From 1e559feb8f07a82ad1afa741b3bff6fcf0d3e761 Mon Sep 17 00:00:00 2001
From: Erwin Coumans
 <erwincoumans@erwincoumans-macbookpro2.roam.corp.google.com>
Date: Fri, 15 Jun 2018 10:26:42 -0700
Subject: [PATCH] add preliminary vision60 urdf model (no real sizes, no real
 masses etc)

---
 data/quadruped/vision/chassis.mtl      |   12 +
 data/quadruped/vision/chassis.obj      |   32 +
 data/quadruped/vision/chassis2.mtl     |   10 +
 data/quadruped/vision/chassis2.obj     | 1906 ++++++++++++++++++++++++
 data/quadruped/vision/checker_blue.png |  Bin 0 -> 6379 bytes
 data/quadruped/vision/t-motor.jpg      |  Bin 0 -> 156770 bytes
 data/quadruped/vision/tmotor.blend     |  Bin 0 -> 475716 bytes
 data/quadruped/vision/tmotor3.mtl      |   19 +
 data/quadruped/vision/tmotor3.obj      |  325 ++++
 data/quadruped/vision/vision.py        |  220 +++
 data/quadruped/vision/vision60.urdf    |  696 +++++++++
 11 files changed, 3220 insertions(+)
 create mode 100644 data/quadruped/vision/chassis.mtl
 create mode 100644 data/quadruped/vision/chassis.obj
 create mode 100644 data/quadruped/vision/chassis2.mtl
 create mode 100644 data/quadruped/vision/chassis2.obj
 create mode 100644 data/quadruped/vision/checker_blue.png
 create mode 100644 data/quadruped/vision/t-motor.jpg
 create mode 100644 data/quadruped/vision/tmotor.blend
 create mode 100644 data/quadruped/vision/tmotor3.mtl
 create mode 100644 data/quadruped/vision/tmotor3.obj
 create mode 100644 data/quadruped/vision/vision.py
 create mode 100644 data/quadruped/vision/vision60.urdf

diff --git a/data/quadruped/vision/chassis.mtl b/data/quadruped/vision/chassis.mtl
new file mode 100644
index 000000000..89e23e69c
--- /dev/null
+++ b/data/quadruped/vision/chassis.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None.002
+Ns 0.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.800000 0.800000 0.800000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
diff --git a/data/quadruped/vision/chassis.obj b/data/quadruped/vision/chassis.obj
new file mode 100644
index 000000000..e554523ef
--- /dev/null
+++ b/data/quadruped/vision/chassis.obj
@@ -0,0 +1,32 @@
+# Blender v2.78 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib chassis.mtl
+o Cube.002
+v -0.150000 -0.065000 0.043500
+v -0.150000 0.065000 -0.043500
+v -0.150000 -0.065000 -0.043500
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+vn 0.0000 -1.0000 0.0000
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+vn -0.0000 0.0000 1.0000
+usemtl None.002
+s 1
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+f 4//2 6//2 5//2
+f 6//3 8//3 7//3
+f 8//4 1//4 3//4
+f 5//5 7//5 3//5
+f 4//6 1//6 8//6
diff --git a/data/quadruped/vision/chassis2.mtl b/data/quadruped/vision/chassis2.mtl
new file mode 100644
index 000000000..70d3ba1da
--- /dev/null
+++ b/data/quadruped/vision/chassis2.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
diff --git a/data/quadruped/vision/chassis2.obj b/data/quadruped/vision/chassis2.obj
new file mode 100644
index 000000000..35f1f5df7
--- /dev/null
+++ b/data/quadruped/vision/chassis2.obj
@@ -0,0 +1,1906 @@
+# Blender v2.78 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib chassis2.mtl
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diff --git a/data/quadruped/vision/tmotor3.mtl b/data/quadruped/vision/tmotor3.mtl
new file mode 100644
index 000000000..6df3f0d52
--- /dev/null
+++ b/data/quadruped/vision/tmotor3.mtl
@@ -0,0 +1,19 @@
+# Blender MTL File: 'tmotor.blend'
+# Material Count: 2
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
+map_Kd t-motor.jpg
+
+newmtl None_NONE
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
diff --git a/data/quadruped/vision/tmotor3.obj b/data/quadruped/vision/tmotor3.obj
new file mode 100644
index 000000000..a34cb685f
--- /dev/null
+++ b/data/quadruped/vision/tmotor3.obj
@@ -0,0 +1,325 @@
+# Blender v2.78 (sub 0) OBJ File: 'tmotor.blend'
+# www.blender.org
+mtllib tmotor3.mtl
+o Cylinder
+v 0.000000 0.043000 -0.006500
+v 0.000000 0.043000 0.006500
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+v 0.008389 0.042174 0.006500
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+vn -0.0980 0.9952 0.0000
+vn 0.0000 0.0000 -1.0000
+usemtl None
+s off
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diff --git a/data/quadruped/vision/vision.py b/data/quadruped/vision/vision.py
new file mode 100644
index 000000000..0901d7dfc
--- /dev/null
+++ b/data/quadruped/vision/vision.py
@@ -0,0 +1,220 @@
+import pybullet as p
+import time
+import math
+
+pi = 3.14159264
+limitVal = 2*pi
+legpos = 3./4.*pi
+legposS = 0
+legposSright = 0#-0.3
+legposSleft = 0#0.3
+
+defaultERP=0.4
+maxMotorForce = 5000
+maxGearForce = 10000
+jointFriction = 0.1
+
+
+p.connect(p.GUI)
+
+
+amplitudeId= p.addUserDebugParameter("amplitude",0,3.14,0.5)
+timeScaleId = p.addUserDebugParameter("timeScale",0,10,1)
+
+
+jointTypeNames={}
+jointTypeNames[p.JOINT_REVOLUTE]="JOINT_REVOLUTE"
+jointTypeNames[p.JOINT_FIXED]="JOINT_FIXED"
+p.setPhysicsEngineParameter(numSolverIterations=100)
+p.loadURDF("plane_transparent.urdf", useMaximalCoordinates=True)
+#disable rendering during creation.
