From 7fd05a2c6cc6fabb0cfff50d094e5da9ffaf77eb Mon Sep 17 00:00:00 2001
From: archielee <archie_lee7@hotmail.com>
Date: Tue, 19 Jan 2016 14:49:57 -0500
Subject: [PATCH] Changed name of assembly file, added camera and depth sensor
 frames.

---
 .../sensors/kinect2_v0/KinectAssembly.STL     |  Bin 939484 -> 0 bytes
 .../sensors/kinect2_v0/kinect2_assembly.STL   |  Bin 0 -> 939484 bytes
 pr2_description/robots/pr2_kinect2.urdf.xacro |    2 +-
 pr2_description/test.urdf                     | 3784 +++++++++++++++++
 pr2_description/test/test.launch              |    2 +-
 .../urdf/sensors/iai_kinect2.urdf.xacro       |   34 -
 .../urdf/sensors/kinect2.urdf.xacro           |   92 +-
 7 files changed, 3796 insertions(+), 118 deletions(-)
 delete mode 100644 pr2_description/meshes/sensors/kinect2_v0/KinectAssembly.STL
 create mode 100644 pr2_description/meshes/sensors/kinect2_v0/kinect2_assembly.STL
 create mode 100644 pr2_description/test.urdf

diff --git a/pr2_description/meshes/sensors/kinect2_v0/KinectAssembly.STL b/pr2_description/meshes/sensors/kinect2_v0/KinectAssembly.STL
deleted file mode 100644
index fd76b705029f7cf45d61b19b1de6d4756570f441..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

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diff --git a/pr2_description/meshes/sensors/kinect2_v0/kinect2_assembly.STL b/pr2_description/meshes/sensors/kinect2_v0/kinect2_assembly.STL
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diff --git a/pr2_description/robots/pr2_kinect2.urdf.xacro b/pr2_description/robots/pr2_kinect2.urdf.xacro
index 4f80597..b446293 100644
--- a/pr2_description/robots/pr2_kinect2.urdf.xacro
+++ b/pr2_description/robots/pr2_kinect2.urdf.xacro
@@ -20,7 +20,7 @@
   <xacro:include filename="$(find pr2_description)/urdf/base_v0/base.urdf.xacro" />
   <!-- Head sensors -->
   <xacro:include filename="$(find pr2_description)/urdf/sensors/head_sensor_package.urdf.xacro" />
-  <xacro:include filename="$(find pr2_description)/urdf/sensors/kinect2_v0/kinect2.urdf.xacro" />
+  <xacro:include filename="$(find pr2_description)/urdf/sensors/kinect2.urdf.xacro" />
   <!-- Camera sensors -->
   <xacro:include filename="$(find pr2_description)/urdf/sensors/wge100_camera.urdf.xacro" />
   <!-- Texture projector -->
diff --git a/pr2_description/test.urdf b/pr2_description/test.urdf
new file mode 100644
index 0000000..ca0819a
--- /dev/null
+++ b/pr2_description/test.urdf
@@ -0,0 +1,3784 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from /home/alee/catkin_ws/src/pr2_common/pr2_description/robots/pr2_kinect2.urdf.xacro | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="pr2" xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#slider" xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" xmlns:xacro="http://ros.org/wiki/xacro">
+  <!-- The following included files set up definitions of parts of the robot body -->
+  <!-- misc common stuff? -->
+  <!-- Gear Ratio Corrections: Divide transmission reductions by these factors (Nominally 1)-->
+  <!-- ********** Right Arm ********** -->
+  <!-- Flag offsets: Add to the optical flag locations (Nominally 0) -->
+  <!-- ********** Head ********** -->
+  <!-- Head Location: Add to the transform from torso to head_pan_link (Nominally 0) -->
+  <!-- Flag Offsets -->
+  <!-- Casters -->
+  <!-- Stereo Camera Location (Nominally 0) -->
+  <!-- Kinect Camera Location (Nominally 0) -->
+  <!-- HighDef Camera Location (Nominally 0) -->
+  <!-- Throwing in left arm constants to appease the xacro parser -->
+  <!-- PR2 Arm -->
+  <!-- Things that are needed only for Gazebo (not the physical robot).  These include
+       sensor and controller plugin specifications -->
+  <!-- Upperarm roll: internal fixed attchment point for upper arm -->
+  <!-- Gear Ratio Corrections: Divide transmission reductions by these factors (Nominally 1)-->
+  <!-- ********** Right Arm ********** -->
+  <!-- Flag offsets: Add to the optical flag locations (Nominally 0) -->
+  <!-- ********** Head ********** -->
+  <!-- Head Location: Add to the transform from torso to head_pan_link (Nominally 0) -->
+  <!-- Flag Offsets -->
+  <!-- Casters -->
+  <!-- Stereo Camera Location (Nominally 0) -->
+  <!-- Kinect Camera Location (Nominally 0) -->
+  <!-- HighDef Camera Location (Nominally 0) -->
+  <!-- Throwing in left arm constants to appease the xacro parser -->
+  <!--TODO Define and give source-->
+  <!--TODO Define and give source-->
+  <!-- ============================   Shoulder   ============================ -->
+  <!-- Upperarm roll: internal fixed attchment point for upper arm -->
+  <!-- Things that are needed only for Gazebo (not the physical robot).  These include
+       sensor and controller plugin specifications -->
+  <!-- Elbow flex -->
+  <!-- Forearm roll -->
+  <!-- ============================   Upper Arm   ============================ -->
+  <!-- Forearm roll -->
+  <!-- Gear Ratio Corrections: Divide transmission reductions by these factors (Nominally 1)-->
+  <!-- ********** Right Arm ********** -->
+  <!-- Flag offsets: Add to the optical flag locations (Nominally 0) -->
+  <!-- ********** Head ********** -->
+  <!-- Head Location: Add to the transform from torso to head_pan_link (Nominally 0) -->
+  <!-- Flag Offsets -->
+  <!-- Casters -->
+  <!-- Stereo Camera Location (Nominally 0) -->
+  <!-- Kinect Camera Location (Nominally 0) -->
+  <!-- HighDef Camera Location (Nominally 0) -->
+  <!-- Throwing in left arm constants to appease the xacro parser -->
+  <!-- Inertial properties differ slightly for left vs right arm -->
+  <!-- ============================   Upper Arm   ============================ -->
+  <!-- Includes elbow flex, FA roll joints in macros below -->
+  <!-- FA roll joint only -->
+  <!-- Things that are needed only for Gazebo (not the physical robot).  These include
+       sensor and controller plugin specifications -->
+  <!-- Gear Ratio Corrections: Divide transmission reductions by these factors (Nominally 1)-->
+  <!-- ********** Right Arm ********** -->
+  <!-- Flag offsets: Add to the optical flag locations (Nominally 0) -->
+  <!-- ********** Head ********** -->
+  <!-- Head Location: Add to the transform from torso to head_pan_link (Nominally 0) -->
+  <!-- Flag Offsets -->
+  <!-- Casters -->
+  <!-- Stereo Camera Location (Nominally 0) -->
+  <!-- Kinect Camera Location (Nominally 0) -->
+  <!-- HighDef Camera Location (Nominally 0) -->
+  <!-- Throwing in left arm constants to appease the xacro parser -->
+  <!-- ============================   Forearm   ============================ -->
+  <!-- PR2 gripper -->
+  <!-- PR2 head -->
+  <!-- PR2 tilting laser mount -->
+  <!-- PR2 torso -->
+  <!-- PR2 base -->
+  <!--  Caster wheel transmission   -->
+  <!-- Hub transmission only -->
+  <!-- DATA SOURCES -->
+  <!-- all link offsets, CG, limits are obtained from Function Engineering spreadsheet 090224_link_data.xls unless stated otherwise -->
+  <!-- all link geometry sizes are obtained from Function provided CAD model unless stated otherwise -->
+  <!-- all simplified collision geometry are hand approximated from CAD model, sometimes from respective bounding boxes -->
+  <!-- This is the 'effective' wheel radius. Wheel radius for uncompressed wheel is 0.079.  mp 20080801 -->
+  <!-- simplified box collision geometry for base -->
+  <!-- simplified box collision geometry for hokuyo laser -->
+  <!--                                                      -->
+  <!--           wheel                                      -->
+  <!--                                                      -->
+  <!-- Macro for PR2 Caster hub only -->
+  <!-- The xacro macro xacro:pr2_base contains: base, casters and wheels -->
+  <!-- Head sensors -->
+  <!-- This urdf macro defines following sensors:
+       prosilica
+       double stereo camera
+  -->
+  <!-- Made by Kevin for A2 sensor package -->
+  <!-- Origin is center mount screw on sensor plate mount -->
+  <!-- When mounted properly, should have same origin as head plate frame -->
+  <!-- Made by Kevin for double stereo camera for PR-2 Beta. -->
+  <!-- Needs calibration verification, and CAD check. -->
+  <!-- stereo camera macro uses wge100_camera macros -->
+  <!-- hack_baseline is used to simulate right stereo camera projection matrix translation to left stereo camera frame, currently on the hardware,
+       custom left stereo camera frame_id is passed to right stereo wge100 camera node at launch time, baseline is stored on the camera. -->
+  <!-- this macro is used for creating wide and narrow double stereo camera in simulation -->
+  <!-- +y to the left -->
+  <!-- this macro is used for creating wide and narrow double stereo camera links -->
+  <!-- Made by Kevin for double stereo camera for PR-2 Beta. -->
+  <!-- Needs calibration verification, and CAD check. -->
+  <!-- Made by Kevin for A2 sensor package -->
+  <!-- Origin is center mount screw on sensor plate mount -->
+  <!-- When mounted properly, should have same origin as head plate frame -->
+  <!-- Instead of making a xacro for each individual component, create one .STL for the frame, mount and the Kinect2 -->
+  <!-- Multiple components is also likely the cause of the tf linking problem -->
+  <!-- Depending on where origin is for the mesh, a joint and link may be needed for the camera/ir sensor -->
+  <!-- FIXME: what is this offset? -->
+  <!-- frame + Kinect2 mount + Kinect2 combo -->
+  <!-- Camera sensors -->
+  <!-- hack_baseline is used to simulate right stereo camera projection matrix translation to left stereo camera frame, currently on the hardware,
+       custom left stereo camera frame_id is passed to right stereo wge100 camera node at launch time, baseline is stored on the camera. -->
+  <!-- Texture projector -->
+  <!-- this controller is pushed into a body scope (previously model scope)
+     this will only work with added r36415 patch in simulator_gazebo stack
+     otherwise projector will not work without removing the reference tag -->
+  <!-- generic simulator_gazebo plugins for starting mechanism control, ros time, ros battery -->
+  <gazebo>
+    <plugin filename="libgazebo_ros_controller_manager.so" name="gazebo_ros_controller_manager">
+      <alwaysOn>true</alwaysOn>
+      <updateRate>1000.0</updateRate>
+    </plugin>
+    <plugin filename="libgazebo_ros_power_monitor.so" name="gazebo_ros_power_monitor_controller">
+      <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>
+  <!-- materials for visualization -->
+  <material name="Blue">
+    <color rgba="0.0 0.0 0.8 1.0"/>
+  </material>
+  <material name="Green">
+    <color rgba="0.0 0.8 0.0 1.0"/>
+  </material>
+  <material name="Grey">
+    <color rgba="0.7 0.7 0.7 1.0"/>
+  </material>
+  <material name="Grey2">
+    <color rgba="0.9 0.9 0.9 1.0"/>
+  </material>
+  <material name="Red">
+    <color rgba="0.8 0.0 0.0 1.0"/>
+  </material>
+  <material name="White">
+    <color rgba="1.0 1.0 1.0 1.0"/>
+  </material>
+  <material name="Black">
+    <color rgba="0.1 0.1 0.1 1.0"/>
+  </material>
+  <material name="LightGrey">
+    <color rgba="0.6 0.6 0.6 1.0"/>
+  </material>
+  <material name="Caster">
+    <texture filename="package://pr2_description/materials/textures/pr2_caster_texture.png"/>
+  </material>
+  <material name="Wheel_l">
+    <texture filename="package://pr2_description/materials/textures/pr2_wheel_left.png"/>
+  </material>
+  <material name="Wheel_r">
+    <texture filename="package://pr2_description/materials/textures/pr2_wheel_right.png"/>
+  </material>
+  <material name="RollLinks">
+    <texture filename="package://pr2_description/materials/textures/pr2_wheel_left.png"/>
+  </material>
+  <!-- Now we can start using the macros included above to define the actual PR2 -->
+  <!-- The first use of a macro.  This one was defined in base.urdf.xacro above.
+       A macro like this will expand to a set of link and joint definitions, and to additional
+       Gazebo-related extensions (sensor plugins, etc).  The macro takes an argument, name,
+       that equals "base", and uses it to generate names for its component links and joints
+       (e.g., base_link).  The included origin block is also an argument to the macro.  By convention,
+       the origin block defines where the component is w.r.t its parent (in this case the parent
+       is the world frame). For more, see http://www.ros.org/wiki/xacro -->
+  <link name="base_link">
+    <inertial>
+      <mass value="116.0"/>
+      <origin xyz="-0.061 0.0 0.1465"/>
+      <inertia ixx="5.652232699207" ixy="-0.009719934438" ixz="1.293988226423" iyy="5.669473158652" iyz="-0.007379583694" izz="3.683196351726"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/base_v0/base.dae"/>
+      </geometry>
+      <material name="White"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/base_v0/base_L.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- base_footprint is a fictitious link(frame) that is on the ground right below base_link origin,
+         navigation stack dedpends on this frame -->
+  <link name="base_footprint">
+    <inertial>
+      <mass value="1.0"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/>
+    </inertial>
+    <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>
+      <!-- represent base collision with a simple rectangular model, positioned by base_size_z s.t. top
+             surface of the collision box matches the top surface of the PR2 base -->
+      <origin rpy="0 0 0" xyz="0 0 0.071"/>
+      <geometry>
+        <box size="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="base_footprint_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0.051"/>
+    <child link="base_link"/>
+    <parent link="base_footprint"/>
+  </joint>
+  <!-- visualize bellow -->
+  <link name="base_bellow_link">
+    <inertial>
+      <mass value="1.0"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.05 0.37 0.3"/>
+      </geometry>
+      <material name="Black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.05 0.37 0.3"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="base_bellow_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.29 0 0.8"/>
+    <parent link="base_link"/>
+    <child link="base_bellow_link"/>
+  </joint>
+  <!-- base laser -->
+  <joint name="base_laser_joint" type="fixed">
+    <axis xyz="0 1 0"/>
+    <origin rpy="0 0 0" xyz="0.275 0.0 0.252"/>
+    <parent link="base_link"/>
+    <child link="base_laser_link"/>
+  </joint>
+  <link name="base_laser_link" type="laser">
+    <inertial>
+      <mass value="0.001"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.0001"/>
+    </inertial>
+  </link>
+  <!-- gazebo extensions -->
+  <gazebo reference="base_laser_link">
+    <sensor name="base_laser" type="ray">
+      <always_on>true</always_on>
+      <update_rate>20</update_rate>
+      <pose>0 0 0 0 0 0</pose>
+      <visualize>false</visualize>
+      <ray>
+        <scan>
+          <horizontal>
+            <samples>640</samples>
+            <resolution>1</resolution>
+            <min_angle>-2.2689</min_angle>
+            <max_angle>2.2689</max_angle>
+          </horizontal>
+        </scan>
+        <range>
+          <min>0.08</min>
+          <max>10.0</max>
+          <resolution>0.01</resolution>
+        </range>
+      </ray>
+      <plugin filename="libgazebo_ros_laser.so" name="gazebo_ros_base_laser_controller">
+        <gaussianNoise>0.005</gaussianNoise>
+        <alwaysOn>true</alwaysOn>
+        <updateRate>20</updateRate>
+        <topicName>base_scan</topicName>
+        <frameName>base_laser_link</frameName>
+        <hokuyoMinIntensity>101</hokuyoMinIntensity>
+      </plugin>
+    </sensor>
+  </gazebo>
+  <!-- all four caster macros -->
+  <joint name="fl_caster_rotation_joint" type="continuous">
+    <axis xyz="0 0 1"/>
+    <limit effort="6.5" velocity="10"/>
+    <!-- alpha tested velocity and effort limits -->
+    <safety_controller k_velocity="10"/>
+    <calibration rising="-0.785398163397"/>
+    <dynamics damping="1.0" friction="0.0"/>
+    <origin rpy="0 0 0" xyz="0.2246 0.2246 0.0282"/>
+    <parent link="base_link"/>
+    <child link="fl_caster_rotation_link"/>
+  </joint>
+  <link name="fl_caster_rotation_link">
+    <inertial>
+      <mass value="3.473082"/>
+      <origin xyz="0 0 0.07"/>
+      <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/base_v0/caster.stl"/>
+      </geometry>
+      <material name="Caster"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/base_v0/caster_L.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- extensions -->
+  <transmission name="fl_caster_rotation_trans" type="pr2_mechanism_model/SimpleTransmission">
+    <actuator name="fl_caster_rotation_motor"/>
+    <joint name="fl_caster_rotation_joint"/>
+    <mechanicalReduction>-79.2380952381</mechanicalReduction>
+  </transmission>
+  <!-- wheel macros -->
+  <joint name="fl_caster_l_wheel_joint" type="continuous">
+    <axis xyz="0 1 0"/>
+    <limit effort="7" velocity="15"/>
+    <!-- alpha tested effort and velocity limits -->
+    <safety_controller k_velocity="10"/>
+    <dynamics damping="1.0" friction="0.0"/>
+    <origin rpy="0 0 0" xyz="0 0.049 0"/>
+    <parent link="fl_caster_rotation_link"/>
+    <child link="fl_caster_l_wheel_link"/>
+  </joint>
+  <link name="fl_caster_l_wheel_link">
+    <inertial>
+      <mass value="0.44036"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/base_v0/wheel.dae"/>
+      </geometry>
+      <material name="Wheel_l"/>
+    </visual>
+    <collision>
+      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+      <!-- rotation because cyl. geom primitive has symmetry axis in +x direction -->
+      <geometry>
+        <cylinder length="0.034" radius="0.074792"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- extensions -->
+  <gazebo reference="fl_caster_l_wheel_link">
+    <mu1 value="100.0"/>
+    <mu2 value="100.0"/>
+    <kp value="1000000.0"/>
+    <kd value="1.0"/>
+    <maxVel value="100.0"/>
+    <minDepth value="0.0"/>
+  </gazebo>
+  <transmission name="fl_caster_l_wheel_trans" type="pr2_mechanism_model/SimpleTransmission">
+    <actuator name="fl_caster_l_wheel_motor"/>
+    <joint name="fl_caster_l_wheel_joint"/>
+    <mechanicalReduction>79.2380952381</mechanicalReduction>
+  </transmission>
+  <joint name="fl_caster_r_wheel_joint" type="continuous">
+    <axis xyz="0 1 0"/>
+    <limit effort="7" velocity="15"/>
+    <!-- alpha tested effort and velocity limits -->
+    <safety_controller k_velocity="10"/>
+    <dynamics damping="1.0" friction="0.0"/>
+    <origin rpy="0 0 0" xyz="0 -0.049 0"/>
+    <parent link="fl_caster_rotation_link"/>
+    <child link="fl_caster_r_wheel_link"/>
+  </joint>
+  <link name="fl_caster_r_wheel_link">
+    <inertial>
+      <mass value="0.44036"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/base_v0/wheel.dae"/>
+      </geometry>
+      <material name="Wheel_r"/>
+    </visual>
+    <collision>
+      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+      <!-- rotation because cyl. geom primitive has symmetry axis in +x direction -->
+      <geometry>
+        <cylinder length="0.034" radius="0.074792"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- extensions -->
