<?xml version='1.0' encoding='utf-8'?>
<robot name="mirte_master">

  <link name="base_link">
    <inertial>
      <origin xyz="-0.00024285 0.0082178 -0.0037661" rpy="0 0 0" />
      <mass value="3.0815" />
      <inertia ixx="0.01245" ixy="-6.0298E-07" ixz="-7.3071E-07" iyy="0.0091262" iyz="-0.00017974" izz="0.020706" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
	<box size="0.23000000417232513 0.23263962268829346 0.1394999921321869" />
      </geometry>
      <material name="">
        <color rgba="0.52941 0.54902 0.54902 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
	<box size="0.23000000417232513 0.23263962268829346 0.1394999921321869" />
      </geometry>
    </collision>
  </link>

  <link name="camera_link">
    <inertial>
      <origin xyz="-0.00010069 -0.00018452 0.0033961" rpy="0 0 0" />
      <mass value="0.0022023" />
      <inertia ixx="7.901E-08" ixy="-1.4438E-25" ixz="5.502E-24" iyy="1.049E-07" iyz="-1.0016E-23" izz="1.3983E-07" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.03020000085234642 0.02500000037252903 0.01484999991953373" /></geometry>
      <material name="">
        <color rgba="0.79608 0.82353 0.93725 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.03020000085234642 0.02500000037252903 0.01484999991953373" /></geometry>
    </collision>
  </link>
  <joint name="cam_joint_front" type="fixed">
    <origin xyz="0.1325 0.0 -0.0285" rpy="1.5708 0.0 1.5707963267948966" />
    <parent link="base_link" />
    <child link="camera_link" />
    <axis xyz="0 0 0" />
  </joint>

  <link name="ultrasonic_fl">
    <inertial>
      <origin xyz="-4.30733527062924E-05 0.00367564883489804 -6.99136578631437E-05" rpy="0 0 0" />
      <mass value="0.00383513951999247" />
      <inertia ixx="1.59365628586768E-07" ixy="-8.54250314742639E-10" ixz="-3.40905422018191E-09" iyy="7.68751523460336E-07" iyz="2.65062440645508E-09" izz="7.26221149125628E-07" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.04520000144839287 0.018550001084804535 0.025750000029802322" /></geometry>
      <material name="">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.04520000144839287 0.018550001084804535 0.025750000029802322" /></geometry>
    </collision>
  </link>
  <joint name="ultrasonic_joint_fl" type="fixed">
    <origin xyz="0.120282421780502 0.05297775289576 -0.031" rpy="3.14159265358979 0.0 1.8675022996339325" />
    <parent link="base_link" />
    <child link="ultrasonic_fl" />
    <axis xyz="0 0 0" />
  </joint>

  <link name="ultrasonic_fr">
    <inertial>
      <origin xyz="-4.30733527063201E-05 0.00367564883489799 -6.99136578631784E-05" rpy="0 0 0" />
      <mass value="0.00383513951999245" />
      <inertia ixx="1.59365628586767E-07" ixy="-8.54250314742507E-10" ixz="-3.40905422018182E-09" iyy="7.6875152346034E-07" iyz="2.65062440645522E-09" izz="7.26221149125632E-07" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.04520000144839287 0.018550001084804535 0.025750000029802322" /></geometry>
      <material name="">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.04520000144839287 0.018550001084804535 0.025750000029802322" /></geometry>
    </collision>
  </link>
  <joint name="ultrasonic_joint_fr" type="fixed">
    <origin xyz="0.120282421780502 -0.05297775289576 -0.031" rpy="3.14159265358979 0.0 1.2740903539558606" />
    <parent link="base_link" />
    <child link="ultrasonic_fr" />
    <axis xyz="0 0 0" />
  </joint>

  <link name="ultrasonic_bl">
    <inertial>
      <origin xyz="-4.30733527062716E-05 0.00367564883489804 -6.9913657863175E-05" rpy="0 0 0" />
      <mass value="0.00383513951999244" />
      <inertia ixx="1.59365628586767E-07" ixy="-8.54250314742494E-10" ixz="-3.40905422018206E-09" iyy="7.68751523460339E-07" iyz="2.6506244064553E-09" izz="7.26221149125632E-07" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.04520000144839287 0.018550001084804535 0.025750000029802322" /></geometry>
      <material name="">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.04520000144839287 0.018550001084804535 0.025750000029802322" /></geometry>
    </collision>
  </link>
  <joint name="ultrasonic_joint_bl" type="fixed">
    <origin xyz="-0.119187021096338 0.0565606470918482 -0.031" rpy="3.14159265358979 0.0 4.415683007545656" />
    <parent link="base_link" />
    <child link="ultrasonic_bl" />
    <axis xyz="0 0 0" />
  </joint>

