<robot
  name="torso">
  <link
    name="torso_base_link">
    <inertial>
      <origin
        xyz="0.0307745199844149 -0.285 0.513294719377322"
        rpy="0 0 0" />
      <mass
        value="3.82694041846288" />
      <inertia
        ixx="0.573902290642399"
        ixy="-2.79383327284778E-16"
        ixz="1.66346332789765E-05"
        iyy="0.338648611077492"
        iyz="-1.04080029390922E-16"
        izz="0.239577094605918" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://iai_boxy_torso/meshes/torso_base_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://iai_boxy_torso/meshes/torso_base_link_simple.STL" />
      </geometry>
    </collision>
  </link>
  <link
    name="triangle_base_link">
    <inertial>
      <origin
        xyz="-0.302419226632933 -0.181352787411384 -0.0325004871109191"
        rpy="0 0 0" />
      <mass
        value="7.36699467665114" />
      <inertia
        ixx="0.145376830313475"
        ixy="0.00013303151578814"
        ixz="4.5364480793564E-05"
        iyy="0.280518816650801"
        iyz="-0.00910948982082533"
        izz="0.330070759835274" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://iai_boxy_torso/meshes/triangle_base_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://iai_boxy_torso/meshes/triangle_base_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="triangle_base_joint"
    type="prismatic">
    <!-- Output of the hand/eye calibration baserobot_H_basearm-->
    <origin rpy="0 0 0" xyz="0.0786889663592487 0.0986351579738104 0.996332096493862"/>
    <parent
      link="base_link" />
    <child
      link="triangle_base_link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-0.586"
      upper="0"
      effort="0"
      velocity="0.02" />
     <calibration rising="0.0"/>
  </joint>

  <transmission 
    name="triangle_base_transmission" 
    type="pr2_mechanism_model/SimpleTransmission">
    <actuator name="triangle_base_motor"/>
    <joint name="triangle_base_joint"/>
    <mechanicalReduction>1.0</mechanicalReduction>
  </transmission>

  <link
    name="triangle_left_arm_link" />
  <joint
    name="triangle_left_arm_joint"
    type="fixed">
    <origin rpy="1.046186267441739 0.005429697608281147 3.1340705895651766" xyz="0.134209 -0.240707 0.181709"/>
    <parent
      link="triangle_base_link" />
    <child
      link="triangle_left_arm_link" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="triangle_right_arm_link" />
  <joint
    name="triangle_right_arm_joint"
    type="fixed">
    <origin rpy="1.0482088349514576 -0.00542969760828114 -0.0075220640246236" xyz="0.133262 -0.366684 0.181581"/>
    <parent
      link="triangle_base_link" />
    <child
      link="triangle_right_arm_link" />
    <axis
      xyz="0 0 0" />
  </joint>
</robot>
