<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (py backend), content 2b86aca674509206 -->
<robot name="wheel_legged">
  <material name="black">
    <color rgba="0.0 0.0 0.0 1.0" />
  </material>
  <material name="blue">
    <color rgba="0.0 0.0 0.8 1.0" />
  </material>
  <material name="green">
    <color rgba="0.0 0.8 0.0 1.0" />
  </material>
  <material name="grey">
    <color rgba="0.2 0.2 0.2 1.0" />
  </material>
  <material name="silver">
    <color rgba="0.9137254901960784 0.9137254901960784 0.8470588235294118 1.0" />
  </material>
  <material name="orange">
    <color rgba="1.0 0.4235294117647059 0.0392156862745098 1.0" />
  </material>
  <material name="brown">
    <color rgba="0.8705882352941177 0.8117647058823529 0.7647058823529411 1.0" />
  </material>
  <material name="red">
    <color rgba="0.8 0.0 0.0 1.0" />
  </material>
  <material name="white">
    <color rgba="1.0 1.0 1.0 1.0" />
  </material>
  <link name="base">
    <visual>
      <origin xyz="-0.0455 0.0 -0.07551" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://robot_description/wheellegged/WL_P311D/meshes/base_link.STL" />
      </geometry>
      <material name="orange" />
    </visual>
    <collision>
      <origin xyz="-0.0455 0.0 -0.07551" rpy="0.0 0.0 0.0" />
      <geometry>
        <box size="0.515 0.2635 0.151" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.042212 -0.000883 -0.085535" rpy="0.0 0.0 0.0" />
      <mass value="18.188" />
      <inertia ixx="0.138596272" ixy="-0.000463223" ixz="0.001179281" iyy="0.539545026" iyz="7.664e-06" izz="0.5975639" />
    </inertial>
  </link>
  <joint name="limx_imu_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="base" />
    <child link="limx_imu" />
  </joint>
  <link name="limx_imu">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <box size="0.015 0.015 0.004" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.01" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <joint name="LF_HAA" type="revolute">
    <origin xyz="0.216 0.06 -0.07376" rpy="0.0 0.0 0.0" />
    <parent link="base" />
    <child link="LF_hip" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="60.0" velocity="20.0" lower="-0.87" upper="0.87" />
    <dynamics damping="0.05" friction="0.01" />
  </joint>
  <link name="LF_hip">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://robot_description/wheellegged/WL_P311D/meshes/LF_hip.STL" />
      </geometry>
      <material name="orange" />
    </visual>
    <inertial>
      <origin xyz="0.053246 0.009578 -0.000256" rpy="0.0 0.0 0.0" />
      <mass value="1.434" />
      <inertia ixx="0.001158337" ixy="-2.5451e-05" ixz="7.91e-07" iyy="0.001701117" iyz="-1.883e-06" izz="0.001372051" />
    </inertial>
  </link>
  <joint name="LF_HFE" type="revolute">
    <origin xyz="0.058 0.0408 0.0" rpy="0.0 0.0 0.0" />
    <parent link="LF_hip" />
    <child link="LF_thigh" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="60.0" velocity="20.0" lower="-2.27" upper="1.22" />
    <dynamics damping="0.05" friction="0.01" />
  </joint>
  <link name="LF_thigh">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://robot_description/wheellegged/WL_P311D/meshes/LF_thigh.STL" />
      </geometry>
      <material name="orange" />
    </visual>
    <inertial>
      <origin xyz="-0.057303 0.055844 0.004528" rpy="0.0 0.0 0.0" />
      <mass value="2.751" />
      <inertia ixx="0.004607032" ixy="0.004707351" ixz="0.001380725" iyy="0.028533909" iyz="-0.000405022" izz="0.029844027" />
    </inertial>
  </link>
  <joint name="LF_KFE" type="revolute">
    <origin xyz="-0.28 0.08155 0.0" rpy="0.0 0.0 0.0" />
    <parent link="LF_thigh" />
    <child link="LF_calf" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="60.0" velocity="20.0" lower="0.0" upper="2.0943951023932" />
    <dynamics damping="0.05" friction="0.01" />
  </joint>
  <link name="LF_calf">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://robot_description/wheellegged/WL_P311D/meshes/LF_calf.STL" />
      </geometry>
      <material name="orange" />
    </visual>
    <collision>
      <origin xyz="0.10876 0.0 -0.08805" rpy="0.0 0.680678408 0.0" />
      <geometry>
