pr2.urdf

<?xml version="1.0" ?>
<robot name="pr2" xmlns:controller="https://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:interface="https://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:joint="https://playerstage.sourceforge.net/gazebo/xmlschema/#slider" xmlns:sensor="https://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" xmlns:xacro="https://ros.org/wiki/xacro">
  <material name="Blue">
    <color rgba="0.0 0.0 0.8 1.0"/>
  </material>
  <material name="Green">
    <color rgba="0.0 0.8 0.0 1.0"/>
  </material>
  <material name="Grey">
    <color rgba="0.7 0.7 0.7 1.0"/>
  </material>
  <material name="Grey2">
    <color rgba="0.9 0.9 0.9 1.0"/>
  </material>
  <material name="Red">
    <color rgba="0.8 0.0 0 1.0"/>
  </material>
  <material name="White">
    <color rgba="1.0 1.0 1 1.0"/>
  </material>
  <material name="Black">
    <color rgba="0.1 0.1 0.1 1.0"/>
  </material>
  <material name="LightGrey">
    <color rgba="0.6 0.6 0.6 1.0"/>
  </material>
  <material name="Caster">
    <texture filename="package:https://pr2_description/materials/textures/pr2_caster_texture.png"/>
  </material>
  <material name="Wheel_l">
    <texture filename="package:https://pr2_description/materials/textures/pr2_wheel_left.png"/>
  </material>
  <material name="Wheel_r">
    <texture filename="package:https://pr2_description/materials/textures/pr2_wheel_right.png"/>
  </material>
  <material name="RollLinks">
    <texture filename="package:https://pr2_description/materials/textures/pr2_wheel_left.png"/>
  </material>
  <link name="base_link">
    <inertial>
      <mass value="116"/>
      <origin xyz="-0.061 0.0 0.1465"/>
      <inertia ixx="5.652232699207" ixy="-0.009719934438" ixz="1.293988226423" iyy="5.669473158652" iyz="-0.007379583694" izz="3.683196351726"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/base_v0/base.dae"/>
      </geometry>
      <material name="White"/>
    </visual>
    <collision>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/base_v0/base_L.stl"/>
      </geometry>
    </collision>
  </link>
  <link name="base_footprint">
    <inertial>
      <mass value="1"/>
      <origin xyz="0.0 0.0 0.0"/>
      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <box size="0.01 0.01 0.01"/>
      </geometry>
      <material name="White"/>
    </visual>
    <collision>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.071"/>
      <geometry>
        <box size="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="base_footprint_joint" type="fixed">
    <parent link="base_footprint"/>
    <child link="base_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.051"/>
  </joint>
  <link name="base_bellow_link">
    <inertial>
      <mass value="1"/>
      <origin xyz="0.0 0.0 0.0"/>
      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <box size="0.05 0.37 0.3"/>
      </geometry>
      <material name="Black"/>
    </visual>
    <collision>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <box size="0.05 0.37 0.3"/>
      </geometry>
    </collision>
  </link>
  <joint name="base_bellow_joint" type="fixed">
    <parent link="base_link"/>
    <child link="base_bellow_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="-0.29 0.0 0.8"/>
  </joint>
  <joint name="base_laser_joint" type="fixed">
    <parent link="base_link"/>
    <child link="base_laser_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.275 0.0 0.252"/>
    <axis xyz="0.0 1.0 0.0"/>
  </joint>
  <link name="base_laser_link" type="laser">
    <inertial>
      <mass value="0.001"/>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.0001"/>
    </inertial>
  </link>
  <joint name="fl_caster_rotation_joint" type="continuous">
    <parent link="base_link"/>
    <child link="fl_caster_rotation_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.2246 0.2246 0.0282"/>
    <axis xyz="0.0 0.0 1.0"/>
    <limit effort="6.5" velocity="10"/>
    <dynamics damping="1.0" friction="0.0"/>
    <safety_controller k_velocity="10"/>
    <calibration rising="-0.785398163397"/>
  </joint>
  <link name="fl_caster_rotation_link">
    <inertial>
      <mass value="3.473082"/>
      <origin xyz="0.0 0.0 0.07"/>
      <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/base_v0/caster.stl"/>
      </geometry>
      <material name="Caster"/>
    </visual>
    <collision>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/base_v0/caster_L.stl"/>
      </geometry>
    </collision>
  </link>
  <transmission name="fl_caster_rotation_trans" type="pr2_mechanism_model/SimpleTransmission">
    <actuator name="fl_caster_rotation_motor"/>
    <joint name="fl_caster_rotation_joint"/>
    <mechanicalReduction>-79.2380952381</mechanicalReduction>
  </transmission>
  <joint name="fl_caster_l_wheel_joint" type="continuous">
    <parent link="fl_caster_rotation_link"/>
    <child link="fl_caster_l_wheel_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.049 0.0"/>
    <axis xyz="0.0 1.0 0.0"/>
    <limit effort="7" velocity="15"/>
    <dynamics damping="1.0" friction="0.0"/>
    <safety_controller k_velocity="10"/>
  </joint>
  <link name="fl_caster_l_wheel_link">
    <inertial>
      <mass value="0.44036"/>
      <origin xyz="0.0 0.0 0.0"/>
      <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/base_v0/wheel.dae"/>
      </geometry>
      <material name="Wheel_l"/>
    </visual>
    <collision>
      <origin rpy="1.57079632679 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <cylinder length="0.034" radius="0.074792"/>
      </geometry>
    </collision>
  </link>
  <transmission name="fl_caster_l_wheel_trans" type="pr2_mechanism_model/SimpleTransmission">
    <actuator name="fl_caster_l_wheel_motor"/>
    <joint name="fl_caster_l_wheel_joint"/>
    <mechanicalReduction>79.2380952381</mechanicalReduction>
  </transmission>
  <joint name="fl_caster_r_wheel_joint" type="continuous">
    <parent link="fl_caster_rotation_link"/>
    <child link="fl_caster_r_wheel_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.049 0.0"/>
    <axis xyz="0.0 1.0 0.0"/>
    <limit effort="7" velocity="15"/>
    <dynamics damping="1.0" friction="0.0"/>
    <safety_controller k_velocity="10"/>
  </joint>
  <link name="fl_caster_r_wheel_link">
    <inertial>
      <mass value="0.44036"/>
      <origin xyz="0.0 0.0 0.0"/>
      <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/base_v0/wheel.dae"/>
      </geometry>
      <material name="Wheel_r"/>
    </visual>
    <collision>
      <origin rpy="1.57079632679 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <cylinder length="0.034" radius="0.074792"/>
      </geometry>
    </collision>
  </link>
  <joint name="fr_caster_rotation_joint" type="continuous">
    <parent link="base_link"/>
    <child link="fr_caster_rotation_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.2246 -0.2246 0.0282"/>
    <axis xyz="0.0 0.0 1.0"/>
    <limit effort="6.5" velocity="10"/>
    <dynamics damping="1.0" friction="0.0"/>
    <safety_controller k_velocity="10"/>
    <calibration rising="-0.785398163397"/>
  </joint>
  <link name="fr_caster_rotation_link">
    <inertial>
      <mass value="3.473082"/>
      <origin xyz="0.0 0.0 0.07"/>
      <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/base_v0/caster.stl"/>
      </geometry>
      <material name="Caster"/>
    </visual>
    <collision>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/base_v0/caster_L.stl"/>
      </geometry>
    </collision>
  </link>
  <transmission name="fr_caster_rotation_trans" type="pr2_mechanism_model/SimpleTransmission">
    <actuator name="fr_caster_rotation_motor"/>
    <joint name="fr_caster_rotation_joint"/>
    <mechanicalReduction>-79.2380952381</mechanicalReduction>
  </transmission>
  <joint name="fr_caster_l_wheel_joint" type="continuous">
    <parent link="fr_caster_rotation_link"/>
    <child link="fr_caster_l_wheel_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.049 0.0"/>
    <axis xyz="0.0 1.0 0.0"/>
    <limit effort="7" velocity="15"/>
    <dynamics damping="1.0" friction="0.0"/>
    <safety_controller k_velocity="10"/>
  </joint>
  <link name="fr_caster_l_wheel_link">
    <inertial>
      <mass value="0.44036"/>
      <origin xyz="0.0 0.0 0.0"/>
      <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/base_v0/wheel.dae"/>
      </geometry>
      <material name="Wheel_l"/>
    </visual>
    <collision>
      <origin rpy="1.57079632679 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <cylinder length="0.034" radius="0.074792"/>
      </geometry>
    </collision>
  </link>
  <transmission name="fr_caster_l_wheel_trans" type="pr2_mechanism_model/SimpleTransmission">
    <actuator name="fr_caster_l_wheel_motor"/>
    <joint name="fr_caster_l_wheel_joint"/>
    <mechanicalReduction>79.2380952381</mechanicalReduction>
  </transmission>
  <joint name="fr_caster_r_wheel_joint" type="continuous">
    <parent link="fr_caster_rotation_link"/>
