<?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from spot.urdf.xacro                | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="spot">
  <material name="orange">
    <color rgba="1.0 0.5 0.0 1"/>
  </material>
  <material name="black">
    <color rgba="0.1 0.1 0.1 1"/>
  </material>
  <material name="grey">
    <color rgba="0.6 0.6 0.6 1"/>
  </material>
  <!-- Left Leg: prefix is front or rear -->
  <!--   <xacro:macro name="LeftLeg" params="prefix reflect">
    <link name="${prefix}_Left_Leg">
        <visual>
            <geometry>
                <box size="${leglen} 0.1 0.2"/>
            </geometry>
            <origin xyz="0 0 -${leglen/2}" rpy="0 ${pi/2} 0"/>
            <material name="white"/>
        </visual>
        <collision>
            <geometry>
                <box size="${leglen} 0.1 0.2"/>
            </geometry>
            <origin xyz="0 0 -${leglen/2}" rpy="0 ${pi/2} 0"/>
        </collision>
        <xacro:default_inertial mass="10"/>
    </link>

    <joint name="base_to_${prefix}_leg" type="fixed">
        <parent link="base_link"/>
        <child link="${prefix}_leg"/>
        <origin xyz="0 ${reflect*(width+.02)} 0.25" />
    </joint>
</xacro:macro> -->
  <joint name="hokuyo_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.0 0.0 0.1"/>
    <parent link="base_link"/>
    <child link="hokuyo_frame"/>
  </joint>
  <link name="hokuyo_frame">
    <inertial>
      <mass value="0.270"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="2.632e-4" ixy="0" ixz="0" iyy="2.632e-4" iyz="0" izz="1.62e-4"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://hector_sensors_description/meshes/hokuyo_utm30lx/hokuyo_utm_30lx.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 -0.0115"/>
      <geometry>
        <box size="0.058 0.058 0.087"/>
        <!--<mesh filename="package://hector_sensors_description/meshes/hokuyo_utm30lx/hokuyo_utm_30lx.stl"/>-->
      </geometry>
    </collision>
  </link>
  <gazebo reference="hokuyo_frame">
    <sensor name="hokuyo" type="ray">
      <always_on>true</always_on>
      <update_rate>30</update_rate>
      <pose>0 0 0 0 0 0</pose>
      <visualize>false</visualize>
      <ray>
        <scan>
          <horizontal>
            <samples>1040</samples>
            <resolution>1</resolution>
            <min_angle>2.26892802759</min_angle>
            <max_angle>-2.26892802759</max_angle>
          </horizontal>
        </scan>
        <range>
          <min>0.2</min>
          <max>30.0</max>
          <resolution>0.01</resolution>
        </range>
        <noise>
          <type>gaussian</type>
          <mean>0.0</mean>
          <stddev>0.004</stddev>
        </noise>
      </ray>
      <plugin filename="libgazebo_ros_laser.so" name="gazebo_ros_hokuyo_controller">
        <topicName>scan</topicName>
        <frameName>hokuyo_frame</frameName>
      </plugin>
    </sensor>
  </gazebo>
  <gazebo reference="hokuyo_frame">
    <material>Gazebo/FlatBlack</material>
  </gazebo>
  <!-- <xacro:asus_camera 
        parent="base_link" 
        name="camera">
        <origin xyz="0.2 0.0 0.05" rpy="0 0 0"/>
    </xacro:asus_camera> -->
  <gazebo>
    <plugin filename="libhector_gazebo_ros_imu.so" name="imu_controller">
      <updateRate>50.0</updateRate>
      <bodyName>imu_link</bodyName>
      <topicName>imu/data</topicName>
      <accelDrift>0.005 0.005 0.005</accelDrift>
      <accelGaussianNoise>0.005 0.005 0.005</accelGaussianNoise>
      <rateDrift>0.005 0.005 0.005 </rateDrift>
      <rateGaussianNoise>0.005 0.005 0.005 </rateGaussianNoise>
      <headingDrift>0.005</headingDrift>
      <headingGaussianNoise>0.005</headingGaussianNoise>
    </plugin>
  </gazebo>
  <link name="imu_link">
    <inertial>
      <mass value="0.001"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="1e-09" ixy="0.0" ixz="0.0" iyy="1e-09" iyz="0.0" izz="1e-09"/>
    </inertial>
  </link>
  <joint name="imu_joint" type="fixed">
    <parent link="base_link"/>
    <child link="imu_link"/>
  </joint>
  <!-- <xacro:include filename="$(find champ_arm_description)/urdf/champ_arm.urdf.xacro" />
