<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from robotis_op.urdf.xacro          | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="robotis_op2" xmlns:xacro="http://www.ros.org/wiki/xacro">
  <!-- unit conversions -->
  <!-- inventor sometimes gives ridiculous units -->
  <!-- such conversion factors make description easier to read -->
  <!-- unit conversions -->
  <!-- inventor sometimes gives ridiculous units -->
  <!-- such conversion factors make description easier to read -->
  <link name="base_link"/>
  <link name="MP_BODY">
    <inertial>
      <origin xyz="-0.003053 -0.038651 -0.019268"/>
      <mass value="0.97559947"/>
      <inertia ixx="0.001879411079" ixy="0.0" ixz="0.0" iyy="0.00175933104423" iyz="0.0" izz="0.00181176951575"/>
    </inertial>
    <collision>
      <origin rpy="0 0 0" xyz="-0.0235 0 -0.03525"/>
      <geometry>
        <box size="0.102 0.109 0.106"/>
      </geometry>
    </collision>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robotis_op_description/meshes/body.STL" scale="1 1 1"/>
      </geometry>
      <material name="grey"/>
    </visual>
  </link>
  <joint name="base_link_to_body" type="fixed">
    <parent link="base_link"/>
    <child link="MP_BODY"/>
    <origin rpy="0 0 0" xyz="0 0 0.35"/>
  </joint>
  <gazebo>
    <plugin filename="libhector_gazebo_ros_imu.so" name="gazebo_ros_imu">
      <bodyName>MP_BODY</bodyName>
      <updateRate>50</updateRate>
      <serviceName>/robotis_op/imu_service</serviceName>
      <topicName>/robotis_op/imu</topicName>
      <gaussianNoise>0</gaussianNoise>
      <xyzOffset>0 0 0</xyzOffset>
      <rpyOffset>0 0 -0.703220730592</rpyOffset>
    </plugin>
  </gazebo>
  <link name="MP_BACK_L">
    <inertial>
      <origin xyz="-0.0031158909 0.020443695 -0.019663084"/>
      <mass value="0.01"/>
      <inertia ixx="1.66666666667e-07" ixy="0.0" ixz="0.0" iyy="1.66666666667e-07" iyz="0.0" izz="1.66666666667e-07"/>
    </inertial>
    <collision>
      <origin xyz="-0.0031158909 0.020443695 -0.019663084"/>
      <geometry>
        <box scale="1 1 1" size="0.001 0.001 0.001"/>
      </geometry>
    </collision>
    <visual>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <box scale="1 1 1" size="0.001 0.001 0.001"/>
      </geometry>
      <xacro:grey/>
    </visual>
  </link>
  <link name="MP_SHOULDER_L">
    <inertial>
      <origin xyz="-0.013522619 -0.010264050 0.0013935747"/>
      <mass value="0.025913024"/>
      <inertia ixx="3.36377504399e-06" ixy="0.0" ixz="0.0" iyy="1.56497929465e-06" iyz="0.0" izz="2.90441810667e-06"/>
    </inertial>
    <collision>
      <origin xyz="-0.013522619 -0.010264050 0.0013935747"/>
      <geometry>
        <box size="0.016 0.033 0.02165"/>
      </geometry>
    </collision>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robotis_op_description/meshes/shoulder_l.STL" scale="1 1 1"/>
      </geometry>
      <xacro:grey/>
    </visual>
  </link>
  <link name="MP_ARM_HIGH_L">
    <inertial>
      <origin xyz="-0.036239 0.000734 0.000660"/>
      <mass value="0.16837715"/>
      <inertia ixx="3.15566841958e-05" ixy="0.0" ixz="0.0" iyy="6.77016457292e-05" iyz="0.0" izz="6.48813284667e-05"/>
    </inertial>
    <collision>
      <origin xyz="-0.036239 0.000734 0.000660"/>
      <geometry>
        <box size="0.06 0.032 0.035"/>
      </geometry>
    </collision>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robotis_op_description/meshes/arm_high_l.STL" scale="1 1 1"/>
      </geometry>
      <xacro:grey/>
    </visual>
  </link>
  <link name="MP_ARM_LOW_L">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0 0"/>
      <mass value="0.01"/>
      <inertia ixx="8.74166666667e-07" ixy="0.0" ixz="0.0" iyy="1.70666666667e-06" iyz="0.0" izz="8.74166666667e-07"/>
    </inertial>
    <collision>
      <origin rpy="0 0 0" xyz="0.016 0.016 0"/>
      <geometry>
        <box size="0.032 0.032 0.035"/>
      </geometry>
    </collision>
    <visual>
      <origin rpy="0 0 0" xyz="0.016 0.016 0"/>
      <geometry>
        <box size="0.032 0.032 0.035"/>
      </geometry>
      <xacro:grey/>
    </visual>
  </link>
  <link name="MP_ARM_GRIPPER_FIX_L">
    <inertial>
      <origin xyz="0.045838 -0.013490 0.006666"/>
      <mass value="0.01"/>
      <inertia ixx="8.74166666667e-07" ixy="0.0" ixz="0.0" iyy="1.70666666667e-06" iyz="0.0" izz="8.74166666667e-07"/>
    </inertial>
    <collision>
      <origin rpy="0 0 0" xyz="0.016 0 0"/>
      <geometry>
        <box size="0.064 0.032 0.032"/>
      </geometry>
    </collision>
    <visual>
