<?xml version="1.0"?>
<!-- created with Phobos 1.0.1 "Capricious Choutengan" -->
  <robot name="coyote3">

    <link name="coyote3_base_link">
      <inertial>
        <origin xyz="0.28885 0 0" rpy="0 0 0"/>
        <mass value="11.09694"/>
        <inertia ixx="0.0524" ixy="0" ixz="-0.00122" iyy="0.04647" iyz="0" izz="0.0755"/>
      </inertial>
      <visual name="coyote3_visual_0_base_link">
        <origin xyz="0.28885 0 0" rpy="0 0 0"/>
        <geometry>
          <mesh filename="../meshes/obj/base_link_led.obj" scale="1.0 1.0 1.0"/>
        </geometry>
        <material name="coyote3_black"/>
      </visual>
      <visual name="coyote3_visual_0_base_link_body">
        <origin xyz="-0.15115 0 -0.04505" rpy="-3.14159 0 0"/>
        <geometry>
          <mesh filename="../meshes/obj/base_link_body.obj" scale="1.0 1.0 1.0"/>
        </geometry>
        <material name="coyote3_black"/>
      </visual>
      <visual name="coyote3_visual_0_base_link_cover">
        <origin xyz="0.28885 0 0" rpy="0 0 0"/>
        <geometry>
          <mesh filename="../meshes/obj/base_link_cover.obj" scale="1.0 1.0 1.0"/>
        </geometry>
        <material name="coyote3_orange"/>
      </visual>
      <visual name="coyote3_visual_0_base_link_frame">
        <origin xyz="-0.15115 0 -0.04505" rpy="-3.14159 0 0"/>
        <geometry>
          <mesh filename="../meshes/obj/base_link_frame.obj" scale="1.0 1.0 1.0"/>
        </geometry>
        <material name="coyote3_aluminium"/>
      </visual>
      <visual name="coyote3_visual_0_base_link_ip_mesh">
        <origin xyz="0.13189 0.0002 0.28201" rpy="0 0 0"/>
        <geometry>
          <mesh filename="../meshes/obj/base_link_ip_mesh.obj" scale="1.0 1.0 1.0"/>
        </geometry>
        <material name="coyote3_black"/>
      </visual>
      <collision name="coyote3_collision_0_base_link">
        <origin xyz="0.16385 0 0.00125" rpy="0 0 0"/>
        <geometry>
          <box size="0.373 0.413 0.0965"/>
        </geometry>
      </collision>
    </link>

    <link name="coyote3_bogie">
      <inertial>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <mass value="4.2901"/>
        <inertia ixx="0.02582" ixy="-3e-05" ixz="-0.00215" iyy="0.01506" iyz="0" izz="0.02494"/>
      </inertial>
      <visual name="coyote3_visual_0_gpr">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
          <mesh filename="../meshes/obj/gpr.obj" scale="1.0 1.0 1.0"/>
        </geometry>
        <material name="coyote3_orange"/>
      </visual>
      <visual name="coyote3_visual_0_gpr_frame">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
          <mesh filename="../meshes/obj/gpr_frame.obj" scale="1.0 1.0 1.0"/>
        </geometry>
        <material name="coyote3_aluminium"/>
      </visual>
      <visual name="coyote3_visual_0_gpr_plate">
        <origin xyz="-0.22167 0 -0.20797" rpy="0 0.17453 0"/>
        <geometry>
          <box size="0.01 0.4 0.2"/>
        </geometry>
        <material name="coyote3_aluminium"/>
      </visual>
      <collision name="coyote3_collision_0_bogie.">
        <origin xyz="-0.14042 0 -0.22229" rpy="0 0 0"/>
        <geometry>
          <box size="0.20707 0.4 0.22735"/>
        </geometry>
      </collision>
    </link>

    <link name="coyote3_cam_back_link">
    </link>

    <link name="coyote3_cam_left_TOF">
      <inertial>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <mass value="1e-05"/>
        <inertia ixx="2e-05" ixy="0" ixz="0" iyy="2e-05" iyz="0" izz="2e-05"/>
      </inertial>
    </link>

