ardupilot/libraries/SITL/examples/JSON/pybullet/models/quadruped/quadruped.urdf

<?xml version="1.0"?>
<robot name="materials">

  <material name="blue">
    <color rgba="0 0 0.8 1"/>
  </material>

  <material name="white">
    <color rgba="1 1 1 1"/>
  </material>

  <material name="red">
    <color rgba="0.8 0 0 1"/>
  </material>

  <link name="base_link">
    <collision>
        <geometry>
          <box size="1.5 0.8 0.08"/>
        </geometry>
    </collision>
    <inertial>
      <origin xyz="0 0 0"/>
      <mass value="100.843" />
      <inertia ixx="0.002480" ixy="9.381E-19" ixz="-3.172E-18"
                              iyy="1.060E-02" iyz="1002.754E-09"
                                              izz="1.243E-02" />
    </inertial>
    <visual>
      <geometry>
        <box size="1.5 0.8 0.08"/>
      </geometry>
      <material name="blue"/>
    </visual>
  </link>


#FRONT RIGHT
  <link name="coxa_FR">
 
    <visual>
      <geometry>
        <cylinder length="0.3" radius="0.1"/>
      </geometry>
      <origin rpy="1.57 0 0" xyz="0.0 -0.15 0"/>
      <material name="red"/>
    </visual>
  </link>

  <link name="femur_FR">
    
    <visual>
      <geometry>
         <cylinder length="0.85" radius="0.1"/>
      </geometry>
      <origin xyz="0 0 -0.425"/>
      <material name="white"/>
    </visual>
  </link>

  <link name="tibia_FR">

    <visual>
      <geometry>
       <cylinder length="1.25" radius="0.1"/>
      </geometry>
      <origin xyz="0 0 -0.625"/>
      <material name="blue"/>
    </visual>
  </link>

  <link name="foot_FR">
    <collision>
      <geometry>
        <sphere radius="0.2"/>
      </geometry>
    </collision>
   <mass value="200.843" />
    <visual>
      <geometry>
        <sphere radius="0.2"/>
      </geometry>
      <material name="red"/>
    </visual>
  </link>
  
  <joint name="coxaF_FR" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort="1000.0" velocity="0.5"/>
    <parent link="base_link"/>
    <child link="coxa_FR"/>
    <origin rpy="0 0 0.785398" xyz="0.75 -0.4 0"/>
  </joint>

  <joint name="femurF_FR" type="revolute">
    <axis xyz="1 0 0"/>
    <limit effort="1000.0" velocity="0.5"/>
    <parent link="coxa_FR"/>
    <child link="femur_FR"/>
    <origin rpy="4.71239 0 0" xyz="0 -0.3 0"/>
  </joint>

  <joint name="tibiaF_FR" type="revolute">
    <axis xyz="1 0 0"/>
    <limit effort="1000.0" velocity="0.5"/>
    <parent link="femur_FR"/>
    <child link="tibia_FR"/>
    <origin rpy="1.5708 0 0" xyz="0 0 -0.85"/>
  </joint>

  <joint name="footF_FR" type="fixed">
    <parent link="tibia_FR"/>
    <child link="foot_FR"/>
    <origin xyz="0 0 -1.25"/>
  </joint>




#FRONT LEFT



  <link name="coxa_FL">

    <visual>
      <geometry>
        <cylinder length="0.3" radius="0.1"/>
      </geometry>
      <origin rpy="1.57 0 0" xyz="0 -0.15 0"/>
      <material name="red"/>
    </visual>
  </link>

  <link name="femur_FL">
  
    <visual>
      <geometry>
        <cylinder length="0.85" radius="0.1"/>
      </geometry>
      <origin xyz="0 0 -0.425"/>
      <material name="white"/>
    </visual>
  </link>

  <link name="tibia_FL">

    <visual>
      <geometry>
        <cylinder length="1.25" radius="0.1"/>
      </geometry>
      <origin xyz="0 0 -0.625"/>
      <material name="blue"/>
    </visual>
  </link>

  <link name="foot_FL">
    <collision>
      <geometry>
        <sphere radius="0.2"/>
      </geometry>
    </collision>
  <mass value="200.843" />
    <visual>
      <geometry>
        <sphere radius="0.2"/>
      </geometry>
      <material name="red"/>
    </visual>
  </link>
  
  <joint name="coxaF_FL" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort="1000.0" velocity="0.5"/>
    <parent link="base_link"/>
    <child link="coxa_FL"/>
    <origin rpy="0 0 2.35619" xyz="0.74 0.4 0"/>
  </joint>

  <joint name="femurF_FL" type="revolute">
    <axis xyz="1 0 0"/>
    <limit effort="1000.0" velocity="0.5"/>
    <parent link="coxa_FL"/>
    <child link="femur_FL"/>
    <origin rpy="4.71239 0 0" xyz="0 -0.3 0"/>
  </joint>

