From d28abdc8feea764dde9035b4fb09504e52694b99 Mon Sep 17 00:00:00 2001
From: Arne Peters <arne.peters@tum.de>
Date: Mon, 14 Feb 2022 17:08:27 +0100
Subject: [PATCH 1/2] new meshes and URDF description

---
 .gitignore                              |   3 +
 launch/driver.launch                    |  28 ++--
 launch/kinect_rgbd.launch               |   8 +-
 launch/slam_rtabmap.launch              |   2 +-
 meshes/azure_collision.dae              |  99 ++++++++++++
 meshes/azure_visual.dae                 | 198 +++++++++++++++++++++++
 meshes/model.blend                      | Bin 0 -> 701648 bytes
 meshes/stand_collision.dae              | 101 ++++++++++++
 meshes/stand_visual.dae                 | 101 ++++++++++++
 urdf/azure_kinect.urdf.xacro            |  63 --------
 urdf/azure_kinect_macro.urdf.xacro      | 199 ++++++++++++++++++++++++
 urdf/azure_kinect_standalone.urdf.xacro |  32 ++++
 12 files changed, 752 insertions(+), 82 deletions(-)
 create mode 100644 meshes/azure_collision.dae
 create mode 100644 meshes/azure_visual.dae
 create mode 100644 meshes/model.blend
 create mode 100644 meshes/stand_collision.dae
 create mode 100644 meshes/stand_visual.dae
 delete mode 100644 urdf/azure_kinect.urdf.xacro
 create mode 100644 urdf/azure_kinect_macro.urdf.xacro
 create mode 100644 urdf/azure_kinect_standalone.urdf.xacro

diff --git a/.gitignore b/.gitignore
index d3d1a5f7..9211e777 100644
--- a/.gitignore
+++ b/.gitignore
@@ -56,3 +56,6 @@ modules.order
 Module.symvers
 Mkfile.old
 dkms.conf
+
+#Blender Autosave
+*.blend?
diff --git a/launch/driver.launch b/launch/driver.launch
index d5690683..bfcffd35 100644
--- a/launch/driver.launch
+++ b/launch/driver.launch
@@ -16,7 +16,7 @@ Licensed under the MIT License.
 
   <group unless="$(arg overwrite_robot_description)">
     <param name="azure_description"
-      command="xacro $(find azure_kinect_ros_driver)/urdf/azure_kinect.urdf.xacro tf_prefix:=$(arg tf_prefix)" />
+      command="xacro $(find azure_kinect_ros_driver)/urdf/azure_kinect_standalone.urdf.xacro tf_prefix:=$(arg tf_prefix)" />
     <node name="joint_state_publisher_azure" pkg="joint_state_publisher" type="joint_state_publisher">
       <remap from="robot_description" to="azure_description" />
     </node>  
@@ -34,17 +34,17 @@ Licensed under the MIT License.
   <arg name="fps"                     default="5" />              <!-- FPS to run both cameras at. Valid options are 5, 15, and 30 -->
   <arg name="point_cloud"             default="true" />           <!-- Generate a point cloud from depth data. Requires depth_enabled -->
   <arg name="rgb_point_cloud"         default="true" />           <!-- Colorize the point cloud using the RBG camera. Requires color_enabled and depth_enabled -->
-  <arg name="point_cloud_in_depth_frame" default="false" />        <!-- Whether the RGB pointcloud is rendered in the depth frame (true) or RGB frame (false). Will either match the resolution of the depth camera (true) or the RGB camera (false). -->
+  <arg name="point_cloud_in_depth_frame" default="false" />       <!-- Whether the RGB pointcloud is rendered in the depth frame (true) or RGB frame (false). Will either match the resolution of the depth camera (true) or the RGB camera (false). -->
   <arg name="required"                default="false" />          <!-- Argument which specified if the entire launch file should terminate if the node dies -->
   <arg name="sensor_sn"               default="" />               <!-- Sensor serial number. If none provided, the first sensor will be selected -->
   <arg name="recording_file"          default="" />               <!-- Absolute path to a mkv recording file which will be used with the playback api instead of opening a device -->
   <arg name="recording_loop_enabled"  default="false" />          <!-- If set to true the recording file will rewind the beginning once end of file is reached -->
-  <arg name="body_tracking_enabled"           default="false" />  <!-- If set to true the joint positions will be published as marker arrays -->
+  <arg name="body_tracking_enabled"   default="false" />          <!-- If set to true the joint positions will be published as marker arrays -->
   <arg name="body_tracking_smoothing_factor"  default="0.0" />    <!-- Set between 0 for no smoothing and 1 for full smoothing -->
-  <arg name="rescale_ir_to_mono8"  default="false" />    <!-- Whether to rescale the IR image to an 8-bit monochrome image for visualization and further processing. A scaling factor (ir_mono8_scaling_factor) is applied. -->
-  <arg name="ir_mono8_scaling_factor"  default="1.0" />    <!-- Scaling factor to apply when converting IR to mono8 (see rescale_ir_to_mono8). If using illumination, use the value 0.5-1. If using passive IR, use 10. -->
-  <arg name="imu_rate_target" default="0"/>                       <!-- Desired output rate of IMU messages. Set to 0 (default) for full rate (1.6 kHz). --> 
-  <arg name="wired_sync_mode" default="0"/>                       <!-- Wired sync mode. 0: OFF, 1: MASTER, 2: SUBORDINATE. --> 
+  <arg name="rescale_ir_to_mono8"     default="false" />          <!-- Whether to rescale the IR image to an 8-bit monochrome image for visualization and further processing. A scaling factor (ir_mono8_scaling_factor) is applied. -->
+  <arg name="ir_mono8_scaling_factor" default="1.0" />            <!-- Scaling factor to apply when converting IR to mono8 (see rescale_ir_to_mono8). If using illumination, use the value 0.5-1. If using passive IR, use 10. -->
+  <arg name="imu_rate_target"         default="0"/>               <!-- Desired output rate of IMU messages. Set to 0 (default) for full rate (1.6 kHz). -->
+  <arg name="wired_sync_mode"         default="0"/>               <!-- Wired sync mode. 0: OFF, 1: MASTER, 2: SUBORDINATE. -->
   <arg name="subordinate_delay_off_master_usec" default="0"/>     <!-- Delay subordinate camera off master camera by specified amount in usec. --> 
 
   <node pkg="azure_kinect_ros_driver" type="node" name="azure_kinect_ros_driver" output="screen" required="$(arg required)">
@@ -57,17 +57,17 @@ Licensed under the MIT License.
     <param name="fps"               type="int"    value="$(arg fps)" />
     <param name="point_cloud"       type="bool"   value="$(arg point_cloud)" />
     <param name="rgb_point_cloud"   type="bool"   value="$(arg rgb_point_cloud)" />
-    <param name="point_cloud_in_depth_frame"   type="bool"   value="$(arg point_cloud_in_depth_frame)" />
+    <param name="point_cloud_in_depth_frame" type="bool" value="$(arg point_cloud_in_depth_frame)" />
     <param name="sensor_sn"         type="string" value="$(arg sensor_sn)" />
     <param name="tf_prefix"         type="string" value="$(arg tf_prefix)" />
-    <param name="recording_file"          type="string" value="$(arg recording_file)" />
-    <param name="recording_loop_enabled"  type="bool"   value="$(arg recording_loop_enabled)" />
-    <param name="body_tracking_enabled"           type="bool"   value="$(arg body_tracking_enabled)" />
-    <param name="body_tracking_smoothing_factor"  type="double" value="$(arg body_tracking_smoothing_factor)" />
+    <param name="recording_file"    type="string" value="$(arg recording_file)" />
+    <param name="recording_loop_enabled" type="bool" value="$(arg recording_loop_enabled)" />
+    <param name="body_tracking_enabled" type="bool" value="$(arg body_tracking_enabled)" />
+    <param name="body_tracking_smoothing_factor" type="double" value="$(arg body_tracking_smoothing_factor)" />
     <param name="rescale_ir_to_mono8" type="bool" value="$(arg rescale_ir_to_mono8)" />
     <param name="ir_mono8_scaling_factor" type="double" value="$(arg ir_mono8_scaling_factor)" />
-    <param name="imu_rate_target" type="int" value="$(arg imu_rate_target)"/>
-    <param name="wired_sync_mode" type="int" value="$(arg wired_sync_mode)"/>
+    <param name="imu_rate_target"   type="int"    value="$(arg imu_rate_target)"/>
+    <param name="wired_sync_mode"   type="int"    value="$(arg wired_sync_mode)"/>
     <param name="subordinate_delay_off_master_usec" type="int" value="$(arg subordinate_delay_off_master_usec)"/>
   </node>
 </launch>
diff --git a/launch/kinect_rgbd.launch b/launch/kinect_rgbd.launch
index 62d20502..5150736c 100644
--- a/launch/kinect_rgbd.launch
+++ b/launch/kinect_rgbd.launch
@@ -3,13 +3,13 @@
 
