<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from /home/stelter/workspace20/iai_ws/src/iai_robots/iai_donbot_description/robots/iai_donbot.urdf.xacro | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="iai_donbot" xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor">
  <material name="grey">
    <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
  </material>
  <material name="gray">
    <color rgba="0.56 0.67 0.67 1"/>
  </material>
  <material name="Silver">
    <color rgba="1.0 1.0 1.0 1.0"/>
  </material>
  <material name="Grey">
    <color rgba="0.7 0.7 0.7 1.0"/>
  </material>
  <material name="yellow">
    <color rgba="1.0 1.0 0.0 1.0"/>
  </material>
  <gazebo>
    <plugin filename="libgazebo_ros_control.so" name="ros_control">
      <!--robotNamespace>/</robotNamespace-->
      <!--robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType-->
    </plugin>
    <!--
    <plugin name="gazebo_ros_power_monitor_controller" filename="libgazebo_ros_power_monitor.so">
      <alwaysOn>true</alwaysOn>
      <updateRate>1.0</updateRate>
      <timeout>5</timeout>
      <powerStateTopic>power_state</powerStateTopic>
      <powerStateRate>10.0</powerStateRate>
      <fullChargeCapacity>87.78</fullChargeCapacity>     
      <dischargeRate>-474</dischargeRate>
      <chargeRate>525</chargeRate>
      <dischargeVoltage>15.52</dischargeVoltage>
      <chargeVoltage>16.41</chargeVoltage>
    </plugin>
-->
  </gazebo>
  <!-- map -->
  <link name="map"/>
  <joint name="map_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0.0"/>
    <child link="odom"/>
    <parent link="map"/>
  </joint>
  <link name="base_link">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.257082749974343 -0.227847593519202 0.0535404411050965"/>
      <mass value="70.0210745907357"/>
      <inertia ixx="9.06122735721955" ixy="0.0933988942518672" ixz="0.665662584048376" iyy="12.5350462868938" iyz="0.00262520723302998" izz="7.44839974564544"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <!-- <mesh -->
        <mesh filename="package://iai_boxy_base_2/meshes/base_without_wheels.stl"/>
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_boxy_base_2/meshes/base_without_wheels_lowres.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="wheel_front_left_joint" type="revolute">
    <limit effort="200.0" lower="-1000.0" upper="1000.0" velocity="1.0"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.13 0.09 -0.06"/>
    <parent link="base_link"/>
    <child link="wheel_front_left"/>
    <axis xyz="0 1 0"/>
  </joint>
  <link name="wheel_front_left">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="2.0"/>
      <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="package://iai_boxy_base_2/meshes/wheel_front_left.stl"/>
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.08" radius="0.105"/>
      </geometry>
    </collision>
  </link>
  <joint name="wheel_back_left_joint" type="revolute">
    <limit effort="200.0" lower="-1000.0" upper="1000.0" velocity="1.0"/>
    <origin rpy="0.0 0.0 0.0" xyz="-0.648 0.09 -0.06"/>
    <parent link="base_link"/>
    <child link="wheel_back_left"/>
    <axis xyz="0 1 0"/>
  </joint>
  <link name="wheel_back_left">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="2.0"/>
      <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="package://iai_boxy_base_2/meshes/wheel_back_left.stl"/>
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.08" radius="0.105"/>
      </geometry>
    </collision>
  </link>
  <joint name="wheel_front_right_joint" type="revolute">
    <limit effort="200.0" lower="-1000.0" upper="1000.0" velocity="1.0"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.13 -0.545 -0.06"/>
    <parent link="base_link"/>
    <child link="wheel_front_right"/>
    <axis xyz="0 1 0"/>
  </joint>
  <link name="wheel_front_right">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="2.0"/>
      <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="package://iai_boxy_base_2/meshes/wheel_front_right.stl"/>
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.08" radius="0.105"/>
      </geometry>
    </collision>
