<?xml version="0.0" ?>
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<!--Copyright (c) 2017, Erwin Coumans                                        -->
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<robot name="quadruped">
  <link name="base_chassis_link">
    <visual>
      <geometry>
        <box size=".295 0.142 .078"/>
      </geometry>
      <material name="black">
        <color rgba="0.3 0.3 0.3 1"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <box size=".295 0.142 .078"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0.0 0 0" xyz="0.05 0 0"/>
      <mass value="1.81246"/>
      <inertia ixx="0.00474833" ixy="0.0" ixz="0.0" iyy="0.01386899" iyz="0.0" izz="0.01577876"/>
    </inertial>
  </link>

  <link name="chassis_right">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size=".156 0.091 .050"/>
      </geometry>
      <material name="black">
        <color rgba="0.3 0.3 0.3 1"/>
      </material>
    </visual>
    <visual>
      <origin rpy="0 0 0" xyz="0 0.0455 0"/>
      <geometry>
        <box size=".356 0.009 .050"/>
      </geometry>
      <material name="grey">
        <color rgba="0.65 0.65 0.75 1"/>
      </material>
    </visual>
    <visual>
      <origin rpy="0 0 0" xyz="0 -0.0455 0"/>
      <geometry>
        <box size=".356 0.009 .050"/>
      </geometry>
      <material name="grey">
        <color rgba="0.65 0.65 0.75 1"/>
      </material>
    </visual>
    <visual>
      <origin rpy="0 0 0" xyz="0.212 -0.05915 0"/>
      <geometry>
        <box size=".068 0.0373 .060"/>
      </geometry>
      <material name="grey">
        <color rgba="0.65 0.65 0.75 1"/>
      </material>
    </visual>
    <visual>
      <origin rpy="0 0 0" xyz="0.212 0.05915 0"/>
      <geometry>
        <box size=".068 0.0373 .060"/>
      </geometry>
      <material name="grey">
        <color rgba="0.65 0.65 0.75 1"/>
      </material>
    </visual>
    <visual>
      <origin rpy="0 0 0" xyz="-0.212 -0.05915 0"/>
      <geometry>
        <box size=".068 0.0373 .060"/>
      </geometry>
      <material name="grey">
        <color rgba="0.65 0.65 0.75 1"/>
      </material>
    </visual>
    <visual>
      <origin rpy="0 0 0" xyz="-0.212 0.05915 0"/>
      <geometry>
        <box size=".068 0.0373 .060"/>
      </geometry>
      <material name="grey">
        <color rgba="0.65 0.65 0.75 1"/>
      </material>
    </visual>


    <collision>
      <origin rpy="0 0 0" xyz="0 0.1165 0"/>
      <geometry>
        <box size=".156 0.091 .050"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0 0.0455 0"/>
      <geometry>
        <box size=".356 0.009 .050"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0 -0.0455 0"/>
      <geometry>
        <box size=".356 0.009 .050"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.212 -0.05915 0"/>
      <geometry>
        <box size=".068 0.0373 .060"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.212 0.05915 0"/>
      <geometry>
        <box size=".068 0.0373 .060"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="-0.212 -0.05915 0"/>
      <geometry>
        <box size=".068 0.0373 .060"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="-0.212 0.05915 0"/>
      <geometry>
        <box size=".068 0.0373 .060"/>
      </geometry>
    </collision>

