From 45b545558db11e9417449bb5f81a0fe482325c1a Mon Sep 17 00:00:00 2001
From: John Hsu <hsu@osrfoundation.org>
Date: Thu, 12 Feb 2015 15:38:08 -0800
Subject: [PATCH 01/22] reorder joints so they match output of our original
 tuned model

---
 mpl_right_forearm/model.sdf | 1258 +++++++++++++++++------------------
 1 file changed, 616 insertions(+), 642 deletions(-)

diff --git a/mpl_right_forearm/model.sdf b/mpl_right_forearm/model.sdf
index 94b6b51..7074ac3 100644
--- a/mpl_right_forearm/model.sdf
+++ b/mpl_right_forearm/model.sdf
@@ -126,6 +126,34 @@
         </contact>
       </sensor>
     </link>
+    <joint name='wristy' type='revolute'>
+      <child>wristy</child>
+      <parent>forearm</parent>
+      <axis>
+        <xyz>0.011537 0.999933 -1.2164e-13</xyz>
+        <limit>
+          <lower>-1.57</lower>
+          <upper>1.57</upper>
+          <effort>10000</effort>
+          <velocity>0.5</velocity>
+        </limit>
+        <dynamics>
+          <damping>5</damping>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+      <physics>
+        <provide_feedback>1</provide_feedback>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+    </joint>
 
     <link name='wristx'>
       <pose>0.003916 -0.527636 0.137161 -1.18962e-13 1.21847e-14 -0.0115373</pose>
@@ -219,6 +247,34 @@
         </contact>
       </sensor>
     </link>
+    <joint name='wristx' type='revolute'>
+      <child>wristx</child>
+      <parent>wristy</parent>
+      <axis>
+        <xyz>-1.35564e-14 -1.18814e-13 -1</xyz>
+        <limit>
+          <lower>-0.261</lower>
+          <upper>0.785</upper>
+          <effort>10000</effort>
+          <velocity>0.5</velocity>
+        </limit>
+        <dynamics>
+          <damping>5</damping>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+      <physics>
+        <provide_feedback>1</provide_feedback>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+    </joint>
 
     <link name='wristz'>
       <pose>0.00375708 -0.557636 0.135067 -2.87105e-13 1.42109e-14 -0.0115373</pose>
@@ -303,6 +359,34 @@
         </contact>
       </sensor>
     </link>
+    <joint name='wristz' type='revolute'>
+      <child>wristz</child>
+      <parent>wristx</parent>
+      <axis>
+        <xyz>0.999933 -0.011537 -1.42109e-14</xyz>
+        <limit>
+          <lower>-1.04</lower>
+          <upper>1.04</upper>
+          <effort>10000</effort>
+          <velocity>0.5</velocity>
+        </limit>
+        <dynamics>
+          <damping>5</damping>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+      <physics>
+        <provide_feedback>1</provide_feedback>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+    </joint>
 
     <link name='index0'>
       <pose>0.0384854 -0.623842 0.136079 -1.14726e-13 0.174533 -0.0115373</pose>
@@ -356,6 +440,34 @@
         </contact>
       </sensor>
     </link>
+    <joint name='index0' type='revolute'>
+      <child>index0</child>
+      <parent>wristz</parent>
+      <axis>
+        <xyz>-0.173637 0.00200338 -0.984808</xyz>
+        <limit>
+          <lower>-0.345</lower>
+          <upper>0</upper>
+          <effort>10000</effort>
+          <velocity>0.5</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.8</damping>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+      <physics>
+        <provide_feedback>1</provide_feedback>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+    </joint>
 
     <link name='index1'>
       <pose>0.0383394 -0.641841 0.136068 -1.1474e-13 0.174533 -0.0115373</pose>
@@ -409,6 +521,34 @@
         </contact>
       </sensor>
     </link>
+    <joint name='index1' type='revolute'>
+      <child>index1</child>
+      <parent>index0</parent>
+      <axis>
+        <xyz>0.984742 -0.0113618 -0.173648</xyz>
+        <limit>
+          <lower>-0.785</lower>
+          <upper>1.57</upper>
+          <effort>10000</effort>
+          <velocity>0.5</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.8</damping>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+      <physics>
+        <provide_feedback>1</provide_feedback>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+    </joint>
 
     <link name='index2'>
       <pose>0.0389938 -0.685352 0.136372 -1.1445e-13 0.174533 -0.0115373</pose>
@@ -481,6 +621,34 @@
         </contact>
       </sensor>
     </link>
+    <joint name='index2' type='revolute'>
+      <child>index2</child>
+      <parent>index1</parent>
+      <axis>
+        <xyz>0.984742 -0.0113618 -0.173648</xyz>
+        <limit>
+          <lower>0</lower>
+          <upper>1.72</upper>
+          <effort>10000</effort>
+          <velocity>0.5</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.8</damping>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+      <physics>
+        <provide_feedback>1</provide_feedback>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+    </joint>
 
     <link name='index3'>
       <pose>0.0380858 -0.709843 0.136482 -1.15476e-13 0.174533 -0.0115373</pose>
@@ -574,6 +742,34 @@
         </imu>
       </sensor>
     </link>
+    <joint name='index3' type='revolute'>
+      <child>index3</child>
+      <parent>index2</parent>
+      <axis>
+        <xyz>0.984742 -0.0113618 -0.173648</xyz>
+        <limit>
+          <lower>0</lower>
+          <upper>1.38</upper>
+          <effort>10000</effort>
+          <velocity>0.5</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.8</damping>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+      <physics>
+        <provide_feedback>1</provide_feedback>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+    </joint>
 
     <link name='middle0'>
       <pose>0.0156685 -0.63568 0.140513 0.0872665 1.4183e-14 -0.0115373</pose>
@@ -627,6 +823,34 @@
         </contact>
       </sensor>
     </link>
+    <joint name='middle0' type='revolute'>
+      <child>middle0</child>
+      <parent>wristz</parent>
+      <axis>
+        <xyz>0.00100552 0.0871499 -0.996195</xyz>
+        <limit>
+          <lower>0</lower>
+          <upper>0</upper>
+          <effort>10000</effort>
+          <velocity>0.5</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.8</damping>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+      <physics>
+        <provide_feedback>1</provide_feedback>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+    </joint>
 
     <link name='middle1'>
       <pose>0.0155242 -0.653612 0.138944 0.0872665 1.43013e-14 -0.0115373</pose>
@@ -680,6 +904,34 @@
         </contact>
       </sensor>
     </link>
+    <joint name='middle1' type='revolute'>
+      <child>middle1</child>
+      <parent>middle0</parent>
+      <axis>
+        <xyz>0.999933 -0.011537 -1.43013e-14</xyz>
+        <limit>
+          <lower>-0.785</lower>
+          <upper>1.57</upper>
+          <effort>10000</effort>
+          <velocity>0.5</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.8</damping>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+      <physics>
+        <provide_feedback>1</provide_feedback>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+    </joint>
 
     <link name='middle2'>
       <pose>0.0161097 -0.696999 0.135651 0.0872665 1.32728e-14 -0.0115373</pose>
@@ -752,6 +1004,34 @@
         </contact>
       </sensor>
     </link>
+    <joint name='middle2' type='revolute'>
+      <child>middle2</child>
+      <parent>middle1</parent>
+      <axis>
+        <xyz>0.999933 -0.011537 -1.32727e-14</xyz>
+        <limit>
+          <lower>0</lower>
+          <upper>1.73</upper>
+          <effort>10000</effort>
+          <velocity>0.5</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.8</damping>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+      <physics>
+        <provide_feedback>1</provide_feedback>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+    </joint>
 
     <link name='middle3'>
       <pose>0.0151931 -0.721397 0.133515 0.0872665 1.51577e-14 -0.0115373</pose>
@@ -845,6 +1125,34 @@
         </imu>
       </sensor>
     </link>
+    <joint name='middle3' type='revolute'>
+      <child>middle3</child>
+      <parent>middle2</parent>
+      <axis>
+        <xyz>0.999933 -0.011537 -1.51577e-14</xyz>
+        <limit>
+          <lower>0</lower>
+          <upper>1.38</upper>
+          <effort>10000</effort>
+          <velocity>0.5</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.8</damping>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+      <physics>
+        <provide_feedback>1</provide_feedback>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+    </joint>
 
     <link name='pinky0'>
       <pose>-0.0275009 -0.61268 0.129428 -1.14942e-13 -0.174533 -0.0115373</pose>
@@ -898,6 +1206,34 @@
         </contact>
       </sensor>
     </link>
+    <joint name='pinky0' type='revolute'>
+      <child>pinky0</child>
+      <parent>wristz</parent>
+      <axis>
+        <xyz>0.173637 -0.00200338 -0.984808</xyz>
+        <limit>
+          <lower>0</lower>
+          <upper>0.345</upper>
+          <effort>10000</effort>
+          <velocity>0.5</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.8</damping>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+      <physics>
+        <provide_feedback>1</provide_feedback>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+    </joint>
 
     <link name='pinky1'>
       <pose>-0.0276458 -0.630579 0.129439 -1.14943e-13 -0.174533 -0.0115373</pose>
@@ -951,6 +1287,34 @@
         </contact>
       </sensor>
     </link>
+    <joint name='pinky1' type='revolute'>
+      <child>pinky1</child>
+      <parent>pinky0</parent>
+      <axis>
+        <xyz>0.984742 -0.0113618 0.173648</xyz>
+        <limit>
+          <lower>-0.785</lower>
+          <upper>1.57</upper>
+          <effort>10000</effort>
+          <velocity>0.5</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.8</damping>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+      <physics>
+        <provide_feedback>1</provide_feedback>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+    </joint>
 
     <link name='pinky2'>
       <pose>-0.0275441 -0.663582 0.130032 -1.14415e-13 -0.174533 -0.0115373</pose>
@@ -1004,6 +1368,34 @@
         </contact>
       </sensor>
     </link>
+    <joint name='pinky2' type='revolute'>
+      <child>pinky2</child>
+      <parent>pinky1</parent>
+      <axis>
+        <xyz>0.984742 -0.0113618 0.173648</xyz>
+        <limit>
+          <lower>0</lower>
+          <upper>1.72</upper>
+          <effort>10000</effort>
+          <velocity>0.5</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.8</damping>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+      <physics>
+        <provide_feedback>1</provide_feedback>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+    </joint>
 
     <link name='pinky3'>
       <pose>-0.0277931 -0.681081 0.130023 -1.14622e-13 -0.174533 -0.0115373</pose>
@@ -1097,6 +1489,34 @@
         </imu>
       </sensor>
     </link>
+    <joint name='pinky3' type='revolute'>
+      <child>pinky3</child>
+      <parent>pinky2</parent>
+      <axis>
+        <xyz>0.984742 -0.0113618 0.173648</xyz>
+        <limit>
+          <lower>0</lower>
+          <upper>1.38</upper>
+          <effort>10000</effort>
+          <velocity>0.5</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.8</damping>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+      <physics>
+        <provide_feedback>1</provide_feedback>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+    </joint>
 
     <link name='ring0'>
       <pose>-0.00687963 -0.624218 0.136579 -1.14553e-13 -0.174533 -0.0115373</pose>
@@ -1150,6 +1570,34 @@
         </contact>
       </sensor>
     </link>
+    <joint name='ring0' type='revolute'>
+      <child>ring0</child>
+      <parent>wristz</parent>
+      <axis>
+        <xyz>0.173637 -0.00200338 -0.984808</xyz>
+        <limit>
+          <lower>0</lower>
+          <upper>0.345</upper>
+          <effort>10000</effort>
+          <velocity>0.5</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.8</damping>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+      <physics>
+        <provide_feedback>1</provide_feedback>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+    </joint>
 
     <link name='ring1'>
       <pose>-0.00702565 -0.642218 0.13659 -1.14538e-13 -0.174533 -0.0115373</pose>
@@ -1203,6 +1651,34 @@
         </contact>
       </sensor>
     </link>
+    <joint name='ring1' type='revolute'>
+      <child>ring1</child>
+      <parent>ring0</parent>
+      <axis>
+        <xyz>0.984742 -0.0113618 0.173648</xyz>
+        <limit>
+          <lower>-0.785</lower>
+          <upper>1.57</upper>
+          <effort>10000</effort>
+          <velocity>0.5</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.8</damping>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+      <physics>
+        <provide_feedback>1</provide_feedback>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+    </joint>
 
     <link name='ring2'>
       <pose>-0.0065449 -0.685726 0.137271 -1.14828e-13 -0.174533 -0.0115373</pose>
@@ -1274,6 +1750,34 @@
         </contact>
       </sensor>
     </link>
+    <joint name='ring2' type='revolute'>
+      <child>ring2</child>
+      <parent>ring1</parent>
+      <axis>
+        <xyz>0.984742 -0.0113618 0.173648</xyz>
+        <limit>
+          <lower>0</lower>
+          <upper>1.72</upper>
+          <effort>10000</effort>
+          <velocity>0.5</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.8</damping>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+      <physics>
+        <provide_feedback>1</provide_feedback>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+    </joint>
 
     <link name='ring3'>
       <pose>-0.00745287 -0.710217 0.13716 -1.14821e-13 -0.174533 -0.0115373</pose>
@@ -1367,6 +1871,34 @@
         </imu>
       </sensor>
     </link>
+    <joint name='ring3' type='revolute'>
+      <child>ring3</child>
+      <parent>ring2</parent>
+      <axis>
+        <xyz>0.984742 -0.0113618 0.173648</xyz>
+        <limit>
+          <lower>0</lower>
+          <upper>1.38</upper>
+          <effort>10000</effort>
+          <velocity>0.5</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.8</damping>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+      <physics>
+        <provide_feedback>1</provide_feedback>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+    </joint>
 
     <link name='thumb0'>
       <pose>0.0374985 -0.578725 0.124974 0.0873761 -0.0305803 -0.276903</pose>
@@ -1439,6 +1971,34 @@
         </contact>
       </sensor>
     </link>
+    <joint name='thumb0' type='revolute'>
+      <child>thumb0</child>
+      <parent>wristz</parent>
+      <axis>
+        <xyz>0.269769 0.958967 0.0872241</xyz>
+        <limit>
+          <lower>0</lower>
+          <upper>2.07</upper>
+          <effort>10000</effort>
+          <velocity>0.5</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.8</damping>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+      <physics>
+        <provide_feedback>1</provide_feedback>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+    </joint>
 
     <link name='thumb1'>
       <pose>0.057306 -0.585356 0.126981 0.0873761 -0.0305803 -0.276903</pose>
@@ -1531,6 +2091,34 @@
         </contact>
       </sensor>
     </link>
+    <joint name='thumb1' type='revolute'>
+      <child>thumb1</child>
+      <parent>thumb0</parent>
+      <axis>
+        <xyz>0.0531549 0.0756139 -0.995719</xyz>
+        <limit>
+          <lower>0</lower>
+          <upper>1.03</upper>
+          <effort>10000</effort>
+          <velocity>0.5</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.8</damping>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+      <physics>
+        <provide_feedback>1</provide_feedback>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+    </joint>
 
     <link name='thumb2'>
       <pose>0.0895543 -0.594453 0.127266 0.0873761 -0.0305803 -0.276903</pose>
@@ -1603,6 +2191,34 @@
         </contact>
       </sensor>
     </link>
+    <joint name='thumb2' type='revolute'>
+      <child>thumb2</child>
+      <parent>thumb1</parent>
+      <axis>
+        <xyz>0.0531549 0.0756139 -0.995719</xyz>
+        <limit>
+          <lower>0</lower>
+          <upper>1.03</upper>
+          <effort>10000</effort>
+          <velocity>0.5</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.8</damping>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+      <physics>
+        <provide_feedback>1</provide_feedback>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+    </joint>
 