    <xacro:champ_arm parent="base_link">
        <origin xyz="0.07 0.0 ${base_z_length / 2}" rpy="0 0 0"/>
    </xacro:champ_arm> -->
  <!-- Robot description -->
  <!-- STATIC Links -->
  <link name="base_link"/>
  <link name="base_inertia">
    <visual>
      <origin rpy="0 0 1.57079632679" xyz="-0.16 0.035 -0.045"/>
      <geometry>
        <mesh filename="package://mini_ros/stl/OpenQuadruped/MAINBODY.stl" scale="1 1 1"/>
      </geometry>
      <material name="orange"/>
    </visual>
    <collision>
      <origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
      <geometry>
        <box size="0.114 0.2 0.1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.6"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <!-- Inertial Axes -->
      <inertia ixx="0.0025" ixy="0" ixz="0" iyx="0" iyy="0.0011498" iyz="0" izx="0" izy="0" izz="0.0026498"/>
    </inertial>
  </link>
  <gazebo reference="base_inertia">
    <material>Gazebo/Orange</material>
  </gazebo>
  <!-- m to mm -->
  <link name="battery">
    <visual>
      <origin rpy="0 0 1.57079632679" xyz="-0.15 0.035 -0.022"/>
      <geometry>
        <mesh filename="package://mini_ros/stl/OpenQuadruped/Battery.stl" scale="1 1 1"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
      <geometry>
        <box size="0.048 0.145 0.026"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.4"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <!-- Inertial Axes -->
      <inertia ixx="0.000723366666667" ixy="0" ixz="0" iyx="0" iyy="9.93333333333e-05" iyz="0" izx="0" izy="0" izz="0.000777633333333"/>
    </inertial>
  </link>
  <gazebo reference="battery">
    <material>Gazebo/Black</material>
  </gazebo>
  <!-- m to mm -->
  <link name="chassis_left">
    <visual>
      <origin rpy="0 1.57079632679 -1.57079632679" xyz="0.016 0.003 0"/>
      <geometry>
        <mesh filename="package://mini_ros/stl/OpenQuadruped/Chassis_Left_Side.stl" scale="1 1 1"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 1.57079632679 -1.57079632679" xyz="0 0 0"/>
      <geometry>
        <box size="0.06 0.15 0.006"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.01"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <!-- Inertial Axes -->
      <inertia ixx="1.878e-05" ixy="0" ixz="0" iyx="0" iyy="3.03e-06" iyz="0" izx="0" izy="0" izz="2.175e-05"/>
    </inertial>
  </link>
  <gazebo reference="chassis_left">
    <material>Gazebo/Black</material>
  </gazebo>
  <!-- m to mm -->
  <link name="chassis_right">
    <visual>
      <origin rpy="0 1.57079632679 1.57079632679" xyz="-0.016 -0.003 0"/>
      <geometry>
        <mesh filename="package://mini_ros/stl/OpenQuadruped/Chassis_Right_Side.stl" scale="1 1 1"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 1.57079632679 1.57079632679" xyz="0 0 0"/>
      <geometry>
        <box size="0.06 0.15 0.006"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.01"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <!-- Inertial Axes -->
      <inertia ixx="1.878e-05" ixy="0" ixz="0" iyx="0" iyy="3.03e-06" iyz="0" izx="0" izy="0" izz="2.175e-05"/>
    </inertial>
  </link>
  <gazebo reference="chassis_right">
    <material>Gazebo/Black</material>
  </gazebo>
  <!-- m to mm -->
  <link name="front">
    <visual>
      <origin rpy="0 0 1.57079632679" xyz="-0.16 0.035 -0.045"/>
      <geometry>
        <mesh filename="package://mini_ros/stl/OpenQuadruped/Front.stl" scale="1 1 1"/>
      </geometry>
      <material name="orange"/>
    </visual>
    <collision>
      <origin rpy="0 0 1.57079632679" xyz="0.16 0 0.006"/>
      <geometry>
        <box size="0.114 0.045 0.085"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.1"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <!-- Inertial Axes -->
      <inertia ixx="7.70833333333e-05" ixy="0" ixz="0" iyx="0" iyy="0.000168508333333" iyz="0" izx="0" izy="0" izz="0.000125175"/>
    </inertial>
  </link>
  <gazebo reference="front">
    <material>Gazebo/Orange</material>
  </gazebo>
  <!-- m to mm -->
  <link name="back">
    <visual>
      <origin rpy="0 0 1.57079632679" xyz="-0.16 0.035 -0.045"/>
