<?xml version="1.0" ?>
<sdf version="1.5">
  <world name="default">
    <!-- A global light source -->
    <include>
      <uri>model://sun</uri>
    </include>
    <!-- A ground plane -->
    <include>
      <uri>model://ground_plane</uri>
    </include>

    <!-- A copy of the pr2 model sans sensors and projector -->
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      <static>0</static>
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            <velocity>4.000000</velocity>
          </limit>
          <use_parent_model_frame>true</use_parent_model_frame>
        </axis>
      </joint>
      <joint name="br_caster_r_wheel_joint" type="revolute">
        <parent>br_caster_rotation_link</parent>
        <child>br_caster_r_wheel_link</child>
        <axis>
          <xyz>0.000000 1.000000 0.000000</xyz>
          <limit>
            <lower>-10000000000000000.000000</lower>
            <upper>10000000000000000.000000</upper>
            <effort>0.000000</effort>
            <velocity>4.000000</velocity>
          </limit>
          <use_parent_model_frame>true</use_parent_model_frame>
        </axis>
      </joint>
      <joint name="fl_caster_rotation_joint" type="revolute">
        <parent>base_footprint</parent>
        <child>fl_caster_rotation_link</child>
        <axis>
          <xyz>0.000000 0.000000 1.000000</xyz>
          <limit>
            <lower>-10000000000000000.000000</lower>
            <upper>10000000000000000.000000</upper>
            <effort>0.000000</effort>
            <velocity>4.000000</velocity>
          </limit>
          <use_parent_model_frame>true</use_parent_model_frame>
        </axis>
      </joint>
      <joint name="fl_caster_l_wheel_joint" type="revolute">
        <parent>fl_caster_rotation_link</parent>
        <child>fl_caster_l_wheel_link</child>
        <axis>
          <xyz>0.000000 1.000000 0.000000</xyz>
          <limit>
            <lower>-10000000000000000.000000</lower>
            <upper>10000000000000000.000000</upper>
            <effort>0.000000</effort>
            <velocity>4.000000</velocity>
          </limit>
          <use_parent_model_frame>true</use_parent_model_frame>
        </axis>
      </joint>
      <joint name="fl_caster_r_wheel_joint" type="revolute">
        <parent>fl_caster_rotation_link</parent>
        <child>fl_caster_r_wheel_link</child>
        <axis>
          <xyz>0.000000 1.000000 0.000000</xyz>
          <limit>
            <lower>-10000000000000000.000000</lower>
            <upper>10000000000000000.000000</upper>
            <effort>0.000000</effort>
            <velocity>4.000000</velocity>
          </limit>
          <use_parent_model_frame>true</use_parent_model_frame>
        </axis>
      </joint>
      <joint name="fr_caster_rotation_joint" type="revolute">
        <parent>base_footprint</parent>
        <child>fr_caster_rotation_link</child>
        <axis>
          <xyz>0.000000 0.000000 1.000000</xyz>
          <limit>
            <lower>-10000000000000000.000000</lower>
            <upper>10000000000000000.000000</upper>
            <effort>0.000000</effort>
            <velocity>4.000000</velocity>
          </limit>
          <use_parent_model_frame>true</use_parent_model_frame>
        </axis>
      </joint>
      <joint name="fr_caster_l_wheel_joint" type="revolute">
        <parent>fr_caster_rotation_link</parent>
        <child>fr_caster_l_wheel_link</child>
        <axis>
          <xyz>0.000000 1.000000 0.000000</xyz>
          <limit>
            <lower>-10000000000000000.000000</lower>
            <upper>10000000000000000.000000</upper>
            <effort>0.000000</effort>
            <velocity>4.000000</velocity>
          </limit>
          <use_parent_model_frame>true</use_parent_model_frame>
        </axis>
      </joint>
      <joint name="fr_caster_r_wheel_joint" type="revolute">
        <parent>fr_caster_rotation_link</parent>
        <child>fr_caster_r_wheel_link</child>
        <axis>
          <xyz>0.000000 1.000000 0.000000</xyz>
          <limit>
            <lower>-10000000000000000.000000</lower>
            <upper>10000000000000000.000000</upper>
            <effort>0.000000</effort>
            <velocity>4.000000</velocity>
          </limit>
          <use_parent_model_frame>true</use_parent_model_frame>
