
 498 |     <visual>
 499 |       <origin xyz="0 0 0" rpy="0 0 0" />
 500 |       <geometry>
 501 |         <!--box size="0.093 0.035 0.045"-->
 502 |         <mesh filename="package://darwin_description/meshes/thigh2_l.STL"  scale="1 1 1"/>
 503 |       </geometry>
 504 |       <material name="Grey">
 505 |         <color rgba="0.20 0.20 0.20 1.0"/>
 506 |       </material>
 507 |     </visual>
 508 |     <collision>
 509 |       <geometry>
 510 |         <mesh filename="package://darwin_description/meshes/thigh2_l_coll.stl"  scale="1 1 1"/>
 511 |       </geometry>
 512 |     </collision>
 513 |   </link>
 514 | 
 515 |   <link name="MP_TIBIA_L" >
 516 |     <inertial>
 517 |       <origin xyz="-0.053955 0.006548 -0.000592" />
 518 |       <mass value="0.070309794"/>
 519 |       <inertia ixx="0.093369608"  ixy="-0.00093567395"  ixz="-0.00023992085" iyx="-0.00093567395" iyy="0.046295534" iyz="-0.012858493" izx="-0.00023992085" izy="-0.012858493" izz="0.11351516" />
 520 |     </inertial>
 521 |     <visual>
 522 |       <origin xyz="0 0 0" rpy="0 0 0" />
 523 |       <geometry>
 524 |         <!--box size="0.093 0.035 0.045"/-->
 525 |         <mesh filename="package://darwin_description/meshes/tibia_l.STL"  scale="1 1 1"/>
 526 |       </geometry>
 527 |       <material name="Grey">
 528 |         <color rgba="0.20 0.20 0.20 1.0"/>
 529 |       </material>
 530 |     </visual>
 531 |     <collision>
 532 |       <geometry>
 533 |         <mesh filename="package://darwin_description/meshes/tibia_l_coll.stl"  scale="1 1 1"/>
 534 |       </geometry>
 535 |     </collision>
 536 |   </link>
 537 | 
 538 |   <link name="MP_ANKLE1_L" >
 539 |     <inertial>
 540 |       <origin xyz="-0.000214 -0.018536 0.013873" />
 541 |       <mass value="0.16710792"/>
 542 |       <inertia ixx="0.12079175"  ixy="-0.00079781067"  ixz="-0.00039322246" iyx="-0.00079781067" iyy="0.10885465" iyz="0.0070770117" izx="-0.00039322246" izy="0.0070770117" izz="0.041871103" />
 543 |     </inertial>
 544 |     <visual>
 545 |       <origin xyz="0 0 0" rpy="0 0 0" />
 546 |       <geometry>
 547 |         <!--box size="0.028652 0.08175 0.045"/-->
 548 |         <mesh filename="package://darwin_description/meshes/ankle1_l.STL"  scale="1 1 1"/>
 549 |       </geometry>
 550 |       <material name="Grey">
 551 |         <color rgba="0.20 0.20 0.20 1.0"/>
 552 |       </material>
 553 |     </visual>
 554 |     <collision>
 555 |       <geometry>
 556 |         <mesh filename="package://darwin_description/meshes/ankle1_l_coll.stl"  scale="1 1 1"/>
 557 |       </geometry>
 558 |     </collision>
 559 |   </link>
 560 | 
 561 |   <link name="MP_ANKLE2_L" >
 562 |     <inertial>
 563 |       <origin xyz="-0.025995 -0.009506 -0.000503" />
 564 |       <mass value="0.0794462"/>
 565 |       <inertia ixx="0.12079175"  ixy="-0.00079781067"  ixz="-0.00039322246" iyx="-0.00079781067" iyy="0.10885465" iyz="0.0070770117" izx="-0.00039322246" izy="0.0070770117" izz="0.041871103" />
 566 |     </inertial>
 567 |     <visual>
 568 |       <origin xyz="0 0 0" rpy="0 0 0" />
 569 |       <geometry>
 570 |         <!--box size="0.008 0.066 0.104"/-->
 571 |         <mesh filename="package://darwin_description/meshes/ankle2_l.STL"  scale="1 1 1"/>
 572 |       </geometry>
 573 |       <material name="Grey">
 574 |         <color rgba="0.20 0.20 0.20 1.0"/>
 575 |       </material>
 576 |     </visual>
 577 |     <collision>
 578 |       <geometry>
 579 |         <mesh filename="package://darwin_description/meshes/ankle2_l_coll.stl"  scale="1 1 1"/>
 580 |       </geometry>
 581 |     </collision>
 582 |   </link>
 583 | 
 584 |   <link name="MP_PELVIS_R" >
 585 |     <inertial>
 586 |       <origin xyz="0.000000 0.000480 0.018437" />
 587 |       <mass value="0.197"/>
 588 |       <inertia ixx="0.12259691"  ixy="0.00071127469"  ixz="0.00081143913" iyx="0.00071127469" iyy="0.11066637" iyz="-0.0071635476" izx="0.00081143913" izy="-0.0071635476" izz="0.041877668" />
 589 |     </inertial>
 590 |     <visual>
 591 |       <origin xyz="0 0 0" rpy="0 0 0" />
 592 |       <geometry>
 593 |         <!--box size="0.045 0.08175 0.028652" /-->
 594 |         <mesh filename="package://darwin_description/meshes/pelvis_r.STL"  scale="1 1 1"/>
 595 |       </geometry>
 596 |       <material name="Grey">
 597 |         <color rgba="0.20 0.20 0.20 1.0"/>
 598 |       </material>
 599 |     </visual>
 600 |     <collision>
 601 |       <geometry>
 602 |         <mesh filename="package://darwin_description/meshes/pelvis_r_coll.stl"  scale="1 1 1"/>
 603 |       </geometry>
 604 |     </collision>
 605 |   </link>
 606 | 
 607 |   <link name="MP_THIGH1_R" >
 608 |     <inertial>
 609 |       <origin xyz="0.000079 -0.018242 0.0138735" />
 610 |       <mass value="0.11904336"/>
 611 |       <inertia ixx="0.097950272"  ixy="0.0012119368"  ixz="-0.00021223016" iyx="0.00122119368" iyy="0.032848287" iyz="-0.0019474021" izx="-0.00021223016" izy="-0.0019474021" izz="0.11493509" />
