<?xml version="1.0" ?>
<robot name="mini_cheetah" xmlns:xacro="http://ros.org/wiki/xacro">
    <link name="body">
        <inertial>
            <mass value="3.3"/>
            <origin xyz="0.0 0.0 0.0"/>
            <inertia ixx="0.011253" ixy="0" ixz="0" iyy="0.362030" iyz="0" izz="0.042673"/>
        </inertial>
        <visual>
            <geometry>
                <mesh filename="meshes/mini_body.obj"/>
            </geometry>
            <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
        </visual>
        <collision>
            <geometry>
                <mesh filename="meshes/mini_body.obj"/>
            </geometry>
            <origin rpy="0 0 0" xyz="0 0 0"/>
        </collision>
    </link>

    <!--!!!!!!!!!!!! Front Right Leg !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!-->
    <joint name="torso_to_abduct_fr_j" type="continuous">
        <axis xyz="1 0 0"/>
        <origin rpy="0 0 0" xyz="0.19 -0.049 0.0"/>
        <parent link="body"/>
        <child link="abduct_fr"/>
    </joint>
    <link name="abduct_fr">
        <inertial>
            <mass value="0.54"/>
            <origin xyz="0.0 0.036 0."/>
            <inertia ixx="0.000381" ixy="0.000058" ixz="0.00000045" 
                iyy="0.000560" iyz="0.00000095" izz="0.000444"/>
        </inertial>
        <visual>
            <geometry>
                <mesh filename="meshes/mini_abad.obj"/>
            </geometry>
            <origin rpy="3.141592 0.0 1.5708" xyz="-0.055 0.0 0.0"/>
        </visual>
        <collision>
            <geometry>
                <mesh filename="meshes/mini_abad.obj"/>
            </geometry>
            <origin rpy="3.141592 0 1.5708" xyz="-0.055 0 0"/>
        </collision>
    </link>

    <joint name="abduct_fr_to_thigh_fr_j" type="continuous">
        <axis xyz="0 -1 0"/>
        <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.062 0.00"/>
        <parent link="abduct_fr"/>
        <child link="thigh_fr"/>
    </joint>
    <link name="thigh_fr">
        <inertial>
            <mass value="0.634"/>
            <origin xyz="0.0 0.016 -0.02"/>
            <inertia ixx="0.001983" ixy="0.000245" ixz="0.000013" 
                iyy="0.002103" iyz="0.0000015" izz="0.000408"/>
        </inertial>
        <visual>
            <geometry>
                <mesh filename="meshes/mini_upper_link.obj"/>
            </geometry>
            <origin rpy="0.0 -1.5708 0.0" xyz="0.0 0.0 0.0"/>
        </visual>
        <collision>
            <geometry>
                <mesh filename="meshes/mini_upper_link.obj"/>
            </geometry>
            <origin rpy="0 -1.5708 0" xyz="0 0 0"/>
        </collision>
    </link>

    <joint name="thigh_fr_to_knee_fr_j" type="continuous">
        <axis xyz="0 -1 0"/>
        <origin rpy="0.0 0 0.0" xyz="0.0 0.0 -0.209"/>
        <parent link="thigh_fr"/>
        <child link="shank_fr"/>
    </joint>
    <link name="shank_fr">
        <inertial>
            <mass value="0.064"/>
            <origin xyz="0.0 0.0 -0.209"/>
            <inertia ixx="0.000245" ixy="0" ixz="0.0" iyy="0.000248" iyz="0" izz="0.000006"/>
        </inertial>
        <visual>
            <geometry>
                <mesh filename="meshes/mini_lower_link.obj"/>
            </geometry>
            <origin rpy="0.0 3.141592 0.0" xyz="0.0 0.0 0.0"/>
        </visual>
        <collision>
            <geometry>
                <mesh filename="meshes/mini_lower_link.obj"/>
            </geometry>
            <origin rpy="0 3.141592 0" xyz="0 0 0"/>
        </collision>
    </link>
    <link name="toe_fr">
    <contact>
      <friction_anchor/>
      <stiffness value="30000.0"/>
      <damping value="1000.0"/>
      <spinning_friction value="0.3"/>
      <lateral_friction value="3.0"/>
    </contact>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.015"/>
      </geometry>
      <material name="darkgray"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.015"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.15"/>
      <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
    </inertial>
  </link>
  <joint name="toe_fr_joint" type="fixed">
    <parent link="shank_fr"/>
    <child link="toe_fr"/>
    <origin xyz="0 0 -0.18"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>