      <origin rpy="0 0 0" xyz="0.016 0 0"/>
      <geometry>
        <box size="0.064 0.032 0.032"/>
      </geometry>
      <xacro:grey/>
    </visual>
  </link>
  <link name="MP_ARM_GRIPPER_FIX_DUMMY_L">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0 0"/>
      <mass value="0.01"/>
      <inertia ixx="8.74166666667e-07" ixy="0.0" ixz="0.0" iyy="1.70666666667e-06" iyz="0.0" izz="8.74166666667e-07"/>
    </inertial>
    <collision>
      <geometry>
        <box size="0.032 0.005 0.032"/>
      </geometry>
    </collision>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.032 0.005 0.032"/>
      </geometry>
      <xacro:grey/>
    </visual>
  </link>
  <link name="MP_ARM_GRIPPER_MOV_L">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0 0"/>
      <mass value="0.01"/>
      <inertia ixx="8.74166666667e-07" ixy="0.0" ixz="0.0" iyy="1.70666666667e-06" iyz="0.0" izz="8.74166666667e-07"/>
    </inertial>
    <collision name="COL_MP_ARM_GRIPPER_MOV_L">
      <origin rpy="0 0 0" xyz="0.016 0 0"/>
      <geometry>
        <box size="0.032 0.005 0.032"/>
      </geometry>
    </collision>
    <collision name="COL_MP_ARM_GRIPPER_MOV_EXT_L">
      <origin rpy="0 0 0" xyz="0.031 -0.0025 0"/>
      <geometry>
        <box size="0.002 0.01 0.032"/>
      </geometry>
    </collision>
    <visual name="VIS_MP_ARM_GRIPPER_MOV_L">
      <origin rpy="0 0 0" xyz="0.016 0 0"/>
      <geometry>
        <box size="0.032 0.005 0.032"/>
      </geometry>
      <xacro:grey/>
    </visual>
    <visual name="VIS_MP_ARM_GRIPPER_MOV_EXT_L">
      <origin rpy="0 0 0" xyz="0.031 -0.0025 0"/>
      <geometry>
        <box size="0.002 0.01 0.032"/>
      </geometry>
      <xacro:grey/>
    </visual>
  </link>
  <link name="MP_BACK_R">
    <inertial>
      <origin xyz="0.0 0.0 -0.0"/>
      <mass value="0.01"/>
      <inertia ixx="1.66666666667e-07" ixy="0.0" ixz="0.0" iyy="1.66666666667e-07" iyz="0.0" izz="1.66666666667e-07"/>
    </inertial>
    <collision>
      <geometry>
        <box size="0.001 0.001 0.001"/>
      </geometry>
    </collision>
    <visual>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <box size="0.001 0.001 0.001"/>
      </geometry>
      <xacro:grey/>
    </visual>
  </link>
  <link name="MP_SHOULDER_R">
    <inertial>
      <origin xyz="-0.013523 0.010264 0.001394"/>
      <mass value="0.025913024"/>
      <inertia ixx="3.36377504399e-06" ixy="0.0" ixz="0.0" iyy="1.56497929465e-06" iyz="0.0" izz="2.90441810667e-06"/>
    </inertial>
    <collision>
      <origin xyz="-0.013523 0.010264 0.001394"/>
      <geometry>
        <box size="0.016 0.033 0.02165"/>
      </geometry>
    </collision>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robotis_op_description/meshes/shoulder_r.STL" scale="1 1 1"/>
      </geometry>
      <xacro:grey/>
    </visual>
  </link>
  <link name="MP_ARM_HIGH_R">
    <inertial>
      <origin xyz="-0.036239 0.000734 -0.000660"/>
      <mass value="0.16837715"/>
      <inertia ixx="3.15566841958e-05" ixy="0.0" ixz="0.0" iyy="6.77016457292e-05" iyz="0.0" izz="6.48813284667e-05"/>
    </inertial>
    <collision>
      <origin xyz="-0.036239 0.000734 -0.000660"/>
      <geometry>
        <box size="0.06 0.032 0.035"/>
      </geometry>
    </collision>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robotis_op_description/meshes/arm_high_r.STL" scale="1 1 1"/>
      </geometry>
      <xacro:grey/>
    </visual>
  </link>
  <link name="MP_ARM_LOW_R">
    <inertial>
      <origin xyz="0.000000 0.000000 0.000000"/>
      <mass value="0.059288504"/>
      <inertia ixx="1.11116537913e-05" ixy="0.0" ixz="0.0" iyy="1.11116537913e-05" iyz="0.0" izz="1.01185713493e-05"/>
    </inertial>
    <collision>
      <origin rpy="0 0 0" xyz="0.016 -0.016 0"/>
      <geometry>
        <box size="0.032 0.032 0.035"/>
      </geometry>
    </collision>
    <visual>
      <origin rpy="0 0 0" xyz="0.016 -0.016 0"/>
      <geometry>
        <box size="0.032 0.032 0.035"/>
      </geometry>
      <xacro:grey/>
    </visual>
  </link>
  <link name="MP_ARM_GRIPPER_FIX_R">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0 0"/>
      <mass value="0.01"/>
      <inertia ixx="8.74166666667e-07" ixy="0.0" ixz="0.0" iyy="1.70666666667e-06" iyz="0.0" izz="8.74166666667e-07"/>
    </inertial>
    <collision>
      <origin rpy="0 0 0" xyz="0.016 0 0"/>
      <geometry>
        <box size="0.064 0.032 0.032"/>
      </geometry>
    </collision>
    <visual>
      <origin rpy="0 0 0" xyz="0.016 0 0"/>
      <geometry>
        <box size="0.064 0.032 0.032"/>
      </geometry>
      <xacro:grey/>
