engineer.urdf

<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from ../rm_description/urdf/engineer/engineer.urdf.xacro | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="engineer">
  <link name="base_link">
    <inertial>
      <mass value="10.34269"/>
      <origin xyz="-0.003691 -0.001885 0.024404"/>
      <inertia ixx="1.952E-01" ixy="-1.504E-03" ixz="5.871E-03" iyy="3.011E-01" iyz="-1.077E-03" izz="4.074E-01"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://rm_description/meshes/engineer/base_link.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0. 0. 0." xyz="0 0 0.0525"/>
      <geometry>
        <box size="0.59 0.59 0.105"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0. 0. 0." xyz="0 0 0.165"/>
      <geometry>
        <box size="0.59 0.171 0.12"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0. 0. 0." xyz="0 0.15 0.3675"/>
      <geometry>
        <box size="0.24 0.034 0.445"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0. 0. 0." xyz="0 -0.15 0.3675"/>
      <geometry>
        <box size="0.24 0.034 0.445"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0. 0. 0." xyz="0 0.187 0.46625"/>
      <geometry>
        <box size="0.39 0.034 0.6425"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0. 0. 0." xyz="0 -0.187 0.46625"/>
      <geometry>
        <box size="0.39 0.034 0.6425"/>
      </geometry>
    </collision>
  </link>
  <link name="drag_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://rm_description/meshes/engineer/drag.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <inertial>
      <mass value="0.124977"/>
      <origin xyz="0. 1.32489 -0.00403"/>
      <inertia ixx="3.004e-3" ixy="-0.045e-9" ixz="-2.0566e-8" iyy="9.642549e-6" iyz="1.05812e-7" izz="3.003e-3"/>
    </inertial>
  </link>
  <joint name="drag_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0. 0. 0."/>
    <limit effort="8.1" lower="-1e10" upper="1e10" velocity="9.96"/>
    <parent link="base_link"/>
    <child link="drag_link"/>
    <axis xyz="0 1 0"/>
  </joint>
  <transmission name="trans_drag_joint">
    <type>transmission_interface/SimpleTransmission</type>
    <actuator name="drag_joint_motor">
      <mechanicalReduction>51.0</mechanicalReduction>
    </actuator>
    <joint name="drag_joint">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <offset>0.2</offset>
    </joint>
  </transmission>
  <link name="left_front_pivot">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://rm_description/meshes/common/swerve_pivot.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <inertial>
      <mass value="0.114131"/>
      <origin rpy="0 0 0" xyz="-0.00005 0.017079 -0.041536"/>
      <inertia ixx="1.335e-4" ixy="26.001e-9" ixz="65.031e-9" iyy="1.372e-4" iyz="20051.742e-9" izz="66866.081e-9"/>
    </inertial>
  </link>
  <joint name="left_front_pivot_joint" type="revolute">
    <axis xyz="0 0 1"/>
    <origin rpy="0 0 0" xyz="0.219 0.2 0.06795"/>
    <parent link="base_link"/>
    <child link="left_front_pivot"/>
    <dynamics damping="0.0" friction="0.1"/>
    <limit effort="1.2" lower="-1e10" upper="1e10" velocity="50"/>
  </joint>
  <link name="left_front_wheel">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://rm_description/meshes/common/swerve_wheel.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <inertial>
      <mass value="0.267401"/>
      <origin rpy="0 0 0" xyz="-0.000004 0.000125 0.000001"/>
      <inertia ixx="3.585e-4" ixy="0" ixz="13.459e-9" iyy="6.846e-4" iyz="0" izz="3.584e-4"/>
    </inertial>
    <collision>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.02" radius="0.055"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_front_wheel_joint" type="revolute">
    <axis xyz="0 1 0"/>
    <origin rpy="0 0 0" xyz="0 0 -0.06635"/>
    <parent link="left_front_pivot"/>
    <child link="left_front_wheel"/>