   <arg name="camera" default="k4a" />
 
-  <!-- publish Azure Kinect coordiante frames -->
-  <arg name="tf_prefix"         default="" />                       <!-- Prefix added to tf frame IDs. It typically contains a trailing '_' unless empty. -->
-  <arg name="overwrite_robot_description" default="true" />         <!-- Flag to publish a standalone azure_description instead of the default robot_descrition parameter-->
+  <!-- publish Azure Kinect coordinate frames -->
+  <arg name="tf_prefix"                   default="" />               <!-- Prefix added to tf frame IDs. It typically contains a trailing '_' unless empty. -->
+  <arg name="overwrite_robot_description" default="true" />           <!-- Flag to publish a standalone azure_description instead of the default robot_description parameter-->
 
   <group if="$(arg overwrite_robot_description)">
     <param name="robot_description"
-      command="xacro $(find azure_kinect_ros_driver)/urdf/azure_kinect.urdf.xacro tf_prefix:=$(arg tf_prefix)" />
+      command="xacro $(find azure_kinect_ros_driver)/urdf/azure_kinect_standalone.urdf.xacro tf_prefix:=$(arg tf_prefix)" />
     <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
     <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
   </group>
diff --git a/launch/slam_rtabmap.launch b/launch/slam_rtabmap.launch
index b70e2ce3..ff477a77 100644
--- a/launch/slam_rtabmap.launch
+++ b/launch/slam_rtabmap.launch
@@ -6,7 +6,7 @@ Licensed under the MIT License.
 <launch>
 
   <param name="robot_description"
-    command="xacro $(find azure_kinect_ros_driver)/urdf/azure_kinect.urdf.xacro" />
+    command="xacro $(find azure_kinect_ros_driver)/urdf/azure_kinect_standalone.urdf.xacro" />
 
