<?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="hive_core_bot0">

  <link
    name="base_link">
    <inertial>
      <origin
        xyz="-0.0598891820748674 5.31626531352636E-07 0.164869219254393"
        rpy="0 0 0" />
      <mass
        value="5.4247767" />
      <inertia
        ixx="0.1131876"
        ixy="0.0000008"
        ixz="0.0001546"
        iyy="0.0858545"
        iyz="0.0000006"
        izz="0.0325040" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://urdf/meshes/meshes/base_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.666666666666667 0.666666666666667 0.666666666666667 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://urdf/meshes/meshes/base_link.STL" />
      </geometry>
    </collision>
  </link>
  <link
    name="left_hip_pitch_link">
    <inertial>
      <origin
        xyz="3.93767161736252E-06 0.161490126813208 0.0158567790568734"
        rpy="0 0 0" />
      <mass
        value="0.6475263" />
      <inertia
        ixx="0.0182516"
        ixy="0.0000058"
        ixz="0.0001729"
        iyy="0.0181748"
        iyz="-0.0006055"
        izz="0.0003913" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://urdf/meshes/meshes/left_hip_pitch_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://urdf/meshes/meshes/left_hip_pitch_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_hip_pitch_joint"
    type="revolute">
    <origin
      xyz="-0.06 -0.1358 -0.037269"
      rpy="-1.5708 -0.0095732 0" />
    <parent
      link="base_link" />
    <child
      link="left_hip_pitch_link" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-1.57"
      upper="1.57"
      effort="100"
      velocity="50" />
  </joint>
  <link
    name="left_leg_pitch_link">
    <inertial>
      <origin
        xyz="-2.63464180747426E-05 0.197159145100908 0.000498203326348359"
        rpy="0 0 0" />
      <mass
        value="0.5126336" />
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        ixz="-0.0000325"
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        iyz="0.0001480"
        izz="0.0002025" />
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    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://urdf/meshes/meshes/left_leg_pitch_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 0.372549019607843 0.294117647058824 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://urdf/meshes/meshes/left_leg_pitch_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_leg_pitch_joint"
    type="revolute">
    <origin
      xyz="0 0 -0.0295"
      rpy="0 0 0.01205" />
    <parent
      link="left_hip_pitch_link" />
    <child
      link="left_leg_pitch_link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-1.57"
      upper="1.57"
      effort="100"
      velocity="50" />
  </joint>
  <link
    name="left_wheel2_link">
    <inertial>
      <origin
        xyz="4.1585564079967E-08 -5.47447156262759E-06 0.0187838263233595"
        rpy="0 0 0" />
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        value="0.745" />
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        ixx="0.0004716"
        ixy="0"
        ixz="0"
        iyy="0.0007945"
        iyz="0.0000001"
        izz="0.0004716" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://urdf/meshes/meshes/left_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://urdf/meshes/meshes/left_wheel2_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_wheel2_joint"
    type="revolute">
    <origin
      xyz="0 0.4805 0.004"
      rpy="-3.1416 0 -0.0024764" />
    <parent
      link="left_leg_pitch_link" />
    <child
      link="left_wheel2_link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-1000"
      upper="1000"
      effort="100"
      velocity="50" />
  </joint>
  <link
    name="left_wheel1_link">
    <inertial>
      <origin
        xyz="1.97042367054093E-06 5.10773910927798E-06 0.0187838263233595"
        rpy="0 0 0" />
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        value="0.745" />
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        ixz="0"
        iyy="0.0007945"
        iyz="0.0000001"
        izz="0.0004716" />
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    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://urdf/meshes/meshes/left_wheel1_link.STL" />
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      <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://urdf/meshes/meshes/left_wheel1_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_wheel1_joint"
    type="revolute">
    <origin
      xyz="0 0.48 0.01"
      rpy="0 0 0.0095732" />
    <parent
      link="left_hip_pitch_link" />
    <child
      link="left_wheel1_link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-1000"
      upper="1000"
      effort="100"
      velocity="50" />
  </joint>
  <link
    name="right_hip_pitch_link">
    <inertial>
      <origin
        xyz="-3.97209815898069E-06 -0.161490067811833 0.0158567790568734"
        rpy="0 0 0" />
      <mass
        value="0.6475263" />
      <inertia
        ixx="0.0182531"
        ixy="-0.0000017"
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        iyy="0.0181748"
        iyz="0.0006055"
        izz="0.0003897" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://urdf/meshes/meshes/right_hip_pitch_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://urdf/meshes/meshes/right_hip_pitch_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_hip_pitch_joint"
    type="revolute">
    <origin
      xyz="-0.06 0.1358 -0.037269"
      rpy="1.5708 -0.0029091 0" />
    <parent
      link="base_link" />
    <child
      link="right_hip_pitch_link" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-1.57"
      upper="1.57"
      effort="100"
      velocity="50" />
  </joint>
  <link
    name="right_leg_pitch_link">
    <inertial>
      <origin
        xyz="3.43008600186093E-05 -0.197159143801203 0.000498203308628542"
        rpy="0 0 0" />
      <mass
        value="0.5126336" />
      <inertia
        ixx="0.0135142"
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        iyz="-0.0001480"
        izz="0.0002024" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://urdf/meshes/meshes/right_leg_pitch_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.647058823529412 0.619607843137255 0.588235294117647 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://urdf/meshes/meshes/right_leg_pitch_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_leg_pitch_joint"
    type="revolute">
    <origin
      xyz="0 0 -0.0295"
      rpy="0 0 -0.0029091" />
    <parent
      link="right_hip_pitch_link" />
    <child
      link="right_leg_pitch_link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-1.57"
      upper="1.57"
      effort="100"
      velocity="50" />
  </joint>
  <link
    name="right_wheel2_link">
    <inertial>
      <origin
        xyz="-5.49216228909084E-08 5.47435401360152E-06 0.0187838263233596"
        rpy="0 0 0" />
      <mass
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        iyz="0.0000001"
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    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://urdf/meshes/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://urdf/meshes/meshes/right_wheel2_link.STL" />
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    </collision>
  </link>
  <joint
    name="right_wheel2_joint"
    type="revolute">
    <origin
      xyz="1.9386E-05 -0.4805 0.004"
      rpy="3.1416 0 0" />
    <parent
      link="right_leg_pitch_link" />
    <child
      link="right_wheel2_link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-1000"
      upper="1000"
      effort="100"
      velocity="50" />
  </joint>
  <link
    name="right_wheel1_link">
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      <origin
