text: #ifndef QUADRUPED_DESCRIPTION_H
  #define QUADRUPED_DESCRIPTION_H
  
  #include <quadruped_base/quadruped_base.h>
  
  namespace champ
  {
      namespace URDF
      {
          void loadFromHeader(champ::QuadrupedBase &base)
          {
        base.lf.hip.setOrigin(0.277, 0.116, 0.0, 0, 0, 0);
  base.lf.upper_leg.setOrigin(0.0635, 0.041, -0.0, 0, 0, 0);
  base.lf.lower_leg.setOrigin(0.0, 0.109, -0.25, 0, 0, 0);
       base.lf.foot.setOrigin(0.1, -0.02, -0.32125, 0.0, 0.0, 0.0);
  
        base.rf.hip.setOrigin(0.277, -0.116, 0.0, 0, 0, 0);
  base.rf.upper_leg.setOrigin(0.0635, -0.041, -0.0, 0, 0, 0);
  base.rf.lower_leg.setOrigin(0.0, -0.109, -0.25, 0, 0, 0);
       base.rf.foot.setOrigin(0.1, 0.02, -0.32125, 0.0, 0.0, 0.0);
  
        base.lh.hip.setOrigin(-0.277, 0.116, 0.0, 0, 0, 0);
  base.lh.upper_leg.setOrigin(-0.0635, 0.041, -0.0, 0, 0, 0);
  base.lh.lower_leg.setOrigin(0.0, 0.109, -0.25, 0, 0, 0);
       base.lh.foot.setOrigin(-0.1, -0.02, -0.32125, 0.0, 0.0, 0.0);
  
        base.rh.hip.setOrigin(-0.277, -0.116, 0.0, 0, 0, 0);
  base.rh.upper_leg.setOrigin(-0.0635, -0.041, -0.0, 0, 0, 0);
  base.rh.lower_leg.setOrigin(0.0, -0.109, -0.25, 0, 0, 0);
       base.rh.foot.setOrigin(-0.1, 0.02, -0.32125, 0.0, 0.0, 0.0);
          }
      }
  }
  #endif