<?xml version="1.0" ?>

<robot name="pr2">
  <joint name="fl_caster_rotation_joint" type="revolute">
    <axis xyz="0 0 1"/>
    <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"/>
    <origin rpy="0 0 1" xyz="0.2225 0.2225 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>
  </link>
</robot>