    <limit effort="3" lower="-1e10" upper="1e10" velocity="76"/>
    <dynamics damping="0.0" friction="0.05"/>
  </joint>
  <gazebo reference="left_front_wheel">
    <mu1 value="1.0"/>
    <mu2 value="1.0"/>
    <kp value="1000000.0"/>
    <kd value="100.0"/>
    <material>Gazebo/Black</material>
  </gazebo>
  <link name="right_front_pivot">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://rm_description/meshes/common/swerve_pivot.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <inertial>
      <mass value="0.114131"/>
      <origin rpy="0 0 0" xyz="-0.00005 0.017079 -0.041536"/>
      <inertia ixx="1.335e-4" ixy="26.001e-9" ixz="65.031e-9" iyy="1.372e-4" iyz="20051.742e-9" izz="66866.081e-9"/>
    </inertial>
  </link>
  <joint name="right_front_pivot_joint" type="revolute">
    <axis xyz="0 0 1"/>
    <origin rpy="0 0 0" xyz="0.219 -0.2 0.06795"/>
    <parent link="base_link"/>
    <child link="right_front_pivot"/>
    <dynamics damping="0.0" friction="0.1"/>
    <limit effort="1.2" lower="-1e10" upper="1e10" velocity="50"/>
  </joint>
  <link name="right_front_wheel">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://rm_description/meshes/common/swerve_wheel.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <inertial>
      <mass value="0.267401"/>
      <origin rpy="0 0 0" xyz="-0.000004 0.000125 0.000001"/>
      <inertia ixx="3.585e-4" ixy="0" ixz="13.459e-9" iyy="6.846e-4" iyz="0" izz="3.584e-4"/>
    </inertial>
    <collision>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.02" radius="0.055"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_front_wheel_joint" type="revolute">
    <axis xyz="0 1 0"/>
    <origin rpy="0 0 0" xyz="0 0 -0.06635"/>
    <parent link="right_front_pivot"/>
    <child link="right_front_wheel"/>
    <limit effort="3" lower="-1e10" upper="1e10" velocity="76"/>
    <dynamics damping="0.0" friction="0.05"/>
  </joint>
  <gazebo reference="right_front_wheel">
    <mu1 value="1.0"/>
    <mu2 value="1.0"/>
    <kp value="1000000.0"/>
    <kd value="100.0"/>
    <material>Gazebo/Black</material>
  </gazebo>
  <link name="left_back_pivot">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://rm_description/meshes/common/swerve_pivot.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <inertial>
      <mass value="0.114131"/>
      <origin rpy="0 0 0" xyz="-0.00005 0.017079 -0.041536"/>
      <inertia ixx="1.335e-4" ixy="26.001e-9" ixz="65.031e-9" iyy="1.372e-4" iyz="20051.742e-9" izz="66866.081e-9"/>
    </inertial>
  </link>
  <joint name="left_back_pivot_joint" type="revolute">
    <axis xyz="0 0 1"/>
    <origin rpy="0 0 0" xyz="-0.219 0.2 0.06795"/>
    <parent link="base_link"/>
    <child link="left_back_pivot"/>
    <dynamics damping="0.0" friction="0.1"/>
    <limit effort="1.2" lower="-1e10" upper="1e10" velocity="50"/>
  </joint>
  <link name="left_back_wheel">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://rm_description/meshes/common/swerve_wheel.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <inertial>
      <mass value="0.267401"/>
      <origin rpy="0 0 0" xyz="-0.000004 0.000125 0.000001"/>
      <inertia ixx="3.585e-4" ixy="0" ixz="13.459e-9" iyy="6.846e-4" iyz="0" izz="3.584e-4"/>
    </inertial>
    <collision>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.02" radius="0.055"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_back_wheel_joint" type="revolute">
    <axis xyz="0 1 0"/>
    <origin rpy="0 0 0" xyz="0 0 -0.06635"/>
    <parent link="left_back_pivot"/>
    <child link="left_back_wheel"/>
    <limit effort="3" lower="-1e10" upper="1e10" velocity="76"/>
    <dynamics damping="0.0" friction="0.05"/>
  </joint>
  <gazebo reference="left_back_wheel">
    <mu1 value="1.0"/>
    <mu2 value="1.0"/>
    <kp value="1000000.0"/>
    <kd value="100.0"/>
    <material>Gazebo/Black</material>
  </gazebo>
