<?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="rm_urdf_ff">
  <link
    name="base_link">
    <!-- <inertial>
      <origin
        xyz="0.0070402 -0.0046035 0.032982"
        rpy="0 0 0" />
      <mass
        value="9.1966" />
      <inertia
        ixx="0.024645"
        ixy="6.9322E-07"
        ixz="1.5236E-07"
        iyy="0.028901"
        iyz="-4.7002E-05"
        izz="0.049888" />
    </inertial> -->
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rm_urdf_ff/meshes/base_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rm_urdf_ff/meshes/base_link.STL" />
      </geometry>
    </collision>
  </link>
  <link
    name="yaw_link">
    <inertial>
      <origin
        xyz="0.043935 -0.037671 0.15402"
        rpy="0 0 0" />
      <mass
        value="0.91059" />
      <inertia
        ixx="0.0024154"
        ixy="-1.4237E-05"
        ixz="-7.1292E-05"
        iyy="0.0019981"
        iyz="-1.0283E-05"
        izz="0.0024657" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rm_urdf_ff/meshes/yaw_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rm_urdf_ff/meshes/yaw_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="yaw_joint"
    type="continuous">
    <origin
      xyz="0 0 0.1245"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="yaw_link" />
    <axis
      xyz="0 0 1" />
  </joint>
  <link
    name="pitch_link">
    <inertial>
      <origin
        xyz="-0.00030478 0.061449 -0.0008877"
        rpy="0 0 0" />
      <mass
        value="0.99446" />
      <inertia
        ixx="0.0016756"
        ixy="-1.0588E-06"
        ixz="3.3265E-08"
        iyy="0.00055773"
        iyz="-3.9108E-06"
        izz="0.0012579" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rm_urdf_ff/meshes/pitch_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rm_urdf_ff/meshes/pitch_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="pitch_joint"
    type="continuous">
    <origin
      xyz="-0.022511 0 0.20965"
      rpy="0 0 0" />
    <parent
      link="yaw_link" />
    <child
      link="pitch_link" />
    <axis
      xyz="-1 0 0" />
  </joint>
  
  <link name="shooter_link" />

  <joint name="shooter_joint" type="fixed">
    <origin xyz="0 0 0.33415" rpy="0 0 0" />
    <parent link="base_link" />
    <child link="shooter_link" />
  </joint>

  <link name="body_link" />

  <joint name="body_joint" type="continuous">
    <origin xyz="0 0 0.4" rpy="0 0 0" />
    <parent link="base_link" />
    <child link="body_link" />
    <axis xyz="0 0 1" />
  </joint>
  
  <link
    name="camera_base_link">
    <inertial>
      <origin
        xyz="-1.6944E-05 -0.02258 0.0010833"
        rpy="0 0 0" />
      <mass
        value="0.03311" />
      <inertia
        ixx="1.1155E-05"
        ixy="-6.6506E-09"
        ixz="-4.853E-09"
        iyy="4.112E-06"
        iyz="1.0516E-06"
        izz="1.1054E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rm_urdf_ff/meshes/camera_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rm_urdf_ff/meshes/camera_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="camera_base_joint"
    type="fixed">
    <origin
      xyz="-0.031 0.12283 0.06306"
      rpy="0 0 0" />
    <parent
      link="pitch_link" />
    <child
      link="camera_base_link" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link name="camera_optical_frame" />

  <joint name="camera_optical_joint" type="fixed">
    <origin xyz="0 0 0" rpy="-1.5708 0 0" />
    <parent link="camera_base_link" />
    <child link="camera_optical_frame" />
  </joint>

  <link
    name="imu_link">
    <inertial>
      <origin
        xyz="5.9397E-15 0.0015 1.5765E-14"
        rpy="0 0 0" />
      <mass
        value="0.0055829" />
      <inertia
        ixx="7.608E-07"
        ixy="-1.0074E-20"
        ixz="2.8577E-21"
        iyy="1.7127E-06"
        iyz="2.5037E-21"
        izz="9.6027E-07" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rm_urdf_ff/meshes/imu_ink.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rm_urdf_ff/meshes/imu_ink.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="imu_joint"
    type="fixed">
    <origin
      xyz="0.012182 -0.167 0"
      rpy="0 0 0" />
    <parent
      link="pitch_link" />
    <child
      link="imu_link" />
    <axis
      xyz="0 0 0" />
  </joint>
</robot>