        <box size="0.28 0.023 0.0451" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.172578 0.002711 -0.142172" rpy="0.0 0.0 0.0" />
      <mass value="1.326" />
      <inertia ixx="0.006426995" ixy="-0.000131916" ixz="0.006446843" iyy="0.01424856" iyz="0.000130699" izz="0.008429207" />
    </inertial>
  </link>
  <joint name="LF_WHL" type="revolute">
    <origin xyz="0.21449 0.03434 -0.17998" rpy="0.0 0.0 0.0" />
    <parent link="LF_calf" />
    <child link="LF_wheel" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="40.0" velocity="20.0" lower="-1000.0" upper="1000.0" />
    <dynamics damping="0.0" friction="1.0" />
  </joint>
  <link name="LF_wheel">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://robot_description/wheellegged/WL_P311D/meshes/LF_wheel.STL" />
      </geometry>
      <material name="orange" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <cylinder length="0.017" radius="0.127" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="3.8e-05 0.000878 5.1e-05" rpy="0.0 0.0 0.0" />
      <mass value="0.818" />
      <inertia ixx="0.003929539" ixy="1e-08" ixz="1.808e-06" iyy="0.007451249" iyz="6.7e-08" izz="0.003930825" />
    </inertial>
  </link>
  <joint name="LF_foot_fixed" type="fixed">
    <origin xyz="0.0 0.0 -0.127" rpy="0.0 0.0 0.0" />
    <parent link="LF_wheel" />
    <child link="LF_foot" />
  </joint>
  <link name="LF_foot">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <sphere radius="0.03" />
      </geometry>
    </visual>
  </link>
  <joint name="RF_HAA" type="revolute">
    <origin xyz="0.216 -0.06 -0.07376" rpy="0.0 0.0 0.0" />
    <parent link="base" />
    <child link="RF_hip" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="60.0" velocity="20.0" lower="-0.87" upper="0.87" />
    <dynamics damping="0.05" friction="0.01" />
  </joint>
  <link name="RF_hip">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://robot_description/wheellegged/WL_P311D/meshes/RF_hip.STL" />
      </geometry>
      <material name="orange" />
    </visual>
    <inertial>
      <origin xyz="0.053246 -0.009578 -0.000256" rpy="0.0 0.0 0.0" />
      <mass value="1.434" />
      <inertia ixx="0.001158337" ixy="2.5451e-05" ixz="7.91e-07" iyy="0.001701117" iyz="1.883e-06" izz="0.001372051" />
    </inertial>
  </link>
  <joint name="RF_HFE" type="revolute">
    <origin xyz="0.058 -0.0408 0.0" rpy="0.0 0.0 0.0" />
    <parent link="RF_hip" />
    <child link="RF_thigh" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="60.0" velocity="20.0" lower="-2.27" upper="1.22" />
    <dynamics damping="0.05" friction="0.01" />
  </joint>
  <link name="RF_thigh">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://robot_description/wheellegged/WL_P311D/meshes/RF_thigh.STL" />
      </geometry>
      <material name="orange" />
    </visual>
    <inertial>
      <origin xyz="-0.057303 -0.055844 0.004528" rpy="0.0 0.0 0.0" />
      <mass value="2.751" />
      <inertia ixx="0.004607032" ixy="-0.004707351" ixz="0.001380725" iyy="0.028533909" iyz="0.000405022" izz="0.029844027" />
    </inertial>
  </link>
  <joint name="RF_KFE" type="revolute">
    <origin xyz="-0.28 -0.08155 0.0" rpy="0.0 0.0 0.0" />
    <parent link="RF_thigh" />
    <child link="RF_calf" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="60.0" velocity="20.0" lower="0.0" upper="2.0943951023932" />
    <dynamics damping="0.05" friction="0.01" />
  </joint>
  <link name="RF_calf">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://robot_description/wheellegged/WL_P311D/meshes/RF_calf.STL" />
      </geometry>
      <material name="orange" />
    </visual>
    <collision>
      <origin xyz="0.10876 0.0 -0.08805" rpy="0.0 0.680678408 0.0" />
      <geometry>
        <box size="0.28 0.023 0.0451" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.172578 -0.002711 -0.142172" rpy="0.0 0.0 0.0" />
      <mass value="1.326" />
      <inertia ixx="0.006426995" ixy="0.000131916" ixz="0.006446843" iyy="0.01424856" iyz="-0.000130699" izz="0.008429207" />
    </inertial>
  </link>
  <joint name="RF_WHL" type="revolute">
    <origin xyz="0.21449 -0.03434 -0.17998" rpy="0.0 0.0 0.0" />
    <parent link="RF_calf" />
    <child link="RF_wheel" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="40.0" velocity="20.0" lower="-1000.0" upper="1000.0" />