+#p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
+p.configureDebugVisualizer(p.COV_ENABLE_PLANAR_REFLECTION,1)
+
+
+jointNamesToIndex={}
+
+
+p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
+vision = p.loadURDF("vision60.urdf",[0,0,0.4],useFixedBase=False)
+p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
+
+
+for j in range(p.getNumJoints(vision)):
+	jointInfo = p.getJointInfo(vision,j)
+	jointInfoName = jointInfo[1].decode("utf-8") 
+	print("joint ",j," = ",jointInfoName, "type=",jointTypeNames[jointInfo[2]])
+	jointNamesToIndex[jointInfoName ]=j
+	#print("jointNamesToIndex[..]=",jointNamesToIndex[jointInfoName])
+	p.setJointMotorControl2(vision,j,p.VELOCITY_CONTROL,targetVelocity=0, force=jointFriction)
+
+
+chassis_right_center = jointNamesToIndex['chassis_right_center']
+motor_front_rightR_joint = jointNamesToIndex['motor_front_rightR_joint']
+motor_front_rightS_joint = jointNamesToIndex['motor_front_rightS_joint']
+hip_front_rightR_joint = jointNamesToIndex['hip_front_rightR_joint']
+knee_front_rightR_joint = jointNamesToIndex['knee_front_rightR_joint']
+motor_front_rightL_joint = jointNamesToIndex['motor_front_rightL_joint']
+motor_back_rightR_joint = jointNamesToIndex['motor_back_rightR_joint']
+motor_back_rightS_joint = jointNamesToIndex['motor_back_rightS_joint']
+hip_back_rightR_joint = jointNamesToIndex['hip_back_rightR_joint']
+knee_back_rightR_joint = jointNamesToIndex['knee_back_rightR_joint']
+motor_back_rightL_joint = jointNamesToIndex['motor_back_rightL_joint']
+chassis_left_center = jointNamesToIndex['chassis_left_center']
+motor_front_leftL_joint = jointNamesToIndex['motor_front_leftL_joint']
+motor_front_leftS_joint = jointNamesToIndex['motor_front_leftS_joint']
+hip_front_leftL_joint = jointNamesToIndex['hip_front_leftL_joint']
+knee_front_leftL_joint = jointNamesToIndex['knee_front_leftL_joint']
+motor_front_leftR_joint = jointNamesToIndex['motor_front_leftR_joint']
+motor_back_leftL_joint = jointNamesToIndex['motor_back_leftL_joint']
+hip_back_leftL_joint = jointNamesToIndex['hip_back_leftL_joint']
+knee_back_leftL_joint = jointNamesToIndex['knee_back_leftL_joint']
+motor_back_leftR_joint = jointNamesToIndex['motor_back_leftR_joint']
+motor_back_leftS_joint = jointNamesToIndex['motor_back_leftS_joint']
+
+motA_rf_Id= p.addUserDebugParameter("motA_rf",-limitVal,limitVal,legpos)
+motB_rf_Id= p.addUserDebugParameter("motB_rf",-limitVal,limitVal,legpos)
+motC_rf_Id= p.addUserDebugParameter("motC_rf",-limitVal,limitVal,legposSright)
+erp_rf_Id= p.addUserDebugParameter("erp_rf",0,1,defaultERP)
+relPosTarget_rf_Id= p.addUserDebugParameter("relPosTarget_rf",-limitVal,limitVal,0)
+
+
+motA_lf_Id= p.addUserDebugParameter("motA_lf",-limitVal,limitVal,-legpos)
+motB_lf_Id= p.addUserDebugParameter("motB_lf",-limitVal,limitVal,-legpos)
+motC_lf_Id= p.addUserDebugParameter("motC_lf",-limitVal,limitVal,legposSleft)
+
+erp_lf_Id= p.addUserDebugParameter("erp_lf",0,1,defaultERP)
+relPosTarget_lf_Id= p.addUserDebugParameter("relPosTarget_lf",-limitVal,limitVal,0)
+
+motA_rb_Id= p.addUserDebugParameter("motA_rb",-limitVal,limitVal,legpos)
+motB_rb_Id= p.addUserDebugParameter("motB_rb",-limitVal,limitVal,legpos)
+motC_rb_Id= p.addUserDebugParameter("motC_rb",-limitVal,limitVal,legposSright)
+
+erp_rb_Id= p.addUserDebugParameter("erp_rb",0,1,defaultERP)
+relPosTarget_rb_Id= p.addUserDebugParameter("relPosTarget_rb",-limitVal,limitVal,0)
+
+
+motA_lb_Id= p.addUserDebugParameter("motA_lb",-limitVal,limitVal,-legpos)
