minitaur_constrained.sdf

<?xml version='1.0'?>

<!-- 
MIT License (modified)

Copyright (c) 2018 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <vvasilo@seas.upenn.edu>

Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
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<sdf version='1.6'>
  <model name='minitaur_constrained'>
    <link name='base_chassis_link_dummy'>
      <pose frame=''>0 0 0 0 -0 0</pose>
      <inertial>
        <pose frame=''>0 -0.001049 -0.005375 0 -0 0</pose>
        <mass>4.956</mass>
        <inertia>
          <ixx>0.0612569</ixx>
          <ixy>-2.18416e-20</ixy>
          <ixz>-5.76859e-20</ixz>
          <iyy>0.175533</iyy>
          <iyz>-6.82484e-05</iyz>
          <izz>0.225818</izz>
        </inertia>
      </inertial>
      <collision name='base_chassis_link_dummy_collision'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.33 0.1855 0.08</size>
          </box>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <collision name='base_chassis_link_dummy_collision_1'>
        <pose frame=''>0 0.1 -0.014 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.17 0.1 0.05</size>
          </box>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <collision name='base_chassis_link_dummy_collision_2'>
        <pose frame=''>0 -0.1 -0.014 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.17 0.1 0.05</size>
          </box>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <collision name='base_chassis_link_dummy_fixed_joint_lump__base_chassis_link_collision_3'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.33 0.1855 0.08</size>
          </box>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <collision name='base_chassis_link_dummy_fixed_joint_lump__base_chassis_link_collision_4'>
        <pose frame=''>0 0.1 -0.014 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.17 0.1 0.05</size>
          </box>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <collision name='base_chassis_link_dummy_fixed_joint_lump__base_chassis_link_collision_5'>
        <pose frame=''>0 -0.1 -0.014 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.17 0.1 0.05</size>
          </box>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <collision name='base_chassis_link_dummy_fixed_joint_lump__chassis_left_collision_6'>
        <pose frame=''>0.2375 0.0775 -0.0185 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.068 0.032 0.05</size>
          </box>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <collision name='base_chassis_link_dummy_fixed_joint_lump__chassis_left_collision_7'>
        <pose frame=''>-0.2375 0.0775 -0.0185 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.068 0.032 0.05</size>
          </box>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <collision name='base_chassis_link_dummy_fixed_joint_lump__chassis_right_collision_8'>
        <pose frame=''>0.2375 -0.0775 -0.0185 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.068 0.032 0.05</size>
          </box>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <collision name='base_chassis_link_dummy_fixed_joint_lump__chassis_right_collision_9'>
        <pose frame=''>-0.2375 -0.0775 -0.0185 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.068 0.032 0.05</size>
          </box>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <collision name='base_chassis_link_dummy_fixed_joint_lump__frame1_collision_10'>
        <pose frame=''>0.0175 -0.154 -0.0185 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.468 0.012 0.05</size>
          </box>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <collision name='base_chassis_link_dummy_fixed_joint_lump__frame2_collision_11'>
        <pose frame=''>0.0175 0.154 -0.0185 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.468 0.012 0.05</size>
          </box>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <collision name='base_chassis_link_dummy_fixed_joint_lump__frame3_collision_12'>
        <pose frame=''>-0.0175 -0.099 -0.0185 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.468 0.012 0.05</size>
          </box>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <collision name='base_chassis_link_dummy_fixed_joint_lump__frame4_collision_13'>
        <pose frame=''>-0.0175 0.099 -0.0185 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.468 0.012 0.05</size>
          </box>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <collision name='base_chassis_link_dummy_fixed_joint_lump__motor_back_leftL_bracket_link_collision_14'>
        <pose frame=''>-0.2375 0.174 -0.0185 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.068 0.032 0.05</size>
          </box>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <collision name='base_chassis_link_dummy_fixed_joint_lump__motor_back_rightR_bracket_link_collision_15'>
        <pose frame=''>-0.2375 -0.174 -0.0185 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.068 0.032 0.05</size>
          </box>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <collision name='base_chassis_link_dummy_fixed_joint_lump__motor_front_leftL_bracket_link_collision_16'>
        <pose frame=''>0.2375 0.174 -0.0185 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.068 0.032 0.05</size>
          </box>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <collision name='base_chassis_link_dummy_fixed_joint_lump__motor_front_rightR_bracket_link_collision_17'>
        <pose frame=''>0.2375 -0.174 -0.0185 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.068 0.032 0.05</size>
          </box>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <visual name='base_chassis_link_dummy_visual'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.33 0.1855 0.08</size>
          </box>
        </geometry>
        <material>
          <script>
            <name>Gazebo/FlatBlack</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <visual name='base_chassis_link_dummy_visual_1'>
        <pose frame=''>0 0.1 -0.014 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.17 0.1 0.05</size>
          </box>
        </geometry>
        <material>
          <script>
            <name>Gazebo/FlatBlack</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <visual name='base_chassis_link_dummy_visual_2'>
        <pose frame=''>0 -0.1 -0.014 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.17 0.1 0.05</size>
          </box>
        </geometry>
        <material>
          <script>
            <name>Gazebo/FlatBlack</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <visual name='base_chassis_link_dummy_fixed_joint_lump__base_chassis_link_visual_3'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.33 0.1855 0.08</size>
          </box>
        </geometry>
        <material>
          <script>
            <name>Gazebo/FlatBlack</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <visual name='base_chassis_link_dummy_fixed_joint_lump__base_chassis_link_visual_4'>
        <pose frame=''>0 0.1 -0.014 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.17 0.1 0.05</size>
