<commit_before><?xml version="1.0"?>
<robot name="torso" xmlns:xacro="http://www.ros.org/wiki/xacro"> 

  <!-- Import all Gazebo-customization elements, including Gazebo colors -->
  <xacro:include filename="$(find crom_description)/urdf/robot/crom.gazebo" />
  
  <xacro:include filename="$(find crom_description)/urdf/arms/lwa4p/materials.urdf.xacro" />
  <!-- calibration -->
  <xacro:include filename="$(find crom_description)/urdf/arms/lwa4p/calibration.urdf.xacro" />
  <!-- schunk powerball -->
  <xacro:include filename="$(find crom_description)/urdf/arms/lwa4p/lwa4p.urdf.xacro" /> 
  <!-- Barrett Hand -->
  <xacro:include filename="$(find crom_description)/urdf/hands/bhand/bh282.urdf.xacro"/>
  <!-- Head -->
  <xacro:include filename="$(find crom_description)/urdf/head/head.urdf.xacro"/>
  <xacro:include filename="$(find crom_description)/urdf/head/head.gazebo" />
  <!-- WSG50 GRIPPER -->
  <xacro:include filename="$(find crom_description)/urdf/grippers/wsg50/wsg50.urdf.xacro" />
  <!--xacro:include filename="$(find crom_description)/urdf/grippers/wsg50/wsg50.gazebo"/-->
  

  <!-- Robot mechanical and motor parameters -->
  <xacro:property name="PI" value="3.1415926535897931"/>
  <xacro:property name="PI_2" value="1.570796327"/>
  <xacro:property name="waist_joint_damping" value="0.1" />
  <xacro:property name="waist_joint_friction" value="0.1" />
  <xacro:property name="waist_joint_effort_limit" value="100.0" />
  <xacro:property name="waist_joint_velocity_limit" value="100.0" />
  <xacro:property name="waist_joint_upper_limit" value="2.967059678" /> <!-- 170 -->
  <xacro:property name="waist_joint_lower_limit" value="-2.967059678" /> <!-- -170 -->
  <xacro:property name="waist_mechanical_reduction" value="1.0" />

  <gazebo>
	<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
	<robotNamespace>/torso</robotNamespace>
	</plugin><commit_msg>crom_description: Setting new namespace<commit_after><?xml version="1.0"?>
<robot name="torso" xmlns:xacro="http://www.ros.org/wiki/xacro"> 

  <!-- Import all Gazebo-customization elements, including Gazebo colors -->
  <xacro:include filename="$(find crom_description)/urdf/robot/crom.gazebo" />
  
  <xacro:include filename="$(find crom_description)/urdf/arms/lwa4p/materials.urdf.xacro" />
  <!-- calibration -->
  <xacro:include filename="$(find crom_description)/urdf/arms/lwa4p/calibration.urdf.xacro" />
  <!-- schunk powerball -->
  <xacro:include filename="$(find crom_description)/urdf/arms/lwa4p/lwa4p.urdf.xacro" /> 
  <!-- Barrett Hand -->
  <xacro:include filename="$(find crom_description)/urdf/hands/bhand/bh282.urdf.xacro"/>
  <!-- Head -->
  <xacro:include filename="$(find crom_description)/urdf/head/head.urdf.xacro"/>
  <xacro:include filename="$(find crom_description)/urdf/head/head.gazebo" />
  <!-- WSG50 GRIPPER -->
  <xacro:include filename="$(find crom_description)/urdf/grippers/wsg50/wsg50.urdf.xacro" />
  <!--xacro:include filename="$(find crom_description)/urdf/grippers/wsg50/wsg50.gazebo"/-->
  

  <!-- Robot mechanical and motor parameters -->
  <xacro:property name="PI" value="3.1415926535897931"/>
  <xacro:property name="PI_2" value="1.570796327"/>
  <xacro:property name="waist_joint_damping" value="0.1" />
  <xacro:property name="waist_joint_friction" value="0.1" />
  <xacro:property name="waist_joint_effort_limit" value="100.0" />
  <xacro:property name="waist_joint_velocity_limit" value="100.0" />
  <xacro:property name="waist_joint_upper_limit" value="2.967059678" /> <!-- 170 -->
  <xacro:property name="waist_joint_lower_limit" value="-2.967059678" /> <!-- -170 -->
  <xacro:property name="waist_mechanical_reduction" value="1.0" />

  <gazebo>
	<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
	<robotNamespace>/crom</robotNamespace>
	</plugin>
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