 612 |     </inertial>
 613 |     <visual>
 614 |       <origin xyz="0 0 0" rpy="0 0 0" />
 615 |       <geometry>
 616 |         <!--box size="0.001 0.001 0.001"/-->
 617 |         <mesh filename="package://darwin_description/meshes/thigh1_r.STL"  scale="1 1 1"/>
 618 |       </geometry>
 619 |       <material name="Grey">
 620 |         <color rgba="0.20 0.20 0.20 1.0"/>
 621 |       </material>
 622 |     </visual>
 623 |     <collision>
 624 |       <geometry>
 625 |         <mesh filename="package://darwin_description/meshes/thigh1_r_coll.stl"  scale="1 1 1"/>
 626 |       </geometry>
 627 |     </collision>
 628 | 
 629 |   </link>
 630 | 
 631 |   <link name="MP_THIGH2_R" >
 632 |     <inertial>
 633 |       <origin xyz="0.062965 -0.000323 0.000692" />
 634 |       <mass value="0.11904336"/>
 635 |       <inertia ixx="0.097950272"  ixy="0.0012119368"  ixz="-0.00021223016" iyx="0.00122119368" iyy="0.032848287" iyz="-0.0019474021" izx="-0.00021223016" izy="-0.0019474021" izz="0.11493509" />
 636 |     </inertial>
 637 |     <visual>
 638 |       <origin xyz="0 0 0" rpy="0 0 0" />
 639 |       <geometry>
 640 |         <!--box size="0.093 0.035 0.045"/-->
 641 |         <mesh filename="package://darwin_description/meshes/thigh2_r.STL"  scale="1 1 1"/>
 642 |       </geometry>
 643 |       <material name="Grey">
 644 |         <color rgba="0.20 0.20 0.20 1.0"/>
 645 |       </material>
 646 |     </visual>
 647 |     <collision>
 648 |       <geometry>
 649 |         <mesh filename="package://darwin_description/meshes/thigh2_r_coll.stl"  scale="1 1 1"/>
 650 |       </geometry>
 651 |     </collision>
 652 | 
 653 |   </link>
 654 | 
 655 |   <link name="MP_TIBIA_R" >
 656 |     <inertial>
 657 |       <origin xyz="0.053955 0.006548 -0.000592" />
 658 |       <mass value="0.070309794"/>
 659 |       <inertia ixx="0.093369608"  ixy="-0.00093567395"  ixz="-0.00023992085" iyx="-0.00093567395" iyy="0.046295534" iyz="-0.012858493" izx="-0.00023992085" izy="-0.012858493" izz="0.11351516" />
 660 |     </inertial>
 661 |     <visual>
 662 |       <origin xyz="0 0 0" rpy="0 0 0" />
 663 |       <geometry>
 664 |         <!--box size="0.093 0.035 0.045"/-->
 665 |         <mesh filename="package://darwin_description/meshes/tibia_r.STL"  scale="1 1 1"/>
 666 |       </geometry>
 667 |       <material name="Grey">
 668 |         <color rgba="0.20 0.20 0.20 1.0"/>
 669 |       </material>
 670 |     </visual>
 671 |     <collision>
 672 |       <geometry>
 673 |         <mesh filename="package://darwin_description/meshes/tibia_r_coll.stl"  scale="1 1 1"/>
 674 |       </geometry>
 675 |     </collision>
 676 | 
 677 |   </link>
 678 | 
 679 |   <link name="MP_ANKLE1_R" >
 680 |     <inertial>
 681 |       <origin xyz="-0.000214 -0.018536 -0.013873" />
 682 |       <mass value="0.16710792"/>
 683 |       <inertia ixx="0.12079175"  ixy="-0.00079781067"  ixz="-0.00039322246" iyx="-0.00079781067" iyy="0.10885465" iyz="0.0070770117" izx="-0.00039322246" izy="0.0070770117" izz="0.041871103" />
 684 |     </inertial>
 685 |     <visual>
 686 |       <origin xyz="0 0 0" rpy="0 0 0" />
 687 |       <geometry>
 688 |         <!--box size="0.028652 0.08175 0.045"/-->
 689 |         <mesh filename="package://darwin_description/meshes/ankle1_r.STL"  scale="1 1 1"/>
 690 |       </geometry>
 691 |       <material name="Grey">
 692 |         <color rgba="0.20 0.20 0.20 1.0"/>
 693 |       </material>
 694 |     </visual>
 695 |     <collision>
 696 |       <geometry>
 697 |         <mesh filename="package://darwin_description/meshes/ankle1_r_coll.stl"  scale="1 1 1"/>
 698 |       </geometry>
 699 |     </collision>
 700 | 
 701 |   </link>
 702 | 
 703 |   <link name="MP_ANKLE2_R" >
 704 |     <inertial>
 705 |       <origin xyz="0.025995 -0.009506 -0.000503" />
 706 |       <mass value="0.0794462"/>
 707 |       <inertia ixx="0.12079175"  ixy="-0.00079781067"  ixz="-0.00039322246" iyx="-0.00079781067" iyy="0.10885465" iyz="0.0070770117" izx="-0.00039322246" izy="0.0070770117" izz="0.041871103" />
 708 |     </inertial>
 709 |     <visual>
 710 |       <origin xyz="0 0 0" rpy="0 0 0" />
 711 |       <geometry>
 712 |         <!--box size="0.008 0.066 0.104"/-->
 713 |         <mesh filename="package://darwin_description/meshes/ankle2_r.STL"  scale="1 1 1"/>
 714 |       </geometry>
 715 |       <material name="Grey">
 716 |         <color rgba="0.20 0.20 0.20 1.0"/>
 717 |       </material>
 718 |     </visual>
 719 |     <collision>
 720 |       <geometry>
 721 |         <mesh filename="package://darwin_description/meshes/ankle2_r_coll.stl"  scale="1 1 1"/>
 722 |       </geometry>
 723 |     </collision>
 724 | 
 725 |   </link>
 726 |   
 727 |   <link name="MP_PMDCAMBOARD" >
 728 |     <!--
 729 |     <visual>
 730 |       <origin xyz="0 0 0" rpy="0 0 0" />