          </box>
        </geometry>
        <material>
          <script>
            <name>Gazebo/FlatBlack</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <visual name='base_chassis_link_dummy_fixed_joint_lump__base_chassis_link_visual_5'>
        <pose frame=''>0 -0.1 -0.014 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.17 0.1 0.05</size>
          </box>
        </geometry>
        <material>
          <script>
            <name>Gazebo/FlatBlack</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <visual name='base_chassis_link_dummy_fixed_joint_lump__chassis_left_visual_6'>
        <pose frame=''>0.2375 0.0775 -0.0185 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.068 0.032 0.05</size>
          </box>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Black</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <visual name='base_chassis_link_dummy_fixed_joint_lump__chassis_left_visual_7'>
        <pose frame=''>-0.2375 0.0775 -0.0185 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.068 0.032 0.05</size>
          </box>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Black</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <visual name='base_chassis_link_dummy_fixed_joint_lump__chassis_right_visual_8'>
        <pose frame=''>0.2375 -0.0775 -0.0185 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.068 0.032 0.05</size>
          </box>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Black</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <visual name='base_chassis_link_dummy_fixed_joint_lump__chassis_right_visual_9'>
        <pose frame=''>-0.2375 -0.0775 -0.0185 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.068 0.032 0.05</size>
          </box>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Black</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <visual name='base_chassis_link_dummy_fixed_joint_lump__frame1_visual_10'>
        <pose frame=''>0.0175 -0.154 -0.0185 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.468 0.012 0.05</size>
          </box>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Grey</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <visual name='base_chassis_link_dummy_fixed_joint_lump__frame2_visual_11'>
        <pose frame=''>0.0175 0.154 -0.0185 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.468 0.012 0.05</size>
          </box>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Grey</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <visual name='base_chassis_link_dummy_fixed_joint_lump__frame3_visual_12'>
        <pose frame=''>-0.0175 -0.099 -0.0185 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.468 0.012 0.05</size>
          </box>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Grey</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <visual name='base_chassis_link_dummy_fixed_joint_lump__frame4_visual_13'>
        <pose frame=''>-0.0175 0.099 -0.0185 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.468 0.012 0.05</size>
          </box>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Grey</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <visual name='base_chassis_link_dummy_fixed_joint_lump__motor_back_leftL_bracket_link_visual_14'>
        <pose frame=''>-0.2375 0.174 -0.0185 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.068 0.032 0.05</size>
          </box>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Black</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <visual name='base_chassis_link_dummy_fixed_joint_lump__motor_back_rightR_bracket_link_visual_15'>
        <pose frame=''>-0.2375 -0.174 -0.0185 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.068 0.032 0.05</size>
          </box>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Black</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <visual name='base_chassis_link_dummy_fixed_joint_lump__motor_front_leftL_bracket_link_visual_16'>
        <pose frame=''>0.2375 0.174 -0.0185 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.068 0.032 0.05</size>
          </box>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Black</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <visual name='base_chassis_link_dummy_fixed_joint_lump__motor_front_rightR_bracket_link_visual_17'>
        <pose frame=''>0.2375 -0.174 -0.0185 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.068 0.032 0.05</size>
          </box>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Black</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <velocity_decay/>
      <velocity_decay/>
      <velocity_decay/>
      <velocity_decay/>
      <velocity_decay/>
      <velocity_decay/>
      <velocity_decay/>
      <velocity_decay/>
      <velocity_decay/>
      <velocity_decay/>
      <velocity_decay/>
      <gravity>1</gravity>
      <velocity_decay/>
      <self_collide>0</self_collide>
    </link>
    <link name='motor_front_leftR_link'>
      <pose frame=''>0.2375 0.099 -0.0185 1.57075 1.57075 0</pose>
      <inertial>
        <pose frame=''>0 0.0075 -0.002417 0 -0 0</pose>
        <mass>0.3</mass>
        <inertia>
          <ixx>0.000245875</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.000126333</iyy>
          <iyz>2.71857e-05</iyz>
          <izz>0.000344223</izz>
        </inertia>
      </inertial>
      <collision name='motor_front_leftR_link_collision'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <geometry>
          <cylinder>
            <length>0.021</length>
            <radius>0.0425</radius>
          </cylinder>
        </geometry>
      </collision>
      <collision name='motor_front_leftR_link_fixed_joint_lump__upper_leg_front_leftR_link_collision_1'>
        <pose frame=''>0 0.045 -0.0145 -1.57075 0 0</pose>
        <geometry>
          <box>
            <size>0.039 0.008 0.1</size>
          </box>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <visual name='motor_front_leftR_link_visual'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>100 100 100</scale>
            <uri>model://minitaur_constrained/../../meshes/tmotor3.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <visual name='motor_front_leftR_link_fixed_joint_lump__upper_leg_front_leftR_link_visual_1'>
        <pose frame=''>0 0.045 -0.0145 -1.57075 0 0</pose>
        <geometry>
          <box>
            <size>0.039 0.008 0.1</size>
          </box>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Grey</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <gravity>1</gravity>
      <velocity_decay/>
      <self_collide>0</self_collide>
    </link>
    <joint name='1' type='revolute'>
      <child>motor_front_leftR_link</child>
      <parent>base_chassis_link_dummy</parent>
      <axis>
        <xyz>4.6e-05 -1 0</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>
    <link name='lower_leg_front_leftR_link'>
      <pose frame=''>0.332499 0.122002 -0.018496 -3.14159 -0.523343 -3.14159</pose>
