<gazebo version='1.0'>
  <world name='default'>
    <scene>
      <ambient rgba='0.5 0.5 0.5 0.5'/>
      <background rgba='0.5 0.5 0.5 1'>
        <sky material='Gazebo/CloudySky'/>
      </background>
      <shadows enabled='1'/>
    </scene>
    <physics type='ode'>
      <gravity xyz='0 0 -9.8'/>
      <ode>
        <solver type='quick' dt='0.001' iters='10' sor='1.3'/>
        <constraints cfm='1e-10' erp='0.20000000000000001' contact_max_correcting_vel='100' contact_surface_layer='0.001'/>
      </ode>
    </physics>
    <model name='gplane' static='1'>
      <origin pose='0 0 0 0 -0 0'/>
      <link name='plane' gravity='1' self_collide='0' kinematic='0'>
        <origin pose='0 0 0 0 -0 0'/>
        <collision name='plane' laser_retro='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <plane normal='0 0 1'/>
          </geometry>
          <surface>
            <friction>
              <ode mu='50' mu2='50' fdir1='0 0 0' slip1='0' slip2='0'/>
            </friction>
            <bounce restitution_coefficient='0' threshold='0'/>
            <contact>
              <ode soft_cfm='0' soft_erp='0' kp='1000000000' kd='1' max_vel='-1' min_depth='0'/>
            </contact>
          </surface>
        </collision>
        <visual name='old_gazebo_xml_visual' cast_shadows='1' laser_retro='0' transparency='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <plane normal='0 0 1'/>
          </geometry>
        </visual>
      </link>
    </model>
    <light name='point_white' type='directional'>
      <origin pose='0 0 8 0 -0 0'/>
      <diffuse rgba='0.1 0.1 0.1 1'/>
      <specular rgba='0.1 0.1 0.1 1'/>
      <attenuation range='10' linear='0.10000000000000001' constant='0.20000000000000001' quadratic='0'/>
    </light>
    <plugin name='gazebo_ros_api' filename='libgazebo_ros.so'>
      <alwaysOn>1</alwaysOn>
      <updateRate>1000.0</updateRate>
    </plugin>
    <model name='pr2' static='0'>
      <origin pose='0 0 0 0 -0 0'/>
      <link name='base_footprint' gravity='1' self_collide='0' kinematic='0'>
        <origin pose='0 0 0 0 -0 0'/>
        <inertial mass='1'>
          <origin pose='0 0 0 0 -0 0'/>
          <inertia ixx='0.01' ixy='0' ixz='0' iyy='0.01' iyz='0' izz='0.01'/>
        </inertial>
        <collision name='base_footprint_geom' laser_retro='0'>
          <origin pose='0 0 0.071 0 -0 0'/>
          <geometry>
            <box size='0.001 0.001 0.001'/>
          </geometry>
          <surface>
            <friction>
              <ode mu='0' mu2='0' fdir1='0 0 0' slip1='0' slip2='0'/>
            </friction>
            <bounce restitution_coefficient='0' threshold='0'/>
            <contact>
              <ode soft_cfm='0' soft_erp='0.20000000000000001' kp='10000000000000' kd='100000000000' max_vel='-1' min_depth='0'/>
            </contact>
          </surface>
        </collision>
        <visual name='old_gazebo_xml_visual' cast_shadows='1' laser_retro='0' transparency='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <box size='0.01 0.01 0.01'/>
          </geometry>
        </visual>
      </link>
      <link name='base_link' gravity='1' self_collide='0' kinematic='0'>
        <origin pose='0 0 0.051 0 -0 0'/>
        <inertial mass='116'>
          <origin pose='-0.061 0 0.1465 0 -0 0'/>
          <inertia ixx='5.6522300000000003' ixy='-0.0097199299999999999' ixz='1.29399' iyy='5.6694699999999996' iyz='-0.0073795800000000002' izz='3.6831999999999998'/>
        </inertial>
        <collision name='base_link_geom' laser_retro='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/base_v0/base_L.stl' scale='1 1 1'/>
          </geometry>
          <surface>
            <friction>
              <ode mu='0' mu2='0' fdir1='0 0 0' slip1='0' slip2='0'/>
            </friction>
            <bounce restitution_coefficient='0' threshold='0'/>
            <contact>
              <ode soft_cfm='0' soft_erp='0.20000000000000001' kp='10000000000000' kd='100000000000' max_vel='-1' min_depth='0'/>
            </contact>
          </surface>
        </collision>
        <visual name='old_gazebo_xml_visual' cast_shadows='1' laser_retro='0' transparency='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/base_v0/base.dae' scale='1 1 1'/>
          </geometry>
        </visual>
        <sensor name='base_contact_sensor' type='contact' always_on='0' update_rate='100'>
          <origin pose='0 0 0 0 -0 0'/>
          <contact>
            <collision name='base_link_geom'/>
          </contact>
          <plugin name='base_gazebo_ros_bumper_controller' filename='libgazebo_ros_bumper.so'>
            <alwaysOn>1</alwaysOn>
            <updateRate>100.0</updateRate>
            <bumperTopicName>base_bumper</bumperTopicName>
          </plugin>
        </sensor>
      </link>
      <link name='base_bellow_link' gravity='1' self_collide='0' kinematic='0'>
        <origin pose='-0.29 0 0.851 0 -0 0'/>
        <inertial mass='1'>
          <origin pose='0 0 0 0 -0 0'/>
          <inertia ixx='0.01' ixy='0' ixz='0' iyy='0.01' iyz='0' izz='0.01'/>
        </inertial>
        <collision name='base_bellow_link_geom' laser_retro='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <box size='0.05 0.37 0.3'/>
          </geometry>
          <surface>
            <friction>
              <ode mu='0' mu2='0' fdir1='0 0 0' slip1='0' slip2='0'/>
            </friction>
            <bounce restitution_coefficient='0' threshold='0'/>
            <contact>
              <ode soft_cfm='0' soft_erp='0.20000000000000001' kp='10000000000000' kd='100000000000' max_vel='-1' min_depth='0'/>
            </contact>
          </surface>
        </collision>
        <visual name='old_gazebo_xml_visual' cast_shadows='1' laser_retro='0' transparency='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <box size='0.05 0.37 0.3'/>
          </geometry>
          <material script='PR2/Black'/>
        </visual>
      </link>
      <link name='base_laser_link' gravity='1' self_collide='0' kinematic='0'>
        <origin pose='0.275 0 0.303 0 -0 0'/>
        <inertial mass='0.001'>
          <origin pose='0 0 0 0 -0 0'/>
          <inertia ixx='0.0001' ixy='0' ixz='0' iyy='9.9999999999999995e-07' iyz='0' izz='0.0001'/>
        </inertial>
        <sensor name='base_laser' type='ray' always_on='0' update_rate='20'>
          <origin pose='0 0 0 0 -0 0'/>
          <ray>
            <scan display='1'>
              <horizontal samples='640' resolution='1' min_angle='-2.2688999999959423' max_angle='2.2688999999959423'/>
            </scan>
            <range min='0.080000000000000002' max='10' resolution='0.01'/>
          </ray>
          <plugin name='gazebo_ros_base_laser_controller' filename='libgazebo_ros_laser.so'>
            <gaussianNoise>0.005</gaussianNoise>
            <alwaysOn>1</alwaysOn>
            <updateRate>20</updateRate>
            <topicName>base_scan</topicName>
            <frameName>base_laser_link</frameName>
          </plugin>
        </sensor>
      </link>
      <link name='bl_caster_rotation_link' gravity='1' self_collide='0' kinematic='0'>
        <origin pose='-0.2246 0.2246 0.0792 0 -0 0'/>
        <inertial mass='3.4730799999999999'>
          <origin pose='0 0 0.07 0 -0 0'/>
          <inertia ixx='0.012411800000000001' ixy='-0.000711734' ixz='0.00050272999999999995' iyy='0.015218199999999999' iyz='-4.2734700000000003e-06' izz='0.011764'/>
        </inertial>
        <collision name='bl_caster_rotation_link_geom' laser_retro='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/base_v0/caster_L.stl' scale='1 1 1'/>
          </geometry>
          <surface>
            <friction>
              <ode mu='0' mu2='0' fdir1='0 0 0' slip1='0' slip2='0'/>
            </friction>
            <bounce restitution_coefficient='0' threshold='0'/>
            <contact>
              <ode soft_cfm='0' soft_erp='0.20000000000000001' kp='10000000000000' kd='100000000000' max_vel='-1' min_depth='0'/>
            </contact>
          </surface>
        </collision>
        <visual name='old_gazebo_xml_visual' cast_shadows='1' laser_retro='0' transparency='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/base_v0/caster.stl' scale='1 1 1'/>
          </geometry>
          <material script='PR2/caster_texture'/>
        </visual>
      </link>
      <link name='bl_caster_l_wheel_link' gravity='1' self_collide='0' kinematic='0'>
        <origin pose='-0.2246 0.2736 0.0792 0 -0 0'/>
        <inertial mass='0.44035999999999997'>
          <origin pose='0 0 0 0 -0 0'/>
          <inertia ixx='0.012411800000000001' ixy='-0.000711734' ixz='0.00050272999999999995' iyy='0.015218199999999999' iyz='-4.2734700000000003e-06' izz='0.011764'/>
        </inertial>
        <collision name='bl_caster_l_wheel_link_geom' laser_retro='0'>
          <origin pose='0 0 0 2.03541 -0 0'/>
          <geometry>
            <cylinder radius='0.074791999999999997' length='0.034000000000000002'/>
          </geometry>
          <surface>
            <friction>
              <ode mu='100' mu2='100' fdir1='0 0 0' slip1='0' slip2='0'/>
            </friction>
            <bounce restitution_coefficient='0' threshold='0'/>
            <contact>
              <ode soft_cfm='0' soft_erp='0.20000000000000001' kp='1000000' kd='1' max_vel='-1' min_depth='0'/>
            </contact>
          </surface>
        </collision>
        <visual name='old_gazebo_xml_visual' cast_shadows='1' laser_retro='0' transparency='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/base_v0/wheel.dae' scale='1 1 1'/>
          </geometry>
        </visual>
      </link>
      <link name='bl_caster_r_wheel_link' gravity='1' self_collide='0' kinematic='0'>
        <origin pose='-0.2246 0.1756 0.0792 0 -0 0'/>
        <inertial mass='0.44035999999999997'>
          <origin pose='0 0 0 0 -0 0'/>
          <inertia ixx='0.012411800000000001' ixy='-0.000711734' ixz='0.00050272999999999995' iyy='0.015218199999999999' iyz='-4.2734700000000003e-06' izz='0.011764'/>
        </inertial>
        <collision name='bl_caster_r_wheel_link_geom' laser_retro='0'>
          <origin pose='0 0 0 2.03541 -0 0'/>
          <geometry>
            <cylinder radius='0.074791999999999997' length='0.034000000000000002'/>
          </geometry>
          <surface>
            <friction>
              <ode mu='100' mu2='100' fdir1='0 0 0' slip1='0' slip2='0'/>
            </friction>
            <bounce restitution_coefficient='0' threshold='0'/>
            <contact>
              <ode soft_cfm='0' soft_erp='0.20000000000000001' kp='1000000' kd='1' max_vel='-1' min_depth='0'/>
            </contact>
          </surface>
        </collision>
        <visual name='old_gazebo_xml_visual' cast_shadows='1' laser_retro='0' transparency='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/base_v0/wheel.dae' scale='1 1 1'/>
          </geometry>
        </visual>
      </link>
      <link name='br_caster_rotation_link' gravity='1' self_collide='0' kinematic='0'>
        <origin pose='-0.2246 -0.2246 0.0792 0 -0 0'/>
        <inertial mass='3.4730799999999999'>
          <origin pose='0 0 0.07 0 -0 0'/>
          <inertia ixx='0.012411800000000001' ixy='-0.000711734' ixz='0.00050272999999999995' iyy='0.015218199999999999' iyz='-4.2734700000000003e-06' izz='0.011764'/>
        </inertial>
        <collision name='br_caster_rotation_link_geom' laser_retro='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/base_v0/caster_L.stl' scale='1 1 1'/>
          </geometry>
          <surface>
            <friction>
              <ode mu='0' mu2='0' fdir1='0 0 0' slip1='0' slip2='0'/>
            </friction>
            <bounce restitution_coefficient='0' threshold='0'/>
            <contact>
              <ode soft_cfm='0' soft_erp='0.20000000000000001' kp='10000000000000' kd='100000000000' max_vel='-1' min_depth='0'/>
            </contact>
          </surface>
        </collision>
        <visual name='old_gazebo_xml_visual' cast_shadows='1' laser_retro='0' transparency='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/base_v0/caster.stl' scale='1 1 1'/>
          </geometry>
          <material script='PR2/caster_texture'/>
        </visual>
      </link>
      <link name='br_caster_l_wheel_link' gravity='1' self_collide='0' kinematic='0'>
        <origin pose='-0.2246 -0.1756 0.0792 0 -0 0'/>
        <inertial mass='0.44035999999999997'>
          <origin pose='0 0 0 0 -0 0'/>
          <inertia ixx='0.012411800000000001' ixy='-0.000711734' ixz='0.00050272999999999995' iyy='0.015218199999999999' iyz='-4.2734700000000003e-06' izz='0.011764'/>
        </inertial>
        <collision name='br_caster_l_wheel_link_geom' laser_retro='0'>
          <origin pose='0 0 0 2.03541 -0 0'/>
          <geometry>
            <cylinder radius='0.074791999999999997' length='0.034000000000000002'/>
          </geometry>
          <surface>
            <friction>
              <ode mu='100' mu2='100' fdir1='0 0 0' slip1='0' slip2='0'/>
            </friction>
            <bounce restitution_coefficient='0' threshold='0'/>
            <contact>
              <ode soft_cfm='0' soft_erp='0.20000000000000001' kp='1000000' kd='1' max_vel='-1' min_depth='0'/>
            </contact>
          </surface>
        </collision>
        <visual name='old_gazebo_xml_visual' cast_shadows='1' laser_retro='0' transparency='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/base_v0/wheel.dae' scale='1 1 1'/>
          </geometry>
        </visual>
      </link>
      <link name='br_caster_r_wheel_link' gravity='1' self_collide='0' kinematic='0'>
        <origin pose='-0.2246 -0.2736 0.0792 0 -0 0'/>
        <inertial mass='0.44035999999999997'>
          <origin pose='0 0 0 0 -0 0'/>
          <inertia ixx='0.012411800000000001' ixy='-0.000711734' ixz='0.00050272999999999995' iyy='0.015218199999999999' iyz='-4.2734700000000003e-06' izz='0.011764'/>
        </inertial>
        <collision name='br_caster_r_wheel_link_geom' laser_retro='0'>
          <origin pose='0 0 0 2.03541 -0 0'/>
          <geometry>
            <cylinder radius='0.074791999999999997' length='0.034000000000000002'/>
          </geometry>
          <surface>
            <friction>
              <ode mu='100' mu2='100' fdir1='0 0 0' slip1='0' slip2='0'/>
            </friction>
            <bounce restitution_coefficient='0' threshold='0'/>
            <contact>
              <ode soft_cfm='0' soft_erp='0.20000000000000001' kp='1000000' kd='1' max_vel='-1' min_depth='0'/>
            </contact>
          </surface>
        </collision>
        <visual name='old_gazebo_xml_visual' cast_shadows='1' laser_retro='0' transparency='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/base_v0/wheel.dae' scale='1 1 1'/>
          </geometry>
        </visual>
      </link>
      <link name='fl_caster_rotation_link' gravity='1' self_collide='0' kinematic='0'>
        <origin pose='0.2246 0.2246 0.0792 0 -0 0'/>
        <inertial mass='3.4730799999999999'>
          <origin pose='0 0 0.07 0 -0 0'/>
          <inertia ixx='0.012411800000000001' ixy='-0.000711734' ixz='0.00050272999999999995' iyy='0.015218199999999999' iyz='-4.2734700000000003e-06' izz='0.011764'/>
        </inertial>
        <collision name='fl_caster_rotation_link_geom' laser_retro='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/base_v0/caster_L.stl' scale='1 1 1'/>
