Merge branch 'dev/mitski_urdf' into bugfix/navigation_config_noetic

This merge is necessary to work with the updated Mitski URDF files and stretch_description package.

stretch_description/batch/guthrie/urdf/stretch_aruco.xacro

@@ -0,0 +1,283 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_aruco">
+
+  <link
+    name="link_aruco_right_base">
+    <inertial>
+      <origin
+        xyz="0 0 -5.00000000014378E-07"
+        rpy="0 0 0" />
+      <mass
+        value="3.59999999990368E-06" />
+      <inertia
+        ixx="0"
+        ixy="0"
+        ixz="0"
+        iyy="0"
+        iyz="0"
+        izz="0" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_aruco_right_base.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_aruco_right_base.STL" />
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint
+    name="joint_aruco_right_base"
+    type="fixed">
+    <origin
+      xyz="-0.00500000000000014 -0.1304972 0.1597482"
+      rpy="0 0 -1.5707963267949" />
+    <parent
+      link="base_link" />
+    <child
+      link="link_aruco_right_base" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+
+  
+  <link
+    name="link_aruco_left_base">
+    <inertial>
+      <origin
+        xyz="0 0 -5.00000000014378E-07"
+        rpy="0 0 0" />
+      <mass
+        value="3.59999999990368E-06" />
+      <inertia
+        ixx="0"
+        ixy="0"
+        ixz="0"
+        iyy="0"
+        iyz="0"
+        izz="0" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_aruco_left_base.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_aruco_left_base.STL" />
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint
+    name="joint_aruco_left_base"
+    type="fixed">
+    <origin
+      xyz="-0.00500000000000014 0.1304972 0.1597482"
+      rpy="0 0 -1.5707963267949" />
+    <parent
+      link="base_link" />
+    <child
+      link="link_aruco_left_base" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  
+  <link
+    name="link_aruco_shoulder">
+    <inertial>
+      <origin
+        xyz="-2.77555756156289E-17 2.56739074444567E-16 -0.000125000000000042"
+        rpy="0 0 0" />
+      <mass
+        value="0" />
+      <inertia
+        ixx="0"
+        ixy="0"
+        ixz="0"
+        iyy="0"
+        iyz="0"
+        izz="0" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_aruco_shoulder.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_aruco_shoulder.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="joint_aruco_shoulder"
+    type="fixed">
+    <origin
+      xyz="-0.0133768876375287 0.0558540528812078 0.0861368272417975"
+      rpy="-1.53998860117704E-29 3.55962409571165E-15 0.0" />
+    <parent
+      link="link_lift" />
+    <child
+      link="link_aruco_shoulder" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+
+  <link
+    name="link_aruco_top_wrist">
+    <inertial>
+      <origin
+        xyz="1.11022302462516E-16 3.05311331771918E-16 -0.00012499999999821"
+        rpy="0 0 0" />
+      <mass
+        value="0" />
+      <inertia
+        ixx="0"
+        ixy="0"
+        ixz="0"
+        iyy="0"
+        iyz="0"
+        izz="0" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_aruco_top_wrist.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_aruco_top_wrist.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="joint_aruco_top_wrist"
+    type="fixed">
+    <origin
+      xyz="0.0472500000000019 0.0292850000000015 0"
+      rpy="1.5707963267949 -8.03728587323464E-15 3.14159265358979" />
+    <parent
+      link="link_arm_l0" />
+    <child
+      link="link_aruco_top_wrist" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+
+  <link
+    name="link_aruco_inner_wrist">
+    <inertial>
+      <origin
+        xyz="8.32667268468867E-17 1.77635683940025E-15 -0.000125000000000264"
+        rpy="0 0 0" />
+      <mass
+        value="0" />
+      <inertia
+        ixx="0"
+        ixy="0"
+        ixz="0"
+        iyy="0"
+        iyz="0"
+        izz="0" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_aruco_inner_wrist.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_aruco_inner_wrist.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="joint_aruco_inner_wrist"
+    type="fixed">
+    <origin
+      xyz="0.0472499999999947 -0.0119000000000034 -0.0272499999991938"
+      rpy="3.14159265358979 4.23377442363088E-14 3.14159265358979" />
+    <parent
+      link="link_arm_l0" />
+    <child
+      link="link_aruco_inner_wrist" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+
+</robot>
+
+  
+

stretch_description/batch/guthrie/urdf/stretch_d435i.xacro

@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_d435i">
+
+  <xacro:arg name="use_nominal_extrinsics" default="true"/>
+  <xacro:arg name="add_plug" default="false"/>
+  <xacro:include filename="$(find realsense2_description)/urdf/_d435i.urdf.xacro"/>
+
+  <!-- xyz = "
+       depth (- recessed into head / + protruding from front)
+       up and down (- down / + up)
+       sideways (- right / + left)
+       " -->
+  <xacro:sensor_d435i parent="link_head_tilt" use_nominal_extrinsics="$(arg use_nominal_extrinsics)">
+    <origin
+      xyz="0.03 -0.0122 0.0182"
+      rpy="0.0 0.0 0.0" />
+  </xacro:sensor_d435i>
+  
+</robot>
+
+  
+

stretch_description/batch/guthrie/urdf/stretch_description.xacro

@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch">
+
+  <xacro:include filename="stretch_gripper.xacro" />
+  <!--<xacro:include filename="stretch_gripper_with_puller.xacro" />-->
+  <!--<xacro:include filename="stretch_dry_erase_marker.xacro" />-->
+    
+  <xacro:include filename="stretch_main.xacro" />
+  <xacro:include filename="stretch_aruco.xacro" />
+  <xacro:include filename="stretch_d435i.xacro" />
+  <xacro:include filename="stretch_laser_range_finder.xacro" />
+  <xacro:include filename="stretch_respeaker.xacro" />
+
+</robot>
+
+  
+

stretch_description/batch/guthrie/urdf/stretch_dry_erase_marker.xacro

@@ -0,0 +1,133 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_dry_erase_marker">
+
+  <xacro:property name="scale_finger_length" value="0.9" />
+
+    <link
+    name="link_dry_erase_holder">
+    <inertial>
+      <origin
+        xyz="-0.00033908527678797 -4.72017042119077E-09 0.0177808576938317"
+        rpy="0 0 0" />
+      <mass
+        value="0.0347079059161226" />
+      <inertia
+        ixx="7.67214948728222E-06"
+        ixy="-8.06855261037992E-08"
+        ixz="1.26219371489433E-07"
+        iyy="7.63827740251564E-06"
+        iyz="9.35838075307735E-08"
+        izz="1.65327256645883E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_dry_erase_holder.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_dry_erase_holder.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint_dry_erase_holder"
+    type="fixed">
+    <origin
+      xyz="0 0 -0.038"
+      rpy="-3.1416 -2.5445E-16 4.71238898038469" />
+    <parent
+      link="link_wrist_yaw" />
+    <child
+      link="link_dry_erase_holder" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="link_dry_erase_marker">
+    <inertial>
+      <origin
+        xyz="0.108173292344959 -2.76023830181327E-08 -0.000137755476015355"
+        rpy="0 0 0" />
+      <mass
+        value="0.00715580304305244" />
+      <inertia
+        ixx="3.95174478409412E-08"
+        ixy="2.65904489437298E-17"
+        ixz="1.33089367561534E-13"
+        iyy="3.95174462639471E-08"
+        iyz="-7.8953462362072E-12"
+        izz="1.57789054873579E-15" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_dry_erase_marker.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_dry_erase_marker.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint_dry_erase_marker"
+    type="fixed">
+    <origin
+      xyz="-0.081029 0 0.025418"
+      rpy="-4.8183E-17 -2.5445E-16 -2.1228E-28" />
+    <parent
+      link="link_dry_erase_holder" />
+    <child
+      link="link_dry_erase_marker" />
+    <axis
+      xyz="1 0 0" />
+  </joint>
+  
+  <link
+      name="link_dry_erase_tip">
+  </link>
+  
+  <joint
+    name="joint_dry_erase_tip"
+    type="fixed">
+    <origin
+      xyz="0.005 0 0"
+      rpy="0 0 1.5707963267948966" />
+    <parent
+      link="link_dry_erase_marker" />
+    <child
+      link="link_dry_erase_tip" />
+  </joint>
+  
+  
+</robot>
+
+  
+

