<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from larcc_improved.urdf.xacro      | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="larcc">
  <!-- ####################################### -->
  <!-- Arguments and propperties-->
  <!-- ####################################### -->
  <!--Args are local, properties are global, so we copy the values of the arguments to the properties-->
  <!--Properties are global so they can be viewed from inside the included xacros-->
  <!--  args are used with $(arg arg_name), properties are used as ${property_name}-->
  <!-- ####################################### -->
  <!-- Include files-->
  <!-- ####################################### -->
  <!--Read common properties from turtlebot3 and then add missing stuff-->
  <!--    <xacro:include filename="$(find turtlebot3_description)/urdf/common_properties.xacro"/>-->
  <material name="Yellow">
    <color rgba="1.0 1.0 0.0 1.0"/>
  </material>
  <material name="Orange">
    <color rgba="1.0 0.4 0.0 1.0"/>
  </material>
  <material name="grey">
    <color rgba="0.7 0.7 0.7 1.0"/>
  </material>
  <!--
    Main xacro macro definition of the "Gazebo robot" model.

    This wraps the model of the real robot and adds all elements and parameters
    required by Gazebo.

    It also adds the gazebo_ros_control plugin.

    NOTE: this is NOT a URDF. It cannot directly be loaded by consumers
    expecting a flattened '.urdf' file. See the top-level '.xacro' for that
    (but note: that .xacro must still be processed by the xacro command).

    For use in '.launch' files: use one of the 'load_urX.launch' convenience
    launch files.

    NOTE: this Gazebo model makes use of the same set of parameter files as the
    main xacro macro (in ur_description). It is therefor possible to use the
    kinematic calibration exported from a REAL UR robot. Please refer to the
    ur_macro.xacro in ur_description for more information about this.

    Main author of the migration to yaml configs: Ludovic Delval.

    Contributors to previous versions (in no particular order):

