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cer_options.yaml
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cer_options.yaml
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# Meshes options
scale: "0.001 0.001 0.001"
forcelowercase: Yes
filenameformatchangeext: "model://cer/meshes/dae/%s.dae"
stringToRemoveFromMeshFileName: "_prt"
# Rename options (map Creo names to URDF names)
rename:
SIM_CER_MOBILEBASE_BODY--SIM_CER_MOBILEBASE_L_TYRE: mobile_base_l_wheel_joint
SIM_CER_MOBILEBASE_BODY--SIM_CER_MOBILEBASE_R_TYRE: mobile_base_r_wheel_joint
SIM_CER_MOBILEBASE_BODY--SIM_CER_TORSO_SLIDER_EQ: torso_heave_eq_joint
SIM_CER_TORSO_SLIDER_EQ--SIM_CER_TORSO_PIN_EQ: torso_roll_eq_joint
SIM_CER_TORSO_PIN_EQ--SIM_CER_TORSO_PLATFORM: torso_pitch_eq_joint
SIM_CER_TORSO_PLATFORM--SIM_CER_CHEST: torso_yaw_joint
SIM_CER_CHEST--SIM_CER_NECK: neck_pitch_joint
SIM_CER_NECK--SIM_CER_HEAD: neck_yaw_joint
SIM_CER_CHEST--SIM_CER_L_CLAVICLE: l_shoulder_pitch_joint
SIM_CER_L_CLAVICLE--SIM_CER_L_SHOULDER: l_shoulder_roll_joint
SIM_CER_L_SHOULDER--SIM_CER_L_UPPERARM_SENSOR: l_shoulder_yaw_joint
SIM_CER_L_UPPERARM_SENSOR--SIM_CER_L_UPPERARM: l_upperarm_FT_sensor
SIM_CER_L_UPPERARM--SIM_CER_L_ELBOW_SPHERE: l_elbow_joint
SIM_CER_L_ELBOW_SPHERE--SIM_CER_L_FOREARM: l_wrist_pronosupination_joint
SIM_CER_L_FOREARM--SIM_CER_L_WRIST_SLIDER: l_wrist_heave_eq_joint
SIM_CER_L_WRIST_SLIDER--SIM_CER_L_WRIST_CUP_EQ: l_wrist_roll_eq_joint
SIM_CER_L_WRIST_CUP_EQ--SIM_CER_L_HAND_ROOT: l_wrist_pitch_eq_joint
SIM_CER_L_HAND_ROOT--SIM_CER_L_HAND_PADDLE_PROXIMAL: l_hand_paddle_proximal_joint
SIM_CER_L_HAND_PADDLE_PROXIMAL--SIM_CER_L_HAND_PADDLE_DISTAL: l_hand_paddle_distal_joint
SIM_CER_L_HAND_ROOT--SIM_CER_L_HAND_THUMB_PROXIMAL: l_hand_thumb_proximal_joint
SIM_CER_L_HAND_THUMB_PROXIMAL--SIM_CER_L_HAND_THUMB_DISTAL: l_hand_thumb_distal_joint
SIM_CER_CHEST--SIM_CER_R_CLAVICLE: r_shoulder_pitch_joint
SIM_CER_R_CLAVICLE--SIM_CER_R_SHOULDER: r_shoulder_roll_joint
SIM_CER_R_SHOULDER--SIM_CER_R_UPPERARM_SENSOR: r_shoulder_yaw_joint
SIM_CER_R_UPPERARM_SENSOR--SIM_CER_R_UPPERARM: r_upperarm_FT_sensor
SIM_CER_R_UPPERARM--SIM_CER_R_ELBOW_SPHERE: r_elbow_joint
SIM_CER_R_ELBOW_SPHERE--SIM_CER_R_FOREARM: r_wrist_pronosupination_joint
SIM_CER_R_FOREARM--SIM_CER_R_WRIST_SLIDER: r_wrist_heave_eq_joint
SIM_CER_R_WRIST_SLIDER--SIM_CER_R_WRIST_CUP_EQ: r_wrist_roll_eq_joint
SIM_CER_R_WRIST_CUP_EQ--SIM_CER_R_HAND_ROOT: r_wrist_pitch_eq_joint
SIM_CER_R_HAND_ROOT--SIM_CER_R_HAND_PADDLE_PROXIMAL: r_hand_paddle_proximal_joint
SIM_CER_R_HAND_PADDLE_PROXIMAL--SIM_CER_R_HAND_PADDLE_DISTAL: r_hand_paddle_distal_joint
SIM_CER_R_HAND_ROOT--SIM_CER_R_HAND_THUMB_PROXIMAL: r_hand_thumb_proximal_joint
SIM_CER_R_HAND_THUMB_PROXIMAL--SIM_CER_R_HAND_THUMB_DISTAL: r_hand_thumb_distal_joint
RootPart--SIM_CER_MOBILEBASE_BODY: base_fixed_joint
RootPart--SIM_CER_CHEST: torso_yaw_unknown
RootPart--RootPart: base_joint_unknown
