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        <visual name='gripper_finger_link_r_geom_visual'>
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        <visual name='base_laser_front_link_geom_visual'>
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        <visual name='wheel_link_bl_geom_visual'>
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        <visual name='wheel_link_fl_geom_visual'>
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      <joint name='arm_joint_0' type='revolute'>
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      <joint name='arm_joint_1' type='revolute'>
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          <xyz>0 0 -1</xyz>
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      <joint name='arm_joint_2' type='revolute'>
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      <joint name='arm_joint_3' type='revolute'>
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      <joint name='arm_joint_4' type='revolute'>
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        <parent>arm_link_3</parent>
        <child>arm_link_4</child>
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        <parent>arm_link_4</parent>
        <child>arm_link_5</child>
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        <parent>arm_link_5</parent>
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      <joint name='wheel_joint_br' type='revolute'>
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      <joint name='wheel_joint_fl' type='revolute'>
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        <parent>caster_link_fl</parent>
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                <min_depth>0</min_depth>
              </ode>
            </contact>
          </surface>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='wheel_link_fl_geom_visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <uri>model://youbot/meshes/base/front-left_wheel.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
          <material>
            <script>
              <uri>model://youbot/materials/scripts/youbot.material</uri>
              <name>youbot/Orange</name>
            </script>
          </material>
        </visual>
        <gravity>1</gravity>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <link name='caster_link_fr'>
        <pose frame=''>0.228 -0.158 -0.034 0 -0 0</pose>
        <inertial>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <inertia>
            <ixx>0.012412</ixx>
            <ixy>-0.000712</ixy>
            <ixz>0.000503</ixz>
            <iyy>0.015218</iyy>
            <iyz>-4e-06</iyz>
            <izz>0.011764</izz>
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          <mass>0.1</mass>
        </inertial>
        <gravity>1</gravity>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <link name='wheel_link_fr'>
        <pose frame=''>0.228 -0.158 -0.034 0 -0 0</pose>
        <inertial>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <inertia>
            <ixx>0.012412</ixx>
            <ixy>-0.000712</ixy>
            <ixz>0.000503</ixz>
            <iyy>0.015218</iyy>
            <iyz>-4e-06</iyz>
            <izz>0.011764</izz>
          </inertia>
          <mass>0.4</mass>
        </inertial>
        <collision name='wheel_link_fr_geom'>
          <pose frame=''>0 0 0 1.5708 -0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.05</radius>
              <length>0.005</length>
            </cylinder>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>0</mu>
                <mu2>0</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
              <threshold>0</threshold>
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            <contact>
              <ode>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1e+11</kd>
                <max_vel>-1</max_vel>
                <min_depth>0</min_depth>
              </ode>
            </contact>
          </surface>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='wheel_link_fr_geom_visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <uri>model://youbot/meshes/base/front-right_wheel.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
          <material>
            <script>
              <uri>model://youbot/materials/scripts/youbot.material</uri>
              <name>youbot/Orange</name>
            </script>
          </material>
        </visual>
        <gravity>1</gravity>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <link name='plate_link'>
        <pose frame=''>-0.159 0 0.046 0 -0 0</pose>
        <inertial>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <inertia>
            <ixx>0.01</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.01</iyy>
            <iyz>0</iyz>
            <izz>0.01</izz>
          </inertia>
          <mass>1</mass>
        </inertial>
        <collision name='plate_link_geom'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <uri>model://youbot/meshes/plate/plate_convex.stl</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>0</mu>
                <mu2>0</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
              <threshold>0</threshold>
            </bounce>
            <contact>
              <ode>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1e+11</kd>
                <max_vel>-1</max_vel>
                <min_depth>0</min_depth>
              </ode>
            </contact>
          </surface>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='plate_link_geom_visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <uri>model://youbot/meshes/plate/plate.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
        </visual>
        <gravity>1</gravity>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <joint name='base_footprint_joint' type='revolute'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <parent>base_footprint</parent>
        <child>base_link</child>
        <axis>
          <dynamics>
            <damping>0</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>0</lower>
            <upper>0</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>0 0 1</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='arm_joint_0' type='revolute'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <parent>base_link</parent>
        <child>arm_link_0</child>
        <axis>
          <dynamics>
            <damping>0</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>0</lower>
            <upper>0</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>0 0 1</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='arm_joint_1' type='revolute'>
        <pose frame=''>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>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>0</lower>
