robot_description: "<?xml version=\"1.0\" ?>\n<!-- ===================================================================================\
  \ -->\n<!-- |    This document was autogenerated by xacro from /home/subhasis/driving/bazel-bin/fakeros/fakeros.runfiles/zoox/packages/zoox/rcv/urdf/rcv.xml\
  \ | -->\n<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                \
  \                 | -->\n<!-- ===================================================================================\
  \ -->\n<robot name=\"rcv\" xmlns:xacro=\"http://www.ros.org/wiki/xacro\">\n  <link\
  \ name=\"base_link\" xmlns:xacro=\"http://www.ros.org/wiki/xacro\">\n    <visual>\n\
  \      <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n      <geometry>\n        <mesh filename=\"\
  package://rcv/models/v2/highlander_stylized/base.dae\" scale=\"1 1 1\"/>\n     \
  \ </geometry>\n      <material name=\"black\">\n        <color rgba=\"1 1 1 1\"\
  />\n      </material>\n    </visual>\n    <visual>\n      <origin rpy=\"0.034511652\
  \ 0.084279238 2.111895136\" xyz=\"-0.399937481 0.595806181 1.452000022\"/>\n   \
  \   <geometry>\n        <mesh filename=\"package://rcv/models/v2/highlander_stylized/puck.dae\"\
  \ scale=\"1 1 1\"/>\n      </geometry>\n    </visual>\n    <visual>\n      <origin\
  \ rpy=\"0.003342298 0.085447027 -2.134569378\" xyz=\"-0.402903229 -0.545200825 1.442000031\"\
  />\n      <geometry>\n        <mesh filename=\"package://rcv/models/v2/highlander_stylized/puck.dae\"\
  \ scale=\"1 1 1\"/>\n      </geometry>\n    </visual>\n    <visual>\n      <origin\
  \ rpy=\"0.017867151 0.191346249 2.483306538\" xyz=\"-0.945213556 0.829618931 0.517000020\"\
  />\n      <geometry>\n        <mesh filename=\"package://rcv/models/v2/highlander_stylized/puck.dae\"\
  \ scale=\"1 1 1\"/>\n      </geometry>\n    </visual>\n    <visual>\n      <origin\
  \ rpy=\"0.018982279 0.191145040 -2.463005256\" xyz=\"-0.971582711 -0.796411037 0.551999986\"\
  />\n      <geometry>\n        <mesh filename=\"package://rcv/models/v2/highlander_stylized/puck.dae\"\
  \ scale=\"1 1 1\"/>\n      </geometry>\n    </visual>\n    <visual>\n      <origin\
  \ rpy=\"-0.045995420 0.146701232 0.935168762\" xyz=\"1.797951460 0.690465152 1.389999986\"\
  />\n      <geometry>\n        <mesh filename=\"package://rcv/models/v2/highlander_stylized/puck.dae\"\
  \ scale=\"1 1 1\"/>\n      </geometry>\n    </visual>\n    <visual>\n      <origin\
  \ rpy=\"-0.026053157 0.072051718 -1.097375266\" xyz=\"1.793449521 -0.670623720 1.409999967\"\
  />\n      <geometry>\n        <mesh filename=\"package://rcv/models/v2/highlander_stylized/puck.dae\"\
  \ scale=\"1 1 1\"/>\n      </geometry>\n    </visual>\n    <visual>\n      <origin\
  \ rpy=\"-0.026166610 0.249381531 0.940012025\" xyz=\"3.360655069 0.891482770 0.400000006\"\
  />\n      <geometry>\n        <mesh filename=\"package://rcv/models/v2/highlander_stylized/puck.dae\"\
  \ scale=\"1 1 1\"/>\n      </geometry>\n    </visual>\n    <visual>\n      <origin\
  \ rpy=\"-0.014957476 0.215466889 -0.944303382\" xyz=\"3.362660408 -0.958663523 0.405000031\"\
  />\n      <geometry>\n        <mesh filename=\"package://rcv/models/v2/highlander_stylized/puck.dae\"\
  \ scale=\"1 1 1\"/>\n      </geometry>\n    </visual>\n  </link>\n  <!-- wheel_base\
  \ -->\n  <link name=\"wheel_base_LF\"/>\n  <joint name=\"wheel_base_LF_joint\" type=\"\
