<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from racecar.xacro                  | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="racecar" xmlns:xacro="http://www.ros.org/wiki/xacro">
  <!-- inertial parameter macros -->
  <!-- geometry macros -->
  <!-- transmission macros -->
  <!-- Add chassis and it's inertia link -->
  
  <link name="chassis">
  	 <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh scale="1 1 1 1" filename="meshes/chassis_differential.STL"/>
      </geometry>
      <material name="blue"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh scale="1 1 1 1" filename="meshes/chassis_differential.STL"/>
      </geometry>
      <material name="blue"/>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.2 0 0."/>
      <mass value="4.0"/>
      <inertia ixx="0.010609" ixy="0" ixz="0" iyy="0.050409" iyz="0" izz="0.05865"/>
    </inertial>
  </link>
  <!-- Add the left rear wheel with its joints and tranmissions -->
  <link name="left_rear_wheel">
    <contact>
      <lateral_friction value=".5"/>
      <rolling_friction value="0.0"/>
      <stiffness value="30000"/>
      <damping value="1000"/>
    </contact>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 -0.0225"/>
      <mass value="0.34055"/>
      <inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_rear_wheel.obj"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 -0.0225"/>
      <geometry>
        <cylinder length="0.045" radius="0.05"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_rear_wheel_joint" type="fixed">
    <origin rpy="1.5708 0 0" xyz="0 0.1 0"/>
    <parent link="diff_sideA"/>
    <child link="left_rear_wheel"/>
  </joint>
  
  <!-- Add the right rear wheel with its joints and tranmissions -->
  <link name="right_rear_wheel">
<contact>
      <lateral_friction value=".5"/>
      <rolling_friction value="0.0"/>
      <stiffness value="30000"/>
      <damping value="1000"/>
    </contact>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0.0225"/>
      <mass value="0.34055"/>
      <inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_rear_wheel.obj"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.0225"/>
      <geometry>
        <cylinder length="0.045" radius="0.05"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_rear_wheel_joint" type="fixed">
    <origin rpy="1.5708 0 0" xyz="0 -0.1 0"/>
    <parent link="diff_sideB"/>
    <child link="right_rear_wheel"/>
  </joint>
  
