<?xml version="1.0"?>
<robot name="quadruped">
	<link name="base_chassis_link">
		<visual>
			<geometry>
				<mesh filename="chassis.obj" scale="1 1 1"/>

			</geometry>
			<material name="black">
				<color rgba=".3 .3 .3 1"/>
			</material>
		</visual>
		<collision>
			<geometry>
				<box size=".3 .13 .087"/>
			</geometry>
		</collision>
		
		<inertial>
			<origin rpy="0 0 0" xyz=".05 0 0"/>
			<mass value="3.353"/>
			<inertia ixx=".006837" ixy=".0" ixz=".0" iyy=".027262" iyz=".0" izz=".029870"/>
		</inertial>
	</link>
	<link name="chassis_right">
			<visual>
			<geometry>
				<mesh filename="chassis2.obj" scale="1 1 1"/>
			</geometry>
			<material name="yellow">
				<color rgba=".7 .7 .3 1"/>
			</material>
		</visual>
		<collision>
			<origin rpy="0 0 0" xyz="0 0 0"/>
			<geometry>
				<mesh filename="chassis2.obj" scale="1 1 1"/>
			</geometry>
		</collision>
	
		<inertial>
			<mass value="1.32"/>
			<inertia ixx=".004147" ixy=".0" ixz=".0" iyy=".040913" iyz=".0" izz=".041840"/>
		</inertial>
	</link>
	<joint name="chassis_right_center" type="fixed">
		<axis xyz="0 0 1"/>
		<parent link="base_chassis_link"/>
		<child link="chassis_right"/>
		<origin rpy="0 0 0" xyz="0 -.1265 -.0185"/>
		<limit effort="100" velocity="100"/>
		<joint_properties damping=".0" friction=".0"/>
	</joint>


	<link name="motor_front_rightS_link">
		<visual>
			<origin rpy="0 0 0" xyz="0 0 0"/>
			<geometry>
				<cylinder length=".05" radius=".01"/>
			</geometry>
			<material name="white">
				<color rgba="1 1 1 1"/>
			</material>
		</visual>
		<collision>
			<origin rpy="0 0 0" xyz="0 0 0"/>
			<geometry>
				<cylinder length=".05" radius=".01"/>
			</geometry>
		</collision>
		<inertial>
			<mass value=".072"/>
			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
		</inertial>
	</link>
		
	<joint name="motor_front_rightS_joint" type="continuous">
		<axis xyz="0 0 1"/>
		<parent link="chassis_right"/>
		<child link="motor_front_rightS_link"/>
		<origin rpy="0 1.57075 0" xyz=".1375 .0275 0"/>
		<limit effort="100" velocity="100"/>
		<joint_properties damping=".0" friction=".0"/>
	</joint>

	  <link name="motor_back_rightS_link">
                <visual>
                        <origin rpy="0 0 0" xyz="0 0 0"/>
                        <geometry>
                                <cylinder length=".05" radius=".01"/>
                        </geometry>
                        <material name="white">
                                <color rgba="1 1 1 1"/>
                        </material>
                </visual>
                <collision>
                        <origin rpy="0 0 0" xyz="0 0 0"/>
                        <geometry>
                                <cylinder length=".05" radius=".01"/>
                        </geometry>
                </collision>
                <inertial>
                        <mass value=".072"/>
                        <inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
                </inertial>
        </link>

        <joint name="motor_back_rightS_joint" type="continuous">
                <axis xyz="0 0 1"/>
                <parent link="chassis_right"/>
                <child link="motor_back_rightS_link"/>
                <origin rpy="0 1.57075 0" xyz="-.1375 .0275 0"/>
                <limit effort="100" velocity="100"/>
                <joint_properties damping=".0" friction=".0"/>
        </joint>

	
	<link name="chassis_left">
		<visual>
			<origin rpy="0 0 0" xyz="0 0 0"/>
			<geometry>
				<mesh filename="chassis2.obj" scale="1 1 1"/>
			</geometry>
			<material name="yellow"/>
		</visual>
		
		<collision>
			<origin rpy="0 0 0" xyz="0 0 0"/>
			<geometry>
				<mesh filename="chassis2.obj" scale="1 1 1"/>
			</geometry>
		</collision>
		
