<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from xacro/solo.urdf.xacro          | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="solo" xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" xmlns:xacro="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
  <!-- This file is based on: https://atlas.is.localnet/confluence/display/AMDW/Quadruped+URDF+Files -->
  <link name="base_link">
    <!-- BASE LINK INERTIAL -->
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="1.43315091"/>
      <!-- The base is extremely symmetrical. -->
      <inertia ixx="0.00578574" ixy="0.0" ixz="0.0" iyy="0.01938108" iyz="0.0" izz="0.02476124"/>
    </inertial>
    <!-- BASE LINK VISUAL -->
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://example-robot-data/robots/solo_description/meshes/obj/with_foot/solo_body.obj"/>
      </geometry>
      <material name="grey">
        <color rgba="0.8 0.8 0.8 1.0"/>
      </material>
    </visual>
    <!-- BASE LINK COLLISION -->
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://example-robot-data/robots/solo_description/meshes/obj/with_foot/solo_body.obj"/>
      </geometry>
      <material name="grey">
        <color rgba="0.8 0.8 0.8 1.0"/>
      </material>
    </collision>
    <!-- Bullet specific paramters -->
    <contact>
      <lateral_friction value="1.0"/>
      <restitution value="0.5"/>
    </contact>
  </link>
  <!-- END BASE LINK -->
  <!-- Joint between the base and the ${prefix} upper leg -->
  <joint name="FL_HFE" type="revolute">
    <parent link="base_link"/>
    <child link="FL_UPPER_LEG"/>
    <limit effort="1000" lower="-10" upper="10" velocity="1000"/>
    <!-- joints rotates around the y-axis -->
    <axis xyz="0 1 0"/>
    <origin rpy="0 0 0" xyz="0.19 0.1046 0"/>
    <!-- pybullet simulation parameters -->
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <link name="FL_UPPER_LEG">
    <!-- Left upper leg inertia -->
    <inertial>
      <origin rpy="0 0 0" xyz="0.00001377 0.01935853 -0.07870700"/>
      <mass value="0.14853845"/>
      <inertia ixx="0.00041107" ixy="0.0" ixz="0.0" iyy="0.00041193" iyz="0.00004671" izz="0.00003024"/>
    </inertial>
    <!-- UPPER LEG LINK VISUAL -->
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://example-robot-data/robots/solo_description/meshes/obj/with_foot/solo_upper_leg_left_side.obj"/>
      </geometry>
      <material name="grey">
        <color rgba="0.8 0.8 0.8 1.0"/>
      </material>
    </visual>
    <!-- UPPER LEG LINK COLLISION -->
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://example-robot-data/robots/solo_description/meshes/obj/with_foot/solo_upper_leg_left_side.obj"/>
      </geometry>
      <material name="grey">
        <color rgba="0.8 0.8 0.8 1.0"/>
      </material>
    </collision>
    <!-- Bullet specific paramters -->
    <contact>
      <lateral_friction value="1.0"/>
      <restitution value="0.5"/>
    </contact>
  </link>
  <!-- END UPPER LEG LINK -->
  <!-- KFE: Joint between the upper leg and the lower leg -->
  <joint name="FL_KFE" type="revolute">
    <parent link="FL_UPPER_LEG"/>
    <child link="FL_LOWER_LEG"/>
    <limit effort="1000" lower="-10" upper="10" velocity="1000"/>
    <!-- joints rotates around the y-axis -->
    <axis xyz="0 1 0"/>
    <origin rpy="0 0 0" xyz="0 0.03745 -0.16"/>
    <!-- pybullet simulation parameters -->
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <link name="FL_LOWER_LEG">
    <!-- Left lower leg inertia -->
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.00787644 -0.08928215"/>
      <mass value="0.03070001"/>
      <inertia ixx="0.00012024" ixy="0.0" ixz="0.0" iyy="0.00012029" iyz="0.00000305" izz="0.00000216"/>
    </inertial>
    <!-- LOWER LEG LINK VISUAL -->
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://example-robot-data/robots/solo_description/meshes/obj/with_foot/solo_lower_leg_left_side.obj"/>
      </geometry>
      <material name="grey">
