<?xml version="1.0"?>
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<!--Copyright (c) 2019, Erwin Coumans                                        -->
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<robot name="microtaur">
  <link name="base_chassis_link">
    <contact>
      <lateral_friction value="0.3"/>
    </contact>
    <inertial>
      <origin rpy="0 0 -1.57079" xyz="0 0 0.036"/>
       <mass value="0.64"/>
       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 -1.57079" xyz="-0.045 0.045 0.018"/>
      <geometry>
				<mesh filename="xavier.stl" scale="1.0 1.0 1.0"/>
      </geometry>
       <material name="black">
        <color rgba="0.3 0.3 0.3 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 -1.57079" xyz="0 0 0.033"/>
      <geometry>
	 	<box size="0.092 0.105 0.045"/>
      </geometry>
    </collision>
  </link>	
  
   <link name="plate0">
    <contact>
      <lateral_friction value="0.3"/>
    </contact>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
       <mass value="0.08"/>
       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="-0.037 0.0045 0"/>
      <geometry>
				<mesh filename="plate.stl" scale="1.0 1.0 1.0"/>
      </geometry>
       <material name="black1">
        <color rgba="0.1 0.1 0.1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
	 	<box size="0.074 0.009 0.138"/>
      </geometry>
    </collision>
  </link>
  
  <joint name="plate0_center" type="fixed">
    <axis xyz="0 0 1"/>
    <parent link="base_chassis_link"/>
    <child link="plate0"/>
    <origin rpy="-1.57079 0 -1.57079" xyz="0.063 0.028 0.005"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>
  
   <link name="plate1">
    <contact>
      <lateral_friction value="0.3"/>
    </contact>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
       <mass value="0.08"/>
       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="-0.037 0.0045 0"/>
      <geometry>
				<mesh filename="plate.stl" scale="1.0 1.0 1.0"/>
      </geometry>
       <material name="black1">
        <color rgba="0.1 0.1 0.1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
	 	<box size="0.074 0.009 0.138"/>
      </geometry>
    </collision>
  </link>
  
  <joint name="plate1_center" type="fixed">
    <axis xyz="0 0 1"/>
    <parent link="base_chassis_link"/>
    <child link="plate1"/>
    <origin rpy="-1.57079 0 -1.57079" xyz="-0.063 0.028 0.005"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>
  
  
  <link name="plate2">
    <contact>
      <lateral_friction value="0.3"/>
    </contact>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
       <mass value="0.08"/>
       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="-0.037 0.0045 0"/>
      <geometry>
				<mesh filename="plate.stl" scale="1.0 1.0 1.0"/>
      </geometry>
       <material name="black1">
        <color rgba="0.1 0.1 0.1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
	 	<box size="0.074 0.009 0.138"/>
      </geometry>
    </collision>
  </link>
  
  <joint name="plate2_center" type="fixed">
    <axis xyz="0 0 1"/>
    <parent link="base_chassis_link"/>
    <child link="plate2"/>
    <origin rpy="-1.57079 0 1.57079" xyz="0.063 -0.028 0.005"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>
  
   <link name="plate3">
    <contact>
      <lateral_friction value="0.3"/>
    </contact>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
       <mass value="0.08"/>
       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="-0.037 0.0045 0"/>
      <geometry>
				<mesh filename="plate.stl" scale="1.0 1.0 1.0"/>
      </geometry>
       <material name="black1">
        <color rgba="0.1 0.1 0.1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
	 	<box size="0.074 0.009 0.138"/>
      </geometry>
    </collision>
  </link>
  
  <joint name="plate3_center" type="fixed">
    <axis xyz="0 0 1"/>
    <parent link="base_chassis_link"/>
    <child link="plate3"/>
    <origin rpy="-1.57079 0 1.57079" xyz="-0.063 -0.028 0.005"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>
  
	<link name="chassis_right">
    <contact>
      <lateral_friction value="0.3"/>
    </contact>
    <inertial>
      <origin rpy="-1.57079 0 -1.57079" xyz="0 0 0"/>
       <mass value="0.13"/>
       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="-1.57079 0 -1.57079" xyz="-0.1502 0.019 0.019 "/>
      <geometry>
				<mesh filename="channel.stl" scale="1.0 1.0 1.0"/>
      </geometry>
       <material name="white">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="-1.57079 0 -1.57079" xyz="0 0 0"/>
      <geometry>
	 	<box size="0.038 0.038 0.305"/>
      </geometry>
    </collision>
  </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="0.0 -0.07 0.019"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>
  