    <inertial>
      <mass value="1.3668"/>
      <inertia ixx="0.0038077" ixy="0.0" ixz="0.0" iyy="0.0328502" iyz="0.0" izz="0.03575585"/>
    </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 -0.1165 -0.011"/>
    <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 0"/>
      <geometry>
        <box size=".156 0.091 .050"/>
      </geometry>
      <material name="black">
        <color rgba="0.3 0.3 0.3 1"/>
      </material>
    </visual>
    <visual>
      <origin rpy="0 0 0" xyz="0 0.0455 0"/>
      <geometry>
        <box size=".356 0.009 .050"/>
      </geometry>
      <material name="grey">
        <color rgba="0.65 0.65 0.75 1"/>
      </material>
    </visual>
    <visual>
      <origin rpy="0 0 0" xyz="0 -0.0455 0"/>
      <geometry>
        <box size=".356 0.009 .050"/>
      </geometry>
      <material name="grey">
        <color rgba="0.65 0.65 0.75 1"/>
      </material>
    </visual>
    <visual>
      <origin rpy="0 0 0" xyz="0.212 -0.05915 0"/>
      <geometry>
        <box size=".068 0.0373 .060"/>
      </geometry>
      <material name="grey">
        <color rgba="0.65 0.65 0.75 1"/>
      </material>
    </visual>
    <visual>
      <origin rpy="0 0 0" xyz="0.212 0.05915 0"/>
      <geometry>
        <box size=".068 0.0373 .060"/>
      </geometry>
      <material name="grey">
        <color rgba="0.65 0.65 0.75 1"/>
      </material>
    </visual>
    <visual>
      <origin rpy="0 0 0" xyz="-0.212 -0.05915 0"/>
      <geometry>
        <box size=".068 0.0373 .060"/>
      </geometry>
      <material name="grey">
        <color rgba="0.65 0.65 0.75 1"/>
      </material>
    </visual>
    <visual>
      <origin rpy="0 0 0" xyz="-0.212 0.05915 0"/>
      <geometry>
        <box size=".068 0.0373 .060"/>
      </geometry>
      <material name="grey">
        <color rgba="0.65 0.65 0.75 1"/>
      </material>
    </visual>


    <collision>
      <origin rpy="0 0 0" xyz="0 0.1165 0"/>
      <geometry>
        <box size=".156 0.091 .050"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0 0.0455 0"/>
      <geometry>
        <box size=".356 0.009 .050"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0 -0.0455 0"/>
      <geometry>
        <box size=".356 0.009 .050"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.212 -0.05915 0"/>
      <geometry>
        <box size=".068 0.0373 .060"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.212 0.05915 0"/>
      <geometry>
        <box size=".068 0.0373 .060"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="-0.212 -0.05915 0"/>
      <geometry>
        <box size=".068 0.0373 .060"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="-0.212 0.05915 0"/>
      <geometry>
        <box size=".068 0.0373 .060"/>
      </geometry>
    </collision>

    <inertial>
      <mass value="1.3668"/>
      <inertia ixx="0.0038077" ixy="0.0" ixz="0.0" iyy="0.0328502" iyz="0.0" izz="0.03575585"/>
    </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 0.1165 -0.011"/>
    <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="0.0165" radius="0.0425"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.241"/>
      <inertia ixx="0.00011397" ixy="0.0" ixz="0.0" iyy="0.00011397" iyz="0.0" izz="0.00021765"/>
    </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="0.20268 -0.03275 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="0.0165" radius="0.0425"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.241"/>
      <inertia ixx="0.00011397" ixy="0.0" ixz="0.0" iyy="0.00011397" iyz="0.0" izz="0.00021765"/>
    </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="0.20268 0.03275 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>
    <collision>
      <geometry>
        <cylinder length="0.0165" radius="0.0425"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.241"/>
      <inertia ixx="0.00011397" ixy="0.0" ixz="0.0" iyy="0.00011397" iyz="0.0" izz="0.00021765"/>
    </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 3.141592" xyz="0.20268 0.03275 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="0.0165" radius="0.0425"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.241"/>
      <inertia ixx="0.00011397" ixy="0.0" ixz="0.0" iyy="0.00011397" iyz="0.0" izz="0.00021765"/>
    </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 0" xyz="0.20268 -0.03275 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="0.0165" radius="0.0425"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.241"/>
      <inertia ixx="0.00011397" ixy="0.0" ixz="0.0" iyy="0.00011397" iyz="0.0" izz="0.00021765"/>
    </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="-0.20268 -0.03275 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="0.0165" radius="0.0425"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.241"/>
      <inertia ixx="0.00011397" ixy="0.0" ixz="0.0" iyy="0.00011397" iyz="0.0" izz="0.00021765"/>
    </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="-0.20268 0.03275 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="0.0165" radius="0.0425"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.241"/>
      <inertia ixx="0.00011397" ixy="0.0" ixz="0.0" iyy="0.00011397" iyz="0.0" izz="0.00021765"/>
    </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 3.141592" xyz="-0.20268 0.03275 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="0.0165" radius="0.0425"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.241"/>
      <inertia ixx="0.00011397" ixy="0.0" ixz="0.0" iyy="0.00011397" iyz="0.0" izz="0.00021765"/>
    </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="-0.20268 -0.03275 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=".039 0.0064 .129"/>
      </geometry>
      <material name="grey">
        <color rgba="0.65 0.65 0.75 1"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <box size=".039 0.0064 .129"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.026"/>
      <inertia ixx="0.000038770" ixy="0.0" ixz="0.0" iyy="0.000042198" iyz="0.0"
          izz="0.0000036030"/>
    </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 0.045 -0.01725"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>