  </link>
  <joint name="wheel_back_right_joint" type="revolute">
    <limit effort="200.0" lower="-1000.0" upper="1000.0" velocity="1.0"/>
    <origin rpy="0.0 0.0 0.0" xyz="-0.648 -0.545 -0.06"/>
    <parent link="base_link"/>
    <child link="wheel_back_right"/>
    <axis xyz="0 1 0"/>
  </joint>
  <link name="wheel_back_right">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="2.0"/>
      <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="package://iai_boxy_base_2/meshes/wheel_back_right.stl"/>
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.08" radius="0.105"/>
      </geometry>
    </collision>
  </link>
  <link name="laser_reference_front">
    <visual>
      <geometry>
        <cylinder length="0.005" radius="0.001"/>
      </geometry>
    </visual>
  </link>
  <joint name="laser_reference_front_joint" type="fixed">
    <origin rpy="0.0 0.0 0.7853975" xyz="0.1772 0.060215 0.149929"/>
    <parent link="base_link"/>
    <child link="laser_reference_front"/>
    <axis xyz="0.0 0.0 0.0"/>
  </joint>
  <link name="laser_reference_back">
    <visual>
      <geometry>
        <cylinder length="0.005" radius="0.001"/>
      </geometry>
    </visual>
  </link>
  <joint name="laser_reference_back_joint" type="fixed">
    <origin rpy="4.9333E-15 4.5082E-15 -2.3562" xyz="-0.69357 -0.506 0.1575"/>
    <parent link="base_link"/>
    <child link="laser_reference_back"/>
    <axis xyz="-1 0 0"/>
  </joint>
  <link name="odom"/>
  <joint name="odom_x_joint" type="prismatic">
    <parent link="odom"/>
    <child link="odom_x_frame"/>
    <axis xyz="1 0 0"/>
    <!--
				limits chosen heuristically
				lower/upper: +-1km to create a quasi limitless prismatic joint
				velocity: slow walking speed is 3-4km/hour ~= 1m/s
				effort: reach max speed within 1s, Boxy has a mass of 200kg, so Fmax=200kg*1m/s2
				-->
    <limit effort="200" lower="-1000" upper="1000" velocity="1"/>
  </joint>
  <link name="odom_x_frame"/>
  <joint name="odom_y_joint" type="prismatic">
    <parent link="odom_x_frame"/>
    <child link="odom_y_frame"/>
    <axis xyz="0 1 0"/>
    <!--
				limits chosen heuristically
				lower/upper: +-1km to create a quasi limitless prismatic joint
				velocity: slow walking speed is 3-4km/hour ~= 1m/s
				effort: reach max speed within 1s, Boxy has a mass of 200kg, so Fmax=200kg*1m/s2
				-->
    <limit effort="200" lower="-1000" upper="1000" velocity="1"/>
  </joint>
  <link name="odom_y_frame"/>
  <joint name="odom_z_joint" type="continuous">
    <parent link="odom_y_frame"/>
    <child link="base_footprint"/>
    <axis xyz="0 0 1"/>
    <!--
				limits chosen heuristically
				velocity: one slow complete turn around in 5-6s, so 6.2rad/6s ~= 1rad/s
				effort: reach max speed within 1s, Boxy has a mass of 200kg and a diagonale of 1m, so Fmax=200kg*1m*1m/s2
				-->
    <limit effort="200" velocity="1"/>
  </joint>
  <!-- Definition of base_footprint -> base_link -->
  <link name="base_footprint">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.01 0.01 0.01"/>
      </geometry>
      <material name="White"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <!-- JOINT to define base_footprint -->
  <joint name="base_footprint_joint" type="fixed">
    <!--
			Explanation of the calculations to find base_link relative
			to /base_footprint.
			
			/base_footprint is on the floor, exactly in the center of the four wheels to
			simplify the odometry and FK/IK calculations of the base.
			Orientation: X pointing forward, and Z up.
			
			/base_link is on the front left upper corner of the main alu enclosure.
			with the same orientation as /base_footprint
			
			X:  wheel-axis to wheel-axis distance = 789.5mm.
			Distance front wheel axis to plane where base_link is: 139.5mm
			X = 789.5/2 - 139.5 = 255.25mm
			
			Y:  main alu enclosure is 450mm wide, and the
			center of the wheels is also the center of the alu enclosure,
			so half is Y = 225mm.
			
			Z:   base_link is at the top of a 120mm plate.
			The wheels are aligned with the center of the plate.
			The wheels are 8", so base_link is
			Z = 60+4*25.4mm = 161.6mm (above the floor).
