robot.urdf.xacro

<!--this file was autogenerated from simple_car.lxf -->
<robot name="simple_car"
    xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
    xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
    xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">

    <link name="base_link">
        <inertial>
            <mass value="0.0001" />
            <origin xyz="0 0 0" />
            <inertia ixx="0.0001" ixy="0.0" ixz="0.0"
                     iyy="0.0001" iyz="0.0"
                     izz="0.0001" />
        </inertial>

       <visual>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <geometry>
                <box size="0.001 0.001 0.001" />
            </geometry>
        </visual>

       <collision>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <geometry>
              <box size="0 0 0" />
            </geometry>
        </collision>
    </link>
    <joint name="base_joint" type="fixed">
      <parent link="base_link"/>
      <child link="ref_0_link"/>
      <origin xyz="0 0 0" rpy="0 0 -1.57079632679" />
      <axis xyz="0 0 1" />
    </joint>


    <link name="ref_0_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_1_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 3.14159 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/32140.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_2_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_3_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/3705.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_4_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/3713.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_5_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/32498.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_6_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/32136.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_7_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/32525.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_8_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/32525.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_9_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 3.14159 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/32348.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_10_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/32062.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_11_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/60483.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_12_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/48989.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_13_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 3.14159 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/32348.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_14_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/32062.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_15_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/60483.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_16_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/3713.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_17_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/32073.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_18_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/3713.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="caster_wheel_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/32498.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="1.570795 0 0" />
        <geometry>
          <cylinder length=".0067" radius="0.0185"/>
          <!-- mesh filename="package://nxt_description/meshes/parts/32498.dae" scale=" 0.0004  0.0004  0.0004"/ -->
        </geometry>
      </collision>
    </link>


    <link name="ref_20_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/32073.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_21_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/3713.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_22_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/42003.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_23_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/42003.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_24_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_25_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 3.14159 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/32526.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_26_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_27_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/32525.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_28_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_29_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 3.14159 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/32526.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_30_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_31_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/6536.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_32_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/32073.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_33_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/3713.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_34_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/6536.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_35_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_36_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_37_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/53787.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>

    <link name="ref_37_link_hub">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/servo_hubs.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>

    <!--THIS IS THE MOTOR JOINT RENAME AND FIX BY 180 WHEN NEEDED-->
    <joint name="right_wheel_joint" type="continuous">
      <parent link="ref_37_link"/>
      <child link="ref_37_link_hub"/>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <axis xyz="1 0 0" />
    </joint>

    <transmission type="pr2_mechanism_model/SimpleTransmission" name="right_wheel_trans">
      <actuator name="right_wheel_motor" />
      <joint name="right_wheel_joint" />
      <mechanicalReduction>1.0</mechanicalReduction>
    </transmission>



    <link name="ref_38_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/3749.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_39_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 3.14159 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/6629.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_40_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/3749.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_41_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_42_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_43_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_44_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_45_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 3.14159 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/32526.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_46_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_47_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/53788.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_48_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_49_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 3.14159 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/32526.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_50_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_51_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 3.14159 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/32526.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_52_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_53_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 3.14159 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/32526.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_54_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_55_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 3.14159 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/6629.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_56_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/3749.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_57_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/3749.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_58_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/53787.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>

    <link name="ref_58_link_hub">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/servo_hubs.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>

    <!--THIS IS THE MOTOR JOINT RENAME AND FIX BY 180 WHEN NEEDED-->
    <joint name="left_wheel_joint" type="continuous">
      <parent link="ref_58_link"/>
      <child link="ref_58_link_hub"/>
      <origin xyz="0 0 0" rpy="0 3.14159 0" />
      <axis xyz="-1 0 0" />
    </joint>

    <transmission type="pr2_mechanism_model/SimpleTransmission" name="left_wheel_trans">
      <actuator name="left_wheel_motor" />
      <joint name="left_wheel_joint" />
      <mechanicalReduction>1.0</mechanicalReduction>
    </transmission>