  <link name="ultrasonic_br">
    <inertial>
      <origin xyz="-4.30733527062716E-05 0.00367564883489802 -6.99136578631541E-05" rpy="0 0 0" />
      <mass value="0.00383513951999245" />
      <inertia ixx="1.59365628586768E-07" ixy="-8.54250314743155E-10" ixz="-3.40905422018173E-09" iyy="7.68751523460337E-07" iyz="2.65062440645518E-09" izz="7.26221149125628E-07" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.04520000144839287 0.018550001084804535 0.025750000029802322" /></geometry>
      <material name="">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.04520000144839287 0.018550001084804535 0.025750000029802322" /></geometry>
    </collision>
  </link>
  <joint name="ultrasonic_joint_br" type="fixed">
    <origin xyz="-0.119187021096338 -0.0565606470918482 -0.031" rpy="3.14159265358979 0.0 -1.2740903539558635" />
    <parent link="base_link" />
    <child link="ultrasonic_br" />
    <axis xyz="0 0 0" />
  </joint>

  <link name="camera_depth_optical_frame">
    <inertial>
      <origin xyz="0.00132191552494907 -0.000392007210431269 -0.0222605569616031" rpy="0 0 0" />
      <mass value="0.188133920196831" />
      <inertia ixx="6.91459455879894E-05" ixy="2.54332859259088E-06" ixz="1.91366261320705E-05" iyy="0.000449074814232154" iyz="-4.27256155918481E-06" izz="0.000408304016415217" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.16484962403774261 0.035999998450279236 0.045979945063591" /></geometry>
      <material name="">
        <color rgba="0.250980392156863 0.250980392156863 0.250980392156863 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.16484962403774261 0.035999998450279236 0.045979945063591" /></geometry>
    </collision>
  </link>
  <joint name="depth_cam_joint" type="fixed">
    <origin xyz="0.146658788505756 0.0 0.0427000000000005" rpy="1.5707963267949 0.0 1.5707963267948966" />
    <parent link="base_link" />
    <child link="camera_depth_optical_frame" />
    <axis xyz="0 0 0" />
  </joint>

  <link name="lidar">
    <inertial>
      <origin xyz="-3.97749846947626E-10 0.0118651639742243 -9.54386087724301E-05" rpy="0 0 0" />
      <mass value="0.100511981883415" />
      <inertia ixx="3.39518063996325E-05" ixy="-1.6211120950128E-12" ixz="-2.92284267016588E-13" iyy="4.1935853096105E-05" iyz="1.1815579647801E-07" izz="3.44778101670497E-05" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.055649999529123306 0.04100000113248825 0.06511025875806808" /></geometry>
      <material name="">
        <color rgba="0.501960784313725 0.501960784313725 0.501960784313725 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.055649999529123306 0.04100000113248825 0.06511025875806808" /></geometry>
    </collision>
  </link>
  <joint name="lidar_joint" type="fixed">
    <origin xyz="0.1005 0.0 0.0072113248654052" rpy="-1.5707963267949 0.0 -3.552713678800501e-15" />
    <parent link="base_link" />
    <child link="lidar" />
    <axis xyz="0 0 0" />
  </joint>

  <link name="laser" />
  <joint name="laser_joint" type="fixed">
    <parent link="lidar" />
    <child link="laser" />
    <origin xyz="0 0 0" rpy="1.5708 -1.5708 0" /> 
  </joint>

