model.sdf

<?xml version="1.0" ?>
<sdf version="1.5">
  <model name="pr2">
    <static>0</static>
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      <self_collide>0</self_collide>
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        <mass>118.001000</mass>
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          <ixx>8.431730</ixx>
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        </inertia>
      </inertial>
      <collision name="base_footprint_geom">
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        <geometry>
          <box>
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          </box>
        </geometry>
      </collision>
      <visual name="base_footprint_geom_visual">
        <geometry>
          <box>
            <size>0.010000 0.010000 0.010000</size>
          </box>
        </geometry>
      </visual>
      <collision name="base_footprint_geom_base_bellow_link">
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        <geometry>
          <box>
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        </geometry>
      </collision>
      <visual name="base_footprint_geom_base_bellow_link_visual">
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        <geometry>
          <box>
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          </box>
        </geometry>
      </visual>
      <collision name="base_footprint_geom_base_link">
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        <geometry>
          <mesh>
            <uri>model://pr2/meshes/base_v0/base_L.stl</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name="base_footprint_geom_base_link_visual">
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        <geometry>
          <mesh>
            <uri>model://pr2/meshes/base_v0/base.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <sensor name="base_contact_sensor" type="contact">
        <update_rate>100.000000</update_rate>
        <contact>
          <collision>base_footprint_geom_base_link</collision>
          <topic>__default_topic__</topic>
        </contact>
        <plugin name="gazebo_contact" filename="libContactPlugin.so" />
      </sensor>
      <sensor name="base_laser" type="ray">
        <always_on>1</always_on>
        <visualize>1</visualize>
        <update_rate>20.000000</update_rate>
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        <ray>
          <scan>
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              <samples>640</samples>
              <resolution>1.000000</resolution>
              <min_angle>-2.268900</min_angle>
              <max_angle>2.268900</max_angle>
            </horizontal>
          </scan>
          <range>
            <min>0.080000</min>
            <max>10.000000</max>
            <resolution>0.010000</resolution>
          </range>
        </ray>
        <plugin name="laser" filename="libRayPlugin.so" />
      </sensor>
      <velocity_decay />
    </link>
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      <self_collide>0</self_collide>
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        </inertia>
      </inertial>
      <collision name="bl_caster_rotation_link_geom">
        <geometry>
          <mesh>
            <uri>model://pr2/meshes/base_v0/caster_L.stl</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name="bl_caster_rotation_link_geom_visual">
        <geometry>
          <mesh>
            <uri>model://pr2/meshes/base_v0/caster.stl</uri>
          </mesh>
        </geometry>
      </visual>
      <velocity_decay />
    </link>
    <link name="bl_caster_l_wheel_link">
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          </cylinder>
        </geometry>
      </collision>
      <visual name="bl_caster_l_wheel_link_geom_visual">
        <geometry>
          <mesh>
            <uri>model://pr2/meshes/base_v0/wheel.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <velocity_decay />
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    <link name="bl_caster_r_wheel_link">
      <self_collide>0</self_collide>
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        </geometry>
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      <visual name="bl_caster_r_wheel_link_geom_visual">
        <geometry>
          <mesh>
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        </geometry>
      </visual>
      <velocity_decay />
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      </inertial>
      <collision name="br_caster_rotation_link_geom">
        <geometry>
          <mesh>
            <uri>model://pr2/meshes/base_v0/caster_L.stl</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name="br_caster_rotation_link_geom_visual">
        <geometry>
          <mesh>
            <uri>model://pr2/meshes/base_v0/caster.stl</uri>
          </mesh>
        </geometry>
      </visual>
      <velocity_decay />
    </link>
    <link name="br_caster_l_wheel_link">
      <self_collide>0</self_collide>
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      <collision name="br_caster_l_wheel_link_geom">
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      <visual name="br_caster_l_wheel_link_geom_visual">
        <geometry>
          <mesh>
            <uri>model://pr2/meshes/base_v0/wheel.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <velocity_decay />
    </link>
    <link name="br_caster_r_wheel_link">
      <self_collide>0</self_collide>
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      <collision name="br_caster_r_wheel_link_geom">
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        </geometry>
