<?xml version="1.0"?>


<!--The robot name. This is the wrapper for the entire file-->
<robot name="Jimmy">

<!-- *********************(1) MATERIALS*************************************-->
  <!--This defines the color that the robot (wheels) is going to use-->
  <material name="black">
    <color rgba="0 0 0 0.8"/>
  </material>

  <!--This defines the colors that the robot (body_link) is going to use-->
  <material name="white">
    <color rgba="1 1 1 1"/>
  </material>

<!-- *********************(2) BODY LINK*************************************-->
  <!-- a "link" is the part that we are creating. All the internal tags describe
       this part. This is the body of Jimmy (both square levels) -->
  <link name="body_link">
    <visual>
      <geometry>
        <!--box dimensions is Meters. L X W X H where the L X H is a ractange,
            and the H extrudes it upwards -->
        <box size="0.650 0.381 0.132"/>
      </geometry>
      <origin rpy="0 0 0" xyz="-0.325 -0.1905 0.066"/>
      <material name="white"/>
    </visual>
  </link>

<!-- *********************(3) LEFT DRIVE WHEEL LINK*************************-->
  <!-- the left drive wheel-->
  <link name="left_drive_wheel_link">
    <visual>
      <geometry>
        <cylinder length="0.049" radius="0.181"/>
      </geometry>
      <!-- roll pitch and yaw will move the item in 3D space to arrange it how
           we want it in relation to the origin. the XYZ is to move it around
           the 3D space relative to the origin. Note that 1.57075 is pi/2 -->
      <origin rpy="1.57075 0 0" xyz="0 0 0"/>
       <material name="black"/>
    </visual> However I do not have the stl file... I only have the dae, and the line of code you provided in your answer does not seem to work.
  </link>

<!-- *********************(4) BODY TO LEFT DRIVE WHEEL JOINT****************-->
  <!-- a joint allows us to create a relationship between two links (parts)-->
  <joint name="body_to_left_drive_wheel_joint" type="continuous">
    <axis rpy="0 0 0" xyz="0 1 0"/>
    <parent link="body_link"/>
    <child link="left_drive_wheel_link"/>
    <!-- this is the point at which the two parts attach to one another relative
         to the origin-->
    <origin xyz="-0.52835 0.037 -0.035"/>
  </joint>

<!-- *********************(5) RIGHT DRIVE WHEEL LINK************************-->
<!-- the right drive wheel-->
  <link name="right_drive_wheel_link">
    <visual>
      <geometry>
        <cylinder length="0.049" radius="0.181"/>
      </geometry>
      <!-- roll pitch and yaw will move the item in 3D space to arrange it how
           we want it in relation to the origin. the XYZ is to move it around
           the 3D space relative to the origin. -->
      <origin rpy="1.57075 0 0" xyz="0 0 0"/>
      <material name="black"/>
    </visual>
  </link>

<!-- *********************(6) BODY TO RIGHT DRIVE WHEEL JOINT***************-->
  <!-- a joint allows us to create a relationship between two links (parts)-->
  <joint name="body_to_right_drive_wheel_joint" type="continuous">
    <axis rpy="0 0 0" xyz="0 1 0"/>
    <parent link="body_link"/>
    <child link="right_drive_wheel_link"/>
    <!-- this is the point at which the two parts attach to one another-->
    <origin xyz="-0.52835 -0.421 -0.035"/>
  </joint>

<!-- *********************(7) LEFT CASTOR PLATE LINK************************-->
  <!--The left castor base. it will allow the castor to rotate around the Z
      axis -->
  <link name="left_castor_mount_link">
    <visual>
      <geometry>
        <!--box dimensions is Meters. L X W X H where the L X H is a ractange,
            and the H extrudes it upwards -->
        <box size="0.1145 0.10 0.0057"/>
      </geometry>
       <material name="white"/>
    </visual>
  </link>

