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gazebosim / gazebo-classic

Gazebo classic. For the latest version, see https://github.com/gazebosim/gz-sim
http://classic.gazebosim.org/
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gz sdf conversion duplicates links #3220

Open muttistefano opened 2 years ago

muttistefano commented 2 years ago

Hi all, i am importig a robot urdf in gazebo, using ros2 galactic.

Either i use the spawn entity, or i convert it manually using "gz sdf -p" I always get duplicated links and joints.

i start from this urdf : 

<?xml version="1.0"?>
<robot name="eureca">
  <link name="sweepee_1/base_footprint">
    <inertial>
      <mass value="1000"/>
      <inertia ixx="0.001" ixy="0.01" ixz="0.01" iyy="0.001" iyz="0.01" izz="0.001"/>
    </inertial>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.005"/>
      <geometry>
        <box size="1.02 0.55 0.01"/>
      </geometry>
    </collision>
  </link>
  <!-- Base link is the center of the robot's bottom plate -->
  <link name="sweepee_1/base_link_sweepee">
    <visual>
      <origin rpy="0 0 -1.570795" xyz="0 0 0.032"/>
      <geometry>
        <mesh filename="file:///home/kolmogorov/Documents/2ROS/lampo_ws_ros2/install/lampo_description/share/lampo_description//meshes/sweepee/visual/sweepee.dae"/>
      </geometry>
      <material name="Gray">
        <color rgba="0.5 0.5 0.5 1.0"/>
      </material>
    </visual>
    <inertial>
      <mass value="4000"/>
      <inertia ixx="1.48454" ixy="0.01" ixz="0.01" iyy="3.02861" iyz="0.01" izz="4.10178"/>
    </inertial>
  </link>
  <joint name="sweepee_1/base_footprint_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <parent link="sweepee_1/base_footprint"/>
    <child link="sweepee_1/base_link_sweepee"/>
    <dynamics damping="0.7"/>
  </joint>
  <link name="sweepee_1/front_laser"/>
  <joint name="sweepee_1/front_laser_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.36 0.0 0.26"/>
    <parent link="sweepee_1/base_link_sweepee"/>
    <child link="sweepee_1/front_laser"/>
  </joint>
  <link name="sweepee_1/rear_laser"/>
  <joint name="sweepee_1/rear_laser_joint" type="fixed">
    <origin rpy="0 0 3.14159" xyz="-0.36 0.0 0.26"/>
    <parent link="sweepee_1/base_link_sweepee"/>
    <child link="sweepee_1/rear_laser"/>
  </joint>
  <!-- <gazebo reference="${prefix}rear_laser"> <sensor type="ray" name="$(arg prefix)rear_laser"> <update_rate>10</update_rate> <ray> <scan display="false"> <horizontal> <samples>750</samples> <resolution>1</resolution> <min_angle>-${M_PI /2}</min_angle> <max_angle> ${M_PI /2}</max_angle> </horizontal> </scan> <range> <min>0.25</min> <max>59.0</max> </range> </ray> <plugin filename="libgazebo_ros_ray_sensor.so" name="rear_laser_plugin"> <noise> <type>gaussian</type> <mean>0.0</mean> <stddev>0.01</stddev> </noise> <ros> <namespace>${prefix}</namespace> <argument>~out:=${prefix}rear_scan</argument> </ros> <alwaysOn>true</alwaysOn> <updateRate>15</updateRate> <frame_name>${prefix}rear_laser</frame_name> <output_type>sensor_msgs/LaserScan</output_type> </plugin> </sensor> </gazebo> -->
  <!-- <gazebo reference="${prefix}front_laser"> <sensor type="ray" name="${prefix}front_laser"> <update_rate>10</update_rate> <ray> <scan display="false"> <horizontal> <samples>750</samples> <resolution>1</resolution> <min_angle>-${M_PI /2}</min_angle> <max_angle> ${M_PI /2}</max_angle> </horizontal> </scan> <range> <min>0.25</min> <max>59.0</max> </range> </ray> <plugin filename="libgazebo_ros_ray_sensor.so" name="front_laser_plugin"> <noise> <type>gaussian</type> <mean>0.0</mean> <stddev>0.01</stddev> </noise> <ros> <namespace>${prefix}</namespace> <argument>~out:=${prefix}rear_scan</argument> </ros> <alwaysOn>true</alwaysOn> <updateRate>15</updateRate> <frame_name>${prefix}front_laser</frame_name> <output_type>sensor_msgs/LaserScan</output_type> </plugin> </sensor> </gazebo> -->
  <gazebo reference="base_link">
    <gravity>true</gravity>
    <material>Gazebo/White</material>
    <mu1>0.0</mu1>
    <mu2>0.0</mu2>
  </gazebo>
  <gazebo reference="base_footprint">
    <gravity>true</gravity>
    <material>Gazebo/Orange</material>
    <mu1>0.0</mu1>
    <mu2>0.0</mu2>
  </gazebo>
  <gazebo reference="world"> </gazebo>
  <gazebo>
    <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
      <robot_param>robot_description</robot_param>
      <robot_namespace>sweepee_1/</robot_namespace>
      <parameters>/home/kolmogorov/Documents/2ROS/lampo_ws_ros2/install/lampo_description/share/lampo_description/config/ur_controllers_1.yaml</parameters>
      <robot_param_node>robot_state_publisher</robot_param_node>
    </plugin>
  </gazebo>
  <ros2_control name="ur" type="system">
    <hardware>
      <plugin>gazebo_ros2_control/GazeboSystem</plugin>
    </hardware>
    <joint name="sweepee_1/shoulder_pan_joint">
      <command_interface name="position">
        <param name="min">{-2*pi}</param>
        <param name="max">{2*pi}</param>
      </command_interface>
      <command_interface name="velocity">
        <param name="min">-3.15</param>
        <param name="max">3.15</param>
      </command_interface>
      <state_interface name="position">
        <!-- initial position for the FakeSystem and simulation -->
        <param name="initial_value">0.0</param>
      </state_interface>
      <state_interface name="velocity"/>
      <state_interface name="effort"/>
    </joint>