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      <visual name="br_caster_r_wheel_link_geom_visual">
        <geometry>
          <mesh>
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          </mesh>
        </geometry>
      </visual>
      <velocity_decay />
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    <link name="fl_caster_rotation_link">
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        <geometry>
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        <geometry>
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      <velocity_decay />
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    <link name="fl_caster_l_wheel_link">
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          <collision>torso_lift_link_geom</collision>
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            <uri>model://pr2/meshes/gripper_v0/l_finger.stl</uri>
          </mesh>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>500.000000</mu>
              <mu2>500.000000</mu2>
              <slip1>0.000000</slip1>
              <slip2>0.000000</slip2>
            </ode>
          </friction>
          <contact>
            <ode>
              <kp>1000000.000000</kp>
              <kd>1.000000</kd>
              <max_vel>100.000000</max_vel>
              <min_depth>0.000000</min_depth>
            </ode>
          </contact>
        </surface>
      </collision>
      <visual name="r_gripper_r_finger_link_geom_visual">
        <pose>0.000000 0.000000 0.000000 -3.141590 0.000000 0.000000</pose>
        <geometry>
          <mesh>
            <uri>model://pr2/meshes/gripper_v0/l_finger.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <velocity_decay />
    </link>
    <link name="r_gripper_r_finger_tip_link">
      <self_collide>0</self_collide>
      <gravity>0</gravity>
      <pose>0.939280 -0.202950 0.790675 0.000000 -0.000000 0.000000</pose>
      <inertial>
        <mass>0.044190</mass>
        <pose>0.004230 -0.002840 0.000000 0.000000 -0.000000 0.000000</pose>
        <inertia>
          <ixx>0.000008</ixx>
          <ixy>-0.000006</ixy>
          <ixz>0.000000</ixz>
          <iyy>0.000010</iyy>
          <iyz>0.000000</iyz>
          <izz>0.000015</izz>
        </inertia>
      </inertial>
      <collision name="r_gripper_r_finger_tip_link_geom">
        <pose>0.000000 0.000000 0.000000 -3.141590 0.000000 0.000000</pose>
        <geometry>
          <mesh>
            <uri>model://pr2/meshes/gripper_v0/l_finger_tip.stl</uri>
          </mesh>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>500.000000</mu>
              <mu2>500.000000</mu2>
              <slip1>0.000000</slip1>
              <slip2>0.000000</slip2>
            </ode>
          </friction>
          <contact>
            <ode>
              <kp>10000000.000000</kp>
              <kd>1.000000</kd>
              <max_vel>100.000000</max_vel>
              <min_depth>0.000000</min_depth>
            </ode>
          </contact>
        </surface>
      </collision>
      <visual name="r_gripper_r_finger_tip_link_geom_visual">
        <pose>0.000000 0.000000 0.000000 -3.141590 0.000000 0.000000</pose>
        <geometry>
          <mesh>
            <uri>model://pr2/meshes/gripper_v0/l_finger_tip.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <sensor name="r_gripper_r_finger_tip_contact_sensor" type="contact">
        <update_rate>100.000000</update_rate>
        <contact>
          <collision>r_gripper_r_finger_tip_link_geom</collision>
          <topic>__default_topic__</topic>
        </contact>
      </sensor>
      <velocity_decay />
    </link>
    <link name="torso_lift_motor_screw_link">
      <self_collide>0</self_collide>
      <pose>-0.150000 0.000000 0.751000 0.000000 -0.000000 0.000000</pose>
      <inertial>
        <mass>1.000000</mass>
        <inertia>
          <ixx>0.001000</ixx>
          <ixy>0.000000</ixy>
          <ixz>0.000000</ixz>
          <iyy>0.001000</iyy>
          <iyz>0.000000</iyz>
          <izz>0.001000</izz>
        </inertia>
      </inertial>
      <velocity_decay />
    </link>
    <link name="r_gripper_l_parallel_link">
      <self_collide>0</self_collide>
      <gravity>0</gravity>
      <pose>0.829910 -0.157000 0.790675 0.000000 -0.000000 0.000000</pose>
      <inertial>
        <mass>0.171260</mass>
        <pose>0.035980 0.017300 -0.001640 0.000000 -0.000000 0.000000</pose>
        <inertia>
          <ixx>0.000078</ixx>
          <ixy>0.000001</ixy>
          <ixz>-0.000010</ixz>
          <iyy>0.000197</iyy>
          <iyz>-0.000003</iyz>
          <izz>0.000181</izz>
        </inertia>
      </inertial>
      <velocity_decay />
    </link>
    <link name="r_gripper_r_parallel_link">
      <self_collide>0</self_collide>
      <gravity>0</gravity>
      <pose>0.829910 -0.219000 0.790675 0.000000 -0.000000 0.000000</pose>
      <inertial>
        <mass>0.173890</mass>
        <pose>0.035760 -0.017360 -0.000950 0.000000 -0.000000 0.000000</pose>
        <inertia>
          <ixx>0.000077</ixx>
          <ixy>-0.000002</ixy>
          <ixz>-0.000008</ixz>
          <iyy>0.000198</iyy>
          <iyz>0.000002</iyz>
          <izz>0.000181</izz>
        </inertia>
      </inertial>
      <velocity_decay />
    </link>
    <link name="l_gripper_l_parallel_link">
      <self_collide>0</self_collide>
      <gravity>0</gravity>
      <pose>0.829910 0.219000 0.790675 0.000000 -0.000000 0.000000</pose>
      <inertial>
        <mass>0.171260</mass>
        <pose>0.035980 0.017300 -0.001640 0.000000 -0.000000 0.000000</pose>
        <inertia>
          <ixx>0.000078</ixx>
