model.urdf

<robot name="iCub">
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    <visual>
      <origin xyz="0 0 0.313858" rpy="0 0 -1.5707963267948966"/>
      <geometry>
        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_root_link_prt.stl" scale="0.001 0.001 0.001"/>
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      <material name="green">
        <color rgba="0 1 0 1"/>
      </material>
    </visual>
    <collision>
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        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_root_link_prt.stl" scale="0.001 0.001 0.001"/>
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  </link>
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      <origin xyz="-0.00752632 0.000684313 0.05308400000000002" rpy="0 0 -1.5707963267948966"/>
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    <visual>
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      <geometry>
        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_torso_1_prt.stl" scale="0.001 0.001 0.001"/>
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      <material name="black">
        <color rgba="0 0 0 1"/>
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    <origin xyz="0 0 0.0605" rpy="0 0 0"/>
    <axis xyz="-1.0 0.0 0.0"/>
    <parent link="root_link"/>
    <child link="torso_1"/>
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    <dynamics damping="2.0" friction="0.0"/>
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  <link name="torso_2">
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        <color rgba="1 0 0 1"/>
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    <axis xyz="0.0 1.0 0.0"/>
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    <child link="torso_2"/>
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    <dynamics damping="2.0" friction="0.0"/>
  </joint>
  <link name="chest">
    <inertial>
      <origin xyz="-0.00433942 -6.07081e-05 0.06080120000000001" rpy="0 0 -1.5707963267948966"/>
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        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_chest_prt.stl" scale="0.001 0.001 0.001"/>
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      <material name="blue">
        <color rgba="0 0 1 1"/>
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    <origin xyz="0 0 0.06447000000000001" rpy="0 0 0"/>
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  <link name="chest_depth_frame"/>
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    <child link="chest_depth_frame"/>
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  <link name="chest_rgb_frame"/>
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    <child link="chest_rgb_frame"/>
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  <link name="neck_1">
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    <visual>
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        <mesh filename="package://iCub/meshes/simmechanics/sim_head_neck_1_prt.stl" scale="0.001 0.001 0.001"/>
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      <material name="yellow">
        <color rgba="1 1 0 1"/>
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        <mesh filename="package://iCub/meshes/simmechanics/sim_head_neck_1_prt.stl" scale="0.001 0.001 0.001"/>
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    </collision>
  </link>
  <joint name="neck_fixed_joint" type="fixed">
    <origin xyz="-0.00378849 0 0.1652995" rpy="0 0 0"/>
    <parent link="chest"/>
    <child link="neck_1"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="neck_2">
    <inertial>
      <origin xyz="-0.0063756 3.63093e-05 0.006597499999999992" rpy="-1.5707963267948968 0 -1.5707963267948968"/>
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    <visual>
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        <mesh filename="package://iCub/meshes/simmechanics/sim_head_neck_2_prt.stl" scale="0.001 0.001 0.001"/>
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      <material name="pink">
        <color rgba="1 0 1 1"/>
