<?xml version="1.0"?>
<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
       xmlns:xacro="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
       name="training" >

	<!-- common stuff -->
	<include filename="$(find cob_description)/urdf/materials.urdf.xacro" />

	<link name="map">
		<visual>
			<origin xyz="0 0 -0.05" rpy="0 0 0" />
			<geometry>
				<box size="10 10 0.1" />
			</geometry>
			<material name="IPA/LightGrey"/>
		</visual>
	</link>

	<link name="base_link">
		<visual>
			<origin xyz="0 0 0" rpy="0 0 0" />
			<geometry>
				<mesh filename="package://cob_description/meshes/base/base.stl"/>
				<!--box size="1 0.5 0.5" /-->
			</geometry>
			<material name="IPA/DarkGrey"/>
		</visual>
	</link>
	
	<joint name="base_joint" type="floating">
		<origin xyz="0 0 0" rpy="0 0 0"/>
		<parent link="map"/>
		<child link="base_link"/>
	</joint>	

</robot>
