<?xml version="1.0" ?>
<robot name="plane">
  <link name="chassis">
  <contact>
      <lateral_friction value="1"/>
  </contact>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
       <mass value="13.715"/>
       <inertia ixx="0.22" ixy="0" ixz="0" iyy="0.431" iyz="0" izz="0.565"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz=" 0  0 0"/>
      <geometry>
        <mesh filename="chassis_zup_lores.obj" scale="1 1 1"/>
      </geometry>
       <material name="white">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="chassis_vhacd_mod_zup.obj" scale="1 1 1"/>
      </geometry>
    </collision>
  </link>
  <link name="FR_hip_motor">
    <contact>
      <lateral_friction value="1"/>
    </contact>
    <inertial>
       <origin rpy="0 0 0" xyz="0.02 0 0"/>
       <mass value="1.095"/>
       <inertia ixx="0.002" ixy="0" ixz="0" iyy=".002" iyz="0" izz=".001"/>
    </inertial>

    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="hip_motor_mirror_lores.obj" scale="1 1 1"/>
      </geometry>
       <material name="white"/>
    </visual>

    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
      </geometry>
    </collision>
    </link>

    <joint name="FR_hip_motor_2_chassis_joint" type="continuous">
    <axis xyz="0 0 -1"/>
    <parent link="chassis"/>
    <child link="FR_hip_motor"/>
    <origin rpy="1.57079 0 1.57079" xyz="0.199095 -0.0817145 -0.03"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping=".0" friction=".0"/>
  </joint>

     <link name="FR_upper_leg">
  <contact>
      <lateral_friction value="1"/>
  </contact>
    <inertial>
     <origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
       <mass value="1.527"/>
       <inertia ixx="0.015" ixy="0" ixz="0" iyy="0.007" iyz="0" izz="0.01"/>
    </inertial>
       <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="upper_leg_mirror_lores.obj" scale="1 1 1"/>
      </geometry>
       <material name="white"/>
    </visual>

    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="upper_leg_right_vhacd.obj" scale="1 1 1"/>
      </geometry>
    </collision>

    </link>

    <joint name="FR_upper_leg_2_hip_motor_joint" type="continuous">
    <axis xyz="1 0 0"/>
    <parent link="FR_hip_motor"/>
    <child link="FR_upper_leg"/>
    <origin rpy="0 0 0" xyz="-0.053565 0 0"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping=".0" friction=".0"/>
  </joint>

     <link name="FR_lower_leg">
  <contact>
      <lateral_friction value="1"/>
  </contact>
    <inertial>
      <origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
       <mass value="0.241"/>
       <inertia ixx="0.002" ixy="0" ixz="0" iyy="0.002" iyz="0" izz="0.002"/>
    </inertial>
       <visual>
      <origin rpy="0 1.57079 0" xyz="0 0.0 0"/>
      <geometry>
        <mesh filename="lower_leg3_lores.obj" scale="1 1 1"/>
      </geometry>
       <material name="white"/>
    </visual>

    <collision>
      <origin rpy="0 1.57079 0" xyz="0 0.0 0"/>
      <geometry>
        <mesh filename="lower_leg_3.stl" scale="1 1 1"/>
      </geometry>
    </collision>
    </link>
    <joint name="FR_lower_leg_2_upper_leg_joint" type="continuous">
    <axis xyz="1 0 0"/>
    <parent link="FR_upper_leg"/>
    <child link="FR_lower_leg"/>

    <origin rpy="0 0 0" xyz="0.02069  -0.20833  -0.1422"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping=".0" friction=".0"/>
  </joint>


   <link name="FL_hip_motor">
  <contact>
      <lateral_friction value="1"/>
  </contact>
    <inertial>
     <origin rpy="0 0 0" xyz="-.02 0 0"/>
       <mass value="1.095"/>
       <inertia ixx="0.002" ixy="0" ixz="0" iyy="0.002" iyz="0" izz="0.001"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="hip_motor_lores.obj" scale="1 1 1"/>
      </geometry>
       <material name="white">
      </material>
    </visual>

    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="hip_motor.stl" scale="1 1 1"/>
      </geometry>
    </collision>

      </link>

   <joint name="FL_hip_motor_2_chassis_joint" type="continuous">
    <axis xyz="0 0 1"/>
    <parent link="chassis"/>
    <child link="FL_hip_motor"/>
    <origin rpy="1.57079 0 1.57079" xyz="0.199095 0.0817145 -0.03"/>

    <limit effort="100" velocity="100"/>
    <joint_properties damping=".0" friction=".0"/>
  </joint>

  <link name="FL_upper_leg">
  <contact>
      <lateral_friction value="1"/>
  </contact>
    <inertial>
       <origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
       <mass value="1.527"/>
       <inertia ixx="0.016" ixy="0" ixz="0" iyy="0.007" iyz="0" izz="0.011"/>
    </inertial>
     <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>