      <inertial>
        <pose frame=''>0 0 0.1 0 -0 0</pose>
        <mass>0.05</mass>
        <inertia>
          <ixx>0.00032459</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.00032637</iyy>
          <iyz>0</iyz>
          <izz>2.178e-06</izz>
        </inertia>
      </inertial>
      <collision name='lower_leg_front_leftR_link_collision'>
        <pose frame=''>0 0 0.1 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.017 0.009 0.2</size>
          </box>
        </geometry>
        <surface>
          <bounce>
            <restitution_coefficient>0</restitution_coefficient>
            <threshold>1e+06</threshold>
          </bounce>
          <friction>
            <torsional>
              <coefficient>0.05</coefficient>
            </torsional>
            <bullet>
              <rolling_friction>0.05</rolling_friction>
            </bullet>
            <ode/>
          </friction>
          <contact>
            <ode>
              <kp>3000</kp>
              <kd>100</kd>
            </ode>
            <bullet>
              <kp>3000</kp>
              <kd>100</kd>
              <split_impulse>1</split_impulse>
              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
            </bullet>
          </contact>
        </surface>
      </collision>
      <visual name='lower_leg_front_leftR_link_visual'>
        <pose frame=''>0 0 0.1 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.017 0.009 0.2</size>
          </box>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Grey</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <gravity>1</gravity>
      <velocity_decay/>
      <self_collide>0</self_collide>
    </link>
    <joint name='9' type='universal'>
      <child>lower_leg_front_leftR_link</child>
      <parent>motor_front_leftR_link</parent>
      <axis>
        <xyz>-0 1 -0</xyz>
        <limit>
          <lower>-2.000</lower>
          <upper>1.000</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
      <axis2>
        <xyz>1 0 0</xyz>
        <limit>
          <lower>-0.02</lower>
          <upper>0.02</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis2>
    </joint>
    <link name='motor_back_leftR_link'>
      <pose frame=''>-0.2375 0.099 -0.0185 1.57075 1.57075 0</pose>
      <inertial>
        <pose frame=''>0 0.0075 -0.002417 0 -0 0</pose>
        <mass>0.3</mass>
        <inertia>
          <ixx>0.000245875</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.000126333</iyy>
          <iyz>2.71857e-05</iyz>
          <izz>0.000344223</izz>
        </inertia>
      </inertial>
      <collision name='motor_back_leftR_link_collision'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <geometry>
          <cylinder>
            <length>0.021</length>
            <radius>0.0425</radius>
          </cylinder>
        </geometry>
      </collision>
      <collision name='motor_back_leftR_link_fixed_joint_lump__upper_leg_back_leftR_link_collision_1'>
        <pose frame=''>0 0.045 -0.0145 -1.57075 0 0</pose>
        <geometry>
          <box>
            <size>0.039 0.008 0.1</size>
          </box>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <visual name='motor_back_leftR_link_visual'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>100 100 100</scale>
            <uri>model://minitaur_constrained/../../meshes/tmotor3.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <visual name='motor_back_leftR_link_fixed_joint_lump__upper_leg_back_leftR_link_visual_1'>
        <pose frame=''>0 0.045 -0.0145 -1.57075 0 0</pose>
        <geometry>
          <box>
            <size>0.039 0.008 0.1</size>
          </box>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Grey</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <gravity>1</gravity>
      <velocity_decay/>
      <self_collide>0</self_collide>
    </link>
    <joint name='3' type='revolute'>
      <child>motor_back_leftR_link</child>
      <parent>base_chassis_link_dummy</parent>
      <axis>
        <xyz>4.6e-05 -1 0</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>
    <link name='lower_leg_back_leftR_link'>
      <pose frame=''>-0.142501 0.122002 -0.018496 -3.14159 -0.523343 -3.14159</pose>
      <inertial>
        <pose frame=''>0 0 0.1 0 -0 0</pose>
        <mass>0.05</mass>
        <inertia>
          <ixx>0.00032459</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.00032637</iyy>
          <iyz>0</iyz>
          <izz>2.178e-06</izz>
        </inertia>
      </inertial>
      <collision name='lower_leg_back_leftR_link_collision'>
        <pose frame=''>0 0 0.1 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.017 0.009 0.2</size>
          </box>
        </geometry>
        <surface>
          <bounce>
            <restitution_coefficient>0</restitution_coefficient>
            <threshold>1e+06</threshold>
          </bounce>
          <friction>
            <torsional>
              <coefficient>0.05</coefficient>
            </torsional>
            <bullet>
              <rolling_friction>0.05</rolling_friction>
            </bullet>
            <ode/>
          </friction>
          <contact>
            <ode>
              <kp>3000</kp>
              <kd>100</kd>
            </ode>
            <bullet>
              <kp>3000</kp>
              <kd>100</kd>
              <split_impulse>1</split_impulse>
              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
            </bullet>
          </contact>
        </surface>
      </collision>
      <visual name='lower_leg_back_leftR_link_visual'>
        <pose frame=''>0 0 0.1 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.017 0.009 0.2</size>
          </box>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Grey</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <gravity>1</gravity>
      <velocity_decay/>
      <self_collide>0</self_collide>
    </link>
    <joint name='11' type='universal'>
      <child>lower_leg_back_leftR_link</child>
      <parent>motor_back_leftR_link</parent>
      <axis>
        <xyz>-0 1 -0</xyz>
        <limit>
          <lower>-2.000</lower>
          <upper>1.000</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
      <axis2>
        <xyz>1 0 0</xyz>
        <limit>
          <lower>-0.02</lower>
          <upper>0.02</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis2>
    </joint>
    <link name='motor_front_rightL_link'>
      <pose frame=''>0.2375 -0.099 -0.0185 1.57075 1.57075 0</pose>
      <inertial>
        <pose frame=''>0 0.0075 0.002417 0 -0 0</pose>
        <mass>0.3</mass>
        <inertia>
          <ixx>0.000245875</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.000126333</iyy>
          <iyz>-2.71893e-05</iyz>
          <izz>0.000344223</izz>
        </inertia>
      </inertial>
      <collision name='motor_front_rightL_link_collision'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <geometry>
          <cylinder>
            <length>0.021</length>
            <radius>0.0425</radius>