<!-- *********************(8) LEFT CASTOR PLATE TO BODY JOINT **************-->
  <!-- a joint allows us to create a relationship between two links (parts)-->
  <joint name="left_castor_base_to_body_joint" type="continuous">
    <axis rpy="0 0 0" xyz="0 0 1"/>
    <parent link="body_link"/>
    <child link="left_castor_mount_link"/>
    <!-- this is the point at which the two parts attach to one another-->
    <origin xyz="-0.09445 -0.041 -0.03265"/>
  </joint>

<!-- *********************(9) RIGHT CASTOR PLATE LINK***********************-->
  <!--The right castor base. it will allow the castor to rotate around the Z
      axis -->
  <link name="right_castor_mount_link">
    <visual>
      <geometry>
        <!--box dimensions is Meters. L X W X H where the L X H is a ractange,
            and the H extrudes it upwards -->
        <box size="0.1145 0.10 0.0057"/>
      </geometry>
       <material name="white"/>
    </visual>
  </link>

<!-- *********************(10) RIGHT CASTOR PLATE TO BODY JOINT ***********-->
  <!-- a joint allows us to create a relationship between two links (parts)-->
  <joint name="right_castor_base_to_body_joint" type="continuous">
    <axis rpy="0 0 0" xyz="0 0 1"/>
    <parent link="body_link"/>
    <child link="right_castor_mount_link"/>
    <!-- this is the point at which the two parts attach to one another-->
    <origin xyz="-0.09445 -0.344 -0.03265"/>
  </joint>

<!-- *********************(11) LEFT CASTOR WHEEL LINK **********************-->
<!-- the left castor wheel link (part). It is the same as the right...-->
  <link name="left_castor_wheel_link">
    <visual>
      <geometry>
        <cylinder length="0.049" radius="0.07925"/>
      </geometry>
      <!-- roll pitch and yaw will move the item in 3D space to arrange it how
           we want it in relation to other parts. the XYZ is to move it around
           the 3D space relative to the origin. -->
      <origin rpy="1.57075 0 0" xyz="0 0 0"/>
       <material name="black"/>
    </visual>
  </link>

<!-- *********************(12) LEFT CASTOR WHEEL TO PLATE JOINT ************-->
  <!-- a joint allows us to create a relationship between two links (parts)-->
  <joint name="left_castor_wheel_to_plate_joint" type="continuous">
    <axis rpy="0 0 0" xyz="0 1 0"/>
    <parent link="left_castor_mount_link"/>
    <child link="left_castor_wheel_link"/>
    <!-- this is the point at which the two parts attach to one another-->
    <origin xyz="-0.037 0  -0.11785"/>
  </joint>

<!-- *********************(13) RIGHT CASTOR WHEEL **************************-->
<!-- the right castor wheel link (part). It is the same as the left...-->
  <link name="right_castor_wheel_link">
    <visual>
      <geometry>
        <cylinder length="0.049" radius="0.07925"/>
      </geometry>
      <!-- roll pitch and yaw will move the item in 3D space to arrange it how
           we want it in relation to other parts. the XYZ is to move it around
           the 3D space relative to the origin. -->
      <origin rpy="1.57075 0 0" xyz="0 0 0"/>
       <material name="black"/>
    </visual>
  </link>

<!-- *********************(14) RIGHT CASTOR WHEEL TO PLATE JOINT ***********-->
  <!-- a joint allows us to create a relationship between two links (parts)-->
  <joint name="right_castor_wheel_to_plate_joint" type="continuous">
    <axis rpy="0 0 0" xyz="0 1 0"/>
    <parent link="right_castor_mount_link"/>
    <child link="right_castor_wheel_link"/>
    <!-- this is the point at which the two parts attach to one another-->
    <origin xyz="-0.037 0  -0.11785"/>
  </joint>