   <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
   <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
diff --git a/meshes/azure_collision.dae b/meshes/azure_collision.dae
new file mode 100644
index 00000000..a4589d81
--- /dev/null
+++ b/meshes/azure_collision.dae
@@ -0,0 +1,99 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.79.0</authoring_tool>
+    </contributor>
+    <created>2022-02-16T10:04:53</created>
+    <modified>2022-02-16T10:04:53</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images/>
+  <library_effects>
+    <effect id="Collision_Model-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">1 0.2 0 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.5 0.5 0.5 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="Collision_Model-material" name="Collision_Model">
+      <instance_effect url="#Collision_Model-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Cylinder-mesh" name="Cylinder">
+      <mesh>
+        <source id="Cylinder-mesh-positions">
+          <float_array id="Cylinder-mesh-positions-array" count="576">-0.06500244 -0.03450012 0.02599906 -0.06500244 0.03450012 0.02599906 -0.06500244 0.04968261 0.01923561 -0.06500244 0.04853439 0.0209732 -0.06500244 0.04714584 0.02244186 -0.06500244 0.04598617 0.02335357 -0.06500244 -0.03450012 0 -0.06500244 0.03450012 0 -0.06500244 0.0404129 0.02560997 -0.06500244 0.04265975 0.02501869 -0.06500244 0.04464721 0.02416801 -0.06500244 0.03874588 0.02584648 -0.06500244 0.05125045 0.01299953 -0.06500244 0.05108261 0.01085853 -0.06500244 0.05055236 0.008733749 -0.06500244 0.04968261 0.006763458 -0.06500244 0.04853439 0.00502634 -0.06500244 0.04714584 0.003557682 -0.06500244 0.05055236 0.01726722 -0.06500244 0.04598617 0.00264573 -0.06500244 0.0404129 3.90857e-4 -0.06500244 0.04265975 9.80794e-4 -0.06500244 0.04464721 0.001831769 -0.06500244 0.03699493 3.39188e-5 -0.06500244 0.03874588 1.53333e-4 0.03599929 0.03450012 0.02599906 0.03599929 0.04598617 0.02335357 0.03599929 0.04714584 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+          <technique_common>
+            <accessor source="#Cylinder-mesh-positions-array" count="192" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Cylinder-mesh-normals">
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+          <technique_common>
+            <accessor source="#Cylinder-mesh-normals-array" count="206" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Cylinder-mesh-vertices">
+          <input semantic="POSITION" source="#Cylinder-mesh-positions"/>
+        </vertices>
+        <triangles material="Collision_Model-material" count="376">
+          <input semantic="VERTEX" source="#Cylinder-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cylinder-mesh-normals" offset="1"/>
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Cylinder" name="Cylinder" 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="#Cylinder-mesh" name="Cylinder">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Collision_Model-material" target="#Collision_Model-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/meshes/azure_visual.dae b/meshes/azure_visual.dae
new file mode 100644
index 00000000..a0d5af22
--- /dev/null
+++ b/meshes/azure_visual.dae
@@ -0,0 +1,198 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.79.0</authoring_tool>
+    </contributor>
+    <created>2022-02-16T10:32:22</created>
+    <modified>2022-02-16T10:32:22</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images/>
+  <library_effects>
+    <effect id="White_Plastics-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">0.8 0.8 0.8 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.2 0.2 0.2 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Silver_Plastics-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">0.5 0.5 0.5 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.8 0.8 0.8 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Deep_Black-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <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>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Dark_Shield-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">0.01986287 0.01986287 0.01986287 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">1 1 1 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="White_Plastics-material" name="White_Plastics">
+      <instance_effect url="#White_Plastics-effect"/>
+    </material>
+    <material id="Silver_Plastics-material" name="Silver_Plastics">
+      <instance_effect url="#Silver_Plastics-effect"/>
+    </material>
+    <material id="Deep_Black-material" name="Deep_Black">
+      <instance_effect url="#Deep_Black-effect"/>
+    </material>
+    <material id="Dark_Shield-material" name="Dark_Shield">
+      <instance_effect url="#Dark_Shield-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Cylinder_002-mesh" name="Cylinder.002">
+      <mesh>
+        <source id="Cylinder_002-mesh-positions">
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+        </triangles>
+        <triangles material="Silver_Plastics-material" count="1400">
+          <input semantic="VERTEX" source="#Cylinder_002-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cylinder_002-mesh-normals" offset="1"/>
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988 1410 988 1407 988 1320 10 1382 10 1318 10 1352 989 1414 989 1350 989 1344 990 1409 990 1408 990 1319 10 1385 10 1383 10 1345 10 1411 10 1409 10 1349 10 1415 10 1413 10 1318 10 1380 10 1316 10 1354 10 1416 10 1352 10 1364 10 1427 10 1363 10 1323 991 1385 991 1321 991 1351 10 1417 10 1415 10 1362 10 1427 10 1426 10 1314 10 1380 10 1378 10 1346 10 1412 10 1410 10 1362 10 1425 10 1361 10 1317 10 1379 10 1315 10 1359 992 1422 992 1358 992 1322 10 1384 10 1320 10 1358 993 1421 993 1357 993 1310 10 1376 10 1374 10 1360 10 1423 10 1359 10 1311 10 1378 10 1375 10 1361 994 1424 994 1360 994 1324 10 1390 10 1388 10 1355 10 1368 10 1419 10 1315 10 1377 10 1313 10 1371 995 1437 995 1435 995 1393 996 1458 996 1457 996 1414 997 1476 997 1412 997 1393 998 1456 998 1392 998 1413 999 1475 999 1411 999 1384 1000 1446 1000 1382 1000 1414 1001 1480 1001 1478 1001 1385 1002 1447 1002 1383 1002 1411 1003 1473 1003 1409 1003 1380 1004 1446 1004 1444 1004 1418 1005 1480 1005 1416 1005 1387 1006 1449 1006 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1418 1996 1482 1996 1480 1996 1387 1997 1451 1997 1449 1997 1417 1998 1481 1998 1479 1998 1378 1999 1380 1999 1444 1999 1412 2000 1476 2000 1474 2000 1381 2001 1445 2001 1443 2001 1405 2002 1407 2002 1471 2002 1384 2003 1386 2003 1450 2003 1408 2004 1472 2004 1470 2004 1374 2005 1376 2005 1440 2005 1419 2006 1483 2006 1481 2006 1375 2007 1378 2007 1442 2007 1420 2008 1421 2008 1485 2008 1390 2009 1454 2009 1452 2009 1368 2010 1432 2010 1483 2010 1418 2011 1420 2011 1484 2011 1379 2012 1443 2012 1441 2012 1389 2013 1401 2013 1465 2013 1407 2014 1410 2014 1474 2014 1386 2015 1388 2015 1452 2015 1398 2016 1462 2016 1492 2016 1408 2017 1409 2017 1473 2017 1389 2018 1453 2018 1451 2018 1399 2019 1463 2019 1462 2019 1415 2020 1479 2020 1477 2020 1377 2021 1441 2021 1440 2021 1400 2022 1464 2022 1463 2022 1428 2023 1492 2023 1491 2023 1383 2024 1447 2024 1445 2024 1401 2025 1403 2025 1467 2025 1426 2026 1427 2026 1491 2026 1366 2027 1430 2027 1429 2027 1402 2028 1466 2028 1464 2028 1426 2029 1490 2029 1489 2029 1397 2030 1365 2030 1429 2030 1404 2031 1406 2031 1470 2031 1422 2032 1423 2032 1487 2032 1367 2033 1431 2033 1430 2033 1403 2034 1405 2034 1469 2034 1421 2035 1422 2035 1486 2035 1369 2036 1371 2036 1435 2036 1404 2037 1468 2037 1466 2037 1423 2038 1424 2038 1488 2038 1367 2039 1370 2039 1434 2039 1397 2040 1461 2040 1460 2040 1424 2041 1425 2041 1489 2041 1373 2042 1375 2042 1439 2042 1394 2043 1395 2043 1459 2043 1368 2044 1369 2044 1433 2044 1396 2045 1460 2045 1459 2045 1374 2046 1438 2046 1436 2046 1390 2047 1391 2047 1455 2047 1372 2048 1436 2048 1434 2048 1391 2049 1392 2049 1456 2049 1478 2050 1480 2050 1544 2050 1447 2051 1449 2051 1513 2051 1475 2052 1539 2052 1537 2052 1444 2053 1446 2053 1510 2053 1480 2054 1482 2054 1546 2054 1449 2055 1451 2055 1515 2055 1481 2056 1545 2056 1543 2056 1444 2057 1508 2057 1506 2057 1476 2058 1540 2058 1538 2058 1443 2059 1445 2059 1509 2059 1471 2060 1535 2060 1533 2060 1450 2061 1514 2061 1512 2061 1472 2062 1536 2062 1534 2062 1440 2063 1504 2063 1502 2063 1481 2064 1483 2064 1547 2064 1442 2065 1506 2065 1503 2065 1484 2066 1485 2066 1549 2066 1454 2067 1518 2067 1516 2067 1483 2068 1432 2068 1496 2068 1484 2069 1548 2069 1546 2069 1441 2070 1443 2070 1507 2070 1465 2071 1529 2071 1517 2071 1474 2072 1538 2072 1535 2072 1450 2073 1452 2073 1516 2073 1492 2074 1462 2074 1526 2074 1473 2075 1537 2075 1536 2075 1451 2076 1453 2076 1517 2076 1462 2077 1463 2077 1527 2077 1477 2078 1479 2078 1543 2078 1441 2079 1505 2079 1504 2079 1463 2080 1464 2080 1528 2080 1491 2081 1492 2081 1556 2081 1445 2082 1447 2082 1511 2082 1467 2083 1531 2083 1529 2083 1491 2084 1555 2084 1554 2084 1430 2085 1494 2085 1493 2085 1464 2086 1466 2086 1530 2086 1489 2087 1490 2087 1554 2087 1461 2088 1429 2088 1493 2088 1470 2089 1534 2089 1532 2089 1486 2090 1487 2090 1551 2090 1431 2091 1495 2091 1494 2091 1469 2092 1533 2092 1531 2092 1485 2093 1486 2093 1550 2093 1435 2094 1499 2094 1497 2094 1466 2095 1468 2095 1532 2095 1487 2096 1488 2096 1552 2096 1434 2097 1498 2097 1495 2097 1461 2098 1525 2098 1524 2098 1489 2099 1553 2099 1552 2099 1439 2100 1503 2100 1501 2100 1459 2101 1523 2101 1522 2101 1433 2102 1497 2102 1496 2102 1460 2103 1524 2103 1523 2103 1436 2104 1438 2104 1502 2104 1455 2105 1519 2105 1518 2105 1436 2106 1500 2106 1498 2106 1456 2107 1520 2107 1519 2107 1437 2108 1501 2108 1499 2108 1457 2109 1458 2109 1522 2109 1476 2110 1478 2110 1542 2110 1457 2111 1521 2111 1520 2111 1475 2112 1477 2112 1541 2112 1446 2113 1448 2113 1512 2113 624 8 648 8 623 8 622 8 659 8 632 8 632 2200 659 2200 658 2200 634 8 633 8 658 8 657 8 660 8 631 8 660 8 661 8 630 8 661 8 662 8 629 8 665 2201 666 2201 625 2201 627 2202 664 2202 665 2202 663 8 664 8 627 8 629 8 662 8 663 8 639 2203 654 2203 623 2203 655 8 654 8 639 8 647 2204 635 2204 636 2204 644 2205 646 2205 636 2205 644 2206 649 2206 650 2206 642 8 643 8 650 8 642 2207 651 2207 652 2207 641 2208 652 2208 653 2208 640 2209 653 2209 656 2209 637 2210 656 2210 655 2210</p>
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2163 1498 2164 1500 2164 1564 2164 1519 2165 1520 2165 1584 2165 1499 2166 1501 2166 1565 2166 1521 2167 1522 2167 1586 2167 1540 2168 1542 2168 1606 2168 1521 2169 1585 2169 1584 2169 1541 2170 1605 2170 1603 2170 1512 2171 1576 2171 1574 2171 1544 2172 1608 2172 1606 2172 1513 2173 1577 2173 1575 2173 1539 2174 1603 2174 1601 2174 1510 2175 1574 2175 1572 2175 1544 2176 1546 2176 1610 2176 1515 2177 1579 2177 1577 2177 704 10 706 10 693 10 785 2178 768 2178 784 2178 588 10 774 10 776 10 589 10 781 10 788 10 620 10 788 10 791 10 617 2179 791 2179 796 2179 615 10 796 10 800 10 612 10 800 10 803 10 608 2180 803 2180 701 2180 606 2181 701 2181 702 2181 604 2182 702 2182 734 2182 602 2183 771 2183 782 2183 560 10 558 10 723 10 558 10 547 10 700 10 547 10 548 10 695 10 548 10 549 10 690 10 549 10 550 10 685 10 687 2184 685 2184 550 2184 691 10 687 10 551 10 696 10 691 10 552 10 703 10 696 10 553 10 726 10 721 10 554 10 756 2185 729 2185 759 2185 780 10 777 10 779 10 777 10 775 10 698 10 775 10 769 10 697 10 697 10 769 10 557 10 802 10 798 10 801 10 676 10 677 10 675 10 674 10 739 10 677 10 699 2186 688 2186 739 2186 770 10 689 10 688 10 546 10 689 10 770 10 600 10 722 10 720 10 544 10 720 10 719 10 719 2187 718 2187 578 2187 718 2188 717 2188 575 2188 717 10 716 10 572 10 716 2189 715 2189 569 2189 715 10 714 10 565 10 714 10 713 10 563 10 713 2190 712 2190 561 2190 712 10 711 10 559 10 711 10 710 10 555 10 747 10 722 10 600 10 748 10 747 10 603 10 591 2191 749 2191 748 2191 592 2192 750 2192 749 2192 593 2193 751 2193 750 2193 594 2194 752 2194 751 2194 595 2195 753 2195 752 2195 596 2196 754 2196 753 2196 597 2197 755 2197 754 2197 598 2198 757 2198 755 2198 599 2199 758 2199 757 2199</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Cylinder_001" name="Cylinder_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="#Cylinder_002-mesh" name="Cylinder_001">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="White_Plastics-material" target="#White_Plastics-material"/>