  <link name="right_back_pivot">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://rm_description/meshes/common/swerve_pivot.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <inertial>
      <mass value="0.114131"/>
      <origin rpy="0 0 0" xyz="-0.00005 0.017079 -0.041536"/>
      <inertia ixx="1.335e-4" ixy="26.001e-9" ixz="65.031e-9" iyy="1.372e-4" iyz="20051.742e-9" izz="66866.081e-9"/>
    </inertial>
  </link>
  <joint name="right_back_pivot_joint" type="revolute">
    <axis xyz="0 0 1"/>
    <origin rpy="0 0 0" xyz="-0.219 -0.2 0.06795"/>
    <parent link="base_link"/>
    <child link="right_back_pivot"/>
    <dynamics damping="0.0" friction="0.1"/>
    <limit effort="1.2" lower="-1e10" upper="1e10" velocity="50"/>
  </joint>
  <link name="right_back_wheel">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://rm_description/meshes/common/swerve_wheel.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <inertial>
      <mass value="0.267401"/>
      <origin rpy="0 0 0" xyz="-0.000004 0.000125 0.000001"/>
      <inertia ixx="3.585e-4" ixy="0" ixz="13.459e-9" iyy="6.846e-4" iyz="0" izz="3.584e-4"/>
    </inertial>
    <collision>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.02" radius="0.055"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_back_wheel_joint" type="revolute">
    <axis xyz="0 1 0"/>
    <origin rpy="0 0 0" xyz="0 0 -0.06635"/>
    <parent link="right_back_pivot"/>
    <child link="right_back_wheel"/>
    <limit effort="3" lower="-1e10" upper="1e10" velocity="76"/>
    <dynamics damping="0.0" friction="0.05"/>
  </joint>
  <gazebo reference="right_back_wheel">
    <mu1 value="1.0"/>
    <mu2 value="1.0"/>
    <kp value="1000000.0"/>
    <kd value="100.0"/>
    <material>Gazebo/Black</material>
  </gazebo>
  <transmission name="left_front_pivot_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <actuator name="left_front_pivot_motor">
      <mechanicalReduction>-1</mechanicalReduction>
    </actuator>
    <joint name="left_front_pivot_joint">
      <offset>2.092605</offset>
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
  </transmission>
  <transmission name="left_front_wheel_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <actuator name="left_front_wheel_motor">
      <mechanicalReduction>19</mechanicalReduction>
    </actuator>
    <joint name="left_front_wheel_joint">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
  </transmission>
  <transmission name="right_front_pivot_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <actuator name="right_front_pivot_motor">
      <mechanicalReduction>-1</mechanicalReduction>
    </actuator>
    <joint name="right_front_pivot_joint">
      <offset>4.973006</offset>
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
  </transmission>
  <transmission name="right_front_wheel_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <actuator name="right_front_wheel_motor">
      <mechanicalReduction>19</mechanicalReduction>
    </actuator>
    <joint name="right_front_wheel_joint">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
  </transmission>
  <transmission name="left_back_pivot_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <actuator name="left_back_pivot_motor">
      <mechanicalReduction>-1</mechanicalReduction>
    </actuator>
    <joint name="left_back_pivot_joint">
      <offset>5.26066</offset>
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
  </transmission>
  <transmission name="left_back_wheel_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <actuator name="left_back_wheel_motor">
      <mechanicalReduction>19</mechanicalReduction>
    </actuator>
    <joint name="left_back_wheel_joint">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
  </transmission>
  <transmission name="right_back_pivot_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <actuator name="right_back_pivot_motor">
      <mechanicalReduction>-1</mechanicalReduction>