			-->
    <origin rpy="0 0 0" xyz="0.25525 0.225 0.1616"/>
    <parent link="base_footprint"/>
    <child link="base_link"/>
  </joint>
  <link name="plate">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.6 0.553 0.02"/>
      </geometry>
      <material name="Grey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.6 0.553 0.02"/>
      </geometry>
    </collision>
  </link>
  <!-- JOINT to define base_footprint -->
  <joint name="plate_joint" type="fixed">
    <origin rpy="0 0 0" xyz="-0.300 -0.230 0.460"/>
    <parent link="base_link"/>
    <child link="plate"/>
  </joint>
  <!-- measured from model -->
  <link name="ur5_base_link">
    <visual>
      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_ur_description/meshes/ur5/visual/base.dae"/>
      </geometry>
      <material name="LightGrey">
        <color rgba="0.7 0.7 0.7 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_ur_description/meshes/ur5/collision/base.stl"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="4.0"/>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <inertia ixx="0.00443333156" ixy="0.0" ixz="0.0" iyy="0.00443333156" iyz="0.0" izz="0.0072"/>
    </inertial>
  </link>
  <joint name="ur5_shoulder_pan_joint" type="revolute">
    <parent link="ur5_base_link"/>
    <child link="ur5_shoulder_link"/>
    <origin rpy="0 0 3.141517294452501" xyz="0 0 0.08892596222933599"/>
    <axis xyz="0 0 1"/>
    <limit effort="150.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.15"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <link name="ur5_shoulder_link">
    <visual>
      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_ur_description/meshes/ur5/visual/shoulder.dae"/>
      </geometry>
      <material name="LightGrey">
        <color rgba="0.7 0.7 0.7 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_ur_description/meshes/ur5/collision/shoulder.stl"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="3.7"/>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <inertia ixx="0.014972352344389999" ixy="0.0" ixz="0.0" iyy="0.014972352344389999" iyz="0.0" izz="0.01040625"/>
    </inertial>
  </link>
  <joint name="ur5_shoulder_lift_joint" type="revolute">
    <parent link="ur5_shoulder_link"/>
    <child link="ur5_upper_arm_link"/>
    <origin rpy="1.569684585819989 0 -5.520386973313161e-05" xyz="0.0003712672344709107 0 0"/>
    <axis xyz="0 0 1"/>
    <limit effort="150.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.15"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <link name="ur5_upper_arm_link">
    <visual>
      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.136"/>
      <geometry>
        <mesh filename="package://iai_ur_description/meshes/ur5/visual/upperarm.dae"/>
      </geometry>
      <material name="LightGrey">
        <color rgba="0.7 0.7 0.7 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.136"/>
      <geometry>
        <mesh filename="package://iai_ur_description/meshes/ur5/collision/upperarm.stl"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="8.393"/>
      <origin rpy="0 1.5707963267948966 0" xyz="-0.21243795155242196 0.0 0.136"/>
      <inertia ixx="0.13381201654164218" ixy="0.0" ixz="0.0" iyy="0.13381201654164218" iyz="0.0" izz="0.0151074"/>
    </inertial>
  </link>
  <joint name="ur5_elbow_joint" type="revolute">
    <parent link="ur5_upper_arm_link"/>
    <child link="ur5_forearm_link"/>
    <origin rpy="3.141410935724708 3.140498764515749 3.141540862957126" xyz="-0.4248759031048439 0 0"/>
    <axis xyz="0 0 1"/>
    <limit effort="150.0" lower="-3.141592653589793" upper="3.141592653589793" velocity="3.15"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <link name="ur5_forearm_link">
    <visual>
      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.0165"/>
      <geometry>
        <mesh filename="package://iai_ur_description/meshes/ur5/visual/forearm.dae"/>
      </geometry>
      <material name="LightGrey">
        <color rgba="0.7 0.7 0.7 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.0165"/>
      <geometry>
        <mesh filename="package://iai_ur_description/meshes/ur5/collision/forearm.stl"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="2.275"/>
      <origin rpy="0 1.5707963267948966 0" xyz="-0.21243795155242196 0.0 0.0165"/>
      <inertia ixx="0.031123509607646697" ixy="0.0" ixz="0.0" iyy="0.031123509607646697" iyz="0.0" izz="0.004095"/>
    </inertial>
  </link>
  <joint name="ur5_wrist_1_joint" type="revolute">
    <parent link="ur5_forearm_link"/>
    <child link="ur5_wrist_1_link"/>
    <origin rpy="0.008557972491146365 0.005646317914555134 -4.731613945877294e-06" xyz="-0.3916223032882835 -0.0009542890223154424 0.1115060519492216"/>
    <axis xyz="0 0 1"/>