     - Felix Messmer
     - Kelsey Hawkins
     - Shaun Edwards
     - Alexander Bubeck
     - Nadia Hammoudeh Garcia
     - G. vd. Hoorn
     - Dave Niewinski
     - Andy Zelenak
     - Miguel Prada
     - Mathias Luedtke
     - Hans-Joachim Krauch
     - Felix Exner
  -->
  <!-- ####################################### -->
  <!-- Declare links and joints -->
  <!-- ####################################### -->
  <link name="world"/>
  <!-- %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%-->
  <!-- table link-->
  <!-- %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%-->
  <link name="table"/>
  <joint name="world_to_table" type="fixed">
    <parent link="world"/>
    <child link="table"/>
    <origin rpy="0 0 -1.5707963267948966" xyz="0.1 0.95 0"/>
  </joint>
  <!-- %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%-->
  <!-- tabletop link-->
  <!-- %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%-->
  <link name="tabletop_table">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 -0.015"/>
      <geometry>
        <box size="0.9 1.25 0.015"/>
      </geometry>
      <material name="grey"/>
    </visual>
    <collision name="base_link_collision">
      <origin rpy="0 0 0" xyz="0 0 -0.015"/>
      <geometry>
        <box size="0.9 1.25 0.015"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1.0"/>
      <origin rpy="0 0 0" xyz="0 0 -0.015"/>
      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
    </inertial>
  </link>
  <gazebo reference="tabletop_table">
    <material>Gazebo/Grey</material>
    <mu1>50.0</mu1>
    <mu2>50.0</mu2>
    <kp>1000000.0</kp>
    <kd>1.0</kd>
    <selfCollide>false</selfCollide>
  </gazebo>
  <joint name="table_to_tabletop_table" type="fixed">
    <parent link="table"/>
    <child link="tabletop_table"/>
    <origin rpy="0 0 0" xyz="0 0 0.795"/>
  </joint>
  <link name="leg1_table">
    <visual>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.3815"/>
      <geometry>
        <cylinder length="0.78" radius="0.02"/>
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.3975"/>
      <geometry>
        <cylinder length="0.779" radius="0.02"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1.0"/>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.3815"/>
      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.01"/>
    </inertial>
  </link>
  <gazebo reference="leg1_table">
    <material>Gazebo/Grey</material>
    <mu1>1000.0</mu1>
    <mu2>1000.0</mu2>
    <kp>10000000.0</kp>
    <kd>1.0</kd>
    <selfCollide>true</selfCollide>
  </gazebo>
  <joint name="table_to_leg1" type="fixed">
    <parent link="table"/>
    <child link="leg1_table"/>
    <origin rpy="0 0 0" xyz="-0.43 0.605 0"/>
  </joint>
  <link name="leg2_table">
    <visual>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.3815"/>
      <geometry>
        <cylinder length="0.78" radius="0.02"/>
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.3975"/>
      <geometry>
        <cylinder length="0.779" radius="0.02"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1.0"/>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.3815"/>
      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.01"/>
    </inertial>
  </link>
  <gazebo reference="leg2_table">
    <material>Gazebo/Grey</material>
    <mu1>1000.0</mu1>
    <mu2>1000.0</mu2>
    <kp>10000000.0</kp>
    <kd>1.0</kd>
    <selfCollide>true</selfCollide>
  </gazebo>
  <joint name="table_to_leg2" type="fixed">
    <parent link="table"/>
    <child link="leg2_table"/>
    <origin rpy="0 0 0" xyz="0.43 0.605 0"/>
  </joint>
  <link name="leg3_table">
    <visual>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.3815"/>
      <geometry>
        <cylinder length="0.78" radius="0.02"/>
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.3975"/>
      <geometry>
        <cylinder length="0.779" radius="0.02"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1.0"/>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.3815"/>
      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.01"/>
    </inertial>
  </link>
  <gazebo reference="leg3_table">
    <material>Gazebo/Grey</material>
    <mu1>1000.0</mu1>
    <mu2>1000.0</mu2>
    <kp>10000000.0</kp>
    <kd>1.0</kd>
    <selfCollide>true</selfCollide>
  </gazebo>
  <joint name="table_to_leg3" type="fixed">
    <parent link="table"/>
    <child link="leg3_table"/>
    <origin rpy="0 0 0" xyz="0.43 -0.605 0"/>
  </joint>
  <link name="leg4_table">
    <visual>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.3815"/>
      <geometry>
        <cylinder length="0.78" radius="0.02"/>
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.3975"/>
      <geometry>
        <cylinder length="0.779" radius="0.02"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1.0"/>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.3815"/>
      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.01"/>
    </inertial>
  </link>
  <gazebo reference="leg4_table">
    <material>Gazebo/Grey</material>
    <mu1>1000.0</mu1>
    <mu2>1000.0</mu2>
    <kp>10000000.0</kp>
    <kd>1.0</kd>
    <selfCollide>true</selfCollide>
  </gazebo>
  <joint name="table_to_leg4" type="fixed">
    <parent link="table"/>
    <child link="leg4_table"/>
    <origin rpy="0 0 0" xyz="-0.43 -0.605 0"/>
  </joint>
  <!-- Place table 2 in the scene-->
  <!-- <xacro:table_macro name="table2" parent="world" width="${table2_width}"
                       length="${table2_length}" height="${table2_height}"
                       tabletop_thickness="${table_tabletop_thickness}" leg_radius="${table_leg_radius}">
        <origin xyz="0.1 ${gantry_length/2-table2_width/2-table_width} 0" rpy="0 0 ${-M_PI/2}"/>
    </xacro:table_macro> -->
  <!-- %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%-->
  <!-- table link-->
  <!-- %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%-->
  <link name="gantry"/>
  <joint name="world_to_gantry" type="fixed">
    <parent link="world"/>
    <child link="gantry"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
  </joint>
  <!--         %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%-->
  <!--         top big beam link-->
  <!--         %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%-->
  <link name="gantry_gantry">
    <!--            <visual>-->
    <!--                <origin xyz="0 0 ${-gantry_thickness}" rpy="0 0 0"/>-->
    <!--                <geometry>-->
    <!--                    <box size="${width} ${length} 0"/>-->
    <!--                </geometry>-->
    <!--                <material name="grey"/>-->
    <!--            </visual>-->
    <!--            <collision name="base_link_collision">-->
    <!--                <origin xyz="0 0 ${-gantry_thickness}" rpy="0 0 0"/>-->
    <!--                <geometry>-->
    <!--                    <box size="${width} ${length} ${gantry_thickness}"/>-->
    <!--                </geometry>-->
    <!--            </collision>-->
    <inertial>
      <mass value="1.0"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
    </inertial>
  </link>
  <gazebo reference="gantry_gantry">
    <material>Gazebo/Grey</material>
    <mu1>50.0</mu1>
    <mu2>50.0</mu2>
    <kp>1000000.0</kp>
    <kd>1.0</kd>
    <selfCollide>false</selfCollide>
  </gazebo>
  <joint name="gantry_to_gantry_gantry" type="fixed">
    <parent link="gantry"/>
    <child link="gantry_gantry"/>
    <origin rpy="0 0 0" xyz="0 0 2.29"/>
  </joint>
  <link name="leg1_gantry">