        <color rgba="0.8 0.8 0.8 1.0"/>
      </material>
    </visual>
    <!-- LOWER LEG LINK COLLISION -->
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://example-robot-data/robots/solo_description/meshes/obj/with_foot/solo_lower_leg_left_side.obj"/>
      </geometry>
      <material name="grey">
        <color rgba="0.8 0.8 0.8 1.0"/>
      </material>
    </collision>
    <!-- Bullet specific paramters -->
    <contact>
      <lateral_friction value="1.0"/>
      <restitution value="0.5"/>
    </contact>
  </link>
  <!-- END LOWER LEG LINK -->
  <!-- KFE: Joint between the upper leg and the lower leg -->
  <joint name="FL_ANKLE" type="fixed">
    <parent link="FL_LOWER_LEG"/>
    <child link="FL_FOOT"/>
    <origin rpy="0 0 0" xyz="0 0.008 -0.16"/>
    <!-- Limits (usefull?) -->
    <limit effort="1000" lower="-10" upper="10" velocity="1000"/>
    <!-- pybullet simulation parameters -->
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <link name="FL_FOOT">
    <!-- FOOT INERTIAL -->
    <!-- This link is symmetrical left or right -->
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0.00035767"/>
      <mass value="0.00693606"/>
      <inertia ixx="0.00000057" ixy="0.0" ixz="0.0" iyy="0.00000084" iyz="0.0" izz="0.00000053"/>
    </inertial>
    <!-- FOOT VISUAL -->
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://example-robot-data/robots/solo_description/meshes/obj/with_foot/solo_foot.obj"/>
      </geometry>
      <material name="grey">
        <color rgba="0.8 0.8 0.8 1.0"/>
      </material>
    </visual>
    <!-- FOOT COLLISION -->
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://example-robot-data/robots/solo_description/meshes/obj/with_foot/solo_foot.obj"/>
      </geometry>
      <material name="grey">
        <color rgba="0.8 0.8 0.8 1.0"/>
      </material>
    </collision>
    <!-- Bullet specific paramters -->
    <contact>
      <lateral_friction value="1.0"/>
      <restitution value="0.5"/>
    </contact>
  </link>
  <!-- END LOWER LEG LINK -->
  <!-- Joint between the base and the ${prefix} upper leg -->
  <joint name="FR_HFE" type="revolute">
    <parent link="base_link"/>
    <child link="FR_UPPER_LEG"/>
    <limit effort="1000" lower="-10" upper="10" velocity="1000"/>
    <!-- joints rotates around the y-axis -->
    <axis xyz="0 1 0"/>
    <origin rpy="0 0 0" xyz="0.19 -0.1046 0"/>
    <!-- pybullet simulation parameters -->
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <link name="FR_UPPER_LEG">
    <!-- Right upper leg inertia -->
    <inertial>
      <origin rpy="0 0 0" xyz="-0.00001377 -0.01935853 -0.07870700"/>
      <mass value="0.14853845"/>
      <inertia ixx="0.00041107" ixy="0.0" ixz="0.0" iyy="0.00041193" iyz="-0.00004671" izz="0.00003024"/>
    </inertial>
    <!-- UPPER LEG LINK VISUAL -->
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://example-robot-data/robots/solo_description/meshes/obj/with_foot/solo_upper_leg_right_side.obj"/>
      </geometry>
      <material name="grey">
        <color rgba="0.8 0.8 0.8 1.0"/>
      </material>
    </visual>
    <!-- UPPER LEG LINK COLLISION -->
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://example-robot-data/robots/solo_description/meshes/obj/with_foot/solo_upper_leg_right_side.obj"/>
      </geometry>
      <material name="grey">
        <color rgba="0.8 0.8 0.8 1.0"/>
      </material>
    </collision>
    <!-- Bullet specific paramters -->
    <contact>
      <lateral_friction value="1.0"/>
      <restitution value="0.5"/>
    </contact>
  </link>
  <!-- END UPPER LEG LINK -->
  <!-- KFE: Joint between the upper leg and the lower leg -->
  <joint name="FR_KFE" type="revolute">
    <parent link="FR_UPPER_LEG"/>
    <child link="FR_LOWER_LEG"/>
    <limit effort="1000" lower="-10" upper="10" velocity="1000"/>
    <!-- joints rotates around the y-axis -->
    <axis xyz="0 1 0"/>
    <origin rpy="0 0 0" xyz="0 -0.03745 -0.16"/>