    </actuator>
    <joint name="right_back_pivot_joint">
      <offset>-2.074195</offset>
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
  </transmission>
  <transmission name="right_back_wheel_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <actuator name="right_back_wheel_motor">
      <mechanicalReduction>19</mechanicalReduction>
    </actuator>
    <joint name="right_back_wheel_joint">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
  </transmission>
  <!--  link  -->
  <link name="link1">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://rm_description/meshes/engineer/link1.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <inertial>
      <mass value="1.191644"/>
      <origin xyz="0. 0. 0."/>
      <inertia ixx="5.559e-1" ixy="-7.326e-3" ixz="2.084e-2" iyy="3.889e-1" iyz="4.594e-3" izz="5.871e-1"/>
    </inertial>
    <collision>
      <origin rpy="0. 0. 0." xyz="0 0.25 0.028"/>
      <geometry>
        <box size="0.334 0.15 0.056"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0. 0. 0." xyz="0 -0.25 0.028"/>
      <geometry>
        <box size="0.334 0.15 0.056"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0. 0. 0." xyz="0.217 0.182 0.04"/>
      <geometry>
        <box size="0.07 0.097 0.1"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0. 0. 0." xyz="0.217 -0.182 0.04"/>
      <geometry>
        <box size="0.07 0.097 0.1"/>
      </geometry>
    </collision>
  </link>
  <link name="link2">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://rm_description/meshes/engineer/link2.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <inertial>
      <mass value="2.997641"/>
      <origin xyz="0. 0. 0."/>
      <inertia ixx="1.438e-1" ixy="-7.086e-3" ixz="-5.178e-3" iyy="9.638e-2" iyz="-2.120e-3" izz="2.365e-1"/>
    </inertial>
    <collision>
      <origin rpy="0. 0. 0." xyz="0.0075 -0.215 0.0125"/>
      <geometry>
        <box size="0.565 0.07 0.025"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0. 0. 0." xyz="0.0075 0.215 0.0125"/>
      <geometry>
        <box size="0.565 0.07 0.025"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0. 0. 0." xyz="0.249 0. 0.01"/>
      <geometry>
        <box size="0.046 0.43 0.026"/>
      </geometry>
    </collision>
  </link>
  <link name="link3">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0.0"/>
      <geometry>
        <mesh filename="package://rm_description/meshes/engineer/link3.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <inertial>
      <mass value="1.144584"/>
      <origin xyz="0. -0. 0."/>
      <inertia ixx="3.307e-2" ixy="-1.813e-3" ixz="2.5936e-5" iyy="8.059e-4" iyz="1.760e-4" izz="3.340e-2"/>
    </inertial>
    <collision>
      <origin rpy="0. 0. 0." xyz="0. 0. 0."/>
      <geometry>
        <mesh filename="package://rm_description/meshes/engineer/link3.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <link name="link4">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0."/>
      <geometry>
        <mesh filename="package://rm_description/meshes/engineer/link4.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <inertial>
      <mass value="0.07901"/>
      <origin xyz="0. 0. 0. "/>
      <inertia ixx="1.2e-4" ixy="1.90146e-7" ixz="-1.654e-6" iyy="3.797e-5" iyz="-8.45708e-7" izz="1.13e-4"/>
    </inertial>
    <collision>
      <origin rpy="0. 0. 0." xyz="0. 0.0045 -0.0165"/>
      <geometry>
        <box size="0.04 0.257 0.07"/>
      </geometry>
    </collision>
  </link>
  <link name="link5">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0.0"/>
      <geometry>
        <mesh filename="package://rm_description/meshes/engineer/link5.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <inertial>
      <mass value="0.178017"/>
      <origin xyz="0. 0. 0."/>
      <inertia ixx="2.936e-3" ixy="2.366e-4" ixz="-5.559e-4" iyy="2.88e-3" iyz="6.198e-4" izz="6.447e-4"/>