    <visual>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package://larcc_description/meshes/minitec_90x90_2200.STL" scale="0.001 0.001 0.001"/>
        <!--                    <cylinder radius="${leg_radius}" length="${height-gantry_thickness}" />-->
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.045 0.045 1.1"/>
      <geometry>
        <box size="0.09 0.09 2.2"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1.0"/>
      <origin rpy="0 0 0" xyz="0.0 0.0 1.1440000000000001"/>
      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.01"/>
    </inertial>
  </link>
  <gazebo reference="leg1_gantry">
    <material>Gazebo/Grey</material>
    <mu1>1000.0</mu1>
    <mu2>1000.0</mu2>
    <kp>10000000.0</kp>
    <kd>1.0</kd>
    <selfCollide>true</selfCollide>
  </gazebo>
  <joint name="gantry_to_leg1" type="fixed">
    <parent link="gantry"/>
    <child link="leg1_gantry"/>
    <origin rpy="0 0 0" xyz="-1.91 1.4 0"/>
  </joint>
  <link name="leg2_gantry">
    <visual>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package://larcc_description/meshes/minitec_90x90_2200.STL" scale="0.001 0.001 0.001"/>
        <!--                    <cylinder radius="${leg_radius}" length="${height-gantry_thickness}" />-->
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.045 0.045 1.1"/>
      <geometry>
        <box size="0.09 0.09 2.2"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1.0"/>
      <origin rpy="0 0 0" xyz="0.0 0.0 1.1440000000000001"/>
      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.01"/>
    </inertial>
  </link>
  <gazebo reference="leg2_gantry">
    <material>Gazebo/Grey</material>
    <mu1>1000.0</mu1>
    <mu2>1000.0</mu2>
    <kp>10000000.0</kp>
    <kd>1.0</kd>
    <selfCollide>true</selfCollide>
  </gazebo>
  <joint name="gantry_to_leg2" type="fixed">
    <parent link="gantry"/>
    <child link="leg2_gantry"/>
    <origin rpy="0 0 0" xyz="2.0 1.4 0"/>
  </joint>
  <link name="leg3_gantry">
    <visual>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package://larcc_description/meshes/minitec_90x90_2200.STL" scale="0.001 0.001 0.001"/>
        <!--                    <cylinder radius="${leg_radius}" length="${height-gantry_thickness}" />-->
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.045 0.045 1.1"/>
      <geometry>
        <box size="0.09 0.09 2.2"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1.0"/>
      <origin rpy="0 0 0" xyz="0.0 0.0 1.1440000000000001"/>
      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.01"/>
    </inertial>
  </link>
  <gazebo reference="leg3_gantry">
    <material>Gazebo/Grey</material>
    <mu1>1000.0</mu1>
    <mu2>1000.0</mu2>
    <kp>10000000.0</kp>
    <kd>1.0</kd>
    <selfCollide>true</selfCollide>
  </gazebo>
  <joint name="gantry_to_leg3" type="fixed">
    <parent link="gantry"/>
    <child link="leg3_gantry"/>
    <origin rpy="0 0 0" xyz="2.0 -1.49 0"/>
  </joint>
  <link name="leg4_gantry">
    <visual>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package://larcc_description/meshes/minitec_90x90_2200.STL" scale="0.001 0.001 0.001"/>
        <!--                    <cylinder radius="${leg_radius}" length="${height-gantry_thickness}" />-->
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.045 0.045 1.1"/>
      <geometry>
        <box size="0.09 0.09 2.2"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1.0"/>
      <origin rpy="0 0 0" xyz="0.0 0.0 1.1440000000000001"/>
      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.01"/>
    </inertial>
  </link>
  <gazebo reference="leg4_gantry">
    <material>Gazebo/Grey</material>
    <mu1>1000.0</mu1>
    <mu2>1000.0</mu2>
    <kp>10000000.0</kp>
    <kd>1.0</kd>
    <selfCollide>true</selfCollide>
  </gazebo>
  <joint name="gantry_to_leg4" type="fixed">
    <parent link="gantry"/>
    <child link="leg4_gantry"/>
    <origin rpy="0 0 0" xyz="-1.91 -1.49 0"/>
  </joint>
  <!--        <xacro:gantry_big_beam_macro name="bigbeam1" parent="${name}" height="${height}" leg_radius="${leg_radius}" gantry_thickness="${gantry_thickness}">-->
  <!--            <origin xyz="${-width/2+leg_radius-1.1/2} ${length/2-0.09} ${height}" rpy="0 0 0"/>-->
  <!--        </xacro:gantry_big_beam_macro>-->
  <!--&lt;!&ndash;&ndash;&gt;-->
  <!--        <xacro:gantry_big_beam_macro name="bigbeam2" parent="${name}" height="${height}" leg_radius="${leg_radius}" gantry_thickness="${gantry_thickness}">-->
  <!--            <origin xyz="${-width/2+leg_radius-1.1/2} ${-length/2+0.09} ${height}" rpy="0 0 0"/>-->
  <!--        </xacro:gantry_big_beam_macro>-->
  <link name="bigbeam1_gantry">
    <visual>
      <origin rpy="0 1.5707963267948966 0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package://larcc_description/meshes/minitec_90x90_5000.STL" scale="0.001 0.001 0.001"/>
        <!--                    <cylinder radius="${leg_radius}" length="${height-gantry_thickness}" />-->
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin rpy="0 1.5707963267948966 0" xyz="2.5 0.045 -0.045"/>
      <geometry>
        <box size="0.09 0.09 5"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1.0"/>
      <origin rpy="0 0 0" xyz="0.0 0.0 1.1440000000000001"/>
      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.01"/>
    </inertial>
  </link>
  <gazebo reference="bigbeam1_leg1_gantry">
    <material>Gazebo/Grey</material>
    <mu1>1000.0</mu1>
    <mu2>1000.0</mu2>
    <kp>10000000.0</kp>
    <kd>1.0</kd>
    <selfCollide>true</selfCollide>
  </gazebo>
  <joint name="leg1_gantry_to_bigbeam1" type="fixed">
    <parent link="leg1_gantry"/>
    <child link="bigbeam1_gantry"/>
    <origin rpy="0 0 0" xyz="-0.5 0 2.29"/>
  </joint>
  <link name="bigbeam2_gantry">
    <visual>
      <origin rpy="0 1.5707963267948966 0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package://larcc_description/meshes/minitec_90x90_5000.STL" scale="0.001 0.001 0.001"/>
        <!--                    <cylinder radius="${leg_radius}" length="${height-gantry_thickness}" />-->
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin rpy="0 1.5707963267948966 0" xyz="2.5 0.045 -0.045"/>
      <geometry>
        <box size="0.09 0.09 5"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1.0"/>
      <origin rpy="0 0 0" xyz="0.0 0.0 1.1440000000000001"/>
      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.01"/>
    </inertial>
  </link>
  <gazebo reference="bigbeam2_leg4_gantry">
    <material>Gazebo/Grey</material>
    <mu1>1000.0</mu1>
    <mu2>1000.0</mu2>
    <kp>10000000.0</kp>
    <kd>1.0</kd>
    <selfCollide>true</selfCollide>
  </gazebo>
  <joint name="leg4_gantry_to_bigbeam2" type="fixed">
    <parent link="leg4_gantry"/>
    <child link="bigbeam2_gantry"/>
    <origin rpy="0 0 0" xyz="-0.5 0 2.29"/>
  </joint>
  <!--        <xacro:gantry_small_beam_macro name="smallbeam1" parent="${name}" height="${height}" leg_radius="${leg_radius}" gantry_thickness="${gantry_thickness}">-->
  <!--            <origin xyz="${-width/2+leg_radius+0.09} ${-length/2-0.5} ${height+0.09}" rpy="0 0 0"/>-->
  <!--        </xacro:gantry_small_beam_macro>-->
  <!--&lt;!&ndash;&ndash;&gt;-->
  <!--        <xacro:gantry_small_beam_macro name="smallbeam2" parent="${name}" height="${height}" leg_radius="${leg_radius}" gantry_thickness="${gantry_thickness}">-->
  <!--            <origin xyz="${width/2-leg_radius+0.09} ${-length/2-0.5} ${height+0.09}" rpy="0 0 0"/>-->
  <!--        </xacro:gantry_small_beam_macro>-->
  <!--        <xacro:gantry_small_beam_macro name="smallbeam1" parent="bigbeam1_gantry" height="${height}" leg_radius="${leg_radius}" gantry_thickness="${gantry_thickness}">-->
