<?xml version="1.0" ?>
<robot name="anymal">
    <group name="whole_body">
        <joint name="root_joint"/>
        <group name="whole_body_fixed"/>
    </group>
    <group name="whole_body_fixed">
        <group name="all_legs"/>
        <group name="arm"/>
    </group>
    <virtual_joint name="root_joint" type="floating" parent_frame="world_frame" child_link="base" />

    <group name="lf_leg">
        <joint name="LF_HAA" />
        <joint name="LF_HFE" />
        <joint name="LF_KFE" />
        <chain base_link="base" tip_link="LF_FOOT" />
    </group>
    <group name="lh_leg">
        <joint name="LH_HAA" />
        <joint name="LH_HFE" />
        <joint name="LH_KFE" />
        <chain base_link="base" tip_link="LH_FOOT" />
    </group>
    <group name="rf_leg">
        <joint name="RF_HAA" />
        <joint name="RF_HFE" />
        <joint name="RF_KFE" />
        <chain base_link="base" tip_link="RF_FOOT" />
    </group>
    <group name="rh_leg">
        <joint name="RH_HAA" />
        <joint name="RH_HFE" />
        <joint name="RH_KFE" />
        <chain base_link="base" tip_link="RH_FOOT" />
    </group>
    <group name="arm">
        <joint name="j2s6s200_joint_1" />
        <joint name="j2s6s200_joint_2" />
        <joint name="j2s6s200_joint_3" />
        <joint name="j2s6s200_joint_4" />
        <joint name="j2s6s200_joint_5" />
        <joint name="j2s6s200_joint_6" />
        <chain base_link="base" tip_link="j2s6s200_end_effector" />
    </group>
    <group name="all_legs">
        <group name="lf_leg" />
        <group name="rf_leg" />
        <group name="lh_leg" />
        <group name="rh_leg" />
    </group>
    <group name="r_legs">
        <group name="rf_leg" />
        <group name="rh_leg" />
    </group>
    <group name="l_legs">
        <group name="lf_leg" />
        <group name="lh_leg" />
    </group>
    <group name="f_legs">
        <group name="lf_leg" />
        <group name="rf_leg" />
    </group>
    <group name="h_legs">
        <group name="lh_leg" />
        <group name="rh_leg" />
    </group>
    <group name="ld_legs">
        <group name="lf_leg" />
        <group name="rh_leg" />
    </group>
    <group name="rd_legs">
        <group name="rf_leg" />
        <group name="lh_leg" />
    </group>

    <end_effector name="lf_foot" parent_link="LF_FOOT" group="lf_leg" />
    <end_effector name="rf_foot" parent_link="RF_FOOT" group="rf_leg" />
    <end_effector name="lh_foot" parent_link="LH_FOOT" group="lh_leg" />
    <end_effector name="rh_foot" parent_link="RH_FOOT" group="rh_leg" />
    <end_effector name="arm" parent_link="j2s6s200_end_effector" group="arm" />

    <group_state name="standing_with_arm_up" group="whole_body">
        <joint name="root_joint" value="0. 0. 0.4792 0. 0. 0. 1." />
        <joint name="LF_HAA" value="-0.1" />
        <joint name="LF_HFE" value="0.7" />
        <joint name="LF_KFE" value="-1." />
        <joint name="RF_HAA" value="0.1" />
        <joint name="RF_HFE" value="0.7" />
        <joint name="RF_KFE" value="-1." />
        <joint name="LH_HAA" value="-0.1" />
        <joint name="LH_HFE" value="-0.7" />
        <joint name="LH_KFE" value="1." />
        <joint name="RH_HAA" value="0.1" />
        <joint name="RH_HFE" value="-0.7" />
