model://sun model://ground_plane model://pr2 pr2_mud 0.0 0 0 0 0 0 0 0.0 0.5 0 0 0 true 5 1 1 true 2 5 1 1 0.2 0.2 0.2 1.0 .421 0.225 0.0 1.0 true 1000 collision link/mud_contact 0.0 1.0 pr2_mud::r_gripper_l_finger_link