  <link name="lower_leg_front_rightR_link">
    <contact>
      <friction_anchor/>
      <stiffness value="30000.0"/>
      <damping value="1000.0"/>
      <spinning_friction value=".3"/>
      <lateral_friction value="1"/>
    </contact>

    <visual>
      <origin rpy="0.0 0 0" xyz="0 0 0.120"/>
      <geometry>
        <box size="0.017 0.0064 0.240"/>
      </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 0.120"/>
      <geometry>
        <box size="0.017 0.0064 0.240"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0.0 0 0" xyz="0 0 0.120"/>
      <mass value="0.066"/>
      <inertia ixx="0.00032459" ixy="0.0" ixz="0.0" iyy="0.00032637" iyz="0.0" izz="0.000002178"/>
    </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="0.0 0.01 .056"/>
    <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=".039 0.0064 .129"/>
      </geometry>
      <material name="grey">
        <color rgba="0.65 0.65 0.75 1"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <box size=".039 0.0064 .129"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.026"/>
      <inertia ixx="0.000038770" ixy="0.0" ixz="0.0" iyy="0.000042198" iyz="0.0"
          izz="0.0000036030"/>
    </inertial>
  </link>
  <joint name="hip_front_rightL_joint" 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 0.045 -0.01725"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>

  <link name="lower_leg_front_rightL_link">
    <contact>
      <friction_anchor/>
      <stiffness value="30000.0"/>
      <damping value="1000.0"/>
      <spinning_friction value=".3"/>
      <lateral_friction value="1"/>
    </contact>

    <visual>
      <origin rpy="0.0 0 0" xyz="0 0 .108"/>
      <geometry>
        <box size="0.017 0.0064 0.216"/>
      </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 .108"/>
      <geometry>
        <box size="0.017 0.0064 0.216"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0.0 0 0" xyz="0 0 .1"/>
      <mass value="0.055"/>
      <inertia ixx="0.00023166" ixy="0.0" ixz="0.0" iyy="0.00023325" iyz="0.0" izz="0.00000198"/>
    </inertial>
  </link>
  <joint name="knee_front_rightL_joint" type="continuous">
    <axis xyz="0 1 0"/>
    <parent link="upper_leg_front_rightL_link"/>
    <child link="lower_leg_front_rightL_link"/>
    <origin rpy="0 0 0" xyz="0.0 0.01 .056"/>
    <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=".039 0.0064 .129"/>
      </geometry>
      <material name="grey">
        <color rgba="0.65 0.65 0.75 1"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <box size=".039 0.0064 .129"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.026"/>
      <inertia ixx="0.000038770" ixy="0.0" ixz="0.0" iyy="0.000042198" iyz="0.0"
          izz="0.0000036030"/>
    </inertial>
  </link>
  <joint name="hip_front_leftR_joint" 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 0.045 -0.01725"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>