    <link name="ref_59_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_60_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/3705.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_61_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/32123.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_62_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/56145.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_63_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/44309.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="1.570795 0 0" />
        <geometry>
          <cylinder length=".02" radius="0.0215"/>
          <!-- mesh filename="package://nxt_description/meshes/parts/44309.dae" scale=" 0.0004  0.0004  0.0004"/ -->
        </geometry>
      </collision>
    </link>


    <link name="ref_64_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_65_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_66_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_67_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_68_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 3.14159 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/32526.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_69_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_70_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 3.14159 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/32526.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_71_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_72_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/3705.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_73_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/56145.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_74_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/44309.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="1.570795 0 0" />
        <geometry>
          <cylinder length=".02" radius="0.0215"/>
          <!-- mesh filename="package://nxt_description/meshes/parts/44309.dae" scale=" 0.0004  0.0004  0.0004"/ -->
        </geometry>
      </collision>
    </link>


    <link name="ref_75_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/32123.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_76_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_77_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_78_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_79_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_80_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 3.14159 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/32526.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_81_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/4519.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_82_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 3.14159 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/32526.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_83_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_84_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_85_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/40490.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_86_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_87_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <link name="ref_88_link">
      <inertial>
        <mass value="0.10000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package://nxt_description/meshes/parts/40490.dae" scale=" 0.0004  0.0004  0.0004"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0 0 0"/>
        </geometry>
      </collision>
    </link>


    <joint name="ref_0_joint" type="fixed">
      <parent link="ref_0_link"/>
      <child link="ref_1_link"/>
      <origin xyz="1.63269042969e-07 -0.00819995422363 -0.0238001464844" rpy="1.57079632679 -0.0 -1.57079632679" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_1_joint" type="fixed">
      <parent link="ref_1_link"/>
      <child link="ref_2_link"/>
      <origin xyz="-0.000199963355069 0.0238001741648 1.72424295852e-07" rpy="-1.57079632679 1.57079632679 -0.0" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_2_joint" type="fixed">
      <parent link="ref_2_link"/>
      <child link="ref_3_link"/>
      <origin xyz="1.35803222656e-07 0.0762002075195 -0.0118024108887" rpy="2.56617217953 1.57077648957 0.994078913433" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_3_joint" type="fixed">
      <parent link="ref_2_link"/>
      <child link="ref_4_link"/>
      <origin xyz="2.82287597656e-07 0.0762003540039 -0.0238024047852" rpy="1.57079632679 -1.13256307865e-05 -0.0" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_4_joint" type="fixed">
      <parent link="ref_2_link"/>
      <child link="ref_5_link"/>
      <origin xyz="1.06811523438e-07 0.0758001831055 -0.00780240478516" rpy="1.57078624575 1.1010007255e-05 -3.14158176733" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_5_joint" type="fixed">
      <parent link="ref_2_link"/>
      <child link="ref_6_link"/>
      <origin xyz="2.13623046875e-08 0.0759999633789 0.000197589111328" rpy="-1.57080748776 -0.0 -3.14159265359" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_6_joint" type="fixed">
      <parent link="ref_2_link"/>
      <child link="ref_7_link"/>
      <origin xyz="0.00800002441406 0.039999987793 -1.05590820312e-06" rpy="1.57079632679 1.57075457489 -1.57079632679" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_7_joint" type="fixed">
      <parent link="ref_2_link"/>
      <child link="ref_8_link"/>
      <origin xyz="-0.00799996032715 0.04 -2.25830078125e-07" rpy="3.14159265359 1.57079632679 -0.0" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_8_joint" type="fixed">
      <parent link="ref_12_link"/>
      <child link="ref_9_link"/>
      <origin xyz="7.828350350163135e-05 0.007999992248306359 -0.01599574888085893" rpy="1.5707963267992335 -0.016041211646452877 -2.019495777038321e-07" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_9_joint" type="fixed">
      <parent link="ref_12_link"/>
      <child link="ref_10_link"/>
      <origin xyz="-0.019773283015216105 0.011200000837567045 0.021970711426472916" rpy="0.9433347502433465 -1.6022588811281935e-10 -1.5707857975195862" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_10_joint" type="fixed">
      <parent link="ref_12_link"/>
      <child link="ref_11_link"/>
      <origin xyz="-0.02628444588433196 0.016399937195003385 0.02695496452268098" rpy="-1.5707963270591478 -0.9290985650975533 1.0616525449825763e-05" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="caster_wheel_support_joint" type="continuous">
      <parent link="ref_3_link"/>
      <child link="ref_12_link"/>
      <origin xyz="0.00374998598337 -25.46744743986e-09 0.00820001255175" rpy="3.14159265359 1.74727644705e-06 3.14159245339" />
      <axis xyz="1 0 0" />
    </joint>