    <joint name="sweepee_1/shoulder_lift_joint">
      <command_interface name="position">
        <param name="min">{-2*pi}</param>
        <param name="max">{2*pi}</param>
      </command_interface>
      <command_interface name="velocity">
        <param name="min">-3.15</param>
        <param name="max">3.15</param>
      </command_interface>
      <state_interface name="position">
        <!-- initial position for the FakeSystem and simulation -->
        <param name="initial_value">-1.57</param>
      </state_interface>
      <state_interface name="velocity"/>
      <state_interface name="effort"/>
    </joint>
    <joint name="sweepee_1/elbow_joint">
      <command_interface name="position">
        <param name="min">{-pi}</param>
        <param name="max">{pi}</param>
      </command_interface>
      <command_interface name="velocity">
        <param name="min">-3.15</param>
        <param name="max">3.15</param>
      </command_interface>
      <state_interface name="position">
        <!-- initial position for the FakeSystem and simulation -->
        <param name="initial_value">0.0</param>
      </state_interface>
      <state_interface name="velocity"/>
      <state_interface name="effort"/>
    </joint>
    <joint name="sweepee_1/wrist_1_joint">
      <command_interface name="position">
        <param name="min">{-2*pi}</param>
        <param name="max">{2*pi}</param>
      </command_interface>
      <command_interface name="velocity">
        <param name="min">-3.2</param>
        <param name="max">3.2</param>
      </command_interface>
      <state_interface name="position">
        <!-- initial position for the FakeSystem and simulation -->
        <param name="initial_value">-1.57</param>
      </state_interface>
      <state_interface name="velocity"/>
      <state_interface name="effort"/>
    </joint>
    <joint name="sweepee_1/wrist_2_joint">
      <command_interface name="position">
        <param name="min">{-2*pi}</param>
        <param name="max">{2*pi}</param>
      </command_interface>
      <command_interface name="velocity">
        <param name="min">-3.2</param>
        <param name="max">3.2</param>
      </command_interface>
      <state_interface name="position">
        <!-- initial position for the FakeSystem and simulation -->
        <param name="initial_value">0.0</param>
      </state_interface>
      <state_interface name="velocity"/>
      <state_interface name="effort"/>
    </joint>
    <joint name="sweepee_1/wrist_3_joint">
      <command_interface name="position">
        <param name="min">{-2*pi}</param>
        <param name="max">{2*pi}</param>
      </command_interface>
      <command_interface name="velocity">
        <param name="min">-3.2</param>
        <param name="max">3.2</param>
      </command_interface>
      <state_interface name="position">
        <!-- initial position for the FakeSystem and simulation -->
        <param name="initial_value">0.0</param>
      </state_interface>
      <state_interface name="velocity"/>
      <state_interface name="effort"/>
    </joint>
  </ros2_control>
  <transmission name="sweepee_1/shoulder_pan_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="sweepee_1/shoulder_pan_joint">
      <hardwareInterface/>
    </joint>
    <actuator name="sweepee_1/shoulder_pan_motor">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="sweepee_1/shoulder_lift_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="sweepee_1/shoulder_lift_joint">
      <hardwareInterface/>
    </joint>
    <actuator name="sweepee_1/shoulder_lift_motor">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="sweepee_1/elbow_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="sweepee_1/elbow_joint">
      <hardwareInterface/>
    </joint>
    <actuator name="sweepee_1/elbow_motor">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="sweepee_1/wrist_1_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="sweepee_1/wrist_1_joint">
      <hardwareInterface/>
    </joint>
    <actuator name="sweepee_1/wrist_1_motor">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="sweepee_1/wrist_2_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="sweepee_1/wrist_2_joint">
      <hardwareInterface/>
    </joint>
    <actuator name="sweepee_1/wrist_2_motor">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="sweepee_1/wrist_3_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="sweepee_1/wrist_3_joint">
      <hardwareInterface/>
    </joint>
    <actuator name="sweepee_1/wrist_3_motor">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <!-- Placeholder for ros2_control transmission which don't yet exist -->
  <!-- links -  main serial chain -->
  <link name="sweepee_1/base_link"/>
  <link name="sweepee_1/base_link_inertia">
    <visual>
      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
      <geometry>
        <mesh filename="file:///home/kolmogorov/Documents/2ROS/lampo_ws_ros2/install/ur_description/share/ur_description/meshes/ur10/visual/base.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
      <geometry>
        <mesh filename="file:///home/kolmogorov/Documents/2ROS/lampo_ws_ros2/install/ur_description/share/ur_description/meshes/ur10/collision/base.stl"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="4.0"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="0.0061063308908" ixy="0.0" ixz="0.0" iyy="0.0061063308908" iyz="0.0" izz="0.01125"/>
