<robot name="JackBot">

	<!-- Base -->
	<link name="base_link">
		<inertial>
		  <origin xyz="0 0 0" rpy="0 0 0"/>
		  <mass value="1"/>
		  <inertia
			ixx="0.001" ixy="0" ixz="0"
			iyy="0.001" iyz="0"
			izz="0.001"/>
		</inertial>
		<visual>
			<geometry>
				<box size="0.160 0.120 0.090"/>
			</geometry>
			<origin xyz="0 0 0" rpy="0 0 0"/>
			<material name="red">
				<color rgba="1 0 0 0.5"/>
			</material>
		</visual>
	</link>

	<!-- LEG 1 -->
	<link name="leg1_coxa">
		<inertial>
		  <origin xyz="0 0 0" rpy="0 0 0"/>
		  <mass value="1"/>
		  <inertia
			ixx="0.001" ixy="0" ixz="0"
			iyy="0.001" iyz="0"
			izz="0.001"/>
		</inertial>
		<visual>
			<geometry>
				<cylinder length="0.068" radius="0.005"/>
			</geometry>
			<origin xyz="0.028 0 0" rpy="0 1.5708 0"/>
			<material name="green">
				<color rgba="0 1 0 1"/>
			</material>
		</visual>
	</link>
	<joint name="leg1_coxa_joint" type="revolute">
		<parent link="base_link"/>
		<child link="leg1_coxa"/>
		<origin xyz="0.052 0.072 0" rpy="0 0 -0.7854"/>
		<!-- position from base -->
		<axis xyz="0 0 1"/>
		<limit lower="0.2618" upper="2.8798" effort="1" velocity="1"/>
	</joint>

	<link name="leg1_femur">
		<inertial>
		  <origin xyz="0 0 0" rpy="0 0 0"/>
		  <mass value="1"/>
		  <inertia
			ixx="0.001" ixy="0" ixz="0"
			iyy="0.001" iyz="0"
			izz="0.001"/>
		</inertial>
		<visual>
			<geometry>
				<cylinder length="0.0602" radius="0.005"/>
			</geometry>
			<origin xyz="0 0 -0.0365" rpy="0 0 0"/>
			<material name="blue">
				<color rgba="0 0 1 1"/>
			</material>
		</visual>
	</link>
	<joint name="leg1_femur_joint" type="revolute">
		<parent link="leg1_coxa"/>
		<child link="leg1_femur"/>
		<origin xyz="0.068 0 0" rpy="0 0 0"/>
		<axis xyz="0 -1 0"/>
		<limit lower="0.2618" upper="2.8798" effort="1" velocity="1"/>
	</joint>

	<link name="leg1_tibia">
		<inertial>
		  <origin xyz="0 0 0" rpy="0 0 0"/>
		  <mass value="1"/>
		  <inertia
			ixx="0.001" ixy="0" ixz="0"
			iyy="0.001" iyz="0"
			izz="0.001"/>
		</inertial>
		<visual>
			<geometry>
				<cylinder length="0.07055" radius="0.005"/>
			</geometry>
			<origin xyz="0.035 0 0" rpy="0 1.5708 0"/>
			<material name="yellow">
				<color rgba="0 1 1 1"/>
			</material>
		</visual>
	</link>
	<joint name="leg1_tibia_joint" type="revolute">
		<parent link="leg1_femur"/>
		<child link="leg1_tibia"/>
		<origin xyz="0 0 -0.0602" rpy="0 0 0"/>
		<axis xyz="0 1 0"/>
		<limit lower="0.2618" upper="2.8798" effort="1" velocity="1"/>
	</joint>