  <!--            <origin xyz="${-width/2+leg_radius+0.09} ${-length/2-0.5} ${height+0.09}" rpy="0 0 0"/>-->
  <!--        </xacro:gantry_small_beam_macro>-->
  <!--&lt;!&ndash;&ndash;&gt;-->
  <!--        <xacro:gantry_small_beam_macro name="smallbeam2" parent="bigbeam1_gantry" height="${height}" leg_radius="${leg_radius}" gantry_thickness="${gantry_thickness}">-->
  <!--            <origin xyz="${width/2-leg_radius+0.09} ${-length/2-0.5} ${height+0.09}" rpy="0 0 0"/>-->
  <!--        </xacro:gantry_small_beam_macro>-->
  <link name="smallbeam1_bigbeam1_gantry">
    <visual>
      <origin rpy="0 1.5707963267948966 1.5707963267948966" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package://larcc_description/meshes/minitec_90x90_3800.STL" scale="0.001 0.001 0.001"/>
        <!--                    <cylinder radius="${leg_radius}" length="${height-gantry_thickness}" />-->
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin rpy="0 1.5707963267948966 1.5707963267948966" xyz="-0.045 1.9 -0.045"/>
      <geometry>
        <box size="0.09 0.09 3.8"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1.0"/>
      <origin rpy="0 0 0" xyz="0.0 0.0 1.1440000000000001"/>
      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.01"/>
    </inertial>
  </link>
  <gazebo reference="smallbeam1_bigbeam1_gantry">
    <material>Gazebo/Grey</material>
    <mu1>1000.0</mu1>
    <mu2>1000.0</mu2>
    <kp>10000000.0</kp>
    <kd>1.0</kd>
    <selfCollide>true</selfCollide>
  </gazebo>
  <joint name="bigbeam1_gantry_to_smallbeam1" type="fixed">
    <parent link="bigbeam1_gantry"/>
    <child link="smallbeam1_bigbeam1_gantry"/>
    <origin rpy="0 0 0" xyz="0.59 -3.3449999999999998 0.09"/>
  </joint>
  <link name="smallbeam2_bigbeam1_gantry">
    <visual>
      <origin rpy="0 1.5707963267948966 1.5707963267948966" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package://larcc_description/meshes/minitec_90x90_3800.STL" scale="0.001 0.001 0.001"/>
        <!--                    <cylinder radius="${leg_radius}" length="${height-gantry_thickness}" />-->
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin rpy="0 1.5707963267948966 1.5707963267948966" xyz="-0.045 1.9 -0.045"/>
      <geometry>
        <box size="0.09 0.09 3.8"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1.0"/>
      <origin rpy="0 0 0" xyz="0.0 0.0 1.1440000000000001"/>
      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.01"/>
    </inertial>
  </link>
  <gazebo reference="smallbeam2_bigbeam1_gantry">
    <material>Gazebo/Grey</material>
    <mu1>1000.0</mu1>
    <mu2>1000.0</mu2>
    <kp>10000000.0</kp>
    <kd>1.0</kd>
    <selfCollide>true</selfCollide>
  </gazebo>
  <joint name="bigbeam1_gantry_to_smallbeam2" type="fixed">
    <parent link="bigbeam1_gantry"/>
    <child link="smallbeam2_bigbeam1_gantry"/>
    <origin rpy="0 0 0" xyz="4.5 -3.3449999999999998 0.09"/>
  </joint>
  <!--        <xacro:gantry_retangular_beam_macro name="rectangularbeam1" parent="${name}" height="${height}" leg_radius="${leg_radius}" gantry_thickness="${gantry_thickness}">-->
  <!--            <origin xyz="${1+0.045} ${-length/2-0.15} ${height}" rpy="0 ${M_PI/2} 0"/>-->
  <!--        </xacro:gantry_retangular_beam_macro>-->
  <!--        <xacro:gantry_retangular_beam_macro name="rectangularbeam2" parent="${name}" height="${height}" leg_radius="${leg_radius}" gantry_thickness="${gantry_thickness}">-->
  <!--            <origin xyz="${0+0.045} ${-length/2-0.15} ${height}" rpy="0 ${M_PI/2} 0"/>-->
  <!--        </xacro:gantry_retangular_beam_macro>-->
  <!--        <xacro:gantry_retangular_beam_macro name="rectangularbeam3" parent="${name}" height="${height}" leg_radius="${leg_radius}" gantry_thickness="${gantry_thickness}">-->
  <!--            <origin xyz="${-1+0.045} ${-length/2-0.15} ${height}" rpy="0 ${M_PI/2} 0"/>-->
  <!--        </xacro:gantry_retangular_beam_macro>-->
  <link name="rectangularbeam1_gantry">
    <visual>
      <origin rpy="0 1.5707963267948966 1.5707963267948966" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package://larcc_description/meshes/minitec_45x90_3000.STL" scale="0.001 0.001 0.001"/>
        <!--                    <cylinder radius="${leg_radius}" length="${height-gantry_thickness}" />-->
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin rpy="0 1.5707963267948966 1.5707963267948966" xyz="-0.045 1.5 -0.0225"/>
      <geometry>
        <box size="0.045 0.09 3"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1.0"/>
      <origin rpy="0 0 0" xyz="0.0 0.0 1.1440000000000001"/>
      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.01"/>
    </inertial>
  </link>
  <gazebo reference="rectangularbeam1_bigbeam1_gantry">
    <material>Gazebo/Grey</material>
    <mu1>1000.0</mu1>
    <mu2>1000.0</mu2>
    <kp>10000000.0</kp>
    <kd>1.0</kd>
    <selfCollide>true</selfCollide>
  </gazebo>
  <joint name="bigbeam1_gantry_to_rectangularbeam1" type="fixed">
    <parent link="bigbeam1_gantry"/>
    <child link="rectangularbeam1_gantry"/>
    <origin rpy="0 1.5707963267948966 0" xyz="1.455 -2.8 0"/>
  </joint>
  <link name="rectangularbeam2_gantry">
    <visual>
      <origin rpy="0 1.5707963267948966 1.5707963267948966" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package://larcc_description/meshes/minitec_45x90_3000.STL" scale="0.001 0.001 0.001"/>
        <!--                    <cylinder radius="${leg_radius}" length="${height-gantry_thickness}" />-->
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin rpy="0 1.5707963267948966 1.5707963267948966" xyz="-0.045 1.5 -0.0225"/>
      <geometry>
        <box size="0.045 0.09 3"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1.0"/>
      <origin rpy="0 0 0" xyz="0.0 0.0 1.1440000000000001"/>
      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.01"/>
    </inertial>
  </link>
  <gazebo reference="rectangularbeam2_bigbeam1_gantry">
    <material>Gazebo/Grey</material>
    <mu1>1000.0</mu1>
    <mu2>1000.0</mu2>
    <kp>10000000.0</kp>
    <kd>1.0</kd>
    <selfCollide>true</selfCollide>
  </gazebo>
  <joint name="bigbeam1_gantry_to_rectangularbeam2" type="fixed">
    <parent link="bigbeam1_gantry"/>
    <child link="rectangularbeam2_gantry"/>
    <origin rpy="0 1.5707963267948966 0" xyz="2.455 -2.8 0"/>
  </joint>
  <link name="rectangularbeam3_gantry">
    <visual>
      <origin rpy="0 1.5707963267948966 1.5707963267948966" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package://larcc_description/meshes/minitec_45x90_3000.STL" scale="0.001 0.001 0.001"/>
        <!--                    <cylinder radius="${leg_radius}" length="${height-gantry_thickness}" />-->
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin rpy="0 1.5707963267948966 1.5707963267948966" xyz="-0.045 1.5 -0.0225"/>
      <geometry>
        <box size="0.045 0.09 3"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1.0"/>
      <origin rpy="0 0 0" xyz="0.0 0.0 1.1440000000000001"/>
      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.01"/>
    </inertial>
  </link>
  <gazebo reference="rectangularbeam3_bigbeam1_gantry">
    <material>Gazebo/Grey</material>
    <mu1>1000.0</mu1>
    <mu2>1000.0</mu2>
    <kp>10000000.0</kp>
    <kd>1.0</kd>
    <selfCollide>true</selfCollide>
  </gazebo>
  <joint name="bigbeam1_gantry_to_rectangularbeam3" type="fixed">
    <parent link="bigbeam1_gantry"/>
    <child link="rectangularbeam3_gantry"/>
    <origin rpy="0 1.5707963267948966 0" xyz="3.455 -2.8 0"/>
  </joint>
  <!--
    Base UR robot series xacro macro.