        <joint name="RH_KFE" value="1." />
        <joint name="j2s6s200_joint_1" value="4.71238898038469" /><!-- 3π / 2 -->
        <joint name="j2s6s200_joint_2" value="3.665191429188092" /><!-- 7π / 6 -->
        <joint name="j2s6s200_joint_3" value="1.0471975511965976" /><!-- 1π / 3 -->
        <joint name="j2s6s200_joint_4" value="0.0" />
        <joint name="j2s6s200_joint_5" value="2.0943951023931953" /><!-- 2π / 3 -->
        <joint name="j2s6s200_joint_6" value="0.0" />
    </group_state>

    <disable_collisions link1="LF_ADAPTER" link2="LF_FOOT" reason="Adjacent"/>
    <disable_collisions link1="LF_ADAPTER" link2="LF_HIP" reason="Never"/>
    <disable_collisions link1="LF_ADAPTER" link2="LF_SHANK" reason="Adjacent"/>
    <disable_collisions link1="LF_ADAPTER" link2="LF_THIGH" reason="Never"/>
    <disable_collisions link1="LF_ADAPTER" link2="LH_HIP" reason="Never"/>
    <disable_collisions link1="LF_ADAPTER" link2="RH_HIP" reason="Never"/>
    <disable_collisions link1="LF_FOOT" link2="LF_HIP" reason="Never"/>
    <disable_collisions link1="LF_FOOT" link2="LF_SHANK" reason="Never"/>
    <disable_collisions link1="LF_FOOT" link2="LF_THIGH" reason="Never"/>
    <disable_collisions link1="LF_FOOT" link2="LH_HIP" reason="Never"/>
    <disable_collisions link1="LF_FOOT" link2="RH_HIP" reason="Never"/>
    <disable_collisions link1="LF_HIP" link2="LF_SHANK" reason="Never"/>
    <disable_collisions link1="LF_HIP" link2="LF_THIGH" reason="Adjacent"/>
    <disable_collisions link1="LF_HIP" link2="LH_ADAPTER" reason="Never"/>
    <disable_collisions link1="LF_HIP" link2="LH_FOOT" reason="Never"/>
    <disable_collisions link1="LF_HIP" link2="LH_HIP" reason="Never"/>
    <disable_collisions link1="LF_HIP" link2="LH_SHANK" reason="Never"/>
    <disable_collisions link1="LF_HIP" link2="LH_THIGH" reason="Never"/>
    <disable_collisions link1="LF_HIP" link2="RF_HIP" reason="Never"/>
    <disable_collisions link1="LF_HIP" link2="RH_ADAPTER" reason="Never"/>
    <disable_collisions link1="LF_HIP" link2="RH_FOOT" reason="Never"/>
    <disable_collisions link1="LF_HIP" link2="RH_HIP" reason="Never"/>
    <disable_collisions link1="LF_HIP" link2="RH_SHANK" reason="Never"/>
    <disable_collisions link1="LF_HIP" link2="RH_THIGH" reason="Never"/>
    <disable_collisions link1="LF_HIP" link2="base" reason="Adjacent"/>
    <disable_collisions link1="LF_HIP" link2="imu_link" reason="Never"/>
    <disable_collisions link1="LF_HIP" link2="j2s6s200_link_1" reason="Never"/>
    <disable_collisions link1="LF_HIP" link2="j2s6s200_link_2" reason="Never"/>
    <disable_collisions link1="LF_HIP" link2="j2s6s200_link_base" reason="Never"/>
    <disable_collisions link1="LF_HIP" link2="jaco_front_hatch_support_v2" reason="Never"/>
    <disable_collisions link1="LF_HIP" link2="jaco_mounting_block" reason="Never"/>
    <disable_collisions link1="LF_SHANK" link2="LF_THIGH" reason="Adjacent"/>
    <disable_collisions link1="LF_SHANK" link2="LH_HIP" reason="Never"/>
    <disable_collisions link1="LF_SHANK" link2="RH_HIP" reason="Never"/>
    <disable_collisions link1="LF_THIGH" link2="LH_HIP" reason="Never"/>
    <disable_collisions link1="LF_THIGH" link2="LH_THIGH" reason="Never"/>
    <disable_collisions link1="LF_THIGH" link2="RH_HIP" reason="Never"/>
