update robots

robots/fetch/meshes/base_link.dae

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robots/fetch/meshes/base_link_collision.STL

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robots/fetch/meshes/bellows_link.STL

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robots/fetch/meshes/bellows_link_collision.STL

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robots/fetch/meshes/elbow_flex_link.dae

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robots/fetch/meshes/elbow_flex_link_collision.STL

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robots/fetch/meshes/estop_link.STL

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robots/fetch/meshes/forearm_roll_link.dae

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robots/fetch/meshes/forearm_roll_link_collision.STL

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robots/fetch/meshes/gripper_link.STL

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robots/fetch/meshes/gripper_link.dae

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robots/fetch/meshes/head_pan_link.dae

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robots/fetch/meshes/head_pan_link_collision.STL

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robots/fetch/meshes/head_tilt_link.dae

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+size 425061

robots/fetch/meshes/head_tilt_link_collision.STL

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robots/fetch/meshes/l_gripper_finger_link.STL

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robots/fetch/meshes/l_wheel_link.STL

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robots/fetch/meshes/l_wheel_link_collision.STL

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robots/fetch/meshes/laser_link.STL

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robots/fetch/meshes/r_gripper_finger_link.STL

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robots/fetch/meshes/r_wheel_link.STL

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robots/fetch/meshes/r_wheel_link_collision.STL

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robots/fetch/meshes/shoulder_lift_link.dae

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robots/fetch/meshes/shoulder_lift_link_collision.STL

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robots/fetch/meshes/shoulder_pan_link.dae

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robots/fetch/meshes/shoulder_pan_link_collision.STL

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robots/fetch/meshes/torso_fixed_link.STL

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+size 5884

robots/fetch/meshes/torso_fixed_link.dae

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robots/fetch/meshes/torso_lift_link.dae

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robots/fetch/meshes/torso_lift_link_collision.STL

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+size 50084

robots/fetch/meshes/upperarm_roll_link.dae

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+version https://git-lfs.github.com/spec/v1
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robots/fetch/meshes/upperarm_roll_link_collision.STL

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robots/fetch/meshes/wrist_flex_link.dae

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robots/fetch/meshes/wrist_flex_link_collision.STL

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robots/fetch/meshes/wrist_roll_link.dae

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robots/fetch/meshes/wrist_roll_link_collision.STL

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robots/fetch/robots/FETCH_MODIFICATIONS.md

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+
+Original code taken from:
+
+https://github.com/fetchrobotics/fetch_ros
+
+Modifications:
+
+ * Comment out `bellows_link` and `bellows_joint`. You can push off the ground using this strange thing!
+
+ * Set moments of inertia of `r_gripper_finger_link` and `l_gripper_finger_link` to non-zero.
+
+ * Set moments of inertia of `base_link` to zero, except for Z-axis, to disable rotation other than around Z axis.
+
+ * Added `<gazebo reference="head_camera_rgb_optical_frame">` for camera, turn `head_camera_rgb_optical_frame` 180 degrees as camera was facing backwards.
+
+ * Spheres are now collision shape for wheels (fixes jumping).
+
+ * Boxes for fingers collision shape.

