<?xml version='1.0' encoding='utf-8'?>
<robot name="mobile_gantry">
  <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="0.45 0.10 0.35" />
      </geometry>
      <material name="m0.45 0.10 0.350 0.10 0">
        <color rgba="0.30 0.32 0.36 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="-0.18 0.40 0" rpy="0 0 0" />
      <geometry>
        <box size="0.04 0.50 0.04" />
      </geometry>
      <material name="m0.04 0.50 0.04-0.18 0.40 0">
        <color rgba="0.62 0.62 0.66 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0.18 0.40 0" rpy="0 0 0" />
      <geometry>
        <box size="0.04 0.50 0.04" />
      </geometry>
      <material name="m0.04 0.50 0.040.18 0.40 0">
        <color rgba="0.62 0.62 0.66 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 0.65 0" rpy="0 0 0" />
      <geometry>
        <box size="0.44 0.04 0.04" />
      </geometry>
      <material name="m0.44 0.04 0.040 0.65 0">
        <color rgba="0.62 0.62 0.66 1" />
      </material>
    </visual>
  </link>
  <link name="wheel0">
    <visual>
      <origin xyz="0 0 0" rpy="0 1.5708 0" />
      <geometry>
        <cylinder radius="0.05" length="0.03" />
      </geometry>
      <material name="m0.050 0 0">
        <color rgba="0.1 0.1 0.11 1" />
      </material>
    </visual>
  </link>
  <joint name="j_wheel0" type="continuous">
    <parent link="base_link" />
    <child link="wheel0" />
    <origin xyz="0.2 0.05 0.15" rpy="0 0 0" />
    <axis xyz="1 0 0" />
  </joint>
  <link name="wheel1">
    <visual>
      <origin xyz="0 0 0" rpy="0 1.5708 0" />
      <geometry>
        <cylinder radius="0.05" length="0.03" />
      </geometry>
      <material name="m0.050 0 0">
        <color rgba="0.1 0.1 0.11 1" />
      </material>
    </visual>
  </link>
  <joint name="j_wheel1" type="continuous">
    <parent link="base_link" />
    <child link="wheel1" />
    <origin xyz="-0.2 0.05 0.15" rpy="0 0 0" />
    <axis xyz="1 0 0" />
  </joint>
  <link name="wheel2">
    <visual>
      <origin xyz="0 0 0" rpy="0 1.5708 0" />
      <geometry>
        <cylinder radius="0.05" length="0.03" />
      </geometry>
      <material name="m0.050 0 0">
        <color rgba="0.1 0.1 0.11 1" />
      </material>
    </visual>
  </link>
  <joint name="j_wheel2" type="continuous">
    <parent link="base_link" />
    <child link="wheel2" />
    <origin xyz="0.2 0.05 -0.15" rpy="0 0 0" />
    <axis xyz="1 0 0" />
  </joint>
  <link name="wheel3">
    <visual>
      <origin xyz="0 0 0" rpy="0 1.5708 0" />
      <geometry>
        <cylinder radius="0.05" length="0.03" />
      </geometry>
      <material name="m0.050 0 0">
        <color rgba="0.1 0.1 0.11 1" />
      </material>
    </visual>
  </link>
  <joint name="j_wheel3" type="continuous">
    <parent link="base_link" />
    <child link="wheel3" />
    <origin xyz="-0.2 0.05 -0.15" rpy="0 0 0" />
    <axis xyz="1 0 0" />
  </joint>
  <link name="gx">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.06 0.05 0.06" />
      </geometry>
      <material name="m0.06 0.05 0.060 0 0">
        <color rgba="0.26 0.26 0.30 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 -0.04 0" rpy="0 0 0" />
      <geometry>
        <box size="0.04 0.04 0.36" />
      </geometry>
      <material name="m0.04 0.04 0.360 -0.04 0">
        <color rgba="0.62 0.62 0.66 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0.06 0.02 0" rpy="0 0 0" />
      <geometry>
        <box size="0.06 0.04 0.06" />
      </geometry>
      <material name="m0.06 0.04 0.060.06 0.02 0">
        <color rgba="0.15 0.15 0.17 1" />
      </material>
    </visual>
  </link>
  <joint name="g_X" type="prismatic">
    <parent link="base_link" />
    <child link="gx" />
    <origin xyz="0 0.65 0" rpy="0 0 0" />
    <axis xyz="1 0 0" />
    <limit lower="-0.15" upper="0.15" effort="300" velocity="1" />
  </joint>
  <link name="gz">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.05 0.05 0.05" />
      </geometry>
      <material name="m0.05 0.05 0.050 0 0">
        <color rgba="0.26 0.26 0.30 1" />
      </material>
    </visual>
    <visual>
      <origin xyz="0 -0.17 0" rpy="0 0 0" />
      <geometry>
        <box size="0.03 0.34 0.03" />
      </geometry>
      <material name="m0.03 0.34 0.030 -0.17 0">
        <color rgba="0.62 0.62 0.66 1" />
      </material>
    </visual>
  </link>
  <joint name="g_Z" type="prismatic">
    <parent link="gx" />
    <child link="gz" />
    <origin xyz="0 -0.04 0" rpy="0 0 0" />
    <axis xyz="0 0 1" />
    <limit lower="-0.13" upper="0.13" effort="300" velocity="1" />
  </joint>
  <link name="gy">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.06 0.05 0.06" />
      </geometry>
      <material name="m0.06 0.05 0.060 0 0">
        <color rgba="0.26 0.26 0.30 1" />
      </material>
    </visual>
  </link>
  <joint name="g_Y" type="prismatic">
    <parent link="gz" />
    <child link="gy" />
    <origin xyz="0 -0.05 0" rpy="0 0 0" />
    <axis xyz="0 1 0" />
    <limit lower="-0.32" upper="0.0" effort="300" velocity="1" />
  </joint>
  <link name="gtool">
    <visual>
      <origin xyz="0 -0.04 0" rpy="0 0 0" />
      <geometry>
        <box size="0.035 0.05 0.035" />
      </geometry>
      <material name="m0.035 0.05 0.0350 -0.04 0">
        <color rgba="0.9 0.52 0.16 1" />
      </material>
    </visual>
  </link>
  <joint name="g_tool" type="fixed">
    <parent link="gy" />
    <child link="gtool" />
    <origin xyz="0 -0.05 0" rpy="0 0 0" />
  </joint>
</robot>