<?xml version="0.0" ?>
<!-- ======================================================================= -->
<!--LICENSE:                                                                 -->
<!--Copyright (c) 2017, Erwin Coumans                                        -->
<!--Google Inc.                                                              -->
<!--All rights reserved.                                                     -->
<!--                                                                         -->
<!--Redistribution and use in source and binary forms, with or without       -->
<!--modification, are permitted provided that the following conditions are   -->
<!--met:                                                                     -->
<!--                                                                         -->
<!--1. Redistributions or derived work must retain this copyright notice,    -->
<!--   this list of conditions and the following disclaimer.                 -->
<!--                                                                         -->
<!--2. Redistributions in binary form must reproduce the above copyright     -->
<!--   notice, this list of conditions and the following disclaimer in the   -->
<!--   documentation and/or other materials provided with the distribution.  -->
<!--                                                                         -->
<!--THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS  -->
<!--IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,-->
<!--THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR   -->
<!--PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR        -->
<!--CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,    -->
<!--EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,      -->
<!--PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR       -->
<!--PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF   -->
<!--LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING     -->
<!--NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS       -->
<!--SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.             -->

<robot name="quadruped">
  <link name="base_chassis_link">
    <visual>
      <geometry>
        <box size=".33 0.14 .07"/>
      </geometry>
      <material name="black">
        <color rgba="0.3 0.3 0.3 1"/>
      </material>
    </visual>
    <visual>
			<origin rpy="0 0 0" xyz="0 0.10 0"/>
      <geometry>
        <box size=".17 0.10 .05"/>
      </geometry>
      <material name="black">
        <color rgba="0.3 0.3 0.3 1"/>
      </material>
    </visual>
		<visual>
			<origin rpy="0 0 0" xyz="0 -0.10 0"/>
      <geometry>
        <box size=".17 0.10 .05"/>
      </geometry>
      <material name="black">
        <color rgba="0.3 0.3 0.3 1"/>
      </material>
    </visual>

    <collision>
      <geometry>
       <box size=".34 0.14 .07"/>
      </geometry>
    </collision>
    <collision>
			<origin rpy="0 0 0" xyz="0 0.10 0"/>
      <geometry>
       <box size=".17 0.10 .05"/>
      </geometry>
    </collision>
    <collision>
			<origin rpy="0 0 0" xyz="0 -0.10 0"/>
      <geometry>
       <box size=".17 0.10 .05"/>
      </geometry>
    </collision>

    <inertial>
      <mass value="3"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>

  <link name="chassis_right">
    <visual>
			<origin rpy="0 0 0" xyz="0 0.035 0"/>
      <geometry>
       <box size=".34 0.01 .04"/>
      </geometry>
			<material name="grey">
        <color rgba="0.65 0.65 0.75 1"/>
      </material>    </visual>
    <visual>
			<origin rpy="0 0 0" xyz="0 -0.035 0"/>
      <geometry>
       <box size=".34 0.01 .04"/>
      </geometry>
			<material name="grey">
        <color rgba="0.65 0.65 0.75 1"/>
      </material>    </visual>
    <collision>
			<origin rpy="0 0 0" xyz="0 0.035 0"/>
      <geometry>
       <box size=".34 0.01 .04"/>
      </geometry>
    </collision>
    <collision>
			<origin rpy="0 0 0" xyz="0 -0.035 0"/>
      <geometry>
       <box size=".34 0.01 .04"/>
      </geometry>
    </collision>
    <inertial>
      <mass value=".1"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </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="-0.0872665 0 0" xyz="0.0 -0.10 0.0"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>

  <link name="chassis_left">
    <visual>
			<origin rpy="0 0 0" xyz="0 0.035 0"/>
      <geometry>
       <box size=".34 0.01 .04"/>
      </geometry>
			<material name="grey">
        <color rgba="0.65 0.65 0.75 1"/>
      </material>    </visual>
    <visual>
			<origin rpy="0 0 0" xyz="0 -0.035 0"/>
      <geometry>
       <box size=".34 0.01 .04"/>
      </geometry>
			<material name="grey">
        <color rgba="0.65 0.65 0.75 1"/>
      </material>    </visual>
    <collision>
			<origin rpy="0 0 0" xyz="0 0.035 0"/>
      <geometry>
       <box size=".34 0.01 .04"/>
      </geometry>
    </collision>
    <collision>
			<origin rpy="0 0 0" xyz="0 -0.035 0"/>
      <geometry>
       <box size=".34 0.01 .04"/>
      </geometry>
    </collision>
    <inertial>
      <mass value=".1"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </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="0.0872665 0 0" xyz="0.0 0.10 0.0"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>