		<inertial>
			<mass value="1.32"/>
			<inertia ixx=".004147" ixy=".0" ixz=".0" iyy=".040913" iyz=".0" izz=".041840"/>
		</inertial>
	</link>
	<joint name="chassis_left_center" type="fixed">
		<axis xyz="0 0 1"/>
		<parent link="base_chassis_link"/>
		<child link="chassis_left"/>
		<origin rpy="0 0 0" xyz="0 .1265 -.0185"/>
		<limit effort="100" velocity="100"/>
		<joint_properties damping=".0" friction=".0"/>
	</joint>


	 <link name="motor_front_leftS_link">
                <visual>
                        <origin rpy="0 0 0" xyz="0 0 0"/>
                        <geometry>
                                <cylinder length=".05" radius=".01"/>
                        </geometry>
                        <material name="white">
                                <color rgba="1 1 1 1"/>
                        </material>
                </visual>
                <collision>
                        <origin rpy="0 0 0" xyz="0 0 0"/>
                        <geometry>
                                <cylinder length=".05" radius=".01"/>
                        </geometry>
                </collision>
                <inertial>
                        <mass value=".072"/>
                        <inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
                </inertial>
        </link>

        <joint name="motor_front_leftS_joint" type="continuous">
                <axis xyz="0 0 1"/>
                <parent link="chassis_left"/>
                <child link="motor_front_leftS_link"/>
                <origin rpy="0 1.57075 0" xyz=".1375 -.0275 0"/>
                <limit effort="100" velocity="100"/>
                <joint_properties damping=".0" friction=".0"/>
        </joint>

	<link name="motor_back_leftS_link">
                <visual>
                        <origin rpy="0 0 0" xyz="0 0 0"/>
                        <geometry>
                                <cylinder length=".05" radius=".01"/>
                        </geometry>
                        <material name="white">
                                <color rgba="1 1 1 1"/>
                        </material>
                </visual>
                <collision>
                        <origin rpy="0 0 0" xyz="0 0 0"/>
                        <geometry>
                                <cylinder length=".05" radius=".01"/>
                        </geometry>
                </collision>
                <inertial>
                        <mass value=".072"/>
                        <inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
                </inertial>
        </link>

        <joint name="motor_back_leftS_joint" type="continuous">
                <axis xyz="0 0 1"/>
                <parent link="chassis_left"/>
                <child link="motor_back_leftS_link"/>
                <origin rpy="0 1.57075 0" xyz="-.1375 -.0275 0"/>
                <limit effort="100" velocity="100"/>
                <joint_properties damping=".0" friction=".0"/>
        </joint>



	<link name="motor_front_rightR_link">
		<visual>
			<origin rpy="0 0 0" xyz="0 0 0"/>
			<geometry>
				<mesh filename="tmotor3.obj" scale="1 1 1"/>
			</geometry>
			<material name="white">
				<color rgba="1 1 1 1"/>
			</material>
		</visual>
		<collision>
			<origin rpy="0 0 0" xyz="0 0 0"/>
			<geometry>
				<cylinder length=".021" radius=".0425"/>
			</geometry>
		</collision>
		<inertial>
			<mass value=".072"/>
			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
		</inertial>
	</link>
	<joint name="motor_front_rightR_joint" type="continuous">
		<axis xyz="0 0 1"/>
		<parent link="motor_front_rightS_link"/>
		<child link="motor_front_rightR_link"/>
		<origin rpy="1.57075 -1.57075 0" xyz="0 0 0.1"/>
		<limit effort="100" velocity="100"/>
		<joint_properties damping=".0" friction=".0"/>
	</joint>
	<link name="motor_front_rightL_link">
		<visual>
			<geometry>
				<mesh filename="tmotor3.obj" scale="1 1 1"/>
			</geometry>
			<material name="white">
				<color rgba="1 1 1 1"/>
			</material>
		</visual>
		<collision>
			<geometry>
				<cylinder length=".021" radius=".0425"/>
			</geometry>
		</collision>
		<inertial>
			<mass value=".072"/>
			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
		</inertial>
	</link>
	<joint name="motor_front_rightL_joint" type="continuous">
		<axis xyz="0 0 1"/>
		<parent link="motor_front_rightS_link"/>
		<child link="motor_front_rightL_link"/>
		<origin rpy="1.57075 0 3.141592" xyz="0 0.01 .1"/>
		<limit effort="100" velocity="100"/>
		<joint_properties damping=".0" friction=".0"/>
	</joint>
	
	
	<link name="motor_front_leftL_link">
		<visual>
			<geometry>
				<mesh filename="tmotor3.obj" scale="1 1 1"/>
			</geometry>
			<material name="white">
				<color rgba="1 1 1 1"/>
			</material>
		</visual>
		<collision>