    <transmission type="pr2_mechanism_model/SimpleTransmission" name="caster_wheel_support_trans">
      <actuator name="caster_wheel_support_motor" />
      <joint name="caster_wheel_support_joint" />
      <mechanicalReduction>1.0</mechanicalReduction>
    </transmission>


    <joint name="ref_12_joint" type="fixed">
      <parent link="ref_12_link"/>
      <child link="ref_13_link"/>
      <origin xyz="7.829938401379206e-05 -0.00800001347353713 -0.015995748880583402" rpy="1.5707963267992342 -0.016041213508852844 -2.0193957728630123e-07" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_13_joint" type="fixed">
      <parent link="ref_12_link"/>
      <child link="ref_14_link"/>
      <origin xyz="-0.01977346292677751 -0.011999997161597383 0.02197046728329209" rpy="-0.941811082803346 -1.728376066570402e-05 1.570806856319801" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_14_joint" type="fixed">
      <parent link="ref_12_link"/>
      <child link="ref_15_link"/>
      <origin xyz="-0.026286521322119564 -0.017200052622681747 0.0269564659566143" rpy="-1.5707963270686134 -0.9418140056795524 1.0616524787663322e-05" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_15_joint" type="fixed">
      <parent link="ref_12_link"/>
      <child link="ref_16_link"/>
      <origin xyz="-0.026243944356444993 -0.007999989275855626 0.026675070139318233" rpy="2.6220488780330158e-05 -0.9290942257425536 -1.735704872123971e-05" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_16_joint" type="fixed">
      <parent link="ref_12_link"/>
      <child link="ref_17_link"/>
      <origin xyz="-0.026243932522783314 0.001600015683362162 0.026675094553595582" rpy="0.9290945321833465 -1.6022594362397058e-10 -1.5707857975195865" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_17_joint" type="fixed">
      <parent link="ref_12_link"/>
      <child link="ref_18_link"/>
      <origin xyz="-0.0262439228843456 0.008800011773380374 0.026675094553677253" rpy="2.615907860083846e-05 -0.9290937131215536 -1.7418418577385377e-05" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="caster_wheel_joint" type="continuous">
      <parent link="ref_17_link"/>
      <child link="caster_wheel_link"/>
      <origin xyz="0.0016000165885911716 0.00010165476252702033 6.535601406038039e-07" rpy="-2.449351583277901e-06 5.070225466826798e-06 -1.5708138408730377" />
      <axis xyz="0 -1 0" />
    </joint>

    <transmission type="pr2_mechanism_model/SimpleTransmission" name="caster_wheel_trans">
      <actuator name="caster_wheel_motor" />
      <joint name="caster_wheel_joint" />
      <mechanicalReduction>1.0</mechanicalReduction>
    </transmission>