     <link name='thumb3'>
       <pose>0.121705 -0.603689 0.129371 0.0873761 -0.0305803 -0.276903</pose>
@@ -1696,646 +2312,6 @@
         </imu>
       </sensor>
     </link>
-
-    <joint name='wristy' type='revolute'>
-      <child>wristy</child>
-      <parent>forearm</parent>
-      <axis>
-        <xyz>0.011537 0.999933 -1.2164e-13</xyz>
-        <limit>
-          <lower>-1.57</lower>
-          <upper>1.57</upper>
-          <effort>10000</effort>
-          <velocity>0.5</velocity>
-        </limit>
-        <dynamics>
-          <damping>5</damping>
-        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
-      </axis>
-      <physics>
-        <provide_feedback>1</provide_feedback>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-
-    <joint name='wristx' type='revolute'>
-      <child>wristx</child>
-      <parent>wristy</parent>
-      <axis>
-        <xyz>-1.35564e-14 -1.18814e-13 -1</xyz>
-        <limit>
-          <lower>-0.261</lower>
-          <upper>0.785</upper>
-          <effort>10000</effort>
-          <velocity>0.5</velocity>
-        </limit>
-        <dynamics>
-          <damping>5</damping>
-        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
-      </axis>
-      <physics>
-        <provide_feedback>1</provide_feedback>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-
-    <joint name='wristz' type='revolute'>
-      <child>wristz</child>
-      <parent>wristx</parent>
-      <axis>
-        <xyz>0.999933 -0.011537 -1.42109e-14</xyz>
-        <limit>
-          <lower>-1.04</lower>
-          <upper>1.04</upper>
-          <effort>10000</effort>
-          <velocity>0.5</velocity>
-        </limit>
-        <dynamics>
-          <damping>5</damping>
-        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
-      </axis>
-      <physics>
-        <provide_feedback>1</provide_feedback>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-
-    <joint name='index0' type='revolute'>
-      <child>index0</child>
-      <parent>wristz</parent>
-      <axis>
-        <xyz>-0.173637 0.00200338 -0.984808</xyz>
-        <limit>
-          <lower>-0.345</lower>
-          <upper>0</upper>
-          <effort>10000</effort>
-          <velocity>0.5</velocity>
-        </limit>
-        <dynamics>
-          <damping>0.8</damping>
-        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
-      </axis>
-      <physics>
-        <provide_feedback>1</provide_feedback>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-
-    <joint name='index1' type='revolute'>
-      <child>index1</child>
-      <parent>index0</parent>
-      <axis>
-        <xyz>0.984742 -0.0113618 -0.173648</xyz>
-        <limit>
-          <lower>-0.785</lower>
-          <upper>1.57</upper>
-          <effort>10000</effort>
-          <velocity>0.5</velocity>
-        </limit>
-        <dynamics>
-          <damping>0.8</damping>
-        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
-      </axis>
-      <physics>
-        <provide_feedback>1</provide_feedback>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-
-    <joint name='index2' type='revolute'>
-      <child>index2</child>
-      <parent>index1</parent>
-      <axis>
-        <xyz>0.984742 -0.0113618 -0.173648</xyz>
-        <limit>
-          <lower>0</lower>
-          <upper>1.72</upper>
-          <effort>10000</effort>
-          <velocity>0.5</velocity>
-        </limit>
-        <dynamics>
-          <damping>0.8</damping>
-        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
-      </axis>
-      <physics>
-        <provide_feedback>1</provide_feedback>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-
-    <joint name='index3' type='revolute'>
-      <child>index3</child>
-      <parent>index2</parent>
-      <axis>
-        <xyz>0.984742 -0.0113618 -0.173648</xyz>
-        <limit>
-          <lower>0</lower>
-          <upper>1.38</upper>
-          <effort>10000</effort>
-          <velocity>0.5</velocity>
-        </limit>
-        <dynamics>
-          <damping>0.8</damping>
-        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
-      </axis>
-      <physics>
-        <provide_feedback>1</provide_feedback>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-
-    <joint name='middle0' type='revolute'>
-      <child>middle0</child>
-      <parent>wristz</parent>
-      <axis>
-        <xyz>0.00100552 0.0871499 -0.996195</xyz>
-        <limit>
-          <lower>0</lower>
-          <upper>0</upper>
-          <effort>10000</effort>
-          <velocity>0.5</velocity>
-        </limit>
-        <dynamics>
-          <damping>0.8</damping>
-        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
-      </axis>
-      <physics>
-        <provide_feedback>1</provide_feedback>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-
-    <joint name='middle1' type='revolute'>
-      <child>middle1</child>
-      <parent>middle0</parent>
-      <axis>
-        <xyz>0.999933 -0.011537 -1.43013e-14</xyz>
-        <limit>
-          <lower>-0.785</lower>
-          <upper>1.57</upper>
-          <effort>10000</effort>
-          <velocity>0.5</velocity>
-        </limit>
-        <dynamics>
-          <damping>0.8</damping>
-        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
-      </axis>
-      <physics>
-        <provide_feedback>1</provide_feedback>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-
-    <joint name='middle2' type='revolute'>
-      <child>middle2</child>
-      <parent>middle1</parent>
-      <axis>
-        <xyz>0.999933 -0.011537 -1.32727e-14</xyz>
-        <limit>
-          <lower>0</lower>
-          <upper>1.73</upper>
-          <effort>10000</effort>
-          <velocity>0.5</velocity>
-        </limit>
-        <dynamics>
-          <damping>0.8</damping>
-        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
-      </axis>
-      <physics>
-        <provide_feedback>1</provide_feedback>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-
-    <joint name='middle3' type='revolute'>
-      <child>middle3</child>
-      <parent>middle2</parent>
-      <axis>
-        <xyz>0.999933 -0.011537 -1.51577e-14</xyz>
-        <limit>
-          <lower>0</lower>
-          <upper>1.38</upper>
-          <effort>10000</effort>
-          <velocity>0.5</velocity>
-        </limit>
-        <dynamics>
-          <damping>0.8</damping>
-        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
-      </axis>
-      <physics>
-        <provide_feedback>1</provide_feedback>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-
-    <joint name='pinky0' type='revolute'>
-      <child>pinky0</child>
-      <parent>wristz</parent>
-      <axis>
-        <xyz>0.173637 -0.00200338 -0.984808</xyz>
-        <limit>
-          <lower>0</lower>
-          <upper>0.345</upper>
-          <effort>10000</effort>
-          <velocity>0.5</velocity>
-        </limit>
-        <dynamics>
-          <damping>0.8</damping>
-        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
-      </axis>
-      <physics>
-        <provide_feedback>1</provide_feedback>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-
-    <joint name='pinky1' type='revolute'>
-      <child>pinky1</child>
-      <parent>pinky0</parent>
-      <axis>
-        <xyz>0.984742 -0.0113618 0.173648</xyz>
-        <limit>
-          <lower>-0.785</lower>
-          <upper>1.57</upper>
-          <effort>10000</effort>
-          <velocity>0.5</velocity>
-        </limit>
-        <dynamics>
-          <damping>0.8</damping>
-        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
-      </axis>
-      <physics>
-        <provide_feedback>1</provide_feedback>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-
-    <joint name='pinky2' type='revolute'>
-      <child>pinky2</child>
-      <parent>pinky1</parent>
-      <axis>
-        <xyz>0.984742 -0.0113618 0.173648</xyz>
-        <limit>
-          <lower>0</lower>
-          <upper>1.72</upper>
-          <effort>10000</effort>
-          <velocity>0.5</velocity>
-        </limit>
-        <dynamics>
-          <damping>0.8</damping>
-        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
-      </axis>
-      <physics>
-        <provide_feedback>1</provide_feedback>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-
-    <joint name='pinky3' type='revolute'>
-      <child>pinky3</child>
-      <parent>pinky2</parent>
-      <axis>
-        <xyz>0.984742 -0.0113618 0.173648</xyz>
-        <limit>
-          <lower>0</lower>
-          <upper>1.38</upper>
-          <effort>10000</effort>
-          <velocity>0.5</velocity>
-        </limit>
-        <dynamics>
-          <damping>0.8</damping>
-        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
-      </axis>
-      <physics>
-        <provide_feedback>1</provide_feedback>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-
-
-    <joint name='ring0' type='revolute'>
-      <child>ring0</child>
-      <parent>wristz</parent>
-      <axis>
-        <xyz>0.173637 -0.00200338 -0.984808</xyz>
-        <limit>
-          <lower>0</lower>
-          <upper>0.345</upper>
-          <effort>10000</effort>
-          <velocity>0.5</velocity>
-        </limit>
-        <dynamics>
-          <damping>0.8</damping>
-        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
-      </axis>
-      <physics>
-        <provide_feedback>1</provide_feedback>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-
-    <joint name='ring1' type='revolute'>
-      <child>ring1</child>
-      <parent>ring0</parent>
-      <axis>
-        <xyz>0.984742 -0.0113618 0.173648</xyz>
-        <limit>
-          <lower>-0.785</lower>
-          <upper>1.57</upper>
-          <effort>10000</effort>
-          <velocity>0.5</velocity>
-        </limit>
-        <dynamics>
-          <damping>0.8</damping>
-        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
-      </axis>
-      <physics>
-        <provide_feedback>1</provide_feedback>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-
-    <joint name='ring2' type='revolute'>
-      <child>ring2</child>
-      <parent>ring1</parent>
-      <axis>
-        <xyz>0.984742 -0.0113618 0.173648</xyz>
-        <limit>
-          <lower>0</lower>
-          <upper>1.72</upper>
-          <effort>10000</effort>
-          <velocity>0.5</velocity>
-        </limit>
-        <dynamics>
-          <damping>0.8</damping>
-        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
-      </axis>
-      <physics>
-        <provide_feedback>1</provide_feedback>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-
-    <joint name='ring3' type='revolute'>
-      <child>ring3</child>
-      <parent>ring2</parent>
-      <axis>
-        <xyz>0.984742 -0.0113618 0.173648</xyz>
-        <limit>
-          <lower>0</lower>
-          <upper>1.38</upper>
-          <effort>10000</effort>
-          <velocity>0.5</velocity>
-        </limit>
-        <dynamics>
-          <damping>0.8</damping>
-        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
-      </axis>
-      <physics>
-        <provide_feedback>1</provide_feedback>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-
-    <joint name='thumb0' type='revolute'>
-      <child>thumb0</child>
-      <parent>wristz</parent>
-      <axis>
-        <xyz>0.269769 0.958967 0.0872241</xyz>
-        <limit>
-          <lower>0</lower>
-          <upper>2.07</upper>
-          <effort>10000</effort>
-          <velocity>0.5</velocity>
-        </limit>
-        <dynamics>
-          <damping>0.8</damping>
-        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
-      </axis>
-      <physics>
-        <provide_feedback>1</provide_feedback>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-
-    <joint name='thumb1' type='revolute'>
-      <child>thumb1</child>
-      <parent>thumb0</parent>
-      <axis>
-        <xyz>0.0531549 0.0756139 -0.995719</xyz>
-        <limit>
-          <lower>0</lower>
-          <upper>1.03</upper>
-          <effort>10000</effort>
-          <velocity>0.5</velocity>
-        </limit>
-        <dynamics>
-          <damping>0.8</damping>
-        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
-      </axis>
-      <physics>
-        <provide_feedback>1</provide_feedback>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-
-    <joint name='thumb2' type='revolute'>
-      <child>thumb2</child>
-      <parent>thumb1</parent>
-      <axis>
-        <xyz>0.0531549 0.0756139 -0.995719</xyz>
-        <limit>
-          <lower>0</lower>
-          <upper>1.03</upper>
-          <effort>10000</effort>
-          <velocity>0.5</velocity>
-        </limit>
-        <dynamics>
-          <damping>0.8</damping>
-        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
-      </axis>
-      <physics>
-        <provide_feedback>1</provide_feedback>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-          <cfm_damping>1</cfm_damping>
-          <limit>
-            <cfm>0</cfm>
-            <erp>0.2</erp>
-          </limit>
-        </ode>
-      </physics>
-    </joint>
-
     <joint name='thumb3' type='revolute'>
       <child>thumb3</child>
       <parent>thumb2</parent>
@@ -2363,8 +2339,6 @@
           </limit>
         </ode>
       </physics>
-
     </joint>
-
   </model>
 </sdf>

From e3cb57032796b3d1a5dfe855bb23feb151421b44 Mon Sep 17 00:00:00 2001
From: John Hsu <hsu@osrfoundation.org>
Date: Thu, 12 Feb 2015 15:55:56 -0800
Subject: [PATCH 02/22] update parameters

---
 mpl_right_forearm/model.sdf | 479 +++++++++++++++++++++++++++++-------
 1 file changed, 394 insertions(+), 85 deletions(-)