 <link name="chassis_front">
    <contact>
      <lateral_friction value="0.3"/>
    </contact>
    <inertial>
      <origin rpy="-1.57079 0 0" xyz="0 0 0"/>
       <mass value="0.13"/>
       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="-1.57079 0 0" xyz="-0.019 -0.075 0.019 "/>
      <geometry>
				<mesh filename="channel_6inch.stl" scale="1.0 1.0 1.0"/>
      </geometry>
       <material name="bla2">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="-1.57079 0 0" xyz="0 0 0"/>
      <geometry>
	 	<box size="0.038 0.038 0.152"/>
      </geometry>
    </collision>
  </link>

  <joint name="chassis_front_center" type="fixed">
    <axis xyz="0 0 1"/>
    <parent link="base_chassis_link"/>
    <child link="chassis_front"/>
    <origin rpy="0 0 0" xyz="0.1335 0.0 0.019"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>

  
 <link name="dynamixel7">
    <contact>
      <lateral_friction value="0.3"/>
    </contact>
    <inertial>
      <origin rpy="0 0 0" xyz="0 -0.011 0"/>
       <mass value="0.082"/>
       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0.0 0"/>
      <geometry>
				<mesh filename="xm430w210.stl" scale="1.0 1.0 1.0"/>
      </geometry>
       <material name="dyn11green">
        <color rgba="0.3 1. .3 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 -0.011 0"/>
      <geometry>
	 	<box size="0.024 0.047 0.034"/>
      </geometry>
    </collision>
  </link>

  <joint name="dynamixel7_chassis_left" type="continuous">
    <axis xyz="0 0 1"/>
    <parent link="chassis_left"/>
    <child link="dynamixel7"/>
    <origin rpy="-3.14159 1.57079 0 0" xyz="-0.13 0.045 0.0"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>
  
  
 <link name="dynamixel4">
    <contact>
      <lateral_friction value="0.3"/>
    </contact>
    <inertial>
      <origin rpy="0 0 0" xyz="0 -0.011 0"/>
       <mass value="0.082"/>
       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0.0 0"/>
      <geometry>
				<mesh filename="xm430w210.stl" scale="1.0 1.0 1.0"/>
      </geometry>
       <material name="dyn6bl">
        <color rgba="0.3 .3 .3 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 -0.011 0"/>
      <geometry>
	 	<box size="0.024 0.047 0.034"/>
      </geometry>
    </collision>
  </link>

  <joint name="dynamixel4_chassis_right" type="continuous">
    <axis xyz="0 0 1"/>
    <parent link="chassis_right"/>
    <child link="dynamixel4"/>
    <origin rpy="0 1.57079 0 0" xyz="0.13 -0.045 0.0"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>
  
  
 <link name="dynamixel3">
    <contact>
      <lateral_friction value="0.3"/>
    </contact>
    <inertial>
      <origin rpy="0 0 0" xyz="0 -0.011 0"/>
       <mass value="0.082"/>
       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0.0 0"/>
      <geometry>
				<mesh filename="xm430w210.stl" scale="1.0 1.0 1.0"/>
      </geometry>
       <material name="dyn14bl">
        <color rgba="0.3 .3 .3 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 -0.011 0"/>
      <geometry>
	 	<box size="0.024 0.047 0.034"/>
      </geometry>
    </collision>
  </link>

  <joint name="dynamixel3_chassis_right" type="continuous">
    <axis xyz="0 0 1"/>
    <parent link="chassis_right"/>
    <child link="dynamixel3"/>
    <origin rpy="0 -1.57079 0 0" xyz="-0.13 -0.045 0.0"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>
  