        <mesh filename="upper_leg_left_lores.obj" scale="1 1 1"/>
      </geometry>
       <material name="white">
      </material>
    </visual>

     <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="upper_leg_left_vhacd.obj" scale="1 1 1"/>
      </geometry>
    </collision>

    </link>


  <joint name="FL_upper_leg_2_hip_motor_joint" type="continuous">
    <axis xyz="1 0 0"/>
    <parent link="FL_hip_motor"/>
    <child link="FL_upper_leg"/>
    <origin rpy="0 0 0" xyz="0.055855  0 0"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping=".0" friction=".0"/>
  </joint>


  <link name="FL_lower_leg">
  <contact>
      <lateral_friction value="1"/>
  </contact>
    <inertial>
      <origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
       <mass value="0.241"/>
       <inertia ixx="0.002" ixy="0" ixz="0" iyy="0.002" iyz="0" izz="0.002"/>
    </inertial>
   <visual>
      <origin rpy="0 1.57079 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="lower_leg3_lores.obj" scale="1 1 1"/>
      </geometry>
       <material name="white">
       </material>
    </visual>

     <collision>
      <origin rpy="0 1.57079 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="lower_leg_3.stl" scale="1 1 1"/>
      </geometry>
    </collision>

    </link>

  <joint name="FL_lower_leg_2_upper_leg_joint" type="continuous">
    <axis xyz="1 0 0"/>
    <parent link="FL_upper_leg"/>
    <child link="FL_lower_leg"/>
    <origin rpy="0 0 0" xyz="-0.02069  -0.20833  -0.1422"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping=".0" friction=".0"/>
  </joint>






   <link name="RR_hip_motor">
  <contact>
      <lateral_friction value="1"/>
  </contact>
    <inertial>
      <origin rpy="0 0 0" xyz="0.02 0 0"/>
       <mass value="1.095"/>
       <inertia ixx="0.002" ixy="0" ixz="0" iyy="0.002" iyz="0" izz="0.001"/>
    </inertial>

    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="hip_motor_mirror_lores.obj" scale="1 1 1"/>
      </geometry>
       <material name="white"/>
    </visual>

     <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
      </geometry>
    </collision>

    </link>

    <joint name="RR_hip_motor_2_chassis_joint" type="continuous">
    <axis xyz="0 0 -1"/>
    <parent link="chassis"/>
    <child link="RR_hip_motor"/>
    <origin rpy="1.57079 0 1.57079" xyz="-0.238195 -0.0817145 -0.03"/>

    <limit effort="100" velocity="100"/>
    <joint_properties damping=".0" friction=".0"/>
  </joint>

     <link name="RR_upper_leg">
  <contact>
      <lateral_friction value="1"/>
  </contact>
    <inertial>
     <origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
       <mass value="1.527"/>
       <inertia ixx="0.016" ixy="0" ixz="0" iyy="0.007" iyz="0" izz="0.011"/>
    </inertial>
       <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="upper_leg_mirror2_lores.obj" scale="1 1 1"/>
      </geometry>
       <material name="white"/>
    </visual>

    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="upper_leg_right_vhacd.obj" scale="1 1 1"/>
      </geometry>
    </collision>

    </link>

    <joint name="RR_upper_leg_2_hip_motor_joint" type="continuous">
    <axis xyz="1 0 0"/>
    <parent link="RR_hip_motor"/>
    <child link="RR_upper_leg"/>
    <origin rpy="0 0 0" xyz="-0.053565 0 0"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping=".0" friction=".0"/>
  </joint>

     <link name="RR_lower_leg">
  <contact>
      <lateral_friction value="1"/>
  </contact>
    <inertial>
      <origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
       <mass value="0.241"/>
       <inertia ixx="0.002" ixy="0" ixz="0" iyy="0.002" iyz="0" izz="0.002"/>
    </inertial>
       <visual>
      <origin rpy="0 1.57079 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="lower_leg3_lores.obj" scale="1 1 1"/>
      </geometry>
       <material name="white"/>
    </visual>

     <collision>
      <origin rpy="0 1.57079 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="lower_leg_3.stl" scale="1 1 1"/>
      </geometry>
    </collision>

    </link>

    <joint name="RR_lower_leg_2_upper_leg_joint" type="continuous">
    <axis xyz="1 0 0"/>
    <parent link="RR_upper_leg"/>
    <child link="RR_lower_leg"/>
    <origin rpy="0 0 0" xyz="0.02069  -0.20833  -0.1422"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping=".0" friction=".0"/>
  </joint>