+              <instance_material symbol="Silver_Plastics-material" target="#Silver_Plastics-material"/>
+              <instance_material symbol="Deep_Black-material" target="#Deep_Black-material"/>
+              <instance_material symbol="Dark_Shield-material" target="#Dark_Shield-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/meshes/model.blend b/meshes/model.blend
new file mode 100644
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diff --git a/meshes/stand_collision.dae b/meshes/stand_collision.dae
new file mode 100644
index 00000000..84956c79
--- /dev/null
+++ b/meshes/stand_collision.dae
@@ -0,0 +1,101 @@
+<?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 3.2.2 commit date:2022-08-02, commit time:18:15, hash:bcfdb14560e7</authoring_tool>
+    </contributor>
+    <created>2022-08-25T14:48:04</created>
+    <modified>2022-08-25T14:48:04</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="Collision_Model-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">1 0.2 0 1</color>
+            </diffuse>
+            <reflectivity>
+              <float sid="specular">0.5</float>
+            </reflectivity>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="Collision_Model-material" name="Collision Model">
+      <instance_effect url="#Collision_Model-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Circle-mesh" name="Circle">
+      <mesh>
+        <source id="Circle-mesh-positions">
+          <float_array id="Circle-mesh-positions-array" count="192">0 1 0 -0.1950903 0.9807853 0 -0.3826835 0.9238795 0 -0.5555703 0.8314696 0 -0.7071068 0.7071068 0 -0.8314696 0.5555703 0 -0.9238795 0.3826834 0 -0.9807853 0.1950903 0 -1 0 0 -0.9807853 -0.1950903 0 -0.9238796 -0.3826834 0 -0.8314697 -0.5555702 0 -0.7071068 -0.7071068 0 -0.5555702 -0.8314697 0 -0.3826835 -0.9238795 0 -0.1950903 -0.9807853 0 0 -1 0 0.1950902 -0.9807853 0 0.3826834 -0.9238795 0 0.5555703 -0.8314695 0 0.7071067 -0.7071068 0 0.8314695 -0.5555704 0 0.9238795 -0.3826836 0 0.9807853 -0.1950904 0 1 0 0 0.9807853 0.1950904 0 0.9238795 0.3826836 0 0.8314697 0.5555701 0 0.7071069 0.7071067 0 0.5555703 0.8314696 0 0.3826834 0.9238796 0 0.1950902 0.9807853 0 0 0.9715358 0.02349996 -0.1896129 0.9532483 0.023207 0.806431 0.5388398 0.02474594 0.6859874 0.6859872 0.02455985 -0.3720819 -0.8982851 0.02292513 -0.1896128 -0.9532484 0.023207 -0.3720819 0.8982851 0.02292513 0.5391437 0.8068855 0.02433294 0 -0.9715358 0.02349996 -0.5403704 0.8087214 0.02266508 0.3714998 0.89688 0.02407395 0.1894615 -0.9524879 0.02379268 -0.6879746 0.6879746 0.02243703 0.1894615 0.9524879 0.02379268 0.3714998 -0.8968799 0.02407395 -0.8091786 0.5406759 0.02224981 0.5391437 -0.8068854 0.02433294 -0.8992814 0.3724945 0.02211058 0.6859872 -0.6859874 0.02455985 -0.9547834 0.1899182 0.02202481 0.8064308 -0.5388401 0.02474594 -0.973527 0 0.0219959 0.8958889 -0.3710895 0.0248841 -0.9547834 -0.1899182 0.02202481 0.9509602 -0.1891578 0.02496922 -0.8992815 -0.3724945 0.02211058 0.9695526 0 0.02499794 -0.8091787 -0.5406758 0.02224981 0.9509602 0.1891578 0.02496922 -0.6879746 -0.6879746 0.02243703 0.8958889 0.3710895 0.0248841 -0.5403704 -0.8087215 0.02266508</float_array>
+          <technique_common>
+            <accessor source="#Circle-mesh-positions-array" count="64" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Circle-mesh-normals">
+          <float_array id="Circle-mesh-normals-array" count="285">-0.06247234 0.6354146 0.7696399 0.4922264 0.4038744 0.7711024 -0.1853664 -0.6114404 0.7692723 -0.1853668 0.6114421 0.7692709 0.4041489 0.4923278 0.7708936 -0.06247192 -0.6354129 0.7696414 -0.3013036 0.5639117 0.7689082 0.3004913 0.5619798 0.7706386 0.06258225 -0.6354086 0.7696359 -0.4057997 0.4946089 0.7685627 0.1851955 0.6101529 0.7703351 0.1852168 -0.6105777 0.7699933 -0.4947946 0.4061626 0.7682514 0.0626471 0.6349592 0.7700015 0.3005841 -0.5623532 0.7703299 -0.5648092 0.3019601 0.7679914 0.4042859 -0.4926242 0.7706325 -0.6130989 0.1860172 0.7677938 0.4923828 -0.4040883 0.7708902 -0.6377578 0.06282567 0.7676705 0.5615327 -0.3001458 0.771099 -0.6377578 -0.06282585 0.7676705 0.6091212 -0.1847751 0.771252 -0.6130989 -0.1860178 0.7677938 0.6333531 -0.06237971 0.7713447 -0.5648094 -0.3019594 0.7679914 0.6333159 0.06236588 0.7713764 -0.494795 -0.4061629 0.7682511 0.6090207 0.1847128 0.7713463 -0.4057998 -0.4946088 0.7685628 0.5613903 0.3000133 0.7712542 -0.3013038 -0.5639122 0.7689078 0 0 -1 -0.001544952 0 0.9999989 -0.06262594 0.6358514 0.7692666 0.4923822 0.4040874 0.7708913 -0.185599 -0.6118376 0.7689004 -0.1855974 0.6118331 0.7689043 0.4042858 0.4926239 0.7706327 -0.06262576 -0.6358517 0.7692664 -0.3015899 0.5642349 0.7685588 0.3005841 0.5623532 0.7703299 0.06264734 -0.6349611 0.7699999 -0.4061095 0.4948458 0.7682467 0.185216 0.6105759 0.7699949 0.1851957 -0.6101529 0.7703351 -0.495086 0.4063063 0.7679877 0.06258225 0.6354091 0.7696356 0.3004922 -0.5619816 0.7706369 -0.5650465 0.3020236 0.7677918 0.4041471 -0.4923262 0.7708956 -0.6132509 0.1860275 0.76767 0.4922262 -0.4038736 0.7711029 -0.6378085 0.0628181 0.767629 0.5613901 -0.300014 0.7712541 -0.6378085 -0.0628181 0.767629 0.6090208 -0.1847129 0.7713462 -0.6132513 -0.1860271 0.7676697 0.633316 -0.06236588 0.7713763 -0.5650465 -0.3020236 0.7677919 0.6333531 0.06237971 0.7713447 -0.4950852 -0.4063066 0.7679882 0.6091212 0.1847756 0.771252 -0.4061099 -0.494846 0.7682462 0.5615325 0.3001453 0.7710993 -0.3015911 -0.5642376 0.7685563 -0.001544952 0 0.9999988 -0.001544952 0 0.9999989 -0.001544952 0 0.9999988 -0.001544952 0 0.9999988 -0.001544952 0 0.9999989 -0.001545011 0 0.9999988 -0.001544952 0 0.9999988 -0.001545131 0 0.9999988 -0.001545131 0 0.9999988 -0.001544952 0 0.9999989 -0.001545011 0 0.9999989 -0.001544952 0 0.9999988 -0.001545011 0 0.9999988 -0.001544892 0 0.9999988 -0.001545011 0 0.9999989 -0.001544773 0 0.9999988 -0.001545131 0 0.9999988 -0.001544892 0 0.9999988 -0.001544892 0 0.9999989 -0.001544952 0 0.9999989 -0.001544952 0 0.9999989 -0.001545011 0 0.9999988 -0.001544952 0 0.9999989 -0.001544952 0 0.9999988 -0.001545011 0 0.9999988 -0.001544952 0 0.9999988 -0.001544952 0 0.9999988 -0.001544952 0 0.9999988 -0.001544952 0 0.9999988</float_array>
+          <technique_common>
+            <accessor source="#Circle-mesh-normals-array" count="95" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Circle-mesh-map-0">
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+          <technique_common>
+            <accessor source="#Circle-mesh-map-0-array" count="372" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Circle-mesh-vertices">
+          <input semantic="POSITION" source="#Circle-mesh-positions"/>
+        </vertices>
+        <triangles material="Collision_Model-material" count="124">
+          <input semantic="VERTEX" source="#Circle-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Circle-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Circle-mesh-map-0" offset="2" set="0"/>
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="stand_collision" name="stand_collision" type="NODE">
+        <matrix sid="transform">0.02575 0 0 0 0 0.02575 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#Circle-mesh" name="stand_collision">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Collision_Model-material" target="#Collision_Model-material">
+                <bind_vertex_input semantic="UVMap" 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/meshes/stand_visual.dae b/meshes/stand_visual.dae
new file mode 100644
index 00000000..8105d607
--- /dev/null
+++ b/meshes/stand_visual.dae
@@ -0,0 +1,101 @@
+<?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 3.2.2 commit date:2022-08-02, commit time:18:15, hash:bcfdb14560e7</authoring_tool>
+    </contributor>
+    <created>2022-08-25T14:48:23</created>
+    <modified>2022-08-25T14:48:23</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="White_Plastics-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.8 0.8 0.8 1</color>
+            </diffuse>
+            <reflectivity>
+              <float sid="specular">0.2</float>
+            </reflectivity>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="White_Plastics-material" name="White Plastics">
+      <instance_effect url="#White_Plastics-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Circle_002-mesh" name="Circle.002">
+      <mesh>
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+          <technique_common>
+            <accessor source="#Circle_002-mesh-positions-array" count="64" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
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+          <input semantic="NORMAL" source="#Circle_002-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Circle_002-mesh-map-0" offset="2" set="0"/>
+          <p>0 0 0 33 0 1 32 0 2 27 1 3 35 1 4 34 1 5 36 2 6 15 2 7 37 2 8 1 3 9 38 3 10 33 3 11 28 4 12 39 4 13 35 4 14 37 5 15 16 5 16 40 5 17 2 6 18 41 6 19 38 6 20 29 7 21 42 7 22 39 7 23 17 8 24 40 8 25 16 8 26 3 9 27 44 9 28 41 9 29 30 10 30 45 10 31 42 10 32 18 11 33 43 11 34 17 11 35 4 12 36 47 12 37 44 12 38 31 13 39 32 13 40 45 13 41 19 14 42 46 14 43 18 14 44 5 15 45 49 15 46 47 15 47 20 16 48 48 16 49 19 16 50 6 17 51 51 17 52 49 17 53 21 18 54 50 18 55 20 18 56 7 19 57 53 19 58 51 19 59 22 20 60 52 20 61 21 20 62 53 21 63 9 21 64 55 21 65 23 22 66 54 22 67 22 22 68 55 23 69 10 23 70 57 23 71 24 24 72 56 24 73 23 24 74 57 25 75 11 25 76 59 25 77 24 26 78 60 26 79 58 26 80 59 27 81 12 27 82 61 27 83 25 28 84 62 28 85 60 28 86 61 29 87 13 29 88 63 29 89 26 30 90 34 30 91 62 30 92 63 31 93 14 31 94 36 31 95 17 32 96 9 32 97 1 32 98 33 33 99 47 33 100 63 33 101 0 34 102 1 34 103 33 34 104 27 35 105 28 35 106 35 35 107 36 36 108 14 36 109 15 36 110 1 37 111 2 37 112 38 37 113 28 38 114 29 38 115 39 38 116 37 39 117 15 39 118 16 39 119 2 40 120 3 40 121 41 40 122 29 41 123 30 41 124 42 41 125 17 42 126 43 42 127 40 42 128 3 43 129 4 43 130 44 43 131 30 44 132 31 44 133 45 44 134 18 45 135 46 45 136 43 45 137 4 46 138 5 46 139 47 46 140 31 47 141 0 47 142 32 47 143 19 48 144 48 48 145 46 48 146 5 49 147 6 49 148 49 49 149 20 50 150 50 50 151 48 50 152 6 51 153 7 51 154 51 51 155 21 52 156 52 52 157 50 52 158 7 53 159 8 53 160 53 53 161 22 54 162 54 54 163 52 54 164 53 55 165 8 55 166 9 55 167 23 56 168 56 56 169 54 56 170 55 57 171 9 57 172 10 57 173 24 58 174 58 58 175 56 58 176 57 59 177 10 59 178 11 59 179 24 60 180 25 60 181 60 60 182 59 61 183 11 61 184 12 61 185 25 62 186 26 62 187 62 62 188 61 63 189 12 63 190 13 63 191 26 64 192 27 64 193 34 64 194 63 65 195 13 65 196 14 65 197 1 32 198 0 32 199 31 32 200 31 32 201 30 32 202 29 32 203 29 32 204 28 32 205 27 32 206 27 32 207 26 32 208 25 32 209 25 32 210 24 32 211 23 32 212 23 32 213 22 32 214 21 32 215 21 32 216 20 32 217 19 32 218 19 32 219 18 32 220 17 32 221 17 32 222 16 32 223 15 32 224 15 32 225 14 32 226 17 32 227 14 32 228 13 32 229 17 32 230 13 32 231 12 32 232 9 32 233 12 32 234 11 32 235 9 32 236 11 32 237 10 32 238 9 32 239 9 32 240 8 32 241 7 32 242 7 32 243 6 32 244 5 32 245 5 32 246 4 32 247 3 32 248 3 32 249 2 32 250 1 32 251 1 32 252 31 32 253 29 32 254 29 32 255 27 32 256 1 32 257 27 32 258 25 32 259 1 32 260 25 32 261 23 32 262 17 32 263 23 32 264 21 32 265 17 32 266 21 32 267 19 32 268 17 32 269 9 32 270 7 32 271 1 32 272 7 32 273 5 32 274 1 32 275 5 32 276 3 32 277 1 32 278 17 32 279 13 32 280 9 32 281 1 32 282 25 32 283 17 32 284 63 66 285 36 66 286 37 66 287 37 67 288 40 67 289 63 67 290 40 68 291 43 68 292 63 68 293 43 69 294 46 69 295 52 69 296 46 70 297 48 70 298 52 70 299 48 71 300 50 71 301 52 71 302 52 72 303 54 72 304 56 72 305 56 73 306 58 73 307 60 73 308 60 74 309 62 74 310 34 74 311 34 75 312 35 75 313 39 75 314 39 76 315 42 76 316 45 76 317 45 77 318 32 77 319 33 77 320 33 78 321 38 78 322 47 78 323 38 79 324 41 79 325 47 79 326 41 80 327 44 80 328 47 80 329 47 81 330 49 81 331 51 81 332 51 82 333 53 82 334 55 82 335 55 83 336 57 83 337 59 83 338 59 84 339 61 84 340 63 84 341 52 85 342 56 85 343 60 85 344 60 86 345 34 86 346 52 86 347 34 87 348 39 87 349 52 87 350 39 88 351 45 88 352 33 88 353 47 89 354 51 89 355 55 89 356 55 90 357 59 90 358 47 90 359 59 91 360 63 91 361 47 91 362 63 92 363 43 92 364 39 92 365 43 93 366 52 93 367 39 93 368 39 94 369 33 94 370 63 94 371</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="stand_visual" name="stand_visual" type="NODE">