          </geometry>
          <surface>
            <friction>
              <ode mu='0' mu2='0' fdir1='0 0 0' slip1='0' slip2='0'/>
            </friction>
            <bounce restitution_coefficient='0' threshold='0'/>
            <contact>
              <ode soft_cfm='0' soft_erp='0.20000000000000001' kp='10000000000000' kd='100000000000' max_vel='-1' min_depth='0'/>
            </contact>
          </surface>
        </collision>
        <visual name='old_gazebo_xml_visual' cast_shadows='1' laser_retro='0' transparency='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/base_v0/caster.stl' scale='1 1 1'/>
          </geometry>
          <material script='PR2/caster_texture'/>
        </visual>
      </link>
      <link name='fl_caster_l_wheel_link' gravity='1' self_collide='0' kinematic='0'>
        <origin pose='0.2246 0.2736 0.0792 0 -0 0'/>
        <inertial mass='0.44035999999999997'>
          <origin pose='0 0 0 0 -0 0'/>
          <inertia ixx='0.012411800000000001' ixy='-0.000711734' ixz='0.00050272999999999995' iyy='0.015218199999999999' iyz='-4.2734700000000003e-06' izz='0.011764'/>
        </inertial>
        <collision name='fl_caster_l_wheel_link_geom' laser_retro='0'>
          <origin pose='0 0 0 2.03541 -0 0'/>
          <geometry>
            <cylinder radius='0.074791999999999997' length='0.034000000000000002'/>
          </geometry>
          <surface>
            <friction>
              <ode mu='100' mu2='100' fdir1='0 0 0' slip1='0' slip2='0'/>
            </friction>
            <bounce restitution_coefficient='0' threshold='0'/>
            <contact>
              <ode soft_cfm='0' soft_erp='0.20000000000000001' kp='1000000' kd='1' max_vel='-1' min_depth='0'/>
            </contact>
          </surface>
        </collision>
        <visual name='old_gazebo_xml_visual' cast_shadows='1' laser_retro='0' transparency='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/base_v0/wheel.dae' scale='1 1 1'/>
          </geometry>
        </visual>
      </link>
      <link name='fl_caster_r_wheel_link' gravity='1' self_collide='0' kinematic='0'>
        <origin pose='0.2246 0.1756 0.0792 0 -0 0'/>
        <inertial mass='0.44035999999999997'>
          <origin pose='0 0 0 0 -0 0'/>
          <inertia ixx='0.012411800000000001' ixy='-0.000711734' ixz='0.00050272999999999995' iyy='0.015218199999999999' iyz='-4.2734700000000003e-06' izz='0.011764'/>
        </inertial>
        <collision name='fl_caster_r_wheel_link_geom' laser_retro='0'>
          <origin pose='0 0 0 2.03541 -0 0'/>
          <geometry>
            <cylinder radius='0.074791999999999997' length='0.034000000000000002'/>
          </geometry>
          <surface>
            <friction>
              <ode mu='100' mu2='100' fdir1='0 0 0' slip1='0' slip2='0'/>
            </friction>
            <bounce restitution_coefficient='0' threshold='0'/>
            <contact>
              <ode soft_cfm='0' soft_erp='0.20000000000000001' kp='1000000' kd='1' max_vel='-1' min_depth='0'/>
            </contact>
          </surface>
        </collision>
        <visual name='old_gazebo_xml_visual' cast_shadows='1' laser_retro='0' transparency='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/base_v0/wheel.dae' scale='1 1 1'/>
          </geometry>
        </visual>
      </link>
      <link name='fr_caster_rotation_link' gravity='1' self_collide='0' kinematic='0'>
        <origin pose='0.2246 -0.2246 0.0792 0 -0 0'/>
        <inertial mass='3.4730799999999999'>
          <origin pose='0 0 0.07 0 -0 0'/>
          <inertia ixx='0.012411800000000001' ixy='-0.000711734' ixz='0.00050272999999999995' iyy='0.015218199999999999' iyz='-4.2734700000000003e-06' izz='0.011764'/>
        </inertial>
        <collision name='fr_caster_rotation_link_geom' laser_retro='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/base_v0/caster_L.stl' scale='1 1 1'/>
          </geometry>
          <surface>
            <friction>
              <ode mu='0' mu2='0' fdir1='0 0 0' slip1='0' slip2='0'/>
            </friction>
            <bounce restitution_coefficient='0' threshold='0'/>
            <contact>
              <ode soft_cfm='0' soft_erp='0.20000000000000001' kp='10000000000000' kd='100000000000' max_vel='-1' min_depth='0'/>
            </contact>
          </surface>
        </collision>
        <visual name='old_gazebo_xml_visual' cast_shadows='1' laser_retro='0' transparency='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/base_v0/caster.stl' scale='1 1 1'/>
          </geometry>
          <material script='PR2/caster_texture'/>
        </visual>
      </link>
      <link name='fr_caster_l_wheel_link' gravity='1' self_collide='0' kinematic='0'>
        <origin pose='0.2246 -0.1756 0.0792 0 -0 0'/>
        <inertial mass='0.44035999999999997'>
          <origin pose='0 0 0 0 -0 0'/>
          <inertia ixx='0.012411800000000001' ixy='-0.000711734' ixz='0.00050272999999999995' iyy='0.015218199999999999' iyz='-4.2734700000000003e-06' izz='0.011764'/>
        </inertial>
        <collision name='fr_caster_l_wheel_link_geom' laser_retro='0'>
          <origin pose='0 0 0 2.03541 -0 0'/>
          <geometry>
            <cylinder radius='0.074791999999999997' length='0.034000000000000002'/>
          </geometry>
          <surface>
            <friction>
              <ode mu='100' mu2='100' fdir1='0 0 0' slip1='0' slip2='0'/>
            </friction>
            <bounce restitution_coefficient='0' threshold='0'/>
            <contact>
              <ode soft_cfm='0' soft_erp='0.20000000000000001' kp='1000000' kd='1' max_vel='-1' min_depth='0'/>
            </contact>
          </surface>
        </collision>
        <visual name='old_gazebo_xml_visual' cast_shadows='1' laser_retro='0' transparency='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/base_v0/wheel.dae' scale='1 1 1'/>
          </geometry>
        </visual>
      </link>
      <link name='fr_caster_r_wheel_link' gravity='1' self_collide='0' kinematic='0'>
        <origin pose='0.2246 -0.2736 0.0792 0 -0 0'/>
        <inertial mass='0.44035999999999997'>
          <origin pose='0 0 0 0 -0 0'/>
          <inertia ixx='0.012411800000000001' ixy='-0.000711734' ixz='0.00050272999999999995' iyy='0.015218199999999999' iyz='-4.2734700000000003e-06' izz='0.011764'/>
        </inertial>
        <collision name='fr_caster_r_wheel_link_geom' laser_retro='0'>
          <origin pose='0 0 0 2.03541 -0 0'/>
          <geometry>
            <cylinder radius='0.074791999999999997' length='0.034000000000000002'/>
          </geometry>
          <surface>
            <friction>
              <ode mu='100' mu2='100' fdir1='0 0 0' slip1='0' slip2='0'/>
            </friction>
            <bounce restitution_coefficient='0' threshold='0'/>
            <contact>
              <ode soft_cfm='0' soft_erp='0.20000000000000001' kp='1000000' kd='1' max_vel='-1' min_depth='0'/>
            </contact>
          </surface>
        </collision>
        <visual name='old_gazebo_xml_visual' cast_shadows='1' laser_retro='0' transparency='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/base_v0/wheel.dae' scale='1 1 1'/>
          </geometry>
        </visual>
      </link>
      <link name='torso_lift_link' gravity='1' self_collide='0' kinematic='0'>
        <origin pose='-0.05 0 0.790675 0 -0 0'/>
        <inertial mass='36.247999999999998'>
          <origin pose='-0.1 0 -0.0885 0 -0 0'/>
          <inertia ixx='2.7716500000000002' ixy='0.00428452' ixz='-0.16041900000000001' iyy='2.5100199999999999' iyz='0.0296645' izz='0.52643200000000001'/>
        </inertial>
        <collision name='torso_lift_link_geom' laser_retro='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/torso_v0/torso_lift_L.stl' scale='1 1 1'/>
          </geometry>
          <surface>
            <friction>
              <ode mu='0' mu2='0' fdir1='0 0 0' slip1='0' slip2='0'/>
            </friction>
            <bounce restitution_coefficient='0' threshold='0'/>
            <contact>
              <ode soft_cfm='0' soft_erp='0.20000000000000001' kp='10000000000000' kd='100000000000' max_vel='-1' min_depth='0'/>
            </contact>
          </surface>
        </collision>
        <visual name='old_gazebo_xml_visual' cast_shadows='1' laser_retro='0' transparency='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/torso_v0/torso_lift.dae' scale='1 1 1'/>
          </geometry>
        </visual>
        <sensor name='torso_lift_contact_sensor' type='contact' always_on='0' update_rate='100'>
          <origin pose='0 0 0 0 -0 0'/>
          <contact>
            <collision name='torso_lift_link_geom'/>
          </contact>
          <plugin name='torso_lift_gazebo_ros_bumper_controller' filename='libgazebo_ros_bumper.so'>
            <alwaysOn>1</alwaysOn>
            <updateRate>100.0</updateRate>
            <bumperTopicName>torso_lift_bumper</bumperTopicName>
          </plugin>
        </sensor>
      </link>
      <link name='head_pan_link' gravity='1' self_collide='0' kinematic='0'>
        <origin pose='-0.06707 0 1.17213 0 -0 0'/>
        <inertial mass='6.3390000000000004'>
          <origin pose='0.010907 0.031693 0.090507 0 -0 0'/>
          <inertia ixx='0.032497600000000001' ixy='0.00063604099999999995' ixz='0.00258515' iyy='0.046545599999999999' iyz='-0.0024534299999999999' izz='0.057652700000000001'/>
        </inertial>
        <collision name='head_pan_link_geom' laser_retro='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/head_v0/head_pan_L.stl' scale='1 1 1'/>
          </geometry>
          <surface>
            <friction>
              <ode mu='0' mu2='0' fdir1='0 0 0' slip1='0' slip2='0'/>
            </friction>
            <bounce restitution_coefficient='0' threshold='0'/>
            <contact>
              <ode soft_cfm='0' soft_erp='0.20000000000000001' kp='10000000000000' kd='100000000000' max_vel='-1' min_depth='0'/>
            </contact>
          </surface>
        </collision>
        <visual name='old_gazebo_xml_visual' cast_shadows='1' laser_retro='0' transparency='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/head_v0/head_pan.dae' scale='1 1 1'/>
          </geometry>
        </visual>
      </link>
      <link name='head_tilt_link' gravity='1' self_collide='0' kinematic='0'>
        <origin pose='0.00093 0 1.17213 0 -0 0'/>
        <inertial mass='4.4790000000000001'>
          <origin pose='0.001716 -0.019556 0.055002 0 -0 0'/>
          <inertia ixx='0.0242232' ixy='0.00062063500000000002' ixz='-9.6909699999999998e-05' iyy='0.054723099999999997' iyz='0.0027970199999999999' izz='0.067306400000000002'/>
        </inertial>
        <collision name='head_tilt_link_geom' laser_retro='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/head_v0/head_tilt_L.stl' scale='1 1 1'/>
          </geometry>
          <surface>
            <friction>
              <ode mu='0' mu2='0' fdir1='0 0 0' slip1='0' slip2='0'/>
            </friction>
            <bounce restitution_coefficient='0' threshold='0'/>
            <contact>
              <ode soft_cfm='0' soft_erp='0.20000000000000001' kp='10000000000000' kd='100000000000' max_vel='-1' min_depth='0'/>
            </contact>
          </surface>
        </collision>
        <visual name='old_gazebo_xml_visual' cast_shadows='1' laser_retro='0' transparency='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/head_v0/head_tilt.dae' scale='1 1 1'/>
          </geometry>
        </visual>
      </link>
      <link name='head_plate_frame' gravity='1' self_collide='0' kinematic='0'>
        <origin pose='0.02413 0 1.23663 0 -0 0'/>
        <inertial mass='0.01'>
          <origin pose='0 0 0 0 -0 0'/>
          <inertia ixx='0.001' ixy='0' ixz='0' iyy='0.001' iyz='0' izz='0.001'/>
        </inertial>
        <collision name='head_plate_frame_geom' laser_retro='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <box size='0.01 0.01 0.01'/>
          </geometry>
          <surface>
            <friction>
              <ode mu='0' mu2='0' fdir1='0 0 0' slip1='0' slip2='0'/>
            </friction>
            <bounce restitution_coefficient='0' threshold='0'/>
            <contact>
              <ode soft_cfm='0' soft_erp='0.20000000000000001' kp='10000000000000' kd='100000000000' max_vel='-1' min_depth='0'/>
            </contact>
          </surface>
        </collision>
        <visual name='old_gazebo_xml_visual' cast_shadows='1' laser_retro='0' transparency='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <box size='0.01 0.01 0.01'/>
          </geometry>
          <material script='Gazebo/Grey'/>
        </visual>
      </link>
      <link name='projector_wg6802418_frame' gravity='1' self_collide='0' kinematic='0'>
        <origin pose='0.02413 0.109 1.27163 0 -0 0'/>
        <inertial mass='0.01'>
          <origin pose='0 0 0 0 -0 0'/>
          <inertia ixx='0.001' ixy='0' ixz='0' iyy='0.001' iyz='0' izz='0.001'/>
        </inertial>
      </link>
      <link name='projector_wg6802418_child_frame' gravity='1' self_collide='0' kinematic='0'>
        <origin pose='0.02413 0.109 1.27163 3.14159 -1.10619 3.14159'/>
        <inertial mass='0.01'>
          <origin pose='0 0 0 0 -0 0'/>
          <inertia ixx='0.001' ixy='0' ixz='0' iyy='0.001' iyz='0' izz='0.001'/>
        </inertial>
      </link>
      <link name='sensor_mount_link' gravity='1' self_collide='0' kinematic='0'>
        <origin pose='0.02413 0 1.23663 0 -0 0'/>
        <inertial mass='0.050000000000000003'>
          <origin pose='0 0 0 0 -0 0'/>
          <inertia ixx='0.001' ixy='0' ixz='0' iyy='0.001' iyz='0' izz='0.01'/>
        </inertial>
      </link>
      <link name='double_stereo_link' gravity='1' self_collide='0' kinematic='0'>
        <origin pose='0.02413 0 1.23962 0 -0 0'/>
        <inertial mass='0.10000000000000001'>
          <origin pose='0 0 0 0 -0 0'/>
          <inertia ixx='0.001' ixy='0' ixz='0' iyy='0.001' iyz='0' izz='0.01'/>
        </inertial>
      </link>
      <link name='narrow_stereo_link' gravity='0' self_collide='0' kinematic='0'>
        <origin pose='0.02413 0.06 1.27012 0 -0 0'/>
        <inertial mass='0.10000000000000001'>
          <origin pose='0 0 0 0 -0 0'/>
          <inertia ixx='0.01' ixy='0' ixz='0' iyy='0.01' iyz='0' izz='0.01'/>
        </inertial>
      </link>
      <link name='narrow_stereo_gazebo_l_stereo_camera_frame' gravity='0' self_collide='0' kinematic='0'>
        <origin pose='0.02413 0.06 1.27012 0 -0 0'/>
        <inertial mass='0.01'>
          <origin pose='0 0 0 0 -0 0'/>
          <inertia ixx='0.001' ixy='0' ixz='0' iyy='0.001' iyz='0' izz='0.001'/>
        </inertial>
        <sensor name='narrow_stereo_gazebo_l_stereo_camera_sensor' type='camera' always_on='0' update_rate='25'>
          <origin pose='0 0 0 0 -0 0'/>
          <camera>
            <horizontal_fov angle='0.78539816339744828'/>
            <image width='320' height='240' format='L8'/>
            <clip near='0.10000000000000001' far='100'/>
          </camera>
          <plugin name='narrow_stereo_gazebo_l_stereo_camera_controller' filename='libgazebo_ros_camera.so'>
            <alwaysOn>1</alwaysOn>
            <updateRate>25.0</updateRate>
            <cameraName>narrow_stereo/left</cameraName>