        </axis>
      </joint>
      <joint name="torso_lift_joint" type="prismatic">
        <parent>base_footprint</parent>
        <child>torso_lift_link</child>
        <axis>
          <xyz>0.000000 0.000000 1.000000</xyz>
          <limit>
            <lower>0.000000</lower>
            <upper>0.330000</upper>
            <effort>0.000000</effort>
            <velocity>4.000000</velocity>
          </limit>
          <use_parent_model_frame>true</use_parent_model_frame>
        </axis>
      </joint>
      <joint name="head_pan_joint" type="revolute">
        <parent>torso_lift_link</parent>
        <child>head_pan_link</child>
        <axis>
          <xyz>0.000000 0.000000 1.000000</xyz>
          <dynamics>
            <damping>2.000000</damping>
            <friction>0.000000</friction>
          </dynamics>
          <limit>
            <lower>-3.006993</lower>
            <upper>3.006993</upper>
            <effort>0.000000</effort>
            <velocity>4.000000</velocity>
          </limit>
          <use_parent_model_frame>true</use_parent_model_frame>
        </axis>
      </joint>
      <joint name="head_tilt_joint" type="revolute">
        <parent>head_pan_link</parent>
        <child>head_tilt_link</child>
        <axis>
          <xyz>0.000000 1.000000 0.000000</xyz>
          <dynamics>
            <damping>10.000000</damping>
            <friction>0.000000</friction>
          </dynamics>
          <limit>
            <lower>-0.471237</lower>
            <upper>1.396260</upper>
            <effort>0.000000</effort>
            <velocity>4.000000</velocity>
          </limit>
          <use_parent_model_frame>true</use_parent_model_frame>
        </axis>
      </joint>
      <joint name="l_shoulder_pan_joint" type="revolute">
        <parent>torso_lift_link</parent>
        <child>l_shoulder_pan_link</child>
        <axis>
          <xyz>0.000000 0.000000 1.000000</xyz>
          <dynamics>
            <damping>10.000000</damping>
            <friction>0.000000</friction>
          </dynamics>
          <limit>
            <lower>-0.714602</lower>
            <upper>2.285404</upper>
            <effort>0.000000</effort>
            <velocity>4.000000</velocity>
          </limit>
          <use_parent_model_frame>true</use_parent_model_frame>
        </axis>
      </joint>
      <joint name="l_shoulder_lift_joint" type="revolute">
        <parent>l_shoulder_pan_link</parent>
        <child>l_shoulder_lift_link</child>
        <axis>
          <xyz>0.000000 1.000000 0.000000</xyz>
          <dynamics>
            <damping>10.000000</damping>
            <friction>0.000000</friction>
          </dynamics>
          <limit>
            <lower>-0.523601</lower>
            <upper>1.396300</upper>
            <effort>0.000000</effort>
            <velocity>4.000000</velocity>
          </limit>
          <use_parent_model_frame>true</use_parent_model_frame>
        </axis>
      </joint>
      <joint name="l_upper_arm_roll_joint" type="revolute">
        <parent>l_shoulder_lift_link</parent>
        <child>l_upper_arm_roll_link</child>
        <axis>
          <xyz>1.000000 0.000000 0.000000</xyz>
          <dynamics>
            <damping>0.100000</damping>
            <friction>0.000000</friction>
          </dynamics>
          <limit>
            <lower>-0.800000</lower>
            <upper>3.900008</upper>
            <effort>0.000000</effort>
            <velocity>4.000000</velocity>
          </limit>
          <use_parent_model_frame>true</use_parent_model_frame>
        </axis>
      </joint>
      <joint name="l_elbow_flex_joint" type="revolute">
        <parent>l_upper_arm_roll_link</parent>
        <child>l_elbow_flex_link</child>
        <axis>
          <xyz>0.000000 1.000000 0.000000</xyz>
          <dynamics>
            <damping>1.000000</damping>
            <friction>0.000000</friction>
          </dynamics>
          <limit>
            <lower>-2.321305</lower>
            <upper>0.000000</upper>
            <effort>0.000000</effort>
            <velocity>4.000000</velocity>
          </limit>
          <use_parent_model_frame>true</use_parent_model_frame>
        </axis>
      </joint>
      <joint name="l_forearm_roll_joint" type="revolute">