RootGround--RootPart: root_joint_unknown
RootPart--SIM_CER_R_CLAVICLE: r_shoulder_pitch_unknown
RootPart--SIM_CER_L_CLAVICLE: l_shoulder_pitch_unknown
RootPart: base_link_unknown
SIM_CER_MOBILEBASE_BODY: mobile_base_body_link
SIM_CER_MOBILEBASE_L_TYRE: mobile_base_l_tyre_link
SIM_CER_MOBILEBASE_R_TYRE: mobile_base_r_tyre_link
SIM_CER_TORSO_SLIDER_EQ: torso_slider_eq_link
SIM_CER_TORSO_PIN_EQ: torso_pin_eq_link
SIM_CER_TORSO_PLATFORM: torso_platform_link
SIM_CER_CHEST: chest_link
SIM_CER_NECK: neck_link
SIM_CER_HEAD: head_link
SIM_CER_L_CLAVICLE: l_clavicle_link
SIM_CER_L_SHOULDER: l_shoulder_link
SIM_CER_L_UPPERARM_SENSOR: l_upperarm_FT_sensor_link
SIM_CER_L_UPPERARM: l_upperarm_link
SIM_CER_L_ELBOW_SPHERE: l_elbow_sphere_link
SIM_CER_L_FOREARM: l_forearm_link
SIM_CER_L_WRIST_SLIDER: l_wrist_slider_eq_link
SIM_CER_L_WRIST_CUP_EQ: l_wrist_cup_eq_link
SIM_CER_L_HAND_ROOT: l_hand_root_link
SIM_CER_L_HAND_PADDLE_PROXIMAL: l_hand_paddle_proximal_link
SIM_CER_L_HAND_PADDLE_DISTAL: l_hand_paddle_distal_link
SIM_CER_L_HAND_THUMB_PROXIMAL: l_hand_thumb_proximal_link
SIM_CER_L_HAND_THUMB_DISTAL: l_hand_thumb_distal_link
SIM_CER_R_CLAVICLE: r_clavicle_link
SIM_CER_R_SHOULDER: r_shoulder_link
SIM_CER_R_UPPERARM_SENSOR: r_upperarm_FT_sensor_link
SIM_CER_R_UPPERARM: r_upperarm_link
SIM_CER_R_ELBOW_SPHERE: r_elbow_sphere_link
SIM_CER_R_FOREARM: r_forearm_link
SIM_CER_R_WRIST_SLIDER: r_wrist_slider_eq_link
SIM_CER_R_WRIST_CUP_EQ: r_wrist_cup_eq_link
SIM_CER_R_HAND_ROOT: r_hand_root_link
SIM_CER_R_HAND_PADDLE_PROXIMAL: r_hand_paddle_proximal_link
SIM_CER_R_HAND_PADDLE_DISTAL: r_hand_paddle_distal_link
SIM_CER_R_HAND_THUMB_PROXIMAL: r_hand_thumb_proximal_link
SIM_CER_R_HAND_THUMB_DISTAL: r_hand_thumb_distal_link
# Frames options
exportAllUseradded: No
exportedFrames:
- frameName: SCSYS_TORSO_TRIPOD_PLATFORM_X_B
frameReferenceLink: torso_platform_link
exportedFrameName: torso_tripod_root
- frameName: SCSYS_L_WRIST_TRIPOD_BASE
frameReferenceLink: l_forearm_link
exportedFrameName: l_wrist_tripod_root
- frameName: SCSYS_R_WRIST_TRIPOD_BASE
frameReferenceLink: r_forearm_link
exportedFrameName: r_wrist_tripod_root
- frameName: SCSYS_TORSO
frameReferenceLink: chest_link
exportedFrameName: torso
- frameName: SCSYS_BASE_LINK
frameReferenceLink: mobile_base_body_link
exportedFrameName: base_link
- frameName: SCSYS_MOBILE_BASE_LIDAR
frameReferenceLink: mobile_base_body_link
exportedFrameName: mobile_base_lidar
- frameName: SCSYS_L_WRIST
frameReferenceLink: l_hand_root_link
exportedFrameName: l_wrist
- frameName: SCSYS_L_GRIPPER
frameReferenceLink: l_hand_root_link
exportedFrameName: l_gripper
- frameName: SCSYS_L_HAND_PADDLE_TIP
frameReferenceLink: l_hand_paddle_distal_link
exportedFrameName: l_hand_paddle_tip
- frameName: SCSYS_L_HAND_THUMB_TIP
frameReferenceLink: l_hand_thumb_distal_link
exportedFrameName: l_hand_thumb_tip
- frameName: SCSYS_R_WRIST
frameReferenceLink: r_hand_root_link