    <!-- pybullet simulation parameters -->
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <link name="FR_LOWER_LEG">
    <!-- Right lower leg inertia -->
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 -0.00787644 -0.08928215"/>
      <mass value="0.03070001"/>
      <inertia ixx="0.00012024" ixy="0.0" ixz="0.0" iyy="0.00012029" iyz="-0.00000305" izz="0.00000216"/>
    </inertial>
    <!-- LOWER LEG LINK VISUAL -->
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://example-robot-data/robots/solo_description/meshes/obj/with_foot/solo_lower_leg_right_side.obj"/>
      </geometry>
      <material name="grey">
        <color rgba="0.8 0.8 0.8 1.0"/>
      </material>
    </visual>
    <!-- LOWER LEG LINK COLLISION -->
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://example-robot-data/robots/solo_description/meshes/obj/with_foot/solo_lower_leg_right_side.obj"/>
      </geometry>
      <material name="grey">
        <color rgba="0.8 0.8 0.8 1.0"/>
      </material>
    </collision>
    <!-- Bullet specific paramters -->
    <contact>
      <lateral_friction value="1.0"/>
      <restitution value="0.5"/>
    </contact>
  </link>
  <!-- END LOWER LEG LINK -->
  <!-- KFE: Joint between the upper leg and the lower leg -->
  <joint name="FR_ANKLE" type="fixed">
    <parent link="FR_LOWER_LEG"/>
    <child link="FR_FOOT"/>
    <origin rpy="0 0 0" xyz="0 -0.008 -0.16"/>
    <!-- Limits (usefull?) -->
    <limit effort="1000" lower="-10" upper="10" velocity="1000"/>
    <!-- pybullet simulation parameters -->
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <link name="FR_FOOT">
    <!-- FOOT INERTIAL -->
    <!-- This link is symmetrical left or right -->
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0.00035767"/>
      <mass value="0.00693606"/>
      <inertia ixx="0.00000057" ixy="0.0" ixz="0.0" iyy="0.00000084" iyz="0.0" izz="0.00000053"/>
    </inertial>
    <!-- FOOT VISUAL -->
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://example-robot-data/robots/solo_description/meshes/obj/with_foot/solo_foot.obj"/>
      </geometry>
      <material name="grey">
        <color rgba="0.8 0.8 0.8 1.0"/>
      </material>
    </visual>
    <!-- FOOT COLLISION -->
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://example-robot-data/robots/solo_description/meshes/obj/with_foot/solo_foot.obj"/>
      </geometry>
      <material name="grey">
        <color rgba="0.8 0.8 0.8 1.0"/>
      </material>
    </collision>
    <!-- Bullet specific paramters -->
    <contact>
      <lateral_friction value="1.0"/>
      <restitution value="0.5"/>
    </contact>
  </link>
  <!-- END LOWER LEG LINK -->
  <!-- Joint between the base and the ${prefix} upper leg -->
  <joint name="HL_HFE" type="revolute">
    <parent link="base_link"/>
    <child link="HL_UPPER_LEG"/>
    <limit effort="1000" lower="-10" upper="10" velocity="1000"/>
    <!-- joints rotates around the y-axis -->
    <axis xyz="0 1 0"/>
    <origin rpy="0 0 0" xyz="-0.19 0.1046 0"/>
    <!-- pybullet simulation parameters -->
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <link name="HL_UPPER_LEG">
    <!-- Left upper leg inertia -->
    <inertial>
      <origin rpy="0 0 0" xyz="0.00001377 0.01935853 -0.07870700"/>
      <mass value="0.14853845"/>
      <inertia ixx="0.00041107" ixy="0.0" ixz="0.0" iyy="0.00041193" iyz="0.00004671" izz="0.00003024"/>
    </inertial>
    <!-- UPPER LEG LINK VISUAL -->
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://example-robot-data/robots/solo_description/meshes/obj/with_foot/solo_upper_leg_left_side.obj"/>
      </geometry>
      <material name="grey">
        <color rgba="0.8 0.8 0.8 1.0"/>
      </material>
    </visual>
    <!-- UPPER LEG LINK COLLISION -->
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://example-robot-data/robots/solo_description/meshes/obj/with_foot/solo_upper_leg_left_side.obj"/>
      </geometry>