    <child link="fr_caster_r_wheel_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.049 0.0"/>
    <axis xyz="0.0 1.0 0.0"/>
    <limit effort="7" velocity="15"/>
    <dynamics damping="1.0" friction="0.0"/>
    <safety_controller k_velocity="10"/>
  </joint>
  <link name="fr_caster_r_wheel_link">
    <inertial>
      <mass value="0.44036"/>
      <origin xyz="0.0 0.0 0.0"/>
      <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/base_v0/wheel.dae"/>
      </geometry>
      <material name="Wheel_r"/>
    </visual>
    <collision>
      <origin rpy="1.57079632679 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <cylinder length="0.034" radius="0.074792"/>
      </geometry>
    </collision>
  </link>
  <joint name="bl_caster_rotation_joint" type="continuous">
    <parent link="base_link"/>
    <child link="bl_caster_rotation_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="-0.2246 0.2246 0.0282"/>
    <axis xyz="0.0 0.0 1.0"/>
    <limit effort="6.5" velocity="10"/>
    <dynamics damping="1.0" friction="0.0"/>
    <safety_controller k_velocity="10"/>
    <calibration rising="2.35619449019"/>
  </joint>
  <link name="bl_caster_rotation_link">
    <inertial>
      <mass value="3.473082"/>
      <origin xyz="0.0 0.0 0.07"/>
      <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/base_v0/caster.stl"/>
      </geometry>
      <material name="Caster"/>
    </visual>
    <collision>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/base_v0/caster_L.stl"/>
      </geometry>
    </collision>
  </link>
  <transmission name="bl_caster_rotation_trans" type="pr2_mechanism_model/SimpleTransmission">
    <actuator name="bl_caster_rotation_motor"/>
    <joint name="bl_caster_rotation_joint"/>
    <mechanicalReduction>-79.2380952381</mechanicalReduction>
  </transmission>
  <joint name="bl_caster_l_wheel_joint" type="continuous">
    <parent link="bl_caster_rotation_link"/>
    <child link="bl_caster_l_wheel_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.049 0.0"/>
    <axis xyz="0.0 1.0 0.0"/>
    <limit effort="7" velocity="15"/>
    <dynamics damping="1.0" friction="0.0"/>
    <safety_controller k_velocity="10"/>
  </joint>
  <link name="bl_caster_l_wheel_link">
    <inertial>
      <mass value="0.44036"/>
      <origin xyz="0.0 0.0 0.0"/>
      <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/base_v0/wheel.dae"/>
      </geometry>
      <material name="Wheel_l"/>
    </visual>
    <collision>
      <origin rpy="1.57079632679 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <cylinder length="0.034" radius="0.074792"/>
      </geometry>
    </collision>
  </link>
  <transmission name="bl_caster_l_wheel_trans" type="pr2_mechanism_model/SimpleTransmission">
    <actuator name="bl_caster_l_wheel_motor"/>
    <joint name="bl_caster_l_wheel_joint"/>
    <mechanicalReduction>79.2380952381</mechanicalReduction>
  </transmission>
  <joint name="bl_caster_r_wheel_joint" type="continuous">
    <parent link="bl_caster_rotation_link"/>
    <child link="bl_caster_r_wheel_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.049 0.0"/>
    <axis xyz="0.0 1.0 0.0"/>
    <limit effort="7" velocity="15"/>
    <dynamics damping="1.0" friction="0.0"/>
    <safety_controller k_velocity="10"/>
  </joint>
  <link name="bl_caster_r_wheel_link">
    <inertial>
      <mass value="0.44036"/>
      <origin xyz="0.0 0.0 0.0"/>
      <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/base_v0/wheel.dae"/>
      </geometry>
      <material name="Wheel_r"/>
    </visual>
    <collision>
      <origin rpy="1.57079632679 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <cylinder length="0.034" radius="0.074792"/>
      </geometry>
    </collision>
  </link>
  <joint name="br_caster_rotation_joint" type="continuous">
    <parent link="base_link"/>
    <child link="br_caster_rotation_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="-0.2246 -0.2246 0.0282"/>
    <axis xyz="0.0 0.0 1.0"/>
    <limit effort="6.5" velocity="10"/>
    <dynamics damping="1.0" friction="0.0"/>
    <safety_controller k_velocity="10"/>
    <calibration rising="2.35619449019"/>
  </joint>
  <link name="br_caster_rotation_link">
    <inertial>
      <mass value="3.473082"/>
      <origin xyz="0.0 0.0 0.07"/>
      <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/base_v0/caster.stl"/>
      </geometry>
      <material name="Caster"/>
    </visual>
    <collision>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/base_v0/caster_L.stl"/>
      </geometry>
    </collision>
  </link>
  <transmission name="br_caster_rotation_trans" type="pr2_mechanism_model/SimpleTransmission">
    <actuator name="br_caster_rotation_motor"/>
    <joint name="br_caster_rotation_joint"/>
    <mechanicalReduction>-79.2380952381</mechanicalReduction>
  </transmission>
  <joint name="br_caster_l_wheel_joint" type="continuous">
    <parent link="br_caster_rotation_link"/>
    <child link="br_caster_l_wheel_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.049 0.0"/>
    <axis xyz="0.0 1.0 0.0"/>
    <limit effort="7" velocity="15"/>
    <dynamics damping="1.0" friction="0.0"/>
    <safety_controller k_velocity="10"/>
  </joint>
  <link name="br_caster_l_wheel_link">
    <inertial>
      <mass value="0.44036"/>
      <origin xyz="0.0 0.0 0.0"/>
      <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/base_v0/wheel.dae"/>
      </geometry>
      <material name="Wheel_l"/>
    </visual>
    <collision>
      <origin rpy="1.57079632679 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <cylinder length="0.034" radius="0.074792"/>
      </geometry>
    </collision>
  </link>
  <transmission name="br_caster_l_wheel_trans" type="pr2_mechanism_model/SimpleTransmission">
    <actuator name="br_caster_l_wheel_motor"/>
    <joint name="br_caster_l_wheel_joint"/>
    <mechanicalReduction>79.2380952381</mechanicalReduction>
  </transmission>
  <joint name="br_caster_r_wheel_joint" type="continuous">
    <parent link="br_caster_rotation_link"/>
    <child link="br_caster_r_wheel_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.049 0.0"/>
    <axis xyz="0.0 1.0 0.0"/>
    <limit effort="7" velocity="15"/>
    <dynamics damping="1.0" friction="0.0"/>
    <safety_controller k_velocity="10"/>
  </joint>
  <link name="br_caster_r_wheel_link">
    <inertial>
      <mass value="0.44036"/>
      <origin xyz="0.0 0.0 0.0"/>
      <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/base_v0/wheel.dae"/>
      </geometry>
      <material name="Wheel_r"/>
    </visual>
    <collision>
      <origin rpy="1.57079632679 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <cylinder length="0.034" radius="0.074792"/>
      </geometry>
    </collision>
  </link>
  <transmission name="br_caster_r_wheel_trans" type="pr2_mechanism_model/SimpleTransmission">
    <actuator name="br_caster_r_wheel_motor"/>
    <joint name="br_caster_r_wheel_joint"/>
    <mechanicalReduction>-79.2380952381</mechanicalReduction>
  </transmission>
  <joint name="torso_lift_joint" type="prismatic">
    <parent link="base_link"/>
    <child link="torso_lift_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="-0.05 0.0 0.739675"/>
    <axis xyz="0.0 0.0 1.0"/>
    <limit effort="10000" lower="0" upper="0.33" velocity="0.013"/>
    <dynamics damping="20000.0"/>
    <safety_controller k_position="100" k_velocity="2000000" soft_lower_limit="0.0115" soft_upper_limit="0.325"/>
    <calibration falling="0.00475"/>
  </joint>
  <link name="torso_lift_link">
    <inertial>
      <mass value="36.248046"/>
      <origin xyz="-0.1 0.0 -0.0885"/>
      <inertia ixx="2.771653750257" ixy="0.004284522609" ixz="-0.160418504506" iyy="2.510019507959" iyz="0.029664468704" izz="0.526432355569"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/torso_v0/torso_lift.dae"/>
      </geometry>
      <material name="Grey2"/>
    </visual>
    <collision>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/torso_v0/torso_lift_L.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="l_torso_lift_side_plate_joint" type="fixed">
    <parent link="torso_lift_link"/>
    <child link="l_torso_lift_side_plate_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0535 0.209285 0.176625"/>
  </joint>
  <link name="l_torso_lift_side_plate_link">
    <inertial>
      <mass value="0.1"/>
      <origin xyz="-0.0625 0.0 0.05"/>
      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
    </inertial>
  </link>
  <joint name="r_torso_lift_side_plate_joint" type="fixed">
    <parent link="torso_lift_link"/>
    <child link="r_torso_lift_side_plate_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0535 -0.209285 0.176625"/>
  </joint>
  <link name="r_torso_lift_side_plate_link">
    <inertial>
      <mass value="0.1"/>
      <origin xyz="-0.0625 0.0 0.05"/>
      <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">
    <inertial>
