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@DLu @gavanderhoorn @clalancette
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<?xml version="1.0"?>
<robot name="visual">
<material name="blue">
<color rgba="0 0 0.8 1"/>
</material>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
<link name="base_link">
<visual>
<geometry>
<cylinder length="0.6" radius="0.2"/>
</geometry>
<material name="blue"/>
</visual>
</link>
<link name="right_leg">
<visual>
<geometry>
<box size="0.6 0.1 0.2"/>
</geometry>
<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
<material name="white"/>
</visual>
</link>
<joint name="base_to_right_leg" type="fixed">
<parent link="base_link"/>
<child link="right_leg"/>
<origin xyz="0 -0.22 0.25"/>
</joint>
<link name="right_base">
<visual>
<geometry>
<box size="0.4 0.1 0.1"/>
</geometry>
<material name="white"/>
</visual>
</link>
<joint name="right_base_joint" type="fixed">
<parent link="right_leg"/>
<child link="right_base"/>
<origin xyz="0 0 -0.6"/>
</joint>
<link name="right_front_wheel">
<visual>
<origin rpy="1.57075 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.1" radius="0.035"/>
</geometry>
<material name="black"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</visual>
</link>
<joint name="right_front_wheel_joint" type="fixed">
<parent link="right_base"/>
<child link="right_front_wheel"/>
<origin rpy="0 0 0" xyz="0.133333333333 0 -0.085"/>
</joint>
<link name="right_back_wheel">
<visual>
<origin rpy="1.57075 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.1" radius="0.035"/>
</geometry>
<material name="black"/>
</visual>
</link>
<joint name="right_back_wheel_joint" type="fixed">
<parent link="right_base"/>
<child link="right_back_wheel"/>
<origin rpy="0 0 0" xyz="-0.133333333333 0 -0.085"/>
</joint>
<link name="left_leg">
<visual>
<geometry>
<box size="0.6 0.1 0.2"/>
</geometry>
<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
<material name="white"/>
</visual>
</link>
<joint name="base_to_left_leg" type="fixed">
<parent link="base_link"/>
<child link="left_leg"/>
<origin xyz="0 0.22 0.25"/>
</joint>
<link name="left_base">
<visual>
<geometry>
<box size="0.4 0.1 0.1"/>
</geometry>
<material name="white"/>
</visual>
</link>
<joint name="left_base_joint" type="fixed">
<parent link="left_leg"/>
<child link="left_base"/>
<origin xyz="0 0 -0.6"/>
</joint>
<link name="left_front_wheel">
<visual>
<origin rpy="1.57075 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.1" radius="0.035"/>
</geometry>
<material name="black"/>
</visual>
</link>
<joint name="left_front_wheel_joint" type="fixed">
<parent link="left_base"/>
<child link="left_front_wheel"/>
<origin rpy="0 0 0" xyz="0.133333333333 0 -0.085"/>
</joint>
<link name="left_back_wheel">
<visual>
<origin rpy="1.57075 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.1" radius="0.035"/>
</geometry>
<material name="black"/>
</visual>
</link>
<joint name="left_back_wheel_joint" type="fixed">
<parent link="left_base"/>
<child link="left_back_wheel"/>
<origin rpy="0 0 0" xyz="-0.133333333333 0 -0.085"/>
</joint>
<joint name="gripper_extension" type="fixed">
<parent link="base_link"/>
<child link="gripper_pole"/>
<origin rpy="0 0 0" xyz="0.19 0 0.2"/>
</joint>
<link name="gripper_pole">
<visual>
<geometry>
<cylinder length="0.2" radius="0.01"/>
</geometry>
<origin rpy="0 1.57075 0 " xyz="0.1 0 0"/>
</visual>
</link>
<joint name="left_gripper_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.2 0.01 0"/>
<parent link="gripper_pole"/>
<child link="left_gripper"/>
</joint>
<link name="left_gripper">
<visual>
<origin rpy="0.0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf_tutorial/meshes/l_finger.dae"/>
</geometry>
</visual>
</link>
<joint name="left_tip_joint" type="fixed">
<parent link="left_gripper"/>
<child link="left_tip"/>
</joint>
<link name="left_tip">
<visual>
<origin rpy="0.0 0 0" xyz="0.09137 0.00495 0"/>
<geometry>
<mesh filename="package://urdf_tutorial/meshes/l_finger_tip.dae"/>
</geometry>
</visual>
</link>
<joint name="right_gripper_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.2 -0.01 0"/>
<parent link="gripper_pole"/>
<child link="right_gripper"/>
</joint>
<link name="right_gripper">
<visual>
<origin rpy="-3.1415 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf_tutorial/meshes/l_finger.dae"/>
</geometry>
</visual>
</link>
<joint name="right_tip_joint" type="fixed">
<parent link="right_gripper"/>
<child link="right_tip"/>
</joint>
<link name="right_tip">
<visual>
<origin rpy="-3.1415 0 0" xyz="0.09137 0.00495 0"/>
<geometry>
<mesh filename="package://urdf_tutorial/meshes/l_finger_tip.dae"/>
</geometry>
</visual>
</link>
<link name="head">
<visual>
<geometry>
<sphere radius="0.2"/>
</geometry>
<material name="white"/>
</visual>
</link>
<joint name="head_swivel" type="fixed">
<parent link="base_link"/>
<child link="head"/>
<origin xyz="0 0 0.3"/>
</joint>
<link name="box">
<visual>
<geometry>
<box size="0.08 0.08 0.08"/>
</geometry>
<material name="blue"/>
</visual>
</link>
<joint name="tobox" type="fixed">
<parent link="head"/>
<child link="box"/>
<origin xyz="0.1814 0 0.1414"/>
</joint>
</robot>
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