<?xml version="1.0" encoding="utf-8"?>
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
     Commit Version: 1.6.0-1-g15f4949  Build Version: 1.6.7594.29634
     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot
  name="FHrobot">
  <link
    name="base_link">
    <inertial>
      <origin
        xyz="-0.0205378231410598 -9.61865184431513E-05 0.0254107840927397"
        rpy="0 0 0" />
      <mass
        value="25.721353" />
      <inertia
        ixx="0.430163"
        ixy="-0.000192"
        ixz="0.001764"
        iyy="0.424624"
        iyz="0.004954"
        izz="0.574244" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rm_arm_control/meshes/base_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
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    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rm_arm_control/meshes/base_link.STL" />
      </geometry>
    </collision>
  </link>
  <link
    name="left_behind_hip_link">
    <inertial>
      <origin
        xyz="-0.0707080720829581 0.0349108332402046 -0.194268849359242"
        rpy="0 0 0" />
      <mass
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        iyz="-0.000251"
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    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rm_arm_control/meshes/left_behind_hip_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
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    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rm_arm_control/meshes/left_behind_hip_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_behind_hip_joint"
    type="revolute">
    <origin
      xyz="-0.1135 0.187 0.084"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="left_behind_hip_link" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-0.3"
      upper="1"
      effort="120"
      velocity="1" />
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  <link
    name="left_behind_leg_link">
    <inertial>
      <origin
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        rpy="0 0 0" />
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    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
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        <mesh
          filename="package://rm_arm_control/meshes/left_behind_leg_link.STL" />
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      <material
        name="">
        <color
          rgba="0.411764705882353 0.411764705882353 0.411764705882353 1" />
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    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rm_arm_control/meshes/left_behind_leg_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_behind_leg_joint"
    type="prismatic">
    <origin
      xyz="-0.12231 0.044 -0.33603"
      rpy="0 0 0" />
    <parent
      link="left_behind_hip_link" />
    <child
      link="left_behind_leg_link" />
    <axis
      xyz="-0.34202 0 -0.93969" />
    <limit
      lower="-0.3"
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      effort="60"
      velocity="0.3" />
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  <link
    name="left_behind_wheel_link">
    <inertial>
      <origin
        xyz="0 0.0142488445904861 1.11022302462516E-16"
        rpy="0 0 0" />
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        iyz="2.42148274559263E-18"
        izz="0.004313" />
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    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rm_arm_control/meshes/left_behind_wheel_link.STL" />
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      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
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    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rm_arm_control/meshes/left_behind_wheel_link.STL" />
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    </collision>
  </link>
  <joint
    name="left_behind_wheel_joint"
    type="revolute">
    <origin
      xyz="-0.13325 0.0285 -0.3661"
      rpy="0 0 0" />
    <parent
      link="left_behind_leg_link" />
    <child
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    <axis
      xyz="0 1 0" />
    <limit
      lower="-100000"
      upper="100000"
      effort="80"
      velocity="1" />
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  <link
    name="right_behind_hip_link">
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      <origin
        xyz="-0.0707080839298932 -0.0349108331105711 -0.194268845474145"
        rpy="0 0 0" />
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    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rm_arm_control/meshes/right_behind_hip_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rm_arm_control/meshes/right_behind_hip_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_behind_hip_joint"
    type="revolute">
    <origin
      xyz="-0.1135 -0.187 0.084"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="right_behind_hip_link" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-0.3"
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      effort="120"
      velocity="1" />
