--- /dev/null
+cmake_minimum_required(VERSION 2.4.6)
+include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+
+# Append to CPACK_SOURCE_IGNORE_FILES a semicolon-separated list of
+# directories (or patterns, but directories should suffice) that should
+# be excluded from the distro. This is not the place to put things that
+# should be ignored everywhere, like "build" directories; that happens in
+# rosbuild/rosbuild.cmake. Here should be listed packages that aren't
+# ready for inclusion in a distro.
+#
+# This list is combined with the list in rosbuild/rosbuild.cmake. Note
+# that CMake 2.6 may be required to ensure that the two lists are combined
+# properly. CMake 2.4 seems to have unpredictable scoping rules for such
+# variables.
+#list(APPEND CPACK_SOURCE_IGNORE_FILES /core/experimental)
+
+rosbuild_make_distribution(0.1.0)
--- /dev/null
+include $(shell rospack find mk)/cmake_stack.mk
\ No newline at end of file
--- /dev/null
+all: installed
+
+SVN_DIR = libbarrett
+SVN_URL = http://web.barrett.com/svn/libbarrett/trunk/
+#SVN_REVISION = -r 808
+#SVN_PATCH =
+include $(shell rospack find mk)/svn_checkout.mk
+SOURCE_DIR = $(SVN_DIR)
+
+
+installed: wiped $(SOURCE_DIR)
+ cd $(SOURCE_DIR) && cmake .
+ cd $(SOURCE_DIR) && make
+ cd $(SOURCE_DIR) && make install
+ touch installed
+
+clean:
+ rm -rf $(SVN_DIR) installed patched wiped rospack_nosubdirs
+
+
+wiped: Makefile
+ make wipe
+ touch wiped
+
+wipe: clean
+ rm -rf build cleaned
--- /dev/null
+<package>
+ <description brief="libbarrett for ROS">
+
+ Libbarrett robot control library ROS wrapper. Libbarrett is written and maintained by Barrett Technology.
+
+ </description>
+ <author>Barrett Technology, Inc.</author>
+ <license>BSD</license>
+ <url>http://ros.org/wiki/libbarrett</url>
+
+ <export>
+ <cpp cflags="-I${prefix}/libbarrett/include/ -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -Wall -Werror-implicit-function-declaration -pipe -D__XENO__ -I/usr/local/include" lflags="-L${prefix}/libbarrett/src -Wl,-rpath,${prefix}/libbarrett/src -lbarrett -lnative -L/usr/xenomai/lib -lxenomai -lpthread -lrt -L/usr/local/lib -lgsl -lgslcblas -lm" />
+ </export>
+
+ <export>
+ <rosdoc external="http://web.barrett.com/libbarrett/" />
+ </export>
+
+</package>
--- /dev/null
+<stack>
+ <description brief="barrett-ros-pkg">barrett-ros-pkg</description>
+ <author>Barrett Technology Inc.</author>
+ <license>BSD</license>
+ <review status="unreviewed" notes=""/>
+ <url>http://ros.org/wiki/barrett-ros-pkg</url>
+ <depend stack="ros" />
+
+</stack>
--- /dev/null
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<?fileVersion 4.0.0?>
+
+<cproject>
+<storageModule moduleId="org.eclipse.cdt.core.settings">
+<cconfiguration id="org.eclipse.cdt.core.default.config.1">
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+<attribute key="c++filt" value="c++filt"/>
+</extension>
+</extensions>
+</storageModule>
+<storageModule moduleId="org.eclipse.cdt.core.language.mapping">
+<project-mappings/>
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+<pathentry include="/opt/ros/electric/ros/core/roslib/include" kind="inc" path="" system="true"/>
+<pathentry include="/opt/ros/electric/ros/tools/rospack" kind="inc" path="" system="true"/>
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+<pathentry include="/usr/lib/gcc/x86_64-linux-gnu/4.4.3/include" kind="inc" path="" system="true"/>
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+<pathentry include="/usr/include/c++/4.4/x86_64-linux-gnu" kind="inc" path="" system="true"/>
+<pathentry include="/usr/include/c++/4.4/backward" kind="inc" path="" system="true"/>
+</storageModule>
+<storageModule moduleId="org.eclipse.cdt.make.core.buildtargets">
+<buildTargets>
+<target name=": ROSBUILD_genmsg_cpp" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+<buildCommand>/usr/bin/make</buildCommand>
+<buildArguments/>
+<buildTarget>ROSBUILD_genmsg_cpp</buildTarget>
+<stopOnError>true</stopOnError>
+<useDefaultCommand>false</useDefaultCommand>
+</target>
+<target name=": ROSBUILD_genmsg_lisp" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+<buildCommand>/usr/bin/make</buildCommand>
+<buildArguments/>
+<buildTarget>ROSBUILD_genmsg_lisp</buildTarget>
+<stopOnError>true</stopOnError>
+<useDefaultCommand>false</useDefaultCommand>
+</target>
+<target name=": ROSBUILD_gensrv_cpp" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+<buildCommand>/usr/bin/make</buildCommand>
+<buildArguments/>
+<buildTarget>ROSBUILD_gensrv_cpp</buildTarget>
+<stopOnError>true</stopOnError>
+<useDefaultCommand>false</useDefaultCommand>
+</target>
+<target name=": ROSBUILD_gensrv_lisp" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+<buildCommand>/usr/bin/make</buildCommand>
+<buildArguments/>
+<buildTarget>ROSBUILD_gensrv_lisp</buildTarget>
+<stopOnError>true</stopOnError>
+<useDefaultCommand>false</useDefaultCommand>
+</target>
+<target name=": clean-test-results" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+<buildCommand>/usr/bin/make</buildCommand>
+<buildArguments/>
+<buildTarget>clean-test-results</buildTarget>
+<stopOnError>true</stopOnError>
+<useDefaultCommand>false</useDefaultCommand>
+</target>
+<target name=": rebuild_cache" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+<buildCommand>/usr/bin/make</buildCommand>
+<buildArguments/>
+<buildTarget>rebuild_cache</buildTarget>
+<stopOnError>true</stopOnError>
+<useDefaultCommand>false</useDefaultCommand>
+</target>
+<target name=": rosbuild_precompile" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+<buildCommand>/usr/bin/make</buildCommand>
+<buildArguments/>
+<buildTarget>rosbuild_precompile</buildTarget>
+<stopOnError>true</stopOnError>
+<useDefaultCommand>false</useDefaultCommand>
+</target>
+<target name=": rosbuild_premsgsrvgen" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+<buildCommand>/usr/bin/make</buildCommand>
+<buildArguments/>
+<buildTarget>rosbuild_premsgsrvgen</buildTarget>
+<stopOnError>true</stopOnError>
+<useDefaultCommand>false</useDefaultCommand>
+</target>
+<target name=": rospack_genmsg" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+<buildCommand>/usr/bin/make</buildCommand>
+<buildArguments/>
+<buildTarget>rospack_genmsg</buildTarget>
+<stopOnError>true</stopOnError>
+<useDefaultCommand>false</useDefaultCommand>
+</target>
+<target name=": rospack_genmsg_libexe" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+<buildCommand>/usr/bin/make</buildCommand>
+<buildArguments/>
+<buildTarget>rospack_genmsg_libexe</buildTarget>
+<stopOnError>true</stopOnError>
+<useDefaultCommand>false</useDefaultCommand>
+</target>
+<target name=": rospack_gensrv" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+<buildCommand>/usr/bin/make</buildCommand>
+<buildArguments/>
+<buildTarget>rospack_gensrv</buildTarget>
+<stopOnError>true</stopOnError>
+<useDefaultCommand>false</useDefaultCommand>
+</target>
+<target name=": test" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+<buildCommand>/usr/bin/make</buildCommand>
+<buildArguments/>
+<buildTarget>test</buildTarget>
+<stopOnError>true</stopOnError>
+<useDefaultCommand>false</useDefaultCommand>
+</target>
+<target name=": test-future" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+<buildCommand>/usr/bin/make</buildCommand>
+<buildArguments/>
+<buildTarget>test-future</buildTarget>
+<stopOnError>true</stopOnError>
+<useDefaultCommand>false</useDefaultCommand>
+</target>
+<target name=": test-results" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+<buildCommand>/usr/bin/make</buildCommand>
+<buildArguments/>
+<buildTarget>test-results</buildTarget>
+<stopOnError>true</stopOnError>
+<useDefaultCommand>false</useDefaultCommand>
+</target>
+<target name=": test-results-run" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+<buildCommand>/usr/bin/make</buildCommand>
+<buildArguments/>
+<buildTarget>test-results-run</buildTarget>
+<stopOnError>true</stopOnError>
+<useDefaultCommand>false</useDefaultCommand>
+</target>
+<target name=": tests" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+<buildCommand>/usr/bin/make</buildCommand>
+<buildArguments/>
+<buildTarget>tests</buildTarget>
+<stopOnError>true</stopOnError>
+<useDefaultCommand>false</useDefaultCommand>
+</target>
+<target name=": all" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+<buildCommand>/usr/bin/make</buildCommand>
+<buildArguments/>
+<buildTarget>all</buildTarget>
+<stopOnError>true</stopOnError>
+<useDefaultCommand>false</useDefaultCommand>
+</target>
+<target name=": clean" path="" targetID="org.eclipse.cdt.make.MakeTargetBuilder">
+<buildCommand>/usr/bin/make</buildCommand>
+<buildArguments/>
+<buildTarget>clean</buildTarget>
+<stopOnError>true</stopOnError>
+<useDefaultCommand>false</useDefaultCommand>
+</target>
+</buildTargets>
+</storageModule>
+<storageModule moduleId="scannerConfiguration">
+<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId="org.eclipse.cdt.make.core.GCCStandardMakePerProjectProfile"/>
+<profile id="org.eclipse.cdt.make.core.GCCStandardMakePerProjectProfile">
+<buildOutputProvider>
+<openAction enabled="true" filePath=""/>
+<parser enabled="true"/>
+</buildOutputProvider>
+<scannerInfoProvider id="specsFile">
+<runAction arguments="-E -P -v -dD ${plugin_state_location}/${specs_file}" command="/usr/bin/gcc" useDefault="true"/>
+<parser enabled="true"/>
+</scannerInfoProvider>
+</profile>
+<profile id="org.eclipse.cdt.make.core.GCCStandardMakePerFileProfile">
+<buildOutputProvider>
+<openAction enabled="true" filePath=""/>
+<parser enabled="true"/>
+</buildOutputProvider>
+<scannerInfoProvider id="makefileGenerator">
+<runAction arguments="-f ${project_name}_scd.mk" command="/usr/bin/make" useDefault="true"/>
+<parser enabled="true"/>
+</scannerInfoProvider>
+</profile>
+</storageModule>
+</cconfiguration>
+</storageModule>
+<storageModule moduleId="cdtBuildSystem" version="4.0.0">
+<project id="wam_description.null.1" name="wam_description"/>
+</storageModule>
+</cproject>
--- /dev/null
+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+ <name>wam_description-RelWithDebInfo@wam_description</name>
+ <comment></comment>
+ <projects>
+ </projects>
+ <buildSpec>
+ <buildCommand>
+ <name>org.eclipse.cdt.make.core.makeBuilder</name>
+ <triggers>clean,full,incremental,</triggers>
+ <arguments>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.cleanBuildTarget</key>
+ <value>clean</value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.enableCleanBuild</key>
+ <value>true</value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.append_environment</key>