    <dynamics damping="0.0" friction="1.0" />
  </joint>
  <link name="RF_wheel">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://robot_description/wheellegged/WL_P311D/meshes/RF_wheel.STL" />
      </geometry>
      <material name="orange" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <cylinder length="0.017" radius="0.127" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="3.8e-05 -0.000878 5.1e-05" rpy="0.0 0.0 0.0" />
      <mass value="0.818" />
      <inertia ixx="0.003929539" ixy="-1e-08" ixz="1.808e-06" iyy="0.007451249" iyz="-6.7e-08" izz="0.003930825" />
    </inertial>
  </link>
  <joint name="RF_foot_fixed" type="fixed">
    <origin xyz="0.0 0.0 -0.127" rpy="0.0 0.0 0.0" />
    <parent link="RF_wheel" />
    <child link="RF_foot" />
  </joint>
  <link name="RF_foot">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <sphere radius="0.03" />
      </geometry>
    </visual>
  </link>
  <joint name="LH_HAA" type="revolute">
    <origin xyz="-0.307 0.06 -0.07376" rpy="0.0 0.0 0.0" />
    <parent link="base" />
    <child link="LH_hip" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="60.0" velocity="20.0" lower="-0.87" upper="0.87" />
    <dynamics damping="0.05" friction="0.01" />
  </joint>
  <link name="LH_hip">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://robot_description/wheellegged/WL_P311D/meshes/LH_hip.STL" />
      </geometry>
      <material name="orange" />
    </visual>
    <inertial>
      <origin xyz="-0.053246 0.009578 -0.000256" rpy="0.0 0.0 0.0" />
      <mass value="1.434" />
      <inertia ixx="0.001158337" ixy="2.5451e-05" ixz="-7.91e-07" iyy="0.001701117" iyz="-1.883e-06" izz="0.001372051" />
    </inertial>
  </link>
  <joint name="LH_HFE" type="revolute">
    <origin xyz="-0.058 0.0408 0.0" rpy="0.0 0.0 0.0" />
    <parent link="LH_hip" />
    <child link="LH_thigh" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="60.0" velocity="20.0" lower="-2.27" upper="1.22" />
    <dynamics damping="0.05" friction="0.01" />
  </joint>
  <link name="LH_thigh">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://robot_description/wheellegged/WL_P311D/meshes/LH_thigh.STL" />
      </geometry>
      <material name="orange" />
    </visual>
    <inertial>
      <origin xyz="-0.057303 0.055844 0.004528" rpy="0.0 0.0 0.0" />
      <mass value="2.751" />
      <inertia ixx="0.004607032" ixy="0.004707351" ixz="0.001380725" iyy="0.028533909" iyz="-0.000405022" izz="0.029844027" />
    </inertial>
  </link>
  <joint name="LH_KFE" type="revolute">
    <origin xyz="-0.28 0.08155 0.0" rpy="0.0 0.0 0.0" />
    <parent link="LH_thigh" />
    <child link="LH_calf" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="60.0" velocity="20.0" lower="0.0" upper="2.0943951023932" />
    <dynamics damping="0.05" friction="0.01" />
  </joint>
  <link name="LH_calf">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://robot_description/wheellegged/WL_P311D/meshes/LH_calf.STL" />
      </geometry>
      <material name="orange" />
    </visual>
    <collision>
      <origin xyz="0.10876 0.0 -0.08805" rpy="0.0 0.680678408 0.0" />
      <geometry>
        <box size="0.28 0.023 0.0451" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.172578 0.002711 -0.142172" rpy="0.0 0.0 0.0" />
      <mass value="1.326" />
      <inertia ixx="0.006426995" ixy="-0.000131916" ixz="0.006446843" iyy="0.01424856" iyz="0.000130699" izz="0.008429207" />
    </inertial>
  </link>
  <joint name="LH_WHL" type="revolute">
    <origin xyz="0.21449 0.03434 -0.17998" rpy="0.0 0.0 0.0" />
    <parent link="LH_calf" />
    <child link="LH_wheel" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="40.0" velocity="20.0" lower="-1000.0" upper="1000.0" />
    <dynamics damping="0.0" friction="1.0" />
  </joint>
  <link name="LH_wheel">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://robot_description/wheellegged/WL_P311D/meshes/LH_wheel.STL" />
      </geometry>
      <material name="orange" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <cylinder length="0.017" radius="0.127" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="3.8e-05 0.000878 5.1e-05" rpy="0.0 0.0 0.0" />