  <link name="lower_leg_front_leftR_link">
    <contact>
      <friction_anchor/>
      <stiffness value="30000.0"/>
      <damping value="1000.0"/>
      <spinning_friction value=".3"/>
      <lateral_friction value="1"/>
    </contact>

    <visual>
      <origin rpy="0.0 0 0" xyz="0 0 .108"/>
      <geometry>
        <box size="0.017 0.0064 0.216"/>
      </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 .108"/>
      <geometry>
        <box size="0.017 0.0064 0.216"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0.0 0 0" xyz="0 0 .1"/>
      <mass value="0.055"/>
      <inertia ixx="0.00023166" ixy="0.0" ixz="0.0" iyy="0.00023325" iyz="0.0" izz="0.00000198"/>
    </inertial>
  </link>
  <joint name="knee_front_leftR_joint" type="continuous">
    <axis xyz="0 1 0"/>
    <parent link="upper_leg_front_leftR_link"/>
    <child link="lower_leg_front_leftR_link"/>
    <origin rpy="0 0 0" xyz="0.0 0.01 .056"/>
    <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=".039 0.0064 .129"/>
      </geometry>
      <material name="grey">
        <color rgba="0.65 0.65 0.75 1"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <box size=".039 0.0064 .129"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.026"/>
      <inertia ixx="0.000038770" ixy="0.0" ixz="0.0" iyy="0.000042198" iyz="0.0"
          izz="0.0000036030"/>
    </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="0.0 0.045 -0.01725"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>

  <link name="lower_leg_front_leftL_link">
    <contact>
      <friction_anchor/>
      <stiffness value="30000.0"/>
      <damping value="1000.0"/>
      <spinning_friction value=".3"/>
      <lateral_friction value="1"/>
    </contact>

    <visual>
      <origin rpy="0.0 0 0" xyz="0 0 0.120"/>
      <geometry>
        <box size="0.017 0.0064 0.240"/>
      </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 0.120"/>
      <geometry>
        <box size="0.017 0.0064 0.240"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0.0 0 0" xyz="0 0 0.120"/>
      <mass value="0.066"/>
      <inertia ixx="0.00032459" ixy="0.0" ixz="0.0" iyy="0.00032637" iyz="0.0" izz="0.000002178"/>
    </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="0.0 0.01 .056"/>
    <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=".039 0.0064 .129"/>
      </geometry>
      <material name="grey">
        <color rgba="0.65 0.65 0.75 1"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <box size=".039 0.0064 .129"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.026"/>
      <inertia ixx="0.000038770" ixy="0.0" ixz="0.0" iyy="0.000042198" iyz="0.0"
          izz="0.0000036030"/>
    </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="0.0 0.045 -0.01725"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>

  <link name="lower_leg_back_rightR_link">
    <contact>
      <friction_anchor/>
      <stiffness value="30000.0"/>
      <damping value="1000.0"/>
      <spinning_friction value=".3"/>
      <lateral_friction value="1"/>
    </contact>

    <visual>
      <origin rpy="0.0 0 0" xyz="0 0 0.120"/>
      <geometry>
        <box size="0.017 0.0064 0.240"/>
      </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 0.120"/>
      <geometry>
        <box size="0.017 0.0064 0.240"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0.0 0 0" xyz="0 0 0.120"/>
      <mass value="0.066"/>
      <inertia ixx="0.00032459" ixy="0.0" ixz="0.0" iyy="0.00032637" iyz="0.0" izz="0.000002178"/>
    </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="0.0 0.01 .056"/>
    <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=".039 0.0064 .129"/>
      </geometry>
      <material name="grey">
        <color rgba="0.65 0.65 0.75 1"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <box size=".039 0.0064 .129"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.026"/>
      <inertia ixx="0.000038770" ixy="0.0" ixz="0.0" iyy="0.000042198" iyz="0.0"
          izz="0.0000036030"/>
    </inertial>
  </link>
  <joint name="hip_back_rightL_joint" 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 0.045 -0.01725"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>