+  <gazebo reference="fl_caster_r_wheel_link">
+    <mu1 value="100.0"/>
+    <mu2 value="100.0"/>
+    <kp value="1000000.0"/>
+    <kd value="1.0"/>
+    <maxVel value="100.0"/>
+    <minDepth value="0.0"/>
+  </gazebo>
+  <transmission name="fl_caster_r_wheel_trans" type="pr2_mechanism_model/SimpleTransmission">
+    <actuator name="fl_caster_r_wheel_motor"/>
+    <joint name="fl_caster_r_wheel_joint"/>
+    <mechanicalReduction>-79.2380952381</mechanicalReduction>
+  </transmission>
+  <!-- extensions -->
+  <gazebo reference="fl_caster_rotation_link">
+    <material value="PR2/caster_texture"/>
+  </gazebo>
+  <joint name="fr_caster_rotation_joint" type="continuous">
+    <axis xyz="0 0 1"/>
+    <limit effort="6.5" velocity="10"/>
+    <!-- alpha tested velocity and effort limits -->
+    <safety_controller k_velocity="10"/>
+    <calibration rising="-0.785398163397"/>
+    <dynamics damping="1.0" friction="0.0"/>
+    <origin rpy="0 0 0" xyz="0.2246 -0.2246 0.0282"/>
+    <parent link="base_link"/>
+    <child link="fr_caster_rotation_link"/>
+  </joint>
+  <link name="fr_caster_rotation_link">
+    <inertial>
+      <mass value="3.473082"/>
+      <origin xyz="0 0 0.07"/>
+      <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/base_v0/caster.stl"/>
+      </geometry>
+      <material name="Caster"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/base_v0/caster_L.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- extensions -->
+  <transmission name="fr_caster_rotation_trans" type="pr2_mechanism_model/SimpleTransmission">
+    <actuator name="fr_caster_rotation_motor"/>
+    <joint name="fr_caster_rotation_joint"/>
+    <mechanicalReduction>-79.2380952381</mechanicalReduction>
+  </transmission>
+  <!-- wheel macros -->
+  <joint name="fr_caster_l_wheel_joint" type="continuous">
+    <axis xyz="0 1 0"/>
+    <limit effort="7" velocity="15"/>
+    <!-- alpha tested effort and velocity limits -->
+    <safety_controller k_velocity="10"/>
+    <dynamics damping="1.0" friction="0.0"/>
+    <origin rpy="0 0 0" xyz="0 0.049 0"/>
+    <parent link="fr_caster_rotation_link"/>
+    <child link="fr_caster_l_wheel_link"/>
+  </joint>
+  <link name="fr_caster_l_wheel_link">
+    <inertial>
+      <mass value="0.44036"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/base_v0/wheel.dae"/>
+      </geometry>
+      <material name="Wheel_l"/>
+    </visual>
+    <collision>
+      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+      <!-- rotation because cyl. geom primitive has symmetry axis in +x direction -->
+      <geometry>
+        <cylinder length="0.034" radius="0.074792"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- extensions -->
+  <gazebo reference="fr_caster_l_wheel_link">
+    <mu1 value="100.0"/>
+    <mu2 value="100.0"/>
+    <kp value="1000000.0"/>
+    <kd value="1.0"/>
+    <maxVel value="100.0"/>
+    <minDepth value="0.0"/>
+  </gazebo>
+  <transmission name="fr_caster_l_wheel_trans" type="pr2_mechanism_model/SimpleTransmission">
+    <actuator name="fr_caster_l_wheel_motor"/>
+    <joint name="fr_caster_l_wheel_joint"/>
+    <mechanicalReduction>79.2380952381</mechanicalReduction>
+  </transmission>
+  <joint name="fr_caster_r_wheel_joint" type="continuous">
+    <axis xyz="0 1 0"/>
+    <limit effort="7" velocity="15"/>
+    <!-- alpha tested effort and velocity limits -->
+    <safety_controller k_velocity="10"/>
+    <dynamics damping="1.0" friction="0.0"/>
+    <origin rpy="0 0 0" xyz="0 -0.049 0"/>
+    <parent link="fr_caster_rotation_link"/>
+    <child link="fr_caster_r_wheel_link"/>
+  </joint>
+  <link name="fr_caster_r_wheel_link">
+    <inertial>
+      <mass value="0.44036"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/base_v0/wheel.dae"/>
+      </geometry>
+      <material name="Wheel_r"/>
+    </visual>
+    <collision>
+      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+      <!-- rotation because cyl. geom primitive has symmetry axis in +x direction -->
+      <geometry>
+        <cylinder length="0.034" radius="0.074792"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- extensions -->
+  <gazebo reference="fr_caster_r_wheel_link">
+    <mu1 value="100.0"/>
+    <mu2 value="100.0"/>
+    <kp value="1000000.0"/>
+    <kd value="1.0"/>
+    <maxVel value="100.0"/>
+    <minDepth value="0.0"/>
+  </gazebo>
+  <transmission name="fr_caster_r_wheel_trans" type="pr2_mechanism_model/SimpleTransmission">
+    <actuator name="fr_caster_r_wheel_motor"/>
+    <joint name="fr_caster_r_wheel_joint"/>
+    <mechanicalReduction>-79.2380952381</mechanicalReduction>
+  </transmission>
+  <!-- extensions -->
+  <gazebo reference="fr_caster_rotation_link">
+    <material value="PR2/caster_texture"/>
+  </gazebo>
+  <joint name="bl_caster_rotation_joint" type="continuous">
+    <axis xyz="0 0 1"/>
+    <limit effort="6.5" velocity="10"/>
+    <!-- alpha tested velocity and effort limits -->
+    <safety_controller k_velocity="10"/>
+    <calibration rising="2.35619449019"/>
+    <dynamics damping="1.0" friction="0.0"/>
+    <origin rpy="0 0 0" xyz="-0.2246 0.2246 0.0282"/>
+    <parent link="base_link"/>
+    <child link="bl_caster_rotation_link"/>
+  </joint>
+  <link name="bl_caster_rotation_link">
+    <inertial>
+      <mass value="3.473082"/>
+      <origin xyz="0 0 0.07"/>
+      <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/base_v0/caster.stl"/>
+      </geometry>
+      <material name="Caster"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/base_v0/caster_L.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- extensions -->
+  <transmission name="bl_caster_rotation_trans" type="pr2_mechanism_model/SimpleTransmission">
+    <actuator name="bl_caster_rotation_motor"/>
+    <joint name="bl_caster_rotation_joint"/>
+    <mechanicalReduction>-79.2380952381</mechanicalReduction>
+  </transmission>
+  <!-- wheel macros -->
+  <joint name="bl_caster_l_wheel_joint" type="continuous">
+    <axis xyz="0 1 0"/>
+    <limit effort="7" velocity="15"/>
+    <!-- alpha tested effort and velocity limits -->
+    <safety_controller k_velocity="10"/>
+    <dynamics damping="1.0" friction="0.0"/>
+    <origin rpy="0 0 0" xyz="0 0.049 0"/>
+    <parent link="bl_caster_rotation_link"/>
+    <child link="bl_caster_l_wheel_link"/>
+  </joint>
+  <link name="bl_caster_l_wheel_link">
+    <inertial>
+      <mass value="0.44036"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/base_v0/wheel.dae"/>
+      </geometry>
+      <material name="Wheel_l"/>
+    </visual>
+    <collision>
+      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+      <!-- rotation because cyl. geom primitive has symmetry axis in +x direction -->
+      <geometry>
+        <cylinder length="0.034" radius="0.074792"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- extensions -->
+  <gazebo reference="bl_caster_l_wheel_link">
+    <mu1 value="100.0"/>
+    <mu2 value="100.0"/>
+    <kp value="1000000.0"/>
+    <kd value="1.0"/>
+    <maxVel value="100.0"/>
+    <minDepth value="0.0"/>
+  </gazebo>
+  <transmission name="bl_caster_l_wheel_trans" type="pr2_mechanism_model/SimpleTransmission">
+    <actuator name="bl_caster_l_wheel_motor"/>
+    <joint name="bl_caster_l_wheel_joint"/>
+    <mechanicalReduction>79.2380952381</mechanicalReduction>
+  </transmission>
+  <joint name="bl_caster_r_wheel_joint" type="continuous">
+    <axis xyz="0 1 0"/>
+    <limit effort="7" velocity="15"/>
+    <!-- alpha tested effort and velocity limits -->
+    <safety_controller k_velocity="10"/>
+    <dynamics damping="1.0" friction="0.0"/>
+    <origin rpy="0 0 0" xyz="0 -0.049 0"/>
+    <parent link="bl_caster_rotation_link"/>
+    <child link="bl_caster_r_wheel_link"/>
+  </joint>
+  <link name="bl_caster_r_wheel_link">
+    <inertial>
+      <mass value="0.44036"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/base_v0/wheel.dae"/>
+      </geometry>
+      <material name="Wheel_r"/>
+    </visual>
+    <collision>
+      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+      <!-- rotation because cyl. geom primitive has symmetry axis in +x direction -->
+      <geometry>
+        <cylinder length="0.034" radius="0.074792"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- extensions -->
+  <gazebo reference="bl_caster_r_wheel_link">
+    <mu1 value="100.0"/>
+    <mu2 value="100.0"/>
+    <kp value="1000000.0"/>
+    <kd value="1.0"/>
+    <maxVel value="100.0"/>
+    <minDepth value="0.0"/>
+  </gazebo>
+  <transmission name="bl_caster_r_wheel_trans" type="pr2_mechanism_model/SimpleTransmission">
+    <actuator name="bl_caster_r_wheel_motor"/>
+    <joint name="bl_caster_r_wheel_joint"/>
+    <mechanicalReduction>-79.2380952381</mechanicalReduction>
+  </transmission>
+  <!-- extensions -->
+  <gazebo reference="bl_caster_rotation_link">
+    <material value="PR2/caster_texture"/>
+  </gazebo>
+  <joint name="br_caster_rotation_joint" type="continuous">
+    <axis xyz="0 0 1"/>
+    <limit effort="6.5" velocity="10"/>
+    <!-- alpha tested velocity and effort limits -->
+    <safety_controller k_velocity="10"/>
+    <calibration rising="2.35619449019"/>
+    <dynamics damping="1.0" friction="0.0"/>
+    <origin rpy="0 0 0" xyz="-0.2246 -0.2246 0.0282"/>
+    <parent link="base_link"/>
+    <child link="br_caster_rotation_link"/>
+  </joint>
+  <link name="br_caster_rotation_link">
+    <inertial>
+      <mass value="3.473082"/>
+      <origin xyz="0 0 0.07"/>
+      <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/base_v0/caster.stl"/>
+      </geometry>
+      <material name="Caster"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/base_v0/caster_L.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- extensions -->
+  <transmission name="br_caster_rotation_trans" type="pr2_mechanism_model/SimpleTransmission">
+    <actuator name="br_caster_rotation_motor"/>
+    <joint name="br_caster_rotation_joint"/>
+    <mechanicalReduction>-79.2380952381</mechanicalReduction>
+  </transmission>
+  <!-- wheel macros -->
+  <joint name="br_caster_l_wheel_joint" type="continuous">
+    <axis xyz="0 1 0"/>
+    <limit effort="7" velocity="15"/>
+    <!-- alpha tested effort and velocity limits -->
+    <safety_controller k_velocity="10"/>
+    <dynamics damping="1.0" friction="0.0"/>
+    <origin rpy="0 0 0" xyz="0 0.049 0"/>
+    <parent link="br_caster_rotation_link"/>
+    <child link="br_caster_l_wheel_link"/>
+  </joint>
+  <link name="br_caster_l_wheel_link">
+    <inertial>
+      <mass value="0.44036"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/base_v0/wheel.dae"/>
+      </geometry>
+      <material name="Wheel_l"/>
+    </visual>
+    <collision>
+      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+      <!-- rotation because cyl. geom primitive has symmetry axis in +x direction -->
+      <geometry>
+        <cylinder length="0.034" radius="0.074792"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- extensions -->
+  <gazebo reference="br_caster_l_wheel_link">
+    <mu1 value="100.0"/>
+    <mu2 value="100.0"/>
+    <kp value="1000000.0"/>
+    <kd value="1.0"/>
+    <maxVel value="100.0"/>
+    <minDepth value="0.0"/>
+  </gazebo>
+  <transmission name="br_caster_l_wheel_trans" type="pr2_mechanism_model/SimpleTransmission">
+    <actuator name="br_caster_l_wheel_motor"/>
+    <joint name="br_caster_l_wheel_joint"/>
+    <mechanicalReduction>79.2380952381</mechanicalReduction>
+  </transmission>
+  <joint name="br_caster_r_wheel_joint" type="continuous">
+    <axis xyz="0 1 0"/>
+    <limit effort="7" velocity="15"/>
+    <!-- alpha tested effort and velocity limits -->
+    <safety_controller k_velocity="10"/>
+    <dynamics damping="1.0" friction="0.0"/>
+    <origin rpy="0 0 0" xyz="0 -0.049 0"/>
+    <parent link="br_caster_rotation_link"/>
+    <child link="br_caster_r_wheel_link"/>
+  </joint>
+  <link name="br_caster_r_wheel_link">
+    <inertial>
+      <mass value="0.44036"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/base_v0/wheel.dae"/>
+      </geometry>
+      <material name="Wheel_r"/>
+    </visual>
+    <collision>
+      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+      <!-- rotation because cyl. geom primitive has symmetry axis in +x direction -->
+      <geometry>
+        <cylinder length="0.034" radius="0.074792"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- extensions -->
+  <gazebo reference="br_caster_r_wheel_link">
+    <mu1 value="100.0"/>
+    <mu2 value="100.0"/>
+    <kp value="1000000.0"/>
+    <kd value="1.0"/>
+    <maxVel value="100.0"/>
+    <minDepth value="0.0"/>
+  </gazebo>
+  <transmission name="br_caster_r_wheel_trans" type="pr2_mechanism_model/SimpleTransmission">
+    <actuator name="br_caster_r_wheel_motor"/>
+    <joint name="br_caster_r_wheel_joint"/>
+    <mechanicalReduction>-79.2380952381</mechanicalReduction>
+  </transmission>
+  <!-- extensions -->
+  <gazebo reference="br_caster_rotation_link">
+    <material value="PR2/caster_texture"/>
+  </gazebo>
+  <!-- gazebo extensions -->
+  <gazebo reference="base_link">
+    <selfCollide>false</selfCollide>
+    <sensor name="base_contact_sensor" type="contact">
+      <always_on>true</always_on>
+      <update_rate>100.0</update_rate>
+      <contact>
+        <collision>base_link_collision</collision>
+      </contact>
+      <plugin filename="libgazebo_ros_bumper.so" name="base_gazebo_ros_bumper_controller">
+        <alwaysOn>true</alwaysOn>
+        <updateRate>100.0</updateRate>
+        <bumperTopicName>base_bumper</bumperTopicName>
+        <frameName>world</frameName>
+      </plugin>
+    </sensor>
+  </gazebo>
+  <gazebo reference="base_bellow_link">
+    <material value="PR2/Black"/>
+  </gazebo>
+  <gazebo>
+    <plugin filename="libgazebo_ros_p3d.so" name="p3d_base_controller">
+      <alwaysOn>true</alwaysOn>
+      <updateRate>100.0</updateRate>
+      <bodyName>base_link</bodyName>
+      <topicName>base_pose_ground_truth</topicName>
+      <gaussianNoise>0.01</gaussianNoise>
+      <frameName>map</frameName>
+      <xyzOffsets>0 0 0</xyzOffsets>
+      <rpyOffsets>0 0 0</rpyOffsets>
+    </plugin>
+  </gazebo>
+  <joint name="torso_lift_joint" type="prismatic">
+    <axis xyz="0 0 1"/>
+    <limit effort="10000" lower="0.0" upper="0.33" velocity="0.013"/>
+    <!-- alpha tested velocity and effort limits -->
+    <safety_controller k_position="100" k_velocity="2000000" soft_lower_limit="0.0115" soft_upper_limit="0.325"/>
+    <calibration falling="0.00475"/>
+    <dynamics damping="20000.0"/>
+    <origin rpy="0 0 0" xyz="-0.05 0 0.739675"/>
+    <parent link="base_link"/>
+    <child link="torso_lift_link"/>
+  </joint>
+  <link name="torso_lift_link">
+    <inertial>
+      <mass value="36.248046"/>
+      <origin xyz="-0.1 0 -0.0885"/>
+      <inertia ixx="2.771653750257" ixy="0.004284522609" ixz="-0.160418504506" iyy="2.510019507959" iyz="0.029664468704" izz="0.526432355569"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/torso_v0/torso_lift.dae"/>
+      </geometry>
+      <material name="Grey2"/>
+    </visual>
+    <collision name="torso_lift_collision">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/torso_v0/torso_lift_L.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="l_torso_lift_side_plate_joint" type="fixed">
+    <origin xyz="0.0535 0.209285 0.176625"/>
+    <!-- location of bottom front bolt hole location -->
+    <parent link="torso_lift_link"/>
+    <child link="l_torso_lift_side_plate_link"/>
+  </joint>
+  <link name="l_torso_lift_side_plate_link">
+    <inertial>
+      <mass value="0.1"/>
+      <origin xyz="-0.0625 0.0 0.05"/>
+      <!-- center of the 12.5cm by 10cm bolt hole pattern -->
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
+    </inertial>
+  </link>
+  <joint name="r_torso_lift_side_plate_joint" type="fixed">
+    <origin xyz="0.0535  -0.209285 0.176625"/>
+    <!-- location of bottom front bolt hole location -->
+    <parent link="torso_lift_link"/>
+    <child link="r_torso_lift_side_plate_link"/>
+  </joint>
+  <link name="r_torso_lift_side_plate_link">
+    <inertial>
+      <mass value="0.1"/>
+      <origin xyz="-0.0625 0.0 0.05"/>
+      <!-- center of the 12.5cm by 10cm bolt hole pattern -->
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
+    </inertial>
+  </link>
+  <!-- actuated motor screw joint -->
+  <link name="torso_lift_motor_screw_link">
+    <inertial>
+      <mass value="1.0"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
+    </inertial>
+    <!-- for debugging only
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <box size="0.5 0.7 0.01" />
+        </geometry>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <box size="0.5 0.7 0.01" />
+        </geometry>
+      </collision>
+      -->
+  </link>
+  <joint name="torso_lift_motor_screw_joint" type="continuous">
+    <origin xyz="-0.15 0.0 0.7"/>
+    <axis xyz="0 0 1"/>
+    <parent link="base_link"/>
+    <child link="torso_lift_motor_screw_link"/>
+    <dynamics damping="0.0001"/>
+  </joint>
+  <!-- extensions -->
+  <gazebo reference="torso_lift_link">
+    <sensor name="torso_lift_contact_sensor" type="contact">
+      <contact>
+        <collision>torso_lift_link_collision</collision>
+      </contact>
+      <update_rate>100.0</update_rate>
+      <plugin filename="libgazebo_ros_bumper.so" name="torso_lift_gazebo_ros_bumper_controller">
+        <alwaysOn>true</alwaysOn>
+        <updateRate>100.0</updateRate>
+        <bumperTopicName>torso_lift_bumper</bumperTopicName>
+        <frameName>world</frameName>
+      </plugin>
+    </sensor>
+  </gazebo>
+  <gazebo>
+    <joint name="torso_lift_screw_torso_lift_joint" type="screw">
+      <parent>torso_lift_link</parent>
+      <child>torso_lift_motor_screw_link</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+      <thread_pitch>3141.6</thread_pitch>
+    </joint>
+  </gazebo>
+  <transmission name="torso_lift_trans" type="pr2_mechanism_model/SimpleTransmission">
+    <actuator name="torso_lift_motor"/>
+    <joint name="torso_lift_joint"/>
+    <mechanicalReduction>-47641.53</mechanicalReduction>
+    <simulated_actuated_joint name="torso_lift_motor_screw_joint" simulated_reduction="3141.6"/>
+  </transmission>
+  <!-- imu -->
+  <joint name="imu_joint" type="fixed">
+    <axis xyz="0 1 0"/>
+    <origin rpy="0 3.14159265359 0" xyz="-0.02977 -0.1497 0.164"/>
+    <parent link="torso_lift_link"/>
+    <child link="imu_link"/>
+  </joint>
+  <link name="imu_link">
+    <inertial>
+      <mass value="0.001"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.0001"/>
+    </inertial>
+  </link>
+  <!-- gazebo extensions -->
+  <gazebo>
+    <plugin filename="libgazebo_ros_imu.so" name="imu_controller">
+      <alwaysOn>true</alwaysOn>
+      <updateRate>100.0</updateRate>
+      <bodyName>imu_link</bodyName>
+      <topicName>torso_lift_imu/data</topicName>
+      <gaussianNoise>2.89e-08</gaussianNoise>
+      <xyzOffset>0 0 0</xyzOffset>
+      <rpyOffset>0 -180.0 0</rpyOffset>
+      <serviceName>/default_imu</serviceName>
+    </plugin>
+  </gazebo>
+  <!-- The xacro preprocesser will replace the parameters below, such as ${cal_head_x}, with
