urdf/open_manipulator.urdf

   1 <?xml version="1.0" encoding="utf-8"?>
   2 <!-- =================================================================================== -->
   3 <!-- |    This document was autogenerated by xacro from /home/erik/Projects/ros_catkin_ws/src/wt_open_manipulator/urdf/open_manipulator.urdf.xacro | -->
   4 <!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
   5 <!-- =================================================================================== -->
   6 <!-- Open_Manipulator Chain -->
   7 <robot name="open_manipulator">
   8   <!-- World -->
   9   <gazebo reference="world">
  10   </gazebo>
  11   <gazebo reference="link1">
  12     <kp>1000000.0</kp>
  13     <kd>100.0</kd>
  14     <mu1>30.0</mu1>
  15     <mu2>30.0</mu2>
  16     <maxVel>1.0</maxVel>
  17     <minDepth>0.001</minDepth>
  18     <material>Gazebo/DarkGrey</material>
  19   </gazebo>
  20   <gazebo reference="link2">
  21     <kp>1000000.0</kp>
  22     <kd>100.0</kd>
  23     <mu1>30.0</mu1>
  24     <mu2>30.0</mu2>
  25     <maxVel>1.0</maxVel>
  26     <minDepth>0.001</minDepth>
  27     <material>Gazebo/DarkGrey</material>
  28   </gazebo>
  29   <gazebo reference="link3">
  30     <kp>1000000.0</kp>
  31     <kd>100.0</kd>
  32     <mu1>30.0</mu1>
  33     <mu2>30.0</mu2>
  34     <maxVel>1.0</maxVel>
  35     <minDepth>0.001</minDepth>
  36     <material>Gazebo/DarkGrey</material>
  37   </gazebo>
  38   <gazebo reference="link4">
  39     <kp>1000000.0</kp>
  40     <kd>100.0</kd>
  41     <mu1>30.0</mu1>
  42     <mu2>30.0</mu2>
  43     <maxVel>1.0</maxVel>
  44     <minDepth>0.001</minDepth>
  45     <material>Gazebo/DarkGrey</material>
  46   </gazebo>
  47   <gazebo reference="link5">
  48     <kp>1000000.0</kp>
  49     <kd>100.0</kd>
  50     <mu1>30.0</mu1>
  51     <mu2>30.0</mu2>
  52     <maxVel>1.0</maxVel>
  53     <minDepth>0.001</minDepth>
  54     <material>Gazebo/DarkGrey</material>
  55   </gazebo>
  56   <gazebo reference="gripper_link">
  57     <kp>1000000.0</kp>
  58     <kd>100.0</kd>
  59     <mu1>30.0</mu1>
  60     <mu2>30.0</mu2>
  61     <maxVel>1.0</maxVel>
  62     <minDepth>0.001</minDepth>
  63     <material>Gazebo/DarkGrey</material>
  64   </gazebo>
  65   <gazebo reference="gripper_link_sub">
  66     <kp>1000000.0</kp>
  67     <kd>100.0</kd>
  68     <mu1>30.0</mu1>
  69     <mu2>30.0</mu2>
  70     <maxVel>1.0</maxVel>
  71     <minDepth>0.001</minDepth>
  72     <material>Gazebo/DarkGrey</material>
  73   </gazebo>
  74   <!-- end effector link -->
  75   <gazebo reference="end_effector_link">
  76     <material>Gazebo/Red</material>
  77   </gazebo>
  78   <!-- ros_control plugin -->
  79   <gazebo>
  80     <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
  81       <robotNamespace>open_manipulator</robotNamespace>
  82       <controlPeriod>0.001</controlPeriod>
  83       <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
  84       <legacyModeNS>true</legacyModeNS>
  85     </plugin>
  86   </gazebo>
  87   <material name="black">
  88     <color rgba="0.0 0.0 0.0 1.0"/>
  89   </material>
  90   <material name="white">
  91     <color rgba="1.0 1.0 1.0 1.0"/>
  92   </material>
  93   <material name="red">
  94     <color rgba="0.8 0.0 0.0 1.0"/>
  95   </material>
  96   <material name="blue">
  97     <color rgba="0.0 0.0 0.8 1.0"/>
  98   </material>
  99   <material name="green">
 100     <color rgba="0.0 0.8 0.0 1.0"/>
 101   </material>
 102   <material name="grey">
 103     <color rgba="0.5 0.5 0.5 1.0"/>
 104   </material>
 105   <material name="orange">