    <limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.2"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <link name="ur5_wrist_1_link">
    <visual>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.093"/>
      <geometry>
        <mesh filename="package://iai_ur_description/meshes/ur5/visual/wrist1.dae"/>
      </geometry>
      <material name="LightGrey">
        <color rgba="0.7 0.7 0.7 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.093"/>
      <geometry>
        <mesh filename="package://iai_ur_description/meshes/ur5/collision/wrist1.stl"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1.219"/>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <inertia ixx="0.0026267896410039964" ixy="0.0" ixz="0.0" iyy="0.0026267896410039964" iyz="0.0" izz="0.0034284375"/>
    </inertial>
  </link>
  <joint name="ur5_wrist_2_joint" type="revolute">
    <parent link="ur5_wrist_1_link"/>
    <child link="ur5_wrist_2_link"/>
    <origin rpy="1.57073049822559 0 -2.510137511607685e-05" xyz="-0.0001242345876415562 -0.09478122687818655 6.239312571564362e-06"/>
    <axis xyz="0 0 1"/>
    <limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.2"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <link name="ur5_wrist_2_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 -0.095"/>
      <geometry>
        <mesh filename="package://iai_ur_description/meshes/ur5/visual/wrist2.dae"/>
      </geometry>
      <material name="LightGrey">
        <color rgba="0.7 0.7 0.7 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 -0.095"/>
      <geometry>
        <mesh filename="package://iai_ur_description/meshes/ur5/collision/wrist2.stl"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1.219"/>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <inertia ixx="0.0017892912906240042" ixy="0.0" ixz="0.0" iyy="0.0017892912906240042" iyz="0.0" izz="0.0021942"/>
    </inertial>
  </link>
  <joint name="ur5_wrist_3_joint" type="revolute">
    <parent link="ur5_wrist_2_link"/>
    <child link="ur5_wrist_3_link"/>
    <origin rpy="1.570487664012787 3.141592653589793 -3.141588215051935" xyz="7.004530113255642e-05 0.08254714553218939 -2.547923240434462e-05"/>
    <axis xyz="0 0 1"/>
    <limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.2"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <link name="ur5_wrist_3_link">
    <visual>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.0818"/>
      <geometry>
        <mesh filename="package://iai_ur_description/meshes/ur5/visual/wrist3.dae"/>
      </geometry>
      <material name="LightGrey">
        <color rgba="0.7 0.7 0.7 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.0823"/>
      <geometry>
        <mesh filename="package://iai_ur_description/meshes/ur5/collision/wrist3.stl"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.1879"/>
      <origin rpy="0 0 0" xyz="0.0 0.0 -0.01525"/>
      <inertia ixx="8.062472608343e-05" ixy="0.0" ixz="0.0" iyy="8.062472608343e-05" iyz="0.0" izz="0.0001321171875"/>
    </inertial>
  </link>
  <joint name="ur5_ee_fixed_joint" type="fixed">
    <parent link="ur5_wrist_3_link"/>
    <child link="ur5_ee_link"/>
    <origin rpy="0.0 -1.5707963267948966 1.5707963267948966" xyz="0.0 0.0 0.0"/>
  </joint>
  <link name="ur5_ee_link">
    <collision>
      <geometry>
        <box size="0.01 0.01 0.01"/>
      </geometry>
      <origin rpy="0 0 0" xyz="-0.01 0 0"/>
    </collision>
  </link>
  <joint name="ur5_wrist_3_passive_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <parent link="ur5_wrist_3_link"/>
    <child link="ur5_tool0"/>
  </joint>
  <transmission name="ur5_shoulder_pan_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="ur5_shoulder_pan_joint">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="ur5_shoulder_pan_motor">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="ur5_shoulder_lift_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="ur5_shoulder_lift_joint">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="ur5_shoulder_lift_motor">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="ur5_elbow_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="ur5_elbow_joint">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="ur5_elbow_motor">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="ur5_wrist_1_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="ur5_wrist_1_joint">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="ur5_wrist_1_motor">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="ur5_wrist_2_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="ur5_wrist_2_joint">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="ur5_wrist_2_motor">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="ur5_wrist_3_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="ur5_wrist_3_joint">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="ur5_wrist_3_motor">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <!-- nothing to do here at the moment -->