    <link name="coyote3_cam_right_TOF">
      <inertial>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <mass value="1e-05"/>
        <inertia ixx="2e-05" ixy="0" ixz="0" iyy="2e-05" iyz="0" izz="2e-05"/>
      </inertial>
    </link>

    <link name="coyote3_gps_antenna_link">
      <inertial>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <mass value="1e-05"/>
        <inertia ixx="2e-05" ixy="0" ixz="0" iyy="2e-05" iyz="0" izz="2e-05"/>
      </inertial>
      <visual name="coyote3_visual_gps_antenna">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
          <mesh filename="../meshes/obj/visual_gps_antenna.obj" scale="0.015 0.015 0.03069"/>
        </geometry>
      </visual>
      <collision name="coyote3_collision_gps_antenna">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
          <cylinder radius="0.015" length="0.06139"/>
        </geometry>
      </collision>
    </link>

    <link name="coyote3_imu">
      <inertial>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <mass value="1e-05"/>
        <inertia ixx="2e-05" ixy="0" ixz="0" iyy="2e-05" iyz="0" izz="2e-05"/>
      </inertial>
      <visual name="coyote3_visual_gps_imu">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
          <box size="0.06 0.04614 0.03837"/>
        </geometry>
      </visual>
      <collision name="coyote3_collision_gps_imu">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
          <box size="0.06 0.04614 0.03837"/>
        </geometry>
      </collision>
    </link>

    <link name="coyote3_laser_scanner">
      <inertial>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <mass value="1e-05"/>
        <inertia ixx="2e-05" ixy="0" ixz="0" iyy="2e-05" iyz="0" izz="2e-05"/>
      </inertial>
      <visual name="coyote3_visual_0_hokuyo_laser_scanner">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
          <mesh filename="../meshes/obj/hokuyo_laser_scanner.obj" scale="1.0 1.0 1.0"/>
        </geometry>
      </visual>
    </link>

    <link name="coyote3_motor_wheel_front_left">
      <inertial>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <mass value="1.7203"/>
        <inertia ixx="0.01358" ixy="0" ixz="0" iyy="0.01358" iyz="0" izz="0.02647"/>
      </inertial>
      <visual name="coyote3_visual_0_wheel_FL">
        <origin xyz="0 0 0" rpy="0 3.14159 0"/>
        <geometry>
          <mesh filename="../meshes/obj/wheel_FL.obj" scale="1.0 1.0 1.0"/>
        </geometry>
        <material name="coyote3_None.002"/>
      </visual>
      <collision name="coyote3_collision_0_wheel_FR.000.025">
        <origin xyz="0 -0.25145 -0.01282" rpy="0 0 3.14159"/>
        <geometry>
          <sphere radius="0.03081"/>
        </geometry>
      </collision>
      <collision name="coyote3_collision_0_wheel_FR.000.026">
        <origin xyz="-0.12572 -0.21776 -0.01282" rpy="0 0 2.61799"/>
        <geometry>
          <sphere radius="0.03081"/>
        </geometry>
      </collision>
      <collision name="coyote3_collision_0_wheel_FR.000.027">
        <origin xyz="-0.21776 -0.12572 -0.01282" rpy="0 0 2.0944"/>
        <geometry>
          <sphere radius="0.03081"/>
        </geometry>
      </collision>
      <collision name="coyote3_collision_0_wheel_FR.000.028">
        <origin xyz="-0.25145 0 -0.01282" rpy="0 0 1.5708"/>
        <geometry>
          <sphere radius="0.03081"/>
        </geometry>
      </collision>
      <collision name="coyote3_collision_0_wheel_FR.000.029">
        <origin xyz="-0.21776 0.12572 -0.01282" rpy="0 0 1.0472"/>
        <geometry>
          <sphere radius="0.03081"/>
        </geometry>
      </collision>
      <collision name="coyote3_collision_0_wheel_FR.000.030">
        <origin xyz="-0.12572 0.21776 -0.01282" rpy="0 0 0.5236"/>
        <geometry>
          <sphere radius="0.03081"/>
        </geometry>
      </collision>
      <collision name="coyote3_collision_0_wheel_FR.000.031">
        <origin xyz="0 0.25145 -0.01282" rpy="0 0 0"/>
        <geometry>
          <sphere radius="0.03081"/>
        </geometry>
      </collision>
      <collision name="coyote3_collision_0_wheel_FR.000.032">
        <origin xyz="0.12572 0.21776 -0.01282" rpy="0 0 -0.5236"/>
        <geometry>
          <sphere radius="0.03081"/>
        </geometry>
      </collision>
      <collision name="coyote3_collision_0_wheel_FR.000.033">
        <origin xyz="0.21776 0.12572 -0.01282" rpy="0 0 -1.0472"/>
        <geometry>
          <sphere radius="0.03081"/>
        </geometry>
      </collision>
      <collision name="coyote3_collision_0_wheel_FR.000.034">
        <origin xyz="0.25145 0 -0.01282" rpy="0 0 -1.5708"/>
        <geometry>
          <sphere radius="0.03081"/>
        </geometry>
      </collision>
      <collision name="coyote3_collision_0_wheel_FR.000.035">
        <origin xyz="0.21776 -0.12572 -0.01282" rpy="0 0 -2.0944"/>
        <geometry>
          <sphere radius="0.03081"/>
        </geometry>
      </collision>
      <collision name="coyote3_collision_0_wheel_FR.000.036">
        <origin xyz="0.12572 -0.21776 -0.01282" rpy="0 0 -2.61799"/>
        <geometry>
          <sphere radius="0.03081"/>
        </geometry>
      </collision>
    </link>