            <upper>5.89921</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>0 0 -1</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='arm_joint_2' type='revolute'>
        <pose frame=''>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>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>0</lower>
            <upper>2.70526</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>-0.173648 -0.984808 0</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='arm_joint_3' type='revolute'>
        <pose frame=''>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>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>-5.18363</lower>
            <upper>0</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>-0.173648 -0.984808 0</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='arm_joint_4' type='revolute'>
        <pose frame=''>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>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>0</lower>
            <upper>3.57793</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>-0.173648 -0.984808 0</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='arm_joint_5' type='revolute'>
        <pose frame=''>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>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>0</lower>
            <upper>5.84685</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>-0.360933 0.063642 -0.930418</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='gripper_palm_joint' type='revolute'>
        <pose frame=''>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>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>0</lower>
            <upper>0</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>0 0 1</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='gripper_finger_joint_l' type='prismatic'>
        <pose frame=''>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>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>0</lower>
            <upper>0.0115</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>0.367852 0.926495 -0.079325</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='gripper_finger_joint_r' type='prismatic'>
        <pose frame=''>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>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>0</lower>
            <upper>0.0115</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>-0.367852 -0.926495 0.079325</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='base_laser_front_hokuyo_urg04_laser_joint' type='revolute'>
        <pose frame=''>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>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>0</lower>
            <upper>0</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>0 0 1</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='caster_joint_bl' type='revolute'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <parent>base_link</parent>
        <child>caster_link_bl</child>
        <axis>
          <dynamics>
            <damping>1</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>0 0 1</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='wheel_joint_bl' type='revolute'>
        <pose frame=''>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>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>0 1 0</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='caster_joint_br' type='revolute'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <parent>base_link</parent>
        <child>caster_link_br</child>
        <axis>
          <dynamics>
            <damping>1</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>0 0 1</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='wheel_joint_br' type='revolute'>
        <pose frame=''>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>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>0 1 0</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='caster_joint_fl' type='revolute'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <parent>base_link</parent>
        <child>caster_link_fl</child>
        <axis>
          <dynamics>
            <damping>1</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>0 0 1</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='wheel_joint_fl' type='revolute'>
        <pose frame=''>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>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>0 1 0</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='caster_joint_fr' type='revolute'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <parent>base_link</parent>
        <child>caster_link_fr</child>
        <axis>
          <dynamics>
            <damping>1</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>0 0 1</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='wheel_joint_fr' type='revolute'>
        <pose frame=''>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>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>0 1 0</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='plate_joint' type='revolute'>
        <parent>base_link</parent>
        <child>plate_link</child>
        <axis>
          <dynamics>
            <damping>0</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>0</lower>
            <upper>0</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>0 0 1</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <static>0</static>
      <plugin name="actuador" filename="libTry_1.so">
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    </model>
    <model name='youbot_1'>
      <pose frame=''>0.026161 0.548021 0.09 0 -0 0</pose>
      <link name='base_footprint'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <inertial>
          <pose frame=''>0 0 -0.05 0 -0 0</pose>
          <inertia>
            <ixx>1</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>1</iyy>
            <iyz>0</iyz>
            <izz>1</izz>
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          <mass>0.1</mass>
        </inertial>
        <collision name='base_footprint_geom'>
          <pose frame=''>0 0 -0.05 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.001 0.001 0.001</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>0</mu>
                <mu2>0</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
              <threshold>0</threshold>
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            <contact>
              <ode>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1e+11</kd>
                <max_vel>-1</max_vel>
                <min_depth>0</min_depth>
              </ode>
            </contact>
          </surface>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='base_footprint_geom_visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.001 0.001 0.001</size>
            </box>
          </geometry>
        </visual>