+ <value>true</value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.stopOnError</key>
+ <value>true</value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.enabledIncrementalBuild</key>
+ <value>true</value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.build.command</key>
+ <value>/usr/bin/make</value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.contents</key>
+ <value>org.eclipse.cdt.make.core.activeConfigSettings</value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.build.target.inc</key>
+ <value>all</value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.build.arguments</key>
+ <value></value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.buildLocation</key>
+ <value>/home/robot/ros/wam_description</value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.useDefaultBuildCmd</key>
+ <value>false</value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.environment</key>
+ <value>VERBOSE=1|ROS_ROOT=/opt/ros/electric/ros|ROS_PACKAGE_PATH=/home/robot/ros:/opt/ros/electric/stacks|PYTHONPATH=/opt/ros/electric/ros/core/roslib/src:/opt/ros/electric/ros/core/roslib/src:/opt/ros/electric/ros/core/roslib/src:|PATH=/opt/ros/electric/ros/bin:/opt/ros/electric/ros/bin:/opt/ros/electric/ros/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games|</value>
+ <value></value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.enableFullBuild</key>
+ <value>true</value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.build.target.auto</key>
+ <value>all</value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.enableAutoBuild</key>
+ <value>false</value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.build.target.clean</key>
+ <value>clean</value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.fullBuildTarget</key>
+ <value>all</value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.buildArguments</key>
+ <value></value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.build.location</key>
+ <value>/home/robot/ros/wam_description</value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.autoBuildTarget</key>
+ <value>all</value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.core.errorOutputParser</key>
+ <value>org.eclipse.cdt.core.MakeErrorParser;org.eclipse.cdt.core.GCCErrorParser;org.eclipse.cdt.core.GASErrorParser;org.eclipse.cdt.core.GLDErrorParser;</value>
+ </dictionary>
+ </arguments>
+ </buildCommand>
+ <buildCommand>
+ <name>org.eclipse.cdt.make.core.ScannerConfigBuilder</name>
+ <arguments>
+ </arguments>
+ </buildCommand>
+ </buildSpec>
+ <natures>
+ <nature>org.eclipse.cdt.core.ccnature</nature>
+ <nature>org.eclipse.cdt.make.core.makeNature</nature>
+ <nature>org.eclipse.cdt.make.core.ScannerConfigNature</nature>
+ <nature>org.eclipse.cdt.core.cnature</nature>
+ </natures>
+</projectDescription>
--- /dev/null
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<?eclipse-pydev version="1.0"?>
+
+<pydev_project>
+<pydev_property name="org.python.pydev.PYTHON_PROJECT_INTERPRETER">Default</pydev_property>
+<pydev_property name="org.python.pydev.PYTHON_PROJECT_VERSION">python 2.6</pydev_property>
+<pydev_pathproperty name="org.python.pydev.PROJECT_EXTERNAL_SOURCE_PATH">
+<path>/opt/ros/electric/stacks/robot_model/urdf/src</path>
+<path>/opt/ros/electric/stacks/robot_model/urdf/lib</path>
+<path>/opt/ros/electric/stacks/ros_comm/clients/cpp/roscpp/src</path>
+<path>/opt/ros/electric/stacks/ros_comm/clients/cpp/roscpp/lib</path>
+<path>/opt/ros/electric/stacks/ros_comm/utilities/cpp_common/src</path>
+<path>/opt/ros/electric/stacks/ros_comm/utilities/cpp_common/lib</path>
+<path>/opt/ros/electric/stacks/ros_comm/clients/cpp/roscpp_serialization/src</path>
+<path>/opt/ros/electric/stacks/ros_comm/clients/cpp/roscpp_serialization/lib</path>
+<path>/opt/ros/electric/stacks/ros_comm/utilities/rostime/src</path>
+<path>/opt/ros/electric/stacks/ros_comm/utilities/rostime/lib</path>
+<path>/opt/ros/electric/ros/core/roslib/src</path>
+<path>/opt/ros/electric/ros/core/roslib/lib</path>
+<path>/opt/ros/electric/ros/tools/rospack/lib</path>
+<path>/opt/ros/electric/stacks/ros_comm/utilities/xmlrpcpp/src</path>
+<path>/opt/ros/electric/stacks/ros_comm/utilities/xmlrpcpp/lib</path>
+<path>/opt/ros/electric/stacks/ros_comm/tools/rosconsole/src</path>
+<path>/opt/ros/electric/stacks/ros_comm/tools/rosconsole/lib</path>
+<path>/opt/ros/electric/stacks/ros_comm/messages/std_msgs/src</path>
+<path>/opt/ros/electric/stacks/ros_comm/messages/rosgraph_msgs/src</path>
+<path>/opt/ros/electric/stacks/robot_model/colladadom/lib</path>
+<path>/opt/ros/electric/stacks/robot_model/urdf_parser/src</path>
+<path>/opt/ros/electric/stacks/robot_model/urdf_parser/lib</path>
+<path>/opt/ros/electric/stacks/robot_model/collada_parser/src</path>
+<path>/opt/ros/electric/stacks/robot_model/collada_parser/lib</path>
+<path>/opt/ros/electric/stacks/simulator_gazebo/gazebo/src</path>
+<path>/opt/ros/electric/stacks/simulator_gazebo/gazebo/lib</path>
+<path>/opt/ros/electric/stacks/simulator_gazebo/gazebo_msgs/src</path>
+<path>/opt/ros/electric/stacks/common_msgs/geometry_msgs/src</path>
+<path>/opt/ros/electric/stacks/ros_comm/tools/rosbagmigration/src</path>
+<path>/opt/ros/electric/stacks/ros_comm/tools/rosbag/src</path>
+<path>/opt/ros/electric/stacks/ros_comm/tools/rosbag/lib</path>
+<path>/opt/ros/electric/stacks/ros_comm/clients/rospy/src</path>
+<path>/opt/ros/electric/stacks/ros_comm/tools/topic_tools/src</path>
+<path>/opt/ros/electric/stacks/ros_comm/tools/topic_tools/lib</path>
+<path>/opt/ros/electric/stacks/ros_comm/tools/rostest/src</path>
+<path>/opt/ros/electric/stacks/ros_comm/tools/roslaunch/src</path>
+<path>/opt/ros/electric/ros/tools/rosclean/src</path>
+<path>/opt/ros/electric/stacks/ros_comm/tools/rosgraph/src</path>
+<path>/opt/ros/electric/stacks/ros_comm/tools/rosparam/src</path>
+<path>/opt/ros/electric/stacks/ros_comm/tools/rosmaster/src</path>
+<path>/opt/ros/electric/ros/tools/rosunit/src</path>
+<path>/opt/ros/electric/stacks/common_msgs/sensor_msgs/src</path>
+<path>/opt/ros/electric/stacks/common_msgs/sensor_msgs/lib</path>
+<path>/opt/ros/electric/stacks/physics_ode/parallel_quickstep/src</path>
+<path>/opt/ros/electric/stacks/physics_ode/parallel_quickstep/lib</path>
+<path>/opt/ros/electric/stacks/physics_ode/opende/src</path>
+<path>/opt/ros/electric/stacks/bullet/src</path>
+<path>/opt/ros/electric/stacks/bullet/lib</path>
+<path>/opt/ros/electric/stacks/ros_comm/messages/std_srvs/src</path>
+<path>/opt/ros/electric/stacks/geometry/tf/src</path>
+<path>/opt/ros/electric/stacks/geometry/tf/lib</path>
+<path>/opt/ros/electric/stacks/ros_comm/utilities/roswtf/src</path>
+<path>/opt/ros/electric/stacks/ros_comm/tools/rosnode/src</path>
+<path>/opt/ros/electric/stacks/ros_comm/tools/rosservice/src</path>
+<path>/opt/ros/electric/stacks/ros_comm/tools/rosmsg/src</path>
+<path>/opt/ros/electric/stacks/ros_comm/tools/rostopic/src</path>
+<path>/opt/ros/electric/stacks/ros_comm/utilities/message_filters/src</path>
+<path>/opt/ros/electric/stacks/ros_comm/utilities/message_filters/lib</path>
+<path>/opt/ros/electric/stacks/driver_common/dynamic_reconfigure/src</path>
+<path>/opt/ros/electric/stacks/driver_common/dynamic_reconfigure/lib</path>
+<path>/opt/ros/electric/stacks/robot_model/ivcon/src</path>
+<path>/opt/ros/electric/ros/core/mk</path>
+<path>/usr/local/lib/python2.6/dist-packages/rosinstall-0.5.25-py2.6.egg</path>
+<path>/usr/local/lib/python2.6/dist-packages/vcstools-0.1.0-py2.6.egg</path>
+<path>/opt/ros/electric/ros/core/roslib/src</path>
+<path>/home/robot/ros/wam_description</path>
+<path>/usr/lib/python2.6</path>
+<path>/usr/lib/python2.6/plat-linux2</path>
+<path>/usr/lib/python2.6/lib-tk</path>
+<path>/usr/lib/python2.6/lib-dynload</path>
+<path>/usr/lib/python2.6/dist-packages</path>
+<path>/usr/lib/python2.6/dist-packages/PIL</path>
+<path>/usr/lib/python2.6/dist-packages/gst-0.10</path>
+<path>/usr/lib/pymodules/python2.6</path>
+<path>/usr/lib/python2.6/dist-packages/gtk-2.0</path>
+<path>/usr/lib/pymodules/python2.6/gtk-2.0</path>
+<path>/usr/lib/python2.6/dist-packages/wx-2.8-gtk2-unicode</path>
+<path>/usr/local/lib/python2.6/dist-packages</path>
+</pydev_pathproperty>
+</pydev_project>
--- /dev/null
+cmake_minimum_required(VERSION 2.4.6)
+include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+
+rosbuild_init()
+
+#common commands for building c++ executables and libraries
+#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
+#target_link_libraries(${PROJECT_NAME} another_library)
+#rosbuild_add_boost_directories()
+#rosbuild_link_boost(${PROJECT_NAME} thread)
+#rosbuild_add_executable(example examples/example.cpp)
+#target_link_libraries(example ${PROJECT_NAME})
--- /dev/null
+include $(shell rospack find mk)/cmake.mk
\ No newline at end of file
--- /dev/null
+<?xml version="1.0"?>
+<launch>
+ <include file="$(find gazebo_worlds)/launch/empty_world.launch"/>
+ <!--param name="logo_description" textfile="$(find wam_description)/Media/models/logo.urdf" /-->
+ <param name="spawn_wam" textfile="$(find wam_description)/urdf/wam_4dof.urdf" />
+ <node name="spawn_wam_object" pkg="gazebo" type="spawn_model" args="-urdf -param spawn_wam -model wam_4dof" respawn="false" output="screen" />
+</launch>
--- /dev/null
+<?xml version="1.0"?>
+<launch>
+ <include file="$(find gazebo_worlds)/launch/empty_world.launch"/>
+
+ <param name="spawn_wam" textfile="$(find wam_description)/urdf/wam_7dof.urdf" />
+
+ <node name="spawn_wam_object" pkg="gazebo" type="spawn_model" args="-urdf -param spawn_wam -model wam_7dof -J wam_j3_joint 0.4" respawn="false" output="screen" />
+</launch>
--- /dev/null
+<?xml version="1.0"?>
+<launch>
+ <include file="$(find gazebo_worlds)/launch/empty_world.launch"/>
+
+ <param name="spawn_wam" textfile="$(find wam_description)/urdf/wam_7dof_ft_hand.urdf" />
+
+ <node name="spawn_wam_object" pkg="gazebo" type="spawn_model" args="-urdf -param spawn_wam -model wam_7dof_ft_hand -J wam_j3_joint 0.4" respawn="false" output="screen" />
+</launch>
--- /dev/null
+<?xml version="1.0"?>
+<launch>
+ <include file="$(find gazebo_worlds)/launch/empty_world.launch"/>
+
+ <param name="spawn_wam" textfile="$(find wam_description)/urdf/wam_7dof_hand.urdf" />
+
+ <node name="spawn_wam_object" pkg="gazebo" type="spawn_model" args="-urdf -param spawn_wam -model wam_7dof_hand -J wam_j3_joint 0.4" respawn="false" output="screen" />
+</launch>
--- /dev/null
+<package>
+ <description brief="wam_description">
+
+ 4-DOF WAM, 7-DOF WAM, BarrettHand, and FT Sensor meshes and urdfs
+ for description of Barrett Technology's products.