+motB_lb_Id= p.addUserDebugParameter("motB_lb",-limitVal,limitVal,-legpos)
+motC_lb_Id= p.addUserDebugParameter("motC_lb",-limitVal,limitVal,legposSleft)
+
+erp_lb_Id= p.addUserDebugParameter("erp_lb",0,1,defaultERP)
+relPosTarget_lb_Id= p.addUserDebugParameter("relPosTarget_lb",-limitVal,limitVal,0)
+
+camTargetPos=[0.25,0.62,-0.15]
+camDist = 2
+camYaw = -2
+camPitch=-16
+p.resetDebugVisualizerCamera(camDist, camYaw, camPitch, camTargetPos)
+
+
+
+
+
+c_rf = p.createConstraint(vision,knee_front_rightR_joint,vision,motor_front_rightL_joint,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
+p.changeConstraint(c_rf,gearRatio=-1, gearAuxLink = motor_front_rightR_joint,maxForce=maxGearForce)
+
+c_lf = p.createConstraint(vision,knee_front_leftL_joint,vision,motor_front_leftR_joint,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
+p.changeConstraint(c_lf,gearRatio=-1, gearAuxLink = motor_front_leftL_joint,maxForce=maxGearForce)
+
+c_rb = p.createConstraint(vision,knee_back_rightR_joint,vision,motor_back_rightL_joint,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
+p.changeConstraint(c_rb,gearRatio=-1, gearAuxLink = motor_back_rightR_joint,maxForce=maxGearForce)
+
+c_lb = p.createConstraint(vision,knee_back_leftL_joint,vision,motor_back_leftR_joint,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
+p.changeConstraint(c_lb,gearRatio=-1, gearAuxLink = motor_back_leftL_joint,maxForce=maxGearForce)
+
+
+
+
+p.setRealTimeSimulation(1)
+for i in range (1):
+#while (1):
+	motA_rf = p.readUserDebugParameter(motA_rf_Id)
+	motB_rf = p.readUserDebugParameter(motB_rf_Id)
+	motC_rf = p.readUserDebugParameter(motC_rf_Id)
+	erp_rf = p.readUserDebugParameter(erp_rf_Id)
+	relPosTarget_rf = p.readUserDebugParameter(relPosTarget_rf_Id)
+	#motC_rf
+	p.setJointMotorControl2(vision,motor_front_rightR_joint,p.POSITION_CONTROL,targetPosition=motA_rf,force=maxMotorForce)
+	p.setJointMotorControl2(vision,motor_front_rightL_joint,p.POSITION_CONTROL,targetPosition=motB_rf,force=maxMotorForce)
+	p.setJointMotorControl2(vision,motor_front_rightS_joint,p.POSITION_CONTROL,targetPosition=motC_rf,force=maxMotorForce)
+	p.changeConstraint(c_rf,gearRatio=-1, gearAuxLink = motor_front_rightR_joint,erp=erp_rf, relativePositionTarget=relPosTarget_rf,maxForce=maxGearForce)
+
+	motA_lf = p.readUserDebugParameter(motA_lf_Id)
+	motB_lf = p.readUserDebugParameter(motB_lf_Id)
+	motC_lf = p.readUserDebugParameter(motC_lf_Id)
+	erp_lf = p.readUserDebugParameter(erp_lf_Id)
+	relPosTarget_lf = p.readUserDebugParameter(relPosTarget_lf_Id)
+	p.setJointMotorControl2(vision,motor_front_leftL_joint,p.POSITION_CONTROL,targetPosition=motA_lf,force=maxMotorForce)
+	p.setJointMotorControl2(vision,motor_front_leftR_joint,p.POSITION_CONTROL,targetPosition=motB_lf,force=maxMotorForce)
+	p.setJointMotorControl2(vision,motor_front_leftS_joint,p.POSITION_CONTROL,targetPosition=motC_lf,force=maxMotorForce)
+	p.changeConstraint(c_lf,gearRatio=-1, gearAuxLink = motor_front_leftL_joint,erp=erp_lf, relativePositionTarget=relPosTarget_lf,maxForce=maxGearForce)
+
+
+	motA_rb = p.readUserDebugParameter(motA_rb_Id)
+	motB_rb = p.readUserDebugParameter(motB_rb_Id)
+	motC_rb = p.readUserDebugParameter(motC_rb_Id)
+	erp_rb = p.readUserDebugParameter(erp_rb_Id)
+	relPosTarget_rb = p.readUserDebugParameter(relPosTarget_rb_Id)
+	p.setJointMotorControl2(vision,motor_back_rightR_joint,p.POSITION_CONTROL,targetPosition=motA_rb,force=maxMotorForce)