      <geometry>
        <mesh filename="package://mini_ros/stl/OpenQuadruped/Back.stl" scale="1 1 1"/>
      </geometry>
      <material name="orange"/>
    </visual>
    <collision>
      <origin rpy="0 0 1.57079632679" xyz="-0.16 0 0.006"/>
      <geometry>
        <box size="0.114 0.075 0.085"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.1"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <!-- Inertial Axes -->
      <inertia ixx="0.000107083333333" ixy="0" ixz="0" iyx="0" iyy="0.000168508333333" iyz="0" izx="0" izy="0" izz="0.000155175"/>
    </inertial>
  </link>
  <gazebo reference="back">
    <material>Gazebo/Orange</material>
  </gazebo>
  <!-- m to mm -->
  <link name="front_bracket">
    <visual>
      <origin rpy="0 0 1.57079632679" xyz="-0.16 0.035 -0.045"/>
      <geometry>
        <mesh filename="package://mini_ros/stl/OpenQuadruped/Front_Bracket.stl" scale="1 1 1"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 1.57079632679" xyz="0.1 0 0"/>
      <geometry>
        <box size="0.025 0.075 0.085"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.1"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <!-- Inertial Axes -->
      <inertia ixx="0.000107083333333" ixy="0" ixz="0" iyx="0" iyy="6.54166666667e-05" iyz="0" izx="0" izy="0" izz="5.20833333333e-05"/>
    </inertial>
  </link>
  <gazebo reference="front_bracket">
    <material>Gazebo/Black</material>
  </gazebo>
  <!-- m to mm -->
  <link name="back_bracket">
    <visual>
      <origin rpy="0 0 1.57079632679" xyz="-0.16 0.035 -0.045"/>
      <geometry>
        <mesh filename="package://mini_ros/stl/OpenQuadruped/Back_Bracket.stl" scale="1 1 1"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 1.57079632679" xyz="-0.1 0 0"/>
      <geometry>
        <box size="0.025 0.075 0.085"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.1"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <!-- Inertial Axes -->
      <inertia ixx="0.000107083333333" ixy="0" ixz="0" iyx="0" iyy="6.54166666667e-05" iyz="0" izx="0" izy="0" izz="5.20833333333e-05"/>
    </inertial>
  </link>
  <gazebo reference="back_bracket">
    <material>Gazebo/Black</material>
  </gazebo>
  <!-- m to mm -->
  <link name="front_left_hip">
    <visual>
      <origin rpy="0 0 1.57079632679" xyz="-0.25 -0.0044 -0.067"/>
      <geometry>
        <mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_HIP.stl" scale="1 1 1"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 1.57079632679" xyz="0.015 0.01 -0.01"/>
      <geometry>
        <box size="0.05 0.065 0.065"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.2"/>
      <origin rpy="0 0 0" xyz="0 0.075 0"/>
      <!-- Inertial Axes -->
      <inertia ixx="0.000140833333333" ixy="0" ixz="0" iyx="0" iyy="0.000112083333333" iyz="0" izx="0" izy="0" izz="0.000112083333333"/>
    </inertial>
  </link>
  <gazebo reference="front_left_hip">
    <material>Gazebo/Black</material>
  </gazebo>
  <joint name="motor_front_left_hip" type="revolute">
    <axis xyz="1 0 0"/>
    <origin rpy="0 0 0" xyz="0.0915 0.0394 0.022"/>
    <parent link="front_bracket"/>
    <child link="front_left_hip"/>
    <limit effort="4.0" lower="-1.04" upper="1.04" velocity="4.0"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>
  <link name="front_left_upper_leg">
    <visual>
      <origin rpy="0 0 1.57079632679" xyz="-0.252 -0.05 -0.055"/>
      <geometry>
        <mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_UPPER_LEG.stl" scale="1 1 1"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 1.57079632679" xyz="0 0.02 -0.05"/>
      <geometry>
        <box size="0.035 0.035 0.11"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.13"/>
      <origin rpy="0 0 0" xyz="-0.005 0.0175 -0.055"/>
      <!-- Inertial Axes -->
      <inertia ixx="0.000144354166667" ixy="0" ixz="0" iyx="0" iyy="0.000144354166667" iyz="0" izx="0" izy="0" izz="2.65416666667e-05"/>
    </inertial>
  </link>
  <gazebo reference="front_left_upper_leg">
    <material>Gazebo/Black</material>
  </gazebo>
  <joint name="motor_front_left_upper_leg" type="revolute">
    <axis xyz="0 1 0"/>
