<?xml version="1.0" encoding="utf-8"?>

<robot name="quadruped">
    <link name="base">
        <collision>
            <origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
            <geometry>
                <cylinder length="0.75" radius="0.1"/>
            </geometry>
        </collision>
        <inertial>
            <origin rpy="0 0 0" xyz="0 0 0.024"/>
            <mass value="6.222"/>
            <inertia ixx="0.017938806" ixy="0.00387963" ixz="0.001500772" iyy="0.370887745" iyz="6.8963e-05" izz="0.372497653"/>
        </inertial>
    </link>

    <joint name="LF_HAA" type="revolute">
        <parent link="base"/>
        <child link="LF_HAA"/>
        <axis xyz="1 0 0"/>
        <limit effort="80.0" velocity="20." />
        <origin rpy="0 0 0" xyz="0.2999 0.104 0.0"/>
    </joint>
    <link name="LF_HAA">
        <collision>
            <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
            <geometry>
                <cylinder length="0.05" radius="0.04"/>
            </geometry>
        </collision>
        <inertial>
            <origin rpy="0 0 0" xyz="0 0 0.00046"/>
            <mass value="2.04"/>
            <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
        </inertial>
    </link>
    <joint name="LF_HFE" type="revolute">
        <parent link="LF_HAA"/>
        <child link="LF_THIGH"/>
        <origin rpy="0 0 1.57079632679" xyz="0 0.05 0"/>
        <axis xyz="1 0 0"/>
        <limit effort="80.0" velocity="20." />
        <dynamics damping="0.0" friction="0.0"/>
    </joint>
    <link name="LF_THIGH">
        <collision>
            <origin rpy="0 0 0" xyz="0 0 -0.125"/>
            <geometry>
                <cylinder length="0.25" radius="0.02"/>
            </geometry>
        </collision>
        <inertial>
            <origin rpy="0 0 0" xyz="0 0 -0.125"/>
            <mass value="2.04"/>
            <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
        </inertial>
    </link>
    <joint name="LF_KFE" type="revolute">
        <parent link="LF_THIGH"/>
        <child link="LF_SHANK"/>
        <origin rpy="0 0 0" xyz="0 0.0 -0.25"/>
        <axis xyz="1 0 0"/>
        <limit effort="80.0" velocity="20." />
        <dynamics damping="0.0" friction="0.0"/>
    </joint>
    <link name="LF_SHANK">
        <collision>
            <origin rpy="0 0 0" xyz="0 0 -0.125"/>
            <geometry>
                <cylinder length="0.25" radius="0.02"/>
            </geometry>
        </collision>
        <inertial>
            <origin rpy="0 0 0" xyz="0 0 -0.125"/>
            <mass value="2.04"/>
            <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
        </inertial>
    </link>
    <joint name="RF_HAA" type="revolute">
        <parent link="base"/>
        <child link="RF_HAA"/>
        <axis xyz="1 0 0"/>
        <limit effort="80.0" velocity="20." />
        <origin rpy="0 0 0" xyz="0.2999 -0.104 0.0"/>
    </joint>
    <link name="RF_HAA">
        <collision>
            <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
            <geometry>
                <cylinder length="0.05" radius="0.04"/>
            </geometry>
        </collision>
        <inertial>
            <origin rpy="0 0 0" xyz="0 0 0.00046"/>
            <mass value="2.04"/>
            <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
        </inertial>
    </link>
    <joint name="RF_HFE" type="revolute">
        <parent link="RF_HAA"/>
        <child link="RF_THIGH"/>
        <origin rpy="0 0 -1.57079632679" xyz="0 -0.05 0"/>
        <axis xyz="1 0 0"/>
        <limit effort="80.0" velocity="20." />
        <dynamics damping="0.0" friction="0.0"/>
    </joint>
    <link name="RF_THIGH">
        <collision>
            <origin rpy="0 0 0" xyz="0 0 -0.125"/>
            <geometry>
                <cylinder length="0.25" radius="0.02"/>
            </geometry>
        </collision>
        <inertial>
            <origin rpy="0 0 0" xyz="0 0 -0.125"/>
            <mass value="2.04"/>
            <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
        </inertial>
    </link>
    <joint name="RF_KFE" type="revolute">
        <parent link="RF_THIGH"/>
        <child link="RF_SHANK"/>
        <origin rpy="0 0 0" xyz="0 0.0 -0.25"/>
        <axis xyz="1 0 0"/>
        <limit effort="80.0" velocity="20." />
        <dynamics damping="0.0" friction="0.0"/>
    </joint>
    <link name="RF_SHANK">
        <collision>
            <origin rpy="0 0 0" xyz="0 0 -0.125"/>
            <geometry>
                <cylinder length="0.25" radius="0.02"/>
            </geometry>
        </collision>
        <inertial>
            <origin rpy="0 0 0" xyz="0 0 -0.125"/>
            <mass value="2.04"/>
            <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
        </inertial>
    </link>