        <parent>l_elbow_flex_link</parent>
        <child>l_forearm_roll_link</child>
        <axis>
          <xyz>1.000000 0.000000 0.000000</xyz>
          <dynamics>
            <damping>0.100000</damping>
            <friction>0.000000</friction>
          </dynamics>
          <limit>
            <lower>-10000000000000000.000000</lower>
            <upper>10000000000000000.000000</upper>
            <effort>0.000000</effort>
            <velocity>4.000000</velocity>
          </limit>
          <use_parent_model_frame>true</use_parent_model_frame>
        </axis>
      </joint>
      <joint name="l_wrist_flex_joint" type="revolute">
        <parent>l_forearm_roll_link</parent>
        <child>l_wrist_flex_link</child>
        <axis>
          <xyz>0.000000 1.000000 0.000000</xyz>
          <dynamics>
            <damping>0.100000</damping>
            <friction>0.000000</friction>
          </dynamics>
          <limit>
            <lower>-2.180004</lower>
            <upper>0.000000</upper>
            <effort>0.000000</effort>
            <velocity>4.000000</velocity>
          </limit>
          <use_parent_model_frame>true</use_parent_model_frame>
        </axis>
      </joint>
      <joint name="l_wrist_roll_joint" type="revolute">
        <parent>l_wrist_flex_link</parent>
        <child>l_wrist_roll_link</child>
        <axis>
          <xyz>1.000000 0.000000 0.000000</xyz>
          <dynamics>
            <damping>0.100000</damping>
            <friction>0.000000</friction>
          </dynamics>
          <limit>
            <lower>-10000000000000000.000000</lower>
            <upper>10000000000000000.000000</upper>
            <effort>0.000000</effort>
            <velocity>4.000000</velocity>
          </limit>
          <use_parent_model_frame>true</use_parent_model_frame>
        </axis>
      </joint>
      <joint name="l_gripper_l_finger_joint" type="revolute">
        <parent>l_wrist_roll_link</parent>
        <child>l_gripper_l_finger_link</child>
        <axis>
          <xyz>0.000000 0.000000 1.000000</xyz>
          <dynamics>
            <damping>0.020000</damping>
            <friction>0.000000</friction>
          </dynamics>
          <limit>
            <lower>0.000000</lower>
            <upper>0.548000</upper>
            <effort>0.000000</effort>
            <velocity>4.000000</velocity>
          </limit>
          <use_parent_model_frame>true</use_parent_model_frame>
        </axis>
      </joint>
      <joint name="l_gripper_l_finger_tip_joint" type="revolute">
        <parent>l_gripper_l_finger_link</parent>
        <child>l_gripper_l_finger_tip_link</child>
        <axis>
          <xyz>0.000000 0.000000 -1.000000</xyz>
          <dynamics>
            <damping>0.001000</damping>
            <friction>0.000000</friction>
          </dynamics>
          <limit>
            <lower>0.000000</lower>
            <upper>0.548000</upper>
            <effort>0.000000</effort>
            <velocity>4.000000</velocity>
          </limit>
          <use_parent_model_frame>true</use_parent_model_frame>
        </axis>
      </joint>
      <joint name="l_gripper_motor_slider_joint" type="prismatic">
        <parent>l_wrist_roll_link</parent>
        <child>l_gripper_motor_slider_link</child>
        <axis>
          <xyz>1.000000 0.000000 0.000000</xyz>
          <limit>
            <lower>-0.100000</lower>
            <upper>0.100000</upper>
            <effort>0.000000</effort>
            <velocity>4.000000</velocity>
          </limit>
          <use_parent_model_frame>true</use_parent_model_frame>
        </axis>
      </joint>
      <joint name="l_gripper_motor_screw_joint" type="revolute">
        <parent>l_gripper_motor_slider_link</parent>
        <child>l_gripper_motor_screw_link</child>
        <axis>
          <xyz>0.000000 1.000000 0.000000</xyz>
          <dynamics>
            <damping>0.000100</damping>
            <friction>0.000000</friction>
          </dynamics>
          <limit>
            <lower>-10000000000000000.000000</lower>
            <upper>10000000000000000.000000</upper>
            <effort>0.000000</effort>
            <velocity>4.000000</velocity>
          </limit>
          <use_parent_model_frame>true</use_parent_model_frame>
        </axis>
      </joint>