  <link name="screen">
    <inertial>
      <origin xyz="-1.24638847975239E-07 0.0013371323974908 0.00160606068028191" rpy="0 0 0" />
      <mass value="0.00357270774970056" />
      <inertia ixx="1.29976980207027E-07" ixy="-1.78182996362165E-11" ixz="-4.24689246841474E-13" iyy="2.09902246549457E-07" iyz="1.92672613573332E-09" izz="3.37075734369407E-07" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.027699999511241913 0.02800000086426735 0.011300000362098217" /></geometry>
      <material name="">
        <color rgba="0.768627450980392 0.768627450980392 0.768627450980392 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.027699999511241913 0.02800000086426735 0.011300000362098217" /></geometry>
    </collision>
  </link>
  <joint name="screen_joint" type="fixed">
    <origin xyz="-0.121521156261136 0.0 0.0540000000000046" rpy="1.5707963267949 0.0 -1.5707963267948934" />
    <parent link="base_link" />
    <child link="screen" />
    <axis xyz="0 0 0" />
  </joint>

  

  <link name="arm_Rot">
    <inertial>
      <origin xyz="-1.27894101951934E-05 0.0208058767653727 0.00585680210359747" rpy="0 0 0" />
      <mass value="0.0689676051678483" />
      <inertia ixx="1.10736817655159E-05" ixy="-9.06572517495388E-09" ixz="-2.13237951815141E-10" iyy="2.24480121987499E-05" iyz="-4.10984989642458E-07" izz="1.70252517510809E-05" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.0639740526676178 0.04535000026226044 0.0639740526676178" /></geometry>
      <material name="">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.0639740526676178 0.04535000026226044 0.0639740526676178" /></geometry>
    </collision>
  </link>
  <joint name="arm_Rot_joint" type="revolute">
    <origin xyz="0.079274 0.0 0.06" rpy="1.5708 0.0 4.712396326794897" />
    <parent link="base_link" />
    <child link="arm_Rot" />
    <axis xyz="0 1 0" />
    <limit lower="0" upper="0" effort="0" velocity="0" />
  </joint>

  <link name="arm_Shoulder">
    <inertial>
      <origin xyz="0.0764974362945755 0.000442680770353329 -4.93690401059954E-09" rpy="0 0 0" />
      <mass value="0.104616018825837" />
      <inertia ixx="3.85677839717214E-05" ixy="1.84827309047044E-08" ixz="1.42612941509626E-12" iyy="2.54245117502168E-05" iyz="-2.05142765424474E-12" izz="5.51611966703411E-05" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.16009999811649323 0.05795000493526459 0.025000009685754776" /></geometry>
      <material name="">
        <color rgba="1.0 0.5 0.03 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.16009999811649323 0.05795000493526459 0.025000009685754776" /></geometry>
    </collision>
  </link>
  <joint name="arm_Shoulder_joint" type="revolute">
    <origin xyz="0 0.0281 -0.00625" rpy="3.1416 0 1.5708" />
    <parent link="arm_Rot" />
    <child link="arm_Shoulder" />
    <axis xyz="1 0 0" />
    <limit lower="-1.57" upper="1.57" effort="0" velocity="0" />
  </joint>

  <link name="arm_Elbow">
    <inertial>
      <origin xyz="0.000768647609078278 0.0642294520091309 -2.34835863116567E-08" rpy="0 0 0" />
      <mass value="0.0709795960901316" />
      <inertia ixx="2.06491501981418E-05" ixy="1.76077623308388E-08" ixz="-6.06300089698489E-13" iyy="2.45686930201746E-05" iyz="3.04033870141042E-12" izz="3.79131240892547E-05" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.05795000120997429 0.16425000131130219 0.02825000509619713" /></geometry>
      <material name="">
        <color rgba="1.0 0.5 0.03 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.05795000120997429 0.16425000131130219 0.02825000509619713" /></geometry>
    </collision>
  </link>
  <joint name="arm_Elbow_joint" type="revolute">
    <origin xyz="0.1378 0 0" rpy="-3.1416 0 1.5708" />
    <parent link="arm_Shoulder" />
    <child link="arm_Elbow" />
    <axis xyz="1 0 0" />
    <limit lower="-2.5" upper="0" effort="0" velocity="0" />
  </joint>

