<?xml version="1.0"?>
  <robot name="asguard_v4">

    <link name="body">
      <inertial>
        <origin xyz="0.035 0 0.07825" rpy="0 0 0"/>
        <mass value="2.001"/>
        <inertia ixx="0.01688" ixy="0" ixz="0" iyy="0.05042" iyz="0" izz="0.0498"/>
      </inertial>
      <visual name="vis_body">
        <origin xyz="0.08377 0 0.11452" rpy="0 0 0"/>
        <geometry>
          <mesh filename="../meshes/obj/body.obj" scale="1.0 1.0 1.0"/>
        </geometry>
        <material name="bar_material"/>
      </visual>
      <visual name="vis_front_bar">
        <origin xyz="0.23632 2e-05 0.00873" rpy="1.5708 0 0"/>
        <geometry>
          <mesh filename="../meshes/obj/front_bar.obj" scale="1.0 1.0 1.0"/>
        </geometry>
        <material name="bar_material"/>
      </visual>
      <visual name="vis_middle_bar">
        <origin xyz="0.00561 0.00014 0.00528" rpy="1.5708 0 0"/>
        <geometry>
          <mesh filename="../meshes/obj/middle_bar.obj" scale="1.0 1.0 1.0"/>
        </geometry>
        <material name="bar_material"/>
      </visual>
      <visual name="vis_velodyne">
        <origin xyz="0 0 0" rpy="0 0 1.5708"/>
        <geometry>
          <mesh filename="../meshes/obj/velodyne.obj" scale="1.0 1.0 1.0"/>
        </geometry>
        <material name="bar_material"/>
      </visual>
      <collision name="collision_body">
        <origin xyz="0.035 0 0.07825" rpy="0 0 0"/>
        <geometry>
          <box size="0.49699 0.214 0.22251"/>
        </geometry>
      </collision>
    </link>

    <link name="camera_left">
    </link>

    <link name="camera_right">
    </link>

    <link name="imu">
    </link>

    <link name="rear_bar_passive">
      <visual name="vis_rear_bar">
        <origin xyz="0 0 0" rpy="1.5708 0 -1.5708"/>
        <geometry>
          <mesh filename="../meshes/obj/rear_bar.obj" scale="1.0 1.0 1.0"/>
        </geometry>
        <material name="bar_material"/>
      </visual>
    </link>

    <link name="velodyne">
    </link>

    <link name="wheel_front_left_motor">
      <inertial>
        <origin xyz="-0.00066 0.00016 0.00076" rpy="0 0 0"/>
        <mass value="0.105"/>
        <inertia ixx="0.00676" ixy="0" ixz="0" iyy="0.00846" iyz="0" izz="0.00676"/>
      </inertial>
      <visual name="vis_wheel_front_left">
        <origin xyz="0 0 0" rpy="1.5708 0 0"/>
        <geometry>
          <mesh filename="../meshes/obj/wheel_front_left.obj" scale="1.0 1.0 1.0"/>
        </geometry>
        <material name="wheel_material"/>
      </visual>
      <collision name="col_wheel_front_left_01">
        <origin xyz="-0.03667 0.00016 0.18242" rpy="1.5708 0 0"/>
        <geometry>
          <sphere radius="0.02801"/>
        </geometry>
      </collision>
      <collision name="col_wheel_front_left_02">
        <origin xyz="0.16037 0.00016 0.08994" rpy="1.5708 0 0"/>
        <geometry>
          <sphere radius="0.02814"/>
        </geometry>
      </collision>
      <collision name="col_wheel_front_left_03">
        <origin xyz="0.13459 0.00016 -0.12363" rpy="1.5708 0 0"/>
        <geometry>
          <sphere radius="0.02779"/>
        </geometry>
      </collision>
      <collision name="col_wheel_front_left_04">
        <origin xyz="-0.07661 0.00016 -0.16714" rpy="1.5708 0 0"/>
        <geometry>
          <sphere radius="0.02825"/>
        </geometry>
      </collision>
      <collision name="col_wheel_front_left_05">
        <origin xyz="-0.185 0.00016 0.02221" rpy="1.5708 0 0"/>
        <geometry>
          <sphere radius="0.02774"/>
        </geometry>
      </collision>
    </link>