            <imageTopicName>image_raw</imageTopicName>
            <cameraInfoTopicName>camera_info</cameraInfoTopicName>
            <frameName>narrow_stereo_optical_frame</frameName>
            <hackBaseline>0</hackBaseline>
            <CxPrime>320.5</CxPrime>
            <Cx>320.5</Cx>
            <Cy>240.5</Cy>
            <focal_length>772.55</focal_length>
            <distortion_k1>0.0</distortion_k1>
            <distortion_k2>0.0</distortion_k2>
            <distortion_k3>0.0</distortion_k3>
            <distortion_t1>0.0</distortion_t1>
            <distortion_t2>0.0</distortion_t2>
          </plugin>
        </sensor>
      </link>
      <link name='narrow_stereo_gazebo_r_stereo_camera_frame' gravity='0' self_collide='0' kinematic='0'>
        <origin pose='0.02413 -0.03 1.27012 0 -0 0'/>
        <inertial mass='0.01'>
          <origin pose='0 0 0 0 -0 0'/>
          <inertia ixx='0.001' ixy='0' ixz='0' iyy='0.001' iyz='0' izz='0.001'/>
        </inertial>
        <sensor name='narrow_stereo_gazebo_r_stereo_camera_sensor' type='camera' always_on='0' update_rate='25'>
          <origin pose='0 0 0 0 -0 0'/>
          <camera>
            <horizontal_fov angle='0.78539816339744828'/>
            <image width='320' height='240' format='L8'/>
            <clip near='0.10000000000000001' far='100'/>
          </camera>
          <plugin name='narrow_stereo_gazebo_r_stereo_camera_controller' filename='libgazebo_ros_camera.so'>
            <alwaysOn>1</alwaysOn>
            <updateRate>25.0</updateRate>
            <cameraName>narrow_stereo/right</cameraName>
            <imageTopicName>image_raw</imageTopicName>
            <cameraInfoTopicName>camera_info</cameraInfoTopicName>
            <frameName>narrow_stereo_optical_frame</frameName>
            <hackBaseline>0.09</hackBaseline>
            <CxPrime>320.5</CxPrime>
            <Cx>320.5</Cx>
            <Cy>240.5</Cy>
            <focal_length>772.55</focal_length>
            <distortion_k1>0.0</distortion_k1>
            <distortion_k2>0.0</distortion_k2>
            <distortion_k3>0.0</distortion_k3>
            <distortion_t1>0.0</distortion_t1>
            <distortion_t2>0.0</distortion_t2>
          </plugin>
        </sensor>
      </link>
      <link name='wide_stereo_link' gravity='0' self_collide='0' kinematic='0'>
        <origin pose='0.02413 0.03 1.27012 0 -0 0'/>
        <inertial mass='0.10000000000000001'>
          <origin pose='0 0 0 0 -0 0'/>
          <inertia ixx='0.01' ixy='0' ixz='0' iyy='0.01' iyz='0' izz='0.01'/>
        </inertial>
      </link>
      <link name='wide_stereo_gazebo_l_stereo_camera_frame' gravity='0' self_collide='0' kinematic='0'>
        <origin pose='0.02413 0.03 1.27012 0 -0 0'/>
        <inertial mass='0.01'>
          <origin pose='0 0 0 0 -0 0'/>
          <inertia ixx='0.001' ixy='0' ixz='0' iyy='0.001' iyz='0' izz='0.001'/>
        </inertial>
        <sensor name='wide_stereo_gazebo_l_stereo_camera_sensor' type='camera' always_on='0' update_rate='25'>
          <origin pose='0 0 0 0 -0 0'/>
          <camera>
            <horizontal_fov angle='1.5707963267948966'/>
            <image width='320' height='240' format='BAYER_BGGR8'/>
            <clip near='0.10000000000000001' far='100'/>
          </camera>
          <plugin name='wide_stereo_gazebo_l_stereo_camera_controller' filename='libgazebo_ros_camera.so'>
            <alwaysOn>1</alwaysOn>
            <updateRate>25.0</updateRate>
            <cameraName>wide_stereo/left</cameraName>
            <imageTopicName>image_raw</imageTopicName>
            <cameraInfoTopicName>camera_info</cameraInfoTopicName>
            <frameName>wide_stereo_optical_frame</frameName>
            <hackBaseline>0</hackBaseline>
            <CxPrime>320.5</CxPrime>
            <Cx>320.5</Cx>
            <Cy>240.5</Cy>
            <focal_length>320</focal_length>
            <distortion_k1>0.0</distortion_k1>
            <distortion_k2>0.0</distortion_k2>
            <distortion_k3>0.0</distortion_k3>
            <distortion_t1>0.0</distortion_t1>
            <distortion_t2>0.0</distortion_t2>
          </plugin>
        </sensor>
      </link>
      <link name='wide_stereo_gazebo_r_stereo_camera_frame' gravity='0' self_collide='0' kinematic='0'>
        <origin pose='0.02413 -0.06 1.27012 0 -0 0'/>
        <inertial mass='0.01'>
          <origin pose='0 0 0 0 -0 0'/>
          <inertia ixx='0.001' ixy='0' ixz='0' iyy='0.001' iyz='0' izz='0.001'/>
        </inertial>
        <sensor name='wide_stereo_gazebo_r_stereo_camera_sensor' type='camera' always_on='0' update_rate='25'>
          <origin pose='0 0 0 0 -0 0'/>
          <camera>
            <horizontal_fov angle='1.5707963267948966'/>
            <image width='320' height='240' format='BAYER_BGGR8'/>
            <clip near='0.10000000000000001' far='100'/>
          </camera>
          <plugin name='wide_stereo_gazebo_r_stereo_camera_controller' filename='libgazebo_ros_camera.so'>
            <alwaysOn>1</alwaysOn>
            <updateRate>25.0</updateRate>
            <cameraName>wide_stereo/right</cameraName>
            <imageTopicName>image_raw</imageTopicName>
            <cameraInfoTopicName>camera_info</cameraInfoTopicName>
            <frameName>wide_stereo_optical_frame</frameName>
            <hackBaseline>0.09</hackBaseline>
            <CxPrime>320.5</CxPrime>
            <Cx>320.5</Cx>
            <Cy>240.5</Cy>
            <focal_length>320</focal_length>
            <distortion_k1>0.0</distortion_k1>
            <distortion_k2>0.0</distortion_k2>
            <distortion_k3>0.0</distortion_k3>
            <distortion_t1>0.0</distortion_t1>
            <distortion_t2>0.0</distortion_t2>
          </plugin>
        </sensor>
      </link>
      <link name='high_def_frame' gravity='1' self_collide='0' kinematic='0'>
        <origin pose='0.070587 -0.11 1.29123 0 -0 0'/>
        <inertial mass='0.01'>
          <origin pose='0 0 0 0 -0 0'/>
          <inertia ixx='0.001' ixy='0' ixz='0' iyy='0.001' iyz='0' izz='0.001'/>
        </inertial>
        <sensor name='high_def_sensor' type='camera' always_on='0' update_rate='20'>
          <origin pose='0 0 0 0 -0 0'/>
          <camera>
            <horizontal_fov angle='0.78539816339744828'/>
            <image width='320' height='240' format='R8G8B8'/>
            <clip near='0.10000000000000001' far='100'/>
          </camera>
          <plugin name='high_def_controller' filename='libgazebo_ros_prosilica.so'>
            <alwaysOn>1</alwaysOn>
            <updateRate>20.0</updateRate>
            <cameraName>prosilica</cameraName>
            <imageTopicName>image_raw</imageTopicName>
            <cameraInfoTopicName>camera_info</cameraInfoTopicName>
            <pollServiceName>request_image</pollServiceName>
            <frameName>high_def_optical_frame</frameName>
            <CxPrime>1224.5</CxPrime>
            <Cx>1224.5</Cx>
            <Cy>1025.5</Cy>
            <focal_length>2955</focal_length>
            <distortion_k1>0.0</distortion_k1>
            <distortion_k2>0.0</distortion_k2>
            <distortion_k3>0.0</distortion_k3>
            <distortion_t1>0.0</distortion_t1>
            <distortion_t2>0.0</distortion_t2>
          </plugin>
        </sensor>
      </link>
      <link name='high_def_optical_frame' gravity='1' self_collide='0' kinematic='0'>
        <origin pose='0.070587 -0.11 1.29123 -2.03541 5.55112e-17 -2.03541'/>
        <inertial mass='0.01'>
          <origin pose='0 0 0 0 -0 0'/>
          <inertia ixx='0.001' ixy='0' ixz='0' iyy='0.001' iyz='0' izz='0.001'/>
        </inertial>
      </link>
      <link name='imu_link' gravity='1' self_collide='0' kinematic='0'>
        <origin pose='-0.07977 -0.1497 0.954675 -2.21237 -1.18502e-11 -2.21237'/>
        <inertial mass='0.001'>
          <origin pose='0 0 0 0 -0 0'/>
          <inertia ixx='0.0001' ixy='0' ixz='0' iyy='9.9999999999999995e-07' iyz='0' izz='0.0001'/>
        </inertial>
      </link>
      <link name='l_shoulder_pan_link' gravity='0' self_collide='0' kinematic='0'>
        <origin pose='-0.05 0.188 0.790675 0 -0 0'/>
        <inertial mass='25.799299999999999'>
          <origin pose='-0.001201 0.024513 -0.098231 0 -0 0'/>
          <inertia ixx='0.86617900000000003' ixy='-0.060865099999999998' ixz='-0.121181' iyy='0.87421700000000002' iyz='-0.058866099999999998' izz='0.273538'/>
        </inertial>
        <collision name='l_shoulder_pan_link_geom' laser_retro='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/shoulder_v0/shoulder_pan.stl' scale='1 1 1'/>
          </geometry>
          <surface>
            <friction>
              <ode mu='0' mu2='0' fdir1='0 0 0' slip1='0' slip2='0'/>
            </friction>
            <bounce restitution_coefficient='0' threshold='0'/>
            <contact>
              <ode soft_cfm='0' soft_erp='0.20000000000000001' kp='10000000000000' kd='100000000000' max_vel='-1' min_depth='0'/>
            </contact>
          </surface>
        </collision>
        <visual name='old_gazebo_xml_visual' cast_shadows='1' laser_retro='0' transparency='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/shoulder_v0/shoulder_pan.dae' scale='1 1 1'/>
          </geometry>
        </visual>
      </link>
      <link name='l_shoulder_lift_link' gravity='0' self_collide='0' kinematic='0'>
        <origin pose='0.05 0.188 0.790675 0 -0 0'/>
        <inertial mass='2.7498800000000001'>
          <origin pose='0.02195 -0.02664 -0.03127 0 -0 0'/>
          <inertia ixx='0.0210558' ixy='0.0049670399999999998' ixz='-0.00194809' iyy='0.021272200000000002' iyz='0.00110425' izz='0.019757500000000001'/>
        </inertial>
        <collision name='l_shoulder_lift_link_geom' laser_retro='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/shoulder_v0/shoulder_lift.stl' scale='1 1 1'/>
          </geometry>
          <surface>
            <friction>
              <ode mu='0' mu2='0' fdir1='0 0 0' slip1='0' slip2='0'/>
            </friction>
            <bounce restitution_coefficient='0' threshold='0'/>
            <contact>
              <ode soft_cfm='0' soft_erp='0.20000000000000001' kp='10000000000000' kd='100000000000' max_vel='-1' min_depth='0'/>
            </contact>
          </surface>
        </collision>
        <visual name='old_gazebo_xml_visual' cast_shadows='1' laser_retro='0' transparency='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/shoulder_v0/shoulder_lift.dae' scale='1 1 1'/>
          </geometry>
        </visual>
      </link>
      <link name='l_upper_arm_roll_link' gravity='0' self_collide='0' kinematic='0'>
        <origin pose='0.05 0.188 0.790675 0 -0 0'/>
        <inertial mass='0.10000000000000001'>
          <origin pose='0 0 0 0 -0 0'/>
          <inertia ixx='0.01' ixy='0' ixz='0' iyy='0.01' iyz='0' izz='0.01'/>
        </inertial>
        <collision name='l_upper_arm_roll_link_geom' laser_retro='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/shoulder_v0/upper_arm_roll_L.stl' scale='1 1 1'/>
          </geometry>
          <surface>
            <friction>
              <ode mu='0' mu2='0' fdir1='0 0 0' slip1='0' slip2='0'/>
            </friction>
            <bounce restitution_coefficient='0' threshold='0'/>
            <contact>
              <ode soft_cfm='0' soft_erp='0.20000000000000001' kp='10000000000000' kd='100000000000' max_vel='-1' min_depth='0'/>
            </contact>
          </surface>
        </collision>
        <visual name='old_gazebo_xml_visual' cast_shadows='1' laser_retro='0' transparency='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/shoulder_v0/upper_arm_roll.stl' scale='1 1 1'/>
          </geometry>
          <material script='PR2/RollLinks'/>
        </visual>
      </link>
      <link name='l_upper_arm_link' gravity='0' self_collide='0' kinematic='0'>
        <origin pose='0.05 0.188 0.790675 0 -0 0'/>
        <inertial mass='6.01769'>
          <origin pose='0.21405 0.01658 -0.00057 0 -0 0'/>
          <inertia ixx='0.015306' ixy='-0.00339325' ixz='0.00060765500000000002' iyy='0.074736899999999995' iyz='-0.00019953700000000001' izz='0.076015899999999997'/>
        </inertial>
        <collision name='l_upper_arm_link_geom' laser_retro='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/upper_arm_v0/upper_arm.stl' scale='1 1 1'/>
          </geometry>
          <surface>
            <friction>
              <ode mu='0' mu2='0' fdir1='0 0 0' slip1='0' slip2='0'/>
            </friction>
            <bounce restitution_coefficient='0' threshold='0'/>
            <contact>
              <ode soft_cfm='0' soft_erp='0.20000000000000001' kp='10000000000000' kd='100000000000' max_vel='-1' min_depth='0'/>
            </contact>
          </surface>
        </collision>
        <visual name='old_gazebo_xml_visual' cast_shadows='1' laser_retro='0' transparency='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/upper_arm_v0/upper_arm.dae' scale='1 1 1'/>
          </geometry>
        </visual>
      </link>
      <link name='l_elbow_flex_link' gravity='0' self_collide='0' kinematic='0'>
        <origin pose='0.45 0.188 0.790675 0 -0 0'/>
        <inertial mass='1.90327'>
          <origin pose='0.01014 0.00032 -0.01211 0 -0 0'/>
          <inertia ixx='0.0034654199999999999' ixy='4.0668299999999998e-05' ixz='0.00043171600000000001' iyy='0.0044160600000000003' iyz='-3.9689099999999999e-05' izz='0.0035915700000000001'/>
        </inertial>
        <collision name='l_elbow_flex_link_geom' laser_retro='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/upper_arm_v0/elbow_flex.stl' scale='1 1 1'/>
          </geometry>
          <surface>
            <friction>
              <ode mu='0' mu2='0' fdir1='0 0 0' slip1='0' slip2='0'/>
            </friction>
            <bounce restitution_coefficient='0' threshold='0'/>
            <contact>
              <ode soft_cfm='0' soft_erp='0.20000000000000001' kp='10000000000000' kd='100000000000' max_vel='-1' min_depth='0'/>
            </contact>
          </surface>
        </collision>
        <visual name='old_gazebo_xml_visual' cast_shadows='1' laser_retro='0' transparency='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/upper_arm_v0/elbow_flex.dae' scale='1 1 1'/>
          </geometry>
        </visual>
      </link>
      <link name='l_forearm_roll_link' gravity='0' self_collide='0' kinematic='0'>
        <origin pose='0.45 0.188 0.790675 0 -0 0'/>
        <inertial mass='0.10000000000000001'>
          <origin pose='0 0 0 0 -0 0'/>
          <inertia ixx='0.01' ixy='0' ixz='0' iyy='0.01' iyz='0' izz='0.01'/>
        </inertial>
        <collision name='l_forearm_roll_link_geom' laser_retro='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/upper_arm_v0/forearm_roll_L.stl' scale='1 1 1'/>
          </geometry>
          <surface>
            <friction>
              <ode mu='0' mu2='0' fdir1='0 0 0' slip1='0' slip2='0'/>
            </friction>
            <bounce restitution_coefficient='0' threshold='0'/>
            <contact>
              <ode soft_cfm='0' soft_erp='0.20000000000000001' kp='10000000000000' kd='100000000000' max_vel='-1' min_depth='0'/>
            </contact>
          </surface>
        </collision>