robots/fetch/robots/fetch.urdf

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+<?xml version="1.0"?>
+<robot name="fetch">
+  <link name="base_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.0036 0.0 0.0014" />
+      <mass value="70.1294" />
+      <!--inertia ixx="1.225" ixy="0.0099" ixz="0.0062" iyy="1.2853" iyz="-0.0034" izz="0.987" /-->
+      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0.987" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <mesh filename="package://fetch/meshes/base_link.dae" />
+      </geometry>
+      <material name="">
+        <color rgba="0.356 0.361 0.376 1" />
+      </material>
+    </visual>
+    <!--collision>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <mesh filename="package://fetch/meshes/base_link_collision.STL" />
+      </geometry>
+    </collision-->
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.20" />
+      <geometry>
+        <cylinder length="0.33" radius="0.28"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="r_wheel_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <mass value="4.3542" />
+      <inertia ixx="0.0045" ixy="0" ixz="0" iyy="0.005" iyz="0" izz="0.0045" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <mesh filename="package://fetch/meshes/r_wheel_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.086 0.506 0.767 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <!--mesh filename="package://fetch/meshes/r_wheel_link_collision.STL"/-->
+        <sphere radius="0.065"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="r_wheel_joint" type="continuous">
+    <origin rpy="-6.123E-17 0 0" xyz="0.0012914 -0.18738 0.055325" />
+    <parent link="base_link" />
+    <child link="r_wheel_link" />
+    <axis xyz="0 1 0" />
+  <limit effort="8.85" velocity="17.4" /></joint>
+  <link name="l_wheel_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <mass value="4.3542" />
+      <inertia ixx="0.0045" ixy="0" ixz="0" iyy="0.005" iyz="0" izz="0.0045" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <mesh filename="package://fetch/meshes/l_wheel_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.086 0.506 0.767 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <!--mesh filename="package://fetch/meshes/l_wheel_link_collision.STL" /-->
+        <sphere radius="0.065"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="l_wheel_joint" type="continuous">
+    <origin rpy="-6.123E-17 0 0" xyz="0.0012914 0.18738 0.055325" />
+    <parent link="base_link" />
+    <child link="l_wheel_link" />
+    <axis xyz="0 1 0" />
+  <limit effort="8.85" velocity="17.4" /></joint>
+  <link name="torso_lift_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.0013 -0.0009 0.2935" />
+      <mass value="10.7796" />
+      <inertia ixx="0.3354" ixy="0.0" ixz="-0.0162" iyy="0.3354" iyz="-0.0006" izz="0.0954" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <mesh filename="package://fetch/meshes/torso_lift_link.dae" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <mesh filename="package://fetch/meshes/torso_lift_link_collision.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="torso_lift_joint" type="prismatic">
+    <origin rpy="-6.123E-17 0 0" xyz="-0.086875 0 0.37743" />
+    <parent link="base_link" />
+    <child link="torso_lift_link" />
+    <axis xyz="0 0 1" />
+    <limit effort="450.0" lower="0" upper="0.38615" velocity="0.1" />
+  <dynamics damping="100.0" /></joint>
+  <link name="head_pan_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0321 0.0161 0.0390" />
+      <mass value="2.2556" />
+      <inertia ixx="0.0129" ixy="0.0002" ixz="0.0007" iyy="0.0095" iyz="-0.0" izz="0.0184" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <mesh filename="package://fetch/meshes/head_pan_link.dae" />
+      </geometry>
+      <material name="">
+        <color rgba="0.356 0.361 0.376 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <mesh filename="package://fetch/meshes/head_pan_link_collision.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="head_pan_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0.053125 0 0.603001417713939" />
+    <parent link="torso_lift_link" />
+    <child link="head_pan_link" />
+    <axis xyz="0 0 1" />
+  <limit effort="0.32" lower="-1.57" upper="1.57" velocity="1.57" /></joint>
+  <link name="head_tilt_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0081 0.0025 0.0113" />
+      <mass value="0.9087" />
+      <inertia ixx="0.0061" ixy="-0.0" ixz="0.0002" iyy="0.0014" iyz="-0.0001" izz="0.0061" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <mesh filename="package://fetch/meshes/head_tilt_link.dae" />
+      </geometry>
+      <material name="">
+        <color rgba="0.086 0.506 0.767 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <mesh filename="package://fetch/meshes/head_tilt_link_collision.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="head_tilt_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0.14253 0 0.057999" />
