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<?xml version="1.0" ?>
<robot name="pr2">
<joint name="fl_caster_rotation_joint" type="revolute">
<axis xyz="0 0"/>
<anchor xyz="0 0 0"/>
<limit effort="100" k_velocity="10" velocity="100"/>
<calibration reference_position="0.0" values="1.5 -1"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="fl_caster_rotation_link">
<parent name="base_link"/>
<origin rpy="0 0 1 9" xyz="0.2225 0.2225 0.0282"/>
<joint name="fl_caster_rotation_joint"/>
<inertial>
<mass value="3.473082"/>
<com 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>
</link>
</robot>
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