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<sdf version='1.6'>
<model name='baxter'>
<link name='base'>
<pose frame=''>0 0 0 0 -0 0</pose>
<inertial>
<pose frame=''>0 -0 3e-06 0 -0 0</pose>
<mass>96.2011</mass>
<inertia>
<ixx>6.91297</ixx>
<ixy>0.00068017</ixy>
<ixz>0.64779</ixz>
<iyy>7.74978</iyy>
<iyz>0.00434511</iyz>
<izz>5.76418</izz>
</inertia>
</inertial>
<collision name='base_fixed_joint_lump__collision_head_link_1_collision'>
<pose frame=''>0.04 -0.04 0.75 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.22</radius>
</sphere>
</geometry>
</collision>
<collision name='base_fixed_joint_lump__collision_head_link_2_collision_1'>
<pose frame=''>0.04 0.04 0.75 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.22</radius>
</sphere>
</geometry>
</collision>
<collision name='base_fixed_joint_lump__torso_collision_2'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://baxter_description/meshes/torso/base_link_collision.DAE</uri>
</mesh>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<collision name='base_fixed_joint_lump__pedestal_collision_3'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://baxter_description/meshes/base/pedestal_link_collision.DAE</uri>
</mesh>
</geometry>
</collision>
<collision name='base_fixed_joint_lump__sonar_ring_collision_4'>
<pose frame=''>0.0947 0 0.817 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.001</radius>
</sphere>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='base_fixed_joint_lump__collision_head_link_1_visual'>
<pose frame=''>0.11 0 0.75 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.001</radius>
</sphere>
</geometry>
</visual>
<visual name='base_fixed_joint_lump__collision_head_link_2_visual_1'>
<pose frame=''>0.11 0 0.75 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.001</radius>
</sphere>
</geometry>
</visual>
<visual name='base_fixed_joint_lump__torso_visual_2'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://baxter_description/meshes/torso/base_link.DAE</uri>
</mesh>
</geometry>
<material>
<script>
<uri>__default__</uri>
<name>__default__</name>
</script>
</material>
</visual>
<visual name='base_fixed_joint_lump__pedestal_visual_3'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://baxter_description/meshes/base/PEDESTAL.DAE</uri>
</mesh>
</geometry>
</visual>
<visual name='base_fixed_joint_lump__sonar_ring_visual_4'>
<pose frame=''>0.06 0 0.82653 0 -0 0</pose>
<geometry>
<cylinder>
<length>0.01</length>
<radius>0.085</radius>
</cylinder>
</geometry>
<material>
<script>
<uri>__default__</uri>
<name>__default__</name>
</script>
</material>
</visual>
<velocity_decay/>
<self_collide>1</self_collide>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
<sensor name='sonar' type='ray'>
<ray>
<scan>
<horizontal>
<samples>12</samples>
<resolution>1</resolution>
<min_angle>-3.14</min_angle>
<max_angle>3.14</max_angle>
</horizontal>
<vertical>
<samples>2</samples>
<resolution>1</resolution>
<min_angle>-0.001</min_angle>
<max_angle>0</max_angle>
</vertical>
</scan>
<range>
<min>0.05</min>
<max>50</max>
</range>
</ray>
<plugin name='sonar_plugin' filename='libgazebo_ros_block_laser.so'>
<gaussianNoise>0.00</gaussianNoise>
<alwaysOn>true</alwaysOn>
<updateRate>100.0</updateRate>
<topicName>/robot/sonar/head_sonar/state</topicName>
<frameName>sonar_ring</frameName>
<hokuyoMinIntensity>101</hokuyoMinIntensity>
</plugin>
<always_on>1</always_on>
<update_rate>100</update_rate>
<pose frame=''>0.0947 0 0.817 0 -0 0</pose>
</sensor>
</link>
<joint name='fixed' type='revolute'>
<child>base</child>
<parent>world</parent>
<axis>
<limit>
<lower>0</lower>
<upper>0</upper>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
<xyz>0 0 1</xyz>
</axis>
</joint>
<link name='head'>
<pose frame=''>0.06 0 0.686 0 -0 0</pose>
<inertial>
<pose frame=''>0.054677 0 5e-06 0 -0 0</pose>
<mass>0.988238</mass>
<inertia>
<ixx>0.00620194</ixx>
<ixy>0.000202093</ixy>
<ixz>0.000495898</ixz>
<iyy>0.010977</iyy>
<iyz>-0.00109806</iyz>
<izz>0.00983914</izz>
</inertia>
</inertial>
<collision name='head_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.001</radius>
</sphere>
</geometry>
</collision>
<collision name='head_fixed_joint_lump__screen_collision_1'>
<pose frame=''>0.1227 0 0 1.75057 0 1.5708</pose>
<geometry>
<sphere>
<radius>0.001</radius>
</sphere>
</geometry>
</collision>
<visual name='head_visual'>
<pose frame=''>0 0 0.00953 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://baxter_description/meshes/head/H0.DAE</uri>
</mesh>
</geometry>
</visual>
<visual name='head_fixed_joint_lump__screen_visual_1'>
<pose frame=''>0.086855 0 -0.003172 1.5708 0.179774 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://baxter_description/meshes/head/H1.DAE</uri>
</mesh>
</geometry>
</visual>
<visual name='head_fixed_joint_lump__display_visual_2'>
<pose frame=''>0.119839 0 -0.015742 2.01237 0 1.5708</pose>
<geometry>
<box>
<size>0.218 0.16 0.001</size>
</box>
</geometry>
<plugin name='screen_video_controller' filename='libgazebo_ros_video.so'>
<height>600</height>
<width>1024</width>