  
   <link name="dynamixel11">
    <contact>
      <lateral_friction value="0.3"/>
    </contact>
    <inertial>
      <origin rpy="0 0 0" xyz="0 -0.011 0"/>
       <mass value="0.082"/>
       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0.0 0"/>
      <geometry>
				<mesh filename="xm430w210.stl" scale="1.0 1.0 1.0"/>
      </geometry>
       <material name="dyn2bl">
        <color rgba="0.3 .3 .3 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 -0.011 0"/>
      <geometry>
	 	<box size="0.024 0.047 0.034"/>
      </geometry>
    </collision>
  </link>

  <joint name="dynamixel11_chassis_left" type="continuous">
    <axis xyz="0 0 -1"/>
    <parent link="chassis_left"/>
    <child link="dynamixel11"/>
    <origin rpy="-3.14159 -1.57079 0 0" xyz="0.13 0.045 0.0"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>


  
   <link name="d435">
    <contact>
      <lateral_friction value="0.3"/>
    </contact>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
       <mass value="0.081"/>
       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0.0125"/>
      <geometry>
				<mesh filename="d435i.stl" scale="1.0 1.0 1.0"/>
      </geometry>
       <material name="white">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
	 	<box size="0.09 0.025 0.025"/>
      </geometry>
    </collision>
  </link>
  
  
  <joint name="d435_front" type="fixed">
    <axis xyz="0 0 1"/>
    <parent link="chassis_front"/>
    <child link="d435"/>
    <origin rpy="1.57079 0 1.57079" xyz="0 0 0.04"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>
  
 <link name="chassis_rear">
    <contact>
      <lateral_friction value="0.3"/>
    </contact>
    <inertial>
      <origin rpy="-1.57079 0 0" xyz="0 0 0"/>
       <mass value="0.13"/>
       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="-1.57079 0 0" xyz="-0.019 -0.075 0.019 "/>
      <geometry>
				<mesh filename="channel_6inch.stl" scale="1.0 1.0 1.0"/>
      </geometry>
       <material name="white">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="-1.57079 0 0" xyz="0 0 0"/>
      <geometry>
	 	<box size="0.038 0.038 0.152"/>
      </geometry>
    </collision>
  </link>

  <joint name="chassis_rear_center" type="fixed">
    <axis xyz="0 0 1"/>
    <parent link="base_chassis_link"/>
    <child link="chassis_rear"/>
    <origin rpy="0 0 0" xyz="-0.1335 0.0 0.019"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>
 <link name="chassis_left">
   <contact>
      <lateral_friction value="0.3"/>
    </contact>
    <inertial>
      <origin rpy="-1.57079 0 -1.57079" xyz="0 0 0"/>
       <mass value="0.13"/>
       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="-1.57079 0 -1.57079" xyz="-0.1502 0.019 0.019 "/>
      <geometry>
				<mesh filename="channel.stl" scale="1.0 1.0 1.0"/>
      </geometry>
       <material name="white">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="-1.57079 0 -1.57079" xyz="0 0 0"/>
      <geometry>
	 	<box size="0.038 0.038 0.305"/>
      </geometry>
    </collision>
  </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="0.0 0.07 0.019"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>



 <link name="dynamixel5">
    <contact>
      <lateral_friction value="0.3"/>
    </contact>
    <inertial>
      <origin rpy="0 0 0" xyz="0 -0.011 0"/>
       <mass value="0.082"/>
       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0.0 0"/>
      <geometry>
				<mesh filename="xm430w210.stl" scale="1.0 1.0 1.0"/>
      </geometry>
       <material name="dyn14bl">
        <color rgba="0.3 .3 .3 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 -0.011 0"/>
      <geometry>
	 	<box size="0.024 0.047 0.034"/>
      </geometry>
    </collision>
  </link>

  <joint name="dynamixel5_dynamixel3" type="fixed">
    <parent link="dynamixel3"/>
    <child link="dynamixel5"/>
    <origin rpy="-1.57079 0 -1.57079 0" xyz="0.0 -0.053 -0.018"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>
  