    </inertial>
  </link>
  <link name="sweepee_1/shoulder_link">
    <visual>
      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
      <geometry>
        <mesh filename="file:///home/kolmogorov/Documents/2ROS/lampo_ws_ros2/install/ur_description/share/ur_description/meshes/ur10/visual/shoulder.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
      <geometry>
        <mesh filename="file:///home/kolmogorov/Documents/2ROS/lampo_ws_ros2/install/ur_description/share/ur_description/meshes/ur10/collision/shoulder.stl"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="7.778"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="0.03147431257693659" ixy="0.0" ixz="0.0" iyy="0.03147431257693659" iyz="0.0" izz="0.021875624999999996"/>
    </inertial>
  </link>
  <link name="sweepee_1/upper_arm_link">
    <visual>
      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.220941"/>
      <geometry>
        <mesh filename="file:///home/kolmogorov/Documents/2ROS/lampo_ws_ros2/install/ur_description/share/ur_description/meshes/ur10/visual/upperarm.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.220941"/>
      <geometry>
        <mesh filename="file:///home/kolmogorov/Documents/2ROS/lampo_ws_ros2/install/ur_description/share/ur_description/meshes/ur10/collision/upperarm.stl"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="12.93"/>
      <origin rpy="0 1.5707963267948966 0" xyz="-0.306 0.0 0.175"/>
      <inertia ixx="0.42175380379841093" ixy="0.0" ixz="0.0" iyy="0.42175380379841093" iyz="0.0" izz="0.03636562499999999"/>
    </inertial>
  </link>
  <link name="sweepee_1/forearm_link">
    <visual>
      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.049042"/>
      <geometry>
        <mesh filename="file:///home/kolmogorov/Documents/2ROS/lampo_ws_ros2/install/ur_description/share/ur_description/meshes/ur10/visual/forearm.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.049042"/>
      <geometry>
        <mesh filename="file:///home/kolmogorov/Documents/2ROS/lampo_ws_ros2/install/ur_description/share/ur_description/meshes/ur10/collision/forearm.stl"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="3.87"/>
      <origin rpy="0 1.5707963267948966 0" xyz="-0.28615 0.0 0.049042"/>
      <inertia ixx="0.11106969409710458" ixy="0.0" ixz="0.0" iyy="0.11106969409710458" iyz="0.0" izz="0.010884375"/>
    </inertial>
  </link>
  <link name="sweepee_1/wrist_1_link">
    <visual>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.1149"/>
      <geometry>
        <mesh filename="file:///home/kolmogorov/Documents/2ROS/lampo_ws_ros2/install/ur_description/share/ur_description/meshes/ur10/visual/wrist1.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.1149"/>
      <geometry>
        <mesh filename="file:///home/kolmogorov/Documents/2ROS/lampo_ws_ros2/install/ur_description/share/ur_description/meshes/ur10/collision/wrist1.stl"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1.96"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="0.005108247956699999" ixy="0.0" ixz="0.0" iyy="0.005108247956699999" iyz="0.0" izz="0.005512499999999999"/>
    </inertial>
  </link>
  <link name="sweepee_1/wrist_2_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 -0.1158"/>
      <geometry>
        <mesh filename="file:///home/kolmogorov/Documents/2ROS/lampo_ws_ros2/install/ur_description/share/ur_description/meshes/ur10/visual/wrist2.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 -0.1158"/>
      <geometry>
        <mesh filename="file:///home/kolmogorov/Documents/2ROS/lampo_ws_ros2/install/ur_description/share/ur_description/meshes/ur10/collision/wrist2.stl"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1.96"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="0.0040792483683" ixy="0.0" ixz="0.0" iyy="0.0040792483683" iyz="0.0" izz="0.005512499999999999"/>
    </inertial>
  </link>
  <link name="sweepee_1/wrist_3_link">
    <visual>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.0922"/>
      <geometry>
        <mesh filename="file:///home/kolmogorov/Documents/2ROS/lampo_ws_ros2/install/ur_description/share/ur_description/meshes/ur10/visual/wrist3.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.0922"/>
      <geometry>
        <mesh filename="file:///home/kolmogorov/Documents/2ROS/lampo_ws_ros2/install/ur_description/share/ur_description/meshes/ur10/collision/wrist3.stl"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.202"/>
      <origin rpy="0 0 0" xyz="0.0 0.0 -0.01525"/>
      <inertia ixx="0.00011792166116465" ixy="0.0" ixz="0.0" iyy="0.00011792166116465" iyz="0.0" izz="0.00020452500000000002"/>
    </inertial>
  </link>
  <!-- base_joint fixes base_link to the environment -->
  <joint name="sweepee_1/base_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <parent link="sweepee_1/base_footprint"/>
    <child link="sweepee_1/base_link"/>
  </joint>
  <!-- joints - main serial chain -->
  <joint name="sweepee_1/base_link-base_link_inertia" type="fixed">
    <parent link="sweepee_1/base_link"/>
    <child link="sweepee_1/base_link_inertia"/>
    <!-- 'base_link' is REP-103 aligned (so X+ forward), while the internal frames of the robot/controller have X+ pointing backwards. Use the joint between 'base_link' and 'base_link_inertia' (a dummy link/frame) to introduce the necessary rotation over Z (of pi rad). -->
    <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
  </joint>