    <joint name="LH_HAA" type="revolute">
        <parent link="base"/>
        <child link="LH_HAA"/>
        <axis xyz="1 0 0"/>
        <limit effort="80.0" velocity="20." />
        <origin rpy="0 0 3.1415" xyz="-0.2999 0.104 0.0"/>
    </joint>
    <link name="LH_HAA">
        <collision>
            <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
            <geometry>
                <cylinder length="0.05" radius="0.04"/>
            </geometry>
        </collision>
        <inertial>
            <origin rpy="0 0 0" xyz="0 0 0.00046"/>
            <mass value="2.04"/>
            <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
        </inertial>
    </link>
    <joint name="LH_HFE" type="revolute">
        <parent link="LH_HAA"/>
        <child link="LH_THIGH"/>
        <origin rpy="0 0 1.57079632679" xyz="0 -0.05 0"/>
        <axis xyz="1 0 0"/>
        <limit effort="80.0" velocity="20." />
        <dynamics damping="0.0" friction="0.0"/>
    </joint>
    <link name="LH_THIGH">
        <collision>
            <origin rpy="0 0 0" xyz="0 0 -0.125"/>
            <geometry>
                <cylinder length="0.25" radius="0.02"/>
            </geometry>
        </collision>
        <inertial>
            <origin rpy="0 0 0" xyz="0 0 -0.125"/>
            <mass value="2.04"/>
            <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
        </inertial>
    </link>
    <joint name="LH_KFE" type="revolute">
        <parent link="LH_THIGH"/>
        <child link="LH_SHANK"/>
        <origin rpy="0 0 0" xyz="0 0.0 -0.25"/>
        <axis xyz="1 0 0"/>
        <limit effort="80.0" velocity="20." />
        <dynamics damping="0.0" friction="0.0"/>
    </joint>
    <link name="LH_SHANK">
        <collision>
            <origin rpy="0 0 0" xyz="0 0 -0.125"/>
            <geometry>
                <cylinder length="0.25" radius="0.02"/>
            </geometry>
        </collision>
        <inertial>
            <origin rpy="0 0 0" xyz="0 0 -0.125"/>
            <mass value="2.04"/>
            <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
        </inertial>
    </link>
    <joint name="RH_HAA" type="revolute">
        <parent link="base"/>
        <child link="RH_HAA"/>
        <axis xyz="1 0 0"/>
        <limit effort="80.0" velocity="20." />
        <origin rpy="0 0 3.1415" xyz="-0.2999 -0.104 0.0"/>
    </joint>
    <link name="RH_HAA">
        <collision>
            <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
            <geometry>
                <cylinder length="0.05" radius="0.04"/>
            </geometry>
        </collision>
        <inertial>
            <origin rpy="0 0 0" xyz="0 0 0.00046"/>
            <mass value="2.04"/>
            <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
        </inertial>
    </link>
    <joint name="RH_HFE" type="revolute">
        <parent link="RH_HAA"/>
        <child link="RH_THIGH"/>
        <origin rpy="0 0 -1.57079632679" xyz="0 0.05 0"/>
        <axis xyz="1 0 0"/>
        <limit effort="80.0" velocity="20." />
        <dynamics damping="0.0" friction="0.0"/>
    </joint>
    <link name="RH_THIGH">
        <collision>
            <origin rpy="0 0 0" xyz="0 0 -0.125"/>
            <geometry>
                <cylinder length="0.25" radius="0.02"/>
            </geometry>
        </collision>
        <inertial>
            <origin rpy="0 0 0" xyz="0 0 -0.125"/>
            <mass value="2.04"/>
            <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
        </inertial>
    </link>
    <joint name="RH_KFE" type="revolute">
        <parent link="RH_THIGH"/>
        <child link="RH_SHANK"/>
        <origin rpy="0 0 0" xyz="0 0.0 -0.25"/>
        <axis xyz="1 0 0"/>
        <limit effort="80.0" velocity="20." />
        <dynamics damping="0.0" friction="0.0"/>
    </joint>
    <link name="RH_SHANK">
        <collision>
            <origin rpy="0 0 0" xyz="0 0 -0.125"/>
            <geometry>
                <cylinder length="0.25" radius="0.02"/>
            </geometry>
        </collision>
        <inertial>
            <origin rpy="0 0 0" xyz="0 0 -0.125"/>
            <mass value="2.04"/>
            <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
        </inertial>
    </link>

</robot>