   <link name="fr12_h103_right_back">
    <contact>
      <lateral_friction value="0.3"/>
    </contact>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
       <mass value="0.090"/>
       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 1.57079 0" xyz="0 0  0"/>
      <geometry>
				<mesh filename="fr12_h103_lowres.stl" scale="1.0 1.0 1.0"/>
      </geometry>
       <material name="white">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <visual>
      <origin rpy="0 1.57079 3.14159" xyz="0 0.111  0"/>
      <geometry>
				<mesh filename="fr12_h103_lowres.stl" scale="1.0 1.0 1.0"/>
      </geometry>
       <material name="white">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 1.57079 0" xyz="0. 0.028 0"/>
      <geometry>
				<box size="0.04 0.057 0.03"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 1.57079 0" xyz="0. 0.083 0"/>
      <geometry>
				<box size="0.04 0.057 0.03"/>
      </geometry>
    </collision>
  </link>

  <joint name="fr12_h103_right_back_dynamixel5" type="continuous">
    <axis xyz="0 0 1"/>
    <parent link="dynamixel5"/>
    <child link="fr12_h103_right_back"/>
    <origin rpy="0 0 -1.57079" xyz="0 0 0"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>
  
  
   <link name="dynamixel6">
    <contact>
      <lateral_friction value="0.3"/>
      <friction_anchor/>
    </contact>
    <inertial>
      <origin rpy="0 0 0" xyz="0 -0.011 0"/>
       <mass value="0.082"/>
       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0.0 0"/>
      <geometry>
				<mesh filename="xm430w210.stl" scale="1.0 1.0 1.0"/>
      </geometry>
       <material name="dyn2black">
        <color rgba="0.3 .3 .3 1"/>
      </material>
    </visual>
     <visual>
      <origin rpy="0 1.57079 0" xyz="0 -0.09  0"/>
      <geometry>
				<mesh filename="fr12_h103_lowres.stl" scale="1.0 1.0 1.0"/>
      </geometry>
       <material name="black23">
        <color rgba="0.3 0.3 0.3 1"/>
      </material>
    </visual>
    
    <visual>
      <origin rpy="0 1.57079 3.14159" xyz="0 -0.09  0"/>
      <geometry>
				<mesh filename="fr12_h101.stl" scale="1.0 1.0 1.0"/>
      </geometry>
       <material name="black23">
        <color rgba="0.3 0.3 0.3 1"/>
      </material>
    </visual>
    
    <visual>
      <origin rpy="0 1.57079 1.57079" xyz="0 -0.13  0"/>
      <geometry>
				<mesh filename="toe_brake.stl" scale="1.0 1.0 1.0"/>
      </geometry>
       <material name="black23">
        <color rgba="0.3 0.3 0.3 1"/>
      </material>
    </visual>
    
    <collision>
      <origin rpy="0 0 0" xyz="0 -0.011 0"/>
      <geometry>
	 	<box size="0.024 0.047 0.034"/>
      </geometry>
    </collision>
     <collision>
      <origin rpy="0 1.57079 0" xyz="0. -0.082 0"/>
      <geometry>
				<box size="0.04 0.077 0.03"/>
      </geometry>
    </collision>
    
    <collision>
      <origin rpy="0 1.57079 1.57079" xyz="0 -0.13  0"/>
      <geometry>
				<mesh filename="toe_brake.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>

  <joint name="dynamixel6_fr12_h103_right_back" type="continuous">
    <axis xyz="0 0 -1"/>
    <parent link="fr12_h103_right_back"/>
    <child link="dynamixel6"/>
    <origin rpy="3.14159 3.14159 0" xyz="0.0 0.111 0.0"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>
  

 <link name="dynamixel14">
    <contact>
      <lateral_friction value="0.3"/>
    </contact>
    <inertial>
      <origin rpy="0 0 0" xyz="0 -0.011 0"/>
       <mass value="0.082"/>
       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0.0 0"/>
      <geometry>
				<mesh filename="xm430w210.stl" scale="1.0 1.0 1.0"/>
      </geometry>
       <material name="dyn14bl">
        <color rgba="0.3 .3 .3 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 -0.011 0"/>
      <geometry>
	 	<box size="0.024 0.047 0.034"/>
      </geometry>
    </collision>
  </link>

  <joint name="dynamixel14_dynamixel4" type="fixed">
    <parent link="dynamixel4"/>
    <child link="dynamixel14"/>
    <origin rpy="1.57079 0 -1.57079 0" xyz="0.0 -0.053 0.018"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>
  