	<link name="leg1_tip">
		<inertial>
		  <origin xyz="0 0 0" rpy="0 0 0"/>
		  <mass value="1"/>
		  <inertia
			ixx="0.001" ixy="0" ixz="0"
			iyy="0.001" iyz="0"
			izz="0.001"/>
		</inertial>
		<visual>
			<geometry>
				<sphere radius="0.01"/>
			</geometry>
			<origin xyz="0 0 0" rpy="0 0 0"/>
			<material name="purple">
				<color rgba="1 0 1 1"/>
			</material>
		</visual>
	</link>
	<joint name="leg1_tip_joint" type="fixed">
		<parent link="leg1_tibia"/>
		<child link="leg1_tip"/>
		<origin xyz="0.07055 0 0" rpy="0 0 0"/>
	</joint>

	<!-- LEG 2 -->
	<link name="leg2_coxa">
		<inertial>
			<origin xyz="0 0 0" rpy="0 0 0"/>
			<mass value="1"/>
			<inertia
			  ixx="0.001" ixy="0" ixz="0"
			  iyy="0.001" iyz="0"
			  izz="0.001"/>
		</inertial>
		<visual>
			<geometry>
				<cylinder length="0.068" radius="0.005"/>
			</geometry>
			<origin xyz="0.028 0 0" rpy="0 1.5708 0"/>
			<material name="green">
				<color rgba="0 1 0 1"/>
			</material>
		</visual>
	</link>
	<joint name="leg2_coxa_joint" type="revolute">
		<parent link="base_link"/>
		<child link="leg2_coxa"/>
		<origin xyz="0 0.070 0" rpy="0 0 0"/>
		<!-- position from base -->
		<axis xyz="0 0 1"/>
		<limit lower="0.2618" upper="2.8798" effort="1" velocity="1"/>
	</joint>

	<link name="leg2_femur">
		<inertial>
			<origin xyz="0 0 0" rpy="0 0 0"/>
			<mass value="1"/>
			<inertia
			  ixx="0.001" ixy="0" ixz="0"
			  iyy="0.001" iyz="0"
			  izz="0.001"/>
		</inertial>
		<visual>
			<geometry>
				<cylinder length="0.0602" radius="0.005"/>
			</geometry>
			<origin xyz="0 0 -0.0365" rpy="0 0 0"/>
			<material name="blue">
				<color rgba="0 0 1 1"/>
			</material>
		</visual>
	</link>
	<joint name="leg2_femur_joint" type="revolute">
		<parent link="leg2_coxa"/>
		<child link="leg2_femur"/>
		<origin xyz="0.068 0 0" rpy="0 0 0"/>
		<axis xyz="0 -1 0"/>
		<limit lower="0.2618" upper="2.8798" effort="1" velocity="1"/>
	</joint>

	<link name="leg2_tibia">
		<inertial>
			<origin xyz="0 0 0" rpy="0 0 0"/>
			<mass value="1"/>
			<inertia
			  ixx="0.001" ixy="0" ixz="0"
			  iyy="0.001" iyz="0"
			  izz="0.001"/>
		</inertial>
		<visual>
			<geometry>
				<cylinder length="0.07055" radius="0.005"/>
			</geometry>
			<origin xyz="0.035 0 0" rpy="0 1.5708 0"/>
			<material name="yellow">
				<color rgba="0 1 1 1"/>
			</material>
		</visual>
	</link>
	<joint name="leg2_tibia_joint" type="revolute">
		<parent link="leg2_femur"/>
		<child link="leg2_tibia"/>
		<origin xyz="0 0 -0.0602" rpy="0 0 0"/>
		<axis xyz="0 1 0"/>
		<limit lower="0.2618" upper="2.8798" effort="1" velocity="1"/>
	</joint>

	<link name="leg2_tip">
		<inertial>
			<origin xyz="0 0 0" rpy="0 0 0"/>
			<mass value="1"/>
			<inertia
			  ixx="0.001" ixy="0" ixz="0"
			  iyy="0.001" iyz="0"
			  izz="0.001"/>
		</inertial>
		<visual>
			<geometry>
				<sphere radius="0.01"/>
			</geometry>
			<origin xyz="0 0 0" rpy="0 0 0"/>
			<material name="purple">
				<color rgba="1 0 1 1"/>
			</material>
		</visual>
	</link>
	<joint name="leg2_tip_joint" type="fixed">
		<parent link="leg2_tibia"/>
		<child link="leg2_tip"/>
		<origin xyz="0.07055 0 0" rpy="0 0 0"/>
	</joint>