        <gravity>1</gravity>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <link name='base_link'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <inertial>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <inertia>
            <ixx>5.65223</ixx>
            <ixy>-0.00972</ixy>
            <ixz>1.29399</ixz>
            <iyy>5.66947</iyy>
            <iyz>-0.00738</iyz>
            <izz>3.6832</izz>
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          <mass>22</mass>
        </inertial>
        <collision name='base_link_geom'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <uri>model://youbot/meshes/base/base_convex.stl</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>0</mu>
                <mu2>0</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <ode/>
              </torsional>
            </friction>
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              <vertical>
                <samples>1</samples>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </vertical>
            </scan>
            <range>
              <min>0.05</min>
              <max>5.6</max>
              <resolution>0.36</resolution>
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          </ray>
          <always_on>0</always_on>
          <update_rate>10</update_rate>
          <visualize>0</visualize>
        </sensor>
        <gravity>1</gravity>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
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      <link name='caster_link_bl'>
        <pose frame=''>-0.228 0.158 -0.034 0 -0 0</pose>
        <inertial>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <inertia>
            <ixx>0.012412</ixx>
            <ixy>-0.000712</ixy>
            <ixz>0.000503</ixz>
            <iyy>0.015218</iyy>
            <iyz>-4e-06</iyz>
            <izz>0.011764</izz>
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          <mass>0.1</mass>
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        <gravity>1</gravity>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <link name='wheel_link_bl'>
        <pose frame=''>-0.228 0.158 -0.034 0 -0 0</pose>
        <inertial>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <inertia>
            <ixx>0.012412</ixx>
            <ixy>-0.000712</ixy>
            <ixz>0.000503</ixz>
            <iyy>0.015218</iyy>
            <iyz>-4e-06</iyz>
            <izz>0.011764</izz>
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          <mass>0.4</mass>
        </inertial>
        <collision name='wheel_link_bl_geom'>
          <pose frame=''>0 0 0 1.5708 -0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.05</radius>
              <length>0.005</length>
            </cylinder>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>0</mu>
                <mu2>0</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
              <threshold>0</threshold>
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            <contact>
              <ode>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1e+11</kd>
                <max_vel>-1</max_vel>
                <min_depth>0</min_depth>
              </ode>
            </contact>
          </surface>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='wheel_link_bl_geom_visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <uri>model://youbot/meshes/base/back-left_wheel.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
          <material>
            <script>
              <uri>model://youbot/materials/scripts/youbot.material</uri>
              <name>youbot/Orange</name>
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          </material>
        </visual>
        <gravity>1</gravity>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <link name='caster_link_br'>
        <pose frame=''>-0.228 -0.158 -0.034 0 -0 0</pose>
        <inertial>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <inertia>
            <ixx>0.012412</ixx>
            <ixy>-0.000712</ixy>
            <ixz>0.000503</ixz>
            <iyy>0.015218</iyy>
            <iyz>-4e-06</iyz>
            <izz>0.011764</izz>
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          <mass>0.1</mass>
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        <gravity>1</gravity>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
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      <link name='wheel_link_br'>
        <pose frame=''>-0.228 -0.158 -0.034 0 -0 0</pose>
        <inertial>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <inertia>
            <ixx>0.012412</ixx>
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            <ixz>0.000503</ixz>
            <iyy>0.015218</iyy>
            <iyz>-4e-06</iyz>
            <izz>0.011764</izz>
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          <mass>0.4</mass>
        </inertial>
        <collision name='wheel_link_br_geom'>
          <pose frame=''>0 0 0 1.5708 -0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.05</radius>
              <length>0.005</length>
            </cylinder>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>0</mu>
                <mu2>0</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <ode/>
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            </friction>
            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
              <threshold>0</threshold>
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            <contact>
              <ode>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1e+11</kd>
                <max_vel>-1</max_vel>
                <min_depth>0</min_depth>
              </ode>
            </contact>
          </surface>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='wheel_link_br_geom_visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <uri>model://youbot/meshes/base/back-right_wheel.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
          <material>
            <script>
              <uri>model://youbot/materials/scripts/youbot.material</uri>
              <name>youbot/Orange</name>
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          </material>
        </visual>
        <gravity>1</gravity>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
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      <link name='caster_link_fl'>
        <pose frame=''>0.228 0.158 -0.034 0 -0 0</pose>
        <inertial>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <inertia>
            <ixx>0.012412</ixx>
            <ixy>-0.000712</ixy>
            <ixz>0.000503</ixz>
            <iyy>0.015218</iyy>
            <iyz>-4e-06</iyz>
            <izz>0.011764</izz>
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          <mass>0.1</mass>
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        <gravity>1</gravity>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <link name='wheel_link_fl'>