  <joint name="sweepee_1/shoulder_pan_joint" type="revolute">
    <parent link="sweepee_1/base_link_inertia"/>
    <child link="sweepee_1/shoulder_link"/>
    <origin rpy="0 0 0" xyz="0 0 0.1273"/>
    <axis xyz="0 0 1"/>
    <limit effort="330.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="2.0943951023931953"/>
    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
    <dynamics damping="0" friction="0"/>
  </joint>
  <joint name="sweepee_1/shoulder_lift_joint" type="revolute">
    <parent link="sweepee_1/shoulder_link"/>
    <child link="sweepee_1/upper_arm_link"/>
    <origin rpy="1.570796327 0 0" xyz="0 0 0"/>
    <axis xyz="0 0 1"/>
    <limit effort="330.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="2.0943951023931953"/>
    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
    <dynamics damping="0" friction="0"/>
  </joint>
  <joint name="sweepee_1/elbow_joint" type="revolute">
    <parent link="sweepee_1/upper_arm_link"/>
    <child link="sweepee_1/forearm_link"/>
    <origin rpy="0 0 0" xyz="-0.612 0 0"/>
    <axis xyz="0 0 1"/>
    <limit effort="150.0" lower="-3.141592653589793" upper="3.141592653589793" velocity="3.141592653589793"/>
    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-2.991592653589793" soft_upper_limit="2.991592653589793"/>
    <dynamics damping="0" friction="0"/>
  </joint>
  <joint name="sweepee_1/wrist_1_joint" type="revolute">
    <parent link="sweepee_1/forearm_link"/>
    <child link="sweepee_1/wrist_1_link"/>
    <origin rpy="0 0 0" xyz="-0.5723 0 0.163941"/>
    <axis xyz="0 0 1"/>
    <limit effort="56.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
    <dynamics damping="0" friction="0"/>
  </joint>
  <joint name="sweepee_1/wrist_2_joint" type="revolute">
    <parent link="sweepee_1/wrist_1_link"/>
    <child link="sweepee_1/wrist_2_link"/>
    <origin rpy="1.570796327 0 0" xyz="0 -0.1157 -2.373046667922381e-11"/>
    <axis xyz="0 0 1"/>
    <limit effort="56.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
    <dynamics damping="0" friction="0"/>
  </joint>
  <joint name="sweepee_1/wrist_3_joint" type="revolute">
    <parent link="sweepee_1/wrist_2_link"/>
    <child link="sweepee_1/wrist_3_link"/>
    <origin rpy="1.570796326589793 3.141592653589793 3.141592653589793" xyz="0 0.0922 -1.891053610911353e-11"/>
    <axis xyz="0 0 1"/>
    <limit effort="56.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
    <dynamics damping="0" friction="0"/>
  </joint>
  <link name="sweepee_1/ft_frame"/>
  <joint name="sweepee_1/wrist_3_link-ft_frame" type="fixed">
    <parent link="sweepee_1/wrist_3_link"/>
    <child link="sweepee_1/ft_frame"/>
    <origin rpy="3.141592653589793 0 0" xyz="0 0 0"/>
  </joint>
  <!-- ROS-Industrial 'base' frame - base_link to UR 'Base' Coordinates transform -->
  <link name="sweepee_1/base"/>
  <joint name="sweepee_1/base_link-base_fixed_joint" type="fixed">
    <!-- Note the rotation over Z of pi radians - as base_link is REP-103 aligned (i.e., has X+ forward, Y+ left and Z+ up), this is needed to correctly align 'base' with the 'Base' coordinate system of the UR controller. -->
    <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
    <parent link="sweepee_1/base_link"/>
    <child link="sweepee_1/base"/>
  </joint>
  <!-- ROS-Industrial 'flange' frame - attachment point for EEF models -->
  <link name="sweepee_1/flange"/>
  <joint name="sweepee_1/wrist_3-flange" type="fixed">
    <parent link="sweepee_1/wrist_3_link"/>
    <child link="sweepee_1/flange"/>
    <origin rpy="0 -1.5707963267948966 -1.5707963267948966" xyz="0 0 0"/>
  </joint>
  <!-- ROS-Industrial 'tool0' frame - all-zeros tool frame -->
  <link name="sweepee_1/tool0"/>
  <joint name="sweepee_1/flange-tool0" type="fixed">
    <!-- default toolframe - X+ left, Y+ up, Z+ front -->
    <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0 0 0"/>
    <parent link="sweepee_1/flange"/>
    <child link="sweepee_1/tool0"/>
  </joint>
  <!-- <xacro:if value="$(arg sim_ignition)"> <gazebo reference="world"> </gazebo> <gazebo> <plugin filename="libign_ros2_control-system.so" name="ign_ros2_control::IgnitionROS2ControlPlugin"> <parameters>$(arg simulation_controllers)</parameters> <controller_manager_node_name>$(arg prefix)controller_manager</controller_manager_node_name> </plugin> </gazebo> </xacro:if> -->
  <joint name="sweepee_1/lifter" type="fixed">
    <parent link="sweepee_1/base_footprint"/>
    <child link="sweepee_1/base_link"/>
    <origin rpy=" 0 0 0" xyz="0 0 0.28"/>
    <axis xyz="0 0 1"/>
  </joint>
  <gazebo>
    <plugin filename="libgazebo_ros_planar_move.so" name="object_controller">
      <ros>
        <argument>~cmd_vel:=custom_cmd_vel</argument>
        <argument>~odom:=custom_odom</argument>
      </ros>
      <update_rate>100</update_rate>
      <publish_rate>10</publish_rate>
      <publish_odom>true</publish_odom>
      <publish_odom_tf>true</publish_odom_tf>
      <odometry_frame>sweepee_1/odom</odometry_frame>
      <robot_base_frame>sweepee_1/base_footprint</robot_base_frame>
      <covariance_x>0.0001</covariance_x>
      <covariance_y>0.0001</covariance_y>
      <covariance_yaw>0.01</covariance_yaw>
    </plugin>
  </gazebo>
</robot>

I get this sdf : 

<sdf version='1.7'>
  <model name='eureca'>
    <link name='sweepee_1/base_footprint'>
      <inertial>
        <pose>0 0 0.00067 0 -0 0</pose>
        <mass>5012</mass>
