<?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="yahboomcar">
  <link
    name="base_link">
    <inertial>
      <origin
        xyz="-0.014025 -0.00011707 0.082168"
        rpy="0 0 0" />
      <mass
        value="0.52447" />
      <inertia
        ixx="0.00066245"
        ixy="-3.1852E-08"
        ixz="-4.6503E-05"
        iyy="0.0012486"
        iyz="-3.356E-08"
        izz="0.0018052" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://yahboomcar_description/meshes/base_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0 0.62745 0.23529 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://yahboomcar_description/meshes/base_link.STL" />
      </geometry>
    </collision>
  </link>
  <link
    name="back_right_link">
    <inertial>
      <origin
        xyz="3.8959E-08 0.0015615 -6.3774E-08"
        rpy="0 0 0" />
      <mass
        value="0.060236" />
      <inertia
        ixx="2.5326E-05"
        ixy="-2.701E-10"
        ixz="3.3546E-09"
        iyy="4.4342E-05"
        iyz="-2.9324E-10"
        izz="2.531E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://yahboomcar_description/meshes/back_right_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.79216 0.81961 0.93333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://yahboomcar_description/meshes/back_right_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="back_right_joint"
    type="continuous">
    <origin
      xyz="-0.11607 -0.08425 0.0125"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="back_right_link" />
    <axis
      xyz="0 -1 0" />
  </joint>
  <link
    name="back_left_link">
    <inertial>
      <origin
        xyz="-6.87042718550135E-08 -0.00156153690070754 3.00324059371304E-08"
        rpy="0 0 0" />
      <mass
        value="0.0602360431220635" />
      <inertia
        ixx="2.53100986719244E-05"
        ixy="-3.65138701967536E-11"
        ixz="1.15601374112124E-09"
        iyy="4.43431918315874E-05"
        iyz="-7.01985398840287E-11"
        izz="2.53280330627738E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://yahboomcar_description/meshes/back_right_link.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://yahboomcar_description/meshes/back_right_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="back_left_joint"
    type="continuous">
    <origin
      xyz="-0.11607 0.08425 0.0125"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="back_left_link" />
    <axis
      xyz="0 1 0" />
  </joint>
  <link
    name="front_left_steer">
    <inertial>
      <origin
        xyz="-0.0044676 0.0031203 -0.014101"
        rpy="0 0 0" />
      <mass
        value="0.002176" />
      <inertia
        ixx="1.4001E-07"
        ixy="-7.8357E-08"
        ixz="1.1741E-12"
        iyy="2.7801E-07"
        iyz="7.8069E-12"
        izz="2.909E-07" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://yahboomcar_description/meshes/front_left_steer.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.082353 0.56078 0 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://yahboomcar_description/meshes/front_left_steer.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="front_left_steer_joint"
    type="revolute">
    <origin
      xyz="0.11922 0.065 0.0262"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="front_left_steer" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="0"
      upper="0"
      effort="0"
      velocity="0" />
  </joint>
  <link
    name="front_left_wheel">
    <inertial>
      <origin
        xyz="-6.1417E-08 -0.0048115 4.113E-08"
        rpy="0 0 0" />
      <mass
        value="0.060236" />
      <inertia
        ixx="2.531E-05"
        ixy="2.9987E-10"
        ixz="3.7781E-09"
        iyy="4.4342E-05"
        iyz="2.6181E-10"
        izz="2.5326E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://yahboomcar_description/meshes/back_right_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.79216 0.81961 0.93333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://yahboomcar_description/meshes/back_right_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="front_left_wheel_joint"
    type="continuous">
    <origin
      xyz="0.00022897 0.0228 -0.0141"
      rpy="0 0 -0.010042" />
    <parent
      link="front_left_steer" />
    <child
      link="front_left_wheel" />
    <axis
      xyz="0 -1 0" />
  </joint>
  <link
    name="front_right_steer">
    <inertial>
      <origin
        xyz="-0.0045387 -0.0030159 -0.012099"
        rpy="0 0 0" />
      <mass
        value="0.002176" />
      <inertia
        ixx="1.4372E-07"
        ixy="8.1469E-08"
        ixz="-1.0492E-12"
        iyy="2.7431E-07"
        iyz="7.8675E-12"
        izz="2.909E-07" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://yahboomcar_description/meshes/front_left_steer.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.082353 0.56078 0 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://yahboomcar_description/meshes/front_left_steer.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="front_right_steer_joint"
    type="revolute">
    <origin
      xyz="0.11922 -0.065 0.0242"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="front_right_steer" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="0"
      upper="0"
      effort="0"
      velocity="0" />
  </joint>
  <link
    name="front_right_wheel">
    <inertial>
      <origin
        xyz="5.5753E-08 0.0015615 -5.0453E-08"
        rpy="0 0 0" />
      <mass
        value="0.060236" />
      <inertia
        ixx="2.5325E-05"
        ixy="5.201E-11"
        ixz="7.1484E-09"
        iyy="4.4343E-05"
        iyz="6.0924E-11"
        izz="2.5314E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://yahboomcar_description/meshes/back_right_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.79216 0.81961 0.93333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://yahboomcar_description/meshes/back_right_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="front_right_wheel_joint"
    type="continuous">
    <origin
      xyz="-0.00025662 -0.019549 -0.0121"
      rpy="0 0 -0.013126" />
    <parent
      link="front_right_steer" />
    <child
      link="front_right_wheel" />
    <axis
      xyz="0 1 0" />
  </joint>
  <link
    name="camera_link">
    <inertial>
      <origin
        xyz="-0.0022507 -5.8908E-06 -0.021168"
        rpy="0 0 0" />
      <mass
        value="0.22414" />
      <inertia
        ixx="0.00039172"
        ixy="2.2482E-08"
        ixz="4.3677E-08"
        iyy="4.6625E-05"
        iyz="1.3858E-10"
        izz="0.0004106" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://yahboomcar_description/meshes/camera_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.082353 0.082353 0.082353 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://yahboomcar_description/meshes/camera_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="camera_joint"
    type="fixed">
    <origin
      xyz="0.095117 0 0.09955"
      rpy="0 0.0057171 0" />
    <parent
      link="base_link" />
    <child
      link="camera_link" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="laser_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://yahboomcar_description/meshes/laser_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://yahboomcar_description/meshes/laser_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="laser_joint"
    type="fixed">
    <origin
      xyz="0.012548 0 0.1311"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="laser_link" />
    <axis
      xyz="0 0 0" />
  </joint>
</robot>