        <pose frame=''>0.228 0.158 -0.034 0 -0 0</pose>
        <inertial>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <inertia>
            <ixx>0.012412</ixx>
            <ixy>-0.000712</ixy>
            <ixz>0.000503</ixz>
            <iyy>0.015218</iyy>
            <iyz>-4e-06</iyz>
            <izz>0.011764</izz>
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          <mass>0.4</mass>
        </inertial>
        <collision name='wheel_link_fl_geom'>
          <pose frame=''>0 0 0 1.5708 -0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.05</radius>
              <length>0.005</length>
            </cylinder>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>0</mu>
                <mu2>0</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <ode/>
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            </friction>
            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
              <threshold>0</threshold>
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            <contact>
              <ode>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1e+11</kd>
                <max_vel>-1</max_vel>
                <min_depth>0</min_depth>
              </ode>
            </contact>
          </surface>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='wheel_link_fl_geom_visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <uri>model://youbot/meshes/base/front-left_wheel.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
          <material>
            <script>
              <uri>model://youbot/materials/scripts/youbot.material</uri>
              <name>youbot/Orange</name>
            </script>
          </material>
        </visual>
        <gravity>1</gravity>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
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      <link name='caster_link_fr'>
        <pose frame=''>0.228 -0.158 -0.034 0 -0 0</pose>
        <inertial>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <inertia>
            <ixx>0.012412</ixx>
            <ixy>-0.000712</ixy>
            <ixz>0.000503</ixz>
            <iyy>0.015218</iyy>
            <iyz>-4e-06</iyz>
            <izz>0.011764</izz>
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          <mass>0.1</mass>
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        <gravity>1</gravity>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <link name='wheel_link_fr'>
        <pose frame=''>0.228 -0.158 -0.034 0 -0 0</pose>
        <inertial>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <inertia>
            <ixx>0.012412</ixx>
            <ixy>-0.000712</ixy>
            <ixz>0.000503</ixz>
            <iyy>0.015218</iyy>
            <iyz>-4e-06</iyz>
            <izz>0.011764</izz>
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          <mass>0.4</mass>
        </inertial>
        <collision name='wheel_link_fr_geom'>
          <pose frame=''>0 0 0 1.5708 -0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.05</radius>
              <length>0.005</length>
            </cylinder>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>0</mu>
                <mu2>0</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
              <threshold>0</threshold>
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            <contact>
              <ode>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1e+11</kd>
                <max_vel>-1</max_vel>
                <min_depth>0</min_depth>
              </ode>
            </contact>
          </surface>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='wheel_link_fr_geom_visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <uri>model://youbot/meshes/base/front-right_wheel.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
          <material>
            <script>
              <uri>model://youbot/materials/scripts/youbot.material</uri>
              <name>youbot/Orange</name>
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          </material>
        </visual>
        <gravity>1</gravity>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <link name='plate_link'>
        <pose frame=''>-0.159 0 0.046 0 -0 0</pose>
        <inertial>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <inertia>
            <ixx>0.01</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.01</iyy>
            <iyz>0</iyz>
            <izz>0.01</izz>
          </inertia>
          <mass>1</mass>
        </inertial>
        <collision name='plate_link_geom'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <uri>model://youbot/meshes/plate/plate_convex.stl</uri>
              <scale>1 1 1</scale>
            </mesh>
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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>
              <torsional>
                <ode/>
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            </friction>
            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
              <threshold>0</threshold>
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            <contact>
              <ode>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1e+11</kd>
                <max_vel>-1</max_vel>
                <min_depth>0</min_depth>
              </ode>
            </contact>
          </surface>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='plate_link_geom_visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <uri>model://youbot/meshes/plate/plate.dae</uri>
              <scale>1 1 1</scale>
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          </geometry>
        </visual>
        <gravity>1</gravity>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <joint name='base_footprint_joint' type='revolute'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <parent>base_footprint</parent>
        <child>base_link</child>
        <axis>
          <dynamics>
            <damping>0</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
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          <limit>
            <lower>0</lower>
            <upper>0</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>0 0 1</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='arm_joint_0' type='revolute'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <parent>base_link</parent>
        <child>arm_link_0</child>
        <axis>
          <dynamics>
            <damping>0</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
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          <limit>
            <lower>0</lower>
            <upper>0</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>0 0 1</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='arm_joint_1' type='revolute'>
        <pose frame=''>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>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