diff --git a/mpl_right_forearm/model.sdf b/mpl_right_forearm/model.sdf
index 7074ac3..0db2edf 100644
--- a/mpl_right_forearm/model.sdf
+++ b/mpl_right_forearm/model.sdf
@@ -27,11 +27,17 @@
           <contact>
             <ode>
               <kp>100000</kp>
-              <kd>10</kd>
+              <kd>100</kd>
               <max_vel>0.1</max_vel>
               <min_depth>0.0015</min_depth>
             </ode>
           </contact>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+            </ode>
+          </friction>
         </surface>
       </collision>
       <collision name='collision_1'>
@@ -46,11 +52,17 @@
           <contact>
             <ode>
               <kp>100000</kp>
-              <kd>10</kd>
+              <kd>100</kd>
               <max_vel>0.1</max_vel>
               <min_depth>0.0015</min_depth>
             </ode>
           </contact>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+            </ode>
+          </friction>
         </surface>
       </collision>
       <visual name='visual'>
@@ -100,11 +112,17 @@
           <contact>
             <ode>
               <kp>100000</kp>
-              <kd>10</kd>
+              <kd>100</kd>
               <max_vel>0.1</max_vel>
               <min_depth>0.0015</min_depth>
             </ode>
           </contact>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+            </ode>
+          </friction>
         </surface>
       </collision>
       <visual name='visual'>
@@ -135,10 +153,13 @@
           <lower>-1.57</lower>
           <upper>1.57</upper>
           <effort>10000</effort>
-          <velocity>0.5</velocity>
+          <velocity>-1</velocity>
         </limit>
         <dynamics>
-          <damping>5</damping>
+          <damping>2</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
         </dynamics>
         <use_parent_model_frame>1</use_parent_model_frame>
       </axis>
@@ -181,11 +202,17 @@
           <contact>
             <ode>
               <kp>100000</kp>
-              <kd>10</kd>
+              <kd>100</kd>
               <max_vel>0.1</max_vel>
               <min_depth>0.0015</min_depth>
             </ode>
           </contact>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+            </ode>
+          </friction>
         </surface>
       </collision>
       <collision name='collision_1'>
@@ -200,11 +227,17 @@
           <contact>
             <ode>
               <kp>100000</kp>
-              <kd>10</kd>
+              <kd>100</kd>
               <max_vel>0.1</max_vel>
               <min_depth>0.0015</min_depth>
             </ode>
           </contact>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+            </ode>
+          </friction>
         </surface>
       </collision>
       <collision name='collision_2'>
@@ -219,11 +252,17 @@
           <contact>
             <ode>
               <kp>100000</kp>
-              <kd>10</kd>
+              <kd>100</kd>
               <max_vel>0.1</max_vel>
               <min_depth>0.0015</min_depth>
             </ode>
           </contact>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+            </ode>
+          </friction>
         </surface>
       </collision>
       <visual name='visual'>
@@ -256,10 +295,13 @@
           <lower>-0.261</lower>
           <upper>0.785</upper>
           <effort>10000</effort>
-          <velocity>0.5</velocity>
+          <velocity>-1</velocity>
         </limit>
         <dynamics>
-          <damping>5</damping>
+          <damping>2</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
         </dynamics>
         <use_parent_model_frame>1</use_parent_model_frame>
       </axis>
@@ -302,11 +344,17 @@
           <contact>
             <ode>
               <kp>100000</kp>
-              <kd>10</kd>
+              <kd>100</kd>
               <max_vel>0.1</max_vel>
               <min_depth>0.0015</min_depth>
             </ode>
           </contact>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+            </ode>
+          </friction>
         </surface>
       </collision>
       <collision name='collision_palm'>
@@ -325,6 +373,12 @@
               <min_depth>0.0015</min_depth>
             </ode>
           </contact>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+            </ode>
+          </friction>
         </surface>
       </collision>
       <visual name='visual'>
@@ -368,10 +422,13 @@
           <lower>-1.04</lower>
           <upper>1.04</upper>
           <effort>10000</effort>
-          <velocity>0.5</velocity>
+          <velocity>-1</velocity>
         </limit>
         <dynamics>
-          <damping>5</damping>
+          <damping>2</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
         </dynamics>
         <use_parent_model_frame>1</use_parent_model_frame>
       </axis>
@@ -414,11 +471,17 @@
           <contact>
             <ode>
               <kp>100000</kp>
-              <kd>10</kd>
+              <kd>100</kd>
               <max_vel>0.1</max_vel>
               <min_depth>0.0015</min_depth>
             </ode>
           </contact>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+            </ode>
+          </friction>
         </surface>
       </collision>
       <visual name='visual'>
@@ -449,10 +512,13 @@
           <lower>-0.345</lower>
           <upper>0</upper>
           <effort>10000</effort>
-          <velocity>0.5</velocity>
+          <velocity>-1</velocity>
         </limit>
         <dynamics>
-          <damping>0.8</damping>
+          <damping>1</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
         </dynamics>
         <use_parent_model_frame>1</use_parent_model_frame>
       </axis>
@@ -495,11 +561,17 @@
           <contact>
             <ode>
               <kp>100000</kp>
-              <kd>10</kd>
+              <kd>100</kd>
               <max_vel>0.1</max_vel>
               <min_depth>0.0015</min_depth>
             </ode>
           </contact>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+            </ode>
+          </friction>
         </surface>
       </collision>
       <visual name='visual'>
@@ -530,10 +602,13 @@
           <lower>-0.785</lower>
           <upper>1.57</upper>
           <effort>10000</effort>
-          <velocity>0.5</velocity>
+          <velocity>-1</velocity>
         </limit>
         <dynamics>
-          <damping>0.8</damping>
+          <damping>0.5</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
         </dynamics>
         <use_parent_model_frame>1</use_parent_model_frame>
       </axis>
@@ -576,11 +651,17 @@
           <contact>
             <ode>
               <kp>100000</kp>
-              <kd>10</kd>
+              <kd>100</kd>
               <max_vel>0.1</max_vel>
               <min_depth>0.0015</min_depth>
             </ode>
           </contact>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+            </ode>
+          </friction>
         </surface>
       </collision>
       <collision name='collision_1'>
@@ -594,11 +675,17 @@
           <contact>
             <ode>
               <kp>100000</kp>
-              <kd>10</kd>
+              <kd>100</kd>
               <max_vel>0.1</max_vel>
               <min_depth>0.0015</min_depth>
             </ode>
           </contact>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+            </ode>
+          </friction>
         </surface>
       </collision>
       <visual name='visual'>
@@ -630,10 +717,13 @@
           <lower>0</lower>
           <upper>1.72</upper>
           <effort>10000</effort>
-          <velocity>0.5</velocity>
+          <velocity>-1</velocity>
         </limit>
         <dynamics>
-          <damping>0.8</damping>
+          <damping>0.25</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
         </dynamics>
         <use_parent_model_frame>1</use_parent_model_frame>
       </axis>
@@ -676,11 +766,17 @@
           <contact>
             <ode>
               <kp>100000</kp>
-              <kd>10</kd>
+              <kd>100</kd>
               <max_vel>0.1</max_vel>
               <min_depth>0.0015</min_depth>
             </ode>
           </contact>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+            </ode>
+          </friction>
         </surface>
       </collision>
       <collision name='collision_1'>
@@ -694,11 +790,17 @@
           <contact>
             <ode>
               <kp>100000</kp>
-              <kd>10</kd>
+              <kd>100</kd>
               <max_vel>0.1</max_vel>
               <min_depth>0.0015</min_depth>
             </ode>
           </contact>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+            </ode>
+          </friction>
         </surface>
       </collision>
       <visual name='visual'>
@@ -751,10 +853,13 @@
           <lower>0</lower>
           <upper>1.38</upper>
           <effort>10000</effort>
-          <velocity>0.5</velocity>
+          <velocity>-1</velocity>
         </limit>
         <dynamics>
-          <damping>0.8</damping>
+          <damping>0.125</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
         </dynamics>
         <use_parent_model_frame>1</use_parent_model_frame>
       </axis>
@@ -797,11 +902,17 @@
           <contact>
             <ode>
               <kp>100000</kp>
-              <kd>10</kd>
+              <kd>100</kd>
               <max_vel>0.1</max_vel>
               <min_depth>0.0015</min_depth>
             </ode>
           </contact>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+            </ode>
+          </friction>
         </surface>
       </collision>
       <visual name='visual'>
@@ -832,10 +943,13 @@
           <lower>0</lower>
           <upper>0</upper>
           <effort>10000</effort>
-          <velocity>0.5</velocity>
+          <velocity>-1</velocity>
         </limit>
         <dynamics>
-          <damping>0.8</damping>
+          <damping>1</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
         </dynamics>
         <use_parent_model_frame>1</use_parent_model_frame>
       </axis>
@@ -878,11 +992,17 @@
           <contact>
             <ode>
               <kp>100000</kp>
-              <kd>10</kd>
+              <kd>100</kd>
               <max_vel>0.1</max_vel>
               <min_depth>0.0015</min_depth>
             </ode>
           </contact>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+            </ode>
+          </friction>
         </surface>
       </collision>
       <visual name='visual'>
@@ -913,10 +1033,13 @@
           <lower>-0.785</lower>
           <upper>1.57</upper>
           <effort>10000</effort>
-          <velocity>0.5</velocity>
+          <velocity>-1</velocity>
         </limit>
         <dynamics>
-          <damping>0.8</damping>
+          <damping>0.5</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
         </dynamics>
         <use_parent_model_frame>1</use_parent_model_frame>
       </axis>
@@ -959,11 +1082,17 @@
           <contact>
             <ode>
               <kp>100000</kp>
-              <kd>10</kd>
+              <kd>100</kd>
               <max_vel>0.1</max_vel>
               <min_depth>0.0015</min_depth>
             </ode>
           </contact>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+            </ode>
+          </friction>
         </surface>
       </collision>
       <collision name='collision_1'>
@@ -977,11 +1106,17 @@
           <contact>
             <ode>
               <kp>100000</kp>
-              <kd>10</kd>
+              <kd>100</kd>
               <max_vel>0.1</max_vel>
               <min_depth>0.0015</min_depth>
             </ode>
           </contact>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+            </ode>
+          </friction>
         </surface>
       </collision>
       <visual name='visual'>
@@ -1013,10 +1148,13 @@
           <lower>0</lower>
           <upper>1.73</upper>
           <effort>10000</effort>
-          <velocity>0.5</velocity>
+          <velocity>-1</velocity>
         </limit>
         <dynamics>
-          <damping>0.8</damping>
+          <damping>0.25</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
         </dynamics>
         <use_parent_model_frame>1</use_parent_model_frame>
       </axis>
@@ -1059,11 +1197,17 @@
           <contact>
             <ode>
               <kp>100000</kp>
-              <kd>10</kd>
+              <kd>100</kd>
               <max_vel>0.1</max_vel>
               <min_depth>0.0015</min_depth>
             </ode>
           </contact>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+            </ode>
+          </friction>
         </surface>
       </collision>
       <collision name='collision_1'>
@@ -1077,11 +1221,17 @@
           <contact>
             <ode>
               <kp>100000</kp>
-              <kd>10</kd>
+              <kd>100</kd>
               <max_vel>0.1</max_vel>
               <min_depth>0.0015</min_depth>
             </ode>
           </contact>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+            </ode>
+          </friction>
         </surface>
       </collision>
       <visual name='visual'>
@@ -1134,10 +1284,13 @@
           <lower>0</lower>
           <upper>1.38</upper>
           <effort>10000</effort>
-          <velocity>0.5</velocity>
+          <velocity>-1</velocity>
         </limit>
         <dynamics>
-          <damping>0.8</damping>
+          <damping>0.125</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
         </dynamics>
         <use_parent_model_frame>1</use_parent_model_frame>
       </axis>
@@ -1180,11 +1333,17 @@
           <contact>
             <ode>
               <kp>100000</kp>
-              <kd>10</kd>
+              <kd>100</kd>
               <max_vel>0.1</max_vel>
               <min_depth>0.0015</min_depth>
             </ode>
           </contact>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+            </ode>
+          </friction>
         </surface>
       </collision>
       <visual name='visual'>
@@ -1215,10 +1374,13 @@
           <lower>0</lower>
           <upper>0.345</upper>
           <effort>10000</effort>
-          <velocity>0.5</velocity>
+          <velocity>-1</velocity>
         </limit>
         <dynamics>
-          <damping>0.8</damping>
+          <damping>1.0</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
         </dynamics>
         <use_parent_model_frame>1</use_parent_model_frame>
       </axis>
@@ -1261,11 +1423,17 @@
           <contact>
             <ode>
               <kp>100000</kp>
-              <kd>10</kd>
+              <kd>100</kd>
               <max_vel>0.1</max_vel>
               <min_depth>0.0015</min_depth>
             </ode>
           </contact>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+            </ode>
+          </friction>
         </surface>
       </collision>
       <visual name='visual'>
@@ -1296,10 +1464,13 @@
           <lower>-0.785</lower>
           <upper>1.57</upper>
           <effort>10000</effort>
-          <velocity>0.5</velocity>
+          <velocity>-1</velocity>
         </limit>
         <dynamics>
-          <damping>0.8</damping>
+          <damping>0.5</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
         </dynamics>
         <use_parent_model_frame>1</use_parent_model_frame>
       </axis>
@@ -1342,11 +1513,17 @@
           <contact>
             <ode>
               <kp>100000</kp>
-              <kd>10</kd>
+              <kd>100</kd>
               <max_vel>0.1</max_vel>
               <min_depth>0.0015</min_depth>
             </ode>
           </contact>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+            </ode>
+          </friction>
         </surface>
       </collision>
       <visual name='visual'>
@@ -1377,10 +1554,13 @@
           <lower>0</lower>
           <upper>1.72</upper>
           <effort>10000</effort>
-          <velocity>0.5</velocity>
+          <velocity>-1</velocity>
         </limit>
         <dynamics>
-          <damping>0.8</damping>
+          <damping>0.25</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
         </dynamics>
         <use_parent_model_frame>1</use_parent_model_frame>
       </axis>
@@ -1423,11 +1603,17 @@
           <contact>
             <ode>
               <kp>100000</kp>
-              <kd>10</kd>
+              <kd>100</kd>
               <max_vel>0.1</max_vel>
               <min_depth>0.0015</min_depth>
             </ode>
           </contact>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+            </ode>
+          </friction>
         </surface>
       </collision>
       <collision name='collision_1'>
@@ -1441,11 +1627,17 @@
           <contact>
             <ode>
               <kp>100000</kp>
-              <kd>10</kd>
+              <kd>100</kd>
               <max_vel>0.1</max_vel>
               <min_depth>0.0015</min_depth>
             </ode>
           </contact>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+            </ode>
+          </friction>
         </surface>
       </collision>
       <visual name='visual'>
@@ -1498,10 +1690,13 @@
           <lower>0</lower>
           <upper>1.38</upper>
           <effort>10000</effort>
-          <velocity>0.5</velocity>
+          <velocity>-1</velocity>
         </limit>
         <dynamics>
-          <damping>0.8</damping>
+          <damping>0.125</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
         </dynamics>
         <use_parent_model_frame>1</use_parent_model_frame>
       </axis>
@@ -1544,11 +1739,17 @@
           <contact>
             <ode>
               <kp>100000</kp>
-              <kd>10</kd>
+              <kd>100</kd>
               <max_vel>0.1</max_vel>
               <min_depth>0.0015</min_depth>
             </ode>
           </contact>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+            </ode>
+          </friction>
         </surface>
       </collision>
       <visual name='visual'>
@@ -1579,10 +1780,13 @@
           <lower>0</lower>
           <upper>0.345</upper>
           <effort>10000</effort>
-          <velocity>0.5</velocity>
+          <velocity>-1</velocity>
         </limit>
         <dynamics>
-          <damping>0.8</damping>
+          <damping>1.0</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
         </dynamics>
         <use_parent_model_frame>1</use_parent_model_frame>
       </axis>
@@ -1625,11 +1829,17 @@
           <contact>
             <ode>
               <kp>100000</kp>
-              <kd>10</kd>
+              <kd>100</kd>
               <max_vel>0.1</max_vel>
               <min_depth>0.0015</min_depth>
             </ode>
           </contact>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+            </ode>
+          </friction>
         </surface>
       </collision>
       <visual name='visual'>
@@ -1660,10 +1870,13 @@
           <lower>-0.785</lower>
           <upper>1.57</upper>
           <effort>10000</effort>
-          <velocity>0.5</velocity>
+          <velocity>-1</velocity>
         </limit>
         <dynamics>
-          <damping>0.8</damping>
+          <damping>0.5</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
         </dynamics>
         <use_parent_model_frame>1</use_parent_model_frame>
       </axis>
@@ -1706,11 +1919,17 @@
           <contact>
             <ode>
               <kp>100000</kp>
-              <kd>10</kd>
+              <kd>100</kd>
               <max_vel>0.1</max_vel>
               <min_depth>0.0015</min_depth>
             </ode>
           </contact>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+            </ode>
+          </friction>
         </surface>
       </collision>
       <collision name='collision_1'>
@@ -1724,11 +1943,17 @@
           <contact>
             <ode>
               <kp>100000</kp>
-              <kd>10</kd>
+              <kd>100</kd>
               <max_vel>0.1</max_vel>
               <min_depth>0.0015</min_depth>
             </ode>
           </contact>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+            </ode>
+          </friction>
         </surface>
       </collision>
       <visual name='visual'>
@@ -1759,10 +1984,13 @@
           <lower>0</lower>
           <upper>1.72</upper>
           <effort>10000</effort>
-          <velocity>0.5</velocity>
+          <velocity>-1</velocity>
         </limit>
         <dynamics>
-          <damping>0.8</damping>
+          <damping>0.25</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
         </dynamics>
         <use_parent_model_frame>1</use_parent_model_frame>
       </axis>
@@ -1805,11 +2033,17 @@
           <contact>
             <ode>
               <kp>100000</kp>
-              <kd>10</kd>
+              <kd>100</kd>
               <max_vel>0.1</max_vel>
               <min_depth>0.0015</min_depth>
             </ode>
           </contact>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+            </ode>
+          </friction>
         </surface>
       </collision>
       <collision name='collision_1'>
@@ -1823,11 +2057,17 @@
           <contact>
             <ode>
               <kp>100000</kp>
-              <kd>10</kd>
+              <kd>100</kd>
               <max_vel>0.1</max_vel>
               <min_depth>0.0015</min_depth>
             </ode>
           </contact>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+            </ode>
+          </friction>
         </surface>
       </collision>
       <visual name='visual'>
@@ -1880,10 +2120,13 @@
           <lower>0</lower>
           <upper>1.38</upper>
           <effort>10000</effort>
-          <velocity>0.5</velocity>
+          <velocity>-1</velocity>
         </limit>
         <dynamics>
-          <damping>0.8</damping>
+          <damping>0.125</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
         </dynamics>
         <use_parent_model_frame>1</use_parent_model_frame>
       </axis>
@@ -1926,11 +2169,17 @@
           <contact>
             <ode>
               <kp>100000</kp>
-              <kd>10</kd>
+              <kd>100</kd>
               <max_vel>0.1</max_vel>
               <min_depth>0.0015</min_depth>
             </ode>
           </contact>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+            </ode>
+          </friction>
         </surface>
       </collision>
       <collision name='collision_1'>
@@ -1944,11 +2193,17 @@
           <contact>
             <ode>
               <kp>100000</kp>
-              <kd>10</kd>
+              <kd>100</kd>
               <max_vel>0.1</max_vel>
               <min_depth>0.0015</min_depth>
             </ode>
           </contact>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+            </ode>
+          </friction>
         </surface>
       </collision>
       <visual name='visual'>
@@ -1980,10 +2235,13 @@
           <lower>0</lower>
           <upper>2.07</upper>
           <effort>10000</effort>
-          <velocity>0.5</velocity>
+          <velocity>-1</velocity>
         </limit>
         <dynamics>
-          <damping>0.8</damping>
+          <damping>1.0</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
         </dynamics>
         <use_parent_model_frame>1</use_parent_model_frame>
       </axis>
@@ -2026,11 +2284,17 @@
           <contact>
             <ode>
               <kp>100000</kp>
-              <kd>10</kd>
+              <kd>100</kd>
               <max_vel>0.1</max_vel>
               <min_depth>0.0015</min_depth>
             </ode>
           </contact>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+            </ode>
+          </friction>
         </surface>
       </collision>
       <collision name='collision_1'>
@@ -2045,11 +2309,17 @@
           <contact>
             <ode>
               <kp>100000</kp>
-              <kd>10</kd>
+              <kd>100</kd>
               <max_vel>0.1</max_vel>
               <min_depth>0.0015</min_depth>
             </ode>
           </contact>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+            </ode>
+          </friction>
         </surface>
       </collision>
       <collision name='collision_2'>
@@ -2063,11 +2333,17 @@
           <contact>
             <ode>
               <kp>100000</kp>
-              <kd>10</kd>
+              <kd>100</kd>
               <max_vel>0.1</max_vel>
               <min_depth>0.0015</min_depth>
             </ode>
           </contact>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+            </ode>
+          </friction>
         </surface>
       </collision>
       <visual name='visual'>
@@ -2100,10 +2376,13 @@
           <lower>0</lower>
           <upper>1.03</upper>
           <effort>10000</effort>
-          <velocity>0.5</velocity>
+          <velocity>-1</velocity>
         </limit>
         <dynamics>
-          <damping>0.8</damping>
+          <damping>0.5</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
         </dynamics>
         <use_parent_model_frame>1</use_parent_model_frame>
       </axis>
@@ -2146,11 +2425,17 @@
           <contact>
             <ode>
               <kp>100000</kp>
-              <kd>10</kd>
+              <kd>100</kd>
               <max_vel>0.1</max_vel>
               <min_depth>0.0015</min_depth>
             </ode>
           </contact>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+            </ode>
+          </friction>
         </surface>
       </collision>
       <collision name='collision_1'>
@@ -2164,11 +2449,17 @@
           <contact>
             <ode>
               <kp>100000</kp>
-              <kd>10</kd>
+              <kd>100</kd>
               <max_vel>0.1</max_vel>
               <min_depth>0.0015</min_depth>
             </ode>
           </contact>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+            </ode>
+          </friction>
         </surface>
       </collision>
       <visual name='visual'>
@@ -2200,10 +2491,13 @@
           <lower>0</lower>
           <upper>1.03</upper>
           <effort>10000</effort>
-          <velocity>0.5</velocity>
+          <velocity>-1</velocity>
         </limit>
         <dynamics>
-          <damping>0.8</damping>
+          <damping>0.25</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
         </dynamics>
         <use_parent_model_frame>1</use_parent_model_frame>
       </axis>
@@ -2246,11 +2540,17 @@
           <contact>
             <ode>
               <kp>100000</kp>
-              <kd>10</kd>
+              <kd>100</kd>
               <max_vel>0.1</max_vel>
               <min_depth>0.0015</min_depth>
             </ode>
           </contact>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+            </ode>
+          </friction>
         </surface>
       </collision>
       <collision name='collision_1'>
@@ -2264,11 +2564,17 @@
           <contact>
             <ode>
               <kp>100000</kp>
-              <kd>10</kd>
+              <kd>100</kd>
               <max_vel>0.1</max_vel>
               <min_depth>0.0015</min_depth>
             </ode>
           </contact>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+            </ode>
+          </friction>
         </surface>
       </collision>
       <visual name='visual'>
@@ -2321,10 +2627,13 @@
           <lower>-0.819</lower>
           <upper>1.28</upper>
           <effort>10000</effort>
-          <velocity>0.5</velocity>
+          <velocity>-1</velocity>
         </limit>
         <dynamics>
-          <damping>0.8</damping>
+          <damping>0.125</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
         </dynamics>
         <use_parent_model_frame>1</use_parent_model_frame>
       </axis>

From 3bb852181428e7000edda039bc3f8914eb1b7937 Mon Sep 17 00:00:00 2001
From: John Hsu <hsu@osrfoundation.org>
Date: Thu, 12 Feb 2015 17:15:53 -0800
Subject: [PATCH 03/22] testing with sdf plugin included. this branch is for
 testing only, not intended for merging to default