    <joint name="ref_19_joint" type="fixed">
      <parent link="ref_3_link"/>
      <child link="ref_20_link"/>
      <origin xyz="-0.0118030471135 1.78073329351e-08 0.052199998924" rpy="-1.57081295549 -1.78417115258e-10 1.57078559732" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_20_joint" type="fixed">
      <parent link="ref_3_link"/>
      <child link="ref_21_link"/>
      <origin xyz="-0.0118030532172 2.23850351318e-08 0.0522000111309" rpy="-3.14158192412 1.57077978538 -1.0816749256e-05" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_21_joint" type="fixed">
      <parent link="ref_3_link"/>
      <child link="ref_22_link"/>
      <origin xyz="-0.00400337113741 -0.0160000524454 0.0521295048515" rpy="-1.57081295549 -1.78417115258e-10 1.57078559732" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_22_joint" type="fixed">
      <parent link="ref_3_link"/>
      <child link="ref_23_link"/>
      <origin xyz="-0.00400303389778 0.0159999559433 0.0521295048572" rpy="-1.57081295549 -1.78417115258e-10 1.57078559732" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_23_joint" type="fixed">
      <parent link="ref_20_link"/>
      <child link="ref_24_link"/>
      <origin xyz="0.0160000305176 0.00807067871094 -0.00799987182617" rpy="-0.0 -0.0 -1.57079632679" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_24_joint" type="fixed">
      <parent link="ref_24_link"/>
      <child link="ref_25_link"/>
      <origin xyz="5.4931640625e-08 -0.000200152587891 0.00820003100634" rpy="-1.57079632679 -0.0 -1.57079632679" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_25_joint" type="fixed">
      <parent link="ref_25_link"/>
      <child link="ref_26_link"/>
      <origin xyz="-0.0162005126953 0.0321997733832 0.00799990139009" rpy="1.57080961926 -1.57079632679 -0.0" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_26_joint" type="fixed">
      <parent link="ref_26_link"/>
      <child link="ref_27_link"/>
      <origin xyz="-3.662109375e-08 -0.0320000457698 4.92498194592e-07" rpy="-1.57079632679 1.57078303433 -1.57079632679" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_27_joint" type="fixed">
      <parent link="ref_27_link"/>
      <child link="ref_28_link"/>
      <origin xyz="3.81469681088e-07 -0.0320000221252 -0.0039997675896" rpy="3.1415822842 1.57079632679 -0.0" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_28_joint" type="fixed">
      <parent link="ref_28_link"/>
      <child link="ref_29_link"/>
      <origin xyz="0.00399999389648 -0.0162000273831 0.0321999601894" rpy="-1.57079632679 2.88219179572e-07 -1.57079632679" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_29_joint" type="fixed">
      <parent link="ref_29_link"/>
      <child link="ref_30_link"/>
      <origin xyz="-0.000200082868306 0.00820000408645 4.2724609375e-08" rpy="1.57078624562 1.57079632679 -0.0" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_30_joint" type="fixed">
      <parent link="ref_30_link"/>
      <child link="ref_31_link"/>
      <origin xyz="-0.00800045776367 0.0 0.0084499394685" rpy="-0.0 -0.0 1.57079632679" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_31_joint" type="fixed">
      <parent link="ref_30_link"/>
      <child link="ref_32_link"/>
      <origin xyz="-0.00792937011719 0.015999987793 0.00799981126784" rpy="-0.0 -0.0 1.57079632679" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_32_joint" type="fixed">
      <parent link="ref_30_link"/>
      <child link="ref_33_link"/>
      <origin xyz="-0.0079294128418 0.0159999908447 0.00799978685378" rpy="-0.0 -0.0 -3.14159265359" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_33_joint" type="fixed">
      <parent link="ref_30_link"/>
      <child link="ref_34_link"/>
      <origin xyz="-0.00800055541992 0.0319999969482 0.00844989064037" rpy="-0.0 -0.0 1.57079632679" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_34_joint" type="fixed">
      <parent link="ref_29_link"/>
      <child link="ref_35_link"/>
      <origin xyz="-0.000200025464902 0.0162000101905 -0.00399995117188" rpy="1.57079627251 -1.57079632679 -0.0" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_35_joint" type="fixed">
      <parent link="ref_29_link"/>
      <child link="ref_36_link"/>
      <origin xyz="-0.008199993415 0.0322000455083 -0.00799998779297" rpy="1.57078624562 1.57079632679 -0.0" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_36_joint" type="fixed">