        <inertia>
          <ixx>2.44241</ixx>
          <ixy>0.02</ixy>
          <ixz>0.02</ixz>
          <iyy>3.98648</iyy>
          <iyz>0.02</iyz>
          <izz>4.13653</izz>
        </inertia>
      </inertial>
      <collision name='sweepee_1/base_footprint_collision'>
        <pose>0 0 0.005 0 -0 0</pose>
        <geometry>
          <box>
            <size>1.02 0.55 0.01</size>
          </box>
        </geometry>
      </collision>
      <collision name='sweepee_1/base_footprint_fixed_joint_lump__sweepee_1/base_link_inertia_collision_1'>
        <pose>0 0 0.56 0 -0 3.14159</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>file:///home/kolmogorov/Documents/2ROS/lampo_ws_ros2/install/ur_description/share/ur_description/meshes/ur10/collision/base.stl</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='sweepee_1/base_footprint_fixed_joint_lump__sweepee_1/base_link_sweepee_visual'>
        <pose>0 0 0.032 0 0 -1.57079</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>file:///home/kolmogorov/Documents/2ROS/lampo_ws_ros2/install/lampo_description/share/lampo_description//meshes/sweepee/visual/sweepee.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <visual name='sweepee_1/base_footprint_fixed_joint_lump__sweepee_1/base_link_inertia_visual_1'>
        <pose>0 0 0.56 0 -0 3.14159</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>file:///home/kolmogorov/Documents/2ROS/lampo_ws_ros2/install/ur_description/share/ur_description/meshes/ur10/visual/base.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <joint name='sweepee_1/shoulder_pan_joint' type='revolute'>
      <pose relative_to='sweepee_1/base_footprint'>0 0 0.6873 0 0 -0</pose>
      <parent>sweepee_1/base_footprint</parent>
      <child>sweepee_1/shoulder_link</child>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <lower>-6.28319</lower>
          <upper>6.28319</upper>
          <effort>330</effort>
          <velocity>2.0944</velocity>
        </limit>
        <dynamics>
          <damping>0</damping>
          <friction>0</friction>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
    <link name='sweepee_1/shoulder_link'>
      <pose relative_to='sweepee_1/shoulder_pan_joint'>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>7.778</mass>
        <inertia>
          <ixx>0.0314743</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.0314743</iyy>
          <iyz>0</iyz>
          <izz>0.0218756</izz>
        </inertia>
      </inertial>
      <collision name='sweepee_1/shoulder_link_collision'>
        <pose>0 0 0 0 -0 3.14159</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>file:///home/kolmogorov/Documents/2ROS/lampo_ws_ros2/install/ur_description/share/ur_description/meshes/ur10/collision/shoulder.stl</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='sweepee_1/shoulder_link_visual'>
        <pose>0 0 0 0 -0 3.14159</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>file:///home/kolmogorov/Documents/2ROS/lampo_ws_ros2/install/ur_description/share/ur_description/meshes/ur10/visual/shoulder.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <joint name='sweepee_1/shoulder_lift_joint' type='revolute'>
      <pose relative_to='sweepee_1/shoulder_link'>0 0 0 1.5708 -0 0</pose>
      <parent>sweepee_1/shoulder_link</parent>
      <child>sweepee_1/upper_arm_link</child>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <lower>-6.28319</lower>
          <upper>6.28319</upper>
          <effort>330</effort>
          <velocity>2.0944</velocity>
        </limit>
        <dynamics>
          <damping>0</damping>
          <friction>0</friction>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
    <link name='sweepee_1/upper_arm_link'>
      <pose relative_to='sweepee_1/shoulder_lift_joint'>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>-0.306 0 0.175 0 1.5708 0</pose>
        <mass>12.93</mass>
        <inertia>
          <ixx>0.421754</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.421754</iyy>
          <iyz>0</iyz>
          <izz>0.0363656</izz>
        </inertia>
      </inertial>
      <collision name='sweepee_1/upper_arm_link_collision'>
        <pose>0 0 0.220941 1.5708 0 -1.5708</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>file:///home/kolmogorov/Documents/2ROS/lampo_ws_ros2/install/ur_description/share/ur_description/meshes/ur10/collision/upperarm.stl</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='sweepee_1/upper_arm_link_visual'>
        <pose>0 0 0.220941 1.5708 0 -1.5708</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>file:///home/kolmogorov/Documents/2ROS/lampo_ws_ros2/install/ur_description/share/ur_description/meshes/ur10/visual/upperarm.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <joint name='sweepee_1/elbow_joint' type='revolute'>
      <pose relative_to='sweepee_1/upper_arm_link'>-0.612 0 0 0 -0 0</pose>
      <parent>sweepee_1/upper_arm_link</parent>
      <child>sweepee_1/forearm_link</child>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <lower>-3.14159</lower>
          <upper>3.14159</upper>
          <effort>150</effort>
          <velocity>3.14159</velocity>
        </limit>
        <dynamics>
          <damping>0</damping>
          <friction>0</friction>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
    <link name='sweepee_1/forearm_link'>
      <pose relative_to='sweepee_1/elbow_joint'>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>-0.28615 0 0.049042 0 1.5708 0</pose>
