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<?xml version="1.0" ?>
<robot xmlns:xacro="">
<xacro:macro name="bobble_chassis">
<link name="bobble_chassis_link">
<origin xyz="0.0 0.0 0.180" rpy="0.0 0.0 0.0"/>
<mass value="2.043"/>
<inertia ixx="0.03" ixy="0.0" ixz="0.0" iyy="0.03" iyz="0.0" izz="0.03"/>
<origin xyz="0.0 0.0 0.130" rpy="0.0 0.0 0.0"/>
<mesh filename="package://bobble_description/meshes/chassis.dae" scale="1.0 1.0 1.0"/>
<origin xyz="0.0 0.0 0.130" rpy="0.0 0.0 0.0"/>
<box size="0.1 0.11 0.185" />
<contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
<gazebo reference="bobble_chassis_link">
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