  <!-- ROS base_link to UR 'Base' Coordinates transform -->
  <link name="ur5_base"/>
  <joint name="ur5_base_link-base_fixed_joint" type="fixed">
    <!-- NOTE: this rotation is only needed as long as base_link itself is
                 not corrected wrt the real robot (ie: rotated over 180
                 degrees)
      -->
    <origin rpy="0 0 -3.141592653589793" xyz="0 0 0"/>
    <parent link="ur5_base_link"/>
    <child link="ur5_base"/>
  </joint>
  <!-- Frame coincident with all-zeros TCP on UR controller -->
  <link name="ur5_tool0"/>
  <joint name="arm_base_mounting_joint" type="fixed">
    <parent link="base_link"/>
    <child link="ur5_base_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="-0.525 -0.424 0.470"/>
  </joint>
  <link name="kms_mounting_plate">
    <visual>
      <geometry>
        <mesh filename="package://iai_table_robot_description/meshes/adapter_plate_iso50_kms40_weiss.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="gray"/>
    </visual>
  </link>
  <joint name="kms_mounting_plate_joint" type="fixed">
    <parent link="ur5_ee_link"/>
    <child link="kms_mounting_plate"/>
    <origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
  </joint>
  <!-- Joint connecting the parent to our frame_in -->
  <joint name="adapter_iso50_kms40_joint" type="fixed">
    <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
    <parent link="kms_mounting_plate"/>
    <child link="adapter_iso50_kms40_frame_in"/>
  </joint>
  <!-- link for the adapter plate -->
  <link name="adapter_iso50_kms40_frame_in">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kms_40_description/meshes/adapter_plate_iso50_kms40_weiss.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="Grey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kms_40_description/meshes/adapter_plate_iso50_kms40_weiss.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="Grey"/>
    </collision>
  </link>
  <!-- Empty link just to get the frame out -->
  <link name="adapter_iso50_kms40_frame_out"/>
  <!-- joint positioning the frame_out -->
  <joint name="adapter_iso50_kms40_trans_frame_out" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0.016"/>
    <parent link="adapter_iso50_kms40_frame_in"/>
    <child link="adapter_iso50_kms40_frame_out"/>
    <axis xyz="0 0 0"/>
  </joint>
  <!-- Now joint connecting the actual kms40 sensor -->
  <joint name="kms40_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <parent link="adapter_iso50_kms40_frame_out"/>
    <child link="kms40_frame_in"/>
  </joint>
  <!-- Link for the kms40 sensor-->
  <link name="kms40_frame_in">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kms_40_description/meshes/kms40_simple.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="Grey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kms_40_description/meshes/kms40_simple.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="Grey"/>
    </collision>
  </link>
  <!-- Empty link just to get the frame out -->
  <!-- This is also the reference frame for the force/torque data -->
  <link name="kms40_frame_out"/>
  <!-- joint positioning the frame_out -->
  <joint name="kms40_trans_frame_out" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0.027"/>
    <parent link="kms40_frame_in"/>
    <child link="kms40_frame_out"/>
    <axis xyz="0 0 0"/>
  </joint>
  <!-- Joint connecting the parent to our frame_in -->
  <joint name="adapter_kms40_fwk050_in_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <parent link="kms40_frame_out"/>
    <child link="adapter_kms40_fwk050_frame_in"/>
  </joint>
  <link name="adapter_kms40_fwk050_frame_in">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <!-- these meshes were exported in mm, so scale back to m -->
        <mesh filename="package://iai_adapters_description/meshes/adapter_kms40_fwk050.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="Grey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <!-- these meshes were exported in mm, so scale back to m -->
        <mesh filename="package://iai_adapters_description/meshes/adapter_kms40_fwk050.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="Grey"/>
    </collision>
  </link>
  <!-- Empty link just to get the frame out -->
  <link name="adapter_kms40_fwk050_frame_out"/>
  <!-- joint positioning the frame_out -->
  <joint name="adapter_kms40_fwk050_trans_frame_out" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0.01"/>
    <parent link="adapter_kms40_fwk050_frame_in"/>