  fixed\">\n    <parent link=\"base_link\"/>\n    <child link=\"wheel_base_LF\"/>\n\
  \    <origin rpy=\"0 0 0\" xyz=\"2.79                0.825                0.0\"\
  />\n  </joint>\n  <!-- Knuckle -->\n  <link name=\"knuckle_LF\">\n    <visual>\n\
  \      <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n      <geometry>\n        <mesh filename=\"\
  package://rcv/models/v2/highlander_stylized/knuckle.dae\" scale=\"1 1 1\"/>\n  \
  \    </geometry>\n    </visual>\n  </link>\n  <joint name=\"knuckle_LF_joint\" type=\"\
  revolute\">\n    <parent link=\"wheel_base_LF\"/>\n    <child link=\"knuckle_LF\"\
  />\n    <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n    <axis xyz=\"0 0 1\"/>\n    <limit\
  \ effort=\"1000.0\" lower=\"-0.6109\" upper=\"0.6109\" velocity=\"10\"/>\n  </joint>\n\
  \  <!-- Wheel -->\n  <link name=\"wheel_LF\">\n    <visual>\n      <origin rpy=\"\
  0 0 0\" xyz=\"0 0 0\"/>\n      <geometry>\n        <mesh filename=\"package://rcv/models/v2/highlander_stylized/wheel.dae\"\
  \ scale=\"1 1 1\"/>\n      </geometry>\n    </visual>\n  </link>\n  <joint name=\"\
  wheel_LF_joint\" type=\"continuous\">\n    <parent link=\"knuckle_LF\"/>\n    <child\
  \ link=\"wheel_LF\"/>\n    <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n    <axis xyz=\"\
  0 1 0\"/>\n  </joint>\n  <!-- wheel_base -->\n  <link name=\"wheel_base_RF\"/>\n\
  \  <joint name=\"wheel_base_RF_joint\" type=\"fixed\">\n    <parent link=\"base_link\"\
  />\n    <child link=\"wheel_base_RF\"/>\n    <origin rpy=\"0 0 0\" xyz=\"2.79  \
  \              -0.825                0.0\"/>\n  </joint>\n  <!-- Knuckle -->\n \
  \ <link name=\"knuckle_RF\">\n    <visual>\n      <origin rpy=\"0 0 0\" xyz=\"0\
  \ 0 0\"/>\n      <geometry>\n        <mesh filename=\"package://rcv/models/v2/highlander_stylized/knuckle.dae\"\
  \ scale=\"1 -1 1\"/>\n      </geometry>\n    </visual>\n  </link>\n  <joint name=\"\
  knuckle_RF_joint\" type=\"revolute\">\n    <parent link=\"wheel_base_RF\"/>\n  \
  \  <child link=\"knuckle_RF\"/>\n    <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n   \
  \ <axis xyz=\"0 0 1\"/>\n    <limit effort=\"1000.0\" lower=\"-0.6109\" upper=\"\
  0.6109\" velocity=\"10\"/>\n  </joint>\n  <!-- Wheel -->\n  <link name=\"wheel_RF\"\
  >\n    <visual>\n      <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n      <geometry>\n\
  \        <mesh filename=\"package://rcv/models/v2/highlander_stylized/wheel.dae\"\
  \ scale=\"1 -1 1\"/>\n      </geometry>\n    </visual>\n  </link>\n  <joint name=\"\
  wheel_RF_joint\" type=\"continuous\">\n    <parent link=\"knuckle_RF\"/>\n    <child\
  \ link=\"wheel_RF\"/>\n    <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n    <axis xyz=\"\
  0 1 0\"/>\n  </joint>\n  <!-- wheel_base -->\n  <link name=\"wheel_base_LR\"/>\n\
  \  <joint name=\"wheel_base_LR_joint\" type=\"fixed\">\n    <parent link=\"base_link\"\
  />\n    <child link=\"wheel_base_LR\"/>\n    <origin rpy=\"0 0 0\" xyz=\"0.0   \
  \             0.825                0.0\"/>\n  </joint>\n  <!-- Knuckle -->\n  <link\
  \ name=\"knuckle_LR\">\n    <visual>\n      <origin rpy=\"0 0 0\" xyz=\"0 0 0\"\
  />\n      <geometry>\n        <mesh filename=\"package://rcv/models/v2/highlander_stylized/knuckle.dae\"\
  \ scale=\"-1 1 1\"/>\n      </geometry>\n    </visual>\n  </link>\n  <joint name=\"\