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  <joint name="neck_pitch" type="revolute">
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    <axis xyz="0.0 -1.0 0.0"/>
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    <child link="neck_2"/>
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  </joint>
  <link name="neck_3">
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  <joint name="neck_roll" type="revolute">
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  </joint>
  <link name="head">
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  <link name="imu_frame"/>
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  <link name="l_shoulder_1">
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  <link name="l_shoulder_2">
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  <link name="l_shoulder_3">
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  <link name="l_elbow_1">
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      <origin xyz="-0.005967799999999999 -0.0010993000000000114 -0.015761000000000025" rpy="0 0 -1.5707963267948966"/>
      <mass value="0.346176903"/>
      <inertia ixx="0.01" ixy="3.500555218899747e-05" ixz="5.595236405229479e-05" iyy="0.01" iyz="-2.5797402621896045e-05" izz="0.01"/>
    </inertial>
    <visual>
      <origin xyz="-0.026050000000000184 -0.08294999999999977 0.8456470000000004" rpy="0 0 -1.5707963267948966"/>
      <geometry>
        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_ankle_1_prt.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="red">
        <color rgba="1 0 0 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="-0.026050000000000184 -0.08294999999999977 0.8456470000000004" rpy="0 0 -1.5707963267948966"/>
      <geometry>
        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_ankle_1_prt.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="l_ankle_pitch" type="revolute">
    <origin xyz="0 -0.0005000000000000004 -0.255989" rpy="0 0 0"/>
    <axis xyz="0.0 1.0 0.0"/>
    <parent link="l_lower_leg"/>
    <child link="l_ankle_1"/>
    <limit effort="50000" lower="-0.7853981633974483" upper="0.7853981633974483" velocity="120.0"/>
    <dynamics damping="2.0" friction="0.0"/>
  </joint>
  <link name="l_ankle_2">
    <inertial>
      <origin xyz="0.0395705 -8.679999999999799e-05 -0.025456999999999952" rpy="0 0 -1.5707963267948966"/>
      <mass value="1.011533592"/>
      <inertia ixx="0.01" ixy="4.9262053836459e-06" ixz="-3.7366014759915845e-06" iyy="0.01" iyz="0.0008447851360689573" izz="0.01"/>
    </inertial>
    <visual>
      <origin xyz="0.026700000000000015 -0.06475000000001183 0.8806469999999995" rpy="0 0 -1.5707963267948966"/>
      <geometry>
        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_ankle_2_prt.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="blue">
        <color rgba="0 0 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0.026700000000000015 -0.06475000000001183 0.8806469999999995" rpy="0 0 -1.5707963267948966"/>
      <geometry>
        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_ankle_2_prt.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="l_ankle_roll" type="revolute">
    <origin xyz="-0.052750000000000005 -0.018200000000000008 -0.03500000000000003" rpy="0 0 0"/>
    <axis xyz="1.0 0.0 0.0"/>
    <parent link="l_ankle_1"/>
    <child link="l_ankle_2"/>
    <limit effort="50000" lower="-0.4363323129985824" upper="0.4363323129985824" velocity="120.0"/>
    <dynamics damping="2.0" friction="0.0"/>
  </joint>
  <link name="l_foot_front">
    <inertial>
      <origin xyz="7.700000000000762e-05 -3.990000000000937e-05 0.004256999999999955" rpy="0 0 -1.5707963267948966"/>
      <mass value="0.175038164"/>
      <inertia ixx="0.01" ixy="3.468975818270962e-07" ixz="2.6549198249941107e-07" iyy="0.01" iyz="3.419436179908361e-05" izz="0.01"/>
    </inertial>
    <visual>
      <origin xyz="-0.10854999999999998 -0.06475000000001183 0.9464469999999993" rpy="0 0 -1.5707963267948966"/>
      <geometry>
        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_foot_front_prt.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="yellow">