        <visual name='old_gazebo_xml_visual' cast_shadows='1' laser_retro='0' transparency='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/upper_arm_v0/forearm_roll.stl' scale='1 1 1'/>
          </geometry>
          <material script='PR2/RollLinks'/>
        </visual>
      </link>
      <link name='l_forearm_cam_frame' gravity='0' self_collide='0' kinematic='0'>
        <origin pose='0.585 0.188 0.834675 -2.03541 -0.834073 0'/>
        <inertial mass='0.01'>
          <origin pose='0 0 0 0 -0 0'/>
          <inertia ixx='0.001' ixy='0' ixz='0' iyy='0.001' iyz='0' izz='0.001'/>
        </inertial>
        <sensor name='l_forearm_cam_sensor' type='camera' always_on='0' update_rate='25'>
          <origin pose='0 0 0 0 -0 0'/>
          <camera>
            <horizontal_fov angle='1.5707963267948966'/>
            <image width='320' height='240' format='R8G8B8'/>
            <clip near='0.10000000000000001' far='100'/>
          </camera>
          <plugin name='l_forearm_cam_controller' filename='libgazebo_ros_camera.so'>
            <alwaysOn>1</alwaysOn>
            <updateRate>25.0</updateRate>
            <cameraName>l_forearm_cam</cameraName>
            <imageTopicName>image_raw</imageTopicName>
            <cameraInfoTopicName>camera_info</cameraInfoTopicName>
            <frameName>l_forearm_cam_optical_frame</frameName>
            <hackBaseline>0</hackBaseline>
            <CxPrime>320.5</CxPrime>
            <Cx>320.5</Cx>
            <Cy>240.5</Cy>
            <focal_length>320</focal_length>
            <distortion_k1>0.0</distortion_k1>
            <distortion_k2>0.0</distortion_k2>
            <distortion_k3>0.0</distortion_k3>
            <distortion_t1>0.0</distortion_t1>
            <distortion_t2>0.0</distortion_t2>
          </plugin>
        </sensor>
      </link>
      <link name='l_forearm_link' gravity='0' self_collide='0' kinematic='0'>
        <origin pose='0.45 0.188 0.790675 0 -0 0'/>
        <inertial mass='2.5796800000000002'>
          <origin pose='0.18791 -0.00017 -0.00912 0 -0 0'/>
          <inertia ixx='0.0036485699999999999' ixy='5.2158799999999999e-05' ixz='0.00071534799999999998' iyy='0.015077399999999999' iyz='-1.31077e-05' izz='0.0165931'/>
        </inertial>
        <collision name='l_forearm_link_geom' laser_retro='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/forearm_v0/forearm.stl' scale='1 1 1'/>
          </geometry>
          <surface>
            <friction>
              <ode mu='0' mu2='0' fdir1='0 0 0' slip1='0' slip2='0'/>
            </friction>
            <bounce restitution_coefficient='0' threshold='0'/>
            <contact>
              <ode soft_cfm='0' soft_erp='0.20000000000000001' kp='10000000000000' kd='100000000000' max_vel='-1' min_depth='0'/>
            </contact>
          </surface>
        </collision>
        <visual name='old_gazebo_xml_visual' cast_shadows='1' laser_retro='0' transparency='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/forearm_v0/forearm.dae' scale='1 1 1'/>
          </geometry>
        </visual>
      </link>
      <link name='l_wrist_flex_link' gravity='0' self_collide='0' kinematic='0'>
        <origin pose='0.771 0.188 0.790675 0 -0 0'/>
        <inertial mass='0.61402000000000001'>
          <origin pose='-0.00157 0 -0.00075 0 -0 0'/>
          <inertia ixx='0.00065165700000000004' ixy='2.8864000000000002e-07' ixz='3.0347700000000002e-06' iyy='0.00019824400000000001' iyz='-2.2644999999999999e-07' izz='0.00064450499999999997'/>
        </inertial>
        <collision name='l_wrist_flex_link_geom' laser_retro='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/forearm_v0/wrist_flex.stl' scale='1 1 1'/>
          </geometry>
          <surface>
            <friction>
              <ode mu='0' mu2='0' fdir1='0 0 0' slip1='0' slip2='0'/>
            </friction>
            <bounce restitution_coefficient='0' threshold='0'/>
            <contact>
              <ode soft_cfm='0' soft_erp='0.20000000000000001' kp='10000000000000' kd='100000000000' max_vel='-1' min_depth='0'/>
            </contact>
          </surface>
        </collision>
        <visual name='old_gazebo_xml_visual' cast_shadows='1' laser_retro='0' transparency='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/forearm_v0/wrist_flex.dae' scale='1 1 1'/>
          </geometry>
        </visual>
      </link>
      <link name='l_wrist_roll_link' gravity='0' self_collide='0' kinematic='0'>
        <origin pose='0.771 0.188 0.790675 0 -0 0'/>
        <inertial mass='0.10000000000000001'>
          <origin pose='0 0 0 0 -0 0'/>
          <inertia ixx='0.01' ixy='0' ixz='0' iyy='0.01' iyz='0' izz='0.01'/>
        </inertial>
        <collision name='l_wrist_roll_link_geom' laser_retro='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/forearm_v0/wrist_roll_L.stl' scale='1 1 1'/>
          </geometry>
          <surface>
            <friction>
              <ode mu='0' mu2='0' fdir1='0 0 0' slip1='0' slip2='0'/>
            </friction>
            <bounce restitution_coefficient='0' threshold='0'/>
            <contact>
              <ode soft_cfm='0' soft_erp='0.20000000000000001' kp='10000000000000' kd='100000000000' max_vel='-1' min_depth='0'/>
            </contact>
          </surface>
        </collision>
        <visual name='old_gazebo_xml_visual' cast_shadows='1' laser_retro='0' transparency='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/forearm_v0/wrist_roll.stl' scale='1 1 1'/>
          </geometry>
          <material script='PR2/RollLinks'/>
        </visual>
      </link>
      <link name='l_gripper_palm_link' gravity='0' self_collide='0' kinematic='0'>
        <origin pose='0.771 0.188 0.790675 0 -0 0'/>
        <inertial mass='0.58006999999999997'>
          <origin pose='0.06623 0.00053 -0.00119 0 -0 0'/>
          <inertia ixx='0.00035223900000000001' ixy='-1.5804800000000002e-05' ixz='-9.175e-07' iyy='0.00067741299999999997' iyz='-5.9554e-07' izz='0.00086563299999999998'/>
        </inertial>
        <collision name='l_gripper_palm_link_geom' laser_retro='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/gripper_v0/gripper_palm.stl' scale='1 1 1'/>
          </geometry>
          <surface>
            <friction>
              <ode mu='0' mu2='0' fdir1='0 0 0' slip1='0' slip2='0'/>
            </friction>
            <bounce restitution_coefficient='0' threshold='0'/>
            <contact>
              <ode soft_cfm='0' soft_erp='0.20000000000000001' kp='10000000000000' kd='100000000000' max_vel='-1' min_depth='0'/>
            </contact>
          </surface>
        </collision>
        <visual name='old_gazebo_xml_visual' cast_shadows='1' laser_retro='0' transparency='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/gripper_v0/gripper_palm.dae' scale='1 1 1'/>
          </geometry>
        </visual>
      </link>
      <link name='l_gripper_l_finger_link' gravity='0' self_collide='0' kinematic='0'>
        <origin pose='0.84791 0.198 0.790675 0 -0 0'/>
        <inertial mass='0.17126'>
          <origin pose='0.03598 0.0173 -0.00164 0 -0 0'/>
          <inertia ixx='7.7562e-05' ixy='1.4909500000000001e-06' ixz='-9.8338500000000007e-06' iyy='0.000197083' iyz='-3.0612500000000001e-06' izz='0.00018105399999999999'/>
        </inertial>
        <collision name='l_gripper_l_finger_link_geom' laser_retro='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/gripper_v0/l_finger.stl' scale='1 1 1'/>
          </geometry>
          <surface>
            <friction>
              <ode mu='500' mu2='500' fdir1='0 0 0' slip1='0' slip2='0'/>
            </friction>
            <bounce restitution_coefficient='0' threshold='0'/>
            <contact>
              <ode soft_cfm='0' soft_erp='0.20000000000000001' kp='1000000' kd='1' max_vel='-1' min_depth='0'/>
            </contact>
          </surface>
        </collision>
        <visual name='old_gazebo_xml_visual' cast_shadows='1' laser_retro='0' transparency='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/gripper_v0/l_finger.dae' scale='1 1 1'/>
          </geometry>
        </visual>
      </link>
      <link name='l_gripper_l_finger_tip_link' gravity='0' self_collide='0' kinematic='0'>
        <origin pose='0.93928 0.20295 0.790675 0 -0 0'/>
        <inertial mass='0.04419'>
          <origin pose='0.00423 0.00284 0 0 -0 0'/>
          <inertia ixx='8.3704700000000002e-06' ixy='5.8363200000000001e-06' ixz='0' iyy='9.8706699999999998e-06' iyz='0' izz='1.54177e-05'/>
        </inertial>
        <collision name='l_gripper_l_finger_tip_link_geom' laser_retro='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/gripper_v0/l_finger_tip.stl' scale='1 1 1'/>
          </geometry>
          <surface>
            <friction>
              <ode mu='500' mu2='500' fdir1='0 0 0' slip1='0' slip2='0'/>
            </friction>
            <bounce restitution_coefficient='0' threshold='0'/>
            <contact>
              <ode soft_cfm='0' soft_erp='0.20000000000000001' kp='10000000' kd='1' max_vel='-1' min_depth='0'/>
            </contact>
          </surface>
        </collision>
        <visual name='old_gazebo_xml_visual' cast_shadows='1' laser_retro='0' transparency='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/gripper_v0/l_finger_tip.dae' scale='1 1 1'/>
          </geometry>
        </visual>
        <sensor name='l_gripper_l_finger_tip_contact_sensor' type='contact' always_on='0' update_rate='100'>
          <origin pose='0 0 0 0 -0 0'/>
          <contact>
            <collision name='l_gripper_l_finger_tip_link_geom'/>
          </contact>
          <plugin name='l_gripper_l_finger_tip_gazebo_ros_bumper_controller' filename='libgazebo_ros_bumper.so'>
            <alwaysOn>1</alwaysOn>
            <frameName>l_gripper_l_finger_tip_link</frameName>
            <updateRate>100.0</updateRate>
            <bumperTopicName>l_gripper_l_finger_tip_bumper</bumperTopicName>
          </plugin>
        </sensor>
      </link>
      <link name='l_gripper_motor_accelerometer_link' gravity='1' self_collide='0' kinematic='0'>
        <origin pose='0.771 0.188 0.790675 0 -0 0'/>
        <inertial mass='0.001'>
          <origin pose='0 0 0 0 -0 0'/>
          <inertia ixx='0.001' ixy='0' ixz='0' iyy='0.001' iyz='0' izz='0.001'/>
        </inertial>
        <collision name='l_gripper_motor_accelerometer_link_geom' laser_retro='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <box size='0.001 0.001 0.001'/>
          </geometry>
          <surface>
            <friction>
              <ode mu='0' mu2='0' fdir1='0 0 0' slip1='0' slip2='0'/>
            </friction>
            <bounce restitution_coefficient='0' threshold='0'/>
            <contact>
              <ode soft_cfm='0' soft_erp='0.20000000000000001' kp='10000000000000' kd='100000000000' max_vel='-1' min_depth='0'/>
            </contact>
          </surface>
        </collision>
        <visual name='old_gazebo_xml_visual' cast_shadows='1' laser_retro='0' transparency='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <box size='0.001 0.001 0.001'/>
          </geometry>
        </visual>
      </link>
      <link name='l_gripper_motor_slider_link' gravity='1' self_collide='0' kinematic='0'>
        <origin pose='0.93928 0.188 0.790675 0 -0 0'/>
        <inertial mass='0.01'>
          <origin pose='0 0 0 0 -0 0'/>
          <inertia ixx='0.001' ixy='0' ixz='0' iyy='0.001' iyz='0' izz='0.001'/>
        </inertial>
      </link>
      <link name='l_gripper_motor_screw_link' gravity='1' self_collide='0' kinematic='0'>
        <origin pose='0.93928 0.188 0.790675 0 -0 0'/>
        <inertial mass='0.01'>
          <origin pose='0 0 0 0 -0 0'/>
          <inertia ixx='0.0001' ixy='0' ixz='0' iyy='0.0001' iyz='0' izz='0.0001'/>
        </inertial>
      </link>
      <link name='l_gripper_r_finger_link' gravity='0' self_collide='0' kinematic='0'>
        <origin pose='0.84791 0.178 0.790675 0 -0 0'/>
        <inertial mass='0.17388999999999999'>
          <origin pose='0.03576 -0.01736 -0.00095 0 -0 0'/>
          <inertia ixx='7.7384099999999997e-05' ixy='-2.0930900000000001e-06' ixz='-8.3622799999999998e-06' iyy='0.000198474' iyz='2.4611e-06' izz='0.00018107'/>
        </inertial>
        <collision name='l_gripper_r_finger_link_geom' laser_retro='0'>
          <origin pose='0 0 0 2.21237 -0 0'/>
          <geometry>
            <mesh filename='pr2/gripper_v0/l_finger.stl' scale='1 1 1'/>
          </geometry>
          <surface>
            <friction>
              <ode mu='500' mu2='500' fdir1='0 0 0' slip1='0' slip2='0'/>
            </friction>
            <bounce restitution_coefficient='0' threshold='0'/>
            <contact>
              <ode soft_cfm='0' soft_erp='0.20000000000000001' kp='1000000' kd='1' max_vel='-1' min_depth='0'/>
            </contact>
          </surface>
        </collision>
        <visual name='old_gazebo_xml_visual' cast_shadows='1' laser_retro='0' transparency='0'>
          <origin pose='0 0 0 2.21237 -0 0'/>
          <geometry>
            <mesh filename='pr2/gripper_v0/l_finger.dae' scale='1 1 1'/>
          </geometry>
        </visual>
      </link>
      <link name='l_gripper_r_finger_tip_link' gravity='0' self_collide='0' kinematic='0'>
        <origin pose='0.93928 0.17305 0.790675 0 -0 0'/>
        <inertial mass='0.04419'>
          <origin pose='0.00423 -0.00284 0 0 -0 0'/>
          <inertia ixx='8.3704700000000002e-06' ixy='-5.8363200000000001e-06' ixz='0' iyy='9.8706699999999998e-06' iyz='0' izz='1.54177e-05'/>
        </inertial>
        <collision name='l_gripper_r_finger_tip_link_geom' laser_retro='0'>
          <origin pose='0 0 0 2.21237 -0 0'/>
          <geometry>
            <mesh filename='pr2/gripper_v0/l_finger_tip.stl' scale='1 1 1'/>
          </geometry>
          <surface>
            <friction>
              <ode mu='500' mu2='500' fdir1='0 0 0' slip1='0' slip2='0'/>
            </friction>
            <bounce restitution_coefficient='0' threshold='0'/>
            <contact>
              <ode soft_cfm='0' soft_erp='0.20000000000000001' kp='10000000' kd='1' max_vel='-1' min_depth='0'/>
            </contact>
          </surface>
        </collision>
        <visual name='old_gazebo_xml_visual' cast_shadows='1' laser_retro='0' transparency='0'>
          <origin pose='0 0 0 2.21237 -0 0'/>
          <geometry>
            <mesh filename='pr2/gripper_v0/l_finger_tip.dae' scale='1 1 1'/>
          </geometry>
        </visual>
        <sensor name='l_gripper_r_finger_tip_contact_sensor' type='contact' always_on='0' update_rate='100'>
          <origin pose='0 0 0 0 -0 0'/>
          <contact>
            <collision name='l_gripper_r_finger_tip_link_geom'/>
          </contact>
          <plugin name='l_gripper_r_finger_tip_gazebo_ros_bumper_controller' filename='libgazebo_ros_bumper.so'>
            <alwaysOn>1</alwaysOn>
            <frameName>l_gripper_r_finger_tip_link</frameName>
            <updateRate>100.0</updateRate>
            <bumperTopicName>l_gripper_r_finger_tip_bumper</bumperTopicName>
          </plugin>
        </sensor>
      </link>
      <link name='l_torso_lift_side_plate_link' gravity='1' self_collide='0' kinematic='0'>
        <origin pose='0.0035 0.209285 0.9673 0 -0 0'/>
        <inertial mass='0.10000000000000001'>
          <origin pose='-0.0625 0 0.05 0 -0 0'/>