+
+ </description>
+ <author>Kyle Maroney, Barrett Technology Inc.</author>
+ <license>BSD</license>
+
+ <review status="unreviewed" notes=""/>
+ <url>http://ros.org/wiki/wam_description</url>
+ <depend package ="urdf"/>
+ <depend package="convex_decomposition"/>
+ <depend package="gazebo"/>
+ <depend package="ivcon"/>
+
+ <export>
+ <gazebo gazebo_media_path="${prefix}" />
+ </export>
+
+</package>
+
+
--- /dev/null
+<robot name="wam_4dof"
+
+ xmlns:xi="http://www.w3.org/2001/XInclude"
+ xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
+ xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
+ xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+ xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
+ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
+ xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
+ xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+ xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
+ xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable"
+ xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+ xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics">
+
+ #Fictional Footprint - for integration
+ <link name="world"/>
+ <link name="wam_footprint">
+ <inertial>
+ <mass value="0.0001" />
+ <origin xyz="0 0 0" />
+ <inertia ixx="0.0001" ixy="0.0" ixz="0.0"iyy="0.0001" iyz="0.0" izz="0.0001" />
+ </inertial>
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <box size="0.001 0.001 0.001" />
+ </geometry>
+ </visual>
+ <collision>
+ <origin xyz="0 0 0.0" rpy="0 0 0" />
+ <geometry>
+ <box size="0.001 0.001 0.001" />
+ </geometry>
+ </collision>
+ </link>
+
+ #WAM BASE
+ <link name="wam_base">
+ <inertial>
+ <mass value="9.97059584"/>
+ <origin xyz="-0.02017671 -0.26604706 -0.14071720" />
+ <inertia ixx="1.01232865" ixy="0.05992441" ixz="0.05388736" iyy="0.38443311" iyz="0.37488748" izz="0.82739198"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="wam_base_visual">
+ <mesh filename="package://wam_description/meshes/wam_base.mesh" />
+ </geometry>
+ <material name="LightGrey">
+ <color rgba="0.9 0.9 0.9 1.0"/>
+ </material>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="wam_base_collision">
+ <mesh filename="package://wam_description/meshes/wam_base.mesh" />
+ </geometry>
+ <contact_coefficients kd="1000.0" kp="1000.0" mu="0"/>
+ </collision>
+ </link>
+
+ #LINK J1
+ <link name="j1">
+ <inertial>
+ <mass value="10.76768767"/>
+ <origin xyz="-0.00443422 0.12189039 -0.00066489" />
+ <inertia ixx="0.29486350" ixy="-0.00795023" ixz="-0.00009311" iyy="0.11350017" iyz="0.00018711" izz="0.25065343"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_j1_visual">
+ <mesh filename="package://wam_description/meshes/link_j1.mesh" />
+ </geometry>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_j1_collision">
+ <mesh filename="package://wam_description/meshes/link_j1.mesh" />
+ </geometry>
+ <contact_coefficients kd="1000.0" kp="1000.0" mu="0"/>
+ </collision>
+ </link>
+
+ #LINK J2
+ <link name="j2">
+ <inertial>
+ <mass value="3.87493756"/>
+ <origin xyz="-0.00236983 0.03105614 0.01542114" />
+ <inertia ixx="0.02606840" ixy="-0.00001346" ixz="-0.00011701" iyy="0.01472202" iyz="0.00003659" izz="0.01934814"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_j2_visual">
+ <mesh filename="package://wam_description/meshes/link_j2.mesh" />
+ </geometry>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_j2_collision">
+ <mesh filename="package://wam_description/meshes/link_j2.mesh" />
+ </geometry>
+ <contact_coefficients kd="1000.0" kp="1000.0" mu="0"/>
+ </collision>
+ </link>
+
+ #LINK J3
+ <link name="j3">
+ <inertial>
+ <mass value="1.80228141"/>
+ <origin xyz="-0.03825858 0.20750770 0.00003309" />
+ <inertia ixx="0.13671601" ixy="-0.01680434" ixz="0.00000510" iyy="0.00588354" iyz="-0.00000530" izz="0.13951371"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_j3_visual">
+ <mesh filename="package://wam_description/meshes/link_j3.mesh" />
+ </geometry>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_j3_collision">
+ <mesh filename="package://wam_description/meshes/link_j3.mesh" />
+ </geometry>
+ <contact_coefficients kd="1000.0" kp="1000.0" mu="0"/>
+ </collision>
+ </link>
+
+ #LINK J4
+ <link name="j4">
+ <inertial>
+ <mass value="1.06513649"/>
+ <origin xyz="0.01095471 -0.00002567 0.14053900" />
+ <inertia ixx="0.03952350" ixy="0.00000189" ixz="0.00003117" iyy="0.04008214" iyz="0.00000131" izz="0.00210299"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_j4_visual">
+ <mesh filename="package://wam_description/meshes/link_j4.mesh" />
+ </geometry>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_j4_collision">
+ <mesh filename="package://wam_description/meshes/link_j4.mesh" />
+ </geometry>
+ <contact_coefficients kd="1000.0" kp="1000.0" mu="0"/>
+ </collision>
+ </link>
+
+
+ ## Joint Descriptions
+ <joint name="fix_world" type="fixed">
+ <parent link="world"/>
+ <child link="wam_footprint"/>
+ </joint>
+
+ <joint name="wam_basejoint" type="fixed">
+ <parent link="wam_footprint"/>
+ <child link="wam_base" />
+ <origin xyz="0 0 0.0" rpy="0 0 0" />
+ </joint>
+
+ <joint name="wam_j1_joint" type="revolute">
+ <origin xyz="0.22 0.14 0.346" rpy="-1.57079633 0 0" />
+ <parent link="wam_base"/>
+ <child link="j1" />
+ <axis xyz="0 1 0"/>
+ <limit effort="30" velocity="0.5" lower="-2.6" upper="2.6" />
+ <dynamics damping="1000"/>
+ </joint >
+
+ <joint name="wam_j2_joint" type="revolute">
+ <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+ <parent link="j1"/>
+ <child link="j2" />
+ <axis xyz="0 0 1"/>
+ <limit effort="30" velocity="0.5" lower="-2.0" upper="2.0" />
+ <dynamics damping="1000"/>
+ </joint >
+
+ <joint name="wam_j3_joint" type="revolute">
+ <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+ <parent link="j2"/>
+ <child link="j3" />
+ <axis xyz="0 1 0"/>
+ <limit effort="30" velocity="0.5" lower="-2.8" upper="2.8" />
+ <dynamics damping="1000"/>
+ </joint >
+
+ <joint name="wam_j4_joint" type="revolute">
+ <origin xyz="0.045 -0.55 0.0" rpy="1.57079633 0 0" />
+ <parent link="j3"/>
+ <child link="j4" />
+ <axis xyz="0 1 0"/>
+ <limit effort="30" velocity="0.5" lower="-0.9" upper="3.1" />
+ <dynamics damping="1000"/>
+ </joint >
+
+
+ #Adding Gazebo Requirements
+ <gazebo reference="wam_world">
+ <material>Gazebo/White</material>
+ <selfCollide>true</selfCollide>
+ </gazebo>
+
+ <gazebo reference="wam_base">
+ <material>Gazebo/White</material>
+ <selfCollide>true</selfCollide>
+ <turnGravityOff>true</turnGravityOff>
+ </gazebo>
+
+ <gazebo reference="j1">
+ <material>Gazebo/White</material>
+ <selfCollide>true</selfCollide>
+ <turnGravityOff>true</turnGravityOff>
+ </gazebo>
+
+ <gazebo reference="j2">
+ <material>Gazebo/Grey</material>
+ <selfCollide>true</selfCollide>
+ <turnGravityOff>true</turnGravityOff>
+ </gazebo>
+
+ <gazebo reference="j3">
+ <material>Gazebo/Grey</material>
+ <selfCollide>true</selfCollide>
+ <turnGravityOff>true</turnGravityOff>
+ </gazebo>
+
+ <gazebo reference="j4">
+ <material>Gazebo/Grey</material>
+ <selfCollide>true</selfCollide>
+ <turnGravityOff>true</turnGravityOff>
+ </gazebo>
+
+ #Adding Transmissions
+ <transmission type="pr2_mechanism_model/SimpleTransmission" name="j1_transmission">
+ <actuator name="j1" />
+ <joint name="wam_j1_joint" />
+ <mechanicalReduction>1</mechanicalReduction>
+ <motorTorqueConstant>1</motorTorqueConstant>
+ </transmission>
+
+ <transmission type="pr2_mechanism_model/SimpleTransmission" name="j2_transmission">
+ <actuator name="j2" />
+ <joint name="wam_j2_joint" />
+ <mechanicalReduction>1</mechanicalReduction>
+ <motorTorqueConstant>1</motorTorqueConstant>
+ </transmission>
+
+ <transmission type="pr2_mechanism_model/SimpleTransmission" name="j3_transmission">
+ <actuator name="j3" />
+ <joint name="wam_j3_joint" />
+ <mechanicalReduction>1</mechanicalReduction>
+ <motorTorqueConstant>1</motorTorqueConstant>
+ </transmission>
+
+ <transmission type="pr2_mechanism_model/SimpleTransmission" name="j4_transmission">
+ <actuator name="j4" />
+ <joint name="wam_j4_joint" />
+ <mechanicalReduction>1</mechanicalReduction>
+ <motorTorqueConstant>1</motorTorqueConstant>
+ </transmission>
+
+</robot>
\ No newline at end of file
--- /dev/null
+<robot name="wam_7dof"
+
+ xmlns:xi="http://www.w3.org/2001/XInclude"
+ xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
+ xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
+ xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+ xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
+ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
+ xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
+ xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+ xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
+ xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable"
+ xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+ xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics">
+
+ #Fictional Footprint - for integration
+ <link name="world"/>
+ <link name="wam_footprint">
+ <inertial>
+ <mass value="0.0001" />
+ <origin xyz="0 0 0" />
+ <inertia ixx="0.0001" ixy="0.0" ixz="0.0"iyy="0.0001" iyz="0.0" izz="0.0001" />
+ </inertial>
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <box size="0.001 0.001 0.001" />
+ </geometry>
+ </visual>
+ <collision>
+ <origin xyz="0 0 0.0" rpy="0 0 0" />
+ <geometry>
+ <box size="0.001 0.001 0.001" />
+ </geometry>
+ </collision>
+ </link>
+
+ #WAM BASE
+ <link name="wam_base">
+ <inertial>
+ <mass value="9.97059584"/>
+ <origin xyz="-0.02017671 -0.26604706 -0.14071720" />
+ <inertia ixx="1.01232865" ixy="0.05992441" ixz="0.05388736" iyy="0.38443311" iyz="0.37488748" izz="0.82739198"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="wam_base_visual">
+ <mesh filename="package://wam_description/meshes/wam_base.mesh" />
+ </geometry>
+ <material name="LightGrey">
+ <color rgba="0.9 0.9 0.9 1.0"/>
+ </material>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="wam_base_collision">
+ <mesh filename="package://wam_description/meshes/wam_base.mesh" />
+ </geometry>
+ </collision>
+ </link>
+
+ #LINK J1
+ <link name="j1">
+ <inertial>
+ <mass value="10.76768767"/>
+ <origin xyz="-0.00443422 0.12189039 -0.00066489" />
+ <inertia ixx="0.29486350" ixy="-0.00795023" ixz="-0.00009311" iyy="0.11350017" iyz="0.00018711" izz="0.25065343"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_j1_visual">
+ <mesh filename="package://wam_description/meshes/link_j1.mesh" />
+ </geometry>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_j1_collision">
+ <mesh filename="package://wam_description/meshes/link_j1.mesh" />
+ </geometry>
+ </collision>
+ </link>
+
+ #LINK J2
+ <link name="j2">
+ <inertial>
+ <mass value="3.87493756"/>
+ <origin xyz="-0.00236983 0.03105614 0.01542114" />
+ <inertia ixx="0.02606840" ixy="-0.00001346" ixz="-0.00011701" iyy="0.01472202" iyz="0.00003659" izz="0.01934814"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_j2_visual">
+ <mesh filename="package://wam_description/meshes/link_j2.mesh" />
+ </geometry>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_j2_collision">
+ <mesh filename="package://wam_description/meshes/link_j2.mesh" />
+ </geometry>
+ </collision>
+ </link>
+
+ #LINK J3
+ <link name="j3">
+ <inertial>
+ <mass value="1.80228141"/>
+ <origin xyz="-0.03825858 0.20750770 0.00003309" />
+ <inertia ixx="0.13671601" ixy="-0.01680434" ixz="0.00000510" iyy="0.00588354" iyz="-0.00000530" izz="0.13951371"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_j3_visual">
+ <mesh filename="package://wam_description/meshes/link_j3.mesh" />
+ </geometry>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_j3_collision">
+ <mesh filename="package://wam_description/meshes/link_j3.mesh" />
+ </geometry>
+ </collision>
+ </link>
+
+ #LINK J4
+ <link name="j4">