        <color rgba="1 1 0 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.003" rpy="0.0 0.0 0.0"/>
      <geometry>
        <box size="0.117 0.1 0.006"/>
      </geometry>
    </collision>
  </link>
  <joint name="l_foot_front_ft_sensor" type="fixed">
    <origin xyz="0.13524999999999998 0 -0.06579999999999997" rpy="0 0 0"/>
    <parent link="l_ankle_2"/>
    <child link="l_foot_front"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="l_foot_rear">
    <inertial>
      <origin xyz="0.0005056000000000001 3.350000000000575e-05 0.003658999999999968" rpy="0 0 -1.5707963267948966"/>
      <mass value="0.174597434"/>
      <inertia ixx="0.01" ixy="-3.730425576901001e-07" ixz="3.3038909914027564e-06" iyy="0.01" iyz="7.963142231236676e-06" izz="0.01"/>
    </inertial>
    <visual>
      <origin xyz="0.010700000000000006 -0.06475000000001183 0.9464469999999993" rpy="0 0 -1.5707963267948966"/>
      <geometry>
        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_foot_rear_prt.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="pink">
        <color rgba="1 0 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.003" rpy="0.0 0.0 0.0"/>
      <geometry>
        <box size="0.117 0.1 0.006"/>
      </geometry>
    </collision>
  </link>
  <joint name="l_foot_rear_ft_sensor" type="fixed">
    <origin xyz="0.016 0 -0.06579999999999997" rpy="0 0 0"/>
    <parent link="l_ankle_2"/>
    <child link="l_foot_rear"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="l_sole"/>
  <joint name="l_sole_fixed_joint" type="fixed">
    <origin xyz="0.05963 0 0" rpy="0 0 0"/>
    <parent link="l_foot_rear"/>
    <child link="l_sole"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="base_link"/>
  <joint name="base_link_fixed_joint" type="fixed">
  <origin xyz="0 0 0" rpy="0 -0 0"/>
  <axis xyz="0 0 0"/>
  <parent link="root_link"/>
  <child link="base_link"/>
</joint>
  <gazebo reference="r_arm_ft_sensor">
<preserveFixedJoint>true</preserveFixedJoint>
<!-- For compatibility with SDFormat < 4.4 -->
<disableFixedJointLumping>true</disableFixedJointLumping>
</gazebo>
  <gazebo reference="l_arm_ft_sensor">
<preserveFixedJoint>true</preserveFixedJoint>
<!-- For compatibility with SDFormat < 4.4 -->
<disableFixedJointLumping>true</disableFixedJointLumping>
</gazebo>
  <gazebo>
<plugin name="controlboard_torso" filename="libgazebo_yarp_controlboard.so">
  <yarpConfigurationFile>model://iCub/conf_icub3/gazebo_icub_torso.ini</yarpConfigurationFile>
</plugin>
</gazebo>
  <gazebo reference="torso_pitch">
    <implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
  <gazebo reference="torso_roll">
    <implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
  <gazebo reference="torso_yaw">
    <implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
  <gazebo reference="r_shoulder_pitch">
    <implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
  <gazebo reference="r_shoulder_roll">
    <implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
  <gazebo reference="r_shoulder_yaw">
    <implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
  <gazebo reference="l_shoulder_pitch">
    <implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
  <gazebo reference="l_shoulder_roll">
    <implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
  <gazebo reference="l_shoulder_yaw">
    <implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
  <gazebo reference="l_leg_ft_sensor">
<preserveFixedJoint>true</preserveFixedJoint>
<!-- For compatibility with SDFormat < 4.4 -->
<disableFixedJointLumping>true</disableFixedJointLumping>
</gazebo>
  <gazebo reference="l_foot_front_ft_sensor">
<preserveFixedJoint>true</preserveFixedJoint>
<!-- For compatibility with SDFormat < 4.4 -->
<disableFixedJointLumping>true</disableFixedJointLumping>
</gazebo>
  <gazebo reference="l_foot_rear_ft_sensor">
<preserveFixedJoint>true</preserveFixedJoint>
<!-- For compatibility with SDFormat < 4.4 -->
<disableFixedJointLumping>true</disableFixedJointLumping>
</gazebo>
  <gazebo reference="l_foot_front">
  <collision> <surface> <bounce>
    <restitution_coefficient>0</restitution_coefficient>
    <threshold>100000</threshold>