      <mass value="1"/>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
    </inertial>
  </link>
  <joint name="torso_lift_motor_screw_joint" type="continuous">
    <parent link="base_link"/>
    <child link="torso_lift_motor_screw_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="-0.15 0.0 0.7"/>
    <axis xyz="0.0 0.0 1.0"/>
    <dynamics damping="0.0001"/>
  </joint>
  <transmission name="torso_lift_trans" type="pr2_mechanism_model/SimpleTransmission">
    <actuator name="torso_lift_motor"/>
    <joint name="torso_lift_joint"/>
    <mechanicalReduction>-47641.529999999999</mechanicalReduction>
    <simulated_actuated_joint name="torso_lift_motor_screw_joint" simulated_reduction="3141.6"/>
  </transmission>
  <joint name="imu_joint" type="fixed">
    <parent link="torso_lift_link"/>
    <child link="imu_link"/>
    <origin rpy="0.0 3.14159265359 0.0" xyz="-0.02977 -0.1497 0.164"/>
    <axis xyz="0.0 1.0 0.0"/>
  </joint>
  <link name="imu_link">
    <inertial>
      <mass value="0.001"/>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.0001"/>
    </inertial>
  </link>
  <joint name="head_pan_joint" type="revolute">
    <parent link="torso_lift_link"/>
    <child link="head_pan_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="-0.01707 0.0 0.38145"/>
    <axis xyz="0.0 0.0 1.0"/>
    <limit effort="2.645" lower="-3.007" upper="3.007" velocity="6"/>
    <dynamics damping="0.5"/>
    <safety_controller k_position="100" k_velocity="1.5" soft_lower_limit="-2.857" soft_upper_limit="2.857"/>
    <calibration rising="0.018065731275"/>
  </joint>
  <link name="head_pan_link">
    <inertial>
      <mass value="6.339"/>
      <origin rpy="0.0 0.0 0.0" xyz="0.010907 0.031693 0.090507"/>
      <inertia ixx="0.032497592" ixy="0.00063604088" ixz="0.0025851534" iyy="0.046545627" iyz="-0.0024534295" izz="0.057652724"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/head_v0/head_pan.dae"/>
      </geometry>
      <material name="Blue"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/head_v0/head_pan_L.stl"/>
      </geometry>
    </collision>
  </link>
  <transmission name="head_pan_trans" type="pr2_mechanism_model/SimpleTransmission">
    <actuator name="head_pan_motor"/>
    <joint name="head_pan_joint"/>
    <mechanicalReduction>6</mechanicalReduction>
  </transmission>
  <joint name="head_tilt_joint" type="revolute">
    <parent link="head_pan_link"/>
    <child link="head_tilt_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.068 0.0 0.0"/>
    <axis xyz="0.0 1.0 0.0"/>
    <limit effort="18" lower="-0.471238" upper="1.39626" velocity="5"/>
    <dynamics damping="10.0"/>
    <safety_controller k_position="100" k_velocity="3" soft_lower_limit="-0.3712" soft_upper_limit="1.29626"/>
    <calibration falling="0"/>
  </joint>
  <link name="head_tilt_link">
    <inertial>
      <mass value="4.479"/>
      <origin rpy="0.0 0.0 0.0" xyz="0.001716 -0.019556 0.055002"/>
      <inertia ixx="0.024223222" ixy="0.00062063507" ixz="-0.000096909696" iyy="0.054723086" iyz="0.002797024" izz="0.067306377"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/head_v0/head_tilt.dae"/>
      </geometry>
      <material name="Green"/>
    </visual>
    <collision>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/head_v0/head_tilt_L.stl"/>
      </geometry>
    </collision>
  </link>
  <transmission name="head_tilt_trans" type="pr2_mechanism_model/SimpleTransmission">
    <actuator name="head_tilt_motor"/>
    <joint name="head_tilt_joint"/>
    <mechanicalReduction>6</mechanicalReduction>
  </transmission>
  <joint name="head_plate_frame_joint" type="fixed">
    <parent link="head_tilt_link"/>
    <child link="head_plate_frame"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0232 0.0 0.0645"/>
  </joint>
  <link name="head_plate_frame">
    <inertial>
      <mass value="0.01"/>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <box size="0.01 0.01 0.01"/>
      </geometry>
      <material name="Blue"/>
    </visual>
    <collision>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <box size="0.01 0.01 0.01"/>
      </geometry>
    </collision>
  </link>
  <joint name="sensor_mount_frame_joint" type="fixed">
    <parent link="head_plate_frame"/>
    <child link="sensor_mount_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
  </joint>
  <link name="sensor_mount_link">
    <inertial>
      <mass value="0.05"/>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.01"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <box size="0.01 0.01 0.01"/>
      </geometry>
      <material name="Blue"/>
    </visual>
  </link>
  <joint name="high_def_frame_joint" type="fixed">
    <parent link="sensor_mount_link"/>
    <child link="high_def_frame"/>
    <origin rpy="-0.013344088743 -0.002157650878 0.00598407071" xyz="0.037305871189 -0.109084466748 0.051107786118"/>
  </joint>
  <link name="high_def_frame">
    <inertial>
      <mass value="0.01"/>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
    </inertial>
  </link>
  <joint name="high_def_optical_frame_joint" type="fixed">
    <parent link="high_def_frame"/>
    <child link="high_def_optical_frame"/>
    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
  </joint>
  <link name="high_def_optical_frame">
    <inertial>
      <mass value="0.01"/>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
    </inertial>
  </link>
  <joint name="double_stereo_frame_joint" type="fixed">
    <parent link="sensor_mount_link"/>
    <child link="double_stereo_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
  </joint>
  <link name="double_stereo_link">
    <inertial>
      <mass value="0.1"/>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.01"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="-0.01 0.0 0.025"/>
      <geometry>
        <box size="0.02 0.12 0.05"/>
      </geometry>
      <material name="Blue"/>
    </visual>
  </link>
  <joint name="wide_stereo_frame_joint" type="fixed">
    <parent link="double_stereo_link"/>
    <child link="wide_stereo_link"/>
    <origin rpy="-0.006821150857 -0.011235489405 0.027024041802" xyz="0.039047869538 0.028900431683 0.045740529525"/>
  </joint>
  <link name="wide_stereo_link">
    <inertial>
      <mass value="0.1"/>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
    </inertial>
  </link>
  <joint name="wide_stereo_optical_frame_joint" type="fixed">
    <parent link="wide_stereo_link"/>
    <child link="wide_stereo_optical_frame"/>
    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
  </joint>
  <link name="wide_stereo_optical_frame" type="camera"/>
  <joint name="wide_stereo_l_stereo_camera_frame_joint" type="fixed">
    <parent link="wide_stereo_link"/>
    <child link="wide_stereo_l_stereo_camera_frame"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
  </joint>
  <link name="wide_stereo_l_stereo_camera_frame">
    <inertial>
      <mass value="0.01"/>
      <origin xyz="0.0 0.0 0.0"/>
      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
    </inertial>
  </link>
  <joint name="wide_stereo_l_stereo_camera_optical_frame_joint" type="fixed">
    <parent link="wide_stereo_l_stereo_camera_frame"/>
    <child link="wide_stereo_l_stereo_camera_optical_frame"/>
    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
  </joint>
  <link name="wide_stereo_l_stereo_camera_optical_frame"/>
  <joint name="wide_stereo_r_stereo_camera_frame_joint" type="fixed">
    <parent link="wide_stereo_l_stereo_camera_frame"/>
    <child link="wide_stereo_r_stereo_camera_frame"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.09 0.0"/>
  </joint>
  <link name="wide_stereo_r_stereo_camera_frame">
    <inertial>
      <mass value="0.01"/>
      <origin xyz="0.0 0.0 0.0"/>
      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
    </inertial>
  </link>
  <joint name="wide_stereo_r_stereo_camera_optical_frame_joint" type="fixed">
    <parent link="wide_stereo_r_stereo_camera_frame"/>
    <child link="wide_stereo_r_stereo_camera_optical_frame"/>
    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
  </joint>
  <link name="wide_stereo_r_stereo_camera_optical_frame"/>
  <joint name="narrow_stereo_frame_joint" type="fixed">
    <parent link="double_stereo_link"/>
    <child link="narrow_stereo_link"/>
    <origin rpy="-0.006360148572 -0.007022640169 0.00538386839" xyz="0.036004211982 0.059339423616 0.046128460576"/>
  </joint>
  <link name="narrow_stereo_link">
    <inertial>
      <mass value="0.1"/>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
    </inertial>
  </link>
  <joint name="narrow_stereo_optical_frame_joint" type="fixed">
    <parent link="narrow_stereo_link"/>
    <child link="narrow_stereo_optical_frame"/>
    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
  </joint>
  <link name="narrow_stereo_optical_frame" type="camera"/>
  <joint name="narrow_stereo_l_stereo_camera_frame_joint" type="fixed">