  <link name="arm_Wrist">
    <inertial>
      <origin xyz="0.0225315136140379 0.000488092971965825 -2.74405760168628E-06" rpy="0 0 0" />
      <mass value="0.0464803878756425" />
      <inertia ixx="1.36228105923869E-05" ixy="-2.7486243117372E-08" ixz="-2.82180089490711E-08" iyy="7.22412070962973E-06" iyz="3.4652740053439E-09" izz="1.75204377049058E-05" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.07799895107746124 0.05500000715255737 0.034201256930828094" /></geometry>
      <material name="">
        <color rgba="1.0 0.5 0.03 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.07799895107746124 0.05500000715255737 0.034201256930828094" /></geometry>
    </collision>
  </link>
  <joint name="arm_Wrist_joint" type="revolute">
    <origin xyz="-0.00014 0.14265 0" rpy="3.1416 0 1.5708" />
    <parent link="arm_Elbow" />
    <child link="arm_Wrist" />
    <axis xyz="1 0 0" />
    <limit lower="-1.57" upper="1.57" effort="0" velocity="0" />
  </joint>

  

  <link name="_gripper_link_r">
    <inertial>
      <origin xyz="-1.28017477174502E-08 0.00327806945611438 -0.015628977594268" rpy="0 0 0" />
      <mass value="0.00257857268754656" />
      <inertia ixx="4.78055533789155E-07" ixy="-5.230783542464E-14" ixz="-2.66258471113313E-13" iyy="4.85504704619794E-07" iyz="-3.012555423281E-08" izz="3.42900323604584E-08" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.010000012814998627 0.009999999776482582 0.046898216009140015" /></geometry>
      <material name="">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.010000012814998627 0.009999999776482582 0.046898216009140015" /></geometry>
    </collision>
  </link>
  <joint name="_gripper_link_joint_r" type="revolute">
    <origin xyz="0.0605 0.0205 -0.0055" rpy="1.5708 0 -1.3641" />
    <parent link="arm_Wrist" />
    <child link="_gripper_link_r" />
    <axis xyz="0 1 0" />
    <limit lower="-1" upper="+1" effort="0" velocity="0" />
  </joint>

  <link name="gripper_finger_r">
    <inertial>
      <origin xyz="0.0053582194655247 0.00456985538673528 -0.0146658643393019" rpy="0 0 0" />
      <mass value="0.00531205810762776" />
      <inertia ixx="6.56191216382328E-07" ixy="4.9417968242523E-09" ixz="-1.23756532787867E-07" iyy="7.67327744037516E-07" iyz="3.35637410041389E-08" izz="1.97644006824673E-07" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.024960769340395927 0.009999999776482582 0.043799109756946564" /></geometry>
      <material name="">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.024960769340395927 0.009999999776482582 0.043799109756946564" /></geometry>
    </collision>
  </link>
  <joint name="gripper_finger_joint_r" type="revolute">
    <origin xyz="0 0.01 -0.037" rpy="0 0.20667 3.1416" />
    <parent link="_gripper_link_r" />
    <child link="gripper_finger_r" />
    <axis xyz="0 1 0" />
    <limit lower="-1" upper="+1" effort="0" velocity="0" />
  </joint>

  <link name="_gripper_link_l">
    <inertial>
      <origin xyz="-2.05686406795635E-09 0.00327805387383495 -0.0156289677422455" rpy="0 0 0" />
      <mass value="0.0025785751096632" />
      <inertia ixx="4.78055731035803E-07" ixy="1.11114248069431E-14" ixz="5.45978048241403E-14" iyy="4.85504889003676E-07" iyz="-3.01256260104972E-08" izz="3.4290092499709E-08" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.010000007227063179 0.009999999776482582 0.046898216009140015" /></geometry>
      <material name="">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.010000007227063179 0.009999999776482582 0.046898216009140015" /></geometry>
    </collision>
  </link>
  <joint name="_gripper_link_joint_l" type="revolute">
    <origin xyz="0.0605 -0.0205 -0.0055" rpy="1.5708 0 -1.7775" />
    <parent link="arm_Wrist" />
    <child link="_gripper_link_l" />
    <axis xyz="0 1 0" />
    <limit lower="-1" upper="+1" effort="0" velocity="0" />
  </joint>

  <link name="gripper_finger_l">
    <inertial>
      <origin xyz="0.00535821399237165 0.00543015238565805 -0.0146658496889369" rpy="0 0 0" />
      <mass value="0.00531205810762777" />
      <inertia ixx="6.56191216382329E-07" ixy="-4.94179682425222E-09" ixz="-1.23756532787868E-07" iyy="7.67327744037519E-07" iyz="-3.35637410041387E-08" izz="1.97644006824674E-07" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.024960767477750778 0.009999999776482582 0.043799109756946564" /></geometry>
      <material name="">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.024960767477750778 0.009999999776482582 0.043799109756946564" /></geometry>
    </collision>
  </link>
  <joint name="gripper_finger_joint_l" type="revolute">
    <origin xyz="0 0 -0.037" rpy="0 0.20667 0" />
    <parent link="_gripper_link_l" />
    <child link="gripper_finger_l" />
    <axis xyz="0 1 0" />
    <limit lower="-1" upper="+1" effort="0" velocity="0" />
  </joint>