    </inertial>
    <collision>
      <origin rpy="0. 0. 0." xyz="-0.025 0.0 -0.1275"/>
      <geometry>
        <box size="0.032 0.032 0.18"/>
      </geometry>
    </collision>
  </link>
  <link name="link6">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0."/>
      <geometry>
        <mesh filename="package://rm_description/meshes/engineer/link6.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <inertial>
      <mass value="0.242891"/>
      <origin xyz="0. 0. 0."/>
      <inertia ixx="1.225e-2" ixy="3.486e-4" ixz="-1.804e-3" iyy="1.224e-2" iyz="2.204e-3" izz="1.033e-3"/>
    </inertial>
    <collision>
      <origin rpy="0. 0. 0." xyz="0. 0. 0."/>
      <geometry>
        <mesh filename="package://rm_description/meshes/engineer/link6.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0. 0. 0." xyz="0.07 0. -0.01"/>
      <geometry>
        <box size="0.03 0.03 0.015"/>
      </geometry>
    </collision>
  </link>
  <link name="link7">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://rm_description/meshes/engineer/link7.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <inertial>
      <mass value="0.124977"/>
      <origin xyz="0. 1.32489 -0.00403"/>
      <inertia ixx="3.004e-3" ixy="-0.045e-9" ixz="-2.0566e-8" iyy="9.642549e-6" iyz="1.05812e-7" izz="3.003e-3"/>
    </inertial>
    <collision>
      <origin rpy="0. 0. 0." xyz="0. 0. 0."/>
      <geometry>
        <mesh filename="package://rm_description/meshes/engineer/link7.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <link name="tools_link"/>
  <link name="fake_link5"/>
  <joint name="joint1" type="prismatic">
    <parent link="base_link"/>
    <child link="link1"/>
    <origin rpy="0 0 0" xyz="0 0 0.21"/>
    <axis xyz="0 0 1"/>
    <limit effort="136" lower="-0.1" upper="0.48" velocity="2.84"/>
    <dynamics damping="0.0" friction="0.1"/>
  </joint>
  <joint name="joint2" type="prismatic">
    <parent link="link1"/>
    <child link="link2"/>
    <origin rpy="0 0 0" xyz="0 0. 0.056"/>
    <axis xyz="1 0 0"/>
    <limit effort="90.25" lower="-0.08" upper="0.268" velocity="2.77"/>
    <dynamics damping="0.0" friction="0.1"/>
  </joint>
  <joint name="joint3" type="prismatic">
    <parent link="link2"/>
    <child link="link3"/>
    <origin rpy="0 0 0" xyz="0.2595 0. 0.046"/>
    <axis xyz="0 1 0"/>
    <limit effort="135.8" lower="-0.3" upper="0.3" velocity="1.84"/>
    <dynamics damping="0.0" friction="0.1"/>
  </joint>
  <joint name="joint4" type="revolute">
    <parent link="link3"/>
    <child link="link4"/>
    <origin rpy="0 0 0" xyz="0. 0. 0.073"/>
    <axis xyz="0 1 0"/>
    <limit effort="11.72" lower="-1.578" upper="0.1" velocity="3.09"/>
    <dynamics damping="0.0" friction="0.1"/>
  </joint>
  <joint name="joint5" type="revolute">
    <parent link="link4"/>
    <child link="link5"/>
    <origin rpy="0 0 0" xyz="0.07 0. 0."/>
    <axis xyz="1 0 0"/>
    <limit effort="5" lower="-1.6" upper="1.61" velocity="50"/>
    <safety_controller k_position="80." k_velocity="1.2" soft_lower_limit="-1.5990000000000002" soft_upper_limit="1.6090000000000002"/>
    <dynamics damping="0.0" friction="0.1"/>
  </joint>
  <joint name="fake_joint5" type="fixed">
    <parent link="link5"/>
    <child link="fake_link5"/>
    <origin rpy="0 1.57 0" xyz="0. 0. 0."/>
  </joint>
  <joint name="joint6" type="revolute">
    <parent link="link5"/>
    <child link="link6"/>
    <origin rpy="0 0 0" xyz="-0.07 0 -0.2165"/>
    <axis xyz="0 0 1"/>
    <limit effort="5" lower="-1.66" upper="3.8" velocity="50"/>
    <safety_controller k_position="28." k_velocity="0.8" soft_lower_limit="-1.659" soft_upper_limit="3.5999999999999996"/>
    <dynamics damping="0.0" friction="0.1"/>
  </joint>
  <joint name="joint7" type="revolute">
    <origin rpy="0 0 0" xyz="0.037 -0.0425 -0.028"/>
    <limit effort="1.56" lower="0.0" upper="1.62" velocity="19"/>