   <link name="fr12_h103_right_front">
    <contact>
      <lateral_friction value="0.3"/>
    </contact>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
       <mass value="0.090"/>
       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 1.57079 0" xyz="0 0  0"/>
      <geometry>
				<mesh filename="fr12_h103_lowres.stl" scale="1.0 1.0 1.0"/>
      </geometry>
       <material name="white">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <visual>
      <origin rpy="0 1.57079 3.14159" xyz="0 0.111  0"/>
      <geometry>
				<mesh filename="fr12_h103_lowres.stl" scale="1.0 1.0 1.0"/>
      </geometry>
       <material name="white">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 1.57079 0" xyz="0. 0.028 0"/>
      <geometry>
				<box size="0.04 0.057 0.03"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 1.57079 0" xyz="0. 0.083 0"/>
      <geometry>
				<box size="0.04 0.057 0.03"/>
      </geometry>
    </collision>
  </link>

  <joint name="fr12_h103_right_front_dynamixel14" type="continuous">
    <axis xyz="0 0 1"/>
    <parent link="dynamixel14"/>
    <child link="fr12_h103_right_front"/>
    <origin rpy="0 0 -1.57079" xyz="0 0 0"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>
  
  
   <link name="dynamixel12">
    <contact>
      <lateral_friction value="0.3"/>
      <friction_anchor/>
    </contact>
    <inertial>
      <origin rpy="0 0 0" xyz="0 -0.011 0"/>
       <mass value="0.082"/>
       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0.0 0"/>
      <geometry>
				<mesh filename="xm430w210.stl" scale="1.0 1.0 1.0"/>
      </geometry>
       <material name="dyn2black">
        <color rgba="0.3 .3 .3 1"/>
      </material>
    </visual>
     <visual>
      <origin rpy="0 1.57079 0" xyz="0 -0.09  0"/>
      <geometry>
				<mesh filename="fr12_h103_lowres.stl" scale="1.0 1.0 1.0"/>
      </geometry>
       <material name="black23">
        <color rgba="0.3 0.3 0.3 1"/>
      </material>
    </visual>
    
    <visual>
      <origin rpy="0 1.57079 3.14159" xyz="0 -0.09  0"/>
      <geometry>
				<mesh filename="fr12_h101.stl" scale="1.0 1.0 1.0"/>
      </geometry>
       <material name="black23">
        <color rgba="0.3 0.3 0.3 1"/>
      </material>
    </visual>
    
    <visual>
      <origin rpy="0 1.57079 1.57079" xyz="0 -0.13  0"/>
      <geometry>
				<mesh filename="toe_brake.stl" scale="1.0 1.0 1.0"/>
      </geometry>
       <material name="black23">
        <color rgba="0.3 0.3 0.3 1"/>
      </material>
    </visual>
    
    <collision>
      <origin rpy="0 0 0" xyz="0 -0.011 0"/>
      <geometry>
	 	<box size="0.024 0.047 0.034"/>
      </geometry>
    </collision>
     <collision>
      <origin rpy="0 1.57079 0" xyz="0. -0.082 0"/>
      <geometry>
				<box size="0.04 0.077 0.03"/>
      </geometry>
    </collision>
    
    <collision>
      <origin rpy="0 1.57079 1.57079" xyz="0 -0.13  0"/>
      <geometry>
				<mesh filename="toe_brake.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>

  <joint name="dynamixel12_fr12_h103_right_front" type="continuous">
    <axis xyz="0 0 -1"/>
    <parent link="fr12_h103_right_front"/>
    <child link="dynamixel12"/>
    <origin rpy="3.14159 3.14159 0" xyz="0.0 0.111 0.0"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>
  
  
  
  
  
 <link name="dynamixel10">
    <contact>
      <lateral_friction value="0.3"/>
    </contact>
    <inertial>
      <origin rpy="0 0 0" xyz="0 -0.011 0"/>
       <mass value="0.082"/>
       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0.0 0"/>
      <geometry>
				<mesh filename="xm430w210.stl" scale="1.0 1.0 1.0"/>
      </geometry>
       <material name="dyn14bl">
        <color rgba="0.3 .3 .3 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 -0.011 0"/>
      <geometry>
	 	<box size="0.024 0.047 0.034"/>
      </geometry>
    </collision>
  </link>