exportedFrameName: r_wrist
- frameName: SCSYS_R_GRIPPER
frameReferenceLink: r_hand_root_link
exportedFrameName: r_gripper
- frameName: SCSYS_R_HAND_PADDLE_TIP
frameReferenceLink: r_hand_paddle_distal_link
exportedFrameName: r_hand_paddle_tip
- frameName: SCSYS_R_HAND_THUMB_TIP
frameReferenceLink: r_hand_thumb_distal_link
exportedFrameName: r_hand_thumb_tip
- frameName: SCSYS_HEAD_ASUS_XTION_RGB
frameReferenceLink: head_link
exportedFrameName: depth_rgb
- frameName: SCSYS_HEAD_ASUS_XTION_DEPTH
frameReferenceLink: head_link
exportedFrameName: depth
- frameName: SCSYS_HEAD_ASUS_XTION_CENTER
frameReferenceLink: head_link
exportedFrameName: depth_center
- frameName: SCSYS_HEAD_LEOPARD_CYCLOPIC
frameReferenceLink: head_link
exportedFrameName: head_leopard_cyclopic
- frameName: SCSYS_HEAD_LEOPARD_RIGHT
frameReferenceLink: head_link
exportedFrameName: head_leopard_right
- frameName: SCSYS_HEAD_LEOPARD_LEFT
frameReferenceLink: head_link
exportedFrameName: head_leopard_left
- frameName: SCSYS_GAZE
frameReferenceLink: head_link
exportedFrameName: gaze
- frameName: SCSYS_R_FT45_SENSOR
frameReferenceLink: r_upperarm_FT_sensor_link
exportedFrameName: r_upperarm_FT_sensor_frame
- frameName: SCSYS_L_FT45_SENSOR
frameReferenceLink: l_upperarm_FT_sensor_link
exportedFrameName: l_upperarm_FT_sensor_frame
linkFrames:
- linkName: mobile_base_body_link
frameName: SCSYS_BASE_LINK
- linkName: l_upperarm_link
frameName: SCSYS_L_FT45_SENSOR
frameReferenceLink: l_upperarm_FT_sensor_link
- linkName: r_upperarm_link
frameName: SCSYS_R_FT45_SENSOR
frameReferenceLink: r_upperarm_FT_sensor_link
# Sensors options
forceTorqueSensors:
- jointName: l_upperarm_FT_sensor
directionChildToParent: Yes
- jointName: r_upperarm_FT_sensor
directionChildToParent: Yes
sensors:
- linkName: mobile_base_body_link
frameName: SCSYS_MOBILE_BASE_LIDAR
sensorName: "base_laser"
exportFrameInURDF: No
sensorType: "ray"
updateRate: 40
sensorBlobs:
- |
<ray>
<scan>
<horizontal>
<samples>360</samples>
<resolution>1</resolution>
<min_angle>-3.14</min_angle>
<max_angle>3.14</max_angle>
</horizontal>
</scan>
<range>
<min>0.10</min>
<max>5.0</max>
<resolution>0.01</resolution>
</range>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.005</stddev>
</noise>
</ray>
- |
<plugin name='laser_sensor' filename='libgazebo_yarp_lasersensor.so'>
<yarpConfigurationFile>model://cer/conf/gazebo_cer_laser_sensor.ini</yarpConfigurationFile>
</plugin>
- linkName: head_link
frameName: SCSYS_HEAD_LEOPARD_CYCLOPIC
sensorName: "multicamera_sensor"
exportFrameInURDF: No
sensorType: "multicamera"
updateRate: 30
sensorBlobs:
- |
<camera name='left_camera'>
<pose>-0.0325 0 0 -1.57079 -1.57079 3.14159</pose>
<horizontal_fov>1.5708</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
</camera>
- |
<camera name='right_camera'>
<pose>0.0325 0 0 -1.57079 -1.57079 3.14159</pose>
<horizontal_fov>1.5708</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
