<?xml version="1.0"?>
<robot name="sensor_frame">
  <link name="zivid_optical_frame"> </link>
  <link name="vtmini_camera"> </link>
  <link name="d400_color_optical_frame"> </link>
  <link name="l515_color_optical_frame"> </link>
  <link name="vts_camera"> </link>
  <link name="pepperl_fuchs_smart_runner"> </link>
  <link name="rgb_camera_link"> </link>
  <link name="sensor_frame_link"> </link>

  <joint name="vtmini_camera_link" type="fixed">
    <parent link="zivid_optical_frame"/>
    <child link="vtmini_camera"/>
    <origin rpy="-0.1043648 0.1373822 -3.1887345" xyz="0.164075459838 0.089806567430 0.110286377370"/>
  </joint>
  
  <joint name="vts_camera_link" type="fixed">
    <parent link="zivid_optical_frame"/>
    <child link="vts_camera"/>
    <origin rpy="-3.0178447 -0.0797584 -0.0206315" xyz="-0.203415185213 -0.030648626387 1.596318721771"/>
  </joint>
  
  <joint name="d400_color_optical_frame_link" type="fixed">
    <parent link="zivid_optical_frame"/>
    <child link="d400_color_optical_frame"/>
    <origin rpy="0.0496703 -0.0514115 0.0093419" xyz="0.100875705481 -0.193590819836 -0.058701872826"/>
  </joint>
  
  <joint name="l515_color_optical_frame_link" type="fixed">
    <parent link="zivid_optical_frame"/>
    <child link="l515_color_optical_frame"/>
    <origin rpy="-0.1504634 -0.0329989 0.0321722" xyz="-0.049545429647 -0.219438239932 -0.026552099735"/>
  </joint>
  
  <joint name="pepperl_fuchs_smart_runner_link" type="fixed">
    <parent link="zivid_optical_frame"/>
    <child link="pepperl_fuchs_smart_runner"/>
    <origin rpy="0.0549579 -0.0779059 -0.1182305" xyz="-0.065194854498 -0.011683628894 0.010215091519"/>
  </joint>
  
  <joint name="rgb_camera_link_joint" type="fixed">
    <parent link="zivid_optical_frame"/>
    <child link="rgb_camera_link"/>
    <origin rpy="0.1301705 -0.0849593 -0.0285483" xyz="-0.111134766936 0.146036028862 0.109953805804"/>
  </joint>

  <joint name="sensor_frame_link_joint" type="fixed">
    <parent link="sensor_frame_link"/>
    <child link="zivid_optical_frame"/>
    <origin rpy="-0.05033244 0.051755 -0.01131302" xyz="0.0205911 0.13940722 0.14557274"/>
  </joint>
</robot>
