<?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="robot6">
  <link
    name="base_link">
    <inertial>
      <origin
        xyz="-0.0223121090242412 0.00180410615499794 0.5294578734419628"
        rpy="0 0 0" />
      <mass
        value="4.6626" />
      <inertia
        ixx="0.0345"
        ixy="0.00001"
        ixz="-0.00027"
        iyy="0.00625"
        iyz="-0.00013"
        izz="0.03414" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://robot_description/models/meshes/base_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.592156862745098 0.619607843137255 0.650980392156863 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://robot_description/models/meshes/base_link.STL" />
      </geometry>
    </collision>
  </link>
  <link
    name="left_leg1_link">
    <inertial>
      <origin
        xyz="0.036513226420101 -0.100284747490821 -0.000439159326447586"
        rpy="0 0 0" />
      <mass
        value="0.687221700874968" />
      <inertia
        ixx="0.00984"
        ixy="-0.00003"
        ixz="0.0035"
        iyy="0.01128"
        iyz="0.00009"
        izz="0.00149" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://robot_description/models/meshes/left_leg1_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.686274509803922 0.686274509803922 0.686274509803922 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://robot_description/models/meshes/left_leg1_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_leg1_joint"
    type="revolute">
    <origin
      xyz="-0.025573 0.143 0.031674"
      rpy="1.6319 0 0" />
    <parent
      link="base_link" />
    <child
      link="left_leg1_link" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-1.57"
      upper="1.57"
      effort="60"
      velocity="50" />
  </joint>
  <link
    name="left_wheel1_link">
    <inertial>
      <origin
        xyz="3.63168532302449E-07 2.62193503952624E-06 -0.000769610176954177"
        rpy="0 0 0" />
      <mass
        value="0.75" />
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        ixy="0"
        ixz="0"
        iyy="0.00042"
        iyz="0.00001"
        izz="0.00032" />
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    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://robot_description/models/meshes/left_wheel1_link.STL" />
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      <material
        name="">
        <color
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    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://robot_description/models/meshes/left_wheel1_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_wheel1_joint"
    type="revolute">
    <origin
      xyz="0.14246 -0.39141 0.03757"
      rpy="0 0 0" />
    <parent
      link="left_leg1_link" />
    <child
      link="left_wheel1_link" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-1000"
      upper="1000"
      effort="30"
      velocity="50" />
  </joint>
  <link
    name="right_leg1_link">
    <inertial>
      <origin
        xyz="0.0364910389102163 -0.100292823100675 0.00043915928386723"
        rpy="0 0 0" />
      <mass
        value="0.687221701602252" />
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        ixy="0.00003"
        ixz="0.0035"
        iyy="0.01128"
        iyz="-0.00009"
        izz="0.00148" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://robot_description/models/meshes/right_leg1_link.STL" />
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      <material
        name="">
        <color
          rgba="0.686274509803922 0.686274509803922 0.686274509803922 1" />
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    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://robot_description/models/meshes/right_leg1_link.STL" />
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    </collision>
  </link>
  <joint
    name="right_leg1_joint"
    type="revolute">
    <origin
      xyz="-0.025573 -0.143 0.031674"
      rpy="1.5097 0 0" />
    <parent
      link="base_link" />
    <child
      link="right_leg1_link" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-1.57"
      upper="1.57"
      effort="60"
      velocity="50" />
  </joint>
  <link
    name="right_wheel1_link">
    <inertial>
      <origin
        xyz="-2.01863498816568E-06 -1.71217600375417E-06 -0.000769610176954427"
        rpy="0 0 0" />
      <mass
        value="0.75" />
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        ixy="0"
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        iyz="-0.00001"
        izz="0.00032" />
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    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://robot_description/models/meshes/right_wheel1_link.STL" />
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      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://robot_description/models/meshes/right_wheel1_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_wheel1_joint"
    type="revolute">
    <origin
      xyz="0.142460785057373 -0.391407790102909 -0.0375696405522724"
      rpy="3.14159265358979 0 0" />
    <parent
      link="right_leg1_link" />
    <child
      link="right_wheel1_link" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-1000"
      upper="1000"
      effort="30"
      velocity="50" />
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  <link
    name="pitch_body_link">
    <inertial>
      <origin
        xyz="0.000405025729528163 0.164222263553734 0.038212974552542"
        rpy="0 0 0" />
      <mass
        value="4.31439" />
      <inertia
        ixx="0.02564"
        ixy="-0.00005"
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        iyy="0.01868"
        iyz="0.00021"
        izz="0.01602" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://robot_description/models/meshes/pitch_body_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.592156862745098 0.619607843137255 0.650980392156863 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://robot_description/models/meshes/pitch_body_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="pitch_body_joint"
