<?xml version="1.0"?>
  <robot name="xiaomi_gen1">

  <material name="white">
    <color rgba="1 1 1 1"/>
  </material>

  <material name="orange">
    <color rgba="1.0 0.4 0.0 1.0"/>
  </material>

  <link name="base_link">
    <visual>
      <geometry>
        <cylinder length="0.085" radius="0.1725"/>
      </geometry>
      <material name="white"/>
    </visual>
  </link>

  <joint name="base_footprint_joint" type="fixed">
    <axis xyz="0 0 0"/>
    <origin rpy="0 0 0" xyz="0 0 0.0425"/>
    <parent link="base_footprint"/>
    <child link="base_link"/>
  </joint>

  <link name="base_footprint" />

  <joint name="cliff_sensor_fr_joint" type="fixed">
    <axis xyz="0 0 0"/>
    <origin rpy="0 1.5708 -0.174533" xyz="0.15515 -0.04654 0"/>
    <parent link="base_footprint"/>
    <child link="cliff_sensor_fr_link"/>
  </joint>

  <link name="cliff_sensor_fr_link" />

  <joint name="cliff_sensor_fl_joint" type="fixed">
    <axis xyz="0 0 0"/>
    <origin rpy="0 1.5708 0.174533" xyz="0.15515 0.04654 0"/>
    <parent link="base_footprint"/>
    <child link="cliff_sensor_fl_link"/>
  </joint>

  <link name="cliff_sensor_fl_link" />

  <joint name="cliff_sensor_r_joint" type="fixed">
    <axis xyz="0 0 0"/>
    <origin rpy="0 1.5708 -1.39626" xyz="0.06119 -0.1499 0"/>
    <parent link="base_footprint"/>
    <child link="cliff_sensor_r_link"/>
  </joint>

  <link name="cliff_sensor_r_link" />

  <joint name="cliff_sensor_l_joint" type="fixed">
    <axis xyz="0 0 0"/>
    <origin rpy="0 1.5708 1.39626" xyz="0.06119 0.1499 0"/>
    <parent link="base_footprint"/>
    <child link="cliff_sensor_l_link"/>
  </joint>

  <link name="cliff_sensor_l_link" />

  <joint name="front_sonar_joint" type="fixed">
    <axis xyz="0 0 0"/>
    <origin rpy="0 0 0" xyz="0.1725 0 0"/>
    <parent link="base_link"/>
    <child link="front_sonar_link"/>
  </joint>

  <link name="front_sonar_link" />

  <joint name="wall_distance_joint" type="fixed">
    <axis xyz="0 0 0"/>
    <origin rpy="0 0 -1.11701" xyz="0.03918 -0.16021 0"/>
    <parent link="base_link"/>
    <child link="wall_distance_link"/>
  </joint>

  <link name="wall_distance_link" />

  <joint name="base_laser_joint" type="fixed">
    <axis xyz="0 0 0"/>
    <origin rpy="0 0 1.703441" xyz="-0.1 0 0.0475"/>
    <parent link="base_link"/>
    <child link="base_laser_link"/>
  </joint>

  <link name="base_laser_link" type="laser">
    <visual>
      <geometry>
        <cylinder length="0.01" radius="0.035"/>
      </geometry>
      <material name="orange"/>
    </visual>
  </link>

  <joint name="base_laser_top_joint" type="fixed">
    <axis xyz="0 0 0"/>
    <origin rpy="0 0 0" xyz="-0.1 0 0.0575"/>
    <parent link="base_link"/>
    <child link="base_laser_top_link"/>
  </joint>

  <link name="base_laser_top_link">
    <visual>
      <geometry>
        <cylinder length="0.01" radius="0.04"/>
      </geometry>
      <material name="white"/>
    </visual>
  </link>

</robot>