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  <link
    name="right_behind_leg_link">
    <inertial>
      <origin
        xyz="-0.0712447041820832 -0.00455626331723741 -0.195651475077735"
        rpy="0 0 0" />
      <mass
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    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rm_arm_control/meshes/right_behind_leg_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.545098039215686 0.615686274509804 0.858823529411765 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rm_arm_control/meshes/right_behind_leg_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_behind_leg_joint"
    type="prismatic">
    <origin
      xyz="-0.12231 -0.044 -0.33603"
      rpy="0 0 0" />
    <parent
      link="right_behind_hip_link" />
    <child
      link="right_behind_leg_link" />
    <axis
      xyz="-0.34202 0 -0.93969" />
    <limit
      lower="-0.3"
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      effort="60"
      velocity="0.3" />
  </joint>
  <link
    name="right_behind_wheel_link">
    <inertial>
      <origin
        xyz="1.11022302462516E-16 -0.0142488445904863 1.11022302462516E-16"
        rpy="0 0 0" />
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    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rm_arm_control/meshes/right_behind_wheel_link.STL" />
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      <material
        name="">
        <color
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    </visual>
    <collision>
      <origin
        xyz="0 0 0"
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        <mesh
          filename="package://rm_arm_control/meshes/right_behind_wheel_link.STL" />
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  </link>
  <joint
    name="right_behind_wheel_joint"
    type="revolute">
    <origin
      xyz="-0.13325 -0.0285 -0.3661"
      rpy="0 0 0" />
    <parent
      link="right_behind_leg_link" />
    <child
      link="right_behind_wheel_link" />
    <axis
      xyz="0 1 0" />
    <limit
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      upper="100000"
      effort="80"
      velocity="1" />
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  <link
    name="body_link">
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      <origin
        xyz="-0.00263929956213401 0.0125198182992841 0.056091427928817"
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    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rm_arm_control/meshes/body_link.STL" />
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      <material
        name="">
        <color
          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
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    <collision>
      <origin
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        <mesh
          filename="package://rm_arm_control/meshes/body_link.STL" />
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  <joint
    name="body_joint"
    type="revolute">
    <origin
      xyz="0 0 0.1595"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="body_link" />
    <axis
      xyz="0 0 1" />
    <limit
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  <link
    name="body_2_link">
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      <origin
        xyz="0.00996920182001421 -0.113780557271402 0.27167355481843"
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      <origin
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      <material
        name="">
        <color
          rgba="1 1 1 1" />
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  <joint
    name="body_2_joint"
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    <origin
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      link="body_link" />
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  <link
    name="head_link">
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        name="">
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    name="head_joint"
    type="revolute">
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      link="body_2_link" />
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  <link
    name="base_link_leftarm">
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    type="fixed">
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      link="body_2_link" />
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        name="">
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    name="left_joint1"
    type="revolute">
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      rpy="0 0 0" />
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      xyz="0 0 1" />
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    name="LeftLink2">
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    name="left_joint2"
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      xyz="0 0 0"
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        name="">
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  <joint
    name="left_joint3"
    type="revolute">
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      xyz="0.256 0 0"