<topicName>/robot/xdisplay</topicName>
<robotNamespace>/robot</robotNamespace>
</plugin>
<material>
<script>
<uri>__default__</uri>
<name>__default__</name>
</script>
</material>
</visual>
<velocity_decay/>
<sensor name='head_camera' type='camera'>
<update_rate>30</update_rate>
<camera name='head_camera'>
<pose frame=''>0 0.21 0 0 -0.8 -1.5708</pose>
<horizontal_fov>1.39626</horizontal_fov>
<image>
<width>800</width>
<height>800</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.02</near>
<far>300</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<plugin name='camera_controller' filename='libgazebo_ros_camera.so'>
<alwaysOn>true</alwaysOn>
<updateRate>0.0</updateRate>
<cameraName>head_camera</cameraName>
<imageTopicName>image</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<frameName>head_camera</frameName>
<hackBaseline>0.07</hackBaseline>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
<CxPrime>0</CxPrime>
<Cx>0.0</Cx>
<Cy>0.0</Cy>
<focalLength>0.0</focalLength>
<robotNamespace>/cameras</robotNamespace>
</plugin>
<pose frame=''>0.12839 0 0.06368 1.75057 0 1.5708</pose>
</sensor>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='head_pan' type='revolute'>
<child>head</child>
<parent>base</parent>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-1.3963</lower>
<upper>1.3963</upper>
<effort>50000</effort>
<velocity>10000</velocity>
</limit>
<dynamics>
<damping>0.7</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>
<cfm_damping>1</cfm_damping>
<limit>
<cfm>0</cfm>
<erp>0.2</erp>
</limit>
</ode>
</physics>
</joint>
<link name='left_upper_shoulder'>
<pose frame=''>0.064027 0.259027 0.129626 0 -0 0.7854</pose>
<inertial>
<pose frame=''>0.01783 0.00086 0.19127 0 -0 0</pose>
<mass>5.70044</mass>
<inertia>
<ixx>0.047091</ixx>
<ixy>0.000127876</ixy>
<ixz>0.0061487</ixz>
<iyy>0.0376698</iyy>
<iyz>0.000780869</iyz>
<izz>0.0359599</izz>
</inertia>
</inertial>
<collision name='left_upper_shoulder_collision'>
<pose frame=''>0 0 0.1361 0 -0 0</pose>
<geometry>
<cylinder>
<length>0.2722</length>
<radius>0.06</radius>
</cylinder>
</geometry>
</collision>
<visual name='left_upper_shoulder_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://baxter_description/meshes/upper_shoulder/S0.DAE</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name='left_s0' type='revolute'>
<child>left_upper_shoulder</child>
<parent>base</parent>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-1.70168</lower>
<upper>1.70168</upper>
<effort>50</effort>
<velocity>1.5</velocity>
</limit>
<dynamics>
<damping>0.7</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>
<cfm_damping>1</cfm_damping>
<limit>
<cfm>0</cfm>
<erp>0.2</erp>
</limit>
</ode>
</physics>
</joint>
<link name='left_lower_shoulder'>
<pose frame=''>0.112818 0.307818 0.399976 -1.5708 -0 0.7854</pose>
<inertial>
<pose frame=''>0.068451 0.00269 -0.00529 0 -0 0</pose>
<mass>3.22708</mass>
<inertia>
<ixx>0.0117521</ixx>
<ixy>-0.000300954</ixy>
<ixz>0.00207674</ixz>
<iyy>0.0278861</iyy>
<iyz>-0.000188219</iyz>
<izz>0.0207877</izz>
</inertia>
</inertial>
<collision name='left_lower_shoulder_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<cylinder>
<length>0.12</length>
<radius>0.06</radius>
</cylinder>
</geometry>
</collision>
<collision name='left_lower_shoulder_fixed_joint_lump__left_upper_elbow_visual_collision_1'>
<pose frame=''>0.2435 -0 0 1.5708 -0 1.5708</pose>
<geometry>
<cylinder>
<length>0.273</length>
<radius>0.06</radius>
</cylinder>
</geometry>
</collision>
<visual name='left_lower_shoulder_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://baxter_description/meshes/lower_shoulder/S1.DAE</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name='left_s1' type='revolute'>
<child>left_lower_shoulder</child>
<parent>left_upper_shoulder</parent>
<axis>
<xyz>-0.707108 0.707105 0</xyz>
<limit>
<lower>-2.147</lower>
<upper>1.047</upper>
<effort>50</effort>
<velocity>1.5</velocity>
</limit>
<dynamics>
<damping>0.7</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>
<cfm_damping>1</cfm_damping>
<limit>
<cfm>0</cfm>
<erp>0.2</erp>
</limit>
</ode>
</physics>
</joint>
<link name='left_upper_elbow'>
<pose frame=''>0.184942 0.379943 0.399976 -2.35616 1.57079 -1.57076</pose>
<inertial>
<pose frame=''>-0.00276 0.00132 0.18086 0 -0 0</pose>
<mass>4.31272</mass>
<inertia>
<ixx>0.0266173</ixx>
<ixy>0.000292706</ixy>
<ixz>0.0039219</ixz>
<iyy>0.0284436</iyy>
<iyz>0.00108389</iyz>
<izz>0.0124801</izz>
</inertia>
</inertial>
<collision name='left_upper_elbow_collision'>
<pose frame=''>0 0 -0.0535 0 -0 0</pose>
<geometry>
<cylinder>
<length>0.107</length>
<radius>0.06</radius>
</cylinder>
</geometry>
</collision>
<visual name='left_upper_elbow_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://baxter_description/meshes/upper_elbow/E0.DAE</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name='left_e0' type='revolute'>
<child>left_upper_elbow</child>
<parent>left_lower_shoulder</parent>
<axis>
<xyz>0.707105 0.707108 0</xyz>
<limit>
<lower>-3.05418</lower>
<upper>3.05418</upper>
<effort>50</effort>
