<robot name="robot">
  <material name="blue">
    <color rgba="0.1 0.1 0.75 0.9"/>
  </material>
  
  <link
    name="base_link">
    <inertial>
      <origin
        xyz="-1.30824055561016E-05 0.000107844191407841 0.0577157555063256"
        rpy="0 0 0" />
      <mass
        value="0.715394481464921" />
      <inertia
        ixx="0.000779865515276959"
        ixy="1.02445392057065E-07"
        ixz="6.95832095402999E-08"
        iyy="0.000862321943367308"
        iyz="2.63518497731006E-08"
        izz="0.00160121250638599" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://robot_description/meshes/base_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.941176470588235 0.941176470588235 0.941176470588235 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://robot_description/meshes/base_link.STL" />
      </geometry>
    </collision>
  </link>
  <link
    name="left_wheel_link">
    <inertial>
      <origin
        xyz="-7.66164786097183E-18 8.40811733798796E-05 -3.46944695195361E-18"
        rpy="0 0 0" />
      <mass
        value="0.056636933308092" />
      <inertia
        ixx="2.5061060504477E-05"
        ixy="-8.26321294879238E-18"
        ixz="7.70223898149877E-08"
        iyy="4.40641001526507E-05"
        iyz="-1.61023780640282E-17"
        izz="2.52148616363739E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://robot_description/meshes/left_wheel_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.972549019607843 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://robot_description/meshes/left_wheel_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_wheel_joint"
    type="continuous">
    <origin
      xyz="0 0.087226 -0.02"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="left_wheel_link" />
    <axis
      xyz="0 1 0" />
  </joint>
  <link
    name="right_wheel_link">
    <inertial>
      <origin
        xyz="-1.13392370823798E-18 -8.40811733799074E-05 -1.38777878078145E-17"
        rpy="0 0 0" />
      <mass
        value="0.056636933308092" />
      <inertia
        ixx="2.5061060504477E-05"
        ixy="-8.27358108286742E-18"
        ixz="-7.7022389814995E-08"
        iyy="4.40641001526506E-05"
        iyz="1.6102381956134E-17"
        izz="2.52148616363739E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://robot_description/meshes/right_wheel_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.43921568627451 0.43921568627451 0.43921568627451 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://robot_description/meshes/right_wheel_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_wheel_joint"
    type="continuous">
    <origin
      xyz="0 -0.087226 -0.02"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="right_wheel_link" />
    <axis
      xyz="0 -1 0" />
  </joint>
  <link
    name="front_wheel_link">
    <inertial>
      <origin
        xyz="0.0152655251450065 0.000504489640389129 -0.0275267772713533"
        rpy="0 0 0" />
      <mass
        value="0.0323710595794446" />
      <inertia
        ixx="5.13858672949531E-06"
        ixy="-7.37337358165628E-08"
        ixz="2.43411911798529E-07"
        iyy="7.36892066003594E-06"
        iyz="8.05146812807082E-09"
        izz="5.0594631354647E-06" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://robot_description/meshes/front_wheel_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://robot_description/meshes/front_wheel_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="front_wheel_joint"
    type="continuous">
    <origin
      xyz="0.075 0 -0.0023763"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="front_wheel_link" />
    <axis
      xyz="0 0 -1" />
  </joint>
  <link
    name="back_wheel_link">
    <inertial>
      <origin
        xyz="-0.0152655251450065 -0.000504489640389126 -0.0275267772713533"
        rpy="0 0 0" />
      <mass
        value="0.0323710595794446" />
      <inertia
        ixx="5.13858672949531E-06"
        ixy="-7.37337358165606E-08"
        ixz="-2.43411911798526E-07"
        iyy="7.36892066003594E-06"
        iyz="-8.0514681280719E-09"
        izz="5.0594631354647E-06" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://robot_description/meshes/back_wheel_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://robot_description/meshes/back_wheel_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="back_wheel_joint"
    type="continuous">
    <origin
      xyz="-0.075 0 -0.0023763"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="back_wheel_link" />
