<?xml version='1.0'?>
<sdf version='1.5'>
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            <width>320</width>
            <height>240</height>
          </image>
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      <visual name='chassis_visual'>
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        </material>
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      </visual>
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      <self_collide>0</self_collide>
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      <velocity_decay/>
      <visual name='backLeftWheel_visual'>
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        <cast_shadows>1</cast_shadows>
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          <mesh>
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          <bounce>
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          </contact>
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    </link>
    <link name='backRightWheel'>
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      <visual name='backRightWheel_visual'>
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    <link name='elevator'>
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          <ambient>0 1 0 1</ambient>
          <diffuse>0 1 0 1</diffuse>
          <specular>0.1 0.1 0.1 1</specular>
          <emissive>0 0 0 1</emissive>
        </material>
        <cast_shadows>1</cast_shadows>
        <transparency>0</transparency>
      </visual>
      <collision name='leftFingerCollision_collision'>
        <laser_retro>0</laser_retro>
        <max_contacts>10</max_contacts>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <uri>model://GearsBot/meshes/collision/leftFinger.STL</uri>
          </mesh>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>1</mu>
              <mu2>1</mu2>
              <fdir1>0 0 0</fdir1>
              <slip1>0</slip1>
              <slip2>0</slip2>
            </ode>
          </friction>
          <bounce>
            <restitution_coefficient>0</restitution_coefficient>
            <threshold>1e+06</threshold>
          </bounce>
          <contact>
            <collide_without_contact>0</collide_without_contact>
            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
            <collide_bitmask>1</collide_bitmask>
            <ode>
              <soft_cfm>0</soft_cfm>
              <soft_erp>0.2</soft_erp>
              <kp>1e+13</kp>
              <kd>1</kd>
              <max_vel>0.01</max_vel>
              <min_depth>0</min_depth>
            </ode>
            <bullet>
              <split_impulse>1</split_impulse>
              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
              <soft_cfm>0</soft_cfm>
              <soft_erp>0.2</soft_erp>
              <kp>1e+13</kp>
              <kd>1</kd>
            </bullet>
          </contact>
        </surface>
      </collision>
    </link>
    <link name='rightFinger'>
      <pose frame=''>-0.181521 0.48766 -0.133285 -1.5708 -4e-06 -0.1386</pose>
      <inertial>
        <pose frame=''>0.013123 -0 0.03315 0 -0 0</pose>
        <mass>0.049208</mass>
        <inertia>
          <ixx>5.2203e-05</ixx>
          <ixy>-3.4627e-22</ixy>
          <ixz>1.0345e-05</ixz>
          <iyy>6.106e-05</iyy>
          <iyz>-2.9606e-22</iyz>
          <izz>1.018e-05</izz>
        </inertia>
      </inertial>
      <self_collide>0</self_collide>
      <kinematic>0</kinematic>
      <velocity_decay/>
      <visual name='rightFinger_visual'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://GearsBot/meshes/collision/rightFinger.STL</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Green</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
          <shader type='pixel'/>
          <ambient>0 1 0 1</ambient>
          <diffuse>0 1 0 1</diffuse>
          <specular>0.1 0.1 0.1 1</specular>
          <emissive>0 0 0 1</emissive>
        </material>
        <cast_shadows>1</cast_shadows>
        <transparency>0</transparency>
      </visual>
      <collision name='rightFingerCollision_collision'>
        <laser_retro>0</laser_retro>
        <max_contacts>10</max_contacts>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <uri>model://GearsBot/meshes/collision/rightFinger.STL</uri>