    </visual>
  </link>
  <link name="MP_ARM_GRIPPER_FIX_DUMMY_R">
    <inertial>
      <origin xyz="0.0 0.0 0.0"/>
      <mass value="0.01"/>
      <inertia ixx="8.74166666667e-07" ixy="0.0" ixz="0.0" iyy="1.70666666667e-06" iyz="0.0" izz="8.74166666667e-07"/>
    </inertial>
    <collision>
      <geometry>
        <box size="0.032 0.005 0.032"/>
      </geometry>
    </collision>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.032 0.005 0.032"/>
      </geometry>
      <xacro:grey/>
    </visual>
  </link>
  <link name="MP_ARM_GRIPPER_MOV_R">
    <inertial>
      <origin rpy="0 0 0" xyz="0.016 0 0"/>
      <mass value="0.01"/>
      <inertia ixx="8.53333333333e-07" ixy="0.0" ixz="0.0" iyy="1.70666666667e-06" iyz="0.0" izz="8.53333333333e-07"/>
    </inertial>
    <collision name="COL_MP_ARM_GRIPPER_MOV_R">
      <origin rpy="0 0 0" xyz="0.016 0 0"/>
      <geometry>
        <box size="0.032 0.005 0.032"/>
      </geometry>
    </collision>
    <collision name="COL_MP_ARM_GRIPPER_MOV_EXT_R">
      <origin rpy="0 0 0" xyz="0.031 -0.0025 0"/>
      <geometry>
        <box size="0.002 0.01 0.032"/>
      </geometry>
    </collision>
    <visual name="VIS_MP_ARM_GRIPPER_MOV_R">
      <origin rpy="0 0 0" xyz="0.016 0 0"/>
      <geometry>
        <box size="0.032 0.005 0.032"/>
      </geometry>
      <xacro:grey/>
    </visual>
    <visual name="VIS_MP_ARM_GRIPPER_MOV_EXT_R">
      <origin rpy="0 0 0" xyz="0.031 -0.0025 0"/>
      <geometry>
        <box size="0.002 0.01 0.032"/>
      </geometry>
      <xacro:grey/>
    </visual>
  </link>
  <joint name="j_back_l" type="fixed">
    <parent link="MP_BODY"/>
    <child link="MP_BACK_L"/>
    <origin rpy="-1.5707963 0 0" xyz="0 0.06035 0"/>
    <limit effort="2.8" lower="-2.6179939" upper="2.6179939" velocity="5.6548668"/>
  </joint>
  <joint name="j_shoulder_l" type="revolute">
    <parent link="MP_BACK_L"/>
    <child link="MP_SHOULDER_L"/>
    <origin rpy="0 0 -1.5707963" xyz="0 0 0"/>
    <axis xyz="0 0 1"/>
    <limit effort="2.8" lower="-2.6179939" upper="2.6179939" velocity="5.6548668"/>
  </joint>
  <joint name="j_high_arm_l" type="revolute">
    <parent link="MP_SHOULDER_L"/>
    <child link="MP_ARM_HIGH_L"/>
    <origin rpy="1.5707963 0.78539815 0" xyz="-0.016 0 0.02165"/>
    <axis xyz="0 0 1"/>
    <limit effort="2.8" lower="-2.6179939" upper="2.6179939" velocity="5.648668"/>
  </joint>
  <joint name="j_low_arm_l" type="revolute">
    <parent link="MP_ARM_HIGH_L"/>
    <child link="MP_ARM_LOW_L"/>
    <origin rpy="-1.5707963 1.5707963 0" xyz="-0.06 0 -0.016"/>
    <axis xyz="0 0 1"/>
    <limit effort="2.8" lower="-2.6179939" upper="2.6179939" velocity="5.6548668"/>
  </joint>
  <joint name="j_wrist_l" type="revolute">
    <parent link="MP_ARM_LOW_L"/>
    <child link="MP_ARM_GRIPPER_FIX_L"/>
    <origin rpy="1.5707963 0 0" xyz="0.048 0.016 0"/>
    <axis xyz="0 0 1"/>
    <limit effort="2.8" lower="-2.6179939" upper="2.6179939" velocity="5.6548668"/>
  </joint>
  <joint name="j_wrist_dummy_l" type="fixed">
    <parent link="MP_ARM_GRIPPER_FIX_L"/>
    <child link="MP_ARM_GRIPPER_FIX_DUMMY_L"/>
    <origin rpy="0 0 0" xyz="0.064 -0.01 0"/>
  </joint>
  <joint name="j_gripper_l" type="revolute">
    <parent link="MP_ARM_GRIPPER_FIX_L"/>
    <child link="MP_ARM_GRIPPER_MOV_L"/>
    <origin rpy="0 0 0" xyz="0.048 0.01 0"/>
    <axis xyz="0 0 1"/>
    <limit effort="2.8" lower="-2.6179939" upper="2.6179939" velocity="5.6548668"/>
  </joint>
  <joint name="j_back_r" type="fixed">
    <parent link="MP_BODY"/>
    <child link="MP_BACK_R"/>
    <origin rpy="1.5707963 0 0" xyz="0 -0.06035 0"/>
    <limit effort="2.8" lower="-2.6179939" upper="2.6179939" velocity="5.6548668"/>
  </joint>
  <joint name="j_shoulder_r" type="revolute">
    <parent link="MP_BACK_R"/>
    <child link="MP_SHOULDER_R"/>
    <origin rpy="0 0 1.5707963" xyz="0 0 0"/>
    <axis xyz="0 0 1"/>
    <limit effort="2.8" lower="-2.6179939" upper="2.6179939" velocity="5.6548668"/>
  </joint>
  <joint name="j_high_arm_r" type="revolute">
    <parent link="MP_SHOULDER_R"/>
    <child link="MP_ARM_HIGH_R"/>
    <origin rpy="-1.5707963 0.78539815 0" xyz="-0.016 0 0.02165"/>
    <axis xyz="0 0 1"/>
    <limit effort="2.8" lower="-2.6179939" upper="2.6179939" velocity="5.648668"/>
  </joint>
  <joint name="j_low_arm_r" type="revolute">
    <parent link="MP_ARM_HIGH_R"/>
    <child link="MP_ARM_LOW_R"/>
    <origin rpy="1.5707963 1.5707963 0" xyz="-0.06 0 -0.016"/>
    <axis xyz="0 0 1"/>
    <limit effort="2.8" lower="-2.6179939" upper="2.6179939" velocity="5.6548668"/>