      <joint name="l_gripper_r_finger_joint" type="revolute">
        <parent>l_wrist_roll_link</parent>
        <child>l_gripper_r_finger_link</child>
        <axis>
          <xyz>0.000000 0.000000 -1.000000</xyz>
          <dynamics>
            <damping>0.020000</damping>
            <friction>0.000000</friction>
          </dynamics>
          <limit>
            <lower>0.000000</lower>
            <upper>0.548000</upper>
            <effort>0.000000</effort>
            <velocity>4.000000</velocity>
          </limit>
          <use_parent_model_frame>true</use_parent_model_frame>
        </axis>
      </joint>
      <joint name="l_gripper_r_finger_tip_joint" type="revolute">
        <parent>l_gripper_r_finger_link</parent>
        <child>l_gripper_r_finger_tip_link</child>
        <axis>
          <xyz>0.000000 0.000000 1.000000</xyz>
          <dynamics>
            <damping>0.001000</damping>
            <friction>0.000000</friction>
          </dynamics>
          <limit>
            <lower>0.000000</lower>
            <upper>0.548000</upper>
            <effort>0.000000</effort>
            <velocity>4.000000</velocity>
          </limit>
          <use_parent_model_frame>true</use_parent_model_frame>
        </axis>
      </joint>
      <joint name="laser_tilt_mount_joint" type="revolute">
        <parent>torso_lift_link</parent>
        <child>laser_tilt_mount_link</child>
        <axis>
          <xyz>0.000000 1.000000 0.000000</xyz>
          <dynamics>
            <damping>0.008000</damping>
            <friction>0.000000</friction>
          </dynamics>
          <limit>
            <lower>-0.785400</lower>
            <upper>1.483530</upper>
            <effort>0.000000</effort>
            <velocity>4.000000</velocity>
          </limit>
          <use_parent_model_frame>true</use_parent_model_frame>
        </axis>
      </joint>
      <joint name="r_shoulder_pan_joint" type="revolute">
        <parent>torso_lift_link</parent>
        <child>r_shoulder_pan_link</child>
        <axis>
          <xyz>0.000000 0.000000 1.000000</xyz>
          <dynamics>
            <damping>10.000000</damping>
            <friction>0.000000</friction>
          </dynamics>
          <limit>
            <lower>-2.285404</lower>
            <upper>0.714602</upper>
            <effort>0.000000</effort>
            <velocity>4.000000</velocity>
          </limit>
          <use_parent_model_frame>true</use_parent_model_frame>
        </axis>
      </joint>
      <joint name="r_shoulder_lift_joint" type="revolute">
        <parent>r_shoulder_pan_link</parent>
        <child>r_shoulder_lift_link</child>
        <axis>
          <xyz>0.000000 1.000000 0.000000</xyz>
          <dynamics>
            <damping>10.000000</damping>
            <friction>0.000000</friction>
          </dynamics>
          <limit>
            <lower>-0.523601</lower>
            <upper>1.396300</upper>
            <effort>0.000000</effort>
            <velocity>4.000000</velocity>
          </limit>
          <use_parent_model_frame>true</use_parent_model_frame>
        </axis>
      </joint>
      <joint name="r_upper_arm_roll_joint" type="revolute">
        <parent>r_shoulder_lift_link</parent>
        <child>r_upper_arm_roll_link</child>
        <axis>
          <xyz>1.000000 0.000000 0.000000</xyz>
          <dynamics>
            <damping>0.100000</damping>
            <friction>0.000000</friction>
          </dynamics>
          <limit>
            <lower>-3.900008</lower>
            <upper>0.800000</upper>
            <effort>0.000000</effort>
            <velocity>4.000000</velocity>
          </limit>
          <use_parent_model_frame>true</use_parent_model_frame>
        </axis>
      </joint>
      <joint name="r_elbow_flex_joint" type="revolute">
        <parent>r_upper_arm_roll_link</parent>
        <child>r_elbow_flex_link</child>
        <axis>
          <xyz>0.000000 1.000000 0.000000</xyz>
          <dynamics>
            <damping>1.000000</damping>
            <friction>0.000000</friction>
          </dynamics>
          <limit>
            <lower>-2.321305</lower>
            <upper>0.000000</upper>
            <effort>0.000000</effort>
            <velocity>4.000000</velocity>
          </limit>