          </mesh>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>1</mu>
              <mu2>1</mu2>
              <fdir1>0 0 0</fdir1>
              <slip1>0</slip1>
              <slip2>0</slip2>
            </ode>
          </friction>
          <bounce>
            <restitution_coefficient>0</restitution_coefficient>
            <threshold>1e+06</threshold>
          </bounce>
          <contact>
            <collide_without_contact>0</collide_without_contact>
            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
            <collide_bitmask>1</collide_bitmask>
            <ode>
              <soft_cfm>0</soft_cfm>
              <soft_erp>0.2</soft_erp>
              <kp>1e+13</kp>
              <kd>1</kd>
              <max_vel>0.01</max_vel>
              <min_depth>0</min_depth>
            </ode>
            <bullet>
              <split_impulse>1</split_impulse>
              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
              <soft_cfm>0</soft_cfm>
              <soft_erp>0.2</soft_erp>
              <kp>1e+13</kp>
              <kd>1</kd>
            </bullet>
          </contact>
        </surface>
      </collision>
    </link>
    <link name='wrist'>
      <pose frame=''>-0.20115 0.42766 -0.13828 1.5708 0 -1.5708</pose>
      <inertial>
        <pose frame=''>-7.1e-05 0.016629 0.040792 0 -0 0</pose>
        <mass>0.20421</mass>
        <inertia>
          <ixx>0.00051443</ixx>
          <ixy>9.0062e-07</ixy>
          <ixz>1.1456e-05</ixz>
          <iyy>0.00058716</iyy>
          <iyz>-1.571e-05</iyz>
          <izz>0.00018931</izz>
        </inertia>
      </inertial>
      <self_collide>0</self_collide>
      <kinematic>0</kinematic>
      <velocity_decay/>
      <visual name='wrist_visual'>
        <pose frame=''>0.095 0.05 0 0 -1.57 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://GearsBot/meshes/wrist.STL</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Green</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
          <shader type='pixel'/>
          <ambient>0 1 0 1</ambient>
          <diffuse>0 1 0 1</diffuse>
          <specular>0.1 0.1 0.1 1</specular>
          <emissive>0 0 0 1</emissive>
        </material>
        <cast_shadows>1</cast_shadows>
        <transparency>0</transparency>
      </visual>
      <collision name='wrist_collision'>
        <laser_retro>0</laser_retro>
        <max_contacts>10</max_contacts>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <uri>model://GearsBot/meshes/collision/wrist.STL</uri>
          </mesh>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>1</mu>
              <mu2>1</mu2>
              <fdir1>0 0 0</fdir1>
              <slip1>0</slip1>
              <slip2>0</slip2>
            </ode>
          </friction>
          <bounce>
            <restitution_coefficient>0</restitution_coefficient>
            <threshold>1e+06</threshold>
          </bounce>
          <contact>
            <collide_without_contact>0</collide_without_contact>
            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
            <collide_bitmask>1</collide_bitmask>
            <ode>
              <soft_cfm>0</soft_cfm>
              <soft_erp>0.2</soft_erp>
              <kp>1e+13</kp>
              <kd>1</kd>
              <max_vel>0.01</max_vel>
              <min_depth>0</min_depth>
            </ode>
            <bullet>
              <split_impulse>1</split_impulse>
              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
              <soft_cfm>0</soft_cfm>
              <soft_erp>0.2</soft_erp>
              <kp>1e+13</kp>
              <kd>1</kd>
            </bullet>
          </contact>
        </surface>
      </collision>
    </link>
    <joint name='jBackLeft' type='revolute'>
      <parent>chassis</parent>
      <child>backLeftWheel</child>
      <axis>
        <xyz>-1 -4e-06 0</xyz>
        <use_parent_model_frame>1</use_parent_model_frame>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
          <effort>-1</effort>
          <velocity>-1</velocity>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
          <damping>0.2</damping>
          <friction>0</friction>
        </dynamics>
      </axis>
      <physics>
        <ode>
          <limit>
            <cfm>0</cfm>
            <erp>0.2</erp>
          </limit>
          <suspension>