<velocity>1.5</velocity>
</limit>
<dynamics>
<damping>0.7</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>
<cfm_damping>1</cfm_damping>
<limit>
<cfm>0</cfm>
<erp>0.2</erp>
</limit>
</ode>
</physics>
</joint>
<link name='left_lower_elbow'>
<pose frame=''>0.370501 0.565502 0.330976 -1.5708 -0 0.7854</pose>
<inertial>
<pose frame=''>0.026113 0.00159 -0.01117 0 -0 0</pose>
<mass>2.07216</mass>
<inertia>
<ixx>0.00711585</ixx>
<ixy>0.000360372</ixy>
<ixz>0.00074588</ixz>
<iyy>0.0131827</iyy>
<iyz>-0.000196632</iyz>
<izz>0.00926891</izz>
</inertia>
</inertial>
<collision name='left_lower_elbow_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<cylinder>
<length>0.1</length>
<radius>0.06</radius>
</cylinder>
</geometry>
</collision>
<collision name='left_lower_elbow_fixed_joint_lump__left_upper_forearm_visual_collision_1'>
<pose frame=''>0.224 -0 0 1.5708 -0 1.5708</pose>
<geometry>
<cylinder>
<length>0.272</length>
<radius>0.06</radius>
</cylinder>
</geometry>
</collision>
<visual name='left_lower_elbow_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://baxter_description/meshes/lower_elbow/E1.DAE</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name='left_e1' type='revolute'>
<child>left_lower_elbow</child>
<parent>left_upper_elbow</parent>
<axis>
<xyz>-0.707108 0.707105 0</xyz>
<limit>
<lower>-0.05</lower>
<upper>2.618</upper>
<effort>50</effort>
<velocity>1.5</velocity>
</limit>
<dynamics>
<damping>0.7</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>
<cfm_damping>1</cfm_damping>
<limit>
<cfm>0</cfm>
<erp>0.2</erp>
</limit>
</ode>
</physics>
</joint>
<link name='left_upper_forearm'>
<pose frame=''>0.44375 0.638751 0.330976 -2.03443 1.57079 -1.24903</pose>
<inertial>
<pose frame=''>-0.001682 0.0046 0.139519 0 -0 0</pose>
<mass>2.24675</mass>
<inertia>
<ixx>0.0166775</ixx>
<ixy>0.000184012</ixy>
<ixz>0.000186469</ixz>
<iyy>0.0167549</iyy>
<iyz>-0.000647332</iyz>
<izz>0.00374662</izz>
</inertia>
</inertial>
<collision name='left_upper_forearm_collision'>
<pose frame=''>0 0 -0.044 0 -0 0</pose>
<geometry>
<cylinder>
<length>0.088</length>
<radius>0.06</radius>
</cylinder>
</geometry>
</collision>
<visual name='left_upper_forearm_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://baxter_description/meshes/upper_forearm/W0.DAE</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name='left_w0' type='revolute'>
<child>left_upper_forearm</child>
<parent>left_lower_elbow</parent>
<axis>
<xyz>0.707105 0.707108 0</xyz>
<limit>
<lower>-3.059</lower>
<upper>3.059</upper>
<effort>15</effort>
<velocity>4</velocity>
</limit>
<dynamics>
<damping>0.7</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>
<cfm_damping>1</cfm_damping>
<limit>
<cfm>0</cfm>
<erp>0.2</erp>
</limit>
</ode>
</physics>
</joint>
<link name='left_lower_forearm'>
<pose frame=''>0.635163 0.830166 0.320976 -1.5708 -0 0.7854</pose>
<inertial>
<pose frame=''>0.06041 0.00697 0.006 0 -0 0</pose>
<mass>1.60979</mass>
<inertia>
<ixx>0.00387607</ixx>
<ixy>-0.000443848</ixy>
<ixz>-0.00021115</ixz>
<iyy>0.00700538</iyy>
<iyz>0.000153481</iyz>
<izz>0.00552755</izz>
</inertia>
</inertial>
<collision name='left_lower_forearm_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<cylinder>
<length>0.1</length>
<radius>0.06</radius>
</cylinder>
</geometry>
</collision>
<visual name='left_lower_forearm_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://baxter_description/meshes/lower_forearm/W1.DAE</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name='left_w1' type='revolute'>
<child>left_lower_forearm</child>
<parent>left_upper_forearm</parent>
<axis>
<xyz>-0.707108 0.707105 0</xyz>
<limit>
<lower>-1.5708</lower>
<upper>2.094</upper>
<effort>15</effort>
<velocity>4</velocity>
</limit>
<dynamics>
<damping>0.7</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>
<cfm_damping>1</cfm_damping>
<limit>
<cfm>0</cfm>
<erp>0.2</erp>
</limit>
</ode>
</physics>
</joint>
<link name='left_wrist'>
<pose frame=''>0.71717 0.912173 0.320976 -1.89253 1.57079 -1.10713</pose>
<inertial>
<pose frame=''>0.003318 0.000616 0.079435 0 -0 0</pose>
<mass>0.84268</mass>
<inertia>
<ixx>0.00285059</ixx>
<ixy>7.17373e-06</ixy>
<ixz>2.52032e-05</ixz>
<iyy>0.00291735</iyy>
<iyz>2.17353e-05</iyz>
<izz>0.000560608</izz>
</inertia>
</inertial>
<collision name='left_wrist_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<cylinder>
<length>0.165</length>
<radius>0.06</radius>
</cylinder>
</geometry>
</collision>
<collision name='left_wrist_fixed_joint_lump__left_hand_collision_1'>
<pose frame=''>0 0 0.09035 0 -0 0</pose>
<geometry>
<cylinder>
<length>0.0464</length>
<radius>0.04</radius>
</cylinder>
</geometry>
</collision>
<collision name='left_wrist_fixed_joint_lump__left_gripper_base_collision_2'>
<pose frame=''>0 0 0.13855 1.5708 -0 3.14159</pose>
<geometry>
<cylinder>
<length>0.1</length>
<radius>0.029</radius>
</cylinder>
</geometry>
</collision>
<visual name='left_wrist_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://baxter_description/meshes/wrist/W2.DAE</uri>
</mesh>
</geometry>
</visual>