    NOTE: this is NOT a URDF. It cannot directly be loaded by consumers
    expecting a flattened '.urdf' file. See the top-level '.xacro' for that
    (but note: that .xacro must still be processed by the xacro command).

    For use in '.launch' files: use one of the 'load_urX.launch' convenience
    launch files.

    This file models the base kinematic chain of a UR robot, which then gets
    parameterised by various configuration files to convert it into a UR3(e),
    UR5(e), UR10(e) or UR16e.

    NOTE: the default kinematic parameters (ie: link lengths, frame locations,
    offets, etc) do not correspond to any particular robot. They are defaults
    only. There WILL be non-zero offsets between the Forward Kinematics results
    in TF (ie: robot_state_publisher) and the values reported by the Teach
    Pendant.

    For accurate (and robot-specific) transforms, the 'kinematics_parameters_file'
    parameter MUST point to a .yaml file containing the appropriate values for
    the targetted robot.

    If using the UniversalRobots/Universal_Robots_ROS_Driver, follow the steps
    described in the readme of that repository to extract the kinematic
    calibration from the controller and generate the required .yaml file.

    Main author of the migration to yaml configs: Ludovic Delval.

    Contributors to previous versions (in no particular order):

     - Felix Messmer
     - Kelsey Hawkins
     - Wim Meeussen
     - Shaun Edwards
     - Nadia Hammoudeh Garcia
     - Dave Hershberger
     - G. vd. Hoorn
     - Philip Long
     - Dave Coleman
     - Miguel Prada
     - Mathias Luedtke
     - Marcel Schnirring
     - Felix von Drigalski
     - Felix Exner
     - Jimmy Da Silva
     - Ajit Krisshna N L
     - Muhammad Asif Rana
  -->
  <!--
    NOTE: the macro defined in this file is NOT part of the public API of this
          package. Users CANNOT rely on this file being available, or stored in
          this location. Nor can they rely on the existence of the macro.
  -->
  <transmission name="shoulder_pan_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="shoulder_pan_joint">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="shoulder_pan_motor">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="shoulder_lift_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="shoulder_lift_joint">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="shoulder_lift_motor">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="elbow_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="elbow_joint">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="elbow_motor">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="wrist_1_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="wrist_1_joint">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="wrist_1_motor">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="wrist_2_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="wrist_2_joint">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="wrist_2_motor">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="wrist_3_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="wrist_3_joint">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="wrist_3_motor">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <!-- links: main serial chain -->
  <link name="base_link"/>
  <link name="base_link_inertia">
    <visual>
      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur10e/visual/base.dae"/>
      </geometry>
      <material name="LightGrey">
        <color rgba="0.7 0.7 0.7 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur10e/collision/base.stl"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="4.0"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="0.0061063308908" ixy="0.0" ixz="0.0" iyy="0.0061063308908" iyz="0.0" izz="0.01125"/>
    </inertial>
  </link>
  <link name="shoulder_link">
    <visual>
      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur10e/visual/shoulder.dae"/>
      </geometry>
      <material name="LightGrey">
        <color rgba="0.7 0.7 0.7 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur10e/collision/shoulder.stl"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="7.778"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="0.03147431257693659" ixy="0.0" ixz="0.0" iyy="0.03147431257693659" iyz="0.0" izz="0.021875624999999996"/>
    </inertial>
  </link>
  <link name="upper_arm_link">
    <visual>
      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.1762"/>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur10e/visual/upperarm.dae"/>
      </geometry>
      <material name="LightGrey">
        <color rgba="0.7 0.7 0.7 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.1762"/>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur10e/collision/upperarm.stl"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="12.93"/>
      <origin rpy="0 1.5707963267948966 0" xyz="-0.306 0.0 0.175"/>
      <inertia ixx="0.42175380379841093" ixy="0.0" ixz="0.0" iyy="0.42175380379841093" iyz="0.0" izz="0.03636562499999999"/>
    </inertial>
  </link>
  <link name="forearm_link">
    <visual>
      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.0393"/>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur10e/visual/forearm.dae"/>
      </geometry>
      <material name="LightGrey">
        <color rgba="0.7 0.7 0.7 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.0393"/>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur10e/collision/forearm.stl"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="3.87"/>
      <origin rpy="0 1.5707963267948966 0" xyz="-0.285775 0.0 0.0393"/>
      <inertia ixx="0.11079302548902206" ixy="0.0" ixz="0.0" iyy="0.11079302548902206" iyz="0.0" izz="0.010884375"/>
    </inertial>
  </link>
  <link name="wrist_1_link">
    <visual>
      <!-- TODO: Move this to a parameter -->
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.135"/>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur10e/visual/wrist1.dae"/>
      </geometry>
      <material name="LightGrey">
        <color rgba="0.7 0.7 0.7 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.135"/>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur10e/collision/wrist1.stl"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1.96"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="0.005108247956699999" ixy="0.0" ixz="0.0" iyy="0.005108247956699999" iyz="0.0" izz="0.005512499999999999"/>
    </inertial>
  </link>
  <link name="wrist_2_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 -0.12"/>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur10e/visual/wrist2.dae"/>
      </geometry>
      <material name="LightGrey">
        <color rgba="0.7 0.7 0.7 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 -0.12"/>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur10e/collision/wrist2.stl"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1.96"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="0.005108247956699999" ixy="0.0" ixz="0.0" iyy="0.005108247956699999" iyz="0.0" izz="0.005512499999999999"/>
    </inertial>
  </link>
  <link name="wrist_3_link">
    <visual>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.1168"/>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur10e/visual/wrist3.dae"/>
      </geometry>
      <material name="LightGrey">
        <color rgba="0.7 0.7 0.7 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.1168"/>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur10e/collision/wrist3.stl"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.202"/>
      <origin rpy="0 0 0" xyz="0.0 0.0 -0.025"/>
      <inertia ixx="0.00014434577559500002" ixy="0.0" ixz="0.0" iyy="0.00014434577559500002" iyz="0.0" izz="0.00020452500000000002"/>
    </inertial>
  </link>
  <!-- joints: main serial chain -->
  <joint name="base_link-base_link_inertia" type="fixed">
    <parent link="base_link"/>
    <child link="base_link_inertia"/>
    <!-- 'base_link' is REP-103 aligned (so X+ forward), while the internal
           frames of the robot/controller have X+ pointing backwards.
           Use the joint between 'base_link' and 'base_link_inertia' (a dummy
           link/frame) to introduce the necessary rotation over Z (of pi rad).
      -->
    <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
  </joint>
  <joint name="shoulder_pan_joint" type="revolute">
    <parent link="base_link_inertia"/>
    <child link="shoulder_link"/>
    <origin rpy="0 0 0" xyz="0 0 0.1807"/>
    <axis xyz="0 0 1"/>
    <limit effort="330.0" lower="-3.141592653589793" upper="3.141592653589793" velocity="2.0943951023931953"/>
    <dynamics damping="0" friction="0"/>
  </joint>
  <joint name="shoulder_lift_joint" type="revolute">
    <parent link="shoulder_link"/>
    <child link="upper_arm_link"/>
    <origin rpy="1.570796327 0 0" xyz="0 0 0"/>
    <axis xyz="0 0 1"/>
    <limit effort="330.0" lower="-1.8325957145940461" upper="0.0" velocity="2.0943951023931953"/>
    <dynamics damping="0" friction="0"/>
  </joint>
  <joint name="elbow_joint" type="revolute">
    <parent link="upper_arm_link"/>
    <child link="forearm_link"/>
    <origin rpy="0 0 0" xyz="-0.6127 0 0"/>
    <axis xyz="0 0 1"/>
    <limit effort="150.0" lower="-3.141592653589793" upper="3.141592653589793" velocity="3.141592653589793"/>
    <dynamics damping="0" friction="0"/>
  </joint>
  <joint name="wrist_1_joint" type="revolute">
    <parent link="forearm_link"/>
    <child link="wrist_1_link"/>
    <origin rpy="0 0 0" xyz="-0.57155 0 0.17415"/>
    <axis xyz="0 0 1"/>
    <limit effort="56.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
    <dynamics damping="0" friction="0"/>
  </joint>
  <joint name="wrist_2_joint" type="revolute">
    <parent link="wrist_1_link"/>
    <child link="wrist_2_link"/>
    <origin rpy="1.570796327 0 0" xyz="0 -0.11985 -2.458164590756244e-11"/>
    <axis xyz="0 0 1"/>
    <limit effort="56.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
    <dynamics damping="0" friction="0"/>
  </joint>
  <joint name="wrist_3_joint" type="revolute">
    <parent link="wrist_2_link"/>
    <child link="wrist_3_link"/>
    <origin rpy="1.570796326589793 3.141592653589793 3.141592653589793" xyz="0 0.11655 -2.390480459346185e-11"/>
    <axis xyz="0 0 1"/>
    <limit effort="56.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
    <dynamics damping="0" friction="0"/>
  </joint>
  <!-- ROS-Industrial 'base' frame: base_link to UR 'Base' Coordinates transform -->
  <link name="base"/>
  <joint name="base_link-base_fixed_joint" type="fixed">
    <!-- Note the rotation over Z of pi radians: as base_link is REP-103
           aligned (ie: has X+ forward, Y+ left and Z+ up), this is needed
           to correctly align 'base' with the 'Base' coordinate system of
           the UR controller.
      -->
    <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
    <parent link="base_link"/>
    <child link="base"/>
  </joint>
  <!-- ROS-Industrial 'flange' frame: attachment point for EEF models -->
  <link name="flange"/>
  <joint name="wrist_3-flange" type="fixed">
    <parent link="wrist_3_link"/>
    <child link="flange"/>
    <origin rpy="0 -1.5707963267948966 -1.5707963267948966" xyz="0 0 0"/>
  </joint>
  <!-- ROS-Industrial 'tool0' frame: all-zeros tool frame -->
  <link name="tool0"/>
  <joint name="flange-tool0" type="fixed">
    <!-- default toolframe: X+ left, Y+ up, Z+ front -->
    <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0 0 0"/>
    <parent link="flange"/>
    <child link="tool0"/>
  </joint>
  <!-- Configure self collision properties per link -->
  <gazebo reference="shoulder_link">
    <selfCollide>true</selfCollide>
  </gazebo>
  <gazebo reference="upper_arm_link">
    <selfCollide>true</selfCollide>
  </gazebo>
  <gazebo reference="forearm_link">
    <selfCollide>true</selfCollide>
  </gazebo>
  <gazebo reference="wrist_1_link">
    <selfCollide>true</selfCollide>
  </gazebo>
  <gazebo reference="wrist_3_link">
    <selfCollide>true</selfCollide>
  </gazebo>
  <gazebo reference="wrist_2_link">
    <selfCollide>true</selfCollide>
  </gazebo>
  <gazebo reference="ee_link">
    <selfCollide>true</selfCollide>
  </gazebo>
  <!--
      Inject Gazebo ROS Control plugin, which allows us to use ros_control
      controllers to control the virtual robot hw.
    -->
  <gazebo>
    <plugin filename="libgazebo_ros_control.so" name="ros_control">
      <!--robotNamespace>/</robotNamespace-->
      <!--robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType-->
    </plugin>
  </gazebo>
  <!--    Place gripper-->
  <!-- <xacro:robotiq_arg2f_140 prefix=""/>

