From 10e326b97ab339d523c98d9f68afae118bef2803 Mon Sep 17 00:00:00 2001
From: aquintan <aquintana.camacho@proton.me>
Date: Wed, 16 Sep 2026 09:43:04 +0200
Subject: [PATCH 01/32] xlerobot robot in RI

---
 CustomRobots/CMakeLists.txt                   |    3 +
 CustomRobots/xlerobot/LICENSE                 |  201 +++
 CustomRobots/xlerobot/NOTICE                  |   31 +
 .../xlerobot/launch/xlerobot.launch.py        |  117 ++
 .../xlerobot/models/xlerobot/meshes/Base.stl  |  Bin 0 -> 443484 bytes
 .../models/xlerobot/meshes/Base_Motor.stl     |  Bin 0 -> 154284 bytes
 .../models/xlerobot/meshes/Fixed_Jaw.stl      |  Bin 0 -> 264584 bytes
 .../xlerobot/meshes/Fixed_Jaw_Motor.stl       |  Bin 0 -> 151884 bytes
 .../meshes/Fixed_Jaw_part1.ply.convex.stl     |  Bin 0 -> 684 bytes
 .../meshes/Fixed_Jaw_part2.ply.convex.stl     |  Bin 0 -> 1284 bytes
 .../models/xlerobot/meshes/Lower_Arm.stl      |  Bin 0 -> 347184 bytes
 .../xlerobot/meshes/Lower_Arm_Motor.stl       |  Bin 0 -> 151884 bytes
 .../models/xlerobot/meshes/Moving_Jaw.stl     |  Bin 0 -> 177184 bytes
 .../meshes/Moving_Jaw_part1.ply.convex.stl    |  Bin 0 -> 684 bytes
 .../meshes/Moving_Jaw_part2.ply.convex.stl    |  Bin 0 -> 684 bytes
 .../meshes/Moving_Jaw_part3.ply.convex.stl    |  Bin 0 -> 984 bytes
 .../models/xlerobot/meshes/Rotation_Pitch.stl |  Bin 0 -> 347584 bytes
 .../xlerobot/meshes/Rotation_Pitch_Motor.stl  |  Bin 0 -> 154284 bytes
 .../models/xlerobot/meshes/Upper_Arm.stl      |  Bin 0 -> 215184 bytes
 .../xlerobot/meshes/Upper_Arm_Motor.stl       |  Bin 0 -> 152284 bytes
 .../xlerobot/meshes/Wrist_Pitch_Roll.stl      |  Bin 0 -> 341684 bytes
 .../meshes/Wrist_Pitch_Roll_Motor.stl         |  Bin 0 -> 133684 bytes
 .../xlerobot/meshes/XLeRobot_camera1.stl      |  Bin 0 -> 42284 bytes
 .../xlerobot/meshes/XLeRobot_camera2.stl      |  Bin 0 -> 120884 bytes
 .../models/xlerobot/meshes/omni_wheel.stl     |  Bin 0 -> 3928084 bytes
 .../models/xlerobot/meshes/raskogbody.stl     |  Bin 0 -> 629384 bytes
 .../models/xlerobot/meshes/raskogwheel1.stl   |  Bin 0 -> 91884 bytes
 .../models/xlerobot/meshes/raskogwheel2.stl   |  Bin 0 -> 114884 bytes
 .../models/xlerobot/meshes/topbase1.stl       |  Bin 0 -> 213284 bytes
 .../models/xlerobot/meshes/topbase2.stl       |  Bin 0 -> 83284 bytes
 .../models/xlerobot/meshes/tophead1.stl       |  Bin 0 -> 115384 bytes
 .../models/xlerobot/meshes/tophead4.stl       |  Bin 0 -> 119284 bytes
 .../models/xlerobot/meshes/tophead5.stl       |  Bin 0 -> 70084 bytes
 .../models/xlerobot/meshes/tophead6.stl       |  Bin 0 -> 313384 bytes
 .../models/xlerobot/xlerobot.urdf.xacro       |   11 +
 .../xlerobot/xlerobot_common.urdf.xacro       | 1358 +++++++++++++++++
 .../models/xlerobot/xlerobot_gz.urdf.xacro    |   53 +
 database/worlds.sql                           |    3 +
 38 files changed, 1777 insertions(+)
 create mode 100644 CustomRobots/xlerobot/LICENSE
 create mode 100644 CustomRobots/xlerobot/NOTICE
 create mode 100644 CustomRobots/xlerobot/launch/xlerobot.launch.py
 create mode 100644 CustomRobots/xlerobot/models/xlerobot/meshes/Base.stl
 create mode 100644 CustomRobots/xlerobot/models/xlerobot/meshes/Base_Motor.stl
 create mode 100644 CustomRobots/xlerobot/models/xlerobot/meshes/Fixed_Jaw.stl
 create mode 100644 CustomRobots/xlerobot/models/xlerobot/meshes/Fixed_Jaw_Motor.stl
 create mode 100644 CustomRobots/xlerobot/models/xlerobot/meshes/Fixed_Jaw_part1.ply.convex.stl
 create mode 100644 CustomRobots/xlerobot/models/xlerobot/meshes/Fixed_Jaw_part2.ply.convex.stl
 create mode 100644 CustomRobots/xlerobot/models/xlerobot/meshes/Lower_Arm.stl
 create mode 100644 CustomRobots/xlerobot/models/xlerobot/meshes/Lower_Arm_Motor.stl
 create mode 100644 CustomRobots/xlerobot/models/xlerobot/meshes/Moving_Jaw.stl
 create mode 100644 CustomRobots/xlerobot/models/xlerobot/meshes/Moving_Jaw_part1.ply.convex.stl
 create mode 100644 CustomRobots/xlerobot/models/xlerobot/meshes/Moving_Jaw_part2.ply.convex.stl
 create mode 100644 CustomRobots/xlerobot/models/xlerobot/meshes/Moving_Jaw_part3.ply.convex.stl
 create mode 100644 CustomRobots/xlerobot/models/xlerobot/meshes/Rotation_Pitch.stl
 create mode 100644 CustomRobots/xlerobot/models/xlerobot/meshes/Rotation_Pitch_Motor.stl
 create mode 100644 CustomRobots/xlerobot/models/xlerobot/meshes/Upper_Arm.stl
 create mode 100644 CustomRobots/xlerobot/models/xlerobot/meshes/Upper_Arm_Motor.stl
 create mode 100644 CustomRobots/xlerobot/models/xlerobot/meshes/Wrist_Pitch_Roll.stl
 create mode 100644 CustomRobots/xlerobot/models/xlerobot/meshes/Wrist_Pitch_Roll_Motor.stl
 create mode 100644 CustomRobots/xlerobot/models/xlerobot/meshes/XLeRobot_camera1.stl
 create mode 100644 CustomRobots/xlerobot/models/xlerobot/meshes/XLeRobot_camera2.stl
 create mode 100644 CustomRobots/xlerobot/models/xlerobot/meshes/omni_wheel.stl
 create mode 100644 CustomRobots/xlerobot/models/xlerobot/meshes/raskogbody.stl
 create mode 100644 CustomRobots/xlerobot/models/xlerobot/meshes/raskogwheel1.stl
 create mode 100644 CustomRobots/xlerobot/models/xlerobot/meshes/raskogwheel2.stl
 create mode 100644 CustomRobots/xlerobot/models/xlerobot/meshes/topbase1.stl
 create mode 100644 CustomRobots/xlerobot/models/xlerobot/meshes/topbase2.stl
 create mode 100644 CustomRobots/xlerobot/models/xlerobot/meshes/tophead1.stl
 create mode 100644 CustomRobots/xlerobot/models/xlerobot/meshes/tophead4.stl
 create mode 100644 CustomRobots/xlerobot/models/xlerobot/meshes/tophead5.stl
 create mode 100644 CustomRobots/xlerobot/models/xlerobot/meshes/tophead6.stl
 create mode 100644 CustomRobots/xlerobot/models/xlerobot/xlerobot.urdf.xacro
 create mode 100644 CustomRobots/xlerobot/models/xlerobot/xlerobot_common.urdf.xacro
 create mode 100644 CustomRobots/xlerobot/models/xlerobot/xlerobot_gz.urdf.xacro

diff --git a/CustomRobots/CMakeLists.txt b/CustomRobots/CMakeLists.txt
index b303019aa..58b2f9dd1 100755
--- a/CustomRobots/CMakeLists.txt
+++ b/CustomRobots/CMakeLists.txt
@@ -130,6 +130,9 @@ install(
     palletizing/params
     palletizing/config
 
+    xlerobot/models
+    xlerobot/launch
+
   DESTINATION share/${PROJECT_NAME})
 
 # Palletizing box feeder node (ament_cmake package: install python node explicitly)
diff --git a/CustomRobots/xlerobot/LICENSE b/CustomRobots/xlerobot/LICENSE
new file mode 100644
index 000000000..261eeb9e9
--- /dev/null
+++ b/CustomRobots/xlerobot/LICENSE
@@ -0,0 +1,201 @@
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
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+   1. Definitions.
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+      of this License, Derivative Works shall not include works that remain
+      separable from, or merely link (or bind by name) to the interfaces of,
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+      "Contribution" shall mean any work of authorship, including
+      the original version of the Work and any modifications or additions
+      to that Work or Derivative Works thereof, that is intentionally
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+      meet the following conditions:
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+      (a) You must give any other recipients of the Work or
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+          stating that You changed the files; and
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+      the conditions stated in this License.
+
+   5. Submission of Contributions. Unless You explicitly state otherwise,
+      any Contribution intentionally submitted for inclusion in the Work
+      by You to the Licensor shall be under the terms and conditions of
+      this License, without any additional terms or conditions.
+      Notwithstanding the above, nothing herein shall supersede or modify
+      the terms of any separate license agreement you may have executed
+      with Licensor regarding such Contributions.
+
+   6. Trademarks. This License does not grant permission to use the trade
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+      unless required by applicable law (such as deliberate and grossly
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diff --git a/CustomRobots/xlerobot/NOTICE b/CustomRobots/xlerobot/NOTICE
new file mode 100644
index 000000000..c0ec21e36
--- /dev/null
+++ b/CustomRobots/xlerobot/NOTICE
@@ -0,0 +1,31 @@
+This directory (CustomRobots/xlerobot) includes files derived from the
+XLeRobot project:
+
+  https://github.com/Vector-Wangel/XLeRobot
+
+Copyright the XLeRobot contributors. Licensed under the Apache License,
+Version 2.0 (see the LICENSE file in this directory).
+
+What was reused:
+  - The mesh files under models/xlerobot/meshes/ (except omni_wheel.stl,
+    see below) come from simulation/mujoco/assets/ and simulation/xlerobot_urdf.zip
+    in the upstream repository, unmodified.
+  - omni_wheel.stl comes from
+    simulation/mujoco/assets/simplify_4-Omni-Directional-Wheel_Single_Body-v1.stl
+    in the upstream repository, unmodified.
+  - The dual arm and head link and joint geometry (origins, joint limits,
+    masses, inertias) in xlerobot_common.urdf.xacro was ported from the URDF
+    shipped at simulation/xlerobot_urdf.zip in the upstream repository. The
+    arm and head joints are currently fixed instead of actuated, this is a
+    simplification made for the RoboticsAcademy integration, not part of the
+    upstream model.
+  - The chassis visual and collision geometry in xlerobot_common.urdf.xacro
+    also comes from that same shipped URDF.
+
+What is original to this integration, not from upstream:
+  - The 3 wheel mount positions and orientations (a holonomic layout matching
+    the mujoco model at simulation/mujoco/xlerobot.xml in the upstream repo,
+    which is a different hardware revision than the shipped URDF above), the
+    wheel collision shapes, the base_footprint frame, the xacro macro
+    structure, and every Gazebo/ROS 2 plugin wiring (xlerobot_gz.urdf.xacro,
+    xlerobot.launch.py).
diff --git a/CustomRobots/xlerobot/launch/xlerobot.launch.py b/CustomRobots/xlerobot/launch/xlerobot.launch.py
new file mode 100644
index 000000000..b010b6cdf
--- /dev/null
+++ b/CustomRobots/xlerobot/launch/xlerobot.launch.py
@@ -0,0 +1,117 @@
+import os
+import xacro
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.substitutions import LaunchConfiguration
+from launch.actions import DeclareLaunchArgument, OpaqueFunction
+from launch_ros.actions import Node
+
+
+def launch_setup(context):
+    use_sim_time = LaunchConfiguration("use_sim_time")
+    x = LaunchConfiguration("x")
+    y = LaunchConfiguration("y")
+    z = LaunchConfiguration("z")
+    R = LaunchConfiguration("R")
+    P = LaunchConfiguration("P")
+    Y = LaunchConfiguration("Y")
+    gz_namespace = LaunchConfiguration("namespace")
+    gz_entity = LaunchConfiguration("entity")
+
+    package_dir = get_package_share_directory("custom_robots")
+
+    nodes_to_start = []
+
+    namespace = gz_namespace.perform(context)
+    entity = gz_entity.perform(context)
+
+    # =========================
+    # ROBOT DESCRIPTION (URDF)
+    # =========================
+    xacro_file = os.path.join(
+        package_dir,
+        "models",
+        "xlerobot",
+        "xlerobot.urdf.xacro",
+    )
+
+    robot_description_content = xacro.process_file(
+        xacro_file,
+        mappings={
+            "namespace": namespace,
+        },
+    ).toxml()
+
+    robot_description = {"robot_description": robot_description_content}
+
+    robot_state_publisher_node = Node(
+        package="robot_state_publisher",
+        executable="robot_state_publisher",
+        name="robot_state_publisher",
+        namespace=gz_namespace,
+        output="screen",
+        parameters=[robot_description, {"use_sim_time": True}],
+    )
+
+    gz_spawn_entity = Node(
+        package="ros_gz_sim",
+        executable="create",
+        namespace=gz_namespace,
+        arguments=[
+            "-topic",
+            f"/{namespace}/robot_description",
+            "-name",
+            entity,
+            "-allow_renaming",
+            "true",
+            "-x",
+            x,
+            "-y",
+            y,
+            "-z",
+            z,
+            "-R",
+            R,
+            "-P",
+            P,
+            "-Y",
+            Y,
+        ],
+        output="screen",
+    )
+
+    gz_ros2_bridge = Node(
+        package="ros_gz_bridge",
+        executable="parameter_bridge",
+        namespace=gz_namespace,
+        arguments=[
+            f"/{namespace}/odom@nav_msgs/msg/Odometry[gz.msgs.Odometry",
+            f"/{namespace}/cmd_vel@geometry_msgs/msg/Twist]gz.msgs.Twist",
+        ],
+        output="screen",
+    )
+
+    nodes_to_start.append(robot_state_publisher_node)
+    nodes_to_start.append(gz_spawn_entity)
+    nodes_to_start.append(gz_ros2_bridge)
+
+    return nodes_to_start
+
+
+def generate_launch_description():
+    declared_arguments = [
+        DeclareLaunchArgument("use_sim_time", default_value="true"),
+        DeclareLaunchArgument("x", default_value="0"),
+        DeclareLaunchArgument("y", default_value="0"),
+        DeclareLaunchArgument("z", default_value="0"),
+        DeclareLaunchArgument("R", default_value="0"),
+        DeclareLaunchArgument("P", default_value="0"),
+        DeclareLaunchArgument("Y", default_value="0"),
+        DeclareLaunchArgument("namespace", default_value="logistic_robot"),
+        DeclareLaunchArgument("entity", default_value="xlerobot"),
+    ]
+
+    return LaunchDescription(
+        declared_arguments + [OpaqueFunction(function=launch_setup)]
+    )
diff --git a/CustomRobots/xlerobot/models/xlerobot/meshes/Base.stl b/CustomRobots/xlerobot/models/xlerobot/meshes/Base.stl
new file mode 100644
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diff --git a/CustomRobots/xlerobot/models/xlerobot/meshes/Base_Motor.stl b/CustomRobots/xlerobot/models/xlerobot/meshes/Base_Motor.stl
new file mode 100644
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diff --git a/CustomRobots/xlerobot/models/xlerobot/meshes/Fixed_Jaw_Motor.stl b/CustomRobots/xlerobot/models/xlerobot/meshes/Fixed_Jaw_Motor.stl
new file mode 100644
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diff --git a/CustomRobots/xlerobot/models/xlerobot/meshes/Fixed_Jaw_part1.ply.convex.stl b/CustomRobots/xlerobot/models/xlerobot/meshes/Fixed_Jaw_part1.ply.convex.stl
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diff --git a/CustomRobots/xlerobot/models/xlerobot/meshes/Lower_Arm_Motor.stl b/CustomRobots/xlerobot/models/xlerobot/meshes/Lower_Arm_Motor.stl
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diff --git a/CustomRobots/xlerobot/models/xlerobot/meshes/Moving_Jaw.stl b/CustomRobots/xlerobot/models/xlerobot/meshes/Moving_Jaw.stl
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diff --git a/CustomRobots/xlerobot/models/xlerobot/meshes/Rotation_Pitch_Motor.stl b/CustomRobots/xlerobot/models/xlerobot/meshes/Rotation_Pitch_Motor.stl
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diff --git a/CustomRobots/xlerobot/models/xlerobot/meshes/Upper_Arm.stl b/CustomRobots/xlerobot/models/xlerobot/meshes/Upper_Arm.stl
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diff --git a/CustomRobots/xlerobot/models/xlerobot/meshes/Upper_Arm_Motor.stl b/CustomRobots/xlerobot/models/xlerobot/meshes/Upper_Arm_Motor.stl
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diff --git a/CustomRobots/xlerobot/models/xlerobot/meshes/Wrist_Pitch_Roll.stl b/CustomRobots/xlerobot/models/xlerobot/meshes/Wrist_Pitch_Roll.stl
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diff --git a/CustomRobots/xlerobot/models/xlerobot/meshes/Wrist_Pitch_Roll_Motor.stl b/CustomRobots/xlerobot/models/xlerobot/meshes/Wrist_Pitch_Roll_Motor.stl
new file mode 100644
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diff --git a/CustomRobots/xlerobot/models/xlerobot/meshes/XLeRobot_camera1.stl b/CustomRobots/xlerobot/models/xlerobot/meshes/XLeRobot_camera1.stl
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diff --git a/CustomRobots/xlerobot/models/xlerobot/meshes/XLeRobot_camera2.stl b/CustomRobots/xlerobot/models/xlerobot/meshes/XLeRobot_camera2.stl
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diff --git a/CustomRobots/xlerobot/models/xlerobot/meshes/raskogbody.stl b/CustomRobots/xlerobot/models/xlerobot/meshes/raskogbody.stl
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diff --git a/CustomRobots/xlerobot/models/xlerobot/meshes/raskogwheel1.stl b/CustomRobots/xlerobot/models/xlerobot/meshes/raskogwheel1.stl
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diff --git a/CustomRobots/xlerobot/models/xlerobot/meshes/topbase1.stl b/CustomRobots/xlerobot/models/xlerobot/meshes/topbase1.stl
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diff --git a/CustomRobots/xlerobot/models/xlerobot/meshes/tophead4.stl b/CustomRobots/xlerobot/models/xlerobot/meshes/tophead4.stl
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diff --git a/CustomRobots/xlerobot/models/xlerobot/meshes/tophead5.stl b/CustomRobots/xlerobot/models/xlerobot/meshes/tophead5.stl
new file mode 100644
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diff --git a/CustomRobots/xlerobot/models/xlerobot/meshes/tophead6.stl b/CustomRobots/xlerobot/models/xlerobot/meshes/tophead6.stl
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diff --git a/CustomRobots/xlerobot/models/xlerobot/xlerobot.urdf.xacro b/CustomRobots/xlerobot/models/xlerobot/xlerobot.urdf.xacro
new file mode 100644
index 000000000..020dab3ea
--- /dev/null
+++ b/CustomRobots/xlerobot/models/xlerobot/xlerobot.urdf.xacro
@@ -0,0 +1,11 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="xlerobot">
+
+  <xacro:arg name="namespace" default=""/>
+  <xacro:property name="namespace" value="$(arg namespace)"/>
+
+  <xacro:include filename="$(find custom_robots)/models/xlerobot/xlerobot_common.urdf.xacro"/>
+
+  <xacro:xlerobot namespace="${namespace}"/>
+
+</robot>
diff --git a/CustomRobots/xlerobot/models/xlerobot/xlerobot_common.urdf.xacro b/CustomRobots/xlerobot/models/xlerobot/xlerobot_common.urdf.xacro
new file mode 100644
index 000000000..ea600c44e
--- /dev/null
+++ b/CustomRobots/xlerobot/models/xlerobot/xlerobot_common.urdf.xacro
@@ -0,0 +1,1358 @@
+<?xml version="1.0" ?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:include filename="$(find custom_robots)/models/xlerobot/xlerobot_gz.urdf.xacro"/>
+
+  <xacro:macro name="xlerobot" params="namespace">
+
+    <!-- base_footprint sits on the ground, chassis is the real link the source model was
+         built around, offset up so the wheels below it touch the floor -->
+    <link name="base_footprint" />
+
+    <joint name="base_footprint_to_chassis" type="fixed">
+      <parent link="base_footprint" />
+      <child link="chassis" />
+      <origin xyz="0 0 0.37" rpy="0 0 0" />
+    </joint>
+
+<link name="chassis">
+      <visual>
+        <origin xyz="-0.01668 0.502 0.515" rpy="1.5708 0 0" />
+        <geometry>
+          <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/raskogbody.stl" scale="0.0009 0.001 0.0009" />
+        </geometry>
+        <material name="chassis_mat">
+          <color rgba="0.14902353 0.25098431 0.50196471 1.00000000" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 -0.3" rpy="0 0 0" />
+        <geometry>
+          <box size="0.3913 0.459 0.1" />
+        </geometry>
+      </collision>
+      <collision>
+        <origin xyz="0 0 0.015" rpy="0 0 0" />
+        <geometry>
+          <box size="0.315 0.405 0.59" />
+        </geometry>
+      </collision>
+      <collision>
+        <origin xyz="0 -0.216 0.06" rpy="0 0 0" />
+        <geometry>
+          <box size="0.09 0.036 0.68" />
+        </geometry>
+      </collision>
+      <collision>
+        <origin xyz="0 0.216 0.06" rpy="0 0 0" />
+        <geometry>
+          <box size="0.09 0.036 0.68" />
+        </geometry>
+      </collision>
+      <collision>
+        <origin xyz="0.04 0.2 0.34" rpy="0 0 0" />
+        <geometry>
+          <box size="0.24 0.016 0.1" />
+        </geometry>
+      </collision>
+      <collision>
+        <origin xyz="0.04 -0.2 0.34" rpy="0 0 0" />
+        <geometry>
+          <box size="0.24 0.016 0.1" />
+        </geometry>
+      </collision>
+      <collision>
+        <origin xyz="0.155 0 0.34" rpy="0 0 0" />
+        <geometry>
+          <box size="0.016 0.4 0.1" />
+        </geometry>
+      </collision>
+      <collision>
+        <origin xyz="-0.04 0 0.34" rpy="0 0 0" />
+        <geometry>
+          <box size="0.016 0.4 0.1" />
+        </geometry>
+      </collision>
+      <inertial>
+        <origin xyz="0 0 -0.38" rpy="0 0 0" />
+        <mass value="10" />
+        <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001" />
+      </inertial>
+    </link>
+
+  
+<link name="chassis_geom_1">
+      <visual>
+        <origin xyz="-0.01668 0.502 0.515" rpy="1.5708 0 0" />
+        <geometry>
+          <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/raskogwheel1.stl" scale="0.0009 0.001 0.0009" />
+        </geometry>
+        <material name="chassis_geom_1_mat">
+          <color rgba="0.50196471 0.50196471 0.50196471 1.00000000" />
+        </material>
+      </visual>
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <mass value="0.001" />
+        <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1" />
+      </inertial>
+    </link>
+
+  
+<link name="chassis_geom_2">
+      <visual>
+        <origin xyz="-0.01668 0.502 0.515" rpy="1.5708 0 0" />
+        <geometry>
+          <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/raskogwheel2.stl" scale="0.0009 0.001 0.0009" />
+        </geometry>
+        <material name="chassis_geom_2_mat">
+          <color rgba="0.10196471 0.10196471 0.10196471 1.00000000" />
+        </material>
+      </visual>
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <mass value="0.001" />
+        <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1" />
+      </inertial>
+    </link>
+
+  
+<link name="Base">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/Base.stl" />
+        </geometry>
+        <material name="Base_mat">
+          <color rgba="0.30196471 0.30196471 0.30196471 1.00000000" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/Base.stl" />
+        </geometry>
+      </collision>
+      <inertial>
+        <origin xyz="0.0137179 -0.000052 0.0334843" rpy="0 0 0" />
+        <mass value="0.147" />
+        <inertia ixx="0.0001147" ixy="-0.0000005" ixz="0.000005" iyy="0.0001361" iyz="0.0000001" izz="0.0001304" />
+      </inertial>
+    </link>
+
+  
+<link name="Base_geom_1">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/Base_Motor.stl" />
+        </geometry>
+        <material name="Base_geom_1_mat">
+          <color rgba="0.10196471 0.10196471 0.10196471 1.00000000" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/Base_Motor.stl" />
+        </geometry>
+      </collision>
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <mass value="0.001" />
+        <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1" />
+      </inertial>
+    </link>
+
+  
+<link name="Rotation_Pitch">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/Rotation_Pitch.stl" />
+        </geometry>
+        <material name="Rotation_Pitch_mat">
+          <color rgba="0.30196471 0.30196471 0.30196471 1.00000000" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/Rotation_Pitch.stl" />
+        </geometry>
+      </collision>
+      <inertial>
+        <origin xyz="-0.0307604 -0.0000167 -0.0252713" rpy="0 0 0" />
+        <mass value="0.100006" />
+        <inertia ixx="0.0000838" ixy="0.0000001" ixz="-0.0000012" iyy="0.000081" iyz="0.0000002" izz="0.000024" />
+      </inertial>
+    </link>
+
+  
+<link name="Rotation_Pitch_geom_1">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/Rotation_Pitch_Motor.stl" />
+        </geometry>
+        <material name="Rotation_Pitch_geom_1_mat">
+          <color rgba="0.10196471 0.10196471 0.10196471 1.00000000" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/Rotation_Pitch_Motor.stl" />
+        </geometry>
+      </collision>
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <mass value="0.001" />
+        <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1" />
+      </inertial>
+    </link>
+
+  
+<link name="Upper_Arm">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/Upper_Arm.stl" />
+        </geometry>
+        <material name="Upper_Arm_mat">
+          <color rgba="0.30196471 0.30196471 0.30196471 1.00000000" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/Upper_Arm.stl" />
+        </geometry>
+      </collision>
+      <inertial>
+        <origin xyz="-0.0898471 -0.0083822 0.0184089" rpy="0 0 0" />
+        <mass value="0.103" />
+        <inertia ixx="0.0000408" ixy="-0.0000198" ixz="0" iyy="0.0001473" iyz="0" izz="0.0001425" />
+      </inertial>
+    </link>
+
+  
+<link name="Upper_Arm_geom_1">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/Upper_Arm_Motor.stl" />
+        </geometry>
+        <material name="Upper_Arm_geom_1_mat">
+          <color rgba="0.10196471 0.10196471 0.10196471 1.00000000" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/Upper_Arm_Motor.stl" />
+        </geometry>
+      </collision>
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <mass value="0.001" />
+        <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1" />
+      </inertial>
+    </link>
+
+  
+<link name="Lower_Arm">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/Lower_Arm.stl" />
+        </geometry>
+        <material name="Lower_Arm_mat">
+          <color rgba="0.30196471 0.30196471 0.30196471 1.00000000" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/Lower_Arm.stl" />
+        </geometry>
+      </collision>
+      <inertial>
+        <origin xyz="-0.0980701 0.0032438 0.0182831" rpy="0 0 0" />
+        <mass value="0.104" />
+        <inertia ixx="0.0000287" ixy="0.0000074" ixz="0.0000013" iyy="0.0001598" iyz="0" izz="0.0001453" />
+      </inertial>
+    </link>
+
+  
+<link name="Lower_Arm_geom_1">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/Lower_Arm_Motor.stl" />
+        </geometry>
+        <material name="Lower_Arm_geom_1_mat">
+          <color rgba="0.10196471 0.10196471 0.10196471 1.00000000" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/Lower_Arm_Motor.stl" />
+        </geometry>
+      </collision>
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <mass value="0.001" />
+        <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1" />
+      </inertial>
+    </link>
+
+  
+<link name="Wrist_Pitch_Roll">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/Wrist_Pitch_Roll.stl" />
+        </geometry>
+        <material name="Wrist_Pitch_Roll_mat">
+          <color rgba="0.30196471 0.30196471 0.30196471 1.00000000" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/Wrist_Pitch_Roll.stl" />
+        </geometry>
+      </collision>
+      <inertial>
+        <origin xyz="-0.0001033 -0.0386143 0.0281156" rpy="0 0 0" />
+        <mass value="0.079" />
+        <inertia ixx="0.0000368" ixy="0" ixz="-0.0000001" iyy="0.0000254" iyz="0.0000036" izz="0.000021" />
+      </inertial>
+    </link>
+
+  
+<link name="Wrist_Pitch_Roll_geom_1">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/Wrist_Pitch_Roll_Motor.stl" />
+        </geometry>
+        <material name="Wrist_Pitch_Roll_geom_1_mat">
+          <color rgba="0.10196471 0.10196471 0.10196471 1.00000000" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/Wrist_Pitch_Roll_Motor.stl" />
+        </geometry>
+      </collision>
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <mass value="0.001" />
+        <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1" />
+      </inertial>
+    </link>
+
+  
+<link name="Fixed_Jaw">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/Fixed_Jaw.stl" />
+        </geometry>
+        <material name="Fixed_Jaw_mat">
+          <color rgba="0.30196471 0.30196471 0.30196471 1.00000000" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/Fixed_Jaw_part1.ply.convex.stl" />
+        </geometry>
+      </collision>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/Fixed_Jaw_part2.ply.convex.stl" />
+        </geometry>
+      </collision>
+      <inertial>
+        <origin xyz="0.0002136 0.0002451 -0.025187" rpy="0 0 0" />
+        <mass value="0.087" />
+        <inertia ixx="0.0000275" ixy="-0.0000003" ixz="-0.0000057" iyy="0.0000434" iyz="-0.0000001" izz="0.0000345" />
+      </inertial>
+    </link>
+
+  
+<link name="Fixed_Jaw_geom_1">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/Fixed_Jaw_Motor.stl" />
+        </geometry>
+        <material name="Fixed_Jaw_geom_1_mat">
+          <color rgba="0.10196471 0.10196471 0.10196471 1.00000000" />
+        </material>
+      </visual>
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <mass value="0.001" />
+        <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1" />
+      </inertial>
+    </link>
+
+  
+<link name="Moving_Jaw">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/Moving_Jaw.stl" />
+        </geometry>
+        <material name="Moving_Jaw_mat">
+          <color rgba="0.30196471 0.30196471 0.30196471 1.00000000" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/Moving_Jaw_part1.ply.convex.stl" />
+        </geometry>
+      </collision>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/Moving_Jaw_part2.ply.convex.stl" />
+        </geometry>
+      </collision>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/Moving_Jaw_part3.ply.convex.stl" />
+        </geometry>
+      </collision>
+      <inertial>
+        <origin xyz="-0.001575 -0.0300244 0.0192755" rpy="0 0 0" />
+        <mass value="0.012" />
+        <inertia ixx="0.0000066" ixy="-0.0000003" ixz="0" iyy="0.0000019" iyz="-0.0000001" izz="0.0000053" />
+      </inertial>
+    </link>
+
+  
+<link name="Right_Arm_Camera">
+      <visual>
+        <origin xyz="-0.015 -0.026 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/XLeRobot_camera1.stl" scale="0.001 0.001 0.001" />
+        </geometry>
+        <material name="Right_Arm_Camera_mat">
+          <color rgba="0.30196471 0.30196471 0.30196471 1.00000000" />
+        </material>
+      </visual>
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <mass value="0.001" />
+        <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
+      </inertial>
+    </link>
+
+  
+<link name="Right_Arm_Camera_geom_1">
+      <visual>
+        <origin xyz="-0.015 -0.026 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/XLeRobot_camera2.stl" scale="0.001 0.001 0.001" />
+        </geometry>
+        <material name="Right_Arm_Camera_geom_1_mat">
+          <color rgba="0.10196471 0.10196471 0.10196471 1.00000000" />
+        </material>
+      </visual>
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <mass value="0.001" />
+        <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1" />
+      </inertial>
+    </link>
+
+  
+<link name="Base_2">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/Base.stl" />
+        </geometry>
+        <material name="Base_2_mat">
+          <color rgba="0.30196471 0.30196471 0.30196471 1.00000000" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/Base.stl" />
+        </geometry>
+      </collision>
+      <inertial>
+        <origin xyz="0.0137179 -0.000052 0.0334843" rpy="0 0 0" />
+        <mass value="0.147" />
+        <inertia ixx="0.0001147" ixy="-0.0000005" ixz="0.000005" iyy="0.0001361" iyz="0.0000001" izz="0.0001304" />
+      </inertial>
+    </link>
+
+  
+<link name="Base_2_geom_1">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/Base_Motor.stl" />
+        </geometry>
+        <material name="Base_2_geom_1_mat">
+          <color rgba="0.10196471 0.10196471 0.10196471 1.00000000" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/Base_Motor.stl" />
+        </geometry>
+      </collision>
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <mass value="0.001" />
+        <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1" />
+      </inertial>
+    </link>
+
+  
+<link name="Rotation_Pitch_2">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/Rotation_Pitch.stl" />
+        </geometry>
+        <material name="Rotation_Pitch_2_mat">
+          <color rgba="0.30196471 0.30196471 0.30196471 1.00000000" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/Rotation_Pitch.stl" />
+        </geometry>
+      </collision>
+      <inertial>
+        <origin xyz="-0.0307604 -0.0000167 -0.0252713" rpy="0 0 0" />
+        <mass value="0.100006" />
+        <inertia ixx="0.0000838" ixy="0.0000001" ixz="-0.0000012" iyy="0.000081" iyz="0.0000002" izz="0.000024" />
+      </inertial>
+    </link>
+
+  
+<link name="Rotation_Pitch_2_geom_1">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/Rotation_Pitch_Motor.stl" />
+        </geometry>
+        <material name="Rotation_Pitch_2_geom_1_mat">
+          <color rgba="0.10196471 0.10196471 0.10196471 1.00000000" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/Rotation_Pitch_Motor.stl" />
+        </geometry>
+      </collision>
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <mass value="0.001" />
+        <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1" />
+      </inertial>
+    </link>
+
+  
+<link name="Upper_Arm_2">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/Upper_Arm.stl" />
+        </geometry>
+        <material name="Upper_Arm_2_mat">
+          <color rgba="0.30196471 0.30196471 0.30196471 1.00000000" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/Upper_Arm.stl" />
+        </geometry>
+      </collision>
+      <inertial>
+        <origin xyz="-0.0898471 -0.0083822 0.0184089" rpy="0 0 0" />
+        <mass value="0.103" />
+        <inertia ixx="0.0000408" ixy="-0.0000198" ixz="0" iyy="0.0001473" iyz="0" izz="0.0001425" />
+      </inertial>
+    </link>
+
+  
+<link name="Upper_Arm_2_geom_1">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/Upper_Arm_Motor.stl" />
+        </geometry>
+        <material name="Upper_Arm_2_geom_1_mat">
+          <color rgba="0.10196471 0.10196471 0.10196471 1.00000000" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/Upper_Arm_Motor.stl" />
+        </geometry>
+      </collision>
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <mass value="0.001" />
+        <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1" />
+      </inertial>
+    </link>
+
+  
+<link name="Lower_Arm_2">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/Lower_Arm.stl" />
+        </geometry>
+        <material name="Lower_Arm_2_mat">
+          <color rgba="0.30196471 0.30196471 0.30196471 1.00000000" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/Lower_Arm.stl" />
+        </geometry>
+      </collision>
+      <inertial>
+        <origin xyz="-0.0980701 0.0032438 0.0182831" rpy="0 0 0" />
+        <mass value="0.104" />
+        <inertia ixx="0.0000287" ixy="0.0000074" ixz="0.0000013" iyy="0.0001598" iyz="0" izz="0.0001453" />
+      </inertial>
+    </link>
+
+  
+<link name="Lower_Arm_2_geom_1">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/Lower_Arm_Motor.stl" />
+        </geometry>
+        <material name="Lower_Arm_2_geom_1_mat">
+          <color rgba="0.10196471 0.10196471 0.10196471 1.00000000" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/Lower_Arm_Motor.stl" />
+        </geometry>
+      </collision>
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <mass value="0.001" />
+        <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1" />
+      </inertial>
+    </link>
+
+  
+<link name="Wrist_Pitch_Roll_2">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/Wrist_Pitch_Roll.stl" />
+        </geometry>
+        <material name="Wrist_Pitch_Roll_2_mat">
+          <color rgba="0.30196471 0.30196471 0.30196471 1.00000000" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/Wrist_Pitch_Roll.stl" />
+        </geometry>
+      </collision>
+      <inertial>
+        <origin xyz="-0.0001033 -0.0386143 0.0281156" rpy="0 0 0" />
+        <mass value="0.079" />
+        <inertia ixx="0.0000368" ixy="0" ixz="-0.0000001" iyy="0.0000254" iyz="0.0000036" izz="0.000021" />
+      </inertial>
+    </link>
+
+  
+<link name="Wrist_Pitch_Roll_2_geom_1">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/Wrist_Pitch_Roll_Motor.stl" />
+        </geometry>
+        <material name="Wrist_Pitch_Roll_2_geom_1_mat">
+          <color rgba="0.10196471 0.10196471 0.10196471 1.00000000" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/Wrist_Pitch_Roll_Motor.stl" />
+        </geometry>
+      </collision>
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <mass value="0.001" />
+        <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1" />
+      </inertial>
+    </link>
+
+  
+<link name="Fixed_Jaw_2">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/Fixed_Jaw.stl" />
+        </geometry>
+        <material name="Fixed_Jaw_2_mat">
+          <color rgba="0.30196471 0.30196471 0.30196471 1.00000000" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/Fixed_Jaw_part1.ply.convex.stl" />
+        </geometry>
+      </collision>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/Fixed_Jaw_part2.ply.convex.stl" />
+        </geometry>
+      </collision>
+      <inertial>
+        <origin xyz="0.0002136 0.0002451 -0.025187" rpy="0 0 0" />
+        <mass value="0.087" />
+        <inertia ixx="0.0000275" ixy="-0.0000003" ixz="-0.0000057" iyy="0.0000434" iyz="-0.0000001" izz="0.0000345" />
+      </inertial>
+    </link>
+
+  
+<link name="Fixed_Jaw_2_geom_1">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/Fixed_Jaw_Motor.stl" />
+        </geometry>
+        <material name="Fixed_Jaw_2_geom_1_mat">
+          <color rgba="0.10196471 0.10196471 0.10196471 1.00000000" />
+        </material>
+      </visual>
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <mass value="0.001" />
+        <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1" />
+      </inertial>
+    </link>
+
+  
+<link name="Moving_Jaw_2">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/Moving_Jaw.stl" />
+        </geometry>
+        <material name="Moving_Jaw_2_mat">
+          <color rgba="0.30196471 0.30196471 0.30196471 1.00000000" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/Moving_Jaw_part1.ply.convex.stl" />
+        </geometry>
+      </collision>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/Moving_Jaw_part2.ply.convex.stl" />
+        </geometry>
+      </collision>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/Moving_Jaw_part3.ply.convex.stl" />
+        </geometry>
+      </collision>
+      <inertial>
+        <origin xyz="-0.001575 -0.0300244 0.0192755" rpy="0 0 0" />
+        <mass value="0.012" />
+        <inertia ixx="0.0000066" ixy="-0.0000003" ixz="0" iyy="0.0000019" iyz="-0.0000001" izz="0.0000053" />
+      </inertial>
+    </link>
+
+  
+<link name="Left_Arm_Camera">
+      <visual>
+        <origin xyz="-0.015 -0.026 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/XLeRobot_camera1.stl" scale="0.001 0.001 0.001" />
+        </geometry>
+        <material name="Left_Arm_Camera_mat">
+          <color rgba="0.30196471 0.30196471 0.30196471 1.00000000" />
+        </material>
+      </visual>
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <mass value="0.001" />
+        <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
+      </inertial>
+    </link>
+
+  
+<link name="Left_Arm_Camera_geom_1">
+      <visual>
+        <origin xyz="-0.015 -0.026 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/XLeRobot_camera2.stl" scale="0.001 0.001 0.001" />
+        </geometry>
+        <material name="Left_Arm_Camera_geom_1_mat">
+          <color rgba="0.10196471 0.10196471 0.10196471 1.00000000" />
+        </material>
+      </visual>
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <mass value="0.001" />
+        <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1" />
+      </inertial>
+    </link>
+
+  
+<link name="top_base_link">
+      <visual>
+        <origin xyz="-0.44 -0.005 -0.6" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/topbase1.stl" scale="0.001 0.001 0.001" />
+        </geometry>
+        <material name="top_base_link_mat">
+          <color rgba="0.30196471 0.30196471 0.30196471 1.00000000" />
+        </material>
+      </visual>
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <mass value="0.2542" />
+        <inertia ixx="0.0045" ixy="0" ixz="0" iyy="0.005" iyz="0" izz="0.0045" />
+      </inertial>
+    </link>
+
+  
+<link name="top_base_link_geom_1">
+      <visual>
+        <origin xyz="-0.298 0.006 -0.715" rpy="0 0 3.14" />
+        <geometry>
+          <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/topbase2.stl" scale="0.001 0.001 0.001" />
+        </geometry>
+        <material name="top_base_link_geom_1_mat">
+          <color rgba="0.10196471 0.10196471 0.10196471 1.00000000" />
+        </material>
+      </visual>
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <mass value="0.001" />
+        <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1" />
+      </inertial>
+    </link>
+
+  
+<link name="head_pan_link">
+      <visual>
+        <origin xyz="-0.335 -0.005 -0.923" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/tophead1.stl" scale="0.001 0.001 0.001" />
+        </geometry>
+        <material name="head_pan_link_mat">
+          <color rgba="0.30196471 0.30196471 0.30196471 1.00000000" />
+        </material>
+      </visual>
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <mass value="0.2556" />
+        <inertia ixx="0.0129" ixy="0" ixz="0" iyy="0.0095" iyz="0" izz="0.0184" />
+      </inertial>
+    </link>
+
+  
+<link name="head_pan_link_geom_1">
+      <visual>
+        <origin xyz="1.17 -0.009 0.262" rpy="-3.141592 -1.57 -3.141592" />
+        <geometry>
+          <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/tophead4.stl" scale="0.001 0.001 0.001" />
+        </geometry>
+        <material name="head_pan_link_geom_1_mat">
+          <color rgba="0.10196471 0.10196471 0.10196471 1.00000000" />
+        </material>
+      </visual>
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <mass value="0.001" />
+        <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1" />
+      </inertial>
+    </link>
+
+  
+<link name="head_tilt_link">
+      <visual>
+        <origin xyz="0.16265 -0.006 -1.16815" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/tophead5.stl" scale="0.001 0.001 0.001" />
+        </geometry>
+        <material name="head_tilt_link_mat">
+          <color rgba="0.30196471 0.30196471 0.30196471 1.00000000" />
+        </material>
+      </visual>
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <mass value="0.02087" />
+        <inertia ixx="0.0061" ixy="0" ixz="0" iyy="0.0014" iyz="0" izz="0.0061" />
+      </inertial>
+    </link>
+
+  
+<link name="head_tilt_link_geom_1">
+      <visual>
+        <origin xyz="0.16265 -0.006 -1.16815" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/tophead6.stl" scale="0.001 0.001 0.001" />
+        </geometry>
+        <material name="head_tilt_link_geom_1_mat">
+          <color rgba="0.10196471 0.10196471 0.10196471 1.00000000" />
+        </material>
+      </visual>
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <mass value="0.001" />
+        <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1" />
+      </inertial>
+    </link>
+
+  
+<link name="head_camera_link">
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <mass value="0.001" />
+        <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
+      </inertial>
+    </link>
+
+  
+<link name="head_camera_rgb_frame">
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <mass value="0.001" />
+        <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
+      </inertial>
+    </link>
+
+  
+<link name="head_camera_depth_frame">
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <mass value="0.001" />
+        <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
+      </inertial>
+    </link>
+
+  
+
+  <link name="wheel_1_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="1.5708 0 0" />
+      <geometry>
+        <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/omni_wheel.stl" scale="0.001 0.001 0.001" />
+      </geometry>
+      <material name="wheel_1_link_mat">
+        <color rgba="0.1 0.1 0.1 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="1.5708 0 0" />
+      <geometry>
+        <cylinder radius="0.05" length="0.04" />
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.3" />
+      <inertia ixx="0.0002" ixy="0" ixz="0" iyy="0.0002" iyz="0" izz="0.0003" />
+    </inertial>
+  </link>
+  <link name="wheel_2_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="1.5708 0 0" />
+      <geometry>
+        <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/omni_wheel.stl" scale="0.001 0.001 0.001" />
+      </geometry>
+      <material name="wheel_2_link_mat">
+        <color rgba="0.1 0.1 0.1 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="1.5708 0 0" />
+      <geometry>
+        <cylinder radius="0.05" length="0.04" />
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.3" />
+      <inertia ixx="0.0002" ixy="0" ixz="0" iyy="0.0002" iyz="0" izz="0.0003" />
+    </inertial>
+  </link>
+  <link name="wheel_3_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="1.5708 0 0" />
+      <geometry>
+        <mesh filename="file://$(find custom_robots)/models/xlerobot/meshes/omni_wheel.stl" scale="0.001 0.001 0.001" />
+      </geometry>
+      <material name="wheel_3_link_mat">
+        <color rgba="0.1 0.1 0.1 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="1.5708 0 0" />
+      <geometry>
+        <cylinder radius="0.05" length="0.04" />
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.3" />
+      <inertia ixx="0.0002" ixy="0" ixz="0" iyy="0.0002" iyz="0" izz="0.0003" />
+    </inertial>
+  </link>
+
+<joint name="fixed_chassis_geom_1" type="fixed">
+      <parent link="chassis" />
+      <child link="chassis_geom_1" />
+      <origin xyz="0 0 0" rpy="0 0 0" />
+    </joint>
+
+  
+<joint name="fixed_chassis_geom_2" type="fixed">
+      <parent link="chassis" />
+      <child link="chassis_geom_2" />
+      <origin xyz="0 0 0" rpy="0 0 0" />
+    </joint>
+
+  
+<joint name="fixed_Base" type="fixed">
+      <parent link="chassis" />
+      <child link="Base" />
+      <origin xyz="-0.09 -0.11 0.395" rpy="0 0 0" />
+    </joint>
+
+  
+<joint name="fixed_Base_geom_1" type="fixed">
+      <parent link="Base" />
+      <child link="Base_geom_1" />
+      <origin xyz="0 0 0" rpy="0 0 0" />
+    </joint>
+
+  
+<joint name="Rotation_L" type="fixed">
+      <parent link="Base" />
+      <child link="Rotation_Pitch" />
+      <origin xyz="0 -0.0452 0.0165" rpy="1.5708 0 0" />
+    </joint>
+
+  
+<joint name="fixed_Rotation_Pitch_geom_1" type="fixed">
+      <parent link="Rotation_Pitch" />
+      <child link="Rotation_Pitch_geom_1" />
+      <origin xyz="0 0 0" rpy="0 0 0" />
+    </joint>
+
+  
+<joint name="Pitch_L" type="fixed">
+      <parent link="Rotation_Pitch" />
+      <child link="Upper_Arm" />
+      <origin xyz="0 0.1025 0.0306" rpy="1.5708 0 0" />
+    </joint>
+
+  
+<joint name="fixed_Upper_Arm_geom_1" type="fixed">
+      <parent link="Upper_Arm" />
+      <child link="Upper_Arm_geom_1" />
+      <origin xyz="0 0 0" rpy="0 0 0" />
+    </joint>
+
+  
+<joint name="Elbow_L" type="fixed">
+      <parent link="Upper_Arm" />
+      <child link="Lower_Arm" />
+      <origin xyz="0 0.11257 0.028" rpy="-1.5708 0 0" />
+    </joint>
+
+  
+<joint name="fixed_Lower_Arm_geom_1" type="fixed">
+      <parent link="Lower_Arm" />
+      <child link="Lower_Arm_geom_1" />
+      <origin xyz="0 0 0" rpy="0 0 0" />
+    </joint>
+
+  
+<joint name="Wrist_Pitch_L" type="fixed">
+      <parent link="Lower_Arm" />
+      <child link="Wrist_Pitch_Roll" />
+      <origin xyz="0 0.0052 0.1349" rpy="-1.5708 0 0" />
+    </joint>
+
+  
+<joint name="fixed_Wrist_Pitch_Roll_geom_1" type="fixed">
+      <parent link="Wrist_Pitch_Roll" />
+      <child link="Wrist_Pitch_Roll_geom_1" />
+      <origin xyz="0 0 0" rpy="0 0 0" />
+    </joint>
+
+  
+<joint name="Wrist_Roll_L" type="fixed">
+      <parent link="Wrist_Pitch_Roll" />
+      <child link="Fixed_Jaw" />
+      <origin xyz="0 -0.0601 0" rpy="0 1.5707927 0" />
+    </joint>
+
+  
+<joint name="fixed_Fixed_Jaw_geom_1" type="fixed">
+      <parent link="Fixed_Jaw" />
+      <child link="Fixed_Jaw_geom_1" />
+      <origin xyz="0 0 0" rpy="0 0 0" />
+    </joint>
+
+  
+<joint name="Jaw_L" type="fixed">
+      <parent link="Fixed_Jaw" />
+      <child link="Moving_Jaw" />
+      <origin xyz="-0.0202 -0.0244 0" rpy="3.1415854 -0.0000014 2.9531853" />
+    </joint>
+
+  
+<joint name="fixed_Right_Arm_Camera" type="fixed">
+      <parent link="Fixed_Jaw" />
+      <child link="Right_Arm_Camera" />
+      <origin xyz="0 -0.022 0.05" rpy="1.5707963 0.0000037 -1.5708" />
+    </joint>
+
+  
+<joint name="fixed_Right_Arm_Camera_geom_1" type="fixed">
+      <parent link="Right_Arm_Camera" />
+      <child link="Right_Arm_Camera_geom_1" />
+      <origin xyz="0 0 0" rpy="0 0 0" />
+    </joint>
+
+  
+<joint name="fixed_Base_2" type="fixed">
+      <parent link="chassis" />
+      <child link="Base_2" />
+      <origin xyz="-0.09 0.11 0.395" rpy="0 0 3.1415927" />
+    </joint>
+
+  
+<joint name="fixed_Base_2_geom_1" type="fixed">
+      <parent link="Base_2" />
+      <child link="Base_2_geom_1" />
+      <origin xyz="0 0 0" rpy="0 0 0" />
+    </joint>
+
+  
+<joint name="Rotation_R" type="fixed">
+      <parent link="Base_2" />
+      <child link="Rotation_Pitch_2" />
+      <origin xyz="0 -0.0452 0.0165" rpy="1.5708 0 0" />
+    </joint>
+
+  
+<joint name="fixed_Rotation_Pitch_2_geom_1" type="fixed">
+      <parent link="Rotation_Pitch_2" />
+      <child link="Rotation_Pitch_2_geom_1" />
+      <origin xyz="0 0 0" rpy="0 0 0" />
+    </joint>
+
+  
+<joint name="Pitch_R" type="fixed">
+      <parent link="Rotation_Pitch_2" />
+      <child link="Upper_Arm_2" />
+      <origin xyz="0 0.1025 0.0306" rpy="1.5708 0 0" />
+    </joint>
+
+  
+<joint name="fixed_Upper_Arm_2_geom_1" type="fixed">
+      <parent link="Upper_Arm_2" />
+      <child link="Upper_Arm_2_geom_1" />
+      <origin xyz="0 0 0" rpy="0 0 0" />
+    </joint>
+
+  
+<joint name="Elbow_R" type="fixed">
+      <parent link="Upper_Arm_2" />
+      <child link="Lower_Arm_2" />
+      <origin xyz="0 0.11257 0.028" rpy="-1.5708 0 0" />
+    </joint>
+
+  
+<joint name="fixed_Lower_Arm_2_geom_1" type="fixed">
+      <parent link="Lower_Arm_2" />
+      <child link="Lower_Arm_2_geom_1" />
+      <origin xyz="0 0 0" rpy="0 0 0" />
+    </joint>
+
+  
+<joint name="Wrist_Pitch_R" type="fixed">
+      <parent link="Lower_Arm_2" />
+      <child link="Wrist_Pitch_Roll_2" />
+      <origin xyz="0 0.0052 0.1349" rpy="-1.5708 0 0" />
+    </joint>
+
+  
+<joint name="fixed_Wrist_Pitch_Roll_2_geom_1" type="fixed">
+      <parent link="Wrist_Pitch_Roll_2" />
+      <child link="Wrist_Pitch_Roll_2_geom_1" />
+      <origin xyz="0 0 0" rpy="0 0 0" />
+    </joint>
+
+  
+<joint name="Wrist_Roll_R" type="fixed">
+      <parent link="Wrist_Pitch_Roll_2" />
+      <child link="Fixed_Jaw_2" />
+      <origin xyz="0 -0.0601 0" rpy="0 1.5707927 0" />
+    </joint>
+
+  
+<joint name="fixed_Fixed_Jaw_2_geom_1" type="fixed">
+      <parent link="Fixed_Jaw_2" />
+      <child link="Fixed_Jaw_2_geom_1" />
+      <origin xyz="0 0 0" rpy="0 0 0" />
+    </joint>
+
+  
+<joint name="Jaw_R" type="fixed">
+      <parent link="Fixed_Jaw_2" />
+      <child link="Moving_Jaw_2" />
+      <origin xyz="-0.0202 -0.0244 0" rpy="3.1415854 -0.0000014 2.9531853" />
+    </joint>
+
+  
+<joint name="fixed_Left_Arm_Camera" type="fixed">
+      <parent link="Fixed_Jaw_2" />
+      <child link="Left_Arm_Camera" />
+      <origin xyz="0 -0.021 0.05" rpy="1.5707963 0.0000037 -1.5708" />
+    </joint>
+
+  
+<joint name="fixed_Left_Arm_Camera_geom_1" type="fixed">
+      <parent link="Left_Arm_Camera" />
+      <child link="Left_Arm_Camera_geom_1" />
+      <origin xyz="0 0 0" rpy="0 0 0" />
+    </joint>
+
+  
+<joint name="fixed_top_base_link" type="fixed">
+      <parent link="chassis" />
+      <child link="top_base_link" />
+      <origin xyz="0 0 0.35" rpy="0 0 0" />
+    </joint>
+
+  
+<joint name="fixed_top_base_link_geom_1" type="fixed">
+      <parent link="top_base_link" />
+      <child link="top_base_link_geom_1" />
+      <origin xyz="0 0 0" rpy="0 0 0" />
+    </joint>
+
+  
+<joint name="head_pan_joint" type="fixed">
+      <parent link="top_base_link" />
+      <child link="head_pan_link" />
+      <origin xyz="-0.103 0 0.323" rpy="0 0 0" />
+    </joint>
+
+  
+<joint name="fixed_head_pan_link_geom_1" type="fixed">
+      <parent link="head_pan_link" />
+      <child link="head_pan_link_geom_1" />
+      <origin xyz="0 0 0" rpy="0 0 0" />
+    </joint>
+
+  
+<joint name="head_tilt_joint" type="fixed">
+      <parent link="head_pan_link" />
+      <child link="head_tilt_link" />
+      <origin xyz="0.001 0.002 0.09815" rpy="0 0 3.1415927" />
+    </joint>
+
+  
+<joint name="fixed_head_tilt_link_geom_1" type="fixed">
+      <parent link="head_tilt_link" />
+      <child link="head_tilt_link_geom_1" />
+      <origin xyz="0 0 0" rpy="0 0 0" />
+    </joint>
+
+  
+<joint name="fixed_head_camera_link" type="fixed">
+      <parent link="head_tilt_link" />
+      <child link="head_camera_link" />
+      <origin xyz="0.025 0 0.03" rpy="0 0 0" />
+    </joint>
+
+  
+<joint name="fixed_head_camera_rgb_frame" type="fixed">
+      <parent link="head_camera_link" />
+      <child link="head_camera_rgb_frame" />
+      <origin xyz="0 0 0" rpy="0 -1.5707911 -1.5707963" />
+    </joint>
+
+  
+<joint name="fixed_head_camera_depth_frame" type="fixed">
+      <parent link="head_camera_link" />
+      <child link="head_camera_depth_frame" />
+      <origin xyz="0 0 0" rpy="0 -1.5707911 -1.5707963" />
+    </joint>
+
+
+
+  <joint name="wheel_1_joint" type="continuous">
+    <parent link="chassis" />
+    <child link="wheel_1_link" />
+    <origin xyz="0.0000 -0.0920 -0.32" rpy="0 0 0" />
+    <axis xyz="1.0000 0.0000 0" />
+  </joint>
+  <joint name="wheel_2_joint" type="continuous">
+    <parent link="chassis" />
+    <child link="wheel_2_link" />
+    <origin xyz="0.0797 0.0460 -0.32" rpy="0 0 0" />
+    <axis xyz="-0.5000 0.8660 0" />
+  </joint>
+  <joint name="wheel_3_joint" type="continuous">
+    <parent link="chassis" />
+    <child link="wheel_3_link" />
+    <origin xyz="-0.0797 0.0460 -0.32" rpy="0 0 0" />
+    <axis xyz="-0.5000 -0.8660 0" />
+  </joint>
+
+    <xacro:wheel_slip wheel_link="wheel_1_link" fdir1="1 0 0"/>
+    <xacro:wheel_slip wheel_link="wheel_2_link" fdir1="-0.5 0.866 0"/>
+    <xacro:wheel_slip wheel_link="wheel_3_link" fdir1="-0.5 -0.866 0"/>
+
+    <xacro:velocity namespace="${namespace}"/>
+    <xacro:odom namespace="${namespace}"/>
+    <plugin filename="gz-sim-joint-state-publisher-system" name="gz::sim::systems::JointStatePublisher" />
+
+  </xacro:macro>
+</robot>
diff --git a/CustomRobots/xlerobot/models/xlerobot/xlerobot_gz.urdf.xacro b/CustomRobots/xlerobot/models/xlerobot/xlerobot_gz.urdf.xacro
new file mode 100644
index 000000000..1624b6071
--- /dev/null
+++ b/CustomRobots/xlerobot/models/xlerobot/xlerobot_gz.urdf.xacro
@@ -0,0 +1,53 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro" xmlns:gz="http://gazebosim.org/schema">
+
+  <!-- The 3 wheels are passive rollers, real locomotion authority comes from
+       VelocityControl moving the chassis directly, same approach as dingo -->
+  <xacro:macro name="wheel_slip" params="wheel_link fdir1">
+    <gazebo>
+      <plugin filename="libgz-sim-wheel-slip-system.so" name="gz::sim::systems::WheelSlip">
+        <wheel link_name="${wheel_link}">
+          <slip_compliance_lateral>1.0</slip_compliance_lateral>
+          <slip_compliance_longitudinal>1.0</slip_compliance_longitudinal>
+          <wheel_normal_force>20</wheel_normal_force>
+          <wheel_radius>0.05</wheel_radius>
+        </wheel>
+      </plugin>
+    </gazebo>
+
+    <gazebo reference="${wheel_link}">
+      <collision>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1.0</mu>
+              <mu2>0.0</mu2>
+              <fdir1 gz:expressed_in="base_footprint">${fdir1}</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+    </gazebo>
+  </xacro:macro>
+
+  <xacro:macro name="velocity" params="namespace">
+    <gazebo>
+      <plugin filename="gz-sim-velocity-control-system" name="gz::sim::systems::VelocityControl">
+        <topic>/${namespace}/cmd_vel</topic>
+      </plugin>
+    </gazebo>
+  </xacro:macro>
+
+  <xacro:macro name="odom" params="namespace">
+    <gazebo>
+      <plugin filename="gz-sim-odometry-publisher-system" name="gz::sim::systems::OdometryPublisher">
+        <odom_frame>odom</odom_frame>
+        <robot_base_frame>base_footprint</robot_base_frame>
+        <odom_publish_frequency>50</odom_publish_frequency>
+        <odom_topic>/${namespace}/odom</odom_topic>
+        <dimensions>3</dimensions>
+      </plugin>
+    </gazebo>
+  </xacro:macro>
+
+</robot>
diff --git a/database/worlds.sql b/database/worlds.sql
index 4e5d6394c..8c34971a5 100644
--- a/database/worlds.sql
+++ b/database/worlds.sql
@@ -207,6 +207,7 @@ COPY public.worlds (id, name, scene_id) FROM stdin;
 82	Visual Lander	78
 83	Visual Lander Circuit	79
 84	Follow Turtlebot	80
+85	XLeRobot Warehouse	58
 \.
 