+    <parent link="head_pan_link" />
+    <child link="head_tilt_link" />
+    <axis xyz="0 1 0" />
+    <limit effort="0.68" lower="-0.76" upper="1.45" velocity="1.57" />
+  </joint>
+  <link name="shoulder_pan_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0927 -0.0056 0.0564" />
+      <mass value="2.5587" />
+      <inertia ixx="0.0043" ixy="-0.0001" ixz="0.001" iyy="0.0087" iyz="-0.0001" izz="0.0087" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <mesh filename="package://fetch/meshes/shoulder_pan_link.dae" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <mesh filename="package://fetch/meshes/shoulder_pan_link_collision.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="shoulder_pan_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0.119525 0 0.34858" />
+    <parent link="torso_lift_link" />
+    <child link="shoulder_pan_link" />
+    <axis xyz="0 0 1" />
+    <dynamics damping="1.0" />
+    <limit effort="33.82" lower="-1.6056" upper="1.6056" velocity="1.256" />
+  </joint>
+  <link name="shoulder_lift_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.1432 0.0072 -0.0001" />
+      <mass value="2.6615" />
+      <inertia ixx="0.0028" ixy="-0.0021" ixz="-0.0" iyy="0.0111" iyz="-0.0" izz="0.0112" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <mesh filename="package://fetch/meshes/shoulder_lift_link.dae" />
+      </geometry>
+      <material name="">
+        <color rgba="0.086 0.506 0.767 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <mesh filename="package://fetch/meshes/shoulder_lift_link_collision.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="shoulder_lift_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0.117 0 0.0599999999999999" />
+    <parent link="shoulder_pan_link" />
+    <child link="shoulder_lift_link" />
+    <axis xyz="0 1 0" />
+    <dynamics damping="1.0" />
+    <limit effort="131.76" lower="-1.221" upper="1.518" velocity="1.454" />
+  </joint>
+  <link name="upperarm_roll_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.1165 0.0014 0.0000" />
+      <mass value="2.3311" />
+      <inertia ixx="0.0019" ixy="-0.0001" ixz="0.0" iyy="0.0045" iyz="0.0" izz="0.0047" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <mesh filename="package://fetch/meshes/upperarm_roll_link.dae" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <mesh filename="package://fetch/meshes/upperarm_roll_link_collision.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="upperarm_roll_joint" type="continuous">
+    <origin rpy="0 0 0" xyz="0.219 0 0" />
+    <parent link="shoulder_lift_link" />
+    <child link="upperarm_roll_link" />
+    <axis xyz="1 0 0" />
+    <dynamics damping="5.0" />
+    <limit effort="76.94" velocity="1.571" />
+  </joint>
+  <link name="elbow_flex_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.1279 0.0073 0.0000" />
+      <mass value="2.1299" />
+      <inertia ixx="0.0024" ixy="-0.0016" ixz="0.0" iyy="0.0082" iyz="-0.0" izz="0.0084" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <mesh filename="package://fetch/meshes/elbow_flex_link.dae" />
+      </geometry>
+      <material name="">
+        <color rgba="0.086 0.506 0.767 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <mesh filename="package://fetch/meshes/elbow_flex_link_collision.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="elbow_flex_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0.133 0 0" />
+    <parent link="upperarm_roll_link" />
+    <child link="elbow_flex_link" />
+    <axis xyz="0 1 0" />
+    <dynamics damping="1.0" />
+    <limit effort="66.18" lower="-2.251" upper="2.251" velocity="1.521" />
+  </joint>
+  <link name="forearm_roll_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.1097 -0.0266 0.0000" />
+      <mass value="1.6563" />
+      <inertia ixx="0.0016" ixy="-0.0003" ixz="0.0" iyy="0.003" iyz="-0.0" izz="0.0035" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <mesh filename="package://fetch/meshes/forearm_roll_link.dae" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <mesh filename="package://fetch/meshes/forearm_roll_link_collision.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="forearm_roll_joint" type="continuous">
+    <origin rpy="0 0 0" xyz="0.197 0 0" />
+    <parent link="elbow_flex_link" />
+    <child link="forearm_roll_link" />
+    <axis xyz="1 0 0" />
+    <dynamics damping="5.0" />
+    <limit effort="29.35" velocity="1.571" />
+  </joint>
+  <link name="wrist_flex_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0882 0.0009 -0.0001" />
+      <mass value="1.725" />
+      <inertia ixx="0.0018" ixy="-0.0001" ixz="-0.0" iyy="0.0042" iyz="0.0" izz="0.0042" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <mesh filename="package://fetch/meshes/wrist_flex_link.dae" />
+      </geometry>
+      <material name="">