+       numerical values that were specified in common.xacro which was included above -->
+  <joint name="head_pan_joint" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="2.645" lower="-3.007" upper="3.007" velocity="6"/>
+    <!-- alpha tested velocity and effort limits -->
+    <safety_controller k_position="100" k_velocity="1.5" soft_lower_limit="-2.857" soft_upper_limit="2.857"/>
+    <calibration rising="0.0"/>
+    <dynamics damping="0.5"/>
+    <origin rpy="0.0 0.0 0.0" xyz="-0.01707 0.0 0.38145"/>
+    <parent link="torso_lift_link"/>
+    <child link="head_pan_link"/>
+  </joint>
+  <link name="head_pan_link">
+    <inertial>
+      <mass value="6.339"/>
+      <!-- mass/cog/moi updated per 100505_link_data.xls -->
+      <origin rpy="0 0 0" xyz="0.010907 0.031693 0.090507"/>
+      <inertia ixx="0.032497592" ixy="0.00063604088" ixz="0.0025851534" iyy="0.046545627" iyz="-0.0024534295" izz="0.057652724"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0 " xyz="0 0 0.0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/head_v0/head_pan.dae"/>
+      </geometry>
+      <material name="Blue"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/head_v0/head_pan_L.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- extensions -->
+  <transmission name="head_pan_trans" type="pr2_mechanism_model/SimpleTransmission">
+    <actuator name="head_pan_motor"/>
+    <joint name="head_pan_joint"/>
+    <mechanicalReduction>6.0</mechanicalReduction>
+  </transmission>
+  <joint name="head_tilt_joint" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="18" lower="-0.471238" upper="1.39626" velocity="5"/>
+    <!-- alpha tested velocity and effort limits -->
+    <safety_controller k_position="100" k_velocity="3.0" soft_lower_limit="-0.3712" soft_upper_limit="1.29626"/>
+    <calibration falling="0.0"/>
+    <dynamics damping="10.0"/>
+    <origin rpy="0 0 0" xyz="0.068 0 0"/>
+    <parent link="head_pan_link"/>
+    <child link="head_tilt_link"/>
+  </joint>
+  <link name="head_tilt_link">
+    <inertial>
+      <mass value="4.479"/>
+      <!-- mass/cog/moi updated per 100505_link_data.xls -->
+      <origin rpy="0 0 0" xyz="0.001716 -0.019556 0.055002"/>
+      <inertia ixx="0.024223222" ixy="0.00062063507" ixz="-0.000096909696" iyy="0.054723086" iyz="0.00279702400" izz="0.067306377"/>
+    </inertial>
+    <visual>
+      <origin rpy="0.0 0.0 0.0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/head_v0/head_tilt.dae"/>
+      </geometry>
+      <material name="Green"/>
+    </visual>
+    <collision>
+      <origin rpy="0.0 0.0 0.0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/head_v0/head_tilt_L.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- extensions -->
+  <transmission name="head_tilt_trans" type="pr2_mechanism_model/SimpleTransmission">
+    <actuator name="head_tilt_motor"/>
+    <joint name="head_tilt_joint"/>
+    <mechanicalReduction>6.0</mechanicalReduction>
+  </transmission>
+  <!-- Head plate frame -->
+  <joint name="head_plate_frame_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0232 0 0.0645"/>
+    <parent link="head_tilt_link"/>
+    <child link="head_plate_frame"/>
+  </joint>
+  <link name="head_plate_frame">
+    <inertial>
+      <mass value="0.01"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.01 0.01"/>
+      </geometry>
+      <material name="Blue"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.01 0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- extensions -->
+  <gazebo reference="head_plate_frame">
+    <material value="Gazebo/Grey"/>
+  </gazebo>
+  <!-- Camera package: double stereo, prosilica -->
+  <joint name="sensor_mount_frame_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+    <parent link="head_plate_frame"/>
+    <child link="sensor_mount_link"/>
+  </joint>
+  <link name="sensor_mount_link">
+    <inertial>
+      <!-- Needs verification with CAD -->
+      <mass value="0.05"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.01"/>
+    </inertial>
+    <!-- Should probably get real visuals here at some point -->
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.01 0.01"/>
+      </geometry>
+      <material name="Blue"/>
+    </visual>
+  </link>
+  <!-- Prosilica Camera -->
+  <joint name="high_def_frame_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.046457 -0.110 0.054600"/>
+    <parent link="sensor_mount_link"/>
+    <child link="high_def_frame"/>
+  </joint>
+  <link name="high_def_frame">
+    <inertial>
+      <mass value="0.01"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
+    </inertial>
+  </link>
+  <joint name="high_def_optical_frame_joint" type="fixed">
+    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0            0.0         0.0"/>
+    <parent link="high_def_frame"/>
+    <child link="high_def_optical_frame"/>
+  </joint>
+  <link name="high_def_optical_frame">
+    <inertial>
+      <mass value="0.01"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
+    </inertial>
+  </link>
+  <!-- extensions -->
+  <gazebo reference="high_def_frame">
+    <sensor name="high_def_sensor" type="camera">
+      <always_on>true</always_on>
+      <update_rate>20.0</update_rate>
+      <camera>
+        <horizontal_fov>0.785398163397</horizontal_fov>
+        <image>
+          <format>R8G8B8</format>
+          <width>2448</width>
+          <height>2050</height>
+        </image>
+        <clip>
+          <near>0.1</near>
+          <far>100</far>
+        </clip>
+      </camera>
+      <plugin filename="libgazebo_ros_prosilica.so" name="high_def_controller">
+        <updateRate>20.0</updateRate>
+        <cameraName>prosilica</cameraName>
+        <imageTopicName>image_raw</imageTopicName>
+        <cameraInfoTopicName>camera_info</cameraInfoTopicName>
+        <pollServiceName>request_image</pollServiceName>
+        <frameName>high_def_optical_frame</frameName>
+        <CxPrime>1224.5</CxPrime>
+        <Cx>1224.5</Cx>
+        <Cy>1025.5</Cy>
+        <focalLength>2954.998083</focalLength>
+        <distortionK1>0.0</distortionK1>
+        <distortionK2>0.0</distortionK2>
+        <distortionK3>0.0</distortionK3>
+        <distortionT1>0.0</distortionT1>
+        <distortionT2>0.0</distortionT2>
+      </plugin>
+    </sensor>
+    <material value="Gazebo/Black"/>
+  </gazebo>
+  <!-- construct wide and narrow double stereo camera -->
+  <!-- Define link to stereo cameras, set origin relative to that -->
+  <joint name="double_stereo_frame_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+    <parent link="sensor_mount_link"/>
+    <child link="double_stereo_link"/>
+  </joint>
+  <link name="double_stereo_link">
+    <inertial>
+      <!-- Needs verification with CAD -->
+      <mass value="0.1"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.01"/>
+    </inertial>
+    <!-- Should probably get real visuals here at some point -->
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.01 0 0.025"/>
+      <geometry>
+        <box size="0.02 0.12 0.05"/>
+      </geometry>
+      <material name="Blue"/>
+    </visual>
+  </link>
+  <!-- Wide camera is on robot right (hca1), narrow on left (hca2)? -->
+  <!-- 15mm offset from center needs check with CAD -->
+  <joint name="wide_stereo_frame_joint" type="fixed">
+    <origin rpy="0.0   0.0   0.0" xyz="0.045 0.03 0.0501"/>
+    <parent link="double_stereo_link"/>
+    <child link="wide_stereo_link"/>
+  </joint>
+  <!-- camera link is at center of the optical frame, but in x-forward notation -->
+  <link name="wide_stereo_link">
+    <inertial>
+      <mass value="0.1"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+      <!-- this inertia is made up for now. -->
+    </inertial>
+  </link>
+  <!-- attach optical frame to the camera link -->
+  <joint name="wide_stereo_optical_frame_joint" type="fixed">
+    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
+    <!-- rotate frame from x-forward to z-forward camera coords -->
+    <parent link="wide_stereo_link"/>
+    <child link="wide_stereo_optical_frame"/>
+  </joint>
+  <!-- optical frame for the stereo camera, with z-forward notation, this is the frame stereo camera images users should refer to -->
+  <link name="wide_stereo_optical_frame" type="camera"/>
+  <!-- stereo left camera -->
+  <joint name="wide_stereo_l_stereo_camera_frame_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="wide_stereo_link"/>
+    <child link="wide_stereo_l_stereo_camera_frame"/>
+  </joint>
+  <link name="wide_stereo_l_stereo_camera_frame">
+    <inertial>
+      <mass value="0.01"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
+    </inertial>
+  </link>
+  <joint name="wide_stereo_l_stereo_camera_optical_frame_joint" type="fixed">
+    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="wide_stereo_l_stereo_camera_frame"/>
+    <child link="wide_stereo_l_stereo_camera_optical_frame"/>
+  </joint>
+  <link name="wide_stereo_l_stereo_camera_optical_frame"/>
+  <!-- extensions -->
+  <gazebo reference="wide_stereo_l_stereo_camera_frame">
+    <sensor name="wide_stereo_l_stereo_camera_sensor" type="camera">
+      <always_on>true</always_on>
+      <update_rate>25.0</update_rate>
+      <camera>
+        <horizontal_fov>1.57079632679</horizontal_fov>
+        <image>
+          <format>BAYER_BGGR8</format>
+          <width>640</width>
+          <height>480</height>
+        </image>
+        <clip>
+          <near>0.1</near>
+          <far>100</far>
+        </clip>
+      </camera>
+      <plugin filename="libgazebo_ros_camera.so" name="wide_stereo_l_stereo_camera_controller">
+        <alwaysOn>true</alwaysOn>
+        <updateRate>25.0</updateRate>
+        <cameraName>wide_stereo/left</cameraName>
+        <imageTopicName>image_raw</imageTopicName>
+        <cameraInfoTopicName>camera_info</cameraInfoTopicName>
+        <frameName>wide_stereo_optical_frame</frameName>
+        <hackBaseline>0</hackBaseline>
+        <CxPrime>320.5</CxPrime>
+        <Cx>320.5</Cx>
+        <Cy>240.5</Cy>
+        <!-- image_width / (2*tan(hfov_radian /2)) -->
+        <!-- 320 for wide and 772.55 for narrow stereo camera -->
+        <focalLength>320.000105</focalLength>
+        <distortionK1>0.0</distortionK1>
+        <distortionK2>0.0</distortionK2>
+        <distortionK3>0.0</distortionK3>
+        <distortionT1>0.0</distortionT1>
+        <distortionT2>0.0</distortionT2>
+      </plugin>
+    </sensor>
+    <turnGravityOff>true</turnGravityOff>
+    <material>PR2/Blue</material>
+  </gazebo>
+  <!-- stereo right camera -->
+  <joint name="wide_stereo_r_stereo_camera_frame_joint" type="fixed">
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.09 0.0"/>
+    <parent link="wide_stereo_l_stereo_camera_frame"/>
+    <child link="wide_stereo_r_stereo_camera_frame"/>
+  </joint>
+  <link name="wide_stereo_r_stereo_camera_frame">
+    <inertial>
+      <mass value="0.01"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
+    </inertial>
+  </link>
+  <joint name="wide_stereo_r_stereo_camera_optical_frame_joint" type="fixed">
+    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="wide_stereo_r_stereo_camera_frame"/>
+    <child link="wide_stereo_r_stereo_camera_optical_frame"/>
+  </joint>
+  <link name="wide_stereo_r_stereo_camera_optical_frame"/>
+  <!-- extensions -->
+  <gazebo reference="wide_stereo_r_stereo_camera_frame">
+    <sensor name="wide_stereo_r_stereo_camera_sensor" type="camera">
+      <always_on>true</always_on>
+      <update_rate>25.0</update_rate>
+      <camera>
+        <horizontal_fov>1.57079632679</horizontal_fov>
+        <image>
+          <format>BAYER_BGGR8</format>
+          <width>640</width>
+          <height>480</height>
+        </image>
+        <clip>
+          <near>0.1</near>
+          <far>100</far>
+        </clip>
+      </camera>
+      <plugin filename="libgazebo_ros_camera.so" name="wide_stereo_r_stereo_camera_controller">
+        <alwaysOn>true</alwaysOn>
+        <updateRate>25.0</updateRate>
+        <cameraName>wide_stereo/right</cameraName>
+        <imageTopicName>image_raw</imageTopicName>
+        <cameraInfoTopicName>camera_info</cameraInfoTopicName>
+        <frameName>wide_stereo_optical_frame</frameName>
+        <hackBaseline>0.09</hackBaseline>
+        <CxPrime>320.5</CxPrime>
+        <Cx>320.5</Cx>
+        <Cy>240.5</Cy>
+        <!-- image_width / (2*tan(hfov_radian /2)) -->
+        <!-- 320 for wide and 772.55 for narrow stereo camera -->
+        <focalLength>320.000105</focalLength>
+        <distortionK1>0.0</distortionK1>
+        <distortionK2>0.0</distortionK2>
+        <distortionK3>0.0</distortionK3>
+        <distortionT1>0.0</distortionT1>
+        <distortionT2>0.0</distortionT2>
+      </plugin>
+    </sensor>
+    <turnGravityOff>true</turnGravityOff>
+    <material>PR2/Blue</material>
+  </gazebo>
+  <!-- extensions -->
+  <gazebo reference="wide_stereo_link">
+    <material value="PR2/Blue"/>
+    <turnGravityOff value="true"/>
+  </gazebo>
+  <gazebo reference="wide_stereo_optical_frame">
+    <material value="Gazebo/White"/>
+    <turnGravityOff value="true"/>
+  </gazebo>
+  <joint name="narrow_stereo_frame_joint" type="fixed">
+    <origin rpy="0.0   0.0   0.0" xyz="0.045 0.06 0.0501"/>
+    <parent link="double_stereo_link"/>
+    <child link="narrow_stereo_link"/>
+  </joint>
+  <!-- camera link is at center of the optical frame, but in x-forward notation -->
+  <link name="narrow_stereo_link">
+    <inertial>
+      <mass value="0.1"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+      <!-- this inertia is made up for now. -->
+    </inertial>
+  </link>
+  <!-- attach optical frame to the camera link -->
+  <joint name="narrow_stereo_optical_frame_joint" type="fixed">
+    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
+    <!-- rotate frame from x-forward to z-forward camera coords -->
+    <parent link="narrow_stereo_link"/>
+    <child link="narrow_stereo_optical_frame"/>
+  </joint>
+  <!-- optical frame for the stereo camera, with z-forward notation, this is the frame stereo camera images users should refer to -->
+  <link name="narrow_stereo_optical_frame" type="camera"/>
+  <!-- stereo left camera -->
+  <joint name="narrow_stereo_l_stereo_camera_frame_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="narrow_stereo_link"/>
+    <child link="narrow_stereo_l_stereo_camera_frame"/>
+  </joint>
+  <link name="narrow_stereo_l_stereo_camera_frame">
+    <inertial>
+      <mass value="0.01"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
+    </inertial>
+  </link>
+  <joint name="narrow_stereo_l_stereo_camera_optical_frame_joint" type="fixed">
+    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="narrow_stereo_l_stereo_camera_frame"/>
+    <child link="narrow_stereo_l_stereo_camera_optical_frame"/>
+  </joint>
+  <link name="narrow_stereo_l_stereo_camera_optical_frame"/>
+  <!-- extensions -->
+  <gazebo reference="narrow_stereo_l_stereo_camera_frame">
+    <sensor name="narrow_stereo_l_stereo_camera_sensor" type="camera">
+      <always_on>true</always_on>
+      <update_rate>25.0</update_rate>
+      <camera>
+        <horizontal_fov>0.785398163397</horizontal_fov>
+        <image>
+          <format>L8</format>
+          <width>640</width>
+          <height>480</height>
+        </image>
+        <clip>
+          <near>0.1</near>
+          <far>100</far>
+        </clip>
+      </camera>
+      <plugin filename="libgazebo_ros_camera.so" name="narrow_stereo_l_stereo_camera_controller">
+        <alwaysOn>true</alwaysOn>
+        <updateRate>25.0</updateRate>
+        <cameraName>narrow_stereo/left</cameraName>
+        <imageTopicName>image_raw</imageTopicName>
+        <cameraInfoTopicName>camera_info</cameraInfoTopicName>
+        <frameName>narrow_stereo_optical_frame</frameName>
+        <hackBaseline>0</hackBaseline>
+        <CxPrime>320.5</CxPrime>
+        <Cx>320.5</Cx>
+        <Cy>240.5</Cy>
+        <!-- image_width / (2*tan(hfov_radian /2)) -->
+        <!-- 320 for wide and 772.55 for narrow stereo camera -->
+        <focalLength>772.548518</focalLength>
+        <distortionK1>0.0</distortionK1>
+        <distortionK2>0.0</distortionK2>
+        <distortionK3>0.0</distortionK3>
+        <distortionT1>0.0</distortionT1>
+        <distortionT2>0.0</distortionT2>
+      </plugin>
+    </sensor>
+    <turnGravityOff>true</turnGravityOff>
+    <material>PR2/Blue</material>
+  </gazebo>
+  <!-- stereo right camera -->
+  <joint name="narrow_stereo_r_stereo_camera_frame_joint" type="fixed">
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.09 0.0"/>
+    <parent link="narrow_stereo_l_stereo_camera_frame"/>
+    <child link="narrow_stereo_r_stereo_camera_frame"/>
+  </joint>
+  <link name="narrow_stereo_r_stereo_camera_frame">
+    <inertial>
+      <mass value="0.01"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
+    </inertial>
+  </link>
+  <joint name="narrow_stereo_r_stereo_camera_optical_frame_joint" type="fixed">
+    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="narrow_stereo_r_stereo_camera_frame"/>
+    <child link="narrow_stereo_r_stereo_camera_optical_frame"/>
+  </joint>
+  <link name="narrow_stereo_r_stereo_camera_optical_frame"/>
+  <!-- extensions -->
+  <gazebo reference="narrow_stereo_r_stereo_camera_frame">
+    <sensor name="narrow_stereo_r_stereo_camera_sensor" type="camera">
+      <always_on>true</always_on>
+      <update_rate>25.0</update_rate>
+      <camera>
+        <horizontal_fov>0.785398163397</horizontal_fov>
+        <image>
+          <format>L8</format>
+          <width>640</width>
+          <height>480</height>
+        </image>
+        <clip>
+          <near>0.1</near>
+          <far>100</far>
+        </clip>
+      </camera>
+      <plugin filename="libgazebo_ros_camera.so" name="narrow_stereo_r_stereo_camera_controller">
+        <alwaysOn>true</alwaysOn>
+        <updateRate>25.0</updateRate>
+        <cameraName>narrow_stereo/right</cameraName>
+        <imageTopicName>image_raw</imageTopicName>
+        <cameraInfoTopicName>camera_info</cameraInfoTopicName>
+        <frameName>narrow_stereo_optical_frame</frameName>
+        <hackBaseline>0.09</hackBaseline>
+        <CxPrime>320.5</CxPrime>
+        <Cx>320.5</Cx>
+        <Cy>240.5</Cy>
+        <!-- image_width / (2*tan(hfov_radian /2)) -->
+        <!-- 320 for wide and 772.55 for narrow stereo camera -->
+        <focalLength>772.548518</focalLength>
+        <distortionK1>0.0</distortionK1>
+        <distortionK2>0.0</distortionK2>
+        <distortionK3>0.0</distortionK3>
+        <distortionT1>0.0</distortionT1>
+        <distortionT2>0.0</distortionT2>
+      </plugin>
+    </sensor>
+    <turnGravityOff>true</turnGravityOff>
+    <material>PR2/Blue</material>
+  </gazebo>
+  <!-- extensions -->
+  <gazebo reference="narrow_stereo_link">
+    <material value="PR2/Blue"/>
+    <turnGravityOff value="true"/>
+  </gazebo>
+  <gazebo reference="narrow_stereo_optical_frame">
+    <material value="Gazebo/White"/>
+    <turnGravityOff value="true"/>
+  </gazebo>
+  <!-- extensions -->
+  <!-- Define link to stereo cameras, set origin relative to that -->