  </bounce> </surface> </collision>
  <maxContacts>4</maxContacts>
  <kp>18000000</kp>
  <kd>100</kd>
  <maxVel>100</maxVel>
  <minDepth>0.0001</minDepth>
  <mu1>1</mu1>
  <mu2>1</mu2>
  <fdir1>0 0 0</fdir1>
</gazebo>
  <gazebo reference="l_foot_rear">
  <collision> <surface> <bounce>
    <restitution_coefficient>0</restitution_coefficient>
    <threshold>100000</threshold>
  </bounce> </surface> </collision>
  <maxContacts>4</maxContacts>
  <kp>18000000</kp>
  <kd>100</kd>
  <maxVel>100</maxVel>
  <minDepth>0.0001</minDepth>
  <mu1>1</mu1>
  <mu2>1</mu2>
  <fdir1>0 0 0</fdir1>
</gazebo>
  <gazebo>
<plugin name="controlboard_left_leg" filename="libgazebo_yarp_controlboard.so">
<yarpConfigurationFile>model://iCub/conf_icub3/gazebo_icub_left_leg.ini</yarpConfigurationFile>
</plugin>
</gazebo>
  <gazebo reference="l_hip_pitch">
    <implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
  <gazebo reference="l_hip_roll">
    <implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
  <gazebo reference="l_hip_yaw">
    <implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
  <gazebo reference="l_knee">
    <implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
  <gazebo reference="l_ankle_pitch">
    <implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
  <gazebo reference="l_ankle_roll">
    <implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
  <gazebo reference="r_leg_ft_sensor">
<preserveFixedJoint>true</preserveFixedJoint>
<!-- For compatibility with SDFormat < 4.4 -->
<disableFixedJointLumping>true</disableFixedJointLumping>
</gazebo>
  <gazebo reference="r_foot_front_ft_sensor">
<preserveFixedJoint>true</preserveFixedJoint>
<!-- For compatibility with SDFormat < 4.4 -->
<disableFixedJointLumping>true</disableFixedJointLumping>
</gazebo>
  <gazebo reference="r_foot_rear_ft_sensor">
<preserveFixedJoint>true</preserveFixedJoint>
<!-- For compatibility with SDFormat < 4.4 -->
<disableFixedJointLumping>true</disableFixedJointLumping>
</gazebo>
  <gazebo reference="r_foot_front">
  <collision> <surface> <bounce>
    <restitution_coefficient>0</restitution_coefficient>
    <threshold>100000</threshold>
  </bounce> </surface> </collision>
  <maxContacts>4</maxContacts>
  <kp>18000000</kp>
  <kd>100</kd>
  <maxVel>100</maxVel>
  <minDepth>0.0001</minDepth>
  <mu1>1</mu1>
  <mu2>1</mu2>
  <fdir1>0 0 0</fdir1>
</gazebo>
  <gazebo reference="r_foot_rear">
  <collision> <surface> <bounce>
    <restitution_coefficient>0</restitution_coefficient>
    <threshold>100000</threshold>
  </bounce> </surface> </collision>
  <maxContacts>4</maxContacts>
  <kp>18000000</kp>
  <kd>100</kd>
  <maxVel>100</maxVel>
  <minDepth>0.0001</minDepth>
  <mu1>1</mu1>
  <mu2>1</mu2>
  <fdir1>0 0 0</fdir1>
</gazebo>
  <gazebo>
<plugin name="controlboard_right_leg" filename="libgazebo_yarp_controlboard.so">
<yarpConfigurationFile>model://iCub/conf_icub3/gazebo_icub_right_leg.ini</yarpConfigurationFile>
</plugin>
</gazebo>
  <gazebo reference="r_hip_pitch">
    <implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
  <gazebo reference="r_hip_roll">
    <implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
  <gazebo reference="r_hip_yaw">
    <implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
  <gazebo reference="r_knee">
    <implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
  <gazebo reference="r_ankle_pitch">
    <implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
  <gazebo reference="r_ankle_roll">
    <implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
  <gazebo>
<plugin name="controlboard_head_without_eyes" filename="libgazebo_yarp_controlboard.so">
<yarpConfigurationFile>model://iCub/conf_icub3/gazebo_icub_head_without_eyes_V2_7.ini</yarpConfigurationFile>
</plugin>
</gazebo>
  <gazebo reference="neck_pitch">
    <implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
  <gazebo reference="neck_roll">
    <implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
  <gazebo reference="neck_yaw">
    <implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
  <gazebo>
<plugin name="controlboard_left_arm_no_hand" filename="libgazebo_yarp_controlboard.so">