    <joint name="new_gripper_joint" type="fixed">
        <parent link="tool0"/>
        <child link="robotiq_arg2f_base_link"/>
        <origin xyz="0 0 0" rpy="0 0 1.5708"/>
    </joint> -->
  <!--  Place robot on top of the table1-->
  <joint name="tabletop_table_to_ur10e" type="fixed">
    <parent link="tabletop_table"/>
    <child link="base_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.001"/>
  </joint>
  <joint name="lidar_1_base_mount_joint" type="fixed">
    <origin rpy="-1.4068863031624894 0.9304128095436818 -0.8782068835816081" xyz="1.955777406692505e-08 1.677582025527954 -0.07595625519752502"/>
    <parent link="rectangularbeam3_gantry"/>
    <child link="lidar_1_base_link"/>
  </joint>
  <link name="lidar_1_base_link">
    <inertial>
      <mass value="0.83"/>
      <origin xyz="0 0 0.03585"/>
      <inertia ixx="0.000908059425" ixy="0" ixz="0" iyy="0.000908059425" iyz="0" izz="0.0011049624"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="package://velodyne_description/meshes/VLP16_base_1.dae"/>
      </geometry>
    </visual>
    <visual>
      <geometry>
        <mesh filename="package://velodyne_description/meshes/VLP16_base_2.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.03585"/>
      <geometry>
        <cylinder length="0.0717" radius="0.0516"/>
      </geometry>
    </collision>
  </link>
  <joint name="lidar_1_base_scan_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0.0377"/>
    <parent link="lidar_1_base_link"/>
    <child link="lidar_1"/>
  </joint>
  <link name="lidar_1">
    <inertial>
      <mass value="0.01"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1e-7" ixy="0" ixz="0" iyy="1e-7" iyz="0" izz="1e-7"/>
    </inertial>
    <visual>
      <origin xyz="0 0 -0.0377"/>
      <geometry>
        <mesh filename="package://velodyne_description/meshes/VLP16_scan.dae"/>
      </geometry>
    </visual>
  </link>
  <!-- Gazebo requires the velodyne_gazebo_plugins package -->
  <gazebo reference="lidar_1">
    <sensor name="lidar_1-VLP16" type="gpu_ray">
      <pose>0 0 0 0 0 0</pose>
      <visualize>false</visualize>
      <update_rate>8</update_rate>
      <ray>
        <scan>
          <horizontal>
            <samples>1875</samples>
            <resolution>1</resolution>
            <min_angle>-3.141592653589793</min_angle>
            <max_angle>3.141592653589793</max_angle>
          </horizontal>
          <vertical>
            <samples>16</samples>
            <resolution>1</resolution>
            <min_angle>-0.2617993877991494</min_angle>
            <max_angle> 0.2617993877991494</max_angle>
          </vertical>
        </scan>
        <range>
          <min>0.3</min>
          <max>131.0</max>
          <resolution>0.001</resolution>
        </range>
        <noise>
          <type>gaussian</type>
          <mean>0.0</mean>
          <stddev>0.0</stddev>
        </noise>
      </ray>
      <plugin filename="libgazebo_ros_velodyne_gpu_laser.so" name="gazebo_ros_laser_controller">
        <topicName>/lidar_1/velodyne_points</topicName>
        <frameName>lidar_1</frameName>
        <organize_cloud>False</organize_cloud>
        <min_range>0.9</min_range>
        <max_range>130.0</max_range>
        <gaussianNoise>0.008</gaussianNoise>
      </plugin>
    </sensor>
  </gazebo>
  <joint name="lidar_2_base_mount_joint" type="fixed">
    <origin rpy="-1.5838383865967978 -0.010889059518626235 -0.9922356621235997" xyz="0.055899396538734436 2.29645037651062 -0.02108168601989746"/>
    <parent link="rectangularbeam2_gantry"/>
    <child link="lidar_2_base_link"/>
  </joint>
  <link name="lidar_2_base_link">
    <inertial>
      <mass value="0.83"/>
      <origin xyz="0 0 0.03585"/>
      <inertia ixx="0.000908059425" ixy="0" ixz="0" iyy="0.000908059425" iyz="0" izz="0.0011049624"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="package://velodyne_description/meshes/VLP16_base_1.dae"/>
      </geometry>
    </visual>
    <visual>
      <geometry>
        <mesh filename="package://velodyne_description/meshes/VLP16_base_2.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.03585"/>
      <geometry>
        <cylinder length="0.0717" radius="0.0516"/>
      </geometry>
    </collision>
  </link>
  <joint name="lidar_2_base_scan_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0.0377"/>
    <parent link="lidar_2_base_link"/>
    <child link="lidar_2"/>
  </joint>
  <link name="lidar_2">
    <inertial>
      <mass value="0.01"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1e-7" ixy="0" ixz="0" iyy="1e-7" iyz="0" izz="1e-7"/>
    </inertial>
    <visual>
      <origin xyz="0 0 -0.0377"/>
      <geometry>
        <mesh filename="package://velodyne_description/meshes/VLP16_scan.dae"/>
      </geometry>
    </visual>
  </link>
  <!-- Gazebo requires the velodyne_gazebo_plugins package -->
  <gazebo reference="lidar_2">
    <sensor name="lidar_2-VLP16" type="gpu_ray">
      <pose>0 0 0 0 0 0</pose>
      <visualize>false</visualize>
      <update_rate>8</update_rate>
      <ray>
        <scan>
          <horizontal>
            <samples>1875</samples>
            <resolution>1</resolution>
            <min_angle>-3.141592653589793</min_angle>
            <max_angle>3.141592653589793</max_angle>
          </horizontal>
          <vertical>
            <samples>16</samples>
            <resolution>1</resolution>
            <min_angle>-0.2617993877991494</min_angle>
            <max_angle> 0.2617993877991494</max_angle>
          </vertical>
        </scan>
        <range>
          <min>0.3</min>
          <max>131.0</max>
          <resolution>0.001</resolution>
        </range>
        <noise>
          <type>gaussian</type>
          <mean>0.0</mean>
          <stddev>0.0</stddev>
        </noise>
      </ray>
      <plugin filename="libgazebo_ros_velodyne_gpu_laser.so" name="gazebo_ros_laser_controller">
        <topicName>/lidar_2/velodyne_points</topicName>
        <frameName>lidar_2</frameName>
        <organize_cloud>False</organize_cloud>
        <min_range>0.9</min_range>
        <max_range>130.0</max_range>
        <gaussianNoise>0.008</gaussianNoise>
      </plugin>
    </sensor>
  </gazebo>
  <joint name="lidar_3_base_mount_joint" type="fixed">
    <origin rpy="-1.9820141210538103 0.011203647336123805 -1.0491534231905575" xyz="-0.042497698217630386 1.5332698822021484 0.08965662121772766"/>
    <parent link="rectangularbeam1_gantry"/>
    <child link="lidar_3_base_link"/>
  </joint>
  <link name="lidar_3_base_link">
    <inertial>
      <mass value="0.83"/>
      <origin xyz="0 0 0.03585"/>
      <inertia ixx="0.000908059425" ixy="0" ixz="0" iyy="0.000908059425" iyz="0" izz="0.0011049624"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="package://velodyne_description/meshes/VLP16_base_1.dae"/>
      </geometry>
    </visual>
    <visual>
      <geometry>
        <mesh filename="package://velodyne_description/meshes/VLP16_base_2.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.03585"/>
      <geometry>
        <cylinder length="0.0717" radius="0.0516"/>
      </geometry>
    </collision>
  </link>
  <joint name="lidar_3_base_scan_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0.0377"/>
    <parent link="lidar_3_base_link"/>
    <child link="lidar_3"/>
  </joint>
  <link name="lidar_3">
    <inertial>
      <mass value="0.01"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1e-7" ixy="0" ixz="0" iyy="1e-7" iyz="0" izz="1e-7"/>
    </inertial>
    <visual>
      <origin xyz="0 0 -0.0377"/>
      <geometry>
        <mesh filename="package://velodyne_description/meshes/VLP16_scan.dae"/>
      </geometry>
    </visual>
  </link>
  <!-- Gazebo requires the velodyne_gazebo_plugins package -->
  <gazebo reference="lidar_3">
    <sensor name="lidar_3-VLP16" type="gpu_ray">
      <pose>0 0 0 0 0 0</pose>
      <visualize>false</visualize>
      <update_rate>8</update_rate>
      <ray>
        <scan>
          <horizontal>
            <samples>1875</samples>
            <resolution>1</resolution>
            <min_angle>-3.141592653589793</min_angle>
            <max_angle>3.141592653589793</max_angle>
          </horizontal>
          <vertical>
            <samples>16</samples>
            <resolution>1</resolution>
            <min_angle>-0.2617993877991494</min_angle>
            <max_angle> 0.2617993877991494</max_angle>
          </vertical>
        </scan>
        <range>
          <min>0.3</min>
          <max>131.0</max>
          <resolution>0.001</resolution>
        </range>
        <noise>
          <type>gaussian</type>
          <mean>0.0</mean>
          <stddev>0.0</stddev>
        </noise>
      </ray>
      <plugin filename="libgazebo_ros_velodyne_gpu_laser.so" name="gazebo_ros_laser_controller">
        <topicName>/lidar_3/velodyne_points</topicName>
        <frameName>lidar_3</frameName>
        <organize_cloud>False</organize_cloud>
        <min_range>0.9</min_range>
        <max_range>130.0</max_range>
        <gaussianNoise>0.008</gaussianNoise>
      </plugin>
    </sensor>
  </gazebo>
  <!--    CALIBRATED-->
  <joint name="hand_camera_joint" type="fixed">
    <origin rpy="3.141592653589793 0.0 0" xyz="-0.02 -0.06 -0.065"/>
    <parent link="flange"/>
    <child link="hand_camera_link"/>
  </joint>
  <link name="hand_camera_link">
    <visual>
      <origin rpy="3.141592653589793 0 1.5707963267948966" xyz="-0.03 -0.06 0"/>