  <link name="lower_leg_back_rightL_link">
    <contact>
      <friction_anchor/>
      <stiffness value="30000.0"/>
      <damping value="1000.0"/>
      <spinning_friction value=".3"/>
      <lateral_friction value="1"/>
    </contact>

    <visual>
      <origin rpy="0.0 0 0" xyz="0 0 .108"/>
      <geometry>
        <box size="0.017 0.0064 0.216"/>
      </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 .108"/>
      <geometry>
        <box size="0.017 0.0064 0.216"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0.0 0 0" xyz="0 0 .1"/>
      <mass value="0.055"/>
      <inertia ixx="0.00023166" ixy="0.0" ixz="0.0" iyy="0.00023325" iyz="0.0" izz="0.00000198"/>
    </inertial>
  </link>
  <joint name="knee_back_rightL_joint" type="continuous">
    <axis xyz="0 1 0"/>
    <parent link="upper_leg_back_rightL_link"/>
    <child link="lower_leg_back_rightL_link"/>
    <origin rpy="0 0 0" xyz="0.0 0.01 .056"/>
    <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=".039 0.0064 .129"/>
      </geometry>
      <material name="grey">
        <color rgba="0.65 0.65 0.75 1"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <box size=".039 0.0064 .129"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.026"/>
      <inertia ixx="0.000038770" ixy="0.0" ixz="0.0" iyy="0.000042198" iyz="0.0"
          izz="0.0000036030"/>
    </inertial>
  </link>
  <joint name="hip_back_leftR_joint" 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 0.045 -0.01725"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>

  <link name="lower_leg_back_leftR_link">
    <contact>
      <friction_anchor/>
      <stiffness value="30000.0"/>
      <damping value="1000.0"/>
      <spinning_friction value=".3"/>
      <lateral_friction value="1"/>
    </contact>

    <visual>
      <origin rpy="0.0 0 0" xyz="0 0 .108"/>
      <geometry>
        <box size="0.017 0.0064 0.216"/>
      </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 .108"/>
      <geometry>
        <box size="0.017 0.0064 0.216"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0.0 0 0" xyz="0 0 .1"/>
      <mass value="0.055"/>
      <inertia ixx="0.00023166" ixy="0.0" ixz="0.0" iyy="0.00023325" iyz="0.0" izz="0.00000198"/>
    </inertial>
  </link>
  <joint name="knee_back_leftR_joint" type="continuous">
    <axis xyz="0 1 0"/>
    <parent link="upper_leg_back_leftR_link"/>
    <child link="lower_leg_back_leftR_link"/>
    <origin rpy="0 0 0" xyz="0.0 0.01 .056"/>
    <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=".039 0.0064 .129"/>
      </geometry>
      <material name="grey">
        <color rgba="0.65 0.65 0.75 1"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <box size=".039 0.0064 .129"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.026"/>
      <inertia ixx="0.000038770" ixy="0.0" ixz="0.0" iyy="0.000042198" iyz="0.0"
          izz="0.0000036030"/>
    </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="0.0 0.045 -0.01725"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>

  <link name="lower_leg_back_leftL_link">
    <contact>
      <friction_anchor/>
      <stiffness value="30000.0"/>
      <damping value="1000.0"/>
      <spinning_friction value=".3"/>
      <lateral_friction value="1"/>
    </contact>

    <visual>
      <origin rpy="0.0 0 0" xyz="0 0 0.120"/>
      <geometry>
        <box size="0.017 0.0064 0.240"/>
      </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 0.120"/>
      <geometry>
        <box size="0.017 0.0064 0.240"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0.0 0 0" xyz="0 0 0.120"/>
      <mass value="0.066"/>
      <inertia ixx="0.00032459" ixy="0.0" ixz="0.0" iyy="0.00032637" iyz="0.0" izz="0.000002178"/>
    </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="0.0 0.01 .056"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>

</robot>