---
 mpl_right_forearm/model.sdf | 243 ++++++++++++++++++++++++++++++++++++
 1 file changed, 243 insertions(+)

diff --git a/mpl_right_forearm/model.sdf b/mpl_right_forearm/model.sdf
index 0db2edf..887c7e9 100644
--- a/mpl_right_forearm/model.sdf
+++ b/mpl_right_forearm/model.sdf
@@ -1,6 +1,38 @@
 <?xml version='1.0'?>
 <sdf version='1.5'>
   <model name='mpl_right_forearm'>
+    <joint name='elbow' type='revolute'>
+      <child>forearm</child>
+      <parent>world</parent>
+      <axis>
+        <xyz>0.024679 0.00834 0.999661</xyz>
+        <limit>
+          <lower>0</lower>
+          <upper>0</upper>
+          <effort>10000</effort>
+          <velocity>-1</velocity>
+        </limit>
+        <dynamics>
+          <damping>2</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+      <physics>
+        <provide_feedback>1</provide_feedback>
+        <ode>
+          <provide_feedback>1</provide_feedback>
+          <implicit_spring_damper>1</implicit_spring_damper>
+          <cfm_damping>1</cfm_damping>
+          <limit>
+            <cfm>0.01</cfm>
+            <erp>0</erp>
+          </limit>
+        </ode>
+      </physics>
+    </joint>
     <link name='forearm'>
       <pose>0.00660504 -0.294573 0.119123 -1.21334e-13 2.77556e-17 -0.0115373</pose>
       <inertial>
@@ -2649,5 +2681,216 @@
         </ode>
       </physics>
     </joint>
+      <plugin filename="libHaptixControlPlugin.so" name="HaptixControlPlugin">
+        <base_joint>elbow</base_joint>
+        <base_link>forearm</base_link>
+        <base_pid_pos cmd_max="10000.0" cmd_min="-10000.0" d="70.0" i="0" p="700.0"/>
+        <base_pid_rot cmd_max="10000.0" cmd_min="-10000.0" d="50.0" i="0" p="800.0"/>
+        <!-- order must match hxAPLJoints enumeration -->
+        <joint id="0">wristy</joint>
+        <joint id="1">wristx</joint>
+        <joint id="2">wristz</joint>
+        <joint id="3">thumb0</joint>
+        <joint id="4">thumb1</joint>
+        <joint id="5">thumb2</joint>
+        <joint id="6">thumb3</joint>
+        <joint id="7">index0</joint>
+        <joint id="8">index1</joint>
+        <joint id="9">index2</joint>
+        <joint id="10">index3</joint>
+        <joint id="11">middle0</joint>
+        <joint id="12">middle1</joint>
+        <joint id="13">middle2</joint>
+        <joint id="14">middle3</joint>
+        <joint id="15">ring0</joint>
+        <joint id="16">ring1</joint>
+        <joint id="17">ring2</joint>
+        <joint id="18">ring3</joint>
+        <joint id="19">pinky0</joint>
+        <joint id="20">pinky1</joint>
+        <joint id="21">pinky2</joint>
+        <joint id="22">pinky3</joint>
+        <pid cmd_max=" 500.0" cmd_min=" -500.0" d="0" i="0" id="0" p=" 100.0"/>
+        <pid cmd_max=" 500.0" cmd_min=" -500.0" d="0" i="0" id="1" p="  50.0"/>
+        <pid cmd_max=" 500.0" cmd_min=" -500.0" d="0" i="0" id="2" p=" 100.0"/>
+        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="3" p="  30.0"/>
+        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="4" p="  30.0"/>
+        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="5" p="  25.0"/>
+        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="6" p="  10.0"/>
+        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="7" p="  15.0"/>
+        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="8" p="  50.0"/>
+        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="9" p="  25.0"/>
+        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="10" p="  10.0"/>
+        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="11" p="  15.0"/>
+        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="12" p="  50.0"/>
+        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="13" p="  25.0"/>
+        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="14" p="  10.0"/>
+        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="15" p="  30.0"/>
+        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="16" p="  45.0"/>
+        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="17" p="  22.5"/>
+        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="18" p="   8.0"/>
+        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="19" p="  20.0"/>
+        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="20" p="  40.0"/>
+        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="21" p="  20.0"/>
+        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="22" p="   8.0"/>
+        <motor id="0" name="motor_wristy">
+          <powered_motor_joint>wristy</powered_motor_joint>
+          <!-- gear_ratio = motor angle / joint angle -->
+          <!-- wrist motor torque unknown, guessing for now -->
+          <motor_torque>0.0382</motor_torque>
+          <gear_ratio>180.0</gear_ratio>
+        </motor>
+        <motor id="1" name="motor_wristx">
+          <powered_motor_joint>wristx</powered_motor_joint>
+          <!-- wrist motor torque unknown, guessing for now -->
+          <motor_torque>0.00955</motor_torque>
+          <gear_ratio>180.0</gear_ratio>
+        </motor>
+        <motor id="2" name="motor_wristz">
+          <powered_motor_joint>wristz</powered_motor_joint>
+          <!-- wrist motor torque unknown, guessing for now -->
+          <motor_torque>0.191</motor_torque>
+          <gear_ratio>180.0</gear_ratio>
+        </motor>
+        <motor id="3" name="motor_thumb0">
+          <powered_motor_joint>thumb0</powered_motor_joint>
+          <motor_torque>3.82e-3</motor_torque>
+          <gear_ratio>1056.0</gear_ratio>
+        </motor>
+        <motor id="4" name="motor_thumb1">
+          <powered_motor_joint>thumb1</powered_motor_joint>
+          <motor_torque>3.82e-3</motor_torque>
+          <gear_ratio>352.0</gear_ratio>
+        </motor>
+        <motor id="5" name="motor_thumb2">
+          <powered_motor_joint>thumb2</powered_motor_joint>
+          <motor_torque>3.82e-3</motor_torque>
+          <gear_ratio>281.6</gear_ratio>
+        </motor>
+        <motor id="6" name="motor_thumb3">
+          <powered_motor_joint>thumb3</powered_motor_joint>
+          <motor_torque>3.82e-3</motor_torque>
+          <gear_ratio>140.8</gear_ratio>
+        </motor>
+        <motor id="7" name="motor_index0">
+          <powered_motor_joint>index0</powered_motor_joint>
+          <motor_torque>3.82e-3</motor_torque>
+          <gear_ratio>176.0</gear_ratio>
+        </motor>
+        <motor id="8" name="motor_index">
+          <powered_motor_joint>index1</powered_motor_joint>
+          <motor_torque>3.82e-3</motor_torque>
+          <!-- uncertain about transmission -->
+          <gear_ratio>393.0</gear_ratio>
+          <gearbox>
+            <joint>index2</joint>
+            <offset>0.174532925199</offset>
+            <multiplier>0.8625</multiplier>
+          </gearbox>
+          <gearbox>
+            <joint>index3</joint>
+            <offset>0.174532925199</offset>
+            <multiplier>0.8375</multiplier>
+          </gearbox>
+        </motor>
+        <motor id="9" name="motor_middle0">
+          <powered_motor_joint>middle0</powered_motor_joint>
+          <motor_torque>3.82e-3</motor_torque>
+          <gear_ratio>176.0</gear_ratio>
+        </motor>
+        <motor id="10" name="motor_middle">
+          <powered_motor_joint>middle1</powered_motor_joint>
+          <motor_torque>3.82e-3</motor_torque>
+          <gear_ratio>393.0</gear_ratio>
+          <gearbox>
+            <joint>middle2</joint>
+            <offset>0.174532925199</offset>
+            <multiplier>0.8625</multiplier>
+          </gearbox>
+          <gearbox>
+            <joint>middle3</joint>
+            <offset>0.174532925199</offset>
+            <multiplier>0.8375</multiplier>
+          </gearbox>
+        </motor>
+        <motor id="12" name="motor_ring">
+          <powered_motor_joint>ring1</powered_motor_joint>
+          <motor_torque>3.82e-3</motor_torque>
+          <gear_ratio>393.0</gear_ratio>
+          <gearbox>
+            <joint>ring2</joint>
+            <offset>0.174532925199</offset>
+            <multiplier>0.8625</multiplier>
+          </gearbox>
+          <gearbox>
+            <joint>ring3</joint>
+            <offset>0.174532925199</offset>
+            <multiplier>0.8375</multiplier>
+          </gearbox>
+        </motor>
+        <motor id="11" name="motor_ring0">
+          <powered_motor_joint>ring0</powered_motor_joint>
+          <motor_torque>3.82e-3</motor_torque>
+          <gear_ratio>3520.0</gear_ratio>
+        </motor>
+        <motor id="13" name="motor_pinky0">
+          <powered_motor_joint>pinky0</powered_motor_joint>
+          <motor_torque>3.82e-3</motor_torque>
+          <gear_ratio>3520.0</gear_ratio>
+        </motor>
+        <motor id="14" name="motor_pinky">
+          <powered_motor_joint>pinky1</powered_motor_joint>
+          <motor_torque>3.82e-3</motor_torque>
+          <gear_ratio>393.0</gear_ratio>
+          <gearbox>
+            <joint>pinky2</joint>
+            <offset>0.174532925199</offset>
+            <multiplier>0.8625</multiplier>
+          </gearbox>
+          <gearbox>
+            <joint>pinky3</joint>
+            <offset>0.174532925199</offset>
+            <multiplier>0.8375</multiplier>
+          </gearbox>
+        </motor>
+        <contactSensor id="0">palm0_contact_sensor</contactSensor>
+        <contactSensor id="1">palm1_contact_sensor</contactSensor>
+        <contactSensor id="2">thumb0_contact_sensor</contactSensor>
+        <contactSensor id="3">thumb1_contact_sensor</contactSensor>
+        <contactSensor id="4">thumb2_contact_sensor</contactSensor>
+        <contactSensor id="5">thumb3_contact_sensor</contactSensor>
+        <contactSensor id="6">index0_contact_sensor</contactSensor>
+        <contactSensor id="7">index1_contact_sensor</contactSensor>
+        <contactSensor id="8">index2_contact_sensor</contactSensor>
+        <contactSensor id="9">index3_contact_sensor</contactSensor>
+        <contactSensor id="10">middle0_contact_sensor</contactSensor>
+        <contactSensor id="11">middle1_contact_sensor</contactSensor>
+        <contactSensor id="12">middle2_contact_sensor</contactSensor>
+        <contactSensor id="13">middle3_contact_sensor</contactSensor>
+        <contactSensor id="14">ring0_contact_sensor</contactSensor>
+        <contactSensor id="15">ring1_contact_sensor</contactSensor>
+        <contactSensor id="16">ring2_contact_sensor</contactSensor>
+        <contactSensor id="17">ring3_contact_sensor</contactSensor>
+        <contactSensor id="18">pinky0_contact_sensor</contactSensor>
+        <contactSensor id="19">pinky1_contact_sensor</contactSensor>
+        <contactSensor id="20">pinky2_contact_sensor</contactSensor>
+        <contactSensor id="21">pinky3_contact_sensor</contactSensor>
+        <contactSensor id="22">palmEdge_contact_sensor</contactSensor>
+        <contactSensor id="23">handTop_contact_sensor</contactSensor>
+        <imuSensor id="0">thumb3_imu_sensor</imuSensor>
+        <imuSensor id="1">index3_imu_sensor</imuSensor>
+        <imuSensor id="2">middle3_imu_sensor</imuSensor>
+        <imuSensor id="3">ring3_imu_sensor</imuSensor>
+        <imuSensor id="4">pinky3_imu_sensor</imuSensor>
+        <!-- These grasp postures are based on information from APL -->
+        <grasp name="Cylindrical">0 0 0 1.8 0.05  0.75  0.75  0 0.8 0 0.85  0 0.85  0 0.8</grasp>
+        <grasp name="Spherical">0 0 0 1.9199  0.5236  0.8727  -0.3491 0 0.9599  0 0.7854  0.3491  0.8727  0.3491  1.0472</grasp>
+        <grasp name="ThreeFingerPinch">0  0 0 1.95035 1.00918 0.431986  0.172804  0 0.791168  0 0.897955  0 0.691168  0 0.841168</grasp>
+        <grasp name="FinePinch(American)">0 0 0 1.3963  0.8727  0.5236  -0.3491 0 0.8727  0 1.5708  0 1.5708  0 1.5708</grasp>
+        <grasp name="FinePinch(British)">0  0 0 1.40425 0.926609  0.31103 0.324419  -0.05 0.719641  -0.4  0.696527  0 -0.302359 0 -0.294359</grasp>
+        <grasp name="Palmar(Tray)">0 0 0 1.5708  1.3963  0.6981  -0.3491 0 0 0 0 0 0 0 0</grasp>
+        <grasp name="Hook">0  0 0 0 1.0472  0.2618  -0.3491 0 1.2217  0 1.2217  0 1.2217  0 1.2217</grasp>
+      </plugin>
+
   </model>
 </sdf>

From f0c60236b6605b1b7054bb6262c46195e4b54feb Mon Sep 17 00:00:00 2001
From: John Hsu <hsu@osrfoundation.org>
Date: Thu, 12 Feb 2015 22:11:54 -0800
Subject: [PATCH 04/22] fix world joint axis. update pid gains.

---
 mpl_right_forearm/model.sdf | 36 ++++++++++++++++++------------------
 1 file changed, 18 insertions(+), 18 deletions(-)

diff --git a/mpl_right_forearm/model.sdf b/mpl_right_forearm/model.sdf
index 887c7e9..c920919 100644
--- a/mpl_right_forearm/model.sdf
+++ b/mpl_right_forearm/model.sdf
@@ -5,7 +5,7 @@
       <child>forearm</child>
       <parent>world</parent>
       <axis>
-        <xyz>0.024679 0.00834 0.999661</xyz>
+        <xyz>0 0 1.0</xyz>
         <limit>
           <lower>0</lower>
           <upper>0</upper>
@@ -2714,25 +2714,25 @@
         <pid cmd_max=" 500.0" cmd_min=" -500.0" d="0" i="0" id="1" p="  50.0"/>
         <pid cmd_max=" 500.0" cmd_min=" -500.0" d="0" i="0" id="2" p=" 100.0"/>
         <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="3" p="  30.0"/>
-        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="4" p="  30.0"/>
-        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="5" p="  25.0"/>
-        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="6" p="  10.0"/>
+        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="4" p="  20.0"/>
+        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="5" p="  10.0"/>
+        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="6" p="   5.0"/>
         <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="7" p="  15.0"/>
-        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="8" p="  50.0"/>
-        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="9" p="  25.0"/>
-        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="10" p="  10.0"/>
+        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="8" p="  30.0"/>
+        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="9" p="  15.0"/>
+        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="10" p="   5.0"/>
         <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="11" p="  15.0"/>
-        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="12" p="  50.0"/>
-        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="13" p="  25.0"/>
-        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="14" p="  10.0"/>
-        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="15" p="  30.0"/>
-        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="16" p="  45.0"/>
-        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="17" p="  22.5"/>
-        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="18" p="   8.0"/>
-        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="19" p="  20.0"/>
-        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="20" p="  40.0"/>
-        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="21" p="  20.0"/>
-        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="22" p="   8.0"/>
+        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="12" p="  30.0"/>
+        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="13" p="  15.0"/>
+        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="14" p="   5.0"/>
+        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="15" p="  15.0"/>
+        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="16" p="  30.0"/>
+        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="17" p="  15.0"/>
+        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="18" p="   5.0"/>
+        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="19" p="  15.0"/>
+        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="20" p="  30.0"/>
+        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="21" p="  15.0"/>
+        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="22" p="   5.0"/>
         <motor id="0" name="motor_wristy">
           <powered_motor_joint>wristy</powered_motor_joint>
           <!-- gear_ratio = motor angle / joint angle -->

From 28b03e99567d754b28dc7cc3a0aee8e05e3827d7 Mon Sep 17 00:00:00 2001
From: John Hsu <hsu@osrfoundation.org>
Date: Thu, 12 Feb 2015 22:45:54 -0800
Subject: [PATCH 05/22] update gains

---
 mpl_right_forearm/model.sdf | 28 ++++++++++++++--------------
 1 file changed, 14 insertions(+), 14 deletions(-)

diff --git a/mpl_right_forearm/model.sdf b/mpl_right_forearm/model.sdf
index c920919..ef20472 100644
--- a/mpl_right_forearm/model.sdf
+++ b/mpl_right_forearm/model.sdf
@@ -2715,24 +2715,24 @@
         <pid cmd_max=" 500.0" cmd_min=" -500.0" d="0" i="0" id="2" p=" 100.0"/>
         <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="3" p="  30.0"/>
         <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="4" p="  20.0"/>
-        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="5" p="  10.0"/>
-        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="6" p="   5.0"/>
+        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="5" p="   8.0"/>
+        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="6" p="   2.0"/>
         <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="7" p="  15.0"/>
-        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="8" p="  30.0"/>
-        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="9" p="  15.0"/>
-        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="10" p="   5.0"/>
+        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="8" p="  10.0"/>
+        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="9" p="   5.0"/>
+        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="10" p="   1.0"/>
         <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="11" p="  15.0"/>
-        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="12" p="  30.0"/>
-        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="13" p="  15.0"/>
-        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="14" p="   5.0"/>
+        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="12" p="  10.0"/>
+        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="13" p="   5.0"/>
+        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="14" p="   1.0"/>
         <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="15" p="  15.0"/>
-        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="16" p="  30.0"/>
-        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="17" p="  15.0"/>
-        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="18" p="   5.0"/>
+        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="16" p="  10.0"/>
+        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="17" p="   5.0"/>
+        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="18" p="   1.0"/>
         <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="19" p="  15.0"/>
-        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="20" p="  30.0"/>
-        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="21" p="  15.0"/>
-        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="22" p="   5.0"/>
+        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="20" p="  10.0"/>
+        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="21" p="   5.0"/>
+        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="22" p="   1.0"/>
         <motor id="0" name="motor_wristy">
           <powered_motor_joint>wristy</powered_motor_joint>
           <!-- gear_ratio = motor angle / joint angle -->

From 785f0b5d43ce0731bcb27bb35bff69687e61f242 Mon Sep 17 00:00:00 2001
From: John Hsu <hsu@osrfoundation.org>
Date: Fri, 13 Feb 2015 10:57:39 -0800
Subject: [PATCH 06/22] pinky ab ad is tied to ring ab ad