 731 |       <geometry>
 732 |         <box size="0.032 0.005 0.032" />
 733 |       </geometry>
 734 |       <material name="Grey">
 735 |         <color rgba="0.20 0.20 0.20 1.0"/>
 736 |       </material>
 737 |     </visual>
 738 |     -->
 739 |   </link>
 740 |   
 741 |   <joint name="j_camboard" type="fixed">
 742 |   <parent link="MP_HEAD"/>
 743 |   <child link="MP_PMDCAMBOARD"/>
 744 |   <origin xyz="0 0 0.0235" rpy="3.14159 1.5707963 0" />
 745 |   <axis xyz="0 0 1" />
 746 |   <limit effort="2.8" velocity="5.6548668" lower="-2.6179939" upper="2.6179939" />
 747 |   </joint>
 748 |   
 749 |   <joint name="j_pan" type="revolute">
 750 |     <parent link="MP_BODY"/>
 751 |     <child link="MP_NECK"/>
 752 |     <origin xyz="0 0 0.0235" rpy="0 0 1.5707963" />
 753 |     <axis xyz="0 0 1" />
 754 |     <limit effort="2.8" velocity="5.6548668" lower="-2.6179939" upper="2.6179939" />
 755 |   </joint>
 756 | 
 757 |   <joint name="j_tilt" type="revolute">
 758 |     <parent link="MP_NECK"/>
 759 |     <child link="MP_HEAD"/>
 760 |     <origin xyz="0 0 0.02715" rpy="-1.5707963 0 1.5707963" />
 761 |     <axis xyz="0 0 1" />
 762 |     <limit effort="2.8" velocity="5.6548668" lower="-2.6179939" upper="2.6179939" />
 763 |   </joint>
 764 | 
 765 |   <joint name="j_back_l" type="fixed">
 766 |     <parent link="MP_BODY"/>
 767 |     <child link="MP_BACK_L"/>
 768 |     <origin xyz="0 0.06035 0" rpy="-1.5707963 0 0" />
 769 |     <limit effort="2.8" velocity="5.6548668" lower="-2.6179939" upper="2.6179939" />
 770 |   </joint>
 771 | 
 772 |   <joint name="j_shoulder_l" type="revolute">
 773 |     <parent link="MP_BACK_L"/>
 774 |     <child link="MP_SHOULDER_L"/>
 775 |     <origin xyz="0 0 0" rpy="0 0 -1.5707963" />
 776 |     <axis xyz="0 0 1" />
 777 |     <limit effort="2.8" velocity="5.6548668" lower="-2.6179939" upper="2.6179939" />
 778 |   </joint>
 779 | 
 780 |   <joint name="j_high_arm_l" type="revolute">
 781 |     <parent link="MP_SHOULDER_L"/>
 782 |     <child link="MP_ARM_HIGH_L"/>
 783 |     <origin xyz="-0.016 0 0.02165" rpy="1.5707963 1.5707963 0" />
 784 |     <axis xyz="0 0 1" />
 785 |     <limit effort="2.8" velocity="5.648668" lower="-2.6179939" upper="2.6179939" />
 786 |   </joint>
 787 | 
 788 |   <joint name="j_low_arm_l" type="revolute">
 789 |     <parent link="MP_ARM_HIGH_L"/>
 790 |     <child link="MP_ARM_LOW_L"/>
 791 |     <origin xyz="-0.06 0 -0.016" rpy="-1.5707963 3.14159 0" />
 792 |     <axis xyz="0 0 1" />
 793 |     <limit effort="2.8" velocity="5.6548668" lower="-2.6179939" upper="2.6179939" />
 794 |   </joint>
 795 | 
 796 |   <joint name="j_wrist_l" type="revolute">
 797 |     <parent link="MP_ARM_LOW_L"/>
 798 |     <child link="MP_ARM_GRIPPER_FIX_L"/>
 799 |     <origin xyz="0.048 0.016 0" rpy="1.5707963 0 0" />
 800 |     <axis xyz="0 0 1" />
 801 |     <limit effort="2.8" velocity="5.6548668" lower="-2.6179939" upper="2.6179939" />
 802 |   </joint>
 803 | 
 804 |   <joint name="j_wrist_dummy_l" type="fixed">
 805 |     <parent link="MP_ARM_GRIPPER_FIX_L"/>
 806 |     <child link="MP_ARM_GRIPPER_FIX_DUMMY_L"/>
 807 |     <origin xyz="0.064 -0.01 0" rpy="0 0 0" />
 808 |   </joint>
 809 | 
 810 |   <joint name="j_gripper_l" type="revolute">
 811 |     <parent link="MP_ARM_GRIPPER_FIX_L"/>
 812 |     <child link="MP_ARM_GRIPPER_MOV_L"/>
 813 |     <origin xyz="0.048 0.01 0" rpy="0 0 1.0" />
 814 |     <axis xyz="0 0 1" />
 815 |     <limit effort="2.8" velocity="5.6548668" lower="-2.6179939" upper="2.6179939" />
 816 |   </joint>
 817 | 
 818 |   <joint name="j_back_r" type="fixed">
 819 |     <parent link="MP_BODY"/>
 820 |     <child link="MP_BACK_R"/>
 821 |     <origin xyz="0 -0.06035 0" rpy="1.5707963 0 0" />
 822 |     <limit effort="2.8" velocity="5.6548668" lower="-2.6179939" upper="2.6179939" />
 823 |   </joint>
 824 | 
 825 |   <joint name="j_shoulder_r" type="revolute">
 826 |     <parent link="MP_BACK_R"/>
 827 |     <child link="MP_SHOULDER_R"/>
 828 |     <origin xyz="0 0 0" rpy="0 0 -1.5707963" />
 829 |     <axis xyz="0 0 1" />
 830 |     <limit effort="2.8" velocity="5.6548668" lower="-2.6179939" upper="2.6179939" />
 831 |   </joint>
 832 | 
 833 |   <joint name="j_high_arm_r" type="revolute">
 834 |     <parent link="MP_SHOULDER_R"/>
 835 |     <child link="MP_ARM_HIGH_R"/>
 836 |     <origin xyz="0.016 0 0.02165" rpy="-1.5707963 1.5707963 0" />
 837 |     <axis xyz="0 0 1" />
 838 |     <limit effort="2.8" velocity="5.648668" lower="-2.6179939" upper="2.6179939" />
 839 |   </joint>
 840 | 
 841 |   <joint name="j_low_arm_r" type="revolute">
 842 |     <parent link="MP_ARM_HIGH_R"/>
 843 |     <child link="MP_ARM_LOW_R"/>
 844 |     <origin xyz="-0.06 0 0.016" rpy="-1.5707963 3.14159 0" />
 845 |     <axis xyz="0 0 1" />
 846 |     <limit effort="2.8" velocity="5.6548668" lower="-1.635" upper="2.6179939" />
 847 |   </joint>