          <use_parent_model_frame>true</use_parent_model_frame>
        </axis>
      </joint>
      <joint name="r_forearm_roll_joint" type="revolute">
        <parent>r_elbow_flex_link</parent>
        <child>r_forearm_roll_link</child>
        <axis>
          <xyz>1.000000 0.000000 0.000000</xyz>
          <dynamics>
            <damping>0.100000</damping>
            <friction>0.000000</friction>
          </dynamics>
          <limit>
            <lower>-10000000000000000.000000</lower>
            <upper>10000000000000000.000000</upper>
            <effort>0.000000</effort>
            <velocity>4.000000</velocity>
          </limit>
          <use_parent_model_frame>true</use_parent_model_frame>
        </axis>
      </joint>
      <joint name="r_wrist_flex_joint" type="revolute">
        <parent>r_forearm_roll_link</parent>
        <child>r_wrist_flex_link</child>
        <axis>
          <xyz>0.000000 1.000000 0.000000</xyz>
          <dynamics>
            <damping>0.100000</damping>
            <friction>0.000000</friction>
          </dynamics>
          <limit>
            <lower>-2.180004</lower>
            <upper>0.000000</upper>
            <effort>0.000000</effort>
            <velocity>4.000000</velocity>
          </limit>
          <use_parent_model_frame>true</use_parent_model_frame>
        </axis>
      </joint>
      <joint name="r_wrist_roll_joint" type="revolute">
        <parent>r_wrist_flex_link</parent>
        <child>r_wrist_roll_link</child>
        <axis>
          <xyz>1.000000 0.000000 0.000000</xyz>
          <dynamics>
            <damping>0.100000</damping>
            <friction>0.000000</friction>
          </dynamics>
          <limit>
            <lower>-10000000000000000.000000</lower>
            <upper>10000000000000000.000000</upper>
            <effort>0.000000</effort>
            <velocity>4.000000</velocity>
          </limit>
          <use_parent_model_frame>true</use_parent_model_frame>
        </axis>
      </joint>
      <joint name="r_gripper_l_finger_joint" type="revolute">
        <parent>r_wrist_roll_link</parent>
        <child>r_gripper_l_finger_link</child>
        <axis>
          <xyz>0.000000 0.000000 1.000000</xyz>
          <dynamics>
            <damping>0.020000</damping>
            <friction>0.000000</friction>
          </dynamics>
          <limit>
            <lower>0.000000</lower>
            <upper>0.548000</upper>
            <effort>0.000000</effort>
            <velocity>4.000000</velocity>
          </limit>
          <use_parent_model_frame>true</use_parent_model_frame>
        </axis>
      </joint>
      <joint name="r_gripper_l_finger_tip_joint" type="revolute">
        <parent>r_gripper_l_finger_link</parent>
        <child>r_gripper_l_finger_tip_link</child>
        <axis>
          <xyz>0.000000 0.000000 -1.000000</xyz>
          <dynamics>
            <damping>0.001000</damping>
            <friction>0.000000</friction>
          </dynamics>
          <limit>
            <lower>0.000000</lower>
            <upper>0.548000</upper>
            <effort>0.000000</effort>
            <velocity>4.000000</velocity>
          </limit>
          <use_parent_model_frame>true</use_parent_model_frame>
        </axis>
      </joint>
      <joint name="r_gripper_motor_slider_joint" type="prismatic">
        <parent>r_wrist_roll_link</parent>
        <child>r_gripper_motor_slider_link</child>
        <axis>
          <xyz>1.000000 0.000000 0.000000</xyz>
          <dynamics>
            <damping>0.000000</damping>
            <friction>0.000000</friction>
          </dynamics>
          <limit>
            <lower>-0.100000</lower>
            <upper>0.100000</upper>
            <effort>0.000000</effort>
            <velocity>4.000000</velocity>
          </limit>
          <use_parent_model_frame>true</use_parent_model_frame>
        </axis>
      </joint>
      <joint name="r_gripper_motor_screw_joint" type="revolute">
        <parent>r_gripper_motor_slider_link</parent>
        <child>r_gripper_motor_screw_link</child>
        <axis>
          <xyz>0.000000 1.000000 0.000000</xyz>
          <dynamics>
            <damping>0.000100</damping>
            <friction>0.000000</friction>
          </dynamics>
          <limit>
            <lower>-10000000000000000.000000</lower>