    <disable_collisions link1="LF_THIGH" link2="RH_THIGH" reason="Never"/>
    <disable_collisions link1="LF_THIGH" link2="base" reason="Default"/>
    <disable_collisions link1="LH_ADAPTER" link2="LH_FOOT" reason="Adjacent"/>
    <disable_collisions link1="LH_ADAPTER" link2="LH_HIP" reason="Never"/>
    <disable_collisions link1="LH_ADAPTER" link2="LH_SHANK" reason="Adjacent"/>
    <disable_collisions link1="LH_ADAPTER" link2="LH_THIGH" reason="Never"/>
    <disable_collisions link1="LH_ADAPTER" link2="RF_HIP" reason="Never"/>
    <disable_collisions link1="LH_ADAPTER" link2="j2s6s200_link_1" reason="Never"/>
    <disable_collisions link1="LH_ADAPTER" link2="j2s6s200_link_base" reason="Never"/>
    <disable_collisions link1="LH_ADAPTER" link2="jaco_mounting_block" reason="Never"/>
    <disable_collisions link1="LH_FOOT" link2="LH_HIP" reason="Never"/>
    <disable_collisions link1="LH_FOOT" link2="LH_SHANK" reason="Never"/>
    <disable_collisions link1="LH_FOOT" link2="LH_THIGH" reason="Never"/>
    <disable_collisions link1="LH_FOOT" link2="RF_HIP" reason="Never"/>
    <disable_collisions link1="LH_FOOT" link2="j2s6s200_link_1" reason="Never"/>
    <disable_collisions link1="LH_FOOT" link2="j2s6s200_link_base" reason="Never"/>
    <disable_collisions link1="LH_FOOT" link2="jaco_mounting_block" reason="Never"/>
    <disable_collisions link1="LH_HIP" link2="LH_SHANK" reason="Never"/>
    <disable_collisions link1="LH_HIP" link2="LH_THIGH" reason="Adjacent"/>
    <disable_collisions link1="LH_HIP" link2="RF_ADAPTER" reason="Never"/>
    <disable_collisions link1="LH_HIP" link2="RF_FOOT" reason="Never"/>
    <disable_collisions link1="LH_HIP" link2="RF_HIP" reason="Never"/>
    <disable_collisions link1="LH_HIP" link2="RF_SHANK" reason="Never"/>
    <disable_collisions link1="LH_HIP" link2="RF_THIGH" reason="Never"/>
    <disable_collisions link1="LH_HIP" link2="RH_HIP" reason="Never"/>
    <disable_collisions link1="LH_HIP" link2="base" reason="Adjacent"/>
    <disable_collisions link1="LH_HIP" link2="imu_link" reason="Never"/>
    <disable_collisions link1="LH_HIP" link2="j2s6s200_link_1" reason="Never"/>
    <disable_collisions link1="LH_HIP" link2="j2s6s200_link_2" reason="Never"/>
    <disable_collisions link1="LH_HIP" link2="j2s6s200_link_3" reason="Never"/>
    <disable_collisions link1="LH_HIP" link2="j2s6s200_link_base" reason="Never"/>
    <disable_collisions link1="LH_HIP" link2="jaco_front_hatch_support_v2" reason="Never"/>
    <disable_collisions link1="LH_HIP" link2="jaco_mounting_block" reason="Never"/>
    <disable_collisions link1="LH_SHANK" link2="LH_THIGH" reason="Adjacent"/>
    <disable_collisions link1="LH_SHANK" link2="RF_HIP" reason="Never"/>
    <disable_collisions link1="LH_SHANK" link2="j2s6s200_link_1" reason="Never"/>
    <disable_collisions link1="LH_SHANK" link2="j2s6s200_link_base" reason="Never"/>
    <disable_collisions link1="LH_SHANK" link2="jaco_front_hatch_support_v2" reason="Never"/>
    <disable_collisions link1="LH_SHANK" link2="jaco_mounting_block" reason="Never"/>
    <disable_collisions link1="LH_THIGH" link2="RF_HIP" reason="Never"/>
    <disable_collisions link1="LH_THIGH" link2="RF_THIGH" reason="Never"/>
    <disable_collisions link1="LH_THIGH" link2="base" reason="Default"/>