  
  
  <link name="motor_front_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="0.026" radius="0.0434"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.25"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <joint name="motor_front_rightR_joint" type="continuous">
    <axis xyz="0 0 1"/>
    <parent link="chassis_right"/>
    <child link="motor_front_rightR_link"/>
    <origin rpy="1.57075 0 0" xyz="0.21 -0.025 0"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </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="0.026" radius="0.0434"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.25"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <joint name="motor_front_rightL_joint" type="continuous">
    <axis xyz="0 0 1"/>
    <parent link="chassis_right"/>
    <child link="motor_front_rightL_link"/>
    <origin rpy="1.57075 0 3.141592" xyz="0.21 0.04 0"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </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="0.026" radius="0.0434"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.25"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <joint name="motor_front_leftR_joint" type="continuous">
    <axis xyz="0 0 1"/>
    <parent link="chassis_left"/>
    <child link="motor_front_leftR_link"/>
    <origin rpy="1.57075 0 3.141592" xyz="0.21 0.025 0"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </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>
    <inertial>
      <mass value="0.25"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <joint name="motor_front_leftL_joint" type="continuous">
    <axis xyz="0 0 1"/>
    <parent link="chassis_left"/>
    <child link="motor_front_leftL_link"/>
    <origin rpy="1.57075 0 0" xyz="0.21 -0.04 0"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </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="0.026" radius="0.0434"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.25"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <joint name="motor_back_rightR_joint" type="continuous">
    <axis xyz="0 0 1"/>
    <parent link="chassis_right"/>
    <child link="motor_back_rightR_link"/>
    <origin rpy="1.57075 0 0" xyz="-0.21 -0.025 0"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </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="0.026" radius="0.0434"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.25"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </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="-0.21 0.04 0"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </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="0.026" radius="0.0434"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.25"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </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 3.141592" xyz="-0.21 0.025 0"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </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="0.026" radius="0.0434"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.25"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <joint name="motor_back_leftL_joint" type="continuous">
    <axis xyz="0 0 1"/>
    <parent link="chassis_left"/>
    <child link="motor_back_leftL_link"/>
    <origin rpy="1.57075 0 0" xyz="-0.21 -0.04 0"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>

	<link name="upper_leg_front_rightR_link">
    <visual>
      <geometry>
        <box size=".01 0.01 .11"/>
      </geometry>
      <material name="grey">
        <color rgba="0.65 0.65 0.75 1"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <box size=".01 0.01 .11"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.05"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <joint name="hip_front_rightR_link" 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 0.06 -0.015"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>

	<link name="lower_leg_front_rightR_link">
	<contact>
	  <stiffness value="10000"/>
    <damping value="10"/>
		<lateral_friction value="1"/>
  </contact>

    <visual>
    	<origin rpy="0.0 0 0" xyz="0 0 .1"/>
      <geometry>
        <box size=".01 0.01 .2"/>
      </geometry>
      <material name="grey">
        <color rgba="0.65 0.65 0.75 1"/>
      </material>
    </visual>
    <collision>
    	<origin rpy="0.0 0 0" xyz="0 0 .1"/>
      <geometry>
        <box size=".01 0.01 .2"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.05"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <joint name="knee_front_rightR_link" type="fixed">
    <axis xyz="0 1 0"/>
    <parent link="upper_leg_front_rightR_link"/>
    <child link="lower_leg_front_rightR_link"/>
    <origin rpy="0 -2.1834 0" xyz="0.0 0.01 .055"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>

    
  <link name="upper_leg_front_rightL_link">
    <visual>
      <geometry>
        <box size=".01 0.01 .11"/>
      </geometry>
      <material name="grey">
        <color rgba="0.65 0.65 0.75 1"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <box size=".01 0.01 .11"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.05"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <joint name="motor_front_rightL_link" type="fixed">
    <axis xyz="0 0 1"/>
    <parent link="motor_front_rightL_link"/>
    <child link="upper_leg_front_rightL_link"/>
    <origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>

  

  
  <link name="lower_leg_front_rightL_link">
	<contact>
		<stiffness value="10000"/>
		<damping value="10"/>
		<lateral_friction value="1"/>
  </contact>