    type="revolute">
    <origin
      xyz="-0.022999 0.039 0.048"
      rpy="1.5708 0 0" />
    <parent
      link="base_link" />
    <child
      link="pitch_body_link" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-0.5236"
      upper="0.5236"
      effort="20"
      velocity="50" />
  </joint>
  <link
    name="left_shoulder_link">
    <inertial>
      <origin
        xyz="0.0139817634960264 -0.000283387663890286 0.0469666821426944"
        rpy="0 0 0" />
      <mass
        value="1.12175" />
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        ixx="0.00099"
        ixy="0"
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        iyy="0.00082"
        iyz="0"
        izz="0.00084" />
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    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://robot_description/models/meshes/left_shoulder_link.STL" />
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      <material
        name="">
        <color
          rgba="0.501960784313725 0.501960784313725 0.501960784313725 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://robot_description/models/meshes/left_shoulder_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_shoulder_joint"
    type="revolute">
    <origin
      xyz="0.0039637 0.22096 -0.0095"
      rpy="-1.5708 0 0" />
    <parent
      link="pitch_body_link" />
    <child
      link="left_shoulder_link" />
    <axis
      xyz="-0.017935 0 -0.99984" />
    <limit
      lower="-1.57"
      upper="1.57"
      effort="60"
      velocity="50" />
  </joint>
  <link
    name="left_arm1_link">
    <inertial>
      <origin
        xyz="-0.0222764790210273 0.116445846258557 0.130395530944397"
        rpy="0 0 0" />
      <mass
        value="0.97181" />
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        izz="0.00205" />
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    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://robot_description/models/meshes/left_arm1_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://robot_description/models/meshes/left_arm1_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_arm1_joint"
    type="revolute">
    <origin
      xyz="0.040338 -0.00076903 0.046784"
      rpy="-0.82648 0 0" />
    <parent
      link="left_shoulder_link" />
    <child
      link="left_arm1_link" />
    <axis
      xyz="0.99965 0 -0.026469" />
    <limit
      lower="-1.57"
      upper="1.57"
      effort="60"
      velocity="50" />
  </joint>
  <link
    name="left_arm2_link">
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      <origin
        xyz="-0.00344285141443852 -0.0871900700243705 -0.0947300074211656"
        rpy="0 0 0" />
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    <visual>
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        xyz="0 0 0"
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      <geometry>
        <mesh
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      <material
        name="">
        <color
          rgba="1 1 1 1" />
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      <origin
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    name="left_arm2_joint"
    type="revolute">
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      xyz="0.0085407 0.12037 0.13366"
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      link="left_arm1_link" />
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      link="left_arm2_link" />
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  <link
    name="right_shoulder_link">
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      <origin
        xyz="0.0139828606345992 0.000183964382035669 0.0469280544333042"
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    <visual>
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        <mesh
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      <material
        name="">
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  <joint
    name="right_shoulder_joint"
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      link="pitch_body_link" />
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  <link
    name="right_arm1_link">
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    name="left_leg2_link">
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    name="left_wheel2_link">
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    name="right_leg2_joint"
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      link="base_link" />
    <child
      link="right_leg2_link" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-1.57"
      upper="1.57"
      effort="60"
      velocity="50" />
  </joint>
  <link
    name="right_wheel2_link">
    <inertial>
      <origin
        xyz="-2.61860790495838E-06 -3.86427901677422E-07 -0.000769610176954372"
        rpy="0 0 0" />
      <mass
        value="0.75" />
      <inertia
        ixx="0.00032"
        ixy="0"
        ixz="0"
        iyy="0.00042"
        iyz="-0.00001"
        izz="0.00032" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://robot_description/models/meshes/right_wheel2_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.780392156862745 0.780392156862745 0.780392156862745 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://robot_description/models/meshes/right_wheel2_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_wheel2_joint"
    type="revolute">
    <origin
      xyz="-0.14242 -0.39288 -0.013965"
      rpy="3.0805 0 0" />
    <parent
      link="right_leg2_link" />
    <child
      link="right_wheel2_link" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-1000"
      upper="1000"
      effort="30"
      velocity="50" />
  </joint>
</robot>