          <ixy>0.000001</ixy>
          <ixz>0.000010</ixz>
          <iyy>0.000197</iyy>
          <iyz>-0.000003</iyz>
          <izz>0.000181</izz>
        </inertia>
      </inertial>
      <velocity_decay />
    </link>
    <link name="l_gripper_r_parallel_link">
      <self_collide>0</self_collide>
      <gravity>0</gravity>
      <pose>0.829910 0.157000 0.790675 0.000000 -0.000000 0.000000</pose>
      <inertial>
        <mass>0.173890</mass>
        <pose>0.035760 -0.017360 -0.000950 0.000000 -0.000000 0.000000</pose>
        <inertia>
          <ixx>0.000077</ixx>
          <ixy>-0.000002</ixy>
          <ixz>0.000008</ixz>
          <iyy>0.000198</iyy>
          <iyz>0.000002</iyz>
          <izz>0.000181</izz>
        </inertia>
      </inertial>
      <velocity_decay />
    </link>
    <joint name="bl_caster_rotation_joint" type="revolute">
      <parent>base_footprint</parent>
      <child>bl_caster_rotation_link</child>
      <axis>
        <xyz>0.000000 0.000000 1.000000</xyz>
        <limit>
          <lower>-10000000000000000.000000</lower>
          <upper>10000000000000000.000000</upper>
          <effort>0.000000</effort>
          <velocity>4.000000</velocity>
        </limit>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
    </joint>
    <joint name="bl_caster_l_wheel_joint" type="revolute">
      <parent>bl_caster_rotation_link</parent>
      <child>bl_caster_l_wheel_link</child>
      <axis>
        <xyz>0.000000 1.000000 0.000000</xyz>
        <limit>
          <lower>-10000000000000000.000000</lower>
          <upper>10000000000000000.000000</upper>
          <effort>0.000000</effort>
          <velocity>4.000000</velocity>
        </limit>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
    </joint>
    <joint name="bl_caster_r_wheel_joint" type="revolute">
      <parent>bl_caster_rotation_link</parent>
      <child>bl_caster_r_wheel_link</child>
      <axis>
        <xyz>0.000000 1.000000 0.000000</xyz>
        <limit>
          <lower>-10000000000000000.000000</lower>
          <upper>10000000000000000.000000</upper>
          <effort>0.000000</effort>
          <velocity>4.000000</velocity>
        </limit>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
    </joint>
    <joint name="br_caster_rotation_joint" type="revolute">
      <parent>base_footprint</parent>
      <child>br_caster_rotation_link</child>
      <axis>
        <xyz>0.000000 0.000000 1.000000</xyz>
        <limit>
          <lower>-10000000000000000.000000</lower>
          <upper>10000000000000000.000000</upper>
          <effort>0.000000</effort>
          <velocity>4.000000</velocity>
        </limit>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
    </joint>
    <joint name="br_caster_l_wheel_joint" type="revolute">
      <parent>br_caster_rotation_link</parent>
      <child>br_caster_l_wheel_link</child>
      <axis>
        <xyz>0.000000 1.000000 0.000000</xyz>
        <limit>
          <lower>-10000000000000000.000000</lower>
          <upper>10000000000000000.000000</upper>
          <effort>0.000000</effort>
          <velocity>4.000000</velocity>
        </limit>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
    </joint>
    <joint name="br_caster_r_wheel_joint" type="revolute">
      <parent>br_caster_rotation_link</parent>
      <child>br_caster_r_wheel_link</child>
      <axis>
        <xyz>0.000000 1.000000 0.000000</xyz>
        <limit>
          <lower>-10000000000000000.000000</lower>
          <upper>10000000000000000.000000</upper>
          <effort>0.000000</effort>
          <velocity>4.000000</velocity>
        </limit>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
    </joint>
    <joint name="fl_caster_rotation_joint" type="revolute">
      <parent>base_footprint</parent>
      <child>fl_caster_rotation_link</child>
      <axis>
        <xyz>0.000000 0.000000 1.000000</xyz>
        <limit>
          <lower>-10000000000000000.000000</lower>
          <upper>10000000000000000.000000</upper>
          <effort>0.000000</effort>
          <velocity>4.000000</velocity>
        </limit>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
    </joint>
    <joint name="fl_caster_l_wheel_joint" type="revolute">
      <parent>fl_caster_rotation_link</parent>
      <child>fl_caster_l_wheel_link</child>
      <axis>
        <xyz>0.000000 1.000000 0.000000</xyz>
        <limit>
          <lower>-10000000000000000.000000</lower>
          <upper>10000000000000000.000000</upper>
          <effort>0.000000</effort>
          <velocity>4.000000</velocity>
        </limit>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
    </joint>
    <joint name="fl_caster_r_wheel_joint" type="revolute">
      <parent>fl_caster_rotation_link</parent>
      <child>fl_caster_r_wheel_link</child>
      <axis>
        <xyz>0.000000 1.000000 0.000000</xyz>
        <limit>
          <lower>-10000000000000000.000000</lower>
          <upper>10000000000000000.000000</upper>
          <effort>0.000000</effort>
          <velocity>4.000000</velocity>
        </limit>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
    </joint>
    <joint name="fr_caster_rotation_joint" type="revolute">
      <parent>base_footprint</parent>
      <child>fr_caster_rotation_link</child>
      <axis>
        <xyz>0.000000 0.000000 1.000000</xyz>
        <limit>
          <lower>-10000000000000000.000000</lower>
          <upper>10000000000000000.000000</upper>
          <effort>0.000000</effort>
          <velocity>4.000000</velocity>
        </limit>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
    </joint>