      <geometry>
        <mesh filename="package://larcc_description/meshes/sensors/astra2.dae" scale="0.48 0.66 0.5"/>
      </geometry>
    </visual>
    <!--      <collision>-->
    <!--        &lt;!&ndash; <origin xyz="0.0 0.0 0.0" rpy="0 0 0" /> &ndash;&gt;-->
    <!--        <origin xyz="-0.01 -0.06 0" rpy="0 0 0"/>-->
    <!--        <geometry>-->
    <!--        <box size="0.0400 0.1650 0.0300"/>-->
    <!--      </geometry>-->
    <!--      </collision>-->
    <inertial>
      <mass value="0.564"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
    </inertial>
  </link>
  <gazebo reference="hand_camera_link">
    <selfCollide>false</selfCollide>
  </gazebo>
  <joint name="hand_camera_rgb_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 -0.045 0"/>
    <parent link="hand_camera_link"/>
    <child link="hand_camera_rgb_frame"/>
  </joint>
  <link name="hand_camera_rgb_frame"/>
  <joint name="hand_camera_rgb_optical_joint" type="fixed">
    <origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
    <parent link="hand_camera_rgb_frame"/>
    <child link="hand_camera_rgb_optical_frame"/>
  </joint>
  <link name="hand_camera_rgb_optical_frame"/>
  <joint name="hand_camera_depth_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 -0.02 0"/>
    <parent link="hand_camera_link"/>
    <child link="hand_camera_depth_frame"/>
  </joint>
  <link name="hand_camera_depth_frame"/>
  <joint name="hand_camera_depth_optical_joint" type="fixed">
    <origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
    <parent link="hand_camera_depth_frame"/>
    <child link="hand_camera_depth_optical_frame"/>
  </joint>
  <link name="hand_camera_depth_optical_frame"/>
  <gazebo reference="hand_camera_depth_frame">
    <sensor name="camera" type="depth">
      <always_on>true</always_on>
      <update_rate>8.0</update_rate>
      <camera>
        <horizontal_fov>1.0471975511965976</horizontal_fov>
        <image>
          <format>B8G8R8</format>
          <!--                      <format>RGB_INT8</format>-->
          <width>1280</width>
          <height>800</height>
        </image>
        <clip>
          <near>0.10</near>
          <far>8.0</far>
        </clip>
      </camera>
      <plugin filename="libgazebo_ros_openni_kinect.so" name="hand_camera_camera_controller">
        <cameraName>hand_camera</cameraName>
        <alwaysOn>true</alwaysOn>
        <updateRate>0</updateRate>
        <imageTopicName>rgb/image_raw</imageTopicName>
        <depthImageTopicName>depth/image_raw</depthImageTopicName>
        <pointCloudTopicName>depth/points</pointCloudTopicName>
        <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
        <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
        <!--                  <frameName>${prefix}_depth_optical_frame</frameName>-->
        <frameName>hand_camera_rgb_optical_frame</frameName>
        <!--                  <frameName>${prefix}_link</frameName>-->
        <baseline>0.1</baseline>
        <distortion_k1>0.0</distortion_k1>
        <distortion_k2>0.0</distortion_k2>
        <distortion_k3>0.0</distortion_k3>
        <distortion_t1>0.0</distortion_t1>
        <distortion_t2>0.0</distortion_t2>
        <pointCloudCutoff>0.4</pointCloudCutoff>
      </plugin>
    </sensor>
  </gazebo>
  <joint name="camera_1_joint" type="fixed">
    <origin rpy="0 0.5235987755982988 -1.5707963267948966" xyz="2.8 0 -0.09"/>
    <parent link="bigbeam1_gantry"/>
    <child link="camera_1_link"/>
  </joint>
  <link name="camera_1_link">
    <inertial>
      <mass value="0.01"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="4.9000000000000005e-06" ixy="0.0" ixz="0.0" iyy="4.9000000000000005e-06" iyz="0.0" izz="4.9000000000000005e-06"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://hector_sensors_description/meshes/kinect_camera/kinect_camera_simple.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://hector_sensors_description/meshes/kinect_camera/kinect_camera_simple.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="camera_1_depth_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.0 -0.02 0.0"/>
    <parent link="camera_1_link"/>
    <child link="camera_1_depth_frame"/>
  </joint>
  <link name="camera_1_depth_frame"/>
  <joint name="camera_1_depth_optical_joint" type="fixed">
    <origin rpy="-1.5707963267948966 0.0 -1.5707963267948966" xyz="0 0 0"/>
    <parent link="camera_1_depth_frame"/>
    <child link="camera_1_depth_optical_frame"/>
  </joint>
  <link name="camera_1_depth_optical_frame"/>
  <joint name="camera_1_rgb_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.0 -0.0125 0.0"/>
    <parent link="camera_1_link"/>
    <child link="camera_1_rgb_frame"/>
  </joint>
  <link name="camera_1_rgb_frame"/>
  <joint name="camera_1_rgb_optical_joint" type="fixed">
    <origin rpy="-1.5707963267948966 0.0 -1.5707963267948966" xyz="0 0 0"/>
    <parent link="camera_1_rgb_frame"/>
    <child link="camera_1_rgb_optical_frame"/>
  </joint>
  <link name="camera_1_rgb_optical_frame"/>
  <gazebo reference="camera_1_depth_frame">
    <sensor name="camera_1" type="depth">
      <update_rate>20</update_rate>
      <camera>
        <horizontal_fov>1.0471975511965976</horizontal_fov>
        <image>
          <format>B8G8R8</format>
          <width>640</width>
          <height>480</height>
        </image>
        <clip>
          <near>0.10</near>
          <far>8.0</far>
        </clip>
      </camera>
      <plugin filename="libgazebo_ros_openni_kinect.so" name="camera_1_camera_controller">
        <imageTopicName>null</imageTopicName>
        <cameraInfoTopicName>null/camera_info</cameraInfoTopicName>
        <depthImageTopicName>camera_1/depth/image_raw</depthImageTopicName>
        <depthImageCameraInfoTopicName>camera_1/depth/camera_info</depthImageCameraInfoTopicName>
        <pointCloudTopicName>camera_1/depth/points</pointCloudTopicName>
        <frameName>camera_1_depth_optical_frame</frameName>
      </plugin>
    </sensor>
  </gazebo>
  <gazebo reference="camera_1_rgb_frame">
    <sensor name="camera_1" type="camera">
      <update_rate>20.0</update_rate>
      <camera>
        <!--                    <pose>0 0 0 ${M_PI/2} ${-M_PI/2} 0</pose>-->
        <horizontal_fov>1.0471975511965976</horizontal_fov>
        <image>
          <format>B8G8R8</format>
          <!--                      <format>RGB_INT8</format>-->
          <width>640</width>
          <height>480</height>
        </image>
        <clip>
          <near>0.10</near>
          <far>8.0</far>
        </clip>
      </camera>
      <plugin filename="libgazebo_ros_camera.so" name="camera_1}_rgb_camera_controller">
        <!-- <cameraName>${name}</cameraName> -->
        <alwaysOn>true</alwaysOn>
        <updateRate>0</updateRate>
        <imageTopicName>camera_1/rgb/image_raw</imageTopicName>
        <!--                    <depthImageTopicName>depth/image_raw</depthImageTopicName>-->
        <!--                    <pointCloudTopicName>depth/points</pointCloudTopicName>-->
        <cameraInfoTopicName>camera_1/rgb/camera_info</cameraInfoTopicName>
        <!--                    <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>-->
        <!--                    <frameName>${prefix}_depth_optical_frame</frameName>-->
        <frameName>camera_1_rgb_optical_frame</frameName>
        <!--                  <frameName>${prefix}_link</frameName>-->
        <!-- Apparently this is not used-->
        <!-- <baseline>0.1</baseline> -->
        <!--                  <hackBaseline>2</hackBaseline>-->
        <!-- <distortion_k1>0.0</distortion_k1> -->
        <!-- <distortion_k2>0.0</distortion_k2> -->
        <!-- <distortion_k3>0.0</distortion_k3> -->
        <!-- <distortion_t1>0.0</distortion_t1> -->
        <!-- <distortion_t2>0.0</distortion_t2> -->
        <!--                    <pointCloudCutoff>0.4</pointCloudCutoff>-->
      </plugin>
    </sensor>
  </gazebo>
  <joint name="camera_2_joint" type="fixed">
    <origin rpy="0.016022853466738745 0.4975036324125581 -2.2477926358273677" xyz="-0.0899999737739563 2.5493040084838867 -0.10000000149011612"/>
    <parent link="smallbeam2_bigbeam1_gantry"/>
    <child link="camera_2_link"/>
  </joint>
  <link name="camera_2_link">
    <visual>
      <origin rpy="3.141592653589793 0 1.5707963267948966" xyz="-0.03 -0.06 0"/>
      <geometry>
        <mesh filename="package://larcc_description/meshes/sensors/astra2.dae" scale="1 1 1"/>
      </geometry>
    </visual>
    <!--      <collision>-->
    <!--        &lt;!&ndash; <origin xyz="0.0 0.0 0.0" rpy="0 0 0" /> &ndash;&gt;-->
    <!--        <origin xyz="-0.01 -0.06 0" rpy="0 0 0"/>-->
    <!--        <geometry>-->
    <!--        <box size="0.0400 0.1650 0.0300"/>-->
    <!--      </geometry>-->
    <!--      </collision>-->
    <inertial>
      <mass value="0.564"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
    </inertial>
  </link>
  <gazebo reference="camera_2_link">
    <selfCollide>false</selfCollide>
  </gazebo>
  <joint name="camera_2_rgb_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 -0.045 0"/>
    <parent link="camera_2_link"/>
    <child link="camera_2_rgb_frame"/>
  </joint>
  <link name="camera_2_rgb_frame"/>
  <joint name="camera_2_rgb_optical_joint" type="fixed">
    <origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
    <parent link="camera_2_rgb_frame"/>