stretch_description/batch/guthrie/urdf/stretch_gripper.xacro

@@ -0,0 +1,302 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_gripper">
+
+  <xacro:property name="scale_finger_length" value="0.9" />
+
+  <link
+    name="link_gripper">
+    <inertial>
+      <origin
+        xyz="-0.0170229132730066 0.0131410320934285 -0.0371614759484659"
+        rpy="0 0 0" />
+      <mass
+        value="0.101902711393094" />
+      <inertia
+        ixx="0.001"
+        ixy="0"
+        ixz="0"
+        iyy="0.001"
+        iyz="0"
+        izz="0.001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_gripper.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_gripper.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <!-- rpy="3.1416 0 1.5708" -->
+  <!-- rpy="0.0 0 1.5708" -->
+  <joint
+    name="joint_gripper"
+    type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="3.14159 0 -1.5708" />
+    <parent
+      link="link_wrist_yaw" />
+    <child
+      link="link_gripper" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  
+  <link
+    name="link_gripper_finger_left">
+    <inertial>
+      <origin
+        xyz="0.0945047483510102 0.0124301080924361 -4.44089209850063E-16"
+        rpy="0 0 0" />
+      <mass
+        value="0.0476207785199474" />
+      <inertia
+        ixx="0.001"
+        ixy="0"
+        ixz="0"
+        iyy="0.001"
+        iyz="0"
+        izz="0.001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_gripper_finger_left.STL" scale="${scale_finger_length} 1.0 1.0"/>
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_gripper_finger_left.STL" scale="${scale_finger_length} 1.0 1.0"/>
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint
+    name="joint_gripper_finger_left"
+    type="revolute">
+    <origin
+      xyz="-0.047231 -0.010151 -0.04679"
+      rpy="2.1762E-15 0.5236 3.1416" />
+    <parent
+      link="link_gripper" />
+    <child
+      link="link_gripper_finger_left" />
+    <axis
+      xyz="0 0 1" />
+    <limit effort="100" lower="-0.6" upper="0.6" velocity="1.0"/>
+  </joint>
+  
+  <link
+    name="link_gripper_fingertip_left">
+    <inertial>
+      <origin
+        xyz="-3.16381381648689E-08 -2.91408530639359E-09 0.00812579670381812"
+        rpy="0 0 0" />
+      <mass
+        value="0.00382159917455729" />
+      <inertia
+        ixx="0.001"
+        ixy="0"
+        ixz="0"
+        iyy="0.001"
+        iyz="0"
+        izz="0.001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_gripper_fingertip_left.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.250980392156863 0.250980392156863 0.250980392156863 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_gripper_fingertip_left.STL" />
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint
+    name="joint_gripper_fingertip_left"
+    type="fixed">
+    <origin
+      xyz="${scale_finger_length * 0.19011} 0.014912 0"
+      rpy="-1.5708 -4.774E-15 -2.5545" />
+    <parent
+      link="link_gripper_finger_left" />
+    <child
+      link="link_gripper_fingertip_left" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  
+  <link
+    name="link_gripper_finger_right">
+    <inertial>
+      <origin
+        xyz="-0.0945047483510099 -0.0124301080924345 0"
+        rpy="0 0 0" />
+      <mass
+        value="0.0476207785199481" />
+      <inertia
+        ixx="0.001"
+        ixy="0"
+        ixz="0"
+        iyy="0.001"
+        iyz="0"
+        izz="0.001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_gripper_finger_right.STL" scale="${scale_finger_length} 1.0 1.0"/>
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_gripper_finger_right.STL" scale="${scale_finger_length} 1.0 1.0"/>
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint
+    name="joint_gripper_finger_right"
+    type="revolute">
+    <origin
+      xyz="-0.047231 0.010049 -0.04679"
+      rpy="3.1416 -0.5236 1.2943E-15" />
+    <parent
+      link="link_gripper" />
+    <child
+      link="link_gripper_finger_right" />
+    <axis
+      xyz="0 0 1" />
+    <limit effort="100" lower="-0.6" upper="0.6" velocity="1.0"/>
+  </joint>
+  
+  <link
+    name="link_gripper_fingertip_right">
+    <inertial>
+      <origin
+        xyz="2.59386303963494E-08 6.70949018566347E-09 0.00812579516130402"
+        rpy="0 0 0" />
+      <mass
+        value="0.00382160037319545" />
+      <inertia
+        ixx="0.001"
+        ixy="0"
+        ixz="0"
+        iyy="0.001"
+        iyz="0"
+        izz="0.001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_gripper_fingertip_right.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.250980392156863 0.250980392156863 0.250980392156863 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_gripper_fingertip_right.STL" />
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint
+    name="joint_gripper_fingertip_right"
+    type="fixed">
+    <origin
+      xyz="${scale_finger_length * -0.19011} -0.014912 0"
+      rpy="-1.5708 -2.0539E-15 0.58705" />
+    <parent
+      link="link_gripper_finger_right" />
+    <child
+      link="link_gripper_fingertip_right" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+
+  
+  <link
+      name="link_grasp_center">
+  </link>
+  
+  <joint
+    name="joint_grasp_center"
+    type="fixed">
+    <origin
+      xyz="-0.205478 0 -0.138154"
+      rpy="0 0 3.141579" />
+    <parent
+      link="link_gripper" />
+    <child
+      link="link_grasp_center" />
+  </joint>
+  
+</robot>

stretch_description/batch/guthrie/urdf/stretch_gripper_with_puller.xacro

@@ -0,0 +1,359 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_gripper_with_puller">
+
+  <xacro:property name="scale_finger_length" value="0.9" />
+
+  <link
+    name="link_gripper">
+    <inertial>
+      <origin
+        xyz="-0.0170229132730066 0.0131410320934285 -0.0371614759484659"
+        rpy="0 0 0" />
+      <mass
+        value="0.101902711393094" />
+      <inertia
+        ixx="2.79241618017607E-05"
+        ixy="-1.10819247449605E-05"
+        ixz="-1.50343284036654E-05"
+        iyy="3.67945130513069E-05"
+        iyz="-4.33280448535579E-06"
+        izz="4.14524691955231E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_gripper.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_gripper.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <!-- rpy="3.1416 0 1.5708" -->
+  <!-- rpy="0.0 0 1.5708" -->
+  <joint
+    name="joint_gripper"
+    type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="3.14159 0 -1.5708" />
+    <parent
+      link="link_wrist_yaw" />
+    <child
+      link="link_gripper" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+
+    <link
+    name="link_puller">
+    <inertial>
+      <origin
+        xyz="-7.28171145880641E-08 -0.00602531629961259 -7.69536139810789E-08"
+        rpy="0 0 0" />
+      <mass
+        value="0.00292784355893436" />
+      <inertia
+        ixx="1.09317111513898E-07"
+        ixy="-9.31929125413026E-13"
+        ixz="-3.36065188387015E-16"
+        iyy="1.10835075609816E-15"
+        iyz="1.43669784789342E-12"
+        izz="1.09317110675672E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_puller.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_puller.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint_puller"
+    type="fixed">
+    <origin
+      xyz="0 0.07265 -0.0335"
+      rpy="4.2817E-15 1.1582E-14 -3.0531E-15" />
+    <parent
+      link="link_gripper" />
+    <child
+      link="link_puller" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  
+  <link
+    name="link_gripper_finger_left">
+    <inertial>
+      <origin
+        xyz="0.0945047483510102 0.0124301080924361 -4.44089209850063E-16"
+        rpy="0 0 0" />
+      <mass
+        value="0.0476207785199474" />
+      <inertia
+        ixx="0"
+        ixy="0"
+        ixz="0"
+        iyy="0"
+        iyz="0"
+        izz="0" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_gripper_finger_left.STL" scale="${scale_finger_length} 1.0 1.0"/>
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_gripper_finger_left.STL" scale="${scale_finger_length} 1.0 1.0"/>
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint
+    name="joint_gripper_finger_left"
+    type="revolute">
+    <origin
+      xyz="-0.047231 -0.010151 -0.04679"
+      rpy="2.1762E-15 0.5236 3.1416" />
+    <parent
+      link="link_gripper" />
+    <child
+      link="link_gripper_finger_left" />
+    <axis
+      xyz="0 0 1" />
+    <limit effort="100" lower="-0.6" upper="0.6" velocity="1.0"/>
+  </joint>
+  
+  <link
+    name="link_gripper_fingertip_left">
+    <inertial>
+      <origin
+        xyz="-3.16381381648689E-08 -2.91408530639359E-09 0.00812579670381812"
+        rpy="0 0 0" />
+      <mass
+        value="0.00382159917455729" />
+      <inertia
+        ixx="0"
+        ixy="0"
+        ixz="0"
+        iyy="0"
+        iyz="0"
+        izz="0" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_gripper_fingertip_left.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.250980392156863 0.250980392156863 0.250980392156863 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_gripper_fingertip_left.STL" />
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint
+    name="joint_gripper_fingertip_left"
+    type="fixed">
+    <origin
+      xyz="${scale_finger_length * 0.19011} 0.014912 0"
+      rpy="-1.5708 -4.774E-15 -2.5545" />
+    <parent
+      link="link_gripper_finger_left" />
+    <child
+      link="link_gripper_fingertip_left" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  
+  <link
+    name="link_gripper_finger_right">
+    <inertial>
+      <origin
+        xyz="-0.0945047483510099 -0.0124301080924345 0"
+        rpy="0 0 0" />
+      <mass
+        value="0.0476207785199481" />
+      <inertia
+        ixx="0"
+        ixy="0"
+        ixz="0"
+        iyy="0"
+        iyz="0"
+        izz="0" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_gripper_finger_right.STL" scale="${scale_finger_length} 1.0 1.0"/>
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_gripper_finger_right.STL" scale="${scale_finger_length} 1.0 1.0"/>
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint
+    name="joint_gripper_finger_right"
+    type="revolute">
+    <origin
+      xyz="-0.047231 0.010049 -0.04679"
+      rpy="3.1416 -0.5236 1.2943E-15" />
+    <parent
+      link="link_gripper" />
+    <child
+      link="link_gripper_finger_right" />
+    <axis
+      xyz="0 0 1" />
+    <limit effort="100" lower="-0.6" upper="0.6" velocity="1.0"/>
+  </joint>
+  
+  <link
+    name="link_gripper_fingertip_right">
+    <inertial>
+      <origin
+        xyz="2.59386303963494E-08 6.70949018566347E-09 0.00812579516130402"
+        rpy="0 0 0" />
+      <mass
+        value="0.00382160037319545" />
+      <inertia
+        ixx="0"
+        ixy="0"
+        ixz="0"
+        iyy="0"
+        iyz="0"
+        izz="0" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_gripper_fingertip_right.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.250980392156863 0.250980392156863 0.250980392156863 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_gripper_fingertip_right.STL" />
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint
+    name="joint_gripper_fingertip_right"
+    type="fixed">
+    <origin
+      xyz="${scale_finger_length * -0.19011} -0.014912 0"
+      rpy="-1.5708 -2.0539E-15 0.58705" />
+    <parent
+      link="link_gripper_finger_right" />
+    <child
+      link="link_gripper_fingertip_right" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+
+  
+  <link
+      name="link_grasp_center">
+  </link>
+  
+  <joint
+    name="joint_grasp_center"
+    type="fixed">
+    <origin
+      xyz="-0.205478 0 -0.138154"
+      rpy="0 0 3.141579" />
+    <parent
+      link="link_gripper" />
+    <child
+      link="link_grasp_center" />
+  </joint>
+  
+</robot>
+
+  
+