    <joint name="fr_caster_l_wheel_joint" type="revolute">
      <parent>fr_caster_rotation_link</parent>
      <child>fr_caster_l_wheel_link</child>
      <axis>
        <xyz>0.000000 1.000000 0.000000</xyz>
        <limit>
          <lower>-10000000000000000.000000</lower>
          <upper>10000000000000000.000000</upper>
          <effort>0.000000</effort>
          <velocity>4.000000</velocity>
        </limit>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
    </joint>
    <joint name="fr_caster_r_wheel_joint" type="revolute">
      <parent>fr_caster_rotation_link</parent>
      <child>fr_caster_r_wheel_link</child>
      <axis>
        <xyz>0.000000 1.000000 0.000000</xyz>
        <limit>
          <lower>-10000000000000000.000000</lower>
          <upper>10000000000000000.000000</upper>
          <effort>0.000000</effort>
          <velocity>4.000000</velocity>
        </limit>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
    </joint>
    <joint name="torso_lift_joint" type="prismatic">
      <parent>base_footprint</parent>
      <child>torso_lift_link</child>
      <axis>
        <xyz>0.000000 0.000000 1.000000</xyz>
        <limit>
          <lower>0.000000</lower>
          <upper>0.330000</upper>
          <effort>0.000000</effort>
          <velocity>4.000000</velocity>
        </limit>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
    </joint>
    <joint name="head_pan_joint" type="revolute">
      <parent>torso_lift_link</parent>
      <child>head_pan_link</child>
      <axis>
        <xyz>0.000000 0.000000 1.000000</xyz>
        <dynamics>
          <damping>2.000000</damping>
          <friction>0.000000</friction>
        </dynamics>
        <limit>
          <lower>-3.006993</lower>
          <upper>3.006993</upper>
          <effort>0.000000</effort>
          <velocity>4.000000</velocity>
        </limit>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
    </joint>
    <joint name="head_tilt_joint" type="revolute">
      <parent>head_pan_link</parent>
      <child>head_tilt_link</child>
      <axis>
        <xyz>0.000000 1.000000 0.000000</xyz>
        <dynamics>
          <damping>10.000000</damping>
          <friction>0.000000</friction>
        </dynamics>
        <limit>
          <lower>-0.471237</lower>
          <upper>1.396260</upper>
          <effort>0.000000</effort>
          <velocity>4.000000</velocity>
        </limit>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
    </joint>
    <joint name="l_shoulder_pan_joint" type="revolute">
      <parent>torso_lift_link</parent>
      <child>l_shoulder_pan_link</child>
      <axis>
        <xyz>0.000000 0.000000 1.000000</xyz>
        <dynamics>
          <damping>10.000000</damping>
          <friction>0.000000</friction>
        </dynamics>
        <limit>
          <lower>-0.714602</lower>
          <upper>2.285404</upper>
          <effort>0.000000</effort>
          <velocity>4.000000</velocity>
        </limit>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
    </joint>
    <joint name="l_shoulder_lift_joint" type="revolute">
      <parent>l_shoulder_pan_link</parent>
      <child>l_shoulder_lift_link</child>
      <axis>
        <xyz>0.000000 1.000000 0.000000</xyz>
        <dynamics>
          <damping>10.000000</damping>
          <friction>0.000000</friction>
        </dynamics>
        <limit>
          <lower>-0.523601</lower>
          <upper>1.396300</upper>
          <effort>0.000000</effort>
          <velocity>4.000000</velocity>
        </limit>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
    </joint>
    <joint name="l_upper_arm_roll_joint" type="revolute">
      <parent>l_shoulder_lift_link</parent>
      <child>l_upper_arm_roll_link</child>
      <axis>
        <xyz>1.000000 0.000000 0.000000</xyz>
        <dynamics>
          <damping>0.100000</damping>
          <friction>0.000000</friction>
        </dynamics>
        <limit>
          <lower>-0.800000</lower>
          <upper>3.900008</upper>
          <effort>0.000000</effort>
          <velocity>4.000000</velocity>
        </limit>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
    </joint>
    <joint name="l_elbow_flex_joint" type="revolute">
      <parent>l_upper_arm_roll_link</parent>
      <child>l_elbow_flex_link</child>
      <axis>
        <xyz>0.000000 1.000000 0.000000</xyz>
        <dynamics>
          <damping>1.000000</damping>
          <friction>0.000000</friction>
        </dynamics>
        <limit>
          <lower>-2.321305</lower>
          <upper>0.000000</upper>
          <effort>0.000000</effort>
          <velocity>4.000000</velocity>
        </limit>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
    </joint>
    <joint name="l_forearm_roll_joint" type="revolute">
      <parent>l_elbow_flex_link</parent>
      <child>l_forearm_roll_link</child>
      <axis>
        <xyz>1.000000 0.000000 0.000000</xyz>
        <dynamics>
          <damping>0.100000</damping>
          <friction>0.000000</friction>
        </dynamics>
        <limit>
          <lower>-10000000000000000.000000</lower>
          <upper>10000000000000000.000000</upper>
          <effort>0.000000</effort>
          <velocity>4.000000</velocity>
        </limit>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
    </joint>
    <joint name="l_wrist_flex_joint" type="revolute">
      <parent>l_forearm_roll_link</parent>
      <child>l_wrist_flex_link</child>
      <axis>
        <xyz>0.000000 1.000000 0.000000</xyz>
        <dynamics>
          <damping>0.100000</damping>
          <friction>0.000000</friction>
        </dynamics>
        <limit>