+  <gazebo reference="double_stereo_double_stereo_link">
+    <material value="PR2/Blue"/>
+  </gazebo>
+  <!-- extensions -->
+  <gazebo reference="sensor_mount_sensor_link">
+    <material value="PR2/Blue"/>
+  </gazebo>
+  <!-- Projector -->
+  <joint name="projector_wg6802418_frame_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0.110 0.0546"/>
+    <parent link="head_plate_frame"/>
+    <child link="projector_wg6802418_frame"/>
+  </joint>
+  <link name="projector_wg6802418_frame">
+    <inertial>
+      <mass value="0.01"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
+    </inertial>
+  </link>
+  <joint name="projector_wg6802418_child_frame_joint" type="fixed">
+    <origin rpy="0 -1.57079632679 0" xyz="0 0 0"/>
+    <parent link="projector_wg6802418_frame"/>
+    <child link="projector_wg6802418_child_frame"/>
+  </joint>
+  <link name="projector_wg6802418_child_frame">
+    <inertial>
+      <mass value="0.01"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
+    </inertial>
+  </link>
+  <!-- extensions -->
+  <gazebo reference="projector_wg6802418_child_frame">
+    <projector name="projector_wg6802418_projector_wg6802418">
+      <pose>0 0 0 0 -1.5707 0</pose>
+      <texture>stereo_projection_pattern_high_res_red.png</texture>
+      <fov>0.959931088597</fov>
+      <near_clip>0.1</near_clip>
+      <far_clip>10</far_clip>
+    </projector>
+  </gazebo>
+  <gazebo>
+    <plugin filename="libgazebo_ros_projector.so" name="projector_wg6802418_controller">
+      <projector>projector_wg6802418_child_frame/projector_wg6802418_projector_wg6802418</projector>
+      <alwaysOn>true</alwaysOn>
+      <updateRate>15.0</updateRate>
+      <textureName>stereo_projection_pattern_high_res_red.png</textureName>
+      <filterTextureName>stereo_projection_pattern_filter.png</filterTextureName>
+      <textureTopicName>projector_wg6802418_controller/image</textureTopicName>
+      <projectorTopicName>projector_wg6802418_controller/projector</projectorTopicName>
+    </plugin>
+  </gazebo>
+  <!-- Base of Kinect/Prosilica Mount -->
+  <joint name="head_mount_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.137376 0 0.091746"/>
+    <parent link="head_plate_frame"/>
+    <child link="head_mount_link"/>
+  </joint>
+  <link name="head_mount_link">
+    <inertial>
+      <mass value="0.1"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.102 -0.148 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/sensors/kinect2_v0/kinect2_assembly.STL" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="gray">
+        <color rgba="0.5 0.5 0.5 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.0005"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- kinect2 ir sensor physical attachment -->
+  <joint name="head_mount_kinect2_ir_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.032267 -0.0475 0.155"/>
+    <parent link="head_mount_link"/>
+    <child link="head_mount_kinect2_ir_link"/>
+  </joint>
+  <link name="head_mount_kinect2_ir_link">
+    <inertial>
+      <mass value="0.1"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0"/>
+      <geometry>
+        <sphere radius="0.0005"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0"/>
+      <geometry>
+        <sphere radius="0.0005"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- kinect2 ir sensor frame -->
+  <!--     <joint name="${name}_kinect2_ir_optical_frame_joint" type="fixed">
+      <origin xyz="${cal_kinect_x}            ${cal_kinect_y + ir_depth_rgb_offset_y}         ${cal_kinect_z}"
+                rpy="${-M_PI/2+cal_kinect_roll} ${0.0+cal_kinect_pitch} ${-M_PI/2+cal_kinect_yaw}" />
+      <parent link="${name}_kinect2_ir_link"/>
+      <child link="${name}_kinect2_ir_optical_frame"/>
+    </joint>
+
+    <link name="${name}_kinect2_ir_optical_frame"/> -->
+  <!-- gazebo extensions -->
+  <!--     <xacro:kinect2_ir_gazebo_v0 link_name="${name}_kinect2_ir_link" frame_name="${name}_kinect2_ir_optical_frame" camera_name="head_mount_kinect2" /> -->
+  <!-- kinect2 rgb sensor physical attachment -->
+  <joint name="head_mount_kinect2_rgb_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 -0.052 0"/>
+    <parent link="head_mount_kinect2_ir_link"/>
+    <child link="head_mount_kinect2_rgb_link"/>
+  </joint>
+  <link name="head_mount_kinect2_rgb_link">
+    <inertial>
+      <mass value="0.1"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0"/>
+      <geometry>
+        <sphere radius="0.0005"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0"/>
+      <geometry>
+        <sphere radius="0.0005"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- kinect2 rgb sensor frame -->
+  <!--     <joint name="${name}_kinect2_rgb_optical_frame_joint" type="fixed">
+      <origin xyz="${cal_kinect_x}            ${cal_kinect_y}         ${cal_kinect_z}"
+                rpy="${-M_PI/2+cal_kinect_roll} ${0.0+cal_kinect_pitch} ${-M_PI/2+cal_kinect_yaw}" />
+      <parent link="${name}_kinect2_rgb_link"/>
+      <child link="${name}_kinect2_rgb_optical_frame"/>
+    </joint>
+
+    <link name="${name}_kinect2_rgb_optical_frame"/> -->
+  <!-- gazebo extensions -->
+  <!--     <xacro:kinect2_rgb_gazebo_v0 link_name="${name}_kinect2_rgb_link" frame_name="${name}_kinect2_rgb_optical_frame" camera_name="head_mount_kinect2" /> -->
+  <joint name="laser_tilt_mount_joint" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0.65" lower="-0.7854" upper="1.48353" velocity="10.0"/>
+    <!-- alpha tested velocity and effort limits -->
+    <safety_controller k_position="100" k_velocity="0.05" soft_lower_limit="-0.7354" soft_upper_limit="1.43353"/>
+    <calibration falling="0.0"/>
+    <dynamics damping="0.008"/>
+    <origin rpy="0 0 0" xyz="0.09893 0 0.227"/>
+    <parent link="torso_lift_link"/>
+    <child link="laser_tilt_mount_link"/>
+  </joint>
+  <link name="laser_tilt_mount_link">
+    <inertial>
+      <mass value="0.591"/>
+      <origin rpy="0 0 0" xyz="-0.001136 0.00167 -0.00713"/>
+      <inertia ixx="0.001195273" ixy="0.000023087" ixz="0.000037467" iyy="0.001083956" iyz="0.000034906" izz="0.000795014"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/tilting_laser_v0/tilting_hokuyo.dae"/>
+      </geometry>
+      <material name="Red"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/tilting_laser_v0/tilting_hokuyo_L.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="laser_tilt_joint" type="fixed">
+    <axis xyz="0 1 0"/>
+    <origin rpy="0 0 0" xyz="0 0 0.03"/>
+    <parent link="laser_tilt_mount_link"/>
+    <child link="laser_tilt_link"/>
+  </joint>
+  <link name="laser_tilt_link" type="laser">
+    <inertial>
+      <mass value="0.001"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.0001"/>
+    </inertial>
+  </link>
+  <!-- gazebo extensions -->
+  <gazebo reference="laser_tilt_link">
+    <sensor name="laser_tilt" type="ray">
+      <always_on>true</always_on>
+      <update_rate>40</update_rate>
+      <pose>0 0 0 0 0 0</pose>
+      <visualize>false</visualize>
+      <ray>
+        <scan>
+          <horizontal>
+            <samples>640</samples>
+            <resolution>1</resolution>
+            <min_angle>-1.3962634</min_angle>
+            <max_angle>1.3962634</max_angle>
+          </horizontal>
+        </scan>
+        <range>
+          <min>0.08</min>
+          <max>10.0</max>
+          <resolution>0.01</resolution>
+        </range>
+      </ray>
+      <plugin filename="libgazebo_ros_laser.so" name="gazebo_ros_laser_tilt_controller">
+        <gaussianNoise>0.005</gaussianNoise>
+        <alwaysOn>true</alwaysOn>
+        <updateRate>40</updateRate>
+        <topicName>tilt_scan</topicName>
+        <frameName>laser_tilt_link</frameName>
+        <hokuyoMinIntensity>101</hokuyoMinIntensity>
+      </plugin>
+    </sensor>
+  </gazebo>
+  <!-- extensions -->
+  <gazebo reference="laser_tilt_mount_link">
+    </gazebo>
+  <transmission name="laser_tilt_mount_trans" type="pr2_mechanism_model/SimpleTransmission">
+    <actuator name="laser_tilt_mount_motor"/>
+    <joint name="laser_tilt_mount_joint"/>
+    <mechanicalReduction>-6.05</mechanicalReduction>
+  </transmission>
+  <!-- This is a common convention, to use a reflect parameter that equals +-1 to distinguish left from right -->
+  <!-- Shoulder pan -->
+  <joint name="r_shoulder_pan_joint" type="revolute">
+    <axis xyz="0 0 1"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.188 0.0"/>
+    <!-- transform from parent link to this joint frame -->
+    <parent link="torso_lift_link"/>
+    <child link="r_shoulder_pan_link"/>
+    <limit effort="30" lower="-2.2853981634" upper="0.714601836603" velocity="2.088"/>
+    <!-- alpha tested velocity and effort limits -->
+    <dynamics damping="10.0"/>
+    <safety_controller k_position="100" k_velocity="10" soft_lower_limit="-2.1353981634" soft_upper_limit="0.564601836603"/>
+    <!-- joint angle when the rising or the falling flag is activated on PR2 -->
+    <calibration rising="-0.785398163397"/>
+  </joint>
+  <link name="r_shoulder_pan_link">
+    <inertial>
+      <mass value="25.799322"/>
+      <origin rpy="0 0 0" xyz="-0.001201 0.024513 -0.098231"/>
+      <inertia ixx="0.866179142480" ixy="-0.06086507933" ixz="-0.12118061183" iyy="0.87421714893" iyz="-0.05886609911" izz="0.27353821674"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/shoulder_v0/shoulder_pan.dae"/>
+      </geometry>
+      <material name="Blue"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0 0 0.0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/shoulder_v0/shoulder_pan.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Shoulder lift -->
+  <joint name="r_shoulder_lift_joint" type="revolute">
+    <axis xyz="0 1 0"/>
+    <!-- Limits updated from Function's CAD values as of 2009_02_24 (link_data.xls) -->
+    <limit effort="30" lower="-0.5236" upper="1.3963" velocity="2.082"/>
+    <!-- alpha tested velocity and effort limits -->
+    <safety_controller k_position="100" k_velocity="10" soft_lower_limit="-0.3536" soft_upper_limit="1.2963"/>
+    <calibration falling="0.0"/>
+    <dynamics damping="10.0"/>
+    <origin rpy="0 0 0" xyz="0.1 0 0"/>
+    <parent link="r_shoulder_pan_link"/>
+    <child link="r_shoulder_lift_link"/>
+  </joint>
+  <link name="r_shoulder_lift_link">
+    <inertial>
+      <mass value="2.74988"/>
+      <origin rpy="0 0 0" xyz="0.02195 -0.02664 -0.03127"/>
+      <inertia ixx="0.02105584615" ixy="0.00496704022" ixz="-0.00194808955" iyy="0.02127223737" iyz="0.00110425490" izz="0.01975753814"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/shoulder_v0/shoulder_lift.dae"/>
+      </geometry>
+      <material name="Grey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/shoulder_v0/shoulder_lift.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Upper arm roll is separate macro -->
+  <joint name="r_upper_arm_roll_joint" type="revolute">
+    <axis xyz="1 0 0"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="r_shoulder_lift_link"/>
+    <child link="r_upper_arm_roll_link"/>
+    <limit effort="30" lower="-3.9" upper="0.8" velocity="3.27"/>
+    <!-- alpha tested velocity and effort limits -->
+    <safety_controller k_position="100" k_velocity="2" soft_lower_limit="-3.75" soft_upper_limit="0.65"/>
+    <calibration rising="-1.57079632679"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_upper_arm_roll_link">
+    <inertial>
+      <!-- dummy mass, to be removed -->
+      <mass value="0.1"/>
+      <origin rpy="0 0 0" xyz="0.0 0 0"/>
+      <inertia ixx="0.01" ixy="0.00" ixz="0.00" iyy="0.01" iyz="0.00" izz="0.01"/>
+    </inertial>
+    <visual>
+      <!-- TODO: This component doesn't actually have a mesh -->
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/shoulder_v0/upper_arm_roll.stl"/>
+      </geometry>
+      <material name="RollLinks"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/shoulder_v0/upper_arm_roll_L.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- extensions -->
+  <gazebo reference="r_upper_arm_roll_link">
+    <material value="PR2/RollLinks"/>
+    <turnGravityOff>true</turnGravityOff>
+  </gazebo>
+  <gazebo reference="r_upper_arm_roll_joint">
+    <stopKd value="1.0"/>
+    <stopKp value="1000000.0"/>
+    <fudgeFactor value="0.5"/>
+  </gazebo>
+  <!-- Upperarm roll: internal fixed attchment point for upper arm -->
+  <transmission name="r_upper_arm_roll_trans" type="pr2_mechanism_model/SimpleTransmission">
+    <actuator name="r_upper_arm_roll_motor"/>
+    <joint name="r_upper_arm_roll_joint"/>
+    <mechanicalReduction>32.6525111499</mechanicalReduction>
+  </transmission>
+  <!-- extensions -->
+  <!-- Shoulder pan -->
+  <gazebo reference="r_shoulder_pan_link">
+    <turnGravityOff>true</turnGravityOff>
+  </gazebo>
+  <gazebo reference="r_shoulder_pan_joint">
+    <stopKd value="1.0"/>
+    <stopKp value="1000000.0"/>
+  </gazebo>
+  <!-- Shoulder lift -->
+  <gazebo reference="r_shoulder_lift_link">
+    <turnGravityOff>true</turnGravityOff>
+  </gazebo>
+  <gazebo reference="r_shoulder_lift_joint">
+    <stopKd value="1.0"/>
+    <stopKp value="1000000.0"/>
+  </gazebo>
+  <!-- Shoulder pan -->
+  <transmission name="r_shoulder_pan_trans" type="pr2_mechanism_model/SimpleTransmission">
+    <joint name="r_shoulder_pan_joint"/>
+    <actuator name="r_shoulder_pan_motor"/>
+    <mechanicalReduction>63.1552452977</mechanicalReduction>
+    <compensator k_belt="4000.0" kd_motor="15.0" lambda_combined="0.0" lambda_joint="40.0" lambda_motor="40.0" mass_motor="0.05"/>
+  </transmission>
+  <!-- Shoulder lift -->
+  <transmission name="r_shoulder_lift_trans" type="pr2_mechanism_model/SimpleTransmission">
+    <joint name="r_shoulder_lift_joint"/>
+    <actuator name="r_shoulder_lift_motor"/>
+    <mechanicalReduction>61.8948225713</mechanicalReduction>
+    <compensator k_belt="4000.0" kd_motor="10.0" lambda_combined="0.0" lambda_joint="60.0" lambda_motor="60.0" mass_motor="0.05"/>
+  </transmission>
+  <joint name="r_upper_arm_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="r_upper_arm_roll_link"/>
+    <child link="r_upper_arm_link"/>
+  </joint>
+  <link name="r_upper_arm_link">
+    <inertial>
+      <!-- NOTE:reflect==-1 for right side, reflect==1 for the left side -->
+      <mass value="6.01769"/>
+      <origin xyz="0.21398 -0.01621 -0.0002"/>
+      <inertia ixx="0.01537748957" ixy="0.00375711247" ixz="-0.00070852914" iyy="0.0747367044" iyz="-0.0001793645" izz="0.07608763307"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/upper_arm_v0/upper_arm.dae"/>
+      </geometry>
+      <material name="Green"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/upper_arm_v0/upper_arm.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- extensions-->
+  <gazebo reference="r_upper_arm_link">
+    <turnGravityOff>true</turnGravityOff>
+  </gazebo>
+  <!-- Has upperarm link -->
+  <!-- No transmission, since this a fixed joint w/o actuator -->
+  <!-- Elbow flex, FA roll macros -->
+  <!-- forearm_roll_link is a fictitious link internal to elbow_flex_link, provides an attachment point for the actual forearm -->
+  <joint name="r_forearm_roll_joint" type="continuous">
+    <axis xyz="1 0 0"/>
+    <limit effort="30" velocity="3.6"/>
+    <!-- alpha tested velocity and effort limits -->
+    <safety_controller k_velocity="1"/>
+    <calibration rising="0.0"/>
+    <dynamics damping="0.1"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="r_elbow_flex_link"/>
+    <child link="r_forearm_roll_link"/>
+  </joint>
+  <!-- TODO: inertial tag should be optional -->
+  <link name="r_forearm_roll_link">
+    <inertial>
+      <!-- dummy masses, to be removed -->
+      <mass value="0.1"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.01" ixy="0.00" ixz="0.00" iyy="0.01" iyz="0.00" izz="0.01"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/upper_arm_v0/forearm_roll.stl"/>
+      </geometry>
+      <material name="RollLinks"/>
+    </visual>
+    <!-- TODO: collision tag should be optional -->
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/upper_arm_v0/forearm_roll_L.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="r_forearm_roll_link">
+    <material value="PR2/RollLinks"/>
+    <turnGravityOff>true</turnGravityOff>
+  </gazebo>
+  <gazebo reference="r_forearm_roll_joint">
+    <fudgeFactor value="0.5"/>
+  </gazebo>
+  <transmission name="r_forearm_roll_trans" type="pr2_mechanism_model/SimpleTransmission">
+    <actuator name="r_forearm_roll_motor"/>
+    <joint name="r_forearm_roll_joint"/>
+    <mechanicalReduction>-90.5142857143</mechanicalReduction>
+  </transmission>
+  <!-- Elbow flex -->
+  <joint name="r_elbow_flex_joint" type="revolute">
+    <axis xyz="0 1 0"/>
+    <!-- Note: Overtravel limits are 140, -7 degrees instead of 133, 0 -->
+    <limit effort="30" lower="-2.3213" upper="0.00" velocity="3.3"/>
+    <!-- alpha tested velocity and effort limits -->
+    <safety_controller k_position="100" k_velocity="3" soft_lower_limit="-2.1213" soft_upper_limit="-0.15"/>
+    <calibration falling="-1.1606"/>
+    <dynamics damping="1.0"/>
+    <origin rpy="0 0 0" xyz="0.4 0 0"/>
+    <parent link="r_upper_arm_link"/>
+    <child link="r_elbow_flex_link"/>
+  </joint>
+  <link name="r_elbow_flex_link">
+    <inertial>
+      <mass value="1.90327"/>
+      <origin xyz="0.01014 0.00032 -0.01211"/>
+      <inertia ixx="0.00346541989" ixy="0.00004066825" ixz="0.00043171614" iyy="0.00441606455" iyz="-0.00003968914" izz="0.00359156824"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/upper_arm_v0/elbow_flex.dae"/>
+      </geometry>
+      <material name="Grey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/upper_arm_v0/elbow_flex.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- testing initial joint position, to be parsed at urdf2gazebo parse time ->
+    <gazebo reference="${side}_elbow_flex_joint">
+      <initial_joint_position>-1.0</initial_joint_position>
+    </gazebo>
+    -->
+  <gazebo reference="r_elbow_flex_link">
+    <turnGravityOff>true</turnGravityOff>
+  </gazebo>
+  <gazebo reference="r_elbow_flex_joint">
+    <stopKd value="1.0"/>
+    <stopKp value="1000000.0"/>
+  </gazebo>
+  <!-- Elbow flex -->
+  <transmission name="r_elbow_flex_trans" type="pr2_mechanism_model/SimpleTransmission">
+    <actuator name="r_elbow_flex_motor"/>
+    <joint name="r_elbow_flex_joint"/>
+    <mechanicalReduction>-36.167452007</mechanicalReduction>
+  </transmission>
+  <joint name="r_forearm_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <!-- transform from parent link to this joint frame -->
+    <parent link="r_forearm_roll_link"/>
+    <child link="r_forearm_link"/>
+  </joint>
+  <link name="r_forearm_link">
+    <inertial>
+      <mass value="2.57968"/>
+      <origin xyz="0.18791 -0.00017 -0.00912"/>
+      <inertia ixx="0.00364857222" ixy="0.00005215877" ixz="0.00071534842" iyy="0.01507736897" iyz="-0.00001310770" izz="0.01659310749"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/forearm_v0/forearm.dae"/>
+      </geometry>
+      <material name="Grey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/forearm_v0/forearm.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Wrist flex -->