  </joint>
  <joint name="j_wrist_r" type="revolute">
    <parent link="MP_ARM_LOW_R"/>
    <child link="MP_ARM_GRIPPER_FIX_R"/>
    <origin rpy="1.5707963 0 0" xyz="0.048 -0.016 0"/>
    <axis xyz="0 0 1"/>
    <limit effort="2.8" lower="-2.6179939" upper="2.6179939" velocity="5.6548668"/>
  </joint>
  <joint name="j_wrist_dummy_r" type="fixed">
    <parent link="MP_ARM_GRIPPER_FIX_R"/>
    <child link="MP_ARM_GRIPPER_FIX_DUMMY_R"/>
    <origin rpy="0 0 0" xyz="0.064 -0.01 0"/>
  </joint>
  <joint name="j_gripper_r" type="revolute">
    <parent link="MP_ARM_GRIPPER_FIX_R"/>
    <child link="MP_ARM_GRIPPER_MOV_R"/>
    <origin rpy="0 0 0" xyz="0.048 0.01 0"/>
    <axis xyz="0 0 1"/>
    <limit effort="2.8" lower="-2.6179939" upper="2.6179939" velocity="5.6548668"/>
  </joint>
  <transmission name="j_shoulder_l_transmssion">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="j_shoulder_l">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="j_shoulder_l_motor">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <gazebo reference="j_shoulder_l">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <transmission name="j_high_arm_l_transmssion">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="j_high_arm_l">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="j_high_arm_l_motor">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <gazebo reference="j_high_arm_l">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <transmission name="j_low_arm_l_transmssion">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="j_low_arm_l">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="j_low_arm_l_motor">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <gazebo reference="j_low_arm_l">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <transmission name="j_wrist_l_transmssion">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="j_wrist_l">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="j_wrist_l_motor">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <gazebo reference="j_wrist_l">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <transmission name="j_gripper_l_transmssion">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="j_gripper_l">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="j_gripper_l_motor">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <gazebo reference="j_gripper_l">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <transmission name="j_shoulder_r_transmssion">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="j_shoulder_r">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="j_shoulder_r_motor">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <gazebo reference="j_shoulder_r">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <transmission name="j_high_arm_r_transmssion">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="j_high_arm_r">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="j_high_arm_r_motor">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <gazebo reference="j_high_arm_r">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <transmission name="j_low_arm_r_transmssion">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="j_low_arm_r">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="j_low_arm_r_motor">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <gazebo reference="j_low_arm_r">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <transmission name="j_wrist_r_transmssion">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="j_wrist_r">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="j_wrist_r_motor">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <gazebo reference="j_wrist_r">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <transmission name="j_gripper_r_transmssion">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="j_gripper_r">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="j_gripper_r_motor">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <gazebo reference="j_gripper_r">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <link name="MP_NECK">
    <inertial>
      <origin xyz="0.001424 -0.016567 -0.007128"/>
      <mass value="0.024357719"/>
      <inertia ixx="3.12641472415e-06" ixy="0.0" ixz="0.0" iyy="6.25435180573e-06" iyz="0.0" izz="5.09279308092e-06"/>
    </inertial>
    <collision>
      <origin xyz="0.0 -0.0 0.01525"/>
      <geometry>
        <box size="0.045 0.022 0.0325"/>
      </geometry>
    </collision>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robotis_op_description/meshes/neck.STL" scale="1 1 1"/>