          <lower>-2.180004</lower>
          <upper>0.000000</upper>
          <effort>0.000000</effort>
          <velocity>4.000000</velocity>
        </limit>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
    </joint>
    <joint name="l_wrist_roll_joint" type="revolute">
      <parent>l_wrist_flex_link</parent>
      <child>l_wrist_roll_link</child>
      <axis>
        <xyz>1.000000 0.000000 0.000000</xyz>
        <dynamics>
          <damping>0.100000</damping>
          <friction>0.000000</friction>
        </dynamics>
        <limit>
          <lower>-10000000000000000.000000</lower>
          <upper>10000000000000000.000000</upper>
          <effort>0.000000</effort>
          <velocity>4.000000</velocity>
        </limit>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
    </joint>
    <joint name="l_gripper_l_finger_joint" type="revolute">
      <parent>l_wrist_roll_link</parent>
      <child>l_gripper_l_finger_link</child>
      <axis>
        <xyz>0.000000 0.000000 1.000000</xyz>
        <dynamics>
          <damping>0.020000</damping>
          <friction>0.000000</friction>
        </dynamics>
        <limit>
          <lower>0.000000</lower>
          <upper>0.548000</upper>
          <effort>0.000000</effort>
          <velocity>4.000000</velocity>
        </limit>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
    </joint>
    <joint name="l_gripper_l_finger_tip_joint" type="revolute">
      <parent>l_gripper_l_finger_link</parent>
      <child>l_gripper_l_finger_tip_link</child>
      <axis>
        <xyz>0.000000 0.000000 -1.000000</xyz>
        <dynamics>
          <damping>0.001000</damping>
          <friction>0.000000</friction>
        </dynamics>
        <limit>
          <lower>0.000000</lower>
          <upper>0.548000</upper>
          <effort>0.000000</effort>
          <velocity>4.000000</velocity>
        </limit>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
    </joint>
    <joint name="l_gripper_motor_slider_joint" type="prismatic">
      <parent>l_wrist_roll_link</parent>
      <child>l_gripper_motor_slider_link</child>
      <axis>
        <xyz>1.000000 0.000000 0.000000</xyz>
        <limit>
          <lower>-0.100000</lower>
          <upper>0.100000</upper>
          <effort>0.000000</effort>
          <velocity>4.000000</velocity>
        </limit>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
    </joint>
    <joint name="l_gripper_motor_screw_joint" type="revolute">
      <parent>l_gripper_motor_slider_link</parent>
      <child>l_gripper_motor_screw_link</child>
      <axis>
        <xyz>0.000000 1.000000 0.000000</xyz>
        <dynamics>
          <damping>0.000100</damping>
          <friction>0.000000</friction>
        </dynamics>
        <limit>
          <lower>-10000000000000000.000000</lower>
          <upper>10000000000000000.000000</upper>
          <effort>0.000000</effort>
          <velocity>4.000000</velocity>
        </limit>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
    </joint>
    <joint name="l_gripper_r_finger_joint" type="revolute">
      <parent>l_wrist_roll_link</parent>
      <child>l_gripper_r_finger_link</child>
      <axis>
        <xyz>0.000000 0.000000 -1.000000</xyz>
        <dynamics>
          <damping>0.020000</damping>
          <friction>0.000000</friction>
        </dynamics>
        <limit>
          <lower>0.000000</lower>
          <upper>0.548000</upper>
          <effort>0.000000</effort>
          <velocity>4.000000</velocity>
        </limit>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
    </joint>
    <joint name="l_gripper_r_finger_tip_joint" type="revolute">
      <parent>l_gripper_r_finger_link</parent>
      <child>l_gripper_r_finger_tip_link</child>
      <axis>
        <xyz>0.000000 0.000000 1.000000</xyz>
        <dynamics>
          <damping>0.001000</damping>
          <friction>0.000000</friction>
        </dynamics>
        <limit>
          <lower>0.000000</lower>
          <upper>0.548000</upper>
          <effort>0.000000</effort>
          <velocity>4.000000</velocity>
        </limit>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
    </joint>
    <joint name="laser_tilt_mount_joint" type="revolute">
      <parent>torso_lift_link</parent>
      <child>laser_tilt_mount_link</child>
      <axis>
        <xyz>0.000000 1.000000 0.000000</xyz>
        <dynamics>
          <damping>0.008000</damping>
          <friction>0.000000</friction>
        </dynamics>
        <limit>
          <lower>-0.785400</lower>
          <upper>1.483530</upper>
          <effort>0.000000</effort>
          <velocity>4.000000</velocity>
        </limit>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
    </joint>
    <joint name="r_shoulder_pan_joint" type="revolute">
      <parent>torso_lift_link</parent>
      <child>r_shoulder_pan_link</child>
      <axis>
        <xyz>0.000000 0.000000 1.000000</xyz>
        <dynamics>
          <damping>10.000000</damping>
          <friction>0.000000</friction>
        </dynamics>
        <limit>
          <lower>-2.285404</lower>
          <upper>0.714602</upper>
          <effort>0.000000</effort>
          <velocity>4.000000</velocity>
        </limit>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
    </joint>
    <joint name="r_shoulder_lift_joint" type="revolute">
      <parent>r_shoulder_pan_link</parent>
      <child>r_shoulder_lift_link</child>
      <axis>
        <xyz>0.000000 1.000000 0.000000</xyz>
        <dynamics>
          <damping>10.000000</damping>
          <friction>0.000000</friction>
        </dynamics>
        <limit>