+        <matrix sid="transform">0.02575 0 0 0 0 0.02575 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#Circle_002-mesh" name="stand_visual">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="White_Plastics-material" target="#White_Plastics-material">
+                <bind_vertex_input semantic="UVMap" 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/urdf/azure_kinect.urdf.xacro b/urdf/azure_kinect.urdf.xacro
deleted file mode 100644
index 577df9cb..00000000
--- a/urdf/azure_kinect.urdf.xacro
+++ /dev/null
@@ -1,63 +0,0 @@
-<?xml version="1.0"?>
-<!-- 
- Copyright (c) Microsoft Corporation. All rights reserved.
- Licensed under the MIT License.
- -->
-
-<robot name="azure-kinect" xmlns:xacro="http://www.ros.org/wiki/xacro">
-  <xacro:arg name="tf_prefix" default=""/>
-  <material name="black">
-    <color rgba="0. 0. 0. 1" />
-  </material>
-  <material name="dark_grey">
-    <color rgba="0.1 0.1 0.1 1" />
-  </material>
-  <material name="grey">
-    <color rgba="0.6 0.6 0.6 1" />
-  </material>
-  <material name="white">
-    <color rgba="0.9 0.9 0.9 1" />
-  </material>
-
-  <link name="$(arg tf_prefix)camera_body">
-    <visual>
-      <origin xyz="0. 0. 0." />
-      <geometry>
-        <box size="0.0994 0.0996 0.023" />
-      </geometry>
-      <material name="white" />
-    </visual>
-  </link>
-
-  <link name="$(arg tf_prefix)camera_base">
-    <visual>
-      <origin xyz="-0.013 0. 0." />
-      <geometry>
-        <box size="0.026 0.103 0.039" />
-      </geometry>
-      <material name="grey" />
-    </visual>
-  </link>
-
-  <link name="$(arg tf_prefix)camera_visor">
-    <visual>
-      <origin xyz="-0.0128 0. 0." />
-      <geometry>
-        <box size="0.026 0.101 0.037" />
-      </geometry>
-      <material name="black" />
-    </visual>
-  </link>
-
-  <joint name="$(arg tf_prefix)camera_base_to_body" type="fixed">
-    <parent link="$(arg tf_prefix)camera_base" />
-    <child link="$(arg tf_prefix)camera_body" />
-    <origin xyz="-0.0757 0. 0.008" rpy="0. 0. 0." />
-  </joint>
-
-  <joint name="$(arg tf_prefix)camera_base_to_visor" type="fixed">
-    <parent link="$(arg tf_prefix)camera_base" />
-    <child link="$(arg tf_prefix)camera_visor" />
-    <origin xyz="0. 0. 0." rpy="0. 0. 0." />
-  </joint>
-</robot>
\ No newline at end of file
diff --git a/urdf/azure_kinect_macro.urdf.xacro b/urdf/azure_kinect_macro.urdf.xacro
new file mode 100644
index 00000000..37689858
--- /dev/null
+++ b/urdf/azure_kinect_macro.urdf.xacro
@@ -0,0 +1,199 @@
+<?xml version="1.0"?>
+<!-- 
+ Copyright (c) Microsoft Corporation. All rights reserved.
+ Licensed under the MIT License.
+
+ This file provides a macro to spawn a description of the Microsoft Azure Kinect camera within a larger robot URDF.
+ You can include it in your own description as follows:
+
+    <xacro:include filename="$(find azure_kinect_ros_driver)/urdf/azure_kinect_macro.urdf.xacro" />
+    <xacro:azure_kinect prefix="" parent="" gazebo="false">
+        <origin xyz="0 0 0" rpy="0 0 0" />
+    </xacro:azure_kinect>
+
+  Parameters:
+    prefix    Adds a prefix to all link and joint names. Use this if you plan to add multiple sensor to your model
+    parent    Name of the parent TF frame to which the Azure model will be attached
+    gazebo    Set to 'true' to load the Gazebo plugin settings for simulating a virtual sensor
+    origin    Transformation from parent to sensor base (block parameter)
+ -->
+
+<robot name="azure_kinect" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <xacro:macro name="azure_kinect" params="prefix:='' parent:='' gazebo:=false *origin">
+
+    <xacro:if value="${parent != ''}">
+      <joint name="${prefix}azure_in_joint" type="fixed">
+        <xacro:insert_block name="origin"/>
+        <parent link="${parent}"/>
+        <child link="${prefix}azure_base"/>
+      </joint>
+    </xacro:if>
+
+    <link name="${prefix}azure_base">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://azure_kinect_ros_driver/meshes/azure_visual.dae"/>
+        </geometry>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://azure_kinect_ros_driver/meshes/azure_collision.dae"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <link name="${prefix}camera_base" /> <!-- for compatability with old model -->
+    <link name="${prefix}azure_rgb" />
+    <link name="${prefix}azure_depth" />
+    <link name="${prefix}azure_gyro" />
+    <link name="${prefix}azure_microphone_0" />
+    <link name="${prefix}azure_microphone_1" />
+    <link name="${prefix}azure_microphone_2" />
+    <link name="${prefix}azure_microphone_3" />
+    <link name="${prefix}azure_microphone_4" />
+    <link name="${prefix}azure_microphone_5" />
+    <link name="${prefix}azure_microphone_6" />
+
+    <joint name="${prefix}azure_base_to_camera_base" type="fixed">
+      <parent link="${prefix}azure_base" />
+      <child link="${prefix}camera_base" />
+      <origin xyz="0.062 0.0 0.0065" rpy="0 0 0" />
+    </joint>
+
+    <joint name="${prefix}azure_base_to_rgb" type="fixed">
+      <parent link="${prefix}azure_base" />
+      <child link="${prefix}azure_rgb" />
+      <origin xyz="0.0618 -0.032 0.0065" rpy="-${pi/2} 0 -${pi/2}" />
+    </joint>
+
+    <joint name="${prefix}azure_base_to_depth" type="fixed">
+      <parent link="${prefix}azure_base" />
+      <child link="${prefix}azure_depth" />
+      <origin xyz="0.0618 -0.0005 0.0065" rpy="-${96/180*pi} 0 -${pi/2}" />
+    </joint>
+
+    <joint name="${prefix}azure_base_to_gyro" type="fixed">
+      <parent link="${prefix}azure_base" />
+      <child link="${prefix}azure_gyro" />
+      <origin xyz="0.0618 -0.0005 0.0065" rpy="0 ${pi} 0" />
+    </joint>
+
+    <joint name="${prefix}azure_base_to_microphone_0" type="fixed">
+      <parent link="${prefix}azure_base" />
+      <child link="${prefix}azure_microphone_0" />
+      <origin xyz="-0.018625 0 0.024632" rpy="0 0 0" />
+    </joint>
+
+    <joint name="${prefix}azure_base_to_microphone_1" type="fixed">
+      <parent link="${prefix}azure_base" />
+      <child link="${prefix}azure_microphone_1" />
+      <origin xyz="0.021376 0 0.024632" rpy="0 0 0" />
+    </joint>
+
+    <joint name="${prefix}azure_base_to_microphone_2" type="fixed">
+      <parent link="${prefix}azure_base" />
+      <child link="${prefix}azure_microphone_2" />
+      <origin xyz="0.001375 -0.034634 0.024632" rpy="0 0 0" />
+    </joint>
+
+    <joint name="${prefix}azure_base_to_microphone_3" type="fixed">
+      <parent link="${prefix}azure_base" />
+      <child link="${prefix}azure_microphone_3" />
+      <origin xyz="-0.038624 -0.034634 0.024632" rpy="0 0 0" />
+    </joint>
+
+    <joint name="${prefix}azure_base_to_microphone_4" type="fixed">
+      <parent link="${prefix}azure_base" />
+      <child link="${prefix}azure_microphone_4" />
+      <origin xyz="-0.058624 0 0.024632" rpy="0 0 0" />
+    </joint>
+
+    <joint name="${prefix}azure_base_to_microphone_5" type="fixed">
+      <parent link="${prefix}azure_base" />
+      <child link="${prefix}azure_microphone_5" />
+      <origin xyz="-0.038624 0.034634 0.024632" rpy="0 0 0" />
+    </joint>
+
+    <joint name="${prefix}azure_base_to_microphone_6" type="fixed">
+      <parent link="${prefix}azure_base" />
+      <child link="${prefix}azure_microphone_6" />
+      <origin xyz="0.001375 0.034634 0.024632" rpy="0 0 0" />
+    </joint>
+
+    <xacro:if value="${gazebo}">
+      <!-- Create a dummy frame for Gazebo, as the depth image is wrongly flipped and rotated
+           (see #243 https://github.com/ros-simulation/gazebo_ros_pkgs/issues/243) -->
+      <link name="${prefix}azure_gazebo_depth" />
+
+      <joint name="${prefix}azure_base_to_gazebo_depth" type="fixed">
+        <parent link="${prefix}azure_base" />
+        <child link="${prefix}azure_gazebo_depth"/>
+        <origin xyz="0.0618 -0.0005 0.0065" rpy="0 ${6/180*pi} 0"/>
+      </joint>
+
+      <gazebo reference="${prefix}azure_gazebo_depth">
+        <sensor name="${prefix}azure_gazebo_sensor" type="depth">
+          <!--
+            NFOV unbinned:        0, 5, 15, 30 FPS
+            NFOV 2x2 binned (SW): 0, 5, 15, 30 FPS
+            WFOV 2x2 binned:      0, 5, 15, 30 FPS
+            WFOV unbinned:        0, 5, 15 FPS
+
+            Note: Frame rate also needs to be changed in gazebo plugin settings (line 130)
+          -->
+          <update_rate>5</update_rate>
+          <camera>
+            <!--
+              NFOV: 1.309 rad (75 deg)
+              WFOV: 2.0944 rad (120 deg)
+            -->
+            <horizontal_fov>2.0944</horizontal_fov>
+            <image>
+              <!--
+                NFOV unbinned:         640x576
+                NFOV 2x2 binned (SW):  320x288
+                WFOV 2x2 binned:       512x512
+                WFOV unbinned:         1024x1024
+              -->
+              <width>512</width>
+              <height>512</height>
+              <format>R8G8B8</format>
+            </image>
+            <clip>
+              <!--
+                NFOV unbinned:         0.5 - 3.86 m
+                NFOV 2x2 binned (SW):  0.5 - 5.46 m
+                WFOV 2x2 binned:       0.25 - 2.88 m
+                WFOV unbinned:         0.25 - 2.21 m
+
+                Note: Range also needs to be changed in gazebo plugin settings (lines 131 and 132)
+              -->
+              <near>0.25</near>
+              <far>2.88</far>
+            </clip>
+          </camera>
+          <plugin filename="libgazebo_ros_openni_kinect.so" name="${prefix}azure_camera_controller">
+            <alwaysOn>true</alwaysOn>
+            <updateRate>5</updateRate>
+            <pointCloudCutoff>0.25</pointCloudCutoff>
+            <pointcloudcutoffmax>2.88</pointcloudcutoffmax>
+            <imageTopicName>rgb/image_raw</imageTopicName>
+            <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
+            <depthImageTopicName>depth/image_raw</depthImageTopicName>
+            <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
+            <pointCloudTopicName>points2</pointCloudTopicName>
+            <frameName>${prefix}azure_depth</frameName>
+            <distortion_k1>0.0</distortion_k1>
+            <distortion_k2>0.0</distortion_k2>
+            <distortion_k3>0.0</distortion_k3>
+            <distortion_t1>0.0</distortion_t1>
+            <distortion_t2>0.0</distortion_t2>
+          </plugin>
+        </sensor>
+      </gazebo>
+    </xacro:if>
+
+  </xacro:macro>
+</robot>
diff --git a/urdf/azure_kinect_standalone.urdf.xacro b/urdf/azure_kinect_standalone.urdf.xacro
new file mode 100644
index 00000000..22f2962b
--- /dev/null
+++ b/urdf/azure_kinect_standalone.urdf.xacro
@@ -0,0 +1,32 @@
+<?xml version="1.0"?>
+<!--
+ Copyright (c) Microsoft Corporation. All rights reserved.
+ Licensed under the MIT License.
+
+ Standalone robot-description of a Microsoft Azure Kinect camera on the included stand.
+ -->
+
+<robot name="azure_kinect" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <xacro:arg name="tf_prefix" default=""/>
+
+  <link name="$(arg tf_prefix)azure_stand">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://azure_kinect_ros_driver/meshes/stand_visual.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://azure_kinect_ros_driver/meshes/stand_collision.dae"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <xacro:include filename="$(find azure_kinect_ros_driver)/urdf/azure_kinect_macro.urdf.xacro" />
+
+  <xacro:azure_kinect prefix="$(arg tf_prefix)" parent="$(arg tf_prefix)azure_stand" gazebo="false">
+    <origin xyz="0 0 0.0235" rpy="0 -0.06 0" />
+  </xacro:azure_kinect>
+</robot>