    <link name="coyote3_motor_wheel_front_right">
      <inertial>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <mass value="1.7203"/>
        <inertia ixx="0.01358" ixy="0" ixz="0" iyy="0.01358" iyz="0" izz="0.02647"/>
      </inertial>
      <visual name="coyote3_visual_0_wheel_FR">
        <origin xyz="0 0 0" rpy="0 -3.14159 0"/>
        <geometry>
          <mesh filename="../meshes/obj/wheel_FR.obj" scale="1.0 1.0 1.0"/>
        </geometry>
        <material name="coyote3_None.004"/>
      </visual>
      <collision name="coyote3_collision_0_wheel_FR.000.001">
        <origin xyz="0 0.25145 -0.01246" rpy="0 -3.14159 0"/>
        <geometry>
          <sphere radius="0.03081"/>
        </geometry>
      </collision>
      <collision name="coyote3_collision_0_wheel_FR.000.002">
        <origin xyz="-0.12572 0.21776 -0.01246" rpy="0 -3.14159 0.5236"/>
        <geometry>
          <sphere radius="0.03081"/>
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      </collision>
      <collision name="coyote3_collision_0_wheel_FR.000.003">
        <origin xyz="-0.21776 0.12572 -0.01246" rpy="0 -3.14159 1.0472"/>
        <geometry>
          <sphere radius="0.03081"/>
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      </collision>
      <collision name="coyote3_collision_0_wheel_FR.000.004">
        <origin xyz="-0.25145 0 -0.01246" rpy="0 -3.14159 1.5708"/>
        <geometry>
          <sphere radius="0.03081"/>
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      </collision>
      <collision name="coyote3_collision_0_wheel_FR.000.005">
        <origin xyz="-0.21776 -0.12572 -0.01246" rpy="-3.14159 0 -1.0472"/>
        <geometry>
          <sphere radius="0.03081"/>
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      </collision>
      <collision name="coyote3_collision_0_wheel_FR.000.006">
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        <geometry>
          <sphere radius="0.03081"/>
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      </collision>
      <collision name="coyote3_collision_0_wheel_FR.000.007">
        <origin xyz="0 -0.25145 -0.01245" rpy="3.14159 0 0"/>
        <geometry>
          <sphere radius="0.03081"/>
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      </collision>
      <collision name="coyote3_collision_0_wheel_FR.000.008">
        <origin xyz="0.12572 -0.21776 -0.01245" rpy="-3.14159 0 0.5236"/>
        <geometry>
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      </collision>
      <collision name="coyote3_collision_0_wheel_FR.000.009">
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        <geometry>
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      </collision>
      <collision name="coyote3_collision_0_wheel_FR.000.010">
        <origin xyz="0.25145 0 -0.01246" rpy="0 3.14159 -1.5708"/>
        <geometry>
          <sphere radius="0.03081"/>
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      </collision>
      <collision name="coyote3_collision_0_wheel_FR.000.011">
        <origin xyz="0.21776 0.12572 -0.01246" rpy="0 3.14159 -1.0472"/>
        <geometry>
          <sphere radius="0.03081"/>
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      </collision>
      <collision name="coyote3_collision_0_wheel_FR.000.012">
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        <geometry>
          <sphere radius="0.03081"/>
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      </collision>
    </link>

