Gazebo simulation with emulated interfaces for the Baxter Research Robot

.
|
+-- baxter_simulator/        baxter_simulator metapackage
|
+-- baxter_gazebo/           Gazebo interface for the Baxter that loads the models into simulation
|   +-- src/
|   +-- launch/
|   +-- worlds/
|
+-- baxter_sim_controllers/  Controller plugins for Baxter
|   +-- src/
|   +-- include/
|   +-- config/
|
+-- baxter_sim_examples/     Examples specific to Baxter in Simulation
|   +-- scripts/             (use baxter_examples for examples that will work both in
|   +-- include/              simulation AND the real Baxter robot)
|   +-- launch/
|   +-- models/
|
+-- baxter_sim_hardware/     This emulates the hardware interfaces of Baxter
|   +-- src/
|   +-- include/
|   +-- config/
|   +-- launch/
|
+-- baxter_sim_io/           QT based navigator plugins for baxter
|   +-- src/
|   +-- include/
|   +-- ui/
|
+-- baxter_sim_kinematics/     Implementation of IK, FK and gravity compensation for baxter
|   +-- src/
|   +-- include/
|   +-- launch/

http://sdk.rethinkrobotics.com/wiki/Release-Changes