	<!-- LEG 3 -->
	<link name="leg3_coxa">
		<inertial>
			<origin xyz="0 0 0" rpy="0 0 0"/>
			<mass value="1"/>
			<inertia
			  ixx="0.001" ixy="0" ixz="0"
			  iyy="0.001" iyz="0"
			  izz="0.001"/>
		</inertial>
		<visual>
			<geometry>
				<cylinder length="0.068" radius="0.005"/>
			</geometry>
			<origin xyz="0.028 0 0" rpy="0 1.5708 0"/>
			<material name="green">
				<color rgba="0 1 0 1"/>
			</material>
		</visual>
	</link>
	<joint name="leg3_coxa_joint" type="revolute">
		<parent link="base_link"/>
		<child link="leg3_coxa"/>
		<origin xyz="-0.052 0.072 0" rpy="0 0 0.7854"/>
		<!-- position from base -->
		<axis xyz="0 0 1"/>
		<limit lower="0.2618" upper="2.8798" effort="1" velocity="1"/>
	</joint>

	<link name="leg3_femur">
		<inertial>
			<origin xyz="0 0 0" rpy="0 0 0"/>
			<mass value="1"/>
			<inertia
			  ixx="0.001" ixy="0" ixz="0"
			  iyy="0.001" iyz="0"
			  izz="0.001"/>
		</inertial>
		<visual>
			<geometry>
				<cylinder length="0.0602" radius="0.005"/>
			</geometry>
			<origin xyz="0 0 -0.0365" rpy="0 0 0"/>
			<material name="blue">
				<color rgba="0 0 1 1"/>
			</material>
		</visual>
	</link>
	<joint name="leg3_femur_joint" type="revolute">
		<parent link="leg3_coxa"/>
		<child link="leg3_femur"/>
		<origin xyz="0.068 0 0" rpy="0 0 0"/>
		<axis xyz="0 -1 0"/>
		<limit lower="0.2618" upper="2.8798" effort="1" velocity="1"/>
	</joint>

	<link name="leg3_tibia">
		<inertial>
			<origin xyz="0 0 0" rpy="0 0 0"/>
			<mass value="1"/>
			<inertia
			  ixx="0.001" ixy="0" ixz="0"
			  iyy="0.001" iyz="0"
			  izz="0.001"/>
		</inertial>
		<visual>
			<geometry>
				<cylinder length="0.07055" radius="0.005"/>
			</geometry>
			<origin xyz="0.035 0 0" rpy="0 1.5708 0"/>
			<material name="yellow">
				<color rgba="0 1 1 1"/>
			</material>
		</visual>
	</link>
	<joint name="leg3_tibia_joint" type="revolute">
		<parent link="leg3_femur"/>
		<child link="leg3_tibia"/>
		<origin xyz="0 0 -0.0602" rpy="0 0 0"/>
		<axis xyz="0 1 0"/>
		<limit lower="0.2618" upper="2.8798" effort="1" velocity="1"/>
	</joint>

	<link name="leg3_tip">
		<inertial>
			<origin xyz="0 0 0" rpy="0 0 0"/>
			<mass value="1"/>
			<inertia
			  ixx="0.001" ixy="0" ixz="0"
			  iyy="0.001" iyz="0"
			  izz="0.001"/>
		</inertial>
		<visual>
			<geometry>
				<sphere radius="0.01"/>
			</geometry>
			<origin xyz="0 0 0" rpy="0 0 0"/>
			<material name="purple">
				<color rgba="1 0 1 1"/>
			</material>
		</visual>
	</link>
	<joint name="leg3_tip_joint" type="fixed">
		<parent link="leg3_tibia"/>
		<child link="leg3_tip"/>
		<origin xyz="0.07055 0 0" rpy="0 0 0"/>
	</joint>