      <material name="grey">
        <color rgba="0.8 0.8 0.8 1.0"/>
      </material>
    </collision>
    <!-- Bullet specific paramters -->
    <contact>
      <lateral_friction value="1.0"/>
      <restitution value="0.5"/>
    </contact>
  </link>
  <!-- END UPPER LEG LINK -->
  <!-- KFE: Joint between the upper leg and the lower leg -->
  <joint name="HL_KFE" type="revolute">
    <parent link="HL_UPPER_LEG"/>
    <child link="HL_LOWER_LEG"/>
    <limit effort="1000" lower="-10" upper="10" velocity="1000"/>
    <!-- joints rotates around the y-axis -->
    <axis xyz="0 1 0"/>
    <origin rpy="0 0 0" xyz="0 0.03745 -0.16"/>
    <!-- pybullet simulation parameters -->
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <link name="HL_LOWER_LEG">
    <!-- Left lower leg inertia -->
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.00787644 -0.08928215"/>
      <mass value="0.03070001"/>
      <inertia ixx="0.00012024" ixy="0.0" ixz="0.0" iyy="0.00012029" iyz="0.00000305" izz="0.00000216"/>
    </inertial>
    <!-- LOWER LEG LINK VISUAL -->
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://example-robot-data/robots/solo_description/meshes/obj/with_foot/solo_lower_leg_left_side.obj"/>
      </geometry>
      <material name="grey">
        <color rgba="0.8 0.8 0.8 1.0"/>
      </material>
    </visual>
    <!-- LOWER LEG LINK COLLISION -->
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://example-robot-data/robots/solo_description/meshes/obj/with_foot/solo_lower_leg_left_side.obj"/>
      </geometry>
      <material name="grey">
        <color rgba="0.8 0.8 0.8 1.0"/>
      </material>
    </collision>
    <!-- Bullet specific paramters -->
    <contact>
      <lateral_friction value="1.0"/>
      <restitution value="0.5"/>
    </contact>
  </link>
  <!-- END LOWER LEG LINK -->
  <!-- KFE: Joint between the upper leg and the lower leg -->
  <joint name="HL_ANKLE" type="fixed">
    <parent link="HL_LOWER_LEG"/>
    <child link="HL_FOOT"/>
    <origin rpy="0 0 0" xyz="0 0.008 -0.16"/>
    <!-- Limits (usefull?) -->
    <limit effort="1000" lower="-10" upper="10" velocity="1000"/>
    <!-- pybullet simulation parameters -->
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <link name="HL_FOOT">
    <!-- FOOT INERTIAL -->
    <!-- This link is symmetrical left or right -->
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0.00035767"/>
      <mass value="0.00693606"/>
      <inertia ixx="0.00000057" ixy="0.0" ixz="0.0" iyy="0.00000084" iyz="0.0" izz="0.00000053"/>
    </inertial>
    <!-- FOOT VISUAL -->
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://example-robot-data/robots/solo_description/meshes/obj/with_foot/solo_foot.obj"/>
      </geometry>
      <material name="grey">
        <color rgba="0.8 0.8 0.8 1.0"/>
      </material>
    </visual>
    <!-- FOOT COLLISION -->
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://example-robot-data/robots/solo_description/meshes/obj/with_foot/solo_foot.obj"/>
      </geometry>
      <material name="grey">
        <color rgba="0.8 0.8 0.8 1.0"/>
      </material>
    </collision>
    <!-- Bullet specific paramters -->
    <contact>
      <lateral_friction value="1.0"/>
      <restitution value="0.5"/>
    </contact>
  </link>
  <!-- END LOWER LEG LINK -->
  <!-- Joint between the base and the ${prefix} upper leg -->
  <joint name="HR_HFE" type="revolute">
    <parent link="base_link"/>
    <child link="HR_UPPER_LEG"/>
    <limit effort="1000" lower="-10" upper="10" velocity="1000"/>
    <!-- joints rotates around the y-axis -->
    <axis xyz="0 1 0"/>
    <origin rpy="0 0 0" xyz="-0.19 -0.1046 0"/>
    <!-- pybullet simulation parameters -->
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <link name="HR_UPPER_LEG">
    <!-- Right upper leg inertia -->
    <inertial>
      <origin rpy="0 0 0" xyz="-0.00001377 -0.01935853 -0.07870700"/>
      <mass value="0.14853845"/>