    <parent link="narrow_stereo_link"/>
    <child link="narrow_stereo_l_stereo_camera_frame"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
  </joint>
  <link name="narrow_stereo_l_stereo_camera_frame">
    <inertial>
      <mass value="0.01"/>
      <origin xyz="0.0 0.0 0.0"/>
      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
    </inertial>
  </link>
  <joint name="narrow_stereo_l_stereo_camera_optical_frame_joint" type="fixed">
    <parent link="narrow_stereo_l_stereo_camera_frame"/>
    <child link="narrow_stereo_l_stereo_camera_optical_frame"/>
    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
  </joint>
  <link name="narrow_stereo_l_stereo_camera_optical_frame"/>
  <joint name="narrow_stereo_r_stereo_camera_frame_joint" type="fixed">
    <parent link="narrow_stereo_l_stereo_camera_frame"/>
    <child link="narrow_stereo_r_stereo_camera_frame"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.09 0.0"/>
  </joint>
  <link name="narrow_stereo_r_stereo_camera_frame">
    <inertial>
      <mass value="0.01"/>
      <origin xyz="0.0 0.0 0.0"/>
      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
    </inertial>
  </link>
  <joint name="narrow_stereo_r_stereo_camera_optical_frame_joint" type="fixed">
    <parent link="narrow_stereo_r_stereo_camera_frame"/>
    <child link="narrow_stereo_r_stereo_camera_optical_frame"/>
    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
  </joint>
  <link name="narrow_stereo_r_stereo_camera_optical_frame"/>
  <joint name="projector_wg6802418_frame_joint" type="fixed">
    <parent link="head_plate_frame"/>
    <child link="projector_wg6802418_frame"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.11 0.0546"/>
  </joint>
  <link name="projector_wg6802418_frame">
    <inertial>
      <mass value="0.01"/>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
    </inertial>
  </link>
  <joint name="projector_wg6802418_child_frame_joint" type="fixed">
    <parent link="projector_wg6802418_frame"/>
    <child link="projector_wg6802418_child_frame"/>
    <origin rpy="0.0 -1.57079632679 0.0" xyz="0.0 0.0 0.0"/>
  </joint>
  <link name="projector_wg6802418_child_frame">
    <inertial>
      <mass value="0.01"/>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
    </inertial>
  </link>
  <joint name="head_mount_joint" type="fixed">
    <parent link="head_plate_frame"/>
    <child link="head_mount_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="-0.138 0.0 0.091"/>
  </joint>
  <link name="head_mount_link">
    <inertial>
      <mass value="0.1"/>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/sensors/kinect_prosilica_v0/115x100_swept_back--coarse.STL" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="gray">
        <color rgba="0.5 0.5 0.5 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <sphere radius="0.0005"/>
      </geometry>
    </collision>
  </link>
  <joint name="head_mount_kinect_ir_joint" type="fixed">
    <parent link="head_mount_link"/>
    <child link="head_mount_kinect_ir_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="-0.032267 0.0125 0.136453"/>
  </joint>
  <link name="head_mount_kinect_ir_link">
    <inertial>
      <mass value="0.1"/>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <sphere radius="0.0005"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <sphere radius="0.0005"/>
      </geometry>
    </collision>
  </link>
  <joint name="head_mount_kinect_ir_optical_frame_joint" type="fixed">
    <parent link="head_mount_kinect_ir_link"/>
    <child link="head_mount_kinect_ir_optical_frame"/>
    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.01 0.0"/>
  </joint>
  <link name="head_mount_kinect_ir_optical_frame"/>
  <joint name="head_mount_kinect_rgb_joint" type="fixed">
    <parent link="head_mount_kinect_ir_link"/>
    <child link="head_mount_kinect_rgb_link"/>
    <origin rpy="-0.009197234917 -0.03162989289 -0.000024986557" xyz="-0.016464580011 -0.024840302033 -0.015501555887"/>
  </joint>
  <link name="head_mount_kinect_rgb_link">
    <inertial>
      <mass value="0.1"/>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <sphere radius="0.0005"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <sphere radius="0.0005"/>
      </geometry>
    </collision>
  </link>
  <joint name="head_mount_kinect_rgb_optical_frame_joint" type="fixed">
    <parent link="head_mount_kinect_rgb_link"/>
    <child link="head_mount_kinect_rgb_optical_frame"/>
    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
  </joint>
  <link name="head_mount_kinect_rgb_optical_frame"/>
  <joint name="head_mount_prosilica_joint" type="fixed">
    <parent link="head_mount_link"/>
    <child link="head_mount_prosilica_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="-0.046457 0.0125 0.088921"/>
  </joint>
  <link name="head_mount_prosilica_link">
    <inertial>
      <mass value="0.1"/>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <sphere radius="0.0005"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <sphere radius="0.0005"/>
      </geometry>
    </collision>
  </link>
  <joint name="head_mount_prosilica_optical_frame_joint" type="fixed">
    <parent link="head_mount_prosilica_link"/>
    <child link="head_mount_prosilica_optical_frame"/>
    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
  </joint>
  <link name="head_mount_prosilica_optical_frame"/>
  <joint name="laser_tilt_mount_joint" type="revolute">
    <parent link="torso_lift_link"/>
    <child link="laser_tilt_mount_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.09893 0.0 0.227"/>
    <axis xyz="0.0 1.0 0.0"/>
    <limit effort="0.65" lower="-0.7854" upper="1.48353" velocity="10"/>
    <dynamics damping="0.008"/>
    <safety_controller k_position="100" k_velocity="0.05" soft_lower_limit="-0.7354" soft_upper_limit="1.43353"/>
    <calibration falling="-0.011570530833"/>
  </joint>
  <link name="laser_tilt_mount_link">
    <inertial>
      <mass value="0.591"/>
      <origin rpy="0.0 0.0 0.0" xyz="-0.001136 0.00167 -0.00713"/>
      <inertia ixx="0.001195273" ixy="0.000023087" ixz="0.000037467" iyy="0.001083956" iyz="0.000034906" izz="0.000795014"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/tilting_laser_v0/tilting_hokuyo.dae"/>
      </geometry>
      <material name="Red"/>
    </visual>
    <collision>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/tilting_laser_v0/tilting_hokuyo_L.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="laser_tilt_joint" type="fixed">
    <parent link="laser_tilt_mount_link"/>
    <child link="laser_tilt_link"/>
    <origin rpy="0.0 0.0 -0.007935244203" xyz="0.0 0.0 0.028389479248"/>
    <axis xyz="0.0 1.0 0.0"/>
  </joint>
  <link name="laser_tilt_link" type="laser">
    <inertial>
      <mass value="0.001"/>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.0001"/>
    </inertial>
  </link>
  <transmission name="laser_tilt_mount_trans" type="pr2_mechanism_model/SimpleTransmission">
    <actuator name="laser_tilt_mount_motor"/>
    <joint name="laser_tilt_mount_joint"/>
    <mechanicalReduction>-6.05</mechanicalReduction>
  </transmission>
  <joint name="r_shoulder_pan_joint" type="revolute">
    <parent link="torso_lift_link"/>
    <child link="r_shoulder_pan_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.188 0.0"/>
    <axis xyz="0.0 0.0 1.0"/>
    <limit effort="30" lower="-2.2853981634" upper="0.714601836603" velocity="2.088"/>
    <dynamics damping="10.0"/>
    <safety_controller k_position="100" k_velocity="10" soft_lower_limit="-2.1353981634" soft_upper_limit="0.564601836603"/>
    <calibration rising="-0.773059535784"/>
  </joint>
  <link name="r_shoulder_pan_link">
    <inertial>
      <mass value="25.799322"/>
      <origin rpy="0.0 0.0 0.0" xyz="-0.001201 0.024513 -0.098231"/>
      <inertia ixx="0.86617914248" ixy="-0.06086507933" ixz="-0.12118061183" iyy="0.87421714893" iyz="-0.05886609911" izz="0.27353821674"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/shoulder_v0/shoulder_pan.dae"/>
      </geometry>
      <material name="Blue"/>
    </visual>
    <collision>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/shoulder_v0/shoulder_pan.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="r_shoulder_lift_joint" type="revolute">
    <parent link="r_shoulder_pan_link"/>
    <child link="r_shoulder_lift_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.1 0.0 0.0"/>
    <axis xyz="0.0 1.0 0.0"/>
    <limit effort="30" lower="-0.5236" upper="1.3963" velocity="2.082"/>
    <dynamics damping="10.0"/>
    <safety_controller k_position="100" k_velocity="10" soft_lower_limit="-0.3536" soft_upper_limit="1.2963"/>
    <calibration falling="-0.009229695108"/>
  </joint>
  <link name="r_shoulder_lift_link">
    <inertial>
      <mass value="2.74988"/>
      <origin rpy="0.0 0.0 0.0" xyz="0.02195 -0.02664 -0.03127"/>