    <parent link="link6"/>
    <child link="link7"/>
    <axis xyz="0 1 0"/>
  </joint>
  <joint name="tools_joint" type="fixed">
    <parent link="link7"/>
    <child link="tools_link"/>
    <origin rpy="0 -1.57 0" xyz="0.165 0.04 0.1"/>
  </joint>
  <!-- transmission -->
  <transmission name="trans_joint1">
    <type>transmission_interface/SimpleTransmission</type>
    <actuator name="joint1_motor">
      <mechanicalReduction>-519.8</mechanicalReduction>
    </actuator>
    <joint name="joint1">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <offset>0.45604</offset>
    </joint>
  </transmission>
  <transmission name="trans_joint2">
    <type>transmission_interface/SimpleTransmission</type>
    <actuator name="joint2_motor">
      <mechanicalReduction>-346.54</mechanicalReduction>
    </actuator>
    <joint name="joint2">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <offset>0.264</offset>
    </joint>
  </transmission>
  <transmission name="trans_joint3">
    <type>transmission_interface/SimpleTransmission</type>
    <actuator name="joint3_motor">
      <mechanicalReduction>-519.8</mechanicalReduction>
    </actuator>
    <joint name="joint3">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <offset>-0.297076</offset>
    </joint>
  </transmission>
  <transmission name="trans_joint4">
    <type>transmission_interface/SimpleTransmission</type>
    <actuator name="joint4_motor">
      <mechanicalReduction>50</mechanicalReduction>
    </actuator>
    <joint name="joint4">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <offset>-1.622</offset>
    </joint>
  </transmission>
  <transmission name="trans_joint5">
    <type>transmission_interface/SimpleTransmission</type>
    <actuator name="joint5_motor">
      <mechanicalReduction>19.2032</mechanicalReduction>
    </actuator>
    <joint name="joint5">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <offset>1.608</offset>
    </joint>
  </transmission>
  <transmission name="trans_joint6">
    <type>transmission_interface/SimpleTransmission</type>
    <actuator name="joint6_motor">
      <mechanicalReduction>-19.2032</mechanicalReduction>
    </actuator>
    <joint name="joint6">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <offset>-1.6642</offset>
    </joint>
  </transmission>
  <transmission name="trans_joint7">
    <type>transmission_interface/SimpleTransmission</type>
    <actuator name="joint7_motor">
      <mechanicalReduction>1.56</mechanicalReduction>
    </actuator>
    <joint name="joint7">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <offset>0.</offset>
    </joint>
  </transmission>
  <link name="pitch_behind_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://rm_description/meshes/engineer/pitch_behind.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <inertial>
      <mass value="0.124977"/>
      <origin xyz="0. 1.32489 -0.00403"/>
      <inertia ixx="3.004e-3" ixy="-0.045e-9" ixz="-2.0566e-8" iyy="9.642549e-6" iyz="1.05812e-7" izz="3.003e-3"/>
    </inertial>
  </link>
  <link name="pitch_front_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://rm_description/meshes/engineer/pitch_front.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <inertial>
      <mass value="0.124977"/>
      <origin xyz="0. 1.32489 -0.00403"/>
      <inertia ixx="3.004e-3" ixy="-0.045e-9" ixz="-2.0566e-8" iyy="9.642549e-6" iyz="1.05812e-7" izz="3.003e-3"/>
    </inertial>
  </link>
  <link name="roll_left_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://rm_description/meshes/engineer/roll_left.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <inertial>
      <mass value="0.155395"/>
      <origin xyz="-0.002548 -0.001141 -1.5623"/>
      <inertia ixx="5.377e-3" ixy="-1.0076e-5" ixz="-1.385968e-6" iyy="5.395e-3" iyz="-6.20542e-7" izz="3.7128e-5"/>
    </inertial>
  </link>