      <parent link="ref_36_link"/>
      <child link="ref_37_link"/>
      <origin xyz="0.0879999206543 -0.00800107192993 0.000200061047081" rpy="-3.14159265359 1.53965438647e-05 1.57078588092" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_37_joint" type="fixed">
      <parent link="ref_36_link"/>
      <child link="ref_38_link"/>
      <origin xyz="0.0799999633789 -0.012000756073 0.0159998971939" rpy="-0.0 -0.0 1.57079632679" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_38_joint" type="fixed">
      <parent link="ref_36_link"/>
      <child link="ref_39_link"/>
      <origin xyz="0.0317944290161 -0.0159997779846 0.0479908903117" rpy="-1.5707765211 0.645743883264 -3.14159265359" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_39_joint" type="fixed">
      <parent link="ref_36_link"/>
      <child link="ref_40_link"/>
      <origin xyz="0.0320746704102 -0.0199997795105 0.0479514554948" rpy="0.645744701081 -0.0 -1.57079632679" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_40_joint" type="fixed">
      <parent link="ref_37_link"/>
      <child link="ref_86_link"/>
      <origin xyz="0.0159999791856 -0.064000075581 0.00819996727868" rpy="-3.14159265343 -1.47538228815e-07 3.14158220772" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_41_joint" type="fixed">
      <parent link="ref_86_link"/>
      <child link="ref_80_link"/>
      <origin xyz="-0.00799979240847 -0.000200119018555 0.0322002379557" rpy="-1.5708115758 -0.0 -1.57079632679" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_42_joint" type="fixed">
      <parent link="ref_80_link"/>
      <child link="ref_79_link"/>
      <origin xyz="-0.000270645109338 0.000200073218337 -0.00799995098115" rpy="1.57079632679 -1.57079632679 -0.0" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_43_joint" type="fixed">
      <parent link="ref_79_link"/>
      <child link="ref_82_link"/>
      <origin xyz="-0.00799999389648 -0.000199884033203 0.000200073242188" rpy="-1.57080997953 -0.0 -1.57079632679" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_44_joint" type="fixed">
      <parent link="ref_82_link"/>
      <child link="ref_81_link"/>
      <origin xyz="-0.000234326171875 0.00820007388318 0.0080000285206" rpy="-3.14159265359 1.57078267406 1.57079632679" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_45_joint" type="fixed">
      <parent link="ref_82_link"/>
      <child link="ref_84_link"/>
      <origin xyz="-0.00812908935547 0.0322000054624 -0.00800002079704" rpy="-3.14159265359 1.57078267406 1.57079632679" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_46_joint" type="fixed">
      <parent link="ref_84_link"/>
      <child link="ref_55_link"/>
      <origin xyz="0.0239994293213 0.000205404663086 0.0559909912109" rpy="-1.57079632679 0.645750255898 1.57079632679" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_47_joint" type="fixed">
      <parent link="ref_84_link"/>
      <child link="ref_56_link"/>
      <origin xyz="0.0199997039795 -0.0480001373291 0.0239999389648" rpy="-0.0 1.16712662924e-05 -3.14159265359" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_48_joint" type="fixed">
      <parent link="ref_84_link"/>
      <child link="ref_57_link"/>
      <origin xyz="0.0279994354248 -7.46917724609e-05 0.055951550293" rpy="-0.64574372354 -0.0 -0.0" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_49_joint" type="fixed">
      <parent link="ref_84_link"/>
      <child link="ref_58_link"/>
      <origin xyz="0.0160000396729 -0.056 0.00820018310547" rpy="-3.14159265359 -1.19016694947e-05 -0.0" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_50_joint" type="fixed">
      <parent link="ref_55_link"/>
      <child link="ref_49_link"/>
      <origin xyz="-0.0321207294213 -0.0162226647643 -0.00800070095054" rpy="-0.0 -0.0 -1.5618187294" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_51_joint" type="fixed">
      <parent link="ref_49_link"/>
      <child link="ref_48_link"/>
      <origin xyz="-0.000197813530455 0.000199982612403 0.00799999904633" rpy="1.55989796654 -1.57079632679 -0.0" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_52_joint" type="fixed">
      <parent link="ref_48_link"/>
      <child link="ref_47_link"/>
      <origin xyz="0.0399999710083 -0.0160599979793 -0.0356678243088" rpy="8.34504132549e-08 -0.0 -3.14159265359" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_53_joint" type="fixed">