</camera>
- |
<plugin name='multicamera_plugin' filename='libgazebo_yarp_multicamera.so'>
<yarpConfigurationFile>model://cer/conf/gazebo_cer_multicamera/gazebo_cer_multicamera.ini</yarpConfigurationFile>
</plugin>
- linkName: head_link
frameName: SCSYS_HEAD_ASUS_XTION_DEPTH
sensorName: "asus_xtion_depth"
exportFrameInURDF: No
sensorType: "depth"
updateRate: 30
sensorBlobs:
- |
<camera name='asus_xtion_depth_camera'>
<pose frame=''>0 0 0 -1.57079 -1.57079 3.14159</pose>
<horizontal_fov>1.02259</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>
- |
<plugin filename="libgazebo_yarp_depthCamera.so" name="depth_camera_plugin">
<yarpConfigurationFile>model://cer/conf/gazebo_cer_depthCamera.ini</yarpConfigurationFile>
</plugin>
- linkName: head_link
frameName: SCSYS_HEAD_ASUS_XTION_RGB
sensorName: "asus_xtion_rgb"
exportFrameInURDF: No
sensorType: "camera"
updateRate: 30
sensorBlobs:
- |
<camera name='asus_xtion_rgb_camera'>
<pose frame=''>0 0 0 -1.57079 -1.57079 3.14159</pose>
<horizontal_fov>1.02259</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>
- |
<plugin filename="libgazebo_yarp_camera.so" name="xtion_camera_rgb_plugin">
<yarpConfigurationFile>model://cer/conf/gazebo_cer_xtion_camera_rgb.ini</yarpConfigurationFile>
</plugin>
# Workaround options
reverseRotationAxis:
torso_yaw_joint
mobile_base_l_wheel_joint
mobile_base_r_wheel_joint
torso_heave_eq_joint
torso_roll_eq_joint
neck_pitch_joint
r_shoulder_pitch_joint
r_elbow_joint
r_wrist_roll_eq_joint
r_hand_thumb_proximal_joint
r_hand_thumb_distal_joint
l_shoulder_roll_joint
l_shoulder_yaw_joint
l_wrist_pronosupination_joint
l_wrist_pitch_eq_joint
l_hand_thumb_proximal_joint
l_hand_thumb_distal_joint
assignedInertias:
- linkName: r_hand_thumb_distal_link
ixx: 0.0001
iyy: 0.0001
izz: 0.0001
- linkName: l_hand_thumb_distal_link
xx: 0.0001
yy: 0.0001
zz: 0.0001
- linkName: r_hand_paddle_distal_link
xx: 0.0001
yy: 0.0001
zz: 0.0001
- linkName: l_hand_paddle_distal_link
xx: 0.0001
yy: 0.0001
zz: 0.0001
- linkName: r_hand_thumb_proximal_link
xx: 0.0001
yy: 0.0001
zz: 0.0001
- linkName: l_hand_thumb_proximal_link
xx: 0.0001
yy: 0.0001
zz: 0.0001
- linkName: r_hand_paddle_proximal_link
xx: 0.0001
yy: 0.0001
zz: 0.0001
- linkName: l_hand_paddle_proximal_link
xx: 0.0001
yy: 0.0001
zz: 0.0001
- linkName: l_wrist_slider_eq_link
yz: 0.0001
assignedCollisionGeometry:
- linkName: mobile_base_l_tyre_link
geometricShape:
shape: cylinder
radius: 0.16
length: 0.005
origin: "0.0 0.03 0.0 1.57079632679 0.0 0.0"
- linkName: mobile_base_r_tyre_link
geometricShape:
shape: cylinder
radius: 0.16
length: 0.005
origin: "0.0 -0.03 0.0 1.57079632679 0.0 0.0"
XMLBlobs:
- |
<gazebo>
<!-- TORSO user view -->
<plugin name="controlboard_torso" filename="libgazebo_yarp_controlboard.so">
<yarpConfigurationFile>model://cer/conf/gazebo_cer_torso.ini</yarpConfigurationFile>
</plugin>