 848 | 
 849 |   <joint name="j_wrist_r" type="revolute">
 850 |     <parent link="MP_ARM_LOW_R"/>
 851 |     <child link="MP_ARM_GRIPPER_FIX_R"/>
 852 |     <origin xyz="0.048 -0.016 0" rpy="1.5707963 0 0" />
 853 |     <axis xyz="0 0 1" />
 854 |     <limit effort="2.8" velocity="5.6548668" lower="-2.6179939" upper="2.6179939" />
 855 |   </joint>
 856 | 
 857 |   <joint name="j_wrist_dummy_r" type="fixed">
 858 |     <parent link="MP_ARM_GRIPPER_FIX_R"/>
 859 |     <child link="MP_ARM_GRIPPER_FIX_DUMMY_R"/>
 860 |     <origin xyz="0.064 -0.01 0" rpy="0 0 0" />
 861 |   </joint>
 862 | 
 863 |   <joint name="j_gripper_r" type="revolute">
 864 |     <parent link="MP_ARM_GRIPPER_FIX_R"/>
 865 |     <child link="MP_ARM_GRIPPER_MOV_R"/>
 866 |     <origin xyz="0.048 0.01 0" rpy="0 0 1.0" />
 867 |     <axis xyz="0 0 1" />
 868 |     <limit effort="2.8" velocity="5.6548668" lower="-2.6179939" upper="2.6179939" />
 869 |   </joint>
 870 | 
 871 |   <joint name="j_pelvis_l" type="revolute">
 872 |     <parent link="MP_BODY"/>
 873 |     <child link="MP_PELVIS_L"/>
 874 |     <origin xyz="-0.005 0.037 -0.09355" rpy="0 3.14159 -1.5707963" />
 875 |     <axis xyz="0 0 1" />
 876 |     <limit effort="10" velocity="5.6548668" lower="-2.6179939" upper="2.6179939" />
 877 |   </joint>
 878 | 
 879 |   <joint name="j_thigh1_l" type="revolute">
 880 |     <parent link="MP_PELVIS_L"/>
 881 |     <child link="MP_THIGH1_L"/>
 882 |     <origin xyz="0 0 0.028652" rpy="1.5707963 0 0" />
 883 |     <axis xyz="0 0 1" />
 884 |     <limit effort="10" velocity="5.6548668" lower="-2.6179939" upper="2.6179939" />
 885 |   </joint>
 886 | 
 887 |   <joint name="j_thigh2_l" type="revolute">
 888 |     <parent link="MP_THIGH1_L"/>
 889 |     <child link="MP_THIGH2_L"/>
 890 |     <origin xyz="0 0 0" rpy="1.5707963 0 -1.5707963" />
 891 |     <axis xyz="0 0 1" />
 892 |     <limit effort="10" velocity="5.6548668" lower="-2.6179939" upper="2.6179939" />
 893 |   </joint>
 894 | 
 895 |   <joint name="j_tibia_l" type="revolute">
 896 |     <parent link="MP_THIGH2_L"/>
 897 |     <child link="MP_TIBIA_L"/>
 898 |     <origin xyz="-0.093 0 0" rpy="0 0 0" />
 899 |     <axis xyz="0 0 1" />
 900 |     <limit effort="10" velocity="5.6548668" lower="-2.6179939" upper="2.6179939" />
 901 |   </joint>
 902 | 
 903 |   <joint name="j_ankle1_l" type="revolute">
 904 |     <parent link="MP_TIBIA_L"/>
 905 |     <child link="MP_ANKLE1_L"/>
 906 |     <origin xyz="-0.093 0 0" rpy="3.14159 0 0" />
 907 |     <axis xyz="0 0 1" />
 908 |     <limit effort="10" velocity="5.6548668" lower="-2.6179939" upper="2.6179939" />
 909 |   </joint>
 910 | 
 911 |   <joint name="j_ankle2_l" type="revolute">
 912 |     <parent link="MP_ANKLE1_L"/>
 913 |     <child link="MP_ANKLE2_L"/>
 914 |     <origin xyz="0 0 0" rpy="-1.5707963 0 0" />
 915 |     <axis xyz="0 0 1" />
 916 |     <limit effort="10" velocity="5.6548668" lower="-2.6179939" upper="2.6179939" />
 917 |   </joint>
 918 | 
 919 |   <joint name="j_pelvis_r" type="revolute">
 920 |     <parent link="MP_BODY"/>
 921 |     <child link="MP_PELVIS_R"/>
 922 |     <origin xyz="-0.005 -0.037 -0.09355" rpy="0 3.14159 1.5707963" />
 923 |     <axis xyz="0 0 1" />
 924 |     <limit effort="10" velocity="5.6548668" lower="-2.6179939" upper="2.6179939" />
 925 |   </joint>
 926 | 
 927 |   <joint name="j_thigh1_r" type="revolute">
 928 |     <parent link="MP_PELVIS_R"/>
 929 |     <child link="MP_THIGH1_R"/>
 930 |     <origin xyz="0 0 0.028652" rpy="-1.5707963 0 0" />
 931 |     <axis xyz="0 0 1" />
 932 |     <limit effort="10" velocity="5.6548668" lower="-2.6179939" upper="2.6179939" />
 933 |   </joint>
 934 | 
 935 |   <joint name="j_thigh2_r" type="revolute">
 936 |     <parent link="MP_THIGH1_R"/>
 937 |     <child link="MP_THIGH2_R"/>
 938 |     <origin xyz="0 0 0" rpy="1.5707963 0 -1.5707963" />
 939 |     <axis xyz="0 0 1" />
 940 |     <limit effort="10" velocity="5.6548668" lower="-2.6179939" upper="2.6179939" />
 941 |   </joint>
 942 | 
 943 |   <joint name="j_tibia_r" type="revolute">
 944 |     <parent link="MP_THIGH2_R"/>
 945 |     <child link="MP_TIBIA_R"/>
 946 |     <origin xyz="0.093 0 0" rpy="0 0 0" />
 947 |     <axis xyz="0 0 1" />
 948 |     <limit effort="10" velocity="5.6548668" lower="-2.6179939" upper="2.6179939" />
 949 |   </joint>
 950 | 
 951 |   <joint name="j_ankle1_r" type="revolute">
 952 |     <parent link="MP_TIBIA_R"/>
 953 |     <child link="MP_ANKLE1_R"/>
 954 |     <origin xyz="0.093 0 0" rpy="3.14159 0 0" />
 955 |     <axis xyz="0 0 1" />
 956 |     <limit effort="10" velocity="5.6548668" lower="-2.6179939" upper="2.6179939" />
 957 |   </joint>
 958 | 
 959 |   <joint name="j_ankle2_r" type="revolute">
 960 |     <parent link="MP_ANKLE1_R"/>
 961 |     <child link="MP_ANKLE2_R"/>
 962 |     <origin xyz="0 0 0" rpy="-1.5707963 0 0" />
 963 |     <axis xyz="0 0 1" />