      <inertia ixx="0.02105584615" ixy="0.00496704022" ixz="-0.00194808955" iyy="0.02127223737" iyz="0.0011042549" izz="0.01975753814"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/shoulder_v0/shoulder_lift.dae"/>
      </geometry>
      <material name="Grey"/>
    </visual>
    <collision>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/shoulder_v0/shoulder_lift.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="r_upper_arm_roll_joint" type="revolute">
    <parent link="r_shoulder_lift_link"/>
    <child link="r_upper_arm_roll_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    <axis xyz="1.0 0.0 0.0"/>
    <limit effort="30" lower="-3.9" upper="0.8" velocity="3.27"/>
    <dynamics damping="0.1"/>
    <safety_controller k_position="100" k_velocity="2" soft_lower_limit="-3.75" soft_upper_limit="0.65"/>
    <calibration rising="-1.563595558753"/>
  </joint>
  <link name="r_upper_arm_roll_link">
    <inertial>
      <mass value="0.1"/>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/shoulder_v0/upper_arm_roll.stl"/>
      </geometry>
      <material name="RollLinks"/>
    </visual>
    <collision>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/shoulder_v0/upper_arm_roll_L.stl"/>
      </geometry>
    </collision>
  </link>
  <transmission name="r_shoulder_pan_trans" type="pr2_mechanism_model/SimpleTransmission">
    <actuator name="r_shoulder_pan_motor"/>
    <joint name="r_shoulder_pan_joint"/>
    <mechanicalReduction>63.1552452977</mechanicalReduction>
    <compensator k_belt="4000.0" kd_motor="15.0" lambda_combined="0.0" lambda_joint="40.0" lambda_motor="40.0" mass_motor="0.05"/>
  </transmission>
  <transmission name="r_shoulder_lift_trans" type="pr2_mechanism_model/SimpleTransmission">
    <actuator name="r_shoulder_lift_motor"/>
    <joint name="r_shoulder_lift_joint"/>
    <mechanicalReduction>61.8948225713</mechanicalReduction>
    <compensator k_belt="4000.0" kd_motor="10.0" lambda_combined="0.0" lambda_joint="60.0" lambda_motor="60.0" mass_motor="0.05"/>
  </transmission>
  <joint name="r_upper_arm_joint" type="fixed">
    <parent link="r_upper_arm_roll_link"/>
    <child link="r_upper_arm_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
  </joint>
  <link name="r_upper_arm_link">
    <inertial>
      <mass value="6.01769"/>
      <origin xyz="0.21398 -0.01621 -0.0002"/>
      <inertia ixx="0.01537748957" ixy="0.00375711247" ixz="-0.00070852914" iyy="0.0747367044" iyz="-0.0001793645" izz="0.07608763307"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/upper_arm_v0/upper_arm.dae"/>
      </geometry>
      <material name="Green"/>
    </visual>
    <collision>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/upper_arm_v0/upper_arm.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="r_forearm_roll_joint" type="continuous">
    <parent link="r_elbow_flex_link"/>
    <child link="r_forearm_roll_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    <axis xyz="1.0 0.0 0.0"/>
    <limit effort="30" velocity="3.6"/>
    <dynamics damping="0.1"/>
    <safety_controller k_velocity="1"/>
    <calibration rising="-0.000169512108"/>
  </joint>
  <link name="r_forearm_roll_link">
    <inertial>
      <mass value="0.1"/>
      <origin xyz="0.0 0.0 0.0"/>
      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/upper_arm_v0/forearm_roll.stl"/>
      </geometry>
      <material name="RollLinks"/>
    </visual>
    <collision>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/upper_arm_v0/forearm_roll_L.stl"/>
      </geometry>
    </collision>
  </link>
  <transmission name="r_forearm_roll_trans" type="pr2_mechanism_model/SimpleTransmission">
    <actuator name="r_forearm_roll_motor"/>
    <joint name="r_forearm_roll_joint"/>
    <mechanicalReduction>-90.5142857143</mechanicalReduction>
  </transmission>
  <joint name="r_elbow_flex_joint" type="revolute">
    <parent link="r_upper_arm_link"/>
    <child link="r_elbow_flex_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.4 0.0 0.0"/>
    <axis xyz="0.0 1.0 0.0"/>
    <limit effort="30" lower="-2.3213" upper="0" velocity="3.3"/>
    <dynamics damping="1.0"/>
    <safety_controller k_position="100" k_velocity="3" soft_lower_limit="-2.1213" soft_upper_limit="-0.15"/>
    <calibration falling="-1.1606"/>
  </joint>
  <link name="r_elbow_flex_link">
    <inertial>
      <mass value="1.90327"/>
      <origin xyz="0.01014 0.00032 -0.01211"/>
      <inertia ixx="0.00346541989" ixy="0.00004066825" ixz="0.00043171614" iyy="0.00441606455" iyz="-0.00003968914" izz="0.00359156824"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/upper_arm_v0/elbow_flex.dae"/>
      </geometry>
      <material name="Grey"/>
    </visual>
    <collision>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/upper_arm_v0/elbow_flex.stl"/>
      </geometry>
    </collision>
  </link>
  <transmission name="r_elbow_flex_trans" type="pr2_mechanism_model/SimpleTransmission">
    <actuator name="r_elbow_flex_motor"/>
    <joint name="r_elbow_flex_joint"/>
    <mechanicalReduction>-36.167452007</mechanicalReduction>
  </transmission>
  <joint name="r_forearm_joint" type="fixed">
    <parent link="r_forearm_roll_link"/>
    <child link="r_forearm_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
  </joint>
  <link name="r_forearm_link">
    <inertial>
      <mass value="2.57968"/>
      <origin xyz="0.18791 -0.00017 -0.00912"/>
      <inertia ixx="0.00364857222" ixy="0.00005215877" ixz="0.00071534842" iyy="0.01507736897" iyz="-0.0000131077" izz="0.01659310749"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/forearm_v0/forearm.dae"/>
      </geometry>
      <material name="Grey"/>
    </visual>
    <collision>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/forearm_v0/forearm.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="r_wrist_flex_joint" type="revolute">
    <parent link="r_forearm_link"/>
    <child link="r_wrist_flex_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.321 0.0 0.0"/>
    <axis xyz="0.0 1.0 0.0"/>
    <limit effort="10" lower="-2.18" upper="0" velocity="3.078"/>
    <dynamics damping="0.1"/>
    <safety_controller k_position="20" k_velocity="4" soft_lower_limit="-2" soft_upper_limit="-0.1"/>
    <calibration falling="-0.526656726191"/>
  </joint>
  <link name="r_wrist_flex_link">
    <inertial>
      <mass value="0.61402"/>
      <origin xyz="-0.00157 0.0 -0.00075"/>
      <inertia ixx="0.00065165722" ixy="0.00000028864" ixz="0.00000303477" iyy="0.00019824443" iyz="-0.00000022645" izz="0.00064450498"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/forearm_v0/wrist_flex.dae"/>
      </geometry>
      <material name="Grey"/>
    </visual>
    <collision>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/forearm_v0/wrist_flex.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="r_wrist_roll_joint" type="continuous">
    <parent link="r_wrist_flex_link"/>
    <child link="r_wrist_roll_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    <axis xyz="1.0 0.0 0.0"/>
    <limit effort="10" velocity="3.6"/>
    <dynamics damping="0.1"/>
    <safety_controller k_velocity="2"/>
    <calibration rising="-1.489113074031"/>
  </joint>
  <link name="r_wrist_roll_link">
    <inertial>
      <mass value="0.1"/>
      <origin xyz="0.0 0.0 0.0"/>
      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/forearm_v0/wrist_roll.stl"/>
      </geometry>
      <material name="RollLinks"/>
    </visual>
    <collision>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/forearm_v0/wrist_roll_L.stl"/>
      </geometry>
    </collision>
  </link>
  <transmission name="r_wrist_trans" type="pr2_mechanism_model/WristTransmission">
    <rightActuator mechanicalReduction="60.1714285714" name="r_wrist_r_motor"/>
    <leftActuator mechanicalReduction="60.1714285714" name="r_wrist_l_motor"/>
    <flexJoint mechanicalReduction="-1.0" name="r_wrist_flex_joint"/>
    <rollJoint mechanicalReduction="1.0" name="r_wrist_roll_joint"/>
  </transmission>
  <joint name="r_gripper_palm_joint" type="fixed">
    <parent link="r_wrist_roll_link"/>
    <child link="r_gripper_palm_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
  </joint>
  <link name="r_gripper_palm_link">
    <inertial>
      <mass value="0.58007"/>
      <origin rpy="0.0 0.0 0.0" xyz="0.06623 0.00053 -0.00119"/>
      <inertia ixx="0.00035223921" ixy="-0.00001580476" ixz="-0.0000009175" iyy="0.00067741312" iyz="-0.00000059554" izz="0.00086563316"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/gripper_v0/gripper_palm.dae"/>
      </geometry>
      <material name="Red"/>
    </visual>
    <collision>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/gripper_v0/gripper_palm.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="r_gripper_led_joint" type="fixed">
    <parent link="r_gripper_palm_link"/>
    <child link="r_gripper_led_frame"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0513 0.0 0.0244"/>
  </joint>
  <link name="r_gripper_led_frame"/>