stretch_description/batch/guthrie/urdf/stretch_laser_range_finder.xacro

@@ -0,0 +1,59 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_laser_range_finder">
+  
+  <link
+    name="laser">
+    <inertial>
+      <origin
+        xyz="0 0 -0.000755956127492408"
+        rpy="0 0 0" />
+      <mass
+        value="0.0749979022894495" />
+      <inertia
+        ixx="0"
+        ixy="0"
+        ixz="0"
+        iyy="0"
+        iyz="0"
+        izz="0" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/laser.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.250980392156863 0.250980392156863 0.250980392156863 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/laser.STL" />
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint
+    name="joint_laser"
+    type="fixed">
+    <origin
+      xyz="0.000502800000000914 0 0.1664"
+      rpy="0 0 -3.14159265358979" />
+    <parent
+      link="base_link" />
+    <child
+      link="laser" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+
+</robot>

stretch_description/batch/guthrie/urdf/stretch_main.xacro

@@ -0,0 +1,841 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_main">
+  <xacro:property name="M_PI" value="3.1415926535897931" /> 
+  <xacro:property name="joint_damping" value="21.75"/>
+  <xacro:property name="joint_friction" value="10.48"/>
+  <xacro:property name="joint_spring_stiffness" value="0"/>
+  <xacro:property name="joint_spring_reference" value="0"/>
+
+  <link
+    name="base_link">
+    <inertial>
+      <origin
+        xyz="-0.109461304328163 -0.000741018909047708 0.0914915269429946"
+        rpy="0 0 0" />
+      <mass
+        value="1.0723782659782" />
+      <inertia
+        ixx="0.00310580907710135"
+        ixy="1.5182848191076E-06"
+        ixz="0.00041690466732394"
+        iyy="0.00433798719991832"
+        iyz="1.33487716258445E-05"
+        izz="0.0037204727467362" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  
+  <link
+    name="link_right_wheel">
+    <inertial>
+      <origin
+        xyz="1.25554620866719E-07 3.54748938447003E-07 0.0239581106165018"
+        rpy="0 0 0" />
+      <mass
+        value="0.01" />
+      <inertia
+        ixx="0.001"
+        ixy="0"
+        ixz="0"
+        iyy="0.001"
+        iyz="0"
+        izz="0.001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_right_wheel.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_right_wheel.STL" />
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint
+    name="joint_right_wheel"
+    type="continuous">
+    <origin
+      xyz="-0.00300000000000034 -0.15765 0.0508000000000004"
+      rpy="-1.57079632679489 -1.11022302462516E-16 7.28583859910277E-17" />
+    <parent
+      link="base_link" />
+    <child
+      link="link_right_wheel" />
+    <axis
+      xyz="0 0 1" />
+    <dynamics damping="${joint_damping}" friction="${joint_friction}" spring_reference="${joint_spring_reference}" spring_stiffness="{joint_spring_stiffness}"/>
+  </joint>
+  
+  <link
+    name="link_left_wheel">
+    <inertial>
+      <origin
+        xyz="1.2555462092223E-07 -3.54748938502514E-07 -0.0239581106165035"
+        rpy="0 0 0" />
+      <mass
+        value="0.01" />
+      <inertia
+        ixx="0.001"
+        ixy="0"
+        ixz="0"
+        iyy="0.001"
+        iyz="0"
+        izz="0.001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_left_wheel.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_left_wheel.STL" />
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint
+    name="joint_left_wheel"
+    type="continuous">
+    <origin
+      xyz="-0.00300000000001899 0.15765 0.0507999999999994"
+      rpy="-1.5707963267949 3.16227047920818E-31 7.88745438253713E-16" />
+    <parent
+      link="base_link" />
+    <child
+      link="link_left_wheel" />
+    <axis
+      xyz="0 0 1" />
+    <dynamics damping="${joint_damping}" friction="${joint_friction}" spring_reference="${joint_spring_reference}" spring_stiffness="{joint_spring_stiffness}"/>
+  </joint>
+
+  <link name="caster_link">
+    <collision>
+      <geometry>
+        <sphere radius="0.032"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <surface>
+        <friction>
+          <ode>
+            <mu>0</mu>
+            <mu2>0</mu2>
+            <slip1>1.0</slip1>
+            <slip2>1.0</slip2>
+          </ode>
+        </friction>
+      </surface>
+    </collision>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/omni_wheel_m.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <inertial>
+      <mass value="0.01" />
+      <origin xyz="0 0 0" />
+      <inertia
+        ixx="0.001"
+        ixy="0"
+        ixz="0"
+        iyy="0.001"
+        iyz="0"
+        izz="0.001" />
+    </inertial>
+  </link>
+
+  <joint name="caster_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="caster_link"/>
+    <origin xyz="-0.245 0.0 0.032" rpy="${-M_PI/2} 0 0"/>
+    <axis xyz="0 0 1" />
+  </joint>
+
+  <link
+    name="link_mast">
+    <inertial>
+      <origin
+        xyz="0.00755818572975822 0.773971284176834 0.00647313086620024"
+        rpy="0 0 0" />
+      <mass
+        value="0.749143203376401" />
+      <inertia
+        ixx="0.0709854511954588"
+        ixy="-0.00433428742758457"
+        ixz="-0.000186110788697573"
+        iyy="0.000437922053342648"
+        iyz="-0.00288788257713431"
+        izz="0.071104808501661" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_mast.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_mast.STL" />
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint
+    name="joint_mast"
+    type="fixed">
+    <origin
+      xyz="-0.07 0.134999999999998 0.0284000000000001"
+      rpy="1.5707963267949 0 0.00925318926571245" />
+    <parent
+      link="base_link" />
+    <child
+      link="link_mast" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  
+  <link
+    name="link_lift">
+    <inertial>
+      <origin
+        xyz="-0.0547636346252869 0.0380939689802074 0.00933159404448308"
+        rpy="0 0 0" />
+      <mass
+        value="0.444820831236007" />
+      <inertia
+        ixx="0.000567192946271367"
+        ixy="-0.00024607534789508"
+        ixz="-0.000128108442260574"
+        iyy="0.00127108364478659"
+        iyz="7.61916855070339E-06"
+        izz="0.00137296635099006" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_lift.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_lift.STL" />
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint
+    name="joint_lift"
+    type="prismatic">
+    <origin
+      xyz="-0.0369217062323472 0.165471199999996 -0.000341653286793524"
+      rpy="-1.57079632679552 1.5615431375292 -6.2942004366467E-13" />
+    <parent
+      link="link_mast" />
+    <child
+      link="link_lift" />
+    <axis
+	xyz="0 0 1" />
+  <!-- for now: hand copied range_m: from lift: from ~/repos/stretch_fleet/stretch-re1-1001/stretch_re1_factory_params.yaml -->
+  <!--<limit effort="100" lower="0.0" upper="1.095" velocity="1.0"/>-->
+  <!-- copied value did not reach the top of mesh model with GUI sliders and RViz -->
+  <limit effort="100" lower="0.0" upper="1.1" velocity="1.0"/>
+  </joint>
+  
+  <link
+    name="link_arm_l4">
+    <inertial>
+      <origin
+        xyz="-1.61247276464493E-06 1.54715589201215E-06 -0.0953252706040035"
+        rpy="0 0 0" />
+      <mass
+        value="0.0676525455789735" />
+      <inertia
+        ixx="0.000122002023066796"
+        ixy="7.29593356230121E-13"
+        ixz="9.63170353371061E-09"
+        iyy="0.000122002023127152"
+        iyz="-9.24154949889042E-09"
+        izz="1.46043439809638E-12" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_arm_l4.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_arm_l4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint
+    name="joint_arm_l4"
+    type="fixed">
+    <origin
+      xyz="-0.25471 0 0"
+      rpy="1.5708 -3.1019E-16 -1.5708" />
+    <parent
+      link="link_lift" />
+    <child
+      link="link_arm_l4" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  
+  <link
+    name="link_arm_l3">
+    <inertial>
+      <origin
+        xyz="-3.34873468621488E-07 4.7411336306924E-07 -0.0974069598289041"
+        rpy="0 0 0" />
+      <mass
+        value="0.0626921047058405" />