      <parent link="ref_47_link"/>
      <child link="ref_46_link"/>
      <origin xyz="-0.040000012207 -0.0322199594552 0.0357477529354" rpy="-0.926967010974 -0.0 -0.0" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_54_joint" type="fixed">
      <parent link="ref_46_link"/>
      <child link="ref_45_link"/>
      <origin xyz="-0.00800017242432 0.0205206375122 -0.025558807373" rpy="1.57079632679 0.917467732414 -1.57079632679" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_55_joint" type="fixed">
      <parent link="ref_45_link"/>
      <child link="ref_44_link"/>
      <origin xyz="-4.11856549127e-05 -0.000121564017677 -0.00399998474121" rpy="-2.48826405921 1.57079632679 -0.0" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_56_joint" type="fixed">
      <parent link="ref_46_link"/>
      <child link="ref_68_link"/>
      <origin xyz="1.67846679688e-08 0.0353007843018 -0.00604174194336" rpy="1.57079632679 -0.926784656568 1.57079632679" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_57_joint" type="fixed">
      <parent link="ref_68_link"/>
      <child link="ref_67_link"/>
      <origin xyz="-0.0002001798191 0.0317793000828 -1.32751449019e-07" rpy="-1.57061380549 -1.57079632679 -0.0" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_58_joint" type="fixed">
      <parent link="ref_67_link"/>
      <child link="ref_70_link"/>
      <origin xyz="-0.00799990386963 0.000286003943273 0.00022101454664" rpy="-1.57079632679 0.00542830955959 1.57079632679" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_59_joint" type="fixed">
      <parent link="ref_70_link"/>
      <child link="ref_69_link"/>
      <origin xyz="-0.000359299519883 0.0321209404656 -0.00399998426438" rpy="0.64925745848 1.57079632679 -0.0" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_60_joint" type="fixed">
      <parent link="ref_70_link"/>
      <child link="ref_71_link"/>
      <origin xyz="-0.000198846009448 0.0161999033932 -0.0079999792099" rpy="1.57600879599 1.57079632679 -0.0" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_61_joint" type="fixed">
      <parent link="ref_47_link"/>
      <child link="ref_50_link"/>
      <origin xyz="0.0399999710083 -0.0160599922268 0.0196897999863" rpy="8.34504192624e-08 -0.0 -3.14159265359" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_62_joint" type="fixed">
      <parent link="ref_50_link"/>
      <child link="ref_51_link"/>
      <origin xyz="6.103515625e-09 -0.000199983161326 -0.0157999807413" rpy="1.57079632679 1.31122394478e-07 -1.57079632679" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_63_joint" type="fixed">
      <parent link="ref_51_link"/>
      <child link="ref_52_link"/>
      <origin xyz="-0.0163599669782 0.0318579211688 1.8310546875e-08" rpy="-0.643829530394 1.57079632679 -0.0" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_64_joint" type="fixed">
      <parent link="ref_52_link"/>
      <child link="ref_53_link"/>
      <origin xyz="-0.00799927978516 -0.0205224685669 -0.0255599243164" rpy="1.57079632679 0.928236065379 1.57079632679" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_65_joint" type="fixed">
      <parent link="ref_53_link"/>
      <child link="ref_54_link"/>
      <origin xyz="-3.98863461097e-05 -0.000119847141567 0.00399999341965" rpy="-2.49903239217 1.57079632679 -0.0" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_66_joint" type="fixed">
      <parent link="ref_55_link"/>
      <child link="ref_83_link"/>
      <origin xyz="0.0399203762584 0.0400263221671 0.0239993227006" rpy="2.21654658269 1.57079632679 -0.0" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_67_joint" type="fixed">
      <parent link="ref_83_link"/>
      <child link="ref_85_link"/>
      <origin xyz="-2.01416015625e-07 -0.0160000419617 -4.2724609375e-08" rpy="3.14159265359 1.57079632679 -0.0" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_68_joint" type="fixed">
      <parent link="ref_85_link"/>
      <child link="ref_64_link"/>
      <origin xyz="-5.4931640625e-08 -0.0240000694275 -0.00400024719238" rpy="3.14159265359 1.57079632679 -0.0" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_69_joint" type="fixed">
      <parent link="ref_55_link"/>
      <child link="ref_59_link"/>
      <origin xyz="0.0510787816103 0.0216009881725 -5.43212825869e-07" rpy="1.57079632679 -0.0 -0.645750255898" />
      <axis xyz="0 0 0" />
    </joint>