    <origin rpy="0 0 0" xyz="0.0015 0.045 -0.0087"/>
    <parent link="front_left_hip"/>
    <child link="front_left_upper_leg"/>
    <limit effort="4.0" lower="-1.57079632679" upper="2.59" velocity="4.0"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>
  <link name="front_left_lower_leg">
    <visual>
      <origin rpy="0 0 1.57079632679" xyz="-0.247 -0.068 0.0535"/>
      <geometry>
        <mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_LOWER_LEG.stl" scale="1 1 1"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 1.57079632679" xyz="0 0 -0.06"/>
      <geometry>
        <box size="0.035 0.035 0.12"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.05"/>
      <origin rpy="0 0 0" xyz="-0.01 0 -0.06"/>
      <!-- Inertial Axes -->
      <inertia ixx="6.51041666667e-05" ixy="0" ixz="0" iyx="0" iyy="6.51041666667e-05" iyz="0" izx="0" izy="0" izz="1.02083333333e-05"/>
    </inertial>
  </link>
  <gazebo reference="front_left_lower_leg">
    <material>Gazebo/Black</material>
  </gazebo>
  <joint name="motor_front_left_lower_leg" type="revolute">
    <axis xyz="0 1 0"/>
    <origin rpy="0 0 0" xyz="-0.005 0.018 -0.109"/>
    <parent link="front_left_upper_leg"/>
    <child link="front_left_lower_leg"/>
    <limit effort="4.0" lower="-2.9" upper="1.57079632679" velocity="4.0"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>
  <link name="front_left_foot">
    <visual>
      <origin rpy="0 0 1.57079632679" xyz="-0.247 -0.068 0.18"/>
      <geometry>
        <mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_FOOT.stl" scale="1 1 1"/>
      </geometry>
      <material name="orange"/>
    </visual>
    <collision>
      <origin rpy="0 0 1.57079632679" xyz="-0.247 -0.068 0.18"/>
      <geometry>
        <mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_FOOT.stl" scale="1 1 1"/>
      </geometry>
      <contact_coefficients mu="10.1"/>
    </collision>
    <inertial>
      <mass value="0.005"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <!-- Inertial Axes -->
      <inertia ixx="3.52083333333e-06" ixy="0" ixz="0" iyx="0" iyy="2.80208333333e-06" iyz="0" izx="0" izy="0" izz="2.80208333333e-06"/>
    </inertial>
  </link>
  <gazebo reference="front_left_foot">
    <kp>1000000.0</kp>
    <kd>1.0</kd>
    <mu1>0.8</mu1>
    <mu2>0.8</mu2>
    <maxVel>0.0</maxVel>
    <minDepth>0.001</minDepth>
    <material>Gazebo/Orange</material>
  </gazebo>
  <joint name="front_left_leg_foot" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 -0.1265"/>
    <parent link="front_left_lower_leg"/>
    <child link="front_left_foot"/>
  </joint>
  <link name="back_left_hip">
    <visual>
      <origin rpy="0 0 1.57079632679" xyz="-0.25 -0.0044 -0.067"/>
      <geometry>
        <mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_HIP.stl" scale="1 1 1"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 1.57079632679" xyz="0.015 0.01 -0.01"/>
      <geometry>
        <box size="0.05 0.065 0.065"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.2"/>
      <origin rpy="0 0 0" xyz="0 0.075 0"/>
      <!-- Inertial Axes -->
      <inertia ixx="0.000140833333333" ixy="0" ixz="0" iyx="0" iyy="0.000112083333333" iyz="0" izx="0" izy="0" izz="0.000112083333333"/>
    </inertial>
  </link>
  <gazebo reference="back_left_hip">
    <material>Gazebo/Black</material>
  </gazebo>
  <joint name="motor_back_left_hip" type="revolute">
    <axis xyz="1 0 0"/>
    <origin rpy="0 0 0" xyz="-0.1365 0.0394 0.022"/>
    <parent link="back_bracket"/>
    <child link="back_left_hip"/>
    <limit effort="4.0" lower="-1.04" upper="1.04" velocity="4.0"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>
  <link name="back_left_upper_leg">
    <visual>
      <origin rpy="0 0 1.57079632679" xyz="-0.252 -0.05 -0.055"/>
      <geometry>
        <mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_UPPER_LEG.stl" scale="1 1 1"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 1.57079632679" xyz="0 0.02 -0.05"/>
      <geometry>
        <box size="0.035 0.035 0.11"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.13"/>