+      <inertia
+        ixx="0.001"
+        ixy="0"
+        ixz="0"
+        iyy="0.001"
+        iyz="0"
+        izz="0.001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_arm_l3.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_arm_l3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint
+    name="joint_arm_l3"
+    type="prismatic">
+    <origin
+      xyz="0 0 0.013"
+      rpy="3.5742E-16 3.2123E-16 -2.4565E-16" />
+    <parent
+      link="link_arm_l4" />
+    <child
+      link="link_arm_l3" />
+    <axis
+	xyz="0 0 1" />
+    <!-- 0.13 = 0.52/4-->
+    <limit effort="100" lower="0.0" upper="0.13" velocity="1.0"/>
+  </joint>
+  
+  <link
+    name="link_arm_l2">
+    <inertial>
+      <origin
+        xyz="-3.31043560508615E-07 3.13422303999111E-07 -0.097255883541891"
+        rpy="0 0 0" />
+      <mass
+        value="0.0569074368576238" />
+      <inertia
+        ixx="0.001"
+        ixy="0"
+        ixz="0"
+        iyy="0.001"
+        iyz="0"
+        izz="0.001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_arm_l2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_arm_l2.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="joint_arm_l2"
+    type="prismatic">
+    <origin
+      xyz="0 0 0.013"
+      rpy="2.91385731014123E-16 4.44300759504684E-17 3.25691080516352E-16" />
+    <parent
+      link="link_arm_l3" />
+    <child
+      link="link_arm_l2" />
+    <axis
+	xyz="0 0 1" />
+    <!-- 0.13 = 0.52/4-->
+    <limit effort="100" lower="0.0" upper="0.13" velocity="1.0"/>
+  </joint>
+  
+  <link
+    name="link_arm_l1">
+    <inertial>
+      <origin
+        xyz="-3.36876635420591E-07 3.05876091066803E-07 -0.0969117032232756"
+        rpy="0 0 0" />
+      <mass
+        value="0.0511763619538321" />
+      <inertia
+        ixx="0.001"
+        ixy="0"
+        ixz="0"
+        iyy="0.001"
+        iyz="0"
+        izz="0.001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_arm_l1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_arm_l1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint
+    name="joint_arm_l1"
+    type="prismatic">
+    <origin
+      xyz="0 0 0.013"
+      rpy="7.41596560408007E-17 1.33876788296791E-16 -2.44545873596083E-16" />
+    <parent
+      link="link_arm_l2" />
+    <child
+      link="link_arm_l1" />
+    <axis
+	xyz="0 0 1" />
+    <!-- 0.13 = 0.52/4-->
+    <limit effort="100" lower="0.0" upper="0.13" velocity="1.0"/>
+  </joint>
+  
+  <link
+    name="link_arm_l0">
+    <inertial>
+      <origin
+        xyz="0.0230715049668191 -0.00195115833662818 -0.0360646347160285"
+        rpy="0 0 0" />
+      <mass
+        value="0.101241250325294" />
+      <inertia
+        ixx="0.001"
+        ixy="0"
+        ixz="0"
+        iyy="0.001"
+        iyz="0"
+        izz="0.001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_arm_l0.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_arm_l0.STL" />
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint
+    name="joint_arm_l0"
+    type="prismatic">
+    <origin
+      xyz="0 0 -0.0137499999999938"
+      rpy="-3.05317390622457E-16 -4.23236224076729E-16 -2.68425135229209E-17" />
+    <parent
+      link="link_arm_l1" />
+    <child
+      link="link_arm_l0" />
+    <axis
+	xyz="0 0 1" />
+    <!-- 0.13 = 0.52/4-->
+    <limit effort="100" lower="0.0" upper="0.13" velocity="1.0"/>
+  </joint>
+  
+  <link
+    name="link_wrist_yaw">
+    <inertial>
+      <origin
+        xyz="-8.02795716750571E-06 1.93811447768422E-05 0.018946700595851"
+        rpy="0 0 0" />
+      <mass
+        value="0.0405398981326229" />
+      <inertia
+        ixx="0.001"
+        ixy="0"
+        ixz="0"
+        iyy="0.001"
+        iyz="0"
+        izz="0.001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_wrist_yaw.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+	        rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_wrist_yaw.STL" />
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint
+    name="joint_wrist_yaw"
+    type="revolute">
+    <origin
+      xyz="0.083 -0.03075 0"
+      rpy="1.5708 4.2595E-14 2.6415E-15" />
+    <parent
+      link="link_arm_l0" />
+    <child
+      link="link_wrist_yaw" />
+    <axis
+      xyz="0 0 -1" />
+    <!--
+      stowed to front ~225 deg: 3.15159 x 1.25 = 3.9395
+      using 4.0
+      stowed to back ~100 deg:  100 / 180 x 3.14159 = 1.7453
+      using -1.75
+    -->
+    <limit effort="100" lower="-1.75" upper="4.0" velocity="1.0"/>
+  </joint>
+  
+  <link
+    name="link_head">
+    <inertial>
+      <origin
+        xyz="0.0372933550588956 0.045509432985552 0.0281136801213409"
+        rpy="0 0 0" />
+      <mass
+        value="0.129454717596498" />
+      <inertia
+        ixx="0.001"
+        ixy="0"
+        ixz="0"
+        iyy="0.001"
+        iyz="0"
+        izz="0.001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_head.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_head.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="joint_head"
+    type="fixed">
+    <origin
+      xyz="0 1.33 0"
+      rpy="1.5708 -1.5615 3.1416" />
+    <parent
+      link="link_mast" />
+    <child
+      link="link_head" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+
+  <link
+    name="link_head_pan">
+    <inertial>
+      <origin
+        xyz="-0.00116200255310878 0.0130365621706306 0.00137629842298681"
+        rpy="0 0 0" />
+      <mass
+        value="0.035858341182617" />
+      <inertia
+        ixx="0.001"
+        ixy="0"
+        ixz="0"
+        iyy="0.001"
+        iyz="0"
+        izz="0.001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_head_pan.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_head_pan.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="joint_head_pan"
+    type="revolute">
+    <origin
+      xyz="0.135 0.0731 -0.003"
+      rpy="-6.4986E-15 -6.068E-24 1.5708" />
+    <parent
+      link="link_head" />
+    <child
+      link="link_head_pan" />
+    <axis
+	xyz="0 0 1" />
+    <!-- unconstrained range for now -->
+    <limit effort="100" lower="-3.9" upper="1.5" velocity="1.0"/>
+  </joint>
+  
+  <link
+    name="link_head_tilt">
+    <inertial>
+      <origin
+        xyz="0.00920211049011871 -0.0279724762416447 0.0306580436227023"
+        rpy="0 0 0" />
+      <mass
+        value="0.0701242408063442" />
+      <inertia
+        ixx="0.001"
+        ixy="0"
+        ixz="0"
+        iyy="0.001"
+        iyz="0"
+        izz="0.001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_head_tilt.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_head_tilt.STL" />
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint
+    name="joint_head_tilt"
+    type="revolute">
+    <origin
+      xyz="-0.0013 0.027507 -0.053311"
+      rpy="1.5708 6.068E-24 -2.5165E-15" />
+    <parent
+      link="link_head_pan" />
+    <child
+      link="link_head_tilt" />
+    <axis
+      xyz="0 0 1" />
+    <!-- unconstrained range for now -->
+    <limit effort="100" lower="-1.53" upper="0.79" velocity="1.0"/>
+  </joint>
+
+</robot>

stretch_description/batch/guthrie/urdf/stretch_respeaker.xacro

@@ -0,0 +1,62 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_respeaker">
+
+  <link name="respeaker_base">
+    <inertial>
+      <origin
+        xyz="-0.00078082896792734 0.00765742173486017 -0.0042488298301937"
+        rpy="0 0 0" />
+      <mass
+        value="0.00969129410417277" />
+      <inertia
+        ixx="8.95656300428405E-07"
+        ixy="2.67330745809535E-08"
+        ixz="-3.84519793580934E-08"
+        iyy="4.0421099617056E-07"
+        iyz="3.15533542838673E-07"
+        izz="7.08282597118018E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_respeaker.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_respeaker.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="joint_respeaker"
+    type="fixed">
+    <!-- rpy="   ?   rotate_sound_source_direction    ?   " --> 
+    <origin
+      xyz="1.09074743137871E-05 1.36992 0.00303572796911382"
+      rpy="1.57079632679553 0.0 3.14159265358916" />
+    <parent
+      link="link_mast" />
+    <child
+      link="respeaker_base" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  
+</robot>
+
+  
+