 
<!--!!!!!!!!!!!! Front Left Leg !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!-->
    <joint name="torso_to_abduct_fl_j" type="continuous">
        <axis xyz="1 0 0"/>
        <origin rpy="0 0 0" xyz="0.19 0.049 0.0"/>
        <parent link="body"/>
        <child link="abduct_fl"/>
    </joint>
    <link name="abduct_fl">
        <inertial>
            <mass value="0.54"/>
            <origin xyz="0.0 0.036 0."/>
            <inertia ixx="0.000381" ixy="0.000058" ixz="0.00000045" 
                iyy="0.000560" iyz="0.00000095" izz="0.000444"/>
        </inertial>
        <visual>
            <geometry>
                <mesh filename="meshes/mini_abad.obj"/>
            </geometry>
            <origin rpy="0. 0. -1.5708" xyz="-0.055 0.0 0.0"/>
        </visual>
        <collision>
            <geometry>
                <mesh filename="meshes/mini_abad.obj"/>
            </geometry>
            <origin rpy="0 0 -1.5708" xyz="-0.055 0 0"/>
        </collision>
    </link>

    <joint name="abduct_fl_to_thigh_fl_j" type="continuous">
        <axis xyz="0 -1 0"/>
        <origin rpy="0.0 0.0 0.0" xyz="0.0 0.062 0.00"/>
        <parent link="abduct_fl"/>
        <child link="thigh_fl"/>
    </joint>
    <link name="thigh_fl">
        <inertial>
            <mass value="0.634"/>
            <origin xyz="0.0 0.016 -0.02"/>
            <inertia ixx="0.001983" ixy="0.000245" ixz="0.000013" 
                iyy="0.002103" iyz="0.0000015" izz="0.000408"/>
        </inertial>
        <visual>
            <geometry>
                <mesh filename="meshes/mini_upper_link.obj"/>
            </geometry>
            <origin rpy="0.0 -1.5708 0.0" xyz="0.0 0.0 0.0"/>
        </visual>
        <collision>
            <geometry>
                <mesh filename="meshes/mini_upper_link.obj"/>
            </geometry>
            <origin rpy="0 -1.5708 0" xyz="0 0 0"/>
        </collision>
    </link>

    <joint name="thigh_fl_to_knee_fl_j" type="continuous">
        <axis xyz="0 -1 0"/>
        <origin rpy="0.0 0 0.0" xyz="0.0 0.0 -0.209"/>
        <parent link="thigh_fl"/>
        <child link="shank_fl"/>
    </joint>
    <link name="shank_fl">
        <inertial>
            <mass value="0.064"/>
            <origin xyz="0.0 0.0 -0.209"/>
            <inertia ixx="0.000245" ixy="0" ixz="0.0" iyy="0.000248" iyz="0" izz="0.000006"/>
        </inertial>
        <visual>
            <geometry>
                <mesh filename="meshes/mini_lower_link.obj"/>
            </geometry>
            <origin rpy="0.0 3.141592 0.0" xyz="0.0 0.0 0.0"/>
        </visual>
        <collision>
            <geometry>
                <mesh filename="meshes/mini_lower_link.obj"/>
            </geometry>
            <origin rpy="0 3.141592 0" xyz="0 0 0"/>
        </collision>
    </link>
    <link name="toe_fl">
      <contact>
      <friction_anchor/>
      <stiffness value="30000.0"/>
      <damping value="1000.0"/>
      <spinning_friction value="0.3"/>
      <lateral_friction value="3.0"/>
    </contact>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.015"/>
      </geometry>
      <material name="darkgray"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.015"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.15"/>
      <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
    </inertial>
  </link>
  <joint name="toe_fl_joint" type="fixed">
    <parent link="shank_fl"/>
    <child link="toe_fl"/>
    <origin xyz="0 0 -0.18"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>


