<?xml version='1.0' encoding='utf-8'?>
<robot name="mobile_base">
  <link name="world" />
  <joint name="world_up" type="fixed">
    <parent link="world" />
    <child link="base_link" />
    <origin xyz="0 0 0" rpy="1.5708 0 0" />
  </joint>
  <link name="base_link">
    <visual>
      <origin xyz="0 0.10 0" rpy="0 0 0" />
      <geometry>
        <box size="0.40 0.10 0.30" />
      </geometry>
      <material name="m0.40 0.10 0.300 0.10 0">
        <color rgba="0.30 0.32 0.36 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0.55 -0.13" rpy="0 0 0" />
      <geometry>
        <box size="0.04 0.85 0.04" />
      </geometry>
      <material name="m0.04 0.85 0.040 0.55 -0.13">
        <color rgba="0.62 0.62 0.66 1" />
      </material>
    </visual>
  </link>
  <link name="drive0">
    <visual>
      <origin xyz="0 0 0" rpy="0 1.5708 0" />
      <geometry>
        <cylinder radius="0.06" length="0.035" />
      </geometry>
      <material name="m0.060 0 0">
        <color rgba="0.1 0.1 0.11 1" />
      </material>
    </visual>
  </link>
  <joint name="j_drive0" type="continuous">
    <parent link="base_link" />
    <child link="drive0" />
    <origin xyz="0.21 0.06 0" rpy="0 0 0" />
    <axis xyz="1 0 0" />
  </joint>
  <link name="drive1">
    <visual>
      <origin xyz="0 0 0" rpy="0 1.5708 0" />
      <geometry>
        <cylinder radius="0.06" length="0.035" />
      </geometry>
      <material name="m0.060 0 0">
        <color rgba="0.1 0.1 0.11 1" />
      </material>
    </visual>
  </link>
  <joint name="j_drive1" type="continuous">
    <parent link="base_link" />
    <child link="drive1" />
    <origin xyz="-0.21 0.06 0" rpy="0 0 0" />
    <axis xyz="1 0 0" />
  </joint>
  <link name="caster0">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <sphere radius="0.03" />
      </geometry>
      <material name="m0.030 0 0">
        <color rgba="0.2 0.2 0.22 1" />
      </material>
    </visual>
  </link>
  <joint name="j_caster0" type="fixed">
    <parent link="base_link" />
    <child link="caster0" />
    <origin xyz="0 0.03 0.13" rpy="0 0 0" />
  </joint>
  <link name="caster1">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <sphere radius="0.03" />
      </geometry>
      <material name="m0.030 0 0">
        <color rgba="0.2 0.2 0.22 1" />
      </material>
    </visual>
  </link>
  <joint name="j_caster1" type="fixed">
    <parent link="base_link" />
    <child link="caster1" />
    <origin xyz="0 0.03 -0.13" rpy="0 0 0" />
  </joint>
  <link name="lift">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.10 0.06 0.10" />
      </geometry>
      <material name="m0.10 0.06 0.100 0 0">
        <color rgba="0.26 0.26 0.30 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="-0.06 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.02 0.10 0.10" />
      </geometry>
      <material name="m0.02 0.10 0.10-0.06 0 0">
        <color rgba="0.62 0.62 0.66 1" />
      </material>
    </visual>
  </link>
  <joint name="lift" type="prismatic">
    <parent link="base_link" />
    <child link="lift" />
    <origin xyz="0.03 0.25 -0.11" rpy="0 0 0" />
    <axis xyz="0 1 0" />
    <limit lower="0.0" upper="0.65" effort="300" velocity="1" />
  </joint>
  <link name="marm1">
    <visual>
      <origin xyz="0 0 0.015" rpy="0 0 0" />
      <geometry>
        <mesh filename="st3215.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="mst3215.stl0 0 0.015">
        <color rgba="0.34 0.34 0.40 1" />
      </material>
    </visual>
  </link>
  <joint name="j_marm1" type="revolute">
    <parent link="lift" />
    <child link="marm1" />
    <origin xyz="0.02 0 0.06" rpy="0 0 0" />
    <axis xyz="0 1 0" />
    <limit lower="-1.57" upper="1.57" effort="300" velocity="1" />
  </joint>
  <link name="marm2">
    <visual>
      <origin xyz="0 0 0.015" rpy="0 0 0" />
      <geometry>
        <mesh filename="st3215.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="mst3215.stl0 0 0.015">
        <color rgba="0.34 0.34 0.40 1" />
      </material>
    </visual>
  </link>
  <joint name="j_marm2" type="revolute">
    <parent link="marm1" />
    <child link="marm2" />
    <origin xyz="0 0 0.055" rpy="0 0 0" />
    <axis xyz="1 0 0" />
    <limit lower="-1.57" upper="1.57" effort="300" velocity="1" />
  </joint>
  <link name="marm3">
    <visual>
      <origin xyz="0 0 0.015" rpy="0 0 0" />
      <geometry>
        <mesh filename="st3215.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="mst3215.stl0 0 0.015">
        <color rgba="0.34 0.34 0.40 1" />
      </material>
    </visual>
  </link>
  <joint name="j_marm3" type="revolute">
    <parent link="marm2" />
    <child link="marm3" />
    <origin xyz="0 0 0.055" rpy="0 0 0" />
    <axis xyz="1 0 0" />
    <limit lower="-1.57" upper="1.57" effort="300" velocity="1" />
  </joint>
  <link name="marm4">
    <visual>
      <origin xyz="0 0 0.015" rpy="0 0 0" />
      <geometry>
        <mesh filename="st3215.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="mst3215.stl0 0 0.015">
        <color rgba="0.34 0.34 0.40 1" />
      </material>
    </visual>
  </link>
  <joint name="j_marm4" type="revolute">
    <parent link="marm3" />
    <child link="marm4" />
    <origin xyz="0 0 0.05" rpy="0 0 0" />
    <axis xyz="0 0 1" />
    <limit lower="-1.57" upper="1.57" effort="300" velocity="1" />
  </joint>
  <link name="mtool">
    <visual>
      <origin xyz="0 0 0.03" rpy="0 0 0" />
      <geometry>
        <box size="0.03 0.03 0.05" />
      </geometry>
      <material name="m0.03 0.03 0.050 0 0.03">
        <color rgba="0.9 0.52 0.16 1" />
      </material>
    </visual>
  </link>
  <joint name="j_mtool" type="fixed">
    <parent link="marm4" />
    <child link="mtool" />
    <origin xyz="0 0 0.05" rpy="0 0 0" />
  </joint>
</robot>