diff --git a/pr2_description/meshes/sensors/kinect2_v0/KinectAssembly.STL b/pr2_description/meshes/sensors/kinect2_v0/KinectAssembly.STL
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index fd76b70..0000000
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diff --git a/pr2_description/meshes/sensors/kinect2_v0/kinect2_assembly.STL b/pr2_description/meshes/sensors/kinect2_v0/kinect2_assembly.STL
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Binary files /dev/null and b/pr2_description/meshes/sensors/kinect2_v0/kinect2_assembly.STL differ
diff --git a/pr2_description/robots/pr2_kinect2.urdf.xacro b/pr2_description/robots/pr2_kinect2.urdf.xacro
index 4f80597..b446293 100644
--- a/pr2_description/robots/pr2_kinect2.urdf.xacro
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diff --git a/pr2_description/test.urdf b/pr2_description/test.urdf
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+ true
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+
+
+
+
+
+
+ true
+
+
+
+
+
+
+
+
+
+
+
+
+
+ true
+ false
+
+ 100.0
+
+ r_gripper_l_finger_tip_link_collision
+
+
+ true
+ r_gripper_l_finger_tip_link
+ 100.0
+ r_gripper_l_finger_tip_bumper
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ true
+ false
+
+ 100.0
+
+ r_gripper_r_finger_tip_link_collision
+
+
+ true
+ r_gripper_r_finger_tip_link
+ 100.0
+ r_gripper_r_finger_tip_bumper
+
+
+
+
+
+
+
+
+
+ true
+ 100.0
+ r_gripper_l_finger_link
+ r_gripper_l_finger_pose_ground_truth
+ 0.0
+ base_link
+
+
+ true
+ 100.0
+ r_gripper_l_finger_link
+ r_gripper_l_finger_force_ground_truth
+
+
+
+
+
+
+
+
+
+
+
+
+ 0.17126
+
+ 7.7562e-05
+ 1.49095e-06
+ -9.83385e-06
+ 0.000197083
+ -3.06125e-06
+ 0.000181054
+
+ 0.03598 0.0173 -0.00164 0 0 0
+
+ 0.82991 -0.157 0.790675 0 -0 0
+ false
+
+
+
+ 0.17389
+
+ 7.73841e-05
+ -2.09309e-06
+ -8.36228e-06
+ 0.000198474
+ 2.4611e-06
+ 0.00018107
+
+ 0.03576 -0.01736 -0.00095 0 0 0
+
+ 0.82991 -0.219 0.790675 0 0 0
+ false
+
+
+
+
+ r_gripper_motor_screw_link
+ r_gripper_r_finger_tip_link
+ -3141.6
+
+ 0 1 0
+
+
+
+ r_gripper_l_finger_tip_link
+ r_gripper_motor_screw_link
+ 3141.6
+
+ 0 1 0
+
+
+
+
+
+ r_gripper_r_parallel_link
+ r_gripper_palm_link
+
+ 0 0 -1
+
+ 0.2
+
+
+ 0.05891 -0.031 0 0 0 0
+
+
+ r_gripper_l_parallel_link
+ r_gripper_palm_link
+
+ 0 0 1
+
+ 0.2
+
+
+ 0.05891 0.031 0 0 0 0
+
+
+ r_gripper_r_parallel_link
+ r_gripper_r_finger_tip_link
+
+ 0 0 1
+
+ -0.018 -0.021 0 0 0 0
+
+
+ r_gripper_l_parallel_link
+ r_gripper_l_finger_tip_link
+
+ 0 0 1
+
+ -0.018 0.021 0 0 0 0
+
+
+ r_gripper_r_finger_tip_link
+ r_gripper_l_finger_tip_link
+
+ 0 1 0
+
+
+
+
+ true
+
+
+
+ true
+
+
+
+ true
+
+
+
+ true
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ true
+
+
+
+ true
+ 100.0
+ r_gripper_palm_link
+ r_gripper_palm_pose_ground_truth
+ 0 0 0
+ 0 0 0
+ 0.0
+ map
+
+
+
+
+ 20
+ 40
+ 2
+
+ r_gripper_r_finger_tip_link
+ r_gripper_l_finger_tip_link
+ r_gripper_palm_link
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
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+
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+
+
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+
+
+
+
+
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+
+
+
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+
+
+
+
+
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+
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+
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+
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+
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+
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+
+
+
+
+
+
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+
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+
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+
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+
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+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ true
+
+
+
+
+
+
+
+
+
+
+ 32.6525111499
+
+
+
+
+ true
+
+
+
+
+
+
+
+ true
+
+
+
+
+
+
+
+
+
+ 63.1552452977
+
+
+
+
+
+
+ 61.8948225713
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ true