            <upper>10000000000000000.000000</upper>
            <effort>0.000000</effort>
            <velocity>4.000000</velocity>
          </limit>
          <use_parent_model_frame>true</use_parent_model_frame>
        </axis>
      </joint>
      <joint name="r_gripper_r_finger_joint" type="revolute">
        <parent>r_wrist_roll_link</parent>
        <child>r_gripper_r_finger_link</child>
        <axis>
          <xyz>0.000000 0.000000 -1.000000</xyz>
          <dynamics>
            <damping>0.020000</damping>
            <friction>0.000000</friction>
          </dynamics>
          <limit>
            <lower>0.000000</lower>
            <upper>0.548000</upper>
            <effort>0.000000</effort>
            <velocity>4.000000</velocity>
          </limit>
          <use_parent_model_frame>true</use_parent_model_frame>
        </axis>
      </joint>
      <joint name="r_gripper_r_finger_tip_joint" type="revolute">
        <parent>r_gripper_r_finger_link</parent>
        <child>r_gripper_r_finger_tip_link</child>
        <axis>
          <xyz>0.000000 0.000000 1.000000</xyz>
          <dynamics>
            <damping>0.001000</damping>
            <friction>0.000000</friction>
          </dynamics>
          <limit>
            <lower>0.000000</lower>
            <upper>0.548000</upper>
            <effort>0.000000</effort>
            <velocity>4.000000</velocity>
          </limit>
          <use_parent_model_frame>true</use_parent_model_frame>
        </axis>
      </joint>
      <joint name="torso_lift_motor_screw_joint" type="revolute">
        <parent>base_footprint</parent>
        <child>torso_lift_motor_screw_link</child>
        <axis>
          <xyz>0.000000 0.000000 1.000000</xyz>
          <dynamics>
            <damping>0.000100</damping>
            <friction>0.000000</friction>
          </dynamics>
          <limit>
            <lower>-10000000000000000.000000</lower>
            <upper>10000000000000000.000000</upper>
            <effort>0.000000</effort>
            <velocity>4.000000</velocity>
          </limit>
          <use_parent_model_frame>true</use_parent_model_frame>
        </axis>
      </joint>
      <joint name="torso_lift_screw_torso_lift_joint" type="screw">
        <parent>torso_lift_link</parent>
        <child>torso_lift_motor_screw_link</child>
        <thread_pitch>3141.600000</thread_pitch>
        <axis>
          <xyz>0.000000 0.000000 1.000000</xyz>
          <dynamics>
            <damping>0.000000</damping>
            <friction>0.000000</friction>
          </dynamics>
          <limit>
            <lower>-10000000000000000.000000</lower>
            <upper>10000000000000000.000000</upper>
            <effort>0.000000</effort>
            <velocity>4.000000</velocity>
          </limit>
          <use_parent_model_frame>true</use_parent_model_frame>
        </axis>
      </joint>
      <joint name="r_gripper_r_screw_screw_joint" type="screw">
        <parent>r_gripper_r_finger_tip_link</parent>
        <child>r_gripper_motor_screw_link</child>
        <thread_pitch>-3141.600000</thread_pitch>
        <axis>
          <xyz>0.000000 1.000000 0.000000</xyz>
          <dynamics>
            <damping>0.000000</damping>
            <friction>0.000000</friction>
          </dynamics>
          <limit>
            <lower>-10000000000000000.000000</lower>
            <upper>10000000000000000.000000</upper>
            <effort>0.000000</effort>
            <velocity>4.000000</velocity>
          </limit>
          <use_parent_model_frame>true</use_parent_model_frame>
        </axis>
      </joint>
      <joint name="r_gripper_l_screw_screw_joint" type="screw">
        <parent>r_gripper_l_finger_tip_link</parent>
        <child>r_gripper_motor_screw_link</child>
        <thread_pitch>3141.600000</thread_pitch>
        <axis>
          <xyz>0.000000 1.000000 0.000000</xyz>
          <dynamics>
            <damping>0.000000</damping>
            <friction>0.000000</friction>
          </dynamics>
          <limit>
            <lower>-10000000000000000.000000</lower>
            <upper>10000000000000000.000000</upper>
            <effort>0.000000</effort>
            <velocity>4.000000</velocity>
          </limit>
          <use_parent_model_frame>true</use_parent_model_frame>