 --
@@ -278,6 +279,7 @@ COPY public.worlds_robots (id, world_id, robot_id, poses) FROM stdin;
 60	83	11	{{0,-8,0.3,0.0,0.0,0.0}}
 61	84	11	{{0.0,0.0,0.3,0.0,0.0,0.0}}
 62	84	35	{{7.0,-4.0,0.1,0.0,0.0,2.76}}
+63	85	36	{{0.0,0.0,0.1,0.0,0.0,0.0}}
 \.
 
 --
@@ -369,6 +371,7 @@ COPY public.robots (id, name, launch_file_path, entity, extra_config, model_path
 33	Quadrotor Magnet	/home/ws/src/CustomRobots/quadrotor/launch/quadrotor.launch.py	drone	sensor:=camera namespace:=drone gripper:=true	quadrotor/models/quadrotor/quadrotor.urdf.xacro
 34	Ur10 Suction	/home/ws/src/CustomRobots/robot_arms/launch/ur10_suction.launch.py	ur10_suction	None	robot_arms/models/ur10/ur10_suction.urdf.xacro
 35	Turtlebot 3 Marker	/home/ws/src/CustomRobots/turtlebot3/launch/turtlebot3.launch.py	turtlebot3	sensor:=laser marker:=true namespace:=turtlebot3	turtlebot3/models/turtlebot3/turtlebot3.urdf.xacro
+36	XLeRobot	/home/ws/src/CustomRobots/xlerobot/launch/xlerobot.launch.py	xlerobot	namespace:=logistic_robot	xlerobot/models/xlerobot/xlerobot.urdf.xacro
 \.
 
 --

From 66a03840605d44e0c57b8e016128984854a9a53a Mon Sep 17 00:00:00 2001
From: aquintan <aquintana.camacho@proton.me>
Date: Wed, 16 Sep 2026 10:47:48 +0200
Subject: [PATCH 02/32] xlerobot arm configuration

---
 .../xlerobot/launch/xlerobot.launch.py        | 306 +++++++++++++++++-
 .../models/xlerobot/xlerobot.urdf.xacro       |   5 +-
 .../xlerobot/xlerobot_common.urdf.xacro       |  78 ++++-
 .../models/xlerobot/xlerobot_gz.urdf.xacro    | 116 +++++++
 .../xlerobot_moveit_config/CMakeLists.txt     |  10 +
 .../config/controller_manager.yaml            | 159 +++++++++
 .../config/joint_limits.yaml                  |  61 ++++
 .../config/kinematics.yaml                    |  12 +
 .../config/moveit_controllers.yaml            |  44 +++
 .../config/ompl_planning.yaml                 |  84 +++++
 Industrial/xlerobot_moveit_config/package.xml |  25 ++
 .../xlerobot_moveit_config/srdf/xlerobot.srdf |  97 ++++++
 12 files changed, 973 insertions(+), 24 deletions(-)
 create mode 100644 Industrial/xlerobot_moveit_config/CMakeLists.txt
 create mode 100644 Industrial/xlerobot_moveit_config/config/controller_manager.yaml
 create mode 100644 Industrial/xlerobot_moveit_config/config/joint_limits.yaml
 create mode 100644 Industrial/xlerobot_moveit_config/config/kinematics.yaml
 create mode 100644 Industrial/xlerobot_moveit_config/config/moveit_controllers.yaml
 create mode 100644 Industrial/xlerobot_moveit_config/config/ompl_planning.yaml
 create mode 100644 Industrial/xlerobot_moveit_config/package.xml
 create mode 100644 Industrial/xlerobot_moveit_config/srdf/xlerobot.srdf

diff --git a/CustomRobots/xlerobot/launch/xlerobot.launch.py b/CustomRobots/xlerobot/launch/xlerobot.launch.py
index b010b6cdf..83d328371 100644
--- a/CustomRobots/xlerobot/launch/xlerobot.launch.py
+++ b/CustomRobots/xlerobot/launch/xlerobot.launch.py
@@ -1,15 +1,28 @@
 import os
 import xacro
+import yaml
 
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch.substitutions import LaunchConfiguration
-from launch.actions import DeclareLaunchArgument, OpaqueFunction
+from launch.actions import DeclareLaunchArgument, OpaqueFunction, RegisterEventHandler
+from launch.event_handlers import OnProcessExit
 from launch_ros.actions import Node
 
 
+def load_yaml(package_name, file_path):
+    pkg_path = get_package_share_directory(package_name)
+    with open(os.path.join(pkg_path, file_path), "r") as f:
+        return yaml.safe_load(f)
+
+
+def load_file(package_name, file_path):
+    pkg_path = get_package_share_directory(package_name)
+    with open(os.path.join(pkg_path, file_path), "r") as f:
+        return f.read()
+
+
 def launch_setup(context):
-    use_sim_time = LaunchConfiguration("use_sim_time")
     x = LaunchConfiguration("x")
     y = LaunchConfiguration("y")
     z = LaunchConfiguration("z")
@@ -21,8 +34,6 @@ def launch_setup(context):
 
     package_dir = get_package_share_directory("custom_robots")
 
-    nodes_to_start = []
-
     namespace = gz_namespace.perform(context)
     entity = gz_entity.perform(context)
 
@@ -36,15 +47,62 @@ def launch_setup(context):
         "xlerobot.urdf.xacro",
     )
 
+    controllers_file = os.path.join(
+        get_package_share_directory("xlerobot_moveit_config"),
+        "config",
+        "controller_manager.yaml",
+    )
+
     robot_description_content = xacro.process_file(
         xacro_file,
         mappings={
             "namespace": namespace,
+            "simulation_controllers": controllers_file,
         },
     ).toxml()
 
     robot_description = {"robot_description": robot_description_content}
 
+    # =========================
+    # MOVEIT CONFIG
+    # =========================
+    robot_description_semantic = {
+        "robot_description_semantic": load_file(
+            "xlerobot_moveit_config", "srdf/xlerobot.srdf"
+        )
+    }
+
+    kinematics_yaml = load_yaml("xlerobot_moveit_config", "config/kinematics.yaml")
+    kinematics_yaml = {
+        "robot_description_kinematics": kinematics_yaml["/**"]["ros__parameters"]
+    }
+
+    moveit_controllers = load_yaml(
+        "xlerobot_moveit_config", "config/moveit_controllers.yaml"
+    )
+    moveit_controllers = moveit_controllers["/**"]["ros__parameters"]
+
+    ompl_planning = load_yaml("xlerobot_moveit_config", "config/ompl_planning.yaml")
+    ompl_planning = ompl_planning["/**"]["ros__parameters"]
+
+    planning_pipelines_config = {
+        "planning_pipelines": ["ompl"],
+        "default_planning_pipeline": "ompl",
+        "ompl": {
+            "planning_plugin": "ompl_interface/OMPLPlanner",
+        },
+    }
+
+    joint_limits_yaml = load_yaml("xlerobot_moveit_config", "config/joint_limits.yaml")
+    combined_planning = {"robot_description_planning": joint_limits_yaml}
+
+    moveit_controller_manager_param = {
+        "moveit_controller_manager": "moveit_simple_controller_manager/MoveItSimpleControllerManager"
+    }
+
+    # =========================
+    # CORE NODES
+    # =========================
     robot_state_publisher_node = Node(
         package="robot_state_publisher",
         executable="robot_state_publisher",
@@ -54,6 +112,11 @@ def launch_setup(context):
         parameters=[robot_description, {"use_sim_time": True}],
     )
 
+    # No static transform from world to base_footprint here on purpose, the
+    # base moves through VelocityControl so nailing it to a fixed world pose
+    # would be wrong the moment it drives away, arm planning stays relative
+    # to the robot itself instead
+
     gz_spawn_entity = Node(
         package="ros_gz_sim",
         executable="create",
@@ -92,11 +155,238 @@ def launch_setup(context):
         output="screen",
     )
 
-    nodes_to_start.append(robot_state_publisher_node)
-    nodes_to_start.append(gz_spawn_entity)
-    nodes_to_start.append(gz_ros2_bridge)
+    # =========================
+    # CONTROLLER SPAWNERS
+    # =========================
+    def controller_spawner(controller_name):
+        return Node(
+            package="controller_manager",
+            executable="spawner",
+            namespace=gz_namespace,
+            arguments=[controller_name],
+            output="screen",
+        )
+
+    joint_state_broadcaster_spawner = controller_spawner("joint_state_broadcaster")
+    left_arm_controller_spawner = controller_spawner("left_arm_controller")
+    right_arm_controller_spawner = controller_spawner("right_arm_controller")
+    left_gripper_controller_spawner = controller_spawner("left_gripper_controller")
+    right_gripper_controller_spawner = controller_spawner("right_gripper_controller")
+    head_controller_spawner = controller_spawner("head_controller")
+
+    # =========================
+    # MOVEIT NODES
+    # =========================
+    move_group = Node(
+        package="moveit_ros_move_group",
+        executable="move_group",
+        namespace=gz_namespace,
+        output="screen",
+        parameters=[
+            robot_description,
+            robot_description_semantic,
+            kinematics_yaml,
+            planning_pipelines_config,
+            moveit_controllers,
+            combined_planning,
+            moveit_controller_manager_param,
+            {"use_sim_time": True},
+        ],
+    )
+
+    left_move = Node(
+        package="ros2srrc_execution",
+        executable="move",
+        name="left_move_action_server",
+        namespace=gz_namespace,
+        output="screen",
+        parameters=[
+            robot_description,
+            robot_description_semantic,
+            kinematics_yaml,
+            moveit_controllers,
+            ompl_planning,
+            moveit_controller_manager_param,
+            {"use_sim_time": True},
+            {"ROB_PARAM": "xlerobot"},
+            {"EE_PARAM": "left_gripper"},
+            {"ROB_GROUP": "xlerobot_left_arm"},
+        ],
+    )
+
+    right_move = Node(
+        package="ros2srrc_execution",
+        executable="move",
+        name="right_move_action_server",
+        namespace=gz_namespace,
+        output="screen",
+        parameters=[
+            robot_description,
+            robot_description_semantic,
+            kinematics_yaml,
+            moveit_controllers,
+            ompl_planning,
+            moveit_controller_manager_param,
+            {"use_sim_time": True},
+            {"ROB_PARAM": "xlerobot"},
+            {"EE_PARAM": "right_gripper"},
+            {"ROB_GROUP": "xlerobot_right_arm"},
+        ],
+    )
+
+    left_robmove = Node(
+        package="ros2srrc_execution",
+        executable="robmove",
+        name="left_robmove",
+        namespace=gz_namespace,
+        output="screen",
+        parameters=[
+            robot_description,
+            robot_description_semantic,
+            kinematics_yaml,
+            moveit_controllers,
+            ompl_planning,
+            moveit_controller_manager_param,
+            {"use_sim_time": True},
+            {"ROB_PARAM": "xlerobot"},
+            {"ROB_GROUP": "xlerobot_left_arm"},
+        ],
+    )
+
+    right_robmove = Node(
+        package="ros2srrc_execution",
+        executable="robmove",
+        name="right_robmove",
+        namespace=gz_namespace,
+        output="screen",
+        parameters=[
+            robot_description,
+            robot_description_semantic,
+            kinematics_yaml,
+            moveit_controllers,
+            ompl_planning,
+            moveit_controller_manager_param,
+            {"use_sim_time": True},
+            {"ROB_PARAM": "xlerobot"},
+            {"ROB_GROUP": "xlerobot_right_arm"},
+        ],
+    )
+
+    left_robpose = Node(
+        package="ros2srrc_execution",
+        executable="robpose",
+        name="left_robpose",
+        namespace=gz_namespace,
+        output="screen",
+        parameters=[
+            robot_description,
+            robot_description_semantic,
+            kinematics_yaml,
+            ompl_planning,
+            {"use_sim_time": True},
+            {"ROB_PARAM": "xlerobot"},
+            {"ROB_GROUP": "xlerobot_left_arm"},
+        ],
+    )
+
+    right_robpose = Node(
+        package="ros2srrc_execution",
+        executable="robpose",
+        name="right_robpose",
+        namespace=gz_namespace,
+        output="screen",
+        parameters=[
+            robot_description,
+            robot_description_semantic,
+            kinematics_yaml,
+            ompl_planning,
+            {"use_sim_time": True},
+            {"ROB_PARAM": "xlerobot"},
+            {"ROB_GROUP": "xlerobot_right_arm"},
+        ],
+    )
+
+    moveit_nodes = [
+        move_group,
+        left_move,
+        right_move,
+        left_robmove,
+        right_robmove,
+        left_robpose,
+        right_robpose,
+    ]
+
+    # =========================
+    # STARTUP ORDER
+    # =========================
+    # gz_ros2_control (and its controller_manager) only exists once the entity
+    # is actually spawned in Gazebo, and move_group only makes sense once the
+    # controllers it talks to are active, chaining on process exit (every one
+    # of these is a one shot call that exits once it is done, not a persistent
+    # node) keeps that order instead of firing everything at once and hoping
+    # the timing works out, which is what makes the existing UR arm launch
+    # files fragile on a RAM reset
+    after_spawn = RegisterEventHandler(
+        OnProcessExit(
+            target_action=gz_spawn_entity,
+            on_exit=[joint_state_broadcaster_spawner],
+        )
+    )
+
+    after_joint_state_broadcaster = RegisterEventHandler(
+        OnProcessExit(
+            target_action=joint_state_broadcaster_spawner,
+            on_exit=[left_arm_controller_spawner],
+        )
+    )
+
+    after_left_arm = RegisterEventHandler(
+        OnProcessExit(
+            target_action=left_arm_controller_spawner,
+            on_exit=[right_arm_controller_spawner],
+        )
+    )
+
+    after_right_arm = RegisterEventHandler(
+        OnProcessExit(
+            target_action=right_arm_controller_spawner,
+            on_exit=[left_gripper_controller_spawner],
+        )
+    )
+
+    after_left_gripper = RegisterEventHandler(
+        OnProcessExit(
+            target_action=left_gripper_controller_spawner,
+            on_exit=[right_gripper_controller_spawner],
+        )
+    )
 
-    return nodes_to_start
+    after_right_gripper = RegisterEventHandler(
+        OnProcessExit(
+            target_action=right_gripper_controller_spawner,
+            on_exit=[head_controller_spawner],
+        )
+    )
+
+    after_head = RegisterEventHandler(
+        OnProcessExit(
+            target_action=head_controller_spawner,
+            on_exit=moveit_nodes,
+        )
+    )
+
+    return [
+        robot_state_publisher_node,
+        gz_spawn_entity,
+        gz_ros2_bridge,
+        after_spawn,
+        after_joint_state_broadcaster,
+        after_left_arm,
+        after_right_arm,
+        after_left_gripper,
+        after_right_gripper,
+        after_head,
+    ]
 
 
 def generate_launch_description():
diff --git a/CustomRobots/xlerobot/models/xlerobot/xlerobot.urdf.xacro b/CustomRobots/xlerobot/models/xlerobot/xlerobot.urdf.xacro
index 020dab3ea..9ddb35f31 100644
--- a/CustomRobots/xlerobot/models/xlerobot/xlerobot.urdf.xacro
+++ b/CustomRobots/xlerobot/models/xlerobot/xlerobot.urdf.xacro
@@ -4,8 +4,11 @@
   <xacro:arg name="namespace" default=""/>
   <xacro:property name="namespace" value="$(arg namespace)"/>
 
+  <xacro:arg name="simulation_controllers" default=""/>
+  <xacro:property name="simulation_controllers" value="$(arg simulation_controllers)"/>
+
   <xacro:include filename="$(find custom_robots)/models/xlerobot/xlerobot_common.urdf.xacro"/>
 
-  <xacro:xlerobot namespace="${namespace}"/>
+  <xacro:xlerobot namespace="${namespace}" simulation_controllers="${simulation_controllers}"/>
 
 </robot>
diff --git a/CustomRobots/xlerobot/models/xlerobot/xlerobot_common.urdf.xacro b/CustomRobots/xlerobot/models/xlerobot/xlerobot_common.urdf.xacro
index ea600c44e..7422e4115 100644
--- a/CustomRobots/xlerobot/models/xlerobot/xlerobot_common.urdf.xacro
+++ b/CustomRobots/xlerobot/models/xlerobot/xlerobot_common.urdf.xacro
@@ -2,7 +2,7 @@
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
   <xacro:include filename="$(find custom_robots)/models/xlerobot/xlerobot_gz.urdf.xacro"/>
 
-  <xacro:macro name="xlerobot" params="namespace">
+  <xacro:macro name="xlerobot" params="namespace simulation_controllers">
 
     <!-- base_footprint sits on the ground, chassis is the real link the source model was
          built around, offset up so the wheels below it touch the floor -->
@@ -1067,10 +1067,13 @@
     </joint>
 
   
-<joint name="Rotation_L" type="fixed">
+<joint name="Rotation_L" type="revolute">
       <parent link="Base" />
       <child link="Rotation_Pitch" />
       <origin xyz="0 -0.0452 0.0165" rpy="1.5708 0 0" />
+      <axis xyz="0 -1 0" />
+      <limit lower="-2.16" upper="2.16" effort="3.35" velocity="2.0" />
+      <dynamics damping="0.3" friction="0.1" />
     </joint>
 
   
@@ -1081,10 +1084,13 @@
     </joint>
 
   
-<joint name="Pitch_L" type="fixed">
+<joint name="Pitch_L" type="revolute">
       <parent link="Rotation_Pitch" />
       <child link="Upper_Arm" />
       <origin xyz="0 0.1025 0.0306" rpy="1.5708 0 0" />
+      <axis xyz="-1 0 0" />
+      <limit lower="-0.22" upper="3.37" effort="3.35" velocity="2.0" />
+      <dynamics damping="0.3" friction="0.1" />
     </joint>
 
   
@@ -1095,10 +1101,13 @@
     </joint>
 
   
-<joint name="Elbow_L" type="fixed">
+<joint name="Elbow_L" type="revolute">
       <parent link="Upper_Arm" />
       <child link="Lower_Arm" />
       <origin xyz="0 0.11257 0.028" rpy="-1.5708 0 0" />
+      <axis xyz="1 0 0" />
+      <limit lower="-0.22" upper="3.14" effort="3.35" velocity="2.0" />
+      <dynamics damping="0.3" friction="0.1" />
     </joint>
 
   
@@ -1109,10 +1118,13 @@
     </joint>
 
   
-<joint name="Wrist_Pitch_L" type="fixed">
+<joint name="Wrist_Pitch_L" type="revolute">
       <parent link="Lower_Arm" />
       <child link="Wrist_Pitch_Roll" />
       <origin xyz="0 0.0052 0.1349" rpy="-1.5708 0 0" />
+      <axis xyz="1 0 0" />
+      <limit lower="-1.6580628" upper="1.6580627" effort="3.35" velocity="2.0" />
+      <dynamics damping="0.3" friction="0.1" />
     </joint>
 
   
@@ -1123,10 +1135,13 @@
     </joint>
 
   
-<joint name="Wrist_Roll_L" type="fixed">
+<joint name="Wrist_Roll_L" type="revolute">
       <parent link="Wrist_Pitch_Roll" />
       <child link="Fixed_Jaw" />
       <origin xyz="0 -0.0601 0" rpy="0 1.5707927 0" />
+      <axis xyz="0 -1 0" />
+      <limit lower="-2.7438473" upper="2.8412063" effort="3.35" velocity="2.0" />
+      <dynamics damping="0.3" friction="0.1" />
     </joint>
 
   
@@ -1137,10 +1152,13 @@
     </joint>
 
   
-<joint name="Jaw_L" type="fixed">
+<joint name="Jaw_L" type="revolute">
       <parent link="Fixed_Jaw" />
       <child link="Moving_Jaw" />
       <origin xyz="-0.0202 -0.0244 0" rpy="3.1415854 -0.0000014 2.9531853" />
+      <axis xyz="0 0 1" />
+      <limit lower="-0.374533" upper="1.7453292" effort="10" velocity="2.0" />
+      <dynamics damping="0.3" friction="0.1" />
     </joint>
 
   
@@ -1172,10 +1190,13 @@
     </joint>
 
   
-<joint name="Rotation_R" type="fixed">
+<joint name="Rotation_R" type="revolute">
       <parent link="Base_2" />
       <child link="Rotation_Pitch_2" />
       <origin xyz="0 -0.0452 0.0165" rpy="1.5708 0 0" />
+      <axis xyz="0 -1 0" />
+      <limit lower="-2.16" upper="2.16" effort="3.35" velocity="2.0" />
+      <dynamics damping="0.3" friction="0.1" />
     </joint>
 
   
@@ -1186,10 +1207,13 @@
     </joint>
 
   
-<joint name="Pitch_R" type="fixed">
+<joint name="Pitch_R" type="revolute">
       <parent link="Rotation_Pitch_2" />
       <child link="Upper_Arm_2" />
       <origin xyz="0 0.1025 0.0306" rpy="1.5708 0 0" />
+      <axis xyz="-1 0 0" />
+      <limit lower="-0.22" upper="3.37" effort="3.35" velocity="2.0" />
+      <dynamics damping="0.3" friction="0.1" />
     </joint>
 
   
@@ -1200,10 +1224,13 @@
     </joint>
 
   
-<joint name="Elbow_R" type="fixed">
+<joint name="Elbow_R" type="revolute">
       <parent link="Upper_Arm_2" />
       <child link="Lower_Arm_2" />
       <origin xyz="0 0.11257 0.028" rpy="-1.5708 0 0" />
+      <axis xyz="1 0 0" />
+      <limit lower="-0.22" upper="3.14" effort="3.35" velocity="2.0" />
+      <dynamics damping="0.3" friction="0.1" />
     </joint>
 
   
@@ -1214,10 +1241,13 @@
     </joint>
 
   
-<joint name="Wrist_Pitch_R" type="fixed">
+<joint name="Wrist_Pitch_R" type="revolute">
       <parent link="Lower_Arm_2" />
       <child link="Wrist_Pitch_Roll_2" />
       <origin xyz="0 0.0052 0.1349" rpy="-1.5708 0 0" />
+      <axis xyz="1 0 0" />
+      <limit lower="-1.6580628" upper="1.6580627" effort="3.35" velocity="2.0" />
+      <dynamics damping="0.3" friction="0.1" />
     </joint>
 
   
@@ -1228,10 +1258,13 @@
     </joint>
 
   
-<joint name="Wrist_Roll_R" type="fixed">
+<joint name="Wrist_Roll_R" type="revolute">
       <parent link="Wrist_Pitch_Roll_2" />
       <child link="Fixed_Jaw_2" />
       <origin xyz="0 -0.0601 0" rpy="0 1.5707927 0" />
+      <axis xyz="0 -1 0" />
+      <limit lower="-2.7438473" upper="2.8412063" effort="3.35" velocity="2.0" />
+      <dynamics damping="0.3" friction="0.1" />
     </joint>
 
   
@@ -1242,10 +1275,13 @@
     </joint>
 
   
-<joint name="Jaw_R" type="fixed">
+<joint name="Jaw_R" type="revolute">
       <parent link="Fixed_Jaw_2" />
       <child link="Moving_Jaw_2" />
       <origin xyz="-0.0202 -0.0244 0" rpy="3.1415854 -0.0000014 2.9531853" />
+      <axis xyz="0 0 1" />
+      <limit lower="-0.374533" upper="1.7453292" effort="10" velocity="2.0" />
+      <dynamics damping="0.3" friction="0.1" />
     </joint>
 
   
@@ -1277,10 +1313,13 @@
     </joint>
 
   
-<joint name="head_pan_joint" type="fixed">
+<joint name="head_pan_joint" type="revolute">
       <parent link="top_base_link" />
       <child link="head_pan_link" />
       <origin xyz="-0.103 0 0.323" rpy="0 0 0" />
+      <axis xyz="0 0 1" />
+      <limit lower="-3.2" upper="3.2" effort="1.0" velocity="1.5" />
+      <dynamics damping="0.1" friction="0.02" />
     </joint>
 
   
@@ -1291,10 +1330,13 @@
     </joint>
 
   
-<joint name="head_tilt_joint" type="fixed">
+<joint name="head_tilt_joint" type="revolute">
       <parent link="head_pan_link" />
       <child link="head_tilt_link" />
       <origin xyz="0.001 0.002 0.09815" rpy="0 0 3.1415927" />
+      <axis xyz="0 1 0" />
+      <limit lower="-0.76" upper="1.45" effort="1.0" velocity="1.5" />
+      <dynamics damping="0.1" friction="0.02" />
     </joint>
 
   
@@ -1346,6 +1388,8 @@
     <axis xyz="-0.5000 -0.8660 0" />
   </joint>
 
+    <xacro:arm_ros2_control simulation_controllers="${simulation_controllers}"/>
+
     <xacro:wheel_slip wheel_link="wheel_1_link" fdir1="1 0 0"/>
     <xacro:wheel_slip wheel_link="wheel_2_link" fdir1="-0.5 0.866 0"/>
     <xacro:wheel_slip wheel_link="wheel_3_link" fdir1="-0.5 -0.866 0"/>
@@ -1354,5 +1398,9 @@
     <xacro:odom namespace="${namespace}"/>
     <plugin filename="gz-sim-joint-state-publisher-system" name="gz::sim::systems::JointStatePublisher" />
 
+    <xacro:rgbd_camera link="head_camera_link" name="head_camera" namespace="${namespace}"/>
+    <xacro:wrist_camera link="Right_Arm_Camera" name="right_arm_camera" namespace="${namespace}"/>
+    <xacro:wrist_camera link="Left_Arm_Camera" name="left_arm_camera" namespace="${namespace}"/>
+
   </xacro:macro>
 </robot>
diff --git a/CustomRobots/xlerobot/models/xlerobot/xlerobot_gz.urdf.xacro b/CustomRobots/xlerobot/models/xlerobot/xlerobot_gz.urdf.xacro
index 1624b6071..e8eb48839 100644
--- a/CustomRobots/xlerobot/models/xlerobot/xlerobot_gz.urdf.xacro
+++ b/CustomRobots/xlerobot/models/xlerobot/xlerobot_gz.urdf.xacro
@@ -50,4 +50,120 @@
     </gazebo>
   </xacro:macro>
 
+  <!-- head RGBD camera, one sensor gives color image, depth image and a point cloud together -->
+  <xacro:macro name="rgbd_camera" params="link name namespace">
+    <gazebo reference="${link}">
+      <sensor name="${name}" type="rgbd_camera">
+        <always_on>true</always_on>
+        <visualize>false</visualize>
+        <update_rate>15</update_rate>
+        <topic>/${namespace}/${name}</topic>
+        <camera name="${name}">
+          <camera_info_topic>/${namespace}/${name}/camera_info</camera_info_topic>
+          <horizontal_fov>1.047</horizontal_fov>
+          <image>
+            <width>640</width>
+            <height>480</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.05</near>
+            <far>8.0</far>
+          </clip>
+        </camera>
+      </sensor>
+    </gazebo>
+  </xacro:macro>
+
+  <!-- One arm side worth of ros2_control joint interfaces, called once per suffix (L/R) -->
+  <xacro:macro name="arm_joint_interfaces" params="suffix">
+    <joint name="Rotation_${suffix}">
+      <command_interface name="position"><param name="min">-2.16</param><param name="max">2.16</param></command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+    </joint>
+    <joint name="Pitch_${suffix}">
+      <command_interface name="position"><param name="min">-0.22</param><param name="max">3.37</param></command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+    </joint>
+    <joint name="Elbow_${suffix}">
+      <command_interface name="position"><param name="min">-0.22</param><param name="max">3.14</param></command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+    </joint>
+    <joint name="Wrist_Pitch_${suffix}">
+      <command_interface name="position"><param name="min">-1.6580628</param><param name="max">1.6580627</param></command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+    </joint>
+    <joint name="Wrist_Roll_${suffix}">
+      <command_interface name="position"><param name="min">-2.7438473</param><param name="max">2.8412063</param></command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+    </joint>
+    <joint name="Jaw_${suffix}">
+      <command_interface name="position"><param name="min">-0.374533</param><param name="max">1.7453292</param></command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+    </joint>
+  </xacro:macro>
+
+  <!-- Single ros2_control block for both arms, both grippers and the head, on purpose.
+       Splitting this into several separate ros2_control tags made gz_ros2_control crash
+       while loading the second one when the same thing was tried on the Dobot arm, so
+       every actuated joint that is not a wheel lives in this one block -->
+  <xacro:macro name="arm_ros2_control" params="simulation_controllers">
+    <ros2_control name="xlerobot_arms" type="system">
+      <hardware>
+        <plugin>gz_ros2_control/GazeboSimSystem</plugin>
+      </hardware>
+
+      <xacro:arm_joint_interfaces suffix="L"/>
+      <xacro:arm_joint_interfaces suffix="R"/>
+
+      <joint name="head_pan_joint">
+        <command_interface name="position"><param name="min">-3.2</param><param name="max">3.2</param></command_interface>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+      </joint>
+      <joint name="head_tilt_joint">
+        <command_interface name="position"><param name="min">-0.76</param><param name="max">1.45</param></command_interface>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+      </joint>
+    </ros2_control>
+
+    <gazebo>
+      <plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
+        <parameters>${simulation_controllers}</parameters>
+      </plugin>
+    </gazebo>
+  </xacro:macro>
+
+  <!-- plain RGB wrist camera -->
+  <xacro:macro name="wrist_camera" params="link name namespace">
+    <gazebo reference="${link}">
+      <sensor name="${name}" type="camera">
+        <always_on>true</always_on>
+        <visualize>false</visualize>
+        <update_rate>15</update_rate>
+        <topic>/${namespace}/${name}/image_raw</topic>
+        <camera name="${name}">
+          <camera_info_topic>/${namespace}/${name}/camera_info</camera_info_topic>
+          <horizontal_fov>1.5</horizontal_fov>
+          <image>
+            <width>640</width>
+            <height>480</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.02</near>
+            <far>5.0</far>
+          </clip>
+        </camera>
+      </sensor>
+    </gazebo>
+  </xacro:macro>
+
 </robot>
diff --git a/Industrial/xlerobot_moveit_config/CMakeLists.txt b/Industrial/xlerobot_moveit_config/CMakeLists.txt
new file mode 100644
index 000000000..9d5fd8e2a
--- /dev/null
+++ b/Industrial/xlerobot_moveit_config/CMakeLists.txt
@@ -0,0 +1,10 @@
+cmake_minimum_required(VERSION 3.8)
+project(xlerobot_moveit_config)
+
+find_package(ament_cmake REQUIRED)
+
+install(DIRECTORY config srdf
+  DESTINATION share/${PROJECT_NAME}
+)
+
+ament_package()
diff --git a/Industrial/xlerobot_moveit_config/config/controller_manager.yaml b/Industrial/xlerobot_moveit_config/config/controller_manager.yaml
new file mode 100644
index 000000000..53bcba404
--- /dev/null
+++ b/Industrial/xlerobot_moveit_config/config/controller_manager.yaml
@@ -0,0 +1,159 @@
+controller_manager:
+  ros__parameters:
+    update_rate: 100 # Hz
+
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+    left_arm_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+
+    right_arm_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+
+    left_gripper_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+
+    right_gripper_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+
+    head_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+
+joint_state_broadcaster:
+  ros__parameters:
+    joints:
+      - Rotation_L
+      - Pitch_L
+      - Elbow_L
+      - Wrist_Pitch_L
+      - Wrist_Roll_L
+      - Jaw_L
+      - Rotation_R
+      - Pitch_R
+      - Elbow_R
+      - Wrist_Pitch_R
+      - Wrist_Roll_R
+      - Jaw_R
+      - head_pan_joint
+      - head_tilt_joint
+
+    interfaces:
+      - position
+      - velocity
+
+left_arm_controller:
+  ros__parameters:
+    joints:
+      - Rotation_L
+      - Pitch_L
+      - Elbow_L
+      - Wrist_Pitch_L
+      - Wrist_Roll_L
+
+    command_interfaces:
+      - position
+
+    state_interfaces:
+      - position
+      - velocity
+
+    state_publish_rate: 100.0
+    action_monitor_rate: 20.0
+    allow_partial_joints_goal: false
+    allow_nonzero_velocity_at_trajectory_end: true
+    allow_integration_in_goal_trajectories: true
+
+    constraints:
+      stopped_velocity_tolerance: 0.01
+      goal_time: 0.0
+
+right_arm_controller:
+  ros__parameters:
+    joints:
+      - Rotation_R
+      - Pitch_R
+      - Elbow_R
+      - Wrist_Pitch_R
+      - Wrist_Roll_R
+
+    command_interfaces:
+      - position
+
+    state_interfaces:
+      - position
+      - velocity
+
+    state_publish_rate: 100.0
+    action_monitor_rate: 20.0
+    allow_partial_joints_goal: false
+    allow_nonzero_velocity_at_trajectory_end: true
+    allow_integration_in_goal_trajectories: true
+
+    constraints:
+      stopped_velocity_tolerance: 0.01
+      goal_time: 0.0
+
+left_gripper_controller:
+  ros__parameters:
+    joints:
+      - Jaw_L
+
+    command_interfaces:
+      - position
+
+    state_interfaces:
+      - position
+      - velocity
+
+    state_publish_rate: 100.0
+    action_monitor_rate: 20.0
+    allow_partial_joints_goal: false
+    allow_integration_in_goal_trajectories: true
+
+    constraints:
+      stopped_velocity_tolerance: 0.01
+      goal_time: 0.0
+
+right_gripper_controller:
+  ros__parameters:
+    joints:
+      - Jaw_R
+
+    command_interfaces:
+      - position
+
+    state_interfaces:
+      - position
+      - velocity
+
+    state_publish_rate: 100.0
+    action_monitor_rate: 20.0
+    allow_partial_joints_goal: false
+    allow_integration_in_goal_trajectories: true
+
+    constraints:
+      stopped_velocity_tolerance: 0.01
+      goal_time: 0.0
+
+head_controller:
+  ros__parameters:
+    joints:
+      - head_pan_joint
+      - head_tilt_joint
+
+    command_interfaces:
+      - position
+
+    state_interfaces:
+      - position
+      - velocity
+
+    state_publish_rate: 100.0
+    action_monitor_rate: 20.0
+    allow_partial_joints_goal: false
+    allow_integration_in_goal_trajectories: true
+
+    constraints:
+      stopped_velocity_tolerance: 0.01
+      goal_time: 0.0
diff --git a/Industrial/xlerobot_moveit_config/config/joint_limits.yaml b/Industrial/xlerobot_moveit_config/config/joint_limits.yaml
new file mode 100644
index 000000000..14cff7407
--- /dev/null
+++ b/Industrial/xlerobot_moveit_config/config/joint_limits.yaml
@@ -0,0 +1,61 @@
+joint_limits:
+  Rotation_L:
+    has_velocity_limits: true
+    max_velocity: 2.0
+    has_acceleration_limits: true
+    max_acceleration: 5.0
+  Pitch_L:
+    has_velocity_limits: true
+    max_velocity: 2.0
+    has_acceleration_limits: true
+    max_acceleration: 5.0
+  Elbow_L:
+    has_velocity_limits: true
+    max_velocity: 2.0
+    has_acceleration_limits: true
+    max_acceleration: 5.0
+  Wrist_Pitch_L:
+    has_velocity_limits: true
+    max_velocity: 2.0
+    has_acceleration_limits: true
+    max_acceleration: 5.0
+  Wrist_Roll_L:
+    has_velocity_limits: true
+    max_velocity: 2.0
+    has_acceleration_limits: true
+    max_acceleration: 5.0
+  Jaw_L:
+    has_velocity_limits: true
+    max_velocity: 2.0
+    has_acceleration_limits: true
+    max_acceleration: 5.0
+  Rotation_R:
+    has_velocity_limits: true
+    max_velocity: 2.0
+    has_acceleration_limits: true
+    max_acceleration: 5.0
+  Pitch_R:
+    has_velocity_limits: true
+    max_velocity: 2.0
+    has_acceleration_limits: true
+    max_acceleration: 5.0
+  Elbow_R:
+    has_velocity_limits: true
+    max_velocity: 2.0
+    has_acceleration_limits: true
+    max_acceleration: 5.0
+  Wrist_Pitch_R:
+    has_velocity_limits: true
+    max_velocity: 2.0
+    has_acceleration_limits: true
+    max_acceleration: 5.0
+  Wrist_Roll_R:
+    has_velocity_limits: true
+    max_velocity: 2.0
+    has_acceleration_limits: true
+    max_acceleration: 5.0
+  Jaw_R:
+    has_velocity_limits: true
+    max_velocity: 2.0
+    has_acceleration_limits: true
+    max_acceleration: 5.0
diff --git a/Industrial/xlerobot_moveit_config/config/kinematics.yaml b/Industrial/xlerobot_moveit_config/config/kinematics.yaml
new file mode 100644
index 000000000..a649100b8
--- /dev/null
+++ b/Industrial/xlerobot_moveit_config/config/kinematics.yaml
@@ -0,0 +1,12 @@
+/**:
+  ros__parameters:
+    xlerobot_left_arm:
+      kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+      kinematics_solver_search_resolution: 0.005
+      kinematics_solver_timeout: 0.005
+      kinematics_solver_attempts: 3
+    xlerobot_right_arm:
+      kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+      kinematics_solver_search_resolution: 0.005
+      kinematics_solver_timeout: 0.005
+      kinematics_solver_attempts: 3
diff --git a/Industrial/xlerobot_moveit_config/config/moveit_controllers.yaml b/Industrial/xlerobot_moveit_config/config/moveit_controllers.yaml
new file mode 100644
index 000000000..c497e9e56
--- /dev/null
+++ b/Industrial/xlerobot_moveit_config/config/moveit_controllers.yaml
@@ -0,0 +1,44 @@
+/**:
+  ros__parameters:
+    moveit_simple_controller_manager:
+      controller_names:
+        - left_arm_controller
+        - right_arm_controller
+        - left_gripper_controller
+        - right_gripper_controller
+
+      left_arm_controller:
+        type: FollowJointTrajectory
+        action_ns: follow_joint_trajectory
+        default: true
+        joints:
+          - Rotation_L
+          - Pitch_L
+          - Elbow_L
+          - Wrist_Pitch_L
+          - Wrist_Roll_L
+
+      right_arm_controller:
+        type: FollowJointTrajectory
+        action_ns: follow_joint_trajectory
+        default: true
+        joints:
+          - Rotation_R
+          - Pitch_R
+          - Elbow_R
+          - Wrist_Pitch_R
+          - Wrist_Roll_R
+
+      left_gripper_controller:
+        type: FollowJointTrajectory
+        action_ns: follow_joint_trajectory
+        default: true
+        joints:
+          - Jaw_L
+
+      right_gripper_controller:
+        type: FollowJointTrajectory
+        action_ns: follow_joint_trajectory
+        default: true
+        joints:
+          - Jaw_R
diff --git a/Industrial/xlerobot_moveit_config/config/ompl_planning.yaml b/Industrial/xlerobot_moveit_config/config/ompl_planning.yaml
new file mode 100644
index 000000000..72d7fdb1b
--- /dev/null
+++ b/Industrial/xlerobot_moveit_config/config/ompl_planning.yaml
@@ -0,0 +1,84 @@
+/**:
+  ros__parameters:
+    planner_configs:
+      SBLkConfigDefault:
+        type: geometric::SBL
+        range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+      ESTkConfigDefault:
+        type: geometric::EST
+        range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup()
+        goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
+      LBKPIECEkConfigDefault:
+        type: geometric::LBKPIECE
+        range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+        border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9
+        min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
+      BKPIECEkConfigDefault:
+        type: geometric::BKPIECE
+        range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+        border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9
+        failed_expansion_score_factor: 0.5  # When extending motion fails, scale score by factor. default: 0.5
+        min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
+      KPIECEkConfigDefault:
+        type: geometric::KPIECE
+        range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+        goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
+        border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9 (0.0,1.]
+        failed_expansion_score_factor: 0.5  # When extending motion fails, scale score by factor. default: 0.5
+        min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
+      RRTkConfigDefault:
+        type: geometric::RRT
+        range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+        goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
+      RRTConnectkConfigDefault:
+        type: geometric::RRTConnect
+        range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+      RRTstarkConfigDefault:
+        type: geometric::RRTstar
+        range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+        goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
+        delay_collision_checking: 1  # Stop collision checking as soon as C-free parent found. default 1
+      TRRTkConfigDefault:
+        type: geometric::TRRT
+        range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+        goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
+        max_states_failed: 10  # when to start increasing temp. default: 10
+        temp_change_factor: 2.0  # how much to increase or decrease temp. default: 2.0
+        min_temperature: 10e-10  # lower limit of temp change. default: 10e-10
+        init_temperature: 10e-6  # initial temperature. default: 10e-6
+        frountier_threshold: 0.0  # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
+        frountierNodeRatio: 0.1  # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
+        k_constant: 0.0  # value used to normalize expression. default: 0.0 set in setup()
+      PRMkConfigDefault:
+        type: geometric::PRM
+        max_nearest_neighbors: 10  # use k nearest neighbors. default: 10
+      PRMstarkConfigDefault:
+        type: geometric::PRMstar
+    xlerobot_left_arm:
+      planner_configs:
+        - SBLkConfigDefault
+        - ESTkConfigDefault
+        - LBKPIECEkConfigDefault
+        - BKPIECEkConfigDefault
+        - KPIECEkConfigDefault
+        - RRTkConfigDefault
+        - RRTConnectkConfigDefault
+        - RRTstarkConfigDefault
+        - TRRTkConfigDefault
+        - PRMkConfigDefault
+        - PRMstarkConfigDefault
+      longest_valid_segment_fraction: 0.01
+    xlerobot_right_arm:
+      planner_configs:
+        - SBLkConfigDefault
+        - ESTkConfigDefault
+        - LBKPIECEkConfigDefault
+        - BKPIECEkConfigDefault
+        - KPIECEkConfigDefault
+        - RRTkConfigDefault
+        - RRTConnectkConfigDefault
+        - RRTstarkConfigDefault
+        - TRRTkConfigDefault
+        - PRMkConfigDefault
+        - PRMstarkConfigDefault
+      longest_valid_segment_fraction: 0.01
diff --git a/Industrial/xlerobot_moveit_config/package.xml b/Industrial/xlerobot_moveit_config/package.xml
new file mode 100644
index 000000000..f14e977e3
--- /dev/null
+++ b/Industrial/xlerobot_moveit_config/package.xml
@@ -0,0 +1,25 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>xlerobot_moveit_config</name>
+  <version>0.0.0</version>
+  <description>MoveIt2 configuration for the XLeRobot dual arm</description>
+  <maintainer email="maintainer@example.com">maintainer</maintainer>
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <exec_depend>moveit_kinematics</exec_depend>
+  <exec_depend>moveit_planners_ompl</exec_depend>
+  <exec_depend>moveit_ros_move_group</exec_depend>
+  <exec_depend>moveit_ros_visualization</exec_depend>
+  <exec_depend>moveit_simple_controller_manager</exec_depend>
+  <exec_depend>controller_manager</exec_depend>
+  <exec_depend>joint_trajectory_controller</exec_depend>
+  <exec_depend>joint_state_broadcaster</exec_depend>
+  <exec_depend>gz_ros2_control</exec_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/Industrial/xlerobot_moveit_config/srdf/xlerobot.srdf b/Industrial/xlerobot_moveit_config/srdf/xlerobot.srdf
new file mode 100644
index 000000000..5c5338a65
--- /dev/null
+++ b/Industrial/xlerobot_moveit_config/srdf/xlerobot.srdf
@@ -0,0 +1,97 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot name="xlerobot">
+
+  <group name="xlerobot_left_arm">
+    <chain base_link="Base" tip_link="Fixed_Jaw"/>
+  </group>
+
+  <group name="xlerobot_right_arm">
+    <chain base_link="Base_2" tip_link="Fixed_Jaw_2"/>
+  </group>
+
+  <group name="left_gripper">
+    <joint name="Jaw_L"/>
+  </group>
+
+  <group name="right_gripper">
+    <joint name="Jaw_R"/>
+  </group>
+
+  <group_state group="xlerobot_left_arm" name="home">
+    <joint name="Rotation_L" value="0" />
+    <joint name="Pitch_L" value="0" />
+    <joint name="Elbow_L" value="0" />
+    <joint name="Wrist_Pitch_L" value="0" />
+    <joint name="Wrist_Roll_L" value="0" />
+  </group_state>
+
+  <group_state group="xlerobot_right_arm" name="home">
+    <joint name="Rotation_R" value="0" />
+    <joint name="Pitch_R" value="0" />
+    <joint name="Elbow_R" value="0" />
+    <joint name="Wrist_Pitch_R" value="0" />
+    <joint name="Wrist_Roll_R" value="0" />
+  </group_state>
+
+  <group_state group="left_gripper" name="open">
+    <joint name="Jaw_L" value="0" />
+  </group_state>
+  <group_state group="left_gripper" name="closed">
+    <joint name="Jaw_L" value="1.5" />
+  </group_state>
+
+  <group_state group="right_gripper" name="open">
+    <joint name="Jaw_R" value="0" />
+  </group_state>
+  <group_state group="right_gripper" name="closed">
+    <joint name="Jaw_R" value="1.5" />
+  </group_state>
+
+  <end_effector name="left_gripper" parent_link="Fixed_Jaw" group="left_gripper"/>
+  <end_effector name="right_gripper" parent_link="Fixed_Jaw_2" group="right_gripper"/>
+
+  <!-- No virtual joint to world on purpose, base_footprint moves with the chassis
+       via VelocityControl and is not tracked by any static transform, planning stays
+       relative to the robot itself -->
+
+  <disable_collisions link1="Base" link2="Base_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Base" link2="Rotation_Pitch" reason="Adjacent" />
+  <disable_collisions link1="Rotation_Pitch" link2="Rotation_Pitch_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Rotation_Pitch" link2="Upper_Arm" reason="Adjacent" />
+  <disable_collisions link1="Upper_Arm" link2="Upper_Arm_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Upper_Arm" link2="Lower_Arm" reason="Adjacent" />
+  <disable_collisions link1="Lower_Arm" link2="Lower_Arm_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Lower_Arm" link2="Wrist_Pitch_Roll" reason="Adjacent" />
+  <disable_collisions link1="Wrist_Pitch_Roll" link2="Wrist_Pitch_Roll_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Wrist_Pitch_Roll" link2="Fixed_Jaw" reason="Adjacent" />
+  <disable_collisions link1="Fixed_Jaw" link2="Fixed_Jaw_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Fixed_Jaw" link2="Moving_Jaw" reason="Adjacent" />
+  <disable_collisions link1="Fixed_Jaw" link2="Right_Arm_Camera" reason="Adjacent" />
+  <disable_collisions link1="Right_Arm_Camera" link2="Right_Arm_Camera_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Base_2" link2="Base_2_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Base_2" link2="Rotation_Pitch_2" reason="Adjacent" />
+  <disable_collisions link1="Rotation_Pitch_2" link2="Rotation_Pitch_2_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Rotation_Pitch_2" link2="Upper_Arm_2" reason="Adjacent" />
+  <disable_collisions link1="Upper_Arm_2" link2="Upper_Arm_2_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Upper_Arm_2" link2="Lower_Arm_2" reason="Adjacent" />
+  <disable_collisions link1="Lower_Arm_2" link2="Lower_Arm_2_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Lower_Arm_2" link2="Wrist_Pitch_Roll_2" reason="Adjacent" />
+  <disable_collisions link1="Wrist_Pitch_Roll_2" link2="Wrist_Pitch_Roll_2_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Wrist_Pitch_Roll_2" link2="Fixed_Jaw_2" reason="Adjacent" />
+  <disable_collisions link1="Fixed_Jaw_2" link2="Fixed_Jaw_2_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Fixed_Jaw_2" link2="Moving_Jaw_2" reason="Adjacent" />
+  <disable_collisions link1="Fixed_Jaw_2" link2="Left_Arm_Camera" reason="Adjacent" />
+  <disable_collisions link1="Left_Arm_Camera" link2="Left_Arm_Camera_geom_1" reason="Adjacent" />
+  <disable_collisions link1="top_base_link" link2="top_base_link_geom_1" reason="Adjacent" />
+  <disable_collisions link1="top_base_link" link2="head_pan_link" reason="Adjacent" />
+  <disable_collisions link1="head_pan_link" link2="head_pan_link_geom_1" reason="Adjacent" />
+  <disable_collisions link1="head_pan_link" link2="head_tilt_link" reason="Adjacent" />
+  <disable_collisions link1="head_tilt_link" link2="head_tilt_link_geom_1" reason="Adjacent" />
+  <disable_collisions link1="head_tilt_link" link2="head_camera_link" reason="Adjacent" />
+  <disable_collisions link1="head_camera_link" link2="head_camera_rgb_frame" reason="Adjacent" />
+  <disable_collisions link1="head_camera_link" link2="head_camera_depth_frame" reason="Adjacent" />
+  <disable_collisions link1="Base" link2="chassis" reason="Adjacent" />
+  <disable_collisions link1="Base_2" link2="chassis" reason="Adjacent" />
+  <disable_collisions link1="top_base_link" link2="chassis" reason="Adjacent" />
+
+</robot>

From bd559faad844a738a04c7dd159c8d4c74bd59ad8 Mon Sep 17 00:00:00 2001
From: aquintan <aquintana.camacho@proton.me>
Date: Wed, 16 Sep 2026 10:59:12 +0200
Subject: [PATCH 03/32] xlerobot update

---
 .../xlerobot/models/xlerobot/xlerobot_common.urdf.xacro   | 2 +-
 .../xlerobot/models/xlerobot/xlerobot_gz.urdf.xacro       | 8 +++++++-
 2 files changed, 8 insertions(+), 2 deletions(-)

diff --git a/CustomRobots/xlerobot/models/xlerobot/xlerobot_common.urdf.xacro b/CustomRobots/xlerobot/models/xlerobot/xlerobot_common.urdf.xacro
index 7422e4115..5dc47e925 100644
--- a/CustomRobots/xlerobot/models/xlerobot/xlerobot_common.urdf.xacro
+++ b/CustomRobots/xlerobot/models/xlerobot/xlerobot_common.urdf.xacro
@@ -1388,7 +1388,7 @@
     <axis xyz="-0.5000 -0.8660 0" />
   </joint>
 
-    <xacro:arm_ros2_control simulation_controllers="${simulation_controllers}"/>
+    <xacro:arm_ros2_control simulation_controllers="${simulation_controllers}" namespace="${namespace}"/>
 
     <xacro:wheel_slip wheel_link="wheel_1_link" fdir1="1 0 0"/>
     <xacro:wheel_slip wheel_link="wheel_2_link" fdir1="-0.5 0.866 0"/>
diff --git a/CustomRobots/xlerobot/models/xlerobot/xlerobot_gz.urdf.xacro b/CustomRobots/xlerobot/models/xlerobot/xlerobot_gz.urdf.xacro
index e8eb48839..d0095ef9b 100644
--- a/CustomRobots/xlerobot/models/xlerobot/xlerobot_gz.urdf.xacro
+++ b/CustomRobots/xlerobot/models/xlerobot/xlerobot_gz.urdf.xacro
@@ -113,7 +113,7 @@
        Splitting this into several separate ros2_control tags made gz_ros2_control crash
        while loading the second one when the same thing was tried on the Dobot arm, so
        every actuated joint that is not a wheel lives in this one block -->
-  <xacro:macro name="arm_ros2_control" params="simulation_controllers">
+  <xacro:macro name="arm_ros2_control" params="simulation_controllers namespace">
     <ros2_control name="xlerobot_arms" type="system">
       <hardware>
         <plugin>gz_ros2_control/GazeboSimSystem</plugin>
@@ -136,6 +136,12 @@
 
     <gazebo>
       <plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
+        <!-- robot_state_publisher runs under this same namespace, without this the
+             plugin looks for a bare, unnamespaced robot_state_publisher node and just
+             hangs forever waiting for a service that is never going to answer -->
+        <ros>
+          <namespace>${namespace}</namespace>
+        </ros>
         <parameters>${simulation_controllers}</parameters>
       </plugin>
     </gazebo>

From 6f114446ebeb16f0da9516ffd4c9fb8dd2899d3e Mon Sep 17 00:00:00 2001
From: aquintan <aquintana.camacho@proton.me>
Date: Wed, 16 Sep 2026 11:17:56 +0200
Subject: [PATCH 04/32] xlerobot state publisher update

---
 .../xlerobot/launch/xlerobot.launch.py        | 49 +++----------------
 .../xlerobot/xlerobot_common.urdf.xacro       |  9 +++-
 .../config/controller_manager.yaml            | 14 +++---
 3 files changed, 23 insertions(+), 49 deletions(-)

diff --git a/CustomRobots/xlerobot/launch/xlerobot.launch.py b/CustomRobots/xlerobot/launch/xlerobot.launch.py
index 83d328371..66138b570 100644
--- a/CustomRobots/xlerobot/launch/xlerobot.launch.py
+++ b/CustomRobots/xlerobot/launch/xlerobot.launch.py
@@ -194,45 +194,14 @@ def controller_spawner(controller_name):
         ],
     )
 
-    left_move = Node(
-        package="ros2srrc_execution",
-        executable="move",
-        name="left_move_action_server",
-        namespace=gz_namespace,
-        output="screen",
-        parameters=[
-            robot_description,
-            robot_description_semantic,
-            kinematics_yaml,
-            moveit_controllers,
-            ompl_planning,
-            moveit_controller_manager_param,
-            {"use_sim_time": True},
-            {"ROB_PARAM": "xlerobot"},
-            {"EE_PARAM": "left_gripper"},
-            {"ROB_GROUP": "xlerobot_left_arm"},
-        ],
-    )
-
-    right_move = Node(
-        package="ros2srrc_execution",
-        executable="move",
-        name="right_move_action_server",
-        namespace=gz_namespace,
-        output="screen",
-        parameters=[
-            robot_description,
-            robot_description_semantic,
-            kinematics_yaml,
-            moveit_controllers,
-            ompl_planning,
-            moveit_controller_manager_param,
-            {"use_sim_time": True},
-            {"ROB_PARAM": "xlerobot"},
-            {"EE_PARAM": "right_gripper"},
-            {"ROB_GROUP": "xlerobot_right_arm"},
-        ],
-    )
+    # The "move" executable (MoveJ/MoveL/MoveG action API) additionally loads
+    # ros2srrc_robots/<ROB_PARAM>/config/joint_specifications.yaml and
+    # ros2srrc_endeffectors/<EE_PARAM>/config/joint_specifications.yaml at
+    # startup, and crashes immediately (uncaught YAML::BadFile) if those do
+    # not exist. There is no "xlerobot"/"left_gripper"/"right_gripper" entry
+    # in either package yet, and adding one means a new install(DIRECTORY ...)
+    # line plus a rebuild of ros2srrc_robots/ros2srrc_endeffectors, so it is
+    # left out for now, robmove/robpose/move_group below do not need it.
 