<visual name='left_wrist_fixed_joint_lump__left_gripper_base_visual_1'>
<pose frame=''>0 0 0.13855 1.5708 -0 3.14159</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://rethink_ee_description/meshes/electric_gripper/electric_gripper_base.DAE</uri>
</mesh>
</geometry>
</visual>
<visual name='left_wrist_fixed_joint_lump__left_hand_accelerometer_visual_2'>
<pose frame=''>0.00198 0.000133 0.09895 0 -0 0</pose>
<geometry>
<box>
<size>0.01 0.01 0.01</size>
</box>
</geometry>
</visual>
<visual name='left_wrist_fixed_joint_lump__left_hand_camera_visual_3'>
<pose frame=''>0.03825 0.012 0.128905 0 0 -1.5708</pose>
<geometry>
<cylinder>
<length>0.01</length>
<radius>0.02</radius>
</cylinder>
</geometry>
<material>
<script>
<uri>__default__</uri>
<name>__default__</name>
</script>
</material>
</visual>
<visual name='left_wrist_fixed_joint_lump__left_hand_range_visual_4'>
<pose frame=''>0.032 -0.020245 0.14235 3.14159 -1.57079 1.57079</pose>
<geometry>
<box>
<size>0.005 0.02 0.005</size>
</box>
</geometry>
<material>
<script>
<uri>__default__</uri>
<name>__default__</name>
</script>
</material>
</visual>
<velocity_decay/>
<sensor name='left_hand_camera' type='camera'>
<update_rate>30</update_rate>
<camera name='left_hand_camera'>
<pose frame=''>0 0 0 -3.14159 -1.5708 -1.5708</pose>
<horizontal_fov>1.39626</horizontal_fov>
<image>
<width>800</width>
<height>800</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.02</near>
<far>300</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<plugin name='camera_controller' filename='libgazebo_ros_camera.so'>
<alwaysOn>true</alwaysOn>
<updateRate>0.0</updateRate>
<cameraName>left_hand_camera</cameraName>
<imageTopicName>image</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<frameName>left_hand_camera</frameName>
<hackBaseline>0.07</hackBaseline>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
<CxPrime>0</CxPrime>
<Cx>0.0</Cx>
<Cy>0.0</Cy>
<focalLength>0.0</focalLength>
<robotNamespace>/cameras</robotNamespace>
</plugin>
<pose frame=''>0.03825 0.012 0.128905 0 0 -1.5708</pose>
</sensor>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
<sensor name='ir_left' type='ray'>
<ray>
<scan>
<horizontal>
<samples>1</samples>
<resolution>1</resolution>
<min_angle>-0.5</min_angle>
<max_angle>0.5</max_angle>
</horizontal>
</scan>
<range>
<min>0.004</min>
<max>0.4</max>
</range>
</ray>
<plugin name='plugin_4' filename='libgazebo_ros_laser.so'>
<gaussianNoise>0.005</gaussianNoise>
<alwaysOn>true</alwaysOn>
<updateRate>100</updateRate>
<topicName>/sim/laserscan/left_hand_range/state</topicName>
<frameName>left_hand_range</frameName>
</plugin>
<always_on>1</always_on>
<update_rate>100</update_rate>
<pose frame=''>0.032 -0.020245 0.14235 3.14159 -1.57079 1.57079</pose>
</sensor>
</link>
<joint name='left_w2' type='revolute'>
<child>left_wrist</child>
<parent>left_lower_forearm</parent>
<axis>
<xyz>0.707105 0.707108 0</xyz>
<limit>
<lower>-3.059</lower>
<upper>3.059</upper>
<effort>15</effort>
<velocity>4</velocity>
</limit>
<dynamics>
<damping>0.7</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>
<cfm_damping>1</cfm_damping>
<limit>
<cfm>0</cfm>
<erp>0.2</erp>
</limit>
</ode>
</physics>
</joint>
<link name='l_gripper_l_finger'>
<pose frame=''>0.830342 1.02322 0.320976 -1.89253 1.57079 -1.10713</pose>
<inertial>
<pose frame=''>0 0.00575 0.037567 0 -0 3.14159</pose>
<mass>0.03</mass>
<inertia>
<ixx>0.0200867</ixx>
<ixy>4.0989e-19</ixy>
<ixz>-2.67795e-18</ixz>
<iyy>0.0200847</iyy>
<iyz>1.29605e-05</iyz>
<izz>0.020002</izz>
</inertia>
</inertial>
<collision name='l_gripper_l_finger_collision'>
<pose frame=''>0 0.01725 0.0615 0 -0 3.14159</pose>
<geometry>
<box>
<size>0.01 0.0135 0.1127</size>
</box>
</geometry>
<surface>
<contact>
<ode>
<kp>100000</kp>
<kd>1</kd>
</ode>
</contact>
<friction>
<ode>
<mu>1000</mu>
<mu2>1000</mu2>
<fdir1>0 0 1</fdir1>
</ode>
</friction>
</surface>
</collision>
<collision name='l_gripper_l_finger_collision_1'>
<pose frame=''>-0.005 -0.003 0.0083 0 -0 3.14159</pose>
<geometry>
<box>
<size>0.01 0.05 0.017</size>
</box>
</geometry>
<surface>
<contact>
<ode>
<kp>100000</kp>
<kd>1</kd>
</ode>
</contact>
<friction>
<ode>
<mu>1000</mu>
<mu2>1000</mu2>
<fdir1>0 0 1</fdir1>
</ode>
</friction>
</surface>
</collision>
<collision name='l_gripper_l_finger_tip_collision_2'>
<pose frame=''>0 0.01275 0.0977 0 -0 -3.14159</pose>
<geometry>
<box>
<size>0.042 0.0065 0.037</size>
</box>
</geometry>
<surface>
<contact>
<ode>
<kp>100000</kp>
<kd>1</kd>
</ode>
</contact>
<friction>
<ode>
<mu>1000</mu>
<mu2>1000</mu2>
<fdir1>0 0 1</fdir1>
</ode>
</friction>
</surface>
</collision>
<visual name='l_gripper_l_finger_visual'>
<pose frame=''>0 0 0 0 -0 3.14159</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://rethink_ee_description/meshes/electric_gripper/fingers/extended_narrow.DAE</uri>
</mesh>
</geometry>
<material>
<script>
<uri>__default__</uri>
<name>__default__</name>
</script>
</material>
</visual>
<visual name='l_gripper_l_finger_tip_visual_1'>