    <disable_collisions link1="LH_THIGH" link2="imu_link" reason="Never"/>
    <disable_collisions link1="LH_THIGH" link2="j2s6s200_link_1" reason="Never"/>
    <disable_collisions link1="LH_THIGH" link2="j2s6s200_link_base" reason="Never"/>
    <disable_collisions link1="LH_THIGH" link2="jaco_front_hatch_support_v2" reason="Never"/>
    <disable_collisions link1="LH_THIGH" link2="jaco_mounting_block" reason="Never"/>
    <disable_collisions link1="RF_ADAPTER" link2="RF_FOOT" reason="Adjacent"/>
    <disable_collisions link1="RF_ADAPTER" link2="RF_HIP" reason="Never"/>
    <disable_collisions link1="RF_ADAPTER" link2="RF_SHANK" reason="Adjacent"/>
    <disable_collisions link1="RF_ADAPTER" link2="RF_THIGH" reason="Never"/>
    <disable_collisions link1="RF_ADAPTER" link2="RH_HIP" reason="Never"/>
    <disable_collisions link1="RF_FOOT" link2="RF_HIP" reason="Never"/>
    <disable_collisions link1="RF_FOOT" link2="RF_SHANK" reason="Never"/>
    <disable_collisions link1="RF_FOOT" link2="RF_THIGH" reason="Never"/>
    <disable_collisions link1="RF_FOOT" link2="RH_HIP" reason="Never"/>
    <disable_collisions link1="RF_HIP" link2="RF_SHANK" reason="Never"/>
    <disable_collisions link1="RF_HIP" link2="RF_THIGH" reason="Adjacent"/>
    <disable_collisions link1="RF_HIP" link2="RH_ADAPTER" reason="Never"/>
    <disable_collisions link1="RF_HIP" link2="RH_FOOT" reason="Never"/>
    <disable_collisions link1="RF_HIP" link2="RH_HIP" reason="Never"/>
    <disable_collisions link1="RF_HIP" link2="RH_SHANK" reason="Never"/>
    <disable_collisions link1="RF_HIP" link2="RH_THIGH" reason="Never"/>
    <disable_collisions link1="RF_HIP" link2="base" reason="Adjacent"/>
    <disable_collisions link1="RF_HIP" link2="imu_link" reason="Never"/>
    <disable_collisions link1="RF_HIP" link2="j2s6s200_link_1" reason="Never"/>
    <disable_collisions link1="RF_HIP" link2="j2s6s200_link_2" reason="Never"/>
    <disable_collisions link1="RF_HIP" link2="j2s6s200_link_base" reason="Never"/>
    <disable_collisions link1="RF_HIP" link2="jaco_front_hatch_support_v2" reason="Never"/>
    <disable_collisions link1="RF_HIP" link2="jaco_mounting_block" reason="Never"/>
    <disable_collisions link1="RF_SHANK" link2="RF_THIGH" reason="Adjacent"/>
    <disable_collisions link1="RF_SHANK" link2="RH_HIP" reason="Never"/>
    <disable_collisions link1="RF_THIGH" link2="RH_HIP" reason="Never"/>
    <disable_collisions link1="RF_THIGH" link2="RH_THIGH" reason="Never"/>
    <disable_collisions link1="RF_THIGH" link2="base" reason="Default"/>
    <disable_collisions link1="RH_ADAPTER" link2="RH_FOOT" reason="Adjacent"/>
    <disable_collisions link1="RH_ADAPTER" link2="RH_HIP" reason="Never"/>
    <disable_collisions link1="RH_ADAPTER" link2="RH_SHANK" reason="Adjacent"/>
    <disable_collisions link1="RH_ADAPTER" link2="RH_THIGH" reason="Never"/>
    <disable_collisions link1="RH_ADAPTER" link2="j2s6s200_link_1" reason="Never"/>
    <disable_collisions link1="RH_ADAPTER" link2="j2s6s200_link_base" reason="Never"/>
    <disable_collisions link1="RH_ADAPTER" link2="jaco_mounting_block" reason="Never"/>
    <disable_collisions link1="RH_FOOT" link2="RH_HIP" reason="Never"/>
    <disable_collisions link1="RH_FOOT" link2="RH_SHANK" reason="Never"/>
    <disable_collisions link1="RH_FOOT" link2="RH_THIGH" reason="Never"/>