   <link name="RL_hip_motor">
  <contact>
      <lateral_friction value="1"/>
  </contact>
    <inertial>
      <origin rpy="0 0 0" xyz="-.02 0 0"/>
       <mass value="1.095"/>
       <inertia ixx="0.002" ixy="0" ixz="0" iyy="0.002" iyz="0" izz="0.001"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="hip_motor_lores.obj" scale="1 1 1"/>
      </geometry>
       <material name="white"/>
    </visual>

    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="hip_motor.stl" scale="1 1 1"/>
      </geometry>
    </collision>

      </link>

   <joint name="RL_hip_motor_2_chassis_joint" type="continuous">
    <axis xyz="0 0 1"/>
    <parent link="chassis"/>
    <child link="RL_hip_motor"/>

    <origin rpy="1.57079 0 1.57079" xyz="-0.238195 0.0817145 -0.03"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping=".0" friction=".0"/>
  </joint>

  <link name="RL_upper_leg">
  <contact>
      <lateral_friction value="1"/>
  </contact>
    <inertial>
      <origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
       <mass value="1.527"/>
       <inertia ixx="0.016" ixy="0" ixz="0" iyy="0.007" iyz="0" izz="0.011"/>
    </inertial>
     <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="upper_leg_left2_lores.obj" scale="1 1 1"/>
      </geometry>
       <material name="white"/>
    </visual>

    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="upper_leg_left_vhacd.obj" scale="1 1 1"/>
      </geometry>
    </collision>

    </link>


  <joint name="RL_upper_leg_2_hip_motor_joint" type="continuous">
    <axis xyz="1 0 0"/>
    <parent link="RL_hip_motor"/>
    <child link="RL_upper_leg"/>
    <origin rpy="0 0 0" xyz="0.055855  0 0"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping=".0" friction=".0"/>
  </joint>


  <link name="RL_lower_leg">
  <contact>
      <lateral_friction value="1"/>
  </contact>
    <inertial>
      <origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
       <mass value="0.241"/>
       <inertia ixx="0.002" ixy="0" ixz="0" iyy="0.002" iyz="0" izz="0.002"/>
    </inertial>
   <visual>
      <origin rpy="0 1.57079 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="lower_leg3_lores.obj" scale="1 1 1"/>
      </geometry>
       <material name="white"/>
    </visual>

    <collision>
      <origin rpy="0 1.57079 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="lower_leg_3.stl" scale="1 1 1"/>
      </geometry>
    </collision>

    </link>

  <joint name="RL_lower_leg_2_upper_leg_joint" type="continuous">
    <axis xyz="1 0 0"/>
    <parent link="RL_upper_leg"/>
    <child link="RL_lower_leg"/>
    <origin rpy="0 0 0" xyz="-0.02069  -0.20833  -0.1422"/>
    <limit effort="100" velocity="100"/>
    <joint_properties damping=".0" friction=".0"/>
  </joint>

   <link name="toeRL">
    <contact>
      <friction_anchor/>
      <stiffness value="30000.0"/>
      <damping value="1000.0"/>
      <spinning_friction value="0.1"/>
      <lateral_friction value="1.0"/>
    </contact>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.0"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.03"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.1"/>
      <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
    </inertial>
  </link>
  <joint name="jtoeRL" type="fixed">
    <parent link="RL_lower_leg"/>
    <child link="toeRL"/>
    <origin xyz="0 -0.25 -0.022"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>

  <link name="toeRR">
    <contact>
      <friction_anchor/>
      <stiffness value="30000.0"/>
      <damping value="1000.0"/>
      <spinning_friction value="0.1"/>
      <lateral_friction value="1.0"/>
    </contact>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.0"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.03"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.1"/>
      <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
    </inertial>
  </link>
  <joint name="jtoeRR" type="fixed">
    <parent link="RR_lower_leg"/>
    <child link="toeRR"/>
    <origin xyz="0 -0.25 -0.022"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>

  <link name="toeFL">
    <contact>
      <friction_anchor/>
      <stiffness value="30000.0"/>
      <damping value="1000.0"/>
      <spinning_friction value="0.1"/>
      <lateral_friction value="1.0"/>
    </contact>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.0"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.03"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.1"/>
      <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
    </inertial>
  </link>
  <joint name="jtoeFL" type="fixed">
    <parent link="FL_lower_leg"/>
    <child link="toeFL"/>
    <origin xyz="0 -0.25 -0.022"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>

  <link name="toeFR">
    <contact>
      <friction_anchor/>
      <stiffness value="30000.0"/>
      <damping value="1000.0"/>
      <spinning_friction value="0.1"/>
      <lateral_friction value="1.0"/>
    </contact>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.0"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.03"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.1"/>
      <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
    </inertial>
  </link>
  <joint name="jtoeFR" type="fixed">
    <parent link="FR_lower_leg"/>
    <child link="toeFR"/>
    <origin xyz="0 -0.25 -0.022"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
</robot>

