From 093986f1ee60a2bf9c759a7729b137daab7b8bd3 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Wed, 22 May 2019 23:42:32 -0400
Subject: [PATCH] revert to previous leg style of Microtaur

---
 .../quadruped/microtaur/microtaur.urdf        | 1372 +++++++++--------
 1 file changed, 714 insertions(+), 658 deletions(-)

diff --git a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/microtaur.urdf b/examples/pybullet/gym/pybullet_data/quadruped/microtaur/microtaur.urdf
index e483ca036..d111046ed 100644
--- a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/microtaur.urdf
+++ b/examples/pybullet/gym/pybullet_data/quadruped/microtaur/microtaur.urdf
@@ -690,221 +690,183 @@
     <joint_properties damping="0.0" friction="0.0"/>
   </joint>
 
-	<link name="motor_front_rightR_link">
-		<collision>
+  
+  <link name="motor_front_rightR_link">
+
+ <visual>
       <geometry>
         <cylinder length="0.003" radius="0.0134"/>
-      </geometry>		</collision>
-		<inertial>
-			<mass value=".002"/>
-			<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="chassis_right"/>
-		<child link="motor_front_rightR_link"/>
-		<origin rpy="1.57079632679 0 0" xyz="0.1335 -.0275 -0.08"/>
-		<limit effort="100" velocity="100"/>
-		<joint_properties damping=".0" friction=".0"/>
-	</joint>
+      </geometry>
+      <material name="grey1">
+        <color rgba="0. 1. 0. 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <cylinder length="0.003" radius="0.0134"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.01"/>
+      <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="0.1335 -0.035 -0.08"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping="0.0" friction="0.0"/>
+  </joint>
+
+
 	<link name="motor_front_rightL_link">
-		<collision>
+<collision>
       <geometry>
         <cylinder length="0.003" radius="0.0134"/>
-      </geometry>		
-     </collision>
-		<inertial>
-			<mass value=".002"/>
-			<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="chassis_right"/>
-		<child link="motor_front_rightL_link"/>
-		<origin rpy="1.57079632679 0 3.14159265359" xyz="0.1335 .0275 -0.08"/>
-		<limit effort="100" velocity="100"/>
-		<joint_properties damping=".0" friction=".0"/>
-	</joint>
-	<link name="motor_front_leftL_link">
-		<collision>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.01"/>
+      <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="0.1335 0.03 -0.08"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping="0.0" friction="0.0"/>
+  </joint>
+  
+  
+  <link name="motor_front_leftL_link">
+    <collision>
       <geometry>
         <cylinder length="0.003" radius="0.0134"/>
-      </geometry>		
-		</collision>
-		<inertial>
-			<mass value=".002"/>
-			<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="chassis_left"/>
-		<child link="motor_front_leftL_link"/>
-		<origin rpy="1.57079632679 0 3.14159265359" xyz="0.1335 .0275 -0.08"/>
-		<limit effort="100" velocity="100"/>
-		<joint_properties damping=".0" friction=".0"/>
-	</joint>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.01"/>
+      <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 3.141592" xyz="0.1335 0.035 -0.08"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping="0.0" friction="0.0"/>
+  </joint>
+
+
 	<link name="motor_front_leftR_link">
-		<collision>
+    <collision>
       <geometry>
         <cylinder length="0.003" radius="0.0134"/>
-      </geometry>		
-		</collision>
-		<inertial>
-			<mass value=".002"/>
-			<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="chassis_left"/>
-		<child link="motor_front_leftR_link"/>
-		<origin rpy="1.57079632679 0 0" xyz="0.1335 -.0275 -0.08"/>
-		<limit effort="100" velocity="100"/>
-		<joint_properties damping=".0" friction=".0"/>
-	</joint>
-	<link name="motor_back_rightR_link">