<pose frame=''>0 0.01725 0.1127 0 -0 -3.14159</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://rethink_ee_description/meshes/electric_gripper/fingers/paddle_tip.DAE</uri>
</mesh>
</geometry>
<material>
<script>
<uri>__default__</uri>
<name>__default__</name>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='l_gripper_l_finger_joint' type='prismatic'>
<child>l_gripper_l_finger</child>
<parent>left_wrist</parent>
<axis>
<xyz>-0.707108 0.707105 0</xyz>
<limit>
<lower>0</lower>
<upper>0.020833</upper>
<effort>20</effort>
<velocity>5</velocity>
</limit>
<dynamics>
<damping>0.7</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>
<cfm_damping>1</cfm_damping>
<limit>
<cfm>0</cfm>
<erp>0.2</erp>
</limit>
</ode>
</physics>
</joint>
<link name='l_gripper_r_finger'>
<pose frame=''>0.828221 1.02535 0.320976 -1.89253 1.57079 -1.10713</pose>
<inertial>
<pose frame=''>0 -0.00575 0.037567 0 -0 0</pose>
<mass>0.03</mass>
<inertia>
<ixx>0.0200867</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0200847</iyy>
<iyz>1.29605e-05</iyz>
<izz>0.020002</izz>
</inertia>
</inertial>
<collision name='l_gripper_r_finger_collision'>
<pose frame=''>0 -0.01725 0.0615 0 -0 0</pose>
<geometry>
<box>
<size>0.01 0.0135 0.1127</size>
</box>
</geometry>
<surface>
<contact>
<ode>
<kp>100000</kp>
<kd>1</kd>
</ode>
</contact>
<friction>
<ode>
<mu>1000</mu>
<mu2>1000</mu2>
<fdir1>0 0 1</fdir1>
</ode>
</friction>
</surface>
</collision>
<collision name='l_gripper_r_finger_collision_1'>
<pose frame=''>0.005 0.003 0.0083 0 -0 0</pose>
<geometry>
<box>
<size>0.01 0.05 0.017</size>
</box>
</geometry>
<surface>
<contact>
<ode>
<kp>100000</kp>
<kd>1</kd>
</ode>
</contact>
<friction>
<ode>
<mu>1000</mu>
<mu2>1000</mu2>
<fdir1>0 0 1</fdir1>
</ode>
</friction>
</surface>
</collision>
<collision name='l_gripper_r_finger_tip_collision_2'>
<pose frame=''>0 -0.01275 0.0977 0 -0 0</pose>
<geometry>
<box>
<size>0.042 0.0065 0.037</size>
</box>
</geometry>
<surface>
<contact>
<ode>
<kp>100000</kp>
<kd>1</kd>
</ode>
</contact>
<friction>
<ode>
<mu>1000</mu>
<mu2>1000</mu2>
<fdir1>0 0 1</fdir1>
</ode>
</friction>
</surface>
</collision>
<visual name='l_gripper_r_finger_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://rethink_ee_description/meshes/electric_gripper/fingers/extended_narrow.DAE</uri>
</mesh>
</geometry>
<material>
<script>
<uri>__default__</uri>
<name>__default__</name>
</script>
</material>
</visual>
<visual name='l_gripper_r_finger_tip_visual_1'>
<pose frame=''>0 -0.01725 0.1127 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://rethink_ee_description/meshes/electric_gripper/fingers/paddle_tip.DAE</uri>
</mesh>
</geometry>
<material>
<script>
<uri>__default__</uri>
<name>__default__</name>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='l_gripper_r_finger_joint' type='prismatic'>
<child>l_gripper_r_finger</child>
<parent>left_wrist</parent>
<axis>
<xyz>-0.707108 0.707105 0</xyz>
<limit>
<lower>-0.020833</lower>
<upper>0</upper>
<effort>20</effort>
<velocity>5</velocity>
</limit>
<dynamics>
<damping>0.7</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>
<cfm_damping>1</cfm_damping>
<limit>
<cfm>0</cfm>
<erp>0.2</erp>
</limit>
</ode>
</physics>
</joint>
<link name='right_upper_shoulder'>
<pose frame=''>0.064027 -0.259027 0.129626 0 0 -0.7854</pose>
<inertial>
<pose frame=''>0.01783 0.00086 0.19127 0 -0 0</pose>
<mass>5.70044</mass>
<inertia>
<ixx>0.047091</ixx>
<ixy>0.000127876</ixy>
<ixz>0.0061487</ixz>
<iyy>0.0376698</iyy>
<iyz>0.000780869</iyz>
<izz>0.0359599</izz>
</inertia>
</inertial>
<collision name='right_upper_shoulder_collision'>
<pose frame=''>0 0 0.1361 0 -0 0</pose>
<geometry>
<cylinder>
<length>0.2722</length>
<radius>0.06</radius>
</cylinder>
</geometry>
</collision>
<visual name='right_upper_shoulder_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://baxter_description/meshes/upper_shoulder/S0.DAE</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name='right_s0' type='revolute'>
<child>right_upper_shoulder</child>
<parent>base</parent>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-1.70168</lower>
<upper>1.70168</upper>
<effort>50</effort>
<velocity>1.5</velocity>
</limit>
<dynamics>
<damping>0.7</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>
<cfm_damping>1</cfm_damping>
<limit>
<cfm>0</cfm>
<erp>0.2</erp>
</limit>
</ode>
</physics>
</joint>
<link name='right_lower_shoulder'>
<pose frame=''>0.112818 -0.307818 0.399976 -1.5708 -0 -0.7854</pose>
<inertial>
<pose frame=''>0.068451 0.00269 -0.00529 0 -0 0</pose>
<mass>3.22708</mass>
<inertia>
<ixx>0.0117521</ixx>
<ixy>-0.000300954</ixy>
<ixz>0.00207674</ixz>
<iyy>0.0278861</iyy>
<iyz>-0.000188219</iyz>
<izz>0.0207877</izz>
</inertia>
</inertial>
<collision name='right_lower_shoulder_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<cylinder>
<length>0.12</length>
<radius>0.06</radius>
</cylinder>
</geometry>
</collision>
<collision name='right_lower_shoulder_fixed_joint_lump__right_upper_elbow_visual_collision_1'>
<pose frame=''>0.2435 -0 0 1.5708 -0 1.5708</pose>
<geometry>
<cylinder>
<length>0.273</length>
<radius>0.06</radius>
</cylinder>