          </cylinder>
        </geometry>
      </collision>
      <collision name='motor_front_rightL_link_fixed_joint_lump__upper_leg_front_rightL_link_collision_1'>
        <pose frame=''>0 0.045 0.0145 -1.57075 0 0</pose>
        <geometry>
          <box>
            <size>0.039 0.008 0.1</size>
          </box>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <visual name='motor_front_rightL_link_visual'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>100 100 100</scale>
            <uri>model://minitaur_constrained/../../meshes/tmotor3.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <visual name='motor_front_rightL_link_fixed_joint_lump__upper_leg_front_rightL_link_visual_1'>
        <pose frame=''>0 0.045 0.0145 -1.57075 0 0</pose>
        <geometry>
          <box>
            <size>0.039 0.008 0.1</size>
          </box>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Grey</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <gravity>1</gravity>
      <velocity_decay/>
      <self_collide>0</self_collide>
    </link>
    <joint name='4' type='revolute'>
      <child>motor_front_rightL_link</child>
      <parent>base_chassis_link_dummy</parent>
      <axis>
        <xyz>-4.6e-05 1 -0</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>
    <link name='lower_leg_front_rightL_link'>
      <pose frame=''>0.332501 -0.121998 -0.018496 -3.14159 -0.523343 -3.14159</pose>
      <inertial>
        <pose frame=''>0 0 0.1 0 -0 0</pose>
        <mass>0.05</mass>
        <inertia>
          <ixx>0.00032459</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.00032637</iyy>
          <iyz>0</iyz>
          <izz>2.178e-06</izz>
        </inertia>
      </inertial>
      <collision name='lower_leg_front_rightL_link_collision'>
        <pose frame=''>0 0 0.1 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.017 0.009 0.2</size>
          </box>
        </geometry>
        <surface>
          <bounce>
            <restitution_coefficient>0</restitution_coefficient>
            <threshold>1e+06</threshold>
          </bounce>
          <friction>
            <torsional>
              <coefficient>0.05</coefficient>
            </torsional>
            <bullet>
              <rolling_friction>0.05</rolling_friction>
            </bullet>
            <ode/>
          </friction>
          <contact>
            <ode>
              <kp>3000</kp>
              <kd>100</kd>
            </ode>
            <bullet>
              <kp>3000</kp>
              <kd>100</kd>
              <split_impulse>1</split_impulse>
              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
            </bullet>
          </contact>
        </surface>
      </collision>
      <visual name='lower_leg_front_rightL_link_visual'>
        <pose frame=''>0 0 0.1 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.017 0.009 0.2</size>
          </box>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Grey</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <gravity>1</gravity>
      <velocity_decay/>
      <self_collide>0</self_collide>
    </link>
    <joint name='12' type='universal'>
      <child>lower_leg_front_rightL_link</child>
      <parent>motor_front_rightL_link</parent>
      <axis>
        <xyz>0 -1 0</xyz>
        <limit>
          <lower>-1.000</lower>
          <upper>2.000</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
      <axis2>
        <xyz>-1 0 0</xyz>
        <limit>
          <lower>-0.02</lower>
          <upper>0.02</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis2>
    </joint>
    <link name='motor_back_rightL_link'>
      <pose frame=''>-0.2375 -0.099 -0.0185 1.57075 1.57075 0</pose>
      <inertial>
        <pose frame=''>0 0.0075 0.002417 0 -0 0</pose>
        <mass>0.3</mass>
        <inertia>
          <ixx>0.000245875</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.000126333</iyy>
          <iyz>-2.71893e-05</iyz>
          <izz>0.000344223</izz>
        </inertia>
      </inertial>
      <collision name='motor_back_rightL_link_collision'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <geometry>
          <cylinder>
            <length>0.021</length>
            <radius>0.0425</radius>
          </cylinder>
        </geometry>
      </collision>
      <collision name='motor_back_rightL_link_fixed_joint_lump__upper_leg_back_rightL_link_collision_1'>
        <pose frame=''>0 0.045 0.0145 -1.57075 0 0</pose>
        <geometry>
          <box>
            <size>0.039 0.008 0.1</size>
          </box>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <visual name='motor_back_rightL_link_visual'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>100 100 100</scale>
            <uri>model://minitaur_constrained/../../meshes/tmotor3.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <visual name='motor_back_rightL_link_fixed_joint_lump__upper_leg_back_rightL_link_visual_1'>
        <pose frame=''>0 0.045 0.0145 -1.57075 0 0</pose>
        <geometry>
          <box>
            <size>0.039 0.008 0.1</size>
          </box>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Grey</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <gravity>1</gravity>
      <velocity_decay/>
      <self_collide>0</self_collide>
    </link>
    <joint name='6' type='revolute'>
      <child>motor_back_rightL_link</child>
      <parent>base_chassis_link_dummy</parent>
      <axis>
        <xyz>-4.6e-05 1 -0</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>
    <link name='lower_leg_back_rightL_link'>
      <pose frame=''>-0.142499 -0.121998 -0.018496 -3.14159 -0.523343 -3.14159</pose>
      <inertial>
        <pose frame=''>0 0 0.1 0 -0 0</pose>
        <mass>0.05</mass>
        <inertia>
          <ixx>0.00032459</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.00032637</iyy>
          <iyz>0</iyz>
          <izz>2.178e-06</izz>
        </inertia>
      </inertial>
      <collision name='lower_leg_back_rightL_link_collision'>
        <pose frame=''>0 0 0.1 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.017 0.009 0.2</size>
          </box>
        </geometry>
        <surface>
          <bounce>
            <restitution_coefficient>0</restitution_coefficient>
            <threshold>1e+06</threshold>
          </bounce>
          <friction>
            <torsional>
              <coefficient>0.05</coefficient>
            </torsional>
            <bullet>
              <rolling_friction>0.05</rolling_friction>
            </bullet>
            <ode/>
          </friction>
          <contact>
            <ode>
              <kp>3000</kp>
              <kd>100</kd>
            </ode>
            <bullet>
              <kp>3000</kp>
              <kd>100</kd>
              <split_impulse>1</split_impulse>
              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
            </bullet>
          </contact>
        </surface>
      </collision>
      <visual name='lower_leg_back_rightL_link_visual'>