 106     <color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
 107   </material>
 108   <material name="brown">
 109     <color rgba="0.870588235294 0.811764705882 0.764705882353 1.0"/>
 110   </material>
 111   <link name="open_manipulator_base">
 112         </link>
 113   <joint name="world_fixed" type="fixed">
 114     <origin rpy="0 0 0" xyz="0 0 0"/>
 115     <parent link="open_manipulator_base"/>
 116     <child link="link1"/>
 117   </joint>
 118   <!-- Link 1 -->
 119   <link name="link1">
 120     <visual>
 121       <origin rpy="0 0 0" xyz="0 0 0"/>
 122       <geometry>
 123         <mesh filename="package://open_manipulator_description/meshes/chain_link1.stl" scale="0.001 0.001 0.001"/>
 124       </geometry>
 125       <material name="grey"/>
 126     </visual>
 127     <collision>
 128       <origin rpy="0 0 0" xyz="0 0 0"/>
 129       <geometry>
 130         <mesh filename="package://open_manipulator_description/meshes/chain_link1.stl" scale="0.001 0.001 0.001"/>
 131       </geometry>
 132     </collision>
 133     <!--    <inertial>
 134       <origin xyz="0 0 0" />
 135       <mass value="0.082" />
 136       <inertia ixx="0.1" ixy="0.0" ixz="0.0"
 137                iyy="0.1" iyz="0.0"
 138                izz="0.1" />
 139     </inertial>-->
 140     <inertial>
 141       <origin xyz="3.0876154e-04 0.0000000e+00 -1.2176461e-04"/>
 142       <mass value="7.9119962e-02"/>
 143       <inertia ixx="1.2505234e-05" ixy="0.0" ixz="-1.7855208e-07" iyy="2.1898364e-05" iyz="0.0" izz="1.9267361e-05"/>
 144     </inertial>
 145   </link>
 146   <!-- Joint 1 -->
 147   <joint name="joint1" type="revolute">
 148     <parent link="link1"/>
 149     <child link="link2"/>
 150     <origin rpy="0 0 0" xyz="0.012 0.0 0.036"/>
 151     <!-- Height servo+horn -->
 152     <axis xyz="0 0 1"/>
 153     <limit effort="1" lower="-3.14159265359" upper="3.14159265359" velocity="3.1"/>
 154   </joint>
 155   <transmission name="tran1">
 156     <type>transmission_interface/SimpleTransmission</type>
 157     <joint name="joint1">
 158       <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
 159     </joint>
 160     <actuator name="motor1">
 161       <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
 162       <mechanicalReduction>1</mechanicalReduction>
 163     </actuator>
 164   </transmission>
 165   <!--  Link 2 -->
 166   <link name="link2">
 167     <visual>
 168       <geometry>
 169         <mesh filename="package://open_manipulator_description/meshes/chain_link2.stl" scale="0.00117543859649 0.00129411764706 0.00125806451613"/>
 170         <!-- scale by XM540 -->
 171       </geometry>
 172       <material name="grey"/>
 173     </visual>
 174     <collision>
 175       <geometry>
 176         <mesh filename="package://open_manipulator_description/meshes/chain_link2.stl" scale="0.00117543859649 0.00129411764706 0.00125806451613"/>
 177         <!-- scale by XM540 -->
 178       </geometry>
 179     </collision>
 180     <!--    <inertial>
 181       <origin xyz="0 0 0" />
 182       <mass value="0.098" />
 183       <inertia ixx="0.1" ixy="0.0" ixz="0.0"
 184                iyy="0.1" iyz="0.0"
 185                izz="0.1" />
 186     </inertial>-->
 187     <inertial>
 188       <origin xyz="-3.0184870e-04 5.4043684e-04 0.047433464"/>
 189       <mass value="9.8406837e-02"/>
 190       <inertia ixx="3.4543422e-05" ixy="-1.6031095e-08" ixz="-3.8375155e-07" iyy="3.2689329e-05" iyz="2.8511935e-08" izz="1.8850320e-05"/>
 191     </inertial>
 192   </link>
 193   <!--  Joint 2 -->
 194   <joint name="joint2" type="revolute">
 195     <parent link="link2"/>