</geometry>
</collision>
<visual name='right_lower_shoulder_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://baxter_description/meshes/lower_shoulder/S1.DAE</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name='right_s1' type='revolute'>
<child>right_lower_shoulder</child>
<parent>right_upper_shoulder</parent>
<axis>
<xyz>0.707108 0.707105 0</xyz>
<limit>
<lower>-2.147</lower>
<upper>1.047</upper>
<effort>50</effort>
<velocity>1.5</velocity>
</limit>
<dynamics>
<damping>0.7</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>
<cfm_damping>1</cfm_damping>
<limit>
<cfm>0</cfm>
<erp>0.2</erp>
</limit>
</ode>
</physics>
</joint>
<link name='right_upper_elbow'>
<pose frame=''>0.184942 -0.379943 0.399976 -2.35618 1.57079 -3.14159</pose>
<inertial>
<pose frame=''>-0.00276 0.00132 0.18086 0 -0 0</pose>
<mass>4.31272</mass>
<inertia>
<ixx>0.0266173</ixx>
<ixy>0.000292706</ixy>
<ixz>0.0039219</ixz>
<iyy>0.0284436</iyy>
<iyz>0.00108389</iyz>
<izz>0.0124801</izz>
</inertia>
</inertial>
<collision name='right_upper_elbow_collision'>
<pose frame=''>0 0 -0.0535 0 -0 0</pose>
<geometry>
<cylinder>
<length>0.107</length>
<radius>0.06</radius>
</cylinder>
</geometry>
</collision>
<visual name='right_upper_elbow_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://baxter_description/meshes/upper_elbow/E0.DAE</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name='right_e0' type='revolute'>
<child>right_upper_elbow</child>
<parent>right_lower_shoulder</parent>
<axis>
<xyz>0.707105 -0.707108 0</xyz>
<limit>
<lower>-3.05418</lower>
<upper>3.05418</upper>
<effort>50</effort>
<velocity>1.5</velocity>
</limit>
<dynamics>
<damping>0.7</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>
<cfm_damping>1</cfm_damping>
<limit>
<cfm>0</cfm>
<erp>0.2</erp>
</limit>
</ode>
</physics>
</joint>
<link name='right_lower_elbow'>
<pose frame=''>0.370501 -0.565502 0.330976 -1.5708 0 -0.7854</pose>
<inertial>
<pose frame=''>0.026113 0.00159 -0.01117 0 -0 0</pose>
<mass>2.07216</mass>
<inertia>
<ixx>0.00711585</ixx>
<ixy>0.000360372</ixy>
<ixz>0.00074588</ixz>
<iyy>0.0131827</iyy>
<iyz>-0.000196632</iyz>
<izz>0.00926891</izz>
</inertia>
</inertial>
<collision name='right_lower_elbow_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<cylinder>
<length>0.1</length>
<radius>0.06</radius>
</cylinder>
</geometry>
</collision>
<collision name='right_lower_elbow_fixed_joint_lump__right_upper_forearm_visual_collision_1'>
<pose frame=''>0.224 -0 0 1.5708 -0 1.5708</pose>
<geometry>
<cylinder>
<length>0.272</length>
<radius>0.06</radius>
</cylinder>
</geometry>
</collision>
<visual name='right_lower_elbow_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://baxter_description/meshes/lower_elbow/E1.DAE</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name='right_e1' type='revolute'>
<child>right_lower_elbow</child>
<parent>right_upper_elbow</parent>
<axis>
<xyz>0.707108 0.707105 0</xyz>
<limit>
<lower>-0.05</lower>
<upper>2.618</upper>
<effort>50</effort>
<velocity>1.5</velocity>
</limit>
<dynamics>
<damping>0.7</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>
<cfm_damping>1</cfm_damping>
<limit>
<cfm>0</cfm>
<erp>0.2</erp>
</limit>
</ode>
</physics>
</joint>
<link name='right_upper_forearm'>
<pose frame=''>0.44375 -0.638751 0.330976 -2.03443 1.57079 -2.81983</pose>
<inertial>
<pose frame=''>-0.001682 0.0046 0.139519 0 -0 0</pose>
<mass>2.24675</mass>
<inertia>
<ixx>0.0166775</ixx>
<ixy>0.000184012</ixy>
<ixz>0.000186469</ixz>
<iyy>0.0167549</iyy>
<iyz>-0.000647332</iyz>
<izz>0.00374662</izz>
</inertia>
</inertial>
<collision name='right_upper_forearm_collision'>
<pose frame=''>0 0 -0.044 0 -0 0</pose>
<geometry>
<cylinder>
<length>0.088</length>
<radius>0.06</radius>
</cylinder>
</geometry>
</collision>
<visual name='right_upper_forearm_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://baxter_description/meshes/upper_forearm/W0.DAE</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name='right_w0' type='revolute'>
<child>right_upper_forearm</child>
<parent>right_lower_elbow</parent>
<axis>
<xyz>0.707105 -0.707108 0</xyz>
<limit>
<lower>-3.059</lower>
<upper>3.059</upper>
<effort>15</effort>
<velocity>4</velocity>
</limit>
<dynamics>
<damping>0.7</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>
<cfm_damping>1</cfm_damping>
<limit>
<cfm>0</cfm>
<erp>0.2</erp>
</limit>
</ode>
</physics>
</joint>
<link name='right_lower_forearm'>
<pose frame=''>0.635163 -0.830166 0.320976 -1.5708 -0 -0.7854</pose>
<inertial>
<pose frame=''>0.06041 0.00697 0.006 0 -0 0</pose>
<mass>1.60979</mass>
<inertia>
<ixx>0.00387607</ixx>
<ixy>-0.000443848</ixy>
<ixz>-0.00021115</ixz>
<iyy>0.00700538</iyy>
<iyz>0.000153481</iyz>
<izz>0.00552755</izz>
</inertia>
</inertial>
<collision name='right_lower_forearm_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<cylinder>
<length>0.1</length>
<radius>0.06</radius>
</cylinder>
</geometry>
</collision>
<visual name='right_lower_forearm_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://baxter_description/meshes/lower_forearm/W1.DAE</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name='right_w1' type='revolute'>