+	p.setJointMotorControl2(vision,motor_back_rightL_joint,p.POSITION_CONTROL,targetPosition=motB_rb,force=maxMotorForce)
+	p.setJointMotorControl2(vision,motor_back_rightS_joint,p.POSITION_CONTROL,targetPosition=motC_rb,force=maxMotorForce)
+	p.changeConstraint(c_rb,gearRatio=-1, gearAuxLink = motor_back_rightR_joint,erp=erp_rb, relativePositionTarget=relPosTarget_rb,maxForce=maxGearForce)
+
+	motA_lb = p.readUserDebugParameter(motA_lb_Id)
+	motB_lb = p.readUserDebugParameter(motB_lb_Id)
+	motC_lb = p.readUserDebugParameter(motC_lb_Id)
+	erp_lb = p.readUserDebugParameter(erp_lb_Id)
+	relPosTarget_lb = p.readUserDebugParameter(relPosTarget_lb_Id)
+	p.setJointMotorControl2(vision,motor_back_leftL_joint,p.POSITION_CONTROL,targetPosition=motA_lb,force=maxMotorForce)
+	p.setJointMotorControl2(vision,motor_back_leftR_joint,p.POSITION_CONTROL,targetPosition=motB_lb,force=maxMotorForce)
+	p.setJointMotorControl2(vision,motor_back_leftS_joint,p.POSITION_CONTROL,targetPosition=motC_lb,force=maxMotorForce)
+	p.changeConstraint(c_lb,gearRatio=-1, gearAuxLink = motor_back_leftL_joint,erp=erp_lb, relativePositionTarget=relPosTarget_lb,maxForce=maxGearForce)
+
+
+
+	p.setGravity(0,0,-10)
+	time.sleep(1./240.)
+t = 0
+prevTime = time.time()
+while (1):
+        timeScale = p.readUserDebugParameter(timeScaleId)
+        amplitude = p.readUserDebugParameter(amplitudeId)
+        newTime = time.time()
+        dt = (newTime-prevTime)*timeScale
+        t = t+dt
+        prevTime = newTime
+
+        amp=amplitude
+        motA_rf = math.sin(t)*amp+legpos
+        motA_rb = math.sin(t)*amp+legpos
+        motA_lf = -(math.sin(t)*amp+legpos)
+        motA_lb = -(math.sin(t)*amp+legpos)
+
+        motB_rf = math.sin(t)*amp+legpos
+        motB_rb = math.sin(t)*amp+legpos
+        motB_lf = -(math.sin(t)*amp+legpos)
+        motB_lb = -(math.sin(t)*amp+legpos)
+	
+        p.setJointMotorControl2(vision,motor_front_rightR_joint,p.POSITION_CONTROL,targetPosition=motA_rf,force=maxMotorForce)
+        p.setJointMotorControl2(vision,motor_front_rightL_joint,p.POSITION_CONTROL,targetPosition=motB_rf,force=maxMotorForce)
+        p.setJointMotorControl2(vision,motor_front_rightS_joint,p.POSITION_CONTROL,targetPosition=motC_rf,force=maxMotorForce)
+      
+
+        p.setJointMotorControl2(vision,motor_front_leftL_joint,p.POSITION_CONTROL,targetPosition=motA_lf,force=maxMotorForce)
+        p.setJointMotorControl2(vision,motor_front_leftR_joint,p.POSITION_CONTROL,targetPosition=motB_lf,force=maxMotorForce)
+        p.setJointMotorControl2(vision,motor_front_leftS_joint,p.POSITION_CONTROL,targetPosition=motC_lf,force=maxMotorForce)
+
+
+        p.setJointMotorControl2(vision,motor_back_rightR_joint,p.POSITION_CONTROL,targetPosition=motA_rb,force=maxMotorForce)
+        p.setJointMotorControl2(vision,motor_back_rightL_joint,p.POSITION_CONTROL,targetPosition=motB_rb,force=maxMotorForce)
+        p.setJointMotorControl2(vision,motor_back_rightS_joint,p.POSITION_CONTROL,targetPosition=motC_rb,force=maxMotorForce)
+
+
+        p.setJointMotorControl2(vision,motor_back_leftL_joint,p.POSITION_CONTROL,targetPosition=motA_lb,force=maxMotorForce)
+        p.setJointMotorControl2(vision,motor_back_leftR_joint,p.POSITION_CONTROL,targetPosition=motB_lb,force=maxMotorForce)
+        p.setJointMotorControl2(vision,motor_back_leftS_joint,p.POSITION_CONTROL,targetPosition=motC_lb,force=maxMotorForce)
+
+        p.setGravity(0,0,-10)
+        time.sleep(1./240.)