<!-- *********************(15) ROTATING SHAFT LINK *************************-->
<!-- the rotating shaft on which the lms is mounted. the shaft which the applied
     motion products servo is rotating -->
  <link name="rotating_lms_shaft_link">
    <visual>
      <geometry>
        <cylinder length="0.235" radius="0.006"/>
      </geometry>
      <!-- roll pitch and yaw will move the item in 3D space to arrange it how
           we want it in relation to other parts. the XYZ is to move it around
           the 3D space relative to the origin. -->
      <origin rpy="0 0 0" xyz="0 0 0"/>
       <material name="white"/>
    </visual>
  </link>

<!-- *********************(16) ROTATING lms SHAFT TO BODY JOINT*************-->
  <!-- a joint allows us to create a relationship between two links (parts)-->
  <joint name="rotating_lms_shaft_to_body_joint" type="continuous">
    <axis rpy="0 0 0" xyz="0 0 1"/>
    <parent link="body_link"/>
    <child link="rotating_lms_shaft_link"/>
    <!-- this is the point at which the two parts attach to one another-->
    <origin xyz="-0.2531 -0.1905 0.3195"/>
  </joint>

<!-- *********************(19) PLATE HOLDING lms LINK **********************-->
  <!-- a "link" is the part that we are creating. All the internal tags describe
       this part. This is the body of Jimmy (both square levels) -->
  <link name="lms_plate_link">
    <visual>
      <geometry>
        <!--box dimensions is Meters. L X W X H where the L X H is a ractange,
            and the H extrudes it upwards -->
        <box size="0.18415 0.1651 0.00635"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <material name="white"/>
    </visual>
  </link>

<!-- *********************(20) lms PLATE TO ROTATING SHAFT JOINT ***********-->
<!-- a joint allows us to create a relationship between two links (parts)-->
  <joint name="rotating_lms_shaft_to_lms_plate_joint" type="fixed">
    <parent link="rotating_lms_shaft_link"/>
    <child link="lms_plate_link"/>
    <!-- this is the point at which the two parts attach to one another-->
    <origin xyz="-0.04905 0 0.120675"/>
  </joint>

<!-- *********************(21) lms LINK - MESHES****************************-->
  <!-- a "link" is the part that we are creating. All the internal tags describe
       this part. This is the body of Jimmy (both square levels) -->
  <link name="lms_link">
    <visual>
      <geometry>
        <!--The meshes file was demonstrated by the tutorial. The sizing was
            figured out by my question on answers.ros.org. the values are
            multipliers. We are showing the size at 9.5% of the original mesh file -->
        <mesh filename="package://jimmy_v2/meshes/lms-200-30106.dae" scale="0.095 0.095 0.095"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <material name="white"/>
    </visual>
  </link>

<!-- *********************(22) lms to lms PLATE JOINT **********************-->
<!-- a joint allows us to create a relationship between two links (parts)-->
  <joint name="lms_to_lms_plate_joint" type="fixed">
    <parent link="lms_plate_link"/>
    <child link="lms_link"/>
    <!-- this is the
point at which the two parts attach to one another-->
    <origin xyz="0.12 0 0.073"/>
  </joint>

<!-- *********************(23) lms EXTRUSION LINK *************************-->
 <link name="lms_extrusion_link">
    <visual>
      <geometry>
        <!--box dimensions is Meters. L X W X H where the L X H is a ractange,
            and the H extrudes it upwards -->
        <box size="0.03 0.03 0.425"/>
      </geometry>
       <material name="white"/>
    </visual>
  </link>

<!-- *********************(24) lms EXTRUSION JOINT *************************-->
  <!-- a joint allows us to create a relationship between two links (parts)-->
  <joint name="base_link_to_lms_extrusion_joint" type="fixed">
    <parent link="body_link"/>
    <child link="lms_extrusion_link"/>
    <!-- this is the point at which the two parts attach to one another-->
    <origin xyz="-0.3531 -0.1905 0.2173"/>
  </joint>

</robot>