<child>right_lower_forearm</child>
<parent>right_upper_forearm</parent>
<axis>
<xyz>0.707108 0.707105 0</xyz>
<limit>
<lower>-1.5708</lower>
<upper>2.094</upper>
<effort>15</effort>
<velocity>4</velocity>
</limit>
<dynamics>
<damping>0.7</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>
<cfm_damping>1</cfm_damping>
<limit>
<cfm>0</cfm>
<erp>0.2</erp>
</limit>
</ode>
</physics>
</joint>
<link name='right_wrist'>
<pose frame=''>0.71717 -0.912173 0.320976 -1.89254 1.57079 -2.67794</pose>
<inertial>
<pose frame=''>0.003318 0.000616 0.079435 0 -0 0</pose>
<mass>0.84268</mass>
<inertia>
<ixx>0.00285059</ixx>
<ixy>7.17373e-06</ixy>
<ixz>2.52032e-05</ixz>
<iyy>0.00291735</iyy>
<iyz>2.17353e-05</iyz>
<izz>0.000560608</izz>
</inertia>
</inertial>
<collision name='right_wrist_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<cylinder>
<length>0.165</length>
<radius>0.06</radius>
</cylinder>
</geometry>
</collision>
<collision name='right_wrist_fixed_joint_lump__right_hand_collision_1'>
<pose frame=''>0 0 0.09035 0 -0 0</pose>
<geometry>
<cylinder>
<length>0.0464</length>
<radius>0.04</radius>
</cylinder>
</geometry>
</collision>
<collision name='right_wrist_fixed_joint_lump__right_gripper_base_collision_2'>
<pose frame=''>0 0 0.13855 1.5708 -0 3.14159</pose>
<geometry>
<cylinder>
<length>0.1</length>
<radius>0.029</radius>
</cylinder>
</geometry>
</collision>
<visual name='right_wrist_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://baxter_description/meshes/wrist/W2.DAE</uri>
</mesh>
</geometry>
</visual>
<visual name='right_wrist_fixed_joint_lump__right_gripper_base_visual_1'>
<pose frame=''>0 0 0.13855 1.5708 -0 3.14159</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://rethink_ee_description/meshes/electric_gripper/electric_gripper_base.DAE</uri>
</mesh>
</geometry>
</visual>
<visual name='right_wrist_fixed_joint_lump__right_hand_accelerometer_visual_2'>
<pose frame=''>0.00198 0.000133 0.09895 0 -0 0</pose>
<geometry>
<box>
<size>0.01 0.01 0.01</size>
</box>
</geometry>
</visual>
<visual name='right_wrist_fixed_joint_lump__right_hand_camera_visual_3'>
<pose frame=''>0.03825 0.012 0.128905 0 0 -1.5708</pose>
<geometry>
<cylinder>
<length>0.01</length>
<radius>0.02</radius>
</cylinder>
</geometry>
<material>
<script>
<uri>__default__</uri>
<name>__default__</name>
</script>
</material>
</visual>
<visual name='right_wrist_fixed_joint_lump__right_hand_range_visual_4'>
<pose frame=''>0.032 -0.020245 0.14235 3.14159 -1.57079 1.57079</pose>
<geometry>
<box>
<size>0.005 0.02 0.005</size>
</box>
</geometry>
<material>
<script>
<uri>__default__</uri>
<name>__default__</name>
</script>
</material>
</visual>
<velocity_decay/>
<sensor name='right_hand_camera' type='camera'>
<update_rate>30</update_rate>
<camera name='right_hand_camera'>
<pose frame=''>0 0 0 -3.14159 -1.5708 -1.5708</pose>
<horizontal_fov>1.39626</horizontal_fov>
<image>
<width>800</width>
<height>800</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.02</near>
<far>300</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<plugin name='camera_controller' filename='libgazebo_ros_camera.so'>
<alwaysOn>true</alwaysOn>
<updateRate>0.0</updateRate>
<cameraName>right_hand_camera</cameraName>
<imageTopicName>image</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<frameName>right_hand_camera</frameName>
<hackBaseline>0.07</hackBaseline>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
<CxPrime>0</CxPrime>
<Cx>0.0</Cx>
<Cy>0.0</Cy>
<focalLength>0.0</focalLength>
<robotNamespace>/cameras</robotNamespace>
</plugin>
<pose frame=''>0.03825 0.012 0.128905 0 0 -1.5708</pose>
</sensor>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
<sensor name='ir_right' type='ray'>
<ray>
<scan>
<horizontal>
<samples>1</samples>
<resolution>1</resolution>
<min_angle>-0.5</min_angle>
<max_angle>0.5</max_angle>
</horizontal>
</scan>
<range>
<min>0.004</min>
<max>0.4</max>
</range>
</ray>
<plugin name='plugin_3' filename='libgazebo_ros_laser.so'>
<gaussianNoise>0.005</gaussianNoise>
<alwaysOn>true</alwaysOn>
<updateRate>100</updateRate>
<topicName>/sim/laserscan/right_hand_range/state</topicName>
<frameName>right_hand_range</frameName>
</plugin>
<always_on>1</always_on>
<update_rate>100</update_rate>
<pose frame=''>0.032 -0.020245 0.14235 3.14159 -1.57079 1.57079</pose>
</sensor>
</link>
<joint name='right_w2' type='revolute'>
<child>right_wrist</child>
<parent>right_lower_forearm</parent>
<axis>
<xyz>0.707105 -0.707108 0</xyz>
<limit>
<lower>-3.059</lower>
<upper>3.059</upper>
<effort>15</effort>
<velocity>4</velocity>
</limit>
<dynamics>
<damping>0.7</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>
<cfm_damping>1</cfm_damping>
<limit>
<cfm>0</cfm>
<erp>0.2</erp>
</limit>
</ode>
</physics>
</joint>
<link name='r_gripper_l_finger'>
<pose frame=''>0.828221 -1.02535 0.320976 -1.89254 1.57079 -2.67794</pose>
<inertial>
<pose frame=''>0 0.00575 0.037567 0 -0 3.14159</pose>
<mass>0.03</mass>
<inertia>
<ixx>0.0200867</ixx>
