<?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 -0.0955 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 -0.1502 0.019 "/>
      <geometry>
				<mesh filename="channel.stl" scale="1.0 1.0 1.0"/>
      </geometry>
       <material name="bla">
        <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 0.305"/>
      </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="dynamixel4">
    <contact>
      <lateral_friction value="0.3"/>
    </contact>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 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 0.011 0"/>
      <geometry>
				<mesh filename="xm430w210.stl" scale="1.0 1.0 1.0"/>
      </geometry>
       <material name="black">
        <color rgba=".3 .3 .3 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
	 	<box size="0.024 0.047 0.034"/>
      </geometry>
    </collision>
  </link>

  <joint name="dynamixel4_chassis_front" type="fixed">
    <axis xyz="0 0 1"/>
    <parent link="chassis_front"/>
    <child link="dynamixel4"/>
    <origin rpy="-1.57079 0 3.14159265359" xyz="0 0.135 -0.03"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>

<link name="dynamixel12">
    <contact>
      <lateral_friction value="0.3"/>
    </contact>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 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 0.011 0"/>
      <geometry>
				<mesh filename="xm430w210.stl" scale="1.0 1.0 1.0"/>
      </geometry>
       <material name="black">
        <color rgba=".3 .3 .3 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
	 	<box size="0.024 0.047 0.034"/>
      </geometry>
    </collision>
  </link>

  <joint name="dynamixel12_chassis_front" type="fixed">
    <axis xyz="0 0 1"/>
    <parent link="chassis_front"/>
    <child link="dynamixel12"/>
    <origin rpy="-1.57079 0 0" xyz="0 0.055 -0.03"/>
    <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 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 0.011 0"/>
      <geometry>
				<mesh filename="xm430w210.stl" scale="1.0 1.0 1.0"/>
      </geometry>
       <material name="black">
        <color rgba=".3 .3 .3 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
	 	<box size="0.024 0.047 0.034"/>
      </geometry>
    </collision>
  </link>

  <joint name="dynamixel3_chassis_front" type="fixed">
    <axis xyz="0 0 1"/>
    <parent link="chassis_front"/>
    <child link="dynamixel3"/>
    <origin rpy="-1.57079 0 0" xyz="0 -0.135 -0.03"/>
    <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 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 0.011 0"/>
      <geometry>
				<mesh filename="xm430w210.stl" scale="1.0 1.0 1.0"/>
      </geometry>
       <material name="black">
        <color rgba=".3 .3 .3 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
	 	<box size="0.024 0.047 0.034"/>
      </geometry>
    </collision>
  </link>

  <joint name="dynamixel5_chassis_front" type="fixed">
    <axis xyz="0 0 1"/>
    <parent link="chassis_front"/>
    <child link="dynamixel5"/>
    <origin rpy="-1.57079 0 3.14159265359" xyz="0 -0.055 -0.03"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>
  
   <link name="dynamixel8">
    <contact>
      <lateral_friction value="0.3"/>
    </contact>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 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 0.011 0"/>
      <geometry>
				<mesh filename="xm430w210.stl" scale="1.0 1.0 1.0"/>
      </geometry>
       <material name="black">
        <color rgba=".3 .3 .3 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
	 	<box size="0.024 0.047 0.034"/>
      </geometry>
    </collision>
  </link>

  <joint name="dynamixel8_chassis_rear" type="fixed">
    <axis xyz="0 0 1"/>
    <parent link="chassis_rear"/>
    <child link="dynamixel8"/>
    <origin rpy="-1.57079 0 3.14159265359" xyz="0 0.135 -0.03"/>
    <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 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 0.011 0"/>
      <geometry>
				<mesh filename="xm430w210.stl" scale="1.0 1.0 1.0"/>
      </geometry>
       <material name="black">
        <color rgba=".3 .3 .3 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
	 	<box size="0.024 0.047 0.034"/>
      </geometry>
    </collision>
  </link>

  <joint name="dynamixel10_chassis_rear" type="fixed">
    <axis xyz="0 0 1"/>
    <parent link="chassis_rear"/>
    <child link="dynamixel10"/>
    <origin rpy="-1.57079 0 0" xyz="0 0.055 -0.03"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>
  
  
   <link name="dynamixel13">
    <contact>
      <lateral_friction value="0.3"/>
    </contact>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 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 0.011 0"/>
      <geometry>
				<mesh filename="xm430w210.stl" scale="1.0 1.0 1.0"/>
      </geometry>
       <material name="black">
        <color rgba=".3 .3 .3 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
	 	<box size="0.024 0.047 0.034"/>
      </geometry>
    </collision>
  </link>

  <joint name="dynamixel13_chassis_rear" type="fixed">
    <axis xyz="0 0 1"/>
    <parent link="chassis_rear"/>
    <child link="dynamixel13"/>
    <origin rpy="-1.57079 0 0" xyz="0 -0.135 -0.03"/>
    <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 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 0.011 0"/>
      <geometry>
				<mesh filename="xm430w210.stl" scale="1.0 1.0 1.0"/>
      </geometry>
       <material name="black">
        <color rgba=".3 .3 .3 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
	 	<box size="0.024 0.047 0.034"/>
      </geometry>
    </collision>
  </link>