<!--!!!!!!!!!!!! Hind Right Leg !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!-->
    <joint name="torso_to_abduct_hr_j" type="continuous">
        <axis xyz="1 0 0"/>
        <origin rpy="0 0 0" xyz="-0.19 -0.049 0.0"/>
        <parent link="body"/>
        <child link="abduct_hr"/>
    </joint>
    <link name="abduct_hr">
        <inertial>
            <mass value="0.54"/>
            <origin xyz="0.0 0.036 0."/>
            <inertia ixx="0.000381" ixy="0.000058" ixz="0.00000045" 
                iyy="0.000560" iyz="0.00000095" izz="0.000444"/>
        </inertial>
        <visual>
            <geometry>
                <mesh filename="meshes/mini_abad.obj"/>
            </geometry>
            <origin rpy="0.0 0.0 1.5708" xyz="0.055 0.0 0.0"/>
        </visual>
        <collision>
            <geometry>
                <mesh filename="meshes/mini_abad.obj"/>
            </geometry>
            <origin rpy="0 0 1.5708" xyz="0.055 0 0"/>
        </collision>
    </link>

    <joint name="abduct_hr_to_thigh_hr_j" type="continuous">
        <axis xyz="0 -1 0"/>
        <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.062 0.00"/>
        <parent link="abduct_hr"/>
        <child link="thigh_hr"/>
    </joint>
    <link name="thigh_hr">
        <inertial>
            <mass value="0.634"/>
            <origin xyz="0.0 0.016 -0.02"/>
            <inertia ixx="0.001983" ixy="0.000245" ixz="0.000013" 
                iyy="0.002103" iyz="0.0000015" izz="0.000408"/>
        </inertial>
        <visual>
            <geometry>
                <mesh filename="meshes/mini_upper_link.obj"/>
            </geometry>
            <origin rpy="0.0 -1.5708 0.0" xyz="0.0 0.0 0.0"/>
        </visual>
        <collision>
            <geometry>
                <mesh filename="meshes/mini_upper_link.obj"/>
            </geometry>
            <origin rpy="0 -1.5708 0" xyz="0 0 0"/>
        </collision>
    </link>

    <joint name="thigh_hr_to_knee_hr_j" type="continuous">
        <axis xyz="0 -1 0"/>
        <origin rpy="0.0 0 0.0" xyz="0.0 0.0 -0.209"/>
        <parent link="thigh_hr"/>
        <child link="shank_hr"/>
    </joint>
    <link name="shank_hr">
        <inertial>
            <mass value="0.064"/>
            <origin xyz="0.0 0.0 -0.209"/>
            <inertia ixx="0.000245" ixy="0" ixz="0.0" iyy="0.000248" iyz="0" izz="0.000006"/>
        </inertial>
        <visual>
            <geometry>
                <mesh filename="meshes/mini_lower_link.obj"/>
            </geometry>
            <origin rpy="0.0 3.141592 0.0" xyz="0.0 0.0 0.0"/>
        </visual>
        <collision>
            <geometry>
                <mesh filename="meshes/mini_lower_link.obj"/>
            </geometry>
            <origin rpy="0 3.141592 0" xyz="0 0 0"/>
        </collision>
    </link>
     <link name="toe_hr">
      <contact>
      <friction_anchor/>
      <stiffness value="30000.0"/>
      <damping value="1000.0"/>
      <spinning_friction value="0.3"/>
      <lateral_friction value="3.0"/>
    </contact>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.015"/>
      </geometry>
      <material name="darkgray"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.015"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.15"/>
      <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
    </inertial>
  </link>
  <joint name="toe_hr_joint" type="fixed">
    <parent link="shank_hr"/>
    <child link="toe_hr"/>
    <origin xyz="0 0 -0.18"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>


