<?xml version="1.0"?>
<robot name="MS_Alpha1">
  <link name="base_link">
    <visual>
      <geometry>
 		<box size="0.6096 0.6096 0.0254"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.6096"/>
      <material name="blue">
        <color rgba="0 0 .8 1"/>
      </material>
    </visual>
  </link>
  <link name="right_front_leg">
    <visual>
      <geometry>
        <box size="0.0381 0.0381 0.6096"/>
      </geometry>
       <origin rpy="0 0 0" xyz="-0.01905 -0.01905 -0.3048"/>
        <material name="white">
       		<color rgba="1 1 1 1"/>
    	</material>
    </visual>
  </link>
  <link name="right_back_leg">
    <visual>
      <geometry>
        <box size="0.0381 0.0381 0.6096"/>
      </geometry>
       <origin rpy="0 0 0" xyz="-0.01905 0.01905 -0.3048"/>
        <material name="white">
       		<color rgba="1 1 1 1"/>
    	</material>
    </visual>
  </link>
   <link name="left_front_leg">
    <visual>
      <geometry>
        <box size="0.0381 0.0381 0.6096"/>
      </geometry>
       <origin rpy="0 0 0" xyz=" 0.01905 -0.01905 -0.3048"/>
        <material name="white">
       		<color rgba="1 1 1 1"/>
    	</material>
    </visual>
  </link>
   <link name="left_back_leg">
    <visual>
      <geometry>
        <box size="0.0381 0.0381 0.6096"/>
      </geometry>
       <origin rpy="0 0 0" xyz="0.01905 0.01905 -0.3048"/>
        <material name="white">
       		<color rgba="1 1 1 1"/>
    	</material>
    </visual>
  </link>
  <link name="spine">
    <visual>
      <geometry>
        <box size=" 0.0381 0.0381 0.4572" />
      </geometry>
       <origin rpy="0 0 0" xyz="0 0 0.2286"/>
        <material name="white">
       		<color rgba="1 1 1 1"/>
    	</material>
    </visual>
  </link>
  <link name="left_shoulder">
    <visual>
      <geometry>
        <box size=" 0.0381 0.0381 0.1524" />
      </geometry>
       <origin rpy="0 1.57075 0" xyz="-0.0762 0 0"/>
        <material name="white">
       		<color rgba="1 1 1 1"/>
    	</material>
    </visual>
  </link>
  <link name="left_shoulder_connector">
    <visual>
      <geometry>
        <box size=" 0.0381 0.0381 0.0889" />
      </geometry>
       <origin rpy="0 1.5075 0" xyz="-.013 -0.01905 0"/>
        <material name="green">
       		<color rgba="0 1 0 1"/>
    	</material>
    </visual>
  </link>
  <link name="left_forearm">
    <visual>
      <geometry>
        <box size=" 0.0381 0.0381 0.3048" />
      </geometry>
       <origin rpy="-1.57075 0 0" xyz="-.01905 0.085 0"/>
        <material name="green">
       		<color rgba="0 1 0 1"/>
    	</material>
    </visual>
  </link>
  <link name="left_bicep">
    <visual>
      <geometry>
        <box size="0.0381 0.0381 0.2286" />
      </geometry>
       <origin rpy="1.57075 0 0" xyz="-0.01905 0.085 0"/>
        <material name="green">
       		<color rgba="0 1 0 1"/>
    	</material>
    </visual>
  </link>
  <link name="gripper_pole">
    <visual>
      <geometry>
        <cylinder length="0.05" radius=".01"/>
      </geometry>
      <origin rpy="0 1.57075 0 " xyz="0.025 0 0"/>
      <material name="Gray">
        <color rgba=".7 .7 .7 1"/>
      </material>
    </visual>
  </link>
  <link name="left_gripper">
    <visual>
      <origin rpy="0.0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://pr2_description/meshes/gripper_v0/l_finger.dae"/>
      </geometry>
    </visual>
  </link>
  <link name="left_tip">
    <visual>
      <origin rpy="0.0 0 0" xyz="0.09137 0.00495 0"/>
      <geometry>