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          <limit>
            <lower>0</lower>
            <upper>5.89921</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>0 0 -1</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='arm_joint_2' type='revolute'>
        <pose frame=''>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>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>0</lower>
            <upper>2.70526</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>-0.173648 -0.984808 0</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='arm_joint_3' type='revolute'>
        <pose frame=''>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>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>-5.18363</lower>
            <upper>0</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>-0.173648 -0.984808 0</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='arm_joint_4' type='revolute'>
        <pose frame=''>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>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>0</lower>
            <upper>3.57793</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>-0.173648 -0.984808 0</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='arm_joint_5' type='revolute'>
        <pose frame=''>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>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>0</lower>
            <upper>5.84685</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>-0.360933 0.063642 -0.930418</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='gripper_palm_joint' type='revolute'>
        <pose frame=''>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>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>0</lower>
            <upper>0</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>0 0 1</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='gripper_finger_joint_l' type='prismatic'>
        <pose frame=''>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>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>0</lower>
            <upper>0.0115</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>0.367852 0.926495 -0.079325</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='gripper_finger_joint_r' type='prismatic'>
        <pose frame=''>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>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>0</lower>
            <upper>0.0115</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>-0.367852 -0.926495 0.079325</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='base_laser_front_hokuyo_urg04_laser_joint' type='revolute'>
        <pose frame=''>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>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>0</lower>
            <upper>0</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>0 0 1</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='caster_joint_bl' type='revolute'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <parent>base_link</parent>
        <child>caster_link_bl</child>
        <axis>
          <dynamics>
            <damping>1</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>0 0 1</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='wheel_joint_bl' type='revolute'>
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        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <joint name='base_footprint_joint' type='revolute'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <parent>base_footprint</parent>
        <child>base_link</child>
        <axis>
          <dynamics>
            <damping>0</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>0</lower>
            <upper>0</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>0 0 1</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='arm_joint_0' type='revolute'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <parent>base_link</parent>
        <child>arm_link_0</child>
        <axis>
          <dynamics>
            <damping>0</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>0</lower>
            <upper>0</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>0 0 1</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='arm_joint_1' type='revolute'>
        <pose frame=''>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>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>0</lower>
            <upper>5.89921</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>0 0 -1</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='arm_joint_2' type='revolute'>
        <pose frame=''>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>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>0</lower>
            <upper>2.70526</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>-0.173648 -0.984808 0</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='arm_joint_3' type='revolute'>
        <pose frame=''>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>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>-5.18363</lower>
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            <effort>0</effort>
            <velocity>0</velocity>
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          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='arm_joint_4' type='revolute'>
        <pose frame=''>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>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>0</lower>
            <upper>3.57793</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>-0.173648 -0.984808 0</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='arm_joint_5' type='revolute'>
        <pose frame=''>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>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>0</lower>
            <upper>5.84685</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>-0.360933 0.063642 -0.930418</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='gripper_palm_joint' type='revolute'>
        <pose frame=''>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>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
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          <limit>
            <lower>0</lower>
            <upper>0</upper>
            <effort>0</effort>
            <velocity>0</velocity>
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          <xyz>0 0 1</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
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      </joint>
      <joint name='gripper_finger_joint_l' type='prismatic'>
        <pose frame=''>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>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>0</lower>
            <upper>0.0115</upper>
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            <velocity>0</velocity>