 964 |     <limit effort="10" velocity="5.6548668" lower="-2.6179939" upper="2.6179939" />
 965 |   </joint>
 966 |   
 967 |   <gazebo>
 968 |     <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
 969 |       <robotNamespace>/darwin</robotNamespace>
 970 |     </plugin>
 971 |   </gazebo>
 972 |   
 973 |   
 974 |   
 975 | 
 976 |    <transmission name="t_j_pan">
 977 |     <type>transmission_interface/SimpleTransmission</type>
 978 |     <joint name="j_pan">
 979 |         <hardwareInterface>EffortJointInterface</hardwareInterface>
 980 |     </joint>
 981 |     <actuator name="m_j_pan">
 982 |       <hardwareInterface>EffortJointInterface</hardwareInterface>
 983 |       <mechanicalReduction>1</mechanicalReduction>
 984 |     </actuator>
 985 |   </transmission>
 986 |   
 987 |   
 988 |    <transmission name="t_j_tilt">
 989 |     <type>transmission_interface/SimpleTransmission</type>
 990 |     <joint name="j_tilt">
 991 |         <hardwareInterface>EffortJointInterface</hardwareInterface>
 992 |     </joint>
 993 |     <actuator name="m_j_tilt">
 994 |       <hardwareInterface>EffortJointInterface</hardwareInterface>
 995 |       <mechanicalReduction>1</mechanicalReduction>
 996 |     </actuator>
 997 |   </transmission>
 998 |   
 999 |   
1000 |    <transmission name="t_j_shoulder_l">
1001 |     <type>transmission_interface/SimpleTransmission</type>
1002 |     <joint name="j_shoulder_l">
1003 |         <hardwareInterface>EffortJointInterface</hardwareInterface>
1004 |     </joint>
1005 |     <actuator name="m_j_shoulder_l">
1006 |       <hardwareInterface>EffortJointInterface</hardwareInterface>
1007 |       <mechanicalReduction>1</mechanicalReduction>
1008 |     </actuator>
1009 |   </transmission>
1010 |   
1011 |   
1012 |    <transmission name="t_j_high_arm_l">
1013 |     <type>transmission_interface/SimpleTransmission</type>
1014 |     <joint name="j_high_arm_l">
1015 |         <hardwareInterface>EffortJointInterface</hardwareInterface>
1016 |     </joint>
1017 |     <actuator name="m_j_high_arm_l">
1018 |       <hardwareInterface>EffortJointInterface</hardwareInterface>
1019 |       <mechanicalReduction>1</mechanicalReduction>
1020 |     </actuator>
1021 |   </transmission>
1022 |   
1023 |   
1024 |    <transmission name="t_j_low_arm_l">
1025 |     <type>transmission_interface/SimpleTransmission</type>
1026 |     <joint name="j_low_arm_l">
1027 |         <hardwareInterface>EffortJointInterface</hardwareInterface>
1028 |     </joint>
1029 |     <actuator name="m_j_low_arm_l">
1030 |       <hardwareInterface>EffortJointInterface</hardwareInterface>
1031 |       <mechanicalReduction>1</mechanicalReduction>
1032 |     </actuator>
1033 |   </transmission>
1034 |   
1035 |   
1036 |    <transmission name="t_j_wrist_l">
1037 |     <type>transmission_interface/SimpleTransmission</type>
1038 |     <joint name="j_wrist_l">
1039 |         <hardwareInterface>EffortJointInterface</hardwareInterface>
1040 |     </joint>
1041 |     <actuator name="m_j_wrist_l">
1042 |       <hardwareInterface>EffortJointInterface</hardwareInterface>
1043 |       <mechanicalReduction>1</mechanicalReduction>
1044 |     </actuator>
1045 |   </transmission>
1046 |   
1047 |   
1048 |    <transmission name="t_j_gripper_l">
1049 |     <type>transmission_interface/SimpleTransmission</type>
1050 |     <joint name="j_gripper_l">
1051 |         <hardwareInterface>EffortJointInterface</hardwareInterface>
1052 |     </joint>
1053 |     <actuator name="m_j_gripper_l">
1054 |       <hardwareInterface>EffortJointInterface</hardwareInterface>
1055 |       <mechanicalReduction>1</mechanicalReduction>
1056 |     </actuator>
1057 |   </transmission>
1058 |   
1059 |   
1060 |    <transmission name="t_j_shoulder_r">
1061 |     <type>transmission_interface/SimpleTransmission</type>
1062 |     <joint name="j_shoulder_r">
1063 |         <hardwareInterface>EffortJointInterface</hardwareInterface>
1064 |     </joint>
1065 |     <actuator name="m_j_shoulder_r">
1066 |       <hardwareInterface>EffortJointInterface</hardwareInterface>
1067 |       <mechanicalReduction>1</mechanicalReduction>
1068 |     </actuator>
1069 |   </transmission>
1070 |   
1071 |   
1072 |    <transmission name="t_j_high_arm_r">
1073 |     <type>transmission_interface/SimpleTransmission</type>
1074 |     <joint name="j_high_arm_r">
1075 |         <hardwareInterface>EffortJointInterface</hardwareInterface>
1076 |     </joint>
1077 |     <actuator name="m_j_high_arm_r">
1078 |       <hardwareInterface>EffortJointInterface</hardwareInterface>
1079 |       <mechanicalReduction>1</mechanicalReduction>
1080 |     </actuator>
1081 |   </transmission>
1082 |   
1083 |   
1084 |    <transmission name="t_j_low_arm_r">
1085 |     <type>transmission_interface/SimpleTransmission</type>
1086 |     <joint name="j_low_arm_r">
1087 |         <hardwareInterface>EffortJointInterface</hardwareInterface>