      <origin rpy="0 0 0" xyz="-0.005 0.0175 -0.055"/>
      <!-- Inertial Axes -->
      <inertia ixx="0.000144354166667" ixy="0" ixz="0" iyx="0" iyy="0.000144354166667" iyz="0" izx="0" izy="0" izz="2.65416666667e-05"/>
    </inertial>
  </link>
  <gazebo reference="back_left_upper_leg">
    <material>Gazebo/Black</material>
  </gazebo>
  <joint name="motor_back_left_upper_leg" type="revolute">
    <axis xyz="0 1 0"/>
    <origin rpy="0 0 0" xyz="0.0015 0.045 -0.0087"/>
    <parent link="back_left_hip"/>
    <child link="back_left_upper_leg"/>
    <limit effort="4.0" lower="-1.57079632679" upper="2.59" velocity="4.0"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>
  <link name="back_left_lower_leg">
    <visual>
      <origin rpy="0 0 1.57079632679" xyz="-0.247 -0.068 0.0535"/>
      <geometry>
        <mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_LOWER_LEG.stl" scale="1 1 1"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 1.57079632679" xyz="0 0 -0.06"/>
      <geometry>
        <box size="0.035 0.035 0.12"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.05"/>
      <origin rpy="0 0 0" xyz="-0.01 0 -0.06"/>
      <!-- Inertial Axes -->
      <inertia ixx="6.51041666667e-05" ixy="0" ixz="0" iyx="0" iyy="6.51041666667e-05" iyz="0" izx="0" izy="0" izz="1.02083333333e-05"/>
    </inertial>
  </link>
  <gazebo reference="back_left_lower_leg">
    <material>Gazebo/Black</material>
  </gazebo>
  <joint name="motor_back_left_lower_leg" type="revolute">
    <axis xyz="0 1 0"/>
    <origin rpy="0 0 0" xyz="-0.005 0.018 -0.109"/>
    <parent link="back_left_upper_leg"/>
    <child link="back_left_lower_leg"/>
    <limit effort="4.0" lower="-2.9" upper="1.57079632679" velocity="4.0"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>
  <link name="back_left_foot">
    <visual>
      <origin rpy="0 0 1.57079632679" xyz="-0.247 -0.068 0.18"/>
      <geometry>
        <mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_FOOT.stl" scale="1 1 1"/>
      </geometry>
      <material name="orange"/>
    </visual>
    <collision>
      <origin rpy="0 0 1.57079632679" xyz="-0.247 -0.068 0.18"/>
      <geometry>
        <mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_FOOT.stl" scale="1 1 1"/>
      </geometry>
      <contact_coefficients mu="10.1"/>
    </collision>
    <inertial>
      <mass value="0.005"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <!-- Inertial Axes -->
      <inertia ixx="3.52083333333e-06" ixy="0" ixz="0" iyx="0" iyy="2.80208333333e-06" iyz="0" izx="0" izy="0" izz="2.80208333333e-06"/>
    </inertial>
  </link>
  <gazebo reference="back_left_foot">
    <kp>1000000.0</kp>
    <kd>1.0</kd>
    <mu1>0.8</mu1>
    <mu2>0.8</mu2>
    <maxVel>0.0</maxVel>
    <minDepth>0.001</minDepth>
    <material>Gazebo/Orange</material>
  </gazebo>
  <joint name="back_left_leg_foot" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 -0.1265"/>
    <parent link="back_left_lower_leg"/>
    <child link="back_left_foot"/>
  </joint>
  <link name="front_right_hip">
    <visual>
      <origin rpy="0 0 1.57079632679" xyz="-0.25 0.074 -0.067"/>
      <geometry>
        <mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_HIP.stl" scale="1 1 1"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 1.57079632679" xyz="0.015 -0.01 -0.01"/>
      <geometry>
        <box size="0.05 0.065 0.065"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.2"/>
      <origin rpy="0 0 0" xyz="0 -0.075 0"/>
      <!-- Inertial Axes -->
      <inertia ixx="0.000140833333333" ixy="0" ixz="0" iyx="0" iyy="0.000112083333333" iyz="0" izx="0" izy="0" izz="0.000112083333333"/>
    </inertial>
  </link>
  <gazebo reference="front_right_hip">
    <material>Gazebo/Black</material>
  </gazebo>
  <joint name="motor_front_right_hip" type="revolute">
    <axis xyz="1 0 0"/>
    <origin rpy="0 0 0" xyz="0.0915 -0.0394 0.022"/>
    <parent link="front_bracket"/>
    <child link="front_right_hip"/>
    <limit effort="4.0" lower="-1.04" upper="1.04" velocity="4.0"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>
  <link name="front_right_upper_leg">