          <inertia ixx='0.001' ixy='0' ixz='0' iyy='0.001' iyz='0' izz='0.001'/>
        </inertial>
      </link>
      <link name='laser_tilt_mount_link' gravity='1' self_collide='0' kinematic='0'>
        <origin pose='0.04893 0 1.01768 0 -0 0'/>
        <inertial mass='0.59099999999999997'>
          <origin pose='-0.001136 0.00167 -0.00713 0 -0 0'/>
          <inertia ixx='0.00119527' ixy='2.3087000000000001e-05' ixz='3.7466999999999999e-05' iyy='0.0010839599999999999' iyz='3.4906000000000001e-05' izz='0.00079501400000000003'/>
        </inertial>
        <collision name='laser_tilt_mount_link_geom' laser_retro='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/tilting_laser_v0/tilting_hokuyo_L.stl' scale='1 1 1'/>
          </geometry>
          <surface>
            <friction>
              <ode mu='0' mu2='0' fdir1='0 0 0' slip1='0' slip2='0'/>
            </friction>
            <bounce restitution_coefficient='0' threshold='0'/>
            <contact>
              <ode soft_cfm='0' soft_erp='0.20000000000000001' kp='10000000000000' kd='100000000000' max_vel='-1' min_depth='0'/>
            </contact>
          </surface>
        </collision>
        <visual name='old_gazebo_xml_visual' cast_shadows='1' laser_retro='0' transparency='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/tilting_laser_v0/tilting_hokuyo.dae' scale='1 1 1'/>
          </geometry>
        </visual>
      </link>
      <link name='laser_tilt_link' gravity='1' self_collide='0' kinematic='0'>
        <origin pose='0.04893 0 1.04768 0 -0 0'/>
        <inertial mass='0.001'>
          <origin pose='0 0 0 0 -0 0'/>
          <inertia ixx='0.0001' ixy='0' ixz='0' iyy='9.9999999999999995e-07' iyz='0' izz='0.0001'/>
        </inertial>
        <sensor name='laser_tilt' type='ray' always_on='0' update_rate='40'>
          <origin pose='0 0 0 0 -0 0'/>
          <ray>
            <scan display='1'>
              <horizontal samples='640' resolution='1' min_angle='-1.3962634000002327' max_angle='1.3962634000002327'/>
            </scan>
            <range min='0.080000000000000002' max='10' resolution='0.01'/>
          </ray>
          <plugin name='gazebo_ros_laser_tilt_controller' filename='libgazebo_ros_laser.so'>
            <gaussianNoise>0.005</gaussianNoise>
            <alwaysOn>1</alwaysOn>
            <updateRate>40</updateRate>
            <topicName>tilt_scan</topicName>
            <frameName>laser_tilt_link</frameName>
          </plugin>
        </sensor>
      </link>
      <link name='r_shoulder_pan_link' gravity='0' self_collide='0' kinematic='0'>
        <origin pose='-0.05 -0.188 0.790675 0 -0 0'/>
        <inertial mass='25.799299999999999'>
          <origin pose='-0.001201 0.024513 -0.098231 0 -0 0'/>
          <inertia ixx='0.86617900000000003' ixy='-0.060865099999999998' ixz='-0.121181' iyy='0.87421700000000002' iyz='-0.058866099999999998' izz='0.273538'/>
        </inertial>
        <collision name='r_shoulder_pan_link_geom' laser_retro='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/shoulder_v0/shoulder_pan.stl' scale='1 1 1'/>
          </geometry>
          <surface>
            <friction>
              <ode mu='0' mu2='0' fdir1='0 0 0' slip1='0' slip2='0'/>
            </friction>
            <bounce restitution_coefficient='0' threshold='0'/>
            <contact>
              <ode soft_cfm='0' soft_erp='0.20000000000000001' kp='10000000000000' kd='100000000000' max_vel='-1' min_depth='0'/>
            </contact>
          </surface>
        </collision>
        <visual name='old_gazebo_xml_visual' cast_shadows='1' laser_retro='0' transparency='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/shoulder_v0/shoulder_pan.dae' scale='1 1 1'/>
          </geometry>
        </visual>
      </link>
      <link name='r_shoulder_lift_link' gravity='0' self_collide='0' kinematic='0'>
        <origin pose='0.05 -0.188 0.790675 0 -0 0'/>
        <inertial mass='2.7498800000000001'>
          <origin pose='0.02195 -0.02664 -0.03127 0 -0 0'/>
          <inertia ixx='0.0210558' ixy='0.0049670399999999998' ixz='-0.00194809' iyy='0.021272200000000002' iyz='0.00110425' izz='0.019757500000000001'/>
        </inertial>
        <collision name='r_shoulder_lift_link_geom' laser_retro='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/shoulder_v0/shoulder_lift.stl' scale='1 1 1'/>
          </geometry>
          <surface>
            <friction>
              <ode mu='0' mu2='0' fdir1='0 0 0' slip1='0' slip2='0'/>
            </friction>
            <bounce restitution_coefficient='0' threshold='0'/>
            <contact>
              <ode soft_cfm='0' soft_erp='0.20000000000000001' kp='10000000000000' kd='100000000000' max_vel='-1' min_depth='0'/>
            </contact>
          </surface>
        </collision>
        <visual name='old_gazebo_xml_visual' cast_shadows='1' laser_retro='0' transparency='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/shoulder_v0/shoulder_lift.dae' scale='1 1 1'/>
          </geometry>
        </visual>
      </link>
      <link name='r_upper_arm_roll_link' gravity='0' self_collide='0' kinematic='0'>
        <origin pose='0.05 -0.188 0.790675 0 -0 0'/>
        <inertial mass='0.10000000000000001'>
          <origin pose='0 0 0 0 -0 0'/>
          <inertia ixx='0.01' ixy='0' ixz='0' iyy='0.01' iyz='0' izz='0.01'/>
        </inertial>
        <collision name='r_upper_arm_roll_link_geom' laser_retro='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/shoulder_v0/upper_arm_roll_L.stl' scale='1 1 1'/>
          </geometry>
          <surface>
            <friction>
              <ode mu='0' mu2='0' fdir1='0 0 0' slip1='0' slip2='0'/>
            </friction>
            <bounce restitution_coefficient='0' threshold='0'/>
            <contact>
              <ode soft_cfm='0' soft_erp='0.20000000000000001' kp='10000000000000' kd='100000000000' max_vel='-1' min_depth='0'/>
            </contact>
          </surface>
        </collision>
        <visual name='old_gazebo_xml_visual' cast_shadows='1' laser_retro='0' transparency='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/shoulder_v0/upper_arm_roll.stl' scale='1 1 1'/>
          </geometry>
          <material script='PR2/RollLinks'/>
        </visual>
      </link>
      <link name='r_upper_arm_link' gravity='0' self_collide='0' kinematic='0'>
        <origin pose='0.05 -0.188 0.790675 0 -0 0'/>
        <inertial mass='6.01769'>
          <origin pose='0.21398 -0.01621 -0.0002 0 -0 0'/>
          <inertia ixx='0.015377500000000001' ixy='0.0037571100000000001' ixz='-0.00070852899999999995' iyy='0.074736700000000003' iyz='-0.00017936499999999999' izz='0.076087600000000005'/>
        </inertial>
        <collision name='r_upper_arm_link_geom' laser_retro='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/upper_arm_v0/upper_arm.stl' scale='1 1 1'/>
          </geometry>
          <surface>
            <friction>
              <ode mu='0' mu2='0' fdir1='0 0 0' slip1='0' slip2='0'/>
            </friction>
            <bounce restitution_coefficient='0' threshold='0'/>
            <contact>
              <ode soft_cfm='0' soft_erp='0.20000000000000001' kp='10000000000000' kd='100000000000' max_vel='-1' min_depth='0'/>
            </contact>
          </surface>
        </collision>
        <visual name='old_gazebo_xml_visual' cast_shadows='1' laser_retro='0' transparency='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/upper_arm_v0/upper_arm.dae' scale='1 1 1'/>
          </geometry>
        </visual>
      </link>
      <link name='r_elbow_flex_link' gravity='0' self_collide='0' kinematic='0'>
        <origin pose='0.45 -0.188 0.790675 0 -0 0'/>
        <inertial mass='1.90327'>
          <origin pose='0.01014 0.00032 -0.01211 0 -0 0'/>
          <inertia ixx='0.0034654199999999999' ixy='4.0668299999999998e-05' ixz='0.00043171600000000001' iyy='0.0044160600000000003' iyz='-3.9689099999999999e-05' izz='0.0035915700000000001'/>
        </inertial>
        <collision name='r_elbow_flex_link_geom' laser_retro='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/upper_arm_v0/elbow_flex.stl' scale='1 1 1'/>
          </geometry>
          <surface>
            <friction>
              <ode mu='0' mu2='0' fdir1='0 0 0' slip1='0' slip2='0'/>
            </friction>
            <bounce restitution_coefficient='0' threshold='0'/>
            <contact>
              <ode soft_cfm='0' soft_erp='0.20000000000000001' kp='10000000000000' kd='100000000000' max_vel='-1' min_depth='0'/>
            </contact>
          </surface>
        </collision>
        <visual name='old_gazebo_xml_visual' cast_shadows='1' laser_retro='0' transparency='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/upper_arm_v0/elbow_flex.dae' scale='1 1 1'/>
          </geometry>
        </visual>
      </link>
      <link name='r_forearm_roll_link' gravity='0' self_collide='0' kinematic='0'>
        <origin pose='0.45 -0.188 0.790675 0 -0 0'/>
        <inertial mass='0.10000000000000001'>
          <origin pose='0 0 0 0 -0 0'/>
          <inertia ixx='0.01' ixy='0' ixz='0' iyy='0.01' iyz='0' izz='0.01'/>
        </inertial>
        <collision name='r_forearm_roll_link_geom' laser_retro='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/upper_arm_v0/forearm_roll_L.stl' scale='1 1 1'/>
          </geometry>
          <surface>
            <friction>
              <ode mu='0' mu2='0' fdir1='0 0 0' slip1='0' slip2='0'/>
            </friction>
            <bounce restitution_coefficient='0' threshold='0'/>
            <contact>
              <ode soft_cfm='0' soft_erp='0.20000000000000001' kp='10000000000000' kd='100000000000' max_vel='-1' min_depth='0'/>
            </contact>
          </surface>
        </collision>
        <visual name='old_gazebo_xml_visual' cast_shadows='1' laser_retro='0' transparency='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/upper_arm_v0/forearm_roll.stl' scale='1 1 1'/>
          </geometry>
          <material script='PR2/RollLinks'/>
        </visual>
      </link>
      <link name='r_forearm_cam_frame' gravity='0' self_collide='0' kinematic='0'>
        <origin pose='0.585 -0.188 0.834675 2.03541 -0.834073 0'/>
        <inertial mass='0.01'>
          <origin pose='0 0 0 0 -0 0'/>
          <inertia ixx='0.001' ixy='0' ixz='0' iyy='0.001' iyz='0' izz='0.001'/>
        </inertial>
        <sensor name='r_forearm_cam_sensor' type='camera' always_on='0' update_rate='25'>
          <origin pose='0 0 0 0 -0 0'/>
          <camera>
            <horizontal_fov angle='1.5707963267948966'/>
            <image width='320' height='240' format='R8G8B8'/>
            <clip near='0.10000000000000001' far='100'/>
          </camera>
          <plugin name='r_forearm_cam_controller' filename='libgazebo_ros_camera.so'>
            <alwaysOn>1</alwaysOn>
            <updateRate>25.0</updateRate>
            <cameraName>r_forearm_cam</cameraName>
            <imageTopicName>image_raw</imageTopicName>
            <cameraInfoTopicName>camera_info</cameraInfoTopicName>
            <frameName>r_forearm_cam_optical_frame</frameName>
            <hackBaseline>0</hackBaseline>
            <CxPrime>320.5</CxPrime>
            <Cx>320.5</Cx>
            <Cy>240.5</Cy>
            <focal_length>320</focal_length>
            <distortion_k1>0.0</distortion_k1>
            <distortion_k2>0.0</distortion_k2>
            <distortion_k3>0.0</distortion_k3>
            <distortion_t1>0.0</distortion_t1>
            <distortion_t2>0.0</distortion_t2>
          </plugin>
        </sensor>
      </link>
      <link name='r_forearm_link' gravity='0' self_collide='0' kinematic='0'>
        <origin pose='0.45 -0.188 0.790675 0 -0 0'/>
        <inertial mass='2.5796800000000002'>
          <origin pose='0.18791 -0.00017 -0.00912 0 -0 0'/>
          <inertia ixx='0.0036485699999999999' ixy='5.2158799999999999e-05' ixz='0.00071534799999999998' iyy='0.015077399999999999' iyz='-1.31077e-05' izz='0.0165931'/>
        </inertial>
        <collision name='r_forearm_link_geom' laser_retro='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/forearm_v0/forearm.stl' scale='1 1 1'/>
          </geometry>
          <surface>
            <friction>
              <ode mu='0' mu2='0' fdir1='0 0 0' slip1='0' slip2='0'/>
            </friction>
            <bounce restitution_coefficient='0' threshold='0'/>
            <contact>
              <ode soft_cfm='0' soft_erp='0.20000000000000001' kp='10000000000000' kd='100000000000' max_vel='-1' min_depth='0'/>
            </contact>
          </surface>
        </collision>
        <visual name='old_gazebo_xml_visual' cast_shadows='1' laser_retro='0' transparency='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/forearm_v0/forearm.dae' scale='1 1 1'/>
          </geometry>
        </visual>
      </link>
      <link name='r_wrist_flex_link' gravity='0' self_collide='0' kinematic='0'>
        <origin pose='0.771 -0.188 0.790675 0 -0 0'/>
        <inertial mass='0.61402000000000001'>
          <origin pose='-0.00157 0 -0.00075 0 -0 0'/>
          <inertia ixx='0.00065165700000000004' ixy='2.8864000000000002e-07' ixz='3.0347700000000002e-06' iyy='0.00019824400000000001' iyz='-2.2644999999999999e-07' izz='0.00064450499999999997'/>
        </inertial>
        <collision name='r_wrist_flex_link_geom' laser_retro='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/forearm_v0/wrist_flex.stl' scale='1 1 1'/>
          </geometry>
          <surface>
            <friction>
              <ode mu='0' mu2='0' fdir1='0 0 0' slip1='0' slip2='0'/>
            </friction>
            <bounce restitution_coefficient='0' threshold='0'/>
            <contact>
              <ode soft_cfm='0' soft_erp='0.20000000000000001' kp='10000000000000' kd='100000000000' max_vel='-1' min_depth='0'/>
            </contact>
          </surface>
        </collision>
        <visual name='old_gazebo_xml_visual' cast_shadows='1' laser_retro='0' transparency='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/forearm_v0/wrist_flex.dae' scale='1 1 1'/>
          </geometry>
        </visual>
      </link>
      <link name='r_wrist_roll_link' gravity='0' self_collide='0' kinematic='0'>
        <origin pose='0.771 -0.188 0.790675 0 -0 0'/>
        <inertial mass='0.10000000000000001'>
          <origin pose='0 0 0 0 -0 0'/>
          <inertia ixx='0.01' ixy='0' ixz='0' iyy='0.01' iyz='0' izz='0.01'/>
        </inertial>
        <collision name='r_wrist_roll_link_geom' laser_retro='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/forearm_v0/wrist_roll_L.stl' scale='1 1 1'/>
          </geometry>
          <surface>
            <friction>
              <ode mu='0' mu2='0' fdir1='0 0 0' slip1='0' slip2='0'/>
            </friction>
            <bounce restitution_coefficient='0' threshold='0'/>
            <contact>
              <ode soft_cfm='0' soft_erp='0.20000000000000001' kp='10000000000000' kd='100000000000' max_vel='-1' min_depth='0'/>
            </contact>
          </surface>
        </collision>
        <visual name='old_gazebo_xml_visual' cast_shadows='1' laser_retro='0' transparency='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/forearm_v0/wrist_roll.stl' scale='1 1 1'/>
          </geometry>
          <material script='PR2/RollLinks'/>