-		<collision>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.01"/>
+      <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 0" xyz="0.1335 -0.03 -0.08"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping="0.0" friction="0.0"/>
+  </joint>
+  
+  
+  <link name="motor_back_rightR_link">
+    <collision>
       <geometry>
         <cylinder length="0.003" radius="0.0134"/>
-      </geometry>		
-		</collision>
-		<inertial>
-			<mass value=".002"/>
-			<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="chassis_right"/>
-		<child link="motor_back_rightR_link"/>
-		<origin rpy="1.57079632679 0 0" xyz="-0.1335 -.0275 -0.08"/>
-		<limit effort="100" velocity="100"/>
-		<joint_properties damping=".0" friction=".0"/>
-	</joint>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.01"/>
+      <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="-0.1335 -0.035 -0.08"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping="0.0" friction="0.0"/>
+  </joint>
+
+
 	<link name="motor_back_rightL_link">
-		<collision>
+    <collision>
       <geometry>
         <cylinder length="0.003" radius="0.0134"/>
-      </geometry>		
-		</collision>
-		<inertial>
-			<mass value=".002"/>
-			<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="1.57079632679 0 3.14159265359" xyz="-0.1335 .0275 -0.08"/>
-		<limit effort="100" velocity="100"/>
-		<joint_properties damping=".0" friction=".0"/>
-	</joint>
-	<link name="motor_back_leftL_link">
-		<collision>
-	      <geometry>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.01"/>
+      <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="-0.1335 0.03 -0.08"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping="0.0" friction="0.0"/>
+  </joint>
+  
+  
+  <link name="motor_back_leftL_link">
+    <collision>
+      <geometry>
         <cylinder length="0.003" radius="0.0134"/>
-      </geometry>		
-	</collision>
-		<inertial>
-			<mass value=".002"/>
-			<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="chassis_left"/>
-		<child link="motor_back_leftL_link"/>
-		<origin rpy="1.57079632679 0 3.14159265359" xyz="-0.1335 .0275 -0.08"/>
-		<limit effort="100" velocity="100"/>
-		<joint_properties damping=".0" friction=".0"/>
-	</joint>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.01"/>
+      <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 3.141592" xyz="-0.1335 0.035 -0.08"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping="0.0" friction="0.0"/>
+  </joint>
+
+
 	<link name="motor_back_leftR_link">
-		<collision>
+    <collision>
       <geometry>
         <cylinder length="0.003" radius="0.0134"/>
-      </geometry>		
-		</collision>
-		<inertial>
-			<mass value=".002"/>
-			<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="1.57079632679 0 0" xyz="-0.1335 -.0275 -0.08"/>
-		<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 .129"/>
-			</geometry>
-			<material name="grey">
-				<color rgba=".65 .65 .75 1"/>
-			</material>
-		</visual>
-		<collision>
-			<geometry>
-				<box size=".039 .008 .129"/>
-			</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="-1.57079632679 0 0" xyz="0 .045 -.0145"/>
-		<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 .240"/>
-			</geometry>
-			<material name="grey">
-				<color rgba=".65 .65 .75 1"/>
-			</material>
-		</visual>
-		<collision>
-			<origin rpy="0 0 0" xyz="0 0 .120"/>
-			<geometry>
-				<box size=".017 .009 .240"/>
-			</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 .056"/>
-		<limit effort="100" velocity="100"/>
-		<joint_properties damping=".0" friction=".0"/>
-	</joint>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.01"/>
+      <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 0" xyz="-0.1335 -0.03 -0.08"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping="0.0" friction="0.0"/>
+  </joint>
+
 	
