<robot
  name="base">
  <link
    name="base_link">
    <inertial>
      <origin
        xyz="-0.257082749974343 -0.227847593519202 0.0535404411050965"
        rpy="0 0 0" />
      <mass
        value="70.0210745907357" />
      <inertia
        ixx="9.06122735721955"
        ixy="0.0933988942518672"
        ixz="0.665662584048376"
        iyy="12.5350462868938"
        iyz="0.00262520723302998"
        izz="7.44839974564544" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <!-- <mesh -->
        <!--   filename="package://iai_boxy_base/meshes/base_link.STL" /> -->
        <mesh
          filename="package://iai_boxy_base/meshes/base_link.dae" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="package://iai_boxy_base/meshes/base_link_simple.STL" />
      </geometry>
    </collision>
  </link>
  <link
    name="laser_reference_front" />
  <joint
    name="laser_reference_front_joint"
    type="fixed">
    <origin
      xyz="0.19107 0.0506 0.1575"
      rpy="-4.1881E-15 -4.2124E-15 0.7854" />
    <parent
      link="base_link" />
    <child
      link="laser_reference_front" />
    <axis
      xyz="-0.99849 0 -0.054862" />
  </joint>
  <link
    name="laser_reference_back" />
  <joint
    name="laser_reference_back_joint"
    type="fixed">
    <origin
      xyz="-0.69357 -0.506 0.1575"
      rpy="4.9333E-15 4.5082E-15 -2.3562" />
    <parent
      link="base_link" />
    <child
      link="laser_reference_back" />
    <axis
      xyz="-1 0 0" />
  </joint>
</robot>