    <visual>
      <origin rpy="0 0 1.57079632679" xyz="-0.252 0.12 -0.055"/>
      <geometry>
        <mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_UPPER_LEG.stl" scale="1 1 1"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 1.57079632679" xyz="0 -0.02 -0.05"/>
      <geometry>
        <box size="0.035 0.035 0.11"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.13"/>
      <origin rpy="0 0 0" xyz="-0.005 -0.0175 -0.055"/>
      <!-- Inertial Axes -->
      <inertia ixx="0.000144354166667" ixy="0" ixz="0" iyx="0" iyy="0.000144354166667" iyz="0" izx="0" izy="0" izz="2.65416666667e-05"/>
    </inertial>
  </link>
  <gazebo reference="front_right_upper_leg">
    <material>Gazebo/Black</material>
  </gazebo>
  <joint name="motor_front_right_upper_leg" type="revolute">
    <axis xyz="0 1 0"/>
    <origin rpy="0 0 0" xyz="0.0015 -0.045 -0.0087"/>
    <parent link="front_right_hip"/>
    <child link="front_right_upper_leg"/>
    <limit effort="4.0" lower="-1.57079632679" upper="2.59" velocity="4.0"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>
  <link name="front_right_lower_leg">
    <visual>
      <origin rpy="0 0 1.57079632679" xyz="-0.247 0.138 0.0535"/>
      <geometry>
        <mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_LOWER_LEG.stl" scale="1 1 1"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 1.57079632679" xyz="0 0 -0.06"/>
      <geometry>
        <box size="0.035 0.035 0.12"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.05"/>
      <origin rpy="0 0 0" xyz="-0.01 0 -0.06"/>
      <!-- Inertial Axes -->
      <inertia ixx="6.51041666667e-05" ixy="0" ixz="0" iyx="0" iyy="6.51041666667e-05" iyz="0" izx="0" izy="0" izz="1.02083333333e-05"/>
    </inertial>
  </link>
  <gazebo reference="front_right_lower_leg">
    <material>Gazebo/Black</material>
  </gazebo>
  <joint name="motor_front_right_lower_leg" type="revolute">
    <axis xyz="0 1 0"/>
    <origin rpy="0 0 0" xyz="-0.005 -0.018 -0.109"/>
    <parent link="front_right_upper_leg"/>
    <child link="front_right_lower_leg"/>
    <limit effort="4.0" lower="-2.9" upper="1.57079632679" velocity="4.0"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>
  <link name="front_right_foot">
    <visual>
      <origin rpy="0 0 1.57079632679" xyz="-0.247 0.138 0.18"/>
      <geometry>
        <mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_FOOT.stl" scale="1 1 1"/>
      </geometry>
      <material name="orange"/>
    </visual>
    <collision>
      <origin rpy="0 0 1.57079632679" xyz="-0.247 0.138 0.18"/>
      <geometry>
        <mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_FOOT.stl" scale="1 1 1"/>
      </geometry>
      <contact_coefficients mu="10.1"/>
    </collision>
    <inertial>
      <mass value="0.005"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <!-- Inertial Axes -->
      <inertia ixx="3.52083333333e-06" ixy="0" ixz="0" iyx="0" iyy="2.80208333333e-06" iyz="0" izx="0" izy="0" izz="2.80208333333e-06"/>
    </inertial>
  </link>
  <gazebo reference="front_right_foot">
    <kp>1000000.0</kp>
    <kd>1.0</kd>
    <mu1>0.8</mu1>
    <mu2>0.8</mu2>
    <maxVel>0.0</maxVel>
    <minDepth>0.001</minDepth>
    <material>Gazebo/Orange</material>
  </gazebo>
  <joint name="front_right_leg_foot" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 -0.1265"/>
    <parent link="front_right_lower_leg"/>
    <child link="front_right_foot"/>
  </joint>
  <link name="back_right_hip">
    <visual>
      <origin rpy="0 0 1.57079632679" xyz="-0.25 0.074 -0.067"/>
      <geometry>
        <mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_HIP.stl" scale="1 1 1"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 1.57079632679" xyz="0.015 -0.01 -0.01"/>
      <geometry>
        <box size="0.05 0.065 0.065"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.2"/>
      <origin rpy="0 0 0" xyz="0 -0.075 0"/>
      <!-- Inertial Axes -->
      <inertia ixx="0.000140833333333" ixy="0" ixz="0" iyx="0" iyy="0.000112083333333" iyz="0" izx="0" izy="0" izz="0.000112083333333"/>
    </inertial>
  </link>