 	<link name="toe_lower_leg_front_rightR_link">
     <contact>
@@ -931,75 +893,10 @@
   <joint name="toe_lower_leg_front_rightR_joint" type="fixed">
     <parent link="lower_leg_front_rightR_link"/>
     <child link="toe_lower_leg_front_rightR_link"/>
-    <origin xyz="0 0 0.22"/>
+    <origin xyz="0 0 0.20"/>
     <dynamics damping="0.0" friction="0.0"/>
   </joint>
   
-	<link name="upper_leg_front_rightL_link">
-		<visual>
-			<geometry>
-				<box size=".039 .008 .129"/>
-			</geometry>
-			<material name="grey">
-				<color rgba=".65 .65 .75 1"/>
-			</material>
-		</visual>
-		<collision>
-			<geometry>
-				<box size=".039 .008 .129"/>
-			</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_rightL_joint" type="fixed">
-		<axis xyz="0 0 1"/>
-		<parent link="motor_front_rightL_link"/>
-		<child link="upper_leg_front_rightL_link"/>
-		<origin rpy="-1.57079632679 0 0" xyz="0 .045 -.0145"/>
-		<limit effort="100" velocity="100"/>
-		<joint_properties damping=".0" friction=".0"/>
-	</joint>
-	<link name="lower_leg_front_rightL_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 .108"/>
-			<geometry>
-				<box size=".017 .009 .216"/>
-			</geometry>
-			<material name="grey">
-				<color rgba=".65 .65 .75 1"/>
-			</material>
-		</visual>
-		<collision>
-			<origin rpy="0 0 0" xyz="0 0 .108"/>
-			<geometry>
-				<box size=".017 .009 .216"/>
-			</geometry>
-		</collision>
-		<inertial>
-			<origin rpy="0 0 0" xyz="0 0 .1"/>
-			<mass value=".072"/>
-			<inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".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 .0085 .056"/>
-		<limit effort="100" velocity="100"/>
-		<joint_properties damping=".0" friction=".0"/>
-	</joint>
-	
 	
 	<link name="toe_lower_leg_front_rightL_link">
     <contact>
@@ -1032,71 +929,6 @@
   
 	
 	
-	<link name="upper_leg_front_leftR_link">
-		<visual>
-			<geometry>
-				<box size=".039 .008 .129"/>
-			</geometry>
-			<material name="grey">
-				<color rgba=".65 .65 .75 1"/>
-			</material>
-		</visual>
-		<collision>
-			<geometry>
-				<box size=".039 .008 .129"/>
-			</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_leftR_joint" type="fixed">
-		<axis xyz="0 0 1"/>
-		<parent link="motor_front_leftR_link"/>
-		<child link="upper_leg_front_leftR_link"/>
-		<origin rpy="-1.57079632679 0 0" xyz="0 .045 -.0145"/>
-		<limit effort="100" velocity="100"/>
-		<joint_properties damping=".0" friction=".0"/>
-	</joint>
-	<link name="lower_leg_front_leftR_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 .108"/>
-			<geometry>
-				<box size=".017 .009 .216"/>
-			</geometry>
-			<material name="grey">
-				<color rgba=".65 .65 .75 1"/>
-			</material>
-		</visual>
-		<collision>
-			<origin rpy="0 0 0" xyz="0 0 .108"/>
-			<geometry>
-				<box size=".017 .009 .216"/>
-			</geometry>
-		</collision>
-		<inertial>
-			<origin rpy="0 0 0" xyz="0 0 .1"/>
-			<mass value=".072"/>
-			<inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".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 .0085 .056"/>
-		<limit effort="100" velocity="100"/>
-		<joint_properties damping=".0" friction=".0"/>
-	</joint>
-	
 	<link name="toe_lower_leg_front_leftR_link">
     <contact>
       <lateral_friction value="1.0"/>
@@ -1126,72 +958,6 @@
     <dynamics damping="0.0" friction="0.0"/>
   </joint>
 	
-	<link name="upper_leg_front_leftL_link">
-		<visual>
-			<geometry>
-				<box size=".039 .008 .129"/>
-			</geometry>
-			<material name="grey">
-				<color rgba=".65 .65 .75 1"/>
-			</material>
-		</visual>
-		<collision>
-			<geometry>
-				<box size=".039 .008 .129"/>
-			</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="-1.57079632679 0 0" xyz="0 .045 -.0145"/>
-		<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 .240"/>
-			</geometry>
-			<material name="grey">
-				<color rgba=".65 .65 .75 1"/>
-			</material>
-		</visual>
-		<collision>
-			<origin rpy="0 0 0" xyz="0 0 .120"/>
-			<geometry>
-				<box size=".017 .009 .240"/>
-			</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 .056"/>
-		<limit effort="100" velocity="100"/>
-		<joint_properties damping=".0" friction=".0"/>
-	</joint>
-	
 		<link name="toe_lower_leg_front_leftL_link">
     <contact>
       <lateral_friction value="1.0"/>
@@ -1217,76 +983,11 @@
   <joint name="toe_lower_leg_front_leftL_joint" type="fixed">
     <parent link="lower_leg_front_leftL_link"/>
     <child link="toe_lower_leg_front_leftL_link"/>
-    <origin xyz="0 0 0.22"/>
+    <origin xyz="0 0 0.20"/>
     <dynamics damping="0.0" friction="0.0"/>
   </joint>
 	
