baxter.sdf

<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>