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          <xyz>0.367852 0.926495 -0.079325</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='gripper_finger_joint_r' type='prismatic'>
        <pose frame=''>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>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
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          <limit>
            <lower>0</lower>
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            <velocity>0</velocity>
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          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='base_laser_front_hokuyo_urg04_laser_joint' type='revolute'>
        <pose frame=''>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>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>0</lower>
            <upper>0</upper>
            <effort>0</effort>
            <velocity>0</velocity>
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          <xyz>0 0 1</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
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      <joint name='caster_joint_bl' type='revolute'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <parent>base_link</parent>
        <child>caster_link_bl</child>
        <axis>
          <dynamics>
            <damping>1</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>0 0 1</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='wheel_joint_bl' type='revolute'>
        <pose frame=''>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>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>0 1 0</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='caster_joint_br' type='revolute'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <parent>base_link</parent>
        <child>caster_link_br</child>
        <axis>
          <dynamics>
            <damping>1</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>0 0 1</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='wheel_joint_br' type='revolute'>
        <pose frame=''>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>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>0 1 0</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='caster_joint_fl' type='revolute'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <parent>base_link</parent>
        <child>caster_link_fl</child>
        <axis>
          <dynamics>
            <damping>1</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>0 0 1</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='wheel_joint_fl' type='revolute'>
        <pose frame=''>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>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>0 1 0</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='caster_joint_fr' type='revolute'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <parent>base_link</parent>
        <child>caster_link_fr</child>
        <axis>
          <dynamics>
            <damping>1</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>0 0 1</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='wheel_joint_fr' type='revolute'>
        <pose frame=''>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>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>0 1 0</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='plate_joint' type='revolute'>
        <parent>base_link</parent>
        <child>plate_link</child>
        <axis>
          <dynamics>
            <damping>0</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>0</lower>
            <upper>0</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>0 0 1</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <static>0</static>
      <plugin name="actuador" filename="libTry_1.so">
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        <visual name='arm_link_1_geom_visual'>
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      <link name='arm_link_2'>
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                <min_depth>0</min_depth>
              </ode>
            </contact>
          </surface>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='wheel_link_br_geom_visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <uri>model://youbot/meshes/base/back-right_wheel.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
          <material>
            <script>
              <uri>model://youbot/materials/scripts/youbot.material</uri>
              <name>youbot/Orange</name>
            </script>
          </material>
        </visual>
        <gravity>1</gravity>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <link name='caster_link_fl'>
        <pose frame=''>0.228 0.158 -0.034 0 -0 0</pose>
        <inertial>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <inertia>
            <ixx>0.012412</ixx>
            <ixy>-0.000712</ixy>
            <ixz>0.000503</ixz>
            <iyy>0.015218</iyy>
            <iyz>-4e-06</iyz>
            <izz>0.011764</izz>
          </inertia>
          <mass>0.1</mass>
        </inertial>
        <gravity>1</gravity>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <link name='wheel_link_fl'>
        <pose frame=''>0.228 0.158 -0.034 0 -0 0</pose>
        <inertial>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <inertia>
            <ixx>0.012412</ixx>
            <ixy>-0.000712</ixy>
            <ixz>0.000503</ixz>
            <iyy>0.015218</iyy>
            <iyz>-4e-06</iyz>
            <izz>0.011764</izz>
          </inertia>
          <mass>0.4</mass>
        </inertial>
        <collision name='wheel_link_fl_geom'>
          <pose frame=''>0 0 0 1.5708 -0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.05</radius>
              <length>0.005</length>
            </cylinder>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>0</mu>
                <mu2>0</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
              <threshold>0</threshold>
            </bounce>
            <contact>
              <ode>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1e+11</kd>
                <max_vel>-1</max_vel>
                <min_depth>0</min_depth>
              </ode>
            </contact>
          </surface>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='wheel_link_fl_geom_visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <uri>model://youbot/meshes/base/front-left_wheel.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
          <material>
            <script>
              <uri>model://youbot/materials/scripts/youbot.material</uri>
              <name>youbot/Orange</name>
            </script>
          </material>
        </visual>
        <gravity>1</gravity>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <link name='caster_link_fr'>
        <pose frame=''>0.228 -0.158 -0.034 0 -0 0</pose>