        </visual>
      </link>
      <link name='r_gripper_palm_link' gravity='0' self_collide='0' kinematic='0'>
        <origin pose='0.771 -0.188 0.790675 0 -0 0'/>
        <inertial mass='0.58006999999999997'>
          <origin pose='0.06623 0.00053 -0.00119 0 -0 0'/>
          <inertia ixx='0.00035223900000000001' ixy='-1.5804800000000002e-05' ixz='-9.175e-07' iyy='0.00067741299999999997' iyz='-5.9554e-07' izz='0.00086563299999999998'/>
        </inertial>
        <collision name='r_gripper_palm_link_geom' laser_retro='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/gripper_v0/gripper_palm.stl' scale='1 1 1'/>
          </geometry>
          <surface>
            <friction>
              <ode mu='0' mu2='0' fdir1='0 0 0' slip1='0' slip2='0'/>
            </friction>
            <bounce restitution_coefficient='0' threshold='0'/>
            <contact>
              <ode soft_cfm='0' soft_erp='0.20000000000000001' kp='10000000000000' kd='100000000000' max_vel='-1' min_depth='0'/>
            </contact>
          </surface>
        </collision>
        <visual name='old_gazebo_xml_visual' cast_shadows='1' laser_retro='0' transparency='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/gripper_v0/gripper_palm.dae' scale='1 1 1'/>
          </geometry>
        </visual>
      </link>
      <link name='r_gripper_l_finger_link' gravity='0' self_collide='0' kinematic='0'>
        <origin pose='0.84791 -0.178 0.790675 0 -0 0'/>
        <inertial mass='0.17126'>
          <origin pose='0.03598 0.0173 -0.00164 0 -0 0'/>
          <inertia ixx='7.7562e-05' ixy='1.4909500000000001e-06' ixz='-9.8338500000000007e-06' iyy='0.000197083' iyz='-3.0612500000000001e-06' izz='0.00018105399999999999'/>
        </inertial>
        <collision name='r_gripper_l_finger_link_geom' laser_retro='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/gripper_v0/l_finger.stl' scale='1 1 1'/>
          </geometry>
          <surface>
            <friction>
              <ode mu='500' mu2='500' fdir1='0 0 0' slip1='0' slip2='0'/>
            </friction>
            <bounce restitution_coefficient='0' threshold='0'/>
            <contact>
              <ode soft_cfm='0' soft_erp='0.20000000000000001' kp='1000000' kd='1' max_vel='-1' min_depth='0'/>
            </contact>
          </surface>
        </collision>
        <visual name='old_gazebo_xml_visual' cast_shadows='1' laser_retro='0' transparency='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/gripper_v0/l_finger.dae' scale='1 1 1'/>
          </geometry>
        </visual>
      </link>
      <link name='r_gripper_l_finger_tip_link' gravity='0' self_collide='0' kinematic='0'>
        <origin pose='0.93928 -0.17305 0.790675 0 -0 0'/>
        <inertial mass='0.04419'>
          <origin pose='0.00423 0.00284 0 0 -0 0'/>
          <inertia ixx='8.3704700000000002e-06' ixy='5.8363200000000001e-06' ixz='0' iyy='9.8706699999999998e-06' iyz='0' izz='1.54177e-05'/>
        </inertial>
        <collision name='r_gripper_l_finger_tip_link_geom' laser_retro='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/gripper_v0/l_finger_tip.stl' scale='1 1 1'/>
          </geometry>
          <surface>
            <friction>
              <ode mu='500' mu2='500' fdir1='0 0 0' slip1='0' slip2='0'/>
            </friction>
            <bounce restitution_coefficient='0' threshold='0'/>
            <contact>
              <ode soft_cfm='0' soft_erp='0.20000000000000001' kp='10000000' kd='1' max_vel='-1' min_depth='0'/>
            </contact>
          </surface>
        </collision>
        <visual name='old_gazebo_xml_visual' cast_shadows='1' laser_retro='0' transparency='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <mesh filename='pr2/gripper_v0/l_finger_tip.dae' scale='1 1 1'/>
          </geometry>
        </visual>
        <sensor name='r_gripper_l_finger_tip_contact_sensor' type='contact' always_on='0' update_rate='100'>
          <origin pose='0 0 0 0 -0 0'/>
          <contact>
            <collision name='r_gripper_l_finger_tip_link_geom'/>
          </contact>
          <plugin name='r_gripper_l_finger_tip_gazebo_ros_bumper_controller' filename='libgazebo_ros_bumper.so'>
            <alwaysOn>1</alwaysOn>
            <frameName>r_gripper_l_finger_tip_link</frameName>
            <updateRate>100.0</updateRate>
            <bumperTopicName>r_gripper_l_finger_tip_bumper</bumperTopicName>
          </plugin>
        </sensor>
      </link>
      <link name='r_gripper_motor_accelerometer_link' gravity='1' self_collide='0' kinematic='0'>
        <origin pose='0.771 -0.188 0.790675 0 -0 0'/>
        <inertial mass='0.001'>
          <origin pose='0 0 0 0 -0 0'/>
          <inertia ixx='0.001' ixy='0' ixz='0' iyy='0.001' iyz='0' izz='0.001'/>
        </inertial>
        <collision name='r_gripper_motor_accelerometer_link_geom' laser_retro='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <box size='0.001 0.001 0.001'/>
          </geometry>
          <surface>
            <friction>
              <ode mu='0' mu2='0' fdir1='0 0 0' slip1='0' slip2='0'/>
            </friction>
            <bounce restitution_coefficient='0' threshold='0'/>
            <contact>
              <ode soft_cfm='0' soft_erp='0.20000000000000001' kp='10000000000000' kd='100000000000' max_vel='-1' min_depth='0'/>
            </contact>
          </surface>
        </collision>
        <visual name='old_gazebo_xml_visual' cast_shadows='1' laser_retro='0' transparency='0'>
          <origin pose='0 0 0 0 -0 0'/>
          <geometry>
            <box size='0.001 0.001 0.001'/>
          </geometry>
        </visual>
      </link>
      <link name='r_gripper_motor_slider_link' gravity='1' self_collide='0' kinematic='0'>
        <origin pose='0.93928 -0.188 0.790675 0 -0 0'/>
        <inertial mass='0.01'>
          <origin pose='0 0 0 0 -0 0'/>
          <inertia ixx='0.001' ixy='0' ixz='0' iyy='0.001' iyz='0' izz='0.001'/>
        </inertial>
      </link>
      <link name='r_gripper_motor_screw_link' gravity='1' self_collide='0' kinematic='0'>
        <origin pose='0.93928 -0.188 0.790675 0 -0 0'/>
        <inertial mass='0.01'>
          <origin pose='0 0 0 0 -0 0'/>
          <inertia ixx='0.0001' ixy='0' ixz='0' iyy='0.0001' iyz='0' izz='0.0001'/>
        </inertial>
      </link>
      <link name='r_gripper_r_finger_link' gravity='0' self_collide='0' kinematic='0'>
        <origin pose='0.84791 -0.198 0.790675 0 -0 0'/>
        <inertial mass='0.17388999999999999'>
          <origin pose='0.03576 -0.01736 -0.00095 0 -0 0'/>
          <inertia ixx='7.7384099999999997e-05' ixy='-2.0930900000000001e-06' ixz='-8.3622799999999998e-06' iyy='0.000198474' iyz='2.4611e-06' izz='0.00018107'/>
        </inertial>
        <collision name='r_gripper_r_finger_link_geom' laser_retro='0'>
          <origin pose='0 0 0 2.21237 -0 0'/>
          <geometry>
            <mesh filename='pr2/gripper_v0/l_finger.stl' scale='1 1 1'/>
          </geometry>
          <surface>
            <friction>
              <ode mu='500' mu2='500' fdir1='0 0 0' slip1='0' slip2='0'/>
            </friction>
            <bounce restitution_coefficient='0' threshold='0'/>
            <contact>
              <ode soft_cfm='0' soft_erp='0.20000000000000001' kp='1000000' kd='1' max_vel='-1' min_depth='0'/>
            </contact>
          </surface>
        </collision>
        <visual name='old_gazebo_xml_visual' cast_shadows='1' laser_retro='0' transparency='0'>
          <origin pose='0 0 0 2.21237 -0 0'/>
          <geometry>
            <mesh filename='pr2/gripper_v0/l_finger.dae' scale='1 1 1'/>
          </geometry>
        </visual>
      </link>
      <link name='r_gripper_r_finger_tip_link' gravity='0' self_collide='0' kinematic='0'>
        <origin pose='0.93928 -0.20295 0.790675 0 -0 0'/>
        <inertial mass='0.04419'>
          <origin pose='0.00423 -0.00284 0 0 -0 0'/>
          <inertia ixx='8.3704700000000002e-06' ixy='-5.8363200000000001e-06' ixz='0' iyy='9.8706699999999998e-06' iyz='0' izz='1.54177e-05'/>
        </inertial>
        <collision name='r_gripper_r_finger_tip_link_geom' laser_retro='0'>
          <origin pose='0 0 0 2.21237 -0 0'/>
          <geometry>
            <mesh filename='pr2/gripper_v0/l_finger_tip.stl' scale='1 1 1'/>
          </geometry>
          <surface>
            <friction>
              <ode mu='500' mu2='500' fdir1='0 0 0' slip1='0' slip2='0'/>
            </friction>
            <bounce restitution_coefficient='0' threshold='0'/>
            <contact>
              <ode soft_cfm='0' soft_erp='0.20000000000000001' kp='10000000' kd='1' max_vel='-1' min_depth='0'/>
            </contact>
          </surface>
        </collision>
        <visual name='old_gazebo_xml_visual' cast_shadows='1' laser_retro='0' transparency='0'>
          <origin pose='0 0 0 2.21237 -0 0'/>
          <geometry>
            <mesh filename='pr2/gripper_v0/l_finger_tip.dae' scale='1 1 1'/>
          </geometry>
        </visual>
        <sensor name='r_gripper_r_finger_tip_contact_sensor' type='contact' always_on='0' update_rate='100'>
          <origin pose='0 0 0 0 -0 0'/>
          <contact>
            <collision name='r_gripper_r_finger_tip_link_geom'/>
          </contact>
          <plugin name='r_gripper_r_finger_tip_gazebo_ros_bumper_controller' filename='libgazebo_ros_bumper.so'>
            <alwaysOn>1</alwaysOn>
            <frameName>r_gripper_r_finger_tip_link</frameName>
            <updateRate>100.0</updateRate>
            <bumperTopicName>r_gripper_r_finger_tip_bumper</bumperTopicName>
          </plugin>
        </sensor>
      </link>
      <link name='r_torso_lift_side_plate_link' gravity='1' self_collide='0' kinematic='0'>
        <origin pose='0.0035 -0.209285 0.9673 0 -0 0'/>
        <inertial mass='0.10000000000000001'>
          <origin pose='-0.0625 0 0.05 0 -0 0'/>
          <inertia ixx='0.001' ixy='0' ixz='0' iyy='0.001' iyz='0' izz='0.001'/>
        </inertial>
      </link>
      <link name='torso_lift_motor_screw_link' gravity='1' self_collide='0' kinematic='0'>
        <origin pose='-0.15 0 0.751 0 -0 0'/>
        <inertial mass='1'>
          <origin pose='0 0 0 0 -0 0'/>
          <inertia ixx='0.001' ixy='0' ixz='0' iyy='0.001' iyz='0' izz='0.001'/>
        </inertial>
      </link>
      <link name='r_gripper_l_parallel_link' gravity='0' self_collide='0' kinematic='0'>
        <origin pose='0.82991 -0.157 0.790675 0 -0 0'/>
        <inertial mass='0.17126'>
          <origin pose='0.03598 0.0173 -0.00164 0 -0 0'/>
          <inertia ixx='7.7562e-05' ixy='1.4909500000000001e-06' ixz='-9.8338500000000007e-06' iyy='0.000197083' iyz='-3.0612500000000001e-06' izz='0.00018105399999999999'/>
        </inertial>
      </link>
      <link name='r_gripper_r_parallel_link' gravity='0' self_collide='0' kinematic='0'>
        <origin pose='0.82991 -0.219 0.790675 0 -0 0'/>
        <inertial mass='0.17388999999999999'>
          <origin pose='0.03576 -0.01736 -0.00095 0 -0 0'/>
          <inertia ixx='7.7384099999999997e-05' ixy='-2.0930900000000001e-06' ixz='-8.3622799999999998e-06' iyy='0.000198474' iyz='2.4611e-06' izz='0.00018107'/>
        </inertial>
      </link>
      <link name='l_gripper_l_parallel_link' gravity='0' self_collide='0' kinematic='0'>
        <origin pose='0.82991 0.219 0.790675 0 -0 0'/>
        <inertial mass='0.17126'>
          <origin pose='0.03598 0.0173 -0.00164 0 -0 0'/>
          <inertia ixx='7.7562e-05' ixy='1.4909500000000001e-06' ixz='-9.8338500000000007e-06' iyy='0.000197083' iyz='-3.0612500000000001e-06' izz='0.00018105399999999999'/>
        </inertial>
      </link>
      <link name='l_gripper_r_parallel_link' gravity='0' self_collide='0' kinematic='0'>
        <origin pose='0.82991 0.157 0.790675 0 -0 0'/>
        <inertial mass='0.17388999999999999'>
          <origin pose='0.03576 -0.01736 -0.00095 0 -0 0'/>
          <inertia ixx='7.7384099999999997e-05' ixy='-2.0930900000000001e-06' ixz='-8.3622799999999998e-06' iyy='0.000198474' iyz='2.4611e-06' izz='0.00018107'/>
        </inertial>
      </link>
      <joint name='base_footprint_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='base_footprint'/>
        <child link='base_link'/>
        <axis xyz='0 0 1'>
          <dynamics damping='0' friction='0'/>
          <limit lower='0' upper='0' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='base_bellow_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='base_link'/>
        <child link='base_bellow_link'/>
        <axis xyz='0 0 1'>
          <dynamics damping='0' friction='0'/>
          <limit lower='0' upper='0' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='base_laser_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='base_link'/>
        <child link='base_laser_link'/>
        <axis xyz='0 0 1'>
          <dynamics damping='0' friction='0'/>
          <limit lower='0' upper='0' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='bl_caster_rotation_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='base_link'/>
        <child link='bl_caster_rotation_link'/>
        <axis xyz='0 0 1'>
          <dynamics damping='0' friction='0'/>
          <limit lower='-10000000000000000' upper='10000000000000000' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='bl_caster_l_wheel_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='bl_caster_rotation_link'/>
        <child link='bl_caster_l_wheel_link'/>
        <axis xyz='0 1 0'>
          <dynamics damping='0' friction='0'/>
          <limit lower='-10000000000000000' upper='10000000000000000' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='bl_caster_r_wheel_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='bl_caster_rotation_link'/>
        <child link='bl_caster_r_wheel_link'/>
        <axis xyz='0 1 0'>
          <dynamics damping='0' friction='0'/>
          <limit lower='-10000000000000000' upper='10000000000000000' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='br_caster_rotation_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='base_link'/>
        <child link='br_caster_rotation_link'/>
        <axis xyz='0 0 1'>
          <dynamics damping='0' friction='0'/>
          <limit lower='-10000000000000000' upper='10000000000000000' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='br_caster_l_wheel_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='br_caster_rotation_link'/>
        <child link='br_caster_l_wheel_link'/>
        <axis xyz='0 1 0'>
          <dynamics damping='0' friction='0'/>
          <limit lower='-10000000000000000' upper='10000000000000000' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='br_caster_r_wheel_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='br_caster_rotation_link'/>
        <child link='br_caster_r_wheel_link'/>
        <axis xyz='0 1 0'>
          <dynamics damping='0' friction='0'/>
          <limit lower='-10000000000000000' upper='10000000000000000' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='fl_caster_rotation_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='base_link'/>
        <child link='fl_caster_rotation_link'/>
        <axis xyz='0 0 1'>
          <dynamics damping='0' friction='0'/>
