<?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: 1.5.1-0-g916b5db  Build Version: 1.5.7152.31018
     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot
  name="gazebo_demo1">

  <link
    name="base_link">
    <inertial>
      <origin
        xyz="-6.0445212263786E-18 1.39257863414922E-18 -2.20581496680807E-19"
        rpy="0 0 0" />
      <mass
        value="0.468" />
      <inertia
        ixx="0.0001443"
        ixy="-1.53384791846956E-20"
        ixz="-1.37563571644961E-21"
        iyy="0.0003939"
        iyz="-1.29382985829106E-37"
        izz="0.0005304" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://gazebo_demo1/meshes/base_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.529411764705882 0.549019607843137 0.549019607843137 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://gazebo_demo1/meshes/base_link.STL" />
      </geometry>
    </collision>
  <dynamic damping="0.7" friction="0.5" />
  </link>

  <link
    name="LF_LINK">
    <inertial>
      <origin
        xyz="0.01 -1.59413400484866E-18 0"
        rpy="0 0 0" />
      <mass
        value="0.0108630528372501" />
      <inertia
        ixx="1.06775440310417E-07"
        ixy="1.20998908503938E-22"
        ixz="-1.75453282727152E-23"
        iyy="7.38080724035423E-07"
        iyz="8.06501097239194E-25"
        izz="7.99593444190632E-07" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://gazebo_demo1/meshes/LF_LINK.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.529411764705882 0.549019607843137 0.549019607843137 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://gazebo_demo1/meshes/LF_LINK.STL" />
      </geometry>
    </collision>
  <dynamic damping="0.7" friction="0.5" />
  </link>
  <joint
    name="LF_JOINT"
    type="continuous">
    <origin
      xyz="0.045 0.0325 0"
      rpy="1.5708 0 0" />
    <parent
      link="base_link" />
    <child
      link="LF_LINK" />
    <axis
      xyz="0 0 1" />

  </joint>
  <link
    name="LB_LINK">
    <inertial>
      <origin
        xyz="0.01 -1.90361538571609E-18 6.93889390390723E-18"
        rpy="0 0 0" />
      <mass
        value="0.0108630528372501" />
      <inertia
        ixx="1.06775440310417E-07"
        ixy="1.10469815160512E-22"
        ixz="3.53711447230329E-24"
        iyy="7.38080724035424E-07"
        iyz="5.37667398159464E-25"
        izz="7.99593444190632E-07" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://gazebo_demo1/meshes/LB_LINK.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.529411764705882 0.549019607843137 0.549019607843137 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://gazebo_demo1/meshes/LB_LINK.STL" />
      </geometry>
    </collision>
  <dynamic damping="0.7" friction="0.5" />
  </link>
  <joint
    name="LB_JOINT"
    type="continuous">
    <origin
      xyz="-0.045 0.0325 0"
      rpy="1.5708 0 0" />
    <parent
      link="base_link" />
    <child
      link="LB_LINK" />
    <axis
      xyz="0 0 1" />

  </joint>
  <link
    name="RF_LINK">
    <inertial>
      <origin
        xyz="0.01 -1.85843759880028E-18 0"
        rpy="0 0 0" />
      <mass
        value="0.0108630528372501" />
      <inertia
        ixx="1.06775440310417E-07"
        ixy="1.5173510835766E-22"
        ixz="-9.00355753711158E-24"
        iyy="7.38080724035423E-07"
        iyz="-3.49483808803654E-24"
        izz="7.99593444190632E-07" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://gazebo_demo1/meshes/RF_LINK.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.529411764705882 0.549019607843137 0.549019607843137 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://gazebo_demo1/meshes/RF_LINK.STL" />
      </geometry>
    </collision>
  <dynamic damping="0.7" friction="0.5" />
  </link>
  <joint
    name="RF_JOINT"
    type="continuous">
    <origin
      xyz="0.045 -0.0325 0"
      rpy="1.5708 0 0" />
    <parent
      link="base_link" />
    <child
      link="RF_LINK" />
    <axis
      xyz="0 0 1" />
  </joint>
  <link
    name="RB_LINK">
    <inertial>
      <origin
        xyz="0.01 -1.6227366665734E-18 0"
        rpy="0 0 0" />
      <mass
        value="0.0108630528372501" />
      <inertia
        ixx="1.06775440310417E-07"
        ixy="1.36659023251123E-22"
        ixz="1.17764472964423E-23"
        iyy="7.38080724035423E-07"
        iyz="-1.6130021944784E-24"
        izz="7.99593444190632E-07" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://gazebo_demo1/meshes/RB_LINK.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.529411764705882 0.549019607843137 0.549019607843137 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://gazebo_demo1/meshes/RB_LINK.STL" />
      </geometry>
    </collision>
  <dynamic damping="0.7" friction="0.5" />
  </link>
  <joint
    name="RB_JOINT"
    type="continuous">
    <origin
      xyz="-0.045 -0.0325 0"
      rpy="1.5708 0 0" />
    <parent
      link="base_link" />
    <child
      link="RB_LINK" />
    <axis
      xyz="0 0 1" />

  </joint>

  <gazebo reference="base_link">
    <material>Gazebo/Black</material>
  </gazebo>

  <gazebo reference="LF_LINK">
    <material>Gazebo/Black</material>
  </gazebo>

  <gazebo reference="LB_LINK">
    <material>Gazebo/Black</material>
  </gazebo>

  <gazebo reference="RF_LINK">
    <material>Gazebo/Black</material>
  </gazebo>

  <gazebo reference="RB_LINK">
    <material>Gazebo/Black</material>
  </gazebo>

  <transmission name="LF_JOINT_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="LF_JOINT">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="LF_JOINT_motor">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>

  <transmission name="LB_JOINT_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="LB_JOINT">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="LB_JOINT_motor">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>

  <transmission name="RF_JOINT_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="RF_JOINT">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="RF_JOINT_motor">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>

  <transmission name="RB_JOINT_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="RB_JOINT">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="RB_JOINT_motor">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>

  <gazebo>
    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
      <robotNamespace>/gazebo_demo1</robotNamespace>
      <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
      <legacyModeNS>true</legacyModeNS>
    </plugin>
  </gazebo>

</robot>