From d6e69db5f72565df193234730872a62e82b37b8a Mon Sep 17 00:00:00 2001
From: Arne Peters <arne.peters@tum.de>
Date: Thu, 25 Aug 2022 17:06:06 +0200
Subject: [PATCH 2/2] new parameter to switch between CAD data and factory
 calibration

---
 .../k4a_calibration_transform_data.h          |  8 +--
 .../k4a_ros_device_params.h                   |  3 +-
 launch/driver.launch                          |  4 +-
 launch/kinect_rgbd.launch                     |  4 +-
 src/k4a_calibration_transform_data.cpp        | 16 +++--
 urdf/azure_kinect_macro.urdf.xacro            | 70 ++++++++++---------
 urdf/azure_kinect_standalone.urdf.xacro       |  3 +-
 7 files changed, 60 insertions(+), 48 deletions(-)

diff --git a/include/azure_kinect_ros_driver/k4a_calibration_transform_data.h b/include/azure_kinect_ros_driver/k4a_calibration_transform_data.h
index dafbd8b1..ed5dfca0 100644
--- a/include/azure_kinect_ros_driver/k4a_calibration_transform_data.h
+++ b/include/azure_kinect_ros_driver/k4a_calibration_transform_data.h
@@ -46,10 +46,10 @@ class K4ACalibrationTransformData
   k4a::image transformed_depth_image_;
 