  <!-- Add the left steering hinge with its joints and tranmissions -->
  <link name="left_steering_hinge">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.100"/>
      <inertia ixx="4E-06" ixy="0" ixz="0" iyy="4E-06" iyz="0" izz="4E-06"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_steering_hinge.STL"/>
      </geometry>
      <material name="grey"/>
    </visual>
  </link>
  <joint name="left_steering_hinge_joint" type="revolute">
    <origin rpy="0 1.5708 0" xyz="0.325 0.1 0"/>
    <parent link="chassis"/>
    <child link="left_steering_hinge"/>
    <axis xyz="-1 0 0"/>
    <limit effort="10" lower="-1.0" upper="1.0" velocity="100"/>
  </joint>
  <transmission name="left_steering_hinge_transmission" type="SimpleTransmission">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="left_steering_hinge_joint">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="left_steering_hinge_motor">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <!-- Add the right steering hinge with its joints and tranmissions -->
  <link name="right_steering_hinge">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.100"/>
      <inertia ixx="4E-06" ixy="0" ixz="0" iyy="4E-06" iyz="0" izz="4E-06"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_steering_hinge.STL"/>
      </geometry>
      <material name="grey"/>
    </visual>
  </link>
  <joint name="right_steering_hinge_joint" type="continuous">
    <origin rpy="0 1.5708 0" xyz="0.325 -0.1 0"/>
    <parent link="chassis"/>
    <child link="right_steering_hinge"/>
    <axis xyz="-1 0 0"/>
    <limit effort="10" lower="-1.0" upper="1.0" velocity="100"/>
  </joint>
  <transmission name="right_steering_hinge_transmission" type="SimpleTransmission">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="right_steering_hinge_joint">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="right_steering_hinge_motor">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <!-- Add the left front wheel with its joints and tranmissions -->
  <link name="left_front_wheel">
<contact>
      <lateral_friction value=".8"/>
      <rolling_friction value="0.0"/>
      <stiffness value="30000"/>
      <damping value="1000"/>
    </contact>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 -0.0225"/>
      <mass value="0.34055"/>
      <inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_front_wheel.obj"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 -0.0225"/>
      <geometry>
        <cylinder length="0.045" radius="0.05"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_front_wheel_joint" type="continuous">
    <origin rpy="1.5708 0 0" xyz="0 0 0"/>
    <parent link="left_steering_hinge"/>
    <child link="left_front_wheel"/>
    <axis xyz="0 0 -1"/>
    <limit effort="10" velocity="100"/>
  </joint>
  <transmission name="left_front_wheel_transmission" type="SimpleTransmission">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="left_front_wheel_joint">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="left_front_wheel_motor">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <!-- Add the left front wheel with its joints and tranmissions -->
  <link name="right_front_wheel">
<contact>
      <lateral_friction value="0.8"/>
      <rolling_friction value="0.0"/>
      <stiffness value="30000"/>
      <damping value="1000"/>
    </contact>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0.0225"/>
      <mass value="0.34055"/>
      <inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_front_wheel.obj"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.0225"/>
      <geometry>
        <cylinder length="0.045" radius="0.05"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_front_wheel_joint" type="continuous">
    <origin rpy="1.5708 0 0" xyz="0 0 0"/>
    <parent link="right_steering_hinge"/>
    <child link="right_front_wheel"/>
    <axis xyz="0 0 -1"/>
    <limit effort="10" velocity="100"/>
  </joint>
  <transmission name="right_front_wheel_transmission" type="SimpleTransmission">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="right_front_wheel_joint">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="right_front_wheel_motor">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <!-- Add Hokuyo laser scanner -->
  <link name="laser">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.130"/>
      <inertia ixx="4E-06" ixy="0" ixz="0" iyy="4E-06" iyz="0" izz="4E-06"/>
    </inertial>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.1 0.1 0.1"/>
      </geometry>
    </collision>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="meshes/hokuyo.obj"/>
        <material name="grey"/>
      </geometry>
    </visual>
  </link>
  <joint name="hokuyo_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.265 0.0 0.075"/>
    <parent link="chassis"/>
    <child link="laser"/>
    <axis xyz="0 0 1"/>
  </joint>
  <!-- zed camera -->
  <link name="zed_camera_link">
    <inertial>
      <mass value="0.1"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
    </inertial>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.033 0.175 0.030"/>
      </geometry>
    </collision>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.033 0.175 0.030"/>
      </geometry>
      <material name="red"/>
    </visual>
  </link>
  <joint name="zed_camera_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.390 0 0.04"/>
    <parent link="chassis"/>
    <child link="zed_camera_link"/>
    <axis xyz="0 0 1"/>
    <!-- <limit lower="0.0" upper="0.0" effort="0.0" velocity="0.0" /> -->
  </joint>
  <!-- zed camera lenses -->
  <!-- It seems these have to have a non-zero mass to have a camera attached? -->
  <link name="camera_link">
    <!-- this needs to match the name in zed_wrapper/zed_tf.launch -->
    <inertial>
      <mass value="0.01"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
    </inertial>
  </link>
  <link name="zed_camera_right_link">
    <inertial>
      <mass value="0.01"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
    </inertial>
  </link>
  <joint name="zed_camera_left_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0.06 0"/>
    <parent link="zed_camera_link"/>
    <child link="camera_link"/>
    <axis xyz="0 0 1"/>
  </joint>
  <joint name="zed_camera_right_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 -0.06 0"/>
    <parent link="zed_camera_link"/>
    <child link="zed_camera_right_link"/>
    <axis xyz="0 0 1"/>
  </joint>
  <!-- Add the remaining xacros -->
  <link name="diff_ring">
  	<contact>
      <lateral_friction value="1.0"/>
      <rolling_friction value="0.0"/>
      <stiffness value="30000"/>
      <damping value="1000"/>
    </contact>
    
    <inertial>
      <mass value="0.0637"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
    </inertial>
    <visual>
      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh scale="0.0005 0.0005 0.001" filename="differential/diff_ring.stl"/>
      </geometry>
      <material name="green"/>
    </visual>
     <visual>
      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh scale="0.001 0.001 0.001" filename="differential/diff_carrier.stl"/>
      </geometry>
      <material name="green"/>
    </visual>
    <collision>
      <origin rpy="1.570795 0 0" xyz="0 0.025 0"/>
      <geometry>
        <cylinder length="0.01" radius="0.025"/>
      </geometry>
    </collision>
  </link>
  <joint name="diff_ring_chassis" type="continuous">
    <parent link="chassis"/>
    <child link="diff_ring"/>
    <origin rpy="0 0 0" xyz="0.0 0.0 0."/>
    <axis rpy="0 0 0" xyz="0 1 0"/>
  </joint>
  <link name="diff_spiderA">
  	<contact>
      <lateral_friction value="1.0"/>
      <rolling_friction value="0.0"/>
      <stiffness value="30000"/>
      <damping value="1000"/>
    </contact>
    
    <inertial>
      <mass value="0.056"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
    </inertial>
    <visual>
      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh scale="0.001 0.001 0.001" filename="differential/diff_spider.stl"/>
      </geometry>
      <material name="red"/>
    </visual>
   