+ <inertial>
+ <mass value="1.06513649"/>
+ <origin xyz="0.01095471 -0.00002567 0.14053900" />
+ <inertia ixx="0.03952350" ixy="0.00000189" ixz="0.00003117" iyy="0.04008214" iyz="0.00000131" izz="0.00210299"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_j4_visual">
+ <mesh filename="package://wam_description/meshes/link_j4.mesh" />
+ </geometry>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_j4_collision">
+ <mesh filename="package://wam_description/meshes/link_j4.mesh" />
+ </geometry>
+ <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
+ </collision>
+ </link>
+
+ #LINK J5
+ <link name="j5">
+ <inertial>
+ <mass value="0.12376019"/>
+ <origin xyz="0.00008921 0.00511217 0.00435824" />
+ <inertia ixx="0.00005587" ixy="0.00000026" ixz="0.00000000" iyy="0.00007817" iyz="-0.00000083" izz="0.00006594"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_j5_visual">
+ <mesh filename="package://wam_description/meshes/link_j5.mesh" />
+ </geometry>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_j5_collision">
+ <mesh filename="package://wam_description/meshes/link_j5.mesh" />
+ </geometry>
+ <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
+ </collision>
+ </link>
+
+ #LINK J6
+ <link name="j6">
+ <inertial>
+ <mass value="0.41797364"/>
+ <origin xyz="-0.00012262 -0.01703194 0.02468336" />
+ <inertia ixx="0.00093106" ixy="0.00000148" ixz="-0.00000201" iyy="0.00049833" iyz="-0.00022162" izz="0.00057483"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_j6_visual">
+ <mesh filename="package://wam_description/meshes/link_j6.mesh" />
+ </geometry>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_j6_collision">
+ <mesh filename="package://wam_description/meshes/link_j6.mesh" />
+ </geometry>
+ <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
+ </collision>
+ </link>
+
+ #LINK J7
+ <link name="j7">
+ <inertial>
+ <mass value="0.06864753"/>
+ <origin xyz="-0.00007974 0.00016313 -0.00323552" />
+ <inertia ixx="0.00003845" ixy="-0.00000019" ixz="0.00000002" iyy="0.00003878" iyz="-0.00000004" izz="0.00007408"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_j6_visual">
+ <mesh filename="package://wam_description/meshes/link_j7.mesh" />
+ </geometry>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_j7_collision">
+ <mesh filename="package://wam_description/meshes/link_j7.mesh" />
+ </geometry>
+ <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
+ </collision>
+ </link>
+
+ ## Joint Descriptions
+ <joint name="fix_world" type="fixed">
+ <parent link="world"/>
+ <child link="wam_footprint"/>
+ </joint>
+
+ <joint name="wam_basejoint" type="fixed">
+ <parent link="wam_footprint"/>
+ <child link="wam_base" />
+ <origin xyz="0 0 0.0" rpy="0 0 0" />
+ </joint>
+
+ <joint name="wam_j1_joint" type="revolute">
+ <origin xyz="0.22 0.14 0.346" rpy="-1.57079633 0 0" />
+ <parent link="wam_base"/>
+ <child link="j1" />
+ <axis xyz="0 1 0"/>
+ <limit effort="30" velocity="1.5" lower="-2.6" upper="2.6" />
+ <joint_properties damping="100.0" friction="1000.0" />
+ <dynamics damping="1000"/>
+ </joint >
+
+ <joint name="wam_j2_joint" type="revolute">
+ <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+ <parent link="j1"/>
+ <child link="j2" />
+ <axis xyz="0 0 1"/>
+ <limit effort="30" velocity="1.5" lower="-2.0" upper="2.0" />
+ <joint_properties damping="100.0" friction="1000.0" />
+ <dynamics damping="1000"/>
+ </joint >
+
+ <joint name="wam_j3_joint" type="revolute">
+ <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+ <parent link="j2"/>
+ <child link="j3" />
+ <axis xyz="0 1 0"/>
+ <limit effort="30" velocity="1.5" lower="-2.8" upper="2.8" />
+ <joint_properties damping="100.0" friction="1000.0" />
+ <dynamics damping="1000"/>
+ </joint >
+
+ <joint name="wam_j4_joint" type="revolute">
+ <origin xyz="0.045 -0.55 0.0" rpy="1.57079633 0 0" />
+ <parent link="j3"/>
+ <child link="j4" />
+ <axis xyz="0 1 0"/>
+ <limit effort="30" velocity="1.5" lower="-0.9" upper="3.1" />
+ <joint_properties damping="100.0" friction="1000.0" />
+ <dynamics damping="1000"/>
+ </joint >
+
+ <joint name="wam_j5_joint" type="revolute">
+ <origin xyz="-0.045 0.0 0.3" rpy="1.57079633 0 0" />
+ <parent link="j4"/>
+ <child link="j5" />
+ <axis xyz="0 0 1"/>
+ <limit effort="30" velocity="1.5" lower="-4.76" upper="1.24" />
+ <joint_properties damping="100.0" friction="1000.0" />
+ <dynamics damping="1000"/>
+ </joint >
+
+ <joint name="wam_j6_joint" type="revolute">
+ <origin xyz="0.0 0.0 0.0" rpy="-1.57079633 0 0" />
+ <parent link="j5"/>
+ <child link="j6" />
+ <axis xyz="0 0 1"/>
+ <limit effort="30" velocity="1.5" lower="-1.5" upper="1.5" />
+ <joint_properties damping="100.0" friction="1000.0" />
+ <dynamics damping="1000"/>
+ </joint >
+
+ <joint name="wam_j7_joint" type="revolute">
+ <origin xyz="0.0 0.0 0.06" rpy="0 0 0" />
+ <parent link="j6"/>
+ <child link="j7" />
+ <axis xyz="0 0 1"/>
+ <limit effort="30" velocity="1.5" lower="-3.0" upper="3.0" />
+ <joint_properties damping="100.0" friction="1000.0" />
+ <dynamics damping="1000"/>
+ </joint >
+
+
+ #Adding Gazebo Requirements
+ <gazebo reference="wam_world">
+ <material>Gazebo/White</material>
+ <selfCollide>true</selfCollide>
+ </gazebo>
+
+ <gazebo reference="wam_base">
+ <material>Gazebo/White</material>
+ <selfCollide>true</selfCollide>
+ <turnGravityOff>true</turnGravityOff>
+ </gazebo>
+
+ <gazebo reference="j1">
+ <material>Gazebo/White</material>
+ <selfCollide>true</selfCollide>
+ <turnGravityOff>true</turnGravityOff>
+ </gazebo>
+
+ <gazebo reference="j2">
+ <material>Gazebo/Grey</material>
+ <selfCollide>true</selfCollide>
+ <turnGravityOff>true</turnGravityOff>
+ </gazebo>
+
+ <gazebo reference="j3">
+ <material>Gazebo/Grey</material>
+ <selfCollide>true</selfCollide>
+ <turnGravityOff>true</turnGravityOff>
+ </gazebo>
+
+ <gazebo reference="j4">
+ <material>Gazebo/Grey</material>
+ <selfCollide>true</selfCollide>
+ <turnGravityOff>true</turnGravityOff>
+ </gazebo>
+
+ <gazebo reference="j5">
+ <material>Gazebo/Grey</material>
+ <selfCollide>true</selfCollide>
+ <turnGravityOff>true</turnGravityOff>
+ </gazebo>
+
+ <gazebo reference="j6">
+ <material>Gazebo/Grey</material>
+ <selfCollide>true</selfCollide>
+ <turnGravityOff>true</turnGravityOff>
+ </gazebo>
+
+ <gazebo reference="j7">
+ <material>Gazebo/Grey</material>
+ <selfCollide>true</selfCollide>
+ <turnGravityOff>true</turnGravityOff>
+ </gazebo>
+
+ #Adding Transmissions
+ <transmission type="pr2_mechanism_model/SimpleTransmission" name="j1_transmission">
+ <actuator name="j1" />
+ <joint name="wam_j1_joint" />
+ <mechanicalReduction>1</mechanicalReduction>
+ <motorTorqueConstant>1</motorTorqueConstant>
+ </transmission>
+
+ <transmission type="pr2_mechanism_model/SimpleTransmission" name="j2_transmission">
+ <actuator name="j2" />
+ <joint name="wam_j2_joint" />
+ <mechanicalReduction>1</mechanicalReduction>
+ <motorTorqueConstant>1</motorTorqueConstant>
+ </transmission>
+
+ <transmission type="pr2_mechanism_model/SimpleTransmission" name="j3_transmission">
+ <actuator name="j3" />
+ <joint name="wam_j3_joint" />
+ <mechanicalReduction>1</mechanicalReduction>
+ <motorTorqueConstant>1</motorTorqueConstant>
+ </transmission>
+
+ <transmission type="pr2_mechanism_model/SimpleTransmission" name="j4_transmission">
+ <actuator name="j4" />
+ <joint name="wam_j4_joint" />
+ <mechanicalReduction>1</mechanicalReduction>
+ <motorTorqueConstant>1</motorTorqueConstant>
+ </transmission>
+
+ <transmission type="pr2_mechanism_model/SimpleTransmission" name="j5_transmission">
+ <actuator name="j5" />
+ <joint name="wam_j5_joint" />
+ <mechanicalReduction>1</mechanicalReduction>
+ <motorTorqueConstant>1</motorTorqueConstant>
+ </transmission>
+
+ <transmission type="pr2_mechanism_model/SimpleTransmission" name="j6_transmission">
+ <actuator name="j6" />
+ <joint name="wam_j6_joint" />
+ <mechanicalReduction>1</mechanicalReduction>
+ <motorTorqueConstant>1</motorTorqueConstant>
+ </transmission>
+
+ <transmission type="pr2_mechanism_model/SimpleTransmission" name="j7_transmission">
+ <actuator name="j7" />
+ <joint name="wam_j7_joint" />
+ <mechanicalReduction>1</mechanicalReduction>
+ <motorTorqueConstant>1</motorTorqueConstant>
+ </transmission>
+</robot>
\ No newline at end of file
--- /dev/null
+<robot name="wam_7dof_ft_hand"
+
+ xmlns:xi="http://www.w3.org/2001/XInclude"
+ xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
+ xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
+ xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+ xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
+ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
+ xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
+ xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+ xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
+ xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable"
+ xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+ xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics">
+
+ #Fictional Footprint - for integration
+ <link name="world"/>
+ <link name="wam_footprint">
+ <inertial>
+ <mass value="0.0001" />
+ <origin xyz="0 0 0" />
+ <inertia ixx="0.0001" ixy="0.0" ixz="0.0"iyy="0.0001" iyz="0.0" izz="0.0001" />
+ </inertial>
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <box size="0.001 0.001 0.001" />
+ </geometry>
+ </visual>
+ <collision>
+ <origin xyz="0 0 0.0" rpy="0 0 0" />
+ <geometry>
+ <box size="0.001 0.001 0.001" />
+ </geometry>
+ </collision>
+ </link>
+
+ #WAM BASE
+ <link name="wam_base">
+ <inertial>
+ <mass value="9.97059584"/>
+ <origin xyz="-0.02017671 -0.26604706 -0.14071720" />
+ <inertia ixx="1.01232865" ixy="0.05992441" ixz="0.05388736" iyy="0.38443311" iyz="0.37488748" izz="0.82739198"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="wam_base_visual">
+ <mesh filename="package://wam_description/meshes/wam_base.mesh" />
+ </geometry>
+ <material name="LightGrey">
+ <color rgba="0.9 0.9 0.9 1.0"/>
+ </material>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="wam_base_collision">
+ <mesh filename="package://wam_description/meshes/wam_base.mesh" />
+ </geometry>
+ </collision>
+ </link>
+
+ #LINK J1
+ <link name="j1">
+ <inertial>
+ <mass value="10.76768767"/>
+ <origin xyz="-0.00443422 0.12189039 -0.00066489" />
+ <inertia ixx="0.29486350" ixy="-0.00795023" ixz="-0.00009311" iyy="0.11350017" iyz="0.00018711" izz="0.25065343"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_j1_visual">
+ <mesh filename="package://wam_description/meshes/link_j1.mesh" />
+ </geometry>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_j1_collision">
+ <mesh filename="package://wam_description/meshes/link_j1.mesh" />
+ </geometry>
+ </collision>
+ </link>
+
+ #LINK J2
+ <link name="j2">
+ <inertial>
+ <mass value="3.87493756"/>
+ <origin xyz="-0.00236983 0.03105614 0.01542114" />
+ <inertia ixx="0.02606840" ixy="-0.00001346" ixz="-0.00011701" iyy="0.01472202" iyz="0.00003659" izz="0.01934814"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_j2_visual">
+ <mesh filename="package://wam_description/meshes/link_j2.mesh" />
+ </geometry>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_j2_collision">
+ <mesh filename="package://wam_description/meshes/link_j2.mesh" />
+ </geometry>
+ </collision>
+ </link>
+
+ #LINK J3
+ <link name="j3">
+ <inertial>
+ <mass value="1.80228141"/>
+ <origin xyz="-0.03825858 0.20750770 0.00003309" />
+ <inertia ixx="0.13671601" ixy="-0.01680434" ixz="0.00000510" iyy="0.00588354" iyz="-0.00000530" izz="0.13951371"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_j3_visual">
+ <mesh filename="package://wam_description/meshes/link_j3.mesh" />
+ </geometry>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_j3_collision">
+ <mesh filename="package://wam_description/meshes/link_j3.mesh" />
+ </geometry>