      <inertia ixx="0.00041107" ixy="0.0" ixz="0.0" iyy="0.00041193" iyz="-0.00004671" izz="0.00003024"/>
    </inertial>
    <!-- UPPER LEG LINK VISUAL -->
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://example-robot-data/robots/solo_description/meshes/obj/with_foot/solo_upper_leg_right_side.obj"/>
      </geometry>
      <material name="grey">
        <color rgba="0.8 0.8 0.8 1.0"/>
      </material>
    </visual>
    <!-- UPPER LEG LINK COLLISION -->
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://example-robot-data/robots/solo_description/meshes/obj/with_foot/solo_upper_leg_right_side.obj"/>
      </geometry>
      <material name="grey">
        <color rgba="0.8 0.8 0.8 1.0"/>
      </material>
    </collision>
    <!-- Bullet specific paramters -->
    <contact>
      <lateral_friction value="1.0"/>
      <restitution value="0.5"/>
    </contact>
  </link>
  <!-- END UPPER LEG LINK -->
  <!-- KFE: Joint between the upper leg and the lower leg -->
  <joint name="HR_KFE" type="revolute">
    <parent link="HR_UPPER_LEG"/>
    <child link="HR_LOWER_LEG"/>
    <limit effort="1000" lower="-10" upper="10" velocity="1000"/>
    <!-- joints rotates around the y-axis -->
    <axis xyz="0 1 0"/>
    <origin rpy="0 0 0" xyz="0 -0.03745 -0.16"/>
    <!-- pybullet simulation parameters -->
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <link name="HR_LOWER_LEG">
    <!-- Right lower leg inertia -->
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 -0.00787644 -0.08928215"/>
      <mass value="0.03070001"/>
      <inertia ixx="0.00012024" ixy="0.0" ixz="0.0" iyy="0.00012029" iyz="-0.00000305" izz="0.00000216"/>
    </inertial>
    <!-- LOWER LEG LINK VISUAL -->
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://example-robot-data/robots/solo_description/meshes/obj/with_foot/solo_lower_leg_right_side.obj"/>
      </geometry>
      <material name="grey">
        <color rgba="0.8 0.8 0.8 1.0"/>
      </material>
    </visual>
    <!-- LOWER LEG LINK COLLISION -->
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://example-robot-data/robots/solo_description/meshes/obj/with_foot/solo_lower_leg_right_side.obj"/>
      </geometry>
      <material name="grey">
        <color rgba="0.8 0.8 0.8 1.0"/>
      </material>
    </collision>
    <!-- Bullet specific paramters -->
    <contact>
      <lateral_friction value="1.0"/>
      <restitution value="0.5"/>
    </contact>
  </link>
  <!-- END LOWER LEG LINK -->
  <!-- KFE: Joint between the upper leg and the lower leg -->
  <joint name="HR_ANKLE" type="fixed">
    <parent link="HR_LOWER_LEG"/>
    <child link="HR_FOOT"/>
    <origin rpy="0 0 0" xyz="0 -0.008 -0.16"/>
    <!-- Limits (usefull?) -->
    <limit effort="1000" lower="-10" upper="10" velocity="1000"/>
    <!-- pybullet simulation parameters -->
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <link name="HR_FOOT">
    <!-- FOOT INERTIAL -->
    <!-- This link is symmetrical left or right -->
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0.00035767"/>
      <mass value="0.00693606"/>
      <inertia ixx="0.00000057" ixy="0.0" ixz="0.0" iyy="0.00000084" iyz="0.0" izz="0.00000053"/>
    </inertial>
    <!-- FOOT VISUAL -->
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://example-robot-data/robots/solo_description/meshes/obj/with_foot/solo_foot.obj"/>
      </geometry>
      <material name="grey">
        <color rgba="0.8 0.8 0.8 1.0"/>
      </material>
    </visual>
    <!-- FOOT COLLISION -->
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://example-robot-data/robots/solo_description/meshes/obj/with_foot/solo_foot.obj"/>
      </geometry>
      <material name="grey">
        <color rgba="0.8 0.8 0.8 1.0"/>
      </material>
    </collision>
    <!-- Bullet specific paramters -->
    <contact>
      <lateral_friction value="1.0"/>
      <restitution value="0.5"/>
    </contact>
  </link>
  <!-- END LOWER LEG LINK -->
</robot>
