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

  <link name="base">
    <visual><geometry><mesh filename="gems_mobile_base.dae"/></geometry></visual>
    <collision><geometry><mesh filename="gems_mobile_base.dae"/></geometry></collision>
  </link>
  <link name="wheel1">
    <visual><geometry><mesh filename="gems_mobile_wheel1.dae"/></geometry></visual>
    <collision><geometry><mesh filename="gems_mobile_wheel1.dae"/></geometry></collision>
  </link>
  <link name="wheel2">
    <visual><geometry><mesh filename="gems_mobile_wheel2.dae"/></geometry></visual>
    <collision><geometry><mesh filename="gems_mobile_wheel2.dae"/></geometry></collision>
  </link>
  <joint name="wheel1_joint" type="continuous">
    <parent link="base"/>
    <child link="wheel1"/>
    <origin xyz="-0.000000 -0.087880 0.000000" rpy="-1.570796 -0.061087 3.141593"/>
    <axis xyz="-0.0000 -0.0000 1.0000"/>
  </joint>
  <joint name="wheel2_joint" type="continuous">
    <parent link="base"/>
    <child link="wheel2"/>
    <origin xyz="0.000000 0.087880 0.000000" rpy="-1.570796 -0.061087 -0.000000"/>
    <axis xyz="-0.0000 -0.0000 1.0000"/>
  </joint>

</robot>