+ </collision>
+ </link>
+
+ #LINK J4
+ <link name="j4">
+ <inertial>
+ <mass value="1.06513649"/>
+ <origin xyz="0.01095471 -0.00002567 0.14053900" />
+ <inertia ixx="0.03952350" ixy="0.00000189" ixz="0.00003117" iyy="0.04008214" iyz="0.00000131" izz="0.00210299"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_j4_visual">
+ <mesh filename="package://wam_description/meshes/link_j4.mesh" />
+ </geometry>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_j4_collision">
+ <mesh filename="package://wam_description/meshes/link_j4.mesh" />
+ </geometry>
+ <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
+ </collision>
+ </link>
+
+ #LINK J5
+ <link name="j5">
+ <inertial>
+ <mass value="0.12376019"/>
+ <origin xyz="0.00008921 0.00511217 0.00435824" />
+ <inertia ixx="0.00005587" ixy="0.00000026" ixz="0.00000000" iyy="0.00007817" iyz="-0.00000083" izz="0.00006594"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_j5_visual">
+ <mesh filename="package://wam_description/meshes/link_j5.mesh" />
+ </geometry>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_j5_collision">
+ <mesh filename="package://wam_description/meshes/link_j5.mesh" />
+ </geometry>
+ <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
+ </collision>
+ </link>
+
+ #LINK J6
+ <link name="j6">
+ <inertial>
+ <mass value="0.41797364"/>
+ <origin xyz="-0.00012262 -0.01703194 0.02468336" />
+ <inertia ixx="0.00093106" ixy="0.00000148" ixz="-0.00000201" iyy="0.00049833" iyz="-0.00022162" izz="0.00057483"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_j6_visual">
+ <mesh filename="package://wam_description/meshes/link_j6.mesh" />
+ </geometry>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_j6_collision">
+ <mesh filename="package://wam_description/meshes/link_j6.mesh" />
+ </geometry>
+ <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
+ </collision>
+ </link>
+
+ #LINK J7
+ <link name="j7">
+ <inertial>
+ <mass value="0.06864753"/>
+ <origin xyz="-0.00007974 0.00016313 -0.00323552" />
+ <inertia ixx="0.00003845" ixy="-0.00000019" ixz="0.00000002" iyy="0.00003878" iyz="-0.00000004" izz="0.00007408"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_j6_visual">
+ <mesh filename="package://wam_description/meshes/link_j7.mesh" />
+ </geometry>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_j7_collision">
+ <mesh filename="package://wam_description/meshes/link_j7.mesh" />
+ </geometry>
+ <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
+ </collision>
+ </link>
+
+ #LINK FT SENSOR
+ <link name="bhand_ftsensor">
+ <inertial>
+ <mass value="0.06864753"/>
+ <origin xyz="0 0 0" />
+ <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_bhand_ftsensor_visual">
+ <mesh filename="package://wam_description/meshes/bhand_ftsensor.mesh" />
+ </geometry>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_bhand_ftsensor_collision">
+ <mesh filename="package://wam_description/meshes/bhand_ftsensor.mesh" />
+ </geometry>
+ <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
+ </collision>
+ </link>
+
+ #LINK BHAND BASE
+ <link name="bhand_base">
+ <inertial>
+ <mass value="0.8"/>
+ <origin xyz="0 0 0" />
+ <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_bhand_base_visual">
+ <mesh filename="package://wam_description/meshes/bhand_base.mesh" />
+ </geometry>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_bhand_base_collision">
+ <mesh filename="package://wam_description/meshes/bhand_base.mesh" />
+ </geometry>
+ <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
+ </collision>
+ </link>
+
+ #FINGERS
+
+ #LINK BHAND LINK F11
+ <link name="bhand_link11">
+ <inertial>
+ <mass value="0.1"/>
+ <origin xyz="0 0 0" />
+ <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_bhand_f11_visual">
+ <mesh filename="package://wam_description/meshes/bhand_link1.mesh" />
+ </geometry>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_bhand_f11_collision">
+ <mesh filename="package://wam_description/meshes/bhand_link1.mesh" />
+ </geometry>
+ <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
+ </collision>
+ </link>
+
+ #LINK BHAND LINK F21
+ <link name="bhand_link21">
+ <inertial>
+ <mass value="0.1"/>
+ <origin xyz="0 0 0" />
+ <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_bhand_f21_visual">
+ <mesh filename="package://wam_description/meshes/bhand_link1.mesh" />
+ </geometry>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_bhand_f21_collision">
+ <mesh filename="package://wam_description/meshes/bhand_link1.mesh" />
+ </geometry>
+ <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
+ </collision>
+ </link>
+
+ #LINK BHAND LINK F12
+ <link name="bhand_link12">
+ <inertial>
+ <mass value="0.1"/>
+ <origin xyz="0 0 0" />
+ <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_bhand_f12_visual">
+ <mesh filename="package://wam_description/meshes/bhand_link2.mesh" />
+ </geometry>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_bhand_f12_collision">
+ <mesh filename="package://wam_description/meshes/bhand_link2.mesh" />
+ </geometry>
+ <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
+ </collision>
+ </link>
+
+ #LINK BHAND LINK F22
+ <link name="bhand_link22">
+ <inertial>
+ <mass value="0.1"/>
+ <origin xyz="0 0 0" />
+ <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_bhand_f22_visual">
+ <mesh filename="package://wam_description/meshes/bhand_link2.mesh" />
+ </geometry>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_bhand_f22_collision">
+ <mesh filename="package://wam_description/meshes/bhand_link2.mesh" />
+ </geometry>
+ <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
+ </collision>
+ </link>
+
+ #LINK BHAND LINK F32
+ <link name="bhand_link32">
+ <inertial>
+ <mass value="0.1"/>
+ <origin xyz="0 0 0" />
+ <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_bhand_f32_visual">
+ <mesh filename="package://wam_description/meshes/bhand_link2.mesh" />
+ </geometry>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_bhand_f32_collision">
+ <mesh filename="package://wam_description/meshes/bhand_link2.mesh" />
+ </geometry>
+ <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
+ </collision>
+ </link>
+
+ #LINK BHAND LINK F13
+ <link name="bhand_link13">
+ <inertial>
+ <mass value="0.1"/>
+ <origin xyz="0 0 0" />
+ <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_bhand_f13_visual">
+ <mesh filename="package://wam_description/meshes/bhand_link3.mesh" />
+ </geometry>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_bhand_f13_collision">
+ <mesh filename="package://wam_description/meshes/bhand_link3.mesh" />
+ </geometry>
+ <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
+ </collision>
+ </link>
+
+ #LINK BHAND LINK F23
+ <link name="bhand_link23">
+ <inertial>
+ <mass value="0.1"/>
+ <origin xyz="0 0 0" />
+ <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_bhand_f23_visual">
+ <mesh filename="package://wam_description/meshes/bhand_link3.mesh" />
+ </geometry>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_bhand_f23_collision">
+ <mesh filename="package://wam_description/meshes/bhand_link3.mesh" />
+ </geometry>
+ <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
+ </collision>
+ </link>
+
+ #LINK BHAND LINK F33
+ <link name="bhand_link33">
+ <inertial>
+ <mass value="0.1"/>
+ <origin xyz="0 0 0" />
+ <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_bhand_f33_visual">
+ <mesh filename="package://wam_description/meshes/bhand_link3.mesh" />
+ </geometry>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_bhand_f33_collision">
+ <mesh filename="package://wam_description/meshes/bhand_link3.mesh" />
+ </geometry>
+ <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
+ </collision>
+ </link>
+
+ ## Joint Descriptions
+ <joint name="fix_world" type="fixed">
+ <parent link="world"/>
+ <child link="wam_footprint"/>
+ </joint>
+
+ <joint name="wam_basejoint" type="fixed">
+ <parent link="wam_footprint"/>
+ <child link="wam_base" />
+ <origin xyz="0 0 0.0" rpy="0 0 0" />
+ </joint>
+
+ <joint name="wam_j1_joint" type="revolute">
+ <origin xyz="0.22 0.14 0.346" rpy="-1.57079633 0 0" />
+ <parent link="wam_base"/>
+ <child link="j1" />
+ <axis xyz="0 1 0"/>
+ <limit effort="30" velocity="1.5" lower="-2.6" upper="2.6" />
+ <joint_properties damping="100.0" friction="1000.0" />
+ <dynamics damping="1000"/>
+ </joint >
+
+ <joint name="wam_j2_joint" type="revolute">
+ <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+ <parent link="j1"/>
+ <child link="j2" />
+ <axis xyz="0 0 1"/>
+ <limit effort="30" velocity="1.5" lower="-2.0" upper="2.0" />
+ <joint_properties damping="100.0" friction="1000.0" />
+ <dynamics damping="1000"/>
+ </joint >
+
+ <joint name="wam_j3_joint" type="revolute">
+ <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+ <parent link="j2"/>
+ <child link="j3" />
+ <axis xyz="0 1 0"/>
+ <limit effort="30" velocity="1.5" lower="-2.8" upper="2.8" />
+ <joint_properties damping="100.0" friction="1000.0" />
+ <dynamics damping="1000"/>
+ </joint >
+
+ <joint name="wam_j4_joint" type="revolute">
+ <origin xyz="0.045 -0.55 0.0" rpy="1.57079633 0 0" />
+ <parent link="j3"/>
+ <child link="j4" />
+ <axis xyz="0 1 0"/>
+ <limit effort="30" velocity="1.5" lower="-0.9" upper="3.1" />
+ <joint_properties damping="100.0" friction="1000.0" />
+ <dynamics damping="1000"/>
+ </joint >
+
+ <joint name="wam_j5_joint" type="revolute">
+ <origin xyz="-0.045 0.0 0.3" rpy="1.57079633 0 0" />
+ <parent link="j4"/>
+ <child link="j5" />
+ <axis xyz="0 0 1"/>
+ <limit effort="30" velocity="1.5" lower="-4.76" upper="1.24" />
+ <joint_properties damping="100.0" friction="1000.0" />
+ <dynamics damping="1000"/>
+ </joint >
+
+ <joint name="wam_j6_joint" type="revolute">
+ <origin xyz="0.0 0.0 0.0" rpy="-1.57079633 0 0" />
+ <parent link="j5"/>
+ <child link="j6" />
+ <axis xyz="0 0 1"/>
+ <limit effort="30" velocity="1.5" lower="-1.5" upper="1.5" />
+ <joint_properties damping="100.0" friction="1000.0" />
+ <dynamics damping="1000"/>
+ </joint >
+
+ <joint name="wam_j7_joint" type="revolute">
+ <origin xyz="0.0 0.0 0.06" rpy="0 0 0" />
+ <parent link="j6"/>
+ <child link="j7" />
+ <axis xyz="0 0 1"/>
+ <limit effort="30" velocity="1.5" lower="-3.0" upper="3.0" />
+ <joint_properties damping="100.0" friction="1000.0" />
+ <dynamics damping="1000"/>
+ </joint >
+
+ <joint name="bhand_ftsensor_joint" type="fixed">
+ <parent link="j7"/>
+ <child link="bhand_ftsensor" />
+ <origin xyz="0.0 0.0 0.0" rpy="1.57079633 0 0" />
+ </joint>
+
+ <joint name="bhand_base_joint" type="fixed">
+ <parent link="bhand_ftsensor"/>
+ <child link="bhand_base" />
+ <origin xyz="0.0 0.013 0.0" rpy="-1.57079633 0.0 0.0" />
+ </joint>
+
+ <joint name="bhand_j11_joint" type="revolute">
+ <origin xyz="-0.02475 0.0 0.0395" rpy="0.0 0 1.57079633" />
+ <parent link="bhand_base"/>
+ <child link="bhand_link11" />
+ <axis xyz="0 0 1"/>
+ <limit effort="30" velocity="1.5" lower="0.0" upper="3.14159265" />
+ <joint_properties damping="100.0" friction="1000.0" />
+ <dynamics damping="1000"/>
+ </joint >
+
+ <joint name="bhand_j21_joint" type="revolute">
+ <origin xyz="0.02475 0.0 0.0395" rpy="0.0 0.0 1.57079633" />
+ <parent link="bhand_base"/>
+ <child link="bhand_link21" />
+ <axis xyz="0 0 1"/>
+ <limit effort="30" velocity="1.5" lower="-3.14159265" upper="0.0" />
+ <joint_properties damping="100.0" friction="1000.0" />
+ <dynamics damping="1000"/>
+ </joint >
+
+ <joint name="bhand_j12_joint" type="revolute">
+ <origin xyz="0.050 0.0 0.038" rpy="1.57079633 0 0.0" />
+ <parent link="bhand_link11"/>
+ <child link="bhand_link12" />
+ <axis xyz="0 0 1"/>
+ <limit effort="30" velocity="1.5" lower="0.0" upper="2.44346095" />
+ <joint_properties damping="100.0" friction="1000.0" />
+ <dynamics damping="1000"/>
+ </joint >
+
+ <joint name="bhand_j22_joint" type="revolute">
