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            <restitution_coefficient>0</restitution_coefficient>
            <threshold>0</threshold>
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          <contact>
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              <kp>10000000000000.000000</kp>
              <kd>100000000000.000000</kd>
              <max_vel>-1</max_vel>
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          </contact>
        </surface>
        <laser_retro>0</laser_retro>
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      <visual name="base_laser_front_link_geom_visual">
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <mesh>
            <uri>model://hokuyo/meshes/hokuyo.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <sensor name="base_laser_front" type="ray">
        <pose>0 0 0 0 0 0</pose>
        <ray>
          <scan>
            <horizontal>
              <samples>640</samples>
              <resolution>1</resolution>
              <min_angle>-1.570000</min_angle>
              <max_angle>1.570000</max_angle>
            </horizontal>
          </scan>
          <range>
            <min>0.050000</min>
            <max>5.600000</max>
            <resolution>0.360000</resolution>
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        </ray>
        <always_on>0</always_on>
        <update_rate>10.000000</update_rate>
        <visualize>0</visualize>
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      <gravity>1</gravity>
      <self_collide>0</self_collide>
      <kinematic>0</kinematic>
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    <link name="caster_link_bl">
      <pose>-0.228000 0.158000 -0.034000 0 0 0</pose>
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        <pose>0 0 0 0 0 0</pose>
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        <mass>0.100000</mass>
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      <gravity>1</gravity>
      <self_collide>0</self_collide>
      <kinematic>0</kinematic>
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    <link name="wheel_link_bl">
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      <inertial>
        <pose>0 0 0 0 0 0</pose>
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          <iyz>-0.000004</iyz>
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        <mass>0.400000</mass>
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      <collision name="wheel_link_bl_geom">
        <pose>0 0 0 1.570800 0 0</pose>
        <geometry>
          <cylinder>
            <radius>0.050000</radius>
            <length>0.005000</length>
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        <surface>
          <friction>
            <ode>
              <mu>0</mu>
              <mu2>0</mu2>
              <fdir1>0 0 0</fdir1>
              <slip1>0</slip1>
              <slip2>0</slip2>
            </ode>
          </friction>
          <bounce>
            <restitution_coefficient>0</restitution_coefficient>
            <threshold>0</threshold>
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          <contact>
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              <kp>10000000000000.000000</kp>
              <kd>100000000000.000000</kd>
              <max_vel>-1</max_vel>
              <min_depth>0</min_depth>
            </ode>
          </contact>
        </surface>
        <laser_retro>0</laser_retro>
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      <visual name="wheel_link_bl_geom_visual">
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <mesh>
            <uri>model://youbot/meshes/base/back-left_wheel.dae</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <uri>model://youbot/materials/scripts/youbot.material</uri>
            <name>youbot/Orange</name>
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        </material>
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      <gravity>1</gravity>
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      <kinematic>0</kinematic>
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          <ixx>0.012412</ixx>
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        <mass>0.100000</mass>
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      <gravity>1</gravity>
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    <link name="wheel_link_br">
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      <collision name="wheel_link_br_geom">
        <pose>0 0 0 1.570800 0 0</pose>
        <geometry>
          <cylinder>
            <radius>0.050000</radius>
            <length>0.005000</length>
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        <surface>
          <friction>
            <ode>
              <mu>0</mu>
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              <slip2>0</slip2>
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          <bounce>
            <restitution_coefficient>0</restitution_coefficient>
            <threshold>0</threshold>
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          <contact>
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              <kp>10000000000000.000000</kp>
              <kd>100000000000.000000</kd>
              <max_vel>-1</max_vel>
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        </surface>
        <laser_retro>0</laser_retro>