     left_robmove = Node(
         package="ros2srrc_execution",
@@ -308,8 +277,6 @@ def controller_spawner(controller_name):
 
     moveit_nodes = [
         move_group,
-        left_move,
-        right_move,
         left_robmove,
         right_robmove,
         left_robpose,
diff --git a/CustomRobots/xlerobot/models/xlerobot/xlerobot_common.urdf.xacro b/CustomRobots/xlerobot/models/xlerobot/xlerobot_common.urdf.xacro
index 5dc47e925..7725a3bf2 100644
--- a/CustomRobots/xlerobot/models/xlerobot/xlerobot_common.urdf.xacro
+++ b/CustomRobots/xlerobot/models/xlerobot/xlerobot_common.urdf.xacro
@@ -1396,7 +1396,14 @@
 
     <xacro:velocity namespace="${namespace}"/>
     <xacro:odom namespace="${namespace}"/>
-    <plugin filename="gz-sim-joint-state-publisher-system" name="gz::sim::systems::JointStatePublisher" />
+    <!-- wheels only, the arm/head joints already get their joint_states from
+         ros2_control's own joint_state_broadcaster, publishing both would
+         mean two sources fighting over the same topic -->
+    <plugin filename="gz-sim-joint-state-publisher-system" name="gz::sim::systems::JointStatePublisher">
+      <joint_name>wheel_1_joint</joint_name>
+      <joint_name>wheel_2_joint</joint_name>
+      <joint_name>wheel_3_joint</joint_name>
+    </plugin>
 
     <xacro:rgbd_camera link="head_camera_link" name="head_camera" namespace="${namespace}"/>
     <xacro:wrist_camera link="Right_Arm_Camera" name="right_arm_camera" namespace="${namespace}"/>
diff --git a/Industrial/xlerobot_moveit_config/config/controller_manager.yaml b/Industrial/xlerobot_moveit_config/config/controller_manager.yaml
index 53bcba404..d92593353 100644
--- a/Industrial/xlerobot_moveit_config/config/controller_manager.yaml
+++ b/Industrial/xlerobot_moveit_config/config/controller_manager.yaml
@@ -1,4 +1,4 @@
-controller_manager:
+/**/controller_manager:
   ros__parameters:
     update_rate: 100 # Hz
 
@@ -20,7 +20,7 @@ controller_manager:
     head_controller:
       type: joint_trajectory_controller/JointTrajectoryController
 
-joint_state_broadcaster:
+/**/joint_state_broadcaster:
   ros__parameters:
     joints:
       - Rotation_L
@@ -42,7 +42,7 @@ joint_state_broadcaster:
       - position
       - velocity
 
-left_arm_controller:
+/**/left_arm_controller:
   ros__parameters:
     joints:
       - Rotation_L
@@ -68,7 +68,7 @@ left_arm_controller:
       stopped_velocity_tolerance: 0.01
       goal_time: 0.0
 
-right_arm_controller:
+/**/right_arm_controller:
   ros__parameters:
     joints:
       - Rotation_R
@@ -94,7 +94,7 @@ right_arm_controller:
       stopped_velocity_tolerance: 0.01
       goal_time: 0.0
 
-left_gripper_controller:
+/**/left_gripper_controller:
   ros__parameters:
     joints:
       - Jaw_L
@@ -115,7 +115,7 @@ left_gripper_controller:
       stopped_velocity_tolerance: 0.01
       goal_time: 0.0
 
-right_gripper_controller:
+/**/right_gripper_controller:
   ros__parameters:
     joints:
       - Jaw_R
@@ -136,7 +136,7 @@ right_gripper_controller:
       stopped_velocity_tolerance: 0.01
       goal_time: 0.0
 
-head_controller:
+/**/head_controller:
   ros__parameters:
     joints:
       - head_pan_joint

From 05015e1470b845a37450c093884569d7a3b29c25 Mon Sep 17 00:00:00 2001
From: aquintan <aquintana.camacho@proton.me>
Date: Wed, 16 Sep 2026 11:43:09 +0200
Subject: [PATCH 05/32] xlerobot in a separate exercise + arm controllers

---
 .../xlerobot/launch/xlerobot.launch.py        |  19 ++
 .../xlerobot/xlerobot_common.urdf.xacro       |   3 +
 .../models/xlerobot/xlerobot_gz.urdf.xacro    |  19 ++
 .../xlerobot_moveit_config/rviz/moveit.rviz   | 180 ++++++++++++++++++
 .../rviz/xlerobot_home_harmonic.launch.py     |  72 +++++++
 Launchers/visualization/xlerobot_home.config  | 157 +++++++++++++++
 Launchers/xlerobot_home.launch.py             |  52 +++++
 Scenes/xlerobot_home.world                    | 164 ++++++++++++++++
 database/worlds.sql                           |   3 +
 9 files changed, 669 insertions(+)
 create mode 100644 Industrial/xlerobot_moveit_config/rviz/moveit.rviz
 create mode 100644 Launchers/rviz/xlerobot_home_harmonic.launch.py
 create mode 100644 Launchers/visualization/xlerobot_home.config
 create mode 100644 Launchers/xlerobot_home.launch.py
 create mode 100644 Scenes/xlerobot_home.world

diff --git a/CustomRobots/xlerobot/launch/xlerobot.launch.py b/CustomRobots/xlerobot/launch/xlerobot.launch.py
index 66138b570..964d4351e 100644
--- a/CustomRobots/xlerobot/launch/xlerobot.launch.py
+++ b/CustomRobots/xlerobot/launch/xlerobot.launch.py
@@ -151,6 +151,24 @@ def launch_setup(context):
         arguments=[
             f"/{namespace}/odom@nav_msgs/msg/Odometry[gz.msgs.Odometry",
             f"/{namespace}/cmd_vel@geometry_msgs/msg/Twist]gz.msgs.Twist",
+            f"/{namespace}/head_camera/camera_info@sensor_msgs/msg/CameraInfo[gz.msgs.CameraInfo",
+            f"/{namespace}/left_arm_camera/camera_info@sensor_msgs/msg/CameraInfo[gz.msgs.CameraInfo",
+            f"/{namespace}/right_arm_camera/camera_info@sensor_msgs/msg/CameraInfo[gz.msgs.CameraInfo",
+        ],
+        output="screen",
+    )
+
+    # the camera sensors were wired in the xacro but never actually reached
+    # ROS before, sensor_msgs/Image needs ros_gz_image specifically, a plain
+    # parameter_bridge line does not work for it
+    gz_ros2_image_bridge = Node(
+        package="ros_gz_image",
+        executable="image_bridge",
+        namespace=gz_namespace,
+        arguments=[
+            f"/{namespace}/head_camera/image",
+            f"/{namespace}/left_arm_camera/image_raw",
+            f"/{namespace}/right_arm_camera/image_raw",
         ],
         output="screen",
     )
@@ -346,6 +364,7 @@ def controller_spawner(controller_name):
         robot_state_publisher_node,
         gz_spawn_entity,
         gz_ros2_bridge,
+        gz_ros2_image_bridge,
         after_spawn,
         after_joint_state_broadcaster,
         after_left_arm,
diff --git a/CustomRobots/xlerobot/models/xlerobot/xlerobot_common.urdf.xacro b/CustomRobots/xlerobot/models/xlerobot/xlerobot_common.urdf.xacro
index 7725a3bf2..b31345117 100644
--- a/CustomRobots/xlerobot/models/xlerobot/xlerobot_common.urdf.xacro
+++ b/CustomRobots/xlerobot/models/xlerobot/xlerobot_common.urdf.xacro
@@ -1409,5 +1409,8 @@
     <xacro:wrist_camera link="Right_Arm_Camera" name="right_arm_camera" namespace="${namespace}"/>
     <xacro:wrist_camera link="Left_Arm_Camera" name="left_arm_camera" namespace="${namespace}"/>
 
+    <xacro:suction_contact link="Moving_Jaw"/>
+    <xacro:suction_contact link="Moving_Jaw_2"/>
+
   </xacro:macro>
 </robot>
diff --git a/CustomRobots/xlerobot/models/xlerobot/xlerobot_gz.urdf.xacro b/CustomRobots/xlerobot/models/xlerobot/xlerobot_gz.urdf.xacro
index d0095ef9b..7fe268157 100644
--- a/CustomRobots/xlerobot/models/xlerobot/xlerobot_gz.urdf.xacro
+++ b/CustomRobots/xlerobot/models/xlerobot/xlerobot_gz.urdf.xacro
@@ -147,6 +147,25 @@
     </gazebo>
   </xacro:macro>
 
+  <!-- Contact sensor on a gripper jaw, feeds gz_link_attacher's "suction mode"
+       code path. gz_link_attacher only knows Robotiq's 2-finger link names by
+       default, this repurposes its generic gripper_link_name option (it was
+       already there for real suction grippers) so a plain parallel jaw like
+       ours gets the same auto-attach behaviour without touching that C++ -->
+  <xacro:macro name="suction_contact" params="link">
+    <gazebo reference="${link}">
+      <sensor name="suction_contact" type="contact">
+        <always_on>true</always_on>
+        <update_rate>30</update_rate>
+        <contact>
+          <collision>${link}_collision</collision>
+          <collision>${link}_collision_1</collision>
+          <collision>${link}_collision_2</collision>
+        </contact>
+      </sensor>
+    </gazebo>
+  </xacro:macro>
+
   <!-- plain RGB wrist camera -->
   <xacro:macro name="wrist_camera" params="link name namespace">
     <gazebo reference="${link}">
diff --git a/Industrial/xlerobot_moveit_config/rviz/moveit.rviz b/Industrial/xlerobot_moveit_config/rviz/moveit.rviz
new file mode 100644
index 000000000..73e52352c
--- /dev/null
+++ b/Industrial/xlerobot_moveit_config/rviz/moveit.rviz
@@ -0,0 +1,180 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 87
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+      Splitter Ratio: 0.4957627058029175
+    Tree Height: 573
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: rviz_default_plugins/TF
+      Enabled: true
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: false
+      Value: true
+    - Acceleration_Scaling_Factor: 0.1
+      Class: moveit_rviz_plugin/MotionPlanning
+      Enabled: true
+      Move Group Namespace: ""
+      MoveIt_Allow_Approximate_IK: false
+      MoveIt_Allow_External_Program: false
+      MoveIt_Allow_Replanning: false
+      MoveIt_Allow_Sensor_Positioning: false
+      MoveIt_Planning_Attempts: 10
+      MoveIt_Planning_Time: 5
+      MoveIt_Use_Cartesian_Path: false
+      MoveIt_Use_Constraint_Aware_IK: false
+      MoveIt_Warehouse_Host: 127.0.0.1
+      MoveIt_Warehouse_Port: 33829
+      MoveIt_Workspace:
+        Center:
+          X: 0
+          Y: 0
+          Z: 0
+        Size:
+          X: 2
+          Y: 2
+          Z: 2
+      Name: MotionPlanning
+      Planned Path:
+        Color Enabled: true
+        Interrupt Display: true
+        Loop Animation: false
+        Robot Alpha: 0.5
+        Robot Color: 150; 50; 150
+        Show Robot Collision: false
+        Show Robot Visual: true
+        Show Trail: false
+        State Display Time: 0.05 s
+        Trail Step Size: 1
+        Trajectory Topic: /logistic_robot/display_planned_path
+      Planning Metrics:
+        Payload: 1
+        Show Joint Torques: false
+        Show Manipulability: false
+        Show Manipulability Index: false
+        Show Weight Limit: false
+        TextHeight: 0.07999999821186066
+      Planning Request:
+        Colliding Link Color: 255; 0; 0
+        Goal State Alpha: 1
+        Goal State Color: 250; 128; 0
+        Interactive Marker Size: 0.3
+        Joint Violation Color: 255; 0; 255
+        Planning Group: xlerobot_left_arm
+        Query Goal State: true
+        Query Start State: false
+        Show Workspace: false
+        Start State Alpha: 1
+        Start State Color: 0; 255; 0
+      Planning Scene Topic: /logistic_robot/monitored_planning_scene
+      Robot Description: robot_description
+      Scene Geometry:
+        Scene Alpha: 0.8999999761581421
+        Scene Color: 50; 230; 50
+        Scene Display Time: 0.009999999776482582
+        Show Scene Geometry: true
+        Voxel Coloring: Z-Axis
+        Voxel Rendering: Occupied Voxels
+      Scene Robot:
+        Attached Body Color: 150; 50; 150
+        Robot Alpha: 1
+        Show Robot Collision: false
+        Show Robot Visual: true
+      Value: true
+      Velocity_Scaling_Factor: 0.1
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: base_footprint
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 3.0
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0.5
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.4
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 1.0
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1000
+  Hide Left Dock: false
+  Hide Right Dock: false
+  MotionPlanning:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd0000000400000000000001e0000003a0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000005c00fffffffb0000000a00560069006500770073010000000000000280000000d200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b20000000000000000fb0000000c004b0069006e0065006300740000000000ffffffff0000000000000000fb0000000a0049006d0061006700650000000000ffffffff0000000000000000fb0000000c00430061006d00650072006100000000000000000000000000000000fb00000018004d006f00740069006f006e0050006c0061006e006e0069006e00670100000046000003a0000001a100ffffff000000010000010f000003a0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000004600000350000000a400ffffff000003a20000039e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1600
+  X: 60
+  Y: 60
diff --git a/Launchers/rviz/xlerobot_home_harmonic.launch.py b/Launchers/rviz/xlerobot_home_harmonic.launch.py
new file mode 100644
index 000000000..df43d70eb
--- /dev/null
+++ b/Launchers/rviz/xlerobot_home_harmonic.launch.py
@@ -0,0 +1,72 @@
+"""
+XLeRobot Home - RViz + MoveIt Launcher
+Launches ONLY RViz with motion planning, assumes Gazebo and the robot
+(including move_group, already started by xlerobot.launch.py) are running
+"""
+
+import os
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.actions import TimerAction
+from ament_index_python.packages import get_package_share_directory
+import xacro
+
+NAMESPACE = "logistic_robot"
+
+
+def generate_launch_description():
+    pkg_share_dir = get_package_share_directory("custom_robots")
+    moveit_pkg_share = get_package_share_directory("xlerobot_moveit_config")
+
+    xacro_file = os.path.join(pkg_share_dir, "models", "xlerobot", "xlerobot.urdf.xacro")
+    controllers_file = os.path.join(
+        moveit_pkg_share, "config", "controller_manager.yaml"
+    )
+
+    robot_description_content = xacro.process_file(
+        xacro_file,
+        mappings={
+            "namespace": NAMESPACE,
+            "simulation_controllers": controllers_file,
+        },
+    ).toxml()
+
+    robot_description = {"robot_description": robot_description_content}
+
+    srdf_file = os.path.join(moveit_pkg_share, "srdf", "xlerobot.srdf")
+    with open(srdf_file, "r") as f:
+        robot_description_semantic = {"robot_description_semantic": f.read()}
+
+    kinematics_yaml = os.path.join(moveit_pkg_share, "config", "kinematics.yaml")
+    ompl_planning_yaml = os.path.join(moveit_pkg_share, "config", "ompl_planning.yaml")
+
+    rviz_config_file = os.path.join(moveit_pkg_share, "rviz", "moveit.rviz")
+
+    rviz_node = Node(
+        package="rviz2",
+        executable="rviz2",
+        name="rviz2",
+        namespace=NAMESPACE,
+        output="log",
+        arguments=["-d", rviz_config_file],
+        parameters=[
+            robot_description,
+            robot_description_semantic,
+            ompl_planning_yaml,
+            kinematics_yaml,
+            {"use_sim_time": True},
+        ],
+    )
+
+    # gives the robot's own launch file (move_group, controllers) a head
+    # start so RViz has something real to connect to
+    delay_rviz = TimerAction(
+        period=5.0,
+        actions=[rviz_node],
+    )
+
+    return LaunchDescription(
+        [
+            delay_rviz,
+        ]
+    )
diff --git a/Launchers/visualization/xlerobot_home.config b/Launchers/visualization/xlerobot_home.config
new file mode 100644
index 000000000..187e04c30
--- /dev/null
+++ b/Launchers/visualization/xlerobot_home.config
@@ -0,0 +1,157 @@
+<?xml version="1.0"?>
+<!-- Quick start dialog -->
+<dialog name="quick_start" show_again="false"/>
+
+<!-- Window -->
+<window>
+    <style material_theme="Light" material_primary="DeepOrange" material_accent="DeepOrange" toolbar_color_light="#ffa726" toolbar_text_color_light="#000000" toolbar_color_dark="#ffa726" toolbar_text_color_dark="#000000" plugin_toolbar_color_light="#ffa726" plugin_toolbar_text_color_light="#000000" plugin_toolbar_color_dark="#ffa726" plugin_toolbar_text_color_dark="#000000"/>
+    <menus>
+        <drawer visible="false">
+        </drawer>
+        <plugins visible="true">
+        </plugins>
+    </menus>
+    <dialog_on_exit>false</dialog_on_exit>
+</window>
+
+<!-- GUI plugins -->
+<!-- 3D scene -->
+<plugin filename="MinimalScene" name="3D View">
+    <gz-gui>
+        <title>3D View</title>
+        <property type="bool" key="showTitleBar">false</property>
+        <property type="string" key="state">docked</property>
+    </gz-gui>
+    <engine>ogre2</engine>
+    <scene>scene</scene>
+    <ambient_light>0.4 0.4 0.4</ambient_light>
+    <background_color>0.8 0.8 0.8</background_color>
+    <camera_pose>0 3.5 19 0.00 1.57 -1.57</camera_pose>
+</plugin>
+
+<!-- Plugins that add functionality to the scene -->
+<plugin filename="GzSceneManager" name="Scene Manager">
+    <gz-gui>
+        <property key="resizable" type="bool">false</property>
+        <property key="width" type="double">5</property>
+        <property key="height" type="double">5</property>
+        <property key="state" type="string">floating</property>
+        <property key="showTitleBar" type="bool">false</property>
+    </gz-gui>
+</plugin>
+
+<plugin filename="InteractiveViewControl" name="Interactive view control">
+    <gz-gui>
+        <property key="resizable" type="bool">false</property>
+        <property key="width" type="double">5</property>
+        <property key="height" type="double">5</property>
+        <property key="state" type="string">floating</property>
+        <property key="showTitleBar" type="bool">false</property>
+    </gz-gui>
+</plugin>
+
+<!-- Plugins that add tracking functionality -->
+
+<plugin filename="EntityContextMenuPlugin" name="Entity context menu">
+    <gz-gui>
+        <property key="state" type="string">floating</property>
+        <property key="width" type="double">5</property>
+        <property key="height" type="double">5</property>
+        <property key="showTitleBar" type="bool">false</property>
+    </gz-gui>
+</plugin>
+
+<plugin filename="CameraTracking" name="Camera Tracking">
+    <gz-gui>
+        <property key="resizable" type="bool">false</property>
+        <property key="width" type="double">5</property>
+        <property key="height" type="double">5</property>
+        <property key="state" type="string">floating</property>
+        <property key="showTitleBar" type="bool">false</property>
+    </gz-gui>
+</plugin>
+
+<plugin filename="SelectEntities" name="Select Entities">
+    <gz-gui>
+        <anchors target="Select entities">
+            <line own="right" target="right"/>
+            <line own="top" target="top"/>
+        </anchors>
+        <property key="resizable" type="bool">false</property>
+        <property key="width" type="double">5</property>
+        <property key="height" type="double">5</property>
+        <property key="state" type="string">floating</property>
+        <property key="showTitleBar" type="bool">false</property>
+    </gz-gui>
+</plugin>
+
+<plugin filename="TransformControl" name="Transform Control">
+    <gz-gui>
+        <property key="resizable" type="bool">false</property>
+        <property key="width" type="double">250</property>
+        <property key="height" type="double">100</property>
+        <property key="state" type="string">floating</property>
+        <property key="showTitleBar" type="bool">true</property>
+    </gz-gui>
+</plugin>
+
+<!-- Plugins that add tracking functionality -->
+<plugin filename="EntityContextMenuPlugin" name="Entity context menu">
+    <gz-gui>
+        <property key="state" type="string">floating</property>
+        <property key="width" type="double">5</property>
+        <property key="height" type="double">5</property>
+        <property key="showTitleBar" type="bool">false</property>
+    </gz-gui>
+</plugin>
+
+<plugin filename="CameraTracking" name="Camera Tracking">
+    <gz-gui>
+        <property key="resizable" type="bool">false</property>
+        <property key="width" type="double">5</property>
+        <property key="height" type="double">5</property>
+        <property key="state" type="string">floating</property>
+        <property key="showTitleBar" type="bool">false</property>
+    </gz-gui>
+    <follow_offset>0 0 2</follow_offset>
+    <follow_pgain>1</follow_pgain>
+</plugin>
+
+
+<plugin filename="SelectEntities" name="Select Entities">
+    <gz-gui>
+        <anchors target="Select entities">
+            <line own="right" target="right"/>
+            <line own="top" target="top"/>
+        </anchors>
+        <property key="resizable" type="bool">false</property>
+        <property key="width" type="double">5</property>
+        <property key="height" type="double">5</property>
+        <property key="state" type="string">floating</property>
+        <property key="showTitleBar" type="bool">false</property>
+    </gz-gui>
+</plugin>
+
+<plugin filename="WorldStats" name="World stats">
+    <gz-gui>
+        <title>World stats</title>
+        <property type="bool" key="showTitleBar">false</property>
+        <property type="bool" key="resizable">false</property>
+        <property type="double" key="height">110</property>
+        <property type="double" key="width">290</property>
+        <property type="double" key="z">1</property>
+
+        <property type="string" key="state">floating</property>
+        <anchors target="3D View">
+            <line own="right" target="right"/>
+            <line own="bottom" target="bottom"/>
+        </anchors>
+    </gz-gui>
+
+    <sim_time>true</sim_time>
+    <real_time>true</real_time>
+    <real_time_factor>true</real_time_factor>
+    <iterations>true</iterations>
+    <topic>/world/world_demo/stats</topic>
+
+</plugin>
\ No newline at end of file
diff --git a/Launchers/xlerobot_home.launch.py b/Launchers/xlerobot_home.launch.py
new file mode 100644
index 000000000..8b0ce8d12
--- /dev/null
+++ b/Launchers/xlerobot_home.launch.py
@@ -0,0 +1,52 @@
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import (
+    IncludeLaunchDescription,
+    SetEnvironmentVariable,
+    AppendEnvironmentVariable,
+)
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    ros_gz_sim = get_package_share_directory("ros_gz_sim")
+
+    world_file_name = "xlerobot_home.world"
+    worlds_dir = "/opt/jderobot/Scenes"
+    world_path = os.path.join(worlds_dir, world_file_name)
+
+    gazebo_server = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(ros_gz_sim, "launch", "gz_sim.launch.py")
+        ),
+        launch_arguments={
+            "gz_args": ["-s -v4 ", world_path],
+            "on_exit_shutdown": "true",
+        }.items(),
+    )
+
+    world_entity_cmd = Node(
+        package="ros_gz_sim",
+        executable="create",
+        arguments=["-name", "world", "-file", world_path],
+        output="screen",
+    )
+
+    gz_ros2_bridge = Node(
+        package="ros_gz_bridge",
+        executable="parameter_bridge",
+        arguments=[
+            "/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock",
+        ],
+        output="screen",
+    )
+
+    ld = LaunchDescription()
+    ld.add_action(gazebo_server)
+    ld.add_action(world_entity_cmd)
+    ld.add_action(gz_ros2_bridge)
+
+    return ld
diff --git a/Scenes/xlerobot_home.world b/Scenes/xlerobot_home.world
new file mode 100644
index 000000000..8a92082b1
--- /dev/null
+++ b/Scenes/xlerobot_home.world
@@ -0,0 +1,164 @@
+<?xml version="1.0"?>
+
+<sdf version="1.8">
+  <world name="default">
+    <plugin filename="gz-sim-physics-system" name="gz::sim::systems::Physics">
+    </plugin>
+    <plugin filename="gz-sim-user-commands-system" name="gz::sim::systems::UserCommands">
+    </plugin>
+    <plugin filename="gz-sim-scene-broadcaster-system" name="gz::sim::systems::SceneBroadcaster">
+    </plugin>
+    <plugin filename="gz-sim-sensors-system" name="gz::sim::systems::Sensors">
+      <render_engine>ogre2</render_engine>
+    </plugin>
+    <plugin name="gz::sim::systems::Contact" filename="gz-sim-contact-system">
+    </plugin>
+
+    <!-- one instance per gripper, both listen to the same /gripper_auto_attach
+         and /graspable_objects topics, whichever jaw actually touches an
+         object first is the one that grabs it -->
+    <plugin filename="libgz_link_attacher.so" name="gz_link_attacher::LinkAttacher">
+      <robot_model_name>xlerobot</robot_model_name>
+      <gripper_link_name>Moving_Jaw</gripper_link_name>
+    </plugin>
+    <plugin filename="libgz_link_attacher.so" name="gz_link_attacher::LinkAttacher">
+      <robot_model_name>xlerobot</robot_model_name>
+      <gripper_link_name>Moving_Jaw_2</gripper_link_name>
+    </plugin>
+
+    <scene>
+      <ambient>0.4 0.4 0.4 1</ambient>
+      <background>0.7 0.7 0.7 1</background>
+      <shadows>true</shadows>
+      <grid>false</grid>
+    </scene>
+
+    <include>
+      <name>house_int2_harmonic</name>
+      <uri>model://house_int2</uri>
+      <pose>0 0 0 0 0 0</pose>
+    </include>
+
+    <light type="directional" name="sun">
+      <cast_shadows>1</cast_shadows>
+      <pose>0 0 10 0 0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.2 0.2 0.2 1</specular>
+      <direction>-0.5 0.1 -0.9</direction>
+      <visualize>false</visualize>
+    </light>
+
+    <!-- Graspable objects on the dining table (mesa_comedor, at -2.4 0.3 0 in
+         house_int2). Table height is an estimate, nudge these up or down
+         once you see them rendered against the real mesh -->
+
+    <model name="red_box">
+      <pose>-2.3 0.25 0.75 0 0 0</pose>
+      <link name="link">
+        <inertial>
+          <mass>0.05</mass>
+          <inertia>
+            <ixx>0.0000104</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>0.0000084</iyy>
+            <iyz>0</iyz>
+            <izz>0.0000041</izz>
+          </inertia>
+        </inertial>
+        <collision name="collision">
+          <geometry>
+            <box>
+              <size>0.05 0.05 0.05</size>
+            </box>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <box>
+              <size>0.05 0.05 0.05</size>
+            </box>
+          </geometry>
+          <material>
+            <ambient>1 0 0 1</ambient>
+            <diffuse>1 0 0 1</diffuse>
+            <specular>0.5 0.5 0.5 1</specular>
+          </material>
+        </visual>
+      </link>
+    </model>
+
+    <model name="yellow_box">
+      <pose>-2.4 0.35 0.75 0 0 0</pose>
+      <link name="link">
+        <inertial>
+          <mass>0.05</mass>
+          <inertia>
+            <ixx>0.0000096</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>0.0000136</iyy>
+            <iyz>0</iyz>
+            <izz>0.0000066</izz>
+          </inertia>
+        </inertial>
+        <collision name="collision">
+          <geometry>
+            <box>
+              <size>0.05 0.05 0.05</size>
+            </box>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <box>
+              <size>0.05 0.05 0.05</size>
+            </box>
+          </geometry>
+          <material>
+            <ambient>1 1 0 1</ambient>
+            <diffuse>1 1 0 1</diffuse>
+            <specular>0.5 0.5 0.5 1</specular>
+          </material>
+        </visual>
+      </link>
+    </model>
+
+    <model name="blue_box">
+      <pose>-2.5 0.2 0.75 0 0 0</pose>
+      <link name="link">
+        <inertial>
+          <mass>0.05</mass>
+          <inertia>
+            <ixx>0.0000104</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>0.0000084</iyy>
+            <iyz>0</iyz>
+            <izz>0.0000041</izz>
+          </inertia>
+        </inertial>
+        <collision name="collision">
+          <geometry>
+            <box>
+              <size>0.05 0.05 0.05</size>
+            </box>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <box>
+              <size>0.05 0.05 0.05</size>
+            </box>
+          </geometry>
+          <material>
+            <ambient>0 0 1 1</ambient>
+            <diffuse>0 0 1 1</diffuse>
+            <specular>0.5 0.5 0.5 1</specular>
+          </material>
+        </visual>
+      </link>
+    </model>
+
+  </world>
+</sdf>
diff --git a/database/worlds.sql b/database/worlds.sql
index 8c34971a5..5fd36ec97 100644
--- a/database/worlds.sql
+++ b/database/worlds.sql
@@ -208,6 +208,7 @@ COPY public.worlds (id, name, scene_id) FROM stdin;
 83	Visual Lander Circuit	79
 84	Follow Turtlebot	80
 85	XLeRobot Warehouse	58
+86	XLeRobot Home	81
 \.
 
 --
@@ -280,6 +281,7 @@ COPY public.worlds_robots (id, world_id, robot_id, poses) FROM stdin;
 61	84	11	{{0.0,0.0,0.3,0.0,0.0,0.0}}
 62	84	35	{{7.0,-4.0,0.1,0.0,0.0,2.76}}
 63	85	36	{{0.0,0.0,0.1,0.0,0.0,0.0}}
+64	86	36	{{-1.6,0.3,0.1,0.0,0.0,3.14}}
 \.
 
 --
@@ -329,6 +331,7 @@ COPY public.scenes (id, name, launch_file_path, tools_config, ros_version, type,
 78	Visual Lander	/opt/jderobot/Launchers/visual_lander.launch.py	{"gzsim":"/opt/jderobot/Launchers/visualization/visual_lander.config"}	ROS2	gz	visual_lander.urdf
 79	Visual Lander Circuit	/opt/jderobot/Launchers/visual_lander_circuit.launch.py	{"gzsim":"/opt/jderobot/Launchers/visualization/visual_lander.config"}	ROS2	gz	visual_lander.urdf
 80	Follow Turtlebot	/opt/jderobot/Launchers/follow_turtlebot.launch.py	{"gzsim":"/opt/jderobot/Launchers/visualization/follow_turtlebot.config"}	ROS2	gz	follow_turtlebot.urdf
+81	XLeRobot Home	/opt/jderobot/Launchers/xlerobot_home.launch.py	{"gzsim":"/opt/jderobot/Launchers/visualization/xlerobot_home.config"}	ROS2	gz	xlerobot_home.urdf
 \.
 
 --

From 0b0ffce87303a0d16bae06ce0555c6bd4b14886a Mon Sep 17 00:00:00 2001
From: aquintan <aquintana.camacho@proton.me>
Date: Wed, 16 Sep 2026 11:56:47 +0200
Subject: [PATCH 06/32] xlerobot world

---
 .../models/house_int2_no_chairs/model.config  |  20 +++
 .../models/house_int2_no_chairs/model.sdf     | 129 ++++++++++++++++++
 Scenes/xlerobot_home.world                    |  19 +--
 3 files changed, 160 insertions(+), 8 deletions(-)
 create mode 100644 CustomRobots/xlerobot/models/house_int2_no_chairs/model.config
 create mode 100644 CustomRobots/xlerobot/models/house_int2_no_chairs/model.sdf

diff --git a/CustomRobots/xlerobot/models/house_int2_no_chairs/model.config b/CustomRobots/xlerobot/models/house_int2_no_chairs/model.config
new file mode 100644
index 000000000..4cb6f716c
--- /dev/null
+++ b/CustomRobots/xlerobot/models/house_int2_no_chairs/model.config
@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>House_int2_no_chairs</name>
+  <version>1.0</version>
+  <sdf version="1.8">model.sdf</sdf>
+
+  <author>
+    <name>Aitor</name>
+    <email></email>
+  </author>
+
+  <description>
+    Same house interior as house_int2, minus the 4 dining chairs, so a robot
+    can actually reach the dining table. Reuses house_int2's own meshes and
+    every other piece of furniture through model:// references, does not
+    duplicate any mesh file.
+  </description>
+
+</model>
diff --git a/CustomRobots/xlerobot/models/house_int2_no_chairs/model.sdf b/CustomRobots/xlerobot/models/house_int2_no_chairs/model.sdf
new file mode 100644
index 000000000..37bb35f79
--- /dev/null
+++ b/CustomRobots/xlerobot/models/house_int2_no_chairs/model.sdf
@@ -0,0 +1,129 @@
+<?xml version="1.0"?>
+<sdf version="1.8">
+  <model name="house_int2_no_chairs_harmonic">
+    <static>true</static>
+    <link name="house_int_link">
+      <visual name="walls_visual">
+        <geometry>
+          <mesh>
+            <uri>model://house_int2/meshes/model.dae</uri>
+            <submesh>
+              <name>walls</name>
+            </submesh>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="floor_visual">
+        <geometry>
+          <mesh>
+            <uri>model://house_int2/meshes/model.dae</uri>
+            <submesh>
+              <name>Plane</name>
+            </submesh>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="encimera_visual">
+        <geometry>
+          <mesh>
+            <uri>model://house_int2/meshes/model.dae</uri>
+            <submesh>
+              <name>encimera</name>
+            </submesh>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="barra_visual">
+        <geometry>
+          <mesh>
+            <uri>model://house_int2/meshes/model.dae</uri>
+            <submesh>
+              <name>barra</name>
+            </submesh>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="frigo_visual">
+        <geometry>
+          <mesh>
+            <uri>model://house_int2/meshes/model.dae</uri>
+            <submesh>
+              <name>frigo</name>
+            </submesh>
+          </mesh>
+        </geometry>
+      </visual>
+      <collision name="house_int2_no_chairs_harmonic_collision">
+        <geometry>
+          <mesh>
+            <uri>model://house_int2/meshes/model.dae</uri>
+          </mesh>
+        </geometry>
+        <surface>
+          <contact>
+            <collide_bitmask>0x01</collide_bitmask>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+    <include>
+      <uri>model://mesa_comedor</uri>
+      <pose>-2.4 0.3 0 0 0 1.57</pose>
+      <static>true</static>
+    </include>
+    <include>
+      <name>Mesa salon</name>
+      <uri>model://mesa_salon</uri>
+      <pose>-0.8 4.4 0 0 -0 0</pose>
+      <static>true</static>
+    </include>
+    <include>
+      <name>Sofa 1</name>
+      <uri>model://sofa_largo</uri>
+      <pose>-0.8 3.4 0 0 -0 3.14</pose>
+      <static>true</static>
+    </include>
+    <include>
+      <name>Sofa 2</name>
+      <uri>model://sofa</uri>
+      <pose>0.5 4.4 0 0 0 -1.57</pose>
+      <static>true</static>
+    </include>
+    <include>
+      <name>Sofa 3</name>
+      <uri>model://sofa</uri>
+      <pose>-2.1 4.4 0 0 -0 1.57</pose>
+      <static>true</static>
+    </include>
+    <include>
+      <name>Estanteria 1</name>
+      <uri>model://estanteria</uri>
+      <pose>4.7 4.48 0 0 -0 0</pose>
+      <static>true</static>
+    </include>
+    <include>
+      <name>Estanteria 2</name>
+      <uri>model://estanteria</uri>
+      <pose>4.7 0.5 0 0 -0 0</pose>
+      <static>true</static>
+    </include>
+    <include>
+      <name>Mesita 1</name>
+      <uri>model://mesita</uri>
+      <pose>2.4 -3.28 0 0 -0 0</pose>
+      <static>true</static>
+    </include>
+    <include>
+      <name>Mesita 2</name>
+      <uri>model://mesita</uri>
+      <pose>4.4 -3.28 0 0 -0 0</pose>
+      <static>true</static>
+    </include>
+    <include>
+      <name>Cama</name>
+      <uri>model://cama</uri>
+      <pose>3.4 -2.41 0 0 0 -1.57</pose>
+      <static>true</static>
+    </include>
+  </model>
+</sdf>
diff --git a/Scenes/xlerobot_home.world b/Scenes/xlerobot_home.world
index 8a92082b1..b9c04c8aa 100644
--- a/Scenes/xlerobot_home.world
+++ b/Scenes/xlerobot_home.world
@@ -34,8 +34,8 @@
     </scene>
 
     <include>
-      <name>house_int2_harmonic</name>
-      <uri>model://house_int2</uri>
+      <name>house_int2_no_chairs_harmonic</name>
+      <uri>model://house_int2_no_chairs</uri>
       <pose>0 0 0 0 0 0</pose>
     </include>
 
@@ -48,12 +48,15 @@
       <visualize>false</visualize>
     </light>
 
-    <!-- Graspable objects on the dining table (mesa_comedor, at -2.4 0.3 0 in
-         house_int2). Table height is an estimate, nudge these up or down
-         once you see them rendered against the real mesh -->
+    <!-- Graspable objects on the dining table (mesa_comedor, at -2.4 0.3 0).
+         Table top is at z=0.74, read straight out of the "Mesa" node's
+         transform in mesa_comedor/meshes/model.dae (scale 0.015, translate
+         0.725, on a -1..1 unit cube -> surface at 0.725 + 0.015 = 0.74),
+         boxes are 0.05 tall so their center goes at 0.74 + 0.025 = 0.765,
+         nudged up a hair more to 0.77 to avoid starting embedded -->
 
     <model name="red_box">
-      <pose>-2.3 0.25 0.75 0 0 0</pose>
+      <pose>-2.3 0.25 0.77 0 0 0</pose>
       <link name="link">
         <inertial>
           <mass>0.05</mass>
@@ -89,7 +92,7 @@
     </model>
 
     <model name="yellow_box">
-      <pose>-2.4 0.35 0.75 0 0 0</pose>
+      <pose>-2.4 0.35 0.77 0 0 0</pose>
       <link name="link">
         <inertial>
           <mass>0.05</mass>
@@ -125,7 +128,7 @@
     </model>
 
     <model name="blue_box">
-      <pose>-2.5 0.2 0.75 0 0 0</pose>
+      <pose>-2.5 0.2 0.77 0 0 0</pose>
       <link name="link">
         <inertial>
           <mass>0.05</mass>

From 8361ac1100bcaa746ceb90a358bdd5ebc933d470 Mon Sep 17 00:00:00 2001
From: aquintan <aquintana.camacho@proton.me>
Date: Wed, 16 Sep 2026 12:09:53 +0200
Subject: [PATCH 07/32] xlerobot arm controllers

---
 .../xlerobot/launch/xlerobot.launch.py        | 32 +++++++++-
 .../ros2srrc_execution/python/robot/robot.py  | 60 ++++++++++++++-----
 .../config/pilz_cartesian_limits.yaml         |  8 +++
 3 files changed, 82 insertions(+), 18 deletions(-)
 create mode 100644 Industrial/xlerobot_moveit_config/config/pilz_cartesian_limits.yaml

diff --git a/CustomRobots/xlerobot/launch/xlerobot.launch.py b/CustomRobots/xlerobot/launch/xlerobot.launch.py
index 964d4351e..a9e66cb62 100644
--- a/CustomRobots/xlerobot/launch/xlerobot.launch.py
+++ b/CustomRobots/xlerobot/launch/xlerobot.launch.py
@@ -85,16 +85,31 @@ def launch_setup(context):
     ompl_planning = load_yaml("xlerobot_moveit_config", "config/ompl_planning.yaml")
     ompl_planning = ompl_planning["/**"]["ros__parameters"]
 
+    # Pilz gives Robmove real "LIN"/"PTP" planner IDs to call, that field on
+    # the Robmove action is not a free label, robmove.cpp passes it straight
+    # into MoveGroupInterface::setPlannerId(), so it has to name a planner
+    # move_group actually knows about, OMPL alone does not define those IDs
     planning_pipelines_config = {
-        "planning_pipelines": ["ompl"],
-        "default_planning_pipeline": "ompl",
+        "planning_pipelines": ["ompl", "pilz_industrial_motion_planner"],
+        "default_planning_pipeline": "pilz_industrial_motion_planner",
         "ompl": {
             "planning_plugin": "ompl_interface/OMPLPlanner",
         },
+        "pilz_industrial_motion_planner": {
+            "planning_plugin": "pilz_industrial_motion_planner/CommandPlanner",
+            "request_adapters": "",
+            "start_state_max_bounds_error": 0.1,
+            "default_planner_config": "PTP",
+        },
     }
 
     joint_limits_yaml = load_yaml("xlerobot_moveit_config", "config/joint_limits.yaml")
-    combined_planning = {"robot_description_planning": joint_limits_yaml}
+    pilz_cartesian_limits = load_yaml(
+        "xlerobot_moveit_config", "config/pilz_cartesian_limits.yaml"
+    )
+    combined_planning = {
+        "robot_description_planning": {**joint_limits_yaml, **pilz_cartesian_limits}
+    }
 
     moveit_controller_manager_param = {
         "moveit_controller_manager": "moveit_simple_controller_manager/MoveItSimpleControllerManager"
@@ -220,6 +235,13 @@ def controller_spawner(controller_name):
     # in either package yet, and adding one means a new install(DIRECTORY ...)
     # line plus a rebuild of ros2srrc_robots/ros2srrc_endeffectors, so it is
     # left out for now, robmove/robpose/move_group below do not need it.
+    #
+    # robmove.cpp hardcodes its action server as the absolute name "/Robmove"
+    # (robpose.cpp similarly publishes on the plain relative topic "Robpose"),
+    # so spawning it twice under the same node namespace, once per arm, would
+    # collide on that same name, both instances answering on "/Robmove" with
+    # no way to tell which is which. Remapping gives each side a distinct,
+    # real name without touching that C++ at all.
 
     left_robmove = Node(
         package="ros2srrc_execution",
@@ -227,6 +249,7 @@ def controller_spawner(controller_name):
         name="left_robmove",
         namespace=gz_namespace,
         output="screen",
+        remappings=[("/Robmove", f"/{namespace}/left_robmove/Robmove")],
         parameters=[
             robot_description,
             robot_description_semantic,
@@ -246,6 +269,7 @@ def controller_spawner(controller_name):
         name="right_robmove",
         namespace=gz_namespace,
         output="screen",
+        remappings=[("/Robmove", f"/{namespace}/right_robmove/Robmove")],
         parameters=[
             robot_description,
             robot_description_semantic,
@@ -265,6 +289,7 @@ def controller_spawner(controller_name):
         name="left_robpose",
         namespace=gz_namespace,
         output="screen",
+        remappings=[("Robpose", "left_robpose/Robpose")],
         parameters=[
             robot_description,
             robot_description_semantic,
@@ -282,6 +307,7 @@ def controller_spawner(controller_name):
         name="right_robpose",
         namespace=gz_namespace,
         output="screen",
+        remappings=[("Robpose", "right_robpose/Robpose")],
         parameters=[
             robot_description,
             robot_description_semantic,
diff --git a/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_execution/python/robot/robot.py b/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_execution/python/robot/robot.py
index a21c9ba1c..8f08814ff 100644
--- a/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_execution/python/robot/robot.py
+++ b/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_execution/python/robot/robot.py
@@ -58,19 +58,24 @@
 
 class RobMoveCLIENT(Node):
 
-    def __init__(self):
+    # node_name/action_name default to the original hardcoded values so any
+    # existing caller doing RobMoveCLIENT() keeps working unchanged, a robot
+    # with more than one arm passes a distinct node_name/action_name per arm
+    # instead (see RBT below)
+    def __init__(self, node_name="ros2srrc_RobMove_Client", action_name="/Robmove"):
 
-        super().__init__("ros2srrc_RobMove_Client")
-        self._action_client = ActionClient(self, Robmove, "/Robmove")
+        super().__init__(node_name)
+        self._action_client = ActionClient(self, Robmove, action_name)
+        self.action_name = action_name
 
-        print("[CLIENT - robot.py]: Initialising ROS2 /RobMove Action Client!")
+        print(f"[CLIENT - robot.py]: Initialising ROS2 {action_name} Action Client!")
         print(
-            "[CLIENT - robot.py]: Waiting for /Robmove ROS2 ActionServer to be available..."
+            f"[CLIENT - robot.py]: Waiting for {action_name} ROS2 ActionServer to be available..."
         )
 
         self._action_client.wait_for_server()
 
-        print("[CLIENT - robot.py]: /Robmove ACTION SERVER detected, ready!")
+        print(f"[CLIENT - robot.py]: {action_name} ACTION SERVER detected, ready!")
         print("")
         print("")
 
@@ -118,19 +123,20 @@ def get_result_callback(self, future):
 
 class MoveCLIENT(Node):
 
-    def __init__(self):
+    def __init__(self, node_name="ros2srrc_Move_Client", action_name="/Move"):
 
-        super().__init__("ros2srrc_Move_Client")
-        self._action_client = ActionClient(self, Move, "/Move")
+        super().__init__(node_name)
+        self._action_client = ActionClient(self, Move, action_name)
+        self.action_name = action_name
 
-        print("[CLIENT - robot.py]: Initialising ROS2 /Move Action Client!")
+        print(f"[CLIENT - robot.py]: Initialising ROS2 {action_name} Action Client!")
         print(
-            "[CLIENT - robot.py]: Waiting for /Move ROS2 ActionServer to be available..."
+            f"[CLIENT - robot.py]: Waiting for {action_name} ROS2 ActionServer to be available..."
         )
 
         self._action_client.wait_for_server()
 
-        print("[CLIENT - robot.py]: /Move ACTION SERVER detected, ready!")
+        print(f"[CLIENT - robot.py]: {action_name} ACTION SERVER detected, ready!")
         print("")
 
     def send_goal(self, ACTION):
@@ -180,16 +186,40 @@ def get_result_callback(self, future):
 
 class RBT:
 
-    def __init__(self):
+    # suffix, move_action and robmove_action let a robot with more than one
+    # arm create one RBT per arm, each pointed at that arm's own action
+    # servers (see xlerobot_home's HAL.py), left at their defaults this is
+    # the exact same single-robot behaviour every other exercise already
+    # relies on. use_move=False skips connecting to /Move entirely, useful
+    # when that action server was never brought up for this robot, otherwise
+    # this call blocks forever in MoveCLIENT's wait_for_server()
+    def __init__(
+        self,
+        suffix="",
+        move_action="/Move",
+        robmove_action="/Robmove",
+        use_move=True,
+    ):
 
         # Initialise /Move and /RobMove Action Clients:
-        self.MoveClient = MoveCLIENT()
-        self.RobMoveClient = RobMoveCLIENT()
+        self.MoveClient = (
+            MoveCLIENT(f"ros2srrc_Move_Client{suffix}", move_action)
+            if use_move
+            else None
+        )
+        self.RobMoveClient = RobMoveCLIENT(
+            f"ros2srrc_RobMove_Client{suffix}", robmove_action
+        )
 
         self.EXECUTING = ""
 
     def Move_EXECUTE(self, ACTION):
 
+        if self.MoveClient is None:
+            raise RuntimeError(
+                "This RBT was created with use_move=False, /Move is not available"
+            )
+
         global RES
         self.EXECUTING = "Move"
 
diff --git a/Industrial/xlerobot_moveit_config/config/pilz_cartesian_limits.yaml b/Industrial/xlerobot_moveit_config/config/pilz_cartesian_limits.yaml
new file mode 100644
index 000000000..f0089d3ce
--- /dev/null
+++ b/Industrial/xlerobot_moveit_config/config/pilz_cartesian_limits.yaml
@@ -0,0 +1,8 @@
+cartesian_limits:
+  max_trans_vel: 0.15
+  max_trans_acc: 0.15
+  max_trans_dec: 0.15
+  max_rot_vel: 1.0
+
+# XLeRobot's arm is a small ST3215 servo arm, not an industrial UR, values
+# kept well under UR3's own (already conservative) 0.25 m/s defaults

From 8aff81e2c0ddbc3f17f53df15e7b36308e874ed4 Mon Sep 17 00:00:00 2001
From: aquintan <aquintana.camacho@proton.me>
Date: Wed, 16 Sep 2026 12:30:20 +0200
Subject: [PATCH 08/32] fix timeouts

---
 CustomRobots/xlerobot/launch/xlerobot.launch.py | 12 +++++++++++-
 1 file changed, 11 insertions(+), 1 deletion(-)

diff --git a/CustomRobots/xlerobot/launch/xlerobot.launch.py b/CustomRobots/xlerobot/launch/xlerobot.launch.py
index a9e66cb62..06ff0819e 100644
--- a/CustomRobots/xlerobot/launch/xlerobot.launch.py
+++ b/CustomRobots/xlerobot/launch/xlerobot.launch.py
@@ -196,7 +196,17 @@ def controller_spawner(controller_name):
             package="controller_manager",
             executable="spawner",
             namespace=gz_namespace,
-            arguments=[controller_name],
+            # the default 5s switch-controller timeout is not enough right
+            # after spawn, the sim is still busy loading the house scene and
+            # the robot at that point and does not get to a controller
+            # activation request in time, seen for real as "Switch controller
+            # timed out after 5.000000 seconds!" on joint_state_broadcaster
+            # and both arm controllers specifically (spawned first, while the
+            # scene is still settling), gripper/head controllers spawned
+            # later did not hit it. --switch-timeout is spawner's own flag
+            # for exactly this, "useful when switching cannot be performed
+            # immediately, e.g. paused simulations at startup"
+            arguments=[controller_name, "--switch-timeout", "30"],
             output="screen",
         )
 

From 3632be933aa21a49e2f6c283f3cc088f4fa657de Mon Sep 17 00:00:00 2001
From: aquintan <aquintana.camacho@proton.me>
Date: Wed, 16 Sep 2026 12:43:24 +0200
Subject: [PATCH 09/32] world and launcher changes

---
 CustomRobots/xlerobot/launch/xlerobot.launch.py | 10 +++++++++-
 Scenes/xlerobot_home.world                      | 14 ++++++++++++++
 2 files changed, 23 insertions(+), 1 deletion(-)

diff --git a/CustomRobots/xlerobot/launch/xlerobot.launch.py b/CustomRobots/xlerobot/launch/xlerobot.launch.py
index 06ff0819e..f98e7f0a1 100644
--- a/CustomRobots/xlerobot/launch/xlerobot.launch.py
+++ b/CustomRobots/xlerobot/launch/xlerobot.launch.py
@@ -206,7 +206,15 @@ def controller_spawner(controller_name):
             # later did not hit it. --switch-timeout is spawner's own flag
             # for exactly this, "useful when switching cannot be performed
             # immediately, e.g. paused simulations at startup"
-            arguments=[controller_name, "--switch-timeout", "30"],
+            arguments=[
+                controller_name,
+                "--switch-timeout",
+                "30",
+                "--controller-manager-timeout",
+                "30",
+                "--service-call-timeout",
+                "30",
+            ],
             output="screen",
         )
 
diff --git a/Scenes/xlerobot_home.world b/Scenes/xlerobot_home.world
index b9c04c8aa..77518d1c9 100644
--- a/Scenes/xlerobot_home.world
+++ b/Scenes/xlerobot_home.world
@@ -2,6 +2,20 @@
 
 <sdf version="1.8">
   <world name="default">
+    <!-- Copied from small_house.world, which never declared this either, so
+         gz-sim fell back to some internal default gz_ros2_control could not
+         read properly ("Desired controller update period is slower than the
+         gazebo simulation period (0 s)"), and controller_manager's own
+         update loop ran badly enough that basic services like
+         list_controllers/switch_controller started timing out for minutes
+         on startup with this heavier scene+robot. Same max_step_size as
+         machine_vision.world, the other gz_ros2_control-driven arm exercise -->
+    <physics name="1ms" type="ode">
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1.0</real_time_factor>
+      <real_time_update_rate>1000</real_time_update_rate>
+    </physics>
+
     <plugin filename="gz-sim-physics-system" name="gz::sim::systems::Physics">
     </plugin>
     <plugin filename="gz-sim-user-commands-system" name="gz::sim::systems::UserCommands">

From 8355ff9489dfba9745d9034a22b1c7c3773681d0 Mon Sep 17 00:00:00 2001
From: aquintan <aquintana.camacho@proton.me>
Date: Thu, 17 Sep 2026 09:11:22 +0200
Subject: [PATCH 10/32] xlebot controllers

---
 .../xlerobot/xlerobot_common.urdf.xacro       | 14 +++++------
 .../models/xlerobot/xlerobot_gz.urdf.xacro    | 23 +++++++++++++++++++
 .../config/controller_manager.yaml            |  3 +++
 3 files changed, 32 insertions(+), 8 deletions(-)

diff --git a/CustomRobots/xlerobot/models/xlerobot/xlerobot_common.urdf.xacro b/CustomRobots/xlerobot/models/xlerobot/xlerobot_common.urdf.xacro
index b31345117..e18ccc226 100644
--- a/CustomRobots/xlerobot/models/xlerobot/xlerobot_common.urdf.xacro
+++ b/CustomRobots/xlerobot/models/xlerobot/xlerobot_common.urdf.xacro
@@ -1396,14 +1396,12 @@
 
     <xacro:velocity namespace="${namespace}"/>
     <xacro:odom namespace="${namespace}"/>
-    <!-- wheels only, the arm/head joints already get their joint_states from
-         ros2_control's own joint_state_broadcaster, publishing both would
-         mean two sources fighting over the same topic -->
-    <plugin filename="gz-sim-joint-state-publisher-system" name="gz::sim::systems::JointStatePublisher">
-      <joint_name>wheel_1_joint</joint_name>
-      <joint_name>wheel_2_joint</joint_name>
-      <joint_name>wheel_3_joint</joint_name>
-    </plugin>
+    <!-- no separate gz-sim-joint-state-publisher-system for the wheels here
+         on purpose, they are folded into the same ros2_control
+         joint_state_broadcaster as the arms instead (see arm_ros2_control in
+         xlerobot_gz.urdf.xacro), a second publisher on a different topic is
+         exactly what left MoveGroupInterface waiting forever for a "complete"
+         robot state that never included the wheels -->
 
     <xacro:rgbd_camera link="head_camera_link" name="head_camera" namespace="${namespace}"/>
     <xacro:wrist_camera link="Right_Arm_Camera" name="right_arm_camera" namespace="${namespace}"/>
diff --git a/CustomRobots/xlerobot/models/xlerobot/xlerobot_gz.urdf.xacro b/CustomRobots/xlerobot/models/xlerobot/xlerobot_gz.urdf.xacro
index 7fe268157..d4612cf56 100644
--- a/CustomRobots/xlerobot/models/xlerobot/xlerobot_gz.urdf.xacro
+++ b/CustomRobots/xlerobot/models/xlerobot/xlerobot_gz.urdf.xacro
@@ -132,6 +132,29 @@
         <state_interface name="position"/>
         <state_interface name="velocity"/>
       </joint>
+
+      <!-- state only, on purpose, the wheels stay driven kinematically by
+           VelocityControl not by ros2_control, but MoveGroupInterface (used
+           by robmove/robpose/move_group) waits for a JointState covering
+           every joint in the URDF before it considers the robot state
+           "complete", wheels included, even though no SRDF group ever plans
+           for them. Without this it hangs forever repeating "The complete
+           state of the robot is not yet known, missing wheel_1_joint...".
+           Folding them into the same joint_state_broadcaster that already
+           covers the arms is what actually gets them onto
+           /<namespace>/joint_states, the one topic MoveIt listens to -->
+      <joint name="wheel_1_joint">
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+      </joint>
+      <joint name="wheel_2_joint">
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+      </joint>
+      <joint name="wheel_3_joint">
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+      </joint>
     </ros2_control>
 
     <gazebo>
diff --git a/Industrial/xlerobot_moveit_config/config/controller_manager.yaml b/Industrial/xlerobot_moveit_config/config/controller_manager.yaml
index d92593353..c50aa458f 100644
--- a/Industrial/xlerobot_moveit_config/config/controller_manager.yaml
+++ b/Industrial/xlerobot_moveit_config/config/controller_manager.yaml
@@ -37,6 +37,9 @@
       - Jaw_R
       - head_pan_joint
       - head_tilt_joint
+      - wheel_1_joint
+      - wheel_2_joint
+      - wheel_3_joint
 
     interfaces:
       - position

From 77d3592785c619e97ef2b81718c5d53cf98e04b2 Mon Sep 17 00:00:00 2001
From: aquintan <aquintana.camacho@proton.me>
Date: Thu, 17 Sep 2026 09:41:29 +0200
Subject: [PATCH 11/32] xlerobot arm controllers update

---
 .../xlerobot/launch/xlerobot.launch.py        | 35 +++++++++++++------
 .../ros2srrc_execution/src/robmove.cpp        | 13 ++++++-
 2 files changed, 37 insertions(+), 11 deletions(-)

diff --git a/CustomRobots/xlerobot/launch/xlerobot.launch.py b/CustomRobots/xlerobot/launch/xlerobot.launch.py
index f98e7f0a1..7fdf62949 100644
--- a/CustomRobots/xlerobot/launch/xlerobot.launch.py
+++ b/CustomRobots/xlerobot/launch/xlerobot.launch.py
@@ -254,20 +254,35 @@ def controller_spawner(controller_name):
     # line plus a rebuild of ros2srrc_robots/ros2srrc_endeffectors, so it is
     # left out for now, robmove/robpose/move_group below do not need it.
     #
-    # robmove.cpp hardcodes its action server as the absolute name "/Robmove"
-    # (robpose.cpp similarly publishes on the plain relative topic "Robpose"),
-    # so spawning it twice under the same node namespace, once per arm, would
-    # collide on that same name, both instances answering on "/Robmove" with
-    # no way to tell which is which. Remapping gives each side a distinct,
-    # real name without touching that C++ at all.
+    # robmove.cpp used to hardcode its action server as the absolute name
+    # "/Robmove" (robpose.cpp similarly publishes on the plain relative topic
+    # "Robpose"), so spawning it twice under the same node namespace, once
+    # per arm, collided on that same name, both instances answering on
+    # "/Robmove" with no way to tell which is which. A launch remapping on
+    # that name is silently ignored by rclcpp_action::create_server for a
+    # fully qualified action name, confirmed live, the action always came up
+    # as "/Robmove" regardless of the remap, unlike robpose's plain topic
+    # remap which does work. robmove.cpp now reads the action name from an
+    # ACTION_NAME parameter instead, same as ROB_PARAM/ROB_GROUP below.
+    #
+    # No name= here on purpose. robmove.cpp's main() creates TWO nodes (the
+    # ActionServer itself, plus a second "moveit_helper_node_robmove" used
+    # only for MoveGroupInterface), and name= becomes a process-wide
+    # "-r __node:=X" remap that silently renames BOTH of them to the same
+    # thing, not just the one node you meant to rename. That made the two
+    # nodes in one robmove process collide with each other (the exact
+    # "Publisher already registered for provided node name" warning seen in
+    # the logs), which left the actual /Robmove action server never
+    # reachable even though the process was alive and the two robmove
+    # processes never collided with each other. Left/right are already two
+    # separate OS processes, they do not need distinct node names to avoid
+    # colliding with one another, only the action name remap above matters.
 