+  <joint name="r_wrist_flex_joint" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-2.18" upper="0.0" velocity="3.078"/>
+    <!-- alpha tested velocity and effort limits -->
+    <safety_controller k_position="20" k_velocity="4" soft_lower_limit="-2.0" soft_upper_limit="-0.1"/>
+    <dynamics damping="0.1"/>
+    <calibration falling="-0.5410521"/>
+    <origin rpy="0 0 0" xyz="0.321 0 0"/>
+    <parent link="r_forearm_link"/>
+    <child link="r_wrist_flex_link"/>
+  </joint>
+  <link name="r_wrist_flex_link">
+    <inertial>
+      <mass value="0.61402"/>
+      <origin xyz="-0.00157 0.0 -0.00075"/>
+      <inertia ixx="0.00065165722" ixy="0.00000028864" ixz="0.00000303477" iyy="0.00019824443" iyz="-0.00000022645" izz="0.00064450498"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/forearm_v0/wrist_flex.dae"/>
+      </geometry>
+      <material name="Grey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/forearm_v0/wrist_flex.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Wrist roll -->
+  <joint name="r_wrist_roll_joint" type="continuous">
+    <axis xyz="1 0 0"/>
+    <limit effort="10" velocity="3.6"/>
+    <!-- alpha tested velocity and effort limits -->
+    <safety_controller k_velocity="2"/>
+    <dynamics damping="0.1"/>
+    <calibration rising="-1.57079632679"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="r_wrist_flex_link"/>
+    <child link="r_wrist_roll_link"/>
+  </joint>
+  <link name="r_wrist_roll_link">
+    <inertial>
+      <!-- dummy masses, to be removed.  wrist roll masses are on "gripper_palm" -->
+      <mass value="0.1"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/forearm_v0/wrist_roll.stl"/>
+      </geometry>
+      <material name="RollLinks"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/forearm_v0/wrist_roll_L.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- extensions-->
+  <gazebo reference="r_forearm_link">
+    <turnGravityOff>true</turnGravityOff>
+  </gazebo>
+  <!-- Wrist flex -->
+  <gazebo reference="r_wrist_flex_link">
+    <turnGravityOff>true</turnGravityOff>
+  </gazebo>
+  <gazebo reference="r_wrist_flex_joint">
+    <stopKd value="1.0"/>
+    <stopKp value="1000000.0"/>
+  </gazebo>
+  <!-- Wrist roll -->
+  <gazebo reference="r_wrist_roll_link">
+    <turnGravityOff>true</turnGravityOff>
+    <material value="PR2/RollLinks"/>
+  </gazebo>
+  <gazebo reference="r_wrist_roll_joint">
+    <fudgeFactor value="0.5"/>
+  </gazebo>
+  <!-- Wrist flex , Wrist roll -->
+  <transmission name="r_wrist_trans" type="pr2_mechanism_model/WristTransmission">
+    <rightActuator mechanicalReduction="60.1714285714" name="r_wrist_r_motor"/>
+    <leftActuator mechanicalReduction="60.1714285714" name="r_wrist_l_motor"/>
+    <flexJoint mechanicalReduction="-1.0" name="r_wrist_flex_joint"/>
+    <rollJoint mechanicalReduction="1.0" name="r_wrist_roll_joint"/>
+  </transmission>
+  <joint name="r_gripper_palm_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="r_wrist_roll_link"/>
+    <child link="r_gripper_palm_link"/>
+  </joint>
+  <link name="r_gripper_palm_link">
+    <inertial>
+      <mass value="0.58007"/>
+      <origin rpy="0 0 0" xyz="0.06623 0.00053 -0.00119"/>
+      <inertia ixx="0.00035223921" ixy="-0.00001580476" ixz="-0.00000091750" iyy="0.00067741312" iyz="-0.00000059554" izz="0.00086563316"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/gripper_v0/gripper_palm.dae"/>
+      </geometry>
+      <material name="Red"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/gripper_v0/gripper_palm.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="r_gripper_led_joint" type="fixed">
+    <!--  Need to check if we need a positive or negative Z term -->
+    <origin xyz="0.0513 0.0 .0244"/>
+    <parent link="r_gripper_palm_link"/>
+    <child link="r_gripper_led_frame"/>
+  </joint>
+  <link name="r_gripper_led_frame"/>
+  <joint name="r_gripper_motor_accelerometer_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="r_gripper_palm_link"/>
+    <child link="r_gripper_motor_accelerometer_link"/>
+  </joint>
+  <link name="r_gripper_motor_accelerometer_link">
+    <inertial>
+      <mass value="0.001"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="r_gripper_tool_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.18 0 0"/>
+    <parent link="r_gripper_palm_link"/>
+    <child link="r_gripper_tool_frame"/>
+  </joint>
+  <link name="r_gripper_tool_frame"/>
+  <!-- actuated motor screw joint -->
+  <link name="r_gripper_motor_slider_link">
+    <inertial>
+      <mass value="0.01"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
+    </inertial>
+    <!-- for debugging only
+      <visual>
+        <origin xyz="0 0 0" rpy="1.5708 0 0" />
+        <geometry>
+          <cylinder length="0.002" radius="0.025"/>
+        </geometry>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="1.5708 0 0" />
+        <geometry>
+          <cylinder length="0.002" radius="0.025"/>
+        </geometry>
+      </collision>
+      -->
+  </link>
+  <joint name="r_gripper_motor_slider_joint" type="prismatic">
+    <origin rpy="0 0 0" xyz="0.16828 0 0"/>
+    <axis xyz="1 0 0"/>
+    <parent link="r_gripper_palm_link"/>
+    <child link="r_gripper_motor_slider_link"/>
+    <limit effort="1000.0" lower="-0.1" upper="0.1" velocity="0.2"/>
+  </joint>
+  <link name="r_gripper_motor_screw_link">
+    <inertial>
+      <mass value="0.01"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
+    </inertial>
+    <!-- for debugging only
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <box size="0.05 0.001 0.05" />
+        </geometry>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <box size="0.05 0.001 0.05" />
+        </geometry>
+      </collision>
+      -->
+  </link>
+  <joint name="r_gripper_motor_screw_joint" type="continuous">
+    <origin rpy="0 0 0" xyz="0.0 0 0"/>
+    <axis xyz="0 1 0"/>
+    <parent link="r_gripper_motor_slider_link"/>
+    <child link="r_gripper_motor_screw_link"/>
+    <dynamics damping="0.0001"/>
+  </joint>
+  <!-- pr2 fingers macro -->
+  <!-- Finger proximal digit -->
+  <joint name="r_gripper_l_finger_joint" type="revolute">
+    <axis xyz="0 0 1"/>
+    <!-- limits on passive finger and finger top joints without
+         transmission are not enforced by safety controllers.
+         The lower/upper limits and are enforced in PR2 simulation and
+         effort and velocity limits are ignored. This is also needed because
+         these joints are declared revolute rather than continuous.-->
+    <limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5"/>
+    <dynamics damping="0.02"/>
+    <origin rpy="0 0 0" xyz="0.07691 0.01 0"/>
+    <parent link="r_gripper_palm_link"/>
+    <child link="r_gripper_l_finger_link"/>
+  </joint>
+  <link name="r_gripper_l_finger_link">
+    <inertial>
+      <mass value="0.17126"/>
+      <origin rpy="0 0 0" xyz="0.03598 0.01730 -0.00164"/>
+      <inertia ixx="0.00007756198" ixy="0.00000149095" ixz="-0.00000983385" iyy="0.00019708305" iyz="-0.00000306125" izz="0.00018105446"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/gripper_v0/l_finger.dae"/>
+      </geometry>
+      <material name="Grey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/gripper_v0/l_finger.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Finger proximal digit -->
+  <joint name="r_gripper_r_finger_joint" type="revolute">
+    <axis xyz="0 0 -1"/>
+    <origin rpy="0 0 0" xyz="0.07691 -0.01 0"/>
+    <!-- limits on passive finger and finger top joints without
+         transmission are not enforced by safety controllers.
+         The lower/upper limits and are enforced in PR2 simulation and
+         effort and velocity limits are ignored. This is also needed because
+         these joints are declared revolute rather than continuous.-->
+    <limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5"/>
+    <dynamics damping="0.02"/>
+    <mimic joint="r_gripper_l_finger_joint" multiplier="1" offset="0"/>
+    <parent link="r_gripper_palm_link"/>
+    <child link="r_gripper_r_finger_link"/>
+  </joint>
+  <link name="r_gripper_r_finger_link">
+    <inertial>
+      <mass value="0.17389"/>
+      <origin rpy="0 0 0" xyz="0.03576 -0.01736 -0.00095"/>
+      <inertia ixx="0.00007738410" ixy="-0.00000209309" ixz="-0.00000836228" iyy="0.00019847383" iyz="0.00000246110" izz="0.00018106988"/>
+    </inertial>
+    <visual>
+      <origin rpy="3.14159265359 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/gripper_v0/l_finger.dae"/>
+      </geometry>
+      <material name="Grey"/>
+    </visual>
+    <collision>
+      <origin rpy="3.14159265359 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/gripper_v0/l_finger.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Finger tip -->
+  <joint name="r_gripper_l_finger_tip_joint" type="revolute">
+    <axis xyz="0 0 -1"/>
+    <origin rpy="0 0 0" xyz="0.09137 0.00495 0"/>
+    <!-- limits on passive finger and finger top joints without
+         transmission are not enforced by safety controllers.
+         The lower/upper limits and are enforced in PR2 simulation and
+         effort and velocity limits are ignored. This is also needed because
+         these joints are declared revolute rather than continuous.-->
+    <limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5"/>
+    <dynamics damping="0.001"/>
+    <mimic joint="r_gripper_l_finger_joint" multiplier="1" offset="0"/>
+    <parent link="r_gripper_l_finger_link"/>
+    <child link="r_gripper_l_finger_tip_link"/>
+  </joint>
+  <link name="r_gripper_l_finger_tip_link">
+    <inertial>
+      <mass value="0.04419"/>
+      <origin rpy="0 0 0" xyz="0.00423 0.00284 0.0"/>
+      <inertia ixx="0.00000837047" ixy="0.00000583632" ixz="0.0" iyy="0.00000987067" iyz="0.0" izz="0.00001541768"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/gripper_v0/l_finger_tip.dae"/>
+      </geometry>
+      <material name="Green"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/gripper_v0/l_finger_tip.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Finger tip -->
+  <joint name="r_gripper_r_finger_tip_joint" type="revolute">
+    <axis xyz="0 0 1"/>
+    <origin rpy="0 0 0" xyz="0.09137 -0.00495 0"/>
+    <!-- limits on passive finger and finger top joints without
+         transmission are not enforced by safety controllers.
+         The lower/upper limits and are enforced in PR2 simulation and
+         effort and velocity limits are ignored. This is also needed because
+         these joints are declared revolute rather than continuous.-->
+    <limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5"/>
+    <dynamics damping="0.001"/>
+    <mimic joint="r_gripper_l_finger_joint" multiplier="1" offset="0"/>
+    <parent link="r_gripper_r_finger_link"/>
+    <child link="r_gripper_r_finger_tip_link"/>
+  </joint>
+  <link name="r_gripper_r_finger_tip_link">
+    <inertial>
+      <mass value="0.04419"/>
+      <origin rpy="0 0 0" xyz="0.00423 -0.00284 0.0"/>
+      <inertia ixx="0.00000837047" ixy="-0.00000583632" ixz="0.0" iyy="0.00000987067" iyz="0.0" izz="0.00001541768"/>
+    </inertial>
+    <visual>
+      <origin rpy="3.14159265359 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/gripper_v0/l_finger_tip.dae"/>
+      </geometry>
+      <material name="Green"/>
+    </visual>
+    <collision>
+      <origin rpy="3.14159265359 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/gripper_v0/l_finger_tip.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- extensions -->
+  <!-- Finger proximal digit -->
+  <gazebo reference="r_gripper_l_finger_link">
+    <turnGravityOff>true</turnGravityOff>
+    <mu1 value="500.0"/>
+    <mu2 value="500.0"/>
+    <kp value="1000000.0"/>
+    <kd value="1.0"/>
+    <!-- for "${prefix}_l_finger_joint"-->
+  </gazebo>
+  <gazebo reference="r_gripper_l_finger_joint">
+    <stopKd value="1.0"/>
+    <stopKp value="10000000.0"/>
+    <fudgeFactor value="1.0"/>
+    <provideFeedback value="true"/>
+  </gazebo>
+  <!-- Finger proximal digit -->
+  <gazebo reference="r_gripper_r_finger_link">
+    <turnGravityOff>true</turnGravityOff>
+    <mu1 value="500.0"/>
+    <mu2 value="500.0"/>
+    <kp value="1000000.0"/>
+    <kd value="1.0"/>
+  </gazebo>
+  <gazebo reference="r_gripper_r_finger_joint">
+    <stopKd value="1.0"/>
+    <stopKp value="10000000.0"/>
+    <fudgeFactor value="1.0"/>
+    <provideFeedback value="true"/>
+  </gazebo>
+  <!-- Finger tip -->
+  <gazebo reference="r_gripper_l_finger_tip_link">
+    <turnGravityOff>true</turnGravityOff>
+    <selfCollide>false</selfCollide>
+    <sensor name="r_gripper_l_finger_tip_contact_sensor" type="contact">
+      <update_rate>100.0</update_rate>
+      <contact>
+        <collision>r_gripper_l_finger_tip_link_collision</collision>
+      </contact>
+      <plugin filename="libgazebo_ros_bumper.so" name="r_gripper_l_finger_tip_gazebo_ros_bumper_controller">
+        <alwaysOn>true</alwaysOn>
+        <frameName>r_gripper_l_finger_tip_link</frameName>
+        <updateRate>100.0</updateRate>
+        <bumperTopicName>r_gripper_l_finger_tip_bumper</bumperTopicName>
+      </plugin>
+    </sensor>
+    <mu1 value="500.0"/>
+    <mu2 value="500.0"/>
+    <kp value="10000000.0"/>
+    <kd value="1.0"/>
+  </gazebo>
+  <gazebo reference="r_gripper_l_finger_tip_joint">
+    <stopKd value="1.0"/>
+    <stopKp value="10000000.0"/>
+    <fudgeFactor value="1.0"/>
+    <provideFeedback value="true"/>
+  </gazebo>
+  <!-- Finger tip -->
+  <gazebo reference="r_gripper_r_finger_tip_link">
+    <turnGravityOff>true</turnGravityOff>
+    <selfCollide>false</selfCollide>
+    <sensor name="r_gripper_r_finger_tip_contact_sensor" type="contact">
+      <update_rate>100.0</update_rate>
+      <contact>
+        <collision>r_gripper_r_finger_tip_link_collision</collision>
+      </contact>
+      <plugin filename="libgazebo_ros_bumper.so" name="r_gripper_r_finger_tip_gazebo_ros_bumper_controller">
+        <alwaysOn>true</alwaysOn>
+        <frameName>r_gripper_r_finger_tip_link</frameName>
+        <updateRate>100.0</updateRate>
+        <bumperTopicName>r_gripper_r_finger_tip_bumper</bumperTopicName>
+      </plugin>
+    </sensor>
+    <mu1 value="500.0"/>
+    <mu2 value="500.0"/>
+    <kp value="10000000.0"/>
+    <kd value="1.0"/>
+  </gazebo>
+  <gazebo>
+    <plugin filename="libgazebo_ros_p3d.so" name="p3d_r_gripper_l_finger_controller">
+      <alwaysOn>true</alwaysOn>
+      <updateRate>100.0</updateRate>
+      <bodyName>r_gripper_l_finger_link</bodyName>
+      <topicName>r_gripper_l_finger_pose_ground_truth</topicName>
+      <gaussianNoise>0.0</gaussianNoise>
+      <frameName>base_link</frameName>
+    </plugin>
+    <plugin filename="libgazebo_ros_f3d.so" name="f3d_r_gripper_l_finger_controller">
+      <alwaysOn>true</alwaysOn>
+      <updateRate>100.0</updateRate>
+      <bodyName>r_gripper_l_finger_link</bodyName>
+      <topicName>r_gripper_l_finger_force_ground_truth</topicName>
+    </plugin>
+  </gazebo>
+  <gazebo reference="r_gripper_r_finger_tip_joint">
+    <stopKd value="1.0"/>
+    <stopKp value="10000000.0"/>
+    <fudgeFactor value="1.0"/>
+    <provideFeedback value="true"/>
+  </gazebo>
+  <!-- parallel link for simulating gripper constraints -->
+  <gazebo>
+    <link name="r_gripper_l_parallel_link">
+      <inertial>
+        <mass>0.17126</mass>
+        <inertia>
+          <ixx>7.7562e-05</ixx>
+          <ixy>1.49095e-06</ixy>
+          <ixz>-9.83385e-06</ixz>
+          <iyy>0.000197083</iyy>
+          <iyz>-3.06125e-06</iyz>
+          <izz>0.000181054</izz>
+        </inertia>
+        <pose>0.03598 0.0173 -0.00164 0 0 0</pose>
+      </inertial>
+      <pose>0.82991 -0.157 0.790675 0 -0 0</pose>
+      <gravity>false</gravity>
+    </link>
+    <link name="r_gripper_r_parallel_link">
+      <inertial>
+        <mass>0.17389</mass>
+        <inertia>
+          <ixx>7.73841e-05</ixx>
+          <ixy>-2.09309e-06</ixy>
+          <ixz>-8.36228e-06</ixz>
+          <iyy>0.000198474</iyy>
+          <iyz>2.4611e-06</iyz>
+          <izz>0.00018107</izz>
+        </inertia>
+        <pose>0.03576 -0.01736 -0.00095 0 0 0</pose>
+      </inertial>
+      <pose>0.82991 -0.219 0.790675 0 0 0</pose>
+      <gravity>false</gravity>
+    </link>
+  </gazebo>
+  <gazebo>
+    <joint name="r_gripper_r_screw_screw_joint" type="screw">
+      <child>r_gripper_motor_screw_link</child>
+      <parent>r_gripper_r_finger_tip_link</parent>
+      <thread_pitch>-3141.6</thread_pitch>
+      <axis>
+        <xyz>0 1 0</xyz>
+      </axis>
+    </joint>
+    <joint name="r_gripper_l_screw_screw_joint" type="screw">
+      <parent>r_gripper_l_finger_tip_link</parent>
+      <child>r_gripper_motor_screw_link</child>
+      <thread_pitch>3141.6</thread_pitch>
+      <axis>
+        <xyz>0 1 0</xyz>
+      </axis>
+    </joint>
+  </gazebo>
+  <gazebo>
+    <joint name="r_gripper_r_parallel_root_joint" type="revolute">
+      <parent>r_gripper_r_parallel_link</parent>
+      <child>r_gripper_palm_link</child>
+      <axis>
+        <xyz>0 0 -1</xyz>
+        <dynamics>
+          <damping>0.2</damping>
+        </dynamics>
+      </axis>
+      <pose>0.05891 -0.031 0 0 0 0</pose>
+    </joint>
+    <joint name="r_gripper_l_parallel_root_joint" type="revolute">
+      <parent>r_gripper_l_parallel_link</parent>
+      <child>r_gripper_palm_link</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <dynamics>
+          <damping>0.2</damping>
+        </dynamics>
+      </axis>
+      <pose>0.05891 0.031 0 0 0 0</pose>
+    </joint>
+    <joint name="r_gripper_r_parallel_tip_joint" type="revolute">
+      <parent>r_gripper_r_parallel_link</parent>
+      <child>r_gripper_r_finger_tip_link</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+      <pose>-0.018 -0.021 0 0 0 0</pose>
+    </joint>
+    <joint name="r_gripper_l_parallel_tip_joint" type="revolute">
+      <parent>r_gripper_l_parallel_link</parent>
+      <child>r_gripper_l_finger_tip_link</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+      <pose>-0.018 0.021 0 0 0 0</pose>
+    </joint>
+    <joint name="r_gripper_joint" type="prismatic">
+      <parent>r_gripper_r_finger_tip_link</parent>
+      <child>r_gripper_l_finger_tip_link</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+      </axis>
+    </joint>
+  </gazebo>
+  <gazebo reference="r_gripper_motor_slider_link">
+    <turnGravityOff>true</turnGravityOff>
+    <material value="PR2/Red"/>
+  </gazebo>
+  <gazebo reference="r_gripper_motor_screw_link">
+    <turnGravityOff>true</turnGravityOff>
+    <material value="PR2/Red"/>
+  </gazebo>
+  <gazebo reference="r_gripper_l_parallel_link">
+    <turnGravityOff>true</turnGravityOff>
+    <material value="PR2/Red"/>
+  </gazebo>
+  <gazebo reference="r_gripper_r_parallel_link">
+    <turnGravityOff>true</turnGravityOff>
+    <material value="PR2/Red"/>
+  </gazebo>
+  <!-- fictitous joint that represents the gripper gap -->
+  <!-- effort is the linear force at the gripper gap
+         velocity limit is the linear velocity limit at the gripper gap
+         try and introduce a very stiff spring
+         The velocity limits are alpha tested.