  <link name="roll_right_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://rm_description/meshes/engineer/roll_right.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <inertial>
      <mass value="0.155395"/>
      <origin xyz="-0.002548 -0.001141 -1.5623"/>
      <inertia ixx="5.377e-3" ixy="-1.0076e-5" ixz="-1.385968e-6" iyy="5.395e-3" iyz="-6.20542e-7" izz="3.7128e-5"/>
    </inertial>
  </link>
  <joint name="pitch_behind_joint" type="prismatic">
    <origin rpy="0 0 0" xyz="0. 0.143 0.26"/>
    <limit effort="1.0" lower="-1e10" upper="1e10" velocity="30"/>
    <parent link="base_link"/>
    <child link="pitch_behind_link"/>
    <axis xyz="0 1 0"/>
  </joint>
  <joint name="pitch_front_joint" type="prismatic">
    <origin rpy="0 0 0" xyz="0. 0.143 0.48"/>
    <limit effort="1.0" lower="-1e10" upper="1e10" velocity="30"/>
    <parent link="base_link"/>
    <child link="pitch_front_link"/>
    <axis xyz="0 1 0"/>
  </joint>
  <joint name="roll_left_joint" type="prismatic">
    <origin rpy="0 0 0" xyz="0.14 0.115 0.6"/>
    <limit effort="1.0" lower="-1e10" upper="1e10" velocity="30"/>
    <parent link="base_link"/>
    <child link="roll_left_link"/>
    <axis xyz="0 0 1"/>
  </joint>
  <joint name="roll_right_joint" type="prismatic">
    <origin rpy="0 0 0" xyz="0.14 -0.115 0.6"/>
    <limit effort="1.0" lower="-1e10" upper="1e10" velocity="30"/>
    <parent link="base_link"/>
    <child link="roll_right_link"/>
    <axis xyz="0 0 1"/>
  </joint>
  <transmission name="trans_pitch_behind_joint">
    <type>transmission_interface/SimpleTransmission</type>
    <actuator name="pitch_behind_joint_motor">
      <mechanicalReduction>-1</mechanicalReduction>
    </actuator>
    <joint name="pitch_behind_joint">
      <offset>0.</offset>
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
  </transmission>
  <transmission name="trans_pitch_front_joint">
    <type>transmission_interface/SimpleTransmission</type>
    <actuator name="pitch_front_joint_motor">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
    <joint name="pitch_front_joint">
      <offset>0.</offset>
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
  </transmission>
  <transmission name="trans_roll_left_joint">
    <type>transmission_interface/SimpleTransmission</type>
    <actuator name="roll_left_joint_motor">
      <mechanicalReduction>-1</mechanicalReduction>
    </actuator>
    <joint name="roll_left_joint">
      <offset>0.</offset>
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
  </transmission>
  <transmission name="trans_roll_right_joint">
    <type>transmission_interface/SimpleTransmission</type>
    <actuator name="roll_right_joint_motor">
      <mechanicalReduction>-1</mechanicalReduction>
    </actuator>
    <joint name="roll_right_joint">
      <offset>0.</offset>
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
  </transmission>
  <link name="gimbal_base">
    <inertial>
      <mass value="0.163485"/>
      <origin xyz="0.000652 0.002177 0.009113"/>
      <inertia ixx="7.4761869e-5" ixy="-1.177056e-6" ixz="-2.348598e-6" iyy="7.440176e-5" iyz="6.29861e-6" izz="6.3915e-5"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://rm_description/meshes/engineer/gimbal_base.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
  </link>
  <link name="yaw">
    <inertial>
      <mass value="0.074489"/>
      <origin xyz="0.000003 -0.001925 0.013798"/>
      <inertia ixx="1.672e-4" ixy="-0.42e-9" ixz="1.5288e-8" iyy="5.1826669e-5" iyz="-5.33194e-7" izz="1.439e-4"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://rm_description/meshes/engineer/yaw.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
  </link>
  <link name="pitch">
    <inertial>
      <mass value="0.28963"/>
      <origin xyz="0.001291 0.005233 0.001395"/>