<yarpConfigurationFile>model://iCub/conf_icub3/gazebo_icub_left_arm_no_hand_for_no_hand_model.ini</yarpConfigurationFile>
<initialConfiguration>-0.52 0.52 0 0.785 0 0 0.0</initialConfiguration>
</plugin>
</gazebo>
  <gazebo reference="l_shoulder_pitch">
  <implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
  <gazebo reference="l_shoulder_roll">
  <implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
  <gazebo reference="l_shoulder_yaw">
  <implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
  <gazebo reference="l_elbow">
  <implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
  <gazebo reference="l_wrist_prosup">
  <implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
  <gazebo reference="l_wrist_pitch">
  <implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
  <gazebo reference="l_wrist_yaw">
  <implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
  <gazebo>
<plugin name="controlboard_right_arm_no_hand" filename="libgazebo_yarp_controlboard.so">
<yarpConfigurationFile>model://iCub/conf_icub3/gazebo_icub_right_arm_no_hand_for_no_hand_model.ini</yarpConfigurationFile>
<initialConfiguration>-0.52 0.52 0 0.785 0 0 0.0</initialConfiguration>
</plugin>
</gazebo>
  <gazebo reference="r_shoulder_pitch">
  <implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
  <gazebo reference="r_shoulder_roll">
  <implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
  <gazebo reference="r_shoulder_yaw">
  <implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
  <gazebo reference="r_elbow">
  <implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
  <gazebo reference="r_wrist_prosup">
  <implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
  <gazebo reference="r_wrist_pitch">
  <implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
  <gazebo reference="r_wrist_yaw">
  <implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
  <gazebo reference="r_upper_arm">
  <selfCollide>true</selfCollide>
  <collision>
    <surface>
      <contact>
        <collide_without_contact>true</collide_without_contact>
        <ode/>
      </contact>
      <friction>
        <ode/>
      </friction>
    </surface>
  </collision>
  <sensor name="r_upper_arm_collision_sensor" type="contact">
    <contact>
      <collision>collision_right</collision>
    </contact>
  </sensor>
</gazebo>
  <gazebo reference="l_upper_arm">
  <selfCollide>true</selfCollide>
  <collision>
    <surface>
      <contact>
        <collide_without_contact>true</collide_without_contact>
        <ode/>
      </contact>
      <friction>
        <ode/>
      </friction>
    </surface>
  </collision>
  <sensor name="l_upper_arm_collision_sensor" type="contact">
    <contact>
      <collision>collision_left</collision>
    </contact>
  </sensor>
</gazebo>
  <gazebo reference="l_arm_ft_sensor">
    <sensor name="l_arm_ft_sensor" type="force_torque">
      <always_on>1</always_on>
      <update_rate>100</update_rate>
      <force_torque>
        <frame>sensor</frame>
        <measure_direction>child_to_parent</measure_direction>
      </force_torque>
      <pose>-0.004350133156978318 3.632573233602887e-07 -0.05430003872406172 3.141592646862139 -3.10468332187885e-08 -1.5707962571980942</pose>
      <plugin name="left_arm_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
  <yarpConfigurationFile>model://iCub/conf_icub3/FT/gazebo_icub_left_arm_ft.ini</yarpConfigurationFile>
</plugin>
    </sensor>
  </gazebo>
  <sensor name="l_arm_ft_sensor" type="force_torque">
    <parent joint="l_arm_ft_sensor"/>
    <force_torque>
      <frame>sensor</frame>
      <measure_direction>child_to_parent</measure_direction>
    </force_torque>
    <origin rpy="3.141592646862139 -3.10468332187885e-08 -1.5707962571980942" xyz="-0.004350133156978318 3.632573233602887e-07 -0.05430003872406172"/>
  </sensor>
  <gazebo reference="r_arm_ft_sensor">
    <sensor name="r_arm_ft_sensor" type="force_torque">
      <always_on>1</always_on>
      <update_rate>100</update_rate>
      <force_torque>
        <frame>sensor</frame>
        <measure_direction>child_to_parent</measure_direction>
      </force_torque>