        <pose frame=''>0 0 0.1 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.017 0.009 0.2</size>
          </box>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Grey</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <gravity>1</gravity>
      <velocity_decay/>
      <self_collide>0</self_collide>
    </link>
    <joint name='14' type='universal'>
      <child>lower_leg_back_rightL_link</child>
      <parent>motor_back_rightL_link</parent>
      <axis>
        <xyz>0 -1 0</xyz>
        <limit>
          <lower>-1.000</lower>
          <upper>2.000</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
      <axis2>
        <xyz>-1 0 0</xyz>
        <limit>
          <lower>-0.02</lower>
          <upper>0.02</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis2>
    </joint>
    <link name='motor_back_leftL_link'>
      <pose frame=''>-0.2375 0.154 -0.0185 1.57075 -1.57075 0</pose>
      <inertial>
        <pose frame=''>0 0.0075 0.002417 0 -0 0</pose>
        <mass>0.3</mass>
        <inertia>
          <ixx>0.000245875</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.000126333</iyy>
          <iyz>-2.71893e-05</iyz>
          <izz>0.000344223</izz>
        </inertia>
      </inertial>
      <collision name='motor_back_leftL_link_collision'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <geometry>
          <cylinder>
            <length>0.021</length>
            <radius>0.0425</radius>
          </cylinder>
        </geometry>
      </collision>
      <collision name='motor_back_leftL_link_fixed_joint_lump__upper_leg_back_leftL_link_collision_1'>
        <pose frame=''>0 0.045 0.0145 -1.57075 0 0</pose>
        <geometry>
          <box>
            <size>0.039 0.008 0.1</size>
          </box>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <visual name='motor_back_leftL_link_visual'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>100 100 100</scale>
            <uri>model://minitaur_constrained/../../meshes/tmotor3.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <visual name='motor_back_leftL_link_fixed_joint_lump__upper_leg_back_leftL_link_visual_1'>
        <pose frame=''>0 0.045 0.0145 -1.57075 0 0</pose>
        <geometry>
          <box>
            <size>0.039 0.008 0.1</size>
          </box>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Grey</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <gravity>1</gravity>
      <velocity_decay/>
      <self_collide>0</self_collide>
    </link>
    <joint name='2' type='revolute'>
      <child>motor_back_leftL_link</child>
      <parent>base_chassis_link_dummy</parent>
      <axis>
        <xyz>4.6e-05 1 -0</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>
    <link name='lower_leg_back_leftL_link'>
      <pose frame=''>-0.332501 0.131002 -0.018496 -3.14159 0.523343 3.14159</pose>
      <inertial>
        <pose frame=''>0 0 0.144667 0 -0 0</pose>
        <mass>0.06</mass>
        <inertia>
          <ixx>0.000477723</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.000479503</iyy>
          <iyz>0</iyz>
          <izz>2.7178e-05</izz>
        </inertia>
      </inertial>
      <collision name='lower_leg_back_leftL_link_collision'>
        <pose frame=''>0 0 0.11 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.017 0.009 0.22</size>
          </box>
        </geometry>
        <surface>
          <bounce>
            <restitution_coefficient>0</restitution_coefficient>
            <threshold>1e+06</threshold>
          </bounce>
          <friction>
            <torsional>
              <coefficient>0.05</coefficient>
            </torsional>
            <bullet>
              <rolling_friction>0.05</rolling_friction>
            </bullet>
            <ode/>
          </friction>
          <contact>
            <ode>
              <kp>3000</kp>
              <kd>100</kd>
            </ode>
            <bullet>
              <kp>3000</kp>
              <kd>100</kd>
              <split_impulse>1</split_impulse>
              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
            </bullet>
          </contact>
        </surface>
      </collision>
      <collision name='toe1_collision'>
        <pose frame=''>0 0 0.22 0 -0 0</pose>
        <geometry>
          <sphere>
            <radius>0.015</radius>
          </sphere>
        </geometry>
        <surface>
          <bounce>
            <restitution_coefficient>0</restitution_coefficient>
            <threshold>1e+06</threshold>
          </bounce>
          <friction>
            <torsional>
              <coefficient>1.0</coefficient>
            </torsional>
            <ode>
              <mu>1.0</mu>
              <mu2>1.0</mu2>
            </ode>
            <bullet>
              <rolling_friction>1.0</rolling_friction>
              <friction2>1.0</friction2>
            </bullet>
          </friction>
          <contact>
            <ode>
              <kp>300000</kp>
              <kd>1000</kd>
            </ode>
            <bullet>
              <kp>300000</kp>
              <kd>1000</kd>
              <split_impulse>1</split_impulse>
              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
            </bullet>
          </contact>
        </surface>
      </collision>
      <sensor name="toe1_contact" type="contact">
        <plugin name="toe1_plugin" filename="libcontact.so"/>
        <contact>
          <collision>toe1_collision</collision>
        </contact>
      </sensor>
      <visual name='lower_leg_back_leftL_link_visual'>
        <pose frame=''>0 0 0.11 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.017 0.009 0.22</size>
          </box>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Grey</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <visual name='lower_leg_back_leftL_link_fixed_joint_lump__toe2_visual_1'>
        <pose frame=''>0 0 0.22 0 -0 0</pose>
        <geometry>
          <sphere>
            <radius>0.015</radius>
          </sphere>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Black</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <velocity_decay/>
      <gravity>1</gravity>
      <velocity_decay/>
      <self_collide>0</self_collide>
    </link>
    <joint name='10' type='universal'>
      <child>lower_leg_back_leftL_link</child>
      <parent>motor_back_leftL_link</parent>
      <axis>
        <xyz>-0 -1 0</xyz>
        <limit>
          <lower>-2.000</lower>
          <upper>1.000</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
      <axis2>
        <xyz>-1 0 0</xyz>
        <limit>
          <lower>-0.02</lower>
          <upper>0.02</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis2>
    </joint>
    <link name='motor_back_rightR_link'>
      <pose frame=''>-0.2375 -0.154 -0.0185 1.57075 -1.57075 0</pose>
      <inertial>
        <pose frame=''>0 0.0075 -0.002417 0 -0 0</pose>
        <mass>0.3</mass>
        <inertia>
          <ixx>0.000245875</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.000126333</iyy>