        <mesh filename="package://pr2_description/meshes/gripper_v0/l_finger_tip.dae"/>
      </geometry>
    </visual>
  </link>
  <link name="right_gripper">
    <visual>
      <origin rpy="-3.1415 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://pr2_description/meshes/gripper_v0/l_finger.dae"/>
      </geometry>
    </visual>
  </link>
  <link name="right_tip">
    <visual>
      <origin rpy="-3.1415 0 0" xyz="0.09137 0.00495 0"/>
      <geometry>
        <mesh filename="package://pr2_description/meshes/gripper_v0/l_finger_tip.dae"/>
      </geometry>
    </visual>
  </link>

  <joint name="base_to_right_front_leg" type="fixed">
    <parent link="base_link"/>
    <child link="right_front_leg"/>
    <origin xyz="0.3048 0.3048 0.6096"/>
  </joint>
  <joint name="base_to_right_back_leg" type="fixed">
    <parent link="base_link"/>
    <child link="right_back_leg"/>
    <origin xyz="0.3048 -0.3048 0.6096"/>
  </joint>
  <joint name="base_to_left_leg" type="fixed">
    <parent link="base_link"/>
    <child link="left_front_leg"/>
    <origin xyz="-0.3048 0.3048 0.6096"/>
  </joint>
  <joint name="base_to_left_back_leg" type="fixed">
    <parent link="base_link"/>
    <child link="left_back_leg"/>
    <origin xyz="-0.3048 -0.3048 0.6096"/>
  </joint>
    <joint name="base_to_spine" type="fixed">
    <parent link="base_link"/>
    <child link="spine"/>
    <origin xyz="0 -0.28575 0.6096"/>
  </joint>
  <joint name="spine_to_left_shoulder" type="fixed">
    <parent link="spine"/>
    <child link="left_shoulder"/>
    <origin xyz="-0.01905 0 0.3048"/>
  </joint>
  <joint name="left_shoulder_to_left_shoulder_connector" type="revolute">
    <parent link="left_shoulder"/>
    <child link="left_shoulder_connector"/>
    <axis xyz="0 1 0"/>
    <limit effort="30" velocity="1.0" lower="-3" upper="3" />
    <origin xyz="-0.137 -0.03 0"/>
  </joint>
  <joint name="left_shoulder_connector_to_left_forearm" type="revolute">
    <parent link="left_shoulder_connector"/>
    <child link="left_forearm"/>
    <axis xyz="1 0 0"/>
    <limit effort="1000.0" lower="-3" upper="3"  velocity="0.5"/>
    <origin xyz="-0.0635 -0.01905 0"/>
  </joint>
  <joint name="left_forearm_to_left_bicep" type="revolute">
    <parent link="left_forearm"/>
    <child link="left_bicep"/>
    <axis xyz="1 0 0"/>
    <limit effort="1000.0" lower="-3" upper="3"  velocity="0.5"/>
    <origin xyz="-0.0508 0.2286 0"/>
  </joint>
  <joint name="gripper_extension" type="prismatic">
    <parent link="left_bicep"/>
    <child link="gripper_pole"/>
    <limit effort="1000.0" lower="-0.38" upper="0" velocity="0.5"/>
    <origin rpy="0 0 1.57075" xyz="-0.01905 .2 0"/>
  </joint>
  <joint name="left_gripper_joint" type="revolute">
    <parent link="gripper_pole"/>
    <child link="left_gripper"/>
    <axis xyz="0 0 1"/>
    <limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5"/>
    <origin rpy="0 0 0" xyz="0.05 0.01 0"/>
  </joint>
    <joint name="left_tip_joint" type="fixed">
    <parent link="left_gripper"/>
    <child link="left_tip"/>
  </joint>
  <joint name="right_gripper_joint" type="revolute">
    <axis xyz="0 0 -1"/>
    <limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5"/>
    <origin rpy="0 0 0" xyz="0.05 -0.01 0"/>
    <parent link="gripper_pole"/>
    <child link="right_gripper"/>
  </joint>
  <joint name="right_tip_joint" type="fixed">
    <parent link="right_gripper"/>
    <child link="right_tip"/>
  </joint>
</robot>