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      <visual name="wheel_link_br_geom_visual">
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <mesh>
            <uri>model://youbot/meshes/base/back-right_wheel.dae</uri>
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        <material>
          <script>
            <uri>model://youbot/materials/scripts/youbot.material</uri>
            <name>youbot/Orange</name>
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      <gravity>1</gravity>
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    <link name="caster_link_fl">
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        <pose>0 0 0 0 0 0</pose>
        <inertia>
          <ixx>0.012412</ixx>
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        <mass>0.100000</mass>
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      <gravity>1</gravity>
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      <kinematic>0</kinematic>
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    <link name="wheel_link_fl">
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        <pose>0 0 0 0 0 0</pose>
        <inertia>
          <ixx>0.012412</ixx>
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        <mass>0.400000</mass>
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      <collision name="wheel_link_fl_geom">
        <pose>0 0 0 1.570800 0 0</pose>
        <geometry>
          <cylinder>
            <radius>0.050000</radius>
            <length>0.005000</length>
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        <surface>
          <friction>
            <ode>
              <mu>0</mu>
              <mu2>0</mu2>
              <fdir1>0 0 0</fdir1>
              <slip1>0</slip1>
              <slip2>0</slip2>
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          </friction>
          <bounce>
            <restitution_coefficient>0</restitution_coefficient>
            <threshold>0</threshold>
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          <contact>
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              <kp>10000000000000.000000</kp>
              <kd>100000000000.000000</kd>
              <max_vel>-1</max_vel>
              <min_depth>0</min_depth>
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          </contact>
        </surface>
        <laser_retro>0</laser_retro>
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      <visual name="wheel_link_fl_geom_visual">
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <mesh>
            <uri>model://youbot/meshes/base/front-left_wheel.dae</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <uri>model://youbot/materials/scripts/youbot.material</uri>
            <name>youbot/Orange</name>
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      <gravity>1</gravity>
      <self_collide>0</self_collide>
      <kinematic>0</kinematic>
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    <link name="caster_link_fr">
      <pose>0.228000 -0.158000 -0.034000 0 0 0</pose>
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        <pose>0 0 0 0 0 0</pose>
        <inertia>
          <ixx>0.012412</ixx>
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        <mass>0.100000</mass>
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      <gravity>1</gravity>
      <self_collide>0</self_collide>
      <kinematic>0</kinematic>
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    <link name="wheel_link_fr">
      <pose>0.228000 -0.158000 -0.034000 0 0 0</pose>
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        <pose>0 0 0 0 0 0</pose>
        <inertia>
          <ixx>0.012412</ixx>
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        <mass>0.400000</mass>
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      <collision name="wheel_link_fr_geom">
        <pose>0 0 0 1.570800 0 0</pose>
        <geometry>
          <cylinder>
            <radius>0.050000</radius>
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        <surface>
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            <ode>
              <mu>0</mu>
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          <bounce>
            <restitution_coefficient>0</restitution_coefficient>
            <threshold>0</threshold>
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              <kp>10000000000000.000000</kp>
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              <max_vel>-1</max_vel>
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          </contact>
        </surface>
        <laser_retro>0</laser_retro>
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      <visual name="wheel_link_fr_geom_visual">
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <mesh>
            <uri>model://youbot/meshes/base/front-right_wheel.dae</uri>
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        <material>
          <script>
            <uri>model://youbot/materials/scripts/youbot.material</uri>
            <name>youbot/Orange</name>
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      <gravity>1</gravity>
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    <link name="plate_link">
      <pose>-0.159000 0 0.046000 0 0 0</pose>
      <inertial>
        <pose>0 0 0 0 0 0</pose>
        <inertia>
          <ixx>0.010000</ixx>