        <inertial>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <inertia>
            <ixx>0.012412</ixx>
            <ixy>-0.000712</ixy>
            <ixz>0.000503</ixz>
            <iyy>0.015218</iyy>
            <iyz>-4e-06</iyz>
            <izz>0.011764</izz>
          </inertia>
          <mass>0.1</mass>
        </inertial>
        <gravity>1</gravity>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <link name='wheel_link_fr'>
        <pose frame=''>0.228 -0.158 -0.034 0 -0 0</pose>
        <inertial>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <inertia>
            <ixx>0.012412</ixx>
            <ixy>-0.000712</ixy>
            <ixz>0.000503</ixz>
            <iyy>0.015218</iyy>
            <iyz>-4e-06</iyz>
            <izz>0.011764</izz>
          </inertia>
          <mass>0.4</mass>
        </inertial>
        <collision name='wheel_link_fr_geom'>
          <pose frame=''>0 0 0 1.5708 -0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.05</radius>
              <length>0.005</length>
            </cylinder>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>0</mu>
                <mu2>0</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
              <threshold>0</threshold>
            </bounce>
            <contact>
              <ode>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1e+11</kd>
                <max_vel>-1</max_vel>
                <min_depth>0</min_depth>
              </ode>
            </contact>
          </surface>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='wheel_link_fr_geom_visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <uri>model://youbot/meshes/base/front-right_wheel.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
          <material>
            <script>
              <uri>model://youbot/materials/scripts/youbot.material</uri>
              <name>youbot/Orange</name>
            </script>
          </material>
        </visual>
        <gravity>1</gravity>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <link name='plate_link'>
        <pose frame=''>-0.159 0 0.046 0 -0 0</pose>
        <inertial>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <inertia>
            <ixx>0.01</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.01</iyy>
            <iyz>0</iyz>
            <izz>0.01</izz>
          </inertia>
          <mass>1</mass>
        </inertial>
        <collision name='plate_link_geom'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <uri>model://youbot/meshes/plate/plate_convex.stl</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>0</mu>
                <mu2>0</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
              <threshold>0</threshold>
            </bounce>
            <contact>
              <ode>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1e+11</kd>
                <max_vel>-1</max_vel>
                <min_depth>0</min_depth>
              </ode>
            </contact>
          </surface>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='plate_link_geom_visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <uri>model://youbot/meshes/plate/plate.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
        </visual>
        <gravity>1</gravity>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <joint name='base_footprint_joint' type='revolute'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <parent>base_footprint</parent>
        <child>base_link</child>
        <axis>
          <dynamics>
            <damping>0</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>0</lower>
            <upper>0</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>0 0 1</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='arm_joint_0' type='revolute'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <parent>base_link</parent>
        <child>arm_link_0</child>
        <axis>
          <dynamics>
            <damping>0</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>0</lower>
            <upper>0</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>0 0 1</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='arm_joint_1' type='revolute'>
        <pose frame=''>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>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>0</lower>
            <upper>5.89921</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>0 0 -1</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='arm_joint_2' type='revolute'>
        <pose frame=''>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>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>0</lower>
            <upper>2.70526</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>-0.173648 -0.984808 0</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='arm_joint_3' type='revolute'>
        <pose frame=''>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>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>-5.18363</lower>
            <upper>0</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>-0.173648 -0.984808 0</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='arm_joint_4' type='revolute'>
        <pose frame=''>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>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>0</lower>
            <upper>3.57793</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>-0.173648 -0.984808 0</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='arm_joint_5' type='revolute'>
        <pose frame=''>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>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>0</lower>
            <upper>5.84685</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>-0.360933 0.063642 -0.930418</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='gripper_palm_joint' type='revolute'>
        <pose frame=''>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>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>0</lower>
            <upper>0</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>0 0 1</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='gripper_finger_joint_l' type='prismatic'>
        <pose frame=''>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>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>0</lower>
            <upper>0.0115</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>0.367852 0.926495 -0.079325</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='gripper_finger_joint_r' type='prismatic'>
        <pose frame=''>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>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>0</lower>
            <upper>0.0115</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>-0.367852 -0.926495 0.079325</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='base_laser_front_hokuyo_urg04_laser_joint' type='revolute'>
