<robot
  name="pw070_v6">
  <link
    name="pw070_base_link">
    <inertial>
      <origin
        xyz="1.00847964366636E-18 9.83435359832521E-19 0.0183994788995853"
        rpy="0 0 0" />
      <mass
        value="0.115600516395015" />
      <inertia
        ixx="4.22762247390204E-05"
        ixy="-1.61518323710916E-21"
        ixz="1.64564610608109E-21"
        iyy="4.22005265483119E-05"
        iyz="-1.05221078652886E-21"
        izz="5.93634422539094E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://iai_schunk_pw070_v6//meshes/pw070_base_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.501960784313725 0.501960784313725 0.250980392156863 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://iai_schunk_pw070_v6//meshes/pw070_base_link_simple.STL" />
      </geometry>
    </collision>
  </link>
  <link
    name="pw070_box">
    <inertial>
      <origin
        xyz="0.00797025295401261 9.94149680106761E-19 0.00180349929967392"
        rpy="0 0 0" />
      <mass
        value="0.795464859270861" />
      <inertia
        ixx="0.00106829634194245"
        ixy="8.63510385056357E-20"
        ixz="-1.28767421479418E-05"
        iyy="0.00158199067955857"
        iyz="-1.66255748362911E-08"
        izz="0.00115077124113952" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://iai_schunk_pw070_v6//meshes/pw070_box.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.501960784313725 0.501960784313725 0.250980392156863 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://iai_schunk_pw070_v6//meshes/pw070_box_simple.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="head_pan_joint"
    type="revolute">
    <origin
      xyz="0 0 0.0938"
      rpy="3.1416 0 -1.5708" />
    <parent
      link="pw070_base_link" />
    <child
      link="pw070_box" />
    <axis
      xyz="0 0 1" />
    <calibration rising="0.0365482345223"/>
    <limit
      lower="-1.57"
      upper="1.57"
      effort="0"
      velocity="0.75" />
  </joint>

  <transmission
    name="head_pan_transmission"
    type="pr2_mechanism_model/SimpleTransmission">
    <actuator name="head_pan_motor"/>
    <joint name="head_pan_joint"/>
    <mechanicalReduction>1.0</mechanicalReduction>
  </transmission>

  <link
    name="pw070_plate">
    <inertial>
      <origin
        xyz="-0.0183186378092207 -8.79591761068821E-18 -0.0206679097089721"
        rpy="0 0 0" />
      <mass
        value="0.20324493262428" />
      <inertia
        ixx="0.00027991057755713"
        ixy="4.77643348599192E-08"
        ixz="-7.69501477424774E-05"
        iyy="0.000674719224958911"
        iyz="2.09169636982284E-20"
        izz="0.000546047259750224" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://iai_schunk_pw070_v6//meshes/pw070_plate.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.501960784313725 0.501960784313725 0.250980392156863 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://iai_schunk_pw070_v6//meshes/pw070_plate_simple.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="head_tilt_joint"
    type="revolute">
    <origin
      xyz="0 0 0"
      rpy="0 0 0" />
    <parent
      link="pw070_box" />
    <child
      link="pw070_plate" />
    <axis
      xyz="1 0 0" />
    <calibration rising="0.0374135151505"/>
    <limit
      lower="-1.6"
      upper="1.6"
      effort="0"
      velocity="0.8" />
  </joint>

  <transmission
    name="head_tilt_transmission"
    type="pr2_mechanism_model/SimpleTransmission">
    <actuator name="head_tilt_motor"/>
    <joint name="head_tilt_joint"/>
    <mechanicalReduction>1.0</mechanicalReduction>
  </transmission>

  <link
    name="pw070_frame_out" />
  <joint
    name="trans_frame_out"
    type="fixed">
    <origin
      xyz="0 0 -0.07"
      rpy="3.1416 0 -1.5708" />
    <parent
      link="pw070_plate" />
    <child
      link="pw070_frame_out" />
    <axis
      xyz="0 0 0" />
  </joint>
</robot>