    <disable_collisions link1="RH_FOOT" link2="j2s6s200_link_1" reason="Never"/>
    <disable_collisions link1="RH_FOOT" link2="j2s6s200_link_base" reason="Never"/>
    <disable_collisions link1="RH_FOOT" link2="jaco_mounting_block" reason="Never"/>
    <disable_collisions link1="RH_HIP" link2="RH_SHANK" reason="Never"/>
    <disable_collisions link1="RH_HIP" link2="RH_THIGH" reason="Adjacent"/>
    <disable_collisions link1="RH_HIP" link2="base" reason="Adjacent"/>
    <disable_collisions link1="RH_HIP" link2="imu_link" reason="Never"/>
    <disable_collisions link1="RH_HIP" link2="j2s6s200_link_1" reason="Never"/>
    <disable_collisions link1="RH_HIP" link2="j2s6s200_link_2" reason="Never"/>
    <disable_collisions link1="RH_HIP" link2="j2s6s200_link_3" reason="Never"/>
    <disable_collisions link1="RH_HIP" link2="j2s6s200_link_base" reason="Never"/>
    <disable_collisions link1="RH_HIP" link2="jaco_front_hatch_support_v2" reason="Never"/>
    <disable_collisions link1="RH_HIP" link2="jaco_mounting_block" reason="Never"/>
    <disable_collisions link1="RH_SHANK" link2="RH_THIGH" reason="Adjacent"/>
    <disable_collisions link1="RH_SHANK" link2="j2s6s200_link_1" reason="Never"/>
    <disable_collisions link1="RH_SHANK" link2="j2s6s200_link_base" reason="Never"/>
    <disable_collisions link1="RH_SHANK" link2="jaco_front_hatch_support_v2" reason="Never"/>
    <disable_collisions link1="RH_SHANK" link2="jaco_mounting_block" reason="Never"/>
    <disable_collisions link1="RH_THIGH" link2="base" reason="Default"/>
    <disable_collisions link1="RH_THIGH" link2="imu_link" reason="Never"/>
    <disable_collisions link1="RH_THIGH" link2="j2s6s200_link_1" reason="Never"/>
    <disable_collisions link1="RH_THIGH" link2="j2s6s200_link_base" reason="Never"/>
    <disable_collisions link1="RH_THIGH" link2="jaco_front_hatch_support_v2" reason="Never"/>
    <disable_collisions link1="RH_THIGH" link2="jaco_mounting_block" reason="Never"/>
    <disable_collisions link1="base" link2="imu_link" reason="Adjacent"/>
    <disable_collisions link1="base" link2="j2s6s200_link_1" reason="Never"/>
    <disable_collisions link1="base" link2="j2s6s200_link_base" reason="Never"/>
    <disable_collisions link1="base" link2="jaco_front_hatch_support_v2" reason="Adjacent"/>
    <disable_collisions link1="base" link2="jaco_mounting_block" reason="Never"/>
    <disable_collisions link1="imu_link" link2="j2s6s200_link_1" reason="Never"/>
    <disable_collisions link1="imu_link" link2="j2s6s200_link_base" reason="Never"/>
    <disable_collisions link1="imu_link" link2="jaco_front_hatch_support_v2" reason="Never"/>
    <disable_collisions link1="imu_link" link2="jaco_mounting_block" reason="Never"/>
    <disable_collisions link1="j2s6s200_link_1" link2="j2s6s200_link_2" reason="Adjacent"/>
    <disable_collisions link1="j2s6s200_link_1" link2="j2s6s200_link_3" reason="Never"/>
    <disable_collisions link1="j2s6s200_link_1" link2="j2s6s200_link_base" reason="Adjacent"/>
    <disable_collisions link1="j2s6s200_link_1" link2="jaco_front_hatch_support_v2" reason="Never"/>
    <disable_collisions link1="j2s6s200_link_1" link2="jaco_mounting_block" reason="Never"/>
    <disable_collisions link1="j2s6s200_link_2" link2="j2s6s200_link_3" reason="Adjacent"/>