    
    
    
    <collision>
      <origin rpy="1.570795 0 0" xyz="0 0.01 0"/>
      <geometry>
        <cylinder length="0.01" radius="0.015"/>
      </geometry>
    </collision>
  </link>
  
  <joint name="diff_spiderA_ring" type="continuous">
    <parent link="diff_ring"/>
    <child link="diff_spiderA"/>
    <origin rpy="0 0 1.570795" xyz="0.0 0.0 0.0"/>
    <axis rpy="0 0 0" xyz="0 1 0"/>
  </joint>
 
 <link name="diff_spiderB">
  	<contact>
      <lateral_friction value="1.0"/>
      <rolling_friction value="0.0"/>
      <stiffness value="30000"/>
      <damping value="1000"/>
    </contact>
    
    <inertial>
      <mass value="0.056"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
    </inertial>
    <visual>
      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh scale="0.001 0.001 0.001" filename="differential/diff_spider.stl"/>
      </geometry>
      <material name="brown"/>
    </visual>
   
    
    
    
    <collision>
      <origin rpy="1.570795 0 0" xyz="0 0.01 0"/>
      <geometry>
        <cylinder length="0.01" radius="0.015"/>
      </geometry>
    </collision>
  </link>
  
  <joint name="diff_spiderB_ring" type="continuous">
    <parent link="diff_ring"/>
    <child link="diff_spiderB"/>
    <origin rpy="0 0 -1.570795" xyz="0.0 0.0 0.0"/>
    <axis rpy="0 0 0" xyz="0 1 0"/>
  </joint>
  
  
  <link name="diff_sideA">
  	<contact>
      <lateral_friction value="1.0"/>
      <rolling_friction value="0.0"/>
      <stiffness value="30000"/>
      <damping value="1000"/>
    </contact>
    
    <inertial>
      <mass value="0.056"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
    </inertial>
    <visual>
      <origin rpy="1.570795 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh scale="0.001 0.001 0.001" filename="differential/diff_side.stl"/>
      </geometry>
      <material name="white"/>
    </visual>
    
    <collision>
      <origin rpy="1.570795 0 0" xyz="0 0.01 0"/>
      <geometry>
        <cylinder length="0.01" radius="0.015"/>
      </geometry>
    </collision>
  </link>
  
  <joint name="diff_sideA_ring" type="continuous">
    <parent link="diff_ring"/>
    <child link="diff_sideA"/>
    <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
    <axis rpy="0 0 0" xyz="0 1 0"/>
  </joint>
  
   <link name="diff_sideB">
  	<contact>
      <lateral_friction value="1.0"/>
      <rolling_friction value="0.0"/>
      <stiffness value="30000"/>
      <damping value="1000"/>
    </contact>
    
    <inertial>
      <mass value="0.056"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
    </inertial>
    <visual>
      <origin rpy="-1.570795 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh scale="0.001 0.001 0.001" filename="differential/diff_side.stl"/>
      </geometry>
      <material name="white"/>
    </visual>
    
    <collision>
      <origin rpy="-1.570795 0 0" xyz="0 -0.01 0"/>
      <geometry>
        <cylinder length="0.01" radius="0.015"/>
      </geometry>
    </collision>
  </link>
  
  <joint name="diff_sideB_ring" type="continuous">
    <parent link="diff_ring"/>
    <child link="diff_sideB"/>
    <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
    <axis rpy="0 0 0" xyz="0 1 0"/>
  </joint>
  
   <link name="diff2_ring">
  	<contact>
      <lateral_friction value="1.0"/>
      <rolling_friction value="0.0"/>
      <stiffness value="30000"/>
      <damping value="1000"/>
    </contact>
    
    <inertial>
      <mass value="0.0637"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
    </inertial>
    <visual>
      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh scale="0.0005 0.0005 0.001" filename="differential/diff_ring.stl"/>
      </geometry>
      <material name="green"/>
    </visual>
     <visual>
      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh scale="0.001 0.001 0.001" filename="differential/diff_carrier.stl"/>
      </geometry>
      <material name="green"/>
    </visual>
    <collision>
      <origin rpy="1.570795 0 0" xyz="0 0.025 0"/>
      <geometry>
        <cylinder length="0.01" radius="0.025"/>
      </geometry>
    </collision>
  </link>
  <joint name="diff2_ring_chassis" type="continuous">
    <parent link="chassis"/>
    <child link="diff2_ring"/>
    <origin rpy="0 0 0" xyz="0.32 0.0 0.0"/>
    <axis rpy="0 0 0" xyz="0 1 0"/>
  </joint>
  <link name="diff2_spiderA">
  	<contact>
      <lateral_friction value="1.0"/>
      <rolling_friction value="0.0"/>
      <stiffness value="30000"/>
      <damping value="1000"/>
    </contact>
    