---
 mpl_right_forearm/model.sdf | 22 +++++++++++-----------
 1 file changed, 11 insertions(+), 11 deletions(-)

diff --git a/mpl_right_forearm/model.sdf b/mpl_right_forearm/model.sdf
index ef20472..e04cc2f 100644
--- a/mpl_right_forearm/model.sdf
+++ b/mpl_right_forearm/model.sdf
@@ -2813,6 +2813,16 @@
             <multiplier>0.8375</multiplier>
           </gearbox>
         </motor>
+        <motor id="11" name="motor_ring0">
+          <powered_motor_joint>ring0</powered_motor_joint>
+          <motor_torque>3.82e-3</motor_torque>
+          <gear_ratio>3520.0</gear_ratio>
+          <gearbox>
+            <joint>pinky0</joint>
+            <offset>0</offset>
+            <multiplier>1.0</multiplier>
+          </gearbox>
+        </motor>
         <motor id="12" name="motor_ring">
           <powered_motor_joint>ring1</powered_motor_joint>
           <motor_torque>3.82e-3</motor_torque>
@@ -2828,17 +2838,7 @@
             <multiplier>0.8375</multiplier>
           </gearbox>
         </motor>
-        <motor id="11" name="motor_ring0">
-          <powered_motor_joint>ring0</powered_motor_joint>
-          <motor_torque>3.82e-3</motor_torque>
-          <gear_ratio>3520.0</gear_ratio>
-        </motor>
-        <motor id="13" name="motor_pinky0">
-          <powered_motor_joint>pinky0</powered_motor_joint>
-          <motor_torque>3.82e-3</motor_torque>
-          <gear_ratio>3520.0</gear_ratio>
-        </motor>
-        <motor id="14" name="motor_pinky">
+        <motor id="13" name="motor_pinky">
           <powered_motor_joint>pinky1</powered_motor_joint>
           <motor_torque>3.82e-3</motor_torque>
           <gear_ratio>393.0</gear_ratio>

From fb06134f3695f2b5f1c6e5ec093d0c575fa4ae99 Mon Sep 17 00:00:00 2001
From: John Hsu <hsu@osrfoundation.org>
Date: Fri, 13 Feb 2015 10:59:29 -0800
Subject: [PATCH 07/22] pinky ab ad is tied to ring ab ad, reduce grasp list

---
 mpl_right_forearm/model.sdf | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

diff --git a/mpl_right_forearm/model.sdf b/mpl_right_forearm/model.sdf
index e04cc2f..ce5d560 100644
--- a/mpl_right_forearm/model.sdf
+++ b/mpl_right_forearm/model.sdf
@@ -2883,13 +2883,13 @@
         <imuSensor id="3">ring3_imu_sensor</imuSensor>
         <imuSensor id="4">pinky3_imu_sensor</imuSensor>
         <!-- These grasp postures are based on information from APL -->
-        <grasp name="Cylindrical">0 0 0 1.8 0.05  0.75  0.75  0 0.8 0 0.85  0 0.85  0 0.8</grasp>
-        <grasp name="Spherical">0 0 0 1.9199  0.5236  0.8727  -0.3491 0 0.9599  0 0.7854  0.3491  0.8727  0.3491  1.0472</grasp>
-        <grasp name="ThreeFingerPinch">0  0 0 1.95035 1.00918 0.431986  0.172804  0 0.791168  0 0.897955  0 0.691168  0 0.841168</grasp>
-        <grasp name="FinePinch(American)">0 0 0 1.3963  0.8727  0.5236  -0.3491 0 0.8727  0 1.5708  0 1.5708  0 1.5708</grasp>
-        <grasp name="FinePinch(British)">0  0 0 1.40425 0.926609  0.31103 0.324419  -0.05 0.719641  -0.4  0.696527  0 -0.302359 0 -0.294359</grasp>
-        <grasp name="Palmar(Tray)">0 0 0 1.5708  1.3963  0.6981  -0.3491 0 0 0 0 0 0 0 0</grasp>
-        <grasp name="Hook">0  0 0 0 1.0472  0.2618  -0.3491 0 1.2217  0 1.2217  0 1.2217  0 1.2217</grasp>
+        <grasp name="Cylindrical">0 0 0 1.8 0.05  0.75  0.75  0 0.8 0 0.85  0 0.85  0.8</grasp>
+        <grasp name="Spherical">0 0 0 1.9199  0.5236  0.8727  -0.3491 0 0.9599  0 0.7854  0.3491  0.8727  1.0472</grasp>
+        <grasp name="ThreeFingerPinch">0  0 0 1.95035 1.00918 0.431986  0.172804  0 0.791168  0 0.897955  0 0.691168  0.841168</grasp>
+        <grasp name="FinePinch(American)">0 0 0 1.3963  0.8727  0.5236  -0.3491 0 0.8727  0 1.5708  0 1.5708  1.5708</grasp>
+        <grasp name="FinePinch(British)">0  0 0 1.40425 0.926609  0.31103 0.324419  -0.05 0.719641  -0.4  0.696527  0 -0.302359 -0.294359</grasp>
+        <grasp name="Palmar(Tray)">0 0 0 1.5708  1.3963  0.6981  -0.3491 0 0 0 0 0 0 0</grasp>
+        <grasp name="Hook">0  0 0 0 1.0472  0.2618  -0.3491 0 1.2217  0 1.2217  0 1.2217  1.2217</grasp>
       </plugin>
 
   </model>

From 0d3ef37d017a8ce379ebaa727c079ae8a0b60ca2 Mon Sep 17 00:00:00 2001
From: John Hsu <hsu@osrfoundation.org>
Date: Fri, 13 Feb 2015 11:32:01 -0800
Subject: [PATCH 08/22] make middle finger ab ad joint torque limits 0

---
 mpl_right_forearm/model.sdf | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/mpl_right_forearm/model.sdf b/mpl_right_forearm/model.sdf
index ce5d560..78a18eb 100644
--- a/mpl_right_forearm/model.sdf
+++ b/mpl_right_forearm/model.sdf
@@ -2721,7 +2721,7 @@
         <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="8" p="  10.0"/>
         <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="9" p="   5.0"/>
         <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="10" p="   1.0"/>
-        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="11" p="  15.0"/>
+        <pid cmd_max="   0.0" cmd_min="    0.0" d="0" i="0" id="11" p="   0.0"/>
         <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="12" p="  10.0"/>
         <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="13" p="   5.0"/>
         <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="14" p="   1.0"/>
@@ -2795,7 +2795,7 @@
         </motor>
         <motor id="9" name="motor_middle0">
           <powered_motor_joint>middle0</powered_motor_joint>
-          <motor_torque>3.82e-3</motor_torque>
+          <motor_torque>0.0</motor_torque>
           <gear_ratio>176.0</gear_ratio>
         </motor>
         <motor id="10" name="motor_middle">

From f3df7e072c444ab934f3ccb75060d47e2e36c6d1 Mon Sep 17 00:00:00 2001
From: John Hsu <hsu@osrfoundation.org>
Date: Fri, 13 Feb 2015 12:51:24 -0800
Subject: [PATCH 09/22] add palm contact sensors, renaming them.

---
 mpl_right_forearm/model.sdf | 34 ++++++++++++++++++++++++++++------
 1 file changed, 28 insertions(+), 6 deletions(-)

diff --git a/mpl_right_forearm/model.sdf b/mpl_right_forearm/model.sdf
index 78a18eb..7127f51 100644
--- a/mpl_right_forearm/model.sdf
+++ b/mpl_right_forearm/model.sdf
@@ -438,10 +438,32 @@
           </script>
         </material>
       </visual>
-      <sensor name='palm_contact_sensor' type='contact'>
+      <sensor name='wristz0_contact_sensor' type='contact'>
+        <always_on>1</always_on>
         <contact>
-          <collision>collision_palm</collision>
-          <topic>~/palm/contact</topic>
+          <collision>wristz_collision_wristz0</collision>
+          <topic>~/wristz0/contact</topic>
+        </contact>
+      </sensor>
+      <sensor name='wristz1_contact_sensor' type='contact'>
+        <always_on>1</always_on>
+        <contact>
+          <collision>wristz_collision_wristz1</collision>
+          <topic>~/wristz1/contact</topic>
+        </contact>
+      </sensor>
+      <sensor name='wristzEdge_contact_sensor' type='contact'>
+        <always_on>1</always_on>
+        <contact>
+          <collision>wristz_collision_rHandEdge</collision>
+          <topic>~/wristzEdge/contact</topic>
+        </contact>
+      </sensor>
+      <sensor name='handTop_contact_sensor' type='contact'>
+        <always_on>1</always_on>
+        <contact>
+          <collision>wristz_collision_rHandTop</collision>
+          <topic>~/handTop/contact</topic>
         </contact>
       </sensor>
     </link>
@@ -2853,8 +2875,8 @@
             <multiplier>0.8375</multiplier>
           </gearbox>
         </motor>
-        <contactSensor id="0">palm0_contact_sensor</contactSensor>
-        <contactSensor id="1">palm1_contact_sensor</contactSensor>
+        <contactSensor id="0">wristz0_contact_sensor</contactSensor>
+        <contactSensor id="1">wristz1_contact_sensor</contactSensor>
         <contactSensor id="2">thumb0_contact_sensor</contactSensor>
         <contactSensor id="3">thumb1_contact_sensor</contactSensor>
         <contactSensor id="4">thumb2_contact_sensor</contactSensor>
@@ -2875,7 +2897,7 @@
         <contactSensor id="19">pinky1_contact_sensor</contactSensor>
         <contactSensor id="20">pinky2_contact_sensor</contactSensor>
         <contactSensor id="21">pinky3_contact_sensor</contactSensor>
-        <contactSensor id="22">palmEdge_contact_sensor</contactSensor>
+        <contactSensor id="22">wristzEdge_contact_sensor</contactSensor>
         <contactSensor id="23">handTop_contact_sensor</contactSensor>
         <imuSensor id="0">thumb3_imu_sensor</imuSensor>
         <imuSensor id="1">index3_imu_sensor</imuSensor>

From 6f8a301cc353248513fc4cc203aeeb5c9dbad672 Mon Sep 17 00:00:00 2001
From: John Hsu <hsu@osrfoundation.org>
Date: Fri, 13 Feb 2015 13:04:23 -0800
Subject: [PATCH 10/22] add 4 palm (wristz) contact sensor collision geometries

---
 mpl_right_forearm/model.sdf | 165 +++++++++++++++++++++++++++++++++++-
 1 file changed, 163 insertions(+), 2 deletions(-)

diff --git a/mpl_right_forearm/model.sdf b/mpl_right_forearm/model.sdf
index 7127f51..6096e27 100644
--- a/mpl_right_forearm/model.sdf
+++ b/mpl_right_forearm/model.sdf
@@ -413,6 +413,167 @@
           </friction>
         </surface>
       </collision>
+      <collision name='wristz_collision_handedge'>
+        <pose>-0.05 -0.03 0 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.02 0.05 0.02</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <kp>100000</kp>
+              <kd>100</kd>
+              <max_vel>0.1</max_vel>
+              <min_depth>0.0015</min_depth>
+            </ode>
+          </contact>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+            </ode>
+          </friction>
+        </surface>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name='wristz_collision_wristz_3'>
+        <pose>0.01 -0.03 0 1.5708 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.05</length>
+            <radius>0.015</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <kp>100000</kp>
+              <kd>100</kd>
+              <max_vel>0.1</max_vel>
+              <min_depth>0.0015</min_depth>
+            </ode>
+          </contact>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+            </ode>
+          </friction>
+        </surface>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name='wristz_collision_handtop'>
+        <pose>-0.02 -0.04 0.00875 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.06 0.08 0.0175</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <kp>100000</kp>
+              <kd>100</kd>
+              <max_vel>0.1</max_vel>
+              <min_depth>0.0015</min_depth>
+            </ode>
+          </contact>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+            </ode>
+          </friction>
+        </surface>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name='wristz_collision_wristz1'>
+        <pose>-0.035 -0.04 -0.00875 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.03 0.08 0.0175</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <kp>100000</kp>
+              <kd>100</kd>
+              <max_vel>0.1</max_vel>
+              <min_depth>0.0015</min_depth>
+            </ode>
+          </contact>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+            </ode>
+          </friction>
+        </surface>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name='wristz_collision_wristz0'>
+        <pose>-0.005 -0.04 -0.00875 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.03 0.08 0.0175</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <kp>100000</kp>
+              <kd>100</kd>
+              <max_vel>0.1</max_vel>
+              <min_depth>0.0015</min_depth>
+            </ode>
+          </contact>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+            </ode>
+          </friction>
+        </surface>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
       <visual name='visual'>
         <geometry>
           <mesh>
@@ -455,14 +616,14 @@
       <sensor name='wristzEdge_contact_sensor' type='contact'>
         <always_on>1</always_on>
         <contact>
-          <collision>wristz_collision_rHandEdge</collision>
+          <collision>wristz_collision_handedge</collision>
           <topic>~/wristzEdge/contact</topic>
         </contact>
       </sensor>
       <sensor name='handTop_contact_sensor' type='contact'>
         <always_on>1</always_on>
         <contact>
-          <collision>wristz_collision_rHandTop</collision>
+          <collision>wristz_collision_handtop</collision>
           <topic>~/handTop/contact</topic>
         </contact>
       </sensor>

From 2d1324972df90b5fe46c6131103f9667c4a3eb03 Mon Sep 17 00:00:00 2001
From: John Hsu <hsu@osrfoundation.org>
Date: Fri, 13 Feb 2015 13:07:40 -0800
Subject: [PATCH 11/22] update palm (wristz) contact sensor collision
 geometries

---
 mpl_right_forearm/model.sdf | 12 ++++--------
 1 file changed, 4 insertions(+), 8 deletions(-)

diff --git a/mpl_right_forearm/model.sdf b/mpl_right_forearm/model.sdf
index 6096e27..1e6c3ea 100644
--- a/mpl_right_forearm/model.sdf
+++ b/mpl_right_forearm/model.sdf
@@ -413,7 +413,7 @@
           </friction>
         </surface>
       </collision>
-      <collision name='wristz_collision_handedge'>
+      <collision name='wristz_collision_wristzEdge'>
         <pose>-0.05 -0.03 0 0 -0 0</pose>
         <geometry>
           <box>
@@ -478,7 +478,7 @@
           </friction>
         </surface>
       </collision>
-      <collision name='wristz_collision_handtop'>
+      <collision name='wristz_collision_handTop'>
         <pose>-0.02 -0.04 0.00875 0 -0 0</pose>
         <geometry>
           <box>
@@ -600,30 +600,26 @@
         </material>
       </visual>
       <sensor name='wristz0_contact_sensor' type='contact'>
-        <always_on>1</always_on>
         <contact>
           <collision>wristz_collision_wristz0</collision>
           <topic>~/wristz0/contact</topic>
         </contact>
       </sensor>
       <sensor name='wristz1_contact_sensor' type='contact'>
-        <always_on>1</always_on>
         <contact>
           <collision>wristz_collision_wristz1</collision>
           <topic>~/wristz1/contact</topic>
         </contact>
       </sensor>
       <sensor name='wristzEdge_contact_sensor' type='contact'>
-        <always_on>1</always_on>
         <contact>
-          <collision>wristz_collision_handedge</collision>
+          <collision>wristz_collision_wristzEdge</collision>
           <topic>~/wristzEdge/contact</topic>
         </contact>
       </sensor>
       <sensor name='handTop_contact_sensor' type='contact'>
-        <always_on>1</always_on>
         <contact>
-          <collision>wristz_collision_handtop</collision>
+          <collision>wristz_collision_handTop</collision>
           <topic>~/handTop/contact</topic>
         </contact>
       </sensor>

From 5590bcb84830dc49600a309c77341436473a1e20 Mon Sep 17 00:00:00 2001
From: Jackie Kay jacquelinekay1 <Jackie Kay jacquelinekay1@gmail.com>
Date: Fri, 13 Feb 2015 13:44:05 -0800
Subject: [PATCH 12/22] Added palm collision shapes, made contact sensors work

