<?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: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot
  name="urdf_echo_plus">
  <link
    name="base_link">
    <inertial>
      <origin
        xyz="-0.0037667 4.9269E-05 0.093978"
        rpy="0 0 0" />
      <mass
        value="0.88922" />
      <inertia
        ixx="0.0011736"
        ixy="2.0902E-18"
        ixz="-0.00014329"
        iyy="0.00103"
        iyz="-1.2713E-07"
        izz="0.0020309" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://xpkg_urdf_echo_plus/meshes/base_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.1 0.1 0.1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://xpkg_urdf_echo_plus/meshes/base_link.STL" />
      </geometry>
    </collision>
  </link>
  <link
    name="rw_link">
    <inertial>
      <origin
        xyz="6.2151E-08 0.00032083 6.3197E-06"
        rpy="0 0 0" />
      <mass
        value="0.61178" />
      <inertia
        ixx="0.00067373"
        ixy="-1.9551E-09"
        ixz="-2.7426E-11"
        iyy="0.0010485"
        iyz="-4.8712E-09"
        izz="0.00067369" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://xpkg_urdf_echo_plus/meshes/rw_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.5 0.5 0.5 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://xpkg_urdf_echo_plus/meshes/rw_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="rw_Joint"
    type="continuous">
    <origin
      xyz="0 -0.13379 0.065"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="rw_link" />
    <axis
      xyz="-0.0066292 0.99757 0.069317" />
  </joint>
  <link
    name="lw_Link">
    <inertial>
      <origin
        xyz="6.2151E-08 -0.00032083 -6.3197E-06"
        rpy="0 0 0" />
      <mass
        value="0.61178" />
      <inertia
        ixx="0.00067373"
        ixy="1.9551E-09"
        ixz="2.7426E-11"
        iyy="0.0010485"
        iyz="-4.8712E-09"
        izz="0.00067369" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://xpkg_urdf_echo_plus/meshes/lw_Link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.5 0.5 0.5 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://xpkg_urdf_echo_plus/meshes/lw_Link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="lw_Joint"
    type="continuous">
    <origin
      xyz="0 0.13379 0.065"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="lw_Link" />
    <axis
      xyz="-0.012772 0.9917 0.12797" />
  </joint>
  <link
    name="frc_Link">
    <inertial>
      <origin
        xyz="-0.15567 0.5545 0.025141"
        rpy="0 0 0" />
      <mass
        value="8.151E-13" />
      <inertia
        ixx="5.9301E-16"
        ixy="-2.8582E-22"
        ixz="9.8666E-18"
        iyy="6.8512E-16"
        iyz="1.1178E-22"
        izz="8.0561E-16" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://xpkg_urdf_echo_plus/meshes/frc_Link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.5 0.5 0.5 0.8" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://xpkg_urdf_echo_plus/meshes/frc_Link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="frc_Joint"
    type="continuous">
    <origin
      xyz="0.152 -0.10851 0.080146"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="frc_Link" />
    <axis
      xyz="0 0 1" />
  </joint>
  <link
    name="flc_Link">
    <inertial>
      <origin
        xyz="-0.15567 0.3375 0.025141"
        rpy="0 0 0" />
      <mass
        value="8.151E-13" />
      <inertia
        ixx="5.9301E-16"
        ixy="-2.8585E-22"
        ixz="9.8666E-18"
        iyy="6.8512E-16"
        iyz="1.1174E-22"
        izz="8.0561E-16" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://xpkg_urdf_echo_plus/meshes/flc_Link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.5 0.5 0.5 0.8" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://xpkg_urdf_echo_plus/meshes/flc_Link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="flc_Joint"
    type="continuous">
    <origin
      xyz="0.152 0.10849 0.080146"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="flc_Link" />
    <axis
      xyz="0 0 1" />
  </joint>
  <link
    name="brc_Link">
    <inertial>
      <origin
        xyz="0.15233 0.558 0.025941"
        rpy="0 0 0" />
      <mass
        value="8.151E-13" />
      <inertia
        ixx="5.9301E-16"
        ixy="-2.8586E-22"
        ixz="-9.8666E-18"
        iyy="6.8512E-16"
        iyz="-1.1178E-22"
        izz="8.0561E-16" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://xpkg_urdf_echo_plus/meshes/brc_Link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.5 0.5 0.5 0.8" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://xpkg_urdf_echo_plus/meshes/brc_Link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="brc_Joint"
    type="continuous">
    <origin
      xyz="-0.156 -0.11201 0.079346"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="brc_Link" />
    <axis
      xyz="0 0 1" />
  </joint>
  <link
    name="blc_Link">
    <inertial>
      <origin
        xyz="0.15233 0.334 0.025941"
        rpy="0 0 0" />
      <mass
        value="8.151E-13" />
      <inertia
        ixx="5.9301E-16"
        ixy="-2.8587E-22"
        ixz="-9.8666E-18"
        iyy="6.8512E-16"
        iyz="-1.1177E-22"