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          <iyz>0</iyz>
          <izz>0.010000</izz>
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        <mass>1</mass>
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      <collision name="plate_link_geom">
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <mesh>
            <uri>model://youbot/meshes/plate/plate_convex.stl</uri>
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        <surface>
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            <ode>
              <mu>0</mu>
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          <bounce>
            <restitution_coefficient>0</restitution_coefficient>
            <threshold>0</threshold>
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              <max_vel>-1</max_vel>
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        <laser_retro>0</laser_retro>
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      <visual name="plate_link_geom_visual">
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <mesh>
            <uri>model://youbot/meshes/plate/plate.dae</uri>
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      <gravity>1</gravity>
      <self_collide>0</self_collide>
      <kinematic>0</kinematic>
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    <joint name="base_footprint_joint" type="revolute">
      <pose>0 0 0 0 0 0</pose>
      <parent>base_footprint</parent>
      <child>base_link</child>
      <axis>
        <dynamics>
          <damping>0</damping>
          <friction>0</friction>
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        <limit><lower>0</lower><upper>0</upper><effort>0</effort><velocity>0</velocity></limit>
        <xyz>0 0 1</xyz>
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    <joint name="arm_joint_0" type="revolute">
      <pose>0 0 0 0 0 0</pose>
      <parent>base_link</parent>
      <child>arm_link_0</child>
      <axis>
        <dynamics>
          <damping>0</damping>
          <friction>0</friction>
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        <limit><lower>0</lower><upper>0</upper><effort>0</effort><velocity>0</velocity></limit>
        <xyz>0 0 1</xyz>
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    <joint name="arm_joint_1" type="revolute">
      <pose>0 0 0 0 0 0</pose>
      <parent>arm_link_0</parent>
      <child>arm_link_1</child>
      <axis>
        <dynamics>
          <damping>1</damping>
          <friction>0</friction>
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        <limit><lower>0</lower><upper>5.899213</upper><effort>0</effort><velocity>0</velocity></limit>
        <xyz>0 0 -1</xyz>
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    </joint>
    <joint name="arm_joint_2" type="revolute">
      <pose>0 0 0 0 0 0</pose>
      <parent>arm_link_1</parent>
      <child>arm_link_2</child>
      <axis>
        <dynamics>
          <damping>1</damping>
          <friction>0</friction>
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        <limit><lower>0</lower><upper>2.705260</upper><effort>0</effort><velocity>0</velocity></limit>
        <xyz>-0.173648 -0.984808 0</xyz>
      </axis>
    </joint>
    <joint name="arm_joint_3" type="revolute">
      <pose>0 0 0 0 0 0</pose>
      <parent>arm_link_2</parent>
      <child>arm_link_3</child>
      <axis>
        <dynamics>
          <damping>1</damping>
          <friction>0</friction>
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        <limit><lower>-5.183628</lower><upper>0</upper><effort>0</effort><velocity>0</velocity></limit>
        <xyz>-0.173648 -0.984808 0</xyz>
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    </joint>
    <joint name="arm_joint_4" type="revolute">
      <pose>0 0 0 0 0 0</pose>
      <parent>arm_link_3</parent>
      <child>arm_link_4</child>
      <axis>
        <dynamics>
          <damping>1</damping>
          <friction>0</friction>
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        <limit><lower>0</lower><upper>3.577925</upper><effort>0</effort><velocity>0</velocity></limit>
        <xyz>-0.173648 -0.984808 0</xyz>
      </axis>
    </joint>
    <joint name="arm_joint_5" type="revolute">
      <pose>0 0 0 0 0 0</pose>
      <parent>arm_link_4</parent>
      <child>arm_link_5</child>
      <axis>
        <dynamics>
          <damping>1</damping>
          <friction>0</friction>
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        <limit><lower>0</lower><upper>5.846853</upper><effort>0</effort><velocity>0</velocity></limit>
        <xyz>-0.360933 0.063642 -0.930418</xyz>
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    </joint>
    <joint name="gripper_palm_joint" type="revolute">
      <pose>0 0 0 0 0 0</pose>
      <parent>arm_link_5</parent>
      <child>gripper_palm_link</child>
      <axis>
        <dynamics>
          <damping>0</damping>
          <friction>0</friction>
        </dynamics>
        <limit><lower>0</lower><upper>0</upper><effort>0</effort><velocity>0</velocity></limit>
        <xyz>0 0 1</xyz>
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    </joint>
    <joint name="gripper_finger_joint_l" type="prismatic">
      <pose>0 0 0 0 0 0</pose>
      <parent>gripper_palm_link</parent>
      <child>gripper_finger_link_l</child>
      <axis>
        <dynamics>
          <damping>1</damping>
          <friction>0</friction>
        </dynamics>