      </geometry>
      <material name="grey"/>
    </visual>
  </link>
  <link name="MP_HEAD">
    <inertial>
      <origin xyz="0.000064 -0.018565 -0.007667"/>
      <mass value="0.15804192"/>
      <inertia ixx="0.000122387662848" ixy="0.0" ixz="0.0" iyy="0.000122387662848" iyz="0.0" izz="0.000122387662848"/>
    </inertial>
    <collision>
      <origin xyz="0.000064 -0.018565 -0.0"/>
      <geometry>
        <sphere radius="0.044"/>
      </geometry>
    </collision>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robotis_op_description/meshes/head.STL" scale="1 1 1"/>
      </geometry>
      <material name="grey"/>
    </visual>
  </link>
  <link name="MP_PMDCAMBOARD">
  </link>
  <joint name="j_camboard" type="fixed">
    <parent link="MP_HEAD"/>
    <child link="MP_PMDCAMBOARD"/>
    <origin rpy="3.14159 1.5707963 0" xyz="0 0 0.0235"/>
    <axis xyz="0 0 1"/>
    <limit effort="2.8" lower="-2.6179939" upper="2.6179939" velocity="5.6548668"/>
  </joint>
  <joint name="j_pan" type="revolute">
    <parent link="MP_BODY"/>
    <child link="MP_NECK"/>
    <origin rpy="0 0 1.5707963" xyz="0 0 0.0235"/>
    <axis xyz="0 0 1"/>
    <limit effort="2.8" lower="-2.6179939" upper="2.6179939" velocity="5.6548668"/>
  </joint>
  <joint name="j_tilt" type="revolute">
    <parent link="MP_NECK"/>
    <child link="MP_HEAD"/>
    <origin rpy="-1.5707963 0 1.5707963" xyz="0 0 0.02715"/>
    <axis xyz="0 0 1"/>
    <limit effort="2.8" lower="-2.6179939" upper="2.6179939" velocity="5.6548668"/>
  </joint>
  <transmission name="j_pan_transmssion">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="j_pan">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="j_pan_motor">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <gazebo reference="j_pan">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <transmission name="j_tilt_transmssion">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="j_tilt">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="j_tilt_motor">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <gazebo reference="j_tilt">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <gazebo reference="MP_HEAD">
    <sensor name="camera" type="camera">
      <pose>-0.050000 -0.010000 0.000000 -1.5708 0.000000 -3.141592</pose>
      <camera name="__default__">
        <horizontal_fov>1.012300</horizontal_fov>
        <image>
          <width>320</width>
          <height>200</height>
        </image>
        <clip>
          <near>0.001000</near>
          <far>100.000000</far>
        </clip>
      </camera>
      <always_on>1</always_on>
      <update_rate>30.000000</update_rate>
      <visualize>1</visualize>
      <plugin filename="libgazebo_ros_camera.so" name="camera_controller">
        <alwaysOn>true</alwaysOn>
        <updateRate>30</updateRate>
        <cameraName>robotis_op/camera</cameraName>
        <imageTopicName>image_raw</imageTopicName>
        <cameraInfoTopicName>camera_info</cameraInfoTopicName>
        <frameName>camera_link</frameName>
        <hackBaseline>0.07</hackBaseline>
        <distortionK1>0.0</distortionK1>
        <distortionK2>0.0</distortionK2>
        <distortionK3>0.0</distortionK3>
        <distortionT1>0.0</distortionT1>
        <distortionT2>0.0</distortionT2>
      </plugin>
    </sensor>
  </gazebo>
  <link name="MP_PELVIS_L">
    <inertial>
      <origin xyz="0.000000 0.000480 0.018437"/>
      <mass value="0.197"/>
      <inertia ixx="5.00544166667e-05" ixy="0.0" ixz="0.0" iyy="2.70710833333e-05" iyz="0.0" izz="4.35041666667e-05"/>
    </inertial>
    <collision>
      <origin xyz="0.000000 -0.010580 0.028437"/>
      <geometry>
        <box size="0.045 0.08175 0.028652"/>
      </geometry>
    </collision>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robotis_op_description/meshes/pelvis_l.STL" scale="1 1 1"/>
      </geometry>
      <xacro:grey/>
    </visual>
  </link>
  <link name="MP_THIGH1_L">
    <inertial>
      <origin xyz="0.000079 0.018242 0.013873"/>
      <mass value="0.11904336"/>
      <inertia ixx="8.63864182575e-05" ixy="0.0" ixz="0.0" iyy="7.44417771916e-05" iyz="0.0" izz="2.82324929341e-05"/>
    </inertial>
    <collision>
      <origin xyz="0.000079 0.018242 0.013873"/>
      <geometry>
        <box size="0.001 0.001 0.001"/>
      </geometry>
    </collision>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robotis_op_description/meshes/thigh1_l.STL" scale="1 1 1"/>
      </geometry>
      <xacro:grey/>
    </visual>
  </link>
  <link name="MP_THIGH2_L">
    <inertial>