<plugin name="controlboard_left_upper_arm" filename="libgazebo_yarp_controlboard.so">
<yarpConfigurationFile>model://cer/conf/gazebo_cer_left_upper_arm.ini</yarpConfigurationFile>
</plugin>
<!-- LEFT WRIST user view -->
<plugin name="controlboard_left_wrist" filename="libgazebo_yarp_controlboard.so">
<yarpConfigurationFile>model://cer/conf/gazebo_cer_left_wrist.ini</yarpConfigurationFile>
</plugin>
<plugin name="controlboard_right_upper_arm" filename="libgazebo_yarp_controlboard.so">
<yarpConfigurationFile>model://cer/conf/gazebo_cer_right_upper_arm.ini</yarpConfigurationFile>
</plugin>
<!-- RIGHT WRIST user view -->
<plugin name="controlboard_right_wrist" filename="libgazebo_yarp_controlboard.so">
<yarpConfigurationFile>model://cer/conf/gazebo_cer_right_wrist.ini</yarpConfigurationFile>
</plugin>
<plugin name='controlboard_right_arm' filename='libgazebo_yarp_controlboard.so'>
<yarpConfigurationFile>model://cer/conf/gazebo_cer_right_arm.ini</yarpConfigurationFile>
</plugin>
<plugin name='controlboard_left_arm' filename='libgazebo_yarp_controlboard.so'>
<yarpConfigurationFile>model://cer/conf/gazebo_cer_left_arm.ini</yarpConfigurationFile>
</plugin>
<plugin name='controlboard_head' filename='libgazebo_yarp_controlboard.so'>
<yarpConfigurationFile>model://cer/conf/gazebo_cer_head.ini</yarpConfigurationFile>
</plugin>
<plugin name='controlboard_left_hand' filename='libgazebo_yarp_controlboard.so'>
<yarpConfigurationFile>model://cer/conf/gazebo_cer_left_hand.ini</yarpConfigurationFile>
</plugin>
<plugin name='controlboard_right_hand' filename='libgazebo_yarp_controlboard.so'>
<yarpConfigurationFile>model://cer/conf/gazebo_cer_right_hand.ini</yarpConfigurationFile>
</plugin>
<plugin name='mais_left_hand' filename='libgazebo_yarp_maissensor.so'>
<yarpConfigurationFile>model://cer/conf/gazebo_cer_left_hand_mais.ini</yarpConfigurationFile>
</plugin>
<plugin name='mais_right_hand' filename='libgazebo_yarp_maissensor.so'>
<yarpConfigurationFile>model://cer/conf/gazebo_cer_right_hand_mais.ini</yarpConfigurationFile>
</plugin>
<plugin name="controlboard_mobile_base" filename="libgazebo_yarp_controlboard.so">
<yarpConfigurationFile>model://cer/conf/gazebo_cer_mobile_base.ini</yarpConfigurationFile>
</plugin>
<plugin name="controlboard_all" filename="libgazebo_yarp_controlboard.so">
<yarpConfigurationFile>model://cer/conf/gazebo_cer_all.ini</yarpConfigurationFile>
</plugin>
<plugin name='world_interface' filename='libgazebo_yarp_worldinterface.so'>
<yarpConfigurationFile>model://cer/conf/worldInterface.ini</yarpConfigurationFile>
</plugin>
</gazebo>
- |
<gazebo reference="mobile_base_body_link">
<collision>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode>
<mu>0.0</mu>
<mu2>0.0</mu2>
</ode>
</friction>
</surface>
</collision>
</gazebo>
- |
<gazebo>
<pose>0 0 0.16 0 0 0</pose>
</gazebo>
- |
<gazebo reference="mobile_base_l_wheel_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
- |