  

  <link name="wheel_fl">
    <inertial>
      <origin xyz="-1.1211E-10 2.9249E-10 0.024936" rpy="0 0 0" />
      <mass value="0.26661" />
      <inertia ixx="8.0546E-05" ixy="1.9673E-15" ixz="1.226E-14" iyy="8.0546E-05" iyz="9.6889E-15" izz="9.3196E-05" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <cylinder radius="0.05210647359" length="0.057999998331069946" /></geometry>
      <material name="">
        <color rgba="1.0 0.2 0.03 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <cylinder radius="0.05210647359" length="0.057999998331069946" /></geometry>
    </collision>
  </link>
  <joint name="wheel_joint_fl" type="continuous">
    <origin xyz="0.085 0.153 -0.0455" rpy="1.5708 0.0 -3.673205103416066e-06" />
    <parent link="base_link" />
    <child link="wheel_fl" />
    <axis xyz="0 0 -1" />
  </joint>

  <link name="wheel_br">
    <inertial>
      <origin xyz="-1.0009E-10 2.9473E-10 -0.025064" rpy="0 0 0" />
      <mass value="0.26661" />
      <inertia ixx="8.0546E-05" ixy="4.8209E-17" ixz="1.2652E-14" iyy="8.0546E-05" iyz="1.7571E-14" izz="9.3196E-05" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <cylinder radius="0.05210647359" length="0.057999998331069946" /></geometry>
      <material name="">
        <color rgba="1.0 0.2 0.03 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <cylinder radius="0.05210647359" length="0.057999998331069946" /></geometry>
    </collision>
  </link>
  <joint name="wheel_joint_br" type="continuous">
    <origin xyz="-0.085 -0.153 -0.0455" rpy="1.5708 0.0 -3.673205103416066e-06" />
    <parent link="base_link" />
    <child link="wheel_br" />
    <axis xyz="0 0 1" />
  </joint>

  <link name="wheel_fr">
    <inertial>
      <origin xyz="-1.9E-10 2.1252E-10 -0.025064" rpy="0 0 0" />
      <mass value="0.26661" />
      <inertia ixx="8.0546E-05" ixy="-4.5866E-15" ixz="7.6917E-14" iyy="8.0546E-05" iyz="9.6011E-15" izz="9.3196E-05" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <cylinder radius="0.05210647359" length="0.057999998331069946" /></geometry>
      <material name="">
        <color rgba="1.0 0.2 0.03 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <cylinder radius="0.05210647359" length="0.057999998331069946" /></geometry>
    </collision>
  </link>
  <joint name="wheel_joint_fr" type="continuous">
    <origin xyz="0.085 -0.153 -0.0455" rpy="1.5708 0.0 -3.673205103416066e-06" />
    <parent link="base_link" />
    <child link="wheel_fr" />
    <axis xyz="0 0 1" />
  </joint>

  <link name="wheel_bl">
    <inertial>
      <origin xyz="-1.9E-10 2.1252E-10 0.024936" rpy="0 0 0" />
      <mass value="0.26661" />
      <inertia ixx="8.0546E-05" ixy="-4.5761E-15" ixz="7.6918E-14" iyy="8.0546E-05" iyz="9.5856E-15" izz="9.3196E-05" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <cylinder radius="0.05210647359" length="0.057999998331069946" /></geometry>
      <material name="">
        <color rgba="1.0 0.2 0.03 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <cylinder radius="0.05210647359" length="0.057999998331069946" /></geometry>
    </collision>
  </link>
  <joint name="wheel_joint_bl" type="continuous">
    <origin xyz="-0.085 0.153 -0.0455" rpy="1.5708 0.0 -3.673205103416066e-06" />
    <parent link="base_link" />
    <child link="wheel_bl" />
    <axis xyz="0 0 -1" />
  </joint>

</robot>