  knuckle_LR_joint\" type=\"fixed\">\n    <parent link=\"wheel_base_LR\"/>\n    <child\
  \ link=\"knuckle_LR\"/>\n    <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n  </joint>\n\
  \  <!-- Wheel -->\n  <link name=\"wheel_LR\">\n    <visual>\n      <origin rpy=\"\
  0 0 0\" xyz=\"0 0 0\"/>\n      <geometry>\n        <mesh filename=\"package://rcv/models/v2/highlander_stylized/wheel.dae\"\
  \ scale=\"-1 1 1\"/>\n      </geometry>\n    </visual>\n  </link>\n  <joint name=\"\
  wheel_LR_joint\" type=\"continuous\">\n    <parent link=\"knuckle_LR\"/>\n    <child\
  \ link=\"wheel_LR\"/>\n    <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n    <axis xyz=\"\
  0 1 0\"/>\n  </joint>\n  <!-- wheel_base -->\n  <link name=\"wheel_base_RR\"/>\n\
  \  <joint name=\"wheel_base_RR_joint\" type=\"fixed\">\n    <parent link=\"base_link\"\
  />\n    <child link=\"wheel_base_RR\"/>\n    <origin rpy=\"0 0 0\" xyz=\"0.0   \
  \             -0.825                0.0\"/>\n  </joint>\n  <!-- Knuckle -->\n  <link\
  \ name=\"knuckle_RR\">\n    <visual>\n      <origin rpy=\"0 0 0\" xyz=\"0 0 0\"\
  />\n      <geometry>\n        <mesh filename=\"package://rcv/models/v2/highlander_stylized/knuckle.dae\"\
  \ scale=\"-1 -1 1\"/>\n      </geometry>\n    </visual>\n  </link>\n  <joint name=\"\
  knuckle_RR_joint\" type=\"fixed\">\n    <parent link=\"wheel_base_RR\"/>\n    <child\
  \ link=\"knuckle_RR\"/>\n    <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n  </joint>\n\
  \  <!-- Wheel -->\n  <link name=\"wheel_RR\">\n    <visual>\n      <origin rpy=\"\
  0 0 0\" xyz=\"0 0 0\"/>\n      <geometry>\n        <mesh filename=\"package://rcv/models/v2/highlander_stylized/wheel.dae\"\
  \ scale=\"-1 -1 1\"/>\n      </geometry>\n    </visual>\n  </link>\n  <joint name=\"\
  wheel_RR_joint\" type=\"continuous\">\n    <parent link=\"knuckle_RR\"/>\n    <child\
  \ link=\"wheel_RR\"/>\n    <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n    <axis xyz=\"\
  0 1 0\"/>\n  </joint>\n  <link name=\"base_link_ground\"/>\n  <joint name=\"base_link_ground_joint\"\
  \ type=\"fixed\">\n    <parent link=\"base_link\"/>\n    <child link=\"base_link_ground\"\
  />\n    <origin rpy=\"0 0 0\" xyz=\"0       0       -0.3702\"/>\n  </joint>\n  <!--\
  \ virtual velodyne -->\n  <link name=\"virtual_velodyne\"/>\n  <joint name=\"virtual_velodyne_joint\"\
  \ type=\"fixed\">\n    <parent link=\"base_link\"/>\n    <child link=\"virtual_velodyne\"\
  />\n    <origin rpy=\"0.0                  0.0                  3.14\" xyz=\"1.5\
  \                  0.0                  1.52\"/>\n  </joint>\n  <link name=\"velodyne1\"\
  >\n    <!-- Moved puck <visual> and <mesh> to /base_link above TOOL-737 -->\n  </link>\n\
  \  <joint name=\"velodyne1_joint\" type=\"fixed\">\n    <parent link=\"base_link\"\
  />\n    <child link=\"velodyne1\"/>\n    <origin rpy=\"0.034511652 0.084279238 2.111895136\"\
  \ xyz=\"-0.399937481 0.595806181 1.452000022\"/>\n  </joint>\n  <link name=\"velodyne2\"\
  >\n    <!-- Moved puck <visual> and <mesh> to /base_link above TOOL-737 -->\n  </link>\n\
  \  <joint name=\"velodyne2_joint\" type=\"fixed\">\n    <parent link=\"base_link\"\
  />\n    <child link=\"velodyne2\"/>\n    <origin rpy=\"0.003342298 0.085447027 -2.134569378\"\
  \ xyz=\"-0.402903229 -0.545200825 1.442000031\"/>\n  </joint>\n  <link name=\"velodyne3\"\