  <joint name="dynamixel7_chassis_rear" type="fixed">
    <axis xyz="0 0 1"/>
    <parent link="chassis_rear"/>
    <child link="dynamixel7"/>
    <origin rpy="-1.57079 0 3.14159265359" xyz="0 -0.055 -0.03"/>
    <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 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 0.011 0"/>
      <geometry>
				<mesh filename="xm430w210.stl" scale="1.0 1.0 1.0"/>
      </geometry>
       <material name="black">
        <color rgba=".3 .3 .3 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
	 	<box size="0.024 0.047 0.034"/>
      </geometry>
    </collision>
  </link>

  <joint name="dynamixel9_chassis_front" type="fixed">
    <axis xyz="0 0 1"/>
    <parent link="chassis_front"/>
    <child link="dynamixel9"/>
    <origin rpy="1.57079 0 0" xyz="0 0 0.042"/>
    <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_dynamixel9" type="fixed">
    <axis xyz="0 0 1"/>
    <parent link="dynamixel9"/>
    <child link="d435"/>
    <origin rpy="0 1.57079 0" xyz="0 0.04 0"/>
    <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 -0.1502 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 0" xyz="0 0 0"/>
      <geometry>
	 	<box size="0.038 0.038 0.305"/>
      </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 0.0955 0.019"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>

  
  <link name="motor_front_rightR_link">

 <visual>
      <geometry>
        <cylinder length="0.003" radius="0.0134"/>
      </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>
      <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_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="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>
      <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_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="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>
      <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_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="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>
      <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_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>
      <lateral_friction value="1.0"/>
    </contact>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.01"/>
      </geometry>
      <material name="darkgray"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.01"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.01"/>
      <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
    </inertial>
  </link>
  <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 0.20"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  
	
	<link name="toe_lower_leg_front_rightL_link">
    <contact>
      <lateral_friction value="1.0"/>
    </contact>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.01"/>
      </geometry>
      <material name="darkgray"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.01"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.01"/>
      <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
    </inertial>
  </link>
  <joint name="toe_lower_leg_front_rightL_joint" type="fixed">
    <parent link="lower_leg_front_rightL_link"/>
    <child link="toe_lower_leg_front_rightL_link"/>
    <origin xyz="0 0 0.20"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  
	
	
	<link name="toe_lower_leg_front_leftR_link">
    <contact>
      <lateral_friction value="1.0"/>
    </contact>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.01"/>
      </geometry>
      <material name="darkgray"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.01"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.01"/>
      <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
    </inertial>
  </link>
  <joint name="toe_lower_leg_front_leftR_joint" type="fixed">
    <parent link="lower_leg_front_leftR_link"/>
    <child link="toe_lower_leg_front_leftR_link"/>
    <origin xyz="0 0 0.20"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
	
		<link name="toe_lower_leg_front_leftL_link">
    <contact>
      <lateral_friction value="1.0"/>
    </contact>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.01"/>
      </geometry>
      <material name="darkgray"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.01"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.01"/>
      <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
    </inertial>
  </link>
  <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 0.20"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
	
	
	
	<link name="toe_lower_leg_back_rightR_link">
    <contact>
      <lateral_friction value="1.0"/>
    </contact>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.01"/>
      </geometry>
      <material name="darkgray"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.01"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.01"/>
      <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
    </inertial>
  </link>
  <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 0.20"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
	
	
	<link name="toe_lower_leg_back_rightL_link">
    <contact>
      <lateral_friction value="1.0"/>
    </contact>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.01"/>
      </geometry>
      <material name="darkgray"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.01"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.01"/>
      <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
    </inertial>
  </link>
  <joint name="toe_lower_leg_back_rightL_joint" type="fixed">
    <parent link="lower_leg_back_rightL_link"/>
    <child link="toe_lower_leg_back_rightL_link"/>
    <origin xyz="0 0 0.20"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
	
	
	
	<link name="toe_lower_leg_back_leftR_link">
    <contact>
      <lateral_friction value="1.0"/>
    </contact>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.01"/>
      </geometry>
      <material name="darkgray"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.01"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.01"/>
      <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
    </inertial>
  </link>
  <joint name="toe_lower_leg_back_leftR_joint" type="fixed">
    <parent link="lower_leg_back_leftR_link"/>
    <child link="toe_lower_leg_back_leftR_link"/>
    <origin xyz="0 0 0.20"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
	
	
	<link name="toe_lower_leg_back_leftL_link">
    <contact>
      <lateral_friction value="1.0"/>
    </contact>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.01"/>
      </geometry>
      <material name="darkgray"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.01"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.01"/>
      <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
    </inertial>
  </link>
  <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 0.20"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
	
	<link name="upper_leg_front_rightR_link">
    <visual>
      <geometry>
        <box size=".01 0.01 .11"/>
      </geometry>
      <material name="grey">
        <color rgba="0.65 0.65 0.75 1"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <box size=".01 0.01 .11"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.05"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <joint name="hip_front_rightR_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>