stretch_description/batch/hank/urdf/stretch_aruco.xacro

@@ -0,0 +1,283 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_aruco">
+
+  <link
+    name="link_aruco_right_base">
+    <inertial>
+      <origin
+        xyz="0 0 -5.00000000014378E-07"
+        rpy="0 0 0" />
+      <mass
+        value="3.59999999990368E-06" />
+      <inertia
+        ixx="0"
+        ixy="0"
+        ixz="0"
+        iyy="0"
+        iyz="0"
+        izz="0" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_aruco_right_base.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_aruco_right_base.STL" />
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint
+    name="joint_aruco_right_base"
+    type="fixed">
+    <origin
+      xyz="-0.00500000000000014 -0.1304972 0.1597482"
+      rpy="0 0 -1.5707963267949" />
+    <parent
+      link="base_link" />
+    <child
+      link="link_aruco_right_base" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+
+  
+  <link
+    name="link_aruco_left_base">
+    <inertial>
+      <origin
+        xyz="0 0 -5.00000000014378E-07"
+        rpy="0 0 0" />
+      <mass
+        value="3.59999999990368E-06" />
+      <inertia
+        ixx="0"
+        ixy="0"
+        ixz="0"
+        iyy="0"
+        iyz="0"
+        izz="0" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_aruco_left_base.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_aruco_left_base.STL" />
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint
+    name="joint_aruco_left_base"
+    type="fixed">
+    <origin
+      xyz="-0.00500000000000014 0.1304972 0.1597482"
+      rpy="0 0 -1.5707963267949" />
+    <parent
+      link="base_link" />
+    <child
+      link="link_aruco_left_base" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  
+  <link
+    name="link_aruco_shoulder">
+    <inertial>
+      <origin
+        xyz="-2.77555756156289E-17 2.56739074444567E-16 -0.000125000000000042"
+        rpy="0 0 0" />
+      <mass
+        value="0" />
+      <inertia
+        ixx="0"
+        ixy="0"
+        ixz="0"
+        iyy="0"
+        iyz="0"
+        izz="0" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_aruco_shoulder.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_aruco_shoulder.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="joint_aruco_shoulder"
+    type="fixed">
+    <origin
+      xyz="-0.0133768876375287 0.0558540528812078 0.0861368272417975"
+      rpy="-1.53998860117704E-29 3.55962409571165E-15 0.0" />
+    <parent
+      link="link_lift" />
+    <child
+      link="link_aruco_shoulder" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+
+  <link
+    name="link_aruco_top_wrist">
+    <inertial>
+      <origin
+        xyz="1.11022302462516E-16 3.05311331771918E-16 -0.00012499999999821"
+        rpy="0 0 0" />
+      <mass
+        value="0" />
+      <inertia
+        ixx="0"
+        ixy="0"
+        ixz="0"
+        iyy="0"
+        iyz="0"
+        izz="0" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_aruco_top_wrist.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_aruco_top_wrist.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="joint_aruco_top_wrist"
+    type="fixed">
+    <origin
+      xyz="0.0472500000000019 0.0292850000000015 0"
+      rpy="1.5707963267949 -8.03728587323464E-15 3.14159265358979" />
+    <parent
+      link="link_arm_l0" />
+    <child
+      link="link_aruco_top_wrist" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+
+  <link
+    name="link_aruco_inner_wrist">
+    <inertial>
+      <origin
+        xyz="8.32667268468867E-17 1.77635683940025E-15 -0.000125000000000264"
+        rpy="0 0 0" />
+      <mass
+        value="0" />
+      <inertia
+        ixx="0"
+        ixy="0"
+        ixz="0"
+        iyy="0"
+        iyz="0"
+        izz="0" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_aruco_inner_wrist.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_aruco_inner_wrist.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="joint_aruco_inner_wrist"
+    type="fixed">
+    <origin
+      xyz="0.0472499999999947 -0.0119000000000034 -0.0272499999991938"
+      rpy="3.14159265358979 4.23377442363088E-14 3.14159265358979" />
+    <parent
+      link="link_arm_l0" />
+    <child
+      link="link_aruco_inner_wrist" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+
+</robot>
+
+  
+

stretch_description/batch/hank/urdf/stretch_d435i.xacro

@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_d435i">
+
+  <xacro:arg name="use_nominal_extrinsics" default="true"/>
+  <xacro:arg name="add_plug" default="false"/>
+  <xacro:include filename="$(find realsense2_description)/urdf/_d435i.urdf.xacro"/>
+
+  <!-- xyz = "
+       depth (- recessed into head / + protruding from front)
+       up and down (- down / + up)
+       sideways (- right / + left)
+       " -->
+  <xacro:sensor_d435i parent="link_head_tilt" use_nominal_extrinsics="$(arg use_nominal_extrinsics)">
+    <origin
+      xyz="0.03 -0.0122 0.0182"
+      rpy="0.0 0.0 0.0" />
+  </xacro:sensor_d435i>
+  
+</robot>
+
+  
+

stretch_description/batch/hank/urdf/stretch_description.xacro

@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch">
+
+  <xacro:include filename="stretch_gripper.xacro" />
+  <!--<xacro:include filename="stretch_gripper_with_puller.xacro" />-->
+  <!--<xacro:include filename="stretch_dry_erase_marker.xacro" />-->
+    
+  <xacro:include filename="stretch_main.xacro" />
+  <xacro:include filename="stretch_aruco.xacro" />
+  <xacro:include filename="stretch_d435i.xacro" />
+  <xacro:include filename="stretch_laser_range_finder.xacro" />
+  <xacro:include filename="stretch_respeaker.xacro" />
+
+</robot>
+
+  
+

stretch_description/batch/hank/urdf/stretch_dry_erase_marker.xacro

@@ -0,0 +1,133 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_dry_erase_marker">
+
+  <xacro:property name="scale_finger_length" value="0.9" />
+
+    <link
+    name="link_dry_erase_holder">
+    <inertial>
+      <origin
+        xyz="-0.00033908527678797 -4.72017042119077E-09 0.0177808576938317"
+        rpy="0 0 0" />
+      <mass
+        value="0.0347079059161226" />
+      <inertia
+        ixx="7.67214948728222E-06"
+        ixy="-8.06855261037992E-08"
+        ixz="1.26219371489433E-07"
+        iyy="7.63827740251564E-06"
+        iyz="9.35838075307735E-08"
+        izz="1.65327256645883E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_dry_erase_holder.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_dry_erase_holder.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint_dry_erase_holder"
+    type="fixed">
+    <origin
+      xyz="0 0 -0.038"
+      rpy="-3.1416 -2.5445E-16 4.71238898038469" />
+    <parent
+      link="link_wrist_yaw" />
+    <child
+      link="link_dry_erase_holder" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="link_dry_erase_marker">
+    <inertial>
+      <origin
+        xyz="0.108173292344959 -2.76023830181327E-08 -0.000137755476015355"
+        rpy="0 0 0" />
+      <mass
+        value="0.00715580304305244" />
+      <inertia
+        ixx="3.95174478409412E-08"
+        ixy="2.65904489437298E-17"
+        ixz="1.33089367561534E-13"
+        iyy="3.95174462639471E-08"
+        iyz="-7.8953462362072E-12"
+        izz="1.57789054873579E-15" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_dry_erase_marker.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_dry_erase_marker.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint_dry_erase_marker"
+    type="fixed">
+    <origin
+      xyz="-0.081029 0 0.025418"
+      rpy="-4.8183E-17 -2.5445E-16 -2.1228E-28" />
+    <parent
+      link="link_dry_erase_holder" />
+    <child
+      link="link_dry_erase_marker" />
+    <axis
+      xyz="1 0 0" />
+  </joint>
+  
+  <link
+      name="link_dry_erase_tip">
+  </link>
+  
+  <joint
+    name="joint_dry_erase_tip"
+    type="fixed">
+    <origin
+      xyz="0.005 0 0"
+      rpy="0 0 1.5707963267948966" />
+    <parent
+      link="link_dry_erase_marker" />
+    <child
+      link="link_dry_erase_tip" />
+  </joint>
+  
+  
+</robot>
+
+  
+