  <joint name="r_gripper_motor_accelerometer_joint" type="fixed">
    <parent link="r_gripper_palm_link"/>
    <child link="r_gripper_motor_accelerometer_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
  </joint>
  <link name="r_gripper_motor_accelerometer_link">
    <inertial>
      <mass value="0.001"/>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <box size="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <box size="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="r_gripper_tool_joint" type="fixed">
    <parent link="r_gripper_palm_link"/>
    <child link="r_gripper_tool_frame"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.18 0.0 0.0"/>
  </joint>
  <link name="r_gripper_tool_frame"/>
  <link name="r_gripper_motor_slider_link">
    <inertial>
      <mass value="0.01"/>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
    </inertial>
  </link>
  <joint name="r_gripper_motor_slider_joint" type="prismatic">
    <parent link="r_gripper_palm_link"/>
    <child link="r_gripper_motor_slider_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.16828 0.0 0.0"/>
    <axis xyz="1.0 0.0 0.0"/>
    <limit effort="1000" lower="-0.1" upper="0.1" velocity="0.2"/>
  </joint>
  <link name="r_gripper_motor_screw_link">
    <inertial>
      <mass value="0.01"/>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
    </inertial>
  </link>
  <joint name="r_gripper_motor_screw_joint" type="continuous">
    <parent link="r_gripper_motor_slider_link"/>
    <child link="r_gripper_motor_screw_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    <axis xyz="0.0 1.0 0.0"/>
    <dynamics damping="0.0001"/>
  </joint>
  <joint name="r_gripper_l_finger_joint" type="revolute">
    <parent link="r_gripper_palm_link"/>
    <child link="r_gripper_l_finger_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.07691 0.01 0.0"/>
    <axis xyz="0.0 0.0 1.0"/>
    <limit effort="1000" lower="0" upper="0.548" velocity="0.5"/>
    <dynamics damping="0.02"/>
  </joint>
  <link name="r_gripper_l_finger_link">
    <inertial>
      <mass value="0.17126"/>
      <origin rpy="0.0 0.0 0.0" xyz="0.03598 0.0173 -0.00164"/>
      <inertia ixx="0.00007756198" ixy="0.00000149095" ixz="-0.00000983385" iyy="0.00019708305" iyz="-0.00000306125" izz="0.00018105446"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/gripper_v0/l_finger.dae"/>
      </geometry>
      <material name="Grey"/>
    </visual>
    <collision>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/gripper_v0/l_finger.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="r_gripper_r_finger_joint" type="revolute">
    <parent link="r_gripper_palm_link"/>
    <child link="r_gripper_r_finger_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.07691 -0.01 0.0"/>
    <axis xyz="0.0 0.0 -1"/>
    <limit effort="1000" lower="0" upper="0.548" velocity="0.5"/>
    <dynamics damping="0.02"/>
  </joint>
  <link name="r_gripper_r_finger_link">
    <inertial>
      <mass value="0.17389"/>
      <origin rpy="0.0 0.0 0.0" xyz="0.03576 -0.01736 -0.00095"/>
      <inertia ixx="0.0000773841" ixy="-0.00000209309" ixz="-0.00000836228" iyy="0.00019847383" iyz="0.0000024611" izz="0.00018106988"/>
    </inertial>
    <visual>
      <origin rpy="3.14159265359 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/gripper_v0/l_finger.dae"/>
      </geometry>
      <material name="Grey"/>
    </visual>
    <collision>
      <origin rpy="3.14159265359 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/gripper_v0/l_finger.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="r_gripper_l_finger_tip_joint" type="revolute">
    <parent link="r_gripper_l_finger_link"/>
    <child link="r_gripper_l_finger_tip_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.09137 0.00495 0.0"/>
    <axis xyz="0.0 0.0 -1"/>
    <limit effort="1000" lower="0" upper="0.548" velocity="0.5"/>
    <dynamics damping="0.001"/>
  </joint>
  <link name="r_gripper_l_finger_tip_link">
    <inertial>
      <mass value="0.04419"/>
      <origin rpy="0.0 0.0 0.0" xyz="0.00423 0.00284 0.0"/>
      <inertia ixx="0.00000837047" ixy="0.00000583632" ixz="0" iyy="0.00000987067" iyz="0" izz="0.00001541768"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/gripper_v0/l_finger_tip.dae"/>
      </geometry>
      <material name="Green"/>
    </visual>
    <collision>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/gripper_v0/l_finger_tip.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="r_gripper_r_finger_tip_joint" type="revolute">
    <parent link="r_gripper_r_finger_link"/>
    <child link="r_gripper_r_finger_tip_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.09137 -0.00495 0.0"/>
    <axis xyz="0.0 0.0 1.0"/>
    <limit effort="1000" lower="0" upper="0.548" velocity="0.5"/>
    <dynamics damping="0.001"/>
  </joint>
  <link name="r_gripper_r_finger_tip_link">
    <inertial>
      <mass value="0.04419"/>
      <origin rpy="0.0 0.0 0.0" xyz="0.00423 -0.00284 0.0"/>
      <inertia ixx="0.00000837047" ixy="-0.00000583632" ixz="0" iyy="0.00000987067" iyz="0" izz="0.00001541768"/>
    </inertial>
    <visual>
      <origin rpy="3.14159265359 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/gripper_v0/l_finger_tip.dae"/>
      </geometry>
      <material name="Green"/>
    </visual>
    <collision>
      <origin rpy="3.14159265359 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/gripper_v0/l_finger_tip.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="r_gripper_joint" type="prismatic">
    <parent link="r_gripper_r_finger_tip_link"/>
    <child link="r_gripper_l_finger_tip_frame"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    <axis xyz="0.0 1.0 0.0"/>
    <limit effort="1000" lower="0" upper="0.09" velocity="0.2"/>
    <dynamics damping="10.0"/>
    <safety_controller k_position="20" k_velocity="5000" soft_lower_limit="-0.01" soft_upper_limit="0.088"/>
  </joint>
  <link name="r_gripper_l_finger_tip_frame"/>
  <transmission name="r_gripper_trans" type="pr2_mechanism_model/PR2GripperTransmission">
    <actuator name="r_gripper_motor"/>
    <gap_joint L0="0.0375528" a="0.0683698" b="0.0433849" gear_ratio="40.095" h="0.0" mechanical_reduction="1.0" name="r_gripper_joint" phi0="0.518518122146" r="0.0915" screw_reduction="0.004" t0="-0.0001914" theta0="0.0628824676201"/>
    <use_simulated_gripper_joint/>
    <passive_joint name="r_gripper_l_finger_joint"/>
    <passive_joint name="r_gripper_r_finger_joint"/>
    <passive_joint name="r_gripper_r_finger_tip_joint"/>
    <passive_joint name="r_gripper_l_finger_tip_joint"/>
    <simulated_actuated_joint name="r_gripper_motor_screw_joint" passive_actuated_joint="r_gripper_motor_slider_joint" simulated_reduction="3141.6"/>
  </transmission>
  <joint name="l_shoulder_pan_joint" type="revolute">
    <parent link="torso_lift_link"/>
    <child link="l_shoulder_pan_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.188 0.0"/>
    <axis xyz="0.0 0.0 1.0"/>
    <limit effort="30" lower="-0.714601836603" upper="2.2853981634" velocity="2.088"/>
    <dynamics damping="10.0"/>
    <safety_controller k_position="100" k_velocity="10" soft_lower_limit="-0.564601836603" soft_upper_limit="2.1353981634"/>
    <calibration rising="0.815559365653"/>
  </joint>
  <link name="l_shoulder_pan_link">
    <inertial>
      <mass value="25.799322"/>
      <origin rpy="0.0 0.0 0.0" xyz="-0.001201 0.024513 -0.098231"/>
      <inertia ixx="0.86617914248" ixy="-0.06086507933" ixz="-0.12118061183" iyy="0.87421714893" iyz="-0.05886609911" izz="0.27353821674"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/shoulder_v0/shoulder_pan.dae"/>
      </geometry>
      <material name="Blue"/>
    </visual>
    <collision>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/shoulder_v0/shoulder_pan.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="l_shoulder_lift_joint" type="revolute">
    <parent link="l_shoulder_pan_link"/>
    <child link="l_shoulder_lift_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.1 0.0 0.0"/>
    <axis xyz="0.0 1.0 0.0"/>
    <limit effort="30" lower="-0.5236" upper="1.3963" velocity="2.082"/>
    <dynamics damping="10.0"/>
    <safety_controller k_position="100" k_velocity="10" soft_lower_limit="-0.3536" soft_upper_limit="1.2963"/>
    <calibration falling="-0.00761582293"/>
  </joint>
  <link name="l_shoulder_lift_link">
    <inertial>
      <mass value="2.74988"/>
      <origin rpy="0.0 0.0 0.0" xyz="0.02195 -0.02664 -0.03127"/>
      <inertia ixx="0.02105584615" ixy="0.00496704022" ixz="-0.00194808955" iyy="0.02127223737" iyz="0.0011042549" izz="0.01975753814"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/shoulder_v0/shoulder_lift.dae"/>
      </geometry>
      <material name="Grey"/>
    </visual>
    <collision>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/shoulder_v0/shoulder_lift.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="l_upper_arm_roll_joint" type="revolute">