      rpy="0 0 1.5708" />
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      link="LeftLink2" />
    <child
      link="LeftLink3" />
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      velocity="3.92" />
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    name="LeftLink5">
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        iyy="0.000104927867487581"
        iyz="-7.82431228461971E-05"
        izz="0.000334482418423629" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rm_arm_control/meshes/link5.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rm_arm_control/meshes/link5.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_joint5"
    type="revolute">
    <origin
      xyz="0 0 0"
      rpy="-1.5708 0 0" />
    <parent
      link="LeftLink4" />
    <child
      link="LeftLink5" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-2.233"
      upper="2.233"
      effort="10"
      velocity="3.92" />
  </joint>
  <link
    name="LeftLink6">
    <inertial>
      <origin
        xyz="0.000714234511756999 -0.000396718732824521 -0.0126723660946126"
        rpy="0 0 0" />
      <mass
        value="0.0649018034311231" />
      <inertia
        ixx="2.02766547502765E-05"
        ixy="-1.32505200276849E-06"
        ixz="-2.5845091522508E-08"
        iyy="1.87986725225022E-05"
        iyz="3.39471452125439E-09"
        izz="3.17885459163081E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rm_arm_control/meshes/link6.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rm_arm_control/meshes/link6.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_joint6"
    type="revolute">
    <origin
      xyz="0 -0.144 0"
      rpy="1.5708 0 0" />
    <parent
      link="LeftLink5" />
    <child
      link="LeftLink6" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-6.28"
      upper="6.28"
      effort="10"
      velocity="3.92" />
  </joint>
  <link
    name="base_link_rightarm">
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rm_arm_control/meshes/arm_base_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rm_arm_control/meshes/arm_base_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_arm_base_joint"
    type="fixed">
    <origin
      xyz="0.0019799 -0.124 0.421"
      rpy="0 1.5708 -1.5708" />
    <parent
      link="body_2_link" />
    <child
      link="base_link_rightarm" />
  </joint>
  <link
    name="RightLink1">
    <inertial>
      <origin
        xyz="1.2226305431569E-08 0.0211079974844683 -0.0251854220842269"
        rpy="0 0 0" />
      <mass
        value="0.593563443690403" />
      <inertia
        ixx="0.00126614120341847"
        ixy="-1.294980943835E-08"
        ixz="-9.80120923066996E-09"
        iyy="0.00118168178300364"
        iyz="-0.00021121727444415"
        izz="0.00056135241627747" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rm_arm_control/meshes/link1.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rm_arm_control/meshes/link1.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_joint1"
    type="revolute">
    <origin
      xyz="0 0 0.2405"
      rpy="0 0 0" />
    <parent
      link="base_link_rightarm" />
    <child
      link="RightLink1" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-3.1"
      upper="3.1"
      effort="60"
      velocity="3.14" />
  </joint>
  <link
    name="RightLink2">
    <inertial>
      <origin
        xyz="0.152256463426163 4.75383656106654E-07 -0.00620260383607792"
        rpy="0 0 0" />
      <mass
        value="0.864175046869043" />
      <inertia
        ixx="0.00089150298478414"
        ixy="-2.23268489334765E-08"
        ixz="0.00156246461035015"
        iyy="0.00733754343083901"
        iyz="6.28110889329165E-09"
        izz="0.00697869103915473" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rm_arm_control/meshes/link2.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rm_arm_control/meshes/link2.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_joint2"
    type="revolute">
    <origin
      xyz="0 0 0"
      rpy="1.5708 -1.5708 0" />
    <parent
      link="RightLink1" />
    <child
      link="RightLink2" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-2.268"
      upper="2.268"
      effort="60"
      velocity="3.14" />
  </joint>
  <link
    name="RightLink3">
    <inertial>
      <origin
        xyz="5.05312670989961E-06 -0.0595925663694732 0.010569069212336"
        rpy="0 0 0" />
      <mass
        value="0.289633681624654" />
      <inertia
        ixx="0.00063737100450158"
        ixy="-7.05261293649751E-08"
        ixz="-3.86643272239426E-08"
        iyy="0.00015648388095025"
        iyz="-0.00014461035994916"
        izz="0.000614178164773085" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rm_arm_control/meshes/link3.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rm_arm_control/meshes/link3.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_joint3"
    type="revolute">
    <origin
      xyz="0.256 0 0"
      rpy="0 0 1.5708" />
    <parent
      link="RightLink2" />
    <child
      link="RightLink3" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-2.355"