          <limit lower='-10000000000000000' upper='10000000000000000' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='fl_caster_l_wheel_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='fl_caster_rotation_link'/>
        <child link='fl_caster_l_wheel_link'/>
        <axis xyz='0 1 0'>
          <dynamics damping='0' friction='0'/>
          <limit lower='-10000000000000000' upper='10000000000000000' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='fl_caster_r_wheel_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='fl_caster_rotation_link'/>
        <child link='fl_caster_r_wheel_link'/>
        <axis xyz='0 1 0'>
          <dynamics damping='0' friction='0'/>
          <limit lower='-10000000000000000' upper='10000000000000000' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='fr_caster_rotation_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='base_link'/>
        <child link='fr_caster_rotation_link'/>
        <axis xyz='0 0 1'>
          <dynamics damping='0' friction='0'/>
          <limit lower='-10000000000000000' upper='10000000000000000' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='fr_caster_l_wheel_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='fr_caster_rotation_link'/>
        <child link='fr_caster_l_wheel_link'/>
        <axis xyz='0 1 0'>
          <dynamics damping='0' friction='0'/>
          <limit lower='-10000000000000000' upper='10000000000000000' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='fr_caster_r_wheel_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='fr_caster_rotation_link'/>
        <child link='fr_caster_r_wheel_link'/>
        <axis xyz='0 1 0'>
          <dynamics damping='0' friction='0'/>
          <limit lower='-10000000000000000' upper='10000000000000000' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='torso_lift_joint' type='prismatic'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='base_link'/>
        <child link='torso_lift_link'/>
        <axis xyz='0 0 1'>
          <dynamics damping='20000' friction='0'/>
          <limit lower='0' upper='0.33000000000000002' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='head_pan_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='torso_lift_link'/>
        <child link='head_pan_link'/>
        <axis xyz='0 0 1'>
          <dynamics damping='1' friction='0'/>
          <limit lower='-3.0069928616759904' upper='3.0069928616759904' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='head_tilt_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='head_pan_link'/>
        <child link='head_tilt_link'/>
        <axis xyz='0 1 0'>
          <dynamics damping='1' friction='0'/>
          <limit lower='-0.47123715270921696' upper='1.3962599109369596' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='head_plate_frame_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='head_tilt_link'/>
        <child link='head_plate_frame'/>
        <axis xyz='0 0 1'>
          <dynamics damping='0' friction='0'/>
          <limit lower='0' upper='0' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='projector_wg6802418_frame_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='head_plate_frame'/>
        <child link='projector_wg6802418_frame'/>
        <axis xyz='0 0 1'>
          <dynamics damping='0' friction='0'/>
          <limit lower='0' upper='0' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='projector_wg6802418_child_frame_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='projector_wg6802418_frame'/>
        <child link='projector_wg6802418_child_frame'/>
        <axis xyz='0 0 1'>
          <dynamics damping='0' friction='0'/>
          <limit lower='0' upper='0' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='sensor_mount_frame_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='head_plate_frame'/>
        <child link='sensor_mount_link'/>
        <axis xyz='0 0 1'>
          <dynamics damping='0' friction='0'/>
          <limit lower='0' upper='0' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='double_stereo_frame_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='sensor_mount_link'/>
        <child link='double_stereo_link'/>
        <axis xyz='0 0 1'>
          <dynamics damping='0' friction='0'/>
          <limit lower='0' upper='0' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='narrow_stereo_frame_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='double_stereo_link'/>
        <child link='narrow_stereo_link'/>
        <axis xyz='0 0 1'>
          <dynamics damping='0' friction='0'/>
          <limit lower='0' upper='0' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='narrow_stereo_gazebo_l_stereo_camera_frame_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='narrow_stereo_link'/>
        <child link='narrow_stereo_gazebo_l_stereo_camera_frame'/>
        <axis xyz='0 0 1'>
          <dynamics damping='0' friction='0'/>
          <limit lower='0' upper='0' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='narrow_stereo_gazebo_r_stereo_camera_frame_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='narrow_stereo_gazebo_l_stereo_camera_frame'/>
        <child link='narrow_stereo_gazebo_r_stereo_camera_frame'/>
        <axis xyz='0 0 1'>
          <dynamics damping='0' friction='0'/>
          <limit lower='0' upper='0' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='wide_stereo_frame_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='double_stereo_link'/>
        <child link='wide_stereo_link'/>
        <axis xyz='0 0 1'>
          <dynamics damping='0' friction='0'/>
          <limit lower='0' upper='0' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='wide_stereo_gazebo_l_stereo_camera_frame_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='wide_stereo_link'/>
        <child link='wide_stereo_gazebo_l_stereo_camera_frame'/>
        <axis xyz='0 0 1'>
          <dynamics damping='0' friction='0'/>
          <limit lower='0' upper='0' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='wide_stereo_gazebo_r_stereo_camera_frame_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='wide_stereo_gazebo_l_stereo_camera_frame'/>
        <child link='wide_stereo_gazebo_r_stereo_camera_frame'/>
        <axis xyz='0 0 1'>
          <dynamics damping='0' friction='0'/>
          <limit lower='0' upper='0' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='high_def_frame_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='sensor_mount_link'/>
        <child link='high_def_frame'/>
        <axis xyz='0 0 1'>
          <dynamics damping='0' friction='0'/>
          <limit lower='0' upper='0' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='high_def_optical_frame_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='high_def_frame'/>
        <child link='high_def_optical_frame'/>
        <axis xyz='0 0 1'>
          <dynamics damping='0' friction='0'/>
          <limit lower='0' upper='0' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='imu_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='torso_lift_link'/>
        <child link='imu_link'/>
        <axis xyz='0 0 1'>
          <dynamics damping='0' friction='0'/>
          <limit lower='0' upper='0' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='l_shoulder_pan_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='torso_lift_link'/>
        <child link='l_shoulder_pan_link'/>
        <axis xyz='0 0 1'>
          <dynamics damping='10' friction='0'/>
          <limit lower='-0.71460237294880236' upper='2.2854039357314546' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='l_shoulder_lift_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='l_shoulder_pan_link'/>
        <child link='l_shoulder_lift_link'/>
        <axis xyz='0 1 0'>
          <dynamics damping='10' friction='0'/>
          <limit lower='-0.52360052092755083' upper='1.3963000535097554' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='l_upper_arm_roll_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='l_shoulder_lift_link'/>
        <child link='l_upper_arm_roll_link'/>
        <axis xyz='1 0 0'>
          <dynamics damping='0.10000000000000001' friction='0'/>
          <limit lower='-0.79999958791963277' upper='3.9000080267514092' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='l_upper_arm_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='l_upper_arm_roll_link'/>
        <child link='l_upper_arm_link'/>
        <axis xyz='0 0 1'>
          <dynamics damping='0' friction='0'/>
          <limit lower='0' upper='0' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='l_elbow_flex_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='l_upper_arm_link'/>
        <child link='l_elbow_flex_link'/>
        <axis xyz='0 1 0'>
          <dynamics damping='1' friction='0'/>
          <limit lower='-2.3213053584449783' upper='0' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='l_forearm_roll_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='l_elbow_flex_link'/>
        <child link='l_forearm_roll_link'/>
        <axis xyz='1 0 0'>
          <dynamics damping='0.10000000000000001' friction='0'/>
          <limit lower='-10000000000000000' upper='10000000000000000' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='l_forearm_cam_frame_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='l_forearm_roll_link'/>
        <child link='l_forearm_cam_frame'/>
        <axis xyz='0 0 1'>
          <dynamics damping='0' friction='0'/>
          <limit lower='0' upper='0' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='l_forearm_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='l_forearm_roll_link'/>
        <child link='l_forearm_link'/>
        <axis xyz='0 0 1'>
          <dynamics damping='0' friction='0'/>
          <limit lower='0' upper='0' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='l_wrist_flex_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='l_forearm_link'/>
        <child link='l_wrist_flex_link'/>
        <axis xyz='0 1 0'>
          <dynamics damping='0.10000000000000001' friction='0'/>
          <limit lower='-2.1800035022035171' upper='0' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='l_wrist_roll_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='l_wrist_flex_link'/>
        <child link='l_wrist_roll_link'/>
        <axis xyz='1 0 0'>
          <dynamics damping='0.10000000000000001' friction='0'/>
          <limit lower='-10000000000000000' upper='10000000000000000' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='l_gripper_palm_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='l_wrist_roll_link'/>
        <child link='l_gripper_palm_link'/>
        <axis xyz='0 0 1'>
          <dynamics damping='0' friction='0'/>
          <limit lower='0' upper='0' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='l_gripper_l_finger_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='l_gripper_palm_link'/>
        <child link='l_gripper_l_finger_link'/>
        <axis xyz='0 0 1'>
          <dynamics damping='0.02' friction='0'/>
          <limit lower='0' upper='0.54800022387043157' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='l_gripper_l_finger_tip_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='l_gripper_l_finger_link'/>
        <child link='l_gripper_l_finger_tip_link'/>
        <axis xyz='0 0 -1'>
          <dynamics damping='0.001' friction='0'/>
          <limit lower='0' upper='0.54800022387043157' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='l_gripper_motor_accelerometer_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='l_gripper_palm_link'/>
        <child link='l_gripper_motor_accelerometer_link'/>
        <axis xyz='0 0 1'>
          <dynamics damping='0' friction='0'/>
          <limit lower='0' upper='0' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='l_gripper_motor_slider_joint' type='prismatic'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='l_gripper_palm_link'/>
        <child link='l_gripper_motor_slider_link'/>
        <axis xyz='1 0 0'>
          <dynamics damping='0' friction='0'/>
          <limit lower='-0.10000000000000001' upper='0.10000000000000001' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='l_gripper_motor_screw_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='l_gripper_motor_slider_link'/>
        <child link='l_gripper_motor_screw_link'/>
        <axis xyz='0 1 0'>
          <dynamics damping='0.0001' friction='0'/>
          <limit lower='-10000000000000000' upper='10000000000000000' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='l_gripper_r_finger_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='l_gripper_palm_link'/>
        <child link='l_gripper_r_finger_link'/>
        <axis xyz='0 0 -1'>
          <dynamics damping='0.02' friction='0'/>
          <limit lower='0' upper='0.54800022387043157' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='l_gripper_r_finger_tip_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='l_gripper_r_finger_link'/>
        <child link='l_gripper_r_finger_tip_link'/>
        <axis xyz='0 0 1'>
          <dynamics damping='0.001' friction='0'/>
          <limit lower='0' upper='0.54800022387043157' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='l_torso_lift_side_plate_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='torso_lift_link'/>
        <child link='l_torso_lift_side_plate_link'/>
        <axis xyz='0 0 1'>
          <dynamics damping='0' friction='0'/>
          <limit lower='0' upper='0' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='laser_tilt_mount_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='torso_lift_link'/>
        <child link='laser_tilt_mount_link'/>
        <axis xyz='0 1 0'>
          <dynamics damping='0.0080000000000000002' friction='0'/>
          <limit lower='-0.7853999087267004' upper='1.4835298641951802' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='laser_tilt_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='laser_tilt_mount_link'/>
        <child link='laser_tilt_link'/>
        <axis xyz='0 0 1'>
          <dynamics damping='0' friction='0'/>
          <limit lower='0' upper='0' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='r_shoulder_pan_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='torso_lift_link'/>
        <child link='r_shoulder_pan_link'/>
        <axis xyz='0 0 1'>
          <dynamics damping='10' friction='0'/>
          <limit lower='-2.2854039357314546' upper='0.71460237294880236' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='r_shoulder_lift_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='r_shoulder_pan_link'/>
        <child link='r_shoulder_lift_link'/>
        <axis xyz='0 1 0'>
          <dynamics damping='10' friction='0'/>
          <limit lower='-0.52360052092755083' upper='1.3963000535097554' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='r_upper_arm_roll_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='r_shoulder_lift_link'/>
        <child link='r_upper_arm_roll_link'/>
        <axis xyz='1 0 0'>
          <dynamics damping='0.10000000000000001' friction='0'/>
          <limit lower='-3.9000080267514092' upper='0.79999958791963277' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='r_upper_arm_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='r_upper_arm_roll_link'/>