    <!-- CAMBIADO A MANO CALCANDO LA OTRA RUEDA -->
     <joint name="ref_70_joint" type="fixed">
      <parent link="ref_58_link_hub"/>
      <child link="ref_60_link"/>
      <origin xyz="-0.0135999953902 6.27180865763e-08 0.00020025516928" rpy="3.14159265343 1.5396542947e-05 -1.04458704296e-05" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_71_joint" type="fixed">
      <parent link="ref_58_link_hub"/>
      <child link="ref_61_link"/>
      <origin xyz="-0.0139999923388 3.3327066933e-08 0.000200252172577" rpy="3.14159242312 2.3129157772e-12 1.57079617657" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_72_joint" type="fixed">
      <parent link="ref_58_link_hub"/>
      <child link="ref_62_link"/>
      <origin xyz="-0.0248000045457 4.84863450879e-08 0.000200250608749" rpy="-1.57050969656 -1.57079580134 3.14158220772" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_73_joint" type="fixed">
      <parent link="ref_58_link_hub"/>
      <child link="ref_63_link"/>
      <origin xyz="-0.0248000045455 6.06933763379e-08 0.000200253660507" rpy="3.14159242312 2.3129157772e-12 1.57079617657" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_74_joint" type="fixed">
      <parent link="ref_55_link"/>
      <child link="ref_65_link"/>
      <origin xyz="-0.00646877793183 0.0449307060853 0.00399969434742" rpy="2.21654658269 1.57079632679 -0.0" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_75_joint" type="fixed">
      <parent link="ref_55_link"/>
      <child link="ref_66_link"/>
      <origin xyz="-0.012857941605 0.0497451084184 0.00399971265796" rpy="2.21654658269 1.57079632679 -0.0" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_76_joint" type="fixed">
      <parent link="ref_80_link"/>
      <child link="ref_87_link"/>
      <origin xyz="-0.00820010430812 0.0321999442816 0.00800022220609" rpy="1.57079632679 -1.57079632679 -0.0" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_77_joint" type="fixed">
      <parent link="ref_87_link"/>
      <child link="ref_88_link"/>
      <origin xyz="-8.7559223175e-08 0.00800003890991 1.55639648438e-07" rpy="0.0 1.57079632679 -0.0" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_78_joint" type="fixed">
      <parent link="ref_88_link"/>
      <child link="ref_76_link"/>
      <origin xyz="3.08227539063e-07 -0.02400001297 0.00400005322695" rpy="3.14159265359 1.57079632679 -0.0" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_79_joint" type="fixed">
      <parent link="ref_37_link"/>
      <child link="ref_41_link"/>
      <origin xyz="-0.00799978489107 -0.0839998401413 0.000200239135829" rpy="3.14157725705 -1.60830320674e-10 -1.57080677267" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_80_joint" type="fixed">
      <parent link="ref_37_link"/>
      <child link="ref_42_link"/>
      <origin xyz="-0.00399999652623 -0.023999902522 -0.0157998346541" rpy="3.14159265343 1.5396542947e-05 -1.04458704296e-05" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_81_joint" type="fixed">
      <parent link="ref_37_link"/>
      <child link="ref_43_link"/>
      <origin xyz="-0.00400000908922 -0.0159999093883 -0.0157998041363" rpy="3.14159265343 1.5396542947e-05 -1.04458704296e-05" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_82_joint" type="fixed">
      <parent link="ref_37_link_hub"/>
      <child link="ref_72_link"/>
      <origin xyz="-0.0135999953902 6.27180865763e-08 0.00020025516928" rpy="3.14159265343 1.5396542947e-05 -1.04458704296e-05" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_83_joint" type="fixed">
      <parent link="ref_37_link_hub"/>
      <child link="ref_73_link"/>
      <origin xyz="-0.0248000045457 4.84863450879e-08 0.000200250608749" rpy="-1.57050969656 -1.57079580134 3.14158220772" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_84_joint" type="fixed">
      <parent link="ref_37_link_hub"/>
      <child link="ref_74_link"/>
      <origin xyz="-0.0248000045455 6.06933763379e-08 0.000200253660507" rpy="3.14159242312 2.3129157772e-12 1.57079617657" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_85_joint" type="fixed">
      <parent link="ref_37_link_hub"/>
      <child link="ref_75_link"/>
      <origin xyz="-0.0139999923388 3.3327066933e-08 0.000200252172577" rpy="3.14159242312 2.3129157772e-12 1.57079617657" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_86_joint" type="fixed">
      <parent link="ref_27_link"/>
      <child link="ref_77_link"/>
      <origin xyz="1.61743144781e-07 0.024000021553 -0.00399992017747" rpy="3.14159265359 1.57079632679 -0.0" />
      <axis xyz="0 0 0" />
    </joint>