  <joint name="dynamixel10_dynamixel11" type="fixed">
    <parent link="dynamixel11"/>
    <child link="dynamixel10"/>
    <origin rpy="1.57079 0 -1.57079 0" xyz="0.0 -0.053 0.018"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>
  
   <link name="fr12_h103_left_front">
    <contact>
      <lateral_friction value="0.3"/>
    </contact>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
       <mass value="0.090"/>
       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 1.57079 0" xyz="0 0  0"/>
      <geometry>
				<mesh filename="fr12_h103_lowres.stl" scale="1.0 1.0 1.0"/>
      </geometry>
       <material name="white">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <visual>
      <origin rpy="0 1.57079 3.14159" xyz="0 0.111  0"/>
      <geometry>
				<mesh filename="fr12_h103_lowres.stl" scale="1.0 1.0 1.0"/>
      </geometry>
       <material name="white">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 1.57079 0" xyz="0. 0.028 0"/>
      <geometry>
				<box size="0.04 0.057 0.03"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 1.57079 0" xyz="0. 0.083 0"/>
      <geometry>
				<box size="0.04 0.057 0.03"/>
      </geometry>
    </collision>
  </link>

  <joint name="fr12_h103_left_front_dynamixel10" type="continuous">
    <axis xyz="0 0 1"/>
    <parent link="dynamixel10"/>
    <child link="fr12_h103_left_front"/>
    <origin rpy="0 0 -1.57079" xyz="0 0 0"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>
  
  
   <link name="dynamixel8">
    <contact>
      <lateral_friction value="0.3"/>
      <friction_anchor/>
    </contact>
    <inertial>
      <origin rpy="0 0 0" xyz="0 -0.011 0"/>
       <mass value="0.082"/>
       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0.0 0"/>
      <geometry>
				<mesh filename="xm430w210.stl" scale="1.0 1.0 1.0"/>
      </geometry>
       <material name="dyn2black">
        <color rgba="0.3 .3 .3 1"/>
      </material>
    </visual>
     <visual>
      <origin rpy="0 1.57079 0" xyz="0 -0.09  0"/>
      <geometry>
				<mesh filename="fr12_h103_lowres.stl" scale="1.0 1.0 1.0"/>
      </geometry>
       <material name="black23">
        <color rgba="0.3 0.3 0.3 1"/>
      </material>
    </visual>
    
    <visual>
      <origin rpy="0 1.57079 3.14159" xyz="0 -0.09  0"/>
      <geometry>
				<mesh filename="fr12_h101.stl" scale="1.0 1.0 1.0"/>
      </geometry>
       <material name="black23">
        <color rgba="0.3 0.3 0.3 1"/>
      </material>
    </visual>
    
    <visual>
      <origin rpy="0 1.57079 1.57079" xyz="0 -0.13  0"/>
      <geometry>
				<mesh filename="toe_brake.stl" scale="1.0 1.0 1.0"/>
      </geometry>
       <material name="black23">
        <color rgba="0.3 0.3 0.3 1"/>
      </material>
    </visual>
    
    <collision>
      <origin rpy="0 0 0" xyz="0 -0.011 0"/>
      <geometry>
	 	<box size="0.024 0.047 0.034"/>
      </geometry>
    </collision>
     <collision>
      <origin rpy="0 1.57079 0" xyz="0. -0.082 0"/>
      <geometry>
				<box size="0.04 0.077 0.03"/>
      </geometry>
    </collision>
    
    <collision>
      <origin rpy="0 1.57079 1.57079" xyz="0 -0.13  0"/>
      <geometry>
				<mesh filename="toe_brake.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>

  <joint name="dynamixel8_fr12_h103_left_front" type="continuous">
    <axis xyz="0 0 -1"/>
    <parent link="fr12_h103_left_front"/>
    <child link="dynamixel8"/>
    <origin rpy="3.14159 3.14159 0" xyz="0.0 0.111 0.0"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>
  
  
 <link name="dynamixel9">
    <contact>
      <lateral_friction value="0.3"/>
    </contact>
    <inertial>
      <origin rpy="0 0 0" xyz="0 -0.011 0"/>
       <mass value="0.082"/>
       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0.0 0"/>
      <geometry>
				<mesh filename="xm430w210.stl" scale="1.0 1.0 1.0"/>
      </geometry>
       <material name="dyn14bl">
        <color rgba="0.3 .3 .3 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 -0.011 0"/>
      <geometry>
	 	<box size="0.024 0.047 0.034"/>
      </geometry>
    </collision>
  </link>