+        <color rgba="0.086 0.506 0.767 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <mesh filename="package://fetch/meshes/wrist_flex_link_collision.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="wrist_flex_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0.1245 0 0" />
+    <parent link="forearm_roll_link" />
+    <child link="wrist_flex_link" />
+    <axis xyz="0 1 0" />
+    <dynamics damping="1.0" />
+    <limit effort="25.7" lower="-2.16" upper="2.16" velocity="2.268" />
+  </joint>
+  <link name="wrist_roll_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0095 0.0004 -0.0002" />
+      <mass value="0.1354" />
+      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <mesh filename="package://fetch/meshes/wrist_roll_link.dae" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <mesh filename="package://fetch/meshes/wrist_roll_link_collision.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="wrist_roll_joint" type="continuous">
+    <origin rpy="0 0 0" xyz="0.1385 0 0" />
+    <parent link="wrist_flex_link" />
+    <child link="wrist_roll_link" />
+    <axis xyz="1 0 0" />
+    <limit effort="7.36" velocity="2.268" />
+    <dynamics damping="5.0" />
+  </joint>
+  <link name="gripper_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.0900 -0.0001 -0.0017" />
+      <mass value="1.5175" />
+      <inertia ixx="0.0013" ixy="-0.0" ixz="0.0" iyy="0.0019" iyz="-0.0" izz="0.0024" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <mesh filename="package://fetch/meshes/gripper_link.dae" />
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <mesh filename="package://fetch/meshes/gripper_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="gripper_axis" type="fixed">
+    <origin rpy="0 0 0" xyz="0.16645 0 0" />
+    <parent link="wrist_roll_link" />
+    <child link="gripper_link" />
+    <axis xyz="0 1 0" />
+  </joint>
+  <link name="r_gripper_finger_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.01 0 0" />
+      <mass value="0.0798" />
+      <inertia ixx="0.002" ixy="0" ixz="0" iyy="0.0002" iyz="0" izz="0.0002" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 -0.009 0" />
+      <geometry>
+	      <box size="0.062 0.013 0.026"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.356 0.361 0.376 1" />
+      </material>
+    </visual>
+    <!--collision>
+      <origin rpy="0 0 0" xyz="0 0.101425 0" />
+      <geometry>
+        <mesh filename="package://fetch/meshes/r_gripper_finger_link.STL" />
+      </geometry>
+    </collision-->
+    <collision>
+      <origin rpy="0 0 0" xyz="0 -0.009 0" />
+      <geometry>
+	      <box size="0.062 0.013 0.026"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="r_gripper_finger_joint" type="prismatic">
+    <origin rpy="0 0 0" xyz="0 0.015425 0" />
+    <parent link="gripper_link" />
+    <child link="r_gripper_finger_link" />
+    <axis xyz="0 1 0" />
+    <limit effort="60" lower="0.0" upper="0.05" velocity="0.05" /><dynamics damping="100.0" />
+  </joint>
+
+  <link name="l_gripper_finger_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.01 0 0" />
+      <mass value="0.0798" />
+      <inertia ixx="0.002" ixy="0" ixz="0" iyy="0.0002" iyz="0" izz="0.0002" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0.009 0" />
+      <geometry>
+	      <box size="0.062 0.013 0.026"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.356 0.361 0.376 1" />
+      </material>
+    </visual>
+    <!--collision>
+      <origin rpy="0 0 0" xyz="0 -0.101425 0" />
+      <geometry>
+        <mesh filename="package://fetch/meshes/l_gripper_finger_link.STL" />
+      </geometry>
+    </collision-->
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0.009 0" />
+      <geometry>
+	<box size="0.062 0.013 0.026"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="l_gripper_finger_joint" type="prismatic">
+    <origin rpy="0 0 0" xyz="0 -0.015425 0" />
+    <parent link="gripper_link" />
+    <child link="l_gripper_finger_link" />
+    <axis xyz="0 -1 0" />
+    <limit effort="60" lower="0.0" upper="0.05" velocity="0.05" /><dynamics damping="100.0" />
+  </joint>
+
+  <!--link name="bellows_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0191320000286228 -1.67219873481315E-16 -0.134861625443387" />
+      <mass value="0.169374038216602" />
+      <inertia ixx="0.00331159128762117" ixy="-8.9230964321455E-18" ixz="-5.38622201018293E-08" iyy="0.00174447292786627" iyz="-8.06964979976371E-17" izz="0.00169417568121457" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <mesh filename="package://fetch/meshes/bellows_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0 0 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <mesh filename="package://fetch/meshes/bellows_link_collision.STL" />
+      </geometry>
+    </collision>
+  </link-->
+  <!--joint name="bellows_joint" type="prismatic">
+    <origin rpy="0 0 0" xyz="0 0 0" />
+    <parent link="torso_lift_link" />
+    <child link="bellows_link" />
+    <axis xyz="0 0 -1" />
+  <limit effort="5.0" lower="0" upper="0.4" velocity="0.1" /></joint-->
+