          <iyz>2.71857e-05</iyz>
          <izz>0.000344223</izz>
        </inertia>
      </inertial>
      <collision name='motor_back_rightR_link_collision'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <geometry>
          <cylinder>
            <length>0.021</length>
            <radius>0.0425</radius>
          </cylinder>
        </geometry>
      </collision>
      <collision name='motor_back_rightR_link_fixed_joint_lump__upper_leg_back_rightR_link_collision_1'>
        <pose frame=''>0 0.045 -0.0145 -1.57075 0 0</pose>
        <geometry>
          <box>
            <size>0.039 0.008 0.1</size>
          </box>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <visual name='motor_back_rightR_link_visual'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>100 100 100</scale>
            <uri>model://minitaur_constrained/../../meshes/tmotor3.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <visual name='motor_back_rightR_link_fixed_joint_lump__upper_leg_back_rightR_link_visual_1'>
        <pose frame=''>0 0.045 -0.0145 -1.57075 0 0</pose>
        <geometry>
          <box>
            <size>0.039 0.008 0.1</size>
          </box>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Grey</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <gravity>1</gravity>
      <velocity_decay/>
      <self_collide>0</self_collide>
    </link>
    <joint name='7' type='revolute'>
      <child>motor_back_rightR_link</child>
      <parent>base_chassis_link_dummy</parent>
      <axis>
        <xyz>-4.6e-05 -1 0</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>
    <link name='lower_leg_back_rightR_link'>
      <pose frame=''>-0.332499 -0.130998 -0.018496 -3.14159 0.523343 3.14159</pose>
      <inertial>
        <pose frame=''>0 0 0.144667 0 -0 0</pose>
        <mass>0.06</mass>
        <inertia>
          <ixx>0.000477723</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.000479503</iyy>
          <iyz>0</iyz>
          <izz>2.7178e-05</izz>
        </inertia>
      </inertial>
      <collision name='lower_leg_back_rightR_link_collision'>
        <pose frame=''>0 0 0.11 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.017 0.009 0.22</size>
          </box>
        </geometry>
        <surface>
          <bounce>
            <restitution_coefficient>0</restitution_coefficient>
            <threshold>1e+06</threshold>
          </bounce>
          <friction>
            <torsional>
              <coefficient>0.05</coefficient>
            </torsional>
            <bullet>
              <rolling_friction>0.05</rolling_friction>
            </bullet>
            <ode/>
          </friction>
          <contact>
            <ode>
              <kp>3000</kp>
              <kd>100</kd>
            </ode>
            <bullet>
              <kp>3000</kp>
              <kd>100</kd>
              <split_impulse>1</split_impulse>
              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
            </bullet>
          </contact>
        </surface>
      </collision>
      <collision name='toe3_collision'>
        <pose frame=''>0 0 0.22 0 -0 0</pose>
        <geometry>
          <sphere>
            <radius>0.015</radius>
          </sphere>
        </geometry>
        <surface>
          <bounce>
            <restitution_coefficient>0</restitution_coefficient>
            <threshold>1e+06</threshold>
          </bounce>
          <friction>
            <torsional>
              <coefficient>1.0</coefficient>
            </torsional>
            <ode>
              <mu>1.0</mu>
              <mu2>1.0</mu2>
            </ode>
            <bullet>
              <rolling_friction>1.0</rolling_friction>
              <friction2>1.0</friction2>
            </bullet>
          </friction>
          <contact>
            <ode>
              <kp>300000</kp>
              <kd>1000</kd>
            </ode>
            <bullet>
              <kp>300000</kp>
              <kd>1000</kd>
              <split_impulse>1</split_impulse>
              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
            </bullet>
          </contact>
        </surface>
      </collision>
      <sensor name="toe3_contact" type="contact">
        <plugin name="toe3_plugin" filename="libcontact.so"/>
        <contact>
          <collision>toe3_collision</collision>
        </contact>
      </sensor>
      <visual name='lower_leg_back_rightR_link_visual'>
        <pose frame=''>0 0 0.11 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.017 0.009 0.22</size>
          </box>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Grey</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <visual name='lower_leg_back_rightR_link_fixed_joint_lump__toe7_visual_1'>
        <pose frame=''>0 0 0.22 0 -0 0</pose>
        <geometry>
          <sphere>
            <radius>0.015</radius>
          </sphere>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Black</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <velocity_decay/>
      <gravity>1</gravity>
      <velocity_decay/>
      <self_collide>0</self_collide>
    </link>
    <joint name='15' type='universal'>
      <child>lower_leg_back_rightR_link</child>
      <parent>motor_back_rightR_link</parent>
      <axis>
        <xyz>0 1 -0</xyz>
        <limit>
          <lower>-1.000</lower>
          <upper>2.000</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
      <axis2>
        <xyz>1 0 0</xyz>
        <limit>
          <lower>-0.02</lower>
          <upper>0.02</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis2>
    </joint>
    <link name='motor_front_leftL_link'>
      <pose frame=''>0.2375 0.154 -0.0185 1.57075 -1.57075 0</pose>
      <inertial>
        <pose frame=''>0 0.0075 0.002417 0 -0 0</pose>
        <mass>0.3</mass>
        <inertia>
          <ixx>0.000245875</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.000126333</iyy>
          <iyz>-2.71893e-05</iyz>
          <izz>0.000344223</izz>
        </inertia>
      </inertial>
      <collision name='motor_front_leftL_link_collision'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <geometry>
          <cylinder>
            <length>0.021</length>
            <radius>0.0425</radius>
          </cylinder>
        </geometry>
      </collision>
      <collision name='motor_front_leftL_link_fixed_joint_lump__upper_leg_front_leftL_link_collision_1'>
        <pose frame=''>0 0.045 0.0145 -1.57075 0 0</pose>
        <geometry>
          <box>
            <size>0.039 0.008 0.1</size>
          </box>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <visual name='motor_front_leftL_link_visual'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>100 100 100</scale>
            <uri>model://minitaur_constrained/../../meshes/tmotor3.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <visual name='motor_front_leftL_link_fixed_joint_lump__upper_leg_front_leftL_link_visual_1'>
        <pose frame=''>0 0.045 0.0145 -1.57075 0 0</pose>
