<robot name="scene">

  <!-- This is the top level joint /tf frame. -->
  <link name="base_link">
    <!--<sphere_inertia radius="0.001" mass="1"/>-->
  </link>
  <joint name="ground_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <parent link="base_link"/>
    <child link="ground_link"/>
  </joint>
  <link name="ground_link">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package:///../hpp-rbprm-corba/meshes/ground.stl"/>
      </geometry>
      <material name="white">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://hpp_environments/meshes/multicontact/ground.stl"/>
      </geometry>
    </collision>
  </link>

  <joint name="board_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <parent link="base_link"/>
    <child link="board_link"/>
  </joint>
  <link name="board_link">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package:///../hpp-rbprm-corba/meshes/board.stl"/>
      </geometry>
      <material name="white">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://hpp_environments/meshes/multicontact/board.stl"/>
      </geometry>
    </collision>
  </link>


  <joint name="chair_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <parent link="base_link"/>
    <child link="chair_link"/>
  </joint>
  <link name="chair_link">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package:///../hpp-rbprm-corba/meshes/chair_simple.stl"/>
      </geometry>
      <material name="white">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://hpp_environments/meshes/multicontact/chair_simple.stl"/>
      </geometry>
    </collision>
  </link>

  <joint name="pedal_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <parent link="base_link"/>
    <child link="pedal_link"/>
  </joint>
  <link name="pedal_link">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package:///../hpp-rbprm-corba/meshes/pedal.stl"/>
      </geometry>
      <material name="white">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://hpp_environments/meshes/multicontact/pedal.stl"/>
      </geometry>
    </collision>
  </link>

</robot>