+
diff --git a/data/quadruped/vision/vision60.urdf b/data/quadruped/vision/vision60.urdf
new file mode 100644
index 000000000..cc66a5960
--- /dev/null
+++ b/data/quadruped/vision/vision60.urdf
@@ -0,0 +1,696 @@
+<?xml version="1.0"?>
+<robot name="quadruped">
+	<link name="base_chassis_link">
+		<visual>
+			<geometry>
+				<mesh filename="chassis.obj" scale="1 1 1"/>
+
+			</geometry>
+			<material name="black">
+				<color rgba=".3 .3 .3 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<box size=".3 .13 .087"/>
+			</geometry>
+		</collision>
+		
+		<inertial>
+			<origin rpy="0 0 0" xyz=".05 0 0"/>
+			<mass value="3.353"/>
+			<inertia ixx=".006837" ixy=".0" ixz=".0" iyy=".027262" iyz=".0" izz=".029870"/>
+		</inertial>
+	</link>
+	<link name="chassis_right">
+			<visual>
+			<geometry>
+				<mesh filename="chassis2.obj" scale="1 1 1"/>
+			</geometry>
+			<material name="yellow">
+				<color rgba=".7 .7 .3 1"/>
+			</material>
+		</visual>
+		<collision>
+			<origin rpy="0 0 0" xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="chassis2.obj" scale="1 1 1"/>
+			</geometry>
+		</collision>
+	
+		<inertial>
+			<mass value="1.32"/>
+			<inertia ixx=".004147" ixy=".0" ixz=".0" iyy=".040913" iyz=".0" izz=".041840"/>
+		</inertial>
+	</link>
+	<joint name="chassis_right_center" type="fixed">
+		<axis xyz="0 0 1"/>
+		<parent link="base_chassis_link"/>
+		<child link="chassis_right"/>
+		<origin rpy="0 0 0" xyz="0 -.1265 -.0185"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+
+
+	<link name="motor_front_rightS_link">
+		<visual>
+			<origin rpy="0 0 0" xyz="0 0 0"/>
+			<geometry>
+				<cylinder length=".05" radius=".01"/>
+			</geometry>
+			<material name="white">
+				<color rgba="1 1 1 1"/>
+			</material>
+		</visual>
+		<collision>
+			<origin rpy="0 0 0" xyz="0 0 0"/>
+			<geometry>
+				<cylinder length=".05" radius=".01"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".072"/>
+			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
+		</inertial>
+	</link>
+		
+	<joint name="motor_front_rightS_joint" type="continuous">
+		<axis xyz="0 0 1"/>
+		<parent link="chassis_right"/>
+		<child link="motor_front_rightS_link"/>
+		<origin rpy="0 1.57075 0" xyz=".1375 .0275 0"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+
+	  <link name="motor_back_rightS_link">
+                <visual>
+                        <origin rpy="0 0 0" xyz="0 0 0"/>
+                        <geometry>
+                                <cylinder length=".05" radius=".01"/>
+                        </geometry>
+                        <material name="white">
+                                <color rgba="1 1 1 1"/>
+                        </material>
+                </visual>
+                <collision>
+                        <origin rpy="0 0 0" xyz="0 0 0"/>
+                        <geometry>
+                                <cylinder length=".05" radius=".01"/>
+                        </geometry>
+                </collision>
+                <inertial>
+                        <mass value=".072"/>
+                        <inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
+                </inertial>
+        </link>
+
+        <joint name="motor_back_rightS_joint" type="continuous">
+                <axis xyz="0 0 1"/>
+                <parent link="chassis_right"/>
+                <child link="motor_back_rightS_link"/>
+                <origin rpy="0 1.57075 0" xyz="-.1375 .0275 0"/>
+                <limit effort="100" velocity="100"/>
+                <joint_properties damping=".0" friction=".0"/>
+        </joint>
+
+	
+	<link name="chassis_left">
+		<visual>
+			<origin rpy="0 0 0" xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="chassis2.obj" scale="1 1 1"/>
+			</geometry>
+			<material name="yellow"/>
+		</visual>
+		
+		<collision>
+			<origin rpy="0 0 0" xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="chassis2.obj" scale="1 1 1"/>
+			</geometry>
+		</collision>
+		
+		<inertial>
+			<mass value="1.32"/>
+			<inertia ixx=".004147" ixy=".0" ixz=".0" iyy=".040913" iyz=".0" izz=".041840"/>
+		</inertial>
+	</link>
+	<joint name="chassis_left_center" type="fixed">
+		<axis xyz="0 0 1"/>
+		<parent link="base_chassis_link"/>
+		<child link="chassis_left"/>
+		<origin rpy="0 0 0" xyz="0 .1265 -.0185"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+
+
+	 <link name="motor_front_leftS_link">
+                <visual>
+                        <origin rpy="0 0 0" xyz="0 0 0"/>
+                        <geometry>
+                                <cylinder length=".05" radius=".01"/>
+                        </geometry>