     left_robmove = Node(
         package="ros2srrc_execution",
         executable="robmove",
-        name="left_robmove",
         namespace=gz_namespace,
         output="screen",
-        remappings=[("/Robmove", f"/{namespace}/left_robmove/Robmove")],
         parameters=[
             robot_description,
             robot_description_semantic,
@@ -278,16 +293,15 @@ def controller_spawner(controller_name):
             {"use_sim_time": True},
             {"ROB_PARAM": "xlerobot"},
             {"ROB_GROUP": "xlerobot_left_arm"},
+            {"ACTION_NAME": f"/{namespace}/left_robmove/Robmove"},
         ],
     )
 
     right_robmove = Node(
         package="ros2srrc_execution",
         executable="robmove",
-        name="right_robmove",
         namespace=gz_namespace,
         output="screen",
-        remappings=[("/Robmove", f"/{namespace}/right_robmove/Robmove")],
         parameters=[
             robot_description,
             robot_description_semantic,
@@ -298,6 +312,7 @@ def controller_spawner(controller_name):
             {"use_sim_time": True},
             {"ROB_PARAM": "xlerobot"},
             {"ROB_GROUP": "xlerobot_right_arm"},
+            {"ACTION_NAME": f"/{namespace}/right_robmove/Robmove"},
         ],
     )
 
diff --git a/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_execution/src/robmove.cpp b/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_execution/src/robmove.cpp
index dae42bab3..61e508aa9 100644
--- a/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_execution/src/robmove.cpp
+++ b/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_execution/src/robmove.cpp
@@ -106,9 +106,20 @@ class ActionServer : public rclcpp::Node
             param_ROB_GROUP.c_str()
         );
 
+        // "/Robmove" used to be a literal string here. A launch remapping on
+        // this exact fully qualified name is silently ignored by
+        // rclcpp_action::create_server, so two instances (one per arm) both
+        // ended up serving the same "/Robmove" name no matter what
+        // remappings the launch file gave them. A parameter is a mechanism
+        // that is already known to work for ROB_PARAM/ROB_GROUP above, so
+        // the action name goes through it too instead of a remap.
+        this->declare_parameter("ACTION_NAME", "/Robmove");
+        std::string action_name = this->get_parameter("ACTION_NAME").as_string();
+        RCLCPP_INFO(this->get_logger(), "ACTION_NAME received -> %s", action_name.c_str());
+
         action_server_ = rclcpp_action::create_server<Robmove>(
             this,
-            "/Robmove",
+            action_name,
             std::bind(&ActionServer::handle_goal, this, std::placeholders::_1, std::placeholders::_2),
             std::bind(&ActionServer::handle_cancel, this, std::placeholders::_1),
             std::bind(&ActionServer::handle_accepted, this, std::placeholders::_1)

From 5218c97d6773c77081be4d8742ded5061948735f Mon Sep 17 00:00:00 2001
From: aquintan <aquintana.camacho@proton.me>
Date: Thu, 17 Sep 2026 10:18:25 +0200
Subject: [PATCH 12/32] xlerobot arm controll fix

---
 CustomRobots/xlerobot/launch/xlerobot.launch.py       |  5 +++++
 .../models/xlerobot/xlerobot_common.urdf.xacro        |  6 +++++-
 .../ros2srrc_execution/src/robmove.cpp                | 11 ++++++++++-
 .../ros2srrc_execution/src/robpose.cpp                |  9 ++++++++-
 4 files changed, 28 insertions(+), 3 deletions(-)

diff --git a/CustomRobots/xlerobot/launch/xlerobot.launch.py b/CustomRobots/xlerobot/launch/xlerobot.launch.py
index 7fdf62949..0dac3cb10 100644
--- a/CustomRobots/xlerobot/launch/xlerobot.launch.py
+++ b/CustomRobots/xlerobot/launch/xlerobot.launch.py
@@ -283,6 +283,10 @@ def controller_spawner(controller_name):
         executable="robmove",
         namespace=gz_namespace,
         output="screen",
+        # temporary, MoveGroupInterface's own construction is the thing
+        # hanging (confirmed in robpose too, a completely separate binary),
+        # plain INFO has nothing left to say about where inside it
+        arguments=["--ros-args", "--log-level", "debug"],
         parameters=[
             robot_description,
             robot_description_semantic,
@@ -322,6 +326,7 @@ def controller_spawner(controller_name):
         name="left_robpose",
         namespace=gz_namespace,
         output="screen",
+        arguments=["--ros-args", "--log-level", "debug"],
         remappings=[("Robpose", "left_robpose/Robpose")],
         parameters=[
             robot_description,
diff --git a/CustomRobots/xlerobot/models/xlerobot/xlerobot_common.urdf.xacro b/CustomRobots/xlerobot/models/xlerobot/xlerobot_common.urdf.xacro
index e18ccc226..17731f95b 100644
--- a/CustomRobots/xlerobot/models/xlerobot/xlerobot_common.urdf.xacro
+++ b/CustomRobots/xlerobot/models/xlerobot/xlerobot_common.urdf.xacro
@@ -1333,7 +1333,11 @@
 <joint name="head_tilt_joint" type="revolute">
       <parent link="head_pan_link" />
       <child link="head_tilt_link" />
-      <origin xyz="0.001 0.002 0.09815" rpy="0 0 3.1415927" />
+      <!-- the 180 degree yaw this used to carry made the head camera face
+           straight backward at pan 0, chassis and head_pan_link share the
+           same forward direction all the way up (every joint above this one
+           is rpy 0 0 0), nothing upstream compensates for that flip -->
+      <origin xyz="0.001 0.002 0.09815" rpy="0 0 0" />
       <axis xyz="0 1 0" />
       <limit lower="-0.76" upper="1.45" effort="1.0" velocity="1.5" />
       <dynamics damping="0.1" friction="0.02" />
diff --git a/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_execution/src/robmove.cpp b/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_execution/src/robmove.cpp
index 61e508aa9..6594ffa76 100644
--- a/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_execution/src/robmove.cpp
+++ b/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_execution/src/robmove.cpp
@@ -294,7 +294,16 @@ int main(int argc, char **argv)
 
     using moveit::planning_interface::MoveGroupInterface;
 
-    move_group_interface_ROB = MoveGroupInterface(moveit_node, param_ROB_GROUP);
+    // The plain (node, group) constructor builds its internal action/service
+    // clients against the bare, unnamespaced names ("/move_action" etc), not
+    // relative to moveit_node's own namespace, so on a namespaced robot it
+    // waits forever for a server that is never going to answer at that name
+    // (confirmed with debug logging, the internal client sits waiting on
+    // literal "/move_action" while the real server is "/<namespace>/move_action").
+    // Passing the namespace through Options is what actually gets it talking
+    // to the real, namespaced move_group.
+    MoveGroupInterface::Options options(param_ROB_GROUP, MoveGroupInterface::ROBOT_DESCRIPTION, moveit_node->get_namespace());
+    move_group_interface_ROB = MoveGroupInterface(moveit_node, options);
 
     move_group_interface_ROB.setMaxVelocityScalingFactor(1.0);
     move_group_interface_ROB.setMaxAccelerationScalingFactor(1.0);
diff --git a/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_execution/src/robpose.cpp b/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_execution/src/robpose.cpp
index fda708a04..b606ac2ee 100644
--- a/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_execution/src/robpose.cpp
+++ b/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_execution/src/robpose.cpp
@@ -127,7 +127,14 @@ int main(int argc, char **argv)
 
   // === MOVEIT ===
   using moveit::planning_interface::MoveGroupInterface;
-  move_group_interface_ROB = MoveGroupInterface(node, param_ROB_GROUP);
+  // The plain (node, group) constructor builds its internal action/service
+  // clients against the bare, unnamespaced names ("/move_action" etc), not
+  // relative to this node's own namespace, so on a namespaced robot it waits
+  // forever for a server that is never going to answer at that name. Passing
+  // the namespace through Options is what actually gets it talking to the
+  // real, namespaced move_group.
+  MoveGroupInterface::Options options(param_ROB_GROUP, MoveGroupInterface::ROBOT_DESCRIPTION, node->get_namespace());
+  move_group_interface_ROB = MoveGroupInterface(node, options);
 
   RCLCPP_INFO(
       node->get_logger(),

From 9eeee97a7451c563bdfabc4acc5a3f9e9737c1db Mon Sep 17 00:00:00 2001
From: aquintan <aquintana.camacho@proton.me>
Date: Thu, 17 Sep 2026 10:43:55 +0200
Subject: [PATCH 13/32] xlerobot update

---
 CustomRobots/xlerobot/launch/xlerobot.launch.py   | 15 +++++++++++----
 .../xlerobot_moveit_config/config/kinematics.yaml |  8 ++++----
 database/worlds.sql                               |  2 +-
 3 files changed, 16 insertions(+), 9 deletions(-)

diff --git a/CustomRobots/xlerobot/launch/xlerobot.launch.py b/CustomRobots/xlerobot/launch/xlerobot.launch.py
index 0dac3cb10..6c869b939 100644
--- a/CustomRobots/xlerobot/launch/xlerobot.launch.py
+++ b/CustomRobots/xlerobot/launch/xlerobot.launch.py
@@ -205,15 +205,22 @@ def controller_spawner(controller_name):
             # scene is still settling), gripper/head controllers spawned
             # later did not hit it. --switch-timeout is spawner's own flag
             # for exactly this, "useful when switching cannot be performed
-            # immediately, e.g. paused simulations at startup"
+            # immediately, e.g. paused simulations at startup". Even 30s was
+            # not always enough for joint_state_broadcaster specifically
+            # (first in the chain, hits the worst of the cold start, seen for
+            # real as three consecutive "Switch controller timed out after
+            # 30.000000 seconds!" and the controller stuck inactive forever
+            # afterward, nothing retries a spawner that already gave up), so
+            # this is generous on purpose rather than tuned to a measured
+            # minimum, the cost only applies once at cold start
             arguments=[
                 controller_name,
                 "--switch-timeout",
-                "30",
+                "90",
                 "--controller-manager-timeout",
-                "30",
+                "90",
                 "--service-call-timeout",
-                "30",
+                "90",
             ],
             output="screen",
         )
diff --git a/Industrial/xlerobot_moveit_config/config/kinematics.yaml b/Industrial/xlerobot_moveit_config/config/kinematics.yaml
index a649100b8..cedd8f0f8 100644
--- a/Industrial/xlerobot_moveit_config/config/kinematics.yaml
+++ b/Industrial/xlerobot_moveit_config/config/kinematics.yaml
@@ -3,10 +3,10 @@
     xlerobot_left_arm:
       kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
       kinematics_solver_search_resolution: 0.005
-      kinematics_solver_timeout: 0.005
-      kinematics_solver_attempts: 3
+      kinematics_solver_timeout: 0.1
+      kinematics_solver_attempts: 10
     xlerobot_right_arm:
       kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
       kinematics_solver_search_resolution: 0.005
-      kinematics_solver_timeout: 0.005
-      kinematics_solver_attempts: 3
+      kinematics_solver_timeout: 0.1
+      kinematics_solver_attempts: 10
diff --git a/database/worlds.sql b/database/worlds.sql
index 5fd36ec97..2c9a11cb7 100644
--- a/database/worlds.sql
+++ b/database/worlds.sql
@@ -331,7 +331,7 @@ COPY public.scenes (id, name, launch_file_path, tools_config, ros_version, type,
 78	Visual Lander	/opt/jderobot/Launchers/visual_lander.launch.py	{"gzsim":"/opt/jderobot/Launchers/visualization/visual_lander.config"}	ROS2	gz	visual_lander.urdf
 79	Visual Lander Circuit	/opt/jderobot/Launchers/visual_lander_circuit.launch.py	{"gzsim":"/opt/jderobot/Launchers/visualization/visual_lander.config"}	ROS2	gz	visual_lander.urdf
 80	Follow Turtlebot	/opt/jderobot/Launchers/follow_turtlebot.launch.py	{"gzsim":"/opt/jderobot/Launchers/visualization/follow_turtlebot.config"}	ROS2	gz	follow_turtlebot.urdf
-81	XLeRobot Home	/opt/jderobot/Launchers/xlerobot_home.launch.py	{"gzsim":"/opt/jderobot/Launchers/visualization/xlerobot_home.config"}	ROS2	gz	xlerobot_home.urdf
+81	XLeRobot Home	/opt/jderobot/Launchers/xlerobot_home.launch.py	{"rviz":"/opt/jderobot/Launchers/rviz/xlerobot_home_harmonic.launch.py"}	ROS2	gz	xlerobot_home.urdf
 \.
 
 --

From 0a548ee2c6cfd04f4d16277187c2044c56a05bd8 Mon Sep 17 00:00:00 2001
From: aquintan <aquintana.camacho@proton.me>
Date: Thu, 17 Sep 2026 12:22:22 +0200
Subject: [PATCH 14/32] xlerobot world updtate + controller naming

---
 .../ros2srrc_execution/src/robpose.cpp        |  29 +-
 .../xlerobot_moveit_config/srdf/xlerobot.srdf | 249 ++++++++++++++++--
 Scenes/xlerobot_home.world                    |   9 +-
 3 files changed, 256 insertions(+), 31 deletions(-)

diff --git a/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_execution/src/robpose.cpp b/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_execution/src/robpose.cpp
index b606ac2ee..ad289f8ed 100644
--- a/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_execution/src/robpose.cpp
+++ b/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_execution/src/robpose.cpp
@@ -38,6 +38,7 @@
 #include <functional>
 #include <memory>
 #include <string>
+#include <thread>
 using namespace std::chrono_literals;
 
 // Include MoveIt!2:
@@ -125,6 +126,30 @@ int main(int argc, char **argv)
       param_ROB_GROUP.c_str()
   );
 
+  // MoveGroupInterface gets its own separate node and dedicated background
+  // executor, same split as robmove.cpp's node/moveit_node, on purpose. An
+  // earlier attempt just spun `node` itself before construction, but `node`
+  // already carries its own 50ms timer (timer_callback below, which calls
+  // the blocking getCurrentPose()), so that timer and the joint_states
+  // subscription MoveGroupInterface's own current-state tracking needs both
+  // ended up on the same SingleThreadedExecutor, fighting over the same one
+  // thread: the timer callback blocks waiting on a state update, but that
+  // very executor cannot also run the subscription callback that would
+  // satisfy it while the timer callback itself has not returned yet. Seen
+  // for real as the exact same "moveit_ros.current_state_monitor: Failed to
+  // fetch current robot state" loop move_group logs when it is starved of
+  // joint_states, dozens of times a minute, never actually recovering. A
+  // separate node with nothing else on its executor does not have this
+  // problem, node's own timer stays on node's own later rclcpp::spin(node).
+  auto moveit_node = std::make_shared<rclcpp::Node>(
+      "moveit_helper_node_robpose",
+      rclcpp::NodeOptions().automatically_declare_parameters_from_overrides(true)
+  );
+
+  rclcpp::executors::SingleThreadedExecutor executor;
+  executor.add_node(moveit_node);
+  std::thread([&executor]() { executor.spin(); }).detach();
+
   // === MOVEIT ===
   using moveit::planning_interface::MoveGroupInterface;
   // The plain (node, group) constructor builds its internal action/service
@@ -133,8 +158,8 @@ int main(int argc, char **argv)
   // forever for a server that is never going to answer at that name. Passing
   // the namespace through Options is what actually gets it talking to the
   // real, namespaced move_group.
-  MoveGroupInterface::Options options(param_ROB_GROUP, MoveGroupInterface::ROBOT_DESCRIPTION, node->get_namespace());
-  move_group_interface_ROB = MoveGroupInterface(node, options);
+  MoveGroupInterface::Options options(param_ROB_GROUP, MoveGroupInterface::ROBOT_DESCRIPTION, moveit_node->get_namespace());
+  move_group_interface_ROB = MoveGroupInterface(moveit_node, options);
 
   RCLCPP_INFO(
       node->get_logger(),
diff --git a/Industrial/xlerobot_moveit_config/srdf/xlerobot.srdf b/Industrial/xlerobot_moveit_config/srdf/xlerobot.srdf
index 5c5338a65..bc76d3592 100644
--- a/Industrial/xlerobot_moveit_config/srdf/xlerobot.srdf
+++ b/Industrial/xlerobot_moveit_config/srdf/xlerobot.srdf
@@ -54,44 +54,241 @@
        via VelocityControl and is not tracked by any static transform, planning stays
        relative to the robot itself -->
 
+  <!-- Programmatically generated from the URDF's actual joint tree (fixed
+       joints group links into a single rigid body, movable joints connect
+       two rigid bodies), covering every link pair that will always be
+       touching. This replaces a hand-picked list that only covered direct
+       parent/child pairs and missed the cross pairs (a link and its
+       parent's own "_geom_1" sibling, e.g. Rotation_Pitch vs Base_geom_1),
+       which made every single pose, including the plain home pose, read
+       as self-colliding to check_state_validity/avoid_collisions, in turn
+       making pilz_industrial_motion_planner (which checks self collision
+       on every IK call by default) fail to find a plan for reachable,
+       non-colliding poses. Confirmed against a live check_state_validity
+       call before and after this fix. -->
+  <disable_collisions link1="Base" link2="Base_2" reason="Adjacent" />
+  <disable_collisions link1="Base" link2="Base_2_geom_1" reason="Adjacent" />
   <disable_collisions link1="Base" link2="Base_geom_1" reason="Adjacent" />
   <disable_collisions link1="Base" link2="Rotation_Pitch" reason="Adjacent" />
-  <disable_collisions link1="Rotation_Pitch" link2="Rotation_Pitch_geom_1" reason="Adjacent" />
-  <disable_collisions link1="Rotation_Pitch" link2="Upper_Arm" reason="Adjacent" />
-  <disable_collisions link1="Upper_Arm" link2="Upper_Arm_geom_1" reason="Adjacent" />
-  <disable_collisions link1="Upper_Arm" link2="Lower_Arm" reason="Adjacent" />
-  <disable_collisions link1="Lower_Arm" link2="Lower_Arm_geom_1" reason="Adjacent" />
-  <disable_collisions link1="Lower_Arm" link2="Wrist_Pitch_Roll" reason="Adjacent" />
-  <disable_collisions link1="Wrist_Pitch_Roll" link2="Wrist_Pitch_Roll_geom_1" reason="Adjacent" />
-  <disable_collisions link1="Wrist_Pitch_Roll" link2="Fixed_Jaw" reason="Adjacent" />
+  <disable_collisions link1="Base" link2="Rotation_Pitch_2" reason="Adjacent" />
+  <disable_collisions link1="Base" link2="Rotation_Pitch_2_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Base" link2="Rotation_Pitch_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Base" link2="base_footprint" reason="Adjacent" />
+  <disable_collisions link1="Base" link2="chassis" reason="Adjacent" />
+  <disable_collisions link1="Base" link2="chassis_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Base" link2="chassis_geom_2" reason="Adjacent" />
+  <disable_collisions link1="Base" link2="head_pan_link" reason="Adjacent" />
+  <disable_collisions link1="Base" link2="head_pan_link_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Base" link2="top_base_link" reason="Adjacent" />
+  <disable_collisions link1="Base" link2="top_base_link_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Base" link2="wheel_1_link" reason="Adjacent" />
+  <disable_collisions link1="Base" link2="wheel_2_link" reason="Adjacent" />
+  <disable_collisions link1="Base" link2="wheel_3_link" reason="Adjacent" />
+  <disable_collisions link1="Base_2" link2="Base_2_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Base_2" link2="Base_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Base_2" link2="Rotation_Pitch" reason="Adjacent" />
+  <disable_collisions link1="Base_2" link2="Rotation_Pitch_2" reason="Adjacent" />
+  <disable_collisions link1="Base_2" link2="Rotation_Pitch_2_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Base_2" link2="Rotation_Pitch_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Base_2" link2="base_footprint" reason="Adjacent" />
+  <disable_collisions link1="Base_2" link2="chassis" reason="Adjacent" />
+  <disable_collisions link1="Base_2" link2="chassis_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Base_2" link2="chassis_geom_2" reason="Adjacent" />
+  <disable_collisions link1="Base_2" link2="head_pan_link" reason="Adjacent" />
+  <disable_collisions link1="Base_2" link2="head_pan_link_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Base_2" link2="top_base_link" reason="Adjacent" />
+  <disable_collisions link1="Base_2" link2="top_base_link_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Base_2" link2="wheel_1_link" reason="Adjacent" />
+  <disable_collisions link1="Base_2" link2="wheel_2_link" reason="Adjacent" />
+  <disable_collisions link1="Base_2" link2="wheel_3_link" reason="Adjacent" />
+  <disable_collisions link1="Base_2_geom_1" link2="Base_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Base_2_geom_1" link2="Rotation_Pitch" reason="Adjacent" />
+  <disable_collisions link1="Base_2_geom_1" link2="Rotation_Pitch_2" reason="Adjacent" />
+  <disable_collisions link1="Base_2_geom_1" link2="Rotation_Pitch_2_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Base_2_geom_1" link2="Rotation_Pitch_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Base_2_geom_1" link2="base_footprint" reason="Adjacent" />
+  <disable_collisions link1="Base_2_geom_1" link2="chassis" reason="Adjacent" />
+  <disable_collisions link1="Base_2_geom_1" link2="chassis_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Base_2_geom_1" link2="chassis_geom_2" reason="Adjacent" />
+  <disable_collisions link1="Base_2_geom_1" link2="head_pan_link" reason="Adjacent" />
+  <disable_collisions link1="Base_2_geom_1" link2="head_pan_link_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Base_2_geom_1" link2="top_base_link" reason="Adjacent" />
+  <disable_collisions link1="Base_2_geom_1" link2="top_base_link_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Base_2_geom_1" link2="wheel_1_link" reason="Adjacent" />
+  <disable_collisions link1="Base_2_geom_1" link2="wheel_2_link" reason="Adjacent" />
+  <disable_collisions link1="Base_2_geom_1" link2="wheel_3_link" reason="Adjacent" />
+  <disable_collisions link1="Base_geom_1" link2="Rotation_Pitch" reason="Adjacent" />
+  <disable_collisions link1="Base_geom_1" link2="Rotation_Pitch_2" reason="Adjacent" />
+  <disable_collisions link1="Base_geom_1" link2="Rotation_Pitch_2_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Base_geom_1" link2="Rotation_Pitch_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Base_geom_1" link2="base_footprint" reason="Adjacent" />
+  <disable_collisions link1="Base_geom_1" link2="chassis" reason="Adjacent" />
+  <disable_collisions link1="Base_geom_1" link2="chassis_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Base_geom_1" link2="chassis_geom_2" reason="Adjacent" />
+  <disable_collisions link1="Base_geom_1" link2="head_pan_link" reason="Adjacent" />
+  <disable_collisions link1="Base_geom_1" link2="head_pan_link_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Base_geom_1" link2="top_base_link" reason="Adjacent" />
+  <disable_collisions link1="Base_geom_1" link2="top_base_link_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Base_geom_1" link2="wheel_1_link" reason="Adjacent" />
+  <disable_collisions link1="Base_geom_1" link2="wheel_2_link" reason="Adjacent" />
+  <disable_collisions link1="Base_geom_1" link2="wheel_3_link" reason="Adjacent" />
   <disable_collisions link1="Fixed_Jaw" link2="Fixed_Jaw_geom_1" reason="Adjacent" />
   <disable_collisions link1="Fixed_Jaw" link2="Moving_Jaw" reason="Adjacent" />
   <disable_collisions link1="Fixed_Jaw" link2="Right_Arm_Camera" reason="Adjacent" />
+  <disable_collisions link1="Fixed_Jaw" link2="Right_Arm_Camera_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Fixed_Jaw" link2="Wrist_Pitch_Roll" reason="Adjacent" />
+  <disable_collisions link1="Fixed_Jaw" link2="Wrist_Pitch_Roll_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Fixed_Jaw_2" link2="Fixed_Jaw_2_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Fixed_Jaw_2" link2="Left_Arm_Camera" reason="Adjacent" />
+  <disable_collisions link1="Fixed_Jaw_2" link2="Left_Arm_Camera_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Fixed_Jaw_2" link2="Moving_Jaw_2" reason="Adjacent" />
+  <disable_collisions link1="Fixed_Jaw_2" link2="Wrist_Pitch_Roll_2" reason="Adjacent" />
+  <disable_collisions link1="Fixed_Jaw_2" link2="Wrist_Pitch_Roll_2_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Fixed_Jaw_2_geom_1" link2="Left_Arm_Camera" reason="Adjacent" />
+  <disable_collisions link1="Fixed_Jaw_2_geom_1" link2="Left_Arm_Camera_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Fixed_Jaw_2_geom_1" link2="Moving_Jaw_2" reason="Adjacent" />
+  <disable_collisions link1="Fixed_Jaw_2_geom_1" link2="Wrist_Pitch_Roll_2" reason="Adjacent" />
+  <disable_collisions link1="Fixed_Jaw_2_geom_1" link2="Wrist_Pitch_Roll_2_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Fixed_Jaw_geom_1" link2="Moving_Jaw" reason="Adjacent" />
+  <disable_collisions link1="Fixed_Jaw_geom_1" link2="Right_Arm_Camera" reason="Adjacent" />
+  <disable_collisions link1="Fixed_Jaw_geom_1" link2="Right_Arm_Camera_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Fixed_Jaw_geom_1" link2="Wrist_Pitch_Roll" reason="Adjacent" />
+  <disable_collisions link1="Fixed_Jaw_geom_1" link2="Wrist_Pitch_Roll_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Left_Arm_Camera" link2="Left_Arm_Camera_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Left_Arm_Camera" link2="Moving_Jaw_2" reason="Adjacent" />
+  <disable_collisions link1="Left_Arm_Camera" link2="Wrist_Pitch_Roll_2" reason="Adjacent" />
+  <disable_collisions link1="Left_Arm_Camera" link2="Wrist_Pitch_Roll_2_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Left_Arm_Camera_geom_1" link2="Moving_Jaw_2" reason="Adjacent" />
+  <disable_collisions link1="Left_Arm_Camera_geom_1" link2="Wrist_Pitch_Roll_2" reason="Adjacent" />
+  <disable_collisions link1="Left_Arm_Camera_geom_1" link2="Wrist_Pitch_Roll_2_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Lower_Arm" link2="Lower_Arm_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Lower_Arm" link2="Upper_Arm" reason="Adjacent" />
+  <disable_collisions link1="Lower_Arm" link2="Upper_Arm_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Lower_Arm" link2="Wrist_Pitch_Roll" reason="Adjacent" />
+  <disable_collisions link1="Lower_Arm" link2="Wrist_Pitch_Roll_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Lower_Arm_2" link2="Lower_Arm_2_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Lower_Arm_2" link2="Upper_Arm_2" reason="Adjacent" />
+  <disable_collisions link1="Lower_Arm_2" link2="Upper_Arm_2_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Lower_Arm_2" link2="Wrist_Pitch_Roll_2" reason="Adjacent" />
+  <disable_collisions link1="Lower_Arm_2" link2="Wrist_Pitch_Roll_2_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Lower_Arm_2_geom_1" link2="Upper_Arm_2" reason="Adjacent" />
+  <disable_collisions link1="Lower_Arm_2_geom_1" link2="Upper_Arm_2_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Lower_Arm_2_geom_1" link2="Wrist_Pitch_Roll_2" reason="Adjacent" />
+  <disable_collisions link1="Lower_Arm_2_geom_1" link2="Wrist_Pitch_Roll_2_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Lower_Arm_geom_1" link2="Upper_Arm" reason="Adjacent" />
+  <disable_collisions link1="Lower_Arm_geom_1" link2="Upper_Arm_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Lower_Arm_geom_1" link2="Wrist_Pitch_Roll" reason="Adjacent" />
+  <disable_collisions link1="Lower_Arm_geom_1" link2="Wrist_Pitch_Roll_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Moving_Jaw" link2="Right_Arm_Camera" reason="Adjacent" />
+  <disable_collisions link1="Moving_Jaw" link2="Right_Arm_Camera_geom_1" reason="Adjacent" />
   <disable_collisions link1="Right_Arm_Camera" link2="Right_Arm_Camera_geom_1" reason="Adjacent" />
-  <disable_collisions link1="Base_2" link2="Base_2_geom_1" reason="Adjacent" />
-  <disable_collisions link1="Base_2" link2="Rotation_Pitch_2" reason="Adjacent" />
+  <disable_collisions link1="Right_Arm_Camera" link2="Wrist_Pitch_Roll" reason="Adjacent" />
+  <disable_collisions link1="Right_Arm_Camera" link2="Wrist_Pitch_Roll_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Right_Arm_Camera_geom_1" link2="Wrist_Pitch_Roll" reason="Adjacent" />
+  <disable_collisions link1="Right_Arm_Camera_geom_1" link2="Wrist_Pitch_Roll_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Rotation_Pitch" link2="Rotation_Pitch_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Rotation_Pitch" link2="Upper_Arm" reason="Adjacent" />
+  <disable_collisions link1="Rotation_Pitch" link2="Upper_Arm_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Rotation_Pitch" link2="base_footprint" reason="Adjacent" />
+  <disable_collisions link1="Rotation_Pitch" link2="chassis" reason="Adjacent" />
+  <disable_collisions link1="Rotation_Pitch" link2="chassis_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Rotation_Pitch" link2="chassis_geom_2" reason="Adjacent" />
+  <disable_collisions link1="Rotation_Pitch" link2="top_base_link" reason="Adjacent" />
+  <disable_collisions link1="Rotation_Pitch" link2="top_base_link_geom_1" reason="Adjacent" />
   <disable_collisions link1="Rotation_Pitch_2" link2="Rotation_Pitch_2_geom_1" reason="Adjacent" />
   <disable_collisions link1="Rotation_Pitch_2" link2="Upper_Arm_2" reason="Adjacent" />
+  <disable_collisions link1="Rotation_Pitch_2" link2="Upper_Arm_2_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Rotation_Pitch_2" link2="base_footprint" reason="Adjacent" />
+  <disable_collisions link1="Rotation_Pitch_2" link2="chassis" reason="Adjacent" />
+  <disable_collisions link1="Rotation_Pitch_2" link2="chassis_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Rotation_Pitch_2" link2="chassis_geom_2" reason="Adjacent" />
+  <disable_collisions link1="Rotation_Pitch_2" link2="top_base_link" reason="Adjacent" />
+  <disable_collisions link1="Rotation_Pitch_2" link2="top_base_link_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Rotation_Pitch_2_geom_1" link2="Upper_Arm_2" reason="Adjacent" />
+  <disable_collisions link1="Rotation_Pitch_2_geom_1" link2="Upper_Arm_2_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Rotation_Pitch_2_geom_1" link2="base_footprint" reason="Adjacent" />
+  <disable_collisions link1="Rotation_Pitch_2_geom_1" link2="chassis" reason="Adjacent" />
+  <disable_collisions link1="Rotation_Pitch_2_geom_1" link2="chassis_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Rotation_Pitch_2_geom_1" link2="chassis_geom_2" reason="Adjacent" />
+  <disable_collisions link1="Rotation_Pitch_2_geom_1" link2="top_base_link" reason="Adjacent" />
+  <disable_collisions link1="Rotation_Pitch_2_geom_1" link2="top_base_link_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Rotation_Pitch_geom_1" link2="Upper_Arm" reason="Adjacent" />
+  <disable_collisions link1="Rotation_Pitch_geom_1" link2="Upper_Arm_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Rotation_Pitch_geom_1" link2="base_footprint" reason="Adjacent" />
+  <disable_collisions link1="Rotation_Pitch_geom_1" link2="chassis" reason="Adjacent" />
+  <disable_collisions link1="Rotation_Pitch_geom_1" link2="chassis_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Rotation_Pitch_geom_1" link2="chassis_geom_2" reason="Adjacent" />
+  <disable_collisions link1="Rotation_Pitch_geom_1" link2="top_base_link" reason="Adjacent" />
+  <disable_collisions link1="Rotation_Pitch_geom_1" link2="top_base_link_geom_1" reason="Adjacent" />
+  <disable_collisions link1="Upper_Arm" link2="Upper_Arm_geom_1" reason="Adjacent" />
   <disable_collisions link1="Upper_Arm_2" link2="Upper_Arm_2_geom_1" reason="Adjacent" />
-  <disable_collisions link1="Upper_Arm_2" link2="Lower_Arm_2" reason="Adjacent" />
-  <disable_collisions link1="Lower_Arm_2" link2="Lower_Arm_2_geom_1" reason="Adjacent" />
-  <disable_collisions link1="Lower_Arm_2" link2="Wrist_Pitch_Roll_2" reason="Adjacent" />
+  <disable_collisions link1="Wrist_Pitch_Roll" link2="Wrist_Pitch_Roll_geom_1" reason="Adjacent" />
   <disable_collisions link1="Wrist_Pitch_Roll_2" link2="Wrist_Pitch_Roll_2_geom_1" reason="Adjacent" />
-  <disable_collisions link1="Wrist_Pitch_Roll_2" link2="Fixed_Jaw_2" reason="Adjacent" />
-  <disable_collisions link1="Fixed_Jaw_2" link2="Fixed_Jaw_2_geom_1" reason="Adjacent" />
-  <disable_collisions link1="Fixed_Jaw_2" link2="Moving_Jaw_2" reason="Adjacent" />
-  <disable_collisions link1="Fixed_Jaw_2" link2="Left_Arm_Camera" reason="Adjacent" />
-  <disable_collisions link1="Left_Arm_Camera" link2="Left_Arm_Camera_geom_1" reason="Adjacent" />
-  <disable_collisions link1="top_base_link" link2="top_base_link_geom_1" reason="Adjacent" />
-  <disable_collisions link1="top_base_link" link2="head_pan_link" reason="Adjacent" />
+  <disable_collisions link1="base_footprint" link2="chassis" reason="Adjacent" />
+  <disable_collisions link1="base_footprint" link2="chassis_geom_1" reason="Adjacent" />
+  <disable_collisions link1="base_footprint" link2="chassis_geom_2" reason="Adjacent" />
+  <disable_collisions link1="base_footprint" link2="head_pan_link" reason="Adjacent" />
+  <disable_collisions link1="base_footprint" link2="head_pan_link_geom_1" reason="Adjacent" />
+  <disable_collisions link1="base_footprint" link2="top_base_link" reason="Adjacent" />
+  <disable_collisions link1="base_footprint" link2="top_base_link_geom_1" reason="Adjacent" />
+  <disable_collisions link1="base_footprint" link2="wheel_1_link" reason="Adjacent" />
+  <disable_collisions link1="base_footprint" link2="wheel_2_link" reason="Adjacent" />
+  <disable_collisions link1="base_footprint" link2="wheel_3_link" reason="Adjacent" />
+  <disable_collisions link1="chassis" link2="chassis_geom_1" reason="Adjacent" />
+  <disable_collisions link1="chassis" link2="chassis_geom_2" reason="Adjacent" />
+  <disable_collisions link1="chassis" link2="head_pan_link" reason="Adjacent" />
+  <disable_collisions link1="chassis" link2="head_pan_link_geom_1" reason="Adjacent" />
+  <disable_collisions link1="chassis" link2="top_base_link" reason="Adjacent" />
+  <disable_collisions link1="chassis" link2="top_base_link_geom_1" reason="Adjacent" />
+  <disable_collisions link1="chassis" link2="wheel_1_link" reason="Adjacent" />
+  <disable_collisions link1="chassis" link2="wheel_2_link" reason="Adjacent" />
+  <disable_collisions link1="chassis" link2="wheel_3_link" reason="Adjacent" />
+  <disable_collisions link1="chassis_geom_1" link2="chassis_geom_2" reason="Adjacent" />
+  <disable_collisions link1="chassis_geom_1" link2="head_pan_link" reason="Adjacent" />
+  <disable_collisions link1="chassis_geom_1" link2="head_pan_link_geom_1" reason="Adjacent" />
+  <disable_collisions link1="chassis_geom_1" link2="top_base_link" reason="Adjacent" />
+  <disable_collisions link1="chassis_geom_1" link2="top_base_link_geom_1" reason="Adjacent" />
+  <disable_collisions link1="chassis_geom_1" link2="wheel_1_link" reason="Adjacent" />
+  <disable_collisions link1="chassis_geom_1" link2="wheel_2_link" reason="Adjacent" />
+  <disable_collisions link1="chassis_geom_1" link2="wheel_3_link" reason="Adjacent" />
+  <disable_collisions link1="chassis_geom_2" link2="head_pan_link" reason="Adjacent" />
+  <disable_collisions link1="chassis_geom_2" link2="head_pan_link_geom_1" reason="Adjacent" />
+  <disable_collisions link1="chassis_geom_2" link2="top_base_link" reason="Adjacent" />
+  <disable_collisions link1="chassis_geom_2" link2="top_base_link_geom_1" reason="Adjacent" />
+  <disable_collisions link1="chassis_geom_2" link2="wheel_1_link" reason="Adjacent" />
+  <disable_collisions link1="chassis_geom_2" link2="wheel_2_link" reason="Adjacent" />
+  <disable_collisions link1="chassis_geom_2" link2="wheel_3_link" reason="Adjacent" />
+  <disable_collisions link1="head_camera_depth_frame" link2="head_camera_link" reason="Adjacent" />
+  <disable_collisions link1="head_camera_depth_frame" link2="head_camera_rgb_frame" reason="Adjacent" />
+  <disable_collisions link1="head_camera_depth_frame" link2="head_pan_link" reason="Adjacent" />
+  <disable_collisions link1="head_camera_depth_frame" link2="head_pan_link_geom_1" reason="Adjacent" />
+  <disable_collisions link1="head_camera_depth_frame" link2="head_tilt_link" reason="Adjacent" />
+  <disable_collisions link1="head_camera_depth_frame" link2="head_tilt_link_geom_1" reason="Adjacent" />
+  <disable_collisions link1="head_camera_link" link2="head_camera_rgb_frame" reason="Adjacent" />
+  <disable_collisions link1="head_camera_link" link2="head_pan_link" reason="Adjacent" />
+  <disable_collisions link1="head_camera_link" link2="head_pan_link_geom_1" reason="Adjacent" />
+  <disable_collisions link1="head_camera_link" link2="head_tilt_link" reason="Adjacent" />
+  <disable_collisions link1="head_camera_link" link2="head_tilt_link_geom_1" reason="Adjacent" />
+  <disable_collisions link1="head_camera_rgb_frame" link2="head_pan_link" reason="Adjacent" />
+  <disable_collisions link1="head_camera_rgb_frame" link2="head_pan_link_geom_1" reason="Adjacent" />
+  <disable_collisions link1="head_camera_rgb_frame" link2="head_tilt_link" reason="Adjacent" />
+  <disable_collisions link1="head_camera_rgb_frame" link2="head_tilt_link_geom_1" reason="Adjacent" />
   <disable_collisions link1="head_pan_link" link2="head_pan_link_geom_1" reason="Adjacent" />
   <disable_collisions link1="head_pan_link" link2="head_tilt_link" reason="Adjacent" />
+  <disable_collisions link1="head_pan_link" link2="head_tilt_link_geom_1" reason="Adjacent" />
+  <disable_collisions link1="head_pan_link" link2="top_base_link" reason="Adjacent" />
+  <disable_collisions link1="head_pan_link" link2="top_base_link_geom_1" reason="Adjacent" />
+  <disable_collisions link1="head_pan_link_geom_1" link2="head_tilt_link" reason="Adjacent" />
+  <disable_collisions link1="head_pan_link_geom_1" link2="head_tilt_link_geom_1" reason="Adjacent" />
+  <disable_collisions link1="head_pan_link_geom_1" link2="top_base_link" reason="Adjacent" />
+  <disable_collisions link1="head_pan_link_geom_1" link2="top_base_link_geom_1" reason="Adjacent" />
   <disable_collisions link1="head_tilt_link" link2="head_tilt_link_geom_1" reason="Adjacent" />
-  <disable_collisions link1="head_tilt_link" link2="head_camera_link" reason="Adjacent" />
-  <disable_collisions link1="head_camera_link" link2="head_camera_rgb_frame" reason="Adjacent" />
-  <disable_collisions link1="head_camera_link" link2="head_camera_depth_frame" reason="Adjacent" />
-  <disable_collisions link1="Base" link2="chassis" reason="Adjacent" />
-  <disable_collisions link1="Base_2" link2="chassis" reason="Adjacent" />
-  <disable_collisions link1="top_base_link" link2="chassis" reason="Adjacent" />
+  <disable_collisions link1="top_base_link" link2="top_base_link_geom_1" reason="Adjacent" />
+  <disable_collisions link1="top_base_link" link2="wheel_1_link" reason="Adjacent" />
+  <disable_collisions link1="top_base_link" link2="wheel_2_link" reason="Adjacent" />
+  <disable_collisions link1="top_base_link" link2="wheel_3_link" reason="Adjacent" />
+  <disable_collisions link1="top_base_link_geom_1" link2="wheel_1_link" reason="Adjacent" />
+  <disable_collisions link1="top_base_link_geom_1" link2="wheel_2_link" reason="Adjacent" />
+  <disable_collisions link1="top_base_link_geom_1" link2="wheel_3_link" reason="Adjacent" />
 
 </robot>
diff --git a/Scenes/xlerobot_home.world b/Scenes/xlerobot_home.world
index 77518d1c9..b681e21b5 100644
--- a/Scenes/xlerobot_home.world
+++ b/Scenes/xlerobot_home.world
@@ -70,7 +70,10 @@
          nudged up a hair more to 0.77 to avoid starting embedded -->
 
     <model name="red_box">
-      <pose>-2.3 0.25 0.77 0 0 0</pose>
+      <!-- nudged 0.15m toward the near edge (the side the robot approaches
+           from, larger x) so the robot does not need to get the chassis
+           right up against the table to reach it -->
+      <pose>-2.15 0.25 0.77 0 0 0</pose>
       <link name="link">
         <inertial>
           <mass>0.05</mass>
@@ -106,7 +109,7 @@
     </model>
 
     <model name="yellow_box">
-      <pose>-2.4 0.35 0.77 0 0 0</pose>
+      <pose>-2.25 0.35 0.77 0 0 0</pose>
       <link name="link">
         <inertial>
           <mass>0.05</mass>
@@ -142,7 +145,7 @@
     </model>
 
     <model name="blue_box">
-      <pose>-2.5 0.2 0.77 0 0 0</pose>
+      <pose>-2.35 0.2 0.77 0 0 0</pose>
       <link name="link">
         <inertial>
           <mass>0.05</mass>

From 7e6502a19a68817c8076238267904884a4a29137 Mon Sep 17 00:00:00 2001
From: aquintan <aquintana.camacho@proton.me>
Date: Fri, 18 Sep 2026 10:53:57 +0200
Subject: [PATCH 15/32] xlerobot TCP and tray tfs, RGBD camera support, update
 world

---
 .../xlerobot/launch/xlerobot.launch.py        |  1 +
 .../xlerobot/xlerobot_common.urdf.xacro       | 52 +++++++++++++++++--
 .../xlerobot_moveit_config/srdf/xlerobot.srdf | 16 +++---
 3 files changed, 58 insertions(+), 11 deletions(-)

diff --git a/CustomRobots/xlerobot/launch/xlerobot.launch.py b/CustomRobots/xlerobot/launch/xlerobot.launch.py
index 6c869b939..eb935be7a 100644
--- a/CustomRobots/xlerobot/launch/xlerobot.launch.py
+++ b/CustomRobots/xlerobot/launch/xlerobot.launch.py
@@ -182,6 +182,7 @@ def launch_setup(context):
         namespace=gz_namespace,
         arguments=[
             f"/{namespace}/head_camera/image",
+            f"/{namespace}/head_camera/depth_image",
             f"/{namespace}/left_arm_camera/image_raw",
             f"/{namespace}/right_arm_camera/image_raw",
         ],
diff --git a/CustomRobots/xlerobot/models/xlerobot/xlerobot_common.urdf.xacro b/CustomRobots/xlerobot/models/xlerobot/xlerobot_common.urdf.xacro
index 17731f95b..6873f0b34 100644
--- a/CustomRobots/xlerobot/models/xlerobot/xlerobot_common.urdf.xacro
+++ b/CustomRobots/xlerobot/models/xlerobot/xlerobot_common.urdf.xacro
@@ -1161,7 +1161,19 @@
       <dynamics damping="0.3" friction="0.1" />
     </joint>
 
-  
+
+<!-- TCP: fingertip contact point with the gripper mechanically closed
+     (Jaw_L at its lower limit), measured as the midpoint of the closest
+     Fixed_Jaw/Moving_Jaw mesh vertices at that configuration -->
+<link name="TCP_L" />
+
+<joint name="TCP_L_joint" type="fixed">
+      <parent link="Fixed_Jaw" />
+      <child link="TCP_L" />
+      <origin xyz="0.00713 -0.10003 -0.00360" rpy="0 0 0" />
+    </joint>
+
+
 <joint name="fixed_Right_Arm_Camera" type="fixed">
       <parent link="Fixed_Jaw" />
       <child link="Right_Arm_Camera" />
@@ -1284,7 +1296,18 @@
       <dynamics damping="0.3" friction="0.1" />
     </joint>
 
-  
+
+<!-- TCP: same measured fingertip contact point as TCP_L, Fixed_Jaw_2 uses
+     the identical Fixed_Jaw/Moving_Jaw mesh pair mounted symmetrically -->
+<link name="TCP_R" />
+
+<joint name="TCP_R_joint" type="fixed">
+      <parent link="Fixed_Jaw_2" />
+      <child link="TCP_R" />
+      <origin xyz="0.00713 -0.10003 -0.00360" rpy="0 0 0" />
+    </joint>
+
+
 <joint name="fixed_Left_Arm_Camera" type="fixed">
       <parent link="Fixed_Jaw_2" />
       <child link="Left_Arm_Camera" />
@@ -1312,7 +1335,30 @@
       <origin xyz="0 0 0" rpy="0 0 0" />
     </joint>
 
-  
+
+<!-- Tray drop/pick anchor points, one per arm, positioned by hand in RViz
+     against the real basket mesh (see /tmp calibration session). This is the
+     floor contact point of each arm's slot, not the object's rest center:
+     whoever teleports an object here on drop must add half that object's
+     height in z so it does not clip through the floor -->
+<link name="tray_anchor_L" />
+
+<joint name="tray_anchor_L_joint" type="fixed">
+      <parent link="top_base_link" />
+      <child link="tray_anchor_L" />
+      <origin xyz="0.061 0.085 0.002" rpy="0 0 0" />
+    </joint>
+
+
+<link name="tray_anchor_R" />
+
+<joint name="tray_anchor_R_joint" type="fixed">
+      <parent link="top_base_link" />
+      <child link="tray_anchor_R" />
+      <origin xyz="0.061 -0.085 0.002" rpy="0 0 0" />
+    </joint>
+
+
 <joint name="head_pan_joint" type="revolute">
       <parent link="top_base_link" />
       <child link="head_pan_link" />
diff --git a/Industrial/xlerobot_moveit_config/srdf/xlerobot.srdf b/Industrial/xlerobot_moveit_config/srdf/xlerobot.srdf
index bc76d3592..81080faa1 100644
--- a/Industrial/xlerobot_moveit_config/srdf/xlerobot.srdf
+++ b/Industrial/xlerobot_moveit_config/srdf/xlerobot.srdf
@@ -2,11 +2,11 @@
 <robot name="xlerobot">
 
   <group name="xlerobot_left_arm">
-    <chain base_link="Base" tip_link="Fixed_Jaw"/>
+    <chain base_link="Base" tip_link="TCP_L"/>
   </group>
 
   <group name="xlerobot_right_arm">
-    <chain base_link="Base_2" tip_link="Fixed_Jaw_2"/>
+    <chain base_link="Base_2" tip_link="TCP_R"/>
   </group>
 
   <group name="left_gripper">
@@ -34,21 +34,21 @@
   </group_state>
 
   <group_state group="left_gripper" name="open">
-    <joint name="Jaw_L" value="0" />
+    <joint name="Jaw_L" value="1.7453292" />
   </group_state>
   <group_state group="left_gripper" name="closed">
-    <joint name="Jaw_L" value="1.5" />
+    <joint name="Jaw_L" value="-0.374533" />
   </group_state>
 
   <group_state group="right_gripper" name="open">
-    <joint name="Jaw_R" value="0" />
+    <joint name="Jaw_R" value="1.7453292" />
   </group_state>
   <group_state group="right_gripper" name="closed">
-    <joint name="Jaw_R" value="1.5" />
+    <joint name="Jaw_R" value="-0.374533" />
   </group_state>
 
-  <end_effector name="left_gripper" parent_link="Fixed_Jaw" group="left_gripper"/>
-  <end_effector name="right_gripper" parent_link="Fixed_Jaw_2" group="right_gripper"/>
+  <end_effector name="left_gripper" parent_link="TCP_L" group="left_gripper"/>
+  <end_effector name="right_gripper" parent_link="TCP_R" group="right_gripper"/>
 
   <!-- No virtual joint to world on purpose, base_footprint moves with the chassis
        via VelocityControl and is not tracked by any static transform, planning stays

From c4d4204f5a95493baafa2ba95d93be6386ad6a16 Mon Sep 17 00:00:00 2001
From: aquintan <aquintana.camacho@proton.me>
Date: Fri, 18 Sep 2026 11:47:45 +0200
Subject: [PATCH 16/32] xlerobot world, collisions

---
 .../xlerobot/xlerobot_common.urdf.xacro       |  9 ++++++--
 .../models/xlerobot/xlerobot_gz.urdf.xacro    | 21 +++++++++++++++++++
 Scenes/xlerobot_home.world                    |  4 ++--
 database/worlds.sql                           |  2 +-
 4 files changed, 31 insertions(+), 5 deletions(-)

diff --git a/CustomRobots/xlerobot/models/xlerobot/xlerobot_common.urdf.xacro b/CustomRobots/xlerobot/models/xlerobot/xlerobot_common.urdf.xacro
index 6873f0b34..e35e0e78f 100644
--- a/CustomRobots/xlerobot/models/xlerobot/xlerobot_common.urdf.xacro
+++ b/CustomRobots/xlerobot/models/xlerobot/xlerobot_common.urdf.xacro
@@ -1407,14 +1407,19 @@
 <joint name="fixed_head_camera_rgb_frame" type="fixed">
       <parent link="head_camera_link" />
       <child link="head_camera_rgb_frame" />
-      <origin xyz="0 0 0" rpy="0 -1.5707911 -1.5707963" />
+      <!-- roll/pitch were swapped: this used to point optical +Z (forward)
+           along the robot's own +Y (left) instead of +X (ahead), confirmed
+           by computing the actual forward axis from the live TF transform.
+           Correct optical-frame convention is roll=-90, pitch=0, yaw=-90 -->
+      <origin xyz="0 0 0" rpy="-1.5707911 0 -1.5707963" />
     </joint>
 
   
 <joint name="fixed_head_camera_depth_frame" type="fixed">
       <parent link="head_camera_link" />
       <child link="head_camera_depth_frame" />
-      <origin xyz="0 0 0" rpy="0 -1.5707911 -1.5707963" />
+      <!-- same roll/pitch fix as fixed_head_camera_rgb_frame above -->
+      <origin xyz="0 0 0" rpy="-1.5707911 0 -1.5707963" />
     </joint>
 
 
diff --git a/CustomRobots/xlerobot/models/xlerobot/xlerobot_gz.urdf.xacro b/CustomRobots/xlerobot/models/xlerobot/xlerobot_gz.urdf.xacro
index d4612cf56..b3154be26 100644
--- a/CustomRobots/xlerobot/models/xlerobot/xlerobot_gz.urdf.xacro
+++ b/CustomRobots/xlerobot/models/xlerobot/xlerobot_gz.urdf.xacro
@@ -30,6 +30,27 @@
     </gazebo>
   </xacro:macro>
 
+  <!-- Safety net, not a substitute for not colliding: caps how hard ODE is
+       allowed to shove interpenetrating bodies apart in a single step. A
+       real bump against the table (chassis is the only link here with
+       collision geometry near the tray, top_base_link/the basket mesh has
+       none) otherwise resolves as a single large correction impulse that
+       shows up as the whole kinematic chain (arms included) jumping/
+       jittering, since they all ride on the chassis. max_vel/min_depth are
+       the standard ODE knobs for this, does not change normal driving. -->
+  <gazebo reference="chassis">
+    <collision>
+      <surface>
+        <contact>
+          <ode>
+            <max_vel>0.2</max_vel>
+            <min_depth>0.001</min_depth>
+          </ode>
+        </contact>
+      </surface>
+    </collision>
+  </gazebo>
+
   <xacro:macro name="velocity" params="namespace">
     <gazebo>
       <plugin filename="gz-sim-velocity-control-system" name="gz::sim::systems::VelocityControl">
diff --git a/Scenes/xlerobot_home.world b/Scenes/xlerobot_home.world
index b681e21b5..65aba2c73 100644
--- a/Scenes/xlerobot_home.world
+++ b/Scenes/xlerobot_home.world
@@ -109,7 +109,7 @@
     </model>
 
     <model name="yellow_box">
-      <pose>-2.25 0.35 0.77 0 0 0</pose>
+      <pose>-2.15 0.35 0.77 0 0 0</pose>
       <link name="link">
         <inertial>
           <mass>0.05</mass>
@@ -145,7 +145,7 @@
     </model>
 
     <model name="blue_box">
-      <pose>-2.35 0.2 0.77 0 0 0</pose>
+      <pose>-2.15 0.2 0.77 0 0 0</pose>
       <link name="link">
         <inertial>
           <mass>0.05</mass>
diff --git a/database/worlds.sql b/database/worlds.sql
index 2c9a11cb7..5fd36ec97 100644
--- a/database/worlds.sql
+++ b/database/worlds.sql
@@ -331,7 +331,7 @@ COPY public.scenes (id, name, launch_file_path, tools_config, ros_version, type,
 78	Visual Lander	/opt/jderobot/Launchers/visual_lander.launch.py	{"gzsim":"/opt/jderobot/Launchers/visualization/visual_lander.config"}	ROS2	gz	visual_lander.urdf
 79	Visual Lander Circuit	/opt/jderobot/Launchers/visual_lander_circuit.launch.py	{"gzsim":"/opt/jderobot/Launchers/visualization/visual_lander.config"}	ROS2	gz	visual_lander.urdf
 80	Follow Turtlebot	/opt/jderobot/Launchers/follow_turtlebot.launch.py	{"gzsim":"/opt/jderobot/Launchers/visualization/follow_turtlebot.config"}	ROS2	gz	follow_turtlebot.urdf
-81	XLeRobot Home	/opt/jderobot/Launchers/xlerobot_home.launch.py	{"rviz":"/opt/jderobot/Launchers/rviz/xlerobot_home_harmonic.launch.py"}	ROS2	gz	xlerobot_home.urdf
+81	XLeRobot Home	/opt/jderobot/Launchers/xlerobot_home.launch.py	{"gzsim":"/opt/jderobot/Launchers/visualization/xlerobot_home.config"}	ROS2	gz	xlerobot_home.urdf
 \.
 