            <cfm>0</cfm>
            <erp>0.2</erp>
          </suspension>
        </ode>
      </physics>
    </joint>
    <joint name='jBackRight' type='revolute'>
      <parent>chassis</parent>
      <child>backRightWheel</child>
      <axis>
        <xyz>-1 -4e-06 0</xyz>
        <use_parent_model_frame>1</use_parent_model_frame>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
          <effort>-1</effort>
          <velocity>-1</velocity>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
          <damping>0.2</damping>
          <friction>0</friction>
        </dynamics>
      </axis>
      <physics>
        <ode>
          <limit>
            <cfm>0</cfm>
            <erp>0.2</erp>
          </limit>
          <suspension>
            <cfm>0</cfm>
            <erp>0.2</erp>
          </suspension>
        </ode>
      </physics>
    </joint>
    <joint name='jElevator' type='prismatic'>
      <parent>chassis</parent>
      <child>elevator</child>
      <pose frame=''>0 0 0 0 -0 0</pose>
      <axis>
        <xyz>0 0 1</xyz>
        <use_parent_model_frame>1</use_parent_model_frame>
        <limit>
          <lower>0</lower>
          <upper>0.3</upper>
          <effort>40</effort>
          <velocity>100</velocity>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
          <damping>5</damping>
          <friction>10</friction>
        </dynamics>
      </axis>
      <physics>
        <ode>
          <cfm>0</cfm>
          <bounce>0</bounce>
          <velocity>0</velocity>
          <fudge_factor>0</fudge_factor>
          <limit>
            <cfm>0</cfm>
            <erp>0.2</erp>
          </limit>
          <suspension>
            <cfm>0</cfm>
            <erp>0.2</erp>
          </suspension>
        </ode>
      </physics>
    </joint>
    <joint name='jFrontLeft' type='revolute'>
      <parent>chassis</parent>
      <child>frontLeftWheel</child>
      <axis>
        <xyz>-1 -4e-06 0</xyz>
        <use_parent_model_frame>1</use_parent_model_frame>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
          <effort>-1</effort>
          <velocity>-1</velocity>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
          <damping>0.2</damping>
          <friction>0</friction>
        </dynamics>
      </axis>
      <physics>
        <ode>
          <limit>
            <cfm>0</cfm>
            <erp>0.2</erp>
          </limit>
          <suspension>
            <cfm>0</cfm>
            <erp>0.2</erp>
          </suspension>
        </ode>
      </physics>
    </joint>
    <joint name='jFrontRight' type='revolute'>
      <parent>chassis</parent>
      <child>frontRightWheel</child>
      <axis>
        <xyz>-1 -4e-06 0</xyz>
        <use_parent_model_frame>1</use_parent_model_frame>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
          <effort>-1</effort>
          <velocity>-1</velocity>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
          <damping>0.2</damping>
          <friction>0</friction>
        </dynamics>
      </axis>
      <physics>
        <ode>
          <limit>
            <cfm>0</cfm>
            <erp>0.2</erp>
          </limit>
          <suspension>
            <cfm>0</cfm>
            <erp>0.2</erp>
          </suspension>
        </ode>
      </physics>
    </joint>
    <joint name='jLeftFinger' type='revolute'>
      <parent>wrist</parent>
      <child>leftFinger</child>
      <axis>
        <xyz>4e-06 0 -1</xyz>
        <use_parent_model_frame>1</use_parent_model_frame>
        <limit>
          <lower>-0.524</lower>
          <upper>0.131</upper>
          <effort>100</effort>
          <velocity>100</velocity>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
          <damping>0.2</damping>
          <friction>0</friction>
        </dynamics>
      </axis>
      <physics>
        <ode>
          <limit>
            <cfm>0</cfm>
            <erp>0.2</erp>
          </limit>
          <suspension>
            <cfm>0</cfm>
            <erp>0.2</erp>
          </suspension>
        </ode>
      </physics>
    </joint>
    <joint name='jRightFinger' type='revolute'>
      <parent>wrist</parent>
      <child>rightFinger</child>
      <axis>
        <xyz>-3e-06 7e-06 1</xyz>
        <use_parent_model_frame>1</use_parent_model_frame>
        <limit>
          <lower>-0.524</lower>