    <parent link="l_shoulder_lift_link"/>
    <child link="l_upper_arm_roll_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    <axis xyz="1.0 0.0 0.0"/>
    <limit effort="30" lower="-0.8" upper="3.9" velocity="3.27"/>
    <dynamics damping="0.1"/>
    <safety_controller k_position="100" k_velocity="2" soft_lower_limit="-0.65" soft_upper_limit="3.75"/>
    <calibration rising="1.57179370496"/>
  </joint>
  <link name="l_upper_arm_roll_link">
    <inertial>
      <mass value="0.1"/>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/shoulder_v0/upper_arm_roll.stl"/>
      </geometry>
      <material name="RollLinks"/>
    </visual>
    <collision>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/shoulder_v0/upper_arm_roll_L.stl"/>
      </geometry>
    </collision>
  </link>
  <transmission name="l_upper_arm_roll_trans" type="pr2_mechanism_model/SimpleTransmission">
    <actuator name="l_upper_arm_roll_motor"/>
    <joint name="l_upper_arm_roll_joint"/>
    <mechanicalReduction>32.6525111499</mechanicalReduction>
  </transmission>
  <transmission name="l_shoulder_pan_trans" type="pr2_mechanism_model/SimpleTransmission">
    <actuator name="l_shoulder_pan_motor"/>
    <joint name="l_shoulder_pan_joint"/>
    <mechanicalReduction>63.1552452977</mechanicalReduction>
    <compensator k_belt="4000.0" kd_motor="15.0" lambda_combined="0.0" lambda_joint="40.0" lambda_motor="40.0" mass_motor="0.05"/>
  </transmission>
  <transmission name="l_shoulder_lift_trans" type="pr2_mechanism_model/SimpleTransmission">
    <actuator name="l_shoulder_lift_motor"/>
    <joint name="l_shoulder_lift_joint"/>
    <mechanicalReduction>61.8948225713</mechanicalReduction>
    <compensator k_belt="4000.0" kd_motor="10.0" lambda_combined="0.0" lambda_joint="60.0" lambda_motor="60.0" mass_motor="0.05"/>
  </transmission>
  <joint name="l_upper_arm_joint" type="fixed">
    <parent link="l_upper_arm_roll_link"/>
    <child link="l_upper_arm_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
  </joint>
  <link name="l_upper_arm_link">
    <inertial>
      <mass value="6.01769"/>
      <origin xyz="0.21405 0.01658 -0.00057"/>
      <inertia ixx="0.01530603856" ixy="-0.00339324862" ixz="0.00060765455" iyy="0.07473694455" iyz="-0.00019953729" izz="0.07601594191"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/upper_arm_v0/upper_arm.dae"/>
      </geometry>
      <material name="Green"/>
    </visual>
    <collision>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/upper_arm_v0/upper_arm.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="l_forearm_roll_joint" type="continuous">
    <parent link="l_elbow_flex_link"/>
    <child link="l_forearm_roll_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    <axis xyz="1.0 0.0 0.0"/>
    <limit effort="30" velocity="3.6"/>
    <dynamics damping="0.1"/>
    <safety_controller k_velocity="1"/>
    <calibration rising="0.060757061899"/>
  </joint>
  <link name="l_forearm_roll_link">
    <inertial>
      <mass value="0.1"/>
      <origin xyz="0.0 0.0 0.0"/>
      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/upper_arm_v0/forearm_roll.stl"/>
      </geometry>
      <material name="RollLinks"/>
    </visual>
    <collision>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/upper_arm_v0/forearm_roll_L.stl"/>
      </geometry>
    </collision>
  </link>
  <transmission name="l_forearm_roll_trans" type="pr2_mechanism_model/SimpleTransmission">
    <actuator name="l_forearm_roll_motor"/>
    <joint name="l_forearm_roll_joint"/>
    <mechanicalReduction>-90.5142857143</mechanicalReduction>
  </transmission>
  <joint name="l_elbow_flex_joint" type="revolute">
    <parent link="l_upper_arm_link"/>
    <child link="l_elbow_flex_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.4 0.0 0.0"/>
    <axis xyz="0.0 1.0 0.0"/>
    <limit effort="30" lower="-2.3213" upper="0" velocity="3.3"/>
    <dynamics damping="1.0"/>
    <safety_controller k_position="100" k_velocity="3" soft_lower_limit="-2.1213" soft_upper_limit="-0.15"/>
    <calibration falling="-1.1606"/>
  </joint>
  <link name="l_elbow_flex_link">
    <inertial>
      <mass value="1.90327"/>
      <origin xyz="0.01014 0.00032 -0.01211"/>
      <inertia ixx="0.00346541989" ixy="0.00004066825" ixz="0.00043171614" iyy="0.00441606455" iyz="-0.00003968914" izz="0.00359156824"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/upper_arm_v0/elbow_flex.dae"/>
      </geometry>
      <material name="Grey"/>
    </visual>
    <collision>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/upper_arm_v0/elbow_flex.stl"/>
      </geometry>
    </collision>
  </link>
  <transmission name="l_elbow_flex_trans" type="pr2_mechanism_model/SimpleTransmission">
    <actuator name="l_elbow_flex_motor"/>
    <joint name="l_elbow_flex_joint"/>
    <mechanicalReduction>-36.167452007</mechanicalReduction>
  </transmission>
  <joint name="l_forearm_joint" type="fixed">
    <parent link="l_forearm_roll_link"/>
    <child link="l_forearm_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
  </joint>
  <link name="l_forearm_link">
    <inertial>
      <mass value="2.57968"/>
      <origin xyz="0.18791 -0.00017 -0.00912"/>
      <inertia ixx="0.00364857222" ixy="0.00005215877" ixz="0.00071534842" iyy="0.01507736897" iyz="-0.0000131077" izz="0.01659310749"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/forearm_v0/forearm.dae"/>
      </geometry>
      <material name="Grey"/>
    </visual>
    <collision>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/forearm_v0/forearm.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="l_wrist_flex_joint" type="revolute">
    <parent link="l_forearm_link"/>
    <child link="l_wrist_flex_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.321 0.0 0.0"/>
    <axis xyz="0.0 1.0 0.0"/>
    <limit effort="10" lower="-2.18" upper="0" velocity="3.078"/>
    <dynamics damping="0.1"/>
    <safety_controller k_position="20" k_velocity="4" soft_lower_limit="-2" soft_upper_limit="-0.1"/>
    <calibration falling="-0.537555026629"/>
  </joint>
  <link name="l_wrist_flex_link">
    <inertial>
      <mass value="0.61402"/>
      <origin xyz="-0.00157 0.0 -0.00075"/>
      <inertia ixx="0.00065165722" ixy="0.00000028864" ixz="0.00000303477" iyy="0.00019824443" iyz="-0.00000022645" izz="0.00064450498"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/forearm_v0/wrist_flex.dae"/>
      </geometry>
      <material name="Grey"/>
    </visual>
    <collision>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/forearm_v0/wrist_flex.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="l_wrist_roll_joint" type="continuous">
    <parent link="l_wrist_flex_link"/>
    <child link="l_wrist_roll_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    <axis xyz="1.0 0.0 0.0"/>
    <limit effort="10" velocity="3.6"/>
    <dynamics damping="0.1"/>
    <safety_controller k_velocity="2"/>
    <calibration rising="-1.481130190754"/>
  </joint>
  <link name="l_wrist_roll_link">
    <inertial>
      <mass value="0.1"/>
      <origin xyz="0.0 0.0 0.0"/>
      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/forearm_v0/wrist_roll.stl"/>
      </geometry>
      <material name="RollLinks"/>
    </visual>
    <collision>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/forearm_v0/wrist_roll_L.stl"/>
      </geometry>
    </collision>
  </link>
  <transmission name="l_wrist_trans" type="pr2_mechanism_model/WristTransmission">
    <rightActuator mechanicalReduction="60.1714285714" name="l_wrist_r_motor"/>
    <leftActuator mechanicalReduction="60.1714285714" name="l_wrist_l_motor"/>
    <flexJoint mechanicalReduction="-1.0" name="l_wrist_flex_joint"/>
    <rollJoint mechanicalReduction="1.0" name="l_wrist_roll_joint" offset="1.4835298641951802"/>
  </transmission>
  <joint name="l_force_torque_adapter_joint" type="fixed">
    <parent link="l_wrist_roll_link"/>
    <child link="l_force_torque_adapter_link"/>
    <origin rpy="0.0 -1.570796326795 0.0" xyz="0.0356 0.0 0.0"/>
  </joint>
  <link name="l_force_torque_adapter_link"/>
  <joint name="l_force_torque_joint" type="fixed">
    <parent link="l_force_torque_adapter_link"/>
    <child link="l_force_torque_link"/>
    <origin rpy="0.0 0.0 1.221730476396" xyz="0.0 0.0 0.0"/>
  </joint>
  <link name="l_force_torque_link">
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.012"/>
      <geometry>
        <cylinder length="0.0356" radius="0.0225"/>
      </geometry>
      <material name="Grey"/>
    </visual>
  </link>
  <joint name="l_gripper_palm_joint" type="fixed">
    <parent link="l_force_torque_link"/>
    <child link="l_gripper_palm_link"/>
    <origin rpy="0.0 1.570796326795 -1.221730476396" xyz="0.0 0.0 0.0"/>
  </joint>
  <link name="l_gripper_palm_link">
    <inertial>
      <mass value="0.58007"/>
      <origin rpy="0.0 0.0 0.0" xyz="0.06623 0.00053 -0.00119"/>