        </axis>
      </joint>
      <joint name="r_gripper_r_parallel_root_joint" type="revolute">
        <pose>0.058910 -0.031000 0.000000 0.000000 -0.000000 0.000000</pose>
        <parent>r_gripper_r_parallel_link</parent>
        <child>r_wrist_roll_link</child>
        <axis>
          <xyz>0.000000 0.000000 -1.000000</xyz>
          <dynamics>
            <damping>0.200000</damping>
            <friction>0.000000</friction>
          </dynamics>
          <limit>
            <lower>-10000000000000000.000000</lower>
            <upper>10000000000000000.000000</upper>
            <effort>0.000000</effort>
            <velocity>4.000000</velocity>
          </limit>
          <use_parent_model_frame>true</use_parent_model_frame>
        </axis>
      </joint>
      <joint name="r_gripper_l_parallel_root_joint" type="revolute">
        <pose>0.058910 0.031000 0.000000 0.000000 -0.000000 0.000000</pose>
        <parent>r_gripper_l_parallel_link</parent>
        <child>r_wrist_roll_link</child>
        <axis>
          <xyz>0.000000 0.000000 1.000000</xyz>
          <dynamics>
            <damping>0.200000</damping>
            <friction>0.000000</friction>
          </dynamics>
          <limit>
            <lower>-10000000000000000.000000</lower>
            <upper>10000000000000000.000000</upper>
            <effort>0.000000</effort>
            <velocity>4.000000</velocity>
          </limit>
          <use_parent_model_frame>true</use_parent_model_frame>
        </axis>
      </joint>
      <joint name="r_gripper_r_parallel_tip_joint" type="revolute">
        <pose>-0.018000 -0.021000 0.000000 0.000000 -0.000000 0.000000</pose>
        <parent>r_gripper_r_parallel_link</parent>
        <child>r_gripper_r_finger_tip_link</child>
        <axis>
          <xyz>0.000000 0.000000 1.000000</xyz>
          <dynamics>
            <damping>0.000000</damping>
            <friction>0.000000</friction>
          </dynamics>
          <limit>
            <lower>-10000000000000000.000000</lower>
            <upper>10000000000000000.000000</upper>
            <effort>0.000000</effort>
            <velocity>4.000000</velocity>
          </limit>
          <use_parent_model_frame>true</use_parent_model_frame>
        </axis>
      </joint>
      <joint name="r_gripper_l_parallel_tip_joint" type="revolute">
        <pose>-0.018000 0.021000 0.000000 0.000000 -0.000000 0.000000</pose>
        <parent>r_gripper_l_parallel_link</parent>
        <child>r_gripper_l_finger_tip_link</child>
        <axis>
          <xyz>0.000000 0.000000 1.000000</xyz>
          <dynamics>
            <damping>0.000000</damping>
            <friction>0.000000</friction>
          </dynamics>
          <limit>
            <lower>-10000000000000000.000000</lower>
            <upper>10000000000000000.000000</upper>
            <effort>0.000000</effort>
            <velocity>4.000000</velocity>
          </limit>
          <use_parent_model_frame>true</use_parent_model_frame>
        </axis>
      </joint>
      <joint name="r_gripper_joint" type="prismatic">
        <parent>r_gripper_r_finger_tip_link</parent>
        <child>r_gripper_l_finger_tip_link</child>
        <axis>
          <xyz>0.000000 1.000000 0.000000</xyz>
          <dynamics>
            <damping>0.000000</damping>
            <friction>0.000000</friction>
          </dynamics>
          <limit>
            <lower>-10000000000000000.000000</lower>
            <upper>10000000000000000.000000</upper>
            <effort>0.000000</effort>
            <velocity>4.000000</velocity>
          </limit>
          <use_parent_model_frame>true</use_parent_model_frame>
        </axis>
      </joint>
      <joint name="l_gripper_r_screw_screw_joint" type="screw">
        <parent>l_gripper_r_finger_tip_link</parent>
        <child>l_gripper_motor_screw_link</child>
        <thread_pitch>-3141.600000</thread_pitch>
        <axis>
          <xyz>0.000000 1.000000 0.000000</xyz>
          <dynamics>
            <damping>0.000000</damping>
            <friction>0.000000</friction>
          </dynamics>
          <limit>
            <lower>-10000000000000000.000000</lower>
            <upper>10000000000000000.000000</upper>
            <effort>0.000000</effort>
            <velocity>4.000000</velocity>