    <child link="camera_2_rgb_optical_frame"/>
  </joint>
  <link name="camera_2_rgb_optical_frame"/>
  <joint name="camera_2_depth_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 -0.02 0"/>
    <parent link="camera_2_link"/>
    <child link="camera_2_depth_frame"/>
  </joint>
  <link name="camera_2_depth_frame"/>
  <joint name="camera_2_depth_optical_joint" type="fixed">
    <origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
    <parent link="camera_2_depth_frame"/>
    <child link="camera_2_depth_optical_frame"/>
  </joint>
  <link name="camera_2_depth_optical_frame"/>
  <gazebo reference="camera_2_depth_frame">
    <sensor name="camera" type="depth">
      <always_on>true</always_on>
      <update_rate>8.0</update_rate>
      <camera>
        <horizontal_fov>1.0471975511965976</horizontal_fov>
        <image>
          <format>B8G8R8</format>
          <!--                      <format>RGB_INT8</format>-->
          <width>1280</width>
          <height>800</height>
        </image>
        <clip>
          <near>0.10</near>
          <far>8.0</far>
        </clip>
      </camera>
      <plugin filename="libgazebo_ros_openni_kinect.so" name="camera_2_camera_controller">
        <cameraName>camera_2</cameraName>
        <alwaysOn>true</alwaysOn>
        <updateRate>0</updateRate>
        <imageTopicName>rgb/image_raw</imageTopicName>
        <depthImageTopicName>depth/image_raw</depthImageTopicName>
        <pointCloudTopicName>depth/points</pointCloudTopicName>
        <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
        <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
        <!--                  <frameName>${prefix}_depth_optical_frame</frameName>-->
        <frameName>camera_2_rgb_optical_frame</frameName>
        <!--                  <frameName>${prefix}_link</frameName>-->
        <baseline>0.1</baseline>
        <distortion_k1>0.0</distortion_k1>
        <distortion_k2>0.0</distortion_k2>
        <distortion_k3>0.0</distortion_k3>
        <distortion_t1>0.0</distortion_t1>
        <distortion_t2>0.0</distortion_t2>
        <pointCloudCutoff>0.4</pointCloudCutoff>
      </plugin>
    </sensor>
  </gazebo>
  <joint name="camera_3_joint" type="fixed">
    <origin rpy="-0.07610853648541062 0.5950234751036887 -0.7551412632911726" xyz="0.09000001847743988 2.4310083389282227 -0.09000000357627869"/>
    <parent link="smallbeam1_bigbeam1_gantry"/>
    <child link="camera_3_link"/>
  </joint>
  <link name="camera_3_link">
    <visual>
      <origin rpy="3.141592653589793 0 1.5707963267948966" xyz="-0.03 -0.06 0"/>
      <geometry>
        <mesh filename="package://larcc_description/meshes/sensors/astra2.dae" scale="1 1 1"/>
      </geometry>
    </visual>
    <!--      <collision>-->
    <!--        &lt;!&ndash; <origin xyz="0.0 0.0 0.0" rpy="0 0 0" /> &ndash;&gt;-->
    <!--        <origin xyz="-0.01 -0.06 0" rpy="0 0 0"/>-->
    <!--        <geometry>-->
    <!--        <box size="0.0400 0.1650 0.0300"/>-->
    <!--      </geometry>-->
    <!--      </collision>-->
    <inertial>
      <mass value="0.564"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
    </inertial>
  </link>
  <gazebo reference="camera_3_link">
    <selfCollide>false</selfCollide>
  </gazebo>
  <joint name="camera_3_rgb_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 -0.045 0"/>
    <parent link="camera_3_link"/>
    <child link="camera_3_rgb_frame"/>
  </joint>
  <link name="camera_3_rgb_frame"/>
  <joint name="camera_3_rgb_optical_joint" type="fixed">
    <origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
    <parent link="camera_3_rgb_frame"/>
    <child link="camera_3_rgb_optical_frame"/>
  </joint>
  <link name="camera_3_rgb_optical_frame"/>
  <joint name="camera_3_depth_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 -0.02 0"/>
    <parent link="camera_3_link"/>
    <child link="camera_3_depth_frame"/>
  </joint>
  <link name="camera_3_depth_frame"/>
  <joint name="camera_3_depth_optical_joint" type="fixed">
    <origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
    <parent link="camera_3_depth_frame"/>
    <child link="camera_3_depth_optical_frame"/>
  </joint>
  <link name="camera_3_depth_optical_frame"/>
  <gazebo reference="camera_3_depth_frame">
    <sensor name="camera" type="depth">
      <always_on>true</always_on>
      <update_rate>8.0</update_rate>
      <camera>
        <horizontal_fov>1.0471975511965976</horizontal_fov>
        <image>
          <format>B8G8R8</format>
          <!--                      <format>RGB_INT8</format>-->
          <width>1280</width>
          <height>800</height>
        </image>
        <clip>
          <near>0.10</near>
          <far>8.0</far>
        </clip>
      </camera>
      <plugin filename="libgazebo_ros_openni_kinect.so" name="camera_3_camera_controller">
        <cameraName>camera_3</cameraName>
        <alwaysOn>true</alwaysOn>
        <updateRate>0</updateRate>
        <imageTopicName>rgb/image_raw</imageTopicName>
        <depthImageTopicName>depth/image_raw</depthImageTopicName>
        <pointCloudTopicName>depth/points</pointCloudTopicName>
        <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
        <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
        <!--                  <frameName>${prefix}_depth_optical_frame</frameName>-->
        <frameName>camera_3_rgb_optical_frame</frameName>
        <!--                  <frameName>${prefix}_link</frameName>-->
        <baseline>0.1</baseline>
        <distortion_k1>0.0</distortion_k1>
        <distortion_k2>0.0</distortion_k2>
        <distortion_k3>0.0</distortion_k3>
        <distortion_t1>0.0</distortion_t1>
        <distortion_t2>0.0</distortion_t2>
        <pointCloudCutoff>0.4</pointCloudCutoff>
      </plugin>
    </sensor>
  </gazebo>
  <joint name="camera_4_joint" type="fixed">
    <origin rpy="0 0.5235987755982988 -1.5707963267948966" xyz="2.5 0 -0.09"/>
    <parent link="bigbeam1_gantry"/>
    <child link="camera_4_link"/>
  </joint>
  <link name="camera_4_link">
    <visual>
      <origin rpy="3.141592653589793 0 1.5707963267948966" xyz="-0.03 -0.06 0"/>
      <geometry>
        <mesh filename="package://larcc_description/meshes/sensors/astra2.dae" scale="1 1 1"/>
      </geometry>
    </visual>
    <!--      <collision>-->
    <!--        &lt;!&ndash; <origin xyz="0.0 0.0 0.0" rpy="0 0 0" /> &ndash;&gt;-->
    <!--        <origin xyz="-0.01 -0.06 0" rpy="0 0 0"/>-->
    <!--        <geometry>-->
    <!--        <box size="0.0400 0.1650 0.0300"/>-->
    <!--      </geometry>-->
    <!--      </collision>-->
    <inertial>
      <mass value="0.564"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
    </inertial>
  </link>
  <gazebo reference="camera_4_link">
    <selfCollide>false</selfCollide>
  </gazebo>
  <joint name="camera_4_rgb_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 -0.045 0"/>
    <parent link="camera_4_link"/>
    <child link="camera_4_rgb_frame"/>
  </joint>
  <link name="camera_4_rgb_frame"/>
  <joint name="camera_4_rgb_optical_joint" type="fixed">
    <origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
    <parent link="camera_4_rgb_frame"/>
    <child link="camera_4_rgb_optical_frame"/>
  </joint>
  <link name="camera_4_rgb_optical_frame"/>
  <joint name="camera_4_depth_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 -0.02 0"/>
    <parent link="camera_4_link"/>
    <child link="camera_4_depth_frame"/>
  </joint>
  <link name="camera_4_depth_frame"/>
  <joint name="camera_4_depth_optical_joint" type="fixed">
    <origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
    <parent link="camera_4_depth_frame"/>
    <child link="camera_4_depth_optical_frame"/>
  </joint>
  <link name="camera_4_depth_optical_frame"/>
  <gazebo reference="camera_4_depth_frame">
    <sensor name="camera" type="depth">
      <always_on>true</always_on>
      <update_rate>8.0</update_rate>
      <camera>
        <horizontal_fov>1.0471975511965976</horizontal_fov>
        <image>
          <format>B8G8R8</format>
          <!--                      <format>RGB_INT8</format>-->
          <width>1280</width>
          <height>800</height>
        </image>
        <clip>
          <near>0.10</near>
          <far>8.0</far>
        </clip>
      </camera>
      <plugin filename="libgazebo_ros_openni_kinect.so" name="camera_4_camera_controller">
        <cameraName>camera_4</cameraName>
        <alwaysOn>true</alwaysOn>
        <updateRate>0</updateRate>
        <imageTopicName>rgb/image_raw</imageTopicName>
        <depthImageTopicName>depth/image_raw</depthImageTopicName>
        <pointCloudTopicName>depth/points</pointCloudTopicName>
        <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
        <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
        <!--                  <frameName>${prefix}_depth_optical_frame</frameName>-->
        <frameName>camera_4_rgb_optical_frame</frameName>
        <!--                  <frameName>${prefix}_link</frameName>-->
        <baseline>0.1</baseline>
        <distortion_k1>0.0</distortion_k1>
        <distortion_k2>0.0</distortion_k2>
        <distortion_k3>0.0</distortion_k3>
        <distortion_t1>0.0</distortion_t1>
        <distortion_t2>0.0</distortion_t2>
        <pointCloudCutoff>0.4</pointCloudCutoff>
      </plugin>
    </sensor>
  </gazebo>
</robot>

