<?xml version="1.0" ?>

<robot name="pr2">
    <link name="fl_caster_rotation_link">
      <inertial>
        <mass value="3.473082"/>
        <origin xyz="0 0 0.07"/>
        <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
      </inertial>
    </link>
</robot>