+         The effort limits are somewhat inflated.
+         k_velocity was recently raised from 500.0 to 5000.0.  Tested on beta
+    -->
+  <joint name="r_gripper_joint" type="prismatic">
+    <parent link="r_gripper_r_finger_tip_link"/>
+    <child link="r_gripper_l_finger_tip_frame"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="10.0"/>
+    <limit effort="1000.0" lower="0.0" upper="0.09" velocity="0.2"/>
+    <safety_controller k_position="20.0" k_velocity="5000.0" soft_lower_limit="-0.01" soft_upper_limit="0.088"/>
+  </joint>
+  <!-- This link is the same as the l_finger_tip_link,
+	 but because the urdf does not support graph structures,
+	 this link exists twice -->
+  <link name="r_gripper_l_finger_tip_frame"/>
+  <!-- extensions -->
+  <gazebo reference="r_gripper_palm_link">
+    <turnGravityOff>true</turnGravityOff>
+  </gazebo>
+  <gazebo>
+    <plugin filename="libgazebo_ros_p3d.so" name="p3d_r_gripper_palm_controller">
+      <alwaysOn>true</alwaysOn>
+      <updateRate>100.0</updateRate>
+      <bodyName>r_gripper_palm_link</bodyName>
+      <topicName>r_gripper_palm_pose_ground_truth</topicName>
+      <xyzOffsets>0 0 0</xyzOffsets>
+      <rpyOffsets>0 0 0</rpyOffsets>
+      <gaussianNoise>0.0</gaussianNoise>
+      <frameName>map</frameName>
+    </plugin>
+    <!-- a formal implementation of grasp hack in gazebo with fixed joint -->
+    <gripper name="r_grasp_hack">
+      <grasp_check>
+        <attach_steps>20</attach_steps>
+        <detach_steps>40</detach_steps>
+        <min_contact_count>2</min_contact_count>
+      </grasp_check>
+      <gripper_link>r_gripper_r_finger_tip_link</gripper_link>
+      <gripper_link>r_gripper_l_finger_tip_link</gripper_link>
+      <palm_link>r_gripper_palm_link</palm_link>
+    </gripper>
+  </gazebo>
+  <!-- [lr]_gripper_joint is a fictitious joint, used by transmission for controller gap   -->
+  <!-- [lr]_gripper_joint is not attached to any link                                      -->
+  <!-- [lr]_gripper_joint position is the gap_size                                         -->
+  <!-- [lr]_gripper_joint velocity is the gap linear velocity                              -->
+  <!-- [lr]_gripper_joint effort   is the gap linear force                                 -->
+  <!-- Please refer to function engineering spreadsheet 090224_link_data.xls for           -->
+  <!-- the transmission function.                                                          -->
+  <!-- Please refer to mechanism_model/src/pr2_gripper_transmission.cpp for implementation.-->
+  <!-- gazebo_mimic_pid is for sim only.                                                   -->
+  <transmission name="r_gripper_trans" type="pr2_mechanism_model/PR2GripperTransmission">
+    <actuator name="r_gripper_motor"/>
+    <gap_joint L0="0.0375528" a="0.0683698" b="0.0433849" gear_ratio="40.095" h="0.0" mechanical_reduction="1.0" name="r_gripper_joint" phi0="0.518518122146" r="0.0915" screw_reduction="0.004" t0="-0.0001914" theta0="0.0628824676201"/>
+    <!-- if a gazebo joint exists as [l|r]_gripper_joint, use this tag to have
+           gripper transmission apply torque directly to prismatic joint
+           this should be the default behavior in diamondback, deprecating this flag -->
+    <use_simulated_gripper_joint/>
+    <!-- set passive joint angles so things look nice in rviz -->
+    <passive_joint name="r_gripper_l_finger_joint"/>
+    <passive_joint name="r_gripper_r_finger_joint"/>
+    <passive_joint name="r_gripper_r_finger_tip_joint"/>
+    <passive_joint name="r_gripper_l_finger_tip_joint"/>
+    <!-- screw joint to capture gripper "dynamics" -->
+    <simulated_actuated_joint name="r_gripper_motor_screw_joint" passive_actuated_joint="r_gripper_motor_slider_joint" simulated_reduction="3141.6"/>
+  </transmission>
+  <!-- Shoulder pan -->
+  <joint name="l_shoulder_pan_joint" type="revolute">
+    <axis xyz="0 0 1"/>
+    <origin rpy="0 0 0" xyz="0.0 0.188 0.0"/>
+    <!-- transform from parent link to this joint frame -->
+    <parent link="torso_lift_link"/>
+    <child link="l_shoulder_pan_link"/>
+    <limit effort="30" lower="-0.714601836603" upper="2.2853981634" velocity="2.088"/>
+    <!-- alpha tested velocity and effort limits -->
+    <dynamics damping="10.0"/>
+    <safety_controller k_position="100" k_velocity="10" soft_lower_limit="-0.564601836603" soft_upper_limit="2.1353981634"/>
+    <!-- joint angle when the rising or the falling flag is activated on PR2 -->
+    <calibration rising="0.785398163397"/>
+  </joint>
+  <link name="l_shoulder_pan_link">
+    <inertial>
+      <mass value="25.799322"/>
+      <origin rpy="0 0 0" xyz="-0.001201 0.024513 -0.098231"/>
+      <inertia ixx="0.866179142480" ixy="-0.06086507933" ixz="-0.12118061183" iyy="0.87421714893" iyz="-0.05886609911" izz="0.27353821674"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/shoulder_v0/shoulder_pan.dae"/>
+      </geometry>
+      <material name="Blue"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0 0 0.0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/shoulder_v0/shoulder_pan.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Shoulder lift -->
+  <joint name="l_shoulder_lift_joint" type="revolute">
+    <axis xyz="0 1 0"/>
+    <!-- Limits updated from Function's CAD values as of 2009_02_24 (link_data.xls) -->
+    <limit effort="30" lower="-0.5236" upper="1.3963" velocity="2.082"/>
+    <!-- alpha tested velocity and effort limits -->
+    <safety_controller k_position="100" k_velocity="10" soft_lower_limit="-0.3536" soft_upper_limit="1.2963"/>
+    <calibration falling="0.0"/>
+    <dynamics damping="10.0"/>
+    <origin rpy="0 0 0" xyz="0.1 0 0"/>
+    <parent link="l_shoulder_pan_link"/>
+    <child link="l_shoulder_lift_link"/>
+  </joint>
+  <link name="l_shoulder_lift_link">
+    <inertial>
+      <mass value="2.74988"/>
+      <origin rpy="0 0 0" xyz="0.02195 -0.02664 -0.03127"/>
+      <inertia ixx="0.02105584615" ixy="0.00496704022" ixz="-0.00194808955" iyy="0.02127223737" iyz="0.00110425490" izz="0.01975753814"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/shoulder_v0/shoulder_lift.dae"/>
+      </geometry>
+      <material name="Grey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/shoulder_v0/shoulder_lift.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Upper arm roll is separate macro -->
+  <joint name="l_upper_arm_roll_joint" type="revolute">
+    <axis xyz="1 0 0"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="l_shoulder_lift_link"/>
+    <child link="l_upper_arm_roll_link"/>
+    <limit effort="30" lower="-0.8" upper="3.9" velocity="3.27"/>
+    <!-- alpha tested velocity and effort limits -->
+    <safety_controller k_position="100" k_velocity="2" soft_lower_limit="-0.65" soft_upper_limit="3.75"/>
+    <calibration rising="1.57079632679"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_upper_arm_roll_link">
+    <inertial>
+      <!-- dummy mass, to be removed -->
+      <mass value="0.1"/>
+      <origin rpy="0 0 0" xyz="0.0 0 0"/>
+      <inertia ixx="0.01" ixy="0.00" ixz="0.00" iyy="0.01" iyz="0.00" izz="0.01"/>
+    </inertial>
+    <visual>
+      <!-- TODO: This component doesn't actually have a mesh -->
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/shoulder_v0/upper_arm_roll.stl"/>
+      </geometry>
+      <material name="RollLinks"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/shoulder_v0/upper_arm_roll_L.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- extensions -->
+  <gazebo reference="l_upper_arm_roll_link">
+    <material value="PR2/RollLinks"/>
+    <turnGravityOff>true</turnGravityOff>
+  </gazebo>
+  <gazebo reference="l_upper_arm_roll_joint">
+    <stopKd value="1.0"/>
+    <stopKp value="1000000.0"/>
+    <fudgeFactor value="0.5"/>
+  </gazebo>
+  <!-- Upperarm roll: internal fixed attchment point for upper arm -->
+  <transmission name="l_upper_arm_roll_trans" type="pr2_mechanism_model/SimpleTransmission">
+    <actuator name="l_upper_arm_roll_motor"/>
+    <joint name="l_upper_arm_roll_joint"/>
+    <mechanicalReduction>32.6525111499</mechanicalReduction>
+  </transmission>
+  <!-- extensions -->
+  <!-- Shoulder pan -->
+  <gazebo reference="l_shoulder_pan_link">
+    <turnGravityOff>true</turnGravityOff>
+  </gazebo>
+  <gazebo reference="l_shoulder_pan_joint">
+    <stopKd value="1.0"/>
+    <stopKp value="1000000.0"/>
+  </gazebo>
+  <!-- Shoulder lift -->
+  <gazebo reference="l_shoulder_lift_link">
+    <turnGravityOff>true</turnGravityOff>
+  </gazebo>
+  <gazebo reference="l_shoulder_lift_joint">
+    <stopKd value="1.0"/>
+    <stopKp value="1000000.0"/>
+  </gazebo>
+  <!-- Shoulder pan -->
+  <transmission name="l_shoulder_pan_trans" type="pr2_mechanism_model/SimpleTransmission">
+    <joint name="l_shoulder_pan_joint"/>
+    <actuator name="l_shoulder_pan_motor"/>
+    <mechanicalReduction>63.1552452977</mechanicalReduction>
+    <compensator k_belt="4000.0" kd_motor="15.0" lambda_combined="0.0" lambda_joint="40.0" lambda_motor="40.0" mass_motor="0.05"/>
+  </transmission>
+  <!-- Shoulder lift -->
+  <transmission name="l_shoulder_lift_trans" type="pr2_mechanism_model/SimpleTransmission">
+    <joint name="l_shoulder_lift_joint"/>
+    <actuator name="l_shoulder_lift_motor"/>
+    <mechanicalReduction>61.8948225713</mechanicalReduction>
+    <compensator k_belt="4000.0" kd_motor="10.0" lambda_combined="0.0" lambda_joint="60.0" lambda_motor="60.0" mass_motor="0.05"/>
+  </transmission>
+  <joint name="l_upper_arm_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="l_upper_arm_roll_link"/>
+    <child link="l_upper_arm_link"/>
+  </joint>
+  <link name="l_upper_arm_link">
+    <inertial>
+      <!-- NOTE:reflect==-1 for right side, reflect==1 for the left side -->
+      <mass value="6.01769"/>
+      <origin xyz="0.21405 0.01658 -0.00057"/>
+      <inertia ixx="0.01530603856" ixy="-0.00339324862" ixz="0.00060765455" iyy="0.07473694455" iyz="-0.00019953729" izz="0.07601594191"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/upper_arm_v0/upper_arm.dae"/>
+      </geometry>
+      <material name="Green"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/upper_arm_v0/upper_arm.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- extensions-->
+  <gazebo reference="l_upper_arm_link">
+    <turnGravityOff>true</turnGravityOff>
+  </gazebo>
+  <!-- Has upperarm link -->
+  <!-- No transmission, since this a fixed joint w/o actuator -->
+  <!-- Elbow flex, FA roll macros -->
+  <!-- forearm_roll_link is a fictitious link internal to elbow_flex_link, provides an attachment point for the actual forearm -->
+  <joint name="l_forearm_roll_joint" type="continuous">
+    <axis xyz="1 0 0"/>
+    <limit effort="30" velocity="3.6"/>
+    <!-- alpha tested velocity and effort limits -->
+    <safety_controller k_velocity="1"/>
+    <calibration rising="0.0"/>
+    <dynamics damping="0.1"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="l_elbow_flex_link"/>
+    <child link="l_forearm_roll_link"/>
+  </joint>
+  <!-- TODO: inertial tag should be optional -->
+  <link name="l_forearm_roll_link">
+    <inertial>
+      <!-- dummy masses, to be removed -->
+      <mass value="0.1"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.01" ixy="0.00" ixz="0.00" iyy="0.01" iyz="0.00" izz="0.01"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/upper_arm_v0/forearm_roll.stl"/>
+      </geometry>
+      <material name="RollLinks"/>
+    </visual>
+    <!-- TODO: collision tag should be optional -->
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/upper_arm_v0/forearm_roll_L.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="l_forearm_roll_link">
+    <material value="PR2/RollLinks"/>
+    <turnGravityOff>true</turnGravityOff>
+  </gazebo>
+  <gazebo reference="l_forearm_roll_joint">
+    <fudgeFactor value="0.5"/>
+  </gazebo>
+  <transmission name="l_forearm_roll_trans" type="pr2_mechanism_model/SimpleTransmission">
+    <actuator name="l_forearm_roll_motor"/>
+    <joint name="l_forearm_roll_joint"/>
+    <mechanicalReduction>-90.5142857143</mechanicalReduction>
+  </transmission>
+  <!-- Elbow flex -->
+  <joint name="l_elbow_flex_joint" type="revolute">
+    <axis xyz="0 1 0"/>
+    <!-- Note: Overtravel limits are 140, -7 degrees instead of 133, 0 -->
+    <limit effort="30" lower="-2.3213" upper="0.00" velocity="3.3"/>
+    <!-- alpha tested velocity and effort limits -->
+    <safety_controller k_position="100" k_velocity="3" soft_lower_limit="-2.1213" soft_upper_limit="-0.15"/>
+    <calibration falling="-1.1606"/>
+    <dynamics damping="1.0"/>
+    <origin rpy="0 0 0" xyz="0.4 0 0"/>
+    <parent link="l_upper_arm_link"/>
+    <child link="l_elbow_flex_link"/>
+  </joint>
+  <link name="l_elbow_flex_link">
+    <inertial>
+      <mass value="1.90327"/>
+      <origin xyz="0.01014 0.00032 -0.01211"/>
+      <inertia ixx="0.00346541989" ixy="0.00004066825" ixz="0.00043171614" iyy="0.00441606455" iyz="-0.00003968914" izz="0.00359156824"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/upper_arm_v0/elbow_flex.dae"/>
+      </geometry>
+      <material name="Grey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/upper_arm_v0/elbow_flex.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- testing initial joint position, to be parsed at urdf2gazebo parse time ->
+    <gazebo reference="${side}_elbow_flex_joint">
+      <initial_joint_position>-1.0</initial_joint_position>
+    </gazebo>
+    -->
+  <gazebo reference="l_elbow_flex_link">
+    <turnGravityOff>true</turnGravityOff>
+  </gazebo>
+  <gazebo reference="l_elbow_flex_joint">
+    <stopKd value="1.0"/>
+    <stopKp value="1000000.0"/>
+  </gazebo>
+  <!-- Elbow flex -->
+  <transmission name="l_elbow_flex_trans" type="pr2_mechanism_model/SimpleTransmission">
+    <actuator name="l_elbow_flex_motor"/>
+    <joint name="l_elbow_flex_joint"/>
+    <mechanicalReduction>-36.167452007</mechanicalReduction>
+  </transmission>
+  <joint name="l_forearm_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <!-- transform from parent link to this joint frame -->
+    <parent link="l_forearm_roll_link"/>
+    <child link="l_forearm_link"/>
+  </joint>
+  <link name="l_forearm_link">
+    <inertial>
+      <mass value="2.57968"/>
+      <origin xyz="0.18791 -0.00017 -0.00912"/>
+      <inertia ixx="0.00364857222" ixy="0.00005215877" ixz="0.00071534842" iyy="0.01507736897" iyz="-0.00001310770" izz="0.01659310749"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/forearm_v0/forearm.dae"/>
+      </geometry>
+      <material name="Grey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/forearm_v0/forearm.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Wrist flex -->
+  <joint name="l_wrist_flex_joint" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-2.18" upper="0.0" velocity="3.078"/>
+    <!-- alpha tested velocity and effort limits -->
+    <safety_controller k_position="20" k_velocity="4" soft_lower_limit="-2.0" soft_upper_limit="-0.1"/>
+    <dynamics damping="0.1"/>
+    <calibration falling="-0.5410521"/>
+    <origin rpy="0 0 0" xyz="0.321 0 0"/>
+    <parent link="l_forearm_link"/>
+    <child link="l_wrist_flex_link"/>
+  </joint>
+  <link name="l_wrist_flex_link">
+    <inertial>
+      <mass value="0.61402"/>
+      <origin xyz="-0.00157 0.0 -0.00075"/>
+      <inertia ixx="0.00065165722" ixy="0.00000028864" ixz="0.00000303477" iyy="0.00019824443" iyz="-0.00000022645" izz="0.00064450498"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/forearm_v0/wrist_flex.dae"/>
+      </geometry>
+      <material name="Grey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/forearm_v0/wrist_flex.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Wrist roll -->
+  <joint name="l_wrist_roll_joint" type="continuous">
+    <axis xyz="1 0 0"/>
+    <limit effort="10" velocity="3.6"/>
+    <!-- alpha tested velocity and effort limits -->
+    <safety_controller k_velocity="2"/>
+    <dynamics damping="0.1"/>
+    <calibration rising="-1.57079632679"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="l_wrist_flex_link"/>
+    <child link="l_wrist_roll_link"/>
+  </joint>
+  <link name="l_wrist_roll_link">
+    <inertial>
+      <!-- dummy masses, to be removed.  wrist roll masses are on "gripper_palm" -->
+      <mass value="0.1"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/forearm_v0/wrist_roll.stl"/>
+      </geometry>
+      <material name="RollLinks"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/forearm_v0/wrist_roll_L.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- extensions-->
+  <gazebo reference="l_forearm_link">
+    <turnGravityOff>true</turnGravityOff>
+  </gazebo>
+  <!-- Wrist flex -->
+  <gazebo reference="l_wrist_flex_link">
+    <turnGravityOff>true</turnGravityOff>
+  </gazebo>
+  <gazebo reference="l_wrist_flex_joint">
+    <stopKd value="1.0"/>
+    <stopKp value="1000000.0"/>
+  </gazebo>
+  <!-- Wrist roll -->