        <mass>3.87</mass>
        <inertia>
          <ixx>0.11107</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.11107</iyy>
          <iyz>0</iyz>
          <izz>0.0108844</izz>
        </inertia>
      </inertial>
      <collision name='sweepee_1/forearm_link_collision'>
        <pose>0 0 0.049042 1.5708 0 -1.5708</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>file:///home/kolmogorov/Documents/2ROS/lampo_ws_ros2/install/ur_description/share/ur_description/meshes/ur10/collision/forearm.stl</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='sweepee_1/forearm_link_visual'>
        <pose>0 0 0.049042 1.5708 0 -1.5708</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>file:///home/kolmogorov/Documents/2ROS/lampo_ws_ros2/install/ur_description/share/ur_description/meshes/ur10/visual/forearm.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <joint name='sweepee_1/wrist_1_joint' type='revolute'>
      <pose relative_to='sweepee_1/forearm_link'>-0.5723 0 0.163941 0 -0 0</pose>
      <parent>sweepee_1/forearm_link</parent>
      <child>sweepee_1/wrist_1_link</child>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <lower>-6.28319</lower>
          <upper>6.28319</upper>
          <effort>56</effort>
          <velocity>3.14159</velocity>
        </limit>
        <dynamics>
          <damping>0</damping>
          <friction>0</friction>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
    <link name='sweepee_1/wrist_1_link'>
      <pose relative_to='sweepee_1/wrist_1_joint'>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>1.96</mass>
        <inertia>
          <ixx>0.00510825</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.00510825</iyy>
          <iyz>0</iyz>
          <izz>0.0055125</izz>
        </inertia>
      </inertial>
      <collision name='sweepee_1/wrist_1_link_collision'>
        <pose>0 0 -0.1149 1.5708 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>file:///home/kolmogorov/Documents/2ROS/lampo_ws_ros2/install/ur_description/share/ur_description/meshes/ur10/collision/wrist1.stl</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='sweepee_1/wrist_1_link_visual'>
        <pose>0 0 -0.1149 1.5708 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>file:///home/kolmogorov/Documents/2ROS/lampo_ws_ros2/install/ur_description/share/ur_description/meshes/ur10/visual/wrist1.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <joint name='sweepee_1/wrist_2_joint' type='revolute'>
      <pose relative_to='sweepee_1/wrist_1_link'>0 -0.1157 -0 1.5708 -0 0</pose>
      <parent>sweepee_1/wrist_1_link</parent>
      <child>sweepee_1/wrist_2_link</child>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <lower>-6.28319</lower>
          <upper>6.28319</upper>
          <effort>56</effort>
          <velocity>3.14159</velocity>
        </limit>
        <dynamics>
          <damping>0</damping>
          <friction>0</friction>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
    <link name='sweepee_1/wrist_2_link'>
      <pose relative_to='sweepee_1/wrist_2_joint'>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>1.96</mass>
        <inertia>
          <ixx>0.00407925</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.00407925</iyy>
          <iyz>0</iyz>
          <izz>0.0055125</izz>
        </inertia>
      </inertial>
      <collision name='sweepee_1/wrist_2_link_collision'>
        <pose>0 0 -0.1158 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>file:///home/kolmogorov/Documents/2ROS/lampo_ws_ros2/install/ur_description/share/ur_description/meshes/ur10/collision/wrist2.stl</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='sweepee_1/wrist_2_link_visual'>
        <pose>0 0 -0.1158 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>file:///home/kolmogorov/Documents/2ROS/lampo_ws_ros2/install/ur_description/share/ur_description/meshes/ur10/visual/wrist2.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <joint name='sweepee_1/wrist_3_joint' type='revolute'>
      <pose relative_to='sweepee_1/wrist_2_link'>0 0.0922 -0 -1.5708 0 -0</pose>
      <parent>sweepee_1/wrist_2_link</parent>
      <child>sweepee_1/wrist_3_link</child>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <lower>-6.28319</lower>
          <upper>6.28319</upper>
          <effort>56</effort>
          <velocity>3.14159</velocity>
        </limit>
        <dynamics>
          <damping>0</damping>
          <friction>0</friction>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
    <link name='sweepee_1/wrist_3_link'>
      <pose relative_to='sweepee_1/wrist_3_joint'>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>0 0 -0.01525 0 -0 0</pose>
        <mass>0.202</mass>
        <inertia>
          <ixx>0.000117922</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.000117922</iyy>
          <iyz>0</iyz>
          <izz>0.000204525</izz>
        </inertia>
      </inertial>
      <collision name='sweepee_1/wrist_3_link_collision'>
        <pose>0 0 -0.0922 1.5708 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>file:///home/kolmogorov/Documents/2ROS/lampo_ws_ros2/install/ur_description/share/ur_description/meshes/ur10/collision/wrist3.stl</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='sweepee_1/wrist_3_link_visual'>