      upper="2.355"
      effort="30"
      velocity="3.92" />
  </joint>
  <link
    name="RightLink4">
    <inertial>
      <origin
        xyz="1.15516617405898E-06 -0.0180424468598241 -0.0215394748352687"
        rpy="0 0 0" />
      <mass
        value="0.239419768320061" />
      <inertia
        ixx="0.000285938919722783"
        ixy="3.07101359163101E-09"
        ixz="-2.21994118981953E-09"
        iyy="0.000262727540304212"
        iyz="4.4236583260078E-05"
        izz="0.000119888082791859" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rm_arm_control/meshes/link4.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rm_arm_control/meshes/link4.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_joint4"
    type="revolute">
    <origin
      xyz="0 -0.21 0"
      rpy="1.5708 0 0" />
    <parent
      link="RightLink3" />
    <child
      link="RightLink4" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-3.1"
      upper="3.1"
      effort="10"
      velocity="3.92" />
  </joint>
  <link
    name="RightLink5">
    <inertial>
      <origin
        xyz="3.19794786262152E-06 -0.0593808368101458 0.00736804250989326"
        rpy="0 0 0" />
      <mass
        value="0.218799761431678" />
      <inertia
        ixx="0.000350540363914072"
        ixy="-3.41781619975602E-08"
        ixz="-1.77056457224373E-08"
        iyy="0.000104927867487581"
        iyz="-7.82431228461971E-05"
        izz="0.000334482418423629" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rm_arm_control/meshes/link5.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rm_arm_control/meshes/link5.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_joint5"
    type="revolute">
    <origin
      xyz="0 0 0"
      rpy="-1.5708 0 0" />
    <parent
      link="RightLink4" />
    <child
      link="RightLink5" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-2.233"
      upper="2.233"
      effort="10"
      velocity="3.92" />
  </joint>
  <link
    name="RightLink6">
    <inertial>
      <origin
        xyz="0.000714234511756999 -0.000396718732824521 -0.0126723660946126"
        rpy="0 0 0" />
      <mass
        value="0.0649018034311231" />
      <inertia
        ixx="2.02766547502765E-05"
        ixy="-1.32505200276849E-06"
        ixz="-2.5845091522508E-08"
        iyy="1.87986725225022E-05"
        iyz="3.39471452125439E-09"
        izz="3.17885459163081E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rm_arm_control/meshes/link6.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rm_arm_control/meshes/link6.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_joint6"
    type="revolute">
    <origin
      xyz="0 -0.144 0"
      rpy="1.5708 0 0" />
    <parent
      link="RightLink5" />
    <child
      link="RightLink6" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-6.28"
      upper="6.28"
      effort="10"
      velocity="3.92" />
  </joint>
  <link
    name="left_front_roll_link">
    <inertial>
      <origin
        xyz="-0.00342961386275646 0.0174122322811494 -0.00050308685690538"
        rpy="0 0 0" />
      <mass
        value="2.646846" />
      <inertia
        ixx="0.003668"
        ixy="-0.000067"
        ixz="0.000011"
        iyy="0.005517"
        iyz="-0.000046"
        izz="0.004440" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rm_arm_control/meshes/left_front_roll_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rm_arm_control/meshes/left_front_roll_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_front_roll_joint"
    type="revolute">
    <origin
      xyz="0.1005 0.13 0.084"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="left_front_roll_link" />
    <axis
      xyz="-1 0 0" />
    <limit
      lower="-0.175"
      upper="0"
      effort="120"
      velocity="1" />
  </joint>
  <link
    name="left_front_hip_link">
    <inertial>
      <origin
        xyz="0.074050793227453 0.0741529531569444 -0.203420783048688"
        rpy="0 0 0" />
      <mass
        value="2.058696" />
      <inertia
        ixx="0.040687"
        ixy="0.013851"
        ixz="-0.000730"
        iyy="0.007728"
        iyz="0.001987"
        izz="0.046054" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rm_arm_control/meshes/left_front_hip_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rm_arm_control/meshes/left_front_hip_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_front_hip_joint"
    type="revolute">
    <origin
      xyz="0 0 0"
      rpy="0 0 0" />
    <parent
      link="left_front_roll_link" />
    <child
      link="left_front_hip_link" />
    <axis
      xyz="0 -1 0" />
    <limit
      lower="-0.3"
      upper="1"
      effort="120"
      velocity="1" />
  </joint>
  <link
    name="left_front_knee_link">
    <inertial>
      <origin
        xyz="0.0810965866623868 0.00453343582644863 -0.193768149584023"
        rpy="0 0 0" />
      <mass
        value="1.04303661988793" />
      <inertia
        ixx="0.013628"
        ixy="0.005255"
        ixz="0.000054"
        iyy="0.004680"
        iyz="0.000412"