1088 |     </joint>
1089 |     <actuator name="m_j_low_arm_r">
1090 |       <hardwareInterface>EffortJointInterface</hardwareInterface>
1091 |       <mechanicalReduction>1</mechanicalReduction>
1092 |     </actuator>
1093 |   </transmission>
1094 |   
1095 |   
1096 |    <transmission name="t_j_wrist_r">
1097 |     <type>transmission_interface/SimpleTransmission</type>
1098 |     <joint name="j_wrist_r">
1099 |         <hardwareInterface>EffortJointInterface</hardwareInterface>
1100 |     </joint>
1101 |     <actuator name="m_j_wrist_r">
1102 |       <hardwareInterface>EffortJointInterface</hardwareInterface>
1103 |       <mechanicalReduction>1</mechanicalReduction>
1104 |     </actuator>
1105 |   </transmission>
1106 |   
1107 |   
1108 |    <transmission name="t_j_gripper_r">
1109 |     <type>transmission_interface/SimpleTransmission</type>
1110 |     <joint name="j_gripper_r">
1111 |         <hardwareInterface>EffortJointInterface</hardwareInterface>
1112 |     </joint>
1113 |     <actuator name="m_j_gripper_r">
1114 |       <hardwareInterface>EffortJointInterface</hardwareInterface>
1115 |       <mechanicalReduction>1</mechanicalReduction>
1116 |     </actuator>
1117 |   </transmission>
1118 |   
1119 |   
1120 |    <transmission name="t_j_pelvis_l">
1121 |     <type>transmission_interface/SimpleTransmission</type>
1122 |     <joint name="j_pelvis_l">
1123 |         <hardwareInterface>EffortJointInterface</hardwareInterface>
1124 |     </joint>
1125 |     <actuator name="m_j_pelvis_l">
1126 |       <hardwareInterface>EffortJointInterface</hardwareInterface>
1127 |       <mechanicalReduction>1</mechanicalReduction>
1128 |     </actuator>
1129 |   </transmission>
1130 |   
1131 |   
1132 |    <transmission name="t_j_thigh1_l">
1133 |     <type>transmission_interface/SimpleTransmission</type>
1134 |     <joint name="j_thigh1_l">
1135 |         <hardwareInterface>EffortJointInterface</hardwareInterface>
1136 |     </joint>
1137 |     <actuator name="m_j_thigh1_l">
1138 |       <hardwareInterface>EffortJointInterface</hardwareInterface>
1139 |       <mechanicalReduction>1</mechanicalReduction>
1140 |     </actuator>
1141 |   </transmission>
1142 |   
1143 |   
1144 |    <transmission name="t_j_thigh2_l">
1145 |     <type>transmission_interface/SimpleTransmission</type>
1146 |     <joint name="j_thigh2_l">
1147 |         <hardwareInterface>EffortJointInterface</hardwareInterface>
1148 |     </joint>
1149 |     <actuator name="m_j_thigh2_l">
1150 |       <hardwareInterface>EffortJointInterface</hardwareInterface>
1151 |       <mechanicalReduction>1</mechanicalReduction>
1152 |     </actuator>
1153 |   </transmission>
1154 |   
1155 |   
1156 |    <transmission name="t_j_tibia_l">
1157 |     <type>transmission_interface/SimpleTransmission</type>
1158 |     <joint name="j_tibia_l">
1159 |         <hardwareInterface>EffortJointInterface</hardwareInterface>
1160 |     </joint>
1161 |     <actuator name="m_j_tibia_l">
1162 |       <hardwareInterface>EffortJointInterface</hardwareInterface>
1163 |       <mechanicalReduction>1</mechanicalReduction>
1164 |     </actuator>
1165 |   </transmission>
1166 |   
1167 |   
1168 |    <transmission name="t_j_ankle1_l">
1169 |     <type>transmission_interface/SimpleTransmission</type>
1170 |     <joint name="j_ankle1_l">
1171 |         <hardwareInterface>EffortJointInterface</hardwareInterface>
1172 |     </joint>
1173 |     <actuator name="m_j_ankle1_l">
1174 |       <hardwareInterface>EffortJointInterface</hardwareInterface>
1175 |       <mechanicalReduction>1</mechanicalReduction>
1176 |     </actuator>
1177 |   </transmission>
1178 |   
1179 |   
1180 |    <transmission name="t_j_ankle2_l">
1181 |     <type>transmission_interface/SimpleTransmission</type>
1182 |     <joint name="j_ankle2_l">
1183 |         <hardwareInterface>EffortJointInterface</hardwareInterface>
1184 |     </joint>
1185 |     <actuator name="m_j_ankle2_l">
1186 |       <hardwareInterface>EffortJointInterface</hardwareInterface>
1187 |       <mechanicalReduction>1</mechanicalReduction>
1188 |     </actuator>
1189 |   </transmission>
1190 |   
1191 |   
1192 |    <transmission name="t_j_pelvis_r">
1193 |     <type>transmission_interface/SimpleTransmission</type>
1194 |     <joint name="j_pelvis_r">
1195 |         <hardwareInterface>EffortJointInterface</hardwareInterface>
1196 |     </joint>
1197 |     <actuator name="m_j_pelvis_r">
1198 |       <hardwareInterface>EffortJointInterface</hardwareInterface>
1199 |       <mechanicalReduction>1</mechanicalReduction>
1200 |     </actuator>
1201 |   </transmission>
1202 |   
1203 |   
1204 |    <transmission name="t_j_thigh1_r">
1205 |     <type>transmission_interface/SimpleTransmission</type>
1206 |     <joint name="j_thigh1_r">
1207 |         <hardwareInterface>EffortJointInterface</hardwareInterface>
1208 |     </joint>
1209 |     <actuator name="m_j_thigh1_r">