        <pose>0 0 -0.0922 1.5708 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>file:///home/kolmogorov/Documents/2ROS/lampo_ws_ros2/install/ur_description/share/ur_description/meshes/ur10/visual/wrist3.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <joint name='sweepee_1/shoulder_pan_joint' type='revolute'>
      <pose relative_to='sweepee_1/base_footprint'>0 0 0.6873 0 0 -0</pose>
      <parent>sweepee_1/base_footprint</parent>
      <child>sweepee_1/shoulder_link</child>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <lower>-6.28319</lower>
          <upper>6.28319</upper>
          <effort>330</effort>
          <velocity>2.0944</velocity>
        </limit>
        <dynamics>
          <damping>0</damping>
          <friction>0</friction>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
    <link name='sweepee_1/shoulder_link'>
      <pose relative_to='sweepee_1/shoulder_pan_joint'>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>7.778</mass>
        <inertia>
          <ixx>0.0314743</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.0314743</iyy>
          <iyz>0</iyz>
          <izz>0.0218756</izz>
        </inertia>
      </inertial>
      <collision name='sweepee_1/shoulder_link_collision'>
        <pose>0 0 0 0 -0 3.14159</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>file:///home/kolmogorov/Documents/2ROS/lampo_ws_ros2/install/ur_description/share/ur_description/meshes/ur10/collision/shoulder.stl</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='sweepee_1/shoulder_link_visual'>
        <pose>0 0 0 0 -0 3.14159</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>file:///home/kolmogorov/Documents/2ROS/lampo_ws_ros2/install/ur_description/share/ur_description/meshes/ur10/visual/shoulder.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <joint name='sweepee_1/shoulder_lift_joint' type='revolute'>
      <pose relative_to='sweepee_1/shoulder_link'>0 0 0 1.5708 -0 0</pose>
      <parent>sweepee_1/shoulder_link</parent>
      <child>sweepee_1/upper_arm_link</child>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <lower>-6.28319</lower>
          <upper>6.28319</upper>
          <effort>330</effort>
          <velocity>2.0944</velocity>
        </limit>
        <dynamics>
          <damping>0</damping>
          <friction>0</friction>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
    <link name='sweepee_1/upper_arm_link'>
      <pose relative_to='sweepee_1/shoulder_lift_joint'>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>-0.306 0 0.175 0 1.5708 0</pose>
        <mass>12.93</mass>
        <inertia>
          <ixx>0.421754</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.421754</iyy>
          <iyz>0</iyz>
          <izz>0.0363656</izz>
        </inertia>
      </inertial>
      <collision name='sweepee_1/upper_arm_link_collision'>
        <pose>0 0 0.220941 1.5708 0 -1.5708</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>file:///home/kolmogorov/Documents/2ROS/lampo_ws_ros2/install/ur_description/share/ur_description/meshes/ur10/collision/upperarm.stl</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='sweepee_1/upper_arm_link_visual'>
        <pose>0 0 0.220941 1.5708 0 -1.5708</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>file:///home/kolmogorov/Documents/2ROS/lampo_ws_ros2/install/ur_description/share/ur_description/meshes/ur10/visual/upperarm.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <joint name='sweepee_1/elbow_joint' type='revolute'>
      <pose relative_to='sweepee_1/upper_arm_link'>-0.612 0 0 0 -0 0</pose>
      <parent>sweepee_1/upper_arm_link</parent>
      <child>sweepee_1/forearm_link</child>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <lower>-3.14159</lower>
          <upper>3.14159</upper>
          <effort>150</effort>
          <velocity>3.14159</velocity>
        </limit>
        <dynamics>
          <damping>0</damping>
          <friction>0</friction>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
    <link name='sweepee_1/forearm_link'>
      <pose relative_to='sweepee_1/elbow_joint'>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>-0.28615 0 0.049042 0 1.5708 0</pose>
        <mass>3.87</mass>
        <inertia>
          <ixx>0.11107</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.11107</iyy>
          <iyz>0</iyz>
          <izz>0.0108844</izz>
        </inertia>
      </inertial>
      <collision name='sweepee_1/forearm_link_collision'>
        <pose>0 0 0.049042 1.5708 0 -1.5708</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>file:///home/kolmogorov/Documents/2ROS/lampo_ws_ros2/install/ur_description/share/ur_description/meshes/ur10/collision/forearm.stl</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='sweepee_1/forearm_link_visual'>
        <pose>0 0 0.049042 1.5708 0 -1.5708</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>file:///home/kolmogorov/Documents/2ROS/lampo_ws_ros2/install/ur_description/share/ur_description/meshes/ur10/visual/forearm.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <joint name='sweepee_1/wrist_1_joint' type='revolute'>
      <pose relative_to='sweepee_1/forearm_link'>-0.5723 0 0.163941 0 -0 0</pose>
      <parent>sweepee_1/forearm_link</parent>
      <child>sweepee_1/wrist_1_link</child>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <lower>-6.28319</lower>
          <upper>6.28319</upper>
          <effort>56</effort>
          <velocity>3.14159</velocity>
        </limit>
        <dynamics>