    <visual>
    	<origin rpy="0.0 0 0" xyz="0 0 .1"/>
      <geometry>
        <box size=".01 0.01 .198"/>
      </geometry>
      <material name="grey">
        <color rgba="0.65 0.65 0.75 1"/>
      </material>
    </visual>
    <collision>
    	<origin rpy="0.0 0 0" xyz="0 0 .1"/>
      <geometry>
        <box size=".01 0.01 .198"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.05"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <joint name="knee_front_rightL_link" type="fixed">
    <axis xyz="0 1 0"/>
    <parent link="upper_leg_front_rightL_link"/>
    <child link="lower_leg_front_rightL_link"/>
    <origin rpy="0 -2.1834 0" xyz="0.0 0.01 .055"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>


	<link name="upper_leg_front_leftR_link">
    <visual>
      <geometry>
        <box size=".01 0.01 .11"/>
      </geometry>
      <material name="grey">
        <color rgba="0.65 0.65 0.75 1"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <box size=".01 0.01 .11"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.05"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <joint name="hip_front_leftR_link" type="fixed">
    <axis xyz="0 0 1"/>
    <parent link="motor_front_leftR_link"/>
    <child link="upper_leg_front_leftR_link"/>
    <origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>


	<link name="lower_leg_front_leftR_link">
	<contact>
		<stiffness value="10000"/>
		<damping value="10"/>
		<lateral_friction value="1"/>
  </contact>

    <visual>
    	<origin rpy="0.0 0.0 0" xyz="0 0 .1"/>
      <geometry>
        <box size=".01 0.01 .2"/>
      </geometry>
      <material name="grey">
        <color rgba="0.65 0.65 0.75 1"/>
      </material>
    </visual>
    <collision>
    	<origin rpy="0.0 0.0 0" xyz="0 0 .1"/>
      <geometry>
        <box size=".01 0.01 .2"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.05"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <joint name="knee_front_leftR_link" type="fixed">
    <axis xyz="0 1 0"/>
    <parent link="upper_leg_front_leftR_link"/>
    <child link="lower_leg_front_leftR_link"/>
    <origin rpy="0 2.1834 0" xyz="0.0 0.01 .055"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>



   <link name="upper_leg_front_leftL_link">
    <visual>
      <geometry>
        <box size=".01 0.01 .11"/>
      </geometry>
      <material name="grey">
        <color rgba="0.65 0.65 0.75 1"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <box size=".01 0.01 .11"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.05"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <joint name="motor_front_leftL_link" 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="0.0 0.06 -0.015"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>


  <link name="lower_leg_front_leftL_link">
	<contact>
		<stiffness value="10000"/>
		<damping value="10"/>
		<lateral_friction value="1"/>
  </contact>

    <visual>
    	<origin rpy="0.0 0.0 0" xyz="0 0 .1"/>
      <geometry>
        <box size=".01 0.01 .198"/>
      </geometry>
      <material name="grey">
        <color rgba="0.65 0.65 0.75 1"/>
      </material>
    </visual>
    <collision>
    	<origin rpy="0.0 0.0 0" xyz="0 0 .1"/>
      <geometry>
        <box size=".01 0.01 .198"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.05"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <joint name="knee_front_leftL_link" type="fixed">
    <axis xyz="0 1 0"/>
    <parent link="upper_leg_front_leftL_link"/>
    <child link="lower_leg_front_leftL_link"/>
    <origin rpy="0 2.1834 0" xyz="0.0 0.01 .055"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>
  
	<link name="upper_leg_back_rightR_link">
    <visual>
      <geometry>
        <box size=".01 0.01 .11"/>
      </geometry>
      <material name="grey">
        <color rgba="0.65 0.65 0.75 1"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <box size=".01 0.01 .11"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.05"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <joint name="hip_rightR_link" 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="0.0 0.06 -0.015"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>

	<link name="lower_leg_back_rightR_link">
	<contact>
		<stiffness value="10000"/>
		<damping value="10"/>
		<lateral_friction value="1"/>
  </contact>

    <visual>
    	<origin rpy="0.0 0 0" xyz="0 0 .1"/>
      <geometry>
        <box size=".01 0.01 .2032"/>
      </geometry>
      <material name="grey">
        <color rgba="0.65 0.65 0.75 1"/>
      </material>
    </visual>
    <collision>
    	<origin rpy="0.0 0 0" xyz="0 0 .1"/>
      <geometry>
        <box size=".01 0.01 .2032"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.05"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <joint name="knee_back_rightR_link" type="fixed">
    <axis xyz="0 1 0"/>
    <parent link="upper_leg_back_rightR_link"/>
    <child link="lower_leg_back_rightR_link"/>
    <origin rpy="0 -2.1834 0" xyz="0.0 0.01 .055"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>