+                        <material name="white">
+                                <color rgba="1 1 1 1"/>
+                        </material>
+                </visual>
+                <collision>
+                        <origin rpy="0 0 0" xyz="0 0 0"/>
+                        <geometry>
+                                <cylinder length=".05" radius=".01"/>
+                        </geometry>
+                </collision>
+                <inertial>
+                        <mass value=".072"/>
+                        <inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
+                </inertial>
+        </link>
+
+        <joint name="motor_front_leftS_joint" type="continuous">
+                <axis xyz="0 0 1"/>
+                <parent link="chassis_left"/>
+                <child link="motor_front_leftS_link"/>
+                <origin rpy="0 1.57075 0" xyz=".1375 -.0275 0"/>
+                <limit effort="100" velocity="100"/>
+                <joint_properties damping=".0" friction=".0"/>
+        </joint>
+
+	<link name="motor_back_leftS_link">
+                <visual>
+                        <origin rpy="0 0 0" xyz="0 0 0"/>
+                        <geometry>
+                                <cylinder length=".05" radius=".01"/>
+                        </geometry>
+                        <material name="white">
+                                <color rgba="1 1 1 1"/>
+                        </material>
+                </visual>
+                <collision>
+                        <origin rpy="0 0 0" xyz="0 0 0"/>
+                        <geometry>
+                                <cylinder length=".05" radius=".01"/>
+                        </geometry>
+                </collision>
+                <inertial>
+                        <mass value=".072"/>
+                        <inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
+                </inertial>
+        </link>
+
+        <joint name="motor_back_leftS_joint" type="continuous">
+                <axis xyz="0 0 1"/>
+                <parent link="chassis_left"/>
+                <child link="motor_back_leftS_link"/>
+                <origin rpy="0 1.57075 0" xyz="-.1375 -.0275 0"/>
+                <limit effort="100" velocity="100"/>
+                <joint_properties damping=".0" friction=".0"/>
+        </joint>
+
+
+
+	<link name="motor_front_rightR_link">
+		<visual>
+			<origin rpy="0 0 0" xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="tmotor3.obj" scale="1 1 1"/>
+			</geometry>
+			<material name="white">
+				<color rgba="1 1 1 1"/>
+			</material>
+		</visual>
+		<collision>
+			<origin rpy="0 0 0" xyz="0 0 0"/>
+			<geometry>
+				<cylinder length=".021" radius=".0425"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".072"/>
+			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
+		</inertial>
+	</link>
+	<joint name="motor_front_rightR_joint" type="continuous">
+		<axis xyz="0 0 1"/>
+		<parent link="motor_front_rightS_link"/>
+		<child link="motor_front_rightR_link"/>
+		<origin rpy="1.57075 -1.57075 0" xyz="0 0 0.1"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="motor_front_rightL_link">
+		<visual>
+			<geometry>
+				<mesh filename="tmotor3.obj" scale="1 1 1"/>
+			</geometry>
+			<material name="white">
+				<color rgba="1 1 1 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<cylinder length=".021" radius=".0425"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".072"/>
+			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
+		</inertial>
+	</link>
+	<joint name="motor_front_rightL_joint" type="continuous">
+		<axis xyz="0 0 1"/>
+		<parent link="motor_front_rightS_link"/>
+		<child link="motor_front_rightL_link"/>
+		<origin rpy="1.57075 0 3.141592" xyz="0 0.01 .1"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	
+	
+	<link name="motor_front_leftL_link">
+		<visual>
+			<geometry>
+				<mesh filename="tmotor3.obj" scale="1 1 1"/>
+			</geometry>
+			<material name="white">
+				<color rgba="1 1 1 1"/>
+			</material>
+		</visual>
+		<collision>
+
+			<geometry>
+				<cylinder length=".021" radius=".0425"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".072"/>
+			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
+		</inertial>
+	</link>
+
+
+
+	<joint name="motor_front_leftL_joint" type="continuous">
+		<axis xyz="0 0 1"/>
+		<parent link="motor_front_leftS_link"/>
+		<child link="motor_front_leftL_link"/>
+		<origin rpy="-1.57075 1.57075 0" xyz="0 0 0.1"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	
+	<link name="motor_front_leftR_link">
+		<visual>
+			<geometry>
+				<mesh filename="tmotor3.obj" scale="1 1 1"/>