    <link name="coyote3_motor_wheel_rear_left">
      <inertial>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <mass value="1.7203"/>
        <inertia ixx="0.01358" ixy="0" ixz="0" iyy="0.01358" iyz="0" izz="0.02647"/>
      </inertial>
      <visual name="coyote3_visual_0_wheel_RL">
        <origin xyz="0 0 0" rpy="-3.14159 0 0"/>
        <geometry>
          <mesh filename="../meshes/obj/wheel_RL.obj" scale="1.0 1.0 1.0"/>
        </geometry>
        <material name="coyote3_None.008"/>
      </visual>
      <collision name="coyote3_collision_0_wheel_FR.000.037">
        <origin xyz="0 0.25095 -0.01245" rpy="0 0 0"/>
        <geometry>
          <sphere radius="0.03081"/>
        </geometry>
      </collision>
      <collision name="coyote3_collision_0_wheel_FR.000.038">
        <origin xyz="0.12547 0.21733 -0.01245" rpy="0 0 -0.5236"/>
        <geometry>
          <sphere radius="0.03081"/>
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      </collision>
      <collision name="coyote3_collision_0_wheel_FR.000.039">
        <origin xyz="0.21733 0.12547 -0.01245" rpy="0 0 -1.0472"/>
        <geometry>
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      </collision>
      <collision name="coyote3_collision_0_wheel_FR.000.040">
        <origin xyz="0.25095 0 -0.01245" rpy="0 0 -1.5708"/>
        <geometry>
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      </collision>
      <collision name="coyote3_collision_0_wheel_FR.000.041">
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      <collision name="coyote3_collision_0_wheel_FR.000.042">
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      <collision name="coyote3_collision_0_wheel_FR.000.043">
        <origin xyz="0 -0.25095 -0.01245" rpy="0 0 3.14159"/>
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      <collision name="coyote3_collision_0_wheel_FR.000.044">
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      <collision name="coyote3_collision_0_wheel_FR.000.045">
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      <collision name="coyote3_collision_0_wheel_FR.000.046">
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      </collision>
      <collision name="coyote3_collision_0_wheel_FR.000.047">
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      </collision>
      <collision name="coyote3_collision_0_wheel_FR.000.048">
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        <geometry>
          <sphere radius="0.03081"/>
        </geometry>
      </collision>
    </link>

    <link name="coyote3_motor_wheel_rear_right">
      <inertial>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <mass value="1.7203"/>
        <inertia ixx="0.01358" ixy="0" ixz="0" iyy="0.01358" iyz="0" izz="0.02647"/>
      </inertial>
      <visual name="coyote3_visual_0_wheel_RR">
        <origin xyz="0 0 0" rpy="0 -3.14159 0"/>
        <geometry>
          <mesh filename="../meshes/obj/wheel_RR.obj" scale="1.0 1.0 1.0"/>
        </geometry>
        <material name="coyote3_None.010"/>
      </visual>
      <collision name="coyote3_collision_0_wheel_FR.000.013">
        <origin xyz="0 0.25095 -0.01209" rpy="0 -3.14159 0"/>
        <geometry>
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      </collision>
      <collision name="coyote3_collision_0_wheel_FR.000.014">
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      <collision name="coyote3_collision_0_wheel_FR.000.015">
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      <collision name="coyote3_collision_0_wheel_FR.000.016">
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      <collision name="coyote3_collision_0_wheel_FR.000.017">
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      <collision name="coyote3_collision_0_wheel_FR.000.018">
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      <collision name="coyote3_collision_0_wheel_FR.000.019">
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      <collision name="coyote3_collision_0_wheel_FR.000.020">
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      <collision name="coyote3_collision_0_wheel_FR.000.022">
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      <collision name="coyote3_collision_0_wheel_FR.000.023">
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      <collision name="coyote3_collision_0_wheel_FR.000.024">
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        <geometry>
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    </link>