    <child link="adapter_kms40_fwk050_frame_out"/>
    <axis xyz="0 0 0"/>
  </joint>
  <!-- The joint connecting us to the next part of the chain is in the next URDF -->
  <!-- Joint connecting the parent to our frame_in -->
  <joint name="fwk_fwa_050_in_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <parent link="adapter_kms40_fwk050_frame_out"/>
    <child link="fwk_fwa_050_frame_in"/>
  </joint>
  <link name="fwk_fwa_050_frame_in">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <!-- these meshes were exported in mm, so scale back to m -->
        <mesh filename="package://iai_adapters_description/meshes/fwk_fwa_050_simple.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="Grey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <!-- these meshes were exported in mm, so scale back to m -->
        <mesh filename="package://iai_adapters_description/meshes/fwk_fwa_050_simple.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="Grey"/>
    </collision>
  </link>
  <!-- Empty link just to get the frame out -->
  <link name="fwk_fwa_050_frame_out"/>
  <!-- joint positioning the frame_out -->
  <joint name="fwk_fwa_050_trans_frame_out" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0.0141"/>
    <parent link="fwk_fwa_050_frame_in"/>
    <child link="fwk_fwa_050_frame_out"/>
    <axis xyz="0 0 0"/>
  </joint>
  <!-- The joint connecting us to the next part of the chain is in the next URDF -->
  <!-- Joint connecting the parent to our frame_in -->
  <joint name="adapter_fwa050_wsg50_in_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0.0"/>
    <parent link="fwk_fwa_050_frame_out"/>
    <child link="adapter_fwa050_wsg50_frame_in"/>
  </joint>
  <link name="adapter_fwa050_wsg50_frame_in">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <!-- these meshes were exported in mm, so scale back to m -->
        <mesh filename="package://iai_adapters_description/meshes/adapter_fwa050_wsg50.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="Grey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <!-- these meshes were exported in mm, so scale back to m -->
        <mesh filename="package://iai_adapters_description/meshes/adapter_fwa050_wsg50.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="Grey"/>
    </collision>
  </link>
  <!-- Empty link just to get the frame out -->
  <link name="adapter_fwa050_wsg50_frame_out"/>
  <!-- joint positioning the frame_out -->
  <joint name="adapter_fwa050_wsg50_trans_frame_out" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0.01"/>
    <parent link="adapter_fwa050_wsg50_frame_in"/>
    <child link="adapter_fwa050_wsg50_frame_out"/>
    <axis xyz="0 0 0"/>
  </joint>
  <!-- The joint connecting us to the next part of the chain is in the next URDF -->
  <joint name="gripper_anterior_gripper_joint" type="fixed">
    <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
    <parent link="adapter_fwa050_wsg50_frame_out"/>
    <child link="gripper_base_link"/>
  </joint>
  <!-- BASE LINK -->
  <link name="gripper_base_link">
    <inertial>
      <mass value="0.25"/>
      <origin xyz="0 0 0"/>
      <!--inertia ixx="1.0" ixy="0.0" ixz="0.0"
               iyy="100.0" iyz="0.0" 
               izz="1.0" /-->
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0.0 0 0"/>
      <geometry>
        <mesh filename="package://iai_wsg_50_description/meshes/WSG50_110.stl" scale="1 1 1"/>
        <!--box size="0.146 0.05 0.0735"/-->
      </geometry>
      <material name="grey">
        <color rgba="0.5 0.5 0.5 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.0 0 0"/>
      <geometry>
        <!--box size="0.146 0.05 0.0735"/-->
        <mesh filename="package://iai_wsg_50_description/meshes/WSG50_110.stl" scale="1 1 1"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="gripper_base_link">
    <material>Gazebo/Grey</material>
    <turnGravityOff>false</turnGravityOff>
  </gazebo>
  <!-- GRIPPER LEFT -->
  <joint name="gripper_base_gripper_left_joint" type="prismatic">
    <mimic joint="gripper_joint" multiplier="-0.5"/>
    <limit effort="1.0" lower="-0.055" upper="-0.0027" velocity="0.42"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <!--origin xyz="-0.0067 0 0.049" rpy="0 0 0" /-->
    <parent link="gripper_base_link"/>
    <child link="gripper_gripper_left_link"/>
    <dynamics damping="100" friction="100"/>
    <axis xyz="1 0 0"/>
    <!-- <limit effort="100" velocity="100"/> -->
  </joint>
  <transmission name="gripper_base_trans_left" type="pr2_mechanism_model/SimpleTransmission">
    <actuator name="gripper_base_motor_left"/>
    <joint name="gripper_base_gripper_left_joint"/>
    <mechanicalReduction>1</mechanicalReduction>