          <lower>-0.523601</lower>
          <upper>1.396300</upper>
          <effort>0.000000</effort>
          <velocity>4.000000</velocity>
        </limit>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
    </joint>
    <joint name="r_upper_arm_roll_joint" type="revolute">
      <parent>r_shoulder_lift_link</parent>
      <child>r_upper_arm_roll_link</child>
      <axis>
        <xyz>1.000000 0.000000 0.000000</xyz>
        <dynamics>
          <damping>0.100000</damping>
          <friction>0.000000</friction>
        </dynamics>
        <limit>
          <lower>-3.900008</lower>
          <upper>0.800000</upper>
          <effort>0.000000</effort>
          <velocity>4.000000</velocity>
        </limit>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
    </joint>
    <joint name="r_elbow_flex_joint" type="revolute">
      <parent>r_upper_arm_roll_link</parent>
      <child>r_elbow_flex_link</child>
      <axis>
        <xyz>0.000000 1.000000 0.000000</xyz>
        <dynamics>
          <damping>1.000000</damping>
          <friction>0.000000</friction>
        </dynamics>
        <limit>
          <lower>-2.321305</lower>
          <upper>0.000000</upper>
          <effort>0.000000</effort>
          <velocity>4.000000</velocity>
        </limit>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
    </joint>
    <joint name="r_forearm_roll_joint" type="revolute">
      <parent>r_elbow_flex_link</parent>
      <child>r_forearm_roll_link</child>
      <axis>
        <xyz>1.000000 0.000000 0.000000</xyz>
        <dynamics>
          <damping>0.100000</damping>
          <friction>0.000000</friction>
        </dynamics>
        <limit>
          <lower>-10000000000000000.000000</lower>
          <upper>10000000000000000.000000</upper>
          <effort>0.000000</effort>
          <velocity>4.000000</velocity>
        </limit>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
    </joint>
    <joint name="r_wrist_flex_joint" type="revolute">
      <parent>r_forearm_roll_link</parent>
      <child>r_wrist_flex_link</child>
      <axis>
        <xyz>0.000000 1.000000 0.000000</xyz>
        <dynamics>
          <damping>0.100000</damping>
          <friction>0.000000</friction>
        </dynamics>
        <limit>
          <lower>-2.180004</lower>
          <upper>0.000000</upper>
          <effort>0.000000</effort>
          <velocity>4.000000</velocity>
        </limit>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
    </joint>
    <joint name="r_wrist_roll_joint" type="revolute">
      <parent>r_wrist_flex_link</parent>
      <child>r_wrist_roll_link</child>
      <axis>
        <xyz>1.000000 0.000000 0.000000</xyz>
        <dynamics>
          <damping>0.100000</damping>
          <friction>0.000000</friction>
        </dynamics>
        <limit>
          <lower>-10000000000000000.000000</lower>
          <upper>10000000000000000.000000</upper>
          <effort>0.000000</effort>
          <velocity>4.000000</velocity>
        </limit>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
    </joint>
    <joint name="r_gripper_l_finger_joint" type="revolute">
      <parent>r_wrist_roll_link</parent>
      <child>r_gripper_l_finger_link</child>
      <axis>
        <xyz>0.000000 0.000000 1.000000</xyz>
        <dynamics>
          <damping>0.020000</damping>
          <friction>0.000000</friction>
        </dynamics>
        <limit>
          <lower>0.000000</lower>
          <upper>0.548000</upper>
          <effort>0.000000</effort>
          <velocity>4.000000</velocity>
        </limit>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
    </joint>
    <joint name="r_gripper_l_finger_tip_joint" type="revolute">
      <parent>r_gripper_l_finger_link</parent>
      <child>r_gripper_l_finger_tip_link</child>
      <axis>
        <xyz>0.000000 0.000000 -1.000000</xyz>
        <dynamics>
          <damping>0.001000</damping>
          <friction>0.000000</friction>
        </dynamics>
        <limit>
          <lower>0.000000</lower>
          <upper>0.548000</upper>
          <effort>0.000000</effort>
          <velocity>4.000000</velocity>
        </limit>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
    </joint>
    <joint name="r_gripper_motor_slider_joint" type="prismatic">
      <parent>r_wrist_roll_link</parent>
      <child>r_gripper_motor_slider_link</child>
      <axis>
        <xyz>1.000000 0.000000 0.000000</xyz>
        <dynamics>
          <damping>0.000000</damping>
          <friction>0.000000</friction>
        </dynamics>
        <limit>
          <lower>-0.100000</lower>
          <upper>0.100000</upper>
          <effort>0.000000</effort>
          <velocity>4.000000</velocity>
        </limit>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
    </joint>
    <joint name="r_gripper_motor_screw_joint" type="revolute">
      <parent>r_gripper_motor_slider_link</parent>
      <child>r_gripper_motor_screw_link</child>
      <axis>
        <xyz>0.000000 1.000000 0.000000</xyz>
        <dynamics>
          <damping>0.000100</damping>
          <friction>0.000000</friction>
        </dynamics>
        <limit>
          <lower>-10000000000000000.000000</lower>
          <upper>10000000000000000.000000</upper>
          <effort>0.000000</effort>
          <velocity>4.000000</velocity>
        </limit>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
    </joint>
    <joint name="r_gripper_r_finger_joint" type="revolute">
      <parent>r_wrist_roll_link</parent>
      <child>r_gripper_r_finger_link</child>
      <axis>
        <xyz>0.000000 0.000000 -1.000000</xyz>
        <dynamics>