    <link name="coyote3_sensor_head">
      <inertial>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <mass value="0.43264"/>
        <inertia ixx="0.00044" ixy="0" ixz="0" iyy="0.00046" iyz="0" izz="0.00017"/>
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      <visual name="coyote3_sensor_head_tof">
        <origin xyz="-0.04773 -0.00149 0" rpy="-0.01207 -1.5708 -1.55872"/>
        <geometry>
          <mesh filename="../meshes/obj/sensor_head.obj" scale="1.0 1.0 1.0"/>
        </geometry>
      </visual>
    </link>

    <link name="coyote3_sensor_head_fixed">
    </link>

    <link name="coyote3_tof_pan_left">
      <visual name="coyote3_visual_tof_left">
        <origin xyz="-0.07829 0.01381 -0.0265" rpy="0 0 -1.74533"/>
        <geometry>
          <mesh filename="../meshes/obj/sensor_head_tof_left.obj" scale="1.0 1.0 1.0"/>
        </geometry>
      </visual>
      <collision name="coyote3_collision_tof_left">
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        <geometry>
          <box size="0.027 0.103 0.043"/>
        </geometry>
      </collision>
    </link>

    <link name="coyote3_tof_pan_right">
      <visual name="coyote3_visual_tof_right">
        <origin xyz="-0.07829 -0.01381 -0.0265" rpy="0 0 -1.39626"/>
        <geometry>
          <mesh filename="../meshes/obj/sensor_head_tof_right.obj" scale="1.0 1.0 1.0"/>
        </geometry>
      </visual>
      <collision name="coyote3_collision_tof_right">
        <origin xyz="0.0155 -0.052 0.0265" rpy="0 0 0"/>
        <geometry>
          <box size="0.027 0.103 0.043"/>
        </geometry>
      </collision>
    </link>

    <joint name="coyote3_ROT_bogie" type="revolute">
      <origin xyz="-0.24735 0 0.0005" rpy="0 1.5708 0"/>
      <parent link="coyote3_base_link"/>
      <child link="coyote3_bogie"/>
      <axis xyz="0 0 -1.0"/>
      <limit lower="-0.5236" upper="0.5236" effort="5.0" velocity="3.141"/>
    </joint>

    <joint name="coyote3_cam_back_link" type="fixed">
      <origin xyz="-0.6112 0 0.0005" rpy="-1.57079 0 1.5708"/>
      <parent link="coyote3_base_link"/>
      <child link="coyote3_cam_back_link"/>
    </joint>

    <joint name="coyote3_cam_left_TOF" type="fixed">
      <origin xyz="0.027 0.0685 0.0265" rpy="1.5708 0 1.5708"/>
      <parent link="coyote3_tof_pan_left"/>
      <child link="coyote3_cam_left_TOF"/>
    </joint>

    <joint name="coyote3_cam_right_TOF" type="fixed">
      <origin xyz="0.027 -0.0685 0.0265" rpy="-1.57079 0 -1.5708"/>
      <parent link="coyote3_tof_pan_right"/>
      <child link="coyote3_cam_right_TOF"/>
    </joint>

    <joint name="coyote3_gps_antenna_link" type="fixed">
      <origin xyz="0.035 0.012 0.211" rpy="0 0 0"/>
      <parent link="coyote3_base_link"/>
      <child link="coyote3_gps_antenna_link"/>
    </joint>