+  <gazebo reference="l_wrist_roll_link">
+    <turnGravityOff>true</turnGravityOff>
+    <material value="PR2/RollLinks"/>
+  </gazebo>
+  <gazebo reference="l_wrist_roll_joint">
+    <fudgeFactor value="0.5"/>
+  </gazebo>
+  <!-- Wrist flex , Wrist roll -->
+  <transmission name="l_wrist_trans" type="pr2_mechanism_model/WristTransmission">
+    <rightActuator mechanicalReduction="60.1714285714" name="l_wrist_r_motor"/>
+    <leftActuator mechanicalReduction="60.1714285714" name="l_wrist_l_motor"/>
+    <flexJoint mechanicalReduction="-1.0" name="l_wrist_flex_joint"/>
+    <rollJoint mechanicalReduction="1.0" name="l_wrist_roll_joint"/>
+  </transmission>
+  <joint name="l_gripper_palm_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="l_wrist_roll_link"/>
+    <child link="l_gripper_palm_link"/>
+  </joint>
+  <link name="l_gripper_palm_link">
+    <inertial>
+      <mass value="0.58007"/>
+      <origin rpy="0 0 0" xyz="0.06623 0.00053 -0.00119"/>
+      <inertia ixx="0.00035223921" ixy="-0.00001580476" ixz="-0.00000091750" iyy="0.00067741312" iyz="-0.00000059554" izz="0.00086563316"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/gripper_v0/gripper_palm.dae"/>
+      </geometry>
+      <material name="Red"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/gripper_v0/gripper_palm.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="l_gripper_led_joint" type="fixed">
+    <!--  Need to check if we need a positive or negative Z term -->
+    <origin xyz="0.0513 0.0 .0244"/>
+    <parent link="l_gripper_palm_link"/>
+    <child link="l_gripper_led_frame"/>
+  </joint>
+  <link name="l_gripper_led_frame"/>
+  <joint name="l_gripper_motor_accelerometer_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="l_gripper_palm_link"/>
+    <child link="l_gripper_motor_accelerometer_link"/>
+  </joint>
+  <link name="l_gripper_motor_accelerometer_link">
+    <inertial>
+      <mass value="0.001"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="l_gripper_tool_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.18 0 0"/>
+    <parent link="l_gripper_palm_link"/>
+    <child link="l_gripper_tool_frame"/>
+  </joint>
+  <link name="l_gripper_tool_frame"/>
+  <!-- actuated motor screw joint -->
+  <link name="l_gripper_motor_slider_link">
+    <inertial>
+      <mass value="0.01"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
+    </inertial>
+    <!-- for debugging only
+      <visual>
+        <origin xyz="0 0 0" rpy="1.5708 0 0" />
+        <geometry>
+          <cylinder length="0.002" radius="0.025"/>
+        </geometry>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="1.5708 0 0" />
+        <geometry>
+          <cylinder length="0.002" radius="0.025"/>
+        </geometry>
+      </collision>
+      -->
+  </link>
+  <joint name="l_gripper_motor_slider_joint" type="prismatic">
+    <origin rpy="0 0 0" xyz="0.16828 0 0"/>
+    <axis xyz="1 0 0"/>
+    <parent link="l_gripper_palm_link"/>
+    <child link="l_gripper_motor_slider_link"/>
+    <limit effort="1000.0" lower="-0.1" upper="0.1" velocity="0.2"/>
+  </joint>
+  <link name="l_gripper_motor_screw_link">
+    <inertial>
+      <mass value="0.01"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
+    </inertial>
+    <!-- for debugging only
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <box size="0.05 0.001 0.05" />
+        </geometry>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <box size="0.05 0.001 0.05" />
+        </geometry>
+      </collision>
+      -->
+  </link>
+  <joint name="l_gripper_motor_screw_joint" type="continuous">
+    <origin rpy="0 0 0" xyz="0.0 0 0"/>
+    <axis xyz="0 1 0"/>
+    <parent link="l_gripper_motor_slider_link"/>
+    <child link="l_gripper_motor_screw_link"/>
+    <dynamics damping="0.0001"/>
+  </joint>
+  <!-- pr2 fingers macro -->
+  <!-- Finger proximal digit -->
+  <joint name="l_gripper_l_finger_joint" type="revolute">
+    <axis xyz="0 0 1"/>
+    <!-- limits on passive finger and finger top joints without
+         transmission are not enforced by safety controllers.
+         The lower/upper limits and are enforced in PR2 simulation and
+         effort and velocity limits are ignored. This is also needed because
+         these joints are declared revolute rather than continuous.-->
+    <limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5"/>
+    <dynamics damping="0.02"/>
+    <origin rpy="0 0 0" xyz="0.07691 0.01 0"/>
+    <parent link="l_gripper_palm_link"/>
+    <child link="l_gripper_l_finger_link"/>
+  </joint>
+  <link name="l_gripper_l_finger_link">
+    <inertial>
+      <mass value="0.17126"/>
+      <origin rpy="0 0 0" xyz="0.03598 0.01730 -0.00164"/>
+      <inertia ixx="0.00007756198" ixy="0.00000149095" ixz="-0.00000983385" iyy="0.00019708305" iyz="-0.00000306125" izz="0.00018105446"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/gripper_v0/l_finger.dae"/>
+      </geometry>
+      <material name="Grey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/gripper_v0/l_finger.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Finger proximal digit -->
+  <joint name="l_gripper_r_finger_joint" type="revolute">
+    <axis xyz="0 0 -1"/>
+    <origin rpy="0 0 0" xyz="0.07691 -0.01 0"/>
+    <!-- limits on passive finger and finger top joints without
+         transmission are not enforced by safety controllers.
+         The lower/upper limits and are enforced in PR2 simulation and
+         effort and velocity limits are ignored. This is also needed because
+         these joints are declared revolute rather than continuous.-->
+    <limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5"/>
+    <dynamics damping="0.02"/>
+    <mimic joint="l_gripper_l_finger_joint" multiplier="1" offset="0"/>
+    <parent link="l_gripper_palm_link"/>
+    <child link="l_gripper_r_finger_link"/>
+  </joint>
+  <link name="l_gripper_r_finger_link">
+    <inertial>
+      <mass value="0.17389"/>
+      <origin rpy="0 0 0" xyz="0.03576 -0.01736 -0.00095"/>
+      <inertia ixx="0.00007738410" ixy="-0.00000209309" ixz="-0.00000836228" iyy="0.00019847383" iyz="0.00000246110" izz="0.00018106988"/>
+    </inertial>
+    <visual>
+      <origin rpy="3.14159265359 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/gripper_v0/l_finger.dae"/>
+      </geometry>
+      <material name="Grey"/>
+    </visual>
+    <collision>
+      <origin rpy="3.14159265359 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/gripper_v0/l_finger.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Finger tip -->
+  <joint name="l_gripper_l_finger_tip_joint" type="revolute">
+    <axis xyz="0 0 -1"/>
+    <origin rpy="0 0 0" xyz="0.09137 0.00495 0"/>
+    <!-- limits on passive finger and finger top joints without
+         transmission are not enforced by safety controllers.
+         The lower/upper limits and are enforced in PR2 simulation and
+         effort and velocity limits are ignored. This is also needed because
+         these joints are declared revolute rather than continuous.-->
+    <limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5"/>
+    <dynamics damping="0.001"/>
+    <mimic joint="l_gripper_l_finger_joint" multiplier="1" offset="0"/>
+    <parent link="l_gripper_l_finger_link"/>
+    <child link="l_gripper_l_finger_tip_link"/>
+  </joint>
+  <link name="l_gripper_l_finger_tip_link">
+    <inertial>
+      <mass value="0.04419"/>
+      <origin rpy="0 0 0" xyz="0.00423 0.00284 0.0"/>
+      <inertia ixx="0.00000837047" ixy="0.00000583632" ixz="0.0" iyy="0.00000987067" iyz="0.0" izz="0.00001541768"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/gripper_v0/l_finger_tip.dae"/>
+      </geometry>
+      <material name="Green"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/gripper_v0/l_finger_tip.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Finger tip -->
+  <joint name="l_gripper_r_finger_tip_joint" type="revolute">
+    <axis xyz="0 0 1"/>
+    <origin rpy="0 0 0" xyz="0.09137 -0.00495 0"/>
+    <!-- limits on passive finger and finger top joints without
+         transmission are not enforced by safety controllers.
+         The lower/upper limits and are enforced in PR2 simulation and
+         effort and velocity limits are ignored. This is also needed because
+         these joints are declared revolute rather than continuous.-->
+    <limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5"/>
+    <dynamics damping="0.001"/>
+    <mimic joint="l_gripper_l_finger_joint" multiplier="1" offset="0"/>
+    <parent link="l_gripper_r_finger_link"/>
+    <child link="l_gripper_r_finger_tip_link"/>
+  </joint>
+  <link name="l_gripper_r_finger_tip_link">
+    <inertial>
+      <mass value="0.04419"/>
+      <origin rpy="0 0 0" xyz="0.00423 -0.00284 0.0"/>
+      <inertia ixx="0.00000837047" ixy="-0.00000583632" ixz="0.0" iyy="0.00000987067" iyz="0.0" izz="0.00001541768"/>
+    </inertial>
+    <visual>
+      <origin rpy="3.14159265359 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/gripper_v0/l_finger_tip.dae"/>
+      </geometry>
+      <material name="Green"/>
+    </visual>
+    <collision>
+      <origin rpy="3.14159265359 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://pr2_description/meshes/gripper_v0/l_finger_tip.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- extensions -->
+  <!-- Finger proximal digit -->
+  <gazebo reference="l_gripper_l_finger_link">
+    <turnGravityOff>true</turnGravityOff>
+    <mu1 value="500.0"/>
+    <mu2 value="500.0"/>
+    <kp value="1000000.0"/>
+    <kd value="1.0"/>
+    <!-- for "${prefix}_l_finger_joint"-->
+  </gazebo>
+  <gazebo reference="l_gripper_l_finger_joint">
+    <stopKd value="1.0"/>
+    <stopKp value="10000000.0"/>
+    <fudgeFactor value="1.0"/>
+    <provideFeedback value="true"/>
+  </gazebo>
+  <!-- Finger proximal digit -->
+  <gazebo reference="l_gripper_r_finger_link">
+    <turnGravityOff>true</turnGravityOff>
+    <mu1 value="500.0"/>
+    <mu2 value="500.0"/>
+    <kp value="1000000.0"/>
+    <kd value="1.0"/>
+  </gazebo>
+  <gazebo reference="l_gripper_r_finger_joint">
+    <stopKd value="1.0"/>
+    <stopKp value="10000000.0"/>
+    <fudgeFactor value="1.0"/>
+    <provideFeedback value="true"/>
+  </gazebo>
+  <!-- Finger tip -->
+  <gazebo reference="l_gripper_l_finger_tip_link">
+    <turnGravityOff>true</turnGravityOff>
+    <selfCollide>false</selfCollide>
+    <sensor name="l_gripper_l_finger_tip_contact_sensor" type="contact">
+      <update_rate>100.0</update_rate>
+      <contact>
+        <collision>l_gripper_l_finger_tip_link_collision</collision>
+      </contact>
+      <plugin filename="libgazebo_ros_bumper.so" name="l_gripper_l_finger_tip_gazebo_ros_bumper_controller">
+        <alwaysOn>true</alwaysOn>
+        <frameName>l_gripper_l_finger_tip_link</frameName>
+        <updateRate>100.0</updateRate>
+        <bumperTopicName>l_gripper_l_finger_tip_bumper</bumperTopicName>
+      </plugin>
+    </sensor>
+    <mu1 value="500.0"/>
+    <mu2 value="500.0"/>
+    <kp value="10000000.0"/>
+    <kd value="1.0"/>
+  </gazebo>
+  <gazebo reference="l_gripper_l_finger_tip_joint">
+    <stopKd value="1.0"/>
+    <stopKp value="10000000.0"/>
+    <fudgeFactor value="1.0"/>
+    <provideFeedback value="true"/>
+  </gazebo>
+  <!-- Finger tip -->
+  <gazebo reference="l_gripper_r_finger_tip_link">
+    <turnGravityOff>true</turnGravityOff>
+    <selfCollide>false</selfCollide>
+    <sensor name="l_gripper_r_finger_tip_contact_sensor" type="contact">
+      <update_rate>100.0</update_rate>
+      <contact>
+        <collision>l_gripper_r_finger_tip_link_collision</collision>
+      </contact>
+      <plugin filename="libgazebo_ros_bumper.so" name="l_gripper_r_finger_tip_gazebo_ros_bumper_controller">
+        <alwaysOn>true</alwaysOn>
+        <frameName>l_gripper_r_finger_tip_link</frameName>
+        <updateRate>100.0</updateRate>
+        <bumperTopicName>l_gripper_r_finger_tip_bumper</bumperTopicName>
+      </plugin>
+    </sensor>
+    <mu1 value="500.0"/>
+    <mu2 value="500.0"/>
+    <kp value="10000000.0"/>
+    <kd value="1.0"/>
+  </gazebo>
+  <gazebo>
+    <plugin filename="libgazebo_ros_p3d.so" name="p3d_l_gripper_l_finger_controller">
+      <alwaysOn>true</alwaysOn>
+      <updateRate>100.0</updateRate>
+      <bodyName>l_gripper_l_finger_link</bodyName>
+      <topicName>l_gripper_l_finger_pose_ground_truth</topicName>
+      <gaussianNoise>0.0</gaussianNoise>
+      <frameName>base_link</frameName>
+    </plugin>
+    <plugin filename="libgazebo_ros_f3d.so" name="f3d_l_gripper_l_finger_controller">
+      <alwaysOn>true</alwaysOn>
+      <updateRate>100.0</updateRate>
+      <bodyName>l_gripper_l_finger_link</bodyName>
+      <topicName>l_gripper_l_finger_force_ground_truth</topicName>
+    </plugin>
+  </gazebo>
+  <gazebo reference="l_gripper_r_finger_tip_joint">
+    <stopKd value="1.0"/>
+    <stopKp value="10000000.0"/>
+    <fudgeFactor value="1.0"/>
+    <provideFeedback value="true"/>
+  </gazebo>
+  <!-- parallel link for simulating gripper constraints -->
+  <gazebo>
+    <link name="l_gripper_l_parallel_link">
+      <inertial>
+        <mass>0.17126</mass>
+        <inertia>
+          <ixx>7.7562e-05</ixx>
+          <ixy>1.49095e-06</ixy>
+          <ixz>-9.83385e-06</ixz>
+          <iyy>0.000197083</iyy>
+          <iyz>-3.06125e-06</iyz>
+          <izz>0.000181054</izz>
+        </inertia>
+        <pose>0.03598 0.0173 -0.00164 0 0 0</pose>
+      </inertial>
+      <pose>0.82991 0.219 0.790675 0 -0 0</pose>
+      <gravity>false</gravity>
+    </link>
+    <link name="l_gripper_r_parallel_link">
+      <inertial>
+        <mass>0.17389</mass>
+        <inertia>
+          <ixx>7.73841e-05</ixx>
+          <ixy>-2.09309e-06</ixy>
+          <ixz>-8.36228e-06</ixz>
+          <iyy>0.000198474</iyy>
+          <iyz>2.4611e-06</iyz>
+          <izz>0.00018107</izz>
+        </inertia>
+        <pose>0.03576 -0.01736 -0.00095 0 0 0</pose>
+      </inertial>
+      <pose>0.82991 0.157 0.790675 0 0 0</pose>
+      <gravity>false</gravity>
+    </link>
+  </gazebo>
+  <gazebo>
+    <joint name="l_gripper_r_screw_screw_joint" type="screw">
+      <child>l_gripper_motor_screw_link</child>
+      <parent>l_gripper_r_finger_tip_link</parent>
+      <thread_pitch>-3141.6</thread_pitch>
+      <axis>
+        <xyz>0 1 0</xyz>
+      </axis>
+    </joint>
+    <joint name="l_gripper_l_screw_screw_joint" type="screw">
+      <parent>l_gripper_l_finger_tip_link</parent>
+      <child>l_gripper_motor_screw_link</child>
+      <thread_pitch>3141.6</thread_pitch>
+      <axis>
+        <xyz>0 1 0</xyz>
+      </axis>
+    </joint>
+  </gazebo>
+  <gazebo>
+    <joint name="l_gripper_r_parallel_root_joint" type="revolute">
+      <parent>l_gripper_r_parallel_link</parent>
+      <child>l_gripper_palm_link</child>
+      <axis>
+        <xyz>0 0 -1</xyz>
+        <dynamics>
+          <damping>0.2</damping>
+        </dynamics>
+      </axis>
+      <pose>0.05891 -0.031 0 0 0 0</pose>
+    </joint>
+    <joint name="l_gripper_l_parallel_root_joint" type="revolute">
+      <parent>l_gripper_l_parallel_link</parent>
+      <child>l_gripper_palm_link</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <dynamics>
+          <damping>0.2</damping>
+        </dynamics>
+      </axis>
+      <pose>0.05891 0.031 0 0 0 0</pose>
+    </joint>
+    <joint name="l_gripper_r_parallel_tip_joint" type="revolute">
+      <parent>l_gripper_r_parallel_link</parent>
+      <child>l_gripper_r_finger_tip_link</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+      <pose>-0.018 -0.021 0 0 0 0</pose>
+    </joint>
+    <joint name="l_gripper_l_parallel_tip_joint" type="revolute">
+      <parent>l_gripper_l_parallel_link</parent>
+      <child>l_gripper_l_finger_tip_link</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+      <pose>-0.018 0.021 0 0 0 0</pose>
+    </joint>
+    <joint name="l_gripper_joint" type="prismatic">
+      <parent>l_gripper_r_finger_tip_link</parent>
+      <child>l_gripper_l_finger_tip_link</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+      </axis>
+    </joint>
+  </gazebo>
+  <gazebo reference="l_gripper_motor_slider_link">
+    <turnGravityOff>true</turnGravityOff>
+    <material value="PR2/Red"/>
+  </gazebo>
+  <gazebo reference="l_gripper_motor_screw_link">
+    <turnGravityOff>true</turnGravityOff>
+    <material value="PR2/Red"/>
+  </gazebo>
+  <gazebo reference="l_gripper_l_parallel_link">
+    <turnGravityOff>true</turnGravityOff>
+    <material value="PR2/Red"/>
+  </gazebo>
+  <gazebo reference="l_gripper_r_parallel_link">
+    <turnGravityOff>true</turnGravityOff>
+    <material value="PR2/Red"/>
+  </gazebo>
+  <!-- fictitous joint that represents the gripper gap -->
+  <!-- effort is the linear force at the gripper gap
+         velocity limit is the linear velocity limit at the gripper gap
+         try and introduce a very stiff spring
+         The velocity limits are alpha tested.
