<robot name="broom_model">
  <link name="broom_body">
    <inertial>
      <mass value="0.1" />
      <origin xyz="0 0 -.25" />
      <inertia  ixx="1.0" ixy="1.0"  ixz="1.0"  iyy="1.0"  iyz="1.0"  izz="1.0" />
    </inertial>
    <visual>
      <!-- visual origin is defined w.r.t. link local coordinate system -->
      <origin xyz="0 0 0" rpy="3.1416 0 0" />
      <geometry>
        <mesh filename="package://pr2_sweeping/gazebo_objects/Broom.stl"/>
      </geometry>
    </visual>
    <collision>
      <!-- collision origin is defined w.r.t. link local coordinate system -->
      <origin xyz="0 0 0" rpy="3.1416 0 0" />
      <geometry>
        <mesh filename="package://pr2_sweeping/gazebo_objects/Broom.stl"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="broom_body">
    <material>Gazebo/LightWood</material>
    <turnGravityOff>true</turnGravityOff>
  </gazebo>
</robot>