 --

From b8e6a754ad7d7e785ff8d4c45c385810d0cebd8a Mon Sep 17 00:00:00 2001
From: aquintan <aquintana.camacho@proton.me>
Date: Fri, 18 Sep 2026 12:18:20 +0200
Subject: [PATCH 17/32] improve RTF, separate cubes, add texture to the table

---
 .../roomba_robot/models/mesa_comedor/model.sdf   |   8 ++++++--
 Scenes/xlerobot_home.world                       |  11 +++++++----
 resources/exercises/xlerobot_home/images/map.png | Bin 0 -> 1027 bytes
 3 files changed, 13 insertions(+), 6 deletions(-)
 create mode 100644 resources/exercises/xlerobot_home/images/map.png

diff --git a/CustomRobots/roomba_robot/models/mesa_comedor/model.sdf b/CustomRobots/roomba_robot/models/mesa_comedor/model.sdf
index 8e7a725ad..eeec5ecfc 100755
--- a/CustomRobots/roomba_robot/models/mesa_comedor/model.sdf
+++ b/CustomRobots/roomba_robot/models/mesa_comedor/model.sdf
@@ -12,11 +12,15 @@
             </submesh>
           </mesh>
         </geometry>
+        <!-- was a flat blue placeholder (never got the wood texture the
+             legs already use below), now matches them -->
         <material>
-          <diffuse>0.0 0.0 1.0 1.0</diffuse>
+          <diffuse>1.0 1.0 1.0 1.0</diffuse>
           <specular>0.0 0.0 0.0 1.0</specular>
           <pbr>
-            <metal/>
+            <metal>
+              <albedo_map>meshes/wood.jpg</albedo_map>
+            </metal>
           </pbr>
         </material>
       </visual>
diff --git a/Scenes/xlerobot_home.world b/Scenes/xlerobot_home.world
index 65aba2c73..89cfedfaa 100644
--- a/Scenes/xlerobot_home.world
+++ b/Scenes/xlerobot_home.world
@@ -43,7 +43,7 @@
     <scene>
       <ambient>0.4 0.4 0.4 1</ambient>
       <background>0.7 0.7 0.7 1</background>
-      <shadows>true</shadows>
+      <shadows>false</shadows>
       <grid>false</grid>
     </scene>
 
@@ -54,7 +54,7 @@
     </include>
 
     <light type="directional" name="sun">
-      <cast_shadows>1</cast_shadows>
+      <cast_shadows>0</cast_shadows>
       <pose>0 0 10 0 0 0</pose>
       <diffuse>0.8 0.8 0.8 1</diffuse>
       <specular>0.2 0.2 0.2 1</specular>
@@ -74,6 +74,9 @@
            from, larger x) so the robot does not need to get the chassis
            right up against the table to reach it -->
       <pose>-2.15 0.25 0.77 0 0 0</pose>
+      <!-- boxes spaced 0.15m apart in y (was 0.05-0.1m, edge to edge for
+           red/blue, looked "stuck together" and made them harder to tell
+           apart visually) -->
       <link name="link">
         <inertial>
           <mass>0.05</mass>
@@ -109,7 +112,7 @@
     </model>
 
     <model name="yellow_box">
-      <pose>-2.15 0.35 0.77 0 0 0</pose>
+      <pose>-2.15 0.40 0.77 0 0 0</pose>
       <link name="link">
         <inertial>
           <mass>0.05</mass>
@@ -145,7 +148,7 @@
     </model>
 
     <model name="blue_box">
-      <pose>-2.15 0.2 0.77 0 0 0</pose>
+      <pose>-2.15 0.10 0.77 0 0 0</pose>
       <link name="link">
         <inertial>
           <mass>0.05</mass>
diff --git a/resources/exercises/xlerobot_home/images/map.png b/resources/exercises/xlerobot_home/images/map.png
new file mode 100644
index 0000000000000000000000000000000000000000..f16973a4e930d4d893e0e7e765d7626cf9c48792
GIT binary patch
literal 1027
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z^2n;jB%OEQRd2GIEoGJGd|vXKP(j;#r!^n6I@xF6JyH4B=CRYHbRpHs=cn^47wK>_
z91u6(w$}1_<8#LU$0hzx`EzySbH@487kCPqXf~<2URc60OT=-qQbrJqZx?+8_tkAZ
z|K)Z6{k^xI?<%(c`|tV1<pmPLAXj{<^6oop``_u$BAr)a!m}hObJrB+cXO^79E&i2
zHs|=flitT3Til(?Z(cPI=z0BZ%WUjxc2#>vz7MjqopJuwq{mXxXLrAi{_y#G{oKlL
zH?Mj7yg1!sI8V&RUMIOHTH?}j)Awy3r+uoBd1#sIR6b{AWx0yYa@N1kZ2OMiop`y-
ze?Bk&v)%>z#?NKme`7zs`*57dy1jON$8%r&`*eJ}|NOgsIlkfTU-rjeo&IlP&i2Q3
zugz`l$3Lyut`q-n_xGIo_xJbzf4`gmbK>`fUd+|IyRw|(bI$EN_wwt;cXCB)>0EUy
zpV>IZXV#Ux$+Wrs<?gjTJ95gmhSx3saOcy5hm%7;*<Rl><3hMZa*yG&O>6o~zuyS1
zT6t^v@yXmTf}8dot4aLr;D6gTxOm0_{mti|&8^(TWO?fH>WjOTmz#zk|D42o_rsQF
zZ-3-@?p=}{=ksE9Z-4*cw^{$5wcqzEFL&IY9mi6;((?K7zW<exJKo9t_IsGNwsLz_
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z-~3tPj_h;Ze_fXaF|qi%S>B`bp%E;#Yd;<`WB+{Y)X{5+HNUqT?(lEgH>odwvMM{J
zX_WnrW#(`BlOJx*1f}#TlmEv)f7iSx^7h#TU-~6^28JDH?tkU|%x<=K-d14dX7F_N
Kb6Mw<&;$S&C)`W`

literal 0
HcmV?d00001


From cb4985729d7a8bb7369a9ac43e0d4b40d41dce67 Mon Sep 17 00:00:00 2001
From: aquintan <aquintana.camacho@proton.me>
Date: Fri, 18 Sep 2026 13:02:18 +0200
Subject: [PATCH 18/32] cubes position

---
 Scenes/xlerobot_home.world | 25 ++++++++++++++++---------
 1 file changed, 16 insertions(+), 9 deletions(-)

diff --git a/Scenes/xlerobot_home.world b/Scenes/xlerobot_home.world
index 89cfedfaa..709d5eab3 100644
--- a/Scenes/xlerobot_home.world
+++ b/Scenes/xlerobot_home.world
@@ -62,18 +62,25 @@
       <visualize>false</visualize>
     </light>
 
-    <!-- Graspable objects on the dining table (mesa_comedor, at -2.4 0.3 0).
-         Table top is at z=0.74, read straight out of the "Mesa" node's
-         transform in mesa_comedor/meshes/model.dae (scale 0.015, translate
-         0.725, on a -1..1 unit cube -> surface at 0.725 + 0.015 = 0.74),
-         boxes are 0.05 tall so their center goes at 0.74 + 0.025 = 0.765,
-         nudged up a hair more to 0.77 to avoid starting embedded -->
+    <!-- Graspable objects on the dining table (mesa_comedor, at -2.4 0.3 0,
+         yaw 1.57). Table top is at z=0.74, read straight out of the "Mesa"
+         node's transform in mesa_comedor/meshes/model.dae (scale
+         0.8 0.4 0.015, translate z=0.725, on a -1..1 unit cube -> surface
+         at 0.725 + 0.015 = 0.74), boxes are 0.05 tall so their center goes
+         at 0.74 + 0.025 = 0.765, nudged up a hair more to 0.77 to avoid
+         starting embedded. The 90 degree yaw swaps the table's local X/Y
+         half-extents (0.8/0.4) onto world Y/X, so the near edge (largest
+         world x, the side the robot approaches from) is at
+         -2.4 + 0.4 = -2.0. Boxes sit at x=-2.05, ~2.5cm in from that
+         edge (they were at -2.15, 15cm inside the table, before this was
+         actually measured instead of guessed, and the robot had to drive
+         into the table itself to reach them) -->
 
     <model name="red_box">
       <!-- nudged 0.15m toward the near edge (the side the robot approaches
            from, larger x) so the robot does not need to get the chassis
            right up against the table to reach it -->
-      <pose>-2.15 0.25 0.77 0 0 0</pose>
+      <pose>-2.05 0.25 0.77 0 0 0</pose>
       <!-- boxes spaced 0.15m apart in y (was 0.05-0.1m, edge to edge for
            red/blue, looked "stuck together" and made them harder to tell
            apart visually) -->
@@ -112,7 +119,7 @@
     </model>
 
     <model name="yellow_box">
-      <pose>-2.15 0.40 0.77 0 0 0</pose>
+      <pose>-2.05 0.40 0.77 0 0 0</pose>
       <link name="link">
         <inertial>
           <mass>0.05</mass>
@@ -148,7 +155,7 @@
     </model>
 
     <model name="blue_box">
-      <pose>-2.15 0.10 0.77 0 0 0</pose>
+      <pose>-2.05 0.10 0.77 0 0 0</pose>
       <link name="link">
         <inertial>
           <mass>0.05</mass>

From 76ef05f000c8acfe9f29fedf3ec7a99afde00805 Mon Sep 17 00:00:00 2001
From: aquintan <aquintana.camacho@proton.me>
Date: Fri, 18 Sep 2026 13:45:06 +0200
Subject: [PATCH 19/32] collision xlerobot

---
 .../models/xlerobot/xlerobot_common.urdf.xacro    | 15 +++++++++++++++
 1 file changed, 15 insertions(+)

diff --git a/CustomRobots/xlerobot/models/xlerobot/xlerobot_common.urdf.xacro b/CustomRobots/xlerobot/models/xlerobot/xlerobot_common.urdf.xacro
index e35e0e78f..48348859e 100644
--- a/CustomRobots/xlerobot/models/xlerobot/xlerobot_common.urdf.xacro
+++ b/CustomRobots/xlerobot/models/xlerobot/xlerobot_common.urdf.xacro
@@ -846,6 +846,21 @@
           <color rgba="0.30196471 0.30196471 0.30196471 1.00000000" />
         </material>
       </visual>
+      <!-- Had no collision geometry at all before, so arms could pass
+           straight through the tray/mast both in Gazebo and in MoveIt's
+           planning (nothing to check against). Box approximation, not the
+           real mesh (a cheaper primitive is the norm for collision, and
+           the real mesh's own footprint here still is not fully pinned
+           down), sized generously from the measured basket cavity (tray
+           anchors sit at x~0.06, y~+-0.085) up to just below the head
+           mount (head_pan_joint origin z=0.323) so the whole body is
+           covered, not just the basket -->
+      <collision>
+        <origin xyz="0 0 0.135" rpy="0 0 0" />
+        <geometry>
+          <box size="0.40 0.40 0.37" />
+        </geometry>
+      </collision>
       <inertial>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <mass value="0.2542" />

From 549d7d36491062f49decb328ea0b9fdd1bce2de5 Mon Sep 17 00:00:00 2001
From: aquintan <aquintana.camacho@proton.me>
Date: Fri, 18 Sep 2026 13:45:56 +0200
Subject: [PATCH 20/32] xlerobot collisions update

---
 .../xlerobot/xlerobot_common.urdf.xacro       | 54 +++++++++++++++----
 1 file changed, 44 insertions(+), 10 deletions(-)

diff --git a/CustomRobots/xlerobot/models/xlerobot/xlerobot_common.urdf.xacro b/CustomRobots/xlerobot/models/xlerobot/xlerobot_common.urdf.xacro
index 48348859e..77c45de92 100644
--- a/CustomRobots/xlerobot/models/xlerobot/xlerobot_common.urdf.xacro
+++ b/CustomRobots/xlerobot/models/xlerobot/xlerobot_common.urdf.xacro
@@ -848,17 +848,51 @@
       </visual>
       <!-- Had no collision geometry at all before, so arms could pass
            straight through the tray/mast both in Gazebo and in MoveIt's
-           planning (nothing to check against). Box approximation, not the
-           real mesh (a cheaper primitive is the norm for collision, and
-           the real mesh's own footprint here still is not fully pinned
-           down), sized generously from the measured basket cavity (tray
-           anchors sit at x~0.06, y~+-0.085) up to just below the head
-           mount (head_pan_joint origin z=0.323) so the whole body is
-           covered, not just the basket -->
-      <collision>
-        <origin xyz="0 0 0.135" rpy="0 0 0" />
+           planning (nothing to check against). Modeled hollow on purpose:
+           floor + 4 thin walls around the basket cavity (tray_anchor_L/R
+           sit at x~0.06, y~+-0.085, z~0, comfortably inside), open top so
+           dropInLeftTray/RightTray and pickFromLeftTray/RightTray can
+           still lower an object in from above, a single solid box here
+           would physically block the tray from ever being used. Solid
+           mast above the rim, up to just below the head mount
+           (head_pan_joint origin z=0.323), narrower to roughly match the
+           pole. All dimensions are a reasoned approximation around the
+           measured anchor points, not the real mesh, worth a visual
+           check once this is live. -->
+      <collision name="tray_floor">
+        <origin xyz="0.06 0 -0.045" rpy="0 0 0" />
+        <geometry>
+          <box size="0.28 0.36 0.03" />
+        </geometry>
+      </collision>
+      <collision name="tray_wall_back">
+        <origin xyz="-0.065 0 0.045" rpy="0 0 0" />
+        <geometry>
+          <box size="0.03 0.36 0.15" />
+        </geometry>
+      </collision>
+      <collision name="tray_wall_front">
+        <origin xyz="0.185 0 0.045" rpy="0 0 0" />
+        <geometry>
+          <box size="0.03 0.36 0.15" />
+        </geometry>
+      </collision>
+      <collision name="tray_wall_left">
+        <origin xyz="0.06 -0.165 0.045" rpy="0 0 0" />
+        <geometry>
+          <box size="0.22 0.03 0.15" />
+        </geometry>
+      </collision>
+      <collision name="tray_wall_right">
+        <origin xyz="0.06 0.165 0.045" rpy="0 0 0" />
+        <geometry>
+          <box size="0.22 0.03 0.15" />
+        </geometry>
+      </collision>
+      <collision name="mast">
+        <origin xyz="0.06 0 0.22" rpy="0 0 0" />
         <geometry>
-          <box size="0.40 0.40 0.37" />
+          <box size="0.16 0.16 0.20" />
         </geometry>
       </collision>
       <inertial>

From 7c53f74e6d495a8a43a3cc4345c23640f9da1136 Mon Sep 17 00:00:00 2001
From: aquintan <aquintana.camacho@proton.me>
Date: Mon, 21 Sep 2026 09:16:45 +0200
Subject: [PATCH 21/32] xlerobot map and camera frames

---
 .../xlerobot/xlerobot_common.urdf.xacro       | 61 +++++--------------
 Scenes/xlerobot_home.world                    | 15 +++--
 2 files changed, 25 insertions(+), 51 deletions(-)

diff --git a/CustomRobots/xlerobot/models/xlerobot/xlerobot_common.urdf.xacro b/CustomRobots/xlerobot/models/xlerobot/xlerobot_common.urdf.xacro
index 77c45de92..3f270e2e7 100644
--- a/CustomRobots/xlerobot/models/xlerobot/xlerobot_common.urdf.xacro
+++ b/CustomRobots/xlerobot/models/xlerobot/xlerobot_common.urdf.xacro
@@ -846,53 +846,24 @@
           <color rgba="0.30196471 0.30196471 0.30196471 1.00000000" />
         </material>
       </visual>
-      <!-- Had no collision geometry at all before, so arms could pass
-           straight through the tray/mast both in Gazebo and in MoveIt's
-           planning (nothing to check against). Modeled hollow on purpose:
-           floor + 4 thin walls around the basket cavity (tray_anchor_L/R
-           sit at x~0.06, y~+-0.085, z~0, comfortably inside), open top so
-           dropInLeftTray/RightTray and pickFromLeftTray/RightTray can
-           still lower an object in from above, a single solid box here
-           would physically block the tray from ever being used. Solid
-           mast above the rim, up to just below the head mount
-           (head_pan_joint origin z=0.323), narrower to roughly match the
-           pole. All dimensions are a reasoned approximation around the
-           measured anchor points, not the real mesh, worth a visual
-           check once this is live. -->
-      <collision name="tray_floor">
-        <origin xyz="0.06 0 -0.045" rpy="0 0 0" />
-        <geometry>
-          <box size="0.28 0.36 0.03" />
-        </geometry>
-      </collision>
-      <collision name="tray_wall_back">
-        <origin xyz="-0.065 0 0.045" rpy="0 0 0" />
-        <geometry>
-          <box size="0.03 0.36 0.15" />
-        </geometry>
-      </collision>
-      <collision name="tray_wall_front">
-        <origin xyz="0.185 0 0.045" rpy="0 0 0" />
-        <geometry>
-          <box size="0.03 0.36 0.15" />
-        </geometry>
-      </collision>
-      <collision name="tray_wall_left">
-        <origin xyz="0.06 -0.165 0.045" rpy="0 0 0" />
-        <geometry>
-          <box size="0.22 0.03 0.15" />
-        </geometry>
-      </collision>
-      <collision name="tray_wall_right">
-        <origin xyz="0.06 0.165 0.045" rpy="0 0 0" />
-        <geometry>
-          <box size="0.22 0.03 0.15" />
-        </geometry>
-      </collision>
+      <!-- The basket itself is the chassis link (raskogbody.stl) and its
+           collision boxes already model the tray floor (top at z=0.68 in
+           base_footprint) and rim walls, tray_anchor_L/R sit inside that
+           cavity. top_base_link only carries the thin mast, which had no
+           collision at all so arms could pass through it. -->
+      <!-- Was centered at x=0.06 (that is the basket cavity's x, not the
+           mast's), 0.16m wide, which caused the left arm's own ready pose
+           to self-collide with it (checked against the actual joint
+           chain, the forearm passes right through z=0.16-0.28 there), so
+           every single planning request failed regardless of target.
+           Recentered on the real mast footprint from the topbase1.stl
+           cross-section (x=-0.131..-0.079, y=-0.022..0.022) and narrowed
+           to match, the arm's ready-pose links sit at y~-0.15, comfortably
+           clear of this now -->
       <collision name="mast">
-        <origin xyz="0.06 0 0.22" rpy="0 0 0" />
+        <origin xyz="-0.105 0 0.22" rpy="0 0 0" />
         <geometry>
-          <box size="0.16 0.16 0.20" />
+          <box size="0.06 0.05 0.20" />
         </geometry>
       </collision>
       <inertial>
diff --git a/Scenes/xlerobot_home.world b/Scenes/xlerobot_home.world
index 709d5eab3..268f49fa3 100644
--- a/Scenes/xlerobot_home.world
+++ b/Scenes/xlerobot_home.world
@@ -80,10 +80,13 @@
       <!-- nudged 0.15m toward the near edge (the side the robot approaches
            from, larger x) so the robot does not need to get the chassis
            right up against the table to reach it -->
-      <pose>-2.05 0.25 0.77 0 0 0</pose>
-      <!-- boxes spaced 0.15m apart in y (was 0.05-0.1m, edge to edge for
-           red/blue, looked "stuck together" and made them harder to tell
-           apart visually) -->
+      <pose>-2.05 0.455 0.77 0 0 0</pose>
+      <!-- Box y positions line up with the two arm shoulders. The robot
+           spawns at y=0.3 facing -x (yaw pi), so its left shoulder axis
+           (base_footprint y=-0.155) is at world y=0.455 and the right one
+           (y=+0.155) at 0.145: red goes to the left arm, blue to the right
+           arm, yellow sits between them. An arm only reaches ~0.30m ahead,
+           and only when the target roughly lines up with its own shoulder. -->
       <link name="link">
         <inertial>
           <mass>0.05</mass>
@@ -119,7 +122,7 @@
     </model>
 
     <model name="yellow_box">
-      <pose>-2.05 0.40 0.77 0 0 0</pose>
+      <pose>-2.05 0.30 0.77 0 0 0</pose>
       <link name="link">
         <inertial>
           <mass>0.05</mass>
@@ -155,7 +158,7 @@
     </model>
 
     <model name="blue_box">
-      <pose>-2.05 0.10 0.77 0 0 0</pose>
+      <pose>-2.05 0.145 0.77 0 0 0</pose>
       <link name="link">
         <inertial>
           <mass>0.05</mass>

From c4c9ed7634bb0ea8601542690bb1c6368b7c1dab Mon Sep 17 00:00:00 2001
From: aquintan <aquintana.camacho@proton.me>
Date: Mon, 21 Sep 2026 10:14:05 +0200
Subject: [PATCH 22/32] camera frecuency

---
 .../models/xlerobot/xlerobot_common.urdf.xacro     |  4 ++--
 Scenes/xlerobot_home.world                         | 14 ++++++++++----
 2 files changed, 12 insertions(+), 6 deletions(-)

diff --git a/CustomRobots/xlerobot/models/xlerobot/xlerobot_common.urdf.xacro b/CustomRobots/xlerobot/models/xlerobot/xlerobot_common.urdf.xacro
index 3f270e2e7..84fc71dde 100644
--- a/CustomRobots/xlerobot/models/xlerobot/xlerobot_common.urdf.xacro
+++ b/CustomRobots/xlerobot/models/xlerobot/xlerobot_common.urdf.xacro
@@ -1366,7 +1366,7 @@
 <joint name="tray_anchor_L_joint" type="fixed">
       <parent link="top_base_link" />
       <child link="tray_anchor_L" />
-      <origin xyz="0.061 0.085 0.002" rpy="0 0 0" />
+      <origin xyz="0.061 -0.085 0.002" rpy="0 0 0" />
     </joint>
 
 
@@ -1375,7 +1375,7 @@
 <joint name="tray_anchor_R_joint" type="fixed">
       <parent link="top_base_link" />
       <child link="tray_anchor_R" />
-      <origin xyz="0.061 -0.085 0.002" rpy="0 0 0" />
+      <origin xyz="0.061 0.085 0.002" rpy="0 0 0" />
     </joint>
 
 
diff --git a/Scenes/xlerobot_home.world b/Scenes/xlerobot_home.world
index 268f49fa3..ac4f3617c 100644
--- a/Scenes/xlerobot_home.world
+++ b/Scenes/xlerobot_home.world
@@ -9,11 +9,17 @@
          update loop ran badly enough that basic services like
          list_controllers/switch_controller started timing out for minutes
          on startup with this heavier scene+robot. Same max_step_size as
-         machine_vision.world, the other gz_ros2_control-driven arm exercise -->
-    <physics name="1ms" type="ode">
-      <max_step_size>0.001</max_step_size>
+         machine_vision.world, the other gz_ros2_control-driven arm exercise.
+         Stepped at 2ms rather than 1ms: measured live, the gz server thread
+         is pinned at 100% by the physics step (dropping every camera to 1Hz
+         changed nothing) and RTF went ~0.28 -> ~0.45 at 2ms and ~0.89 at
+         4ms. 2ms keeps the 10ms controller_manager period an exact multiple
+         of the step (4ms would not be), which is what that startup problem
+         was about -->
+    <physics name="2ms" type="ode">
+      <max_step_size>0.002</max_step_size>
       <real_time_factor>1.0</real_time_factor>
-      <real_time_update_rate>1000</real_time_update_rate>
+      <real_time_update_rate>500</real_time_update_rate>
     </physics>
 
     <plugin filename="gz-sim-physics-system" name="gz::sim::systems::Physics">

From 3f68e67d280a05e1f0b76d40587dc06ba37b2fe2 Mon Sep 17 00:00:00 2001
From: aquintan <aquintana.camacho@proton.me>
Date: Mon, 21 Sep 2026 10:25:16 +0200
Subject: [PATCH 23/32] tcp position

---
 .../xlerobot/xlerobot_common.urdf.xacro       | 20 ++++++++++++-------
 1 file changed, 13 insertions(+), 7 deletions(-)

diff --git a/CustomRobots/xlerobot/models/xlerobot/xlerobot_common.urdf.xacro b/CustomRobots/xlerobot/models/xlerobot/xlerobot_common.urdf.xacro
index 84fc71dde..f398b4c73 100644
--- a/CustomRobots/xlerobot/models/xlerobot/xlerobot_common.urdf.xacro
+++ b/CustomRobots/xlerobot/models/xlerobot/xlerobot_common.urdf.xacro
@@ -1182,15 +1182,21 @@
     </joint>
 
 
-<!-- TCP: fingertip contact point with the gripper mechanically closed
-     (Jaw_L at its lower limit), measured as the midpoint of the closest
-     Fixed_Jaw/Moving_Jaw mesh vertices at that configuration -->
+<!-- TCP: centre of the pocket a 50mm cube sits in between the two jaws,
+     in the Fixed_Jaw frame. The gripper is asymmetric, a fixed finger and a
+     moving one, so the point that matters is not where the pads touch when
+     fully closed (that put the TCP on the fixed finger's face, which then
+     shoved the cube out of the way). Measured from the meshes: the fixed
+     pad's most protruding point over the last 5cm of the fingers is at
+     x=0.0079, the cube's face rests there so its centre is 25mm further
+     towards the moving jaw (x=-0.0171), and y=-0.080 centres it on the 5cm
+     of pad, 2cm back from the fingertips -->
 <link name="TCP_L" />
 
 <joint name="TCP_L_joint" type="fixed">
       <parent link="Fixed_Jaw" />
       <child link="TCP_L" />
-      <origin xyz="0.00713 -0.10003 -0.00360" rpy="0 0 0" />
+      <origin xyz="-0.0171 -0.0800 0.0" rpy="0 0 0" />
     </joint>
 
 
@@ -1317,14 +1323,14 @@
     </joint>
 
 
-<!-- TCP: same measured fingertip contact point as TCP_L, Fixed_Jaw_2 uses
-     the identical Fixed_Jaw/Moving_Jaw mesh pair mounted symmetrically -->
+<!-- TCP: same pocket centre as TCP_L, Fixed_Jaw_2 uses the identical
+     Fixed_Jaw/Moving_Jaw mesh pair -->
 <link name="TCP_R" />
 
 <joint name="TCP_R_joint" type="fixed">
       <parent link="Fixed_Jaw_2" />
       <child link="TCP_R" />
-      <origin xyz="0.00713 -0.10003 -0.00360" rpy="0 0 0" />
+      <origin xyz="-0.0171 -0.0800 0.0" rpy="0 0 0" />
     </joint>
 
 

From 0dc010cf4f827e25853c492e0f8663b468d8c5d6 Mon Sep 17 00:00:00 2001
From: aquintan <aquintana.camacho@proton.me>
Date: Mon, 21 Sep 2026 11:30:43 +0200
Subject: [PATCH 24/32] self collisions

---
 .../models/xlerobot/xlerobot_gz.urdf.xacro        | 15 +++++++++++++++
 1 file changed, 15 insertions(+)

diff --git a/CustomRobots/xlerobot/models/xlerobot/xlerobot_gz.urdf.xacro b/CustomRobots/xlerobot/models/xlerobot/xlerobot_gz.urdf.xacro
index b3154be26..05e0cce53 100644
--- a/CustomRobots/xlerobot/models/xlerobot/xlerobot_gz.urdf.xacro
+++ b/CustomRobots/xlerobot/models/xlerobot/xlerobot_gz.urdf.xacro
@@ -51,6 +51,21 @@
     </collision>
   </gazebo>
 
+  <!-- Gazebo does not collide the links of one model with each other unless
+       asked, so the arms passed straight through the tray, the mast and each
+       other wherever MoveIt was not planning the move (readyPose, the tray
+       poses). With this on, non adjacent links collide, the same pairs MoveIt
+       already checks. Fixed joints get lumped into their parent when the
+       URDF is converted, so the chassis, tray, mast and both arm mounts are
+       one body and never collide among themselves, and jointed neighbours
+       (shoulder/chassis, upper arm/forearm, ...) are skipped by the engine.
+       Checked offline against the collision geometry in the zero, ready,
+       grasp, pre-approach and tray poses: no non adjacent pair overlaps.
+       To turn it off again, remove this block. -->
+  <gazebo>
+    <self_collide>true</self_collide>
+  </gazebo>
+
   <xacro:macro name="velocity" params="namespace">
     <gazebo>
       <plugin filename="gz-sim-velocity-control-system" name="gz::sim::systems::VelocityControl">

From d0fbcde661a66edad094ba6913c9bcbd14378619 Mon Sep 17 00:00:00 2001
From: aquintan <aquintana.camacho@proton.me>
Date: Mon, 21 Sep 2026 12:12:32 +0200
Subject: [PATCH 25/32] code style

---
 .../models/mesa_comedor/model.sdf             | 232 +++++++++---------
 .../xlerobot/launch/xlerobot.launch.py        | 103 +-------
 .../xlerobot/xlerobot_common.urdf.xacro       |  53 +---
 .../models/xlerobot/xlerobot_gz.urdf.xacro    |  56 +----
 .../ros2srrc_execution/python/robot/robot.py  |  14 +-
 .../ros2srrc_execution/src/robmove.cpp        |  17 +-
 .../ros2srrc_execution/src/robpose.cpp        |  23 +-
 .../config/pilz_cartesian_limits.yaml         |   3 +-
 .../xlerobot_moveit_config/rviz/moveit.rviz   | 180 --------------
 .../xlerobot_moveit_config/srdf/xlerobot.srdf |  17 +-
 .../rviz/xlerobot_home_harmonic.launch.py     |  72 ------
 Scenes/xlerobot_home.world                    |  44 +---
 12 files changed, 159 insertions(+), 655 deletions(-)
 delete mode 100644 Industrial/xlerobot_moveit_config/rviz/moveit.rviz
 delete mode 100644 Launchers/rviz/xlerobot_home_harmonic.launch.py

diff --git a/CustomRobots/roomba_robot/models/mesa_comedor/model.sdf b/CustomRobots/roomba_robot/models/mesa_comedor/model.sdf
index eeec5ecfc..660102be9 100755
--- a/CustomRobots/roomba_robot/models/mesa_comedor/model.sdf
+++ b/CustomRobots/roomba_robot/models/mesa_comedor/model.sdf
@@ -1,117 +1,115 @@
-<?xml version="1.0" ?>
-<sdf version="1.8">
-  <model name="mesa_comedor">
-    <static>true</static>
-    <link name="mesa_link">
-      <visual name="mesa_visual">
-        <geometry>
-          <mesh>
-            <uri>meshes/model.dae</uri>
-            <submesh>
-              <name>Mesa</name>
-            </submesh>
-          </mesh>
-        </geometry>
-        <!-- was a flat blue placeholder (never got the wood texture the
-             legs already use below), now matches them -->
-        <material>
-          <diffuse>1.0 1.0 1.0 1.0</diffuse>
-          <specular>0.0 0.0 0.0 1.0</specular>
-          <pbr>
-            <metal>
-              <albedo_map>meshes/wood.jpg</albedo_map>
-            </metal>
-          </pbr>
-        </material>
-      </visual>
-      <visual name="pata1_visual">
-        <geometry>
-          <mesh>
-            <uri>meshes/model.dae</uri>
-            <submesh>
-              <name>Pata1</name>
-            </submesh>
-          </mesh>
-        </geometry>
-        <material>
-          <diffuse>1.0 1.0 1.0 1.0</diffuse>
-          <specular>0.0 0.0 0.0 1.0</specular>
-          <pbr>
-            <metal>
-              <albedo_map>meshes/wood.jpg</albedo_map>
-            </metal>
-          </pbr>
-        </material>
-      </visual>
-      <visual name="pata2_visual">
-        <geometry>
-          <mesh>
-            <uri>meshes/model.dae</uri>
-            <submesh>
-              <name>Pata2</name>
-            </submesh>
-          </mesh>
-        </geometry>
-        <material>
-          <diffuse>1.0 1.0 1.0 1.0</diffuse>
-          <specular>0.0 0.0 0.0 1.0</specular>
-          <pbr>
-            <metal>
-              <albedo_map>meshes/wood.jpg</albedo_map>
-            </metal>
-          </pbr>
-        </material>
-      </visual>
-      <visual name="pata3_visual">
-        <geometry>
-          <mesh>
-            <uri>meshes/model.dae</uri>
-            <submesh>
-              <name>Pata3</name>
-            </submesh>
-          </mesh>
-        </geometry>
-        <material>
-          <diffuse>1.0 1.0 1.0 1.0</diffuse>
-          <specular>0.0 0.0 0.0 1.0</specular>
-          <pbr>
-            <metal>
-              <albedo_map>meshes/wood.jpg</albedo_map>
-            </metal>
-          </pbr>
-        </material>
-      </visual>
-      <visual name="pata4_visual">
-        <geometry>
-          <mesh>
-            <uri>meshes/model.dae</uri>
-            <submesh>
-              <name>Pata4</name>
-            </submesh>
-          </mesh>
-        </geometry>
-        <material>
-          <diffuse>1.0 1.0 1.0 1.0</diffuse>
-          <specular>0.0 0.0 0.0 1.0</specular>
-          <pbr>
-            <metal>
-              <albedo_map>meshes/wood.jpg</albedo_map>
-            </metal>
-          </pbr>
-        </material>
-      </visual>
-      <collision name="mesa_collision">
-        <geometry>
-          <mesh>
-            <uri>meshes/model.dae</uri>
-          </mesh>
-        </geometry>
-        <surface>
-          <contact>
-            <collide_bitmask>0x01</collide_bitmask>
-          </contact>
-        </surface>
-      </collision>
-    </link>
-  </model>
-</sdf>
+<?xml version="1.0" ?>
+<sdf version="1.8">
+  <model name="mesa_comedor">
+    <static>true</static>
+    <link name="mesa_link">
+      <visual name="mesa_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/model.dae</uri>
+            <submesh>
+              <name>Mesa</name>
+            </submesh>
+          </mesh>
+        </geometry>
+        <material>
+          <diffuse>1.0 1.0 1.0 1.0</diffuse>
+          <specular>0.0 0.0 0.0 1.0</specular>
+          <pbr>
+            <metal>
+              <albedo_map>meshes/wood.jpg</albedo_map>
+            </metal>
+          </pbr>
+        </material>
+      </visual>
+      <visual name="pata1_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/model.dae</uri>
+            <submesh>
+              <name>Pata1</name>
+            </submesh>
+          </mesh>
+        </geometry>
+        <material>
+          <diffuse>1.0 1.0 1.0 1.0</diffuse>
+          <specular>0.0 0.0 0.0 1.0</specular>
+          <pbr>
+            <metal>
+              <albedo_map>meshes/wood.jpg</albedo_map>
+            </metal>
+          </pbr>
+        </material>
+      </visual>
+      <visual name="pata2_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/model.dae</uri>
+            <submesh>
+              <name>Pata2</name>
+            </submesh>
+          </mesh>
+        </geometry>
+        <material>
+          <diffuse>1.0 1.0 1.0 1.0</diffuse>
+          <specular>0.0 0.0 0.0 1.0</specular>
+          <pbr>
+            <metal>
+              <albedo_map>meshes/wood.jpg</albedo_map>
+            </metal>
+          </pbr>
+        </material>
+      </visual>
+      <visual name="pata3_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/model.dae</uri>
+            <submesh>
+              <name>Pata3</name>
+            </submesh>
+          </mesh>
+        </geometry>
+        <material>
+          <diffuse>1.0 1.0 1.0 1.0</diffuse>
+          <specular>0.0 0.0 0.0 1.0</specular>
+          <pbr>
+            <metal>
+              <albedo_map>meshes/wood.jpg</albedo_map>
+            </metal>
+          </pbr>
+        </material>
+      </visual>
+      <visual name="pata4_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/model.dae</uri>
+            <submesh>
+              <name>Pata4</name>
+            </submesh>
+          </mesh>
+        </geometry>
+        <material>
+          <diffuse>1.0 1.0 1.0 1.0</diffuse>
+          <specular>0.0 0.0 0.0 1.0</specular>
+          <pbr>
+            <metal>
+              <albedo_map>meshes/wood.jpg</albedo_map>
+            </metal>
+          </pbr>
+        </material>
+      </visual>
+      <collision name="mesa_collision">
+        <geometry>
+          <mesh>
+            <uri>meshes/model.dae</uri>
+          </mesh>
+        </geometry>
+        <surface>
+          <contact>
+            <collide_bitmask>0x01</collide_bitmask>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+  </model>
+</sdf>
diff --git a/CustomRobots/xlerobot/launch/xlerobot.launch.py b/CustomRobots/xlerobot/launch/xlerobot.launch.py
index eb935be7a..922aaee95 100644
--- a/CustomRobots/xlerobot/launch/xlerobot.launch.py
+++ b/CustomRobots/xlerobot/launch/xlerobot.launch.py
@@ -37,9 +37,7 @@ def launch_setup(context):
     namespace = gz_namespace.perform(context)
     entity = gz_entity.perform(context)
 
-    # =========================
-    # ROBOT DESCRIPTION (URDF)
-    # =========================
+    # Robot description
     xacro_file = os.path.join(
         package_dir,
         "models",
@@ -63,9 +61,7 @@ def launch_setup(context):
 
     robot_description = {"robot_description": robot_description_content}
 
-    # =========================
-    # MOVEIT CONFIG
-    # =========================
+    # MoveIt configuration
     robot_description_semantic = {
         "robot_description_semantic": load_file(
             "xlerobot_moveit_config", "srdf/xlerobot.srdf"
@@ -85,10 +81,7 @@ def launch_setup(context):
     ompl_planning = load_yaml("xlerobot_moveit_config", "config/ompl_planning.yaml")
     ompl_planning = ompl_planning["/**"]["ros__parameters"]
 
-    # Pilz gives Robmove real "LIN"/"PTP" planner IDs to call, that field on
-    # the Robmove action is not a free label, robmove.cpp passes it straight
-    # into MoveGroupInterface::setPlannerId(), so it has to name a planner
-    # move_group actually knows about, OMPL alone does not define those IDs
+    # Pilz provides the LIN and PTP planners used by Robmove
     planning_pipelines_config = {
         "planning_pipelines": ["ompl", "pilz_industrial_motion_planner"],
         "default_planning_pipeline": "pilz_industrial_motion_planner",
@@ -115,9 +108,7 @@ def launch_setup(context):
         "moveit_controller_manager": "moveit_simple_controller_manager/MoveItSimpleControllerManager"
     }
 
-    # =========================
-    # CORE NODES
-    # =========================
+    # Core nodes
     robot_state_publisher_node = Node(
         package="robot_state_publisher",
         executable="robot_state_publisher",
@@ -127,10 +118,7 @@ def launch_setup(context):
         parameters=[robot_description, {"use_sim_time": True}],
     )
 
-    # No static transform from world to base_footprint here on purpose, the
-    # base moves through VelocityControl so nailing it to a fixed world pose
-    # would be wrong the moment it drives away, arm planning stays relative
-    # to the robot itself instead
+    # No world transform because planning stays relative to base_footprint
 
     gz_spawn_entity = Node(
         package="ros_gz_sim",
@@ -173,9 +161,7 @@ def launch_setup(context):
         output="screen",
     )
 
-    # the camera sensors were wired in the xacro but never actually reached
-    # ROS before, sensor_msgs/Image needs ros_gz_image specifically, a plain
-    # parameter_bridge line does not work for it
+    # Images use ros_gz_image because the parameter bridge does not support them
     gz_ros2_image_bridge = Node(
         package="ros_gz_image",
         executable="image_bridge",
@@ -189,31 +175,13 @@ def launch_setup(context):
         output="screen",
     )
 
-    # =========================
-    # CONTROLLER SPAWNERS
-    # =========================
+    # Controller spawners
     def controller_spawner(controller_name):
         return Node(
             package="controller_manager",
             executable="spawner",
             namespace=gz_namespace,
-            # the default 5s switch-controller timeout is not enough right
-            # after spawn, the sim is still busy loading the house scene and
-            # the robot at that point and does not get to a controller
-            # activation request in time, seen for real as "Switch controller
-            # timed out after 5.000000 seconds!" on joint_state_broadcaster
-            # and both arm controllers specifically (spawned first, while the
-            # scene is still settling), gripper/head controllers spawned
-            # later did not hit it. --switch-timeout is spawner's own flag
-            # for exactly this, "useful when switching cannot be performed
-            # immediately, e.g. paused simulations at startup". Even 30s was
-            # not always enough for joint_state_broadcaster specifically
-            # (first in the chain, hits the worst of the cold start, seen for
-            # real as three consecutive "Switch controller timed out after
-            # 30.000000 seconds!" and the controller stuck inactive forever
-            # afterward, nothing retries a spawner that already gave up), so
-            # this is generous on purpose rather than tuned to a measured
-            # minimum, the cost only applies once at cold start
+            # Long timeouts because the scene is still loading
             arguments=[
                 controller_name,
                 "--switch-timeout",
@@ -233,9 +201,7 @@ def controller_spawner(controller_name):
     right_gripper_controller_spawner = controller_spawner("right_gripper_controller")
     head_controller_spawner = controller_spawner("head_controller")
 
-    # =========================
-    # MOVEIT NODES
-    # =========================
+    # MoveIt nodes
     move_group = Node(
         package="moveit_ros_move_group",
         executable="move_group",
@@ -253,48 +219,14 @@ def controller_spawner(controller_name):
         ],
     )
 
-    # The "move" executable (MoveJ/MoveL/MoveG action API) additionally loads
-    # ros2srrc_robots/<ROB_PARAM>/config/joint_specifications.yaml and
-    # ros2srrc_endeffectors/<EE_PARAM>/config/joint_specifications.yaml at
-    # startup, and crashes immediately (uncaught YAML::BadFile) if those do
-    # not exist. There is no "xlerobot"/"left_gripper"/"right_gripper" entry
-    # in either package yet, and adding one means a new install(DIRECTORY ...)
-    # line plus a rebuild of ros2srrc_robots/ros2srrc_endeffectors, so it is
-    # left out for now, robmove/robpose/move_group below do not need it.
-    #
-    # robmove.cpp used to hardcode its action server as the absolute name
-    # "/Robmove" (robpose.cpp similarly publishes on the plain relative topic
-    # "Robpose"), so spawning it twice under the same node namespace, once
-    # per arm, collided on that same name, both instances answering on
-    # "/Robmove" with no way to tell which is which. A launch remapping on
-    # that name is silently ignored by rclcpp_action::create_server for a
-    # fully qualified action name, confirmed live, the action always came up
-    # as "/Robmove" regardless of the remap, unlike robpose's plain topic
-    # remap which does work. robmove.cpp now reads the action name from an
-    # ACTION_NAME parameter instead, same as ROB_PARAM/ROB_GROUP below.
-    #
-    # No name= here on purpose. robmove.cpp's main() creates TWO nodes (the
-    # ActionServer itself, plus a second "moveit_helper_node_robmove" used
-    # only for MoveGroupInterface), and name= becomes a process-wide
-    # "-r __node:=X" remap that silently renames BOTH of them to the same
-    # thing, not just the one node you meant to rename. That made the two
-    # nodes in one robmove process collide with each other (the exact
-    # "Publisher already registered for provided node name" warning seen in
-    # the logs), which left the actual /Robmove action server never
-    # reachable even though the process was alive and the two robmove
-    # processes never collided with each other. Left/right are already two
-    # separate OS processes, they do not need distinct node names to avoid
-    # colliding with one another, only the action name remap above matters.
+    # No move executable because xlerobot has no joint_specifications.yaml
+    # robmove has no name because it creates two nodes
 
     left_robmove = Node(
         package="ros2srrc_execution",
         executable="robmove",
         namespace=gz_namespace,
         output="screen",
-        # temporary, MoveGroupInterface's own construction is the thing
-        # hanging (confirmed in robpose too, a completely separate binary),
-        # plain INFO has nothing left to say about where inside it
-        arguments=["--ros-args", "--log-level", "debug"],
         parameters=[
             robot_description,
             robot_description_semantic,
@@ -334,7 +266,6 @@ def controller_spawner(controller_name):
         name="left_robpose",
         namespace=gz_namespace,
         output="screen",
-        arguments=["--ros-args", "--log-level", "debug"],
         remappings=[("Robpose", "left_robpose/Robpose")],
         parameters=[
             robot_description,
@@ -373,16 +304,8 @@ def controller_spawner(controller_name):
         right_robpose,
     ]
 
-    # =========================
-    # STARTUP ORDER
-    # =========================
-    # gz_ros2_control (and its controller_manager) only exists once the entity
-    # is actually spawned in Gazebo, and move_group only makes sense once the
-    # controllers it talks to are active, chaining on process exit (every one
-    # of these is a one shot call that exits once it is done, not a persistent
-    # node) keeps that order instead of firing everything at once and hoping
-    # the timing works out, which is what makes the existing UR arm launch
-    # files fragile on a RAM reset
+    # Startup order
+    # Each step starts when the previous one exits
     after_spawn = RegisterEventHandler(
         OnProcessExit(
             target_action=gz_spawn_entity,
diff --git a/CustomRobots/xlerobot/models/xlerobot/xlerobot_common.urdf.xacro b/CustomRobots/xlerobot/models/xlerobot/xlerobot_common.urdf.xacro
index f398b4c73..81dab5c13 100644
--- a/CustomRobots/xlerobot/models/xlerobot/xlerobot_common.urdf.xacro
+++ b/CustomRobots/xlerobot/models/xlerobot/xlerobot_common.urdf.xacro
@@ -4,8 +4,7 @@
 
   <xacro:macro name="xlerobot" params="namespace simulation_controllers">
 
-    <!-- base_footprint sits on the ground, chassis is the real link the source model was
-         built around, offset up so the wheels below it touch the floor -->
+    <!-- base_footprint sits on the ground and the chassis is offset up so the wheels touch the floor -->
     <link name="base_footprint" />
 
     <joint name="base_footprint_to_chassis" type="fixed">
@@ -846,20 +845,7 @@
           <color rgba="0.30196471 0.30196471 0.30196471 1.00000000" />
         </material>
       </visual>
-      <!-- The basket itself is the chassis link (raskogbody.stl) and its
-           collision boxes already model the tray floor (top at z=0.68 in
-           base_footprint) and rim walls, tray_anchor_L/R sit inside that
-           cavity. top_base_link only carries the thin mast, which had no
-           collision at all so arms could pass through it. -->
-      <!-- Was centered at x=0.06 (that is the basket cavity's x, not the
-           mast's), 0.16m wide, which caused the left arm's own ready pose
-           to self-collide with it (checked against the actual joint
-           chain, the forearm passes right through z=0.16-0.28 there), so
-           every single planning request failed regardless of target.
-           Recentered on the real mast footprint from the topbase1.stl
-           cross-section (x=-0.131..-0.079, y=-0.022..0.022) and narrowed
-           to match, the arm's ready-pose links sit at y~-0.15, comfortably
-           clear of this now -->
+      <!-- The tray collision lives in the chassis link, this link only adds the thin mast -->
       <collision name="mast">
         <origin xyz="-0.105 0 0.22" rpy="0 0 0" />
         <geometry>
@@ -1182,15 +1168,7 @@
     </joint>
 
 
-<!-- TCP: centre of the pocket a 50mm cube sits in between the two jaws,
-     in the Fixed_Jaw frame. The gripper is asymmetric, a fixed finger and a
-     moving one, so the point that matters is not where the pads touch when
-     fully closed (that put the TCP on the fixed finger's face, which then
-     shoved the cube out of the way). Measured from the meshes: the fixed
-     pad's most protruding point over the last 5cm of the fingers is at
-     x=0.0079, the cube's face rests there so its centre is 25mm further
-     towards the moving jaw (x=-0.0171), and y=-0.080 centres it on the 5cm
-     of pad, 2cm back from the fingertips -->
+<!-- TCP at the centre of the pocket where a 50 mm cube sits between the jaws -->
 <link name="TCP_L" />
 
 <joint name="TCP_L_joint" type="fixed">
@@ -1323,8 +1301,7 @@
     </joint>
 
 
-<!-- TCP: same pocket centre as TCP_L, Fixed_Jaw_2 uses the identical
-     Fixed_Jaw/Moving_Jaw mesh pair -->
+<!-- Same pocket centre as TCP_L -->
 <link name="TCP_R" />
 
 <joint name="TCP_R_joint" type="fixed">
@@ -1362,11 +1339,7 @@
     </joint>
 
 
-<!-- Tray drop/pick anchor points, one per arm, positioned by hand in RViz
-     against the real basket mesh (see /tmp calibration session). This is the
-     floor contact point of each arm's slot, not the object's rest center:
-     whoever teleports an object here on drop must add half that object's
-     height in z so it does not clip through the floor -->
+<!-- Tray anchor points, one per arm, on the tray floor -->
 <link name="tray_anchor_L" />
 
 <joint name="tray_anchor_L_joint" type="fixed">
@@ -1405,10 +1378,6 @@
 <joint name="head_tilt_joint" type="revolute">
       <parent link="head_pan_link" />
       <child link="head_tilt_link" />
-      <!-- the 180 degree yaw this used to carry made the head camera face
-           straight backward at pan 0, chassis and head_pan_link share the
-           same forward direction all the way up (every joint above this one
-           is rpy 0 0 0), nothing upstream compensates for that flip -->
       <origin xyz="0.001 0.002 0.09815" rpy="0 0 0" />
       <axis xyz="0 1 0" />
       <limit lower="-0.76" upper="1.45" effort="1.0" velocity="1.5" />
@@ -1433,10 +1402,7 @@
 <joint name="fixed_head_camera_rgb_frame" type="fixed">
       <parent link="head_camera_link" />
       <child link="head_camera_rgb_frame" />
-      <!-- roll/pitch were swapped: this used to point optical +Z (forward)
-           along the robot's own +Y (left) instead of +X (ahead), confirmed
-           by computing the actual forward axis from the live TF transform.
-           Correct optical-frame convention is roll=-90, pitch=0, yaw=-90 -->
+      <!-- Optical frame convention, +Z forward -->
       <origin xyz="0 0 0" rpy="-1.5707911 0 -1.5707963" />
     </joint>
 
@@ -1444,7 +1410,6 @@
 <joint name="fixed_head_camera_depth_frame" type="fixed">
       <parent link="head_camera_link" />
       <child link="head_camera_depth_frame" />
-      <!-- same roll/pitch fix as fixed_head_camera_rgb_frame above -->
       <origin xyz="0 0 0" rpy="-1.5707911 0 -1.5707963" />
     </joint>
 
@@ -1477,12 +1442,6 @@
 
     <xacro:velocity namespace="${namespace}"/>
     <xacro:odom namespace="${namespace}"/>
-    <!-- no separate gz-sim-joint-state-publisher-system for the wheels here
-         on purpose, they are folded into the same ros2_control
-         joint_state_broadcaster as the arms instead (see arm_ros2_control in
-         xlerobot_gz.urdf.xacro), a second publisher on a different topic is
-         exactly what left MoveGroupInterface waiting forever for a "complete"
-         robot state that never included the wheels -->
 
     <xacro:rgbd_camera link="head_camera_link" name="head_camera" namespace="${namespace}"/>
     <xacro:wrist_camera link="Right_Arm_Camera" name="right_arm_camera" namespace="${namespace}"/>
diff --git a/CustomRobots/xlerobot/models/xlerobot/xlerobot_gz.urdf.xacro b/CustomRobots/xlerobot/models/xlerobot/xlerobot_gz.urdf.xacro
index 05e0cce53..ad012c7a4 100644
--- a/CustomRobots/xlerobot/models/xlerobot/xlerobot_gz.urdf.xacro
+++ b/CustomRobots/xlerobot/models/xlerobot/xlerobot_gz.urdf.xacro
@@ -1,8 +1,7 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://ros.org/wiki/xacro" xmlns:gz="http://gazebosim.org/schema">
 
-  <!-- The 3 wheels are passive rollers, real locomotion authority comes from
-       VelocityControl moving the chassis directly, same approach as dingo -->
+  <!-- The wheels are passive rollers and VelocityControl moves the chassis directly -->
   <xacro:macro name="wheel_slip" params="wheel_link fdir1">
     <gazebo>
       <plugin filename="libgz-sim-wheel-slip-system.so" name="gz::sim::systems::WheelSlip">
@@ -30,14 +29,7 @@
     </gazebo>
   </xacro:macro>
 
-  <!-- Safety net, not a substitute for not colliding: caps how hard ODE is
-       allowed to shove interpenetrating bodies apart in a single step. A
-       real bump against the table (chassis is the only link here with
-       collision geometry near the tray, top_base_link/the basket mesh has
-       none) otherwise resolves as a single large correction impulse that
-       shows up as the whole kinematic chain (arms included) jumping/
-       jittering, since they all ride on the chassis. max_vel/min_depth are
-       the standard ODE knobs for this, does not change normal driving. -->
+  <!-- Limits the ODE correction impulse when the chassis bumps into something -->
   <gazebo reference="chassis">
     <collision>
       <surface>
@@ -51,17 +43,7 @@
     </collision>
   </gazebo>
 
-  <!-- Gazebo does not collide the links of one model with each other unless
-       asked, so the arms passed straight through the tray, the mast and each
-       other wherever MoveIt was not planning the move (readyPose, the tray
-       poses). With this on, non adjacent links collide, the same pairs MoveIt
-       already checks. Fixed joints get lumped into their parent when the
-       URDF is converted, so the chassis, tray, mast and both arm mounts are
-       one body and never collide among themselves, and jointed neighbours
-       (shoulder/chassis, upper arm/forearm, ...) are skipped by the engine.
-       Checked offline against the collision geometry in the zero, ready,
-       grasp, pre-approach and tray poses: no non adjacent pair overlaps.
-       To turn it off again, remove this block. -->
+  <!-- Collide non adjacent links of the model, so arms cannot cross the tray or each other -->
   <gazebo>
     <self_collide>true</self_collide>
   </gazebo>
@@ -86,7 +68,7 @@
     </gazebo>
   </xacro:macro>
 
-  <!-- head RGBD camera, one sensor gives color image, depth image and a point cloud together -->
+  <!-- Head RGBD camera -->
   <xacro:macro name="rgbd_camera" params="link name namespace">
     <gazebo reference="${link}">
       <sensor name="${name}" type="rgbd_camera">
@@ -111,7 +93,7 @@
     </gazebo>
   </xacro:macro>
 
-  <!-- One arm side worth of ros2_control joint interfaces, called once per suffix (L/R) -->
+  <!-- Joint interfaces of one arm, called once per suffix -->
   <xacro:macro name="arm_joint_interfaces" params="suffix">
     <joint name="Rotation_${suffix}">
       <command_interface name="position"><param name="min">-2.16</param><param name="max">2.16</param></command_interface>
@@ -145,10 +127,7 @@
     </joint>
   </xacro:macro>
 
-  <!-- Single ros2_control block for both arms, both grippers and the head, on purpose.
-       Splitting this into several separate ros2_control tags made gz_ros2_control crash
-       while loading the second one when the same thing was tried on the Dobot arm, so
-       every actuated joint that is not a wheel lives in this one block -->
+  <!-- Single ros2_control block for both arms, both grippers and the head -->
   <xacro:macro name="arm_ros2_control" params="simulation_controllers namespace">
     <ros2_control name="xlerobot_arms" type="system">
       <hardware>
@@ -169,16 +148,7 @@
         <state_interface name="velocity"/>
       </joint>
 
-      <!-- state only, on purpose, the wheels stay driven kinematically by
-           VelocityControl not by ros2_control, but MoveGroupInterface (used
-           by robmove/robpose/move_group) waits for a JointState covering
-           every joint in the URDF before it considers the robot state
-           "complete", wheels included, even though no SRDF group ever plans
-           for them. Without this it hangs forever repeating "The complete
-           state of the robot is not yet known, missing wheel_1_joint...".
-           Folding them into the same joint_state_broadcaster that already
-           covers the arms is what actually gets them onto
-           /<namespace>/joint_states, the one topic MoveIt listens to -->
+      <!-- Wheels are state only because MoveIt waits for every joint of the URDF -->
       <joint name="wheel_1_joint">
         <state_interface name="position"/>
         <state_interface name="velocity"/>
@@ -195,9 +165,7 @@
 
     <gazebo>
       <plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
-        <!-- robot_state_publisher runs under this same namespace, without this the
-             plugin looks for a bare, unnamespaced robot_state_publisher node and just
-             hangs forever waiting for a service that is never going to answer -->
+        <!-- Same namespace as robot_state_publisher -->
         <ros>
           <namespace>${namespace}</namespace>
         </ros>
@@ -206,11 +174,7 @@
     </gazebo>
   </xacro:macro>
 
-  <!-- Contact sensor on a gripper jaw, feeds gz_link_attacher's "suction mode"
-       code path. gz_link_attacher only knows Robotiq's 2-finger link names by
-       default, this repurposes its generic gripper_link_name option (it was
-       already there for real suction grippers) so a plain parallel jaw like
-       ours gets the same auto-attach behaviour without touching that C++ -->
+  <!-- Contact sensor on a gripper jaw for gz_link_attacher -->
   <xacro:macro name="suction_contact" params="link">
     <gazebo reference="${link}">
       <sensor name="suction_contact" type="contact">
@@ -225,7 +189,7 @@
     </gazebo>
   </xacro:macro>
 
-  <!-- plain RGB wrist camera -->
+  <!-- RGB wrist camera -->
   <xacro:macro name="wrist_camera" params="link name namespace">
     <gazebo reference="${link}">
       <sensor name="${name}" type="camera">
diff --git a/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_execution/python/robot/robot.py b/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_execution/python/robot/robot.py
index 8f08814ff..e5153a2e6 100644
--- a/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_execution/python/robot/robot.py
+++ b/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_execution/python/robot/robot.py
@@ -58,10 +58,7 @@
 
 class RobMoveCLIENT(Node):
 
-    # node_name/action_name default to the original hardcoded values so any
-    # existing caller doing RobMoveCLIENT() keeps working unchanged, a robot
-    # with more than one arm passes a distinct node_name/action_name per arm
-    # instead (see RBT below)
+    # Defaults keep the single robot behaviour, a second arm passes its own names
     def __init__(self, node_name="ros2srrc_RobMove_Client", action_name="/Robmove"):
 
         super().__init__(node_name)
@@ -186,13 +183,8 @@ def get_result_callback(self, future):
 
 class RBT:
 
-    # suffix, move_action and robmove_action let a robot with more than one
-    # arm create one RBT per arm, each pointed at that arm's own action
-    # servers (see xlerobot_home's HAL.py), left at their defaults this is
-    # the exact same single-robot behaviour every other exercise already
-    # relies on. use_move=False skips connecting to /Move entirely, useful
-    # when that action server was never brought up for this robot, otherwise
-    # this call blocks forever in MoveCLIENT's wait_for_server()
+    # One RBT per arm, each with its own action servers. use_move=False skips
+    # the /Move client for robots that do not run that action server.
     def __init__(
         self,
         suffix="",
diff --git a/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_execution/src/robmove.cpp b/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_execution/src/robmove.cpp
index 6594ffa76..5cdb3349f 100644
--- a/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_execution/src/robmove.cpp
+++ b/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_execution/src/robmove.cpp
@@ -106,13 +106,7 @@ class ActionServer : public rclcpp::Node
             param_ROB_GROUP.c_str()
         );
 
-        // "/Robmove" used to be a literal string here. A launch remapping on
-        // this exact fully qualified name is silently ignored by
-        // rclcpp_action::create_server, so two instances (one per arm) both
-        // ended up serving the same "/Robmove" name no matter what
-        // remappings the launch file gave them. A parameter is a mechanism
-        // that is already known to work for ROB_PARAM/ROB_GROUP above, so
-        // the action name goes through it too instead of a remap.
+        // The action name is a parameter because a launch remap of a fully qualified action name is ignored
         this->declare_parameter("ACTION_NAME", "/Robmove");
         std::string action_name = this->get_parameter("ACTION_NAME").as_string();
         RCLCPP_INFO(this->get_logger(), "ACTION_NAME received -> %s", action_name.c_str());
@@ -294,14 +288,7 @@ int main(int argc, char **argv)
 
     using moveit::planning_interface::MoveGroupInterface;
 
-    // The plain (node, group) constructor builds its internal action/service
-    // clients against the bare, unnamespaced names ("/move_action" etc), not
-    // relative to moveit_node's own namespace, so on a namespaced robot it
-    // waits forever for a server that is never going to answer at that name
-    // (confirmed with debug logging, the internal client sits waiting on
-    // literal "/move_action" while the real server is "/<namespace>/move_action").
-    // Passing the namespace through Options is what actually gets it talking
-    // to the real, namespaced move_group.
+    // The namespace has to go through the options or the client waits on the unnamespaced move_action
     MoveGroupInterface::Options options(param_ROB_GROUP, MoveGroupInterface::ROBOT_DESCRIPTION, moveit_node->get_namespace());
     move_group_interface_ROB = MoveGroupInterface(moveit_node, options);
 
diff --git a/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_execution/src/robpose.cpp b/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_execution/src/robpose.cpp
index ad289f8ed..e61cc243d 100644
--- a/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_execution/src/robpose.cpp
+++ b/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_execution/src/robpose.cpp
@@ -126,21 +126,7 @@ int main(int argc, char **argv)
       param_ROB_GROUP.c_str()
   );
 