<ixy>4.0989e-19</ixy>
<ixz>-2.67795e-18</ixz>
<iyy>0.0200847</iyy>
<iyz>1.29605e-05</iyz>
<izz>0.020002</izz>
</inertia>
</inertial>
<collision name='r_gripper_l_finger_collision'>
<pose frame=''>0 0.01725 0.0615 0 -0 3.14159</pose>
<geometry>
<box>
<size>0.01 0.0135 0.1127</size>
</box>
</geometry>
<surface>
<contact>
<ode>
<kp>100000</kp>
<kd>1</kd>
</ode>
</contact>
<friction>
<ode>
<mu>1000</mu>
<mu2>1000</mu2>
<fdir1>0 0 1</fdir1>
</ode>
</friction>
</surface>
</collision>
<collision name='r_gripper_l_finger_collision_1'>
<pose frame=''>-0.005 -0.003 0.0083 0 -0 3.14159</pose>
<geometry>
<box>
<size>0.01 0.05 0.017</size>
</box>
</geometry>
<surface>
<contact>
<ode>
<kp>100000</kp>
<kd>1</kd>
</ode>
</contact>
<friction>
<ode>
<mu>1000</mu>
<mu2>1000</mu2>
<fdir1>0 0 1</fdir1>
</ode>
</friction>
</surface>
</collision>
<collision name='r_gripper_l_finger_tip_collision_2'>
<pose frame=''>0 0.01275 0.0977 0 -0 -3.14159</pose>
<geometry>
<cylinder>
<length>0.037</length>
<radius>0.008</radius>
</cylinder>
</geometry>
<surface>
<contact>
<ode>
<kp>100000</kp>
<kd>1</kd>
</ode>
</contact>
<friction>
<ode>
<mu>1000</mu>
<mu2>1000</mu2>
<fdir1>0 0 1</fdir1>
</ode>
</friction>
</surface>
</collision>
<visual name='r_gripper_l_finger_visual'>
<pose frame=''>0 0 0 0 -0 3.14159</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://rethink_ee_description/meshes/electric_gripper/fingers/extended_narrow.DAE</uri>
</mesh>
</geometry>
<material>
<script>
<uri>__default__</uri>
<name>__default__</name>
</script>
</material>
</visual>
<visual name='r_gripper_l_finger_tip_visual_1'>
<pose frame=''>0 0.01725 0.1127 0 -0 -3.14159</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://rethink_ee_description/meshes/electric_gripper/fingers/half_round_tip.DAE</uri>
</mesh>
</geometry>
<material>
<script>
<uri>__default__</uri>
<name>__default__</name>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='r_gripper_l_finger_joint' type='prismatic'>
<child>r_gripper_l_finger</child>
<parent>right_wrist</parent>
<axis>
<xyz>0.707108 0.707105 0</xyz>
<limit>
<lower>0</lower>
<upper>0.020833</upper>
<effort>20</effort>
<velocity>5</velocity>
</limit>
<dynamics>
<damping>0.7</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>
<cfm_damping>1</cfm_damping>
<limit>
<cfm>0</cfm>
<erp>0.2</erp>
</limit>
</ode>
</physics>
</joint>
<link name='r_gripper_r_finger'>
<pose frame=''>0.830342 -1.02322 0.320976 -1.89254 1.57079 -2.67794</pose>
<inertial>
<pose frame=''>0 -0.00575 0.037567 0 -0 0</pose>
<mass>0.03</mass>
<inertia>
<ixx>0.0200867</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0200847</iyy>
<iyz>1.29605e-05</iyz>
<izz>0.020002</izz>
</inertia>
</inertial>
<collision name='r_gripper_r_finger_collision'>
<pose frame=''>0 -0.01725 0.0615 0 -0 0</pose>
<geometry>
<box>
<size>0.01 0.0135 0.1127</size>
</box>
</geometry>
<surface>
<contact>
<ode>
<kp>100000</kp>
<kd>1</kd>
</ode>
</contact>
<friction>
<ode>
<mu>1000</mu>
<mu2>1000</mu2>
<fdir1>0 0 1</fdir1>
</ode>
</friction>
</surface>
</collision>
<collision name='r_gripper_r_finger_collision_1'>
<pose frame=''>0.005 0.003 0.0083 0 -0 0</pose>
<geometry>
<box>
<size>0.01 0.05 0.017</size>
</box>
</geometry>
<surface>
<contact>
<ode>
<kp>100000</kp>
<kd>1</kd>
</ode>
</contact>
<friction>
<ode>
<mu>1000</mu>
<mu2>1000</mu2>
<fdir1>0 0 1</fdir1>
</ode>
</friction>
</surface>
</collision>
<collision name='r_gripper_r_finger_tip_collision_2'>
<pose frame=''>0 -0.01275 0.0977 0 -0 0</pose>
<geometry>
<cylinder>
<length>0.037</length>
<radius>0.008</radius>
</cylinder>
</geometry>
<surface>
<contact>
<ode>
<kp>100000</kp>
<kd>1</kd>
</ode>
</contact>
<friction>
<ode>
<mu>1000</mu>
<mu2>1000</mu2>
<fdir1>0 0 1</fdir1>
</ode>
</friction>
</surface>
</collision>
<visual name='r_gripper_r_finger_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://rethink_ee_description/meshes/electric_gripper/fingers/extended_narrow.DAE</uri>
</mesh>
</geometry>
<material>
<script>
<uri>__default__</uri>
<name>__default__</name>
</script>
</material>
</visual>
<visual name='r_gripper_r_finger_tip_visual_1'>
<pose frame=''>0 -0.01725 0.1127 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://rethink_ee_description/meshes/electric_gripper/fingers/half_round_tip.DAE</uri>
</mesh>
</geometry>
<material>
<script>
<uri>__default__</uri>
<name>__default__</name>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='r_gripper_r_finger_joint' type='prismatic'>
<child>r_gripper_r_finger</child>
<parent>right_wrist</parent>
<axis>
<xyz>0.707108 0.707105 0</xyz>
<limit>
<lower>-0.020833</lower>
<upper>0</upper>
<effort>20</effort>
<velocity>5</velocity>
</limit>
<dynamics>
<damping>0.7</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>
<cfm_damping>1</cfm_damping>
<limit>
<cfm>0</cfm>
<erp>0.2</erp>
</limit>
</ode>
</physics>
</joint>
<static>0</static>
<plugin name='baxter_ros_control' filename='libbaxter_gazebo_ros_control.so'>
<robotNamespace>/robot</robotNamespace>
</plugin>
</model>
</sdf>
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