  >\n    <!-- Moved puck <visual> and <mesh> to /base_link above TOOL-737 -->\n  </link>\n\
  \  <joint name=\"velodyne3_joint\" type=\"fixed\">\n    <parent link=\"base_link\"\
  />\n    <child link=\"velodyne3\"/>\n    <origin rpy=\"0.017867151 0.191346249 2.483306538\"\
  \ xyz=\"-0.945213556 0.829618931 0.517000020\"/>\n  </joint>\n  <link name=\"velodyne4\"\
  >\n    <!-- Moved puck <visual> and <mesh> to /base_link above TOOL-737 -->\n  </link>\n\
  \  <joint name=\"velodyne4_joint\" type=\"fixed\">\n    <parent link=\"base_link\"\
  />\n    <child link=\"velodyne4\"/>\n    <origin rpy=\"0.018982279 0.191145040 -2.463005256\"\
  \ xyz=\"-0.971582711 -0.796411037 0.551999986\"/>\n  </joint>\n  <link name=\"velodyne5\"\
  >\n    <!-- Moved puck <visual> and <mesh> to /base_link above TOOL-737 -->\n  </link>\n\
  \  <joint name=\"velodyne5_joint\" type=\"fixed\">\n    <parent link=\"base_link\"\
  />\n    <child link=\"velodyne5\"/>\n    <origin rpy=\"-0.045995420 0.146701232\
  \ 0.935168762\" xyz=\"1.797951460 0.690465152 1.389999986\"/>\n  </joint>\n  <link\
  \ name=\"velodyne6\">\n    <!-- Moved puck <visual> and <mesh> to /base_link above\
  \ TOOL-737 -->\n  </link>\n  <joint name=\"velodyne6_joint\" type=\"fixed\">\n \
  \   <parent link=\"base_link\"/>\n    <child link=\"velodyne6\"/>\n    <origin rpy=\"\
  -0.026053157 0.072051718 -1.097375266\" xyz=\"1.793449521 -0.670623720 1.409999967\"\
  />\n  </joint>\n  <link name=\"velodyne7\">\n    <!-- Moved puck <visual> and <mesh>\
  \ to /base_link above TOOL-737 -->\n  </link>\n  <joint name=\"velodyne7_joint\"\
  \ type=\"fixed\">\n    <parent link=\"base_link\"/>\n    <child link=\"velodyne7\"\
  />\n    <origin rpy=\"-0.026166610 0.249381531 0.940012025\" xyz=\"3.360655069 0.891482770\
  \ 0.400000006\"/>\n  </joint>\n  <link name=\"velodyne8\">\n    <!-- Moved puck\
  \ <visual> and <mesh> to /base_link above TOOL-737 -->\n  </link>\n  <joint name=\"\
  velodyne8_joint\" type=\"fixed\">\n    <parent link=\"base_link\"/>\n    <child\
  \ link=\"velodyne8\"/>\n    <origin rpy=\"-0.014957476 0.215466889 -0.944303382\"\
  \ xyz=\"3.362660408 -0.958663523 0.405000031\"/>\n  </joint>\n  <link name=\"camera8\"\
  />\n  <joint name=\"camera8_joint\" type=\"fixed\">\n    <parent link=\"base_link\"\
  />\n    <child link=\"camera8\"/>\n    <origin rpy=\"0.0262389546154 0.0792739132806\
  \ 3.14156505986\" xyz=\"-0.464148053879 0.564615255603 1.36273297902\"/>\n  </joint>\n\
  \  <link name=\"camera9\"/>\n  <joint name=\"camera9_joint\" type=\"fixed\">\n \
  \   <parent link=\"base_link\"/>\n    <child link=\"camera9\"/>\n    <origin rpy=\"\
  0.0580448360839 0.269478419597 1.57342874734\" xyz=\"-0.336324949248 0.622341466241\
  \ 1.34839023143\"/>\n  </joint>\n  <link name=\"camera1\"/>\n  <joint name=\"camera1_joint\"\
  \ type=\"fixed\">\n    <parent link=\"base_link\"/>\n    <child link=\"camera1\"\
  />\n    <origin rpy=\"-0.010425630784 0.252736204699 -0.0303182180117\" xyz=\"1.83293422428\
  \ 0.657937866944 1.29394215365\"/>\n  </joint>\n  <link name=\"camera2\"/>\n  <joint\
  \ name=\"camera2_joint\" type=\"fixed\">\n    <parent link=\"base_link\"/>\n   \
  \ <child link=\"camera2\"/>\n    <origin rpy=\"-0.0261159043473 0.230329110921 -0.0316581462894\"\