+  <link name="bellows_link2">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0191320000286228 -1.67219873481315E-16 -0.134861625443387" />
+      <mass value="0.169374038216602" />
+      <inertia ixx="0.00331159128762117" ixy="-8.9230964321455E-18" ixz="-5.38622201018293E-08" iyy="0.00174447292786627" iyz="-8.06964979976371E-17" izz="0.00169417568121457" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <mesh filename="package://fetch/meshes/bellows_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0 0 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <mesh filename="package://fetch/meshes/bellows_link_collision.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="bellows_joint2" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0" />
+    <parent link="torso_lift_link" />
+    <child link="bellows_link2" />
+  </joint>
+  <link name="estop_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.002434512737072 -0.00330608315239905 0.00665139196650039" />
+      <mass value="0.00196130439134723" />
+      <inertia ixx="3.02810026604417E-07" ixy="-1.5862023118056E-08" ixz="3.16561396557437E-08" iyy="2.93322917127605E-07" iyz="-4.28833522751273E-08" izz="2.28513272627183E-07" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <mesh filename="package://fetch/meshes/estop_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.8 0 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <mesh filename="package://fetch/meshes/estop_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="estop_joint" type="fixed">
+    <origin rpy="1.5708 0 0" xyz="-0.12465 0.23892 0.31127" />
+    <parent link="base_link" />
+    <child link="estop_link" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="laser_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.0306228970175641 0.0007091682908278 0.0551974119471302" />
+      <mass value="0.00833634573995571" />
+      <inertia ixx="1.01866461240801E-06" ixy="-5.88447626567756E-08" ixz="7.83857244757914E-08" iyy="5.10039589974707E-07" iyz="-7.12664289617235E-09" izz="1.28270671527309E-06" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <mesh filename="package://fetch/meshes/laser_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <mesh filename="package://fetch/meshes/laser_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="laser_joint" type="fixed">
+    <origin rpy="3.14159265359 0 0" xyz="0.235 0 0.2878" />
+    <parent link="base_link" />
+    <child link="laser_link" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="torso_fixed_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.0722 0.0057 0.2656" />
+      <mass value="13.2775" />
+      <inertia ixx="0.3861" ixy="0.0015" ixz="-0.0102" iyy="0.3388" iyz="0.0117" izz="0.1018" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <mesh filename="package://fetch/meshes/torso_fixed_link.dae" />
+      </geometry>
+      <material name="">
+        <color rgba="0.086 0.506 0.767 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <mesh filename="package://fetch/meshes/torso_fixed_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="torso_fixed_joint" type="fixed">
+    <origin rpy="-6.12303176911189E-17 0 0" xyz="-0.086875 0 0.377425" />
+    <parent link="base_link" />
+    <child link="torso_fixed_link" />
+    <axis xyz="0 1 0" />
+  </joint>
+  <link name="head_camera_link" />
+  <joint name="head_camera_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.055 0 0.0225" />
+    <parent link="head_tilt_link" />
+    <child link="head_camera_link" />
+  </joint>
+  <link name="head_camera_rgb_frame" />
+  <joint name="head_camera_rgb_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0.02 0" />
+    <parent link="head_camera_link" />
+    <child link="head_camera_rgb_frame" />
+  </joint>
+  <link name="head_camera_rgb_optical_frame" />
+  <joint name="head_camera_rgb_optical_joint" type="fixed">
+    <origin rpy="1.57079632679 0 -1.57079632679" xyz="0 0 0" />
+    <parent link="head_camera_rgb_frame" />
+    <child link="head_camera_rgb_optical_frame" />
+  </joint>
+  <link name="head_camera_depth_frame" />
+  <joint name="head_camera_depth_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0.045 0" />
+    <parent link="head_camera_link" />
+    <child link="head_camera_depth_frame" />
+  </joint>
+  <link name="head_camera_depth_optical_frame" />
+  <joint name="head_camera_depth_optical_joint" type="fixed">
+    <origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0" />
+    <parent link="head_camera_depth_frame" />
+    <child link="head_camera_depth_optical_frame" />
+ </joint>
+
+  <gazebo reference="head_camera_rgb_optical_frame">
+    <sensor:camera name="rgb">
+      <imageFormat>R8G8B8</imageFormat>
+      <imageSize>192 128</imageSize>
+      <hfov>50</hfov>
+      <nearClip>0.1</nearClip>
+      <farClip>100</farClip>
+      <updateRate>60.0</updateRate>
+    </sensor:camera>
+  </gazebo>
+
+</robot>

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