    <inertial>
      <mass value="0.056"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
    </inertial>
    <visual>
      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh scale="0.001 0.001 0.001" filename="differential/diff_spider.stl"/>
      </geometry>
      <material name="red"/>
    </visual>
   
    
    
    
    <collision>
      <origin rpy="1.570795 0 0" xyz="0 0.01 0"/>
      <geometry>
        <cylinder length="0.01" radius="0.015"/>
      </geometry>
    </collision>
  </link>
  
  <joint name="diff2_spiderA_ring" type="continuous">
    <parent link="diff2_ring"/>
    <child link="diff2_spiderA"/>
    <origin rpy="0 0 1.570795" xyz="0.0 0.0 0.0"/>
    <axis rpy="0 0 0" xyz="0 1 0"/>
  </joint>
 
 <link name="diff2_spiderB">
  	<contact>
      <lateral_friction value="1.0"/>
      <rolling_friction value="0.0"/>
      <stiffness value="30000"/>
      <damping value="1000"/>
    </contact>
    
    <inertial>
      <mass value="0.056"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
    </inertial>
    <visual>
      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh scale="0.001 0.001 0.001" filename="differential/diff_spider.stl"/>
      </geometry>
      <material name="brown"/>
    </visual>
   
    
    <collision>
      <origin rpy="1.570795 0 0" xyz="0 0.01 0"/>
      <geometry>
        <cylinder length="0.01" radius="0.015"/>
      </geometry>
    </collision>
  </link>
  
  <joint name="diff2_spiderB_ring" type="continuous">
    <parent link="diff2_ring"/>
    <child link="diff2_spiderB"/>
    <origin rpy="0 0 -1.570795" xyz="0.0 0.0 0.0"/>
    <axis rpy="0 0 0" xyz="0 1 0"/>
  </joint>
  
  
  <link name="diff2_sideA">
  	<contact>
      <lateral_friction value="1.0"/>
      <rolling_friction value="0.0"/>
      <stiffness value="30000"/>
      <damping value="1000"/>
    </contact>
    
    <inertial>
      <mass value="0.056"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
    </inertial>
    <visual>
      <origin rpy="1.570795 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh scale="0.001 0.001 0.001" filename="differential/diff_side.stl"/>
      </geometry>
      <material name="white"/>
    </visual>
    
    <collision>
      <origin rpy="1.570795 0 0" xyz="0 0.01 0"/>
      <geometry>
        <cylinder length="0.01" radius="0.015"/>
      </geometry>
    </collision>
  </link>
  
  <joint name="diff2_sideA_ring" type="continuous">
    <parent link="diff2_ring"/>
    <child link="diff2_sideA"/>
    <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
    <axis rpy="0 0 0" xyz="0 1 0"/>
  </joint>
  
   <link name="diff2_sideB">
  	<contact>
      <lateral_friction value="1.0"/>
      <rolling_friction value="0.0"/>
      <stiffness value="30000"/>
      <damping value="1000"/>
    </contact>
    
    <inertial>
      <mass value="0.056"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
    </inertial>
    <visual>
      <origin rpy="-1.570795 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh scale="0.001 0.001 0.001" filename="differential/diff_side.stl"/>
      </geometry>
      <material name="white"/>
    </visual>
    
    <collision>
      <origin rpy="-1.570795 0 0" xyz="0 -0.01 0"/>
      <geometry>
        <cylinder length="0.01" radius="0.015"/>
      </geometry>
    </collision>
  </link>
  
  <joint name="diff2_sideB_ring" type="continuous">
    <parent link="diff2_ring"/>
    <child link="diff2_sideB"/>
    <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
    <axis rpy="0 0 0" xyz="0 1 0"/>
  </joint>
  <material name="white">
    <color rgba="1. 1. 1. 1.0"/>
  </material>
  <material name="black">
    <color rgba="0. 0. 0. 1.0"/>
  </material>
  <material name="blue">
    <color rgba="0.0 0.0 0.8 1.0"/>
  </material>
  <material name="green">
    <color rgba="0.0 0.8 0.0 1.0"/>
  </material>
  <material name="grey">
    <color rgba="0.2 0.2 0.2 1.0"/>
  </material>
  <material name="orange">
    <color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
  </material>
  <material name="brown">
    <color rgba="0.870588235294 0.811764705882 0.764705882353 1.0"/>
  </material>
  <material name="red">
    <color rgba="0.8 0.0 0.0 1.0"/>
  </material>
  <material name="white">
    <color rgba="1.0 1.0 1.0 1.0"/>
  </material>
</robot>