+			</geometry>
+			<material name="white">
+				<color rgba="1 1 1 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<cylinder length=".021" radius=".0425"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".072"/>
+			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
+		</inertial>
+	</link>
+	<joint name="motor_front_leftR_joint" type="continuous">
+		<axis xyz="0 0 1"/>
+		<parent link="motor_front_leftS_link"/>
+		<child link="motor_front_leftR_link"/>
+		<origin rpy="1.57075 0 0" xyz="0 0 0.1"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="motor_back_rightR_link">
+		<visual>
+			<geometry>
+				<mesh filename="tmotor3.obj" scale="1 1 1"/>
+			</geometry>
+			<material name="white">
+				<color rgba="1 1 1 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<cylinder length=".021" radius=".0425"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".072"/>
+			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
+		</inertial>
+	</link>
+
+	<joint name="motor_back_rightR_joint" type="continuous">
+		<axis xyz="0 0 1"/>
+		<parent link="motor_back_rightS_link"/>
+		<child link="motor_back_rightR_link"/>
+		<origin rpy="1.57075 -1.57075 0" xyz="0 0 -0.1"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="motor_back_rightL_link">
+		<visual>
+			<geometry>
+				<mesh filename="tmotor3.obj" scale="1 1 1"/>
+			</geometry>
+			<material name="white">
+				<color rgba="1 1 1 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<cylinder length=".021" radius=".0425"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".072"/>
+			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
+		</inertial>
+	</link>
+	<joint name="motor_back_rightL_joint" type="continuous">
+		<axis xyz="0 0 1"/>
+		<parent link="chassis_right"/>
+		<child link="motor_back_rightL_link"/>
+		<origin rpy="1.57075 0 3.141592" xyz="-.2375 .0275 0"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="motor_back_leftL_link">
+		<visual>
+			<geometry>
+				<mesh filename="tmotor3.obj" scale="1 1 1"/>
+			</geometry>
+			<material name="white">
+				<color rgba="1 1 1 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<cylinder length=".021" radius=".0425"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".072"/>
+			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
+		</inertial>
+	</link>
+
+
+	<joint name="motor_back_leftL_joint" type="continuous">
+		<axis xyz="0 0 1"/>
+		<parent link="motor_back_leftS_link"/>
+		<child link="motor_back_leftL_link"/>
+		<origin rpy="-1.57075 1.57075 0" xyz="0 0 -0.1"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="motor_back_leftR_link">
+		<visual>
+			<geometry>
+				<mesh filename="tmotor3.obj" scale="1 1 1"/>
+			</geometry>
+			<material name="white">
+				<color rgba="1 1 1 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<cylinder length=".021" radius=".0425"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".072"/>
+			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
+		</inertial>
+	</link>
+	<joint name="motor_back_leftR_joint" type="continuous">
+		<axis xyz="0 0 1"/>
+		<parent link="chassis_left"/>
+		<child link="motor_back_leftR_link"/>
+		<origin rpy="1.57075 0 0" xyz="-.2375 -.0275 0"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="upper_leg_front_rightR_link">
+		<visual>
+			<geometry>
+				<box size=".039 .008 .199"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<box size=".039 .008 .199"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".034"/>
+			<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
+		</inertial>
+	</link>
+	<joint name="hip_front_rightR_joint" type="fixed">
+		<axis xyz="0 0 1"/>
+		<parent link="motor_front_rightR_link"/>
+		<child link="upper_leg_front_rightR_link"/>
+		<origin rpy="-1.57075 0 0" xyz="0 0.095 0"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="lower_leg_front_rightR_link">
+		<contact>
+			<friction_anchor/>
+			<stiffness value="3000.0"/>
+			<damping value="100.0"/>
+			<spinning_friction value=".3"/>
+			<lateral_friction value="1"/>
+		</contact>
+		<visual>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<geometry>
+				<box size=".017 .009 .200"/>
+			</geometry>
+			<material name="black"/>
+		</visual>
+		<collision>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<geometry>
+				<box size=".017 .009 .200"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<mass value=".086"/>
+			<inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
+		</inertial>
+	</link>
+	<joint name="knee_front_rightR_joint" type="continuous">
+		<axis xyz="0 1 0"/>
+		<parent link="upper_leg_front_rightR_link"/>