  <joint name="tibiaF_FL" type="revolute">
    <axis xyz="1 0 0"/>
    <limit effort="1000.0" velocity="0.5"/>
    <parent link="femur_FL"/>
    <child link="tibia_FL"/>
    <origin rpy="1.5708 0 0" xyz="0 0 -0.85"/>
  </joint>

  <joint name="footF_FL" type="fixed">
    <parent link="tibia_FL"/>
    <child link="foot_FL"/>
    <origin xyz="0 0 -1.25"/>
  </joint>







#BACK RIGHT



<link name="coxa_BR">
 
    <visual>
      <geometry>
        <cylinder length="0.3" radius="0.1"/>
      </geometry>
      <origin rpy="1.57 0 0" xyz="0.0 -0.15 0"/>
      <material name="red"/>
    </visual>
  </link>

  <link name="femur_BR">
 
    <visual>
      <geometry>
         <cylinder length="0.85" radius="0.1"/>
      </geometry>
      <origin xyz="0 0 -0.425"/>
      <material name="white"/>
    </visual>
  </link>

  <link name="tibia_BR">

    <visual>
      <geometry>
       <cylinder length="1.25" radius="0.1"/>
      </geometry>
      <origin xyz="0 0 -0.625"/>
      <material name="blue"/>
    </visual>
  </link>

  <link name="foot_BR">
    <collision>
      <geometry>
        <sphere radius="0.2"/>
      </geometry>
    </collision>
   <mass value="200.843" />
    <visual>
      <geometry>
        <sphere radius="0.2"/>
      </geometry>
      <material name="red"/>
    </visual>
  </link>
  
  <joint name="coxaF_BR" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort="1000.0" velocity="0.5"/>
    <parent link="base_link"/>
    <child link="coxa_BR"/>
    <origin rpy="0 0 3.92699" xyz="-0.75 0.4 0"/>
  </joint>

  <joint name="femurF_BR" type="revolute">
    <axis xyz="1 0 0"/>
    <limit effort="1000.0" velocity="0.5"/>
    <parent link="coxa_BR"/>
    <child link="femur_BR"/>
    <origin rpy="4.71239 0 0" xyz="0 -0.3 0"/>
  </joint>

  <joint name="tibiaF_BR" type="revolute">
    <axis xyz="1 0 0"/>
    <limit effort="1000.0" velocity="0.5"/>
    <parent link="femur_BR"/>
    <child link="tibia_BR"/>
    <origin rpy="1.5708 0 0" xyz="0 0 -0.85"/>
  </joint>

  <joint name="footF_BR" type="fixed">
    <parent link="tibia_BR"/>
    <child link="foot_BR"/>
    <origin xyz="0 0 -1.25"/>
  </joint>




#BACK LEFT



<link name="coxa_BL">
 
    <visual>
      <geometry>
        <cylinder length="0.3" radius="0.1"/>
      </geometry>
      <origin rpy="1.57 0 0" xyz="0.0 -0.15 0"/>
      <material name="red"/>
    </visual>
  </link>

  <link name="femur_BL">
  
    <visual>
      <geometry>
         <cylinder length="0.85" radius="0.1"/>
      </geometry>
      <origin xyz="0 0 -0.425"/>
      <material name="white"/>
    </visual>
  </link>

  <link name="tibia_BL">
  
    <visual>
      <geometry>
       <cylinder length="1.25" radius="0.1"/>
      </geometry>
      <origin xyz="0 0 -0.625"/>
      <material name="blue"/>
    </visual>
  </link>

  <link name="foot_BL">
    <collision>
      <geometry>
        <sphere radius="0.2"/>
      </geometry>
    </collision>
   <mass value="200.843" />
    <visual>
      <geometry>
        <sphere radius="0.2"/>
      </geometry>
      <material name="red"/>
    </visual>
  </link>
  
  <joint name="coxaF_BL" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort="1000.0" velocity="0.5"/>
    <parent link="base_link"/>
    <child link="coxa_BL"/>
    <origin rpy="0 0 5.48033" xyz="-0.75 -0.4 0"/>
  </joint>

  <joint name="femurF_BL" type="revolute">
    <axis xyz="1 0 0"/>
    <limit effort="1000.0" velocity="0.5"/>
    <parent link="coxa_BL"/>
    <child link="femur_BL"/>
    <origin rpy="4.71239 0 0" xyz="0 -0.3 0"/>
  </joint>

  <joint name="tibiaF_BL" type="revolute">
    <axis xyz="1 0 0"/>
    <limit effort="1000.0" velocity="0.5"/>
    <parent link="femur_BL"/>
    <child link="tibia_BL"/>
    <origin rpy="1.5708 0 0" xyz="0 0 -0.85"/>
  </joint>

  <joint name="footF_BL" type="fixed">
    <parent link="tibia_BL"/>
    <child link="foot_BL"/>
    <origin xyz="0 0 -1.25"/>
  </joint>

</robot>