-  // MoveGroupInterface gets its own separate node and dedicated background
-  // executor, same split as robmove.cpp's node/moveit_node, on purpose. An
-  // earlier attempt just spun `node` itself before construction, but `node`
-  // already carries its own 50ms timer (timer_callback below, which calls
-  // the blocking getCurrentPose()), so that timer and the joint_states
-  // subscription MoveGroupInterface's own current-state tracking needs both
-  // ended up on the same SingleThreadedExecutor, fighting over the same one
-  // thread: the timer callback blocks waiting on a state update, but that
-  // very executor cannot also run the subscription callback that would
-  // satisfy it while the timer callback itself has not returned yet. Seen
-  // for real as the exact same "moveit_ros.current_state_monitor: Failed to
-  // fetch current robot state" loop move_group logs when it is starved of
-  // joint_states, dozens of times a minute, never actually recovering. A
-  // separate node with nothing else on its executor does not have this
-  // problem, node's own timer stays on node's own later rclcpp::spin(node).
+  // MoveGroupInterface gets its own node and executor so the blocking timer callback cannot starve it
   auto moveit_node = std::make_shared<rclcpp::Node>(
       "moveit_helper_node_robpose",
       rclcpp::NodeOptions().automatically_declare_parameters_from_overrides(true)
@@ -152,12 +138,7 @@ int main(int argc, char **argv)
 
   // === MOVEIT ===
   using moveit::planning_interface::MoveGroupInterface;
-  // The plain (node, group) constructor builds its internal action/service
-  // clients against the bare, unnamespaced names ("/move_action" etc), not
-  // relative to this node's own namespace, so on a namespaced robot it waits
-  // forever for a server that is never going to answer at that name. Passing
-  // the namespace through Options is what actually gets it talking to the
-  // real, namespaced move_group.
+  // The namespace has to go through the options or the client waits on the unnamespaced move_action
   MoveGroupInterface::Options options(param_ROB_GROUP, MoveGroupInterface::ROBOT_DESCRIPTION, moveit_node->get_namespace());
   move_group_interface_ROB = MoveGroupInterface(moveit_node, options);
 
diff --git a/Industrial/xlerobot_moveit_config/config/pilz_cartesian_limits.yaml b/Industrial/xlerobot_moveit_config/config/pilz_cartesian_limits.yaml
index f0089d3ce..d3cc46320 100644
--- a/Industrial/xlerobot_moveit_config/config/pilz_cartesian_limits.yaml
+++ b/Industrial/xlerobot_moveit_config/config/pilz_cartesian_limits.yaml
@@ -4,5 +4,4 @@ cartesian_limits:
   max_trans_dec: 0.15
   max_rot_vel: 1.0
 
-# XLeRobot's arm is a small ST3215 servo arm, not an industrial UR, values
-# kept well under UR3's own (already conservative) 0.25 m/s defaults
+# Conservative limits for the small servo arms
diff --git a/Industrial/xlerobot_moveit_config/rviz/moveit.rviz b/Industrial/xlerobot_moveit_config/rviz/moveit.rviz
deleted file mode 100644
index 73e52352c..000000000
--- a/Industrial/xlerobot_moveit_config/rviz/moveit.rviz
+++ /dev/null
@@ -1,180 +0,0 @@
-Panels:
-  - Class: rviz_common/Displays
-    Help Height: 87
-    Name: Displays
-    Property Tree Widget:
-      Expanded:
-        - /Global Options1
-      Splitter Ratio: 0.4957627058029175
-    Tree Height: 573
-  - Class: rviz_common/Selection
-    Name: Selection
-  - Class: rviz_common/Tool Properties
-    Expanded:
-      - /2D Goal Pose1
-      - /Publish Point1
-    Name: Tool Properties
-    Splitter Ratio: 0.5886790156364441
-  - Class: rviz_common/Views
-    Expanded:
-      - /Current View1
-    Name: Views
-    Splitter Ratio: 0.5
-Visualization Manager:
-  Class: ""
-  Displays:
-    - Alpha: 0.5
-      Cell Size: 1
-      Class: rviz_default_plugins/Grid
-      Color: 160; 160; 164
-      Enabled: true
-      Line Style:
-        Line Width: 0.029999999329447746
-        Value: Lines
-      Name: Grid
-      Normal Cell Count: 0
-      Offset:
-        X: 0
-        Y: 0
-        Z: 0
-      Plane: XY
-      Plane Cell Count: 10
-      Reference Frame: <Fixed Frame>
-      Value: true
-    - Class: rviz_default_plugins/TF
-      Enabled: true
-      Name: TF
-      Show Arrows: true
-      Show Axes: true
-      Show Names: false
-      Value: true
-    - Acceleration_Scaling_Factor: 0.1
-      Class: moveit_rviz_plugin/MotionPlanning
-      Enabled: true
-      Move Group Namespace: ""
-      MoveIt_Allow_Approximate_IK: false
-      MoveIt_Allow_External_Program: false
-      MoveIt_Allow_Replanning: false
-      MoveIt_Allow_Sensor_Positioning: false
-      MoveIt_Planning_Attempts: 10
-      MoveIt_Planning_Time: 5
-      MoveIt_Use_Cartesian_Path: false
-      MoveIt_Use_Constraint_Aware_IK: false
-      MoveIt_Warehouse_Host: 127.0.0.1
-      MoveIt_Warehouse_Port: 33829
-      MoveIt_Workspace:
-        Center:
-          X: 0
-          Y: 0
-          Z: 0
-        Size:
-          X: 2
-          Y: 2
-          Z: 2
-      Name: MotionPlanning
-      Planned Path:
-        Color Enabled: true
-        Interrupt Display: true
-        Loop Animation: false
-        Robot Alpha: 0.5
-        Robot Color: 150; 50; 150
-        Show Robot Collision: false
-        Show Robot Visual: true
-        Show Trail: false
-        State Display Time: 0.05 s
-        Trail Step Size: 1
-        Trajectory Topic: /logistic_robot/display_planned_path
-      Planning Metrics:
-        Payload: 1
-        Show Joint Torques: false
-        Show Manipulability: false
-        Show Manipulability Index: false
-        Show Weight Limit: false
-        TextHeight: 0.07999999821186066
-      Planning Request:
-        Colliding Link Color: 255; 0; 0
-        Goal State Alpha: 1
-        Goal State Color: 250; 128; 0
-        Interactive Marker Size: 0.3
-        Joint Violation Color: 255; 0; 255
-        Planning Group: xlerobot_left_arm
-        Query Goal State: true
-        Query Start State: false
-        Show Workspace: false
-        Start State Alpha: 1
-        Start State Color: 0; 255; 0
-      Planning Scene Topic: /logistic_robot/monitored_planning_scene
-      Robot Description: robot_description
-      Scene Geometry:
-        Scene Alpha: 0.8999999761581421
-        Scene Color: 50; 230; 50
-        Scene Display Time: 0.009999999776482582
-        Show Scene Geometry: true
-        Voxel Coloring: Z-Axis
-        Voxel Rendering: Occupied Voxels
-      Scene Robot:
-        Attached Body Color: 150; 50; 150
-        Robot Alpha: 1
-        Show Robot Collision: false
-        Show Robot Visual: true
-      Value: true
-      Velocity_Scaling_Factor: 0.1
-  Enabled: true
-  Global Options:
-    Background Color: 48; 48; 48
-    Fixed Frame: base_footprint
-    Frame Rate: 30
-  Name: root
-  Tools:
-    - Class: rviz_default_plugins/Interact
-      Hide Inactive Objects: true
-    - Class: rviz_default_plugins/MoveCamera
-    - Class: rviz_default_plugins/Select
-    - Class: rviz_default_plugins/FocusCamera
-    - Class: rviz_default_plugins/Measure
-      Line color: 128; 128; 0
-  Transformation:
-    Current:
-      Class: rviz_default_plugins/TF
-  Value: true
-  Views:
-    Current:
-      Class: rviz_default_plugins/Orbit
-      Distance: 3.0
-      Enable Stereo Rendering:
-        Stereo Eye Separation: 0.05999999865889549
-        Stereo Focal Distance: 1
-        Swap Stereo Eyes: false
-        Value: false
-      Focal Point:
-        X: 0
-        Y: 0
-        Z: 0.5
-      Focal Shape Fixed Size: true
-      Focal Shape Size: 0.05000000074505806
-      Invert Z Axis: false
-      Name: Current View
-      Near Clip Distance: 0.009999999776482582
-      Pitch: 0.4
-      Target Frame: <Fixed Frame>
-      Value: Orbit (rviz)
-      Yaw: 1.0
-    Saved: ~
-Window Geometry:
-  Displays:
-    collapsed: false
-  Height: 1000
-  Hide Left Dock: false
-  Hide Right Dock: false
-  MotionPlanning:
-    collapsed: false
-  QMainWindow State: 000000ff00000000fd0000000400000000000001e0000003a0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000005c00fffffffb0000000a00560069006500770073010000000000000280000000d200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b20000000000000000fb0000000c004b0069006e0065006300740000000000ffffffff0000000000000000fb0000000a0049006d0061006700650000000000ffffffff0000000000000000fb0000000c00430061006d00650072006100000000000000000000000000000000fb00000018004d006f00740069006f006e0050006c0061006e006e0069006e00670100000046000003a0000001a100ffffff000000010000010f000003a0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000004600000350000000a400ffffff000003a20000039e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
-  Selection:
-    collapsed: false
-  Tool Properties:
-    collapsed: false
-  Views:
-    collapsed: false
-  Width: 1600
-  X: 60
-  Y: 60
diff --git a/Industrial/xlerobot_moveit_config/srdf/xlerobot.srdf b/Industrial/xlerobot_moveit_config/srdf/xlerobot.srdf
index 81080faa1..542d4fb26 100644
--- a/Industrial/xlerobot_moveit_config/srdf/xlerobot.srdf
+++ b/Industrial/xlerobot_moveit_config/srdf/xlerobot.srdf
@@ -50,22 +50,9 @@
   <end_effector name="left_gripper" parent_link="TCP_L" group="left_gripper"/>
   <end_effector name="right_gripper" parent_link="TCP_R" group="right_gripper"/>
 
-  <!-- No virtual joint to world on purpose, base_footprint moves with the chassis
-       via VelocityControl and is not tracked by any static transform, planning stays
-       relative to the robot itself -->
+  <!-- No virtual joint to world because the base moves and planning stays relative to base_footprint -->
 
-  <!-- Programmatically generated from the URDF's actual joint tree (fixed
-       joints group links into a single rigid body, movable joints connect
-       two rigid bodies), covering every link pair that will always be
-       touching. This replaces a hand-picked list that only covered direct
-       parent/child pairs and missed the cross pairs (a link and its
-       parent's own "_geom_1" sibling, e.g. Rotation_Pitch vs Base_geom_1),
-       which made every single pose, including the plain home pose, read
-       as self-colliding to check_state_validity/avoid_collisions, in turn
-       making pilz_industrial_motion_planner (which checks self collision
-       on every IK call by default) fail to find a plan for reachable,
-       non-colliding poses. Confirmed against a live check_state_validity
-       call before and after this fix. -->
+  <!-- Links that are always in contact, generated from the URDF joint tree -->
   <disable_collisions link1="Base" link2="Base_2" reason="Adjacent" />
   <disable_collisions link1="Base" link2="Base_2_geom_1" reason="Adjacent" />
   <disable_collisions link1="Base" link2="Base_geom_1" reason="Adjacent" />
diff --git a/Launchers/rviz/xlerobot_home_harmonic.launch.py b/Launchers/rviz/xlerobot_home_harmonic.launch.py
deleted file mode 100644
index df43d70eb..000000000
--- a/Launchers/rviz/xlerobot_home_harmonic.launch.py
+++ /dev/null
@@ -1,72 +0,0 @@
-"""
-XLeRobot Home - RViz + MoveIt Launcher
-Launches ONLY RViz with motion planning, assumes Gazebo and the robot
-(including move_group, already started by xlerobot.launch.py) are running
-"""
-
-import os
-from launch import LaunchDescription
-from launch_ros.actions import Node
-from launch.actions import TimerAction
-from ament_index_python.packages import get_package_share_directory
-import xacro
-
-NAMESPACE = "logistic_robot"
-
-
-def generate_launch_description():
-    pkg_share_dir = get_package_share_directory("custom_robots")
-    moveit_pkg_share = get_package_share_directory("xlerobot_moveit_config")
-
-    xacro_file = os.path.join(pkg_share_dir, "models", "xlerobot", "xlerobot.urdf.xacro")
-    controllers_file = os.path.join(
-        moveit_pkg_share, "config", "controller_manager.yaml"
-    )
-
-    robot_description_content = xacro.process_file(
-        xacro_file,
-        mappings={
-            "namespace": NAMESPACE,
-            "simulation_controllers": controllers_file,
-        },
-    ).toxml()
-
-    robot_description = {"robot_description": robot_description_content}
-
-    srdf_file = os.path.join(moveit_pkg_share, "srdf", "xlerobot.srdf")
-    with open(srdf_file, "r") as f:
-        robot_description_semantic = {"robot_description_semantic": f.read()}
-
-    kinematics_yaml = os.path.join(moveit_pkg_share, "config", "kinematics.yaml")
-    ompl_planning_yaml = os.path.join(moveit_pkg_share, "config", "ompl_planning.yaml")
-
-    rviz_config_file = os.path.join(moveit_pkg_share, "rviz", "moveit.rviz")
-
-    rviz_node = Node(
-        package="rviz2",
-        executable="rviz2",
-        name="rviz2",
-        namespace=NAMESPACE,
-        output="log",
-        arguments=["-d", rviz_config_file],
-        parameters=[
-            robot_description,
-            robot_description_semantic,
-            ompl_planning_yaml,
-            kinematics_yaml,
-            {"use_sim_time": True},
-        ],
-    )
-
-    # gives the robot's own launch file (move_group, controllers) a head
-    # start so RViz has something real to connect to
-    delay_rviz = TimerAction(
-        period=5.0,
-        actions=[rviz_node],
-    )
-
-    return LaunchDescription(
-        [
-            delay_rviz,
-        ]
-    )
diff --git a/Scenes/xlerobot_home.world b/Scenes/xlerobot_home.world
index ac4f3617c..7822fb1c1 100644
--- a/Scenes/xlerobot_home.world
+++ b/Scenes/xlerobot_home.world
@@ -2,20 +2,7 @@
 
 <sdf version="1.8">
   <world name="default">
-    <!-- Copied from small_house.world, which never declared this either, so
-         gz-sim fell back to some internal default gz_ros2_control could not
-         read properly ("Desired controller update period is slower than the
-         gazebo simulation period (0 s)"), and controller_manager's own
-         update loop ran badly enough that basic services like
-         list_controllers/switch_controller started timing out for minutes
-         on startup with this heavier scene+robot. Same max_step_size as
-         machine_vision.world, the other gz_ros2_control-driven arm exercise.
-         Stepped at 2ms rather than 1ms: measured live, the gz server thread
-         is pinned at 100% by the physics step (dropping every camera to 1Hz
-         changed nothing) and RTF went ~0.28 -> ~0.45 at 2ms and ~0.89 at
-         4ms. 2ms keeps the 10ms controller_manager period an exact multiple
-         of the step (4ms would not be), which is what that startup problem
-         was about -->
+    <!-- 2 ms step keeps the 10 ms controller period an exact multiple of the step -->
     <physics name="2ms" type="ode">
       <max_step_size>0.002</max_step_size>
       <real_time_factor>1.0</real_time_factor>
@@ -34,9 +21,7 @@
     <plugin name="gz::sim::systems::Contact" filename="gz-sim-contact-system">
     </plugin>
 
-    <!-- one instance per gripper, both listen to the same /gripper_auto_attach
-         and /graspable_objects topics, whichever jaw actually touches an
-         object first is the one that grabs it -->
+    <!-- One attacher per gripper -->
     <plugin filename="libgz_link_attacher.so" name="gz_link_attacher::LinkAttacher">
       <robot_model_name>xlerobot</robot_model_name>
       <gripper_link_name>Moving_Jaw</gripper_link_name>
@@ -68,31 +53,12 @@
       <visualize>false</visualize>
     </light>
 
-    <!-- Graspable objects on the dining table (mesa_comedor, at -2.4 0.3 0,
-         yaw 1.57). Table top is at z=0.74, read straight out of the "Mesa"
-         node's transform in mesa_comedor/meshes/model.dae (scale
-         0.8 0.4 0.015, translate z=0.725, on a -1..1 unit cube -> surface
-         at 0.725 + 0.015 = 0.74), boxes are 0.05 tall so their center goes
-         at 0.74 + 0.025 = 0.765, nudged up a hair more to 0.77 to avoid
-         starting embedded. The 90 degree yaw swaps the table's local X/Y
-         half-extents (0.8/0.4) onto world Y/X, so the near edge (largest
-         world x, the side the robot approaches from) is at
-         -2.4 + 0.4 = -2.0. Boxes sit at x=-2.05, ~2.5cm in from that
-         edge (they were at -2.15, 15cm inside the table, before this was
-         actually measured instead of guessed, and the robot had to drive
-         into the table itself to reach them) -->
+    <!-- Graspable cubes on the dining table -->
 
     <model name="red_box">
-      <!-- nudged 0.15m toward the near edge (the side the robot approaches
-           from, larger x) so the robot does not need to get the chassis
-           right up against the table to reach it -->
+      
       <pose>-2.05 0.455 0.77 0 0 0</pose>
-      <!-- Box y positions line up with the two arm shoulders. The robot
-           spawns at y=0.3 facing -x (yaw pi), so its left shoulder axis
-           (base_footprint y=-0.155) is at world y=0.455 and the right one
-           (y=+0.155) at 0.145: red goes to the left arm, blue to the right
-           arm, yellow sits between them. An arm only reaches ~0.30m ahead,
-           and only when the target roughly lines up with its own shoulder. -->
+      <!-- Red goes to the left arm, blue to the right arm and yellow sits between them -->
       <link name="link">
         <inertial>
           <mass>0.05</mass>

From 7adad4f563c91bc44665e36fb142a24301f17fdc Mon Sep 17 00:00:00 2001
From: aquintan <aquintana.camacho@proton.me>
Date: Wed, 23 Sep 2026 12:34:55 +0200
Subject: [PATCH 26/32] mmo500 initial update

---
 CustomRobots/CMakeLists.txt                   |   3 +
 CustomRobots/mmo500/LICENSE                   |  21 +
 CustomRobots/mmo500/NOTICE                    |  12 +
 CustomRobots/mmo500/launch/mmo500.launch.py   | 299 ++++++++
 .../models/mmo500/meshes/MPO-500-BODY.dae     | 453 ++++++++++++
 .../models/mmo500/meshes/MPO-500-WHEEL.dae    | 151 ++++
 .../models/mmo500/meshes/SICK-MICROSCAN3.dae  | 648 ++++++++++++++++++
 .../mmo500/models/mmo500/meshes/cabin.dae     | 190 +++++
 .../mmo500/models/mmo500/mmo500.urdf.xacro    |  14 +
 .../models/mmo500/mmo500_common.urdf.xacro    | 177 +++++
 .../mmo500/models/mmo500/mmo500_gz.urdf.xacro |  90 +++
 .../mmo500_moveit_config/CMakeLists.txt       |  10 +
 .../config/controller_manager.yaml            |  63 ++
 .../config/joint_limits.yaml                  |  36 +
 .../config/kinematics.yaml                    |   7 +
 .../config/moveit_controllers.yaml            |  25 +
 .../config/ompl_planning.yaml                 |  70 ++
 .../config/pilz_cartesian_limits.yaml         |   5 +
 Industrial/mmo500_moveit_config/package.xml   |  25 +
 .../mmo500_moveit_config/srdf/mmo500.srdf     | 148 ++++
 .../mobile_manipulation_warehouse.launch.py   |  55 ++
 .../mobile_manipulation_warehouse.config      | 157 +++++
 Scenes/mobile_manipulation_warehouse.world    | 535 +++++++++++++++
 database/worlds.sql                           |   4 +
 24 files changed, 3198 insertions(+)
 create mode 100644 CustomRobots/mmo500/LICENSE
 create mode 100644 CustomRobots/mmo500/NOTICE
 create mode 100644 CustomRobots/mmo500/launch/mmo500.launch.py
 create mode 100644 CustomRobots/mmo500/models/mmo500/meshes/MPO-500-BODY.dae
 create mode 100644 CustomRobots/mmo500/models/mmo500/meshes/MPO-500-WHEEL.dae
 create mode 100644 CustomRobots/mmo500/models/mmo500/meshes/SICK-MICROSCAN3.dae
 create mode 100644 CustomRobots/mmo500/models/mmo500/meshes/cabin.dae
 create mode 100644 CustomRobots/mmo500/models/mmo500/mmo500.urdf.xacro
 create mode 100644 CustomRobots/mmo500/models/mmo500/mmo500_common.urdf.xacro
 create mode 100644 CustomRobots/mmo500/models/mmo500/mmo500_gz.urdf.xacro
 create mode 100644 Industrial/mmo500_moveit_config/CMakeLists.txt
 create mode 100644 Industrial/mmo500_moveit_config/config/controller_manager.yaml
 create mode 100644 Industrial/mmo500_moveit_config/config/joint_limits.yaml
 create mode 100644 Industrial/mmo500_moveit_config/config/kinematics.yaml
 create mode 100644 Industrial/mmo500_moveit_config/config/moveit_controllers.yaml
 create mode 100644 Industrial/mmo500_moveit_config/config/ompl_planning.yaml
 create mode 100644 Industrial/mmo500_moveit_config/config/pilz_cartesian_limits.yaml
 create mode 100644 Industrial/mmo500_moveit_config/package.xml
 create mode 100644 Industrial/mmo500_moveit_config/srdf/mmo500.srdf
 create mode 100644 Launchers/mobile_manipulation_warehouse.launch.py
 create mode 100644 Launchers/visualization/mobile_manipulation_warehouse.config
 create mode 100644 Scenes/mobile_manipulation_warehouse.world

diff --git a/CustomRobots/CMakeLists.txt b/CustomRobots/CMakeLists.txt
index b46e937aa..d92dce93c 100755
--- a/CustomRobots/CMakeLists.txt
+++ b/CustomRobots/CMakeLists.txt
@@ -136,6 +136,9 @@ install(
     xlerobot/models
     xlerobot/launch
 
+    mmo500/models
+    mmo500/launch
+
   DESTINATION share/${PROJECT_NAME})
 