        xyz="-1.90651569380871E-06 -5.13193590762073E-06 0.0187838263233596"
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    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://urdf/meshes/meshes/right_wheel1_link.STL" />
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      <material
        name="">
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    <collision>
      <origin
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        rpy="0 0 0" />
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  <joint
    name="right_wheel1_joint"
    type="revolute">
    <origin
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      rpy="0 0 -0.0029091" />
    <parent
      link="right_hip_pitch_link" />
    <child
      link="right_wheel1_link" />
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      xyz="0 0 1" />
    <limit
      lower="-1000"
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      effort="100"
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  <link
    name="left_shoulder_link">
    <inertial>
      <origin
        xyz="-0.0144837915216556 0.000108169744531657 0.0209530786562939"
        rpy="0 0 0" />
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    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://urdf/meshes/meshes/left_shoulder_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://urdf/meshes/meshes/left_shoulder_link.STL" />
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  <joint
    name="left_shoulder_joint"
    type="revolute">
    <origin
      xyz="-0.06 -0.0878 0.36288"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="left_shoulder_link" />
    <axis
      xyz="0 0 1" />
    <limit
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      upper="1.57"
      effort="100"
      velocity="50" />
  </joint>
  <link
    name="left_arm1_link">
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      <origin
        xyz="-0.00228631297282665 -0.000694770956028379 0.0248681244469774"
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    <visual>
      <origin
        xyz="0 0 0"
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      <geometry>
        <mesh
          filename="package://urdf/meshes/meshes/left_arm1_link.STL" />
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      <material
        name="">
        <color
          rgba="1 1 1 1" />
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    <collision>
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        xyz="0 0 0"
        rpy="0 0 0" />
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        <mesh
          filename="package://urdf/meshes/meshes/left_arm1_link.STL" />
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  <joint
    name="left_arm1_joint"
    type="revolute">
    <origin
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      link="left_shoulder_link" />
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    name="left_arm2_link">
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      <origin
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      <geometry>
        <mesh
          filename="package://urdf/meshes/meshes/left_arm2_link.STL" />
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      <material
        name="">
        <color
          rgba="1 1 1 1" />
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      <origin
        xyz="0 0 0"
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      <geometry>
        <mesh
          filename="package://urdf/meshes/meshes/left_arm2_link.STL" />
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  <joint
    name="left_arm2_joint"
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      xyz="0.020127 0.0040341 0.17817"
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      link="left_arm1_link" />
    <child
      link="left_arm2_link" />
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    name="right_shoulder_link">
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      <origin
        xyz="-0.0144831349305154 -0.000175271563297497 0.0209530786562937"
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    <visual>
      <origin
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        <mesh
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      <material
        name="">
        <color
          rgba="1 1 1 1" />
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    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
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        <mesh
          filename="package://urdf/meshes/meshes/right_shoulder_link.STL" />
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  </link>
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    name="right_shoulder_joint"
    type="revolute">
    <origin
      xyz="-0.06 0.0878 0.36288"
      rpy="0 0 0" />
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      link="base_link" />
    <child
      link="right_shoulder_link" />
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    <limit
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      effort="100"
      velocity="50" />
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  <link
    name="right_arm1_link">
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        xyz="-0.00258654183724675 0.00163071193731268 -0.0247948407356193"
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    <visual>
      <origin
        xyz="0 0 0"
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      <geometry>
        <mesh
          filename="package://urdf/meshes/meshes/right_arm1_link.STL" />
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      <material
        name="">
        <color
          rgba="1 1 1 1" />
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    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://urdf/meshes/meshes/right_arm1_link.STL" />
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  <joint
    name="right_arm1_joint"
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    <origin
      xyz="0 0 0.0385"
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    <parent
      link="right_shoulder_link" />
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      link="right_arm1_link" />
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      upper="1.5"
      effort="42.8"
      velocity="50" />
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  <link
    name="right_arm2_link">
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      <origin
        xyz="-0.0240175529876588 0.0558375631647781 2.11385309717427E-06"
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      <origin
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      <geometry>
        <mesh
          filename="package://urdf/meshes/meshes/right_arm2_link.STL" />
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      <material
        name="">
        <color
          rgba="1 1 1 1" />
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    <collision>
      <origin
        xyz="0 0 0"
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      <geometry>
        <mesh
          filename="package://urdf/meshes/meshes/right_arm2_link.STL" />
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  </link>
  <joint
    name="right_arm2_joint"
    type="revolute">
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      xyz="0.017969 0.0026972 -0.17843"
      rpy="-1.5793 0 0" />
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      link="right_arm1_link" />
    <child
      link="right_arm2_link" />
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      lower="-1.5"
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      effort="18"
      velocity="50" />
  </joint>
</robot>