        <child link='r_upper_arm_link'/>
        <axis xyz='0 0 1'>
          <dynamics damping='0' friction='0'/>
          <limit lower='0' upper='0' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='r_elbow_flex_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='r_upper_arm_link'/>
        <child link='r_elbow_flex_link'/>
        <axis xyz='0 1 0'>
          <dynamics damping='1' friction='0'/>
          <limit lower='-2.3213053584449783' upper='0' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='r_forearm_roll_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='r_elbow_flex_link'/>
        <child link='r_forearm_roll_link'/>
        <axis xyz='1 0 0'>
          <dynamics damping='0.10000000000000001' friction='0'/>
          <limit lower='-10000000000000000' upper='10000000000000000' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='r_forearm_cam_frame_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='r_forearm_roll_link'/>
        <child link='r_forearm_cam_frame'/>
        <axis xyz='0 0 1'>
          <dynamics damping='0' friction='0'/>
          <limit lower='0' upper='0' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='r_forearm_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='r_forearm_roll_link'/>
        <child link='r_forearm_link'/>
        <axis xyz='0 0 1'>
          <dynamics damping='0' friction='0'/>
          <limit lower='0' upper='0' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='r_wrist_flex_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='r_forearm_link'/>
        <child link='r_wrist_flex_link'/>
        <axis xyz='0 1 0'>
          <dynamics damping='0.10000000000000001' friction='0'/>
          <limit lower='-2.1800035022035171' upper='0' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='r_wrist_roll_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='r_wrist_flex_link'/>
        <child link='r_wrist_roll_link'/>
        <axis xyz='1 0 0'>
          <dynamics damping='0.10000000000000001' friction='0'/>
          <limit lower='-10000000000000000' upper='10000000000000000' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='r_gripper_palm_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='r_wrist_roll_link'/>
        <child link='r_gripper_palm_link'/>
        <axis xyz='0 0 1'>
          <dynamics damping='0' friction='0'/>
          <limit lower='0' upper='0' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='r_gripper_l_finger_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='r_gripper_palm_link'/>
        <child link='r_gripper_l_finger_link'/>
        <axis xyz='0 0 1'>
          <dynamics damping='0.02' friction='0'/>
          <limit lower='0' upper='0.54800022387043157' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='r_gripper_l_finger_tip_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='r_gripper_l_finger_link'/>
        <child link='r_gripper_l_finger_tip_link'/>
        <axis xyz='0 0 -1'>
          <dynamics damping='0.001' friction='0'/>
          <limit lower='0' upper='0.54800022387043157' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='r_gripper_motor_accelerometer_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='r_gripper_palm_link'/>
        <child link='r_gripper_motor_accelerometer_link'/>
        <axis xyz='0 0 1'>
          <dynamics damping='0' friction='0'/>
          <limit lower='0' upper='0' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='r_gripper_motor_slider_joint' type='prismatic'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='r_gripper_palm_link'/>
        <child link='r_gripper_motor_slider_link'/>
        <axis xyz='1 0 0'>
          <dynamics damping='0' friction='0'/>
          <limit lower='-0.10000000000000001' upper='0.10000000000000001' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='r_gripper_motor_screw_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='r_gripper_motor_slider_link'/>
        <child link='r_gripper_motor_screw_link'/>
        <axis xyz='0 1 0'>
          <dynamics damping='0.0001' friction='0'/>
          <limit lower='-10000000000000000' upper='10000000000000000' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='r_gripper_r_finger_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='r_gripper_palm_link'/>
        <child link='r_gripper_r_finger_link'/>
        <axis xyz='0 0 -1'>
          <dynamics damping='0.02' friction='0'/>
          <limit lower='0' upper='0.54800022387043157' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='r_gripper_r_finger_tip_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='r_gripper_r_finger_link'/>
        <child link='r_gripper_r_finger_tip_link'/>
        <axis xyz='0 0 1'>
          <dynamics damping='0.001' friction='0'/>
          <limit lower='0' upper='0.54800022387043157' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='r_torso_lift_side_plate_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='torso_lift_link'/>
        <child link='r_torso_lift_side_plate_link'/>
        <axis xyz='0 0 1'>
          <dynamics damping='0' friction='0'/>
          <limit lower='0' upper='0' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='torso_lift_motor_screw_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='base_link'/>
        <child link='torso_lift_motor_screw_link'/>
        <axis xyz='0 0 1'>
          <dynamics damping='0.0001' friction='0'/>
          <limit lower='-10000000000000000' upper='10000000000000000' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='torso_lift_screw_torso_lift_joint' type='screw'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='torso_lift_link'/>
        <child link='torso_lift_motor_screw_link'/>
        <thread_pitch>3141.5999999999999</thread_pitch>
        <axis xyz='0 0 1'>
          <dynamics damping='0' friction='0'/>
          <limit lower='-10000000000000000' upper='10000000000000000' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='r_gripper_r_screw_screw_joint' type='screw'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='r_gripper_motor_screw_link'/>
        <child link='r_gripper_r_finger_tip_link'/>
        <thread_pitch>-3141.5999999999999</thread_pitch>
        <axis xyz='0 1 0'>
          <dynamics damping='0' friction='0'/>
          <limit lower='-10000000000000000' upper='10000000000000000' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='r_gripper_l_screw_screw_joint' type='screw'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='r_gripper_motor_screw_link'/>
        <child link='r_gripper_l_finger_tip_link'/>
        <thread_pitch>3141.5999999999999</thread_pitch>
        <axis xyz='0 1 0'>
          <dynamics damping='0' friction='0'/>
          <limit lower='-10000000000000000' upper='10000000000000000' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='r_gripper_r_parallel_root_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='r_gripper_r_parallel_link'/>
        <child link='r_gripper_palm_link'/>
        <axis xyz='0 0 -1'>
          <dynamics damping='0.20000000000000001' friction='0'/>
          <limit lower='-10000000000000000' upper='10000000000000000' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='r_gripper_l_parallel_root_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='r_gripper_l_parallel_link'/>
        <child link='r_gripper_palm_link'/>
        <axis xyz='0 0 1'>
          <dynamics damping='0.20000000000000001' friction='0'/>
          <limit lower='-10000000000000000' upper='10000000000000000' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='r_gripper_r_parallel_tip_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='r_gripper_r_parallel_link'/>
        <child link='r_gripper_r_finger_tip_link'/>
        <axis xyz='0 0 1'>
          <dynamics damping='0' friction='0'/>
          <limit lower='-10000000000000000' upper='10000000000000000' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='r_gripper_l_parallel_tip_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='r_gripper_l_parallel_link'/>
        <child link='r_gripper_l_finger_tip_link'/>
        <axis xyz='0 0 1'>
          <dynamics damping='0' friction='0'/>
          <limit lower='-10000000000000000' upper='10000000000000000' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='r_gripper_joint' type='prismatic'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='r_gripper_l_finger_tip_link'/>
        <child link='r_gripper_r_finger_tip_link'/>
        <axis xyz='0 1 0'>
          <dynamics damping='0' friction='0'/>
          <limit lower='-10000000000000000' upper='10000000000000000' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='l_gripper_r_screw_screw_joint' type='screw'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='l_gripper_motor_screw_link'/>
        <child link='l_gripper_r_finger_tip_link'/>
        <thread_pitch>-3141.5999999999999</thread_pitch>
        <axis xyz='0 1 0'>
          <dynamics damping='0' friction='0'/>
          <limit lower='-10000000000000000' upper='10000000000000000' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='l_gripper_l_screw_screw_joint' type='screw'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='l_gripper_motor_screw_link'/>
        <child link='l_gripper_l_finger_tip_link'/>
        <thread_pitch>3141.5999999999999</thread_pitch>
        <axis xyz='0 1 0'>
          <dynamics damping='0' friction='0'/>
          <limit lower='-10000000000000000' upper='10000000000000000' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='l_gripper_r_parallel_root_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='l_gripper_r_parallel_link'/>
        <child link='l_gripper_palm_link'/>
        <axis xyz='0 0 -1'>
          <dynamics damping='0.20000000000000001' friction='0'/>
          <limit lower='-10000000000000000' upper='10000000000000000' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='l_gripper_l_parallel_root_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='l_gripper_l_parallel_link'/>
        <child link='l_gripper_palm_link'/>
        <axis xyz='0 0 1'>
          <dynamics damping='0.20000000000000001' friction='0'/>
          <limit lower='-10000000000000000' upper='10000000000000000' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='l_gripper_r_parallel_tip_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='l_gripper_r_parallel_link'/>
        <child link='l_gripper_r_finger_tip_link'/>
        <axis xyz='0 0 1'>
          <dynamics damping='0' friction='0'/>
          <limit lower='-10000000000000000' upper='10000000000000000' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='l_gripper_l_parallel_tip_joint' type='revolute'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='l_gripper_l_parallel_link'/>
        <child link='l_gripper_l_finger_tip_link'/>
        <axis xyz='0 0 1'>
          <dynamics damping='0' friction='0'/>
          <limit lower='-10000000000000000' upper='10000000000000000' effort='0' velocity='0'/>
        </axis>
      </joint>
      <joint name='l_gripper_joint' type='prismatic'>
        <origin pose='0 0 0 0 -0 0'/>
        <parent link='l_gripper_l_finger_tip_link'/>
        <child link='l_gripper_r_finger_tip_link'/>
        <axis xyz='0 1 0'>
          <dynamics damping='0' friction='0'/>
          <limit lower='-10000000000000000' upper='10000000000000000' effort='0' velocity='0'/>
        </axis>
      </joint>
      <plugin name='gazebo_ros_controller_manager' filename='libgazebo_ros_controller_manager.so'>
        <alwaysOn>1</alwaysOn>
        <updateRate>1000.0</updateRate>
      </plugin>
      <plugin name='gazebo_ros_power_monitor_controller' filename='libgazebo_ros_power_monitor.so'>
        <alwaysOn>1</alwaysOn>
        <updateRate>1.0</updateRate>
        <timeout>5</timeout>
        <powerStateTopic>power_state</powerStateTopic>
        <powerStateRate>10.0</powerStateRate>
        <fullChargeCapacity>87.78</fullChargeCapacity>
        <dischargeRate>-474</dischargeRate>
        <chargeRate>525</chargeRate>
        <dischargeVoltage>15.52</dischargeVoltage>
        <chargeVoltage>16.41</chargeVoltage>
      </plugin>
      <plugin name='p3d_base_controller' filename='libgazebo_ros_p3d.so'>
        <alwaysOn>1</alwaysOn>
        <updateRate>100.0</updateRate>
        <bodyName>base_link</bodyName>
        <topicName>base_pose_ground_truth</topicName>
        <gaussianNoise>0.01</gaussianNoise>
        <frameName>map</frameName>
        <xyzOffsets>25.7 25.7 0</xyzOffsets>
        <rpyOffsets>0 0 0</rpyOffsets>
      </plugin>
      <plugin name='imu_controller' filename='libgazebo_ros_imu.so'>
        <alwaysOn>1</alwaysOn>
        <updateRate>100.0</updateRate>
        <bodyName>imu_link</bodyName>
        <topicName>torso_lift_imu/data</topicName>
        <gaussianNoise>2.89e-08</gaussianNoise>
        <xyzOffsets>0 0 0</xyzOffsets>
        <rpyOffsets>0 0 0</rpyOffsets>
      </plugin>
      <plugin name='p3d_r_gripper_l_finger_controller' filename='libgazebo_ros_p3d.so'>
        <alwaysOn>1</alwaysOn>
        <updateRate>100.0</updateRate>
        <bodyName>r_gripper_l_finger_link</bodyName>
        <topicName>r_gripper_l_finger_pose_ground_truth</topicName>
        <gaussianNoise>0.0</gaussianNoise>
        <frameName>base_link</frameName>
      </plugin>
      <plugin name='f3d_r_gripper_l_finger_controller' filename='libgazebo_ros_f3d.so'>
        <alwaysOn>1</alwaysOn>
        <updateRate>100.0</updateRate>
        <bodyName>r_gripper_l_finger_link</bodyName>
        <topicName>r_gripper_l_finger_force_ground_truth</topicName>
        <frameName>r_gripper_l_finger_link</frameName>
      </plugin>
      <plugin name='p3d_r_gripper_palm_controller' filename='libgazebo_ros_p3d.so'>
        <alwaysOn>1</alwaysOn>
        <updateRate>100.0</updateRate>
        <bodyName>r_gripper_palm_link</bodyName>
        <topicName>r_gripper_palm_pose_ground_truth</topicName>
        <xyzOffsets>0 0 0</xyzOffsets>
        <rpyOffsets>0 0 0</rpyOffsets>
        <gaussianNoise>0.0</gaussianNoise>
        <frameName>map</frameName>
      </plugin>
      <plugin name='p3d_l_gripper_l_finger_controller' filename='libgazebo_ros_p3d.so'>
        <alwaysOn>1</alwaysOn>
        <updateRate>100.0</updateRate>
        <bodyName>l_gripper_l_finger_link</bodyName>
        <topicName>l_gripper_l_finger_pose_ground_truth</topicName>
        <gaussianNoise>0.0</gaussianNoise>
        <frameName>base_link</frameName>
      </plugin>
      <plugin name='f3d_l_gripper_l_finger_controller' filename='libgazebo_ros_f3d.so'>
        <alwaysOn>1</alwaysOn>
        <updateRate>100.0</updateRate>
        <bodyName>l_gripper_l_finger_link</bodyName>
        <topicName>l_gripper_l_finger_force_ground_truth</topicName>
        <frameName>l_gripper_l_finger_link</frameName>
      </plugin>
      <plugin name='p3d_l_gripper_palm_controller' filename='libgazebo_ros_p3d.so'>
        <alwaysOn>1</alwaysOn>
        <updateRate>100.0</updateRate>
        <bodyName>l_gripper_palm_link</bodyName>
        <topicName>l_gripper_palm_pose_ground_truth</topicName>
        <xyzOffsets>0 0 0</xyzOffsets>
        <rpyOffsets>0 0 0</rpyOffsets>
        <gaussianNoise>0.0</gaussianNoise>
        <frameName>map</frameName>
      </plugin>
    </model>
  </world>
</gazebo>