    <axis
      xyz="0 0 -1" />
  </joint>
  <link
    name="servo_left_right_link">
    <inertial>
      <origin
        xyz="-0.00342029959962582 -8.31447029908761E-05 0.0164292484197976"
        rpy="0 0 0" />
      <mass
        value="0.0144748073722143" />
      <inertia
        ixx="1.72385755753649E-06"
        ixy="-4.21182747869309E-08"
        ixz="-2.42902265623225E-07"
        iyy="2.23868737048435E-06"
        iyz="-2.7900037637553E-08"
        izz="2.38358373792003E-06" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://robot_description/meshes/servo_left_right_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.647058823529412 0.647058823529412 0.647058823529412 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://robot_description/meshes/servo_left_right_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="servo_left_right_joint"
    type="revolute">
    <origin
      xyz="0.06041 0 0.08525"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="servo_left_right_link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-1.57"
      upper="1.57"
      effort="0"
      velocity="0" />
  </joint>
  <link
    name="servo_up_down_link">
    <inertial>
      <origin
        xyz="0.00464326452490638 0.0203000236898356 0.00545497641365948"
        rpy="0 0 0" />
      <mass
        value="0.0132043090272951" />
      <inertia
        ixx="1.42353069009727E-06"
        ixy="1.0990050953523E-09"
        ixz="5.62721878758881E-09"
        iyy="7.90092710603907E-07"
        iyz="-2.31532216640704E-08"
        izz="9.07216677821165E-07" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://robot_description/meshes/servo_up_down_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.933333333333333 0.854901960784314 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://robot_description/meshes/servo_up_down_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="servo_up_down_joint"
    type="revolute">
    <origin
      xyz="0.018197 -0.018843 0.02995"
      rpy="0 0 0" />
    <parent
      link="servo_left_right_link" />
    <child
      link="servo_up_down_link" />
    <axis
      xyz="-0.016183 -0.99987 0" />
    <limit
      lower="-1"
      upper="1"
      effort="0"
      velocity="0" />
  </joint>
  <link
    name="lidar">
    <inertial>
      <origin
        xyz="0 -2.9549326452619E-18 -6.1819252281381E-06"
        rpy="0 0 0" />
      <mass
        value="0.0480239560991004" />
      <inertia
        ixx="1.19703636663716E-05"
        ixy="8.06458768868579E-10"
        ixz="5.15393269333354E-24"
        iyy="1.19498999654021E-05"
        iyz="-9.10638182720746E-24"
        izz="2.16092905406288E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://robot_description/meshes/lidar_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0 0.36078431372549 0.580392156862745 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://robot_description/meshes/lidar_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="lidar_joint"
    type="fixed">
    <origin
      xyz="-0.0021454 0 0.1992"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="lidar" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="base_imu_link">
    <inertial>
      <origin
        xyz="2.881138598591E-05 -0.000165484463082012 -0.00158258525002669"
        rpy="0 0 0" />
      <mass
        value="0.000546284032069355" />
      <inertia
        ixx="1.04502955010604E-08"
        ixy="5.20039658558943E-13"
        ixz="-3.8366937703985E-13"
        iyy="7.88905624806412E-09"
        iyz="2.70332847255175E-12"
        izz="1.81411505296782E-08" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://robot_description/meshes/imu_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.223529411764706 0.223529411764706 0.223529411764706 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://robot_description/meshes/imu_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="imu_joint"
    type="fixed">
    <origin
      xyz="-0.022128 0.00056024 0.10609"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="base_imu_link" />
    <axis
      xyz="0 0 0" />
  </joint>

  <link name="base_footprint">
    <visual>
        <geometry>
          <box size="0.005 0.005 0.005" />
        </geometry>
    </visual>
  </link>
  <joint name="base_footprint_joint" type="fixed">
    <origin xyz="0 0 0.05"/>
    <parent link="base_footprint"/>
    <child link="base_link"/>
  </joint>

</robot>
