<?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:   Build Version: 1.6.9403.28032
     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot
  name="core_rover_description">

  <link
    name="base_link">
    <inertial>
      <origin
        xyz="-6.65913085716885E-06 0.109571969438869 -0.0865730790907174"
        rpy="0 0 0" />
      <mass
        value="75.3855391061812" />
      <inertia
        ixx="2.40019927956544"
        ixy="0.000116237424420155"
        ixz="-0.00156114013755156"
        iyy="2.05138658583389"
        iyz="0.00559155518698155"
        izz="4.26537268155378" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://core_rover_description/meshes/base_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.01764195448412081 0.013702083043526807 0.030713443727452196 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://core_rover_description/meshes/base_link.STL" />
      </geometry>
    </collision>
  </link>

  <link
    name="right_suspension_member">
    <inertial>
      <origin
        xyz="0.0011302 -0.12483 0.029359"
        rpy="0 0 0" />
      <mass
        value="1.7681" />
      <inertia
        ixx="0.0021448"
        ixy="-1.4957E-06"
        ixz="-2.5225E-08"
        iyy="0.0068473"
        iyz="0.00021191"
        izz="0.0058417" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://core_rover_description/meshes/right_suspension_member.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.35 0.35 0.35 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://core_rover_description/meshes/right_suspension_member.STL" />
      </geometry>
    </collision>
  </link>

  <joint
    name="right_suspension_joint"
    type="revolute">
    <origin
      xyz="-0.33067 0.028531 -0.15443"
      rpy="1.5708 0 -1.5708" />
    <parent
      link="base_link" />
    <child
      link="right_suspension_member" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-0.38"
      upper="0.38"
      effort="0"
      velocity="0" />
    <mimic
      joint="left_suspension_joint"
      multiplier="1"
      offset="0" />
  </joint>

  <link
    name="br_wheel">
    <inertial>
      <origin
        xyz="-0.0476013497459569 -1.09801088221673E-08 6.12845485470359E-09"
        rpy="0 0 0" />
      <mass
        value="5.74175792756056" />
      <inertia
        ixx="0.115468209215025"
        ixy="7.19767266741869E-10"
        ixz="-2.90603405999934E-10"
        iyy="0.0647068246341468"
        iyz="7.16669744358495E-07"
        izz="0.0632464587169257" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://core_rover_description/meshes/br_wheel.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.01764195448412081 0.013702083043526807 0.030713443727452196 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://core_rover_description/meshes/br_wheel.STL" />
      </geometry>
    </collision>
  </link>

  <joint
    name="br_wheel_joint"
    type="continuous">
    <origin
      xyz="-0.41838 -0.17155 0.12984"
      rpy="0.52965 -1.5708 0" />
    <parent
      link="right_suspension_member" />
    <child
      link="br_wheel" />
    <axis
      xyz="-1 0 0" />
  </joint>

  <link
    name="fr_wheel">
    <inertial>
      <origin
        xyz="-0.0476013497450763 -1.09822306249008E-08 6.12913009234717E-09"
        rpy="0 0 0" />
      <mass
        value="5.74175792767292" />
      <inertia
        ixx="0.115468209216444"
        ixy="7.20424942594475E-10"
        ixz="-2.90800382125705E-10"
        iyy="0.0647068246345494"
        iyz="7.16670201096685E-07"
        izz="0.063246458718483" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://core_rover_description/meshes/fr_wheel.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.01764195448412081 0.013702083043526807 0.030713443727452196 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://core_rover_description/meshes/fr_wheel.STL" />
      </geometry>
    </collision>
  </link>

  <joint
    name="fr_wheel_joint"
    type="continuous">
    <origin
      xyz="0.41838 -0.17155 0.12984"
      rpy="1.5769 -1.5708 0" />
    <parent
      link="right_suspension_member" />
    <child
      link="fr_wheel" />
    <axis
      xyz="-1 0 0" />
  </joint>