			<geometry>
				<cylinder length=".021" radius=".0425"/>
			</geometry>
		</collision>
		<inertial>
			<mass value=".072"/>
			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
		</inertial>
	</link>



	<joint name="motor_front_leftL_joint" type="continuous">
		<axis xyz="0 0 1"/>
		<parent link="motor_front_leftS_link"/>
		<child link="motor_front_leftL_link"/>
		<origin rpy="-1.57075 1.57075 0" xyz="0 0 0.1"/>
		<limit effort="100" velocity="100"/>
		<joint_properties damping=".0" friction=".0"/>
	</joint>
	
	<link name="motor_front_leftR_link">
		<visual>
			<geometry>
				<mesh filename="tmotor3.obj" scale="1 1 1"/>
			</geometry>
			<material name="white">
				<color rgba="1 1 1 1"/>
			</material>
		</visual>
		<collision>
			<geometry>
				<cylinder length=".021" radius=".0425"/>
			</geometry>
		</collision>
		<inertial>
			<mass value=".072"/>
			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
		</inertial>
	</link>
	<joint name="motor_front_leftR_joint" type="continuous">
		<axis xyz="0 0 1"/>
		<parent link="motor_front_leftS_link"/>
		<child link="motor_front_leftR_link"/>
		<origin rpy="1.57075 0 0" xyz="0 0 0.1"/>
		<limit effort="100" velocity="100"/>
		<joint_properties damping=".0" friction=".0"/>
	</joint>
	<link name="motor_back_rightR_link">
		<visual>
			<geometry>
				<mesh filename="tmotor3.obj" scale="1 1 1"/>
			</geometry>
			<material name="white">
				<color rgba="1 1 1 1"/>
			</material>
		</visual>
		<collision>
			<geometry>
				<cylinder length=".021" radius=".0425"/>
			</geometry>
		</collision>
		<inertial>
			<mass value=".072"/>
			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
		</inertial>
	</link>

	<joint name="motor_back_rightR_joint" type="continuous">
		<axis xyz="0 0 1"/>
		<parent link="motor_back_rightS_link"/>
		<child link="motor_back_rightR_link"/>
		<origin rpy="1.57075 -1.57075 0" xyz="0 0 -0.1"/>
		<limit effort="100" velocity="100"/>
		<joint_properties damping=".0" friction=".0"/>
	</joint>
	<link name="motor_back_rightL_link">
		<visual>
			<geometry>
				<mesh filename="tmotor3.obj" scale="1 1 1"/>
			</geometry>
			<material name="white">
				<color rgba="1 1 1 1"/>
			</material>
		</visual>
		<collision>
			<geometry>
				<cylinder length=".021" radius=".0425"/>
			</geometry>
		</collision>
		<inertial>
			<mass value=".072"/>
			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
		</inertial>
	</link>
	<joint name="motor_back_rightL_joint" type="continuous">
		<axis xyz="0 0 1"/>
		<parent link="chassis_right"/>
		<child link="motor_back_rightL_link"/>
		<origin rpy="1.57075 0 3.141592" xyz="-.2375 .0275 0"/>
		<limit effort="100" velocity="100"/>
		<joint_properties damping=".0" friction=".0"/>
	</joint>
	<link name="motor_back_leftL_link">
		<visual>
			<geometry>
				<mesh filename="tmotor3.obj" scale="1 1 1"/>
			</geometry>
			<material name="white">
				<color rgba="1 1 1 1"/>
			</material>
		</visual>
		<collision>
			<geometry>
				<cylinder length=".021" radius=".0425"/>
			</geometry>
		</collision>
		<inertial>
			<mass value=".072"/>
			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
		</inertial>
	</link>