	<!-- LEG 4 -->
	<link name="leg4_coxa">
		<inertial>
			<origin xyz="0 0 0" rpy="0 0 0"/>
			<mass value="1"/>
			<inertia
			  ixx="0.001" ixy="0" ixz="0"
			  iyy="0.001" iyz="0"
			  izz="0.001"/>
		</inertial>
		<visual>
			<geometry>
				<cylinder length="0.068" radius="0.005"/>
			</geometry>
			<origin xyz="0.028 0 0" rpy="0 1.5708 0"/>
			<material name="green">
				<color rgba="0 1 0 1"/>
			</material>
		</visual>
	</link>
	<joint name="leg4_coxa_joint" type="revolute">
		<parent link="base_link"/>
		<child link="leg4_coxa"/>
		<origin xyz="-0.052 -0.072 0" rpy="0 0 2.3562"/>
		<!-- position from base -->
		<axis xyz="0 0 1"/>
		<limit lower="0.2618" upper="2.8798" effort="1" velocity="1"/>
	</joint>

	<link name="leg4_femur">
		<inertial>
			<origin xyz="0 0 0" rpy="0 0 0"/>
			<mass value="1"/>
			<inertia
			  ixx="0.001" ixy="0" ixz="0"
			  iyy="0.001" iyz="0"
			  izz="0.001"/>
		</inertial>
		<visual>
			<geometry>
				<cylinder length="0.0602" radius="0.005"/>
			</geometry>
			<origin xyz="0 0 -0.0365" rpy="0 0 0"/>
			<material name="blue">
				<color rgba="0 0 1 1"/>
			</material>
		</visual>
	</link>
	<joint name="leg4_femur_joint" type="revolute">
		<parent link="leg4_coxa"/>
		<child link="leg4_femur"/>
		<origin xyz="0.068 0 0" rpy="3.1416 0 0"/>
		<axis xyz="0 -1 0"/>
		<limit lower="0.2618" upper="2.8798" effort="1" velocity="1"/>
	</joint>

	<link name="leg4_tibia">
		<inertial>
			<origin xyz="0 0 0" rpy="0 0 0"/>
			<mass value="1"/>
			<inertia
			  ixx="0.001" ixy="0" ixz="0"
			  iyy="0.001" iyz="0"
			  izz="0.001"/>
		</inertial>
		<visual>
			<geometry>
				<cylinder length="0.07055" radius="0.005"/>
			</geometry>
			<origin xyz="0.035 0 0" rpy="0 1.5708 0"/>
			<material name="yellow">
				<color rgba="0 1 1 1"/>
			</material>
		</visual>
	</link>
	<joint name="leg4_tibia_joint" type="revolute">
		<parent link="leg4_femur"/>
		<child link="leg4_tibia"/>
		<origin xyz="0 0 -0.0602" rpy="0 0 0"/>
		<axis xyz="0 1 0"/>
		<limit lower="0.2618" upper="2.8798" effort="1" velocity="1"/>
	</joint>

	<link name="leg4_tip">
		<inertial>
			<origin xyz="0 0 0" rpy="0 0 0"/>
			<mass value="1"/>
			<inertia
			  ixx="0.001" ixy="0" ixz="0"
			  iyy="0.001" iyz="0"
			  izz="0.001"/>
		</inertial>
		<visual>
			<geometry>
				<sphere radius="0.01"/>
			</geometry>
			<origin xyz="0 0 0" rpy="0 0 0"/>
			<material name="purple">
				<color rgba="1 0 1 1"/>
			</material>
		</visual>
	</link>
	<joint name="leg4_tip_joint" type="fixed">
		<parent link="leg4_tibia"/>
		<child link="leg4_tip"/>
		<origin xyz="0.07055 0 0" rpy="0 0 0"/>
	</joint>