stretch_description/batch/hank/urdf/stretch_gripper.xacro

@@ -0,0 +1,302 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_gripper">
+
+  <xacro:property name="scale_finger_length" value="0.9" />
+
+  <link
+    name="link_gripper">
+    <inertial>
+      <origin
+        xyz="-0.0170229132730066 0.0131410320934285 -0.0371614759484659"
+        rpy="0 0 0" />
+      <mass
+        value="0.101902711393094" />
+      <inertia
+        ixx="0.001"
+        ixy="0"
+        ixz="0"
+        iyy="0.001"
+        iyz="0"
+        izz="0.001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_gripper.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_gripper.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <!-- rpy="3.1416 0 1.5708" -->
+  <!-- rpy="0.0 0 1.5708" -->
+  <joint
+    name="joint_gripper"
+    type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="3.14159 0 -1.5708" />
+    <parent
+      link="link_wrist_yaw" />
+    <child
+      link="link_gripper" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  
+  <link
+    name="link_gripper_finger_left">
+    <inertial>
+      <origin
+        xyz="0.0945047483510102 0.0124301080924361 -4.44089209850063E-16"
+        rpy="0 0 0" />
+      <mass
+        value="0.0476207785199474" />
+      <inertia
+        ixx="0.001"
+        ixy="0"
+        ixz="0"
+        iyy="0.001"
+        iyz="0"
+        izz="0.001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_gripper_finger_left.STL" scale="${scale_finger_length} 1.0 1.0"/>
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_gripper_finger_left.STL" scale="${scale_finger_length} 1.0 1.0"/>
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint
+    name="joint_gripper_finger_left"
+    type="revolute">
+    <origin
+      xyz="-0.047231 -0.010151 -0.04679"
+      rpy="2.1762E-15 0.5236 3.1416" />
+    <parent
+      link="link_gripper" />
+    <child
+      link="link_gripper_finger_left" />
+    <axis
+      xyz="0 0 1" />
+    <limit effort="100" lower="-0.6" upper="0.6" velocity="1.0"/>
+  </joint>
+  
+  <link
+    name="link_gripper_fingertip_left">
+    <inertial>
+      <origin
+        xyz="-3.16381381648689E-08 -2.91408530639359E-09 0.00812579670381812"
+        rpy="0 0 0" />
+      <mass
+        value="0.00382159917455729" />
+      <inertia
+        ixx="0.001"
+        ixy="0"
+        ixz="0"
+        iyy="0.001"
+        iyz="0"
+        izz="0.001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_gripper_fingertip_left.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.250980392156863 0.250980392156863 0.250980392156863 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_gripper_fingertip_left.STL" />
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint
+    name="joint_gripper_fingertip_left"
+    type="fixed">
+    <origin
+      xyz="${scale_finger_length * 0.19011} 0.014912 0"
+      rpy="-1.5708 -4.774E-15 -2.5545" />
+    <parent
+      link="link_gripper_finger_left" />
+    <child
+      link="link_gripper_fingertip_left" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  
+  <link
+    name="link_gripper_finger_right">
+    <inertial>
+      <origin
+        xyz="-0.0945047483510099 -0.0124301080924345 0"
+        rpy="0 0 0" />
+      <mass
+        value="0.0476207785199481" />
+      <inertia
+        ixx="0.001"
+        ixy="0"
+        ixz="0"
+        iyy="0.001"
+        iyz="0"
+        izz="0.001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_gripper_finger_right.STL" scale="${scale_finger_length} 1.0 1.0"/>
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_gripper_finger_right.STL" scale="${scale_finger_length} 1.0 1.0"/>
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint
+    name="joint_gripper_finger_right"
+    type="revolute">
+    <origin
+      xyz="-0.047231 0.010049 -0.04679"
+      rpy="3.1416 -0.5236 1.2943E-15" />
+    <parent
+      link="link_gripper" />
+    <child
+      link="link_gripper_finger_right" />
+    <axis
+      xyz="0 0 1" />
+    <limit effort="100" lower="-0.6" upper="0.6" velocity="1.0"/>
+  </joint>
+  
+  <link
+    name="link_gripper_fingertip_right">
+    <inertial>
+      <origin
+        xyz="2.59386303963494E-08 6.70949018566347E-09 0.00812579516130402"
+        rpy="0 0 0" />
+      <mass
+        value="0.00382160037319545" />
+      <inertia
+        ixx="0.001"
+        ixy="0"
+        ixz="0"
+        iyy="0.001"
+        iyz="0"
+        izz="0.001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_gripper_fingertip_right.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.250980392156863 0.250980392156863 0.250980392156863 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_gripper_fingertip_right.STL" />
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint
+    name="joint_gripper_fingertip_right"
+    type="fixed">
+    <origin
+      xyz="${scale_finger_length * -0.19011} -0.014912 0"
+      rpy="-1.5708 -2.0539E-15 0.58705" />
+    <parent
+      link="link_gripper_finger_right" />
+    <child
+      link="link_gripper_fingertip_right" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+
+  
+  <link
+      name="link_grasp_center">
+  </link>
+  
+  <joint
+    name="joint_grasp_center"
+    type="fixed">
+    <origin
+      xyz="-0.205478 0 -0.138154"
+      rpy="0 0 3.141579" />
+    <parent
+      link="link_gripper" />
+    <child
+      link="link_grasp_center" />
+  </joint>
+  
+</robot>

stretch_description/batch/hank/urdf/stretch_gripper_with_puller.xacro

@@ -0,0 +1,359 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_gripper_with_puller">
+
+  <xacro:property name="scale_finger_length" value="0.9" />
+
+  <link
+    name="link_gripper">
+    <inertial>
+      <origin
+        xyz="-0.0170229132730066 0.0131410320934285 -0.0371614759484659"
+        rpy="0 0 0" />
+      <mass
+        value="0.101902711393094" />
+      <inertia
+        ixx="2.79241618017607E-05"
+        ixy="-1.10819247449605E-05"
+        ixz="-1.50343284036654E-05"
+        iyy="3.67945130513069E-05"
+        iyz="-4.33280448535579E-06"
+        izz="4.14524691955231E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_gripper.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_gripper.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <!-- rpy="3.1416 0 1.5708" -->
+  <!-- rpy="0.0 0 1.5708" -->
+  <joint
+    name="joint_gripper"
+    type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="3.14159 0 -1.5708" />
+    <parent
+      link="link_wrist_yaw" />
+    <child
+      link="link_gripper" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+
+    <link
+    name="link_puller">
+    <inertial>
+      <origin
+        xyz="-7.28171145880641E-08 -0.00602531629961259 -7.69536139810789E-08"
+        rpy="0 0 0" />
+      <mass
+        value="0.00292784355893436" />
+      <inertia
+        ixx="1.09317111513898E-07"
+        ixy="-9.31929125413026E-13"
+        ixz="-3.36065188387015E-16"
+        iyy="1.10835075609816E-15"
+        iyz="1.43669784789342E-12"
+        izz="1.09317110675672E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_puller.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_puller.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint_puller"
+    type="fixed">
+    <origin
+      xyz="0 0.07265 -0.0335"
+      rpy="4.2817E-15 1.1582E-14 -3.0531E-15" />
+    <parent
+      link="link_gripper" />
+    <child
+      link="link_puller" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  
+  <link
+    name="link_gripper_finger_left">
+    <inertial>
+      <origin
+        xyz="0.0945047483510102 0.0124301080924361 -4.44089209850063E-16"
+        rpy="0 0 0" />
+      <mass
+        value="0.0476207785199474" />
+      <inertia
+        ixx="0"
+        ixy="0"
+        ixz="0"
+        iyy="0"
+        iyz="0"
+        izz="0" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_gripper_finger_left.STL" scale="${scale_finger_length} 1.0 1.0"/>
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_gripper_finger_left.STL" scale="${scale_finger_length} 1.0 1.0"/>
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint
+    name="joint_gripper_finger_left"
+    type="revolute">
+    <origin
+      xyz="-0.047231 -0.010151 -0.04679"
+      rpy="2.1762E-15 0.5236 3.1416" />
+    <parent
+      link="link_gripper" />
+    <child
+      link="link_gripper_finger_left" />
+    <axis
+      xyz="0 0 1" />
+    <limit effort="100" lower="-0.6" upper="0.6" velocity="1.0"/>
+  </joint>
+  
+  <link
+    name="link_gripper_fingertip_left">
+    <inertial>
+      <origin
+        xyz="-3.16381381648689E-08 -2.91408530639359E-09 0.00812579670381812"
+        rpy="0 0 0" />
+      <mass
+        value="0.00382159917455729" />
+      <inertia
+        ixx="0"
+        ixy="0"
+        ixz="0"
+        iyy="0"
+        iyz="0"
+        izz="0" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_gripper_fingertip_left.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.250980392156863 0.250980392156863 0.250980392156863 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_gripper_fingertip_left.STL" />
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint
+    name="joint_gripper_fingertip_left"
+    type="fixed">
+    <origin
+      xyz="${scale_finger_length * 0.19011} 0.014912 0"
+      rpy="-1.5708 -4.774E-15 -2.5545" />
+    <parent
+      link="link_gripper_finger_left" />
+    <child
+      link="link_gripper_fingertip_left" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  
+  <link
+    name="link_gripper_finger_right">
+    <inertial>
+      <origin
+        xyz="-0.0945047483510099 -0.0124301080924345 0"
+        rpy="0 0 0" />
+      <mass
+        value="0.0476207785199481" />
+      <inertia
+        ixx="0"
+        ixy="0"
+        ixz="0"
+        iyy="0"
+        iyz="0"
+        izz="0" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_gripper_finger_right.STL" scale="${scale_finger_length} 1.0 1.0"/>
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_gripper_finger_right.STL" scale="${scale_finger_length} 1.0 1.0"/>
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint
+    name="joint_gripper_finger_right"
+    type="revolute">
+    <origin
+      xyz="-0.047231 0.010049 -0.04679"
+      rpy="3.1416 -0.5236 1.2943E-15" />
+    <parent
+      link="link_gripper" />
+    <child
+      link="link_gripper_finger_right" />
+    <axis
+      xyz="0 0 1" />
+    <limit effort="100" lower="-0.6" upper="0.6" velocity="1.0"/>
+  </joint>
+  
+  <link
+    name="link_gripper_fingertip_right">
+    <inertial>
+      <origin
+        xyz="2.59386303963494E-08 6.70949018566347E-09 0.00812579516130402"
+        rpy="0 0 0" />
+      <mass
+        value="0.00382160037319545" />
+      <inertia
+        ixx="0"
+        ixy="0"
+        ixz="0"
+        iyy="0"
+        iyz="0"
+        izz="0" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_gripper_fingertip_right.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.250980392156863 0.250980392156863 0.250980392156863 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_gripper_fingertip_right.STL" />
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint
+    name="joint_gripper_fingertip_right"
+    type="fixed">
+    <origin
+      xyz="${scale_finger_length * -0.19011} -0.014912 0"
+      rpy="-1.5708 -2.0539E-15 0.58705" />
+    <parent
+      link="link_gripper_finger_right" />
+    <child
+      link="link_gripper_fingertip_right" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+
+  
+  <link
+      name="link_grasp_center">
+  </link>
+  
+  <joint
+    name="joint_grasp_center"
+    type="fixed">
+    <origin
+      xyz="-0.205478 0 -0.138154"
+      rpy="0 0 3.141579" />
+    <parent
+      link="link_gripper" />
+    <child
+      link="link_grasp_center" />
+  </joint>
+  
+</robot>
+
+  
+