1210 |       <hardwareInterface>EffortJointInterface</hardwareInterface>
1211 |       <mechanicalReduction>1</mechanicalReduction>
1212 |     </actuator>
1213 |   </transmission>
1214 |   
1215 |   
1216 |    <transmission name="t_j_thigh2_r">
1217 |     <type>transmission_interface/SimpleTransmission</type>
1218 |     <joint name="j_thigh2_r">
1219 |         <hardwareInterface>EffortJointInterface</hardwareInterface>
1220 |     </joint>
1221 |     <actuator name="m_j_thigh2_r">
1222 |       <hardwareInterface>EffortJointInterface</hardwareInterface>
1223 |       <mechanicalReduction>1</mechanicalReduction>
1224 |     </actuator>
1225 |   </transmission>
1226 |   
1227 |   
1228 |    <transmission name="t_j_tibia_r">
1229 |     <type>transmission_interface/SimpleTransmission</type>
1230 |     <joint name="j_tibia_r">
1231 |         <hardwareInterface>EffortJointInterface</hardwareInterface>
1232 |     </joint>
1233 |     <actuator name="m_j_tibia_r">
1234 |       <hardwareInterface>EffortJointInterface</hardwareInterface>
1235 |       <mechanicalReduction>1</mechanicalReduction>
1236 |     </actuator>
1237 |   </transmission>
1238 |   
1239 |   
1240 |    <transmission name="t_j_ankle1_r">
1241 |     <type>transmission_interface/SimpleTransmission</type>
1242 |     <joint name="j_ankle1_r">
1243 |         <hardwareInterface>EffortJointInterface</hardwareInterface>
1244 |     </joint>
1245 |     <actuator name="m_j_ankle1_r">
1246 |       <hardwareInterface>EffortJointInterface</hardwareInterface>
1247 |       <mechanicalReduction>1</mechanicalReduction>
1248 |     </actuator>
1249 |   </transmission>
1250 |   
1251 |   
1252 |    <transmission name="t_j_ankle2_r">
1253 |     <type>transmission_interface/SimpleTransmission</type>
1254 |     <joint name="j_ankle2_r">
1255 |         <hardwareInterface>EffortJointInterface</hardwareInterface>
1256 |     </joint>
1257 |     <actuator name="m_j_ankle2_r">
1258 |       <hardwareInterface>EffortJointInterface</hardwareInterface>
1259 |       <mechanicalReduction>1</mechanicalReduction>
1260 |     </actuator>
1261 |   </transmission>
1262 | 
1263 | 
1264 | 
1265 | 
1266 | 
1267 | <gazebo reference="MP_BODY">
1268 |     
1269 |     
1270 |     <material>Gazebo/Grey</material>
1271 |     
1272 |   </gazebo>
1273 | 
1274 | 
1275 | 
1276 | <gazebo reference="MP_NECK">
1277 |     
1278 |     
1279 |     <material>Gazebo/Grey</material>
1280 |     
1281 |   </gazebo>
1282 | 
1283 | 
1284 | 
1285 | <gazebo reference="MP_HEAD">
1286 |     
1287 |     
1288 |     <material>Gazebo/Grey</material>
1289 |     
1290 |   </gazebo>
1291 | 
1292 | 
1293 | 
1294 | <gazebo reference="MP_BACK_L">
1295 |     
1296 |     
1297 |     <material>Gazebo/Grey</material>
1298 |     
1299 |   </gazebo>
1300 | 
1301 | 
1302 | 
1303 | <gazebo reference="MP_SHOULDER_L">
1304 |     
1305 |     
1306 |     <material>Gazebo/Grey</material>
1307 |     
1308 |   </gazebo>
1309 | 
1310 | 
1311 | 
1312 | <gazebo reference="MP_ARM_HIGH_L">
1313 |     
1314 |     
1315 |     <material>Gazebo/Grey</material>
1316 |     
1317 |   </gazebo>
1318 | 
1319 | 
1320 | 
1321 | <gazebo reference="MP_ARM_LOW_L">
1322 |     
1323 |     
1324 |     <material>Gazebo/Grey</material>
1325 |     
1326 |   </gazebo>
1327 | 
1328 | 
1329 | 
1330 | <gazebo reference="MP_ARM_GRIPPER_FIX_L">
1331 |     
1332 |     
1333 |     <material>Gazebo/Grey</material>
1334 |     
1335 |   </gazebo>
1336 | 
1337 | 
1338 | 
1339 | <gazebo reference="MP_ARM_GRIPPER_FIX_DUMMY_L">
1340 |     
1341 |     
1342 |     <material>Gazebo/Grey</material>
1343 |     
1344 |   </gazebo>
1345 | 
1346 | 
1347 | 
1348 | <gazebo reference="MP_ARM_GRIPPER_MOV_L">
1349 |     
1350 |     
1351 |     <material>Gazebo/Grey</material>
1352 |     
1353 |   </gazebo>
1354 | 
1355 | 
1356 | 
1357 | <gazebo reference="MP_BACK_R">
1358 |     
1359 |     
1360 |     <material>Gazebo/Grey</material>
1361 |     
1362 |   </gazebo>
1363 | 
1364 | 
1365 | 
1366 | <gazebo reference="MP_SHOULDER_R">
1367 |     
1368 |     
1369 |     <material>Gazebo/Grey</material>
1370 |     
1371 |   </gazebo>
1372 | 
1373 | 
1374 | 
1375 | <gazebo reference="MP_ARM_HIGH_R">
1376 |     
1377 |     
1378 |     <material>Gazebo/Grey</material>
1379 |     
1380 |   </gazebo>
1381 | 
1382 | 
1383 | 
1384 | <gazebo reference="MP_ARM_LOW_R">
1385 |     
1386 |     
1387 |     <material>Gazebo/Grey</material>
1388 |     
1389 |   </gazebo>
1390 | 
1391 | 
1392 | 
1393 | <gazebo reference="MP_ARM_GRIPPER_FIX_R">
1394 |     
1395 |     
1396 |     <material>Gazebo/Grey</material>
1397 |     
1398 |   </gazebo>
1399 | 
1400 | 
1401 | 
1402 | <gazebo reference="MP_ARM_GRIPPER_FIX_DUMMY_R">
1403 |     
1404 |     
1405 |     <material>Gazebo/Grey</material>
1406 |     
1407 |   </gazebo>
1408 | 
1409 | 
1410 | 
1411 | <gazebo reference="MP_ARM_GRIPPER_MOV_R">
1412 |     
1413 |     
1414 |     <material>Gazebo/Grey</material>