+ <origin xyz="0.050 0.0 0.038" rpy="1.57079633 0 0.0" />
+ <parent link="bhand_link21"/>
+ <child link="bhand_link22" />
+ <axis xyz="0 0 1"/>
+ <limit effort="30" velocity="1.5" lower="0.0" upper="2.44346095" />
+ <joint_properties damping="100.0" friction="1000.0" />
+ <dynamics damping="1000"/>
+ </joint >
+
+ <joint name="bhand_j32_joint" type="revolute">
+ <origin xyz="0.0 0.050 0.0775" rpy="1.57079633 0 1.57079633" />
+ <parent link="bhand_base"/>
+ <child link="bhand_link32" />
+ <axis xyz="0 0 1"/>
+ <limit effort="30" velocity="1.5" lower="0.0" upper="2.44346095" />
+ <joint_properties damping="100.0" friction="1000.0" />
+ <dynamics damping="1000"/>
+ </joint >
+
+ <joint name="bhand_j13_joint" type="revolute">
+ <origin xyz="0.070 0.0 0.0" rpy="0.0 0 0.0" />
+ <parent link="bhand_link12"/>
+ <child link="bhand_link13" />
+ <axis xyz="0 0 1"/>
+ <limit effort="30" velocity="1.5" lower="0.698131701" upper="2.44346095" />
+ <joint_properties damping="100.0" friction="1000.0" />
+ <dynamics damping="1000"/>
+ </joint >
+
+ <joint name="bhand_j23_joint" type="revolute">
+ <origin xyz="0.070 0.0 0.0" rpy="0.0 0 0.0" />
+ <parent link="bhand_link22"/>
+ <child link="bhand_link23" />
+ <axis xyz="0 0 1"/>
+ <limit effort="30" velocity="1.5" lower="0.698131701" upper="2.44346095" />
+ <joint_properties damping="100.0" friction="1000.0" />
+ <dynamics damping="1000"/>
+ </joint >
+
+ <joint name="bhand_j33_joint" type="revolute">
+ <origin xyz="0.070 0.0 0.0" rpy="0.0 0 0.0" />
+ <parent link="bhand_link32"/>
+ <child link="bhand_link33" />
+ <axis xyz="0 0 1"/>
+ <limit effort="30" velocity="1.5" lower="0.698131701" upper="2.44346095" />
+ <joint_properties damping="100.0" friction="1000.0" />
+ <dynamics damping="1000"/>
+ </joint >
+
+ #Adding Gazebo Requirements
+ <gazebo reference="wam_world">
+ <material>Gazebo/White</material>
+ <selfCollide>true</selfCollide>
+ </gazebo>
+
+ <gazebo reference="wam_base">
+ <material>Gazebo/White</material>
+ <selfCollide>true</selfCollide>
+ <turnGravityOff>true</turnGravityOff>
+ </gazebo>
+
+ <gazebo reference="j1">
+ <material>Gazebo/White</material>
+ <selfCollide>true</selfCollide>
+ <turnGravityOff>true</turnGravityOff>
+ </gazebo>
+
+ <gazebo reference="j2">
+ <material>Gazebo/Grey</material>
+ <selfCollide>true</selfCollide>
+ <turnGravityOff>true</turnGravityOff>
+ </gazebo>
+
+ <gazebo reference="j3">
+ <material>Gazebo/Grey</material>
+ <selfCollide>true</selfCollide>
+ <turnGravityOff>true</turnGravityOff>
+ </gazebo>
+
+ <gazebo reference="j4">
+ <material>Gazebo/Grey</material>
+ <selfCollide>true</selfCollide>
+ <turnGravityOff>true</turnGravityOff>
+ </gazebo>
+
+ <gazebo reference="j5">
+ <material>Gazebo/Grey</material>
+ <selfCollide>true</selfCollide>
+ <turnGravityOff>true</turnGravityOff>
+ </gazebo>
+
+ <gazebo reference="j6">
+ <material>Gazebo/Grey</material>
+ <selfCollide>true</selfCollide>
+ <turnGravityOff>true</turnGravityOff>
+ </gazebo>
+
+ <gazebo reference="j7">
+ <material>Gazebo/Grey</material>
+ <selfCollide>true</selfCollide>
+ <turnGravityOff>true</turnGravityOff>
+ </gazebo>
+
+ <gazebo reference="bhand_ftsensor">
+ <material>Gazebo/Grey</material>
+ <selfCollide>true</selfCollide>
+ <turnGravityOff>true</turnGravityOff>
+ </gazebo>
+
+ <gazebo reference="bhand_base">
+ <material>Gazebo/Grey</material>
+ <selfCollide>true</selfCollide>
+ <turnGravityOff>true</turnGravityOff>
+ </gazebo>
+
+ <gazebo reference="bhand_link11">
+ <material>Gazebo/Grey</material>
+ <selfCollide>true</selfCollide>
+ <turnGravityOff>true</turnGravityOff>
+ </gazebo>
+
+ <gazebo reference="bhand_link21">
+ <material>Gazebo/Grey</material>
+ <selfCollide>true</selfCollide>
+ <turnGravityOff>true</turnGravityOff>
+ </gazebo>
+
+ <gazebo reference="bhand_link12">
+ <material>Gazebo/Grey</material>
+ <selfCollide>true</selfCollide>
+ <turnGravityOff>true</turnGravityOff>
+ </gazebo>
+
+ <gazebo reference="bhand_link22">
+ <material>Gazebo/Grey</material>
+ <selfCollide>true</selfCollide>
+ <turnGravityOff>true</turnGravityOff>
+ </gazebo>
+
+ <gazebo reference="bhand_link32">
+ <material>Gazebo/Grey</material>
+ <selfCollide>true</selfCollide>
+ <turnGravityOff>true</turnGravityOff>
+ </gazebo>
+
+ <gazebo reference="bhand_link13">
+ <material>Gazebo/Grey</material>
+ <selfCollide>true</selfCollide>
+ <turnGravityOff>true</turnGravityOff>
+ </gazebo>
+
+ <gazebo reference="bhand_link23">
+ <material>Gazebo/Grey</material>
+ <selfCollide>true</selfCollide>
+ <turnGravityOff>true</turnGravityOff>
+ </gazebo>
+
+ <gazebo reference="bhand_link33">
+ <material>Gazebo/Grey</material>
+ <selfCollide>true</selfCollide>
+ <turnGravityOff>true</turnGravityOff>
+ </gazebo>
+
+ #Adding Transmissions
+ <transmission type="pr2_mechanism_model/SimpleTransmission" name="j1_transmission">
+ <actuator name="j1" />
+ <joint name="wam_j1_joint" />
+ <mechanicalReduction>1</mechanicalReduction>
+ <motorTorqueConstant>1</motorTorqueConstant>
+ </transmission>
+
+ <transmission type="pr2_mechanism_model/SimpleTransmission" name="j2_transmission">
+ <actuator name="j2" />
+ <joint name="wam_j2_joint" />
+ <mechanicalReduction>1</mechanicalReduction>
+ <motorTorqueConstant>1</motorTorqueConstant>
+ </transmission>
+
+ <transmission type="pr2_mechanism_model/SimpleTransmission" name="j3_transmission">
+ <actuator name="j3" />
+ <joint name="wam_j3_joint" />
+ <mechanicalReduction>1</mechanicalReduction>
+ <motorTorqueConstant>1</motorTorqueConstant>
+ </transmission>
+
+ <transmission type="pr2_mechanism_model/SimpleTransmission" name="j4_transmission">
+ <actuator name="j4" />
+ <joint name="wam_j4_joint" />
+ <mechanicalReduction>1</mechanicalReduction>
+ <motorTorqueConstant>1</motorTorqueConstant>
+ </transmission>
+
+ <transmission type="pr2_mechanism_model/SimpleTransmission" name="j5_transmission">
+ <actuator name="j5" />
+ <joint name="wam_j5_joint" />
+ <mechanicalReduction>1</mechanicalReduction>
+ <motorTorqueConstant>1</motorTorqueConstant>
+ </transmission>
+
+ <transmission type="pr2_mechanism_model/SimpleTransmission" name="j6_transmission">
+ <actuator name="j6" />
+ <joint name="wam_j6_joint" />
+ <mechanicalReduction>1</mechanicalReduction>
+ <motorTorqueConstant>1</motorTorqueConstant>
+ </transmission>
+
+ <transmission type="pr2_mechanism_model/SimpleTransmission" name="j7_transmission">
+ <actuator name="j7" />
+ <joint name="wam_j7_joint" />
+ <mechanicalReduction>1</mechanicalReduction>
+ <motorTorqueConstant>1</motorTorqueConstant>
+ </transmission>
+
+ #FINGER TRANSMISSIONS
+
+ <transmission type="pr2_mechanism_model/SimpleTransmission" name="f11_transmission">
+ <actuator name="bhand_link11" />
+ <joint name="bhand_f11_joint" />
+ <mechanicalReduction>1</mechanicalReduction>
+ <motorTorqueConstant>1</motorTorqueConstant>
+ </transmission>
+
+ <transmission type="pr2_mechanism_model/SimpleTransmission" name="f21_transmission">
+ <actuator name="bhand_link21" />
+ <joint name="bhand_f21_joint" />
+ <mechanicalReduction>1</mechanicalReduction>
+ <motorTorqueConstant>1</motorTorqueConstant>
+ </transmission>
+
+ <transmission type="pr2_mechanism_model/SimpleTransmission" name="f12_transmission">
+ <actuator name="bhand_link12" />
+ <joint name="bhand_f12_joint" />
+ <mechanicalReduction>1</mechanicalReduction>
+ <motorTorqueConstant>1</motorTorqueConstant>
+ </transmission>
+
+ <transmission type="pr2_mechanism_model/SimpleTransmission" name="f22_transmission">
+ <actuator name="bhand_link22" />
+ <joint name="bhand_f22_joint" />
+ <mechanicalReduction>1</mechanicalReduction>
+ <motorTorqueConstant>1</motorTorqueConstant>
+ </transmission>
+
+ <transmission type="pr2_mechanism_model/SimpleTransmission" name="f32_transmission">
+ <actuator name="bhand_link32" />
+ <joint name="bhand_f32_joint" />
+ <mechanicalReduction>1</mechanicalReduction>
+ <motorTorqueConstant>1</motorTorqueConstant>
+ </transmission>
+
+ <transmission type="pr2_mechanism_model/SimpleTransmission" name="f13_transmission">
+ <actuator name="bhand_link13" />
+ <joint name="bhand_f13_joint" />
+ <mechanicalReduction>1</mechanicalReduction>
+ <motorTorqueConstant>1</motorTorqueConstant>
+ </transmission>
+
+ <transmission type="pr2_mechanism_model/SimpleTransmission" name="f23_transmission">
+ <actuator name="bhand_link23" />
+ <joint name="bhand_f23_joint" />
+ <mechanicalReduction>1</mechanicalReduction>
+ <motorTorqueConstant>1</motorTorqueConstant>
+ </transmission>
+
+ <transmission type="pr2_mechanism_model/SimpleTransmission" name="f33_transmission">
+ <actuator name="bhand_link33" />
+ <joint name="bhand_f33_joint" />
+ <mechanicalReduction>1</mechanicalReduction>
+ <motorTorqueConstant>1</motorTorqueConstant>
+ </transmission>
+
+</robot>
\ No newline at end of file
--- /dev/null
+<robot name="wam_7dof_ft_hand"
+
+ xmlns:xi="http://www.w3.org/2001/XInclude"
+ xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
+ xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
+ xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+ xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
+ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
+ xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
+ xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+ xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
+ xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable"
+ xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+ xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics">
+
+ #Fictional Footprint - for integration
+ <link name="world"/>
+ <link name="wam_footprint">
+ <inertial>
+ <mass value="0.0001" />
+ <origin xyz="0 0 0" />
+ <inertia ixx="0.0001" ixy="0.0" ixz="0.0"iyy="0.0001" iyz="0.0" izz="0.0001" />
+ </inertial>
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <box size="0.001 0.001 0.001" />
+ </geometry>
+ </visual>
+ <collision>
+ <origin xyz="0 0 0.0" rpy="0 0 0" />
+ <geometry>
+ <box size="0.001 0.001 0.001" />
+ </geometry>
+ </collision>
+ </link>
+
+ #WAM BASE
+ <link name="wam_base">
+ <inertial>
+ <mass value="9.97059584"/>
+ <origin xyz="-0.02017671 -0.26604706 -0.14071720" />
+ <inertia ixx="1.01232865" ixy="0.05992441" ixz="0.05388736" iyy="0.38443311" iyz="0.37488748" izz="0.82739198"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="wam_base_visual">
+ <mesh filename="package://wam_description/meshes/wam_base.mesh" />
+ </geometry>
+ <material name="LightGrey">
+ <color rgba="0.9 0.9 0.9 1.0"/>
+ </material>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="wam_base_collision">
+ <mesh filename="package://wam_description/meshes/wam_base.mesh" />
+ </geometry>
+ </collision>
+ </link>
+
+ #LINK J1
+ <link name="j1">
+ <inertial>
+ <mass value="10.76768767"/>
+ <origin xyz="-0.00443422 0.12189039 -0.00066489" />
+ <inertia ixx="0.29486350" ixy="-0.00795023" ixz="-0.00009311" iyy="0.11350017" iyz="0.00018711" izz="0.25065343"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_j1_visual">
+ <mesh filename="package://wam_description/meshes/link_j1.mesh" />
+ </geometry>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_j1_collision">
+ <mesh filename="package://wam_description/meshes/link_j1.mesh" />
+ </geometry>
+ </collision>
+ </link>
+
+ #LINK J2
+ <link name="j2">
+ <inertial>
+ <mass value="3.87493756"/>
+ <origin xyz="-0.00236983 0.03105614 0.01542114" />
+ <inertia ixx="0.02606840" ixy="-0.00001346" ixz="-0.00011701" iyy="0.01472202" iyz="0.00003659" izz="0.01934814"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_j2_visual">
+ <mesh filename="package://wam_description/meshes/link_j2.mesh" />
+ </geometry>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_j2_collision">
+ <mesh filename="package://wam_description/meshes/link_j2.mesh" />
+ </geometry>
+ </collision>
+ </link>
+
+ #LINK J3
+ <link name="j3">
+ <inertial>
+ <mass value="1.80228141"/>
