digraph G {
node [shape=box];
"base_link" [label="base_link"];
"left_hip_pitch_link" [label="left_hip_pitch_link"];
"left_leg_pitch_link" [label="left_leg_pitch_link"];
"left_wheel2_link" [label="left_wheel2_link"];
"left_wheel1_link" [label="left_wheel1_link"];
"left_shoulder_link" [label="left_shoulder_link"];
"left_arm1_link" [label="left_arm1_link"];
"left_arm2_link" [label="left_arm2_link"];
"right_hip_pitch_link" [label="right_hip_pitch_link"];
"right_leg_pitch_link" [label="right_leg_pitch_link"];
"right_wheel2_link" [label="right_wheel2_link"];
"right_wheel1_link" [label="right_wheel1_link"];
"right_shoulder_link" [label="right_shoulder_link"];
"right_arm1_link" [label="right_arm1_link"];
"right_arm2_link" [label="right_arm2_link"];
node [shape=ellipse, color=blue, fontcolor=blue];
"base_link" -> "left_hip_pitch_joint" [label="xyz: -0.06 -0.1358 -0.037269 \nrpy: -1.5708 -0.0095732 0"]
"left_hip_pitch_joint" -> "left_hip_pitch_link"
"left_hip_pitch_link" -> "left_leg_pitch_joint" [label="xyz: 0 0 -0.0295 \nrpy: 0 -0 0.01205"]
"left_leg_pitch_joint" -> "left_leg_pitch_link"
"left_leg_pitch_link" -> "left_wheel2_joint" [label="xyz: 0 0.4805 0.004 \nrpy: 3.14159 -3.30872e-24 -0.0024764"]
"left_wheel2_joint" -> "left_wheel2_link"
"left_hip_pitch_link" -> "left_wheel1_joint" [label="xyz: 0 0.48 0.01 \nrpy: 0 -0 0.0095732"]
"left_wheel1_joint" -> "left_wheel1_link"
"base_link" -> "left_shoulder_joint" [label="xyz: -0.06 -0.0878 0.36288 \nrpy: 0 -0 0"]
"left_shoulder_joint" -> "left_shoulder_link"
"left_shoulder_link" -> "left_arm1_joint" [label="xyz: 0 0 0.0385 \nrpy: 1.5708 4.33681e-19 -0.0074682"]
"left_arm1_joint" -> "left_arm1_link"
"left_arm1_link" -> "left_arm2_joint" [label="xyz: 0.020127 0.0040341 0.17817 \nrpy: -1.6062 0.0074682 4.33693e-19"]
"left_arm2_joint" -> "left_arm2_link"
"base_link" -> "right_hip_pitch_joint" [label="xyz: -0.06 0.1358 -0.037269 \nrpy: 1.5708 -0.0029091 0"]
"right_hip_pitch_joint" -> "right_hip_pitch_link"
"right_hip_pitch_link" -> "right_leg_pitch_joint" [label="xyz: 0 0 -0.0295 \nrpy: 0 0 -0.0029091"]
"right_leg_pitch_joint" -> "right_leg_pitch_link"
"right_leg_pitch_link" -> "right_wheel2_joint" [label="xyz: 1.9386e-05 -0.4805 0.004 \nrpy: -3.14159 -0 0"]
"right_wheel2_joint" -> "right_wheel2_link"
"right_hip_pitch_link" -> "right_wheel1_joint" [label="xyz: 0 -0.48 0.01 \nrpy: 0 0 -0.0029091"]
"right_wheel1_joint" -> "right_wheel1_link"
"base_link" -> "right_shoulder_joint" [label="xyz: -0.06 0.0878 0.36288 \nrpy: 0 -0 0"]
"right_shoulder_joint" -> "right_shoulder_link"
"right_shoulder_link" -> "right_arm1_joint" [label="xyz: 0 0 0.0385 \nrpy: 1.5708 -0 0"]
"right_arm1_joint" -> "right_arm1_link"
"right_arm1_link" -> "right_arm2_joint" [label="xyz: 0.017969 0.0026972 -0.17843 \nrpy: -1.5793 0 0"]
"right_arm2_joint" -> "right_arm2_link"
}