    
  <link name="upper_leg_back_rightL_link">
    <visual>
      <geometry>
        <box size=".01 0.01 .11"/>
      </geometry>
      <material name="grey">
        <color rgba="0.65 0.65 0.75 1"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <box size=".01 0.01 .11"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.05"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <joint name="motor_back_rightL_link" type="fixed">
    <axis xyz="0 0 1"/>
    <parent link="motor_back_rightL_link"/>
    <child link="upper_leg_back_rightL_link"/>
    <origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>

  

  
  <link name="lower_leg_back_rightL_link">
	<contact>
		<stiffness value="10000"/>
		<damping value="10"/>
		<lateral_friction value="1"/>
  </contact>

    <visual>
    	<origin rpy="0.0 0 0" xyz="0 0 .1"/>
      <geometry>
        <box size=".01 0.01 .2"/>
      </geometry>
      <material name="grey">
        <color rgba="0.65 0.65 0.75 1"/>
      </material>
    </visual>
    <collision>
    	<origin rpy="0.0 0 0" xyz="0 0 .1"/>
      <geometry>
        <box size=".01 0.01 .2"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.05"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <joint name="knee_back_rightL_link" type="fixed">
    <axis xyz="0 1 0"/>
    <parent link="upper_leg_back_rightL_link"/>
    <child link="lower_leg_back_rightL_link"/>
    <origin rpy="0 -2.1834 0" xyz="0.0 0.01 .055"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>



	<link name="upper_leg_back_leftR_link">
    <visual>
      <geometry>
        <box size=".01 0.01 .11"/>
      </geometry>
      <material name="grey">
        <color rgba="0.65 0.65 0.75 1"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <box size=".01 0.01 .11"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.05"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <joint name="hip_leftR_link" type="fixed">
    <axis xyz="0 0 1"/>
    <parent link="motor_back_leftR_link"/>
    <child link="upper_leg_back_leftR_link"/>
    <origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>

<link name="lower_leg_back_leftR_link">
	<contact>
		<stiffness value="10000"/>
		<damping value="10"/>		
		<lateral_friction value="1"/>
  </contact>

    <visual>
    	<origin rpy="0.0 0 0" xyz="0 0 .1"/>
      <geometry>
        <box size=".01 0.01 .2032"/>
      </geometry>
      <material name="grey">
        <color rgba="0.65 0.65 0.75 1"/>
      </material>
    </visual>
    <collision>
    	<origin rpy="0.0 0 0" xyz="0 0 .1"/>
      <geometry>
        <box size=".01 0.01 .2032"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.05"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <joint name="knee_back_leftR_link" type="fixed">
    <axis xyz="0 1 0"/>
    <parent link="upper_leg_back_leftR_link"/>
    <child link="lower_leg_back_leftR_link"/>
    <origin rpy="0 2.1834 0" xyz="0.0 0.01 .055"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>
  
   <link name="upper_leg_back_leftL_link">
    <visual>
      <geometry>
        <box size=".01 0.01 .11"/>
      </geometry>
      <material name="grey">
        <color rgba="0.65 0.65 0.75 1"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <box size=".01 0.01 .11"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.05"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <joint name="motor_back_leftL_link" 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="0.0 0.06 -0.015"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>

 
  <link name="lower_leg_back_leftL_link">
	<contact>
		<stiffness value="10000"/>
		<damping value="10"/>		
		<lateral_friction value="1"/>
  </contact>

    <visual>
    	<origin rpy="0.0 0 0" xyz="0 0 .1"/>
      <geometry>
        <box size=".01 0.01 .2"/>
      </geometry>
      <material name="grey">
        <color rgba="0.65 0.65 0.75 1"/>
      </material>
    </visual>
    <collision>
    	<origin rpy="0.0 0 0" xyz="0 0 .1"/>
      <geometry>
        <box size=".01 0.01 .2"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.05"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <joint name="knee_back_leftL_link" type="fixed">
    <axis xyz="0 1 0"/>
    <parent link="upper_leg_back_leftL_link"/>
    <child link="lower_leg_back_leftL_link"/>
    <origin rpy="0 2.1834 0" xyz="0.0 0.01 .055"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>
 
</robot>