      <origin xyz="-0.062965 -0.000323 0.000692"/>
      <mass value="0.0070309794"/>
      <inertia ixx="1.9042235875e-06" ixy="0.0" ixz="0.0" iyy="6.2540561763e-06" iyz="0.0" izz="5.7853242163e-06"/>
    </inertial>
    <collision>
      <origin xyz="-0.062965 -0.000323 0.000692"/>
      <geometry>
        <box size="0.093 0.035 0.045"/>
      </geometry>
    </collision>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robotis_op_description/meshes/thigh2_l.STL" scale="1 1 1"/>
      </geometry>
      <xacro:grey/>
    </visual>
  </link>
  <link name="MP_TIBIA_L">
    <inertial>
      <origin xyz="-0.053955 0.006548 -0.000592"/>
      <mass value="0.0070309794"/>
      <inertia ixx="1.9042235875e-06" ixy="0.0" ixz="0.0" iyy="6.2540561763e-06" iyz="0.0" izz="5.7853242163e-06"/>
    </inertial>
    <collision>
      <origin xyz="-0.053955 0.006548 -0.000592"/>
      <geometry>
        <box size="0.093 0.035 0.045"/>
      </geometry>
    </collision>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robotis_op_description/meshes/tibia_l.STL" scale="1 1 1"/>
      </geometry>
      <xacro:grey/>
    </visual>
  </link>
  <link name="MP_ANKLE1_L">
    <inertial>
      <origin xyz="-0.000214 -0.018536 0.013873"/>
      <mass value="0.16710792"/>
      <inertia ixx="8.87491015337e-05" ixy="0.0" ixz="0.0" iyy="3.78635506981e-05" iyz="0.0" izz="9.24947852318e-05"/>
    </inertial>
    <collision>
      <origin xyz="-0.000214 -0.018536 0.013873"/>
      <geometry>
        <box size="0.028652 0.08175 0.045"/>
      </geometry>
    </collision>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robotis_op_description/meshes/ankle1_l.STL" scale="1 1 1"/>
      </geometry>
      <xacro:grey/>
    </visual>
  </link>
  <link name="MP_ANKLE2_L">
    <inertial>
      <origin xyz="-0.025995 -0.009506 -0.000503"/>
      <mass value="0.0794462"/>
      <inertia ixx="0.000100446478867" ixy="0.0" ixz="0.0" iyy="7.20312213333e-05" iyz="0.0" izz="2.92626836667e-05"/>
    </inertial>
    <collision>
      <origin xyz="-0.025995 -0.009506 -0.000503"/>
      <geometry>
        <box size="0.008 0.066 0.104"/>
      </geometry>
    </collision>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robotis_op_description/meshes/ankle2_l.STL" scale="1 1 1"/>
      </geometry>
      <xacro:grey/>
    </visual>
  </link>
  <link name="MP_PELVIS_R">
    <inertial>
      <origin xyz="0.000000 0.000480 0.018437"/>
      <mass value="0.197"/>
      <inertia ixx="5.00544166667e-05" ixy="0.0" ixz="0.0" iyy="2.70710833333e-05" iyz="0.0" izz="4.35041666667e-05"/>
    </inertial>
    <collision>
      <origin xyz="0.000000 0.010580 0.028437"/>
      <geometry>
        <box size="0.045 0.08175 0.028652"/>
      </geometry>
    </collision>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robotis_op_description/meshes/pelvis_r.STL" scale="1 1 1"/>
      </geometry>
      <xacro:grey/>
    </visual>
  </link>
  <link name="MP_THIGH1_R">
    <inertial>
      <origin xyz="0.000079 -0.018242 0.013873"/>
      <mass value="0.11904336"/>
      <inertia ixx="8.63864182575e-05" ixy="0.0" ixz="0.0" iyy="7.44417771916e-05" iyz="0.0" izz="2.82324929341e-05"/>
    </inertial>
    <collision>
      <origin xyz="0.000079 -0.018242 0.0138735"/>
      <geometry>
        <box size="0.001 0.001 0.001"/>
      </geometry>
    </collision>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robotis_op_description/meshes/thigh1_r.STL" scale="1 1 1"/>
      </geometry>
      <xacro:grey/>
    </visual>
  </link>
  <link name="MP_THIGH2_R">
    <inertial>
      <origin xyz="0.062965 -0.000323 0.000692"/>
      <mass value="0.11904336"/>
      <inertia ixx="3.224091e-05" ixy="0.0" ixz="0.0" iyy="0.00010588906872" iyz="0.0" izz="9.795284472e-05"/>
    </inertial>
    <collision>
      <origin xyz="0.062965 -0.000323 0.000692"/>
      <geometry>
        <box size="0.093 0.035 0.045"/>
      </geometry>
    </collision>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robotis_op_description/meshes/thigh2_r.STL" scale="1 1 1"/>
      </geometry>
      <xacro:grey/>
    </visual>
  </link>
  <link name="MP_TIBIA_R">
    <inertial>
      <origin xyz="0.053955 0.006548 -0.000592"/>
      <mass value="0.070309794"/>
      <inertia ixx="1.9042235875e-05" ixy="0.0" ixz="0.0" iyy="6.2540561763e-05" iyz="0.0" izz="5.7853242163e-05"/>
    </inertial>
    <collision>
      <origin xyz="0.053955 0.006548 -0.000592"/>
      <geometry>
        <box size="0.093 0.035 0.045"/>
      </geometry>
    </collision>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robotis_op_description/meshes/tibia_r.STL" scale="1 1 1"/>