          <upper>0.131</upper>
          <effort>100</effort>
          <velocity>100</velocity>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
          <damping>0.2</damping>
          <friction>0</friction>
        </dynamics>
      </axis>
      <physics>
        <ode>
          <limit>
            <cfm>0</cfm>
            <erp>0.2</erp>
          </limit>
          <suspension>
            <cfm>0</cfm>
            <erp>0.2</erp>
          </suspension>
        </ode>
      </physics>
    </joint>
    <joint name='jWrist' type='revolute'>
      <parent>elevator</parent>
      <child>wrist</child>
      <axis>
        <xyz>-1 4e-06 -4e-06</xyz>
        <use_parent_model_frame>1</use_parent_model_frame>
        <limit>
          <lower>-1</lower>
          <upper>0</upper>
          <effort>100</effort>
          <velocity>1</velocity>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
          <damping>0.1</damping>
          <friction>0.1</friction>
        </dynamics>
      </axis>
      <physics>
        <ode>
          <limit>
            <cfm>0</cfm>
            <erp>0.2</erp>
          </limit>
          <suspension>
            <cfm>0</cfm>
            <erp>0.2</erp>
          </suspension>
        </ode>
      </physics>
    </joint>
    <static>0</static>
    <allow_auto_disable>1</allow_auto_disable>
    <plugin name='clock' filename='libclock.so'>
      <topic>/gazebo/frc/time</topic>
    </plugin>
    <plugin name='jFrontLeft_motor' filename='libdc_motor.so'>
      <joint>jFrontLeft</joint>
      <topic>/gazebo/frc/simulator/pwm/1</topic>
      <multiplier>20.0</multiplier>
    </plugin>
    <plugin name='jBackLeft_motor' filename='libdc_motor.so'>
      <joint>jBackLeft</joint>
      <topic>/gazebo/frc/simulator/pwm/2</topic>
      <multiplier>20.0</multiplier>
    </plugin>
    <plugin name='jFrontRight_motor' filename='libdc_motor.so'>
      <joint>jFrontRight</joint>
      <topic>/gazebo/frc/simulator/pwm/3</topic>
      <multiplier>-20.0</multiplier>
    </plugin>
    <plugin name='jBackRight_motor' filename='libdc_motor.so'>
      <joint>jBackRight</joint>
      <topic>/gazebo/frc/simulator/pwm/4</topic>
      <multiplier>-20.0</multiplier>
    </plugin>
    <plugin name='jBackLeft_encoder' filename='libencoder.so'>
      <joint>jBackLeft</joint>
      <topic>/gazebo/frc/simulator/dio/1/2</topic>
      <units>degrees</units>
    </plugin>
    <plugin name='jBackRight_encoder' filename='libencoder.so'>
      <joint>jBackRight</joint>
      <topic>/gazebo/frc/simulator/dio/3/4</topic>
      <units>degrees</units>
    </plugin>
    <plugin name='chassis_gyro' filename='libgyro.so'>
      <link>chassis</link>
      <topic>/gazebo/frc/simulator/analog/1</topic>
      <axis>yaw</axis>
      <units>degrees</units>
    </plugin>
    <plugin name='chassisUltrasonic_rangefinder' filename='librangefinder.so'>
      <sensor>chassisUltrasonic</sensor>
      <topic>/gazebo/frc/simulator/analog/6</topic>
    </plugin>
    <plugin name='jElevator_motor' filename='libdc_motor.so'>
      <joint>jElevator</joint>
      <topic>/gazebo/frc/simulator/pwm/5</topic>
      <multiplier>20.0</multiplier>
    </plugin>
    <plugin name='jElevator_pot' filename='libpotentiometer.so'>
      <joint>jElevator</joint>
      <topic>/gazebo/frc/simulator/analog/2</topic>
    </plugin>
    <plugin name='jWrist_motor' filename='libdc_motor.so'>
      <joint>jWrist</joint>
      <topic>/gazebo/frc/simulator/pwm/6</topic>
      <multiplier>5.0</multiplier>
    </plugin>
    <plugin name='jWrist_pot' filename='libpotentiometer.so'>
      <joint>jWrist</joint>
      <topic>/gazebo/frc/simulator/analog/3</topic>
      <units>degrees</units>
    </plugin>
    <plugin name='jLeftFinger_motor' filename='libdc_motor.so'>
      <joint>jLeftFinger</joint>
      <topic>/gazebo/frc/simulator/pwm/7</topic>
      <multiplier>1.0</multiplier>
    </plugin>
    <plugin name='jRightFinger_motor' filename='libdc_motor.so'>
      <joint>jRightFinger</joint>
      <topic>/gazebo/frc/simulator/pwm/7</topic>
      <multiplier>1.0</multiplier>
    </plugin>
    <plugin name='leftFingerContact_limit' filename='liblimit_switch.so'>
      <topic>/gazebo/frc/simulator/dio/5</topic>
      <type>external</type>
      <sensor>leftFingerContact</sensor>
    </plugin>
  </model>
</sdf>