    <disable_collisions link1="j2s6s200_link_2" link2="j2s6s200_link_4" reason="Never"/>
    <disable_collisions link1="j2s6s200_link_2" link2="j2s6s200_link_base" reason="Never"/>
    <disable_collisions link1="j2s6s200_link_2" link2="jaco_front_hatch_support_v2" reason="Never"/>
    <disable_collisions link1="j2s6s200_link_2" link2="jaco_mounting_block" reason="Never"/>
    <disable_collisions link1="j2s6s200_link_3" link2="j2s6s200_link_4" reason="Adjacent"/>
    <disable_collisions link1="j2s6s200_link_3" link2="j2s6s200_link_base" reason="Never"/>
    <disable_collisions link1="j2s6s200_link_3" link2="j2s6s200_link_finger_1" reason="Never"/>
    <disable_collisions link1="j2s6s200_link_3" link2="j2s6s200_link_finger_2" reason="Never"/>
    <disable_collisions link1="j2s6s200_link_3" link2="jaco_front_hatch_support_v2" reason="Never"/>
    <disable_collisions link1="j2s6s200_link_3" link2="jaco_mounting_block" reason="Never"/>
    <disable_collisions link1="j2s6s200_link_4" link2="j2s6s200_link_5" reason="Adjacent"/>
    <disable_collisions link1="j2s6s200_link_4" link2="j2s6s200_link_finger_1" reason="Never"/>
    <disable_collisions link1="j2s6s200_link_4" link2="j2s6s200_link_finger_2" reason="Never"/>
    <disable_collisions link1="j2s6s200_link_4" link2="j2s6s200_link_finger_tip_1" reason="Never"/>
    <disable_collisions link1="j2s6s200_link_4" link2="j2s6s200_link_finger_tip_2" reason="Never"/>
    <disable_collisions link1="j2s6s200_link_5" link2="j2s6s200_link_6" reason="Adjacent"/>
    <disable_collisions link1="j2s6s200_link_5" link2="j2s6s200_link_finger_1" reason="Never"/>
    <disable_collisions link1="j2s6s200_link_5" link2="j2s6s200_link_finger_2" reason="Never"/>
    <disable_collisions link1="j2s6s200_link_5" link2="j2s6s200_link_finger_tip_1" reason="Never"/>
    <disable_collisions link1="j2s6s200_link_5" link2="j2s6s200_link_finger_tip_2" reason="Never"/>
    <disable_collisions link1="j2s6s200_link_6" link2="j2s6s200_link_finger_1" reason="Adjacent"/>
    <disable_collisions link1="j2s6s200_link_6" link2="j2s6s200_link_finger_2" reason="Adjacent"/>
    <disable_collisions link1="j2s6s200_link_6" link2="j2s6s200_link_finger_tip_1" reason="Never"/>
    <disable_collisions link1="j2s6s200_link_6" link2="j2s6s200_link_finger_tip_2" reason="Never"/>
    <disable_collisions link1="j2s6s200_link_base" link2="jaco_front_hatch_support_v2" reason="Default"/>
    <disable_collisions link1="j2s6s200_link_base" link2="jaco_mounting_block" reason="Adjacent"/>
    <disable_collisions link1="j2s6s200_link_finger_1" link2="j2s6s200_link_finger_2" reason="Never"/>
    <disable_collisions link1="j2s6s200_link_finger_1" link2="j2s6s200_link_finger_tip_1" reason="Adjacent"/>
    <disable_collisions link1="j2s6s200_link_finger_1" link2="j2s6s200_link_finger_tip_2" reason="Never"/>
    <disable_collisions link1="j2s6s200_link_finger_2" link2="j2s6s200_link_finger_tip_1" reason="Never"/>
    <disable_collisions link1="j2s6s200_link_finger_2" link2="j2s6s200_link_finger_tip_2" reason="Adjacent"/>
    <disable_collisions link1="j2s6s200_link_finger_tip_1" link2="j2s6s200_link_finger_tip_2" reason="Never"/>
    <disable_collisions link1="jaco_front_hatch_support_v2" link2="jaco_mounting_block" reason="Adjacent"/>
</robot>