        izz="0.015625" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rm_arm_control/meshes/left_front_knee_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rm_arm_control/meshes/left_front_knee_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_front_knee_joint"
    type="revolute">
    <origin
      xyz="0.13168 0.0945 -0.36178"
      rpy="0 0 0" />
    <parent
      link="left_front_hip_link" />
    <child
      link="left_front_knee_link" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="0"
      upper="2"
      effort="100"
      velocity="1" />
  </joint>
  <link
    name="left_front_wheel_link">
    <inertial>
      <origin
        xyz="4.503668653566E-07 -0.0285000006367639 2.89726453717165E-07"
        rpy="0 0 0" />
      <mass
        value="0.789297" />
      <inertia
        ixx="0.001617"
        ixy="4.51514966738601E-09"
        ixz="-4.72046704949384E-10"
        iyy="0.001617"
        iyz="3.91441758426178E-10"
        izz="0.002946" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rm_arm_control/meshes/left_front_wheel_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rm_arm_control/meshes/left_front_wheel_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_front_wheel_joint"
    type="revolute">
    <origin
      xyz="0.12381 0.0095 -0.34017"
      rpy="0 0 0" />
    <parent
      link="left_front_knee_link" />
    <child
      link="left_front_wheel_link" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-100000"
      upper="100000"
      effort="80"
      velocity="1" />
  </joint>
  <link
    name="right_front_roll_link">
    <inertial>
      <origin
        xyz="-0.00345998879261027 -0.017412232281147 0.000495329152665938"
        rpy="0 0 0" />
      <mass
        value="2.646846" />
      <inertia
        ixx="0.003668"
        ixy="-0.000067"
        ixz="0.000011"
        iyy="0.005517"
        iyz="-0.000046"
        izz="0.004440" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rm_arm_control/meshes/right_front_roll_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rm_arm_control/meshes/right_front_roll_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_front_roll_joint"
    type="revolute">
    <origin
      xyz="0.1005 -0.13 0.084"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="right_front_roll_link" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="-0.175"
      upper="0"
      effort="120"
      velocity="1" />
  </joint>
  <link
    name="right_front_hip_link">
    <inertial>
      <origin
        xyz="0.074030157256486 -0.0742482782915145 -0.203428290517255"
        rpy="0 0 0" />
      <mass
        value="2.058696" />
      <inertia
        ixx="0.040716"
        ixy="0.013824"
        ixz="0.000723"
        iyy="0.007712"
        iyz="-0.002005"
        izz="0.046054" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rm_arm_control/meshes/right_front_hip_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rm_arm_control/meshes/right_front_hip_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_front_hip_joint"
    type="revolute">
    <origin
      xyz="0 0 0"
      rpy="0 0 0" />
    <parent
      link="right_front_roll_link" />
    <child
      link="right_front_hip_link" />
    <axis
      xyz="0 -1 0" />
    <limit
      lower="-0.3"
      upper="1"
      effort="120"
      velocity="1" />
  </joint>
  <link
    name="right_front_knee_link">
    <inertial>
      <origin
        xyz="0.0860177735131513 0.00736862965660176 -0.20036198564181"
        rpy="0 0 0" />
      <mass
        value="1.136928" />
      <inertia
        ixx="0.013896"
        ixy="0.005724"
        ixz="0.000690"
        iyy="0.004738"
        iyz="-0.001413"
        izz="0.016773" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rm_arm_control/meshes/right_front_knee_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rm_arm_control/meshes/right_front_knee_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_front_knee_joint"
    type="revolute">
    <origin
      xyz="0.13168 -0.0945 -0.36178"
      rpy="0 0 0" />
    <parent
      link="right_front_hip_link" />
    <child
      link="right_front_knee_link" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="0"
      upper="2"
      effort="100"
      velocity="1" />
  </joint>
  <link
    name="right_front_wheel_link">
    <inertial>
      <origin
        xyz="-5.14743496438097E-07 0.0242553310792356 1.45149822605717E-07"
        rpy="0 0 0" />
      <mass
        value="0.789297" />
      <inertia
        ixx="0.001617"
        ixy="-2.41988431500454E-09"
        ixz="-3.36419846123601E-10"
        iyy="0.001617"
        iyz="-5.13093407211146E-10"
        izz="0.002946" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rm_arm_control/meshes/right_front_wheel_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rm_arm_control/meshes/right_front_wheel_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_front_wheel_joint"
    type="revolute">
    <origin
      xyz="0.12381 -0.0052554 -0.34017"
      rpy="0 0 0" />
    <parent
      link="right_front_knee_link" />
    <child
      link="right_front_wheel_link" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-100000"
      upper="100000"
      effort="80"
      velocity="1" />
  </joint>
</robot>