      </geometry>
      <xacro:grey/>
    </visual>
  </link>
  <link name="MP_ANKLE1_R">
    <inertial>
      <origin xyz="-0.000214 -0.018536 -0.013873"/>
      <mass value="0.16710792"/>
      <inertia ixx="8.87491015337e-05" ixy="0.0" ixz="0.0" iyy="3.78635506981e-05" iyz="0.0" izz="9.24947852318e-05"/>
    </inertial>
    <collision>
      <origin xyz="-0.000214 -0.018536 0.013873"/>
      <geometry>
        <box size="0.028652 0.08175 0.045"/>
      </geometry>
    </collision>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robotis_op_description/meshes/ankle1_r.STL" scale="1 1 1"/>
      </geometry>
      <xacro:grey/>
    </visual>
  </link>
  <link name="MP_ANKLE2_R">
    <inertial>
      <origin xyz="0.025995 -0.009506 -0.000503"/>
      <mass value="0.0794462"/>
      <inertia ixx="0.000100446478867" ixy="0.0" ixz="0.0" iyy="7.20312213333e-05" iyz="0.0" izz="2.92626836667e-05"/>
    </inertial>
    <collision>
      <origin xyz="0.025995 -0.009506 -0.000503"/>
      <geometry>
        <box size="0.008 0.066 0.104"/>
      </geometry>
    </collision>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robotis_op_description/meshes/ankle2_r.STL" scale="1 1 1"/>
      </geometry>
      <xacro:grey/>
    </visual>
  </link>
  <joint name="j_pelvis_l" type="revolute">
    <parent link="MP_BODY"/>
    <child link="MP_PELVIS_L"/>
    <origin rpy="0 3.14159 -1.5707963" xyz="-0.005 0.037 -0.09355"/>
    <axis xyz="0 0 1"/>
    <limit effort="2.8" lower="-2.6179939" upper="2.6179939" velocity="5.6548668"/>
  </joint>
  <joint name="j_thigh1_l" type="revolute">
    <parent link="MP_PELVIS_L"/>
    <child link="MP_THIGH1_L"/>
    <origin rpy="1.5707963 0 0" xyz="0 0 0.028652"/>
    <axis xyz="0 0 1"/>
    <limit effort="2.8" lower="-2.6179939" upper="2.6179939" velocity="5.6548668"/>
  </joint>
  <joint name="j_thigh2_l" type="revolute">
    <parent link="MP_THIGH1_L"/>
    <child link="MP_THIGH2_L"/>
    <origin rpy="1.5707963 0 -1.5707963" xyz="0 0 0"/>
    <axis xyz="0 0 1"/>
    <limit effort="2.8" lower="-2.6179939" upper="2.6179939" velocity="5.6548668"/>
  </joint>
  <joint name="j_tibia_l" type="revolute">
    <parent link="MP_THIGH2_L"/>
    <child link="MP_TIBIA_L"/>
    <origin rpy="0 0 0" xyz="-0.093 0 0"/>
    <axis xyz="0 0 1"/>
    <limit effort="2.8" lower="-2.6179939" upper="2.6179939" velocity="5.6548668"/>
  </joint>
  <joint name="j_ankle1_l" type="revolute">
    <parent link="MP_TIBIA_L"/>
    <child link="MP_ANKLE1_L"/>
    <origin rpy="3.14159 0 0" xyz="-0.093 0 0"/>
    <axis xyz="0 0 1"/>
    <limit effort="2.8" lower="-2.6179939" upper="2.6179939" velocity="5.6548668"/>
  </joint>
  <joint name="j_ankle2_l" type="revolute">
    <parent link="MP_ANKLE1_L"/>
    <child link="MP_ANKLE2_L"/>
    <origin rpy="-1.5707963 0 0" xyz="0 0 0"/>
    <axis xyz="0 0 1"/>
    <limit effort="2.8" lower="-2.6179939" upper="2.6179939" velocity="5.6548668"/>
  </joint>
  <joint name="j_pelvis_r" type="revolute">
    <parent link="MP_BODY"/>
    <child link="MP_PELVIS_R"/>
    <origin rpy="0 3.14159 1.5707963" xyz="-0.005 -0.037 -0.09355"/>
    <axis xyz="0 0 1"/>
    <limit effort="2.8" lower="-2.6179939" upper="2.6179939" velocity="5.6548668"/>
  </joint>
  <joint name="j_thigh1_r" type="revolute">
    <parent link="MP_PELVIS_R"/>
    <child link="MP_THIGH1_R"/>
    <origin rpy="-1.5707963 0 0" xyz="0 0 0.028652"/>
    <axis xyz="0 0 1"/>
    <limit effort="2.8" lower="-2.6179939" upper="2.6179939" velocity="5.6548668"/>
  </joint>
  <joint name="j_thigh2_r" type="revolute">
    <parent link="MP_THIGH1_R"/>
    <child link="MP_THIGH2_R"/>
    <origin rpy="1.5707963 0 -1.5707963" xyz="0 0 0"/>
    <axis xyz="0 0 1"/>
    <limit effort="2.8" lower="-2.6179939" upper="2.6179939" velocity="5.6548668"/>
  </joint>
  <joint name="j_tibia_r" type="revolute">
    <parent link="MP_THIGH2_R"/>
    <child link="MP_TIBIA_R"/>
    <origin rpy="0 0 0" xyz="0.093 0 0"/>
    <axis xyz="0 0 1"/>
    <limit effort="2.8" lower="-2.6179939" upper="2.6179939" velocity="5.6548668"/>
  </joint>
  <joint name="j_ankle1_r" type="revolute">
    <parent link="MP_TIBIA_R"/>
    <child link="MP_ANKLE1_R"/>
    <origin rpy="3.14159 0 0" xyz="0.093 0 0"/>
    <axis xyz="0 0 1"/>
    <limit effort="2.8" lower="-2.6179939" upper="2.6179939" velocity="5.6548668"/>
  </joint>
  <joint name="j_ankle2_r" type="revolute">
    <parent link="MP_ANKLE1_R"/>
    <child link="MP_ANKLE2_R"/>
    <origin rpy="-1.5707963 0 0" xyz="0 0 0"/>
    <axis xyz="0 0 1"/>