      <pose>-0.006849946385389872 2.1904996058697002e-07 -0.05429998157789099 3.141592644717707 4.094299285979593e-08 1.5707964185756365</pose>
      <plugin name="right_arm_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
  <yarpConfigurationFile>model://iCub/conf_icub3/FT/gazebo_icub_right_arm_ft.ini</yarpConfigurationFile>
</plugin>
    </sensor>
  </gazebo>
  <sensor name="r_arm_ft_sensor" type="force_torque">
    <parent joint="r_arm_ft_sensor"/>
    <force_torque>
      <frame>sensor</frame>
      <measure_direction>child_to_parent</measure_direction>
    </force_torque>
    <origin rpy="3.141592644717707 4.094299285979593e-08 1.5707964185756365" xyz="-0.006849946385389872 2.1904996058697002e-07 -0.05429998157789099"/>
  </sensor>
  <gazebo reference="l_foot_front_ft_sensor">
    <sensor name="l_foot_front_ft_sensor" type="force_torque">
      <always_on>1</always_on>
      <update_rate>100</update_rate>
      <force_torque>
        <frame>sensor</frame>
        <measure_direction>parent_to_child</measure_direction>
      </force_torque>
      <pose>0.0 0.0 0.022299999999999986 0.0 -0.0 -2.094395210586932</pose>
      <plugin name="left_foot_front_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
  <yarpConfigurationFile>model://iCub/conf_icub3/FT/gazebo_icub_left_foot_front_ft.ini</yarpConfigurationFile>
</plugin>
    </sensor>
  </gazebo>
  <sensor name="l_foot_front_ft_sensor" type="force_torque">
    <parent joint="l_foot_front_ft_sensor"/>
    <force_torque>
      <frame>sensor</frame>
      <measure_direction>parent_to_child</measure_direction>
    </force_torque>
    <origin rpy="0.0 -0.0 -2.094395210586932" xyz="0.0 0.0 0.022299999999999986"/>
  </sensor>
  <gazebo reference="l_foot_rear_ft_sensor">
    <sensor name="l_foot_rear_ft_sensor" type="force_torque">
      <always_on>1</always_on>
      <update_rate>100</update_rate>
      <force_torque>
        <frame>sensor</frame>
        <measure_direction>parent_to_child</measure_direction>
      </force_torque>
      <pose>0.0 0.0 0.022299999999999986 0.0 -0.0 -2.094395210586932</pose>
      <plugin name="left_foot_rear_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
  <yarpConfigurationFile>model://iCub/conf_icub3/FT/gazebo_icub_left_foot_rear_ft.ini</yarpConfigurationFile>
</plugin>
    </sensor>
  </gazebo>
  <sensor name="l_foot_rear_ft_sensor" type="force_torque">
    <parent joint="l_foot_rear_ft_sensor"/>
    <force_torque>
      <frame>sensor</frame>
      <measure_direction>parent_to_child</measure_direction>
    </force_torque>
    <origin rpy="0.0 -0.0 -2.094395210586932" xyz="0.0 0.0 0.022299999999999986"/>
  </sensor>
  <gazebo reference="r_foot_front_ft_sensor">
    <sensor name="r_foot_front_ft_sensor" type="force_torque">
      <always_on>1</always_on>
      <update_rate>100</update_rate>
      <force_torque>
        <frame>sensor</frame>
        <measure_direction>parent_to_child</measure_direction>
      </force_torque>
      <pose>0.0 0.0 0.022299999999999986 0.0 -0.0 -2.094395210586932</pose>
      <plugin name="right_foot_front_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
  <yarpConfigurationFile>model://iCub/conf_icub3/FT/gazebo_icub_right_foot_front_ft.ini</yarpConfigurationFile>
</plugin>
    </sensor>
  </gazebo>
  <sensor name="r_foot_front_ft_sensor" type="force_torque">
    <parent joint="r_foot_front_ft_sensor"/>
    <force_torque>
      <frame>sensor</frame>
      <measure_direction>parent_to_child</measure_direction>
    </force_torque>
    <origin rpy="0.0 -0.0 -2.094395210586932" xyz="0.0 0.0 0.022299999999999986"/>
  </sensor>
  <gazebo reference="r_foot_rear_ft_sensor">
    <sensor name="r_foot_rear_ft_sensor" type="force_torque">
      <always_on>1</always_on>
      <update_rate>100</update_rate>
      <force_torque>
        <frame>sensor</frame>
        <measure_direction>parent_to_child</measure_direction>
      </force_torque>
      <pose>0.0 0.0 0.022299999999999986 0.0 -0.0 -2.094395210586932</pose>
      <plugin name="right_foot_rear_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
  <yarpConfigurationFile>model://iCub/conf_icub3/FT/gazebo_icub_right_foot_rear_ft.ini</yarpConfigurationFile>
</plugin>