+		<child link="lower_leg_front_rightR_link"/>
+		<origin rpy="0 0 0" xyz="0 .0085 .096"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	
+	<link name="upper_leg_front_leftL_link">
+		<visual>
+			<geometry>
+				<box size=".039 .008 .199"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<box size=".039 .008 .199"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".034"/>
+			<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
+		</inertial>
+	</link>
+	<joint name="hip_front_leftL_joint" type="fixed">
+		<axis xyz="0 0 1"/>
+		<parent link="motor_front_leftL_link"/>
+		<child link="upper_leg_front_leftL_link"/>
+		<origin rpy="-1.57075 0 0" xyz="0 .095 .0"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="lower_leg_front_leftL_link">
+		<contact>
+			<friction_anchor/>
+			<stiffness value="3000.0"/>
+			<damping value="100.0"/>
+			<spinning_friction value=".3"/>
+			<lateral_friction value="1"/>
+		</contact>
+		<visual>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<geometry>
+				<box size=".017 .009 .200"/>
+			</geometry>
+			<material name="black"/>
+
+		</visual>
+		<collision>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<geometry>
+				<box size=".017 .009 .200"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<mass value=".086"/>
+			<inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
+		</inertial>
+	</link>
+	<joint name="knee_front_leftL_joint" type="continuous">
+		<axis xyz="0 1 0"/>
+		<parent link="upper_leg_front_leftL_link"/>
+		<child link="lower_leg_front_leftL_link"/>
+		<origin rpy="0 0 0" xyz="0 .0085 .096"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="upper_leg_back_rightR_link">
+		<visual>
+			<geometry>
+				<box size=".039 .008 .199"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<box size=".039 .008 .199"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".034"/>
+			<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
+		</inertial>
+	</link>
+	<joint name="hip_back_rightR_joint" type="fixed">
+		<axis xyz="0 0 1"/>
+		<parent link="motor_back_rightR_link"/>
+		<child link="upper_leg_back_rightR_link"/>
+		<origin rpy="-1.57075 0 0" xyz="0 .095 0"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="lower_leg_back_rightR_link">
+		<contact>
+			<friction_anchor/>
+			<stiffness value="3000.0"/>
+			<damping value="100.0"/>
+			<spinning_friction value=".3"/>
+			<lateral_friction value="1"/>
+		</contact>
+		<visual>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<geometry>
+				<box size=".017 .009 .200"/>
+			</geometry>
+						<material name="black"/>
+
+		</visual>
+		<collision>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<geometry>
+				<box size=".017 .009 .200"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<mass value=".086"/>
+			<inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
+		</inertial>
+	</link>
+	<joint name="knee_back_rightR_joint" type="continuous">
+		<axis xyz="0 1 0"/>
+		<parent link="upper_leg_back_rightR_link"/>
+		<child link="lower_leg_back_rightR_link"/>
+		<origin rpy="0 0 0" xyz="0 .0085 .096"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	
+	
+	<link name="upper_leg_back_leftL_link">
+		<visual>
+			<geometry>
+				<box size=".039 .008 .199"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<box size=".039 .008 .199"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".034"/>
+			<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
+		</inertial>
+	</link>
+	<joint name="hip_back_leftL_joint" type="fixed">
+		<axis xyz="0 0 1"/>
+		<parent link="motor_back_leftL_link"/>
+		<child link="upper_leg_back_leftL_link"/>
+		<origin rpy="-1.57075 0 0" xyz="0 .095 0"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="lower_leg_back_leftL_link">
+		<contact>
+			<friction_anchor/>
+			<stiffness value="3000.0"/>
+			<damping value="100.0"/>
+			<spinning_friction value=".3"/>
+			<lateral_friction value="1"/>
+		</contact>
+		<visual>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<geometry>
+				<box size=".017 .009 .200"/>
+			</geometry>
+						<material name="black"/>
+
+		</visual>
+		<collision>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<geometry>
+				<box size=".017 .009 .200"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<mass value=".086"/>
+			<inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
+		</inertial>
+	</link>
+	<joint name="knee_back_leftL_joint" type="continuous">
+		<axis xyz="0 1 0"/>
+		<parent link="upper_leg_back_leftL_link"/>
+		<child link="lower_leg_back_leftL_link"/>
+		<origin rpy="0 0 0" xyz="0 .0085 .096"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+</robot>