  <link
    name="averaging_bar">
    <inertial>
      <origin
        xyz="5.12266309124314E-10 0.0103345512865068 6.28647148226413E-10"
        rpy="0 0 0" />
      <mass
        value="0.872230516841863" />
      <inertia
        ixx="0.000102234478668288"
        ixy="1.26173058927933E-11"
        ixz="-1.00509715989169E-11"
        iyy="0.0236921798518964"
        iyz="1.54032135551904E-11"
        izz="0.0236577000709469" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://core_rover_description/meshes/averaging_bar.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://core_rover_description/meshes/averaging_bar.STL" />
      </geometry>
    </collision>
  </link>

  <joint
    name="averaging_bar_joint"
    type="revolute">
    <origin
      xyz="0 -0.23362 -0.0508"
      rpy="0 -0.0060774 -3.1416" />
    <parent
      link="base_link" />
    <child
      link="averaging_bar" />
    <axis
      xyz="0 -1 0" />
    <limit
      lower="-0.38"
      upper="0.38"
      effort="0"
      velocity="0" />
    <mimic
      joint="left_suspension_joint"
      multiplier="-1"
      offset="0" />
  </joint>

  <link
    name="left_suspension_member">
    <inertial>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <mass
        value="1.7681" />
      <inertia
        ixx="0"
        ixy="0"
        ixz="0"
        iyy="0"
        iyz="0"
        izz="0" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://core_rover_description/meshes/left_suspension_member.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.35 0.35 0.35 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://core_rover_description/meshes/left_suspension_member.STL" />
      </geometry>
    </collision>
  </link>

  <joint
    name="left_suspension_joint"
    type="revolute">
    <origin
      xyz="0.33067 0.028531 -0.15443"
      rpy="1.5708 0 1.5708" />
    <parent
      link="base_link" />
    <child
      link="left_suspension_member" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-0.38"
      upper="0.38"
      effort="0"
      velocity="0" />
  </joint>

  <link
    name="bl_wheel">
    <inertial>
      <origin
        xyz="-0.0476013497470983 -1.09827822947217E-08 6.12940226352165E-09"
        rpy="0 0 0" />
      <mass
        value="5.7417579274106" />
      <inertia
        ixx="0.115468209213072"
        ixy="7.20585760708907E-10"
        ixz="-2.90859312873504E-10"
        iyy="0.0647068246335877"
        iyz="7.16669141063303E-07"
        izz="0.0632464587148044" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://core_rover_description/meshes/bl_wheel.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.01764195448412081 0.013702083043526807 0.030713443727452196 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://core_rover_description/meshes/bl_wheel.STL" />
      </geometry>
    </collision>
  </link>

  <joint
    name="bl_wheel_joint"
    type="continuous">
    <origin
      xyz="0.41838 -0.17155 0.12984"
      rpy="1.5769 -1.5708 0" />
    <parent
      link="left_suspension_member" />
    <child
      link="bl_wheel" />
    <axis
      xyz="1 0 0" />
  </joint>

  <link
    name="fl_wheel">
    <inertial>
      <origin
        xyz="-0.0476013497448114 -1.09827921201955E-08 6.12933048760311E-09"
        rpy="0 0 0" />
      <mass
        value="5.74175792770551" />
      <inertia
        ixx="0.115468209216877"
        ixy="7.20541990109492E-10"
        ixz="-2.90874836866816E-10"
        iyy="0.0647068246346634"
        iyz="7.16670369639572E-07"
        izz="0.06324645871897" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://core_rover_description/meshes/fl_wheel.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.01764195448412081 0.013702083043526807 0.030713443727452196 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://core_rover_description/meshes/fl_wheel.STL" />
      </geometry>
    </collision>
  </link>

  <joint
    name="fl_wheel_joint"
    type="continuous">
    <origin
      xyz="-0.418377874454344 -0.171553199039643 0.129841324042317"
      rpy="0.529654981264331 -1.5707963267949 0" />
    <parent
      link="left_suspension_member" />
    <child
      link="fl_wheel" />
    <axis
      xyz="1 0 0" />
  </joint>

</robot>