        <pose frame=''>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>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>0</lower>
            <upper>0</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>0 0 1</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='caster_joint_bl' type='revolute'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <parent>base_link</parent>
        <child>caster_link_bl</child>
        <axis>
          <dynamics>
            <damping>1</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>0 0 1</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='wheel_joint_bl' type='revolute'>
        <pose frame=''>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>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>0 1 0</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='caster_joint_br' type='revolute'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <parent>base_link</parent>
        <child>caster_link_br</child>
        <axis>
          <dynamics>
            <damping>1</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>0 0 1</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='wheel_joint_br' type='revolute'>
        <pose frame=''>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>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>0 1 0</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='caster_joint_fl' type='revolute'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <parent>base_link</parent>
        <child>caster_link_fl</child>
        <axis>
          <dynamics>
            <damping>1</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>0 0 1</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='wheel_joint_fl' type='revolute'>
        <pose frame=''>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>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>0 1 0</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='caster_joint_fr' type='revolute'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <parent>base_link</parent>
        <child>caster_link_fr</child>
        <axis>
          <dynamics>
            <damping>1</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>0 0 1</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='wheel_joint_fr' type='revolute'>
        <pose frame=''>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>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>0 1 0</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <joint name='plate_joint' type='revolute'>
        <parent>base_link</parent>
        <child>plate_link</child>
        <axis>
          <dynamics>
            <damping>0</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>0</lower>
            <upper>0</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <xyz>0 0 1</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <static>0</static>
      <plugin name="actuador" filename="libTry_1.so">
    </plugin>
    </model>
    <state world_name='default'>
      <sim_time>47 563000000</sim_time>
      <real_time>86 155854615</real_time>
      <wall_time>1502938395 293719169</wall_time>
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        <link name='caster_link_fl'>
          <pose frame=''>1.39679 -0.800303 0.05 4e-06 1.1e-05 0.000271</pose>
          <velocity>4e-06 7.1e-05 0.0006 0.002156 0.000909 -1.5e-05</velocity>
          <acceleration>-0.019395 0.020769 0.317848 -0.754692 -0.09641 3.04069</acceleration>
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        <link name='caster_link_fr'>
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          <velocity>-0.000132 7.2e-05 -0.007576 0.001996 0.000918 -9e-06</velocity>
          <acceleration>-0.182944 0.021547 -7.87511 -0.913225 -0.110911 3.04546</acceleration>
          <wrench>-0.018294 0.002155 -0.787511 0 -0 0</wrench>
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        <link name='gripper_finger_link_l'>
          <pose frame=''>1.38677 -0.94934 0.491433 0.095292 -0.36347 2.69883</pose>
          <velocity>0.003427 -0.00088 -0.003469 0.005265 0.020404 -0.001548</velocity>
          <acceleration>-1.79991 -4.10033 3.73974 -2.39763 1.27147 1.38205</acceleration>
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        <link name='gripper_finger_link_r'>
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          <velocity>0.003441 -0.000871 -0.00337 0.005149 0.020432 -0.001502</velocity>
          <acceleration>-1.7548 -4.10471 3.84042 -2.62668 1.33983 1.47529</acceleration>
          <wrench>-0.017548 -0.041047 0.038404 0 -0 0</wrench>
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        <link name='gripper_palm_link'>
          <pose frame=''>1.35909 -0.962545 0.45179 -0.095292 0.36347 -0.442764</pose>
          <velocity>0.003123 0.000595 -0.003114 0.005319 0.02039 -0.00157</velocity>
          <acceleration>1.61775 3.7448 2.98488 -2.29065 1.23899 1.33851</acceleration>
          <wrench>0.161775 0.37448 0.298488 0 -0 0</wrench>
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        <link name='plate_link'>
          <pose frame=''>1.00982 -0.95838 0.129976 4e-06 1.2e-05 0.0002</pose>
          <velocity>0 7.3e-05 -0.000997 0.002109 0.000886 -0.000453</velocity>
          <acceleration>0.151508 0.038753 -1.5472 -0.818455 -0.085055 2.59621</acceleration>
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        <link name='wheel_link_bl'>
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          <velocity>3e-06 0.000273 0.000395 0.00217 -0.000581 -1.6e-05</velocity>
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        <link name='wheel_link_br'>
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          <velocity>-0.000138 0.000274 0.000448 0.002204 -0.00058 -1.8e-05</velocity>
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        <link name='wheel_link_fl'>
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          <velocity>3e-06 6.9e-05 0.000518 0.002193 -0.00058 -1.7e-05</velocity>
          <acceleration>-0.019933 0.018307 0.181066 2.43836 -4.8e-05 -0.103915</acceleration>
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        <link name='wheel_link_fr'>
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          <velocity>-0.000136 7e-05 -0.007216 0.001929 -0.000593 -3e-06</velocity>
          <acceleration>-0.18642 0.019071 -7.57401 2.17874 -0.012636 -0.091043</acceleration>
          <wrench>-0.074568 0.007629 -3.0296 0 -0 0</wrench>
        </link>
      </model>
      <light name='sun'>
        <pose frame=''>0 0 10 0 -0 0</pose>
      </light>
    </state>
    <gui fullscreen='0'>
      <camera name='user_camera'>
        <pose frame=''>5.52482 -4.49285 1.95583 0 0.275643 2.35619</pose>
        <view_controller>orbit</view_controller>
        <projection_type>perspective</projection_type>
      </camera>
    </gui>
  </world>
</sdf>