+ <origin xyz="-0.03825858 0.20750770 0.00003309" />
+ <inertia ixx="0.13671601" ixy="-0.01680434" ixz="0.00000510" iyy="0.00588354" iyz="-0.00000530" izz="0.13951371"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_j3_visual">
+ <mesh filename="package://wam_description/meshes/link_j3.mesh" />
+ </geometry>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_j3_collision">
+ <mesh filename="package://wam_description/meshes/link_j3.mesh" />
+ </geometry>
+ </collision>
+ </link>
+
+ #LINK J4
+ <link name="j4">
+ <inertial>
+ <mass value="1.06513649"/>
+ <origin xyz="0.01095471 -0.00002567 0.14053900" />
+ <inertia ixx="0.03952350" ixy="0.00000189" ixz="0.00003117" iyy="0.04008214" iyz="0.00000131" izz="0.00210299"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_j4_visual">
+ <mesh filename="package://wam_description/meshes/link_j4.mesh" />
+ </geometry>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_j4_collision">
+ <mesh filename="package://wam_description/meshes/link_j4.mesh" />
+ </geometry>
+ <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
+ </collision>
+ </link>
+
+ #LINK J5
+ <link name="j5">
+ <inertial>
+ <mass value="0.12376019"/>
+ <origin xyz="0.00008921 0.00511217 0.00435824" />
+ <inertia ixx="0.00005587" ixy="0.00000026" ixz="0.00000000" iyy="0.00007817" iyz="-0.00000083" izz="0.00006594"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_j5_visual">
+ <mesh filename="package://wam_description/meshes/link_j5.mesh" />
+ </geometry>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_j5_collision">
+ <mesh filename="package://wam_description/meshes/link_j5.mesh" />
+ </geometry>
+ <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
+ </collision>
+ </link>
+
+ #LINK J6
+ <link name="j6">
+ <inertial>
+ <mass value="0.41797364"/>
+ <origin xyz="-0.00012262 -0.01703194 0.02468336" />
+ <inertia ixx="0.00093106" ixy="0.00000148" ixz="-0.00000201" iyy="0.00049833" iyz="-0.00022162" izz="0.00057483"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_j6_visual">
+ <mesh filename="package://wam_description/meshes/link_j6.mesh" />
+ </geometry>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_j6_collision">
+ <mesh filename="package://wam_description/meshes/link_j6.mesh" />
+ </geometry>
+ <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
+ </collision>
+ </link>
+
+ #LINK J7
+ <link name="j7">
+ <inertial>
+ <mass value="0.06864753"/>
+ <origin xyz="-0.00007974 0.00016313 -0.00323552" />
+ <inertia ixx="0.00003845" ixy="-0.00000019" ixz="0.00000002" iyy="0.00003878" iyz="-0.00000004" izz="0.00007408"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_j6_visual">
+ <mesh filename="package://wam_description/meshes/link_j7.mesh" />
+ </geometry>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_j7_collision">
+ <mesh filename="package://wam_description/meshes/link_j7.mesh" />
+ </geometry>
+ <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
+ </collision>
+ </link>
+
+ #LINK BHAND BASE
+ <link name="bhand_base">
+ <inertial>
+ <mass value="0.8"/>
+ <origin xyz="0 0 0" />
+ <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_bhand_base_visual">
+ <mesh filename="package://wam_description/meshes/bhand_base.mesh" />
+ </geometry>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_bhand_base_collision">
+ <mesh filename="package://wam_description/meshes/bhand_base.mesh" />
+ </geometry>
+ <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
+ </collision>
+ </link>
+
+ #FINGERS
+
+ #LINK BHAND LINK F11
+ <link name="bhand_link11">
+ <inertial>
+ <mass value="0.1"/>
+ <origin xyz="0 0 0" />
+ <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_bhand_f11_visual">
+ <mesh filename="package://wam_description/meshes/bhand_link1.mesh" />
+ </geometry>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_bhand_f11_collision">
+ <mesh filename="package://wam_description/meshes/bhand_link1.mesh" />
+ </geometry>
+ <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
+ </collision>
+ </link>
+
+ #LINK BHAND LINK F21
+ <link name="bhand_link21">
+ <inertial>
+ <mass value="0.1"/>
+ <origin xyz="0 0 0" />
+ <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_bhand_f21_visual">
+ <mesh filename="package://wam_description/meshes/bhand_link1.mesh" />
+ </geometry>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_bhand_f21_collision">
+ <mesh filename="package://wam_description/meshes/bhand_link1.mesh" />
+ </geometry>
+ <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
+ </collision>
+ </link>
+
+ #LINK BHAND LINK F12
+ <link name="bhand_link12">
+ <inertial>
+ <mass value="0.1"/>
+ <origin xyz="0 0 0" />
+ <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_bhand_f12_visual">
+ <mesh filename="package://wam_description/meshes/bhand_link2.mesh" />
+ </geometry>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_bhand_f12_collision">
+ <mesh filename="package://wam_description/meshes/bhand_link2.mesh" />
+ </geometry>
+ <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
+ </collision>
+ </link>
+
+ #LINK BHAND LINK F22
+ <link name="bhand_link22">
+ <inertial>
+ <mass value="0.1"/>
+ <origin xyz="0 0 0" />
+ <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_bhand_f22_visual">
+ <mesh filename="package://wam_description/meshes/bhand_link2.mesh" />
+ </geometry>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_bhand_f22_collision">
+ <mesh filename="package://wam_description/meshes/bhand_link2.mesh" />
+ </geometry>
+ <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
+ </collision>
+ </link>
+
+ #LINK BHAND LINK F32
+ <link name="bhand_link32">
+ <inertial>
+ <mass value="0.1"/>
+ <origin xyz="0 0 0" />
+ <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_bhand_f32_visual">
+ <mesh filename="package://wam_description/meshes/bhand_link2.mesh" />
+ </geometry>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_bhand_f32_collision">
+ <mesh filename="package://wam_description/meshes/bhand_link2.mesh" />
+ </geometry>
+ <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
+ </collision>
+ </link>
+
+ #LINK BHAND LINK F13
+ <link name="bhand_link13">
+ <inertial>
+ <mass value="0.1"/>
+ <origin xyz="0 0 0" />
+ <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_bhand_f13_visual">
+ <mesh filename="package://wam_description/meshes/bhand_link3.mesh" />
+ </geometry>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_bhand_f13_collision">
+ <mesh filename="package://wam_description/meshes/bhand_link3.mesh" />
+ </geometry>
+ <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
+ </collision>
+ </link>
+
+ #LINK BHAND LINK F23
+ <link name="bhand_link23">
+ <inertial>
+ <mass value="0.1"/>
+ <origin xyz="0 0 0" />
+ <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_bhand_f23_visual">
+ <mesh filename="package://wam_description/meshes/bhand_link3.mesh" />
+ </geometry>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_bhand_f23_collision">
+ <mesh filename="package://wam_description/meshes/bhand_link3.mesh" />
+ </geometry>
+ <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
+ </collision>
+ </link>
+
+ #LINK BHAND LINK F33
+ <link name="bhand_link33">
+ <inertial>
+ <mass value="0.1"/>
+ <origin xyz="0 0 0" />
+ <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_bhand_f33_visual">
+ <mesh filename="package://wam_description/meshes/bhand_link3.mesh" />
+ </geometry>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry name="link_bhand_f33_collision">
+ <mesh filename="package://wam_description/meshes/bhand_link3.mesh" />
+ </geometry>
+ <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
+ </collision>
+ </link>
+
+ ## Joint Descriptions
+ <joint name="fix_world" type="fixed">
+ <parent link="world"/>
+ <child link="wam_footprint"/>
+ </joint>
+
+ <joint name="wam_basejoint" type="fixed">
+ <parent link="wam_footprint"/>
+ <child link="wam_base" />
+ <origin xyz="0 0 0.0" rpy="0 0 0" />
+ </joint>
+
+ <joint name="wam_j1_joint" type="revolute">
+ <origin xyz="0.22 0.14 0.346" rpy="-1.57079633 0 0" />
+ <parent link="wam_base"/>
+ <child link="j1" />
+ <axis xyz="0 1 0"/>
+ <limit effort="30" velocity="1.5" lower="-2.6" upper="2.6" />
+ <joint_properties damping="100.0" friction="1000.0" />
+ <dynamics damping="1000"/>
+ </joint >
+
+ <joint name="wam_j2_joint" type="revolute">
+ <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+ <parent link="j1"/>
+ <child link="j2" />
+ <axis xyz="0 0 1"/>
+ <limit effort="30" velocity="1.5" lower="-2.0" upper="2.0" />
+ <joint_properties damping="100.0" friction="1000.0" />
+ <dynamics damping="1000"/>
+ </joint >
+
+ <joint name="wam_j3_joint" type="revolute">
+ <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+ <parent link="j2"/>
+ <child link="j3" />
+ <axis xyz="0 1 0"/>
+ <limit effort="30" velocity="1.5" lower="-2.8" upper="2.8" />
+ <joint_properties damping="100.0" friction="1000.0" />
+ <dynamics damping="1000"/>
+ </joint >
+
+ <joint name="wam_j4_joint" type="revolute">
+ <origin xyz="0.045 -0.55 0.0" rpy="1.57079633 0 0" />
+ <parent link="j3"/>
+ <child link="j4" />
+ <axis xyz="0 1 0"/>
+ <limit effort="30" velocity="1.5" lower="-0.9" upper="3.1" />
+ <joint_properties damping="100.0" friction="1000.0" />
+ <dynamics damping="1000"/>
+ </joint >
+
+ <joint name="wam_j5_joint" type="revolute">
+ <origin xyz="-0.045 0.0 0.3" rpy="1.57079633 0 0" />
+ <parent link="j4"/>
+ <child link="j5" />
+ <axis xyz="0 0 1"/>
+ <limit effort="30" velocity="1.5" lower="-4.76" upper="1.24" />
+ <joint_properties damping="100.0" friction="1000.0" />
+ <dynamics damping="1000"/>
+ </joint >
+
+ <joint name="wam_j6_joint" type="revolute">
+ <origin xyz="0.0 0.0 0.0" rpy="-1.57079633 0 0" />
+ <parent link="j5"/>
+ <child link="j6" />
+ <axis xyz="0 0 1"/>
+ <limit effort="30" velocity="1.5" lower="-1.5" upper="1.5" />
+ <joint_properties damping="100.0" friction="10000" />
+ <dynamics damping="1000"/>
+ </joint >
+
+ <joint name="wam_j7_joint" type="revolute">
+ <origin xyz="0.0 0.0 0.06" rpy="0 0 0" />
+ <parent link="j6"/>
+ <child link="j7" />
+ <axis xyz="0 0 1"/>
+ <limit effort="30" velocity="1.5" lower="-3.0" upper="3.0" />
+ <joint_properties damping="100.0" friction="1000.0" />
+ <dynamics damping="1000"/>
+ </joint >
+
+ <joint name="bhand_base_joint" type="fixed">
+ <parent link="j7"/>
+ <child link="bhand_base" />
+ <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
+ </joint>
+
+ <joint name="bhand_j11_joint" type="revolute">
+ <origin xyz="-0.02475 0.0 0.0395" rpy="0.0 0 1.57079633" />
+ <parent link="bhand_base"/>
+ <child link="bhand_link11" />
+ <axis xyz="0 0 1"/>
+ <limit effort="30" velocity="1.5" lower="0.0" upper="3.14159265" />
+ <joint_properties damping="100.0" friction="1000.0" />
+ <dynamics damping="1000"/>
+ </joint >
+
+ <joint name="bhand_j21_joint" type="revolute">
+ <origin xyz="0.02475 0.0 0.0395" rpy="0.0 0.0 1.57079633" />
+ <parent link="bhand_base"/>
+ <child link="bhand_link21" />
+ <axis xyz="0 0 1"/>
+ <limit effort="30" velocity="1.5" lower="-3.14159265" upper="0.0" />
+ <joint_properties damping="100.0" friction="1000.0" />
+ <dynamics damping="1000"/>
+ </joint >
+
+ <joint name="bhand_j12_joint" type="revolute">
+ <origin xyz="0.050 0.0 0.038" rpy="1.57079633 0 0.0" />
+ <parent link="bhand_link11"/>
+ <child link="bhand_link12" />
+ <axis xyz="0 0 1"/>
+ <limit effort="30" velocity="1.5" lower="0.0" upper="2.44346095" />
+ <joint_properties damping="100.0" friction="1000.0" />
+ <dynamics damping="1000"/>
+ </joint >
+
+ <joint name="bhand_j22_joint" type="revolute">
+ <origin xyz="0.050 0.0 0.038" rpy="1.57079633 0 0.0" />
+ <parent link="bhand_link21"/>
+ <child link="bhand_link22" />
+ <axis xyz="0 0 1"/>
+ <limit effort="30" velocity="1.5" lower="0.0" upper="2.44346095" />
+ <joint_properties damping="100.0" friction="1000.0" />