          <damping>0.020000</damping>
          <friction>0.000000</friction>
        </dynamics>
        <limit>
          <lower>0.000000</lower>
          <upper>0.548000</upper>
          <effort>0.000000</effort>
          <velocity>4.000000</velocity>
        </limit>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
    </joint>
    <joint name="r_gripper_r_finger_tip_joint" type="revolute">
      <parent>r_gripper_r_finger_link</parent>
      <child>r_gripper_r_finger_tip_link</child>
      <axis>
        <xyz>0.000000 0.000000 1.000000</xyz>
        <dynamics>
          <damping>0.001000</damping>
          <friction>0.000000</friction>
        </dynamics>
        <limit>
          <lower>0.000000</lower>
          <upper>0.548000</upper>
          <effort>0.000000</effort>
          <velocity>4.000000</velocity>
        </limit>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
    </joint>
    <joint name="torso_lift_motor_screw_joint" type="revolute">
      <parent>base_footprint</parent>
      <child>torso_lift_motor_screw_link</child>
      <axis>
        <xyz>0.000000 0.000000 1.000000</xyz>
        <dynamics>
          <damping>0.000100</damping>
          <friction>0.000000</friction>
        </dynamics>
        <limit>
          <lower>-10000000000000000.000000</lower>
          <upper>10000000000000000.000000</upper>
          <effort>0.000000</effort>
          <velocity>4.000000</velocity>
        </limit>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
    </joint>
    <joint name="torso_lift_screw_torso_lift_joint" type="screw">
      <parent>torso_lift_link</parent>
      <child>torso_lift_motor_screw_link</child>
      <thread_pitch>3141.600000</thread_pitch>
      <axis>
        <xyz>0.000000 0.000000 1.000000</xyz>
        <dynamics>
          <damping>0.000000</damping>
          <friction>0.000000</friction>
        </dynamics>
        <limit>
          <lower>-10000000000000000.000000</lower>
          <upper>10000000000000000.000000</upper>
          <effort>0.000000</effort>
          <velocity>4.000000</velocity>
        </limit>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
    </joint>
    <joint name="r_gripper_r_screw_screw_joint" type="screw">
      <parent>r_gripper_r_finger_tip_link</parent>
      <child>r_gripper_motor_screw_link</child>
      <thread_pitch>-3141.600000</thread_pitch>
      <axis>
        <xyz>0.000000 1.000000 0.000000</xyz>
        <dynamics>
          <damping>0.000000</damping>
          <friction>0.000000</friction>
        </dynamics>
        <limit>
          <lower>-10000000000000000.000000</lower>
          <upper>10000000000000000.000000</upper>
          <effort>0.000000</effort>
          <velocity>4.000000</velocity>
        </limit>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
    </joint>
    <joint name="r_gripper_l_screw_screw_joint" type="screw">
      <parent>r_gripper_l_finger_tip_link</parent>
      <child>r_gripper_motor_screw_link</child>
      <thread_pitch>3141.600000</thread_pitch>
      <axis>
        <xyz>0.000000 1.000000 0.000000</xyz>
        <dynamics>
          <damping>0.000000</damping>
          <friction>0.000000</friction>
        </dynamics>
        <limit>
          <lower>-10000000000000000.000000</lower>
          <upper>10000000000000000.000000</upper>
          <effort>0.000000</effort>
          <velocity>4.000000</velocity>
        </limit>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
    </joint>
    <joint name="r_gripper_r_parallel_root_joint" type="revolute">
      <pose>0.058910 -0.031000 0.000000 0.000000 -0.000000 0.000000</pose>
      <parent>r_gripper_r_parallel_link</parent>
      <child>r_wrist_roll_link</child>
      <axis>
        <xyz>0.000000 0.000000 -1.000000</xyz>
        <dynamics>
          <damping>0.200000</damping>
          <friction>0.000000</friction>
        </dynamics>
        <limit>
          <lower>-10000000000000000.000000</lower>
          <upper>10000000000000000.000000</upper>
          <effort>0.000000</effort>
          <velocity>4.000000</velocity>
        </limit>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
    </joint>
    <joint name="r_gripper_l_parallel_root_joint" type="revolute">
      <pose>0.058910 0.031000 0.000000 0.000000 -0.000000 0.000000</pose>
      <parent>r_gripper_l_parallel_link</parent>
      <child>r_wrist_roll_link</child>
      <axis>
        <xyz>0.000000 0.000000 1.000000</xyz>
        <dynamics>
          <damping>0.200000</damping>
          <friction>0.000000</friction>
        </dynamics>
        <limit>
          <lower>-10000000000000000.000000</lower>
          <upper>10000000000000000.000000</upper>
          <effort>0.000000</effort>
          <velocity>4.000000</velocity>
        </limit>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
    </joint>
    <joint name="r_gripper_r_parallel_tip_joint" type="revolute">
      <pose>-0.018000 -0.021000 0.000000 0.000000 -0.000000 0.000000</pose>
      <parent>r_gripper_r_parallel_link</parent>
      <child>r_gripper_r_finger_tip_link</child>
      <axis>
        <xyz>0.000000 0.000000 1.000000</xyz>
        <dynamics>
          <damping>0.000000</damping>
          <friction>0.000000</friction>
        </dynamics>
        <limit>
          <lower>-10000000000000000.000000</lower>
          <upper>10000000000000000.000000</upper>
          <effort>0.000000</effort>
          <velocity>4.000000</velocity>
        </limit>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
    </joint>
    <joint name="r_gripper_l_parallel_tip_joint" type="revolute">
      <pose>-0.018000 0.021000 0.000000 0.000000 -0.000000 0.000000</pose>