---
 mpl_right_forearm/model.sdf | 196 ++++++++++++++----------------------
 1 file changed, 73 insertions(+), 123 deletions(-)

diff --git a/mpl_right_forearm/model.sdf b/mpl_right_forearm/model.sdf
index 1e6c3ea..6371174 100644
--- a/mpl_right_forearm/model.sdf
+++ b/mpl_right_forearm/model.sdf
@@ -110,10 +110,11 @@
         </material>
       </visual>
       <sensor name='forearm_contact_sensor' type='contact'>
+        <always_on>1</always_on>
         <contact>
           <collision>collision</collision>
           <collision>collision_1</collision>
-          <topic>~/forearm/contact</topic>
+          <topic>__default_topic</topic>
         </contact>
       </sensor>
     </link>
@@ -169,12 +170,6 @@
           <specular>0.9 0.9 0.9 1</specular>
         </material>
       </visual>
-      <sensor name='wristy_contact_sensor' type='contact'>
-        <contact>
-          <collision>collision</collision>
-          <topic>~/wristy/contact</topic>
-        </contact>
-      </sensor>
     </link>
     <joint name='wristy' type='revolute'>
       <child>wristy</child>
@@ -309,14 +304,6 @@
           <specular>0.9 0.9 0.9 1</specular>
         </material>
       </visual>
-      <sensor name='wristx_contact_sensor' type='contact'>
-        <contact>
-          <collision>collision</collision>
-          <collision>collision_1</collision>
-          <collision>collision_2</collision>
-          <topic>~/wristx/contact</topic>
-        </contact>
-      </sensor>
     </link>
     <joint name='wristx' type='revolute'>
       <child>wristx</child>
@@ -413,44 +400,12 @@
           </friction>
         </surface>
       </collision>
-      <collision name='wristz_collision_wristzEdge'>
-        <pose>-0.05 -0.03 0 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.02 0.05 0.02</size>
-          </box>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <kp>100000</kp>
-              <kd>100</kd>
-              <max_vel>0.1</max_vel>
-              <min_depth>0.0015</min_depth>
-            </ode>
-          </contact>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>1</mu2>
-            </ode>
-          </friction>
-        </surface>
-        <surface>
-          <contact>
-            <ode/>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-      <collision name='wristz_collision_wristz_3'>
-        <pose>0.01 -0.03 0 1.5708 -0 0</pose>
+      <collision name="palmEdge">
+        <pose>-0.028 -0.03 0 1.57 0 -0.1</pose>
         <geometry>
           <cylinder>
-            <length>0.05</length>
-            <radius>0.015</radius>
+            <radius>0.01</radius>
+            <length>0.060</length>
           </cylinder>
         </geometry>
         <surface>
@@ -469,20 +424,13 @@
             </ode>
           </friction>
         </surface>
-        <surface>
-          <contact>
-            <ode/>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
       </collision>
-      <collision name='wristz_collision_handTop'>
-        <pose>-0.02 -0.04 0.00875 0 -0 0</pose>
+     <!-- Dorsal surface (top) -->
+      <collision name="handTop">
+        <pose>0.002 -0.045 0.01 0 0 0</pose>
         <geometry>
           <box>
-            <size>0.06 0.08 0.0175</size>
+            <size>0.075 0.08 0.02</size>
           </box>
         </geometry>
         <surface>
@@ -501,20 +449,13 @@
             </ode>
           </friction>
         </surface>
-        <surface>
-          <contact>
-            <ode/>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
       </collision>
-      <collision name='wristz_collision_wristz1'>
-        <pose>-0.035 -0.04 -0.00875 0 -0 0</pose>
+      <!-- Palm 1 (closer to thumb) -->
+      <collision name="palm1">
+        <pose>0.023 -0.04 -0.012 0 0 0.1</pose>
         <geometry>
           <box>
-            <size>0.03 0.08 0.0175</size>
+            <size>0.037 0.07 0.02</size>
           </box>
         </geometry>
         <surface>
@@ -533,20 +474,13 @@
             </ode>
           </friction>
         </surface>
-        <surface>
-          <contact>
-            <ode/>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
       </collision>
-      <collision name='wristz_collision_wristz0'>
-        <pose>-0.005 -0.04 -0.00875 0 -0 0</pose>
+      <!-- Palm 0 (closer to pinky) -->
+      <collision name="palm0">
+        <pose>-0.018 -0.04 -0.012 0 0 0</pose>
         <geometry>
           <box>
-            <size>0.03 0.08 0.0175</size>
+            <size>0.037 0.07 0.02</size>
           </box>
         </geometry>
         <surface>
@@ -565,14 +499,6 @@
             </ode>
           </friction>
         </surface>
-        <surface>
-          <contact>
-            <ode/>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
       </collision>
       <visual name='visual'>
         <geometry>
@@ -599,28 +525,32 @@
           </script>
         </material>
       </visual>
-      <sensor name='wristz0_contact_sensor' type='contact'>
+      <sensor name='palm0_contact_sensor' type='contact'>
+        <always_on>1</always_on>
         <contact>
-          <collision>wristz_collision_wristz0</collision>
-          <topic>~/wristz0/contact</topic>
+          <collision>palm0</collision>
+          <topic>__default_topic__</topic>
         </contact>
       </sensor>
-      <sensor name='wristz1_contact_sensor' type='contact'>
+      <sensor name='palm1_contact_sensor' type='contact'>
+        <always_on>1</always_on>
         <contact>
-          <collision>wristz_collision_wristz1</collision>
-          <topic>~/wristz1/contact</topic>
+          <collision>palm1</collision>
+          <topic>__default_topic__</topic>
         </contact>
       </sensor>
-      <sensor name='wristzEdge_contact_sensor' type='contact'>
+      <sensor name='palmEdge_contact_sensor' type='contact'>
+        <always_on>1</always_on>
         <contact>
-          <collision>wristz_collision_wristzEdge</collision>
-          <topic>~/wristzEdge/contact</topic>
+          <collision>palmEdge</collision>
+          <topic>__default_topic__</topic>
         </contact>
       </sensor>
       <sensor name='handTop_contact_sensor' type='contact'>
+        <always_on>1</always_on>
         <contact>
-          <collision>wristz_collision_handTop</collision>
-          <topic>~/handTop/contact</topic>
+          <collision>handTop</collision>
+          <topic>__default_topic__</topic>
         </contact>
       </sensor>
     </link>
@@ -708,9 +638,10 @@
         </material>
       </visual>
       <sensor name='index0_contact_sensor' type='contact'>
+        <always_on>1</always_on>
         <contact>
           <collision>collision</collision>
-          <topic>~/index0/contact</topic>
+          <topic>__default_topic__</topic>
         </contact>
       </sensor>
     </link>
@@ -798,9 +729,10 @@
         </material>
       </visual>
       <sensor name='index1_contact_sensor' type='contact'>
+        <always_on>1</always_on>
         <contact>
           <collision>collision</collision>
-          <topic>~/index1/contact</topic>
+          <topic>__default_topic__</topic>
         </contact>
       </sensor>
     </link>
@@ -912,10 +844,11 @@
         </material>
       </visual>
       <sensor name='index2_contact_sensor' type='contact'>
+        <always_on>1</always_on>
         <contact>
           <collision>collision</collision>
           <collision>collision_1</collision>
-          <topic>~/index2/contact</topic>
+          <topic>__default_topic__</topic>
         </contact>
       </sensor>
     </link>
@@ -1027,10 +960,11 @@
         </material>
       </visual>
       <sensor name='index3_contact_sensor' type='contact'>
+        <always_on>1</always_on>
         <contact>
           <collision>collision</collision>
           <collision>collision_1</collision>
-          <topic>~/index3/contact</topic>
+          <topic>__default_topic__</topic>
         </contact>
       </sensor>
       <sensor name='index3_imu_sensor' type='imu'>
@@ -1139,9 +1073,10 @@
         </material>
       </visual>
       <sensor name='middle0_contact_sensor' type='contact'>
+        <always_on>1</always_on>
         <contact>
           <collision>collision</collision>
-          <topic>~/middle0/contact</topic>
+          <topic>__default_topic__</topic>
         </contact>
       </sensor>
     </link>
@@ -1229,9 +1164,10 @@
         </material>
       </visual>
       <sensor name='middle1_contact_sensor' type='contact'>
+        <always_on>1</always_on>
         <contact>
           <collision>collision</collision>
-          <topic>~/middle1/contact</topic>
+          <topic>__default_topic__</topic>
         </contact>
       </sensor>
     </link>
@@ -1343,10 +1279,11 @@
         </material>
       </visual>
       <sensor name='middle2_contact_sensor' type='contact'>
+        <always_on>1</always_on>
         <contact>
           <collision>collision</collision>
           <collision>collision_1</collision>
-          <topic>~/middle2/contact</topic>
+          <topic>__default_topic__</topic>
         </contact>
       </sensor>
     </link>
@@ -1458,10 +1395,11 @@
         </material>
       </visual>
       <sensor name='middle3_contact_sensor' type='contact'>
+        <always_on>1</always_on>
         <contact>
           <collision>collision</collision>
           <collision>collision_1</collision>
-          <topic>~/middle3/contact</topic>
+          <topic>__default_topic__</topic>
         </contact>
       </sensor>
       <sensor name='middle3_imu_sensor' type='imu'>
@@ -1570,9 +1508,10 @@
         </material>
       </visual>
       <sensor name='pinky0_contact_sensor' type='contact'>
+        <always_on>1</always_on>
         <contact>
           <collision>collision</collision>
-          <topic>~/pinky0/contact</topic>
+          <topic>__default_topic__</topic>
         </contact>
       </sensor>
     </link>
@@ -1660,9 +1599,10 @@
         </material>
       </visual>
       <sensor name='pinky1_contact_sensor' type='contact'>
+        <always_on>1</always_on>
         <contact>
           <collision>collision</collision>
-          <topic>~/pinky0/contact</topic>
+          <topic>__default_topic__</topic>
         </contact>
       </sensor>
     </link>
@@ -1750,9 +1690,10 @@
         </material>
       </visual>
       <sensor name='pinky2_contact_sensor' type='contact'>
+        <always_on>1</always_on>
         <contact>
           <collision>collision</collision>
-          <topic>~/pinky2/contact</topic>
+          <topic>__default_topic__</topic>
         </contact>
       </sensor>
     </link>
@@ -1864,10 +1805,11 @@
         </material>
       </visual>
       <sensor name='pinky3_contact_sensor' type='contact'>
+        <always_on>1</always_on>
         <contact>
           <collision>collision</collision>
           <collision>collision_1</collision>
-          <topic>~/pinky3/contact</topic>
+          <topic>__default_topic__</topic>
         </contact>
       </sensor>
       <sensor name='pinky3_imu_sensor' type='imu'>
@@ -1976,9 +1918,10 @@
         </material>
       </visual>
       <sensor name='ring0_contact_sensor' type='contact'>
+        <always_on>1</always_on>
         <contact>
           <collision>collision</collision>
-          <topic>~/ring0/contact</topic>
+          <topic>__default_topic__</topic>
         </contact>
       </sensor>
     </link>
@@ -2066,9 +2009,10 @@
         </material>
       </visual>
       <sensor name='ring1_contact_sensor' type='contact'>
+        <always_on>1</always_on>
         <contact>
           <collision>collision</collision>
-          <topic>~/ring1/contact</topic>
+          <topic>__default_topic__</topic>
         </contact>
       </sensor>
     </link>
@@ -2180,9 +2124,10 @@
         </material>
       </visual>
       <sensor name='ring2_contact_sensor' type='contact'>
+        <always_on>1</always_on>
         <contact>
           <collision>collision</collision>
-          <topic>~/ring2/contact</topic>
+          <topic>__default_topic__</topic>
         </contact>
       </sensor>
     </link>
@@ -2294,10 +2239,11 @@
         </material>
       </visual>
       <sensor name='ring3_contact_sensor' type='contact'>
+        <always_on>1</always_on>
         <contact>
           <collision>collision</collision>
           <collision>collision_1</collision>
-          <topic>~/ring3/contact</topic>
+          <topic>__default_topic__</topic>
         </contact>
       </sensor>
       <sensor name='ring3_imu_sensor' type='imu'>
@@ -2430,6 +2376,7 @@
         </material>
       </visual>
       <sensor name='thumb0_contact_sensor' type='contact'>
+        <always_on>1</always_on>
         <contact>
           <collision>collision</collision>
           <collision>collision_1</collision>
@@ -2570,6 +2517,7 @@
         </material>
       </visual>
       <sensor name='thumb1_contact_sensor' type='contact'>
+        <always_on>1</always_on>
         <contact>
           <collision>collision</collision>
           <collision>collision_1</collision>
@@ -2686,6 +2634,7 @@
         </material>
       </visual>
       <sensor name='thumb2_contact_sensor' type='contact'>
+        <always_on>1</always_on>
         <contact>
           <collision>collision</collision>
           <collision>collision_1</collision>
@@ -2801,10 +2750,11 @@
         </material>
       </visual>
       <sensor name='thumb3_contact_sensor' type='contact'>
+        <always_on>1</always_on>
         <contact>
           <collision>collision</collision>
           <collision>collision_1</collision>
-          <topic>~/thumb3/contact</topic>
+          <topic>__default_topic__</topic>
         </contact>
       </sensor>
       <sensor name='thumb3_distal_imu_sensor' type='imu'>
@@ -3032,8 +2982,8 @@
             <multiplier>0.8375</multiplier>
           </gearbox>
         </motor>
-        <contactSensor id="0">wristz0_contact_sensor</contactSensor>
-        <contactSensor id="1">wristz1_contact_sensor</contactSensor>
+        <contactSensor id="0">palm0_contact_sensor</contactSensor>
+        <contactSensor id="1">palm1_contact_sensor</contactSensor>
         <contactSensor id="2">thumb0_contact_sensor</contactSensor>
         <contactSensor id="3">thumb1_contact_sensor</contactSensor>
         <contactSensor id="4">thumb2_contact_sensor</contactSensor>
@@ -3054,7 +3004,7 @@
         <contactSensor id="19">pinky1_contact_sensor</contactSensor>
         <contactSensor id="20">pinky2_contact_sensor</contactSensor>
         <contactSensor id="21">pinky3_contact_sensor</contactSensor>
-        <contactSensor id="22">wristzEdge_contact_sensor</contactSensor>
+        <contactSensor id="22">palmEdge_contact_sensor</contactSensor>
         <contactSensor id="23">handTop_contact_sensor</contactSensor>
         <imuSensor id="0">thumb3_imu_sensor</imuSensor>
         <imuSensor id="1">index3_imu_sensor</imuSensor>

From c6df138d535a2d534944e6a498c982a381e82f42 Mon Sep 17 00:00:00 2001
From: Jackie Kay jacquelinekay1 <Jackie Kay jacquelinekay1@gmail.com>
Date: Fri, 13 Feb 2015 14:17:39 -0800
Subject: [PATCH 13/22] Reordered contact sensors

---
 mpl_right_forearm/model.sdf | 77 +++++++++----------------------------
 1 file changed, 18 insertions(+), 59 deletions(-)

diff --git a/mpl_right_forearm/model.sdf b/mpl_right_forearm/model.sdf
index 6371174..1ef3c02 100644
--- a/mpl_right_forearm/model.sdf
+++ b/mpl_right_forearm/model.sdf
@@ -450,8 +450,8 @@
           </friction>
         </surface>
       </collision>
-      <!-- Palm 1 (closer to thumb) -->
-      <collision name="palm1">
+      <!-- Palm 0 (closer to thumb) -->
+      <collision name="palm0">
         <pose>0.023 -0.04 -0.012 0 0 0.1</pose>
         <geometry>
           <box>
@@ -475,8 +475,8 @@
           </friction>
         </surface>
       </collision>
-      <!-- Palm 0 (closer to pinky) -->
-      <collision name="palm0">
+      <!-- Palm 1 (closer to pinky) -->
+      <collision name="palm1">
         <pose>-0.018 -0.04 -0.012 0 0 0</pose>
         <geometry>
           <box>
@@ -637,13 +637,6 @@
           </script>
         </material>
       </visual>
-      <sensor name='index0_contact_sensor' type='contact'>
-        <always_on>1</always_on>
-        <contact>
-          <collision>collision</collision>
-          <topic>__default_topic__</topic>
-        </contact>
-      </sensor>
     </link>
     <joint name='index0' type='revolute'>
       <child>index0</child>
@@ -1072,13 +1065,6 @@
           </script>
         </material>
       </visual>
-      <sensor name='middle0_contact_sensor' type='contact'>
-        <always_on>1</always_on>
-        <contact>
-          <collision>collision</collision>
-          <topic>__default_topic__</topic>
-        </contact>
-      </sensor>
     </link>
     <joint name='middle0' type='revolute'>
       <child>middle0</child>
@@ -1507,13 +1493,6 @@
           </script>
         </material>
       </visual>
-      <sensor name='pinky0_contact_sensor' type='contact'>
-        <always_on>1</always_on>
-        <contact>
-          <collision>collision</collision>
-          <topic>__default_topic__</topic>
-        </contact>
-      </sensor>
     </link>
     <joint name='pinky0' type='revolute'>
       <child>pinky0</child>
@@ -1917,13 +1896,6 @@
           </script>
         </material>
       </visual>
-      <sensor name='ring0_contact_sensor' type='contact'>
-        <always_on>1</always_on>
-        <contact>
-          <collision>collision</collision>
-          <topic>__default_topic__</topic>
-        </contact>
-      </sensor>
     </link>
     <joint name='ring0' type='revolute'>
       <child>ring0</child>
@@ -2375,14 +2347,6 @@
           </script>
         </material>
       </visual>
-      <sensor name='thumb0_contact_sensor' type='contact'>
-        <always_on>1</always_on>
-        <contact>
-          <collision>collision</collision>
-          <collision>collision_1</collision>
-          <topic>~/thumb0/contact</topic>
-        </contact>
-      </sensor>
     </link>
     <joint name='thumb0' type='revolute'>
       <child>thumb0</child>
@@ -2984,28 +2948,23 @@
         </motor>
         <contactSensor id="0">palm0_contact_sensor</contactSensor>
         <contactSensor id="1">palm1_contact_sensor</contactSensor>
-        <contactSensor id="2">thumb0_contact_sensor</contactSensor>
-        <contactSensor id="3">thumb1_contact_sensor</contactSensor>
-        <contactSensor id="4">thumb2_contact_sensor</contactSensor>
-        <contactSensor id="5">thumb3_contact_sensor</contactSensor>
-        <contactSensor id="6">index0_contact_sensor</contactSensor>
+        <contactSensor id="2">palmEdge_contact_sensor</contactSensor>
+        <contactSensor id="3">handTop_contact_sensor</contactSensor>
+        <contactSensor id="4">thumb1_contact_sensor</contactSensor>
+        <contactSensor id="5">thumb2_contact_sensor</contactSensor>
+        <contactSensor id="6">thumb3_contact_sensor</contactSensor>
         <contactSensor id="7">index1_contact_sensor</contactSensor>
         <contactSensor id="8">index2_contact_sensor</contactSensor>
         <contactSensor id="9">index3_contact_sensor</contactSensor>
-        <contactSensor id="10">middle0_contact_sensor</contactSensor>
-        <contactSensor id="11">middle1_contact_sensor</contactSensor>
-        <contactSensor id="12">middle2_contact_sensor</contactSensor>
-        <contactSensor id="13">middle3_contact_sensor</contactSensor>
-        <contactSensor id="14">ring0_contact_sensor</contactSensor>
-        <contactSensor id="15">ring1_contact_sensor</contactSensor>
-        <contactSensor id="16">ring2_contact_sensor</contactSensor>
-        <contactSensor id="17">ring3_contact_sensor</contactSensor>
-        <contactSensor id="18">pinky0_contact_sensor</contactSensor>
-        <contactSensor id="19">pinky1_contact_sensor</contactSensor>
-        <contactSensor id="20">pinky2_contact_sensor</contactSensor>
-        <contactSensor id="21">pinky3_contact_sensor</contactSensor>
-        <contactSensor id="22">palmEdge_contact_sensor</contactSensor>
-        <contactSensor id="23">handTop_contact_sensor</contactSensor>
+        <contactSensor id="10">middle1_contact_sensor</contactSensor>
+        <contactSensor id="11">middle2_contact_sensor</contactSensor>
+        <contactSensor id="12">middle3_contact_sensor</contactSensor>
+        <contactSensor id="13">ring1_contact_sensor</contactSensor>
+        <contactSensor id="14">ring2_contact_sensor</contactSensor>
+        <contactSensor id="15">ring3_contact_sensor</contactSensor>
+        <contactSensor id="16">pinky1_contact_sensor</contactSensor>
+        <contactSensor id="17">pinky2_contact_sensor</contactSensor>
+        <contactSensor id="18">pinky3_contact_sensor</contactSensor>
         <imuSensor id="0">thumb3_imu_sensor</imuSensor>
         <imuSensor id="1">index3_imu_sensor</imuSensor>
         <imuSensor id="2">middle3_imu_sensor</imuSensor>