    <joint name="ref_87_joint" type="fixed">
      <parent link="ref_25_link"/>
      <child link="ref_78_link"/>
      <origin xyz="-0.00020022277832 0.0161999919653 0.00399998121262" rpy="1.57078310252 1.57079632679 -0.0" />
      <axis xyz="0 0 0" />
    </joint>

    <!-- GAZEBO STUFF -->
    <gazebo reference="caster_wheel_link">
      <mu1 value="100.0" />
      <mu2 value="100.0" />
      <kp  value="1000000.0" />
      <kd  value="1.0" />
    </gazebo>

    <gazebo>
      <controller:nxt_diff_plugin name="differential_drive_controller" plugin="libnxt_diff_plugin.so">
        <alwaysOn>true</alwaysOn>
        <update>100</update>
        <updateRate>100.0</updateRate>
        <leftJoint>left_wheel_joint</leftJoint>
        <rightJoint>right_wheel_joint</rightJoint>
        <wheelSeparation>0.34</wheelSeparation>
        <wheelDiameter>0.1492</wheelDiameter>
        <torque>5</torque>
        <interface:position name="position_iface_0"/>
        <robotNamespace>/</robotNamespace>
        <topicName>cmd_vel</topicName>
      </controller:nxt_diff_plugin>

      <canonicalBody>base_link</canonicalBody>

      <controller:gazebo_ros_controller_manager name="gazebo_ros_controller_manager" plugin="libgazebo_ros_controller_manager.so">
        <alwaysOn>true</alwaysOn>
        <updateRate>100.0</updateRate>
        <interface:audio name="gazebo_ros_controller_manager_dummy_iface" />
      </controller:gazebo_ros_controller_manager>
    </gazebo>

</robot>