      <inertia ixx="0.00035223921" ixy="-0.00001580476" ixz="-0.0000009175" iyy="0.00067741312" iyz="-0.00000059554" izz="0.00086563316"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/gripper_v0/gripper_palm.dae"/>
      </geometry>
      <material name="Red"/>
    </visual>
    <collision>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/gripper_v0/gripper_palm.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="l_gripper_led_joint" type="fixed">
    <parent link="l_gripper_palm_link"/>
    <child link="l_gripper_led_frame"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0513 0.0 0.0244"/>
  </joint>
  <link name="l_gripper_led_frame"/>
  <joint name="l_gripper_motor_accelerometer_joint" type="fixed">
    <parent link="l_gripper_palm_link"/>
    <child link="l_gripper_motor_accelerometer_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
  </joint>
  <link name="l_gripper_motor_accelerometer_link">
    <inertial>
      <mass value="0.001"/>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <box size="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <box size="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="l_gripper_tool_joint" type="fixed">
    <parent link="l_gripper_palm_link"/>
    <child link="l_gripper_tool_frame"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.18 0.0 0.0"/>
  </joint>
  <link name="l_gripper_tool_frame"/>
  <link name="l_gripper_motor_slider_link">
    <inertial>
      <mass value="0.01"/>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
    </inertial>
  </link>
  <joint name="l_gripper_motor_slider_joint" type="prismatic">
    <parent link="l_gripper_palm_link"/>
    <child link="l_gripper_motor_slider_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.16828 0.0 0.0"/>
    <axis xyz="1.0 0.0 0.0"/>
    <limit effort="1000" lower="-0.1" upper="0.1" velocity="0.2"/>
  </joint>
  <link name="l_gripper_motor_screw_link">
    <inertial>
      <mass value="0.01"/>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
    </inertial>
  </link>
  <joint name="l_gripper_motor_screw_joint" type="continuous">
    <parent link="l_gripper_motor_slider_link"/>
    <child link="l_gripper_motor_screw_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    <axis xyz="0.0 1.0 0.0"/>
    <dynamics damping="0.0001"/>
  </joint>
  <joint name="l_gripper_l_finger_joint" type="revolute">
    <parent link="l_gripper_palm_link"/>
    <child link="l_gripper_l_finger_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.07691 0.01 0.0"/>
    <axis xyz="0.0 0.0 1.0"/>
    <limit effort="1000" lower="0" upper="0.548" velocity="0.5"/>
    <dynamics damping="0.02"/>
  </joint>
  <link name="l_gripper_l_finger_link">
    <inertial>
      <mass value="0.17126"/>
      <origin rpy="0.0 0.0 0.0" xyz="0.03598 0.0173 -0.00164"/>
      <inertia ixx="0.00007756198" ixy="0.00000149095" ixz="-0.00000983385" iyy="0.00019708305" iyz="-0.00000306125" izz="0.00018105446"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/gripper_v0/l_finger.dae"/>
      </geometry>
      <material name="Grey"/>
    </visual>
    <collision>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/gripper_v0/l_finger.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="l_gripper_r_finger_joint" type="revolute">
    <parent link="l_gripper_palm_link"/>
    <child link="l_gripper_r_finger_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.07691 -0.01 0.0"/>
    <axis xyz="0.0 0.0 -1"/>
    <limit effort="1000" lower="0" upper="0.548" velocity="0.5"/>
    <dynamics damping="0.02"/>
  </joint>
  <link name="l_gripper_r_finger_link">
    <inertial>
      <mass value="0.17389"/>
      <origin rpy="0.0 0.0 0.0" xyz="0.03576 -0.01736 -0.00095"/>
      <inertia ixx="0.0000773841" ixy="-0.00000209309" ixz="-0.00000836228" iyy="0.00019847383" iyz="0.0000024611" izz="0.00018106988"/>
    </inertial>
    <visual>
      <origin rpy="3.14159265359 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/gripper_v0/l_finger.dae"/>
      </geometry>
      <material name="Grey"/>
    </visual>
    <collision>
      <origin rpy="3.14159265359 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/gripper_v0/l_finger.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="l_gripper_l_finger_tip_joint" type="revolute">
    <parent link="l_gripper_l_finger_link"/>
    <child link="l_gripper_l_finger_tip_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.09137 0.00495 0.0"/>
    <axis xyz="0.0 0.0 -1"/>
    <limit effort="1000" lower="0" upper="0.548" velocity="0.5"/>
    <dynamics damping="0.001"/>
  </joint>
  <link name="l_gripper_l_finger_tip_link">
    <inertial>
      <mass value="0.04419"/>
      <origin rpy="0.0 0.0 0.0" xyz="0.00423 0.00284 0.0"/>
      <inertia ixx="0.00000837047" ixy="0.00000583632" ixz="0" iyy="0.00000987067" iyz="0" izz="0.00001541768"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/gripper_v0/l_finger_tip.dae"/>
      </geometry>
      <material name="Green"/>
    </visual>
    <collision>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/gripper_v0/l_finger_tip.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="l_gripper_r_finger_tip_joint" type="revolute">
    <parent link="l_gripper_r_finger_link"/>
    <child link="l_gripper_r_finger_tip_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.09137 -0.00495 0.0"/>
    <axis xyz="0.0 0.0 1.0"/>
    <limit effort="1000" lower="0" upper="0.548" velocity="0.5"/>
    <dynamics damping="0.001"/>
  </joint>
  <link name="l_gripper_r_finger_tip_link">
    <inertial>
      <mass value="0.04419"/>
      <origin rpy="0.0 0.0 0.0" xyz="0.00423 -0.00284 0.0"/>
      <inertia ixx="0.00000837047" ixy="-0.00000583632" ixz="0" iyy="0.00000987067" iyz="0" izz="0.00001541768"/>
    </inertial>
    <visual>
      <origin rpy="3.14159265359 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/gripper_v0/l_finger_tip.dae"/>
      </geometry>
      <material name="Green"/>
    </visual>
    <collision>
      <origin rpy="3.14159265359 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package:https://pr2_description/meshes/gripper_v0/l_finger_tip.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="l_gripper_joint" type="prismatic">
    <parent link="l_gripper_r_finger_tip_link"/>
    <child link="l_gripper_l_finger_tip_frame"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    <axis xyz="0.0 1.0 0.0"/>
    <limit effort="1000" lower="0" upper="0.09" velocity="0.2"/>
    <dynamics damping="10.0"/>
    <safety_controller k_position="20" k_velocity="5000" soft_lower_limit="-0.01" soft_upper_limit="0.088"/>
  </joint>
  <link name="l_gripper_l_finger_tip_frame"/>
  <transmission name="l_gripper_trans" type="pr2_mechanism_model/PR2GripperTransmission">
    <actuator name="l_gripper_motor"/>
    <gap_joint L0="0.0375528" a="0.0683698" b="0.0433849" gear_ratio="40.095" h="0.0" mechanical_reduction="1.0" name="l_gripper_joint" phi0="0.518518122146" r="0.0915" screw_reduction="0.004" t0="-0.0001914" theta0="0.0628824676201"/>
    <use_simulated_gripper_joint/>
    <passive_joint name="l_gripper_l_finger_joint"/>
    <passive_joint name="l_gripper_r_finger_joint"/>
    <passive_joint name="l_gripper_r_finger_tip_joint"/>
    <passive_joint name="l_gripper_l_finger_tip_joint"/>
    <simulated_actuated_joint name="l_gripper_motor_screw_joint" passive_actuated_joint="l_gripper_motor_slider_joint" simulated_reduction="3141.6"/>
  </transmission>
  <joint name="l_forearm_cam_frame_joint" type="fixed">
    <parent link="l_forearm_roll_link"/>
    <child link="l_forearm_cam_frame"/>
    <origin rpy="-1.538533018262 -0.563330072035 -0.015596777949" xyz="0.143534195191 0.005377510982 0.038210342235"/>
  </joint>
  <link name="l_forearm_cam_frame">
    <inertial>
      <mass value="0.01"/>
      <origin xyz="0.0 0.0 0.0"/>
      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
    </inertial>
  </link>
  <joint name="l_forearm_cam_optical_frame_joint" type="fixed">
    <parent link="l_forearm_cam_frame"/>
    <child link="l_forearm_cam_optical_frame"/>
    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
  </joint>
  <link name="l_forearm_cam_optical_frame"/>
  <joint name="r_forearm_cam_frame_joint" type="fixed">
    <parent link="r_forearm_roll_link"/>
    <child link="r_forearm_cam_frame"/>
    <origin rpy="1.549884508472 -0.52315633191 0.0073610857" xyz="0.138338823418 -0.00626146937 0.044938792621"/>
  </joint>
  <link name="r_forearm_cam_frame">
    <inertial>
      <mass value="0.01"/>
      <origin xyz="0.0 0.0 0.0"/>
      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
    </inertial>
  </link>
  <joint name="r_forearm_cam_optical_frame_joint" type="fixed">
    <parent link="r_forearm_cam_frame"/>
    <child link="r_forearm_cam_optical_frame"/>
    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
  </joint>
  <link name="r_forearm_cam_optical_frame"/>
</robot>