<?xml version="1.0" ?>
<robot name="duru_urdf" xmlns:xacro="http://www.ros.org/wiki/xacro">

<xacro:include filename="$(find duru_urdf_description)/urdf/materials.xacro" />
<xacro:include filename="$(find duru_urdf_description)/urdf/duru_urdf.trans" />
<xacro:include filename="$(find duru_urdf_description)/urdf/duru_urdf.gazebo" />
<link name="base_link">
  <inertial>
    <origin xyz="0.0025063996888676993 6.18864581074269e-17 0.144708365482515" rpy="0 0 0"/>
    <mass value="203.16003115712493"/>
    <inertia ixx="4.307522" iyy="8.227537" izz="9.633563" ixy="-0.0" iyz="0.0" ixz="-0.093878"/>
  </inertial>
  <visual>
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <geometry>
      <mesh filename="file://$(find duru_urdf_description)/meshes/base_link.stl" scale="0.001 0.001 0.001"/>
    </geometry>
    <material name="silver"/>
  </visual>
  <collision>
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <geometry>
      <mesh filename="file://$(find duru_urdf_description)/meshes/base_link.stl" scale="0.001 0.001 0.001"/>
    </geometry>
  </collision>
</link>

<link name="fwl_1_1">
  <inertial>
    <origin xyz="2.7755575615628914e-17 0.03249999999999997 6.938893903907228e-18" rpy="0 0 0"/>
    <mass value="3.2845580573678106"/>
    <inertia ixx="0.015358" iyy="0.028404" izz="0.015358" ixy="-0.0" iyz="-0.0" ixz="0.0"/>
  </inertial>
  <visual>
    <origin xyz="-0.184 -0.255 -0.0615" rpy="0 0 0"/>
    <geometry>
      <mesh filename="file://$(find duru_urdf_description)/meshes/fwl_1_1.stl" scale="0.001 0.001 0.001"/>
    </geometry>
    <material name="silver"/>
  </visual>
  <collision>
    <origin xyz="-0.184 -0.255 -0.0615" rpy="0 0 0"/>
    <geometry>
      <mesh filename="file://$(find duru_urdf_description)/meshes/fwl_1_1.stl" scale="0.001 0.001 0.001"/>
    </geometry>
  </collision>
</link>

<link name="fwr_1_1">
  <inertial>
    <origin xyz="-5.551115123125783e-17 -0.03249999999999997 -2.0816681711721685e-17" rpy="0 0 0"/>
    <mass value="3.2845580573678106"/>
    <inertia ixx="0.015358" iyy="0.028404" izz="0.015358" ixy="0.0" iyz="0.0" ixz="-0.0"/>
  </inertial>
  <visual>
    <origin xyz="-0.184 0.255 -0.0615" rpy="0 0 0"/>
    <geometry>
      <mesh filename="file://$(find duru_urdf_description)/meshes/fwr_1_1.stl" scale="0.001 0.001 0.001"/>
    </geometry>
    <material name="silver"/>
  </visual>
  <collision>
    <origin xyz="-0.184 0.255 -0.0615" rpy="0 0 0"/>
    <geometry>
      <mesh filename="file://$(find duru_urdf_description)/meshes/fwr_1_1.stl" scale="0.001 0.001 0.001"/>
    </geometry>
  </collision>
</link>

<link name="rwr_1_1">
  <inertial>
    <origin xyz="-2.7755575615628914e-17 -0.03249999999999997 -1.3877787807814457e-17" rpy="0 0 0"/>
    <mass value="3.2845580573678084"/>
    <inertia ixx="0.015358" iyy="0.028404" izz="0.015358" ixy="-0.0" iyz="-0.0" ixz="0.0"/>
  </inertial>
  <visual>
    <origin xyz="0.184 0.255 -0.0615" rpy="0 0 0"/>
    <geometry>
      <mesh filename="file://$(find duru_urdf_description)/meshes/rwr_1_1.stl" scale="0.001 0.001 0.001"/>
    </geometry>
    <material name="silver"/>
  </visual>
  <collision>
    <origin xyz="0.184 0.255 -0.0615" rpy="0 0 0"/>
    <geometry>
      <mesh filename="file://$(find duru_urdf_description)/meshes/rwr_1_1.stl" scale="0.001 0.001 0.001"/>
    </geometry>
  </collision>
</link>