   std::string tf_prefix_ = "";
-  std::string camera_base_frame_ = "camera_base";
-  std::string rgb_camera_frame_ = "rgb_camera_link";
-  std::string depth_camera_frame_ = "depth_camera_link";
-  std::string imu_frame_ = "imu_link";
+  std::string camera_base_frame_ = "azure_camera_base";
+  std::string rgb_camera_frame_ = "azure_rgb";
+  std::string depth_camera_frame_ = "azure_depth";
+  std::string imu_frame_ = "azure_imu";
 
 private:
   void initialize(K4AROSDeviceParams params);
diff --git a/include/azure_kinect_ros_driver/k4a_ros_device_params.h b/include/azure_kinect_ros_driver/k4a_ros_device_params.h
index 798c7993..3f52dcbc 100644
--- a/include/azure_kinect_ros_driver/k4a_ros_device_params.h
+++ b/include/azure_kinect_ros_driver/k4a_ros_device_params.h
@@ -57,9 +57,10 @@
              "Whether the RGB pointcloud is rendered in the depth frame (true) or RGB frame (false). Will either "     \
              "match the resolution of the depth camera (true) or the RGB camera (false)",                              \
              bool, true)                                                                                               \
-  LIST_ENTRY(calibration_url, 'URL to folder with calibration files (default: "file://$HOME/.ros/camera_info/").',    \
+  LIST_ENTRY(calibration_url, 'URL to folder with calibration files (default: "file://$HOME/.ros/camera_info/").',     \
              std::string, {})                                                                                          \
   LIST_ENTRY(tf_prefix, "The prefix prepended to tf frame ID's", std::string, std::string())                           \
+  LIST_ENTRY(publish_calibrated_poses, "Publish calibrated sensors poses at runtime", bool, true)                      \
   LIST_ENTRY(recording_file, "Path to a recording file to open instead of opening a device", std::string,              \
              std::string(""))                                                                                          \
   LIST_ENTRY(recording_loop_enabled, "True if the recording should be rewound at EOF", bool, false)                    \
diff --git a/launch/driver.launch b/launch/driver.launch
index bfcffd35..914936a8 100644
--- a/launch/driver.launch
+++ b/launch/driver.launch
@@ -5,11 +5,12 @@ Licensed under the MIT License.
 
 <launch>
   <arg name="tf_prefix"         default="" />                       <!-- Prefix added to tf frame IDs. It typically contains a trailing '_' unless empty. -->
+  <arg name="publish_calibrated_poses"    default="true" />         <!-- Flag to publish the relative poses between IMU, RGB and depth camera from factory calibration parameters during runtime. -->
   <arg name="overwrite_robot_description" default="true" />         <!-- Flag to publish a standalone azure_description instead of the default robot_descrition parameter-->
 
   <group if="$(arg overwrite_robot_description)">
     <param name="robot_description"
-      command="xacro $(find azure_kinect_ros_driver)/urdf/azure_kinect.urdf.xacro tf_prefix:=$(arg tf_prefix)" />
+      command="xacro $(find azure_kinect_ros_driver)/urdf/azure_kinect.urdf.xacro tf_prefix:=$(arg tf_prefix) publish_calibrated_poses:=$(arg publish_calibrated_poses)" />
     <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
     <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
   </group>
@@ -60,6 +61,7 @@ Licensed under the MIT License.
     <param name="point_cloud_in_depth_frame" type="bool" value="$(arg point_cloud_in_depth_frame)" />
     <param name="sensor_sn"         type="string" value="$(arg sensor_sn)" />
     <param name="tf_prefix"         type="string" value="$(arg tf_prefix)" />
+    <param name="publish_calibrated_poses" type="bool" value="$(arg publish_calibrated_poses)" />
     <param name="recording_file"    type="string" value="$(arg recording_file)" />
     <param name="recording_loop_enabled" type="bool" value="$(arg recording_loop_enabled)" />
     <param name="body_tracking_enabled" type="bool" value="$(arg body_tracking_enabled)" />
diff --git a/launch/kinect_rgbd.launch b/launch/kinect_rgbd.launch
index 5150736c..dacbd6bc 100644
--- a/launch/kinect_rgbd.launch
+++ b/launch/kinect_rgbd.launch
@@ -5,11 +5,12 @@
 
   <!-- publish Azure Kinect coordinate frames -->
   <arg name="tf_prefix"                   default="" />               <!-- Prefix added to tf frame IDs. It typically contains a trailing '_' unless empty. -->
+  <arg name="publish_calibrated_poses"    default="true" />           <!-- Flag to publish the relative poses between IMU, RGB and depth camera from factory calibration parameters during runtime. -->
   <arg name="overwrite_robot_description" default="true" />           <!-- Flag to publish a standalone azure_description instead of the default robot_description parameter-->
 
   <group if="$(arg overwrite_robot_description)">
     <param name="robot_description"
-      command="xacro $(find azure_kinect_ros_driver)/urdf/azure_kinect_standalone.urdf.xacro tf_prefix:=$(arg tf_prefix)" />
+      command="xacro $(find azure_kinect_ros_driver)/urdf/azure_kinect_standalone.urdf.xacro tf_prefix:=$(arg tf_prefix) publish_calibrated_poses:=$(arg publish_calibrated_poses)" />
     <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
     <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
   </group>
@@ -95,6 +96,7 @@
       <param name="point_cloud_in_depth_frame"    value="$(arg point_cloud_in_depth_frame)" />
       <param name="sensor_sn"                     value="$(arg sensor_sn)" />
       <param name="tf_prefix"                     value="$(arg tf_prefix)" />
+      <param name="publish_calibrated_poses"      value="$(arg publish_calibrated_poses)" />
       <param name="recording_file"                value="$(arg recording_file)" />
       <param name="recording_loop_enabled"        value="$(arg recording_loop_enabled)" />
       <param name="calibration_url"               value="$(arg calibration_url)" />
diff --git a/src/k4a_calibration_transform_data.cpp b/src/k4a_calibration_transform_data.cpp
index 890addf2..77499f47 100644
--- a/src/k4a_calibration_transform_data.cpp
+++ b/src/k4a_calibration_transform_data.cpp
@@ -67,13 +67,15 @@ void K4ACalibrationTransformData::initialize(const K4AROSDeviceParams params)
                                                   getColorWidth() * (int) sizeof(DepthPixel));
   }
 