    <joint name="coyote3_imu" type="fixed">
      <origin xyz="0.0665 0.047 0.151" rpy="0 0 -3.14159"/>
      <parent link="coyote3_base_link"/>
      <child link="coyote3_imu"/>
    </joint>

    <joint name="coyote3_laser_scanner" type="fixed">
      <origin xyz="0 -0.026 0" rpy="1.5708 0 0"/>
      <parent link="coyote3_sensor_head"/>
      <child link="coyote3_laser_scanner"/>
    </joint>

    <joint name="coyote3_motor_wheel_front_left" type="continuous">
      <origin xyz="0.28885 0.27135 0" rpy="1.57079 -3.14159 0"/>
      <parent link="coyote3_base_link"/>
      <child link="coyote3_motor_wheel_front_left"/>
      <axis xyz="0 0 -1.0"/>
      <limit effort="100.0" velocity="6.28"/>
    </joint>

    <joint name="coyote3_motor_wheel_front_right" type="continuous">
      <origin xyz="0.28885 -0.27135 0" rpy="-1.57079 3.14159 0"/>
      <parent link="coyote3_base_link"/>
      <child link="coyote3_motor_wheel_front_right"/>
      <axis xyz="0 0 1.0"/>
      <limit effort="100.0" velocity="6.28"/>
    </joint>

    <joint name="coyote3_motor_wheel_rear_left" type="continuous">
      <origin xyz="0 0.27172 -0.0415" rpy="1.62341 -1.5708 -0.05261"/>
      <parent link="coyote3_bogie"/>
      <child link="coyote3_motor_wheel_rear_left"/>
      <axis xyz="0 0 -1.0"/>
      <limit effort="100.0" velocity="6.28"/>
    </joint>

    <joint name="coyote3_motor_wheel_rear_right" type="continuous">
      <origin xyz="0 -0.27172 -0.0415" rpy="-1.59494 1.57079 -0.02414"/>
      <parent link="coyote3_bogie"/>
      <child link="coyote3_motor_wheel_rear_right"/>
      <axis xyz="0 0 1.0"/>
      <limit effort="100.0" velocity="6.28"/>
    </joint>

    <joint name="coyote3_sensor_head" type="revolute">
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <parent link="coyote3_sensor_head_fixed"/>
      <child link="coyote3_sensor_head"/>
      <axis xyz="0 0 -1.0"/>
      <limit lower="-3.14" upper="3.14" effort="30.0" velocity="6.28"/>
    </joint>

    <joint name="coyote3_sensor_head_fixed" type="fixed">
      <origin xyz="0.3221 0 0.1345" rpy="1.5708 0 0"/>
      <parent link="coyote3_base_link"/>
      <child link="coyote3_sensor_head_fixed"/>
    </joint>

    <joint name="coyote3_tof_pan_left" type="fixed">
      <origin xyz="0.03177 0.02501 0" rpy="-1.5708 0.34907 0"/>
      <parent link="coyote3_sensor_head"/>
      <child link="coyote3_tof_pan_left"/>
    </joint>

    <joint name="coyote3_tof_pan_right" type="fixed">
      <origin xyz="0.03177 0.02501 0" rpy="-1.5708 -0.34907 0"/>
      <parent link="coyote3_sensor_head"/>
      <child link="coyote3_tof_pan_right"/>
    </joint>

    <material name="coyote3_None.002">
      <color rgba="0.8 0.8 0.8 1.0"/>
    </material>

    <material name="coyote3_None.004">
      <color rgba="0.8 0.8 0.8 1.0"/>
    </material>

    <material name="coyote3_None.008">
      <color rgba="0.8 0.8 0.8 1.0"/>
    </material>

    <material name="coyote3_None.010">
      <color rgba="0.8 0.8 0.8 1.0"/>
    </material>

    <material name="coyote3_aluminium">
      <color rgba="0.78071 0.82756 0.77306 1.0"/>
    </material>

    <material name="coyote3_black">
      <color rgba="0.32509 0.34238 0.34238 1.0"/>
    </material>

    <material name="coyote3_orange">
      <color rgba="0.8412 0.43185 0.04758 1.0"/>
    </material>

  </robot>