    <limit effort="2.8" lower="-2.6179939" upper="2.6179939" velocity="5.6548668"/>
  </joint>
  <transmission name="j_pelvis_l_transmssion">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="j_pelvis_l">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="j_pelvis_l_motor">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <gazebo reference="j_pelvis_l">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <transmission name="j_thigh1_l_transmssion">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="j_thigh1_l">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="j_thigh1_l_motor">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <gazebo reference="j_thigh1_l">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <transmission name="j_thigh2_l_transmssion">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="j_thigh2_l">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="j_thigh2_l_motor">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <gazebo reference="j_thigh2_l">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <transmission name="j_tibia_l_transmssion">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="j_tibia_l">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="j_tibia_l_motor">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <gazebo reference="j_tibia_l">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <transmission name="j_ankle1_l_transmssion">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="j_ankle1_l">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="j_ankle1_l_motor">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <gazebo reference="j_ankle1_l">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <transmission name="j_ankle2_l_transmssion">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="j_ankle2_l">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="j_ankle2_l_motor">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <gazebo reference="j_ankle2_l">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <transmission name="j_pelvis_r_transmssion">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="j_pelvis_r">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="j_pelvis_r_motor">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <gazebo reference="j_pelvis_r">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <transmission name="j_thigh1_r_transmssion">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="j_thigh1_r">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="j_thigh1_r_motor">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <gazebo reference="j_thigh1_r">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <transmission name="j_thigh2_r_transmssion">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="j_thigh2_r">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="j_thigh2_r_motor">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <gazebo reference="j_thigh2_r">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <transmission name="j_tibia_r_transmssion">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="j_tibia_r">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="j_tibia_r_motor">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <gazebo reference="j_tibia_r">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <transmission name="j_ankle1_r_transmssion">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="j_ankle1_r">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="j_ankle1_r_motor">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <gazebo reference="j_ankle1_r">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <transmission name="j_ankle2_r_transmssion">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="j_ankle2_r">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="j_ankle2_r_motor">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <gazebo reference="j_ankle2_r">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <gazebo reference="MP_ANKLE2_L">
    <material>Gazebo/White</material>
    <mu1>9000</mu1>
    <mu2>9000</mu2>
    <kp>1000000.0</kp>
    <kd>10.0</kd>
    <minDepth>0.001</minDepth>
    <maxContacts>1</maxContacts>
  </gazebo>
  <gazebo reference="MP_ANKLE2_R">
    <material>Gazebo/White</material>
    <mu1>9000</mu1>
    <mu2>9000</mu2>
    <kp>1000000.0</kp>
    <kd>10.0</kd>
    <minDepth>0.001</minDepth>
    <maxContacts>1</maxContacts>
  </gazebo>
  <gazebo>
    <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
      <robotNamespace>robotis_op</robotNamespace>
    </plugin>
  </gazebo>
</robot>
