<?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="xpkg_urdf_trigger_a">
  <link
    name="base_link">
    <inertial>
      <origin
        xyz="-8.6736E-19 1.6918E-18 0.08999"
        rpy="0 0 0" />
      <mass
        value="0.00018328" />
      <inertia
        ixx="1.1865E-09"
        ixy="6.8101E-28"
        ixz="-2.3722E-27"
        iyy="1.1865E-09"
        iyz="1.8084E-28"
        izz="9.2531E-10" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://xpkg_urdf_trigger_a/meshes/base_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.4 0.4 0.4 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://xpkg_urdf_trigger_a/meshes/base_link.STL" />
      </geometry>
    </collision>
  </link>
  <link
    name="frame_Link">
    <inertial>
      <origin
        xyz="0.062505 1.4527E-06 0.14153"
        rpy="0 0 0" />
      <mass
        value="33.174" />
      <inertia
        ixx="0.50871"
        ixy="2.0082E-08"
        ixz="-0.0042091"
        iyy="0.41432"
        iyz="-4.4741E-09"
        izz="0.86882" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://xpkg_urdf_trigger_a/meshes/frame_Link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.4 0.4 0.4 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://xpkg_urdf_trigger_a/meshes/frame_Link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="frame_Joint"
    type="continuous">
    <origin
      xyz="0 0 0"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="frame_Link" />
    <axis
      xyz="0 0 -1" />
  </joint>
  <link
    name="bf_Link">
    <inertial>
      <origin
        xyz="-0.026478 -1.7824E-06 0.16946"
        rpy="0 0 0" />
      <mass
        value="0.11802" />
      <inertia
        ixx="0.00019888"
        ixy="-1.9448E-10"
        ixz="-7.5584E-05"
        iyy="0.0012001"
        iyz="-3.3919E-11"
        izz="0.0013395" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://xpkg_urdf_trigger_a/meshes/bf_Link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0 0 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://xpkg_urdf_trigger_a/meshes/bf_Link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="bf_Joint"
    type="continuous">
    <origin
      xyz="0 0 0"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="bf_Link" />
    <axis
      xyz="0 0 -1" />
  </joint>
  <link
    name="sf_Link">
    <inertial>
      <origin
        xyz="0.084715 0.0705 0.12773"
        rpy="0 0 0" />
      <mass
        value="0.22924" />
      <inertia
        ixx="0.00069961"
        ixy="0.00050259"
        ixz="-0.00021651"
        iyy="0.0027448"
        iyz="4.339E-05"
        izz="0.003123" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://xpkg_urdf_trigger_a/meshes/sf_Link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.6 0.6 0.6 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://xpkg_urdf_trigger_a/meshes/sf_Link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="sf_Joint"
    type="continuous">
    <origin
      xyz="0 0 0"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="sf_Link" />
    <axis
      xyz="0 0 -1" />
  </joint>
  <link
    name="fw_Link">
    <inertial>
      <origin
        xyz="-0.029699 -1.9892E-07 1.7021E-06"
        rpy="0 0 0" />
      <mass
        value="1.1394" />
      <inertia
        ixx="0.005037"
        ixy="1.2897E-08"
        ixz="8.9084E-08"
        iyy="0.0026979"
        iyz="-6.3916E-08"
        izz="0.0026982" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://xpkg_urdf_trigger_a/meshes/fw_Link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.4 0.4 0.4 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://xpkg_urdf_trigger_a/meshes/fw_Link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="fw_Joint"
    type="continuous">
    <origin
      xyz="0.3525 0 0.10315"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="fw_Link" />
    <axis
      xyz="-1 0 0" />
  </joint>
  <link
    name="lw_Link">
    <inertial>
      <origin
        xyz="0.01485 -0.025721 1.5551E-06"
        rpy="0 0 0" />
      <mass
        value="1.1394" />
      <inertia
        ixx="0.0032827"
        ixy="-0.0010129"
        ixz="1.4377E-08"
        iyy="0.0044522"
        iyz="1.076E-07"
        izz="0.0026982" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://xpkg_urdf_trigger_a/meshes/lw_Link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.4 0.4 0.4 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://xpkg_urdf_trigger_a/meshes/lw_Link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="lw_Joint"
    type="continuous">
    <origin
      xyz="-0.17625 0.30527 0.10315"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="lw_Link" />
    <axis
      xyz="0.5 -0.86603 0" />
  </joint>
  <link
    name="lwb_Link">
    <inertial>
      <origin
        xyz="0.0019738 -0.0034187 -5.6771E-11"
        rpy="0 0 0" />
      <mass
        value="0.10171" />
      <inertia
        ixx="0.000139"
        ixy="-4.7721E-05"
        ixz="-1.8351E-14"
        iyy="0.00019411"
        iyz="-2.6131E-15"
        izz="0.00011145" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://xpkg_urdf_trigger_a/meshes/lwb_Link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0 0 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://xpkg_urdf_trigger_a/meshes/lwb_Link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="lwb_Joint"
    type="continuous">
    <origin
      xyz="-0.17625 0.30527 0.10315"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="lwb_Link" />
    <axis
      xyz="0.5 -0.86603 0" />
  </joint>
  <link
    name="fwb_Link">
    <inertial>
      <origin
        xyz="-0.0069475 4.7696E-16 -1.3878E-17"
        rpy="0 0 0" />
      <mass
        value="0.10171" />
      <inertia
        ixx="0.00022166"
        ixy="5.7243E-21"
        ixz="-1.3215E-20"
        iyy="0.00011145"
        iyz="-1.4258E-14"
        izz="0.00011145" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://xpkg_urdf_trigger_a/meshes/fwb_Link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0 0 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://xpkg_urdf_trigger_a/meshes/fwb_Link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="fwb_Joint"
    type="continuous">
    <origin
      xyz="0.3525 0 0.10315"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="fwb_Link" />
    <axis
      xyz="-1 0 0" />
  </joint>
  <link
    name="rw_Link">
    <inertial>
      <origin
        xyz="0.01485 0.025721 1.6565E-06"
        rpy="0 0 0" />
      <mass
        value="1.1394" />
      <inertia
        ixx="0.0032827"
        ixy="0.0010128"
        ixz="-9.9451E-08"
        iyy="0.0044523"
        iyz="-4.3435E-08"
        izz="0.0026982" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://xpkg_urdf_trigger_a/meshes/rw_Link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.4 0.4 0.4 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://xpkg_urdf_trigger_a/meshes/rw_Link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="rw_Joint"
    type="continuous">
    <origin
      xyz="-0.17625 -0.30527 0.10315"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="rw_Link" />
    <axis
      xyz="0.5 0.86603 0" />
  </joint>
  <link
    name="rwb_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" />
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    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://xpkg_urdf_trigger_a/meshes/rwb_Link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0 0 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://xpkg_urdf_trigger_a/meshes/rwb_Link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="rwb_Joint"
    type="continuous">
    <origin
      xyz="-0.176249999999997 -0.305273954834008 0.103147752195174"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="rwb_Link" />
    <axis
      xyz="0.499999999999984 0.866025403784448 0" />
  </joint>
</robot>