 196     <child link="link3"/>
 197     <origin rpy="0 0 0" xyz="0.0 0.0 0.0515"/>
 198     <!-- fr13-s102k to middle of servo horn -->
 199     <axis xyz="0 1 0"/>
 200     <limit effort="1" lower="-2.0106192983" upper="2.0106192983" velocity="4.8"/>
 201   </joint>
 202   <transmission name="tran2">
 203     <type>transmission_interface/SimpleTransmission</type>
 204     <joint name="joint2">
 205       <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
 206     </joint>
 207     <actuator name="motor2">
 208       <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
 209       <mechanicalReduction>1</mechanicalReduction>
 210     </actuator>
 211   </transmission>
 212   <!--  Link 3 -->
 213   <link name="link3">
 214     <visual>
 215       <origin rpy="0 0 0" xyz="0 0 0"/>
 216       <geometry>
 217         <mesh filename="package://open_manipulator_description/meshes/chain_link3.stl" scale="0.001 0.001 0.00103125"/>
 218         <!-- scale by 4mm more, see joint3 -->
 219       </geometry>
 220       <material name="grey"/>
 221     </visual>
 222     <collision>
 223       <origin rpy="0 0 0" xyz="0 0 0"/>
 224       <geometry>
 225         <mesh filename="package://open_manipulator_description/meshes/chain_link3.stl" scale="0.001 0.001 0.00103125"/>
 226         <!-- scale by 4mm more, see joint3 -->
 227       </geometry>
 228     </collision>
 229     <!--    <inertial>
 230       <origin xyz="0 0 0" />
 231       <mass value="0.136" />
 232       <inertia ixx="0.1" ixy="0.0" ixz="0.0"
 233                iyy="0.1" iyz="0.0"
 234                izz="0.1" />
 235     </inertial>-->
 236     <inertial>
 237       <origin xyz="1.0308393e-02 3.7743363e-04 1.0170197e-01"/>
 238       <mass value="1.3850917e-01"/>
 239       <inertia ixx="3.3055381e-04" ixy="-9.7940978e-08" ixz="-3.8505711e-05" iyy="3.4290447e-04" iyz="-1.5717516e-06" izz="6.0346498e-05"/>
 240     </inertial>
 241   </link>
 242   <!--  Joint 3 -->
 243   <joint name="joint3" type="revolute">
 244     <parent link="link3"/>
 245     <child link="link4"/>
 246     <origin rpy="0 0 0" xyz="0.024 0 0.132"/>
 247     <!-- 4mm more for FR13-H101K-->
 248     <axis xyz="0 1 0"/>
 249     <limit effort="1" lower="-2.0106192983" upper="1.50796447372" velocity="4.8"/>
 250   </joint>
 251   <transmission name="tran3">
 252     <type>transmission_interface/SimpleTransmission</type>
 253     <joint name="joint3">
 254       <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
 255     </joint>
 256     <actuator name="motor3">
 257       <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
 258       <mechanicalReduction>1</mechanicalReduction>
 259     </actuator>
 260   </transmission>
 261   <!--  Link 4 -->
 262   <link name="link4">
 263     <visual>
 264       <origin rpy="0 0 0" xyz="0 0 0"/>
 265       <geometry>
 266         <mesh filename="package://open_manipulator_description/meshes/chain_link4.stl" scale="0.001 0.001 0.001"/>
 267       </geometry>
 268       <material name="grey"/>
 269     </visual>
 270     <collision>
 271       <origin rpy="0 0 0" xyz="0 0 0"/>
 272       <geometry>
 273         <mesh filename="package://open_manipulator_description/meshes/chain_link4.stl" scale="0.001 0.001 0.001"/>
 274       </geometry>
 275     </collision>
 276     <!--    <inertial>
 277       <origin xyz="0 0 0" />
 278       <mass value="0.131" />
 279       <inertia ixx="0.1" ixy="0.0" ixz="0.0"
 280                iyy="0.1" iyz="0.0"
 281                izz="0.1" />
 282     </inertial>-->
 283     <inertial>
 284       <origin xyz="9.0909590e-02 3.8929816e-04 2.2413279e-04"/>