<link name="rwl_1_1">
  <inertial>
    <origin xyz="0.0 0.03249999999999997 -6.938893903907228e-18" rpy="0 0 0"/>
    <mass value="3.2845580573678084"/>
    <inertia ixx="0.015358" iyy="0.028404" izz="0.015358" ixy="0.0" iyz="0.0" ixz="-0.0"/>
  </inertial>
  <visual>
    <origin xyz="0.184 -0.255 -0.0615" rpy="0 0 0"/>
    <geometry>
      <mesh filename="file://$(find duru_urdf_description)/meshes/rwl_1_1.stl" scale="0.001 0.001 0.001"/>
    </geometry>
    <material name="silver"/>
  </visual>
  <collision>
    <origin xyz="0.184 -0.255 -0.0615" rpy="0 0 0"/>
    <geometry>
      <mesh filename="file://$(find duru_urdf_description)/meshes/rwl_1_1.stl" scale="0.001 0.001 0.001"/>
    </geometry>
  </collision>
</link>

<link name="imu_1">
  <inertial>
    <origin xyz="0.0 0.0 0.010000000000000064" rpy="0 0 0"/>
    <mass value="0.32813000000000003"/>
    <inertia ixx="9.4e-05" iyy="5e-05" izz="0.000122" ixy="-0.0" iyz="-0.0" ixz="-0.0"/>
  </inertial>
  <visual>
    <origin xyz="-0.0 -0.0 -0.286" rpy="0 0 0"/>
    <geometry>
      <mesh filename="file://$(find duru_urdf_description)/meshes/imu_1.stl" scale="0.001 0.001 0.001"/>
    </geometry>
    <material name="silver"/>
  </visual>
  <collision>
    <origin xyz="-0.0 -0.0 -0.286" rpy="0 0 0"/>
    <geometry>
      <mesh filename="file://$(find duru_urdf_description)/meshes/imu_1.stl" scale="0.001 0.001 0.001"/>
    </geometry>
  </collision>
</link>

<link name="lidar_1">
  <inertial>
    <origin xyz="0.007899963334043858 -5.87501579063704e-17 0.021704966301194728" rpy="0 0 0"/>
    <mass value="1.4388945419522388"/>
    <inertia ixx="0.000754" iyy="0.00074" izz="0.000846" ixy="-0.0" iyz="-0.0" ixz="3.9e-05"/>
  </inertial>
  <visual>
    <origin xyz="-0.227349 0.0 -0.37207" rpy="0 0 0"/>
    <geometry>
      <mesh filename="file://$(find duru_urdf_description)/meshes/lidar_1.stl" scale="0.001 0.001 0.001"/>
    </geometry>
    <material name="silver"/>
  </visual>
  <collision>
    <origin xyz="-0.227349 0.0 -0.37207" rpy="0 0 0"/>
    <geometry>
      <mesh filename="file://$(find duru_urdf_description)/meshes/lidar_1.stl" scale="0.001 0.001 0.001"/>
    </geometry>
  </collision>
</link>

<joint name="fwl_joint" type="continuous">
  <origin xyz="0.184 0.255 0.0615" rpy="0 0 0"/>
  <parent link="base_link"/>
  <child link="fwl_1_1"/>
  <axis xyz="0.0 1.0 0.0"/>
</joint>

<joint name="fwr_joint" type="continuous">
  <origin xyz="0.184 -0.255 0.0615" rpy="0 0 0"/>
  <parent link="base_link"/>
  <child link="fwr_1_1"/>
  <axis xyz="0.0 -1.0 0.0"/>
</joint>

<joint name="rwr_joint" type="continuous">
  <origin xyz="-0.184 -0.255 0.0615" rpy="0 0 0"/>
  <parent link="base_link"/>
  <child link="rwr_1_1"/>
  <axis xyz="0.0 -1.0 0.0"/>
</joint>

<joint name="rwl_joint" type="continuous">
  <origin xyz="-0.184 0.255 0.0615" rpy="0 0 0"/>
  <parent link="base_link"/>
  <child link="rwl_1_1"/>
  <axis xyz="0.0 1.0 0.0"/>
</joint>

<joint name="imu_joint" type="fixed">
  <origin xyz="0.0 0.0 0.286" rpy="0 0 0"/>
  <parent link="base_link"/>
  <child link="imu_1"/>
</joint>

<joint name="lidar_joint" type="fixed">
  <origin xyz="0.227349 0.0 0.37207" rpy="0 0 0"/>
  <parent link="base_link"/>
  <child link="lidar_1"/>
</joint>

</robot>