	<!-- LEG 5 -->
	<link name="leg5_coxa">
		<inertial>
			<origin xyz="0 0 0" rpy="0 0 0"/>
			<mass value="1"/>
			<inertia
			  ixx="0.001" ixy="0" ixz="0"
			  iyy="0.001" iyz="0"
			  izz="0.001"/>
		</inertial>
		<visual>
			<geometry>
				<cylinder length="0.068" radius="0.005"/>
			</geometry>
			<origin xyz="0.028 0 0" rpy="0 1.5708 0"/>
			<material name="green">
				<color rgba="0 1 0 1"/>
			</material>
		</visual>
	</link>
	<joint name="leg5_coxa_joint" type="revolute">
		<parent link="base_link"/>
		<child link="leg5_coxa"/>
		<origin xyz="0 -0.070 0" rpy="0 0 3.1416"/>
		<!-- position from base -->
		<axis xyz="0 0 1"/>
		<limit lower="0.2618" upper="2.8798" effort="1" velocity="1"/>
	</joint>

	<link name="leg5_femur">
		<inertial>
			<origin xyz="0 0 0" rpy="0 0 0"/>
			<mass value="1"/>
			<inertia
			  ixx="0.001" ixy="0" ixz="0"
			  iyy="0.001" iyz="0"
			  izz="0.001"/>
		</inertial>
		<visual>
			<geometry>
				<cylinder length="0.0602" radius="0.005"/>
			</geometry>
			<origin xyz="0 0 -0.0365" rpy="0 0 0"/>
			<material name="blue">
				<color rgba="0 0 1 1"/>
			</material>
		</visual>
	</link>
	<joint name="leg5_femur_joint" type="revolute">
		<parent link="leg5_coxa"/>
		<child link="leg5_femur"/>
		<origin xyz="0.068 0 0" rpy="3.1416 0 0"/>
		<axis xyz="0 -1 0"/>
		<limit lower="0.2618" upper="2.8798" effort="1" velocity="1"/>
	</joint>

	<link name="leg5_tibia">
		<inertial>
			<origin xyz="0 0 0" rpy="0 0 0"/>
			<mass value="1"/>
			<inertia
			  ixx="0.001" ixy="0" ixz="0"
			  iyy="0.001" iyz="0"
			  izz="0.001"/>
		</inertial>
		<visual>
			<geometry>
				<cylinder length="0.07055" radius="0.005"/>
			</geometry>
			<origin xyz="0.035 0 0" rpy="0 1.5708 0"/>
			<material name="yellow">
				<color rgba="0 1 1 1"/>
			</material>
		</visual>
	</link>
	<joint name="leg5_tibia_joint" type="revolute">
		<parent link="leg5_femur"/>
		<child link="leg5_tibia"/>
		<origin xyz="0 0 -0.0602" rpy="0 0 0"/>
		<axis xyz="0 1 0"/>
		<limit lower="0.2618" upper="2.8798" effort="1" velocity="1"/>
	</joint>

	<link name="leg5_tip">
		<inertial>
			<origin xyz="0 0 0" rpy="0 0 0"/>
			<mass value="1"/>
			<inertia
			  ixx="0.001" ixy="0" ixz="0"
			  iyy="0.001" iyz="0"
			  izz="0.001"/>
		</inertial>
		<visual>
			<geometry>
				<sphere radius="0.01"/>
			</geometry>
			<origin xyz="0 0 0" rpy="0 0 0"/>
			<material name="purple">
				<color rgba="1 0 1 1"/>
			</material>
		</visual>
	</link>
	<joint name="leg5_tip_joint" type="fixed">
		<parent link="leg5_tibia"/>
		<child link="leg5_tip"/>
		<origin xyz="0.07055 0 0" rpy="0 0 0"/>
	</joint>