        <geometry>
          <box>
            <size>0.039 0.008 0.1</size>
          </box>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Grey</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <gravity>1</gravity>
      <velocity_decay/>
      <self_collide>0</self_collide>
    </link>
    <joint name='0' type='revolute'>
      <child>motor_front_leftL_link</child>
      <parent>base_chassis_link_dummy</parent>
      <axis>
        <xyz>4.6e-05 1 -0</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>
    <link name='lower_leg_front_leftL_link'>
      <pose frame=''>0.142499 0.131002 -0.018496 -3.14159 0.523343 3.14159</pose>
      <inertial>
        <pose frame=''>0 0 0.144667 0 -0 0</pose>
        <mass>0.06</mass>
        <inertia>
          <ixx>0.000477723</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.000479503</iyy>
          <iyz>0</iyz>
          <izz>2.7178e-05</izz>
        </inertia>
      </inertial>
      <collision name='lower_leg_front_leftL_link_collision'>
        <pose frame=''>0 0 0.11 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.017 0.009 0.22</size>
          </box>
        </geometry>
        <surface>
          <bounce>
            <restitution_coefficient>0</restitution_coefficient>
            <threshold>1e+06</threshold>
          </bounce>
          <friction>
            <torsional>
              <coefficient>0.05</coefficient>
            </torsional>
            <bullet>
              <rolling_friction>0.05</rolling_friction>
            </bullet>
            <ode/>
          </friction>
          <contact>
            <ode>
              <kp>3000</kp>
              <kd>100</kd>
            </ode>
            <bullet>
              <kp>3000</kp>
              <kd>100</kd>
              <split_impulse>1</split_impulse>
              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
            </bullet>
          </contact>
        </surface>
      </collision>
      <collision name='toe0_collision'>
        <pose frame=''>0 0 0.22 0 -0 0</pose>
        <geometry>
          <sphere>
            <radius>0.015</radius>
          </sphere>
        </geometry>
        <surface>
          <bounce>
            <restitution_coefficient>0</restitution_coefficient>
            <threshold>1e+06</threshold>
          </bounce>
          <friction>
            <torsional>
              <coefficient>1.0</coefficient>
            </torsional>
            <ode>
              <mu>1.0</mu>
              <mu2>1.0</mu2>
            </ode>
            <bullet>
              <rolling_friction>1.0</rolling_friction>
              <friction2>1.0</friction2>
            </bullet>
          </friction>
          <contact>
            <ode>
              <kp>300000</kp>
              <kd>1000</kd>
            </ode>
            <bullet>
              <kp>300000</kp>
              <kd>1000</kd>
              <split_impulse>1</split_impulse>
              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
            </bullet>
          </contact>
        </surface>
      </collision>
      <sensor name="toe0_contact" type="contact">
        <plugin name="toe0_plugin" filename="libcontact.so"/>
        <contact>
          <collision>toe0_collision</collision>
        </contact>
      </sensor>
      <visual name='lower_leg_front_leftL_link_visual'>
        <pose frame=''>0 0 0.11 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.017 0.009 0.22</size>
          </box>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Grey</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <visual name='lower_leg_front_leftL_link_fixed_joint_lump__toe0_visual_1'>
        <pose frame=''>0 0 0.22 0 -0 0</pose>
        <geometry>
          <sphere>
            <radius>0.015</radius>
          </sphere>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Black</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <velocity_decay/>
      <gravity>1</gravity>
      <velocity_decay/>
      <self_collide>0</self_collide>
    </link>
    <joint name='8' type='universal'>
      <child>lower_leg_front_leftL_link</child>
      <parent>motor_front_leftL_link</parent>
      <axis>
        <xyz>-0 -1 0</xyz>
        <limit>
          <lower>-2.000</lower>
          <upper>1.000</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
      <axis2>
        <xyz>-1 0 0</xyz>
        <limit>
          <lower>-0.02</lower>
          <upper>0.02</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis2>
    </joint>
    <link name='motor_front_rightR_link'>
      <pose frame=''>0.2375 -0.154 -0.0185 1.57075 -1.57075 0</pose>
      <inertial>
        <pose frame=''>0 0.0075 -0.002417 0 -0 0</pose>
        <mass>0.3</mass>
        <inertia>
          <ixx>0.000245875</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.000126333</iyy>
          <iyz>2.71857e-05</iyz>
          <izz>0.000344223</izz>
        </inertia>
      </inertial>
      <collision name='motor_front_rightR_link_collision'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <geometry>
          <cylinder>
            <length>0.021</length>
            <radius>0.0425</radius>
          </cylinder>
        </geometry>
      </collision>
      <collision name='motor_front_rightR_link_fixed_joint_lump__upper_leg_front_rightR_link_collision_1'>
        <pose frame=''>0 0.045 -0.0145 -1.57075 0 0</pose>
        <geometry>
          <box>
            <size>0.039 0.008 0.1</size>
          </box>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <visual name='motor_front_rightR_link_visual'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>100 100 100</scale>
            <uri>model://minitaur_constrained/../../meshes/tmotor3.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <visual name='motor_front_rightR_link_fixed_joint_lump__upper_leg_front_rightR_link_visual_1'>
        <pose frame=''>0 0.045 -0.0145 -1.57075 0 0</pose>
        <geometry>
          <box>
            <size>0.039 0.008 0.1</size>
          </box>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Grey</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <gravity>1</gravity>
      <velocity_decay/>
      <self_collide>0</self_collide>
    </link>
    <joint name='5' type='revolute'>
      <child>motor_front_rightR_link</child>
      <parent>base_chassis_link_dummy</parent>
      <axis>
        <xyz>-4.6e-05 -1 0</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>
    <link name='lower_leg_front_rightR_link'>
      <pose frame=''>0.142501 -0.130998 -0.018496 -3.14159 0.523343 3.14159</pose>
      <inertial>
        <pose frame=''>0 0 0.144667 0 -0 0</pose>
        <mass>0.06</mass>
        <inertia>
          <ixx>0.000477723</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.000479503</iyy>
          <iyz>0</iyz>
          <izz>2.7178e-05</izz>
        </inertia>
      </inertial>
      <collision name='lower_leg_front_rightR_link_collision'>