 	
-	<link name="upper_leg_back_rightR_link">
-		<visual>
-			<geometry>
-				<box size=".039 .008 .129"/>
-			</geometry>
-			<material name="grey">
-				<color rgba=".65 .65 .75 1"/>
-			</material>
-		</visual>
-		<collision>
-			<geometry>
-				<box size=".039 .008 .129"/>
-			</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="-1.57079632679 0 0" xyz="0 .045 -.0145"/>
-		<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 .240"/>
-			</geometry>
-			<material name="grey">
-				<color rgba=".65 .65 .75 1"/>
-			</material>
-		</visual>
-		<collision>
-			<origin rpy="0 0 0" xyz="0 0 .120"/>
-			<geometry>
-				<box size=".017 .009 .240"/>
-			</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 .056"/>
-		<limit effort="100" velocity="100"/>
-		<joint_properties damping=".0" friction=".0"/>
-	</joint>
-	
 	
 	<link name="toe_lower_leg_back_rightR_link">
     <contact>
@@ -1313,7 +1014,7 @@
   <joint name="toe_lower_leg_back_rightR_joint" type="fixed">
     <parent link="lower_leg_back_rightR_link"/>
     <child link="toe_lower_leg_back_rightR_link"/>
-    <origin xyz="0 0 0.22"/>
+    <origin xyz="0 0 0.20"/>
     <dynamics damping="0.0" friction="0.0"/>
   </joint>
 	
@@ -1349,139 +1050,6 @@
 	
 	
 	