        <limit><lower>0</lower><upper>0.011500</upper><effort>0</effort><velocity>0</velocity></limit>
        <xyz>0.367852 0.926495 -0.079325</xyz>
      </axis>
    </joint>
    <joint name="gripper_finger_joint_r" type="prismatic">
      <pose>0 0 0 0 0 0</pose>
      <parent>gripper_palm_link</parent>
      <child>gripper_finger_link_r</child>
      <axis>
        <dynamics>
          <damping>1</damping>
          <friction>0</friction>
        </dynamics>
        <limit><lower>0</lower><upper>0.011500</upper><effort>0</effort><velocity>0</velocity></limit>
        <xyz>-0.367852 -0.926495 0.079325</xyz>
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    </joint>
    <joint name="base_laser_front_hokuyo_urg04_laser_joint" type="revolute">
      <pose>0 0 0 0 0 0</pose>
      <parent>base_link</parent>
      <child>base_laser_front_link</child>
      <axis>
        <dynamics>
          <damping>0</damping>
          <friction>0</friction>
        </dynamics>
        <limit><lower>0</lower><upper>0</upper><effort>0</effort><velocity>0</velocity></limit>
        <xyz>0 0 1</xyz>
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    </joint>
    <joint name="caster_joint_bl" type="revolute">
      <pose>0 0 0 0 0 0</pose>
      <parent>base_link</parent>
      <child>caster_link_bl</child>
      <axis>
        <dynamics>
          <damping>1</damping>
          <friction>0</friction>
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        <limit><lower>-10000000000000000.000000</lower><upper>10000000000000000.000000</upper><effort>0</effort><velocity>0</velocity></limit>
        <xyz>0 0 1</xyz>
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    </joint>
    <joint name="wheel_joint_bl" type="revolute">
      <pose>0 0 0 0 0 0</pose>
      <parent>caster_link_bl</parent>
      <child>wheel_link_bl</child>
      <axis>
        <dynamics>
          <damping>1</damping>
          <friction>0</friction>
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        <limit><lower>-10000000000000000.000000</lower><upper>10000000000000000.000000</upper><effort>0</effort><velocity>0</velocity></limit>
        <xyz>0 1.000000 0</xyz>
      </axis>
    </joint>
    <joint name="caster_joint_br" type="revolute">
      <pose>0 0 0 0 0 0</pose>
      <parent>base_link</parent>
      <child>caster_link_br</child>
      <axis>
        <dynamics>
          <damping>1</damping>
          <friction>0</friction>
        </dynamics>
        <limit><lower>-10000000000000000.000000</lower><upper>10000000000000000.000000</upper><effort>0</effort><velocity>0</velocity></limit>
        <xyz>0 0 1</xyz>
      </axis>
    </joint>
    <joint name="wheel_joint_br" type="revolute">
      <pose>0 0 0 0 0 0</pose>
      <parent>caster_link_br</parent>
      <child>wheel_link_br</child>
      <axis>
        <dynamics>
          <damping>1</damping>
          <friction>0</friction>
        </dynamics>
        <limit><lower>-10000000000000000.000000</lower><upper>10000000000000000.000000</upper><effort>0</effort><velocity>0</velocity></limit>
        <xyz>0 1.000000 0</xyz>
      </axis>
    </joint>
    <joint name="caster_joint_fl" type="revolute">
      <pose>0 0 0 0 0 0</pose>
      <parent>base_link</parent>
      <child>caster_link_fl</child>
      <axis>
        <dynamics>
          <damping>1</damping>
          <friction>0</friction>
        </dynamics>
        <limit><lower>-10000000000000000.000000</lower><upper>10000000000000000.000000</upper><effort>0</effort><velocity>0</velocity></limit>
        <xyz>0 0 1</xyz>
      </axis>
    </joint>
    <joint name="wheel_joint_fl" type="revolute">
      <pose>0 0 0 0 0 0</pose>
      <parent>caster_link_fl</parent>
      <child>wheel_link_fl</child>
      <axis>
        <dynamics>
          <damping>1</damping>
          <friction>0</friction>
        </dynamics>
        <limit><lower>-10000000000000000.000000</lower><upper>10000000000000000.000000</upper><effort>0</effort><velocity>0</velocity></limit>
        <xyz>0 1.000000 0</xyz>
      </axis>
    </joint>
    <joint name="caster_joint_fr" type="revolute">
      <pose>0 0 0 0 0 0</pose>
      <parent>base_link</parent>
      <child>caster_link_fr</child>
      <axis>
        <dynamics>
          <damping>1</damping>
          <friction>0</friction>
        </dynamics>
        <limit><lower>-10000000000000000.000000</lower><upper>10000000000000000.000000</upper><effort>0</effort><velocity>0</velocity></limit>
        <xyz>0 0 1</xyz>
      </axis>
    </joint>
    <joint name="wheel_joint_fr" type="revolute">
      <pose>0 0 0 0 0 0</pose>
      <parent>caster_link_fr</parent>
      <child>wheel_link_fr</child>
      <axis>
        <dynamics>
          <damping>1</damping>
          <friction>0</friction>
        </dynamics>
        <limit><lower>-10000000000000000.000000</lower><upper>10000000000000000.000000</upper><effort>0</effort><velocity>0</velocity></limit>
        <xyz>0 1.000000 0</xyz>
      </axis>
    </joint>
    <joint name="plate_joint" type="revolute">
      <parent>base_link</parent>
      <child>plate_link</child>
      <axis>
        <dynamics>
          <damping>0</damping>
          <friction>0</friction>
        </dynamics>
        <limit><lower>0</lower><upper>0</upper><effort>0</effort><velocity>0</velocity></limit>
        <xyz>0 0 1</xyz>
      </axis>
    </joint>
    <static>0</static>
  </model>
</gazebo>