          <damping>0</damping>
          <friction>0</friction>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
    <link name='sweepee_1/wrist_1_link'>
      <pose relative_to='sweepee_1/wrist_1_joint'>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>1.96</mass>
        <inertia>
          <ixx>0.00510825</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.00510825</iyy>
          <iyz>0</iyz>
          <izz>0.0055125</izz>
        </inertia>
      </inertial>
      <collision name='sweepee_1/wrist_1_link_collision'>
        <pose>0 0 -0.1149 1.5708 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>file:///home/kolmogorov/Documents/2ROS/lampo_ws_ros2/install/ur_description/share/ur_description/meshes/ur10/collision/wrist1.stl</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='sweepee_1/wrist_1_link_visual'>
        <pose>0 0 -0.1149 1.5708 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>file:///home/kolmogorov/Documents/2ROS/lampo_ws_ros2/install/ur_description/share/ur_description/meshes/ur10/visual/wrist1.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <joint name='sweepee_1/wrist_2_joint' type='revolute'>
      <pose relative_to='sweepee_1/wrist_1_link'>0 -0.1157 -0 1.5708 -0 0</pose>
      <parent>sweepee_1/wrist_1_link</parent>
      <child>sweepee_1/wrist_2_link</child>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <lower>-6.28319</lower>
          <upper>6.28319</upper>
          <effort>56</effort>
          <velocity>3.14159</velocity>
        </limit>
        <dynamics>
          <damping>0</damping>
          <friction>0</friction>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
    <link name='sweepee_1/wrist_2_link'>
      <pose relative_to='sweepee_1/wrist_2_joint'>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>1.96</mass>
        <inertia>
          <ixx>0.00407925</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.00407925</iyy>
          <iyz>0</iyz>
          <izz>0.0055125</izz>
        </inertia>
      </inertial>
      <collision name='sweepee_1/wrist_2_link_collision'>
        <pose>0 0 -0.1158 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>file:///home/kolmogorov/Documents/2ROS/lampo_ws_ros2/install/ur_description/share/ur_description/meshes/ur10/collision/wrist2.stl</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='sweepee_1/wrist_2_link_visual'>
        <pose>0 0 -0.1158 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>file:///home/kolmogorov/Documents/2ROS/lampo_ws_ros2/install/ur_description/share/ur_description/meshes/ur10/visual/wrist2.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <joint name='sweepee_1/wrist_3_joint' type='revolute'>
      <pose relative_to='sweepee_1/wrist_2_link'>0 0.0922 -0 -1.5708 0 -0</pose>
      <parent>sweepee_1/wrist_2_link</parent>
      <child>sweepee_1/wrist_3_link</child>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <lower>-6.28319</lower>
          <upper>6.28319</upper>
          <effort>56</effort>
          <velocity>3.14159</velocity>
        </limit>
        <dynamics>
          <damping>0</damping>
          <friction>0</friction>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
    <link name='sweepee_1/wrist_3_link'>
      <pose relative_to='sweepee_1/wrist_3_joint'>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>0 0 -0.01525 0 -0 0</pose>
        <mass>0.202</mass>
        <inertia>
          <ixx>0.000117922</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.000117922</iyy>
          <iyz>0</iyz>
          <izz>0.000204525</izz>
        </inertia>
      </inertial>
      <collision name='sweepee_1/wrist_3_link_collision'>
        <pose>0 0 -0.0922 1.5708 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>file:///home/kolmogorov/Documents/2ROS/lampo_ws_ros2/install/ur_description/share/ur_description/meshes/ur10/collision/wrist3.stl</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='sweepee_1/wrist_3_link_visual'>
        <pose>0 0 -0.0922 1.5708 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>file:///home/kolmogorov/Documents/2ROS/lampo_ws_ros2/install/ur_description/share/ur_description/meshes/ur10/visual/wrist3.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <plugin name='gazebo_ros2_control' filename='libgazebo_ros2_control.so'>
      <robot_param>robot_description</robot_param>
      <robot_namespace>sweepee_1/</robot_namespace>
      <parameters>/home/kolmogorov/Documents/2ROS/lampo_ws_ros2/install/lampo_description/share/lampo_description/config/ur_controllers_1.yaml</parameters>
      <robot_param_node>robot_state_publisher</robot_param_node>
    </plugin>
    <static>0</static>
    <plugin name='object_controller' filename='libgazebo_ros_planar_move.so'>
      <ros>
        <argument>~cmd_vel:=custom_cmd_vel</argument>
        <argument>~odom:=custom_odom</argument>
      </ros>
      <update_rate>100</update_rate>
      <publish_rate>10</publish_rate>
      <publish_odom>1</publish_odom>
      <publish_odom_tf>1</publish_odom_tf>
      <odometry_frame>sweepee_1/odom</odometry_frame>
      <robot_base_frame>sweepee_1/base_footprint</robot_base_frame>
      <covariance_x>0.0001</covariance_x>
      <covariance_y>0.0001</covariance_y>
      <covariance_yaw>0.01</covariance_yaw>
    </plugin>
  </model>
</sdf>

as you can notice every link and joint is duplicated in the sdf am I doing something wrong ? The urdf seems correct to me. Thanks