  <joint name="dynamixel9_dynamixel7" type="fixed">
    <parent link="dynamixel7"/>
    <child link="dynamixel9"/>
    <origin rpy="-1.57079 0 -1.57079 0" xyz="0.0 -0.053 -0.018"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>
  
   <link name="fr12_h103_left_back">
    <contact>
      <lateral_friction value="0.3"/>
    </contact>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
       <mass value="0.090"/>
       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 1.57079 0" xyz="0 0  0"/>
      <geometry>
				<mesh filename="fr12_h103_lowres.stl" scale="1.0 1.0 1.0"/>
      </geometry>
       <material name="white">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <visual>
      <origin rpy="0 1.57079 3.14159" xyz="0 0.111  0"/>
      <geometry>
				<mesh filename="fr12_h103_lowres.stl" scale="1.0 1.0 1.0"/>
      </geometry>
       <material name="white">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 1.57079 0" xyz="0. 0.028 0"/>
      <geometry>
				<box size="0.04 0.057 0.03"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 1.57079 0" xyz="0. 0.083 0"/>
      <geometry>
				<box size="0.04 0.057 0.03"/>
      </geometry>
    </collision>
  </link>

  <joint name="fr12_h103_left_back_dynamixel9" type="continuous">
    <axis xyz="0 0 1"/>
    <parent link="dynamixel9"/>
    <child link="fr12_h103_left_back"/>
    <origin rpy="0 0 -1.57079" xyz="0 0 0"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>
  
  
   <link name="dynamixel13">
    <contact>
      <lateral_friction value="0.3"/>
      <friction_anchor/>
    </contact>
    <inertial>
      <origin rpy="0 0 0" xyz="0 -0.011 0"/>
       <mass value="0.082"/>
       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0.0 0"/>
      <geometry>
				<mesh filename="xm430w210.stl" scale="1.0 1.0 1.0"/>
      </geometry>
       <material name="dyn2black">
        <color rgba="0.3 .3 .3 1"/>
      </material>
    </visual>
     <visual>
      <origin rpy="0 1.57079 0" xyz="0 -0.09  0"/>
      <geometry>
				<mesh filename="fr12_h103_lowres.stl" scale="1.0 1.0 1.0"/>
      </geometry>
       <material name="black23">
        <color rgba="0.3 0.3 0.3 1"/>
      </material>
    </visual>
    
    <visual>
      <origin rpy="0 1.57079 3.14159" xyz="0 -0.09  0"/>
      <geometry>
				<mesh filename="fr12_h101.stl" scale="1.0 1.0 1.0"/>
      </geometry>
       <material name="black23">
        <color rgba="0.3 0.3 0.3 1"/>
      </material>
    </visual>
    
    <visual>
      <origin rpy="0 1.57079 1.57079" xyz="0 -0.13  0"/>
      <geometry>
				<mesh filename="toe_brake.stl" scale="1.0 1.0 1.0"/>
      </geometry>
       <material name="black23">
        <color rgba="0.3 0.3 0.3 1"/>
      </material>
    </visual>
    
    <collision>
      <origin rpy="0 0 0" xyz="0 -0.011 0"/>
      <geometry>
	 	<box size="0.024 0.047 0.034"/>
      </geometry>
    </collision>
     <collision>
      <origin rpy="0 1.57079 0" xyz="0. -0.082 0"/>
      <geometry>
				<box size="0.04 0.077 0.03"/>
      </geometry>
    </collision>
    
    <collision>
      <origin rpy="0 1.57079 1.57079" xyz="0 -0.13  0"/>
      <geometry>
				<mesh filename="toe_brake.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>

  <joint name="dynamixel13_fr12_h103_left_back" type="continuous">
    <axis xyz="0 0 -1"/>
    <parent link="fr12_h103_left_back"/>
    <child link="dynamixel13"/>
    <origin rpy="3.14159 3.14159 0" xyz="0.0 0.111 0.0"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>
  
  
</robot>