  <gazebo reference="back_right_hip">
    <material>Gazebo/Black</material>
  </gazebo>
  <joint name="motor_back_right_hip" type="revolute">
    <axis xyz="1 0 0"/>
    <origin rpy="0 0 0" xyz="-0.1365 -0.0394 0.022"/>
    <parent link="back_bracket"/>
    <child link="back_right_hip"/>
    <limit effort="4.0" lower="-1.04" upper="1.04" velocity="4.0"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>
  <link name="back_right_upper_leg">
    <visual>
      <origin rpy="0 0 1.57079632679" xyz="-0.252 0.12 -0.055"/>
      <geometry>
        <mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_UPPER_LEG.stl" scale="1 1 1"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 1.57079632679" xyz="0 -0.02 -0.05"/>
      <geometry>
        <box size="0.035 0.035 0.11"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.13"/>
      <origin rpy="0 0 0" xyz="-0.005 -0.0175 -0.055"/>
      <!-- Inertial Axes -->
      <inertia ixx="0.000144354166667" ixy="0" ixz="0" iyx="0" iyy="0.000144354166667" iyz="0" izx="0" izy="0" izz="2.65416666667e-05"/>
    </inertial>
  </link>
  <gazebo reference="back_right_upper_leg">
    <material>Gazebo/Black</material>
  </gazebo>
  <joint name="motor_back_right_upper_leg" type="revolute">
    <axis xyz="0 1 0"/>
    <origin rpy="0 0 0" xyz="0.0015 -0.045 -0.0087"/>
    <parent link="back_right_hip"/>
    <child link="back_right_upper_leg"/>
    <limit effort="4.0" lower="-1.57079632679" upper="2.59" velocity="4.0"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>
  <link name="back_right_lower_leg">
    <visual>
      <origin rpy="0 0 1.57079632679" xyz="-0.247 0.138 0.0535"/>
      <geometry>
        <mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_LOWER_LEG.stl" scale="1 1 1"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 1.57079632679" xyz="0 0 -0.06"/>
      <geometry>
        <box size="0.035 0.035 0.12"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.05"/>
      <origin rpy="0 0 0" xyz="-0.01 0 -0.06"/>
      <!-- Inertial Axes -->
      <inertia ixx="6.51041666667e-05" ixy="0" ixz="0" iyx="0" iyy="6.51041666667e-05" iyz="0" izx="0" izy="0" izz="1.02083333333e-05"/>
    </inertial>
  </link>
  <gazebo reference="back_right_lower_leg">
    <material>Gazebo/Black</material>
  </gazebo>
  <joint name="motor_back_right_lower_leg" type="revolute">
    <axis xyz="0 1 0"/>
    <origin rpy="0 0 0" xyz="-0.005 -0.018 -0.109"/>
    <parent link="back_right_upper_leg"/>
    <child link="back_right_lower_leg"/>
    <limit effort="4.0" lower="-2.9" upper="1.57079632679" velocity="4.0"/>
    <joint_properties damping="0.0" friction="0.0"/>
  </joint>
  <link name="back_right_foot">
    <visual>
      <origin rpy="0 0 1.57079632679" xyz="-0.247 0.138 0.18"/>
      <geometry>
        <mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_FOOT.stl" scale="1 1 1"/>
      </geometry>
      <material name="orange"/>
    </visual>
    <collision>
      <origin rpy="0 0 1.57079632679" xyz="-0.247 0.138 0.18"/>
      <geometry>
        <mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_FOOT.stl" scale="1 1 1"/>
      </geometry>
      <contact_coefficients mu="10.1"/>
    </collision>
    <inertial>
      <mass value="0.005"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <!-- Inertial Axes -->
      <inertia ixx="3.52083333333e-06" ixy="0" ixz="0" iyx="0" iyy="2.80208333333e-06" iyz="0" izx="0" izy="0" izz="2.80208333333e-06"/>
    </inertial>
  </link>
  <gazebo reference="back_right_foot">
    <kp>1000000.0</kp>
    <kd>1.0</kd>
    <mu1>0.8</mu1>
    <mu2>0.8</mu2>
    <maxVel>0.0</maxVel>
    <minDepth>0.001</minDepth>
    <material>Gazebo/Orange</material>
  </gazebo>
  <joint name="back_right_leg_foot" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 -0.1265"/>
    <parent link="back_right_lower_leg"/>
    <child link="back_right_foot"/>
  </joint>
  <joint name="base_base" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <parent link="base_link"/>
    <child link="base_inertia"/>
  </joint>
  <joint name="base_battery" type="fixed">
    <origin rpy="0 0 0" xyz="-0.01 0 -0.0225"/>