	<joint name="motor_back_leftL_joint" type="continuous">
		<axis xyz="0 0 1"/>
		<parent link="motor_back_leftS_link"/>
		<child link="motor_back_leftL_link"/>
		<origin rpy="-1.57075 1.57075 0" xyz="0 0 -0.1"/>
		<limit effort="100" velocity="100"/>
		<joint_properties damping=".0" friction=".0"/>
	</joint>
	<link name="motor_back_leftR_link">
		<visual>
			<geometry>
				<mesh filename="tmotor3.obj" scale="1 1 1"/>
			</geometry>
			<material name="white">
				<color rgba="1 1 1 1"/>
			</material>
		</visual>
		<collision>
			<geometry>
				<cylinder length=".021" radius=".0425"/>
			</geometry>
		</collision>
		<inertial>
			<mass value=".072"/>
			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
		</inertial>
	</link>
	<joint name="motor_back_leftR_joint" type="continuous">
		<axis xyz="0 0 1"/>
		<parent link="chassis_left"/>
		<child link="motor_back_leftR_link"/>
		<origin rpy="1.57075 0 0" xyz="-.2375 -.0275 0"/>
		<limit effort="100" velocity="100"/>
		<joint_properties damping=".0" friction=".0"/>
	</joint>
	<link name="upper_leg_front_rightR_link">
		<visual>
			<geometry>
				<box size=".039 .008 .199"/>
			</geometry>
			<material name="grey">
				<color rgba=".65 .65 .75 1"/>
			</material>
		</visual>
		<collision>
			<geometry>
				<box size=".039 .008 .199"/>
			</geometry>
		</collision>
		<inertial>
			<mass value=".034"/>
			<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
		</inertial>
	</link>
	<joint name="hip_front_rightR_joint" type="fixed">
		<axis xyz="0 0 1"/>
		<parent link="motor_front_rightR_link"/>
		<child link="upper_leg_front_rightR_link"/>
		<origin rpy="-1.57075 0 0" xyz="0 0.095 0"/>
		<limit effort="100" velocity="100"/>
		<joint_properties damping=".0" friction=".0"/>
	</joint>
	<link name="lower_leg_front_rightR_link">
		<contact>
			<friction_anchor/>
			<stiffness value="3000.0"/>
			<damping value="100.0"/>
			<spinning_friction value=".3"/>
			<lateral_friction value="1"/>
		</contact>
		<visual>
			<origin rpy="0 0 0" xyz="0 0 .120"/>
			<geometry>
				<box size=".017 .009 .200"/>
			</geometry>
			<material name="black"/>
		</visual>
		<collision>
			<origin rpy="0 0 0" xyz="0 0 .120"/>
			<geometry>
				<box size=".017 .009 .200"/>
			</geometry>
		</collision>
		<inertial>
			<origin rpy="0 0 0" xyz="0 0 .120"/>
			<mass value=".086"/>
			<inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
		</inertial>
	</link>
	<joint name="knee_front_rightR_joint" type="continuous">
		<axis xyz="0 1 0"/>
		<parent link="upper_leg_front_rightR_link"/>
		<child link="lower_leg_front_rightR_link"/>
		<origin rpy="0 0 0" xyz="0 .0085 .096"/>
		<limit effort="100" velocity="100"/>
		<joint_properties damping=".0" friction=".0"/>
	</joint>
	
	<link name="upper_leg_front_leftL_link">
		<visual>
			<geometry>
				<box size=".039 .008 .199"/>
			</geometry>
			<material name="grey">
				<color rgba=".65 .65 .75 1"/>
			</material>
		</visual>
		<collision>
			<geometry>
				<box size=".039 .008 .199"/>
			</geometry>
		</collision>
		<inertial>
			<mass value=".034"/>
			<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
		</inertial>
	</link>
	<joint name="hip_front_leftL_joint" type="fixed">
		<axis xyz="0 0 1"/>
		<parent link="motor_front_leftL_link"/>
		<child link="upper_leg_front_leftL_link"/>
		<origin rpy="-1.57075 0 0" xyz="0 .095 .0"/>
		<limit effort="100" velocity="100"/>
		<joint_properties damping=".0" friction=".0"/>
	</joint>
	<link name="lower_leg_front_leftL_link">
		<contact>
			<friction_anchor/>
			<stiffness value="3000.0"/>
			<damping value="100.0"/>
			<spinning_friction value=".3"/>
			<lateral_friction value="1"/>
		</contact>
		<visual>
			<origin rpy="0 0 0" xyz="0 0 .120"/>
			<geometry>
				<box size=".017 .009 .200"/>
			</geometry>
			<material name="black"/>