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ true
+
+
+
+
+
+
+
+ -90.5142857143
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ true
+
+
+
+
+
+
+
+
+
+ -36.167452007
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
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+
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+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ true
+
+
+
+ true
+
+
+
+
+
+
+
+ true
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ true
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ true
+
+
+
+
+
+
+
+
+
+
+
+
+
+ true
+ false
+
+ 100.0
+
+ l_gripper_l_finger_tip_link_collision
+
+
+ true
+ l_gripper_l_finger_tip_link
+ 100.0
+ l_gripper_l_finger_tip_bumper
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ true
+ false
+
+ 100.0
+
+ l_gripper_r_finger_tip_link_collision
+
+
+ true
+ l_gripper_r_finger_tip_link
+ 100.0
+ l_gripper_r_finger_tip_bumper
+
+
+
+
+
+
+
+
+
+ true
+ 100.0
+ l_gripper_l_finger_link
+ l_gripper_l_finger_pose_ground_truth
+ 0.0
+ base_link
+
+
+ true
+ 100.0
+ l_gripper_l_finger_link
+ l_gripper_l_finger_force_ground_truth
+
+
+
+
+
+
+
+
+
+
+
+
+ 0.17126
+
+ 7.7562e-05
+ 1.49095e-06
+ -9.83385e-06
+ 0.000197083
+ -3.06125e-06
+ 0.000181054
+
+ 0.03598 0.0173 -0.00164 0 0 0
+
+ 0.82991 0.219 0.790675 0 -0 0
+ false
+
+
+
+ 0.17389
+
+ 7.73841e-05
+ -2.09309e-06
+ -8.36228e-06
+ 0.000198474
+ 2.4611e-06
+ 0.00018107
+
+ 0.03576 -0.01736 -0.00095 0 0 0
+
+ 0.82991 0.157 0.790675 0 0 0
+ false
+
+
+
+
+ l_gripper_motor_screw_link
+ l_gripper_r_finger_tip_link
+ -3141.6
+
+ 0 1 0
+
+
+
+ l_gripper_l_finger_tip_link
+ l_gripper_motor_screw_link
+ 3141.6
+
+ 0 1 0
+
+
+
+
+
+ l_gripper_r_parallel_link
+ l_gripper_palm_link
+
+ 0 0 -1
+
+ 0.2
+
+
+ 0.05891 -0.031 0 0 0 0
+
+
+ l_gripper_l_parallel_link
+ l_gripper_palm_link
+
+ 0 0 1
+
+ 0.2
+
+
+ 0.05891 0.031 0 0 0 0
+
+
+ l_gripper_r_parallel_link
+ l_gripper_r_finger_tip_link
+
+ 0 0 1
+
+ -0.018 -0.021 0 0 0 0
+
+
+ l_gripper_l_parallel_link
+ l_gripper_l_finger_tip_link
+
+ 0 0 1
+
+ -0.018 0.021 0 0 0 0
+
+
+ l_gripper_r_finger_tip_link
+ l_gripper_l_finger_tip_link
+
+ 0 1 0
+
+
+
+
+ true
+
+
+
+ true
+
+
+
+ true
+
+
+
+ true
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ true
+
+
+
+ true
+ 100.0
+ l_gripper_palm_link
+ l_gripper_palm_pose_ground_truth
+ 0 0 0
+ 0 0 0
+ 0.0
+ map
+
+
+
+
+ 20
+ 40
+ 2
+
+ l_gripper_r_finger_tip_link
+ l_gripper_l_finger_tip_link
+ l_gripper_palm_link
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ true
+ 25.0
+
+ 1.57079632679
+
+ R8G8B8
+ 640
+ 480
+
+
+ 0.1
+ 100
+
+
+
+ true
+ 25.0
+ l_forearm_cam
+ image_raw
+ camera_info
+ l_forearm_cam_optical_frame
+ 0
+ 320.5
+ 320.5
+ 240.5
+
+
+ 320.000105
+ 0.0
+ 0.0
+ 0.0
+ 0.0
+ 0.0
+
+
+ true
+ PR2/Blue
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ true
+ 25.0
+
+ 1.57079632679
+
+ R8G8B8
+ 640
+ 480
+
+
+ 0.1
+ 100
+
+
+
+ true
+ 25.0
+ r_forearm_cam
+ image_raw
+ camera_info
+ r_forearm_cam_optical_frame
+ 0
+ 320.5
+ 320.5
+ 240.5
+
+
+ 320.000105
+ 0.0
+ 0.0
+ 0.0
+ 0.0
+ 0.0
+
+
+ true
+ PR2/Blue
+
+
diff --git a/pr2_description/test/test.launch b/pr2_description/test/test.launch
index 2f31904..d531c4f 100644
--- a/pr2_description/test/test.launch
+++ b/pr2_description/test/test.launch
@@ -6,4 +6,4 @@
-
\ No newline at end of file
+
diff --git a/pr2_description/urdf/sensors/iai_kinect2.urdf.xacro b/pr2_description/urdf/sensors/iai_kinect2.urdf.xacro
index 6788051..8ed9026 100644
--- a/pr2_description/urdf/sensors/iai_kinect2.urdf.xacro
+++ b/pr2_description/urdf/sensors/iai_kinect2.urdf.xacro
@@ -31,39 +31,5 @@
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
diff --git a/pr2_description/urdf/sensors/kinect2.urdf.xacro b/pr2_description/urdf/sensors/kinect2.urdf.xacro
index 6bba6e1..f99fd8e 100644
--- a/pr2_description/urdf/sensors/kinect2.urdf.xacro
+++ b/pr2_description/urdf/sensors/kinect2.urdf.xacro
@@ -10,9 +10,7 @@
-
-
@@ -25,9 +23,9 @@
izz="0.01" />
-
+
-
+
@@ -41,80 +39,10 @@
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
- if [ $V \< 13.10 ]; then
-
-
-
-
-
-
-
-
-
-
-
-
+
@@ -140,23 +68,23 @@
-
+
-
+
-
+
@@ -184,16 +112,16 @@
-
+
-
+