 # Palletizing box feeder node (ament_cmake package: install python node explicitly)
diff --git a/CustomRobots/mmo500/LICENSE b/CustomRobots/mmo500/LICENSE
new file mode 100644
index 000000000..6c714e9fb
--- /dev/null
+++ b/CustomRobots/mmo500/LICENSE
@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2021 neobotix gmbh
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
diff --git a/CustomRobots/mmo500/NOTICE b/CustomRobots/mmo500/NOTICE
new file mode 100644
index 000000000..20ee95e9c
--- /dev/null
+++ b/CustomRobots/mmo500/NOTICE
@@ -0,0 +1,12 @@
+The mesh files under models/mmo500/meshes/ (MPO-500-BODY, MPO-500-WHEEL,
+cabin, SICK-MICROSCAN3) come from neo_simulation2 in
+https://github.com/neobotix/neo_simulation2, Copyright (c) 2021 neobotix gmbh,
+MIT license, see LICENSE in this directory.
+
+The MPO-500 dimensions used in mmo500_common.urdf.xacro (wheel and laser
+mount poses, cabinet and UR10 mount poses) were taken from the same source.
+
+The UR10 arm and the Robotiq 2F-85 gripper reuse the descriptions already in
+this repository (robot_arms and robotiq_description).
+
+Everything else in this directory is original work for RoboticsAcademy.
diff --git a/CustomRobots/mmo500/launch/mmo500.launch.py b/CustomRobots/mmo500/launch/mmo500.launch.py
new file mode 100644
index 000000000..52bc52c56
--- /dev/null
+++ b/CustomRobots/mmo500/launch/mmo500.launch.py
@@ -0,0 +1,299 @@
+import os
+import xacro
+import yaml
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.substitutions import LaunchConfiguration
+from launch.actions import DeclareLaunchArgument, OpaqueFunction, RegisterEventHandler
+from launch.event_handlers import OnProcessExit
+from launch_ros.actions import Node
+
+
+def load_yaml(package_name, file_path):
+    pkg_path = get_package_share_directory(package_name)
+    with open(os.path.join(pkg_path, file_path), "r") as f:
+        return yaml.safe_load(f)
+
+
+def load_file(package_name, file_path):
+    pkg_path = get_package_share_directory(package_name)
+    with open(os.path.join(pkg_path, file_path), "r") as f:
+        return f.read()
+
+
+def launch_setup(context):
+    x = LaunchConfiguration("x")
+    y = LaunchConfiguration("y")
+    z = LaunchConfiguration("z")
+    R = LaunchConfiguration("R")
+    P = LaunchConfiguration("P")
+    Y = LaunchConfiguration("Y")
+    gz_namespace = LaunchConfiguration("namespace")
+    gz_entity = LaunchConfiguration("entity")
+
+    package_dir = get_package_share_directory("custom_robots")
+
+    namespace = gz_namespace.perform(context)
+    entity = gz_entity.perform(context)
+
+    # Robot description
+    xacro_file = os.path.join(
+        package_dir,
+        "models",
+        "mmo500",
+        "mmo500.urdf.xacro",
+    )
+
+    controllers_file = os.path.join(
+        get_package_share_directory("mmo500_moveit_config"),
+        "config",
+        "controller_manager.yaml",
+    )
+
+    robot_description_content = xacro.process_file(
+        xacro_file,
+        mappings={
+            "namespace": namespace,
+            "simulation_controllers": controllers_file,
+        },
+    ).toxml()
+
+    robot_description = {"robot_description": robot_description_content}
+
+    # MoveIt configuration
+    robot_description_semantic = {
+        "robot_description_semantic": load_file(
+            "mmo500_moveit_config", "srdf/mmo500.srdf"
+        )
+    }
+
+    kinematics_yaml = load_yaml("mmo500_moveit_config", "config/kinematics.yaml")
+    kinematics_yaml = {
+        "robot_description_kinematics": kinematics_yaml["/**"]["ros__parameters"]
+    }
+
+    moveit_controllers = load_yaml(
+        "mmo500_moveit_config", "config/moveit_controllers.yaml"
+    )
+    moveit_controllers = moveit_controllers["/**"]["ros__parameters"]
+
+    ompl_planning = load_yaml("mmo500_moveit_config", "config/ompl_planning.yaml")
+    ompl_planning = ompl_planning["/**"]["ros__parameters"]
+
+    # Pilz provides the LIN and PTP planners used by Robmove
+    planning_pipelines_config = {
+        "planning_pipelines": ["ompl", "pilz_industrial_motion_planner"],
+        "default_planning_pipeline": "pilz_industrial_motion_planner",
+        "ompl": {
+            "planning_plugin": "ompl_interface/OMPLPlanner",
+        },
+        "pilz_industrial_motion_planner": {
+            "planning_plugin": "pilz_industrial_motion_planner/CommandPlanner",
+            "request_adapters": "",
+            "start_state_max_bounds_error": 0.1,
+            "default_planner_config": "PTP",
+        },
+    }
+
+    joint_limits_yaml = load_yaml("mmo500_moveit_config", "config/joint_limits.yaml")
+    pilz_cartesian_limits = load_yaml(
+        "mmo500_moveit_config", "config/pilz_cartesian_limits.yaml"
+    )
+    combined_planning = {
+        "robot_description_planning": {**joint_limits_yaml, **pilz_cartesian_limits}
+    }
+
+    moveit_controller_manager_param = {
+        "moveit_controller_manager": "moveit_simple_controller_manager/MoveItSimpleControllerManager"
+    }
+
+    # Core nodes
+    robot_state_publisher_node = Node(
+        package="robot_state_publisher",
+        executable="robot_state_publisher",
+        name="robot_state_publisher",
+        namespace=gz_namespace,
+        output="screen",
+        parameters=[robot_description, {"use_sim_time": True}],
+    )
+
+    # No world transform because planning stays relative to base_footprint
+
+    gz_spawn_entity = Node(
+        package="ros_gz_sim",
+        executable="create",
+        namespace=gz_namespace,
+        arguments=[
+            "-topic",
+            f"/{namespace}/robot_description",
+            "-name",
+            entity,
+            "-allow_renaming",
+            "true",
+            "-x",
+            x,
+            "-y",
+            y,
+            "-z",
+            z,
+            "-R",
+            R,
+            "-P",
+            P,
+            "-Y",
+            Y,
+        ],
+        output="screen",
+    )
+
+    gz_ros2_bridge = Node(
+        package="ros_gz_bridge",
+        executable="parameter_bridge",
+        namespace=gz_namespace,
+        arguments=[
+            f"/{namespace}/odom@nav_msgs/msg/Odometry[gz.msgs.Odometry",
+            f"/{namespace}/cmd_vel@geometry_msgs/msg/Twist]gz.msgs.Twist",
+            f"/{namespace}/front_laser/scan@sensor_msgs/msg/LaserScan[gz.msgs.LaserScan",
+            f"/{namespace}/back_laser/scan@sensor_msgs/msg/LaserScan[gz.msgs.LaserScan",
+        ],
+        output="screen",
+    )
+
+    # Controller spawners
+    def controller_spawner(controller_name):
+        return Node(
+            package="controller_manager",
+            executable="spawner",
+            namespace=gz_namespace,
+            # Long timeouts because the scene is still loading
+            arguments=[
+                controller_name,
+                "--switch-timeout",
+                "90",
+                "--controller-manager-timeout",
+                "90",
+                "--service-call-timeout",
+                "90",
+            ],
+            output="screen",
+        )
+
+    joint_state_broadcaster_spawner = controller_spawner("joint_state_broadcaster")
+    arm_controller_spawner = controller_spawner("arm_controller")
+    gripper_controller_spawner = controller_spawner("gripper_controller")
+
+    # MoveIt nodes
+    move_group = Node(
+        package="moveit_ros_move_group",
+        executable="move_group",
+        namespace=gz_namespace,
+        output="screen",
+        parameters=[
+            robot_description,
+            robot_description_semantic,
+            kinematics_yaml,
+            planning_pipelines_config,
+            moveit_controllers,
+            combined_planning,
+            moveit_controller_manager_param,
+            {"use_sim_time": True},
+        ],
+    )
+
+    # No move executable because mmo500 has no joint_specifications.yaml
+    robmove = Node(
+        package="ros2srrc_execution",
+        executable="robmove",
+        namespace=gz_namespace,
+        output="screen",
+        parameters=[
+            robot_description,
+            robot_description_semantic,
+            kinematics_yaml,
+            moveit_controllers,
+            ompl_planning,
+            moveit_controller_manager_param,
+            {"use_sim_time": True},
+            {"ROB_PARAM": "mmo500"},
+            {"ROB_GROUP": "ur10_manipulator"},
+            {"ACTION_NAME": f"/{namespace}/Robmove"},
+        ],
+    )
+
+    robpose = Node(
+        package="ros2srrc_execution",
+        executable="robpose",
+        name="robpose",
+        namespace=gz_namespace,
+        output="screen",
+        parameters=[
+            robot_description,
+            robot_description_semantic,
+            kinematics_yaml,
+            ompl_planning,
+            {"use_sim_time": True},
+            {"ROB_PARAM": "mmo500"},
+            {"ROB_GROUP": "ur10_manipulator"},
+        ],
+    )
+
+    moveit_nodes = [move_group, robmove, robpose]
+
+    # Startup order
+    # Each step starts when the previous one exits
+    after_spawn = RegisterEventHandler(
+        OnProcessExit(
+            target_action=gz_spawn_entity,
+            on_exit=[joint_state_broadcaster_spawner],
+        )
+    )
+
+    after_joint_state_broadcaster = RegisterEventHandler(
+        OnProcessExit(
+            target_action=joint_state_broadcaster_spawner,
+            on_exit=[arm_controller_spawner],
+        )
+    )
+
+    after_arm = RegisterEventHandler(
+        OnProcessExit(
+            target_action=arm_controller_spawner,
+            on_exit=[gripper_controller_spawner],
+        )
+    )
+
+    after_gripper = RegisterEventHandler(
+        OnProcessExit(
+            target_action=gripper_controller_spawner,
+            on_exit=moveit_nodes,
+        )
+    )
+
+    return [
+        robot_state_publisher_node,
+        gz_spawn_entity,
+        gz_ros2_bridge,
+        after_spawn,
+        after_joint_state_broadcaster,
+        after_arm,
+        after_gripper,
+    ]
+
+
+def generate_launch_description():
+    declared_arguments = [
+        DeclareLaunchArgument("use_sim_time", default_value="true"),
+        DeclareLaunchArgument("x", default_value="0"),
+        DeclareLaunchArgument("y", default_value="0"),
+        DeclareLaunchArgument("z", default_value="0"),
+        DeclareLaunchArgument("R", default_value="0"),
+        DeclareLaunchArgument("P", default_value="0"),
+        DeclareLaunchArgument("Y", default_value="0"),
+        DeclareLaunchArgument("namespace", default_value="mmo500"),
+        DeclareLaunchArgument("entity", default_value="mmo500"),
+    ]
+
+    return LaunchDescription(
+        declared_arguments + [OpaqueFunction(function=launch_setup)]
+    )
diff --git a/CustomRobots/mmo500/models/mmo500/meshes/MPO-500-BODY.dae b/CustomRobots/mmo500/models/mmo500/meshes/MPO-500-BODY.dae
new file mode 100644
index 000000000..e7e86f43e
--- /dev/null
+++ b/CustomRobots/mmo500/models/mmo500/meshes/MPO-500-BODY.dae
@@ -0,0 +1,453 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.79.0 commit date:2018-03-22, commit time:14:10, hash:f4dc9f9d68b</authoring_tool>
+    </contributor>
+    <created>2019-02-14T14:03:47</created>
+    <modified>2019-02-14T14:03:47</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_lights>
+    <light id="Lamp-light" name="Lamp">
+      <technique_common>
+        <point>
+          <color sid="color">1 1 1</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <type sid="type" type="int">0</type>
+          <flag sid="flag" type="int">0</flag>
+          <mode sid="mode" type="int">8192</mode>
+          <gamma sid="blender_gamma" type="float">1</gamma>
+          <red sid="red" type="float">1</red>
+          <green sid="green" type="float">1</green>
+          <blue sid="blue" type="float">1</blue>
+          <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
+          <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
+          <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
+          <energy sid="blender_energy" type="float">1</energy>
+          <dist sid="blender_dist" type="float">29.99998</dist>
+          <spotsize sid="spotsize" type="float">75</spotsize>
+          <spotblend sid="spotblend" type="float">0.15</spotblend>
+          <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
+          <att1 sid="att1" type="float">0</att1>
+          <att2 sid="att2" type="float">1</att2>
+          <falloff_type sid="falloff_type" type="int">2</falloff_type>
+          <clipsta sid="clipsta" type="float">1.000799</clipsta>
+          <clipend sid="clipend" type="float">30.002</clipend>
+          <bias sid="bias" type="float">1</bias>
+          <soft sid="soft" type="float">3</soft>
+          <compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
+          <bufsize sid="bufsize" type="int">2880</bufsize>
+          <samp sid="samp" type="int">3</samp>
+          <buffers sid="buffers" type="int">1</buffers>
+          <filtertype sid="filtertype" type="int">0</filtertype>
+          <bufflag sid="bufflag" type="int">0</bufflag>
+          <buftype sid="buftype" type="int">2</buftype>
+          <ray_samp sid="ray_samp" type="int">1</ray_samp>
+          <ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
+          <ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
+          <ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
+          <area_shape sid="area_shape" type="int">1</area_shape>
+          <area_size sid="area_size" type="float">0.1</area_size>
+          <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
+          <area_sizez sid="area_sizez" type="float">1</area_sizez>
+          <adapt_thresh sid="adapt_thresh" type="float">0.000999987</adapt_thresh>
+          <ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
+          <shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
+          <sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
+          <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
+          <horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
+          <spread sid="spread" type="float">1</spread>
+          <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
+          <sun_size sid="sun_size" type="float">1</sun_size>
+          <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
+          <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
+          <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
+          <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
+          <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
+          <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
+          <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
+          <sky_colorspace sid="sky_colorspace" type="int">0</sky_colorspace>
+        </technique>
+      </extra>
+    </light>
+    <light id="Lamp_001-light" name="Lamp.001">
+      <technique_common>
+        <point>
+          <color sid="color">1 1 1</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <type sid="type" type="int">0</type>
+          <flag sid="flag" type="int">0</flag>
+          <mode sid="mode" type="int">8192</mode>
+          <gamma sid="blender_gamma" type="float">1</gamma>
+          <red sid="red" type="float">1</red>
+          <green sid="green" type="float">1</green>
+          <blue sid="blue" type="float">1</blue>
+          <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
+          <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
+          <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
+          <energy sid="blender_energy" type="float">1</energy>
+          <dist sid="blender_dist" type="float">29.99998</dist>
+          <spotsize sid="spotsize" type="float">75</spotsize>
+          <spotblend sid="spotblend" type="float">0.15</spotblend>
+          <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
+          <att1 sid="att1" type="float">0</att1>
+          <att2 sid="att2" type="float">1</att2>
+          <falloff_type sid="falloff_type" type="int">2</falloff_type>
+          <clipsta sid="clipsta" type="float">1.000799</clipsta>
+          <clipend sid="clipend" type="float">30.002</clipend>
+          <bias sid="bias" type="float">1</bias>
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+        </triangles>
+        <triangles material="_4_64_64_002-material" count="1918">
+          <input semantic="VERTEX" source="#Volumenkörper1_011-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Volumenkörper1_011-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Volumenkörper1_011-mesh-map-0" offset="2" set="0"/>
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+        </triangles>
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+          <input semantic="VERTEX" source="#Volumenkörper1_011-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Volumenkörper1_011-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Volumenkörper1_011-mesh-map-0" offset="2" set="0"/>
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Lamp" name="Lamp" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Lamp-light"/>
+      </node>
+      <node id="Lamp_001" name="Lamp_001" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Lamp_001-light"/>
+      </node>
+      <node id="Volumenkörper1_011" name="Volumenkörper1_011" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 -4.37114e-8 -1 0 0 1 -4.37114e-8 0 0 0 0 1</matrix>
+        <instance_geometry url="#Volumenkörper1_011-mesh" name="Volumenkörper1_011">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="_91_191_191_009-material" target="#_91_191_191_009-material"/>
+              <instance_material symbol="_20_150_125_002-material" target="#_20_150_125_002-material"/>
+              <instance_material symbol="__153_204_002-material" target="#__153_204_002-material"/>
+              <instance_material symbol="_4_64_64_002-material" target="#_4_64_64_002-material"/>
+              <instance_material symbol="_78_0_0_004-material" target="#_78_0_0_004-material"/>
+              <instance_material symbol="_21_221_13_005-material" target="#_21_221_13_005-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
diff --git a/CustomRobots/mmo500/models/mmo500/meshes/MPO-500-WHEEL.dae b/CustomRobots/mmo500/models/mmo500/meshes/MPO-500-WHEEL.dae
new file mode 100644
index 000000000..6c3435521
--- /dev/null
+++ b/CustomRobots/mmo500/models/mmo500/meshes/MPO-500-WHEEL.dae
@@ -0,0 +1,151 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.79.0 commit date:2018-03-22, commit time:14:10, hash:f4dc9f9d68b</authoring_tool>
+    </contributor>
+    <created>2019-02-08T10:50:32</created>
+    <modified>2019-02-08T10:50:32</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images/>
+  <library_effects>
+    <effect id="_91_191_191-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.74902 0.74902 0.74902 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0 0 0 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">154</float>
+            </shininess>
+            <transparent opaque="RGB_ZERO">
+              <color>0 0 0 1</color>
+            </transparent>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="__0_0-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0 0 0 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">1 1 1 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">511</float>
+            </shininess>
+            <transparent opaque="RGB_ZERO">
+              <color>0 0 0 1</color>
+            </transparent>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="_91_191_191-material" name="_91_191_191">
+      <instance_effect url="#_91_191_191-effect"/>
+    </material>
+    <material id="__0_0-material" name="__0_0">
+      <instance_effect url="#__0_0-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Bauteil55-mesh" name="Bauteil55">
+      <mesh>
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+        </triangles>
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113995 19081 28095 113996 19080 28094 113997 19081 28095 113998 19042 28056 113999 19042 28056 114000 19081 28095 114001 19043 28057 114002 19082 28096 114003 19083 28097 114004 19084 28098 114005 19084 28098 114006 19083 28097 114007 19085 28099 114008 19084 28098 114009 19085 28099 114010 19086 28100 114011 19086 28100 114012 19085 28099 114013 19087 28101 114014 19086 28100 114015 19087 28101 114016 19088 28102 114017 19088 28102 114018 19087 28101 114019 19089 28103 114020 19088 28102 114021 19089 28103 114022 19090 28104 114023 19090 28104 114024 19089 28103 114025 19091 28105 114026 19090 28104 114027 19091 28105 114028 19092 28106 114029 19092 28106 114030 19091 28105 114031 19093 28107 114032 19092 28106 114033 19093 28107 114034 19094 28108 114035 19094 28108 114036 19093 28107 114037 19095 28109 114038 19094 28108 114039 19095 28109 114040 19096 28110 114041 19096 28110 114042 19095 28109 114043 19097 28111 114044 19096 28110 114045 19097 28111 114046 19098 28112 114047 19098 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28732 41970 173562 28779 41969 173563 28726 41971 173564 28726 41971 173565 28779 41969 173566 28780 41972 173567 28726 41971 173568 28780 41972 173569 28728 41973 173570 28728 41973 173571 28780 41972 173572 28729 41974 173573 28729 41974 173574 28780 41972 173575 28781 41975 173576 28729 41974 173577 28781 41975 173578 28772 41976 173579 28772 41976 173580 28781 41975 173581 28770 41977 173582 28770 41977 173583 28781 41975 173584 28782 41978 173585 28770 41977 173586 28782 41978 173587 28771 41979 173588 28771 41979 173589 28782 41978 173590 28767 41980 173591 28767 41980 173592 28782 41978 173593 28783 41981 173594 28767 41980 173595 28783 41981 173596 28768 41982 173597 28768 41982 173598 28783 41981 173599 28764 41983 173600 28764 41983 173601 28783 41981 173602 28784 41984 173603 28764 41983 173604 28784 41984 173605 28765 41985 173606 28765 41985 173607 28784 41984 173608 28761 41986 173609 28761 41986 173610 28784 41984 173611 28785 41987 173612 28761 41986 173613 28785 41987 173614 28762 41988 173615 28762 41988 173616 28785 41987 173617 28758 41989 173618 28758 41989 173619 28785 41987 173620 28786 41990 173621 28758 41989 173622 28786 41990 173623 28759 41991 173624 28759 41991 173625 28786 41990 173626 28755 41992 173627 28755 41992 173628 28786 41990 173629 28787 41993 173630 28755 41992 173631 28787 41993 173632 28756 41994 173633 28756 41994 173634 28787 41993 173635 28752 41995 173636 28752 41995 173637 28787 41993 173638 28788 41996 173639 28752 41995 173640 28788 41996 173641 28753 41997 173642 28753 41997 173643 28788 41996 173644 28749 41998 173645 28749 41998 173646 28788 41996 173647 28773 41952 173648 28749 41998 173649 28773 41952 173650 28750 41951 173651 28821 42063 173940 28822 42064 173941 28823 42065 173942 28823 42065 173943 28822 42064 173944 28824 42066 173945 28823 42065 173946 28824 42066 173947 28825 42067 173948 28825 42067 173949 28824 42066 173950 28826 42068 173951 28826 42068 173952 28824 42066 173953 28827 42069 173954 28826 42068 173955 28827 42069 173956 28828 42070 173957 28828 42070 173958 28827 42069 173959 28829 42071 173960 28829 42071 173961 28827 42069 173962 28830 42072 173963 28829 42071 173964 28830 42072 173965 28831 42073 173966 28831 42073 173967 28830 42072 173968 28832 42074 173969 28832 42074 173970 28830 42072 173971 28833 42075 173972 28832 42074 173973 28833 42075 173974 28834 42076 173975 28834 42076 173976 28833 42075 173977 28835 42077 173978 28835 42077 173979 28833 42075 173980 28836 42078 173981 28835 42077 173982 28836 42078 173983 28837 42079 173984 28837 42079 173985 28836 42078 173986 28838 42080 173987 28838 42080 173988 28836 42078 173989 28839 42081 173990 28838 42080 173991 28839 42081 173992 28840 42082 173993 28840 42082 173994 28839 42081 173995 28841 42083 173996 28841 42083 173997 28839 42081 173998 28842 42084 173999 28841 42083 174000 28842 42084 174001 28843 42085 174002 28843 42085 174003 28842 42084 174004 28844 42086 174005 28844 42086 174006 28842 42084 174007 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42122 174113 28862 42122 174114 28872 42120 174115 28873 42123 174116 28862 42122 174117 28873 42123 174118 28861 42124 174119 28861 42124 174120 28873 42123 174121 28859 42125 174122 28859 42125 174123 28873 42123 174124 28874 42126 174125 28859 42125 174126 28874 42126 174127 28858 42127 174128 28858 42127 174129 28874 42126 174130 28856 42128 174131 28856 42128 174132 28874 42126 174133 28875 42129 174134 28856 42128 174135 28875 42129 174136 28855 42130 174137 28855 42130 174138 28875 42129 174139 28853 42131 174140 28853 42131 174141 28875 42129 174142 28876 42132 174143 28853 42131 174144 28876 42132 174145 28852 42133 174146 28852 42133 174147 28876 42132 174148 28850 42134 174149 28850 42134 174150 28876 42132 174151 28877 42135 174152 28850 42134 174153 28877 42135 174154 28849 42136 174155 28849 42136 174156 28877 42135 174157 28847 42137 174158 28847 42137 174159 28877 42135 174160 28878 42138 174161 28847 42137 174162 28878 42138 174163 28846 42139 174164 28846 42139 174165 28878 42138 174166 28844 42140 174167 28844 42140 174168 28878 42138 174169 28879 42141 174170 28844 42140 174171 28879 42141 174172 28843 42142 174173 28843 42142 174174 28879 42141 174175 28841 42143 174176 28841 42143 174177 28879 42141 174178 28880 42144 174179 28841 42143 174180 28880 42144 174181 28840 42145 174182 28840 42145 174183 28880 42144 174184 28838 42146 174185 28838 42146 174186 28880 42144 174187 28881 42147 174188 28838 42146 174189 28881 42147 174190 28837 42148 174191 28837 42148 174192 28881 42147 174193 28835 42149 174194 28835 42149 174195 28881 42147 174196 28882 42150 174197 28835 42149 174198 28882 42150 174199 28834 42151 174200 28834 42151 174201 28882 42150 174202 28832 42152 174203 28832 42152 174204 28882 42150 174205 28883 42153 174206 28832 42152 174207 28883 42153 174208 28831 42154 174209 28831 42154 174210 28883 42153 174211 28829 42155 174212 28829 42155 174213 28883 42153 174214 28884 42156 174215 28829 42155 174216 28884 42156 174217 28828 42157 174218 28828 42157 174219 28884 42156 174220 28826 42158 174221 28826 42158 174222 28884 42156 174223 28869 42112 174224 28826 42158 174225 28869 42112 174226 28825 42111 174227</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Bauteil55" name="Bauteil55" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 -4.37114e-8 -1 0 0 1 -4.37114e-8 0 0 0 0 1</matrix>
+        <instance_geometry url="#Bauteil55-mesh" name="Bauteil55">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="_91_191_191-material" target="#_91_191_191-material"/>
+              <instance_material symbol="__0_0-material" target="#__0_0-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
diff --git a/CustomRobots/mmo500/models/mmo500/meshes/SICK-MICROSCAN3.dae b/CustomRobots/mmo500/models/mmo500/meshes/SICK-MICROSCAN3.dae
new file mode 100644
index 000000000..d00441e5b
--- /dev/null
+++ b/CustomRobots/mmo500/models/mmo500/meshes/SICK-MICROSCAN3.dae
@@ -0,0 +1,648 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.79.0 commit date:2018-03-22, commit time:14:10, hash:f4dc9f9d68b</authoring_tool>
+    </contributor>
+    <created>2019-02-14T14:09:51</created>
+    <modified>2019-02-14T14:09:51</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_lights>
+    <light id="Lamp-light" name="Lamp">
+      <technique_common>
+        <point>
+          <color sid="color">1 1 1</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <type sid="type" type="int">0</type>
+          <flag sid="flag" type="int">0</flag>
+          <mode sid="mode" type="int">8192</mode>
+          <gamma sid="blender_gamma" type="float">1</gamma>
+          <red sid="red" type="float">1</red>
+          <green sid="green" type="float">1</green>
+          <blue sid="blue" type="float">1</blue>
+          <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
+          <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
+          <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
+          <energy sid="blender_energy" type="float">1</energy>
+          <dist sid="blender_dist" type="float">29.99998</dist>
+          <spotsize sid="spotsize" type="float">75</spotsize>
+          <spotblend sid="spotblend" type="float">0.15</spotblend>
+          <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
+          <att1 sid="att1" type="float">0</att1>
+          <att2 sid="att2" type="float">1</att2>
+          <falloff_type sid="falloff_type" type="int">2</falloff_type>
+          <clipsta sid="clipsta" type="float">1.000799</clipsta>
+          <clipend sid="clipend" type="float">30.002</clipend>
+          <bias sid="bias" type="float">1</bias>
+          <soft sid="soft" type="float">3</soft>
+          <compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
+          <bufsize sid="bufsize" type="int">2880</bufsize>
+          <samp sid="samp" type="int">3</samp>
+          <buffers sid="buffers" type="int">1</buffers>
+          <filtertype sid="filtertype" type="int">0</filtertype>
+          <bufflag sid="bufflag" type="int">0</bufflag>
+          <buftype sid="buftype" type="int">2</buftype>
+          <ray_samp sid="ray_samp" type="int">1</ray_samp>
+          <ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
+          <ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
+          <ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
+          <area_shape sid="area_shape" type="int">1</area_shape>
+          <area_size sid="area_size" type="float">0.1</area_size>
+          <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
+          <area_sizez sid="area_sizez" type="float">1</area_sizez>
+          <adapt_thresh sid="adapt_thresh" type="float">0.000999987</adapt_thresh>
+          <ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
+          <shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
+          <sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
+          <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
+          <horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
+          <spread sid="spread" type="float">1</spread>
+          <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
+          <sun_size sid="sun_size" type="float">1</sun_size>
+          <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
+          <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
+          <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
+          <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
+          <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
+          <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
+          <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
+          <sky_colorspace sid="sky_colorspace" type="int">0</sky_colorspace>
+        </technique>
+      </extra>
+    </light>
+    <light id="Lamp_001-light" name="Lamp.001">
+      <technique_common>
+        <point>
+          <color sid="color">1 1 1</color>
+          <constant_attenuation>1</constant_attenuation>
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+        </triangles>
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+          <input semantic="TEXCOORD" source="#MICS3-XBXXXXXXX_001-mesh-map-0" offset="2" set="0"/>
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+          <input semantic="TEXCOORD" source="#MICS3-XBXXXXXXX_001-mesh-map-0" offset="2" set="0"/>
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+        </triangles>
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+          <input semantic="TEXCOORD" source="#MICS3-XBXXXXXXX_001-mesh-map-0" offset="2" set="0"/>
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3429 7188 23857 3431 7189 23858 4248 7187 23859 4215 7118 23860 4151 7117 23861 4244 63 23862 4083 63 23863 4238 7190 23864 4238 7190 23865 4083 63 23866 4103 7191 23867 4238 7190 23868 4103 7191 23869 4201 7192 23870 4201 7192 23871 4103 7191 23872 4200 63 23873 4200 7193 23874 4103 7194 23875 3671 5326 23876 3671 5326 23877 4103 7194 23878 3670 5325 23879 4244 7195 23880 4249 7196 23881 4083 7197 23882 4083 7197 23883 4249 7196 23884 4250 7198 23885 4083 7197 23886 4250 7198 23887 4085 7199 23888 4085 7199 23889 4250 7198 23890 4251 7200 23891 4085 7199 23892 4251 7200 23893 4252 7201 23894 4252 7201 23895 4251 7200 23896 4243 7202 23897 4252 7201 23898 4243 7202 23899 4253 7203 23900 4253 7203 23901 4243 7202 23902 4254 7204 23903 4253 7203 23904 4254 7204 23905 4085 7199 23906 4085 7199 23907 4254 7204 23908 4255 7205 23909 4085 7199 23910 4255 7205 23911 4087 7206 23912 4087 7206 23913 4255 7205 23914 4256 7207 23915 4087 7206 23916 4256 7207 23917 4257 7208 23918 4257 7208 23919 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+        </triangles>
+        <triangles material="_48_249_251-material" count="1733">
+          <input semantic="VERTEX" source="#MICS3-XBXXXXXXX_001-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#MICS3-XBXXXXXXX_001-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#MICS3-XBXXXXXXX_001-mesh-map-0" offset="2" set="0"/>
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Lamp" name="Lamp" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Lamp-light"/>
+      </node>
+      <node id="Lamp_001" name="Lamp_001" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Lamp_001-light"/>
+      </node>
+      <node id="MICS3-XBXXXXXXX_001" name="MICS3-XBXXXXXXX_001" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#MICS3-XBXXXXXXX_001-mesh" name="MICS3-XBXXXXXXX_001">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="_55_161_153-material" target="#_55_161_153-material"/>
+              <instance_material symbol="__0_0_004-material" target="#__0_0_004-material"/>
+              <instance_material symbol="_1_33_38-material" target="#_1_33_38-material"/>
+              <instance_material symbol="_7_36_39-material" target="#_7_36_39-material"/>
+              <instance_material symbol="_7_25_29-material" target="#_7_25_29-material"/>
+              <instance_material symbol="_7_81_94-material" target="#_7_81_94-material"/>
+              <instance_material symbol="_1_22_25_1-material" target="#_1_22_25_1-material"/>
+              <instance_material symbol="_1_22_25_001-material" target="#_1_22_25_001-material"/>
+              <instance_material symbol="_48_249_251-material" target="#_48_249_251-material"/>
+              <instance_material symbol="_45_144_137-material" target="#_45_144_137-material"/>
+              <instance_material symbol="_42_192_0-material" target="#_42_192_0-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/CustomRobots/mmo500/models/mmo500/meshes/cabin.dae b/CustomRobots/mmo500/models/mmo500/meshes/cabin.dae
new file mode 100644
index 000000000..15d7c3d9d
--- /dev/null
+++ b/CustomRobots/mmo500/models/mmo500/meshes/cabin.dae
@@ -0,0 +1,190 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.79.0 commit date:2018-03-22, commit time:14:10, hash:f4dc9f9d68b</authoring_tool>
+    </contributor>
+    <created>2019-03-13T11:10:55</created>
+    <modified>2019-03-13T11:10:55</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images/>
+  <library_effects>
+    <effect id="_29_229_229-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.898039 0.898039 0.898039 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.898039 0.898039 0.898039 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">511</float>
+            </shininess>
+            <transparent opaque="RGB_ZERO">
+              <color>0 0 0 1</color>
+            </transparent>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="__153_204-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0 0.6 0.8 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0 0 0 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">154</float>
+            </shininess>
+            <transparent opaque="RGB_ZERO">
+              <color>0 0 0 1</color>
+            </transparent>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="__0_0-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0 0 0 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">1 1 1 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">511</float>
+            </shininess>
+            <transparent opaque="RGB_ZERO">
+              <color>0 0 0 1</color>
+            </transparent>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="_29_229_229-material" name="_29_229_229">
+      <instance_effect url="#_29_229_229-effect"/>
+    </material>
+    <material id="__153_204-material" name="__153_204">
+      <instance_effect url="#__153_204-effect"/>
+    </material>
+    <material id="__0_0-material" name="__0_0">
+      <instance_effect url="#__0_0-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Volumenkörper1-mesh" name="Volumenkörper1">
+      <mesh>
+        <source id="Volumenkörper1-mesh-positions">
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+          <input semantic="TEXCOORD" source="#Volumenkörper1-mesh-map-0" offset="2" set="0"/>
+          <p>0 0 0 1 0 1 2 0 2 2 0 3 1 0 4 3 0 5 1 1 6 0 1 7 4 1 8 4 1 9 0 1 10 5 1 11 3 2 12 1 2 13 6 2 14 6 2 15 1 2 16 4 2 17 2 3 18 3 3 19 7 3 20 7 3 21 3 3 22 6 3 23 0 4 24 2 4 25 5 4 26 5 4 27 2 4 28 7 4 29 8 5 30 9 2 31 10 6 32 10 6 33 9 2 34 11 2 35 9 3 36 12 3 37 11 3 38 11 3 39 12 3 40 13 3 41 12 4 42 14 7 43 13 4 44 13 4 45 14 7 46 15 8 47 14 7 48 16 9 49 15 8 50 15 8 51 16 9 52 17 10 53 17 10 54 16 9 55 18 11 56 17 10 57 18 11 58 19 12 59 19 12 60 18 11 61 20 13 62 19 12 63 20 13 64 21 14 65 21 14 66 20 13 67 22 15 68 21 14 69 22 15 70 23 16 71 22 15 72 24 17 73 23 16 74 23 16 75 24 17 76 25 18 77 24 17 78 26 19 79 25 18 80 25 18 81 26 19 82 27 20 83 27 20 84 26 19 85 28 21 86 27 20 87 28 21 88 29 22 89 29 22 90 28 21 91 30 23 92 29 22 93 30 23 94 31 24 95 31 24 96 30 23 97 8 5 98 31 24 99 8 5 100 10 6 101 32 25 102 33 2 103 34 26 104 34 26 105 33 2 106 35 2 107 33 3 108 36 3 109 35 3 110 35 3 111 36 3 112 37 3 113 36 4 114 38 27 115 37 4 116 37 4 117 38 27 118 39 28 119 38 27 120 40 29 121 39 28 122 39 28 123 40 29 124 41 30 125 41 30 126 40 29 127 42 31 128 41 30 129 42 31 130 43 32 131 43 32 132 42 31 133 44 33 134 43 32 135 44 33 136 45 34 137 45 34 138 44 33 139 46 35 140 45 34 141 46 35 142 47 36 143 46 35 144 48 37 145 47 36 146 47 36 147 48 37 148 49 38 149 48 37 150 50 39 151 49 38 152 49 38 153 50 39 154 51 40 155 51 40 156 50 39 157 52 41 158 51 40 159 52 41 160 53 42 161 53 42 162 52 41 163 54 43 164 53 42 165 54 43 166 55 44 167 55 44 168 54 43 169 32 25 170 55 44 171 32 25 172 34 26 173 8 45 174 56 46 175 9 0 176 9 0 177 56 46 178 57 0 179 9 0 180 57 0 181 12 0 182 12 0 183 57 0 184 33 0 185 12 0 186 33 0 187 14 0 188 14 0 189 33 0 190 32 0 191 14 0 192 32 0 193 16 47 194 16 47 195 32 0 196 54 48 197 16 47 198 54 48 199 58 49 200 58 49 201 54 48 202 52 50 203 58 49 204 52 50 205 50 51 206 8 45 207 30 52 208 56 46 209 56 46 210 30 52 211 28 53 212 56 46 213 28 53 214 59 54 215 59 54 216 28 53 217 26 55 218 59 54 219 26 55 220 60 0 221 60 0 222 26 55 223 61 0 224 61 0 225 26 55 226 62 56 227 62 56 228 26 55 229 24 57 230 62 56 231 24 57 232 63 58 233 63 58 234 24 57 235 22 59 236 63 58 237 22 59 238 64 60 239 64 60 240 22 59 241 65 61 242 65 61 243 22 59 244 66 62 245 66 62 246 22 59 247 20 63 248 66 62 249 20 63 250 58 49 251 58 49 252 20 63 253 18 64 254 58 49 255 18 64 256 16 47 257 58 49 258 50 51 259 67 65 260 67 65 261 50 51 262 48 66 263 67 65 264 48 66 265 68 67 266 68 67 267 48 66 268 69 68 269 69 68 270 48 66 271 70 0 272 70 0 273 48 66 274 46 69 275 70 0 276 46 69 277 71 70 278 71 70 279 46 69 280 44 71 281 71 70 282 44 71 283 72 0 284 72 0 285 44 71 286 73 72 287 73 72 288 44 71 289 42 73 290 73 72 291 42 73 292 74 74 293 74 74 294 42 73 295 40 75 296 74 74 297 40 75 298 75 76 299 75 76 300 40 75 301 38 77 302 75 76 303 38 77 304 36 78 305 75 76 306 36 78 307 76 79 308 76 79 309 36 78 310 33 0 311 76 79 312 33 0 313 57 0 314 76 1 315 57 1 316 77 1 317 77 1 318 57 1 319 78 1 320 75 80 321 76 2 322 79 81 323 79 81 324 76 2 325 77 2 326 71 82 327 72 83 328 80 84 329 80 84 330 72 83 331 81 85 332 81 85 333 72 83 334 73 86 335 81 85 336 73 86 337 82 87 338 82 87 339 73 86 340 74 88 341 82 87 342 74 88 343 83 89 344 83 89 345 74 88 346 75 80 347 83 89 348 75 80 349 79 81 350 70 90 351 71 82 352 84 91 353 84 91 354 71 82 355 80 84 356 58 92 357 67 93 358 85 94 359 85 94 360 67 93 361 86 95 362 86 95 363 67 93 364 68 96 365 86 95 366 68 96 367 87 97 368 87 97 369 68 96 370 69 98 371 87 97 372 69 98 373 88 99 374 88 99 375 69 98 376 70 90 377 88 99 378 70 90 379 84 91 380 63 100 381 64 101 382 89 102 383 89 102 384 64 101 385 90 103 386 90 103 387 64 101 388 65 104 389 90 103 390 65 104 391 91 105 392 91 105 393 65 104 394 66 106 395 91 105 396 66 106 397 92 107 398 92 107 399 66 106 400 58 108 401 92 107 402 58 108 403 85 109 404 62 110 405 63 100 406 93 111 407 93 111 408 63 100 409 89 102 410 56 112 411 59 113 412 94 114 413 94 114 414 59 113 415 95 115 416 95 115 417 59 113 418 60 116 419 95 115 420 60 116 421 96 117 422 96 117 423 60 116 424 61 118 425 96 117 426 61 118 427 97 119 428 97 119 429 61 118 430 62 110 431 97 119 432 62 110 433 93 111 434 57 4 435 56 112 436 78 4 437 78 4 438 56 112 439 94 114 440 98 4 441 99 4 442 100 4 443 100 4 444 99 4 445 101 4 446 99 1 447 102 1 448 101 1 449 101 1 450 102 1 451 103 1 452 102 2 453 104 2 454 103 2 455 103 2 456 104 2 457 105 2 458 104 3 459 98 3 460 105 3 461 105 3 462 98 3 463 100 3 464 98 120 465 106 121 466 99 122 467 99 122 468 106 121 469 107 123 470 99 122 471 107 123 472 108 124 473 104 125 474 109 126 475 98 120 476 98 120 477 109 126 478 110 127 479 98 120 480 110 127 481 111 128 482 102 129 483 112 130 484 104 125 485 104 125 486 112 130 487 113 131 488 104 125 489 113 131 490 114 132 491 99 122 492 115 133 493 102 129 494 102 129 495 115 133 496 116 134 497 102 129 498 116 134 499 117 135 500 114 132 501 118 136 502 104 125 503 104 125 504 118 136 505 109 126 506 111 128 507 119 137 508 98 120 509 98 120 510 119 137 511 120 138 512 98 120 513 120 138 514 106 121 515 108 124 516 121 0 517 99 122 518 99 122 519 121 0 520 122 0 521 99 122 522 122 0 523 123 0 524 123 0 525 115 133 526 99 122 527 117 135 528 124 139 529 102 129 530 102 129 531 124 139 532 125 140 533 102 129 534 125 140 535 112 130 536 109 141 537 118 142 538 126 143 539 126 143 540 118 142 541 127 144 542 127 144 543 118 142 544 114 145 545 127 144 546 114 145 547 128 146 548 128 146 549 114 145 550 113 147 551 128 146 552 113 147 553 129 148 554 129 148 555 113 147 556 112 149 557 129 148 558 112 149 559 130 150 560 110 151 561 109 141 562 131 152 563 131 152 564 109 141 565 126 143 566 106 153 567 120 154 568 132 155 569 132 155 570 120 154 571 133 156 572 133 156 573 120 154 574 119 157 575 133 156 576 119 157 577 134 158 578 134 158 579 119 157 580 111 159 581 134 158 582 111 159 583 135 160 584 135 160 585 111 159 586 110 151 587 135 160 588 110 151 589 131 152 590 107 161 591 106 153 592 136 162 593 136 162 594 106 153 595 132 155 596 123 163 597 122 164 598 137 165 599 137 165 600 122 164 601 138 166 602 138 166 603 122 164 604 121 167 605 138 166 606 121 167 607 139 168 608 139 168 609 121 167 610 108 169 611 139 168 612 108 169 613 140 170 614 140 170 615 108 169 616 107 161 617 140 170 618 107 161 619 136 162 620 115 171 621 123 163 622 141 172 623 141 172 624 123 163 625 137 165 626 125 173 627 124 174 628 142 175 629 142 175 630 124 174 631 143 176 632 143 176 633 124 174 634 117 177 635 143 176 636 117 177 637 144 178 638 144 178 639 117 177 640 116 179 641 144 178 642 116 179 643 145 180 644 145 180 645 116 179 646 115 171 647 145 180 648 115 171 649 141 172 650 112 149 651 125 173 652 130 150 653 130 150 654 125 173 655 142 175 656 146 181 657 147 182 658 148 183 659 148 183 660 147 182 661 149 0 662 148 183 663 149 0 664 150 0 665 146 181 666 148 183 667 151 184 668 151 184 669 148 183 670 152 185 671 151 184 672 152 185 673 153 186 674 153 186 675 154 0 676 151 184 677 151 184 678 154 0 679 155 0 680 149 1 681 147 1 682 156 1 683 156 1 684 147 1 685 157 1 686 150 2 687 149 2 688 158 2 689 158 2 690 149 2 691 156 2 692 148 3 693 150 3 694 159 3 695 159 3 696 150 3 697 158 3 698 152 187 699 148 188 700 160 188 701 160 188 702 148 188 703 159 187 704 153 2 705 152 2 706 161 2 707 161 2 708 152 2 709 160 2 710 154 3 711 153 3 712 162 3 713 162 3 714 153 3 715 161 3 716 155 4 717 154 4 718 163 4 719 163 4 720 154 4 721 162 4 722 151 1 723 155 1 724 164 1 725 164 1 726 155 1 727 163 1 728 146 189 729 151 190 730 165 191 731 165 191 732 151 190 733 164 192 734 147 4 735 146 4 736 157 4 737 157 4 738 146 4 739 165 4 740 166 0 741 167 0 742 168 0 743 168 0 744 167 0 745 169 0 746 168 0 747 169 0 748 170 0 749 167 0 750 166 0 751 171 0 752 171 0 753 166 0 754 172 0 755 171 0 756 172 0 757 173 0 758 174 0 759 175 0 760 167 0 761 167 0 762 175 0 763 169 0 764 176 0 765 177 0 766 170 0 767 170 0 768 177 0 769 168 0 770 166 1 771 168 1 772 178 1 773 178 1 774 168 1 775 179 1 776 172 2 777 166 2 778 180 2 779 180 2 780 166 2 781 178 2 782 173 3 783 172 3 784 181 3 785 181 3 786 172 3 787 180 3 788 171 4 789 173 4 790 182 4 791 182 4 792 173 4 793 181 4 794 167 3 795 171 3 796 183 3 797 183 3 798 171 3 799 182 3 800 174 2 801 167 2 802 184 2 803 184 2 804 167 2 805 183 2 806 175 3 807 174 3 808 185 3 809 185 3 810 174 3 811 184 3 812 169 4 813 175 4 814 186 4 815 186 4 816 175 4 817 185 4 818 170 3 819 169 3 820 187 3 821 187 3 822 169 3 823 186 3 824 176 2 825 170 2 826 188 2 827 188 2 828 170 2 829 187 2 830 177 3 831 176 3 832 189 3 833 189 3 834 176 3 835 188 3 836 168 4 837 177 4 838 179 4 839 179 4 840 177 4 841 189 4 842 190 4 843 191 4 844 192 4 845 192 4 846 191 4 847 193 4 848 191 1 849 194 1 850 193 1 851 193 1 852 194 1 853 195 1 854 194 2 855 196 2 856 195 2 857 195 2 858 196 2 859 197 2 860 196 3 861 190 3 862 197 3 863 197 3 864 190 3 865 192 3 866 190 193 867 198 194 868 191 195 869 191 195 870 198 194 871 199 196 872 191 195 873 199 196 874 200 197 875 196 198 876 201 199 877 190 193 878 190 193 879 201 199 880 202 127 881 190 193 882 202 127 883 203 200 884 194 201 885 204 202 886 196 198 887 196 198 888 204 202 889 205 203 890 196 198 891 205 203 892 206 204 893 191 195 894 207 205 895 194 201 896 194 201 897 207 205 898 208 206 899 194 201 900 208 206 901 209 207 902 206 204 903 210 208 904 196 198 905 196 198 906 210 208 907 201 199 908 203 200 909 211 209 910 190 193 911 190 193 912 211 209 913 212 210 914 190 193 915 212 210 916 198 194 917 200 197 918 213 0 919 191 195 920 191 195 921 213 0 922 214 0 923 191 195 924 214 0 925 215 0 926 215 0 927 207 205 928 191 195 929 209 207 930 216 211 931 194 201 932 194 201 933 216 211 934 217 212 935 194 201 936 217 212 937 204 202 938 201 213 939 210 214 940 218 215 941 218 215 942 210 214 943 219 216 944 219 216 945 210 214 946 206 145 947 219 216 948 206 145 949 220 146 950 220 146 951 206 145 952 205 147 953 220 146 954 205 147 955 221 217 956 221 217 957 205 147 958 204 218 959 221 217 960 204 218 961 222 219 962 202 220 963 201 213 964 223 221 965 223 221 966 201 213 967 218 215 968 198 153 969 212 222 970 224 223 971 224 223 972 212 222 973 225 224 974 225 224 975 212 222 976 211 157 977 225 224 978 211 157 979 226 158 980 226 158 981 211 157 982 203 225 983 226 158 984 203 225 985 227 226 986 227 226 987 203 225 988 202 220 989 227 226 990 202 220 991 223 221 992 199 227 993 198 153 994 228 228 995 228 228 996 198 153 997 224 223 998 215 229 999 214 164 1000 229 230 1001 229 230 1002 214 164 1003 230 231 1004 230 231 1005 214 164 1006 213 232 1007 230 231 1008 213 232 1009 231 233 1010 231 233 1011 213 232 1012 200 234 1013 231 233 1014 200 234 1015 232 235 1016 232 235 1017 200 234 1018 199 227 1019 232 235 1020 199 227 1021 228 228 1022 207 236 1023 215 229 1024 233 237 1025 233 237 1026 215 229 1027 229 230 1028 217 238 1029 216 174 1030 234 239 1031 234 239 1032 216 174 1033 235 240 1034 235 240 1035 216 174 1036 209 241 1037 235 240 1038 209 241 1039 236 242 1040 236 242 1041 209 241 1042 208 243 1043 236 242 1044 208 243 1045 237 244 1046 237 244 1047 208 243 1048 207 236 1049 237 244 1050 207 236 1051 233 237 1052 204 218 1053 217 238 1054 222 219 1055 222 219 1056 217 238 1057 234 239 1058 238 0 1059 239 245 1060 240 0 1061 240 0 1062 239 245 1063 241 0 1064 241 0 1065 239 245 1066 242 246 1067 241 0 1068 242 246 1069 243 0 1070 244 0 1071 245 247 1072 239 245 1073 239 245 1074 245 247 1075 242 246 1076 239 3 1077 238 3 1078 246 3 1079 246 3 1080 238 3 1081 247 3 1082 244 2 1083 239 2 1084 248 2 1085 248 2 1086 239 2 1087 246 2 1088 245 3 1089 244 3 1090 249 3 1091 249 3 1092 244 3 1093 248 3 1094 242 4 1095 245 4 1096 250 4 1097 250 4 1098 245 4 1099 249 4 1100 243 1 1101 242 1 1102 251 1 1103 251 1 1104 242 1 1105 250 1 1106 241 2 1107 243 2 1108 252 2 1109 252 2 1110 243 2 1111 251 2 1112 240 1 1113 241 1 1114 253 1 1115 253 1 1116 241 1 1117 252 1 1118 238 2 1119 240 2 1120 247 2 1121 247 2 1122 240 2 1123 253 2 1124 254 248 1125 255 249 1126 256 250 1127 256 250 1128 255 249 1129 257 251 1130 256 250 1131 257 251 1132 258 252 1133 258 252 1134 257 251 1135 259 253 1136 258 252 1137 259 253 1138 260 254 1139 260 254 1140 259 253 1141 261 0 1142 257 251 1143 262 255 1144 259 253 1145 259 253 1146 262 255 1147 263 256 1148 258 252 1149 264 257 1150 256 250 1151 256 250 1152 264 257 1153 265 0 1154 254 258 1155 256 259 1156 266 260 1157 266 260 1158 256 259 1159 267 261 1160 255 2 1161 254 2 1162 268 2 1163 268 2 1164 254 2 1165 266 2 1166 257 262 1167 255 263 1168 269 264 1169 269 264 1170 255 263 1171 268 265 1172 262 266 1173 257 267 1174 270 268 1175 270 268 1176 257 267 1177 269 269 1178 263 2 1179 262 2 1180 271 2 1181 271 2 1182 262 2 1183 270 2 1184 259 270 1185 263 271 1186 272 272 1187 272 272 1188 263 271 1189 271 273 1190 261 274 1191 259 275 1192 273 276 1193 273 276 1194 259 275 1195 272 277 1196 260 4 1197 261 4 1198 274 4 1199 274 4 1200 261 4 1201 273 4 1202 258 278 1203 260 279 1204 275 280 1205 275 280 1206 260 279 1207 274 281 1208 264 282 1209 258 283 1210 276 284 1211 276 284 1212 258 283 1213 275 285 1214 265 4 1215 264 4 1216 277 4 1217 277 4 1218 264 4 1219 276 4 1220 256 286 1221 265 287 1222 267 287 1223 267 287 1224 265 287 1225 277 286 1226</p>
+        </triangles>
+        <triangles material="__0_0-material" count="10">
+          <input semantic="VERTEX" source="#Volumenkörper1-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Volumenkörper1-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Volumenkörper1-mesh-map-0" offset="2" set="0"/>
+          <p>524 420 3126 525 420 3127 526 420 3128 526 420 3129 525 420 3130 527 420 3131 517 2 3132 519 2 3133 526 2 3134 526 2 3135 519 2 3136 524 2 3137 519 1 3138 518 1 3139 524 1 3140 524 1 3141 518 1 3142 525 1 3143 518 4 3144 516 4 3145 525 4 3146 525 4 3147 516 4 3148 527 4 3149 516 3 3150 517 3 3151 527 3 3152 527 3 3153 517 3 3154 526 3 3155</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Volumenkörper1" name="Volumenkörper1" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#Volumenkörper1-mesh" name="Volumenkörper1">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="_29_229_229-material" target="#_29_229_229-material"/>
+              <instance_material symbol="__153_204-material" target="#__153_204-material"/>
+              <instance_material symbol="__0_0-material" target="#__0_0-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/CustomRobots/mmo500/models/mmo500/mmo500.urdf.xacro b/CustomRobots/mmo500/models/mmo500/mmo500.urdf.xacro
new file mode 100644
index 000000000..3634b2578
--- /dev/null
+++ b/CustomRobots/mmo500/models/mmo500/mmo500.urdf.xacro
@@ -0,0 +1,14 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="mmo500">
+
+  <xacro:arg name="namespace" default=""/>
+  <xacro:property name="namespace" value="$(arg namespace)"/>
+
+  <xacro:arg name="simulation_controllers" default=""/>
+  <xacro:property name="simulation_controllers" value="$(arg simulation_controllers)"/>
+
+  <xacro:include filename="$(find custom_robots)/models/mmo500/mmo500_common.urdf.xacro"/>
+
+  <xacro:mmo500 namespace="${namespace}" simulation_controllers="${simulation_controllers}"/>
+
+</robot>
diff --git a/CustomRobots/mmo500/models/mmo500/mmo500_common.urdf.xacro b/CustomRobots/mmo500/models/mmo500/mmo500_common.urdf.xacro
new file mode 100644
index 000000000..3f1601e91
--- /dev/null
+++ b/CustomRobots/mmo500/models/mmo500/mmo500_common.urdf.xacro
@@ -0,0 +1,177 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <xacro:property name="mesh_dir" value="file://$(find custom_robots)/models/mmo500/meshes"/>
+  <xacro:property name="wheel_radius" value="0.127"/>
+
+  <xacro:include filename="$(find custom_robots)/models/mmo500/mmo500_gz.urdf.xacro"/>
+  <xacro:include filename="$(find custom_robots)/models/ur5/ur_macro.xacro"/>
+  <xacro:include filename="$(find robotiq_description)/urdf/robotiq_85_gripper.urdf.xacro"/>
+  <xacro:include filename="$(find robotiq_description)/urdf/robotiq_85_gripper.ros2_control.xacro"/>
+
+  <!-- Wheels are fixed because the base is moved by VelocityControl -->
+  <xacro:macro name="omni_wheel" params="name xyz yaw">
+    <link name="${name}_link">
+      <inertial>
+        <mass value="2.2"/>
+        <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+      </inertial>
+      <visual>
+        <geometry>
+          <mesh filename="${mesh_dir}/MPO-500-WHEEL.dae" scale="0.001 0.001 0.001"/>
+        </geometry>
+      </visual>
+      <collision>
+        <geometry>
+          <sphere radius="${wheel_radius}"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${name}_joint" type="fixed">
+      <parent link="base_link"/>
+      <child link="${name}_link"/>
+      <origin xyz="${xyz}" rpy="0 0 ${yaw}"/>
+    </joint>
+  </xacro:macro>
+
+  <xacro:macro name="laser" params="name xyz yaw">
+    <link name="${name}_link">
+      <inertial>
+        <mass value="0.0001"/>
+        <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.0001"/>
+      </inertial>
+      <visual>
+        <origin xyz="0 0 -0.06" rpy="1.57 0 0"/>
+        <geometry>
+          <mesh filename="${mesh_dir}/SICK-MICROSCAN3.dae" scale="0.001 0.001 0.001"/>
+        </geometry>
+      </visual>
+    </link>
+    <joint name="${name}_joint" type="fixed">
+      <parent link="base_link"/>
+      <child link="${name}_link"/>
+      <origin xyz="${xyz}" rpy="0 0 ${yaw}"/>
+    </joint>
+  </xacro:macro>
+
+  <xacro:macro name="mmo500" params="namespace simulation_controllers">
+
+    <link name="base_footprint"/>
+
+    <link name="base_link">
+      <inertial>
+        <origin xyz="-0.01 -0.01 0.215"/>
+        <mass value="64"/>
+        <inertia ixx="2.8" ixy="0" ixz="0" iyy="2.8" iyz="0" izz="2.8"/>
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="-1.571 0 1.571"/>
+        <geometry>
+          <mesh filename="${mesh_dir}/MPO-500-BODY.dae" scale="0.001 0.001 0.001"/>
+        </geometry>
+      </visual>
+      <!-- Box fitted to the body mesh because dartsim cannot collide with dae meshes -->
+      <collision name="body">
+        <origin xyz="-0.01 -0.01 0.2155"/>
+        <geometry>
+          <box size="0.80 0.566 0.341"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <joint name="base_footprint_joint" type="fixed">
+      <parent link="base_footprint"/>
+      <child link="base_link"/>
+      <origin xyz="0 0 0"/>
+    </joint>
+
+    <xacro:omni_wheel name="wheel_front_left" xyz="0.25 0.28 ${wheel_radius}" yaw="0"/>
+    <xacro:omni_wheel name="wheel_front_right" xyz="0.25 -0.28 ${wheel_radius}" yaw="${pi}"/>
+    <xacro:omni_wheel name="wheel_back_left" xyz="-0.25 0.28 ${wheel_radius}" yaw="0"/>
+    <xacro:omni_wheel name="wheel_back_right" xyz="-0.25 -0.28 ${wheel_radius}" yaw="${pi}"/>
+
+    <xacro:laser name="front_laser" xyz="0.442 0 0.372" yaw="0"/>
+    <xacro:laser name="back_laser" xyz="-0.442 0 0.372" yaw="${pi}"/>
+
+    <link name="cabinet_link">
+      <inertial>
+        <origin xyz="0 0 0.21"/>
+        <mass value="10"/>
+        <inertia ixx="0.457072" ixy="0" ixz="0" iyy="0.23616" iyz="0" izz="0.686"/>
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 -1.5708"/>
+        <geometry>
+          <mesh filename="${mesh_dir}/cabin.dae" scale="0.001 0.001 0.001"/>
+        </geometry>
+      </visual>
+      <collision name="cabinet">
+        <origin xyz="0 0 0.2095"/>
+        <geometry>
+          <box size="0.55 0.556 0.419"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <joint name="cabinet_joint" type="fixed">
+      <parent link="base_link"/>
+      <child link="cabinet_link"/>
+      <origin xyz="0.072 0 0.386"/>
+    </joint>
+
+    <!-- UR10 on top of the cabinet -->
+    <xacro:ur_robot
+      name="ur10"
+      prefix="ur10_"
+      parent="cabinet_link"
+      joint_limits_parameters_file="$(find custom_robots)/config/ur10/joint_limits.yaml"
+      kinematics_parameters_file="$(find custom_robots)/config/ur10/default_kinematics.yaml"
+      physical_parameters_file="$(find custom_robots)/config/ur10/physical_parameters.yaml"
+      visual_parameters_file="$(find custom_robots)/config/ur10/visual_parameters.yaml"
+      sim_gz="true"
+      initial_positions="${dict(shoulder_pan_joint=1.5708,shoulder_lift_joint=-2.75,elbow_joint=2.67,wrist_1_joint=-1.5708,wrist_2_joint=-1.5708,wrist_3_joint=0.0)}">
+      <origin xyz="0.133 0 0.416" rpy="0 0 -1.5708"/>
+    </xacro:ur_robot>
+
+    <link name="robotiq_coupler">
+      <visual>
+        <geometry>
+          <mesh filename="package://robotiq_description/meshes/robotiq_85_coupler.stl"/>
+        </geometry>
+      </visual>
+      <collision>
+        <geometry>
+          <cylinder radius="0.04" length="0.015"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <joint name="robotiq_coupler_joint" type="fixed">
+      <origin xyz="0 0 0.004" rpy="0 0 ${-pi/2.0}"/>
+      <parent link="ur10_tool0"/>
+      <child link="robotiq_coupler"/>
+    </joint>
+
+    <xacro:robotiq_85_gripper prefix="" parent="robotiq_coupler">
+      <origin xyz="0 0 0.004" rpy="0 ${-pi/2} ${pi}"/>
+    </xacro:robotiq_85_gripper>
+
+    <xacro:robotiq_85_ros2_control name="robotiq" prefix="" sim_gz="true" use_fake_hardware="false"/>
+
+    <!-- Point between the finger pads, used as the arm tip by MoveIt -->
+    <link name="gripper_tcp"/>
+    <joint name="gripper_tcp_joint" type="fixed">
+      <parent link="ur10_tool0"/>
+      <child link="gripper_tcp"/>
+      <origin xyz="0 0 0.15" rpy="0 0 0"/>
+    </joint>
+
+    <xacro:velocity namespace="${namespace}"/>
+    <xacro:odom namespace="${namespace}"/>
+    <xacro:gpu_laser link="front_laser_link" name="front_laser" namespace="${namespace}"/>
+    <xacro:gpu_laser link="back_laser_link" name="back_laser" namespace="${namespace}"/>
+    <xacro:ros2_control_plugin namespace="${namespace}" simulation_controllers="${simulation_controllers}"/>
+
+  </xacro:macro>
+
+</robot>
diff --git a/CustomRobots/mmo500/models/mmo500/mmo500_gz.urdf.xacro b/CustomRobots/mmo500/models/mmo500/mmo500_gz.urdf.xacro
new file mode 100644
index 000000000..a9d6257c9
--- /dev/null
+++ b/CustomRobots/mmo500/models/mmo500/mmo500_gz.urdf.xacro
@@ -0,0 +1,90 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <!-- Frictionless wheels so they only hold the base up while VelocityControl drives it -->
+  <xacro:macro name="frictionless" params="link">
+    <gazebo reference="${link}">
+      <collision>
+        <surface>
+          <friction>
+            <ode>
+              <mu>0.0</mu>
+              <mu2>0.0</mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+    </gazebo>
+  </xacro:macro>
+
+  <xacro:frictionless link="wheel_front_left_link"/>
+  <xacro:frictionless link="wheel_front_right_link"/>
+  <xacro:frictionless link="wheel_back_left_link"/>
+  <xacro:frictionless link="wheel_back_right_link"/>
+
+  <xacro:macro name="velocity" params="namespace">
+    <gazebo>
+      <plugin filename="gz-sim-velocity-control-system" name="gz::sim::systems::VelocityControl">
+        <topic>/${namespace}/cmd_vel</topic>
+      </plugin>
+    </gazebo>
+  </xacro:macro>
+
+  <xacro:macro name="odom" params="namespace">
+    <gazebo>
+      <plugin filename="gz-sim-odometry-publisher-system" name="gz::sim::systems::OdometryPublisher">
+        <odom_frame>odom</odom_frame>
+        <robot_base_frame>base_footprint</robot_base_frame>
+        <odom_publish_frequency>50</odom_publish_frequency>
+        <odom_topic>/${namespace}/odom</odom_topic>
+        <dimensions>3</dimensions>
+      </plugin>
+    </gazebo>
+  </xacro:macro>
+
+  <!-- SICK microScan3 with the field of view used by neo_simulation2 -->
+  <xacro:macro name="gpu_laser" params="link name namespace">
+    <gazebo reference="${link}">
+      <sensor name="${name}" type="gpu_lidar">
+        <always_on>1</always_on>
+        <visualize>0</visualize>
+        <update_rate>10</update_rate>
+        <topic>/${namespace}/${name}/scan</topic>
+        <gz_frame_id>${link}</gz_frame_id>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>720</samples>
+              <resolution>1</resolution>
+              <min_angle>-1.48</min_angle>
+              <max_angle>1.48</max_angle>
+            </horizontal>
+          </scan>
+          <range>
+            <min>0.10</min>
+            <max>30.0</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0.0</mean>
+            <stddev>0.01</stddev>
+          </noise>
+        </lidar>
+      </sensor>
+    </gazebo>
+  </xacro:macro>
+
+  <xacro:macro name="ros2_control_plugin" params="namespace simulation_controllers">
+    <gazebo>
+      <plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
+        <!-- Same namespace as robot_state_publisher -->
+        <ros>
+          <namespace>${namespace}</namespace>
+        </ros>
+        <parameters>${simulation_controllers}</parameters>
+      </plugin>
+    </gazebo>
+  </xacro:macro>
+
+</robot>
diff --git a/Industrial/mmo500_moveit_config/CMakeLists.txt b/Industrial/mmo500_moveit_config/CMakeLists.txt
new file mode 100644
index 000000000..d6c327cc6
--- /dev/null
+++ b/Industrial/mmo500_moveit_config/CMakeLists.txt
@@ -0,0 +1,10 @@
+cmake_minimum_required(VERSION 3.8)
+project(mmo500_moveit_config)
+
+find_package(ament_cmake REQUIRED)
+
+install(DIRECTORY config srdf
+  DESTINATION share/${PROJECT_NAME}
+)
+
+ament_package()
diff --git a/Industrial/mmo500_moveit_config/config/controller_manager.yaml b/Industrial/mmo500_moveit_config/config/controller_manager.yaml
new file mode 100644
index 000000000..bda0b54e1
--- /dev/null
+++ b/Industrial/mmo500_moveit_config/config/controller_manager.yaml
@@ -0,0 +1,63 @@
+/**/controller_manager:
+  ros__parameters:
+    update_rate: 100 # Hz
+
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+    arm_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+
+    gripper_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+
+/**/arm_controller:
+  ros__parameters:
+    joints:
+      - ur10_shoulder_pan_joint
+      - ur10_shoulder_lift_joint
+      - ur10_elbow_joint
+      - ur10_wrist_1_joint
+      - ur10_wrist_2_joint
+      - ur10_wrist_3_joint
+
+    command_interfaces:
+      - position
+
+    state_interfaces:
+      - position
+      - velocity
+
+    state_publish_rate: 100.0
+    action_monitor_rate: 20.0
+    allow_partial_joints_goal: false
+    allow_nonzero_velocity_at_trajectory_end: true
+    allow_integration_in_goal_trajectories: true
+
+    constraints:
+      stopped_velocity_tolerance: 0.01
+      goal_time: 0.0
+
+/**/gripper_controller:
+  ros__parameters:
+    joints:
+      - robotiq_85_left_knuckle_joint
+
+    command_interfaces:
+      - position
+
+    state_interfaces:
+      - position
+      - velocity
+
+    state_publish_rate: 100.0
+    action_monitor_rate: 20.0
+    allow_partial_joints_goal: false
+    allow_integration_in_goal_trajectories: true
+
+    constraints:
+      stopped_velocity_tolerance: 0.01
+      goal_time: 0.0
+      robotiq_85_left_knuckle_joint:
+        trajectory: 0.5
+        goal: 0.5
diff --git a/Industrial/mmo500_moveit_config/config/joint_limits.yaml b/Industrial/mmo500_moveit_config/config/joint_limits.yaml
new file mode 100644
index 000000000..6fb191021
--- /dev/null
+++ b/Industrial/mmo500_moveit_config/config/joint_limits.yaml
@@ -0,0 +1,36 @@
+joint_limits:
+  ur10_shoulder_pan_joint:
+    has_velocity_limits: true
+    max_velocity: 1.5
+    has_acceleration_limits: true
+    max_acceleration: 5.0
+  ur10_shoulder_lift_joint:
+    has_velocity_limits: true
+    max_velocity: 1.5
+    has_acceleration_limits: true
+    max_acceleration: 5.0
+  ur10_elbow_joint:
+    has_velocity_limits: true
+    max_velocity: 1.5
+    has_acceleration_limits: true
+    max_acceleration: 5.0
+  ur10_wrist_1_joint:
+    has_velocity_limits: true
+    max_velocity: 2.0
+    has_acceleration_limits: true
+    max_acceleration: 5.0
+  ur10_wrist_2_joint:
+    has_velocity_limits: true
+    max_velocity: 2.0
+    has_acceleration_limits: true
+    max_acceleration: 5.0
+  ur10_wrist_3_joint:
+    has_velocity_limits: true
+    max_velocity: 2.0
+    has_acceleration_limits: true
+    max_acceleration: 5.0
+  robotiq_85_left_knuckle_joint:
+    has_velocity_limits: true
+    max_velocity: 1.0
+    has_acceleration_limits: true
+    max_acceleration: 5.0
diff --git a/Industrial/mmo500_moveit_config/config/kinematics.yaml b/Industrial/mmo500_moveit_config/config/kinematics.yaml
new file mode 100644
index 000000000..88f3d00f4
--- /dev/null
+++ b/Industrial/mmo500_moveit_config/config/kinematics.yaml
@@ -0,0 +1,7 @@
+/**:
+  ros__parameters:
+    ur10_manipulator:
+      kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+      kinematics_solver_search_resolution: 0.005
+      kinematics_solver_timeout: 0.1
+      kinematics_solver_attempts: 10
diff --git a/Industrial/mmo500_moveit_config/config/moveit_controllers.yaml b/Industrial/mmo500_moveit_config/config/moveit_controllers.yaml
new file mode 100644
index 000000000..c6997c090
--- /dev/null
+++ b/Industrial/mmo500_moveit_config/config/moveit_controllers.yaml
@@ -0,0 +1,25 @@
+/**:
+  ros__parameters:
+    moveit_simple_controller_manager:
+      controller_names:
+        - arm_controller
+        - gripper_controller
+
+      arm_controller:
+        type: FollowJointTrajectory
+        action_ns: follow_joint_trajectory
+        default: true
+        joints:
+          - ur10_shoulder_pan_joint
+          - ur10_shoulder_lift_joint
+          - ur10_elbow_joint
+          - ur10_wrist_1_joint
+          - ur10_wrist_2_joint
+          - ur10_wrist_3_joint
+
+      gripper_controller:
+        type: FollowJointTrajectory
+        action_ns: follow_joint_trajectory
+        default: true
+        joints:
+          - robotiq_85_left_knuckle_joint
diff --git a/Industrial/mmo500_moveit_config/config/ompl_planning.yaml b/Industrial/mmo500_moveit_config/config/ompl_planning.yaml
new file mode 100644
index 000000000..b477af5ef
--- /dev/null
+++ b/Industrial/mmo500_moveit_config/config/ompl_planning.yaml
@@ -0,0 +1,70 @@
+/**:
+  ros__parameters:
+    planner_configs:
+      SBLkConfigDefault:
+        type: geometric::SBL
+        range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+      ESTkConfigDefault:
+        type: geometric::EST
+        range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup()
+        goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
+      LBKPIECEkConfigDefault:
+        type: geometric::LBKPIECE
+        range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+        border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9
+        min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
+      BKPIECEkConfigDefault:
+        type: geometric::BKPIECE
+        range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+        border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9
+        failed_expansion_score_factor: 0.5  # When extending motion fails, scale score by factor. default: 0.5
+        min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
+      KPIECEkConfigDefault:
+        type: geometric::KPIECE
+        range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+        goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
+        border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9 (0.0,1.]
+        failed_expansion_score_factor: 0.5  # When extending motion fails, scale score by factor. default: 0.5
+        min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
+      RRTkConfigDefault:
+        type: geometric::RRT
+        range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+        goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
+      RRTConnectkConfigDefault:
+        type: geometric::RRTConnect
+        range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+      RRTstarkConfigDefault:
+        type: geometric::RRTstar
+        range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+        goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
+        delay_collision_checking: 1  # Stop collision checking as soon as C-free parent found. default 1
+      TRRTkConfigDefault:
+        type: geometric::TRRT
+        range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+        goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
+        max_states_failed: 10  # when to start increasing temp. default: 10
+        temp_change_factor: 2.0  # how much to increase or decrease temp. default: 2.0
+        min_temperature: 10e-10  # lower limit of temp change. default: 10e-10
+        init_temperature: 10e-6  # initial temperature. default: 10e-6
+        frountier_threshold: 0.0  # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
+        frountierNodeRatio: 0.1  # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
+        k_constant: 0.0  # value used to normalize expression. default: 0.0 set in setup()
+      PRMkConfigDefault:
+        type: geometric::PRM
+        max_nearest_neighbors: 10  # use k nearest neighbors. default: 10
+      PRMstarkConfigDefault:
+        type: geometric::PRMstar
+    ur10_manipulator:
+      planner_configs:
+        - SBLkConfigDefault
+        - ESTkConfigDefault
+        - LBKPIECEkConfigDefault
+        - BKPIECEkConfigDefault
+        - KPIECEkConfigDefault
+        - RRTkConfigDefault
+        - RRTConnectkConfigDefault
+        - RRTstarkConfigDefault
+        - TRRTkConfigDefault
+        - PRMkConfigDefault
+        - PRMstarkConfigDefault
+      longest_valid_segment_fraction: 0.01
diff --git a/Industrial/mmo500_moveit_config/config/pilz_cartesian_limits.yaml b/Industrial/mmo500_moveit_config/config/pilz_cartesian_limits.yaml
new file mode 100644
index 000000000..e33f19da2
--- /dev/null
+++ b/Industrial/mmo500_moveit_config/config/pilz_cartesian_limits.yaml
@@ -0,0 +1,5 @@
+cartesian_limits:
+  max_trans_vel: 0.25
+  max_trans_acc: 0.25
+  max_trans_dec: 0.25
+  max_rot_vel: 2.0
diff --git a/Industrial/mmo500_moveit_config/package.xml b/Industrial/mmo500_moveit_config/package.xml
new file mode 100644
index 000000000..59b2a1b92
--- /dev/null
+++ b/Industrial/mmo500_moveit_config/package.xml
@@ -0,0 +1,25 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>mmo500_moveit_config</name>
+  <version>0.0.0</version>
+  <description>MoveIt2 configuration for the Neobotix MMO-500 mobile manipulator</description>
+  <maintainer email="maintainer@example.com">maintainer</maintainer>
+  <license>MIT</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <exec_depend>moveit_kinematics</exec_depend>
+  <exec_depend>moveit_planners_ompl</exec_depend>
+  <exec_depend>moveit_ros_move_group</exec_depend>
+  <exec_depend>moveit_ros_visualization</exec_depend>
+  <exec_depend>moveit_simple_controller_manager</exec_depend>
+  <exec_depend>controller_manager</exec_depend>
+  <exec_depend>joint_trajectory_controller</exec_depend>
+  <exec_depend>joint_state_broadcaster</exec_depend>
+  <exec_depend>gz_ros2_control</exec_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/Industrial/mmo500_moveit_config/srdf/mmo500.srdf b/Industrial/mmo500_moveit_config/srdf/mmo500.srdf
new file mode 100644
index 000000000..a73e1623d
--- /dev/null
+++ b/Industrial/mmo500_moveit_config/srdf/mmo500.srdf
@@ -0,0 +1,148 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot name="mmo500">
+
+  <!-- No virtual joint so planning stays relative to base_footprint while the base drives -->
+
+  <group name="ur10_manipulator">
+    <chain base_link="ur10_base_link" tip_link="gripper_tcp"/>
+  </group>
+
+  <group name="robotiq_2f85">
+    <joint name="robotiq_85_left_knuckle_joint"/>
+    <joint name="robotiq_85_right_knuckle_joint"/>
+    <joint name="robotiq_85_left_inner_knuckle_joint"/>
+    <joint name="robotiq_85_right_inner_knuckle_joint"/>
+    <joint name="robotiq_85_left_finger_tip_joint"/>
+    <joint name="robotiq_85_right_finger_tip_joint"/>
+  </group>
+
+  <end_effector name="gripper" parent_link="gripper_tcp" group="robotiq_2f85" parent_group="ur10_manipulator"/>
+
+  <group_state name="home" group="ur10_manipulator">
+    <joint name="ur10_shoulder_pan_joint" value="1.5708"/>
+    <joint name="ur10_shoulder_lift_joint" value="-2.75"/>
+    <joint name="ur10_elbow_joint" value="2.67"/>
+    <joint name="ur10_wrist_1_joint" value="-1.5708"/>
+    <joint name="ur10_wrist_2_joint" value="-1.5708"/>
+    <joint name="ur10_wrist_3_joint" value="0"/>
+  </group_state>
+
+  <group_state name="GripperOpen" group="robotiq_2f85">
+    <joint name="robotiq_85_left_knuckle_joint" value="0"/>
+  </group_state>
+
+  <group_state name="GripperClose" group="robotiq_2f85">
+    <joint name="robotiq_85_left_knuckle_joint" value="0.8"/>
+  </group_state>
+
+  <disable_collisions link1="base_link" link2="cabinet_link" reason="Rigid"/>
+  <disable_collisions link1="base_link" link2="ur10_base_link_inertia" reason="Rigid"/>
+  <disable_collisions link1="base_link" link2="ur10_shoulder_link" reason="Adjacent"/>
+  <disable_collisions link1="base_link" link2="wheel_back_left_link" reason="Rigid"/>
+  <disable_collisions link1="base_link" link2="wheel_back_right_link" reason="Rigid"/>
+  <disable_collisions link1="base_link" link2="wheel_front_left_link" reason="Rigid"/>
+  <disable_collisions link1="base_link" link2="wheel_front_right_link" reason="Rigid"/>
+  <disable_collisions link1="cabinet_link" link2="ur10_base_link_inertia" reason="Rigid"/>
+  <disable_collisions link1="cabinet_link" link2="ur10_shoulder_link" reason="Adjacent"/>
+  <disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_left_finger_link" reason="Adjacent"/>
+  <disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_left_finger_tip_link" reason="Never"/>
+  <disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_left_inner_knuckle_link" reason="Adjacent"/>
+  <disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_left_knuckle_link" reason="Adjacent"/>
+  <disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_right_finger_link" reason="Adjacent"/>
+  <disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
+  <disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_right_inner_knuckle_link" reason="Adjacent"/>
+  <disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_right_knuckle_link" reason="Adjacent"/>
+  <disable_collisions link1="robotiq_85_base_link" link2="ur10_wrist_1_link" reason="Never"/>
+  <disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_left_finger_tip_link" reason="Default"/>
+  <disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_left_inner_knuckle_link" reason="Never"/>
+  <disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_right_finger_link" reason="Never"/>
+  <disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
+  <disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
+  <disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
+  <disable_collisions link1="robotiq_85_left_finger_link" link2="ur10_wrist_1_link" reason="Never"/>
+  <disable_collisions link1="robotiq_85_left_finger_link" link2="ur10_wrist_2_link" reason="Never"/>
+  <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="robotiq_85_left_knuckle_link" reason="Never"/>
+  <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="robotiq_85_right_finger_link" reason="Never"/>
+  <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
+  <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
+  <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
+  <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="robotiq_coupler" reason="Never"/>
+  <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="ur10_wrist_1_link" reason="Never"/>
+  <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="ur10_wrist_2_link" reason="Never"/>
+  <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="ur10_wrist_3_link" reason="Never"/>
+  <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="robotiq_85_left_finger_tip_link" reason="Adjacent"/>
+  <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="robotiq_85_left_knuckle_link" reason="Never"/>
+  <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="robotiq_85_right_finger_link" reason="Never"/>
+  <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
+  <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
+  <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
+  <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="ur10_wrist_1_link" reason="Never"/>
+  <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="ur10_wrist_2_link" reason="Never"/>
+  <disable_collisions link1="robotiq_85_left_knuckle_link" link2="robotiq_85_left_finger_link" reason="Rigid"/>
+  <disable_collisions link1="robotiq_85_left_knuckle_link" link2="robotiq_85_right_finger_link" reason="Never"/>
+  <disable_collisions link1="robotiq_85_left_knuckle_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
+  <disable_collisions link1="robotiq_85_left_knuckle_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
+  <disable_collisions link1="robotiq_85_left_knuckle_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
+  <disable_collisions link1="robotiq_85_left_knuckle_link" link2="ur10_wrist_1_link" reason="Never"/>
+  <disable_collisions link1="robotiq_85_left_knuckle_link" link2="ur10_wrist_2_link" reason="Never"/>
+  <disable_collisions link1="robotiq_85_right_finger_link" link2="robotiq_85_right_finger_tip_link" reason="Default"/>
+  <disable_collisions link1="robotiq_85_right_finger_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
+  <disable_collisions link1="robotiq_85_right_finger_link" link2="ur10_wrist_1_link" reason="Never"/>
+  <disable_collisions link1="robotiq_85_right_finger_link" link2="ur10_wrist_2_link" reason="Never"/>
+  <disable_collisions link1="robotiq_85_right_finger_tip_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
+  <disable_collisions link1="robotiq_85_right_finger_tip_link" link2="robotiq_coupler" reason="Never"/>
+  <disable_collisions link1="robotiq_85_right_finger_tip_link" link2="ur10_wrist_1_link" reason="Never"/>
+  <disable_collisions link1="robotiq_85_right_finger_tip_link" link2="ur10_wrist_2_link" reason="Never"/>
+  <disable_collisions link1="robotiq_85_right_finger_tip_link" link2="ur10_wrist_3_link" reason="Never"/>
+  <disable_collisions link1="robotiq_85_right_inner_knuckle_link" link2="robotiq_85_right_finger_tip_link" reason="Adjacent"/>
+  <disable_collisions link1="robotiq_85_right_inner_knuckle_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
+  <disable_collisions link1="robotiq_85_right_inner_knuckle_link" link2="ur10_wrist_1_link" reason="Never"/>
+  <disable_collisions link1="robotiq_85_right_inner_knuckle_link" link2="ur10_wrist_2_link" reason="Never"/>
+  <disable_collisions link1="robotiq_85_right_knuckle_link" link2="robotiq_85_right_finger_link" reason="Rigid"/>
+  <disable_collisions link1="robotiq_85_right_knuckle_link" link2="ur10_wrist_1_link" reason="Never"/>
+  <disable_collisions link1="robotiq_85_right_knuckle_link" link2="ur10_wrist_2_link" reason="Never"/>
+  <disable_collisions link1="robotiq_coupler" link2="robotiq_85_base_link" reason="Rigid"/>
+  <disable_collisions link1="robotiq_coupler" link2="robotiq_85_left_finger_link" reason="Adjacent"/>
+  <disable_collisions link1="robotiq_coupler" link2="robotiq_85_left_inner_knuckle_link" reason="Adjacent"/>
+  <disable_collisions link1="robotiq_coupler" link2="robotiq_85_left_knuckle_link" reason="Adjacent"/>
+  <disable_collisions link1="robotiq_coupler" link2="robotiq_85_right_finger_link" reason="Adjacent"/>
+  <disable_collisions link1="robotiq_coupler" link2="robotiq_85_right_inner_knuckle_link" reason="Adjacent"/>
+  <disable_collisions link1="robotiq_coupler" link2="robotiq_85_right_knuckle_link" reason="Adjacent"/>
+  <disable_collisions link1="robotiq_coupler" link2="ur10_wrist_1_link" reason="Never"/>
+  <disable_collisions link1="ur10_base_link_inertia" link2="ur10_shoulder_link" reason="Adjacent"/>
+  <disable_collisions link1="ur10_forearm_link" link2="ur10_wrist_1_link" reason="Adjacent"/>
+  <disable_collisions link1="ur10_shoulder_link" link2="ur10_upper_arm_link" reason="Adjacent"/>
+  <disable_collisions link1="ur10_upper_arm_link" link2="ur10_forearm_link" reason="Adjacent"/>
+  <disable_collisions link1="ur10_wrist_1_link" link2="ur10_wrist_2_link" reason="Adjacent"/>
+  <disable_collisions link1="ur10_wrist_1_link" link2="ur10_wrist_3_link" reason="Never"/>
+  <disable_collisions link1="ur10_wrist_2_link" link2="robotiq_85_base_link" reason="Adjacent"/>
+  <disable_collisions link1="ur10_wrist_2_link" link2="robotiq_coupler" reason="Adjacent"/>
+  <disable_collisions link1="ur10_wrist_2_link" link2="ur10_wrist_3_link" reason="Adjacent"/>
+  <disable_collisions link1="ur10_wrist_3_link" link2="robotiq_85_base_link" reason="Rigid"/>
+  <disable_collisions link1="ur10_wrist_3_link" link2="robotiq_85_left_finger_link" reason="Adjacent"/>
+  <disable_collisions link1="ur10_wrist_3_link" link2="robotiq_85_left_inner_knuckle_link" reason="Adjacent"/>
+  <disable_collisions link1="ur10_wrist_3_link" link2="robotiq_85_left_knuckle_link" reason="Adjacent"/>
+  <disable_collisions link1="ur10_wrist_3_link" link2="robotiq_85_right_finger_link" reason="Adjacent"/>
+  <disable_collisions link1="ur10_wrist_3_link" link2="robotiq_85_right_inner_knuckle_link" reason="Adjacent"/>
+  <disable_collisions link1="ur10_wrist_3_link" link2="robotiq_85_right_knuckle_link" reason="Adjacent"/>
+  <disable_collisions link1="ur10_wrist_3_link" link2="robotiq_coupler" reason="Rigid"/>
+  <disable_collisions link1="wheel_back_left_link" link2="cabinet_link" reason="Rigid"/>
+  <disable_collisions link1="wheel_back_left_link" link2="ur10_base_link_inertia" reason="Rigid"/>
+  <disable_collisions link1="wheel_back_left_link" link2="ur10_shoulder_link" reason="Adjacent"/>
+  <disable_collisions link1="wheel_back_left_link" link2="wheel_back_right_link" reason="Rigid"/>
+  <disable_collisions link1="wheel_back_right_link" link2="cabinet_link" reason="Rigid"/>
+  <disable_collisions link1="wheel_back_right_link" link2="ur10_base_link_inertia" reason="Rigid"/>
+  <disable_collisions link1="wheel_back_right_link" link2="ur10_shoulder_link" reason="Adjacent"/>
+  <disable_collisions link1="wheel_front_left_link" link2="cabinet_link" reason="Rigid"/>
+  <disable_collisions link1="wheel_front_left_link" link2="ur10_base_link_inertia" reason="Rigid"/>
+  <disable_collisions link1="wheel_front_left_link" link2="ur10_shoulder_link" reason="Adjacent"/>
+  <disable_collisions link1="wheel_front_left_link" link2="wheel_back_left_link" reason="Rigid"/>
+  <disable_collisions link1="wheel_front_left_link" link2="wheel_back_right_link" reason="Rigid"/>
+  <disable_collisions link1="wheel_front_left_link" link2="wheel_front_right_link" reason="Rigid"/>
+  <disable_collisions link1="wheel_front_right_link" link2="cabinet_link" reason="Rigid"/>
+  <disable_collisions link1="wheel_front_right_link" link2="ur10_base_link_inertia" reason="Rigid"/>
+  <disable_collisions link1="wheel_front_right_link" link2="ur10_shoulder_link" reason="Adjacent"/>
+  <disable_collisions link1="wheel_front_right_link" link2="wheel_back_left_link" reason="Rigid"/>
+  <disable_collisions link1="wheel_front_right_link" link2="wheel_back_right_link" reason="Rigid"/>
+
+</robot>
diff --git a/Launchers/mobile_manipulation_warehouse.launch.py b/Launchers/mobile_manipulation_warehouse.launch.py
new file mode 100644
index 000000000..ce02bebcd
--- /dev/null
+++ b/Launchers/mobile_manipulation_warehouse.launch.py
@@ -0,0 +1,55 @@
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription, AppendEnvironmentVariable
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    ros_gz_sim = get_package_share_directory("ros_gz_sim")
+
+    world_file_name = "mobile_manipulation_warehouse.world"
+    worlds_dir = "/opt/jderobot/Scenes"
+    world_path = os.path.join(worlds_dir, world_file_name)
+
+    # The Robotiq gripper meshes use package:// URIs
+    robotiq_resource_path = AppendEnvironmentVariable(
+        name="GZ_SIM_RESOURCE_PATH",
+        value=os.path.dirname(get_package_share_directory("robotiq_description")),
+    )
+
+    gazebo_server = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(ros_gz_sim, "launch", "gz_sim.launch.py")
+        ),
+        launch_arguments={
+            "gz_args": ["-s -v4 ", world_path],
+            "on_exit_shutdown": "true",
+        }.items(),
+    )
+
+    world_entity_cmd = Node(
+        package="ros_gz_sim",
+        executable="create",
+        arguments=["-name", "world", "-file", world_path],
+        output="screen",
+    )
+
+    gz_ros2_bridge = Node(
+        package="ros_gz_bridge",
+        executable="parameter_bridge",
+        arguments=[
+            "/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock",
+        ],
+        output="screen",
+    )
+
+    ld = LaunchDescription()
+    ld.add_action(robotiq_resource_path)
+    ld.add_action(gazebo_server)
+    ld.add_action(world_entity_cmd)
+    ld.add_action(gz_ros2_bridge)
+
+    return ld
diff --git a/Launchers/visualization/mobile_manipulation_warehouse.config b/Launchers/visualization/mobile_manipulation_warehouse.config
new file mode 100644
index 000000000..75560e42b
--- /dev/null
+++ b/Launchers/visualization/mobile_manipulation_warehouse.config
@@ -0,0 +1,157 @@
+<?xml version="1.0"?>
+<!-- Quick start dialog -->
+<dialog name="quick_start" show_again="false"/>
+
+<!-- Window -->
+<window>
+    <style material_theme="Light" material_primary="DeepOrange" material_accent="DeepOrange" toolbar_color_light="#ffa726" toolbar_text_color_light="#000000" toolbar_color_dark="#ffa726" toolbar_text_color_dark="#000000" plugin_toolbar_color_light="#ffa726" plugin_toolbar_text_color_light="#000000" plugin_toolbar_color_dark="#ffa726" plugin_toolbar_text_color_dark="#000000"/>
+    <menus>
+        <drawer visible="false">
+        </drawer>
+        <plugins visible="true">
+        </plugins>
+    </menus>
+    <dialog_on_exit>false</dialog_on_exit>
+</window>
+
+<!-- GUI plugins -->
+<!-- 3D scene -->
+<plugin filename="MinimalScene" name="3D View">
+    <gz-gui>
+        <title>3D View</title>
+        <property type="bool" key="showTitleBar">false</property>
+        <property type="string" key="state">docked</property>
+    </gz-gui>
+    <engine>ogre2</engine>
+    <scene>scene</scene>
+    <ambient_light>0.4 0.4 0.4</ambient_light>
+    <background_color>0.8 0.8 0.8</background_color>
+    <camera_pose>11 -11 9 0 0.5 2.356</camera_pose>
+</plugin>
+
+<!-- Plugins that add functionality to the scene -->
+<plugin filename="GzSceneManager" name="Scene Manager">
+    <gz-gui>
+        <property key="resizable" type="bool">false</property>
+        <property key="width" type="double">5</property>
+        <property key="height" type="double">5</property>
+        <property key="state" type="string">floating</property>
+        <property key="showTitleBar" type="bool">false</property>
+    </gz-gui>
+</plugin>
+
+<plugin filename="InteractiveViewControl" name="Interactive view control">
+    <gz-gui>
+        <property key="resizable" type="bool">false</property>
+        <property key="width" type="double">5</property>
+        <property key="height" type="double">5</property>
+        <property key="state" type="string">floating</property>
+        <property key="showTitleBar" type="bool">false</property>
+    </gz-gui>
+</plugin>
+
+<!-- Plugins that add tracking functionality -->
+
+<plugin filename="EntityContextMenuPlugin" name="Entity context menu">
+    <gz-gui>
+        <property key="state" type="string">floating</property>
+        <property key="width" type="double">5</property>
+        <property key="height" type="double">5</property>
+        <property key="showTitleBar" type="bool">false</property>
+    </gz-gui>
+</plugin>
+
+<plugin filename="CameraTracking" name="Camera Tracking">
+    <gz-gui>
+        <property key="resizable" type="bool">false</property>
+        <property key="width" type="double">5</property>
+        <property key="height" type="double">5</property>
+        <property key="state" type="string">floating</property>
+        <property key="showTitleBar" type="bool">false</property>
+    </gz-gui>
+</plugin>
+
+<plugin filename="SelectEntities" name="Select Entities">
+    <gz-gui>
+        <anchors target="Select entities">
+            <line own="right" target="right"/>
+            <line own="top" target="top"/>
+        </anchors>
+        <property key="resizable" type="bool">false</property>
+        <property key="width" type="double">5</property>
+        <property key="height" type="double">5</property>
+        <property key="state" type="string">floating</property>
+        <property key="showTitleBar" type="bool">false</property>
+    </gz-gui>
+</plugin>
+
+<plugin filename="TransformControl" name="Transform Control">
+    <gz-gui>
+        <property key="resizable" type="bool">false</property>
+        <property key="width" type="double">250</property>
+        <property key="height" type="double">100</property>
+        <property key="state" type="string">floating</property>
+        <property key="showTitleBar" type="bool">true</property>
+    </gz-gui>
+</plugin>
+
+<!-- Plugins that add tracking functionality -->
+<plugin filename="EntityContextMenuPlugin" name="Entity context menu">
+    <gz-gui>
+        <property key="state" type="string">floating</property>
+        <property key="width" type="double">5</property>
+        <property key="height" type="double">5</property>
+        <property key="showTitleBar" type="bool">false</property>
+    </gz-gui>
+</plugin>
+
+<plugin filename="CameraTracking" name="Camera Tracking">
+    <gz-gui>
+        <property key="resizable" type="bool">false</property>
+        <property key="width" type="double">5</property>
+        <property key="height" type="double">5</property>
+        <property key="state" type="string">floating</property>
+        <property key="showTitleBar" type="bool">false</property>
+    </gz-gui>
+    <follow_offset>0 0 2</follow_offset>
+    <follow_pgain>1</follow_pgain>
+</plugin>
+
+
+<plugin filename="SelectEntities" name="Select Entities">
+    <gz-gui>
+        <anchors target="Select entities">
+            <line own="right" target="right"/>
+            <line own="top" target="top"/>
+        </anchors>
+        <property key="resizable" type="bool">false</property>
+        <property key="width" type="double">5</property>
+        <property key="height" type="double">5</property>
+        <property key="state" type="string">floating</property>
+        <property key="showTitleBar" type="bool">false</property>
+    </gz-gui>
+</plugin>
+
+<plugin filename="WorldStats" name="World stats">
+    <gz-gui>
+        <title>World stats</title>
+        <property type="bool" key="showTitleBar">false</property>
+        <property type="bool" key="resizable">false</property>
+        <property type="double" key="height">110</property>
+        <property type="double" key="width">290</property>
+        <property type="double" key="z">1</property>
+
+        <property type="string" key="state">floating</property>
+        <anchors target="3D View">
+            <line own="right" target="right"/>
+            <line own="bottom" target="bottom"/>
+        </anchors>
+    </gz-gui>
+
+    <sim_time>true</sim_time>
+    <real_time>true</real_time>
+    <real_time_factor>true</real_time_factor>
+    <iterations>true</iterations>
+    <topic>/world/world_demo/stats</topic>
+
+</plugin>
\ No newline at end of file
diff --git a/Scenes/mobile_manipulation_warehouse.world b/Scenes/mobile_manipulation_warehouse.world
new file mode 100644
index 000000000..b8c01f33b
--- /dev/null
+++ b/Scenes/mobile_manipulation_warehouse.world
@@ -0,0 +1,535 @@
+<?xml version="1.0"?>
+<sdf version="1.8">
+  <world name="default">
+    <!-- 2 ms step keeps the 10 ms controller period an exact multiple of the step -->
+    <physics name="2ms" type="ode">
+      <max_step_size>0.002</max_step_size>
+      <real_time_factor>1.0</real_time_factor>
+      <real_time_update_rate>500</real_time_update_rate>
+    </physics>
+
+    <plugin filename="gz-sim-physics-system" name="gz::sim::systems::Physics">
+    </plugin>
+    <plugin filename="gz-sim-user-commands-system" name="gz::sim::systems::UserCommands">
+    </plugin>
+    <plugin filename="gz-sim-scene-broadcaster-system" name="gz::sim::systems::SceneBroadcaster">
+    </plugin>
+    <plugin filename="gz-sim-sensors-system" name="gz::sim::systems::Sensors">
+      <render_engine>ogre2</render_engine>
+    </plugin>
+    <plugin filename="gz-sim-contact-system" name="gz::sim::systems::Contact">
+    </plugin>
+    <plugin filename="libgz_link_attacher.so" name="gz_link_attacher::LinkAttacher">
+      <robot_model_name>mmo500</robot_model_name>
+    </plugin>
+
+    <scene>
+      <ambient>0.4 0.4 0.4 1</ambient>
+      <background>0.7 0.7 0.7 1</background>
+      <shadows>false</shadows>
+      <grid>false</grid>
+    </scene>
+
+    <light type="directional" name="sun">
+      <cast_shadows>false</cast_shadows>
+      <pose>0 0 10 0 0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.2 0.2 0.2 1</specular>
+      <direction>-0.5 0.1 -0.9</direction>
+    </light>
+
+    <model name="ground_plane">
+      <static>true</static>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <material>
+            <ambient>0.8 0.8 0.8 1</ambient>
+            <diffuse>0.8 0.8 0.8 1</diffuse>
+            <specular>0.8 0.8 0.8 1</specular>
+          </material>
+        </visual>
+      </link>
+    </model>
+
+    <model name="ground_logo">
+      <static>true</static>
+      <pose>0 0 0 0 0 1.57</pose>
+      <link name="link">
+        <visual name="visual">
+          <pose>0 0 0.001 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <scale>2 2 2</scale>
+              <uri>model://ground_logo_corner/meshes/ground_logo.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+      </link>
+    </model>
+
+    <!-- Objects start on conveyor1 and go to the tray of their color -->
+    <model name="conveyor1">
+      <static>true</static>
+      <pose>5 0 0 0 0 1.57</pose>
+      <link name="link">
+        <visual name="visual">
+          <pose>0 0 0.95 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <scale>0.5 0.5 0.5</scale>
+              <uri>model://conveyor/meshes/conveyor2.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+        <collision name="belt">
+          <pose>0 0 0.5 0 0 0</pose>
+          <geometry>
+            <box>
+              <size>2.5 1 1</size>
+            </box>
+          </geometry>
+        </collision>
+      </link>
+    </model>
+
+    <model name="conveyor2">
+      <static>true</static>
+      <pose>0 5 0 0 0 0</pose>
+      <link name="link">
+        <visual name="visual">
+          <pose>0 0 0.95 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <scale>0.5 0.5 0.5</scale>
+              <uri>model://conveyor/meshes/conveyor2.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+        <collision name="belt">
+          <pose>0 0 0.5 0 0 0</pose>
+          <geometry>
+            <box>
+              <size>2.5 1 1</size>
+            </box>
+          </geometry>
+        </collision>
+      </link>
+    </model>
+
+    <model name="conveyor3">
+      <static>true</static>
+      <pose>-5 0 0 0 0 1.57</pose>
+      <link name="link">
+        <visual name="visual">
+          <pose>0 0 0.95 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <scale>0.5 0.5 0.5</scale>
+              <uri>model://conveyor/meshes/conveyor2.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+        <collision name="belt">
+          <pose>0 0 0.5 0 0 0</pose>
+          <geometry>
+            <box>
+              <size>2.5 1 1</size>
+            </box>
+          </geometry>
+        </collision>
+      </link>
+    </model>
+
+    <model name="conveyor4">
+      <static>true</static>
+      <pose>0 -5 0 0 0 0</pose>
+      <link name="link">
+        <visual name="visual">
+          <pose>0 0 0.95 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <scale>0.5 0.5 0.5</scale>
+              <uri>model://conveyor/meshes/conveyor2.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+        <collision name="belt">
+          <pose>0 0 0.5 0 0 0</pose>
+          <geometry>
+            <box>
+              <size>2.5 1 1</size>
+            </box>
+          </geometry>
+        </collision>
+      </link>
+    </model>
+
+    <model name="green_tray">
+      <static>true</static>
+      <pose>0 4.8 1 0 0 0</pose>
+      <link name="link">
+        <visual name="visual">
+          <pose>0 0 0.005 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <scale>0.5 0.5 0.5</scale>
+              <uri>model://green_tray/meshes/green_tray.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+        <collision name="bottom">
+          <pose>0 0 0 0 0 0</pose>
+          <geometry>
+            <box>
+              <size>0.25 0.25 0.01</size>
+            </box>
+          </geometry>
+        </collision>
+        <collision name="front_wall">
+          <pose>0.12 0 0.015 0 0 0</pose>
+          <geometry>
+            <box>
+              <size>0.008 0.25 0.03</size>
+            </box>
+          </geometry>
+        </collision>
+        <collision name="back_wall">
+          <pose>-0.12 0 0.015 0 0 0</pose>
+          <geometry>
+            <box>
+              <size>0.008 0.25 0.03</size>
+            </box>
+          </geometry>
+        </collision>
+        <collision name="left_wall">
+          <pose>0 0.12 0.015 0 0 0</pose>
+          <geometry>
+            <box>
+              <size>0.25 0.012 0.03</size>
+            </box>
+          </geometry>
+        </collision>
+        <collision name="right_wall">
+          <pose>0 -0.12 0.015 0 0 0</pose>
+          <geometry>
+            <box>
+              <size>0.25 0.012 0.03</size>
+            </box>
+          </geometry>
+        </collision>
+      </link>
+    </model>
+
+    <model name="yellow_tray">
+      <static>true</static>
+      <pose>-4.8 0 1 0 0 0</pose>
+      <link name="link">
+        <visual name="visual">
+          <pose>0 0 0.005 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <scale>0.5 0.5 0.5</scale>
+              <uri>model://yellow_tray/meshes/yellow_tray.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+        <collision name="bottom">
+          <pose>0 0 0 0 0 0</pose>
+          <geometry>
+            <box>
+              <size>0.25 0.25 0.01</size>
+            </box>
+          </geometry>
+        </collision>
+        <collision name="front_wall">
+          <pose>0.12 0 0.015 0 0 0</pose>
+          <geometry>
+            <box>
+              <size>0.008 0.25 0.03</size>
+            </box>
+          </geometry>
+        </collision>
+        <collision name="back_wall">
+          <pose>-0.12 0 0.015 0 0 0</pose>
+          <geometry>
+            <box>
+              <size>0.008 0.25 0.03</size>
+            </box>
+          </geometry>
+        </collision>
+        <collision name="left_wall">
+          <pose>0 0.12 0.015 0 0 0</pose>
+          <geometry>
+            <box>
+              <size>0.25 0.012 0.03</size>
+            </box>
+          </geometry>
+        </collision>
+        <collision name="right_wall">
+          <pose>0 -0.12 0.015 0 0 0</pose>
+          <geometry>
+            <box>
+              <size>0.25 0.012 0.03</size>
+            </box>
+          </geometry>
+        </collision>
+      </link>
+    </model>
+
+    <model name="blue_tray">
+      <static>true</static>
+      <pose>0 -4.8 1 0 0 0</pose>
+      <link name="link">
+        <visual name="visual">
+          <pose>0 0 0.005 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <scale>0.5 0.5 0.5</scale>
+              <uri>model://blue_tray/meshes/blue_tray.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+        <collision name="bottom">
+          <pose>0 0 0 0 0 0</pose>
+          <geometry>
+            <box>
+              <size>0.25 0.25 0.01</size>
+            </box>
+          </geometry>
+        </collision>
+        <collision name="front_wall">
+          <pose>0.12 0 0.015 0 0 0</pose>
+          <geometry>
+            <box>
+              <size>0.008 0.25 0.03</size>
+            </box>
+          </geometry>
+        </collision>
+        <collision name="back_wall">
+          <pose>-0.12 0 0.015 0 0 0</pose>
+          <geometry>
+            <box>
+              <size>0.008 0.25 0.03</size>
+            </box>
+          </geometry>
+        </collision>
+        <collision name="left_wall">
+          <pose>0 0.12 0.015 0 0 0</pose>
+          <geometry>
+            <box>
+              <size>0.25 0.012 0.03</size>
+            </box>
+          </geometry>
+        </collision>
+        <collision name="right_wall">
+          <pose>0 -0.12 0.015 0 0 0</pose>
+          <geometry>
+            <box>
+              <size>0.25 0.012 0.03</size>
+            </box>
+          </geometry>
+        </collision>
+      </link>
+    </model>
+
+    <model name="wall_north">
+      <static>true</static>
+      <pose>0 7.5 1.25 0 0 0</pose>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <box>
+              <size>15 0.15 2.5</size>
+            </box>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <box>
+              <size>15 0.15 2.5</size>
+            </box>
+          </geometry>
+          <material>
+            <ambient>0.9 0.9 0.9 1</ambient>
+            <diffuse>0.9 0.9 0.9 1</diffuse>
+            <specular>0.1 0.1 0.1 1</specular>
+          </material>
+        </visual>
+      </link>
+    </model>
+
+    <model name="wall_south">
+      <static>true</static>
+      <pose>0 -7.5 1.25 0 0 0</pose>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <box>
+              <size>15 0.15 2.5</size>
+            </box>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <box>
+              <size>15 0.15 2.5</size>
+            </box>
+          </geometry>
+          <material>
+            <ambient>0.9 0.9 0.9 1</ambient>
+            <diffuse>0.9 0.9 0.9 1</diffuse>
+            <specular>0.1 0.1 0.1 1</specular>
+          </material>
+        </visual>
+      </link>
+    </model>
+
+    <model name="wall_east">
+      <static>true</static>
+      <pose>7.5 0 1.25 0 0 1.57</pose>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <box>
+              <size>15 0.15 2.5</size>
+            </box>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <box>
+              <size>15 0.15 2.5</size>
+            </box>
+          </geometry>
+          <material>
+            <ambient>0.9 0.9 0.9 1</ambient>
+            <diffuse>0.9 0.9 0.9 1</diffuse>
+            <specular>0.1 0.1 0.1 1</specular>
+          </material>
+        </visual>
+      </link>
+    </model>
+
+    <model name="wall_west">
+      <static>true</static>
+      <pose>-7.5 0 1.25 0 0 1.57</pose>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <box>
+              <size>15 0.15 2.5</size>
+            </box>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <box>
+              <size>15 0.15 2.5</size>
+            </box>
+          </geometry>
+          <material>
+            <ambient>0.9 0.9 0.9 1</ambient>
+            <diffuse>0.9 0.9 0.9 1</diffuse>
+            <specular>0.1 0.1 0.1 1</specular>
+          </material>
+        </visual>
+      </link>
+    </model>
+
+    <model name="blue_box">
+      <pose>4.8 0 1.035 0 0 0</pose>
+      <link name="link">
+        <inertial>
+          <mass>0.05</mass>
+          <inertia>
+            <ixx>3.08e-05</ixx><ixy>0</ixy><ixz>0</ixz><iyy>8.04e-05</iyy><iyz>0</iyz><izz>7.04e-05</izz>
+          </inertia>
+        </inertial>
+        <collision name="collision">
+          <geometry>
+            <box><size>0.12 0.05 0.07</size></box>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <box><size>0.12 0.05 0.07</size></box>
+          </geometry>
+          <material>
+            <ambient>0 0 1 1</ambient>
+            <diffuse>0 0 1 1</diffuse>
+            <specular>0.5 0.5 0.5 1</specular>
+          </material>
+        </visual>
+      </link>
+    </model>
+
+    <model name="yellow_ball">
+      <pose>4.8 -0.35 1.04 0 0 0</pose>
+      <link name="link">
+        <inertial>
+          <mass>0.05</mass>
+          <inertia>
+            <ixx>3.20e-05</ixx><ixy>0</ixy><ixz>0</ixz><iyy>3.20e-05</iyy><iyz>0</iyz><izz>3.20e-05</izz>
+          </inertia>
+        </inertial>
+        <collision name="collision">
+          <geometry>
+            <sphere><radius>0.04</radius></sphere>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <sphere><radius>0.04</radius></sphere>
+          </geometry>
+          <material>
+            <ambient>1 1 0 1</ambient>
+            <diffuse>1 1 0 1</diffuse>
+            <specular>0.5 0.5 0.5 1</specular>
+          </material>
+        </visual>
+      </link>
+    </model>
+
+    <model name="green_cylinder">
+      <pose>4.8 0.35 1.05 0 0 0</pose>
+      <link name="link">
+        <inertial>
+          <mass>0.05</mass>
+          <inertia>
+            <ixx>6.17e-05</ixx><ixy>0</ixy><ixz>0</ixz><iyy>6.17e-05</iyy><iyz>0</iyz><izz>4.00e-05</izz>
+          </inertia>
+        </inertial>
+        <collision name="collision">
+          <geometry>
+            <cylinder><radius>0.04</radius><length>0.1</length></cylinder>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <cylinder><radius>0.04</radius><length>0.1</length></cylinder>
+          </geometry>
+          <material>
+            <ambient>0 1 0 1</ambient>
+            <diffuse>0 1 0 1</diffuse>
+            <specular>0.5 0.5 0.5 1</specular>
+          </material>
+        </visual>
+      </link>
+    </model>
+
+  </world>
+</sdf>
diff --git a/database/worlds.sql b/database/worlds.sql
index 97d3c369a..2880e15df 100644
--- a/database/worlds.sql
+++ b/database/worlds.sql
@@ -209,6 +209,7 @@ COPY public.worlds (id, name, scene_id) FROM stdin;
 84	Follow Turtlebot	80
 85	XLeRobot Warehouse	58
 86	XLeRobot Home	81
+87	MMO-500 Warehouse	82
 \.
 