      <parent>r_gripper_l_parallel_link</parent>
      <child>r_gripper_l_finger_tip_link</child>
      <axis>
        <xyz>0.000000 0.000000 1.000000</xyz>
        <dynamics>
          <damping>0.000000</damping>
          <friction>0.000000</friction>
        </dynamics>
        <limit>
          <lower>-10000000000000000.000000</lower>
          <upper>10000000000000000.000000</upper>
          <effort>0.000000</effort>
          <velocity>4.000000</velocity>
        </limit>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
    </joint>
    <joint name="r_gripper_joint" type="prismatic">
      <parent>r_gripper_r_finger_tip_link</parent>
      <child>r_gripper_l_finger_tip_link</child>
      <axis>
        <xyz>0.000000 1.000000 0.000000</xyz>
        <dynamics>
          <damping>0.000000</damping>
          <friction>0.000000</friction>
        </dynamics>
        <limit>
          <lower>-10000000000000000.000000</lower>
          <upper>10000000000000000.000000</upper>
          <effort>0.000000</effort>
          <velocity>4.000000</velocity>
        </limit>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
    </joint>
    <joint name="l_gripper_r_screw_screw_joint" type="screw">
      <parent>l_gripper_r_finger_tip_link</parent>
      <child>l_gripper_motor_screw_link</child>
      <thread_pitch>-3141.600000</thread_pitch>
      <axis>
        <xyz>0.000000 1.000000 0.000000</xyz>
        <dynamics>
          <damping>0.000000</damping>
          <friction>0.000000</friction>
        </dynamics>
        <limit>
          <lower>-10000000000000000.000000</lower>
          <upper>10000000000000000.000000</upper>
          <effort>0.000000</effort>
          <velocity>4.000000</velocity>
        </limit>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
    </joint>
    <joint name="l_gripper_l_screw_screw_joint" type="screw">
      <parent>l_gripper_l_finger_tip_link</parent>
      <child>l_gripper_motor_screw_link</child>
      <thread_pitch>3141.600000</thread_pitch>
      <axis>
        <xyz>0.000000 1.000000 0.000000</xyz>
        <dynamics>
          <damping>0.000000</damping>
          <friction>0.000000</friction>
        </dynamics>
        <limit>
          <lower>-10000000000000000.000000</lower>
          <upper>10000000000000000.000000</upper>
          <effort>0.000000</effort>
          <velocity>4.000000</velocity>
        </limit>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
    </joint>
    <joint name="l_gripper_r_parallel_root_joint" type="revolute">
      <pose>0.058910 -0.031000 0.000000 0.000000 -0.000000 0.000000</pose>
      <parent>l_gripper_r_parallel_link</parent>
      <child>l_wrist_roll_link</child>
      <axis>
        <xyz>0.000000 0.000000 -1.000000</xyz>
        <dynamics>
          <damping>0.200000</damping>
          <friction>0.000000</friction>
        </dynamics>
        <limit>
          <lower>-10000000000000000.000000</lower>
          <upper>10000000000000000.000000</upper>
          <effort>0.000000</effort>
          <velocity>4.000000</velocity>
        </limit>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
    </joint>
    <joint name="l_gripper_l_parallel_root_joint" type="revolute">
      <pose>0.058910 0.031000 0.000000 0.000000 -0.000000 0.000000</pose>
      <parent>l_gripper_l_parallel_link</parent>
      <child>l_wrist_roll_link</child>
      <axis>
        <xyz>0.000000 0.000000 1.000000</xyz>
        <dynamics>
          <damping>0.200000</damping>
          <friction>0.000000</friction>
        </dynamics>
        <limit>
          <lower>-10000000000000000.000000</lower>
          <upper>10000000000000000.000000</upper>
          <effort>0.000000</effort>
          <velocity>4.000000</velocity>
        </limit>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
    </joint>
    <joint name="l_gripper_r_parallel_tip_joint" type="revolute">
      <pose>-0.018000 -0.021000 0.000000 0.000000 -0.000000 0.000000</pose>
      <parent>l_gripper_r_parallel_link</parent>
      <child>l_gripper_r_finger_tip_link</child>
      <axis>
        <xyz>0.000000 0.000000 1.000000</xyz>
        <dynamics>
          <damping>0.000000</damping>
          <friction>0.000000</friction>
        </dynamics>
        <limit>
          <lower>-10000000000000000.000000</lower>
          <upper>10000000000000000.000000</upper>
          <effort>0.000000</effort>
          <velocity>4.000000</velocity>
        </limit>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
    </joint>
    <joint name="l_gripper_l_parallel_tip_joint" type="revolute">
      <pose>-0.018000 0.021000 0.000000 0.000000 -0.000000 0.000000</pose>
      <parent>l_gripper_l_parallel_link</parent>
      <child>l_gripper_l_finger_tip_link</child>
      <axis>
        <xyz>0.000000 0.000000 1.000000</xyz>
        <limit>
          <lower>-10000000000000000.000000</lower>
          <upper>10000000000000000.000000</upper>
          <effort>0.000000</effort>
          <velocity>4.000000</velocity>
        </limit>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
    </joint>
    <joint name="l_gripper_joint" type="prismatic">
      <parent>l_gripper_r_finger_tip_link</parent>
      <child>l_gripper_l_finger_tip_link</child>
      <axis>
        <xyz>0.000000 1.000000 0.000000</xyz>
        <limit>
          <lower>-10000000000000000.000000</lower>
          <upper>10000000000000000.000000</upper>
          <effort>0.000000</effort>
          <velocity>4.000000</velocity>
        </limit>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
    </joint>
  </model>
</sdf>