<!--!!!!!!!!!!!! Hind Left Leg !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!-->
    <joint name="torso_to_abduct_hl_j" type="continuous">
        <axis xyz="1 0 0"/>
        <origin rpy="0 0 0" xyz="-0.19 0.049 0.0"/>
        <parent link="body"/>
        <child link="abduct_hl"/>
    </joint>
    <link name="abduct_hl">
        <inertial>
            <mass value="0.54"/>
            <origin xyz="0.0 0.036 0."/>
            <inertia ixx="0.000381" ixy="0.000058" ixz="0.00000045" 
                iyy="0.000560" iyz="0.00000095" izz="0.000444"/>
        </inertial>
        <visual>
            <geometry>
                <mesh filename="meshes/mini_abad.obj"/>
            </geometry>
            <origin rpy="3.141592 0.0 -1.5708" xyz="0.055 0.0 0.0"/>
        </visual>
        <collision>
            <geometry>
                <mesh filename="meshes/mini_abad.obj"/>
            </geometry>
            <origin rpy="3.141592 0 -1.5708" xyz="0.055 0 0"/>
        </collision>
    </link>

    <joint name="abduct_hl_to_thigh_hl_j" type="continuous">
        <axis xyz="0 -1 0"/>
        <origin rpy="0.0 0.0 0.0" xyz="0.0 0.062 0.00"/>
        <parent link="abduct_hl"/>
        <child link="thigh_hl"/>
    </joint>
    <link name="thigh_hl">
        <inertial>
            <mass value="0.634"/>
            <origin xyz="0.0 0.016 -0.02"/>
            <inertia ixx="0.001983" ixy="0.000245" ixz="0.000013" 
                iyy="0.002103" iyz="0.0000015" izz="0.000408"/>
        </inertial>
        <visual>
            <geometry>
                <mesh filename="meshes/mini_upper_link.obj"/>
            </geometry>
            <origin rpy="0.0 -1.5708 0.0" xyz="0.0 0.0 0.0"/>
        </visual>
        <collision>
            <geometry>
                <mesh filename="meshes/mini_upper_link.obj"/>
            </geometry>
            <origin rpy="0 -1.5708 0" xyz="0 0 0"/>
        </collision>
    </link>

    <joint name="thigh_hl_to_knee_hl_j" type="continuous">
        <axis xyz="0 -1 0"/>
        <origin rpy="0.0 0 0.0" xyz="0.0 0.0 -0.209"/>
        <parent link="thigh_hl"/>
        <child link="shank_hl"/>
    </joint>
    <link name="shank_hl">
        <inertial>
            <mass value="0.064"/>
            <origin xyz="0.0 0.0 -0.209"/>
            <inertia ixx="0.000245" ixy="0" ixz="0.0" iyy="0.000248" iyz="0" izz="0.000006"/>
        </inertial>
        <visual>
            <geometry>
                <mesh filename="meshes/mini_lower_link.obj"/>
            </geometry>
            <origin rpy="0.0 3.141592 0.0" xyz="0.0 0.0 0.0"/>
        </visual>
        <collision>
            <geometry>
                <mesh filename="meshes/mini_lower_link.obj"/>
            </geometry>
            <origin rpy="0 3.141592 0" xyz="0 0 0"/>
        </collision>
    </link>
    <link name="toe_hl">
      <contact>
      <friction_anchor/>
      <stiffness value="30000.0"/>
      <damping value="1000.0"/>
      <spinning_friction value="0.3"/>
      <lateral_friction value="3.0"/>
    </contact>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.015"/>
      </geometry>
      <material name="darkgray"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.015"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.15"/>
      <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
    </inertial>
  </link>
  <joint name="toe_hl_joint" type="fixed">
    <parent link="shank_hl"/>
    <child link="toe_hl"/>
    <origin xyz="0 0 -0.18"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>



</robot>