        izz="8.0561E-16" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://xpkg_urdf_echo_plus/meshes/blc_Link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.5 0.5 0.5 0.8" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://xpkg_urdf_echo_plus/meshes/blc_Link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="blc_Joint"
    type="continuous">
    <origin
      xyz="-0.156 0.11199 0.079346"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="blc_Link" />
    <axis
      xyz="0 0 1" />
  </joint>
  <link
    name="up_link">
    <inertial>
      <origin
        xyz="0.001084 -8.4212E-06 0.137"
        rpy="0 0 0" />
      <mass
        value="0.72097" />
      <inertia
        ixx="0.0063351"
        ixy="4.5569E-08"
        ixz="-4.7594E-10"
        iyy="0.010136"
        iyz="-8.6602E-10"
        izz="0.01647" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://xpkg_urdf_echo_plus/meshes/up_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.2 0.2 0.2 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://xpkg_urdf_echo_plus/meshes/up_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="up_joint"
    type="continuous">
    <origin
      xyz="0 0 0"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="up_link" />
    <axis
      xyz="0 0 -1" />
  </joint>
  <link
    name="print_Link">
    <inertial>
      <origin
        xyz="-9.0206E-17 -9.6285E-06 0.12826"
        rpy="0 0 0" />
      <mass
        value="0.089008" />
      <inertia
        ixx="0.0016125"
        ixy="-3.5297E-08"
        ixz="1.6401E-19"
        iyy="0.00027424"
        iyz="8.5282E-19"
        izz="0.0018844" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://xpkg_urdf_echo_plus/meshes/print_Link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0 0.5 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://xpkg_urdf_echo_plus/meshes/print_Link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="print_Joint"
    type="continuous">
    <origin
      xyz="0 0 0"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="print_Link" />
    <axis
      xyz="0 0 -1" />
  </joint>
  <link
    name="frontback_Link">
    <inertial>
      <origin
        xyz="0.13633 -4.5645E-05 0.093367"
        rpy="0 0 0" />
      <mass
        value="0.8803" />
      <inertia
        ixx="0.018557"
        ixy="-3.0047E-06"
        ixz="0.00019549"
        iyy="0.002961"
        iyz="7.3402E-07"
        izz="0.020159" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://xpkg_urdf_echo_plus/meshes/frontback_Link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.8 0.8 0.78 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://xpkg_urdf_echo_plus/meshes/frontback_Link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="frontback_joint"
    type="continuous">
    <origin
      xyz="0 0 0"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="frontback_Link" />
    <axis
      xyz="0 0 -1" />
  </joint>
  <link
    name="plus_Link">
    <inertial>
      <origin
        xyz="3.2483E-16 -9.6285E-06 0.12243"
        rpy="0 0 0" />
      <mass
        value="0.065271" />
      <inertia
        ixx="1.156E-05"
        ixy="-1.0764E-09"
        ixz="-1.0788E-19"
        iyy="5.254E-05"
        iyz="-2.2235E-20"
        izz="4.729E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://xpkg_urdf_echo_plus/meshes/plus_Link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.86 0.08 0.23 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://xpkg_urdf_echo_plus/meshes/plus_Link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="plus_Joint"
    type="continuous">
    <origin
      xyz="0 0 0"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="plus_Link" />
    <axis
      xyz="0 0 -1" />
  </joint>
  <link
    name="logo_link">
    <inertial>
      <origin
        xyz="0.045053 0.089038 0.11566"
        rpy="0 0 0" />
      <mass
        value="0.00018721" />
      <inertia
        ixx="2.6969E-09"
        ixy="1.614E-17"
        ixz="-4.2645E-11"
        iyy="5.9808E-09"
        iyz="1.6314E-18"
        izz="3.284E-09" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://xpkg_urdf_echo_plus/meshes/logo_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.2 0.2 0.2 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://xpkg_urdf_echo_plus/meshes/logo_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="logo_Joint"
    type="continuous">
    <origin
      xyz="0 0 0"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="logo_link" />
    <axis
      xyz="0 0 -1" />
  </joint>
  <link
    name="parts_Link">
    <inertial>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <mass
        value="0" />
      <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://xpkg_urdf_echo_plus/meshes/parts_Link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.2 0.2 0.2 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://xpkg_urdf_echo_plus/meshes/parts_Link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="parts_Joint"
    type="continuous">
    <origin
      xyz="0 0 0"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="parts_Link" />
    <axis
      xyz="0 0 -1" />
  </joint>
</robot>