+ <dynamics damping="1000"/>
+ </joint >
+
+ <joint name="bhand_j32_joint" type="revolute">
+ <origin xyz="0.0 0.050 0.0775" rpy="1.57079633 0 1.57079633" />
+ <parent link="bhand_base"/>
+ <child link="bhand_link32" />
+ <axis xyz="0 0 1"/>
+ <limit effort="30" velocity="1.5" lower="0.0" upper="2.44346095" />
+ <joint_properties damping="100.0" friction="1000.0" />
+ <dynamics damping="1000"/>
+ </joint >
+
+ <joint name="bhand_j13_joint" type="revolute">
+ <origin xyz="0.070 0.0 0.0" rpy="0.0 0 0.0" />
+ <parent link="bhand_link12"/>
+ <child link="bhand_link13" />
+ <axis xyz="0 0 1"/>
+ <limit effort="30" velocity="1.5" lower="0.698131701" upper="2.44346095" />
+ <joint_properties damping="100.0" friction="1000.0" />
+ <dynamics damping="1000"/>
+ </joint >
+
+ <joint name="bhand_j23_joint" type="revolute">
+ <origin xyz="0.070 0.0 0.0" rpy="0.0 0 0.0" />
+ <parent link="bhand_link22"/>
+ <child link="bhand_link23" />
+ <axis xyz="0 0 1"/>
+ <limit effort="30" velocity="1.5" lower="0.698131701" upper="2.44346095" />
+ <joint_properties damping="100.0" friction="1000.0" />
+ <dynamics damping="1000"/>
+ </joint >
+
+ <joint name="bhand_j33_joint" type="revolute">
+ <origin xyz="0.070 0.0 0.0" rpy="0.0 0 0.0" />
+ <parent link="bhand_link32"/>
+ <child link="bhand_link33" />
+ <axis xyz="0 0 1"/>
+ <limit effort="30" velocity="1.5" lower="0.698131701" upper="2.44346095" />
+ <joint_properties damping="100.0" friction="1000.0" />
+ <dynamics damping="1000"/>
+ </joint >
+
+ #Adding Gazebo Requirements
+ <gazebo reference="wam_world">
+ <material>Gazebo/White</material>
+ <selfCollide>true</selfCollide>
+ </gazebo>
+
+ <gazebo reference="wam_base">
+ <material>Gazebo/White</material>
+ <selfCollide>true</selfCollide>
+ <turnGravityOff>true</turnGravityOff>
+ </gazebo>
+
+ <gazebo reference="j1">
+ <material>Gazebo/White</material>
+ <selfCollide>true</selfCollide>
+ <turnGravityOff>true</turnGravityOff>
+ </gazebo>
+
+ <gazebo reference="j2">
+ <material>Gazebo/Grey</material>
+ <selfCollide>true</selfCollide>
+ <turnGravityOff>true</turnGravityOff>
+ </gazebo>
+
+ <gazebo reference="j3">
+ <material>Gazebo/Grey</material>
+ <selfCollide>true</selfCollide>
+ <turnGravityOff>true</turnGravityOff>
+ </gazebo>
+
+ <gazebo reference="j4">
+ <material>Gazebo/Grey</material>
+ <selfCollide>true</selfCollide>
+ <turnGravityOff>true</turnGravityOff>
+ </gazebo>
+
+ <gazebo reference="j5">
+ <material>Gazebo/Grey</material>
+ <selfCollide>true</selfCollide>
+ <turnGravityOff>true</turnGravityOff>
+ </gazebo>
+
+ <gazebo reference="j6">
+ <material>Gazebo/Grey</material>
+ <selfCollide>true</selfCollide>
+ <turnGravityOff>true</turnGravityOff>
+ </gazebo>
+
+ <gazebo reference="j7">
+ <material>Gazebo/Grey</material>
+ <selfCollide>true</selfCollide>
+ <turnGravityOff>true</turnGravityOff>
+ </gazebo>
+
+ <gazebo reference="bhand_base">
+ <material>Gazebo/Grey</material>
+ <selfCollide>true</selfCollide>
+ <turnGravityOff>true</turnGravityOff>
+ </gazebo>
+
+ <gazebo reference="bhand_link11">
+ <material>Gazebo/Grey</material>
+ <selfCollide>true</selfCollide>
+ <turnGravityOff>true</turnGravityOff>
+ </gazebo>
+
+ <gazebo reference="bhand_link21">
+ <material>Gazebo/Grey</material>
+ <selfCollide>true</selfCollide>
+ <turnGravityOff>true</turnGravityOff>
+ </gazebo>
+
+ <gazebo reference="bhand_link12">
+ <material>Gazebo/Grey</material>
+ <selfCollide>true</selfCollide>
+ <turnGravityOff>true</turnGravityOff>
+ </gazebo>
+
+ <gazebo reference="bhand_link22">
+ <material>Gazebo/Grey</material>
+ <selfCollide>true</selfCollide>
+ <turnGravityOff>true</turnGravityOff>
+ </gazebo>
+
+ <gazebo reference="bhand_link32">
+ <material>Gazebo/Grey</material>
+ <selfCollide>true</selfCollide>
+ <turnGravityOff>true</turnGravityOff>
+ </gazebo>
+
+ <gazebo reference="bhand_link13">
+ <material>Gazebo/Grey</material>
+ <selfCollide>true</selfCollide>
+ <turnGravityOff>true</turnGravityOff>
+ </gazebo>
+
+ <gazebo reference="bhand_link23">
+ <material>Gazebo/Grey</material>
+ <selfCollide>true</selfCollide>
+ <turnGravityOff>true</turnGravityOff>
+ </gazebo>
+
+ <gazebo reference="bhand_link33">
+ <material>Gazebo/Grey</material>
+ <selfCollide>true</selfCollide>
+ <turnGravityOff>true</turnGravityOff>
+ </gazebo>
+
+ #Adding Transmissions
+ <transmission type="pr2_mechanism_model/SimpleTransmission" name="j1_transmission">
+ <actuator name="j1" />
+ <joint name="wam_j1_joint" />
+ <mechanicalReduction>1</mechanicalReduction>
+ <motorTorqueConstant>1</motorTorqueConstant>
+ </transmission>
+
+ <transmission type="pr2_mechanism_model/SimpleTransmission" name="j2_transmission">
+ <actuator name="j2" />
+ <joint name="wam_j2_joint" />
+ <mechanicalReduction>1</mechanicalReduction>
+ <motorTorqueConstant>1</motorTorqueConstant>
+ </transmission>
+
+ <transmission type="pr2_mechanism_model/SimpleTransmission" name="j3_transmission">
+ <actuator name="j3" />
+ <joint name="wam_j3_joint" />
+ <mechanicalReduction>1</mechanicalReduction>
+ <motorTorqueConstant>1</motorTorqueConstant>
+ </transmission>
+
+ <transmission type="pr2_mechanism_model/SimpleTransmission" name="j4_transmission">
+ <actuator name="j4" />
+ <joint name="wam_j4_joint" />
+ <mechanicalReduction>1</mechanicalReduction>
+ <motorTorqueConstant>1</motorTorqueConstant>
+ </transmission>
+
+ <transmission type="pr2_mechanism_model/SimpleTransmission" name="j5_transmission">
+ <actuator name="j5" />
+ <joint name="wam_j5_joint" />
+ <mechanicalReduction>1</mechanicalReduction>
+ <motorTorqueConstant>1</motorTorqueConstant>
+ </transmission>
+
+ <transmission type="pr2_mechanism_model/SimpleTransmission" name="j6_transmission">
+ <actuator name="j6" />
+ <joint name="wam_j6_joint" />
+ <mechanicalReduction>1</mechanicalReduction>
+ <motorTorqueConstant>1</motorTorqueConstant>
+ </transmission>
+
+ <transmission type="pr2_mechanism_model/SimpleTransmission" name="j7_transmission">
+ <actuator name="j7" />
+ <joint name="wam_j7_joint" />
+ <mechanicalReduction>1</mechanicalReduction>
+ <motorTorqueConstant>1</motorTorqueConstant>
+ </transmission>
+
+ #FINGER TRANSMISSIONS
+
+ <transmission type="pr2_mechanism_model/SimpleTransmission" name="f11_transmission">
+ <actuator name="bhand_link11" />
+ <joint name="bhand_f11_joint" />
+ <mechanicalReduction>1</mechanicalReduction>
+ <motorTorqueConstant>1</motorTorqueConstant>
+ </transmission>
+
+ <transmission type="pr2_mechanism_model/SimpleTransmission" name="f21_transmission">
+ <actuator name="bhand_link21" />
+ <joint name="bhand_f21_joint" />
+ <mechanicalReduction>1</mechanicalReduction>
+ <motorTorqueConstant>1</motorTorqueConstant>
+ </transmission>
+
+ <transmission type="pr2_mechanism_model/SimpleTransmission" name="f12_transmission">
+ <actuator name="bhand_link12" />
+ <joint name="bhand_f12_joint" />
+ <mechanicalReduction>1</mechanicalReduction>
+ <motorTorqueConstant>1</motorTorqueConstant>
+ </transmission>
+
+ <transmission type="pr2_mechanism_model/SimpleTransmission" name="f22_transmission">
+ <actuator name="bhand_link22" />
+ <joint name="bhand_f22_joint" />
+ <mechanicalReduction>1</mechanicalReduction>
+ <motorTorqueConstant>1</motorTorqueConstant>
+ </transmission>
+
+ <transmission type="pr2_mechanism_model/SimpleTransmission" name="f32_transmission">
+ <actuator name="bhand_link32" />
+ <joint name="bhand_f32_joint" />
+ <mechanicalReduction>1</mechanicalReduction>
+ <motorTorqueConstant>1</motorTorqueConstant>
+ </transmission>
+
+ <transmission type="pr2_mechanism_model/SimpleTransmission" name="f13_transmission">
+ <actuator name="bhand_link13" />
+ <joint name="bhand_f13_joint" />
+ <mechanicalReduction>1</mechanicalReduction>
+ <motorTorqueConstant>1</motorTorqueConstant>
+ </transmission>
+
+ <transmission type="pr2_mechanism_model/SimpleTransmission" name="f23_transmission">
+ <actuator name="bhand_link23" />
+ <joint name="bhand_f23_joint" />
+ <mechanicalReduction>1</mechanicalReduction>
+ <motorTorqueConstant>1</motorTorqueConstant>
+ </transmission>
+
+ <transmission type="pr2_mechanism_model/SimpleTransmission" name="f33_transmission">
+ <actuator name="bhand_link33" />
+ <joint name="bhand_f33_joint" />
+ <mechanicalReduction>1</mechanicalReduction>
+ <motorTorqueConstant>1</motorTorqueConstant>
+ </transmission>
+
+</robot>
\ No newline at end of file
--- /dev/null
+cmake_minimum_required(VERSION 2.4.6)
+include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+
+# Set the build type. Options are:
+# Coverage : w/ debug symbols, w/o optimization, w/ code-coverage
+# Debug : w/ debug symbols, w/o optimization
+# Release : w/o debug symbols, w/ optimization
+# RelWithDebInfo : w/ debug symbols, w/ optimization
+# MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries
+#set(ROS_BUILD_TYPE RelWithDebInfo)
+
+rosbuild_init()
+
+#set the default path for built executables to the "bin" directory
+set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
+#set the default path for built libraries to the "lib" directory
+set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
+
+#uncomment if you have defined messages
+rosbuild_genmsg()
+#uncomment if you have defined services
+rosbuild_gensrv()
+
+link_directories(/usr/xenomai/lib /usr/local/lib)
+rosbuild_add_executable(wam_node src/wam_node.cpp)
+include_directories(/usr/xenomai/include /usr/local/include /usr/local/include/eigen2 /usr/local/include/boost)
+add_definitions(-D_GNU_SOURCE -D_REENTRANT -D__XENO__)
+rosbuild_add_compile_flags(wam_node -Wall -pipe)
+target_link_libraries(wam_node barrett native xenomai pthread rt gsl gslcblas m)
+rosbuild_add_boost_directories()
+rosbuild_link_boost(wam_node thread )
+
+
--- /dev/null
+include $(shell rospack find mk)/cmake.mk
\ No newline at end of file
--- /dev/null
+<package>
+ <description brief="wam_node">
+
+ Barrett Technology ROS node for 4-DOF and 7-DOF WAM.
+
+ </description>
+ <author>Barrett Technology Inc., Kyle Maroney</author>
+ <license>BSD</license>
+ <review status="unreviewed" notes=""/>
+ <url>http://ros.org/wiki/wam_node</url>
+ <depend package="std_msgs"/>
+ <depend package="std_srvs"/>
+ <depend package="roscpp"/>
+ <depend package="libbarrett_ros"/>
+</package>
+
+
--- /dev/null
+#include <iostream>
+#include <string>
+#include <cstdlib> // For mkstmp()
+#include <cstdio> // For remove()
+
+
+#include "ros/ros.h"
+#include "std_msgs/String.h"
+#include "wam_node/GravityComp.h"
+
+#include <barrett/math.h>
+#include <barrett/units.h>
+#include <barrett/systems.h>
+#include <barrett/products/product_manager.h>
+#include <barrett/standard_main_function.h>
+#include <barrett/systems/wam.h>
+
+
+using namespace barrett;
+
+bool grav_state = true;
+systems::Wam<4>* wam4 = NULL;
+systems::Wam<7>* wam7 = NULL;
+
+
+bool gravity(wam_node::GravityComp::Request &req, wam_node::GravityComp::Response &res) {
+ grav_state = req.gravity;
+
+ if(wam4 != NULL)
+ wam4->gravityCompensate(grav_state);
+ else if(wam7 != NULL)
+ wam7->gravityCompensate(grav_state);
+
+ ROS_INFO("Gravity Compensation Request: %s",(req.gravity)?"true":"false");
+ return true;
+}
+
+template<size_t DOF>
+int wam_main(int argc, char** argv, ProductManager& pm, systems::Wam<DOF>& wam) {
+ BARRETT_UNITS_TEMPLATE_TYPEDEFS(DOF);
+ wam.gravityCompensate(grav_state);
+ ros::init(argc, argv, "barrettWam");
+ ros::NodeHandle nh_;
+
+ if(pm.foundWam4()){
+ wam4 = pm.getWam4();
+ }else if(pm.foundWam7())
+ wam7 = pm.getWam7();
+
+ std::cerr << "got Wam" << std::endl;
+ ros::Rate loop_rate(100);
+ ros::ServiceServer service = nh_.advertiseService("wam_gravity_comp",gravity);
+ while (ros::ok() && pm.getSafetyModule()->getMode() == SafetyModule::ACTIVE)
+ {
+ ros::spinOnce();
+ loop_rate.sleep();
+ }
+
+ return 0;
+}
+
+
+
+
+
+
+
+
+
--- /dev/null
+bool gravity
+---
projects / barrett-ros-pkg.git / commitdiff