 285       <mass value="1.3274562e-01"/>
 286       <inertia ixx="3.0654178e-05" ixy="-1.2764155e-06" ixz="-2.6874417e-07" iyy="2.4230292e-04" iyz="1.1559550e-08" izz="2.5155057e-04"/>
 287     </inertial>
 288   </link>
 289   <!--  Joint 4 -->
 290   <joint name="joint4" type="revolute">
 291     <parent link="link4"/>
 292     <child link="link5"/>
 293     <origin rpy="0 0 0" xyz="0.124 0.0 0.0"/>
 294     <axis xyz="0 1 0"/>
 295     <limit effort="1" lower="-1.79070781255" upper="2.04203522483" velocity="4.8"/>
 296   </joint>
 297   <transmission name="tran4">
 298     <type>transmission_interface/SimpleTransmission</type>
 299     <joint name="joint4">
 300       <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
 301     </joint>
 302     <actuator name="motor4">
 303       <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
 304       <mechanicalReduction>1</mechanicalReduction>
 305     </actuator>
 306   </transmission>
 307   <!--  Link 5 -->
 308   <link name="link5">
 309     <visual>
 310       <origin rpy="0 0 0" xyz="0 0 0"/>
 311       <geometry>
 312         <mesh filename="package://open_manipulator_description/meshes/chain_link5.stl" scale="0.001 0.001 0.001"/>
 313       </geometry>
 314       <material name="grey"/>
 315     </visual>
 316     <collision>
 317       <origin rpy="0 0 0" xyz="0 0 0"/>
 318       <geometry>
 319         <mesh filename="package://open_manipulator_description/meshes/chain_link5.stl" scale="0.001 0.001 0.001"/>
 320       </geometry>
 321     </collision>
 322     <!--    <inertial>
 323       <origin xyz="0 0 0" />
 324       <mass value="0.141" />
 325       <inertia ixx="0.1" ixy="0.0" ixz="0.0"
 326                iyy="0.1" iyz="0.0"
 327                izz="0.1" />
 328     </inertial>-->
 329     <inertial>
 330       <origin xyz="4.4206755e-02 3.6839985e-07 8.9142216e-03"/>
 331       <mass value="1.4327573e-01"/>
 332       <inertia ixx="8.0870749e-05" ixy="0.0" ixz="-1.0157896e-06" iyy="7.5980465e-05" iyz="0.0" izz="9.3127351e-05"/>
 333     </inertial>
 334   </link>
 335   <!--  Gripper link -->
 336   <link name="gripper_link">
 337     <visual>
 338       <origin rpy="0 0 0" xyz="0.0 0.0 0"/>
 339       <geometry>
 340         <mesh filename="package://open_manipulator_description/meshes/chain_link_grip_l.stl" scale="0.001 0.001 0.001"/>
 341       </geometry>
 342       <material name="grey"/>
 343     </visual>
 344     <collision>
 345       <origin rpy="0 0 0" xyz="0.0 0.0 0"/>
 346       <geometry>
 347         <mesh filename="package://open_manipulator_description/meshes/chain_link_grip_l.stl" scale="0.001 0.001 0.001"/>
 348       </geometry>
 349     </collision>
 350     <inertial>
 351       <origin xyz="0 0 0"/>
 352       <mass value="0.017"/>
 353       <inertia ixx="1.0e-03" ixy="0.0" ixz="0.0" iyy="1.0e-03" iyz="0.0" izz="1.0e-03"/>
 354     </inertial>
 355     <!--     <inertial>
 356       <origin xyz="${0.028 + 8.3720668e-03} ${0.0246 + 9.9696160e-03} -4.2836895e-07" />
 357       <mass value="3.2218127e-02" />
 358       <inertia ixx="9.5568826e-06" ixy="2.8424644e-06" ixz="-3.2829197e-10"
 359                iyy="2.2552871e-05" iyz="-3.1463634e-10"
 360                izz="1.7605306e-05" />
 361     </inertial>-->
 362   </link>
 363   <!--  Gripper joint -->
 364   <joint name="gripper" type="prismatic">
 365     <parent link="link5"/>
 366     <child link="gripper_link"/>
 367     <origin rpy="0 0 0" xyz="0.0817 0.021 0.0"/>
 368     <axis xyz="0 1 0"/>
 369     <limit effort="1" lower="-0.010" upper="0.019" velocity="4.8"/>