    <motorTorqueConstant>1</motorTorqueConstant>
  </transmission>
  <link name="gripper_gripper_left_link">
    <inertial>
      <mass value="0.1"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0.0 0 0"/>
      <geometry>
        <mesh filename="package://iai_wsg_50_description/meshes/GUIDE_WSG50_110.stl" scale="0.001 0.001 0.001"/>
        <!--box size="0.0175 0.03 0.024"/-->
      </geometry>
      <material name="black">
        <color rgba="0 0 0 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <!--box size="0.0175 0.03 0.024"/-->
        <mesh filename="package://iai_wsg_50_description/meshes/GUIDE_WSG50_110.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
    <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
  </link>
  <gazebo reference="gripper_gripper_left_link">
    <material>Gazebo/Blue</material>
    <turnGravityOff>false</turnGravityOff>
  </gazebo>
  <!-- LEFT FINGER -->
  <joint name="gripper_guide_joint_finger_left" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0.023"/>
    <parent link="gripper_gripper_left_link"/>
    <child link="gripper_finger_left_link"/>
    <dynamics damping="100" friction="100"/>
    <axis xyz="1 0 0"/>
    <!-- <limit effort="100" velocity="100"/> -->
  </joint>
  <link name="gripper_finger_left_link">
    <inertial>
      <mass value="0.1"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0.0 0 0"/>
      <geometry>
        <mesh filename="package://iai_wsg_50_description/meshes/WSG-FMF.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="black">
        <color rgba="0 0 0 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_wsg_50_description/meshes/WSG-FMF.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
    <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
  </link>
  <gazebo reference="gripper_finger_left">
    <material>Gazebo/Blue</material>
    <turnGravityOff>false</turnGravityOff>
  </gazebo>
  <!-- GRIPPER RIGHT -->
  <joint name="gripper_joint" type="prismatic">
    <limit effort="1.0" lower="0.0065" upper="0.109" velocity="0.42"/>
    <origin rpy="0 0 3.14159" xyz="0 0 0"/>
    <parent link="gripper_gripper_left_link"/>
    <child link="gripper_gripper_right_link"/>
    <axis xyz="-1 0 0"/>
    <dynamics damping="100" friction="100"/>
    <!-- <limit effort="100" velocity="100"/>-->
  </joint>
  <transmission name="gripper_base_trans_right" type="pr2_mechanism_model/SimpleTransmission">
    <actuator name="gripper_base_motor_right"/>
    <joint name="gripper_base_gripper_right_joint"/>
    <mechanicalReduction>1</mechanicalReduction>
    <motorTorqueConstant>1</motorTorqueConstant>
  </transmission>
  <link name="gripper_gripper_right_link">
    <inertial>
      <mass value="0.1"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0.0 0 0"/>
      <geometry>
        <mesh filename="package://iai_wsg_50_description/meshes/GUIDE_WSG50_110.stl" scale="0.001 0.001 0.001"/>
        <!--box size="0.0175 0.03 0.024"/-->
      </geometry>
      <material name="black">
        <color rgba="0 0 0 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <!--box size="0.0175 0.03 0.024"/-->
        <mesh filename="package://iai_wsg_50_description/meshes/GUIDE_WSG50_110.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
    <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
  </link>
  <gazebo reference="gripper_right">
    <material>Gazebo/White</material>
    <turnGravityOff>false</turnGravityOff>
  </gazebo>
  <!-- RIGHT FINGER -->
  <joint name="gripper_guide_joint_finger_right" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0.023"/>
    <parent link="gripper_gripper_right_link"/>
    <child link="gripper_finger_right_link"/>
  </joint>
  <link name="gripper_finger_right_link">
    <inertial>
      <mass value="0.1"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0.0 0 0"/>
      <geometry>
        <mesh filename="package://iai_wsg_50_description/meshes/WSG-FMF.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="black">
        <color rgba="0 0 0 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_wsg_50_description/meshes/WSG-FMF.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
    <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
  </link>
  <gazebo reference="gripper_finger_right">
    <material>Gazebo/White</material>
    <turnGravityOff>false</turnGravityOff>
  </gazebo>
  <link name="gripper_tool_frame"/>
  <joint name="gripper_tool_frame_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0.144"/>
    <parent link="gripper_base_link"/>
    <child link="gripper_tool_frame"/>
  </joint>
  <link name="camera_holder_link">
    <visual>
      <geometry>
        <mesh filename="package://iai_donbot_description/meshes/refills_camera_holder_and_camera.stl" scale="1 1 1"/>