From 523e1b52a16aeb99d88e55f465e6d590e3304325 Mon Sep 17 00:00:00 2001
From: Jackie Kay jacquelinekay1 <Jackie Kay jacquelinekay1@gmail.com>
Date: Fri, 13 Feb 2015 14:28:35 -0800
Subject: [PATCH 14/22] Got rid of middle_ab_ad motor joint

---
 mpl_right_forearm/model.sdf | 27 +++++++++++----------------
 1 file changed, 11 insertions(+), 16 deletions(-)

diff --git a/mpl_right_forearm/model.sdf b/mpl_right_forearm/model.sdf
index 1ef3c02..1c45d90 100644
--- a/mpl_right_forearm/model.sdf
+++ b/mpl_right_forearm/model.sdf
@@ -2886,12 +2886,7 @@
             <multiplier>0.8375</multiplier>
           </gearbox>
         </motor>
-        <motor id="9" name="motor_middle0">
-          <powered_motor_joint>middle0</powered_motor_joint>
-          <motor_torque>0.0</motor_torque>
-          <gear_ratio>176.0</gear_ratio>
-        </motor>
-        <motor id="10" name="motor_middle">
+        <motor id="9" name="motor_middle">
           <powered_motor_joint>middle1</powered_motor_joint>
           <motor_torque>3.82e-3</motor_torque>
           <gear_ratio>393.0</gear_ratio>
@@ -2906,7 +2901,7 @@
             <multiplier>0.8375</multiplier>
           </gearbox>
         </motor>
-        <motor id="11" name="motor_ring0">
+        <motor id="10" name="motor_ring0">
           <powered_motor_joint>ring0</powered_motor_joint>
           <motor_torque>3.82e-3</motor_torque>
           <gear_ratio>3520.0</gear_ratio>
@@ -2916,7 +2911,7 @@
             <multiplier>1.0</multiplier>
           </gearbox>
         </motor>
-        <motor id="12" name="motor_ring">
+        <motor id="11" name="motor_ring">
           <powered_motor_joint>ring1</powered_motor_joint>
           <motor_torque>3.82e-3</motor_torque>
           <gear_ratio>393.0</gear_ratio>
@@ -2931,7 +2926,7 @@
             <multiplier>0.8375</multiplier>
           </gearbox>
         </motor>
-        <motor id="13" name="motor_pinky">
+        <motor id="12" name="motor_pinky">
           <powered_motor_joint>pinky1</powered_motor_joint>
           <motor_torque>3.82e-3</motor_torque>
           <gear_ratio>393.0</gear_ratio>
@@ -2971,13 +2966,13 @@
         <imuSensor id="3">ring3_imu_sensor</imuSensor>
         <imuSensor id="4">pinky3_imu_sensor</imuSensor>
         <!-- These grasp postures are based on information from APL -->
-        <grasp name="Cylindrical">0 0 0 1.8 0.05  0.75  0.75  0 0.8 0 0.85  0 0.85  0.8</grasp>
-        <grasp name="Spherical">0 0 0 1.9199  0.5236  0.8727  -0.3491 0 0.9599  0 0.7854  0.3491  0.8727  1.0472</grasp>
-        <grasp name="ThreeFingerPinch">0  0 0 1.95035 1.00918 0.431986  0.172804  0 0.791168  0 0.897955  0 0.691168  0.841168</grasp>
-        <grasp name="FinePinch(American)">0 0 0 1.3963  0.8727  0.5236  -0.3491 0 0.8727  0 1.5708  0 1.5708  1.5708</grasp>
-        <grasp name="FinePinch(British)">0  0 0 1.40425 0.926609  0.31103 0.324419  -0.05 0.719641  -0.4  0.696527  0 -0.302359 -0.294359</grasp>
-        <grasp name="Palmar(Tray)">0 0 0 1.5708  1.3963  0.6981  -0.3491 0 0 0 0 0 0 0</grasp>
-        <grasp name="Hook">0  0 0 0 1.0472  0.2618  -0.3491 0 1.2217  0 1.2217  0 1.2217  1.2217</grasp>
+        <grasp name="Cylindrical">0 0 0 1.8 0.05  0.75  0.75  0 0.8 0.85  0 0.85  0.8</grasp>
+        <grasp name="Spherical">0 0 0 1.9199  0.5236  0.8727  -0.3491 0 0.9599  0.7854  0.3491  0.8727  1.0472</grasp>
+        <grasp name="ThreeFingerPinch">0  0 0 1.95035 1.00918 0.431986  0.172804  0 0.791168  0.897955  0 0.691168  0.841168</grasp>
+        <grasp name="FinePinch(American)">0 0 0 1.3963  0.8727  0.5236  -0.3491 0 0.8727  1.5708  0 1.5708  1.5708</grasp>
+        <grasp name="FinePinch(British)">0  0 0 1.40425 0.926609  0.31103 0.324419  -0.05 0.719641  0.696527  0 -0.302359 -0.294359</grasp>
+        <grasp name="Palmar(Tray)">0 0 0 1.5708  1.3963  0.6981  -0.3491 0 0 0 0 0 0</grasp>
+        <grasp name="Hook">0  0 0 0 1.0472  0.2618  -0.3491 0 1.2217 1.2217  0 1.2217  1.2217</grasp>
       </plugin>
 
   </model>

From 23073ab3725a8fe2ff156fd4cf81a64073eb02b1 Mon Sep 17 00:00:00 2001
From: Jackie Kay jacquelinekay1 <Jackie Kay jacquelinekay1@gmail.com>
Date: Fri, 13 Feb 2015 14:35:17 -0800
Subject: [PATCH 15/22] Paired pinky and ring joint

---
 mpl_right_forearm/model.sdf | 33 ++++++++++++++++++++++++---------
 1 file changed, 24 insertions(+), 9 deletions(-)

diff --git a/mpl_right_forearm/model.sdf b/mpl_right_forearm/model.sdf
index 1c45d90..1a11ebd 100644
--- a/mpl_right_forearm/model.sdf
+++ b/mpl_right_forearm/model.sdf
@@ -2925,8 +2925,23 @@
             <offset>0.174532925199</offset>
             <multiplier>0.8375</multiplier>
           </gearbox>
+          <gearbox>
+            <joint>pinky1</joint>
+            <offset>0</offset>
+            <multiplier>1</multiplier>
+          </gearbox>
+          <gearbox>
+            <joint>pinky2</joint>
+            <offset>0.174532925199</offset>
+            <multiplier>0.8625</multiplier>
+          </gearbox>
+          <gearbox>
+            <joint>pinky3</joint>
+            <offset>0.174532925199</offset>
+            <multiplier>0.8375</multiplier>
+          </gearbox>
         </motor>
-        <motor id="12" name="motor_pinky">
+        <!--<motor id="12" name="motor_pinky">
           <powered_motor_joint>pinky1</powered_motor_joint>
           <motor_torque>3.82e-3</motor_torque>
           <gear_ratio>393.0</gear_ratio>
@@ -2940,7 +2955,7 @@
             <offset>0.174532925199</offset>
             <multiplier>0.8375</multiplier>
           </gearbox>
-        </motor>
+        </motor>-->
         <contactSensor id="0">palm0_contact_sensor</contactSensor>
         <contactSensor id="1">palm1_contact_sensor</contactSensor>
         <contactSensor id="2">palmEdge_contact_sensor</contactSensor>
@@ -2966,13 +2981,13 @@
         <imuSensor id="3">ring3_imu_sensor</imuSensor>
         <imuSensor id="4">pinky3_imu_sensor</imuSensor>
         <!-- These grasp postures are based on information from APL -->
-        <grasp name="Cylindrical">0 0 0 1.8 0.05  0.75  0.75  0 0.8 0.85  0 0.85  0.8</grasp>
-        <grasp name="Spherical">0 0 0 1.9199  0.5236  0.8727  -0.3491 0 0.9599  0.7854  0.3491  0.8727  1.0472</grasp>
-        <grasp name="ThreeFingerPinch">0  0 0 1.95035 1.00918 0.431986  0.172804  0 0.791168  0.897955  0 0.691168  0.841168</grasp>
-        <grasp name="FinePinch(American)">0 0 0 1.3963  0.8727  0.5236  -0.3491 0 0.8727  1.5708  0 1.5708  1.5708</grasp>
-        <grasp name="FinePinch(British)">0  0 0 1.40425 0.926609  0.31103 0.324419  -0.05 0.719641  0.696527  0 -0.302359 -0.294359</grasp>
-        <grasp name="Palmar(Tray)">0 0 0 1.5708  1.3963  0.6981  -0.3491 0 0 0 0 0 0</grasp>
-        <grasp name="Hook">0  0 0 0 1.0472  0.2618  -0.3491 0 1.2217 1.2217  0 1.2217  1.2217</grasp>
+        <grasp name="Cylindrical">0 0 0 1.8 0.05  0.75  0.75  0 0.8 0.85  0 0.85</grasp>
+        <grasp name="Spherical">0 0 0 1.9199  0.5236  0.8727  -0.3491 0 0.9599  0.7854  0.3491  0.8727</grasp>
+        <grasp name="ThreeFingerPinch">0  0 0 1.95035 1.00918 0.431986  0.172804  0 0.791168  0.897955  0 0.691168</grasp>
+        <grasp name="FinePinch(American)">0 0 0 1.3963  0.8727  0.5236  -0.3491 0 0.8727  1.5708  0 1.5708</grasp>
+        <grasp name="FinePinch(British)">0  0 0 1.40425 0.926609  0.31103 0.324419  -0.05 0.719641  0.696527  0 -0.302359</grasp>
+        <grasp name="Palmar(Tray)">0 0 0 1.5708  1.3963  0.6981  -0.3491 0 0 0 0 0</grasp>
+        <grasp name="Hook">0  0 0 0 1.0472  0.2618  -0.3491 0 1.2217 1.2217  0 1.2217 </grasp>
       </plugin>
 
   </model>

From ea6e0430b4bc417457bfc4240413db8732bc7a75 Mon Sep 17 00:00:00 2001
From: Jackie Kay jacquelinekay1 <Jackie Kay jacquelinekay1@gmail.com>
Date: Fri, 13 Feb 2015 14:39:10 -0800
Subject: [PATCH 16/22] got rid of middle_ab_ad actually

---
 mpl_right_forearm/model.sdf | 17 +++++++++++------
 1 file changed, 11 insertions(+), 6 deletions(-)

diff --git a/mpl_right_forearm/model.sdf b/mpl_right_forearm/model.sdf
index 1c45d90..28cb5e8 100644
--- a/mpl_right_forearm/model.sdf
+++ b/mpl_right_forearm/model.sdf
@@ -2886,7 +2886,12 @@
             <multiplier>0.8375</multiplier>
           </gearbox>
         </motor>
-        <motor id="9" name="motor_middle">
+        <!--<motor id="9" name="motor_middle0">
+          <powered_motor_joint>middle0</powered_motor_joint>
+          <motor_torque>0.0</motor_torque>
+          <gear_ratio>176.0</gear_ratio>
+        </motor>-->
+        <motor id="10" name="motor_middle">
           <powered_motor_joint>middle1</powered_motor_joint>
           <motor_torque>3.82e-3</motor_torque>
           <gear_ratio>393.0</gear_ratio>
@@ -2901,7 +2906,7 @@
             <multiplier>0.8375</multiplier>
           </gearbox>
         </motor>
-        <motor id="10" name="motor_ring0">
+        <motor id="11" name="motor_ring0">
           <powered_motor_joint>ring0</powered_motor_joint>
           <motor_torque>3.82e-3</motor_torque>
           <gear_ratio>3520.0</gear_ratio>
@@ -2911,7 +2916,7 @@
             <multiplier>1.0</multiplier>
           </gearbox>
         </motor>
-        <motor id="11" name="motor_ring">
+        <motor id="12" name="motor_ring">
           <powered_motor_joint>ring1</powered_motor_joint>
           <motor_torque>3.82e-3</motor_torque>
           <gear_ratio>393.0</gear_ratio>
@@ -2926,7 +2931,7 @@
             <multiplier>0.8375</multiplier>
           </gearbox>
         </motor>
-        <motor id="12" name="motor_pinky">
+        <motor id="13" name="motor_pinky">
           <powered_motor_joint>pinky1</powered_motor_joint>
           <motor_torque>3.82e-3</motor_torque>
           <gear_ratio>393.0</gear_ratio>
@@ -2968,8 +2973,8 @@
         <!-- These grasp postures are based on information from APL -->
         <grasp name="Cylindrical">0 0 0 1.8 0.05  0.75  0.75  0 0.8 0.85  0 0.85  0.8</grasp>
         <grasp name="Spherical">0 0 0 1.9199  0.5236  0.8727  -0.3491 0 0.9599  0.7854  0.3491  0.8727  1.0472</grasp>
-        <grasp name="ThreeFingerPinch">0  0 0 1.95035 1.00918 0.431986  0.172804  0 0.791168  0.897955  0 0.691168  0.841168</grasp>
-        <grasp name="FinePinch(American)">0 0 0 1.3963  0.8727  0.5236  -0.3491 0 0.8727  1.5708  0 1.5708  1.5708</grasp>
+        <grasp name="ThreeFingerPinch">0  0 0 1.95035 1.00918 0.431986  0.172804  0 0.791168 0.897955  0 0.691168  0.841168</grasp>
+        <grasp name="FinePinch(American)">0 0 0 1.3963  0.8727  0.5236  -0.3491 0 0.8727 1.5708  0 1.5708  1.5708</grasp>
         <grasp name="FinePinch(British)">0  0 0 1.40425 0.926609  0.31103 0.324419  -0.05 0.719641  0.696527  0 -0.302359 -0.294359</grasp>
         <grasp name="Palmar(Tray)">0 0 0 1.5708  1.3963  0.6981  -0.3491 0 0 0 0 0 0</grasp>
         <grasp name="Hook">0  0 0 0 1.0472  0.2618  -0.3491 0 1.2217 1.2217  0 1.2217  1.2217</grasp>

From efa35940bdd5bdd83eda4f5381f7dc0457744c64 Mon Sep 17 00:00:00 2001
From: Jackie Kay jacquelinekay1 <Jackie Kay jacquelinekay1@gmail.com>
Date: Fri, 13 Feb 2015 14:39:41 -0800
Subject: [PATCH 17/22] index reordering for middle_ab_ad removal

---
 mpl_right_forearm/model.sdf | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/mpl_right_forearm/model.sdf b/mpl_right_forearm/model.sdf
index 28cb5e8..edde34b 100644
--- a/mpl_right_forearm/model.sdf
+++ b/mpl_right_forearm/model.sdf
@@ -2891,7 +2891,7 @@
           <motor_torque>0.0</motor_torque>
           <gear_ratio>176.0</gear_ratio>
         </motor>-->
-        <motor id="10" name="motor_middle">
+        <motor id="9" name="motor_middle">
           <powered_motor_joint>middle1</powered_motor_joint>
           <motor_torque>3.82e-3</motor_torque>
           <gear_ratio>393.0</gear_ratio>
@@ -2906,7 +2906,7 @@
             <multiplier>0.8375</multiplier>
           </gearbox>
         </motor>
-        <motor id="11" name="motor_ring0">
+        <motor id="10" name="motor_ring0">
           <powered_motor_joint>ring0</powered_motor_joint>
           <motor_torque>3.82e-3</motor_torque>
           <gear_ratio>3520.0</gear_ratio>
@@ -2916,7 +2916,7 @@
             <multiplier>1.0</multiplier>
           </gearbox>
         </motor>
-        <motor id="12" name="motor_ring">
+        <motor id="11" name="motor_ring">
           <powered_motor_joint>ring1</powered_motor_joint>
           <motor_torque>3.82e-3</motor_torque>
           <gear_ratio>393.0</gear_ratio>
@@ -2931,7 +2931,7 @@
             <multiplier>0.8375</multiplier>
           </gearbox>
         </motor>
-        <motor id="13" name="motor_pinky">
+        <motor id="12" name="motor_pinky">
           <powered_motor_joint>pinky1</powered_motor_joint>
           <motor_torque>3.82e-3</motor_torque>
           <gear_ratio>393.0</gear_ratio>

From cada0969b40d8efbfe428f3f0e74aee6dcad8156 Mon Sep 17 00:00:00 2001
From: Jackie Kay jacquelinekay1 <Jackie Kay jacquelinekay1@gmail.com>
Date: Fri, 13 Feb 2015 14:41:03 -0800
Subject: [PATCH 18/22] Got rid of comment

---
 mpl_right_forearm/model.sdf | 5 -----
 1 file changed, 5 deletions(-)

diff --git a/mpl_right_forearm/model.sdf b/mpl_right_forearm/model.sdf
index edde34b..988726b 100644
--- a/mpl_right_forearm/model.sdf
+++ b/mpl_right_forearm/model.sdf
@@ -2886,11 +2886,6 @@
             <multiplier>0.8375</multiplier>
           </gearbox>
         </motor>
-        <!--<motor id="9" name="motor_middle0">
-          <powered_motor_joint>middle0</powered_motor_joint>
-          <motor_torque>0.0</motor_torque>
-          <gear_ratio>176.0</gear_ratio>
-        </motor>-->
         <motor id="9" name="motor_middle">
           <powered_motor_joint>middle1</powered_motor_joint>
           <motor_torque>3.82e-3</motor_torque>