  \ xyz=\"1.84832682726 -0.630937625992 1.3398107866\"/>\n  </joint>\n  <link name=\"\
  camera3\"/>\n  <joint name=\"camera3_joint\" type=\"fixed\">\n    <parent link=\"\
  base_link\"/>\n    <child link=\"camera3\"/>\n    <origin rpy=\"-0.0181642108303\
  \ 0.086572801573 -0.0202812058781\" xyz=\"1.82938468766 0.33004477459 1.2843869302\"\
  />\n  </joint>\n  <link name=\"camera4\"/>\n  <joint name=\"camera4_joint\" type=\"\
  fixed\">\n    <parent link=\"base_link\"/>\n    <child link=\"camera4\"/>\n    <origin\
  \ rpy=\"-0.0207044632224 0.0873831746279 -0.0877790830432\" xyz=\"1.86464174969\
  \ -0.312783974574 1.31100952278\"/>\n  </joint>\n  <link name=\"camera5\"/>\n  <joint\
  \ name=\"camera5_joint\" type=\"fixed\">\n    <parent link=\"base_link\"/>\n   \
  \ <child link=\"camera5\"/>\n    <origin rpy=\"-0.0470122295035 0.224361188936 -1.63801910507\"\
  \ xyz=\"-0.344378365666 -0.592262992994 1.34038221379\"/>\n  </joint>\n  <link name=\"\
  camera6\"/>\n  <joint name=\"camera6_joint\" type=\"fixed\">\n    <parent link=\"\
  base_link\"/>\n    <child link=\"camera6\"/>\n    <origin rpy=\"-0.000814398834689\
  \ 0.16137211286 -1.60237131196\" xyz=\"1.71969031025 -0.722815651304 1.33957988787\"\
  />\n  </joint>\n  <link name=\"camera7\"/>\n  <joint name=\"camera7_joint\" type=\"\
  fixed\">\n    <parent link=\"base_link\"/>\n    <child link=\"camera7\"/>\n    <origin\
  \ rpy=\"0.0408999645942 0.0629399674841 3.10993912139\" xyz=\"-0.466735763528 -0.50027923438\
  \ 1.37596200898\"/>\n  </joint>\n  <link name=\"camera12\"/>\n  <joint name=\"camera12_joint\"\
  \ type=\"fixed\">\n    <parent link=\"base_link\"/>\n    <child link=\"camera12\"\
  />\n    <origin rpy=\"0.0149953727267 0.0420684262683 -3.11832029398\" xyz=\"-0.409807509348\
  \ 0.353006708085 1.33306486915\"/>\n  </joint>\n  <link name=\"camera10\"/>\n  <joint\
  \ name=\"camera10_joint\" type=\"fixed\">\n    <parent link=\"base_link\"/>\n  \
  \  <child link=\"camera10\"/>\n    <origin rpy=\"0.0540595651209 0.205566244126\
  \ 1.5661677682\" xyz=\"1.73180946869 0.721072889278 1.29528721532\"/>\n  </joint>\n\
  \  <link name=\"camera11\"/>\n  <joint name=\"camera11_joint\" type=\"fixed\">\n\
  \    <parent link=\"base_link\"/>\n    <child link=\"camera11\"/>\n    <origin rpy=\"\
  0.0116619300903 0.0364030232174 3.01027463602\" xyz=\"-0.434069837503 -0.255713787341\
  \ 1.3627590241\"/>\n  </joint>\n  <!-- Horn 2.0 -->\n  <link name=\"front_horn\"\
  />\n  <joint name=\"front_horn_joint\" type=\"fixed\">\n    <parent link=\"base_link\"\
  />\n    <child link=\"front_horn\"/>\n    <origin rpy=\"0 0 -1.57\" xyz=\"1.5 0\
  \ 1\"/>\n  </joint>\n  <link name=\"radar_front\"/>\n  <joint name=\"radar_front_joint\"\
  \ type=\"fixed\">\n    <parent link=\"base_link\"/>\n    <child link=\"radar_front\"\
  />\n    <origin rpy=\"0.0 0.0 0.0\" xyz=\"3.66 -0.04 0.0\"/>\n  </joint>\n  <link\
  \ name=\"radar_right\"/>\n  <joint name=\"radar_right_joint\" type=\"fixed\">\n\
  \    <parent link=\"base_link\"/>\n    <child link=\"radar_right\"/>\n    <origin\
  \ rpy=\"0.0 0.0 -1.4\" xyz=\"3.66 -0.5 0.0\"/>\n  </joint>\n  <link name=\"radar_left\"\
  />\n  <joint name=\"radar_left_joint\" type=\"fixed\">\n    <parent link=\"base_link\"\
  />\n    <child link=\"radar_left\"/>\n    <origin rpy=\"0.0 0.0 1.4\" xyz=\"3.66\
  \ 0.5 0.0\"/>\n  </joint>\n</robot>\n\n"
robot_name: kitt_02