    </sensor>
  </gazebo>
  <sensor name="r_foot_rear_ft_sensor" type="force_torque">
    <parent joint="r_foot_rear_ft_sensor"/>
    <force_torque>
      <frame>sensor</frame>
      <measure_direction>parent_to_child</measure_direction>
    </force_torque>
    <origin rpy="0.0 -0.0 -2.094395210586932" xyz="0.0 0.0 0.022299999999999986"/>
  </sensor>
  <gazebo reference="head">
    <sensor name="head_imu_acc_1x1" type="imu">
      <always_on>1</always_on>
      <update_rate>100</update_rate>
      <pose>0.0034999999997785457 0.0054999999863750895 0.1013340000004441 -3.141592653589793 -4.20000162559822e-15 -1.570796326794897</pose>
      <plugin name="iCub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
   <yarpConfigurationFile>model://iCub/conf_icub3/gazebo_icub_inertial.ini</yarpConfigurationFile>
</plugin>
    </sensor>
  </gazebo>
  <sensor name="head_imu_acc_1x1" type="accelerometer">
    <parent link="head"/>
    <origin rpy="-3.141592653589793 -4.20000162559822e-15 -1.570796326794897" xyz="0.0034999999997785457 0.0054999999863750895 0.1013340000004441"/>
  </sensor>
  <gazebo reference="chest">
    <sensor name="realsense_chest_depth" type="depth">
      <always_on>1</always_on>
      <update_rate>30</update_rate>
      <pose>0.0894115 0.0175 0.09929950000000001 -1.5707963267948968 -0.0 -1.5707963267948968</pose>
      <camera name="intel_realsense_depth_camera">
  <pose>0 0 0 -1.57079 -1.57079 3.14159</pose>
  <horizontal_fov>1.57079</horizontal_fov>
  <distortion>
    <k1>0</k1>
    <k2>0</k2>
    <k3>0</k3>
    <p1>0</p1>
    <p2>0</p2>
    <center>319.5 239.5</center>
  </distortion>
  <image>
    <width>640</width>
    <height>480</height>
    <format>R8G8B8</format>
  </image>
  <clip>
    <near>0.175</near>
    <far>3000</far>
  </clip>
</camera>
      <visualize>false</visualize>
      <plugin name="iCub_yarp_gazebo_plugin_depthCamera" filename="libgazebo_yarp_depthCamera.so">
    <yarpConfigurationFile>model://iCub/conf_icub3/gazebo_icub_depth_camera.ini</yarpConfigurationFile>
</plugin>
    </sensor>
  </gazebo>
  <sensor name="realsense_chest_depth" type="depth">
    <parent link="chest"/>
    <origin rpy="-1.5707963267948968 -0.0 -1.5707963267948968" xyz="0.0894115 0.0175 0.09929950000000001"/>
  </sensor>
  <gazebo reference="chest">
    <sensor name="realsense_chest_rgb" type="camera">
      <always_on>1</always_on>
      <update_rate>30</update_rate>
      <pose>0.0894115 -0.0115 0.09929950000000001 -1.5707963267948968 -0.0 -1.5707963267948968</pose>
      <camera name="intel_realsense_rgb_camera">
  <pose>0 0 0 -1.57079 -1.57079 3.14159</pose>
  <horizontal_fov>1.2217</horizontal_fov>
  <distortion>
    <k1>0</k1>
    <k2>0</k2>
    <k3>0</k3>
    <p1>0</p1>
    <p2>0</p2>
    <center>319.5 239.5</center>
  </distortion>
  <image>
    <width>640</width>
    <height>480</height>
    <format>R8G8B8</format>
  </image>
  <clip>
    <near>0.02</near>
    <far>3000</far>
  </clip>
</camera>
      <visualize>false</visualize>
      <plugin name="iCub_yarp_gazebo_plugin_camera" filename="libgazebo_yarp_camera.so">
    <yarpConfigurationFile>model://iCub/conf_icub3/gazebo_icub_rgb_camera.ini</yarpConfigurationFile>
</plugin>
    </sensor>
  </gazebo>
  <sensor name="realsense_chest_rgb" type="camera">
    <parent link="chest"/>
    <origin rpy="-1.5707963267948968 -0.0 -1.5707963267948968" xyz="0.0894115 -0.0115 0.09929950000000001"/>
  </sensor>
  <gazebo reference="chest">
    <sensor name="chest_imu_acc_1x1" type="imu">
      <always_on>1</always_on>
      <update_rate>100</update_rate>
      <pose>0.0894115 0.0175 0.09929950000000001 -1.5707963267948968 -0.0 -1.5707963267948968</pose>
      <plugin name="iCub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
    <yarpConfigurationFile>model://iCub/conf_icub3/gazebo_icub_chest_inertial.ini</yarpConfigurationFile>
</plugin>
    </sensor>
  </gazebo>
  <sensor name="chest_imu_acc_1x1" type="accelerometer">
    <parent link="chest"/>
    <origin rpy="-1.5707963267948968 -0.0 -1.5707963267948968" xyz="0.0894115 0.0175 0.09929950000000001"/>
  </sensor>
  <gazebo>
    <pose>0.0 0.0 0.64 0.0 0.0 0.0</pose>
  </gazebo>
</robot>