	<!-- LEG 6 -->
	<link name="leg6_coxa">
		<inertial>
			<origin xyz="0 0 0" rpy="0 0 0"/>
			<mass value="1"/>
			<inertia
			  ixx="0.001" ixy="0" ixz="0"
			  iyy="0.001" iyz="0"
			  izz="0.001"/>
		</inertial>
		<visual>
			<geometry>
				<cylinder length="0.068" radius="0.005"/>
			</geometry>
			<origin xyz="0.028 0 0" rpy="0 1.5708 0"/>
			<material name="green">
				<color rgba="0 1 0 1"/>
			</material>
		</visual>
	</link>
	<joint name="leg6_coxa_joint" type="revolute">
		<parent link="base_link"/>
		<child link="leg6_coxa"/>
		<origin xyz="0.052 -0.072 0" rpy="0 0 -2.3562"/>
		<!-- position from base -->
		<axis xyz="0 0 1"/>
		<limit lower="0.2618" upper="2.8798" effort="1" velocity="1"/>
	</joint>

	<link name="leg6_femur">
		<inertial>
			<origin xyz="0 0 0" rpy="0 0 0"/>
			<mass value="1"/>
			<inertia
			  ixx="0.001" ixy="0" ixz="0"
			  iyy="0.001" iyz="0"
			  izz="0.001"/>
		</inertial>
		<visual>
			<geometry>
				<cylinder length="0.0602" radius="0.005"/>
			</geometry>
			<origin xyz="0 0 -0.0365" rpy="0 0 0"/>
			<material name="blue">
				<color rgba="0 0 1 1"/>
			</material>
		</visual>
	</link>
	<joint name="leg6_femur_joint" type="revolute">
		<parent link="leg6_coxa"/>
		<child link="leg6_femur"/>
		<origin xyz="0.068 0 0" rpy="3.1416 0 0"/>
		<axis xyz="0 -1 0"/>
		<limit lower="0.2618" upper="2.8798" effort="1" velocity="1"/>
	</joint>

	<link name="leg6_tibia">
		<inertial>
			<origin xyz="0 0 0" rpy="0 0 0"/>
			<mass value="1"/>
			<inertia
			  ixx="0.001" ixy="0" ixz="0"
			  iyy="0.001" iyz="0"
			  izz="0.001"/>
		</inertial>
		<visual>
			<geometry>
				<cylinder length="0.07055" radius="0.005"/>
			</geometry>
			<origin xyz="0.035 0 0" rpy="0 1.5708 0"/>
			<material name="yellow">
				<color rgba="0 1 1 1"/>
			</material>
		</visual>
	</link>
	<joint name="leg6_tibia_joint" type="revolute">
		<parent link="leg6_femur"/>
		<child link="leg6_tibia"/>
		<origin xyz="0 0 -0.0602" rpy="0 0 0"/>
		<axis xyz="0 1 0"/>
		<limit lower="0.2618" upper="2.8798" effort="1" velocity="1"/>
	</joint>

	<link name="leg6_tip">
		<inertial>
			<origin xyz="0 0 0" rpy="0 0 0"/>
			<mass value="1"/>
			<inertia
			  ixx="0.001" ixy="0" ixz="0"
			  iyy="0.001" iyz="0"
			  izz="0.001"/>
		</inertial>
		<visual>
			<geometry>
				<sphere radius="0.01"/>
			</geometry>
			<origin xyz="0 0 0" rpy="0 0 0"/>
			<material name="purple">
				<color rgba="1 0 1 1"/>
			</material>
		</visual>
	</link>
	<joint name="leg6_tip_joint" type="fixed">
		<parent link="leg6_tibia"/>
		<child link="leg6_tip"/>
		<origin xyz="0.07055 0 0" rpy="0 0 0"/>
	</joint>

</robot>