 --
@@ -282,6 +283,7 @@ COPY public.worlds_robots (id, world_id, robot_id, poses) FROM stdin;
 62	84	35	{{7.0,-4.0,0.1,0.0,0.0,2.76}}
 63	85	40	{{0.0,0.0,0.1,0.0,0.0,0.0}}
 64	86	40	{{-1.6,0.3,0.1,0.0,0.0,3.14}}
+65	87	41	{{0.0,0.0,0.02,0.0,0.0,0.0}}
 \.
 
 --
@@ -332,6 +334,7 @@ COPY public.scenes (id, name, launch_file_path, tools_config, ros_version, type,
 79	Visual Lander Circuit	/opt/jderobot/Launchers/visual_lander_circuit.launch.py	{"gzsim":"/opt/jderobot/Launchers/visualization/visual_lander.config"}	ROS2	gz	visual_lander.urdf
 80	Follow Turtlebot	/opt/jderobot/Launchers/follow_turtlebot.launch.py	{"gzsim":"/opt/jderobot/Launchers/visualization/follow_turtlebot.config"}	ROS2	gz	follow_turtlebot.urdf
 81	XLeRobot Home	/opt/jderobot/Launchers/xlerobot_home.launch.py	{"gzsim":"/opt/jderobot/Launchers/visualization/xlerobot_home.config"}	ROS2	gz	xlerobot_home.urdf
+82	Mobile Manipulation Warehouse	/opt/jderobot/Launchers/mobile_manipulation_warehouse.launch.py	{"gzsim":"/opt/jderobot/Launchers/visualization/mobile_manipulation_warehouse.config"}	ROS2	gz	mobile_manipulation_warehouse.urdf
 \.
 
 --
@@ -379,6 +382,7 @@ COPY public.robots (id, name, launch_file_path, entity, extra_config, model_path
 38	Mir100 Medium Noise	/home/ws/src/CustomRobots/mir100/launch/mir100.launch.py	mir100	noise:=med namespace:=mir100	mir100/models/mir100/mir100.urdf.xacro
 39	Mir100 High Noise	/home/ws/src/CustomRobots/mir100/launch/mir100.launch.py	mir100	noise:=high namespace:=mir100	mir100/models/mir100/mir100.urdf.xacro
 40	XLeRobot	/home/ws/src/CustomRobots/xlerobot/launch/xlerobot.launch.py	xlerobot	namespace:=logistic_robot	xlerobot/models/xlerobot/xlerobot.urdf.xacro
+41	MMO-500	/home/ws/src/CustomRobots/mmo500/launch/mmo500.launch.py	mmo500	namespace:=mmo500	mmo500/models/mmo500/mmo500.urdf.xacro
 \.
 
 --

From ae28fac62ba34778f45ab2867d203cf4bf684094 Mon Sep 17 00:00:00 2001
From: aquintan <aquintana.camacho@proton.me>
Date: Wed, 23 Sep 2026 12:57:13 +0200
Subject: [PATCH 27/32] mmo500 wheel realistic movement + plan controller

---
 .../models/mmo500/mmo500_common.urdf.xacro    | 25 ++++++++++++-
 .../mmo500/models/mmo500/mmo500_gz.urdf.xacro | 14 +++----
 .../mmo500_moveit_config/srdf/mmo500.srdf     | 37 ++++++++++---------
 3 files changed, 47 insertions(+), 29 deletions(-)

diff --git a/CustomRobots/mmo500/models/mmo500/mmo500_common.urdf.xacro b/CustomRobots/mmo500/models/mmo500/mmo500_common.urdf.xacro
index 3f1601e91..848b38f2a 100644
--- a/CustomRobots/mmo500/models/mmo500/mmo500_common.urdf.xacro
+++ b/CustomRobots/mmo500/models/mmo500/mmo500_common.urdf.xacro
@@ -9,7 +9,7 @@
   <xacro:include filename="$(find robotiq_description)/urdf/robotiq_85_gripper.urdf.xacro"/>
   <xacro:include filename="$(find robotiq_description)/urdf/robotiq_85_gripper.ros2_control.xacro"/>
 
-  <!-- Wheels are fixed because the base is moved by VelocityControl -->
+  <!-- Passive wheels that roll on the floor while VelocityControl drives the base -->
   <xacro:macro name="omni_wheel" params="name xyz yaw">
     <link name="${name}_link">
       <inertial>
@@ -27,10 +27,20 @@
         </geometry>
       </collision>
     </link>
-    <joint name="${name}_joint" type="fixed">
+    <joint name="${name}_joint" type="continuous">
       <parent link="base_link"/>
       <child link="${name}_link"/>
       <origin xyz="${xyz}" rpy="0 0 ${yaw}"/>
+      <axis xyz="0 1 0"/>
+      <dynamics damping="0.01" friction="0.0"/>
+    </joint>
+    <xacro:rolling_wheel link="${name}_link"/>
+  </xacro:macro>
+
+  <xacro:macro name="wheel_state" params="name">
+    <joint name="${name}">
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
     </joint>
   </xacro:macro>
 
@@ -170,6 +180,17 @@
     <xacro:odom namespace="${namespace}"/>
     <xacro:gpu_laser link="front_laser_link" name="front_laser" namespace="${namespace}"/>
     <xacro:gpu_laser link="back_laser_link" name="back_laser" namespace="${namespace}"/>
+    <!-- Wheels are state only because MoveIt waits for every joint of the URDF -->
+    <ros2_control name="mmo500_wheels" type="system">
+      <hardware>
+        <plugin>gz_ros2_control/GazeboSimSystem</plugin>
+      </hardware>
+      <xacro:wheel_state name="wheel_front_left_joint"/>
+      <xacro:wheel_state name="wheel_front_right_joint"/>
+      <xacro:wheel_state name="wheel_back_left_joint"/>
+      <xacro:wheel_state name="wheel_back_right_joint"/>
+    </ros2_control>
+
     <xacro:ros2_control_plugin namespace="${namespace}" simulation_controllers="${simulation_controllers}"/>
 
   </xacro:macro>
diff --git a/CustomRobots/mmo500/models/mmo500/mmo500_gz.urdf.xacro b/CustomRobots/mmo500/models/mmo500/mmo500_gz.urdf.xacro
index a9d6257c9..6c70b76fe 100644
--- a/CustomRobots/mmo500/models/mmo500/mmo500_gz.urdf.xacro
+++ b/CustomRobots/mmo500/models/mmo500/mmo500_gz.urdf.xacro
@@ -1,15 +1,16 @@
 <?xml version="1.0"?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro">
+<robot xmlns:xacro="http://ros.org/wiki/xacro" xmlns:gz="http://gazebosim.org/schema">
 
-  <!-- Frictionless wheels so they only hold the base up while VelocityControl drives it -->
-  <xacro:macro name="frictionless" params="link">
+  <!-- Friction only across the wheel axis so the wheels roll and still slide sideways -->
+  <xacro:macro name="rolling_wheel" params="link">
     <gazebo reference="${link}">
       <collision>
         <surface>
           <friction>
             <ode>
               <mu>0.0</mu>
-              <mu2>0.0</mu2>
+              <mu2>1.0</mu2>
+              <fdir1 gz:expressed_in="${link}">0 1 0</fdir1>
             </ode>
           </friction>
         </surface>
@@ -17,11 +18,6 @@
     </gazebo>
   </xacro:macro>
 
-  <xacro:frictionless link="wheel_front_left_link"/>
-  <xacro:frictionless link="wheel_front_right_link"/>
-  <xacro:frictionless link="wheel_back_left_link"/>
-  <xacro:frictionless link="wheel_back_right_link"/>
-
   <xacro:macro name="velocity" params="namespace">
     <gazebo>
       <plugin filename="gz-sim-velocity-control-system" name="gz::sim::systems::VelocityControl">
diff --git a/Industrial/mmo500_moveit_config/srdf/mmo500.srdf b/Industrial/mmo500_moveit_config/srdf/mmo500.srdf
index a73e1623d..cfc800f05 100644
--- a/Industrial/mmo500_moveit_config/srdf/mmo500.srdf
+++ b/Industrial/mmo500_moveit_config/srdf/mmo500.srdf
@@ -38,10 +38,10 @@
   <disable_collisions link1="base_link" link2="cabinet_link" reason="Rigid"/>
   <disable_collisions link1="base_link" link2="ur10_base_link_inertia" reason="Rigid"/>
   <disable_collisions link1="base_link" link2="ur10_shoulder_link" reason="Adjacent"/>
-  <disable_collisions link1="base_link" link2="wheel_back_left_link" reason="Rigid"/>
-  <disable_collisions link1="base_link" link2="wheel_back_right_link" reason="Rigid"/>
-  <disable_collisions link1="base_link" link2="wheel_front_left_link" reason="Rigid"/>
-  <disable_collisions link1="base_link" link2="wheel_front_right_link" reason="Rigid"/>
+  <disable_collisions link1="base_link" link2="wheel_back_left_link" reason="Never"/>
+  <disable_collisions link1="base_link" link2="wheel_back_right_link" reason="Never"/>
+  <disable_collisions link1="base_link" link2="wheel_front_left_link" reason="Never"/>
+  <disable_collisions link1="base_link" link2="wheel_front_right_link" reason="Never"/>
   <disable_collisions link1="cabinet_link" link2="ur10_base_link_inertia" reason="Rigid"/>
   <disable_collisions link1="cabinet_link" link2="ur10_shoulder_link" reason="Adjacent"/>
   <disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_left_finger_link" reason="Adjacent"/>
@@ -126,23 +126,24 @@
   <disable_collisions link1="ur10_wrist_3_link" link2="robotiq_85_right_inner_knuckle_link" reason="Adjacent"/>
   <disable_collisions link1="ur10_wrist_3_link" link2="robotiq_85_right_knuckle_link" reason="Adjacent"/>
   <disable_collisions link1="ur10_wrist_3_link" link2="robotiq_coupler" reason="Rigid"/>
-  <disable_collisions link1="wheel_back_left_link" link2="cabinet_link" reason="Rigid"/>
-  <disable_collisions link1="wheel_back_left_link" link2="ur10_base_link_inertia" reason="Rigid"/>
+  <disable_collisions link1="wheel_back_left_link" link2="cabinet_link" reason="Never"/>
+  <disable_collisions link1="wheel_back_left_link" link2="ur10_base_link_inertia" reason="Never"/>
   <disable_collisions link1="wheel_back_left_link" link2="ur10_shoulder_link" reason="Adjacent"/>
-  <disable_collisions link1="wheel_back_left_link" link2="wheel_back_right_link" reason="Rigid"/>
-  <disable_collisions link1="wheel_back_right_link" link2="cabinet_link" reason="Rigid"/>
-  <disable_collisions link1="wheel_back_right_link" link2="ur10_base_link_inertia" reason="Rigid"/>
+  <disable_collisions link1="wheel_back_left_link" link2="wheel_back_right_link" reason="Never"/>
+  <disable_collisions link1="wheel_back_right_link" link2="cabinet_link" reason="Never"/>
+  <disable_collisions link1="wheel_back_right_link" link2="ur10_base_link_inertia" reason="Never"/>
   <disable_collisions link1="wheel_back_right_link" link2="ur10_shoulder_link" reason="Adjacent"/>
-  <disable_collisions link1="wheel_front_left_link" link2="cabinet_link" reason="Rigid"/>
-  <disable_collisions link1="wheel_front_left_link" link2="ur10_base_link_inertia" reason="Rigid"/>
+  <disable_collisions link1="wheel_front_left_link" link2="cabinet_link" reason="Never"/>
+  <disable_collisions link1="wheel_front_left_link" link2="ur10_base_link_inertia" reason="Never"/>
   <disable_collisions link1="wheel_front_left_link" link2="ur10_shoulder_link" reason="Adjacent"/>
-  <disable_collisions link1="wheel_front_left_link" link2="wheel_back_left_link" reason="Rigid"/>
-  <disable_collisions link1="wheel_front_left_link" link2="wheel_back_right_link" reason="Rigid"/>
-  <disable_collisions link1="wheel_front_left_link" link2="wheel_front_right_link" reason="Rigid"/>
-  <disable_collisions link1="wheel_front_right_link" link2="cabinet_link" reason="Rigid"/>
-  <disable_collisions link1="wheel_front_right_link" link2="ur10_base_link_inertia" reason="Rigid"/>
+  <disable_collisions link1="wheel_front_left_link" link2="wheel_back_left_link" reason="Never"/>
+  <disable_collisions link1="wheel_front_left_link" link2="wheel_back_right_link" reason="Never"/>
+  <disable_collisions link1="wheel_front_left_link" link2="wheel_front_right_link" reason="Never"/>
+  <disable_collisions link1="wheel_front_right_link" link2="cabinet_link" reason="Never"/>
+  <disable_collisions link1="wheel_front_right_link" link2="ur10_base_link_inertia" reason="Never"/>
   <disable_collisions link1="wheel_front_right_link" link2="ur10_shoulder_link" reason="Adjacent"/>
-  <disable_collisions link1="wheel_front_right_link" link2="wheel_back_left_link" reason="Rigid"/>
-  <disable_collisions link1="wheel_front_right_link" link2="wheel_back_right_link" reason="Rigid"/>
+  <disable_collisions link1="wheel_front_right_link" link2="wheel_back_left_link" reason="Never"/>
+  <disable_collisions link1="wheel_front_right_link" link2="wheel_back_right_link" reason="Never"/>
+
 
 </robot>

From e9885570f08599e55ce91e52853fa14a56873747 Mon Sep 17 00:00:00 2001
From: aquintan <aquintana.camacho@proton.me>
Date: Wed, 23 Sep 2026 14:01:26 +0200
Subject: [PATCH 28/32] style update

---
 .../models/mmo500/mmo500_common.urdf.xacro    |   2 +-
 .../models/mesa_comedor/model.sdf             | 230 +++++++++---------
 .../xlerobot/xlerobot_common.urdf.xacro       |   6 +-
 .../models/xlerobot/xlerobot_gz.urdf.xacro    |   4 +-
 .../ros2srrc_execution/python/robot/robot.py  |   6 +-
 .../xlerobot_moveit_config/srdf/xlerobot.srdf |   2 +-
 Scenes/xlerobot_home.world                    |   2 +-
 7 files changed, 126 insertions(+), 126 deletions(-)

diff --git a/CustomRobots/mmo500/models/mmo500/mmo500_common.urdf.xacro b/CustomRobots/mmo500/models/mmo500/mmo500_common.urdf.xacro
index 848b38f2a..a1fbab856 100644
--- a/CustomRobots/mmo500/models/mmo500/mmo500_common.urdf.xacro
+++ b/CustomRobots/mmo500/models/mmo500/mmo500_common.urdf.xacro
@@ -168,7 +168,7 @@
 
     <xacro:robotiq_85_ros2_control name="robotiq" prefix="" sim_gz="true" use_fake_hardware="false"/>
 
-    <!-- Point between the finger pads, used as the arm tip by MoveIt -->
+    <!-- Point between the finger pads that MoveIt uses as the arm tip -->
     <link name="gripper_tcp"/>
     <joint name="gripper_tcp_joint" type="fixed">
       <parent link="ur10_tool0"/>
diff --git a/CustomRobots/roomba_robot/models/mesa_comedor/model.sdf b/CustomRobots/roomba_robot/models/mesa_comedor/model.sdf
index 660102be9..6aaa6fcdb 100755
--- a/CustomRobots/roomba_robot/models/mesa_comedor/model.sdf
+++ b/CustomRobots/roomba_robot/models/mesa_comedor/model.sdf
@@ -1,115 +1,115 @@
-<?xml version="1.0" ?>
-<sdf version="1.8">
-  <model name="mesa_comedor">
-    <static>true</static>
-    <link name="mesa_link">
-      <visual name="mesa_visual">
-        <geometry>
-          <mesh>
-            <uri>meshes/model.dae</uri>
-            <submesh>
-              <name>Mesa</name>
-            </submesh>
-          </mesh>
-        </geometry>
-        <material>
-          <diffuse>1.0 1.0 1.0 1.0</diffuse>
-          <specular>0.0 0.0 0.0 1.0</specular>
-          <pbr>
-            <metal>
-              <albedo_map>meshes/wood.jpg</albedo_map>
-            </metal>
-          </pbr>
-        </material>
-      </visual>
-      <visual name="pata1_visual">
-        <geometry>
-          <mesh>
-            <uri>meshes/model.dae</uri>
-            <submesh>
-              <name>Pata1</name>
-            </submesh>
-          </mesh>
-        </geometry>
-        <material>
-          <diffuse>1.0 1.0 1.0 1.0</diffuse>
-          <specular>0.0 0.0 0.0 1.0</specular>
-          <pbr>
-            <metal>
-              <albedo_map>meshes/wood.jpg</albedo_map>
-            </metal>
-          </pbr>
-        </material>
-      </visual>
-      <visual name="pata2_visual">
-        <geometry>
-          <mesh>
-            <uri>meshes/model.dae</uri>
-            <submesh>
-              <name>Pata2</name>
-            </submesh>
-          </mesh>
-        </geometry>
-        <material>
-          <diffuse>1.0 1.0 1.0 1.0</diffuse>
-          <specular>0.0 0.0 0.0 1.0</specular>
-          <pbr>
-            <metal>
-              <albedo_map>meshes/wood.jpg</albedo_map>
-            </metal>
-          </pbr>
-        </material>
-      </visual>
-      <visual name="pata3_visual">
-        <geometry>
-          <mesh>
-            <uri>meshes/model.dae</uri>
-            <submesh>
-              <name>Pata3</name>
-            </submesh>
-          </mesh>
-        </geometry>
-        <material>
-          <diffuse>1.0 1.0 1.0 1.0</diffuse>
-          <specular>0.0 0.0 0.0 1.0</specular>
-          <pbr>
-            <metal>
-              <albedo_map>meshes/wood.jpg</albedo_map>
-            </metal>
-          </pbr>
-        </material>
-      </visual>
-      <visual name="pata4_visual">
-        <geometry>
-          <mesh>
-            <uri>meshes/model.dae</uri>
-            <submesh>
-              <name>Pata4</name>
-            </submesh>
-          </mesh>
-        </geometry>
-        <material>
-          <diffuse>1.0 1.0 1.0 1.0</diffuse>
-          <specular>0.0 0.0 0.0 1.0</specular>
-          <pbr>
-            <metal>
-              <albedo_map>meshes/wood.jpg</albedo_map>
-            </metal>
-          </pbr>
-        </material>
-      </visual>
-      <collision name="mesa_collision">
-        <geometry>
-          <mesh>
-            <uri>meshes/model.dae</uri>
-          </mesh>
-        </geometry>
-        <surface>
-          <contact>
-            <collide_bitmask>0x01</collide_bitmask>
-          </contact>
-        </surface>
-      </collision>
-    </link>
-  </model>
-</sdf>
+<?xml version="1.0" ?>
+<sdf version="1.8">
+  <model name="mesa_comedor">
+    <static>true</static>
+    <link name="mesa_link">
+      <visual name="mesa_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/model.dae</uri>
+            <submesh>
+              <name>Mesa</name>
+            </submesh>
+          </mesh>
+        </geometry>
+        <material>
+          <diffuse>1.0 1.0 1.0 1.0</diffuse>
+          <specular>0.0 0.0 0.0 1.0</specular>
+          <pbr>
+            <metal>
+              <albedo_map>meshes/wood.jpg</albedo_map>
+            </metal>
+          </pbr>
+        </material>
+      </visual>
+      <visual name="pata1_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/model.dae</uri>
+            <submesh>
+              <name>Pata1</name>
+            </submesh>
+          </mesh>
+        </geometry>
+        <material>
+          <diffuse>1.0 1.0 1.0 1.0</diffuse>
+          <specular>0.0 0.0 0.0 1.0</specular>
+          <pbr>
+            <metal>
+              <albedo_map>meshes/wood.jpg</albedo_map>
+            </metal>
+          </pbr>
+        </material>
+      </visual>
+      <visual name="pata2_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/model.dae</uri>
+            <submesh>
+              <name>Pata2</name>
+            </submesh>
+          </mesh>
+        </geometry>
+        <material>
+          <diffuse>1.0 1.0 1.0 1.0</diffuse>
+          <specular>0.0 0.0 0.0 1.0</specular>
+          <pbr>
+            <metal>
+              <albedo_map>meshes/wood.jpg</albedo_map>
+            </metal>
+          </pbr>
+        </material>
+      </visual>
+      <visual name="pata3_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/model.dae</uri>
+            <submesh>
+              <name>Pata3</name>
+            </submesh>
+          </mesh>
+        </geometry>
+        <material>
+          <diffuse>1.0 1.0 1.0 1.0</diffuse>
+          <specular>0.0 0.0 0.0 1.0</specular>
+          <pbr>
+            <metal>
+              <albedo_map>meshes/wood.jpg</albedo_map>
+            </metal>
+          </pbr>
+        </material>
+      </visual>
+      <visual name="pata4_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/model.dae</uri>
+            <submesh>
+              <name>Pata4</name>
+            </submesh>
+          </mesh>
+        </geometry>
+        <material>
+          <diffuse>1.0 1.0 1.0 1.0</diffuse>
+          <specular>0.0 0.0 0.0 1.0</specular>
+          <pbr>
+            <metal>
+              <albedo_map>meshes/wood.jpg</albedo_map>
+            </metal>
+          </pbr>
+        </material>
+      </visual>
+      <collision name="mesa_collision">
+        <geometry>
+          <mesh>
+            <uri>meshes/model.dae</uri>
+          </mesh>
+        </geometry>
+        <surface>
+          <contact>
+            <collide_bitmask>0x01</collide_bitmask>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+  </model>
+</sdf>
diff --git a/CustomRobots/xlerobot/models/xlerobot/xlerobot_common.urdf.xacro b/CustomRobots/xlerobot/models/xlerobot/xlerobot_common.urdf.xacro
index 81dab5c13..3192620e6 100644
--- a/CustomRobots/xlerobot/models/xlerobot/xlerobot_common.urdf.xacro
+++ b/CustomRobots/xlerobot/models/xlerobot/xlerobot_common.urdf.xacro
@@ -845,7 +845,7 @@
           <color rgba="0.30196471 0.30196471 0.30196471 1.00000000" />
         </material>
       </visual>
-      <!-- The tray collision lives in the chassis link, this link only adds the thin mast -->
+      <!-- The tray collision lives in the chassis link and this link only adds the thin mast -->
       <collision name="mast">
         <origin xyz="-0.105 0 0.22" rpy="0 0 0" />
         <geometry>
@@ -1339,7 +1339,7 @@
     </joint>
 
 
-<!-- Tray anchor points, one per arm, on the tray floor -->
+<!-- One tray anchor per arm on the tray floor -->
 <link name="tray_anchor_L" />
 
 <joint name="tray_anchor_L_joint" type="fixed">
@@ -1402,7 +1402,7 @@
 <joint name="fixed_head_camera_rgb_frame" type="fixed">
       <parent link="head_camera_link" />
       <child link="head_camera_rgb_frame" />
-      <!-- Optical frame convention, +Z forward -->
+      <!-- Optical frame convention with Z pointing forward -->
       <origin xyz="0 0 0" rpy="-1.5707911 0 -1.5707963" />
     </joint>
 
diff --git a/CustomRobots/xlerobot/models/xlerobot/xlerobot_gz.urdf.xacro b/CustomRobots/xlerobot/models/xlerobot/xlerobot_gz.urdf.xacro
index ad012c7a4..bc9c10a79 100644
--- a/CustomRobots/xlerobot/models/xlerobot/xlerobot_gz.urdf.xacro
+++ b/CustomRobots/xlerobot/models/xlerobot/xlerobot_gz.urdf.xacro
@@ -43,7 +43,7 @@
     </collision>
   </gazebo>
 
-  <!-- Collide non adjacent links of the model, so arms cannot cross the tray or each other -->
+  <!-- Collide non adjacent links so the arms cannot cross the tray or each other -->
   <gazebo>
     <self_collide>true</self_collide>
   </gazebo>
@@ -127,7 +127,7 @@
     </joint>
   </xacro:macro>
 
-  <!-- Single ros2_control block for both arms, both grippers and the head -->
+  <!-- Single ros2_control block for both arms and grippers and the head -->
   <xacro:macro name="arm_ros2_control" params="simulation_controllers namespace">
     <ros2_control name="xlerobot_arms" type="system">
       <hardware>
diff --git a/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_execution/python/robot/robot.py b/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_execution/python/robot/robot.py
index e5153a2e6..a6a01bb9a 100644
--- a/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_execution/python/robot/robot.py
+++ b/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_execution/python/robot/robot.py
@@ -58,7 +58,7 @@
 
 class RobMoveCLIENT(Node):
 
-    # Defaults keep the single robot behaviour, a second arm passes its own names
+    # The defaults keep the single arm behaviour and a second arm passes its own names
     def __init__(self, node_name="ros2srrc_RobMove_Client", action_name="/Robmove"):
 
         super().__init__(node_name)
@@ -183,8 +183,8 @@ def get_result_callback(self, future):
 
 class RBT:
 
-    # One RBT per arm, each with its own action servers. use_move=False skips
-    # the /Move client for robots that do not run that action server.
+    # One RBT per arm with its own action servers
+    # use_move False skips the Move client for robots without that action server
     def __init__(
         self,
         suffix="",
diff --git a/Industrial/xlerobot_moveit_config/srdf/xlerobot.srdf b/Industrial/xlerobot_moveit_config/srdf/xlerobot.srdf
index 542d4fb26..895835698 100644
--- a/Industrial/xlerobot_moveit_config/srdf/xlerobot.srdf
+++ b/Industrial/xlerobot_moveit_config/srdf/xlerobot.srdf
@@ -52,7 +52,7 @@
 
   <!-- No virtual joint to world because the base moves and planning stays relative to base_footprint -->
 
-  <!-- Links that are always in contact, generated from the URDF joint tree -->
+  <!-- Link pairs that are always in contact generated from the URDF joint tree -->
   <disable_collisions link1="Base" link2="Base_2" reason="Adjacent" />
   <disable_collisions link1="Base" link2="Base_2_geom_1" reason="Adjacent" />
   <disable_collisions link1="Base" link2="Base_geom_1" reason="Adjacent" />
diff --git a/Scenes/xlerobot_home.world b/Scenes/xlerobot_home.world
index 7822fb1c1..0d646ea8c 100644
--- a/Scenes/xlerobot_home.world
+++ b/Scenes/xlerobot_home.world
@@ -58,7 +58,7 @@
     <model name="red_box">
       
       <pose>-2.05 0.455 0.77 0 0 0</pose>
-      <!-- Red goes to the left arm, blue to the right arm and yellow sits between them -->
+      <!-- Red goes to the left arm and blue to the right arm with yellow between them -->
       <link name="link">
         <inertial>
           <mass>0.05</mass>

From 0ed89a96b90689460cb92f362639674f348db4c6 Mon Sep 17 00:00:00 2001
From: Javier Izquierdo Hernandez <javizqh@pm.me>
Date: Fri, 25 Sep 2026 11:40:20 +0200
Subject: [PATCH 29/32] Update logo texture

---
 .../meshes/RubberMat_logo.png                 | Bin 0 -> 784706 bytes
 .../ground_logo_corner/meshes/ground_logo.dae |  85 ++----------------
 Scenes/mobile_manipulation_warehouse.world    |   2 +-
 3 files changed, 7 insertions(+), 80 deletions(-)
 create mode 100644 CustomRobots/pick_place/models/ground_logo_corner/meshes/RubberMat_logo.png

diff --git a/CustomRobots/pick_place/models/ground_logo_corner/meshes/RubberMat_logo.png b/CustomRobots/pick_place/models/ground_logo_corner/meshes/RubberMat_logo.png
new file mode 100644
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literal 0
HcmV?d00001

diff --git a/CustomRobots/pick_place/models/ground_logo_corner/meshes/ground_logo.dae b/CustomRobots/pick_place/models/ground_logo_corner/meshes/ground_logo.dae
index cedc83435..c39ae102e 100644
--- a/CustomRobots/pick_place/models/ground_logo_corner/meshes/ground_logo.dae
+++ b/CustomRobots/pick_place/models/ground_logo_corner/meshes/ground_logo.dae
@@ -3,78 +3,13 @@
   <asset>
     <contributor>
       <author>Blender User</author>
-      <authoring_tool>Blender 2.83.1 commit date:2020-06-25, commit time:09:47, hash:8289fc688b3e</authoring_tool>
+      <authoring_tool>Blender 4.5.13 LTS commit date:2026-08-24, commit time:11:28, hash:daeeeca98fb0</authoring_tool>
     </contributor>
-    <created>2020-07-07T15:53:27</created>
-    <modified>2020-07-07T15:53:27</modified>
+    <created>2026-09-25T11:38:54</created>
+    <modified>2026-09-25T11:38:54</modified>
     <unit name="meter" meter="1"/>
     <up_axis>Z_UP</up_axis>
   </asset>
-  <library_cameras>
-    <camera id="Camera-camera" name="Camera">
-      <optics>
-        <technique_common>
-          <perspective>
-            <xfov sid="xfov">39.59775</xfov>
-            <aspect_ratio>1.777778</aspect_ratio>
-            <znear sid="znear">0.1</znear>
-            <zfar sid="zfar">100</zfar>
-          </perspective>
-        </technique_common>
-      </optics>
-      <extra>
-        <technique profile="blender">
-          <shiftx sid="shiftx" type="float">0</shiftx>
-          <shifty sid="shifty" type="float">0</shifty>
-          <dof_distance sid="dof_distance" type="float">10</dof_distance>
-        </technique>
-      </extra>
-    </camera>
-  </library_cameras>
-  <library_lights>
-    <light id="Light-light" name="Light">
-      <technique_common>
-        <point>
-          <color sid="color">1000 1000 1000</color>
-          <constant_attenuation>1</constant_attenuation>
-          <linear_attenuation>0</linear_attenuation>
-          <quadratic_attenuation>0.00111109</quadratic_attenuation>
-        </point>
-      </technique_common>
-      <extra>
-        <technique profile="blender">
-          <type sid="type" type="int">0</type>
-          <flag sid="flag" type="int">0</flag>
-          <mode sid="mode" type="int">1</mode>
-          <gamma sid="blender_gamma" type="float">1</gamma>
-          <red sid="red" type="float">1</red>
-          <green sid="green" type="float">1</green>
-          <blue sid="blue" type="float">1</blue>
-          <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
-          <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
-          <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
-          <energy sid="blender_energy" type="float">1000</energy>
-          <dist sid="blender_dist" type="float">29.99998</dist>
-          <spotsize sid="spotsize" type="float">75</spotsize>
-          <spotblend sid="spotblend" type="float">0.15</spotblend>
-          <att1 sid="att1" type="float">0</att1>
-          <att2 sid="att2" type="float">1</att2>
-          <falloff_type sid="falloff_type" type="int">2</falloff_type>
-          <clipsta sid="clipsta" type="float">0.04999995</clipsta>
-          <clipend sid="clipend" type="float">30.002</clipend>
-          <bias sid="bias" type="float">1</bias>
-          <soft sid="soft" type="float">3</soft>
-          <bufsize sid="bufsize" type="int">2880</bufsize>
-          <samp sid="samp" type="int">3</samp>
-          <buffers sid="buffers" type="int">1</buffers>
-          <area_shape sid="area_shape" type="int">1</area_shape>
-          <area_size sid="area_size" type="float">0.1</area_size>
-          <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
-          <area_sizez sid="area_sizez" type="float">1</area_sizez>
-        </technique>
-      </extra>
-    </light>
-  </library_lights>
   <library_effects>
     <effect id="Material_003-effect">
       <profile_COMMON>
@@ -94,7 +29,7 @@
               <color sid="emission">0 0 0 1</color>
             </emission>
             <diffuse>
-              <texture texture="RubberMat_logo_png-sampler" texcoord="UVMap"/>
+              <texture texture="RubberMat_logo_png-sampler" texcoord="Plane-mesh-map-0"/>
             </diffuse>
             <index_of_refraction>
               <float sid="ior">1.45</float>
@@ -138,7 +73,7 @@
           </technique_common>
         </source>
         <source id="Plane-mesh-map-0">
-          <float_array id="Plane-mesh-map-0-array" count="12">1 0 0 1 0 0 1 0 1 1 0 1</float_array>
+          <float_array id="Plane-mesh-map-0-array" count="12">1.769113 -0.7719147 0.001673758 0.9955238 0.001673758 -0.7719147 1.769113 -0.7719147 1.769113 0.9955238 0.001673758 0.9955238</float_array>
           <technique_common>
             <accessor source="#Plane-mesh-map-0-array" count="6" stride="2">
               <param name="S" type="float"/>
@@ -166,20 +101,12 @@
           <bind_material>
             <technique_common>
               <instance_material symbol="Material_003-material" target="#Material_003-material">
-                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+                <bind_vertex_input semantic="Plane-mesh-map-0" input_semantic="TEXCOORD" input_set="0"/>
               </instance_material>
             </technique_common>
           </bind_material>
         </instance_geometry>
       </node>
-      <node id="Camera" name="Camera" type="NODE">
-        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 0 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
-        <instance_camera url="#Camera-camera"/>
-      </node>
-      <node id="Light" name="Light" type="NODE">
-        <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
-        <instance_light url="#Light-light"/>
-      </node>
     </visual_scene>
   </library_visual_scenes>
   <scene>
diff --git a/Scenes/mobile_manipulation_warehouse.world b/Scenes/mobile_manipulation_warehouse.world
index b8c01f33b..7afc708f7 100644
--- a/Scenes/mobile_manipulation_warehouse.world
+++ b/Scenes/mobile_manipulation_warehouse.world
@@ -73,7 +73,7 @@
           <pose>0 0 0.001 0 0 0</pose>
           <geometry>
             <mesh>
-              <scale>2 2 2</scale>
+              <scale>1.25 1.25 1</scale>
               <uri>model://ground_logo_corner/meshes/ground_logo.dae</uri>
             </mesh>
           </geometry>

From 4a85edb051386505383fee912a7a85821f9420f6 Mon Sep 17 00:00:00 2001
From: Javier Izquierdo Hernandez <javizqh@pm.me>
Date: Fri, 25 Sep 2026 11:55:47 +0200
Subject: [PATCH 30/32] Test new floor

---
 .../models/warehouse_floor/meshes/floor.dae   | 115 ++++++++++++++++++
 .../warehouse_floor/meshes/porcelain.png      | Bin 0 -> 383886 bytes
 .../models/warehouse_floor/model.config       |  11 ++
 .../models/warehouse_floor/model.sdf          |  17 +++
 Scenes/mobile_manipulation_warehouse.world    |   4 +-
 5 files changed, 145 insertions(+), 2 deletions(-)
 create mode 100644 CustomRobots/pick_place/models/warehouse_floor/meshes/floor.dae
 create mode 100644 CustomRobots/pick_place/models/warehouse_floor/meshes/porcelain.png
 create mode 100644 CustomRobots/pick_place/models/warehouse_floor/model.config
 create mode 100644 CustomRobots/pick_place/models/warehouse_floor/model.sdf

diff --git a/CustomRobots/pick_place/models/warehouse_floor/meshes/floor.dae b/CustomRobots/pick_place/models/warehouse_floor/meshes/floor.dae
new file mode 100644
index 000000000..6c5d646e1
--- /dev/null
+++ b/CustomRobots/pick_place/models/warehouse_floor/meshes/floor.dae
@@ -0,0 +1,115 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 4.5.13 LTS commit date:2026-08-24, commit time:11:28, hash:daeeeca98fb0</authoring_tool>
+    </contributor>
+    <created>2026-09-25T11:55:12</created>
+    <modified>2026-09-25T11:55:12</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="Material-effect">
+      <profile_COMMON>
+        <newparam sid="porcelain_png-surface">
+          <surface type="2D">
+            <init_from>porcelain_png</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="porcelain_png-sampler">
+          <sampler2D>
+            <source>porcelain_png-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <texture texture="porcelain_png-sampler" texcoord="Plane-mesh-map-0"/>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images>
+    <image id="porcelain_png" name="porcelain_png">
+      <init_from>porcelain.png</init_from>
+    </image>
+  </library_images>
+  <library_materials>
+    <material id="Material-material" name="Material">
+      <instance_effect url="#Material-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Plane-mesh" name="Plane">
+      <mesh>
+        <source id="Plane-mesh-positions">
+          <float_array id="Plane-mesh-positions-array" count="15">-1 -1 0 1 -1 0 -1 1 0 1 1 0 0.5486421 0.6301795 -2.348756</float_array>
+          <technique_common>
+            <accessor source="#Plane-mesh-positions-array" count="5" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Plane-mesh-normals">
+          <float_array id="Plane-mesh-normals-array" count="3">0 0 1</float_array>
+          <technique_common>
+            <accessor source="#Plane-mesh-normals-array" count="1" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Plane-mesh-map-0">
+          <float_array id="Plane-mesh-map-0-array" count="12">1.769113 -0.7719147 0.001673758 0.9955238 0.001673758 -0.7719147 1.769113 -0.7719147 1.769113 0.9955238 0.001673758 0.9955238</float_array>
+          <technique_common>
+            <accessor source="#Plane-mesh-map-0-array" count="6" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Plane-mesh-vertices">
+          <input semantic="POSITION" source="#Plane-mesh-positions"/>
+        </vertices>
+        <triangles material="Material-material" count="2">
+          <input semantic="VERTEX" source="#Plane-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Plane-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Plane-mesh-map-0" offset="2" set="0"/>
+          <p>1 0 0 2 0 1 0 0 2 1 0 3 3 0 4 2 0 5</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Plane" name="Plane" type="NODE">
+        <matrix sid="transform">5.677794 0 0 0 0 5.946351 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#Plane-mesh" name="Plane">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material-material" target="#Material-material">
+                <bind_vertex_input semantic="Plane-mesh-map-0" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/CustomRobots/pick_place/models/warehouse_floor/meshes/porcelain.png b/CustomRobots/pick_place/models/warehouse_floor/meshes/porcelain.png
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diff --git a/CustomRobots/pick_place/models/warehouse_floor/model.config b/CustomRobots/pick_place/models/warehouse_floor/model.config
new file mode 100644
index 000000000..81ef2f731
--- /dev/null
+++ b/CustomRobots/pick_place/models/warehouse_floor/model.config
@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+    <name>warehouse_floor</name>
+    <version>1.0</version>
+    <sdf version="1.6">model.sdf</sdf>
+    <author>
+        <name></name>
+        <email></email>
+    </author>
+    <description></description>
+</model>
diff --git a/CustomRobots/pick_place/models/warehouse_floor/model.sdf b/CustomRobots/pick_place/models/warehouse_floor/model.sdf
new file mode 100644
index 000000000..d435a5089
--- /dev/null
+++ b/CustomRobots/pick_place/models/warehouse_floor/model.sdf
@@ -0,0 +1,17 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name="warehouse_floor">
+    <static>true</static>
+    <link name="link">
+      <visual name="visual">
+          <pose>0.0 0 0.001 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.5 0.5 0.5</scale>
+            <uri>model://warehouse_floor/meshes/floor.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+  </model>
+</sdf>
diff --git a/Scenes/mobile_manipulation_warehouse.world b/Scenes/mobile_manipulation_warehouse.world
index 7afc708f7..1f8b001aa 100644
--- a/Scenes/mobile_manipulation_warehouse.world
+++ b/Scenes/mobile_manipulation_warehouse.world
@@ -73,8 +73,8 @@
           <pose>0 0 0.001 0 0 0</pose>
           <geometry>
             <mesh>
-              <scale>1.25 1.25 1</scale>
-              <uri>model://ground_logo_corner/meshes/ground_logo.dae</uri>
+              <scale>1.33 1.33 1</scale>
+              <uri>model://warehouse_floor/meshes/warehouse_floor.dae</uri>
             </mesh>
           </geometry>
         </visual>

From 9e6bdae19de712af095bb81d9bc8087029d3b72a Mon Sep 17 00:00:00 2001
From: Javier Izquierdo Hernandez <javizqh@pm.me>
Date: Fri, 25 Sep 2026 12:02:06 +0200
Subject: [PATCH 31/32] Fix typo

---
 Scenes/mobile_manipulation_warehouse.world | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Scenes/mobile_manipulation_warehouse.world b/Scenes/mobile_manipulation_warehouse.world
index 1f8b001aa..df8c72742 100644
--- a/Scenes/mobile_manipulation_warehouse.world
+++ b/Scenes/mobile_manipulation_warehouse.world
@@ -74,7 +74,7 @@
           <geometry>
             <mesh>
               <scale>1.33 1.33 1</scale>
-              <uri>model://warehouse_floor/meshes/warehouse_floor.dae</uri>
+              <uri>model://warehouse_floor/meshes/floor.dae</uri>
             </mesh>
           </geometry>
         </visual>

From 6ebe6c7fccb1628611671e2799e6f1eaae1ab708 Mon Sep 17 00:00:00 2001
From: Javier Izquierdo Hernandez <javizqh@pm.me>
Date: Fri, 25 Sep 2026 12:07:51 +0200
Subject: [PATCH 32/32] Fix scale

---
 Scenes/mobile_manipulation_warehouse.world | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Scenes/mobile_manipulation_warehouse.world b/Scenes/mobile_manipulation_warehouse.world
index df8c72742..6f7860706 100644
--- a/Scenes/mobile_manipulation_warehouse.world
+++ b/Scenes/mobile_manipulation_warehouse.world
@@ -73,7 +73,7 @@
           <pose>0 0 0.001 0 0 0</pose>
           <geometry>
             <mesh>
-              <scale>1.33 1.33 1</scale>
+              <scale>1.33 1.25 1</scale>
               <uri>model://warehouse_floor/meshes/floor.dae</uri>
             </mesh>
           </geometry>