		</visual>
		<collision>
			<origin rpy="0 0 0" xyz="0 0 .120"/>
			<geometry>
				<box size=".017 .009 .200"/>
			</geometry>
		</collision>
		<inertial>
			<origin rpy="0 0 0" xyz="0 0 .120"/>
			<mass value=".086"/>
			<inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
		</inertial>
	</link>
	<joint name="knee_front_leftL_joint" type="continuous">
		<axis xyz="0 1 0"/>
		<parent link="upper_leg_front_leftL_link"/>
		<child link="lower_leg_front_leftL_link"/>
		<origin rpy="0 0 0" xyz="0 .0085 .096"/>
		<limit effort="100" velocity="100"/>
		<joint_properties damping=".0" friction=".0"/>
	</joint>
	<link name="upper_leg_back_rightR_link">
		<visual>
			<geometry>
				<box size=".039 .008 .199"/>
			</geometry>
			<material name="grey">
				<color rgba=".65 .65 .75 1"/>
			</material>
		</visual>
		<collision>
			<geometry>
				<box size=".039 .008 .199"/>
			</geometry>
		</collision>
		<inertial>
			<mass value=".034"/>
			<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
		</inertial>
	</link>
	<joint name="hip_back_rightR_joint" type="fixed">
		<axis xyz="0 0 1"/>
		<parent link="motor_back_rightR_link"/>
		<child link="upper_leg_back_rightR_link"/>
		<origin rpy="-1.57075 0 0" xyz="0 .095 0"/>
		<limit effort="100" velocity="100"/>
		<joint_properties damping=".0" friction=".0"/>
	</joint>
	<link name="lower_leg_back_rightR_link">
		<contact>
			<friction_anchor/>
			<stiffness value="3000.0"/>
			<damping value="100.0"/>
			<spinning_friction value=".3"/>
			<lateral_friction value="1"/>
		</contact>
		<visual>
			<origin rpy="0 0 0" xyz="0 0 .120"/>
			<geometry>
				<box size=".017 .009 .200"/>
			</geometry>
						<material name="black"/>

		</visual>
		<collision>
			<origin rpy="0 0 0" xyz="0 0 .120"/>
			<geometry>
				<box size=".017 .009 .200"/>
			</geometry>
		</collision>
		<inertial>
			<origin rpy="0 0 0" xyz="0 0 .120"/>
			<mass value=".086"/>
			<inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
		</inertial>
	</link>
	<joint name="knee_back_rightR_joint" type="continuous">
		<axis xyz="0 1 0"/>
		<parent link="upper_leg_back_rightR_link"/>
		<child link="lower_leg_back_rightR_link"/>
		<origin rpy="0 0 0" xyz="0 .0085 .096"/>
		<limit effort="100" velocity="100"/>
		<joint_properties damping=".0" friction=".0"/>
	</joint>
	
	
	<link name="upper_leg_back_leftL_link">
		<visual>
			<geometry>
				<box size=".039 .008 .199"/>
			</geometry>
			<material name="grey">
				<color rgba=".65 .65 .75 1"/>
			</material>
		</visual>
		<collision>
			<geometry>
				<box size=".039 .008 .199"/>
			</geometry>
		</collision>
		<inertial>
			<mass value=".034"/>
			<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
		</inertial>
	</link>
	<joint name="hip_back_leftL_joint" type="fixed">
		<axis xyz="0 0 1"/>
		<parent link="motor_back_leftL_link"/>
		<child link="upper_leg_back_leftL_link"/>
		<origin rpy="-1.57075 0 0" xyz="0 .095 0"/>
		<limit effort="100" velocity="100"/>
		<joint_properties damping=".0" friction=".0"/>
	</joint>
	<link name="lower_leg_back_leftL_link">
		<contact>
			<friction_anchor/>
			<stiffness value="3000.0"/>
			<damping value="100.0"/>
			<spinning_friction value=".3"/>
			<lateral_friction value="1"/>
		</contact>
		<visual>
			<origin rpy="0 0 0" xyz="0 0 .120"/>
			<geometry>
				<box size=".017 .009 .200"/>
			</geometry>
						<material name="black"/>

		</visual>
		<collision>
			<origin rpy="0 0 0" xyz="0 0 .120"/>
			<geometry>
				<box size=".017 .009 .200"/>
			</geometry>
		</collision>
		<inertial>
			<origin rpy="0 0 0" xyz="0 0 .120"/>
			<mass value=".086"/>
			<inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
		</inertial>
	</link>
	<joint name="knee_back_leftL_joint" type="continuous">
		<axis xyz="0 1 0"/>
		<parent link="upper_leg_back_leftL_link"/>
		<child link="lower_leg_back_leftL_link"/>
		<origin rpy="0 0 0" xyz="0 .0085 .096"/>
		<limit effort="100" velocity="100"/>
		<joint_properties damping=".0" friction=".0"/>
	</joint>
</robot>