          </limit>
          <use_parent_model_frame>true</use_parent_model_frame>
        </axis>
      </joint>
      <joint name="l_gripper_l_screw_screw_joint" type="screw">
        <parent>l_gripper_l_finger_tip_link</parent>
        <child>l_gripper_motor_screw_link</child>
        <thread_pitch>3141.600000</thread_pitch>
        <axis>
          <xyz>0.000000 1.000000 0.000000</xyz>
          <dynamics>
            <damping>0.000000</damping>
            <friction>0.000000</friction>
          </dynamics>
          <limit>
            <lower>-10000000000000000.000000</lower>
            <upper>10000000000000000.000000</upper>
            <effort>0.000000</effort>
            <velocity>4.000000</velocity>
          </limit>
          <use_parent_model_frame>true</use_parent_model_frame>
        </axis>
      </joint>
      <joint name="l_gripper_r_parallel_root_joint" type="revolute">
        <pose>0.058910 -0.031000 0.000000 0.000000 -0.000000 0.000000</pose>
        <parent>l_gripper_r_parallel_link</parent>
        <child>l_wrist_roll_link</child>
        <axis>
          <xyz>0.000000 0.000000 -1.000000</xyz>
          <dynamics>
            <damping>0.200000</damping>
            <friction>0.000000</friction>
          </dynamics>
          <limit>
            <lower>-10000000000000000.000000</lower>
            <upper>10000000000000000.000000</upper>
            <effort>0.000000</effort>
            <velocity>4.000000</velocity>
          </limit>
          <use_parent_model_frame>true</use_parent_model_frame>
        </axis>
      </joint>
      <joint name="l_gripper_l_parallel_root_joint" type="revolute">
        <pose>0.058910 0.031000 0.000000 0.000000 -0.000000 0.000000</pose>
        <parent>l_gripper_l_parallel_link</parent>
        <child>l_wrist_roll_link</child>
        <axis>
          <xyz>0.000000 0.000000 1.000000</xyz>
          <dynamics>
            <damping>0.200000</damping>
            <friction>0.000000</friction>
          </dynamics>
          <limit>
            <lower>-10000000000000000.000000</lower>
            <upper>10000000000000000.000000</upper>
            <effort>0.000000</effort>
            <velocity>4.000000</velocity>
          </limit>
          <use_parent_model_frame>true</use_parent_model_frame>
        </axis>
      </joint>
      <joint name="l_gripper_r_parallel_tip_joint" type="revolute">
        <pose>-0.018000 -0.021000 0.000000 0.000000 -0.000000 0.000000</pose>
        <parent>l_gripper_r_parallel_link</parent>
        <child>l_gripper_r_finger_tip_link</child>
        <axis>
          <xyz>0.000000 0.000000 1.000000</xyz>
          <dynamics>
            <damping>0.000000</damping>
            <friction>0.000000</friction>
          </dynamics>
          <limit>
            <lower>-10000000000000000.000000</lower>
            <upper>10000000000000000.000000</upper>
            <effort>0.000000</effort>
            <velocity>4.000000</velocity>
          </limit>
          <use_parent_model_frame>true</use_parent_model_frame>
        </axis>
      </joint>
      <joint name="l_gripper_l_parallel_tip_joint" type="revolute">
        <pose>-0.018000 0.021000 0.000000 0.000000 -0.000000 0.000000</pose>
        <parent>l_gripper_l_parallel_link</parent>
        <child>l_gripper_l_finger_tip_link</child>
        <axis>
          <xyz>0.000000 0.000000 1.000000</xyz>
          <limit>
            <lower>-10000000000000000.000000</lower>
            <upper>10000000000000000.000000</upper>
            <effort>0.000000</effort>
            <velocity>4.000000</velocity>
          </limit>
          <use_parent_model_frame>true</use_parent_model_frame>
        </axis>
      </joint>
      <joint name="l_gripper_joint" type="prismatic">
        <parent>l_gripper_r_finger_tip_link</parent>
        <child>l_gripper_l_finger_tip_link</child>
        <axis>
          <xyz>0.000000 1.000000 0.000000</xyz>
          <limit>
            <lower>-10000000000000000.000000</lower>
            <upper>10000000000000000.000000</upper>
            <effort>0.000000</effort>
            <velocity>4.000000</velocity>
          </limit>
          <use_parent_model_frame>true</use_parent_model_frame>
        </axis>
      </joint>
    </model>

  </world>
</sdf>