      <mass value="0.818" />
      <inertia ixx="0.003929539" ixy="1e-08" ixz="1.808e-06" iyy="0.007451249" iyz="6.7e-08" izz="0.003930825" />
    </inertial>
  </link>
  <joint name="LH_foot_fixed" type="fixed">
    <origin xyz="0.0 0.0 -0.127" rpy="0.0 0.0 0.0" />
    <parent link="LH_wheel" />
    <child link="LH_foot" />
  </joint>
  <link name="LH_foot">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <sphere radius="0.03" />
      </geometry>
    </visual>
  </link>
  <joint name="RH_HAA" type="revolute">
    <origin xyz="-0.307 -0.06 -0.07376" rpy="0.0 0.0 0.0" />
    <parent link="base" />
    <child link="RH_hip" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="60.0" velocity="20.0" lower="-0.87" upper="0.87" />
    <dynamics damping="0.05" friction="0.01" />
  </joint>
  <link name="RH_hip">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://robot_description/wheellegged/WL_P311D/meshes/RH_hip.STL" />
      </geometry>
      <material name="orange" />
    </visual>
    <inertial>
      <origin xyz="-0.053246 -0.009578 -0.000256" rpy="0.0 0.0 0.0" />
      <mass value="1.434" />
      <inertia ixx="0.001158337" ixy="-2.5451e-05" ixz="-7.91e-07" iyy="0.001701117" iyz="1.883e-06" izz="0.001372051" />
    </inertial>
  </link>
  <joint name="RH_HFE" type="revolute">
    <origin xyz="-0.058 -0.0408 0.0" rpy="0.0 0.0 0.0" />
    <parent link="RH_hip" />
    <child link="RH_thigh" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="60.0" velocity="20.0" lower="-2.27" upper="1.22" />
    <dynamics damping="0.05" friction="0.01" />
  </joint>
  <link name="RH_thigh">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://robot_description/wheellegged/WL_P311D/meshes/RH_thigh.STL" />
      </geometry>
      <material name="orange" />
    </visual>
    <inertial>
      <origin xyz="-0.057303 -0.055844 0.004528" rpy="0.0 0.0 0.0" />
      <mass value="2.751" />
      <inertia ixx="0.004607032" ixy="-0.004707351" ixz="0.001380725" iyy="0.028533909" iyz="0.000405022" izz="0.029844027" />
    </inertial>
  </link>
  <joint name="RH_KFE" type="revolute">
    <origin xyz="-0.28 -0.08155 0.0" rpy="0.0 0.0 0.0" />
    <parent link="RH_thigh" />
    <child link="RH_calf" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="60.0" velocity="20.0" lower="0.0" upper="2.0943951023932" />
    <dynamics damping="0.05" friction="0.01" />
  </joint>
  <link name="RH_calf">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://robot_description/wheellegged/WL_P311D/meshes/RH_calf.STL" />
      </geometry>
      <material name="orange" />
    </visual>
    <collision>
      <origin xyz="0.10876 0.0 -0.08805" rpy="0.0 0.680678408 0.0" />
      <geometry>
        <box size="0.28 0.023 0.0451" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.172578 -0.002711 -0.142172" rpy="0.0 0.0 0.0" />
      <mass value="1.326" />
      <inertia ixx="0.006426995" ixy="0.000131916" ixz="0.006446843" iyy="0.01424856" iyz="-0.000130699" izz="0.008429207" />
    </inertial>
  </link>
  <joint name="RH_WHL" type="revolute">
    <origin xyz="0.21449 -0.03434 -0.17998" rpy="0.0 0.0 0.0" />
    <parent link="RH_calf" />
    <child link="RH_wheel" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="40.0" velocity="20.0" lower="-1000.0" upper="1000.0" />
    <dynamics damping="0.0" friction="1.0" />
  </joint>
  <link name="RH_wheel">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://robot_description/wheellegged/WL_P311D/meshes/RH_wheel.STL" />
      </geometry>
      <material name="orange" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <cylinder length="0.017" radius="0.127" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="3.8e-05 -0.000878 5.1e-05" rpy="0.0 0.0 0.0" />
      <mass value="0.818" />
      <inertia ixx="0.003929539" ixy="-1e-08" ixz="1.808e-06" iyy="0.007451249" iyz="-6.7e-08" izz="0.003930825" />
    </inertial>
  </link>
  <joint name="RH_foot_fixed" type="fixed">
    <origin xyz="0.0 0.0 -0.127" rpy="0.0 0.0 0.0" />
    <parent link="RH_wheel" />
    <child link="RH_foot" />
  </joint>
  <link name="RH_foot">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <sphere radius="0.03" />
      </geometry>
    </visual>
  </link>
</robot>