-  // Publish various transforms needed by ROS.
-  // We publish all TFs all the time, even if the respective sensor data
-  // output is off. This allows us to just use the SDK calibrations, and one
-  // cosmetic TF output between the depth and the base.
-  publishDepthToBaseTf();
-  publishImuToDepthTf();
-  publishRgbToDepthTf();
+  if (params.publish_calibrated_poses) {
+    // Publish various transforms needed by ROS.
+    // We publish all TFs all the time, even if the respective sensor data
+    // output is off. This allows us to just use the SDK calibrations, and one
+    // cosmetic TF output between the depth and the base.
+    publishDepthToBaseTf();
+    publishImuToDepthTf();
+    publishRgbToDepthTf();
+  }
 }
 
 int K4ACalibrationTransformData::getDepthWidth() { return k4a_calibration_.depth_camera_calibration.resolution_width; }
diff --git a/urdf/azure_kinect_macro.urdf.xacro b/urdf/azure_kinect_macro.urdf.xacro
index 37689858..1eaeac41 100644
--- a/urdf/azure_kinect_macro.urdf.xacro
+++ b/urdf/azure_kinect_macro.urdf.xacro
@@ -19,7 +19,7 @@
  -->
 
 <robot name="azure_kinect" xmlns:xacro="http://www.ros.org/wiki/xacro">
-  <xacro:macro name="azure_kinect" params="prefix:='' parent:='' gazebo:=false *origin">
+  <xacro:macro name="azure_kinect" params="prefix:='' parent:='' publish_calibrated_poses=true gazebo:=false *origin">
 
     <xacro:if value="${parent != ''}">
       <joint name="${prefix}azure_in_joint" type="fixed">
@@ -44,41 +44,45 @@
       </collision>
     </link>
 
-    <link name="${prefix}camera_base" /> <!-- for compatability with old model -->
-    <link name="${prefix}azure_rgb" />
-    <link name="${prefix}azure_depth" />
-    <link name="${prefix}azure_gyro" />
-    <link name="${prefix}azure_microphone_0" />
-    <link name="${prefix}azure_microphone_1" />
-    <link name="${prefix}azure_microphone_2" />
-    <link name="${prefix}azure_microphone_3" />
-    <link name="${prefix}azure_microphone_4" />
-    <link name="${prefix}azure_microphone_5" />
-    <link name="${prefix}azure_microphone_6" />
+    <link name="${prefix}azure_camera_base" /> <!-- for compatability with calibration parameters -->
 
     <joint name="${prefix}azure_base_to_camera_base" type="fixed">
       <parent link="${prefix}azure_base" />
-      <child link="${prefix}camera_base" />
+      <child link="${prefix}azure_camera_base" />
       <origin xyz="0.062 0.0 0.0065" rpy="0 0 0" />
     </joint>
 
-    <joint name="${prefix}azure_base_to_rgb" type="fixed">
-      <parent link="${prefix}azure_base" />
-      <child link="${prefix}azure_rgb" />
-      <origin xyz="0.0618 -0.032 0.0065" rpy="-${pi/2} 0 -${pi/2}" />
-    </joint>
+    <xacro:if value="${not publish_calibrated_poses or gazebo}">
+      <link name="${prefix}azure_rgb" />
+      <link name="${prefix}azure_depth" />
+      <link name="${prefix}azure_imu" />
 
-    <joint name="${prefix}azure_base_to_depth" type="fixed">
-      <parent link="${prefix}azure_base" />
-      <child link="${prefix}azure_depth" />
-      <origin xyz="0.0618 -0.0005 0.0065" rpy="-${96/180*pi} 0 -${pi/2}" />
-    </joint>
+      <joint name="${prefix}azure_base_to_rgb" type="fixed">
+        <parent link="${prefix}azure_base" />
+        <child link="${prefix}azure_rgb" />
+        <origin xyz="0.0618 -0.032 0.0065" rpy="-${pi/2} 0 -${pi/2}" />
+      </joint>
 
-    <joint name="${prefix}azure_base_to_gyro" type="fixed">
-      <parent link="${prefix}azure_base" />
-      <child link="${prefix}azure_gyro" />
-      <origin xyz="0.0618 -0.0005 0.0065" rpy="0 ${pi} 0" />
-    </joint>
+      <joint name="${prefix}azure_base_to_depth" type="fixed">
+        <parent link="${prefix}azure_base" />
+        <child link="${prefix}azure_depth" />
+        <origin xyz="0.0618 -0.0005 0.0065" rpy="-${96/180*pi} 0 -${pi/2}" />
+      </joint>
+
+      <joint name="${prefix}azure_base_to_imu" type="fixed">
+        <parent link="${prefix}azure_base" />
+        <child link="${prefix}azure_imu" />
+        <origin xyz="0.0618 -0.0005 0.0065" rpy="0 ${pi} 0" />
+      </joint>
+    </xacro:if>
+
+    <link name="${prefix}azure_microphone_0" />
+    <link name="${prefix}azure_microphone_1" />
+    <link name="${prefix}azure_microphone_2" />
+    <link name="${prefix}azure_microphone_3" />
+    <link name="${prefix}azure_microphone_4" />
+    <link name="${prefix}azure_microphone_5" />
+    <link name="${prefix}azure_microphone_6" />
 
     <joint name="${prefix}azure_base_to_microphone_0" type="fixed">
       <parent link="${prefix}azure_base" />
@@ -141,7 +145,7 @@
             WFOV 2x2 binned:      0, 5, 15, 30 FPS
             WFOV unbinned:        0, 5, 15 FPS
 
-            Note: Frame rate also needs to be changed in gazebo plugin settings (line 130)
+            Note: Frame rate also needs to be changed in gazebo plugin settings (line 183)
           -->
           <update_rate>5</update_rate>
           <camera>
@@ -168,7 +172,7 @@
                 WFOV 2x2 binned:       0.25 - 2.88 m
                 WFOV unbinned:         0.25 - 2.21 m
 
-                Note: Range also needs to be changed in gazebo plugin settings (lines 131 and 132)
+                Note: Range also needs to be changed in gazebo plugin settings (lines 184 and 185)
               -->
               <near>0.25</near>
               <far>2.88</far>
@@ -176,9 +180,9 @@
           </camera>
           <plugin filename="libgazebo_ros_openni_kinect.so" name="${prefix}azure_camera_controller">
             <alwaysOn>true</alwaysOn>
-            <updateRate>5</updateRate>
-            <pointCloudCutoff>0.25</pointCloudCutoff>
-            <pointcloudcutoffmax>2.88</pointcloudcutoffmax>
+            <updateRate>5</updateRate> <!-- Frame rate -->
+            <pointCloudCutoff>0.25</pointCloudCutoff> <!-- Near clip distance -->
+            <pointcloudcutoffmax>2.88</pointcloudcutoffmax> <!-- Far clip distance -->
             <imageTopicName>rgb/image_raw</imageTopicName>
             <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
             <depthImageTopicName>depth/image_raw</depthImageTopicName>
diff --git a/urdf/azure_kinect_standalone.urdf.xacro b/urdf/azure_kinect_standalone.urdf.xacro
index 22f2962b..a30ba4df 100644
--- a/urdf/azure_kinect_standalone.urdf.xacro
+++ b/urdf/azure_kinect_standalone.urdf.xacro
@@ -8,6 +8,7 @@
 
 <robot name="azure_kinect" xmlns:xacro="http://www.ros.org/wiki/xacro">
   <xacro:arg name="tf_prefix" default=""/>
+  <xacro:arg name="publish_calibrated_poses" default="true"/>
 
   <link name="$(arg tf_prefix)azure_stand">
     <visual>
@@ -26,7 +27,7 @@
 
   <xacro:include filename="$(find azure_kinect_ros_driver)/urdf/azure_kinect_macro.urdf.xacro" />
 
-  <xacro:azure_kinect prefix="$(arg tf_prefix)" parent="$(arg tf_prefix)azure_stand" gazebo="false">
+  <xacro:azure_kinect prefix="$(arg tf_prefix)" parent="$(arg tf_prefix)azure_stand" gazebo="false" publish_calibrated_poses="$(arg publish_calibrated_poses)">
     <origin xyz="0 0 0.0235" rpy="0 -0.06 0" />
   </xacro:azure_kinect>
 </robot>