    <link name="wheel_front_right_motor">
      <inertial>
        <origin xyz="-0.00031 -0.00016 0.00047" rpy="0 0 0"/>
        <mass value="0.105"/>
        <inertia ixx="0.00676" ixy="0" ixz="0" iyy="0.00846" iyz="0" izz="0.00676"/>
      </inertial>
      <visual name="vis_wheel_front_right">
        <origin xyz="0 0 0" rpy="1.5708 0 0"/>
        <geometry>
          <mesh filename="../meshes/obj/wheel_front_right.obj" scale="1.0 1.0 1.0"/>
        </geometry>
        <material name="wheel_material"/>
      </visual>
      <collision name="col_wheel_front_right_01">
        <origin xyz="-0.02751 -0.00016 0.18385" rpy="1.5708 0 0"/>
        <geometry>
          <sphere radius="0.02785"/>
        </geometry>
      </collision>
      <collision name="col_wheel_front_right_02">
        <origin xyz="0.16502 -0.00016 0.08167" rpy="1.5708 0 0"/>
        <geometry>
          <sphere radius="0.02823"/>
        </geometry>
      </collision>
      <collision name="col_wheel_front_right_03">
        <origin xyz="0.12843 -0.00016 -0.13057" rpy="1.5708 0 0"/>
        <geometry>
          <sphere radius="0.02765"/>
        </geometry>
      </collision>
      <collision name="col_wheel_front_right_04">
        <origin xyz="-0.08434 -0.00016 -0.1634" rpy="1.5708 0 0"/>
        <geometry>
          <sphere radius="0.02821"/>
        </geometry>
      </collision>
      <collision name="col_wheel_front_right_05">
        <origin xyz="-0.18314 -0.00016 0.03078" rpy="1.5708 0 0"/>
        <geometry>
          <sphere radius="0.0279"/>
        </geometry>
      </collision>
    </link>

    <link name="wheel_rear_left_motor">
      <inertial>
        <origin xyz="-0.00045 0.00016 0.001" rpy="0 0 0"/>
        <mass value="0.105"/>
        <inertia ixx="0.00677" ixy="0" ixz="0" iyy="0.00847" iyz="0" izz="0.00676"/>
      </inertial>
      <visual name="vis_wheel_rear_left">
        <origin xyz="0 0 0" rpy="1.5708 0 0"/>
        <geometry>
          <mesh filename="../meshes/obj/wheel_rear_left.obj" scale="1.0 1.0 1.0"/>
        </geometry>
        <material name="wheel_material"/>
      </visual>
      <collision name="col_wheel_rear_left_01">
        <origin xyz="-0.00949 0.00016 0.18687" rpy="1.5708 0 0"/>
        <geometry>
          <sphere radius="0.02773"/>
        </geometry>
      </collision>
      <collision name="col_wheel_rear_left_02">
        <origin xyz="0.17243 0.00016 0.06556" rpy="1.5708 0 0"/>
        <geometry>
          <sphere radius="0.02827"/>
        </geometry>
      </collision>
      <collision name="col_wheel_rear_left_03">
        <origin xyz="0.11429 0.00016 -0.14275" rpy="1.5708 0 0"/>
        <geometry>
          <sphere radius="0.028"/>
        </geometry>
      </collision>
      <collision name="col_wheel_rear_left_04">
        <origin xyz="-0.10039 0.00016 -0.15354" rpy="1.5708 0 0"/>
        <geometry>
          <sphere radius="0.02811"/>
        </geometry>
      </collision>
      <collision name="col_wheel_rear_left_05">
        <origin xyz="-0.17909 0.00016 0.04884" rpy="1.5708 0 0"/>
        <geometry>
          <sphere radius="0.02816"/>
        </geometry>
      </collision>
    </link>

