<?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from scout_mini_v2.xacro            | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="scout_mini_v2">
  <!-- Base link -->
  <link name="base_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://scout_description/meshes/mini_base_link.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.008"/>
      <geometry>
        <box size="0.595 0.395 0.13"/>
      </geometry>
    </collision>
  </link>
  <link name="base_footprint"/>
  <joint name="base_footprint_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 -0.178"/>
    <parent link="base_link"/>
    <child link="base_footprint"/>
  </joint>
  <link name="inertial_link">
    <inertial>
      <mass value="18"/>
      <origin xyz="0.0 0.0 0.0"/>
      <inertia ixx="2.288641" ixy="0" ixz="0" iyy="5.103976" iyz="0" izz="3.431465"/>
    </inertial>
  </link>
  <joint name="inertial_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <parent link="base_link"/>
    <child link="inertial_link"/>
  </joint>
  <link name="front_right_wheel_link">
    <inertial>
      <mass value="1"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171"/>
    </inertial>
    <visual>
      <!-- <origin xyz="0 0 0" rpy="0 0 0" /> -->
      <origin rpy="0 0 0" xyz="-0.221 -0.225 0.0925"/>
      <geometry>
        <mesh filename="package://scout_description/meshes/mini_wheel.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="1.570795 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.0852" radius="0.0875"/>
      </geometry>
    </collision>
  </link>
  <joint name="front_right_wheel" type="continuous">
    <parent link="base_link"/>
    <child link="front_right_wheel_link"/>
    <origin rpy="3.14 0 0" xyz="0.226 -0.245 -0.0905"/>
    <axis rpy="0 0 0" xyz="0 -1 0"/>
  </joint>
  <link name="front_left_wheel_link">
    <inertial>
      <mass value="1"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171"/>
    </inertial>
    <visual>
      <!-- <origin xyz="0 0 0" rpy="0 0 0" /> -->
      <origin rpy="0 0 0" xyz="-0.221 -0.225 0.0925"/>
      <geometry>
        <mesh filename="package://scout_description/meshes/mini_wheel.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="1.570795 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.0852" radius="0.0875"/>
      </geometry>
    </collision>
  </link>
  <joint name="front_left_wheel" type="continuous">
    <parent link="base_link"/>
    <child link="front_left_wheel_link"/>
    <origin rpy="0 0 0" xyz="0.226 0.245 -0.0905"/>
    <axis rpy="0 0 0" xyz="0 -1 0"/>
  </joint>
  <link name="rear_left_wheel_link">
    <inertial>
      <mass value="1"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171"/>
    </inertial>
    <visual>
      <!-- <origin xyz="0 0 0" rpy="0 0 0" /> -->
      <origin rpy="0 0 0" xyz="-0.221 -0.225 0.0925"/>
      <geometry>
        <mesh filename="package://scout_description/meshes/mini_wheel.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="1.570795 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.0852" radius="0.0875"/>
      </geometry>
    </collision>
  </link>
  <joint name="rear_left_wheel" type="continuous">
    <parent link="base_link"/>
    <child link="rear_left_wheel_link"/>
    <origin rpy="0 0 0" xyz="-0.226 0.245 -0.0905"/>
    <axis rpy="0 0 0" xyz="0 -1 0"/>
  </joint>
  <link name="rear_right_wheel_link">
    <inertial>
      <mass value="1"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171"/>
    </inertial>
    <visual>
      <!-- <origin xyz="0 0 0" rpy="0 0 0" /> -->
      <origin rpy="0 0 0" xyz="-0.221 -0.225 0.0925"/>
      <geometry>
        <mesh filename="package://scout_description/meshes/mini_wheel.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="1.570795 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.0852" radius="0.0875"/>
      </geometry>
    </collision>
  </link>
  <joint name="rear_right_wheel" type="continuous">
    <parent link="base_link"/>
    <child link="rear_right_wheel_link"/>
    <origin rpy="3.14 0 0" xyz="-0.226 -0.245 -0.0905"/>
    <axis rpy="0 0 0" xyz="0 -1 0"/>
  </joint>
</robot>