+         The effort limits are somewhat inflated.
+         k_velocity was recently raised from 500.0 to 5000.0.  Tested on beta
+    -->
+  <joint name="l_gripper_joint" type="prismatic">
+    <parent link="l_gripper_r_finger_tip_link"/>
+    <child link="l_gripper_l_finger_tip_frame"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="10.0"/>
+    <limit effort="1000.0" lower="0.0" upper="0.09" velocity="0.2"/>
+    <safety_controller k_position="20.0" k_velocity="5000.0" soft_lower_limit="-0.01" soft_upper_limit="0.088"/>
+  </joint>
+  <!-- This link is the same as the l_finger_tip_link,
+	 but because the urdf does not support graph structures,
+	 this link exists twice -->
+  <link name="l_gripper_l_finger_tip_frame"/>
+  <!-- extensions -->
+  <gazebo reference="l_gripper_palm_link">
+    <turnGravityOff>true</turnGravityOff>
+  </gazebo>
+  <gazebo>
+    <plugin filename="libgazebo_ros_p3d.so" name="p3d_l_gripper_palm_controller">
+      <alwaysOn>true</alwaysOn>
+      <updateRate>100.0</updateRate>
+      <bodyName>l_gripper_palm_link</bodyName>
+      <topicName>l_gripper_palm_pose_ground_truth</topicName>
+      <xyzOffsets>0 0 0</xyzOffsets>
+      <rpyOffsets>0 0 0</rpyOffsets>
+      <gaussianNoise>0.0</gaussianNoise>
+      <frameName>map</frameName>
+    </plugin>
+    <!-- a formal implementation of grasp hack in gazebo with fixed joint -->
+    <gripper name="l_grasp_hack">
+      <grasp_check>
+        <attach_steps>20</attach_steps>
+        <detach_steps>40</detach_steps>
+        <min_contact_count>2</min_contact_count>
+      </grasp_check>
+      <gripper_link>l_gripper_r_finger_tip_link</gripper_link>
+      <gripper_link>l_gripper_l_finger_tip_link</gripper_link>
+      <palm_link>l_gripper_palm_link</palm_link>
+    </gripper>
+  </gazebo>
+  <!-- [lr]_gripper_joint is a fictitious joint, used by transmission for controller gap   -->
+  <!-- [lr]_gripper_joint is not attached to any link                                      -->
+  <!-- [lr]_gripper_joint position is the gap_size                                         -->
+  <!-- [lr]_gripper_joint velocity is the gap linear velocity                              -->
+  <!-- [lr]_gripper_joint effort   is the gap linear force                                 -->
+  <!-- Please refer to function engineering spreadsheet 090224_link_data.xls for           -->
+  <!-- the transmission function.                                                          -->
+  <!-- Please refer to mechanism_model/src/pr2_gripper_transmission.cpp for implementation.-->
+  <!-- gazebo_mimic_pid is for sim only.                                                   -->
+  <transmission name="l_gripper_trans" type="pr2_mechanism_model/PR2GripperTransmission">
+    <actuator name="l_gripper_motor"/>
+    <gap_joint L0="0.0375528" a="0.0683698" b="0.0433849" gear_ratio="40.095" h="0.0" mechanical_reduction="1.0" name="l_gripper_joint" phi0="0.518518122146" r="0.0915" screw_reduction="0.004" t0="-0.0001914" theta0="0.0628824676201"/>
+    <!-- if a gazebo joint exists as [l|r]_gripper_joint, use this tag to have
+           gripper transmission apply torque directly to prismatic joint
+           this should be the default behavior in diamondback, deprecating this flag -->
+    <use_simulated_gripper_joint/>
+    <!-- set passive joint angles so things look nice in rviz -->
+    <passive_joint name="l_gripper_l_finger_joint"/>
+    <passive_joint name="l_gripper_r_finger_joint"/>
+    <passive_joint name="l_gripper_r_finger_tip_joint"/>
+    <passive_joint name="l_gripper_l_finger_tip_joint"/>
+    <!-- screw joint to capture gripper "dynamics" -->
+    <simulated_actuated_joint name="l_gripper_motor_screw_joint" passive_actuated_joint="l_gripper_motor_slider_joint" simulated_reduction="3141.6"/>
+  </transmission>
+  <!-- Forearm cam Position is a guess, based on full robot calibration -->
+  <!-- Forearm cam Orientation is from Function -->
+  <joint name="l_forearm_cam_frame_joint" type="fixed">
+    <origin rpy="-1.57079632679 -0.562868683768 0" xyz=".135 0 .044"/>
+    <parent link="l_forearm_roll_link"/>
+    <child link="l_forearm_cam_frame"/>
+  </joint>
+  <link name="l_forearm_cam_frame">
+    <inertial>
+      <mass value="0.01"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
+    </inertial>
+  </link>
+  <joint name="l_forearm_cam_optical_frame_joint" type="fixed">
+    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="l_forearm_cam_frame"/>
+    <child link="l_forearm_cam_optical_frame"/>
+  </joint>
+  <link name="l_forearm_cam_optical_frame"/>
+  <!-- extensions -->
+  <gazebo reference="l_forearm_cam_frame">
+    <sensor name="l_forearm_cam_sensor" type="camera">
+      <always_on>true</always_on>
+      <update_rate>25.0</update_rate>
+      <camera>
+        <horizontal_fov>1.57079632679</horizontal_fov>
+        <image>
+          <format>R8G8B8</format>
+          <width>640</width>
+          <height>480</height>
+        </image>
+        <clip>
+          <near>0.1</near>
+          <far>100</far>
+        </clip>
+      </camera>
+      <plugin filename="libgazebo_ros_camera.so" name="l_forearm_cam_controller">
+        <alwaysOn>true</alwaysOn>
+        <updateRate>25.0</updateRate>
+        <cameraName>l_forearm_cam</cameraName>
+        <imageTopicName>image_raw</imageTopicName>
+        <cameraInfoTopicName>camera_info</cameraInfoTopicName>
+        <frameName>l_forearm_cam_optical_frame</frameName>
+        <hackBaseline>0</hackBaseline>
+        <CxPrime>320.5</CxPrime>
+        <Cx>320.5</Cx>
+        <Cy>240.5</Cy>
+        <!-- image_width / (2*tan(hfov_radian /2)) -->
+        <!-- 320 for wide and 772.55 for narrow stereo camera -->
+        <focalLength>320.000105</focalLength>
+        <distortionK1>0.0</distortionK1>
+        <distortionK2>0.0</distortionK2>
+        <distortionK3>0.0</distortionK3>
+        <distortionT1>0.0</distortionT1>
+        <distortionT2>0.0</distortionT2>
+      </plugin>
+    </sensor>
+    <turnGravityOff>true</turnGravityOff>
+    <material>PR2/Blue</material>
+  </gazebo>
+  <joint name="r_forearm_cam_frame_joint" type="fixed">
+    <origin rpy="1.57079632679 -0.562868683768 0" xyz=".135 0 .044"/>
+    <parent link="r_forearm_roll_link"/>
+    <child link="r_forearm_cam_frame"/>
+  </joint>
+  <link name="r_forearm_cam_frame">
+    <inertial>
+      <mass value="0.01"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
+    </inertial>
+  </link>
+  <joint name="r_forearm_cam_optical_frame_joint" type="fixed">
+    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="r_forearm_cam_frame"/>
+    <child link="r_forearm_cam_optical_frame"/>
+  </joint>
+  <link name="r_forearm_cam_optical_frame"/>
+  <!-- extensions -->
+  <gazebo reference="r_forearm_cam_frame">
+    <sensor name="r_forearm_cam_sensor" type="camera">
+      <always_on>true</always_on>
+      <update_rate>25.0</update_rate>
+      <camera>
+        <horizontal_fov>1.57079632679</horizontal_fov>
+        <image>
+          <format>R8G8B8</format>
+          <width>640</width>
+          <height>480</height>
+        </image>
+        <clip>
+          <near>0.1</near>
+          <far>100</far>
+        </clip>
+      </camera>
+      <plugin filename="libgazebo_ros_camera.so" name="r_forearm_cam_controller">
+        <alwaysOn>true</alwaysOn>
+        <updateRate>25.0</updateRate>
+        <cameraName>r_forearm_cam</cameraName>
+        <imageTopicName>image_raw</imageTopicName>
+        <cameraInfoTopicName>camera_info</cameraInfoTopicName>
+        <frameName>r_forearm_cam_optical_frame</frameName>
+        <hackBaseline>0</hackBaseline>
+        <CxPrime>320.5</CxPrime>
+        <Cx>320.5</Cx>
+        <Cy>240.5</Cy>
+        <!-- image_width / (2*tan(hfov_radian /2)) -->
+        <!-- 320 for wide and 772.55 for narrow stereo camera -->
+        <focalLength>320.000105</focalLength>
+        <distortionK1>0.0</distortionK1>
+        <distortionK2>0.0</distortionK2>
+        <distortionK3>0.0</distortionK3>
+        <distortionT1>0.0</distortionT1>
+        <distortionT2>0.0</distortionT2>
+      </plugin>
+    </sensor>
+    <turnGravityOff>true</turnGravityOff>
+    <material>PR2/Blue</material>
+  </gazebo>
+</robot>
diff --git a/pr2_description/test/test.launch b/pr2_description/test/test.launch
index 2f31904..d531c4f 100644
--- a/pr2_description/test/test.launch
+++ b/pr2_description/test/test.launch
@@ -6,4 +6,4 @@
 	<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
 	<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
 	<node name="rviz" pkg="rviz" type="rviz" args="-d $(find urdf_tutorial)/urdf.rviz" required="true" />
-</launch>
\ No newline at end of file
+</launch>
diff --git a/pr2_description/urdf/sensors/iai_kinect2.urdf.xacro b/pr2_description/urdf/sensors/iai_kinect2.urdf.xacro
index 6788051..8ed9026 100644
--- a/pr2_description/urdf/sensors/iai_kinect2.urdf.xacro
+++ b/pr2_description/urdf/sensors/iai_kinect2.urdf.xacro
@@ -31,39 +31,5 @@
       </visual>
     </link>
 
-    <!-- sensor frames - not sure how different from Kinect2 they are (from original Kinect) -->
-
-    <joint name="${name}_rgb_joint" type="fixed">
-      <origin xyz="0.0 -0.045 0.0" rpy="0.0 0.0 0.0"/>
-      <parent link="${name}_link"/>
-      <child link="${name}_rgb_frame"/>
-    </joint>
-
-    <link name="${name}_rgb_frame"/>
-
-    <joint name="${name}_rgb_optical_joint" type="fixed">
-      <origin xyz="0.0 0.0 0.0" rpy="${-M_PI/2.0} 0.0 ${-M_PI/2.0}"/>
-      <parent link="${name}_rgb_frame"/>
-      <child link="${name}_rgb_optical_frame"/>
-    </joint>
-
-    <link name="${name}_rgb_optical_frame"/>
-
-    <joint name="${name}_depth_joint" type="fixed">
-      <origin xyz="0.0 -0.02 0.0" rpy="0.0 0.0 0.0"/>
-      <parent link="${name}_link"/>
-      <child link="${name}_depth_frame"/>
-    </joint>
-
-    <link name="${name}_depth_frame"/>
-
-    <joint name="${name}_depth_optical_joint" type="fixed">
-      <origin xyz="0.0 0.0 0.0" rpy="${-M_PI/2.0} 0.0 ${-M_PI/2.0}"/>
-      <parent link="${name}_depth_frame"/>
-      <child link="${name}_depth_optical_frame"/>
-    </joint>
-
-    <link name="${name}_depth_optical_frame"/>
-
   </xacro:macro>
 </robot>
diff --git a/pr2_description/urdf/sensors/kinect2.urdf.xacro b/pr2_description/urdf/sensors/kinect2.urdf.xacro
index 6bba6e1..f99fd8e 100644
--- a/pr2_description/urdf/sensors/kinect2.urdf.xacro
+++ b/pr2_description/urdf/sensors/kinect2.urdf.xacro
@@ -10,9 +10,7 @@
   <!-- frame + Kinect2 mount + Kinect2 combo -->
   <xacro:macro name="kinect2_v0" params="name parent *origin">
     <joint name="${name}_joint" type="fixed">
-      <!-- <limit lower="0.1" upper="0.1" effort="10000" velocity="100.0"/> -->
       <insert_block name="origin" />
-      <!-- <origin xyz="-0.228 -0.148 0.091" rpy="${M_PI/2} 0 ${M_PI/2}"/> -->
       <parent link="${parent}"/>
       <child link="${name}_link"/>
     </joint>
@@ -25,9 +23,9 @@
                  izz="0.01" />
       </inertial>
       <visual>
-        <origin xyz="0 -0.138 0" rpy="${M_PI/2} 0 ${M_PI/2}"/>
+        <origin xyz="-0.102 -0.148 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://pr2_description/meshes/sensors/kinect2_v0/KinectAssembly.stl" scale="0.001 0.001 0.001" />
+          <mesh filename="package://pr2_description/meshes/sensors/kinect2_v0/kinect2_assembly.STL" scale="0.001 0.001 0.001" />
         </geometry>
         <material name="gray">
           <color rgba="0.5 0.5 0.5 1"/>
@@ -41,80 +39,10 @@
       </collision>
     </link>
 
-    <joint name="${name}_bracket_joint" type="fixed">
-      <origin xyz="0.148 0.128 0.0321" rpy="${M_PI} ${M_PI} ${M_PI}"/>
-      <parent link="${name}_link"/>
-      <child link="${name}_bracket_link"/>
-    </joint>
-    <link name="${name}_bracket_link">
-
-      <inertial>
-        <mass value="0.1"/>
-        <origin xyz="0 0 0" rpy="0 0 0"/>
-        <inertia ixx="0.01"  ixy="0.0"  ixz="0.0"
-                 iyy="0.01"  iyz="0.0"
-                 izz="0.01" />
-      </inertial>
-
-      <visual>
-        <origin xyz="0 0 0" rpy="0 0 0"/>
-        <geometry>
-          <mesh filename="package://pr2_description/meshes/sensors/kinect2_v0/kinect2_bracket.STL" />
-        </geometry>
-      </visual>
-
-      <collision>
-        <origin xyz="0 0 0" rpy="0 0 0"/>
-        <geometry>
-          <sphere radius="0.0005"/>
-        </geometry>
-      </collision>
-
-    </link>
-
-    <!-- plugin for updating structure pose \
-    <xacro:kinect_prosilica_gazebo joint_name="${name}_kinect_prosilica_joint"
-                                   link_name="${name}_kinect_prosilica_link" />
-    -->
-
-    <joint name="${name}_kinect2_joint" type="fixed">
-      <origin xyz="0 0.0255 0.01" rpy="0 0 0"/>
-      <parent link="${name}_bracket_link"/>
-      <child link="${name}_kinect2_link"/>
-    </joint>
-    <link name="${name}_kinect2_link">
-
-      <inertial>
-        <mass value="0.1"/>
-        <origin xyz="0 0 0" rpy="0 0 0"/>
-        <inertia ixx="0.01"  ixy="0.0"  ixz="0.0"
-                 iyy="0.01"  iyz="0.0"
-                 izz="0.01"/>
-      </inertial>
-
-      <visual>
-        <origin xyz="0 0 0" rpy="0 0 0"/>
-        <geometry>
-          <box size="0.25 0.043 0.067"/>
-          <material name="black">
-            <color rgba="0.05 0.05 0.05 1"/>
-          </material>
-        </geometry>  if [ $V \< 13.10 ]; then
-      </visual>
-
-      <collision>
-        <origin xyz="0 0 0" rpy="0 0 0"/>
-        <geometry>
-          <sphere radius="0.0005"/>
-        </geometry>
-      </collision>
-
-    </link>
-
 
     <!-- kinect2 ir sensor physical attachment -->
     <joint name="${name}_kinect2_ir_joint" type="fixed">
-      <origin xyz="-0.032267 0.0125 0.136453" rpy="0 0 0"/>
+      <origin xyz="-0.032267 -0.0475 0.155" rpy="0 0 0"/>
       <parent link="${name}_link"/>
       <child link="${name}_kinect2_ir_link"/>
     </joint>
@@ -140,23 +68,23 @@
       </collision>
     </link>
     <!-- kinect2 ir sensor frame -->
-    <joint name="${name}_kinect2_ir_optical_frame_joint" type="fixed">
+<!--     <joint name="${name}_kinect2_ir_optical_frame_joint" type="fixed">
       <origin xyz="${cal_kinect_x}            ${cal_kinect_y + ir_depth_rgb_offset_y}         ${cal_kinect_z}"
                 rpy="${-M_PI/2+cal_kinect_roll} ${0.0+cal_kinect_pitch} ${-M_PI/2+cal_kinect_yaw}" />
       <parent link="${name}_kinect2_ir_link"/>
       <child link="${name}_kinect2_ir_optical_frame"/>
     </joint>
 
-    <link name="${name}_kinect2_ir_optical_frame"/>
+    <link name="${name}_kinect2_ir_optical_frame"/> -->
     <!-- gazebo extensions -->
-    <xacro:kinect2_ir_gazebo_v0 link_name="${name}_kinect2_ir_link" frame_name="${name}_kinect2_ir_optical_frame" camera_name="head_mount_kinect2" />
+<!--     <xacro:kinect2_ir_gazebo_v0 link_name="${name}_kinect2_ir_link" frame_name="${name}_kinect2_ir_optical_frame" camera_name="head_mount_kinect2" /> -->
 
 
 
 
     <!-- kinect2 rgb sensor physical attachment -->
     <joint name="${name}_kinect2_rgb_joint" type="fixed">
-      <origin xyz="0 -0.03 0" rpy="0 0 0"/>
+      <origin xyz="0 -0.052 0" rpy="0 0 0"/>
       <parent link="${name}_kinect2_ir_link"/>
       <child link="${name}_kinect2_rgb_link"/>
     </joint>
@@ -184,16 +112,16 @@
     </link>
 
     <!-- kinect2 rgb sensor frame -->
-    <joint name="${name}_kinect2_rgb_optical_frame_joint" type="fixed">
+<!--     <joint name="${name}_kinect2_rgb_optical_frame_joint" type="fixed">
       <origin xyz="${cal_kinect_x}            ${cal_kinect_y}         ${cal_kinect_z}"
                 rpy="${-M_PI/2+cal_kinect_roll} ${0.0+cal_kinect_pitch} ${-M_PI/2+cal_kinect_yaw}" />
       <parent link="${name}_kinect2_rgb_link"/>
       <child link="${name}_kinect2_rgb_optical_frame"/>
     </joint>
 
-    <link name="${name}_kinect2_rgb_optical_frame"/>
+    <link name="${name}_kinect2_rgb_optical_frame"/> -->
     <!-- gazebo extensions -->
-    <xacro:kinect2_rgb_gazebo_v0 link_name="${name}_kinect2_rgb_link" frame_name="${name}_kinect2_rgb_optical_frame" camera_name="head_mount_kinect2" />
+<!--     <xacro:kinect2_rgb_gazebo_v0 link_name="${name}_kinect2_rgb_link" frame_name="${name}_kinect2_rgb_optical_frame" camera_name="head_mount_kinect2" /> -->
 
   </xacro:macro>