I already have a complete quadruped robot modeled in a single STEP assembly, and now I need it running inside Gazebo. Your task is to take that STEP file and hand back a fully functional URDF package that drops straight into ROS / Gazebo, with all links, joints, and inertial parameters wired up so I can press “roslaunch” and start testing gaits. It’s a four-leg design, so please name and orient the limbs logically (front_left, rear_right, etc.) and define realistic joint limits for hip, knee, and ankle. The visual meshes can stay fairly high-fidelity, but create simplified collision meshes where needed to keep the simulation light. If any textures are required, reference them correctly in the material tags. Deliverables: • Clean URDF (or xacro) file tree ready for roslaunch • Exported meshes in a Gazebo-friendly format (STL or DAE) • A sample launch/world file showing the robot standing in empty.world I can supply the STEP assembly and a diagram of the kinematic chain as soon as we agree. Let me know which CAD or scripting tools you prefer so we keep the workflow smooth.