<?xml version="1.0" ?>
<robot name="robot" >
		<material name="white">
			<color rgba="0.66 0.65 0.66 1" />
		</material>
  <link name="base_footprint" />
  <joint name="joint_footprint" type="fixed">
    <origin xyz="0 0 0" rpy="0 0 0" />
    <parent link="base_footprint"/>
    <child link="base_link"/>
  </joint>
  <link name="base_link">
    <visual>
      <origin xyz="0 0 0" rpy="1.5708 0 -1.5708" />
      <geometry>
        <mesh filename="package://robot_urdf/meshes/base_link.STL" scale="1 1 1"/>
      </geometry>
      <material name="">
        <color rgba="0.66 0.65 0.66 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="1.5708 0 -1.5708" />
      <geometry>
        <mesh filename="package://robot_urdf/meshes/base_link.STL" scale="1 1 1"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0 0 0.09258" rpy="0 0 0" />
      <mass value="0.989"/>
      <inertia ixx="0.8476774E-2" ixy="0" ixz="0" iyy="0.8476774E-2" iyz="0" izz="0" />
    </inertial>
  </link>
  <link name="hip_l">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 -1.5708" />
      <geometry>
        <mesh filename="package://robot_urdf/meshes/hip_l.STL" scale="1 1 1"/>
      </geometry>
      <material name="">
        <color  rgba="0.66 0.65 0.66 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 -1.5708" />
      <geometry>
        <mesh  filename="package://robot_urdf/meshes/hip_l.STL" scale="1 1 1"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0 0 0.030445" rpy="0 0 0" />
      <mass value="0.104"/>
      <inertia ixx="0.96397E-4" ixy="0" ixz="0" iyy="0.96397E-4" iyz="0" izz="0" />
    </inertial>
  </link>
  <joint name="hip_l_y"
    type="revolute">
    <axis xyz="0 0 1" />
    <limit effort="8.4" lower="-0.3" upper="0.8" velocity="4.7" />
    <origin xyz="0 0.056 0" rpy="0 0 0" />
    <parent link="base_link" />
    <child link="hip_l" />
  </joint>
  <link name="hip_l_2">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 1.5708" />
      <geometry>
        <mesh filename="package://robot_urdf/meshes/hip_l_2.STL" scale="1 1 1"/>
      </geometry>
      <material name="">
        <color rgba="0.66 0.65 0.66 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 1.5708" />
      <geometry>
        <mesh filename="package://robot_urdf/meshes/hip_l_2.STL" scale="1 1 1"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.014909 0 -0.020431" rpy="0 0 0" />
      <mass value="0.322"/>
      <inertia ixx="0.134411E-3" ixy="0" ixz="-0.98083E-4" iyy="0.205985E-3" iyz="0" izz="0.71574E-4" />
    </inertial>
  </link>
  <joint name="hip_l_r" type="revolute">
    <origin xyz="0.0225 0 0" rpy="0 1.5708 0" />
    <parent link="hip_l" />
    <child link="hip_l_2" />
    <axis xyz="0 0 1" />
    <limit effort="8.4" lower="-0.3" upper="1.5708" velocity="4.7" />
  </joint>
  <!--ros_control plugin -->
  <gazebo>
    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
      <robotNamespace>/robot</robotNamespace>
    </plugin>
  </gazebo>
  <transmission name="hip_l_y_transmission">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="hip_l_y">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="hip_l_y">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="hip_l_r_transmission">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="hip_l_r">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="hip_l_r">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <gazebo reference="base_link">
     <material>Gazebo/white</material>
  </gazebo>
  <gazebo reference="hip_l">
     <material>Gazebo/white</material>
  </gazebo>
  <gazebo reference="hip_l_2">
     <material>Gazebo/white</material>
  </gazebo>
</robot>