 370   </joint>
 371   <transmission name="tran5">
 372     <type>transmission_interface/SimpleTransmission</type>
 373     <joint name="gripper">
 374       <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
 375     </joint>
 376     <actuator name="motor5">
 377       <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
 378       <mechanicalReduction>1</mechanicalReduction>
 379     </actuator>
 380   </transmission>
 381   <!--  Gripper link sub -->
 382   <link name="gripper_link_sub">
 383     <visual>
 384       <origin rpy="0 0 0" xyz="0.0 -0.0 0"/>
 385       <geometry>
 386         <mesh filename="package://open_manipulator_description/meshes/chain_link_grip_r.stl" scale="0.001 0.001 0.001"/>
 387       </geometry>
 388       <material name="grey"/>
 389     </visual>
 390     <collision>
 391       <origin rpy="0 0 0" xyz="0.0 -0.0 0"/>
 392       <geometry>
 393         <mesh filename="package://open_manipulator_description/meshes/chain_link_grip_r.stl" scale="0.001 0.001 0.001"/>
 394       </geometry>
 395     </collision>
 396     <inertial>
 397       <origin xyz="0 0 0"/>
 398       <mass value="0.017"/>
 399       <inertia ixx="1.0e-03" ixy="0.0" ixz="0.0" iyy="1.0e-03" iyz="0.0" izz="1.0e-03"/>
 400     </inertial>
 401     <!--     <inertial>
 402       <origin xyz="${0.028 + 8.3720668e-03} ${-0.0246 - 9.9696160e-03} -4.2836895e-07" />
 403       <mass value="3.2218127e-02" />
 404       <inertia ixx="9.5568826e-06" ixy="2.8424644e-06" ixz="-3.2829197e-10"
 405                iyy="2.2552871e-05" iyz="-3.1463634e-10"
 406                izz="1.7605306e-05" />
 407     </inertial>-->
 408   </link>
 409   <!--  Gripper joint sub -->
 410   <joint name="gripper_sub" type="prismatic">
 411     <parent link="link5"/>
 412     <child link="gripper_link_sub"/>
 413     <origin rpy="0 0 0" xyz="0.0817 -0.021 0"/>
 414     <axis xyz="0 -1 0"/>
 415     <limit effort="1" lower="-0.010" upper="0.019" velocity="4.8"/>
 416     <mimic joint="gripper" multiplier="1"/>
 417   </joint>
 418   <transmission name="tran6">
 419     <type>transmission_interface/SimpleTransmission</type>
 420     <joint name="gripper_sub">
 421       <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
 422     </joint>
 423     <actuator name="motor6">
 424       <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
 425       <mechanicalReduction>1</mechanicalReduction>
 426     </actuator>
 427   </transmission>
 428   <!-- end effector joint -->
 429   <joint name="end_effector_joint" type="fixed">
 430     <origin rpy="0 0 0" xyz="0.126 0.0 0.0"/>
 431     <parent link="link5"/>
 432     <child link="end_effector_link"/>
 433   </joint>
 434   <!-- end effector link -->
 435   <link name="end_effector_link">
 436     <visual>
 437       <origin rpy="0 0 0" xyz="0 0 0"/>
 438       <geometry>
 439         <box size="0.01 0.01 0.01"/>
 440       </geometry>
 441       <material name="red"/>
 442     </visual>
 443     <inertial>
 444       <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
 445       <mass value="0.001"/>
 446       <inertia ixx="1.0e-06" ixy="0.0" ixz="0.0" iyy="1.0e-06" iyz="0.0" izz="1.0e-06"/>
 447     </inertial>
 448   </link>
 449   <material name="camera_aluminum">
 450     <color rgba="0.5 0.5 0.5 1"/>
 451   </material>
 452   <!-- camera body, with origin at bottom screw mount -->
 453   <joint name="camera_joint" type="fixed">
 454     <origin rpy="0 0 0" xyz="-0.02 -0.018 0.055"/>
 455     <parent link="gripper_link"/>
 456     <child link="camera_bottom_screw_frame"/>
 457   </joint>