    <parent link="base_link"/>
    <child link="battery"/>
  </joint>
  <joint name="base_left" type="fixed">
    <origin rpy="0 0 0" xyz="0.00 0.052 0"/>
    <parent link="base_link"/>
    <child link="chassis_left"/>
  </joint>
  <joint name="base_right" type="fixed">
    <origin rpy="0 0 0" xyz="0.00 -0.052 0"/>
    <parent link="base_link"/>
    <child link="chassis_right"/>
  </joint>
  <joint name="base_front" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <parent link="base_link"/>
    <child link="front"/>
  </joint>
  <joint name="base_back" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <parent link="base_link"/>
    <child link="back"/>
  </joint>
  <joint name="base_front_bracket" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <parent link="base_link"/>
    <child link="front_bracket"/>
  </joint>
  <joint name="base_back_bracket" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <parent link="base_link"/>
    <child link="back_bracket"/>
  </joint>
  <transmission name="front_left_hip_joint_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="motor_front_left_hip">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="front_left_hip_joint_motor">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="front_left_upper_leg_joint_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="motor_front_left_lower_leg">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="front_left_upper_leg_joint_motor">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="front_left_lower_leg_joint_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="motor_front_left_upper_leg">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="front_left_lower_joint_motor">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="front_right_hip_joint_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="motor_front_right_hip">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="front_right_hip_joint_motor">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="front_right_upper_leg_joint_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="motor_front_right_lower_leg">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="front_right_upper_leg_joint_motor">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="front_right_lower_leg_joint_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="motor_front_right_upper_leg">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="front_right_lower_joint_motor">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="back_left_hip_joint_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="motor_back_left_hip">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="back_left_hip_joint_motor">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="back_left_upper_leg_joint_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="motor_back_left_lower_leg">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="back_left_upper_leg_joint_motor">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="back_left_lower_leg_joint_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="motor_back_left_upper_leg">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="back_left_lower_joint_motor">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="back_right_hip_joint_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="motor_back_right_hip">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="back_right_hip_joint_motor">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="back_right_upper_leg_joint_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="motor_back_right_lower_leg">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="back_right_upper_leg_joint_motor">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="back_right_lower_leg_joint_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="motor_back_right_upper_leg">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="back_right_lower_joint_motor">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <gazebo>
    <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
      <legacyModeNS>true</legacyModeNS>
    </plugin>
  </gazebo>
</robot>