      </geometry>
      <material name="gray"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://iai_donbot_description/meshes/refills_camera_holder_and_camera.stl" scale="1 1 1"/>
      </geometry>
      <material name="gray"/>
    </collision>
  </link>
  <joint name="gripper_to_camera_holder_joint" type="fixed">
    <parent link="gripper_base_link"/>
    <child link="camera_holder_link"/>
    <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
  </joint>
  <link name="camera_link">
    <visual>
      <geometry>
        <cylinder length="0.005" radius="0.001"/>
      </geometry>
    </visual>
  </link>
  <joint name="gripper_to_camera_joint" type="fixed">
    <parent link="gripper_base_link"/>
    <child link="camera_link"/>
    <!--
			Calib_errors = [0.003425, 0.2069, 0.00611, 0.42678]
			Calib_errors = median_pos_error(m), median_orient_error(deg), max_pos_error(m), max_orient_error(deg)
			-->
    <!-- from base_link origin xyz="0.004174 -0.067273 0.062438" rpy="0.209203 0.001106 3.120208"/ -->
    <!-- from ur5_base_link origin xyz="0.002956 -0.066498 0.060947" rpy="0.204429 6.281375 3.127197"/ -->
    <!-- calib errors: 0.00311, 0.24373, 0.00688, 0.4558 -->
    <!-- old camera holders -->
    <!-- <origin xyz="0.002956 -0.066498 0.060947" rpy="0.204429 6.281375 3.127197" /> -->
    <!-- new camera holders -->
    <origin rpy="0.231224 -0.0034913 -3.134637307" xyz="0.0013289 -0.06619 0.031583"/>
  </joint>
  <link name="rs_camera_link"/>
  <joint name="wristcam_to_realsense_joint" type="fixed">
    <parent link="camera_link"/>
    <child link="rs_camera_link"/>
    <!-- old camera holder -->
    <!-- <origin xyz="-0.017993 -0.107556 0.017699" rpy="6.270618 4.930698 1.578454" /> -->
    <!-- new camera holder -->
    <origin rpy="-0.0120443 -1.3424873 1.579879" xyz="-0.018594 -0.105693 0.017161"/>
  </joint>
  <joint name="switches_joint" type="fixed">
    <parent link="base_link"/>
    <child link="switches"/>
    <origin rpy="0 0 0" xyz="-0.66 -0.225 0.225"/>
  </joint>
  <link name="switches">
    <visual>
      <geometry>
        <box size="0.12 0.4 0.45"/>
      </geometry>
      <material name="Silver"/>
    </visual>
    <collision>
      <geometry>
        <box size="0.12 0.4 0.45"/>
      </geometry>
      <material name="Silver"/>
    </collision>
  </link>
  <joint name="charger_joint" type="fixed">
    <parent link="base_link"/>
    <child link="charger"/>
    <origin rpy="0 0 0" xyz="0.075 -0.225 0.19"/>
  </joint>
  <link name="charger">
    <visual>
      <geometry>
        <box size="0.15 0.3 0.38"/>
      </geometry>
      <material name="Silver"/>
    </visual>
    <collision>
      <geometry>
        <box size="0.15 0.3 0.38"/>
      </geometry>
      <material name="Silver"/>
    </collision>
  </link>
  <joint name="e_stop_joint" type="fixed">
    <parent link="base_link"/>
    <child link="e_stop"/>
    <origin rpy="0 0 0" xyz="-0.035 -0.0015 0.52"/>
  </joint>
  <link name="e_stop">
    <visual>
      <geometry>
        <box size="0.07 0.07 0.1"/>
      </geometry>
      <material name="yellow"/>
    </visual>
    <collision>
      <geometry>
        <box size="0.07 0.07 0.1"/>
      </geometry>
      <material name="yellow"/>
    </collision>
  </link>
  <joint name="wlan_joint" type="fixed">
    <parent link="base_link"/>
    <child link="wlan"/>
    <origin rpy="0 -0.314 0" xyz="0.05 -0.225 0.405"/>
  </joint>
  <link name="wlan">
    <visual>
      <geometry>
        <box size="0.25 0.14 0.05"/>
      </geometry>
      <material name="Silver"/>
    </visual>
    <collision>
      <geometry>
        <box size="0.25 0.14 0.05"/>
      </geometry>
      <material name="Silver"/>
    </collision>
  </link>
  <joint name="ur5_touchpad_joint" type="fixed">
    <parent link="base_link"/>
    <child link="ur5_touchpad"/>
    <origin rpy="0 0 0" xyz="-0.16 -0.5355 0.38"/>
  </joint>
  <link name="ur5_touchpad">
    <visual>
      <geometry>
        <box size="0.32 0.06 0.24"/>
      </geometry>
      <material name="Silver"/>
    </visual>
    <collision>
      <geometry>
        <box size="0.32 0.06 0.24"/>
      </geometry>
      <material name="Silver"/>
    </collision>
  </link>
  <joint name="wrist_collision_joint" type="fixed">
    <parent link="adapter_kms40_fwk050_frame_in"/>
    <child link="wrist_collision"/>
    <origin rpy="0 0 0" xyz="0 0 -0.005"/>
  </joint>
  <link name="wrist_collision">
    <collision>
      <geometry>
        <cylinder length="0.08" radius="0.04"/>
      </geometry>
      <material name="Silver"/>
    </collision>
  </link>
  <!-- <joint name="table_localization" type="fixed">
    <parent link="map"/>
    <child link="plate"/>
  </joint> -->
</robot>