 458   <link name="camera_bottom_screw_frame"/>
 459   <joint name="camera_link_joint" type="fixed">
 460     <origin rpy="0 0 0" xyz="0 0.0175 0.0125"/>
 461     <parent link="camera_bottom_screw_frame"/>
 462     <child link="camera_link"/>
 463   </joint>
 464   <link name="camera_link">
 465     <visual>
 466       <origin rpy="1.57079632679 0 1.57079632679" xyz="0.0149 -0.0175 0"/>
 467       <geometry>
 468         <!-- <box size="${d435_cam_width} ${d435_cam_height} ${d435_cam_depth}"/> -->
 469         <mesh filename="package://realsense2_description/meshes/d435.dae"/>
 470         <!--<mesh filename="package://realsense2_description/meshes/d435/d435.dae" />-->
 471       </geometry>
 472       <material name="camera_aluminum"/>
 473     </visual>
 474     <collision>
 475       <origin rpy="0 0 0" xyz="0 -0.0175 0"/>
 476       <geometry>
 477         <box size="0.02505 0.09 0.025"/>
 478       </geometry>
 479     </collision>
 480     <inertial>
 481       <!-- The following are not reliable values, and should not be used for modeling -->
 482       <mass value="0.564"/>
 483       <origin xyz="0 0 0"/>
 484       <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
 485     </inertial>
 486   </link>
 487   <!-- camera depth joints and links -->
 488   <joint name="camera_depth_joint" type="fixed">
 489     <origin rpy="0 0 0" xyz="0 0 0"/>
 490     <parent link="camera_link"/>
 491     <child link="camera_depth_frame"/>
 492   </joint>
 493   <link name="camera_depth_frame"/>
 494   <joint name="camera_depth_optical_joint" type="fixed">
 495     <origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0"/>
 496     <parent link="camera_depth_frame"/>
 497     <child link="camera_depth_optical_frame"/>
 498   </joint>
 499   <link name="camera_depth_optical_frame"/>
 500   <!-- camera left IR joints and links -->
 501   <joint name="camera_left_ir_joint" type="fixed">
 502     <origin rpy="0 0 0" xyz="0 0.0 0"/>
 503     <parent link="camera_depth_frame"/>
 504     <child link="camera_left_ir_frame"/>
 505   </joint>
 506   <link name="camera_left_ir_frame"/>
 507   <joint name="camera_left_ir_optical_joint" type="fixed">
 508     <origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0"/>
 509     <parent link="camera_left_ir_frame"/>
 510     <child link="camera_left_ir_optical_frame"/>
 511   </joint>
 512   <link name="camera_left_ir_optical_frame"/>
 513   <!-- camera right IR joints and links -->
 514   <joint name="camera_right_ir_joint" type="fixed">
 515     <origin rpy="0 0 0" xyz="0 -0.05 0"/>
 516     <parent link="camera_depth_frame"/>
 517     <child link="camera_right_ir_frame"/>
 518   </joint>
 519   <link name="camera_right_ir_frame"/>
 520   <joint name="camera_right_ir_optical_joint" type="fixed">
 521     <origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0"/>
 522     <parent link="camera_right_ir_frame"/>
 523     <child link="camera_right_ir_optical_frame"/>
 524   </joint>
 525   <link name="camera_right_ir_optical_frame"/>
 526   <!-- camera color joints and links -->
 527   <joint name="camera_color_joint" type="fixed">
 528     <origin rpy="0 0 0" xyz="0 0.015 0"/>
 529     <parent link="camera_depth_frame"/>
 530     <child link="camera_color_frame"/>
 531   </joint>
 532   <link name="camera_color_frame"/>
 533   <joint name="camera_color_optical_joint" type="fixed">
 534     <origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0"/>
 535     <parent link="camera_color_frame"/>
 536     <child link="camera_color_optical_frame"/>
 537   </joint>
 538   <link name="camera_color_optical_frame"/>
 539 </robot>