        <pose frame=''>0 0 0.11 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.017 0.009 0.22</size>
          </box>
        </geometry>
        <surface>
          <bounce>
            <restitution_coefficient>0</restitution_coefficient>
            <threshold>1e+06</threshold>
          </bounce>
          <friction>
            <torsional>
              <coefficient>0.05</coefficient>
            </torsional>
            <bullet>
              <rolling_friction>0.05</rolling_friction>
            </bullet>
            <ode/>
          </friction>
          <contact>
            <ode>
              <kp>3000</kp>
              <kd>100</kd>
            </ode>
            <bullet>
              <kp>3000</kp>
              <kd>100</kd>
              <split_impulse>1</split_impulse>
              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
            </bullet>
          </contact>
        </surface>
      </collision>
      <collision name='toe2_collision'>
        <pose frame=''>0 0 0.22 0 -0 0</pose>
        <geometry>
          <sphere>
            <radius>0.015</radius>
          </sphere>
        </geometry>
        <surface>
          <bounce>
            <restitution_coefficient>0</restitution_coefficient>
            <threshold>1e+06</threshold>
          </bounce>
          <friction>
            <torsional>
              <coefficient>1.0</coefficient>
            </torsional>
            <ode>
              <mu>1.0</mu>
              <mu2>1.0</mu2>
            </ode>
            <bullet>
              <rolling_friction>1.0</rolling_friction>
              <friction2>1.0</friction2>
            </bullet>
          </friction>
          <contact>
            <ode>
              <kp>300000</kp>
              <kd>1000</kd>
            </ode>
            <bullet>
              <kp>300000</kp>
              <kd>1000</kd>
              <split_impulse>1</split_impulse>
              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
            </bullet>
          </contact>
        </surface>
      </collision>
      <sensor name="toe2_contact" type="contact">
        <plugin name="toe2_plugin" filename="libcontact.so"/>
        <contact>
          <collision>toe2_collision</collision>
        </contact>
      </sensor>
      <visual name='lower_leg_front_rightR_link_visual'>
        <pose frame=''>0 0 0.11 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.017 0.009 0.22</size>
          </box>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Grey</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <visual name='lower_leg_front_rightR_link_fixed_joint_lump__toe5_visual_1'>
        <pose frame=''>0 0 0.22 0 -0 0</pose>
        <geometry>
          <sphere>
            <radius>0.015</radius>
          </sphere>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Black</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <velocity_decay/>
      <gravity>1</gravity>
      <velocity_decay/>
      <self_collide>0</self_collide>
    </link>
    <joint name='13' type='universal'>
      <child>lower_leg_front_rightR_link</child>
      <parent>motor_front_rightR_link</parent>
      <axis>
        <xyz>0 1 -0</xyz>
        <limit>
          <lower>-1.000</lower>
          <upper>2.000</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
      <axis2>
        <xyz>1 0 0</xyz>
        <limit>
          <lower>-0.02</lower>
          <upper>0.02</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis2>
    </joint>
    <joint name='constraint_back_left' type='revolute'>
      <parent>lower_leg_back_leftL_link</parent>
      <child>lower_leg_back_leftR_link</child>
      <pose frame=''>0 0 0.19 0 -0 0</pose>
      <axis>
        <xyz>0 1 0</xyz>
        <use_parent_model_frame>0</use_parent_model_frame>
        <limit>
          <lower>-1.79769e+308</lower>
          <upper>1.79769e+308</upper>
          <effort>-1</effort>
          <velocity>-1</velocity>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
          <damping>0</damping>
        </dynamics>
      </axis>
      <physics>
        <ode>
          <limit>
            <cfm>0</cfm>
            <erp>0.2</erp>
          </limit>
          <suspension>
            <cfm>0</cfm>
            <erp>0.2</erp>
          </suspension>
        </ode>
      </physics>
    </joint>
    <joint name='constraint_back_right' type='revolute'>
      <parent>lower_leg_back_rightR_link</parent>
      <child>lower_leg_back_rightL_link</child>
      <pose frame=''>0 0 0.19 0 -0 0</pose>
      <axis>
        <xyz>-0 -1 -0</xyz>
        <use_parent_model_frame>0</use_parent_model_frame>
        <limit>
          <lower>-1.79769e+308</lower>
          <upper>1.79769e+308</upper>
          <effort>-1</effort>
          <velocity>-1</velocity>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
          <damping>0</damping>
        </dynamics>
      </axis>
      <physics>
        <ode>
          <limit>
            <cfm>0</cfm>
            <erp>0.2</erp>
          </limit>
          <suspension>
            <cfm>0</cfm>
            <erp>0.2</erp>
          </suspension>
        </ode>
      </physics>
    </joint>
    <joint name='constraint_front_left' type='revolute'>
      <parent>lower_leg_front_leftL_link</parent>
      <child>lower_leg_front_leftR_link</child>
      <pose frame=''>0 0 0.19 0 -0 0</pose>
      <axis>
        <xyz>0 1 0</xyz>
        <use_parent_model_frame>0</use_parent_model_frame>
        <limit>
          <lower>-1.79769e+308</lower>
          <upper>1.79769e+308</upper>
          <effort>-1</effort>
          <velocity>-1</velocity>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
          <damping>0</damping>
        </dynamics>
      </axis>
      <physics>
        <ode>
          <limit>
            <cfm>0</cfm>
            <erp>0.2</erp>
          </limit>
          <suspension>
            <cfm>0</cfm>
            <erp>0.2</erp>
          </suspension>
        </ode>
      </physics>
    </joint>
    <joint name='constraint_front_right' type='revolute'>
      <parent>lower_leg_front_rightR_link</parent>
      <child>lower_leg_front_rightL_link</child>
      <pose frame=''>0 0 0.19 0 -0 0</pose>
      <axis>
        <xyz>-0 -1 -0</xyz>
        <use_parent_model_frame>0</use_parent_model_frame>
        <limit>
          <lower>-1.79769e+308</lower>
          <upper>1.79769e+308</upper>
          <effort>-1</effort>
          <velocity>-1</velocity>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
          <damping>0</damping>
        </dynamics>
      </axis>
      <physics>
        <ode>
          <limit>
            <cfm>0</cfm>
            <erp>0.2</erp>
          </limit>
          <suspension>
            <cfm>0</cfm>
            <erp>0.2</erp>
          </suspension>
        </ode>
      </physics>
    </joint>
    <static>0</static>
    <plugin name='gazebo_ros_control' filename='libgazebo_ros_control.so'>
      <robotNamespace>/minitaur_constrained</robotNamespace>
    </plugin>
  </model>
</sdf>