      <inertia ixx="2.976e-4" ixy="5.294138e-6" ixz="-5.514329e-6" iyy="1.889e-4" iyz="3.085924e-6" izz="4.132e-4"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://rm_description/meshes/engineer/pitch.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
  </link>
  <joint name="gimbal_base_joint" type="fixed">
    <origin rpy="0 0 0" xyz="-0.208 0.015 0.084"/>
    <parent link="link1"/>
    <child link="gimbal_base"/>
  </joint>
  <joint name="yaw_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 0.03"/>
    <limit effort="0.15" lower="-10000000000.0" upper="10000000000.0" velocity="900"/>
    <parent link="gimbal_base"/>
    <child link="yaw"/>
    <axis xyz="0 0 1"/>
  </joint>
  <joint name="pitch_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0.  0. 0.091 "/>
    <limit effort="0.15" lower="-10000000000.0" upper="10000000000.0" velocity="900"/>
    <parent link="yaw"/>
    <child link="pitch"/>
    <axis xyz="0 1 0 "/>
  </joint>
  <transmission name="trans_yaw_joint">
    <type>transmission_interface/SimpleTransmission</type>
    <actuator name="yaw_joint_motor">
      <mechanicalReduction>-1</mechanicalReduction>
    </actuator>
    <joint name="yaw_joint">
      <offset>1.66</offset>
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
  </transmission>
  <transmission name="trans_pitch_joint">
    <type>transmission_interface/SimpleTransmission</type>
    <actuator name="pitch_joint_motor">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
    <joint name="pitch_joint">
      <offset>-0.46</offset>
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
  </transmission>
  <joint name="camera_link_joint" type="fixed">
    <axis xyz="0 1 0"/>
    <origin rpy="3.141592653589793 0 -0.02" xyz="-0.036 -0.012 0.0135"/>
    <parent link="pitch"/>
    <child link="camera_link"/>
  </joint>
  <link name="camera_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://rm_description/meshes/common/camera.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <inertial>
      <mass value="0.17671"/>
      <origin xyz="0.022 0.0 0.0"/>
      <inertia ixx="2.129e-5" ixy="7.329e-8" ixz="-1.11e-7" iyy="2.198e-4" iyz="-8.04e-7" izz="2.197e-4"/>
    </inertial>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://rm_description/meshes/common/camera.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="camera_optical_frame_joint" type="fixed">
    <origin rpy="-1.5786 -0.025 -1.570" xyz="0.043098346349538025 -0.015 0.027"/>
    <parent link="pitch"/>
    <child link="camera_optical_frame"/>
  </joint>
  <link name="camera_optical_frame">
    <inertial>
      <mass value="0.001"/>
      <origin xyz="0.0 0.0 0.0"/>
      <inertia ixx="2.129e-9" ixy="7.329e-9" ixz="-1.11e-9" iyy="2.198e-9" iyz="-8.04e-9" izz="2.197e-9"/>
    </inertial>
  </link>
  <gazebo reference="camera_link">
    <sensor name="camera" type="camera">
      <update_rate>100.0</update_rate>
      <camera name="head">
        <horizontal_fov>1.3962634</horizontal_fov>
        <image>
          <width>1920</width>
          <height>1080</height>
          <format>R8G8B8</format>
        </image>
        <clip>
          <near>0.05</near>
          <far>5</far>
        </clip>
        <noise>
          <type>gaussian</type>
          <mean>0.0</mean>
          <stddev>0.007</stddev>
        </noise>
      </camera>
      <plugin filename="libgazebo_ros_camera.so" name="camera_controller">
        <alwaysOn>true</alwaysOn>
        <updateRate>0.0</updateRate>
        <cameraName>galaxy_camera</cameraName>
        <imageTopicName>image_raw</imageTopicName>
        <cameraInfoTopicName>camera_info</cameraInfoTopicName>
        <frameName>camera_optical_frame</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>
      </plugin>
    </sensor>
  </gazebo>
  <gazebo>
    <plugin filename="librm_robot_hw_sim.so" name="rm_ros_control">
      <robotNamespace>/</robotNamespace>
      <robotSimType>rm_gazebo/RmRobotHWSim</robotSimType>
    </plugin>
  </gazebo>
</robot>