stretch_description/batch/hank/urdf/stretch_laser_range_finder.xacro

@@ -0,0 +1,59 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_laser_range_finder">
+  
+  <link
+    name="laser">
+    <inertial>
+      <origin
+        xyz="0 0 -0.000755956127492408"
+        rpy="0 0 0" />
+      <mass
+        value="0.0749979022894495" />
+      <inertia
+        ixx="0"
+        ixy="0"
+        ixz="0"
+        iyy="0"
+        iyz="0"
+        izz="0" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/laser.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.250980392156863 0.250980392156863 0.250980392156863 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/laser.STL" />
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint
+    name="joint_laser"
+    type="fixed">
+    <origin
+      xyz="0.000502800000000914 0 0.1664"
+      rpy="0 0 -3.14159265358979" />
+    <parent
+      link="base_link" />
+    <child
+      link="laser" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+
+</robot>

stretch_description/batch/hank/urdf/stretch_main.xacro

@@ -0,0 +1,841 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_main">
+  <xacro:property name="M_PI" value="3.1415926535897931" /> 
+  <xacro:property name="joint_damping" value="21.75"/>
+  <xacro:property name="joint_friction" value="10.48"/>
+  <xacro:property name="joint_spring_stiffness" value="0"/>
+  <xacro:property name="joint_spring_reference" value="0"/>
+
+  <link
+    name="base_link">
+    <inertial>
+      <origin
+        xyz="-0.109461304328163 -0.000741018909047708 0.0914915269429946"
+        rpy="0 0 0" />
+      <mass
+        value="1.0723782659782" />
+      <inertia
+        ixx="0.00310580907710135"
+        ixy="1.5182848191076E-06"
+        ixz="0.00041690466732394"
+        iyy="0.00433798719991832"
+        iyz="1.33487716258445E-05"
+        izz="0.0037204727467362" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  
+  <link
+    name="link_right_wheel">
+    <inertial>
+      <origin
+        xyz="1.25554620866719E-07 3.54748938447003E-07 0.0239581106165018"
+        rpy="0 0 0" />
+      <mass
+        value="0.01" />
+      <inertia
+        ixx="0.001"
+        ixy="0"
+        ixz="0"
+        iyy="0.001"
+        iyz="0"
+        izz="0.001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_right_wheel.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_right_wheel.STL" />
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint
+    name="joint_right_wheel"
+    type="continuous">
+    <origin
+      xyz="-0.00300000000000034 -0.15765 0.0508000000000004"
+      rpy="-1.57079632679489 -1.11022302462516E-16 7.28583859910277E-17" />
+    <parent
+      link="base_link" />
+    <child
+      link="link_right_wheel" />
+    <axis
+      xyz="0 0 1" />
+    <dynamics damping="${joint_damping}" friction="${joint_friction}" spring_reference="${joint_spring_reference}" spring_stiffness="{joint_spring_stiffness}"/>
+  </joint>
+  
+  <link
+    name="link_left_wheel">
+    <inertial>
+      <origin
+        xyz="1.2555462092223E-07 -3.54748938502514E-07 -0.0239581106165035"
+        rpy="0 0 0" />
+      <mass
+        value="0.01" />
+      <inertia
+        ixx="0.001"
+        ixy="0"
+        ixz="0"
+        iyy="0.001"
+        iyz="0"
+        izz="0.001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_left_wheel.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_left_wheel.STL" />
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint
+    name="joint_left_wheel"
+    type="continuous">
+    <origin
+      xyz="-0.00300000000001899 0.15765 0.0507999999999994"
+      rpy="-1.5707963267949 3.16227047920818E-31 7.88745438253713E-16" />
+    <parent
+      link="base_link" />
+    <child
+      link="link_left_wheel" />
+    <axis
+      xyz="0 0 1" />
+    <dynamics damping="${joint_damping}" friction="${joint_friction}" spring_reference="${joint_spring_reference}" spring_stiffness="{joint_spring_stiffness}"/>
+  </joint>
+
+  <link name="caster_link">
+    <collision>
+      <geometry>
+        <sphere radius="0.032"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <surface>
+        <friction>
+          <ode>
+            <mu>0</mu>
+            <mu2>0</mu2>
+            <slip1>1.0</slip1>
+            <slip2>1.0</slip2>
+          </ode>
+        </friction>
+      </surface>
+    </collision>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/omni_wheel_m.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <inertial>
+      <mass value="0.01" />
+      <origin xyz="0 0 0" />
+      <inertia
+        ixx="0.001"
+        ixy="0"
+        ixz="0"
+        iyy="0.001"
+        iyz="0"
+        izz="0.001" />
+    </inertial>
+  </link>
+
+  <joint name="caster_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="caster_link"/>
+    <origin xyz="-0.245 0.0 0.032" rpy="${-M_PI/2} 0 0"/>
+    <axis xyz="0 0 1" />
+  </joint>
+
+  <link
+    name="link_mast">
+    <inertial>
+      <origin
+        xyz="0.00755818572975822 0.773971284176834 0.00647313086620024"
+        rpy="0 0 0" />
+      <mass
+        value="0.749143203376401" />
+      <inertia
+        ixx="0.0709854511954588"
+        ixy="-0.00433428742758457"
+        ixz="-0.000186110788697573"
+        iyy="0.000437922053342648"
+        iyz="-0.00288788257713431"
+        izz="0.071104808501661" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_mast.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_mast.STL" />
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint
+    name="joint_mast"
+    type="fixed">
+    <origin
+      xyz="-0.07 0.134999999999998 0.0284000000000001"
+      rpy="1.5707963267949 0 0.00925318926571245" />
+    <parent
+      link="base_link" />
+    <child
+      link="link_mast" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  
+  <link
+    name="link_lift">
+    <inertial>
+      <origin
+        xyz="-0.0547636346252869 0.0380939689802074 0.00933159404448308"
+        rpy="0 0 0" />
+      <mass
+        value="0.444820831236007" />
+      <inertia
+        ixx="0.000567192946271367"
+        ixy="-0.00024607534789508"
+        ixz="-0.000128108442260574"
+        iyy="0.00127108364478659"
+        iyz="7.61916855070339E-06"
+        izz="0.00137296635099006" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_lift.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_lift.STL" />
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint
+    name="joint_lift"
+    type="prismatic">
+    <origin
+      xyz="-0.0369217062323472 0.165471199999996 -0.000341653286793524"
+      rpy="-1.57079632679552 1.5615431375292 -6.2942004366467E-13" />
+    <parent
+      link="link_mast" />
+    <child
+      link="link_lift" />
+    <axis
+	xyz="0 0 1" />
+  <!-- for now: hand copied range_m: from lift: from ~/repos/stretch_fleet/stretch-re1-1001/stretch_re1_factory_params.yaml -->
+  <!--<limit effort="100" lower="0.0" upper="1.095" velocity="1.0"/>-->
+  <!-- copied value did not reach the top of mesh model with GUI sliders and RViz -->
+  <limit effort="100" lower="0.0" upper="1.1" velocity="1.0"/>
+  </joint>
+  
+  <link
+    name="link_arm_l4">
+    <inertial>
+      <origin
+        xyz="-1.61247276464493E-06 1.54715589201215E-06 -0.0953252706040035"
+        rpy="0 0 0" />
+      <mass
+        value="0.0676525455789735" />
+      <inertia
+        ixx="0.000122002023066796"
+        ixy="7.29593356230121E-13"
+        ixz="9.63170353371061E-09"
+        iyy="0.000122002023127152"
+        iyz="-9.24154949889042E-09"
+        izz="1.46043439809638E-12" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_arm_l4.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_arm_l4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint
+    name="joint_arm_l4"
+    type="fixed">
+    <origin
+      xyz="-0.25471 0 0"
+      rpy="1.5708 -3.1019E-16 -1.5708" />
+    <parent
+      link="link_lift" />
+    <child
+      link="link_arm_l4" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  
+  <link
+    name="link_arm_l3">
+    <inertial>
+      <origin
+        xyz="-3.34873468621488E-07 4.7411336306924E-07 -0.0974069598289041"
+        rpy="0 0 0" />
+      <mass
+        value="0.0626921047058405" />