<gazebo reference="mobile_base_r_wheel_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
- |
<gazebo reference="torso_heave_eq_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
- |
<gazebo reference="torso_roll_eq_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
- |
<gazebo reference="torso_pitch_eq_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
- |
<gazebo reference="torso_yaw_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
- |
<gazebo reference="neck_pitch_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
- |
<gazebo reference="neck_yaw_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
- |
<gazebo reference="l_shoulder_pitch_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
- |
<gazebo reference="l_shoulder_roll_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
- |
<gazebo reference="l_shoulder_yaw_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
- |
<gazebo reference="l_elbow_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
- |
<gazebo reference="l_wrist_pronosupination_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
- |
<gazebo reference="l_wrist_heave_eq_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
- |
<gazebo reference="l_wrist_roll_eq_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
- |
<gazebo reference="l_wrist_pitch_eq_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
- |
<gazebo reference="l_hand_paddle_proximal_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
- |
<gazebo reference="l_hand_paddle_distal_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
- |
<gazebo reference="l_hand_thumb_proximal_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
- |
<gazebo reference="l_hand_thumb_distal_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
- |
<gazebo reference="r_shoulder_pitch_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
- |
<gazebo reference="r_shoulder_roll_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
- |
<gazebo reference="r_shoulder_yaw_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
- |
<gazebo reference="r_elbow_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
- |
<gazebo reference="r_wrist_pronosupination_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
- |
<gazebo reference="r_wrist_heave_eq_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
- |
<gazebo reference="r_wrist_roll_eq_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
- |
<gazebo reference="r_wrist_pitch_eq_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
- |
<gazebo reference="r_hand_paddle_proximal_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
- |
<gazebo reference="r_hand_paddle_distal_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
- |
<gazebo reference="r_hand_thumb_proximal_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
- |
<gazebo reference="r_hand_thumb_distal_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>