<?xml version="1.0" ?>
<robot name="rgbdbot" version="1.0">
  <material name="Yellow">
    <color rgba="1.0 1.0 0.0 1.0"/>
  </material>
  <material name="Orange">
    <color rgba="1.0 0.4 0.0 1.0"/>
  </material>
  <material name="grey">
    <color rgba="0.7 0.7 0.7 1.0"/>
  </material>
  <material name="Pink">
    <color rgba="1.0 0.0 0.8 1.0"/>
  </material>
  <link name="world"/>
  <link name="tripod">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <mass value="1.0"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package://rgbdbot_description/meshes/tripod/tripod.dae" scale="0.04 0.04 0.04"/>
      </geometry>
      <material name="grey"/>
    </visual>
    <collision name="tripod_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package://rgbdbot_description/meshes/tripod/tripod.dae" scale="0.04 0.04 0.04"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="tripod">
    <material>Gazebo/Grey</material>
    <mu1>50.0</mu1>
    <mu2>50.0</mu2>
    <kp>1000000.0</kp>
    <kd>1.0</kd>
    <selfCollide>false</selfCollide>
  </gazebo>
  <joint name="world_to_tripod" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 2.0943951023931953"/>
    <parent link="world"/>
    <child link="tripod"/>
  </joint>
  <gazebo reference="tripod">
    <material>Gazebo/Grey</material>
    <mu1>50.0</mu1>
    <mu2>50.0</mu2>
    <kp>1000000.0</kp>
    <kd>1.0</kd>
    <selfCollide>false</selfCollide>
  </gazebo>
  <link name="tripod_plate">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <mass value="1.0"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <box size="0.04 0.4 0.015"/>
      </geometry>
      <material name="grey"/>
    </visual>
    <collision name="tripod_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <box size="0.04 0.15 0.015"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="tripod">
    <material>Gazebo/Grey</material>
    <mu1>50.0</mu1>
    <mu2>50.0</mu2>
    <kp>1000000.0</kp>
    <kd>1.0</kd>
    <selfCollide>false</selfCollide>
  </gazebo>
  <joint name="tripod_to_tripod_plate" type="fixed">
    <origin xyz="0.01 0.03 1.33" rpy="0.0 0.3141592653589793 0.0"/>
    <parent link="tripod"/>
    <child link="tripod_plate"/>
  </joint>
  <link name="tripod_left_support"/>
  <joint name="tripod_plate_to_tripod_left_support" type="fixed">
    <origin xyz="0.0 0.18 0.0075" rpy="0.0 0.0 0.0"/>
    <parent link="tripod_plate"/>
    <child link="tripod_left_support"/>
  </joint>
  <link name="tripod_right_support"/>
  <joint name="tripod_plate_to_tripod_right_support" type="fixed">
    <origin xyz="0.0 -0.18 0.0075" rpy="0.0 0.0 0.0"/>
    <parent link="tripod_plate"/>
    <child link="tripod_right_support"/>
  </joint>
  <joint name="camera_joint" type="fixed">
    <origin xyz="0.02 0.07 0.015" rpy="0.0 0.0 0.0"/>
    <parent link="tripod_plate"/>
    <child link="camera_link"/>
  </joint>
  <link name="camera_link">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
      <mass value="0.564"/>
      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.00049894" iyz="0.0" izz="0.003879257"/>
    </inertial>
    <collision>
      <origin xyz="-0.01 -0.06 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <box size="0.04 0.165 0.03"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="camera_link">
    <selfCollide>false</selfCollide>
  </gazebo>
  <joint name="camera_rgb_joint" type="fixed">
    <origin xyz="0.002899599983142346 -0.04921870536680156 0.003010831630593248" rpy="0.021828529008266893 0.011623168092365653 0.03381893737828788"/>
    <parent link="camera_link"/>
    <child link="camera_rgb_frame"/>
  </joint>
  <link name="camera_rgb_frame"/>
  <joint name="camera_rgb_optical_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="-1.5707963267948966 0.0 -1.5707963267948966"/>
    <parent link="camera_rgb_frame"/>
    <child link="camera_rgb_optical_frame"/>
  </joint>
  <link name="camera_rgb_optical_frame">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package://rgbdbot_description/meshes/atom_astra_rgb/atom_astra_rgb.dae" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
  </link>
  <joint name="camera_depth_joint" type="fixed">
    <origin xyz="-0.01988468483563349 -0.026709940405283527 0.004569300488002828" rpy="0.03939166338904126 0.007480574100092808 -0.03703732782027387"/>
    <parent link="camera_link"/>
    <child link="camera_depth_frame"/>
  </joint>
  <link name="camera_depth_frame"/>
  <joint name="camera_depth_optical_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="-1.5707963267948966 0.0 -1.5707963267948966"/>
    <parent link="camera_depth_frame"/>
    <child link="camera_depth_optical_frame"/>
  </joint>
  <link name="camera_depth_optical_frame">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package://rgbdbot_description/meshes/atom_astra_depth/atom_astra_depth.dae" scale="0.98 0.98 0.98"/>
      </geometry>
    </visual>
  </link>
</robot>