-	
-	
-	<link name="upper_leg_back_rightL_link">
-		<visual>
-			<geometry>
-				<box size=".039 .008 .129"/>
-			</geometry>
-			<material name="grey">
-				<color rgba=".65 .65 .75 1"/>
-			</material>
-		</visual>
-		<collision>
-			<geometry>
-				<box size=".039 .008 .129"/>
-			</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_rightL_joint" type="fixed">
-		<axis xyz="0 0 1"/>
-		<parent link="motor_back_rightL_link"/>
-		<child link="upper_leg_back_rightL_link"/>
-		<origin rpy="-1.57079632679 0 0" xyz="0 .045 -.0145"/>
-		<limit effort="100" velocity="100"/>
-		<joint_properties damping=".0" friction=".0"/>
-	</joint>
-	<link name="lower_leg_back_rightL_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 .108"/>
-			<geometry>
-				<box size=".017 .009 .216"/>
-			</geometry>
-			<material name="grey">
-				<color rgba=".65 .65 .75 1"/>
-			</material>
-		</visual>
-		<collision>
-			<origin rpy="0 0 0" xyz="0 0 .108"/>
-			<geometry>
-				<box size=".017 .009 .216"/>
-			</geometry>
-		</collision>
-		<inertial>
-			<origin rpy="0 0 0" xyz="0 0 .1"/>
-			<mass value=".072"/>
-			<inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".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 .0085 .056"/>
-		<limit effort="100" velocity="100"/>
-		<joint_properties damping=".0" friction=".0"/>
-	</joint>
-	<link name="upper_leg_back_leftR_link">
-		<visual>
-			<geometry>
-				<box size=".039 .008 .129"/>
-			</geometry>
-			<material name="grey">
-				<color rgba=".65 .65 .75 1"/>
-			</material>
-		</visual>
-		<collision>
-			<geometry>
-				<box size=".039 .008 .129"/>
-			</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_leftR_joint" type="fixed">
-		<axis xyz="0 0 1"/>
-		<parent link="motor_back_leftR_link"/>
-		<child link="upper_leg_back_leftR_link"/>
-		<origin rpy="-1.57079632679 0 0" xyz="0 .045 -.0145"/>
-		<limit effort="100" velocity="100"/>
-		<joint_properties damping=".0" friction=".0"/>
-	</joint>
-	
-	<link name="lower_leg_back_leftR_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 .108"/>
-			<geometry>
-				<box size=".017 .009 .216"/>
-			</geometry>
-			<material name="grey">
-				<color rgba=".65 .65 .75 1"/>
-			</material>
-		</visual>
-		<collision>
-			<origin rpy="0 0 0" xyz="0 0 .108"/>
-			<geometry>
-				<box size=".017 .009 .216"/>
-			</geometry>
-		</collision>
-		<inertial>
-			<origin rpy="0 0 0" xyz="0 0 .1"/>
-			<mass value=".072"/>
-			<inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".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 .0085 .056"/>
-		<limit effort="100" velocity="100"/>
-		<joint_properties damping=".0" friction=".0"/>
-	</joint>
-	
-	
 	<link name="toe_lower_leg_back_leftR_link">
     <contact>
       <lateral_friction value="1.0"/>
@@ -1537,71 +1105,559 @@
   <joint name="toe_lower_leg_back_leftL_joint" type="fixed">
     <parent link="lower_leg_back_leftL_link"/>
     <child link="toe_lower_leg_back_leftL_link"/>
-    <origin xyz="0 0 0.22"/>
+    <origin xyz="0 0 0.20"/>
     <dynamics damping="0.0" friction="0.0"/>
   </joint>
-	<link name="upper_leg_back_leftL_link">
-		<visual>
-			<geometry>
-				<box size=".039 .008 .129"/>
-			</geometry>
-			<material name="grey">
-				<color rgba=".65 .65 .75 1"/>
-			</material>
-		</visual>
-		<collision>
-			<geometry>
-				<box size=".039 .008 .129"/>
-			</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="-1.57079632679 0 0" xyz="0 .045 -.0145"/>
-		<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 .240"/>
-			</geometry>
-			<material name="grey">
-				<color rgba=".65 .65 .75 1"/>
-			</material>
-		</visual>
-		<collision>
-			<origin rpy="0 0 0" xyz="0 0 .120"/>
-			<geometry>
-				<box size=".017 .009 .240"/>
-			</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 .056"/>
-		<limit effort="100" velocity="100"/>
-		<joint_properties damping=".0" friction=".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_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 0.06 -0.015"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping="0.0" friction="0.0"/>
+  </joint>
+
+	<link name="lower_leg_front_rightR_link">
+	<contact>
+		<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 .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>
+    	<origin rpy="0.0 0 0" xyz="0 0 .1"/>
+      <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_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 .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>
+		<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 .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>
+    	<origin rpy="0.0 0 0" xyz="0 0 .1"/>
+      <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_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 .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_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 0.06 -0.015"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping="0.0" friction="0.0"/>
+  </joint>
+
+
+	<link name="lower_leg_front_leftR_link">
+	<contact>
+		<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 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>
+    <origin rpy="0.0 0.0 0" xyz="0 0 .1"/>
+      <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_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 .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="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 0.06 -0.015"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping="0.0" friction="0.0"/>
+  </joint>
+
+
+  <link name="lower_leg_front_leftL_link">
+	<contact>
+		<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 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>
+    <origin rpy="0.0 0.0 0" xyz="0 0 .1"/>
+      <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_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 .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_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 0.06 -0.015"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping="0.0" friction="0.0"/>
+  </joint>
+
+	<link name="lower_leg_back_rightR_link">
+	<contact>
+		<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 .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>
+    <origin rpy="0.0 0 0" xyz="0 0 .1"/>
+      <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_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 .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="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 0.06 -0.015"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping="0.0" friction="0.0"/>
+  </joint>
+
+  
+
+  
+  <link name="lower_leg_back_rightL_link">
+	<contact>
+		<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 .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>
+    <origin rpy="0.0 0 0" xyz="0 0 .1"/>
+      <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_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 .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_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 0.06 -0.015"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping="0.0" friction="0.0"/>
+  </joint>
+
+<link name="lower_leg_back_leftR_link">
+	<contact>
+		<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 .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>
+    <origin rpy="0.0 0 0" xyz="0 0 .1"/>
+      <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_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 .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="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 0.06 -0.015"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping="0.0" friction="0.0"/>
+  </joint>
+
+ 
+  <link name="lower_leg_back_leftL_link">
+	<contact>
+		<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 .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>
+    <origin rpy="0.0 0 0" xyz="0 0 .1"/>
+      <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_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 .055"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping="0.0" friction="0.0"/>
+  </joint>
 </robot>