    <link name="wheel_rear_right_motor">
      <inertial>
        <origin xyz="-0.0004 -0.00016 0.00049" rpy="0 0 0"/>
        <mass value="0.105"/>
        <inertia ixx="0.00677" ixy="0" ixz="0" iyy="0.00847" iyz="0" izz="0.00676"/>
      </inertial>
      <visual name="vis_wheel_rear_right">
        <origin xyz="0 0 0" rpy="1.5708 0 0"/>
        <geometry>
          <mesh filename="../meshes/obj/wheel_rear_right.obj" scale="1.0 1.0 1.0"/>
        </geometry>
        <material name="wheel_material"/>
      </visual>
      <collision name="col_wheel_rear_right_01">
        <origin xyz="-0.01511 -0.00016 0.18578" rpy="1.5708 0 0"/>
        <geometry>
          <sphere radius="0.02768"/>
        </geometry>
      </collision>
      <collision name="col_wheel_rear_right_02">
        <origin xyz="0.17033 -0.00016 0.07023" rpy="1.5708 0 0"/>
        <geometry>
          <sphere radius="0.02827"/>
        </geometry>
      </collision>
      <collision name="col_wheel_rear_right_03">
        <origin xyz="0.11876 -0.00016 -0.1395" rpy="1.5708 0 0"/>
        <geometry>
          <sphere radius="0.02792"/>
        </geometry>
      </collision>
      <collision name="col_wheel_rear_right_04">
        <origin xyz="-0.0955 -0.00016 -0.15706" rpy="1.5708 0 0"/>
        <geometry>
          <sphere radius="0.02808"/>
        </geometry>
      </collision>
      <collision name="col_wheel_rear_right_05">
        <origin xyz="-0.1805 -0.00016 0.04302" rpy="1.5708 0 0"/>
        <geometry>
          <sphere radius="0.0281"/>
        </geometry>
      </collision>
    </link>

    <joint name="camera_left" type="fixed">
      <origin xyz="0 0.08171 0.2195" rpy="0 0 1.5708"/>
      <parent link="body"/>
      <child link="camera_left"/>
    </joint>

    <joint name="camera_right" type="fixed">
      <origin xyz="0 -0.08171 0.2195" rpy="0 0 -1.57079"/>
      <parent link="body"/>
      <child link="camera_right"/>
    </joint>

    <joint name="imu" type="fixed">
      <origin xyz="0 0 0" rpy="0 0 -3.14159"/>
      <parent link="body"/>
      <child link="imu"/>
    </joint>

    <joint name="rear_bar_passive" type="continuous">
      <origin xyz="-0.27992 -3e-05 -3e-05" rpy="0 0 1.5708"/>
      <parent link="body"/>
      <child link="rear_bar_passive"/>
      <axis xyz="0 -1.0 0"/>
      <limit effort="0" velocity="0"/>
    </joint>

    <joint name="velodyne" type="fixed">
      <origin xyz="0 0 0.25667" rpy="0 0 -3.14159"/>
      <parent link="body"/>
      <child link="velodyne"/>
      <limit effort="0" velocity="0"/>
    </joint>

    <joint name="wheel_front_left_motor" type="continuous">
      <origin xyz="0.2415 0.26674 -0.00029" rpy="0 0 0"/>
      <parent link="body"/>
      <child link="wheel_front_left_motor"/>
      <axis xyz="0 1.0 0"/>
      <limit effort="72.0" velocity="7.199"/>
    </joint>

    <joint name="wheel_front_right_motor" type="continuous">
      <origin xyz="0.24125 -0.26674 0.00014" rpy="0 0 0"/>
      <parent link="body"/>
      <child link="wheel_front_right_motor"/>
      <axis xyz="0 1.0 0"/>
      <limit effort="72.0" velocity="7.199"/>
    </joint>

    <joint name="wheel_rear_left_motor" type="continuous">
      <origin xyz="0.26677 -0.00167 -0.00012" rpy="0 0 -1.5708"/>
      <parent link="rear_bar_passive"/>
      <child link="wheel_rear_left_motor"/>
      <axis xyz="0 1.0 0"/>
      <limit effort="72.0" velocity="7.199"/>
    </joint>

    <joint name="wheel_rear_right_motor" type="continuous">
      <origin xyz="-0.26671 -0.00147 0.00031" rpy="0 0 -1.5708"/>
      <parent link="rear_bar_passive"/>
      <child link="wheel_rear_right_motor"/>
      <axis xyz="0 1.0 0"/>
      <limit effort="72.0" velocity="7.199"/>
    </joint>

    <material name="bar_material">
      <color rgba="0.8 0.8 0.8 1.0"/>
    </material>

    <material name="wheel_material">
      <color rgba="0 0 0 1.0"/>
    </material>

  </robot>