+      <inertia
+        ixx="0.001"
+        ixy="0"
+        ixz="0"
+        iyy="0.001"
+        iyz="0"
+        izz="0.001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_arm_l3.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_arm_l3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint
+    name="joint_arm_l3"
+    type="prismatic">
+    <origin
+      xyz="0 0 0.013"
+      rpy="3.5742E-16 3.2123E-16 -2.4565E-16" />
+    <parent
+      link="link_arm_l4" />
+    <child
+      link="link_arm_l3" />
+    <axis
+	xyz="0 0 1" />
+    <!-- 0.13 = 0.52/4-->
+    <limit effort="100" lower="0.0" upper="0.13" velocity="1.0"/>
+  </joint>
+  
+  <link
+    name="link_arm_l2">
+    <inertial>
+      <origin
+        xyz="-3.31043560508615E-07 3.13422303999111E-07 -0.097255883541891"
+        rpy="0 0 0" />
+      <mass
+        value="0.0569074368576238" />
+      <inertia
+        ixx="0.001"
+        ixy="0"
+        ixz="0"
+        iyy="0.001"
+        iyz="0"
+        izz="0.001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_arm_l2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_arm_l2.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="joint_arm_l2"
+    type="prismatic">
+    <origin
+      xyz="0 0 0.013"
+      rpy="2.91385731014123E-16 4.44300759504684E-17 3.25691080516352E-16" />
+    <parent
+      link="link_arm_l3" />
+    <child
+      link="link_arm_l2" />
+    <axis
+	xyz="0 0 1" />
+    <!-- 0.13 = 0.52/4-->
+    <limit effort="100" lower="0.0" upper="0.13" velocity="1.0"/>
+  </joint>
+  
+  <link
+    name="link_arm_l1">
+    <inertial>
+      <origin
+        xyz="-3.36876635420591E-07 3.05876091066803E-07 -0.0969117032232756"
+        rpy="0 0 0" />
+      <mass
+        value="0.0511763619538321" />
+      <inertia
+        ixx="0.001"
+        ixy="0"
+        ixz="0"
+        iyy="0.001"
+        iyz="0"
+        izz="0.001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_arm_l1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_arm_l1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint
+    name="joint_arm_l1"
+    type="prismatic">
+    <origin
+      xyz="0 0 0.013"
+      rpy="7.41596560408007E-17 1.33876788296791E-16 -2.44545873596083E-16" />
+    <parent
+      link="link_arm_l2" />
+    <child
+      link="link_arm_l1" />
+    <axis
+	xyz="0 0 1" />
+    <!-- 0.13 = 0.52/4-->
+    <limit effort="100" lower="0.0" upper="0.13" velocity="1.0"/>
+  </joint>
+  
+  <link
+    name="link_arm_l0">
+    <inertial>
+      <origin
+        xyz="0.0230715049668191 -0.00195115833662818 -0.0360646347160285"
+        rpy="0 0 0" />
+      <mass
+        value="0.101241250325294" />
+      <inertia
+        ixx="0.001"
+        ixy="0"
+        ixz="0"
+        iyy="0.001"
+        iyz="0"
+        izz="0.001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_arm_l0.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_arm_l0.STL" />
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint
+    name="joint_arm_l0"
+    type="prismatic">
+    <origin
+      xyz="0 0 -0.0137499999999938"
+      rpy="-3.05317390622457E-16 -4.23236224076729E-16 -2.68425135229209E-17" />
+    <parent
+      link="link_arm_l1" />
+    <child
+      link="link_arm_l0" />
+    <axis
+	xyz="0 0 1" />
+    <!-- 0.13 = 0.52/4-->
+    <limit effort="100" lower="0.0" upper="0.13" velocity="1.0"/>
+  </joint>
+  
+  <link
+    name="link_wrist_yaw">
+    <inertial>
+      <origin
+        xyz="-8.02795716750571E-06 1.93811447768422E-05 0.018946700595851"
+        rpy="0 0 0" />
+      <mass
+        value="0.0405398981326229" />
+      <inertia
+        ixx="0.001"
+        ixy="0"
+        ixz="0"
+        iyy="0.001"
+        iyz="0"
+        izz="0.001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_wrist_yaw.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+	        rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_wrist_yaw.STL" />
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint
+    name="joint_wrist_yaw"
+    type="revolute">
+    <origin
+      xyz="0.083 -0.03075 0"
+      rpy="1.5708 4.2595E-14 2.6415E-15" />
+    <parent
+      link="link_arm_l0" />
+    <child
+      link="link_wrist_yaw" />
+    <axis
+      xyz="0 0 -1" />
+    <!--
+      stowed to front ~225 deg: 3.15159 x 1.25 = 3.9395
+      using 4.0
+      stowed to back ~100 deg:  100 / 180 x 3.14159 = 1.7453
+      using -1.75
+    -->
+    <limit effort="100" lower="-1.75" upper="4.0" velocity="1.0"/>
+  </joint>
+  
+  <link
+    name="link_head">
+    <inertial>
+      <origin
+        xyz="0.0372933550588956 0.045509432985552 0.0281136801213409"
+        rpy="0 0 0" />
+      <mass
+        value="0.129454717596498" />
+      <inertia
+        ixx="0.001"
+        ixy="0"
+        ixz="0"
+        iyy="0.001"
+        iyz="0"
+        izz="0.001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_head.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_head.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="joint_head"
+    type="fixed">
+    <origin
+      xyz="0 1.33 0"
+      rpy="1.5708 -1.5615 3.1416" />
+    <parent
+      link="link_mast" />
+    <child
+      link="link_head" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+
+  <link
+    name="link_head_pan">
+    <inertial>
+      <origin
+        xyz="-0.00116200255310878 0.0130365621706306 0.00137629842298681"
+        rpy="0 0 0" />
+      <mass
+        value="0.035858341182617" />
+      <inertia
+        ixx="0.001"
+        ixy="0"
+        ixz="0"
+        iyy="0.001"
+        iyz="0"
+        izz="0.001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_head_pan.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_head_pan.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="joint_head_pan"
+    type="revolute">
+    <origin
+      xyz="0.135 0.0731 -0.003"
+      rpy="-6.4986E-15 -6.068E-24 1.5708" />
+    <parent
+      link="link_head" />
+    <child
+      link="link_head_pan" />
+    <axis
+	xyz="0 0 1" />
+    <!-- unconstrained range for now -->
+    <limit effort="100" lower="-3.9" upper="1.5" velocity="1.0"/>
+  </joint>
+  
+  <link
+    name="link_head_tilt">
+    <inertial>
+      <origin
+        xyz="0.00920211049011871 -0.0279724762416447 0.0306580436227023"
+        rpy="0 0 0" />
+      <mass
+        value="0.0701242408063442" />
+      <inertia
+        ixx="0.001"
+        ixy="0"
+        ixz="0"
+        iyy="0.001"
+        iyz="0"
+        izz="0.001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_head_tilt.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_head_tilt.STL" />
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint
+    name="joint_head_tilt"
+    type="revolute">
+    <origin
+      xyz="-0.0013 0.027507 -0.053311"
+      rpy="1.5708 6.068E-24 -2.5165E-15" />
+    <parent
+      link="link_head_pan" />
+    <child
+      link="link_head_tilt" />
+    <axis
+      xyz="0 0 1" />
+    <!-- unconstrained range for now -->
+    <limit effort="100" lower="-1.53" upper="0.79" velocity="1.0"/>
+  </joint>
+
+</robot>

stretch_description/batch/hank/urdf/stretch_respeaker.xacro

@@ -0,0 +1,62 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_respeaker">
+
+  <link name="respeaker_base">
+    <inertial>
+      <origin
+        xyz="-0.00078082896792734 0.00765742173486017 -0.0042488298301937"
+        rpy="0 0 0" />
+      <mass
+        value="0.00969129410417277" />
+      <inertia
+        ixx="8.95656300428405E-07"
+        ixy="2.67330745809535E-08"
+        ixz="-3.84519793580934E-08"
+        iyy="4.0421099617056E-07"
+        iyz="3.15533542838673E-07"
+        izz="7.08282597118018E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_respeaker.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_respeaker.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="joint_respeaker"
+    type="fixed">
+    <!-- rpy="   ?   rotate_sound_source_direction    ?   " --> 
+    <origin
+      xyz="1.09074743137871E-05 1.36992 0.00303572796911382"
+      rpy="1.57079632679553 0.0 3.14159265358916" />
+    <parent
+      link="link_mast" />
+    <child
+      link="respeaker_base" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  
+</robot>
+
+  
+