1415 |     
1416 |   </gazebo>
1417 | 
1418 | 
1419 | 
1420 | <gazebo reference="MP_PELVIS_L">
1421 |     
1422 |     
1423 |     <material>Gazebo/Grey</material>
1424 |     
1425 |   </gazebo>
1426 | 
1427 | 
1428 | 
1429 | <gazebo reference="MP_THIGH1_L">
1430 |     
1431 |     
1432 |     <material>Gazebo/Grey</material>
1433 |     
1434 |   </gazebo>
1435 | 
1436 | 
1437 | 
1438 | <gazebo reference="MP_THIGH2_L">
1439 |     
1440 |     
1441 |     <material>Gazebo/Grey</material>
1442 |     
1443 |   </gazebo>
1444 | 
1445 | 
1446 | 
1447 | <gazebo reference="MP_TIBIA_L">
1448 |     
1449 |     
1450 |     <material>Gazebo/Grey</material>
1451 |     
1452 |   </gazebo>
1453 | 
1454 | 
1455 | 
1456 | <gazebo reference="MP_ANKLE1_L">
1457 |     
1458 |     
1459 |     <material>Gazebo/Grey</material>
1460 |     
1461 |   </gazebo>
1462 | 
1463 | 
1464 | 
1465 | <gazebo reference="MP_ANKLE2_L">
1466 |     
1467 |     
1468 |     <material>Gazebo/Grey</material>    
1469 | 
1470 |     <mu1>9000</mu1>
1471 |     <mu2>9000</mu2>
1472 |     <kp>1000000.0</kp>
1473 |     <kd>10.0</kd>
1474 |     <minDepth>0.001</minDepth>
1475 |     <maxContacts>1</maxContacts>    
1476 |   </gazebo>
1477 | 
1478 | 
1479 | 
1480 | <gazebo reference="MP_PELVIS_R">
1481 |     
1482 |     
1483 |     <material>Gazebo/Grey</material>
1484 |     
1485 |   </gazebo>
1486 | 
1487 | 
1488 | 
1489 | <gazebo reference="MP_THIGH1_R">
1490 |     
1491 |     
1492 |     <material>Gazebo/Grey</material>
1493 |     
1494 |   </gazebo>
1495 | 
1496 | 
1497 | 
1498 | <gazebo reference="MP_THIGH2_R">
1499 |     
1500 |     
1501 |     <material>Gazebo/Grey</material>
1502 |     
1503 |   </gazebo>
1504 | 
1505 | 
1506 | 
1507 | <gazebo reference="MP_TIBIA_R">
1508 |     
1509 |     
1510 |     <material>Gazebo/Grey</material>
1511 |     
1512 |   </gazebo>
1513 | 
1514 | 
1515 | 
1516 | <gazebo reference="MP_ANKLE1_R">
1517 |     
1518 |     
1519 |     <material>Gazebo/Grey</material>
1520 |     
1521 |   </gazebo>
1522 | 
1523 | 
1524 | 
1525 | <gazebo reference="MP_ANKLE2_R">
1526 |     
1527 |     
1528 |     <material>Gazebo/Grey</material>
1529 |     
1530 | 
1531 |     <mu1>9000</mu1>
1532 |     <mu2>9000</mu2>
1533 |     <kp>1000000.0</kp>
1534 |     <kd>10.0</kd>
1535 |     <minDepth>0.001</minDepth>
1536 |     <maxContacts>1</maxContacts>    
1537 |   </gazebo>
1538 | 
1539 | 
1540 | 
1541 | <gazebo reference="MP_PMDCAMBOARD">
1542 |     
1543 |     
1544 |     <material>Gazebo/Grey</material>
1545 |     
1546 |   </gazebo>
1547 | 
1548 | 
1549 | 
1550 | <gazebo reference="">
1551 |     
1552 |     
1553 |     <material>Gazebo/Grey</material>
1554 |     
1555 |   </gazebo>
1556 | 
1557 | 
1558 | <gazebo reference="MP_HEAD">
1559 |         <sensor name='camera' type='camera'>
1560 |           <pose>-0.050000 -0.010000 0.000000 -1.5708 0.000000 -3.141592</pose>
1561 |           <camera name='__default__'>
1562 |             <horizontal_fov>1.012300</horizontal_fov>
1563 |             <image>
1564 |               <width>320</width>
1565 |               <height>200</height>
1566 |             </image>
1567 |             <clip>
1568 |               <near>0.001000</near>
1569 |               <far>100.000000</far>
1570 |             </clip>
1571 |           </camera>
1572 |           <always_on>1</always_on>
1573 |           <update_rate>30.000000</update_rate>
1574 |           <visualize>1</visualize>
1575 |           <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
1576 |             <alwaysOn>true</alwaysOn>
1577 |             <updateRate>30</updateRate>
1578 |             <cameraName>darwin/camera</cameraName>
1579 |             <imageTopicName>image_raw</imageTopicName>
1580 |             <cameraInfoTopicName>camera_info</cameraInfoTopicName>
1581 |             <frameName>camera_link</frameName>
1582 |             <hackBaseline>0.07</hackBaseline>
1583 |             <distortionK1>0.0</distortionK1>
1584 |             <distortionK2>0.0</distortionK2>
1585 |             <distortionK3>0.0</distortionK3>
1586 |             <distortionT1>0.0</distortionT1>
1587 |             <distortionT2>0.0</distortionT2>
1588 |           </plugin>        
1589 |       </sensor>
1590 | </gazebo>
1591 | 
1592 | 
1593 |       <gazebo>
1594 |         <plugin filename="libhector_gazebo_ros_imu.so" name="gazebo_ros_imu">
1595 |           <bodyName>MP_BODY</bodyName>
1596 |           <updateRate>50</updateRate>
1597 |           <serviceName>/darwin/imu_service</serviceName>
1598 |           <topicName>/darwin/imu</topicName>
1599 |           <gaussianNoise>0</gaussianNoise>
1600 |           <xyzOffset>0 0 0</xyzOffset>
1601 |           <rpyOffset>0 0 -0.703220730592</rpyOffset>
1602 |         </plugin>     
1603 |       </gazebo>  
1604 | 
1605 | </robot>
1606 | 


--------------------------------------------------------------------------------