From 00d5fa698734dc2aadcee72cd24b107091ee33a8 Mon Sep 17 00:00:00 2001
From: Jackie Kay jacquelinekay1 <Jackie Kay jacquelinekay1@gmail.com>
Date: Fri, 13 Feb 2015 15:00:45 -0800
Subject: [PATCH 19/22] Removed plugin SDF

---
 mpl_right_forearm/model.sdf | 201 ------------------------------------
 1 file changed, 201 deletions(-)

diff --git a/mpl_right_forearm/model.sdf b/mpl_right_forearm/model.sdf
index 988726b..a64bbf4 100644
--- a/mpl_right_forearm/model.sdf
+++ b/mpl_right_forearm/model.sdf
@@ -2774,206 +2774,5 @@
         </ode>
       </physics>
     </joint>
-      <plugin filename="libHaptixControlPlugin.so" name="HaptixControlPlugin">
-        <base_joint>elbow</base_joint>
-        <base_link>forearm</base_link>
-        <base_pid_pos cmd_max="10000.0" cmd_min="-10000.0" d="70.0" i="0" p="700.0"/>
-        <base_pid_rot cmd_max="10000.0" cmd_min="-10000.0" d="50.0" i="0" p="800.0"/>
-        <!-- order must match hxAPLJoints enumeration -->
-        <joint id="0">wristy</joint>
-        <joint id="1">wristx</joint>
-        <joint id="2">wristz</joint>
-        <joint id="3">thumb0</joint>
-        <joint id="4">thumb1</joint>
-        <joint id="5">thumb2</joint>
-        <joint id="6">thumb3</joint>
-        <joint id="7">index0</joint>
-        <joint id="8">index1</joint>
-        <joint id="9">index2</joint>
-        <joint id="10">index3</joint>
-        <joint id="11">middle0</joint>
-        <joint id="12">middle1</joint>
-        <joint id="13">middle2</joint>
-        <joint id="14">middle3</joint>
-        <joint id="15">ring0</joint>
-        <joint id="16">ring1</joint>
-        <joint id="17">ring2</joint>
-        <joint id="18">ring3</joint>
-        <joint id="19">pinky0</joint>
-        <joint id="20">pinky1</joint>
-        <joint id="21">pinky2</joint>
-        <joint id="22">pinky3</joint>
-        <pid cmd_max=" 500.0" cmd_min=" -500.0" d="0" i="0" id="0" p=" 100.0"/>
-        <pid cmd_max=" 500.0" cmd_min=" -500.0" d="0" i="0" id="1" p="  50.0"/>
-        <pid cmd_max=" 500.0" cmd_min=" -500.0" d="0" i="0" id="2" p=" 100.0"/>
-        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="3" p="  30.0"/>
-        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="4" p="  20.0"/>
-        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="5" p="   8.0"/>
-        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="6" p="   2.0"/>
-        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="7" p="  15.0"/>
-        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="8" p="  10.0"/>
-        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="9" p="   5.0"/>
-        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="10" p="   1.0"/>
-        <pid cmd_max="   0.0" cmd_min="    0.0" d="0" i="0" id="11" p="   0.0"/>
-        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="12" p="  10.0"/>
-        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="13" p="   5.0"/>
-        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="14" p="   1.0"/>
-        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="15" p="  15.0"/>
-        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="16" p="  10.0"/>
-        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="17" p="   5.0"/>
-        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="18" p="   1.0"/>
-        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="19" p="  15.0"/>
-        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="20" p="  10.0"/>
-        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="21" p="   5.0"/>
-        <pid cmd_max=" 100.0" cmd_min=" -100.0" d="0" i="0" id="22" p="   1.0"/>
-        <motor id="0" name="motor_wristy">
-          <powered_motor_joint>wristy</powered_motor_joint>
-          <!-- gear_ratio = motor angle / joint angle -->
-          <!-- wrist motor torque unknown, guessing for now -->
-          <motor_torque>0.0382</motor_torque>
-          <gear_ratio>180.0</gear_ratio>
-        </motor>
-        <motor id="1" name="motor_wristx">
-          <powered_motor_joint>wristx</powered_motor_joint>
-          <!-- wrist motor torque unknown, guessing for now -->
-          <motor_torque>0.00955</motor_torque>
-          <gear_ratio>180.0</gear_ratio>
-        </motor>
-        <motor id="2" name="motor_wristz">
-          <powered_motor_joint>wristz</powered_motor_joint>
-          <!-- wrist motor torque unknown, guessing for now -->
-          <motor_torque>0.191</motor_torque>
-          <gear_ratio>180.0</gear_ratio>
-        </motor>
-        <motor id="3" name="motor_thumb0">
-          <powered_motor_joint>thumb0</powered_motor_joint>
-          <motor_torque>3.82e-3</motor_torque>
-          <gear_ratio>1056.0</gear_ratio>
-        </motor>
-        <motor id="4" name="motor_thumb1">
-          <powered_motor_joint>thumb1</powered_motor_joint>
-          <motor_torque>3.82e-3</motor_torque>
-          <gear_ratio>352.0</gear_ratio>
-        </motor>
-        <motor id="5" name="motor_thumb2">
-          <powered_motor_joint>thumb2</powered_motor_joint>
-          <motor_torque>3.82e-3</motor_torque>
-          <gear_ratio>281.6</gear_ratio>
-        </motor>
-        <motor id="6" name="motor_thumb3">
-          <powered_motor_joint>thumb3</powered_motor_joint>
-          <motor_torque>3.82e-3</motor_torque>
-          <gear_ratio>140.8</gear_ratio>
-        </motor>
-        <motor id="7" name="motor_index0">
-          <powered_motor_joint>index0</powered_motor_joint>
-          <motor_torque>3.82e-3</motor_torque>
-          <gear_ratio>176.0</gear_ratio>
-        </motor>
-        <motor id="8" name="motor_index">
-          <powered_motor_joint>index1</powered_motor_joint>
-          <motor_torque>3.82e-3</motor_torque>
-          <!-- uncertain about transmission -->
-          <gear_ratio>393.0</gear_ratio>
-          <gearbox>
-            <joint>index2</joint>
-            <offset>0.174532925199</offset>
-            <multiplier>0.8625</multiplier>
-          </gearbox>
-          <gearbox>
-            <joint>index3</joint>
-            <offset>0.174532925199</offset>
-            <multiplier>0.8375</multiplier>
-          </gearbox>
-        </motor>
-        <motor id="9" name="motor_middle">
-          <powered_motor_joint>middle1</powered_motor_joint>
-          <motor_torque>3.82e-3</motor_torque>
-          <gear_ratio>393.0</gear_ratio>
-          <gearbox>
-            <joint>middle2</joint>
-            <offset>0.174532925199</offset>
-            <multiplier>0.8625</multiplier>
-          </gearbox>
-          <gearbox>
-            <joint>middle3</joint>
-            <offset>0.174532925199</offset>
-            <multiplier>0.8375</multiplier>
-          </gearbox>
-        </motor>
-        <motor id="10" name="motor_ring0">
-          <powered_motor_joint>ring0</powered_motor_joint>
-          <motor_torque>3.82e-3</motor_torque>
-          <gear_ratio>3520.0</gear_ratio>
-          <gearbox>
-            <joint>pinky0</joint>
-            <offset>0</offset>
-            <multiplier>1.0</multiplier>
-          </gearbox>
-        </motor>
-        <motor id="11" name="motor_ring">
-          <powered_motor_joint>ring1</powered_motor_joint>
-          <motor_torque>3.82e-3</motor_torque>
-          <gear_ratio>393.0</gear_ratio>
-          <gearbox>
-            <joint>ring2</joint>
-            <offset>0.174532925199</offset>
-            <multiplier>0.8625</multiplier>
-          </gearbox>
-          <gearbox>
-            <joint>ring3</joint>
-            <offset>0.174532925199</offset>
-            <multiplier>0.8375</multiplier>
-          </gearbox>
-        </motor>
-        <motor id="12" name="motor_pinky">
-          <powered_motor_joint>pinky1</powered_motor_joint>
-          <motor_torque>3.82e-3</motor_torque>
-          <gear_ratio>393.0</gear_ratio>
-          <gearbox>
-            <joint>pinky2</joint>
-            <offset>0.174532925199</offset>
-            <multiplier>0.8625</multiplier>
-          </gearbox>
-          <gearbox>
-            <joint>pinky3</joint>
-            <offset>0.174532925199</offset>
-            <multiplier>0.8375</multiplier>
-          </gearbox>
-        </motor>
-        <contactSensor id="0">palm0_contact_sensor</contactSensor>
-        <contactSensor id="1">palm1_contact_sensor</contactSensor>
-        <contactSensor id="2">palmEdge_contact_sensor</contactSensor>
-        <contactSensor id="3">handTop_contact_sensor</contactSensor>
-        <contactSensor id="4">thumb1_contact_sensor</contactSensor>
-        <contactSensor id="5">thumb2_contact_sensor</contactSensor>
-        <contactSensor id="6">thumb3_contact_sensor</contactSensor>
-        <contactSensor id="7">index1_contact_sensor</contactSensor>
-        <contactSensor id="8">index2_contact_sensor</contactSensor>
-        <contactSensor id="9">index3_contact_sensor</contactSensor>
-        <contactSensor id="10">middle1_contact_sensor</contactSensor>
-        <contactSensor id="11">middle2_contact_sensor</contactSensor>
-        <contactSensor id="12">middle3_contact_sensor</contactSensor>
-        <contactSensor id="13">ring1_contact_sensor</contactSensor>
-        <contactSensor id="14">ring2_contact_sensor</contactSensor>
-        <contactSensor id="15">ring3_contact_sensor</contactSensor>
-        <contactSensor id="16">pinky1_contact_sensor</contactSensor>
-        <contactSensor id="17">pinky2_contact_sensor</contactSensor>
-        <contactSensor id="18">pinky3_contact_sensor</contactSensor>
-        <imuSensor id="0">thumb3_imu_sensor</imuSensor>
-        <imuSensor id="1">index3_imu_sensor</imuSensor>
-        <imuSensor id="2">middle3_imu_sensor</imuSensor>
-        <imuSensor id="3">ring3_imu_sensor</imuSensor>
-        <imuSensor id="4">pinky3_imu_sensor</imuSensor>
-        <!-- These grasp postures are based on information from APL -->
-        <grasp name="Cylindrical">0 0 0 1.8 0.05  0.75  0.75  0 0.8 0.85  0 0.85  0.8</grasp>
-        <grasp name="Spherical">0 0 0 1.9199  0.5236  0.8727  -0.3491 0 0.9599  0.7854  0.3491  0.8727  1.0472</grasp>
-        <grasp name="ThreeFingerPinch">0  0 0 1.95035 1.00918 0.431986  0.172804  0 0.791168 0.897955  0 0.691168  0.841168</grasp>
-        <grasp name="FinePinch(American)">0 0 0 1.3963  0.8727  0.5236  -0.3491 0 0.8727 1.5708  0 1.5708  1.5708</grasp>
-        <grasp name="FinePinch(British)">0  0 0 1.40425 0.926609  0.31103 0.324419  -0.05 0.719641  0.696527  0 -0.302359 -0.294359</grasp>
-        <grasp name="Palmar(Tray)">0 0 0 1.5708  1.3963  0.6981  -0.3491 0 0 0 0 0 0</grasp>
-        <grasp name="Hook">0  0 0 0 1.0472  0.2618  -0.3491 0 1.2217 1.2217  0 1.2217  1.2217</grasp>
-      </plugin>
-
   </model>
 </sdf>

From 281d8dcd0d515cdcd32a4f5af03ca957757d0e8e Mon Sep 17 00:00:00 2001
From: Jackie Kay jacquelinekay1 <Jackie Kay jacquelinekay1@gmail.com>
Date: Fri, 13 Feb 2015 15:14:29 -0800
Subject: [PATCH 20/22] Fixed IMU sensor

---
 mpl_right_forearm/model.sdf | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/mpl_right_forearm/model.sdf b/mpl_right_forearm/model.sdf
index a64bbf4..e0b6b31 100644
--- a/mpl_right_forearm/model.sdf
+++ b/mpl_right_forearm/model.sdf
@@ -2721,7 +2721,7 @@
           <topic>__default_topic__</topic>
         </contact>
       </sensor>
-      <sensor name='thumb3_distal_imu_sensor' type='imu'>
+      <sensor name='thumb3_imu_sensor' type='imu'>
         <always_on>1</always_on>
         <update_rate>1000</update_rate>
         <imu>

From 342ae9e67e600ec51e6eacc97affa32d37b126d9 Mon Sep 17 00:00:00 2001
From: Jackie Kay jacquelinekay1 <Jackie Kay jacquelinekay1@gmail.com>
Date: Fri, 13 Feb 2015 16:34:21 -0800
Subject: [PATCH 21/22] removed topic fields, they were extraneous

---
 mpl_right_forearm/model.sdf | 27 ---------------------------
 1 file changed, 27 deletions(-)

diff --git a/mpl_right_forearm/model.sdf b/mpl_right_forearm/model.sdf
index e0b6b31..2e9ae6f 100644
--- a/mpl_right_forearm/model.sdf
+++ b/mpl_right_forearm/model.sdf
@@ -109,14 +109,6 @@
           </script>
         </material>
       </visual>
-      <sensor name='forearm_contact_sensor' type='contact'>
-        <always_on>1</always_on>
-        <contact>
-          <collision>collision</collision>
-          <collision>collision_1</collision>
-          <topic>__default_topic</topic>
-        </contact>
-      </sensor>
     </link>
 
     <link name='wristy'>
@@ -529,28 +521,24 @@
         <always_on>1</always_on>
         <contact>
           <collision>palm0</collision>
-          <topic>__default_topic__</topic>
         </contact>
       </sensor>
       <sensor name='palm1_contact_sensor' type='contact'>
         <always_on>1</always_on>
         <contact>
           <collision>palm1</collision>
-          <topic>__default_topic__</topic>
         </contact>
       </sensor>
       <sensor name='palmEdge_contact_sensor' type='contact'>
         <always_on>1</always_on>
         <contact>
           <collision>palmEdge</collision>
-          <topic>__default_topic__</topic>
         </contact>
       </sensor>
       <sensor name='handTop_contact_sensor' type='contact'>
         <always_on>1</always_on>
         <contact>
           <collision>handTop</collision>
-          <topic>__default_topic__</topic>
         </contact>
       </sensor>
     </link>
@@ -725,7 +713,6 @@
         <always_on>1</always_on>
         <contact>
           <collision>collision</collision>
-          <topic>__default_topic__</topic>
         </contact>
       </sensor>
     </link>
@@ -841,7 +828,6 @@
         <contact>
           <collision>collision</collision>
           <collision>collision_1</collision>
-          <topic>__default_topic__</topic>
         </contact>
       </sensor>
     </link>
@@ -957,7 +943,6 @@
         <contact>
           <collision>collision</collision>
           <collision>collision_1</collision>
-          <topic>__default_topic__</topic>
         </contact>
       </sensor>
       <sensor name='index3_imu_sensor' type='imu'>
@@ -1153,7 +1138,6 @@
         <always_on>1</always_on>
         <contact>
           <collision>collision</collision>
-          <topic>__default_topic__</topic>
         </contact>
       </sensor>
     </link>
@@ -1269,7 +1253,6 @@
         <contact>
           <collision>collision</collision>
           <collision>collision_1</collision>
-          <topic>__default_topic__</topic>
         </contact>
       </sensor>
     </link>
@@ -1385,7 +1368,6 @@
         <contact>
           <collision>collision</collision>
           <collision>collision_1</collision>
-          <topic>__default_topic__</topic>
         </contact>
       </sensor>
       <sensor name='middle3_imu_sensor' type='imu'>
@@ -1581,7 +1563,6 @@
         <always_on>1</always_on>
         <contact>
           <collision>collision</collision>
-          <topic>__default_topic__</topic>
         </contact>
       </sensor>
     </link>
@@ -1672,7 +1653,6 @@
         <always_on>1</always_on>
         <contact>
           <collision>collision</collision>
-          <topic>__default_topic__</topic>
         </contact>
       </sensor>
     </link>
@@ -1788,7 +1768,6 @@
         <contact>
           <collision>collision</collision>
           <collision>collision_1</collision>
-          <topic>__default_topic__</topic>
         </contact>
       </sensor>
       <sensor name='pinky3_imu_sensor' type='imu'>
@@ -1984,7 +1963,6 @@
         <always_on>1</always_on>
         <contact>
           <collision>collision</collision>
-          <topic>__default_topic__</topic>
         </contact>
       </sensor>
     </link>
@@ -2099,7 +2077,6 @@
         <always_on>1</always_on>
         <contact>
           <collision>collision</collision>
-          <topic>__default_topic__</topic>
         </contact>
       </sensor>
     </link>
@@ -2215,7 +2192,6 @@
         <contact>
           <collision>collision</collision>
           <collision>collision_1</collision>
-          <topic>__default_topic__</topic>
         </contact>
       </sensor>
       <sensor name='ring3_imu_sensor' type='imu'>
@@ -2486,7 +2462,6 @@
           <collision>collision</collision>
           <collision>collision_1</collision>
           <collision>collision_2</collision>
-          <topic>~/thumb1/contact</topic>
         </contact>
       </sensor>
     </link>
@@ -2602,7 +2577,6 @@
         <contact>
           <collision>collision</collision>
           <collision>collision_1</collision>
-          <topic>~/thumb2/contact</topic>
         </contact>
       </sensor>
     </link>
@@ -2718,7 +2692,6 @@
         <contact>
           <collision>collision</collision>
           <collision>collision_1</collision>
-          <topic>__default_topic__</topic>
         </contact>
       </sensor>
       <sensor name='thumb3_imu_sensor' type='imu'>

From 01b5270961d67907dc3bfe19442f6fc7d551d259 Mon Sep 17 00:00:00 2001
From: Jackie K <jacquelinekay1@gmail.com>
Date: Tue, 17 Feb 2015 11:52:40 -0800
Subject: [PATCH 22/22] Close branch update_mpl_joints