<?xml version="1.0" ?>
<robot name="solo">

    <!-- left front leg -->
    <group name="lf_leg">
        <joint name="FL_HAA" />
        <joint name="FL_HFE" />
        <joint name="FL_KFE" />
        <chain base_link="base_link" tip_link="FL_FOOT" />
    </group>
    <!-- right front leg -->
    <group name="rf_leg">
        <joint name="FR_HAA" />
        <joint name="FR_HFE" />
        <joint name="FR_KFE" />
        <chain base_link="base_link" tip_link="FR_FOOT" />
    </group>
    <!-- left hind leg -->
    <group name="lh_leg">
        <joint name="HL_HAA" />
        <joint name="HL_HFE" />
        <joint name="HL_KFE" />
        <chain base_link="base_link" tip_link="HL_FOOT" />
    </group>
    <!-- right hind leg -->
    <group name="rh_leg">
        <joint name="HR_HAA" />
        <joint name="HR_HFE" />
        <joint name="HR_KFE" />
        <chain base_link="base_link" tip_link="HR_FOOT" />
    </group>
    <group name="all_legs">
        <group name="lf" />
        <group name="rf" />
        <group name="lh" />
        <group name="rh" />
    </group>
    <group name="r_legs">
        <group name="rf" />
        <group name="rh" />
    </group>
    <group name="l_legs">
        <group name="lf" />
        <group name="lh" />
    </group>
    <group name="f_legs">
        <group name="lf" />
        <group name="rf" />
    </group>
    <group name="h_legs">
        <group name="lh" />
        <group name="rh" />
    </group>
    <group name="ld_legs">
        <group name="lf" />
        <group name="rh" />
    </group>
    <group name="rd_legs">
        <group name="rf" />
        <group name="lh" />
    </group>

    <end_effector name="lf_foot" parent_link="FL_FOOT" group="lf_leg" />
    <end_effector name="rf_foot" parent_link="FR_FOOT" group="rf_leg" />
    <end_effector name="lh_foot" parent_link="HL_FOOT" group="lh_leg" />
    <end_effector name="rh_foot" parent_link="HR_FOOT" group="rh_leg" />

    <group_state name="standing" group="all_legs">
        <joint name="root_joint" value="0. 0. 0.235 0. 0. 0. 1." />
        <joint name="FL_HAA" value="0.1" />
        <joint name="FL_HFE" value="0.8" />
        <joint name="FL_KFE" value="-1.6" />
        <joint name="HL_HAA" value="0.1" />
        <joint name="HL_HFE" value="-0.8" />
        <joint name="HL_KFE" value="1.6" />
        <joint name="FR_HAA" value="-0.1" />
        <joint name="FR_HFE" value="0.8" />
        <joint name="FR_KFE" value="-1.6" />
        <joint name="HR_HAA" value="-0.1" />
        <joint name="HR_HFE" value="-0.8" />
        <joint name="HR_KFE" value="1.6" />
    </group_state>

    <group_state name="straight_standing" group="all_legs">
        <joint name="root_joint" value="0. 0. 0.235 0. 0. 0. 1." />
        <joint name="FL_HAA" value="0." />
        <joint name="FL_HFE" value="0.8" />
        <joint name="FL_KFE" value="-1.6" />
        <joint name="HL_HAA" value="0." />
        <joint name="HL_HFE" value="-0.8" />
        <joint name="HL_KFE" value="1.6" />
        <joint name="FR_HAA" value="0." />
        <joint name="FR_HFE" value="0.8" />
        <joint name="FR_KFE" value="-1.6" />
        <joint name="HR_HAA" value="0." />
        <joint name="HR_HFE" value="-0.8" />
        <joint name="HR_KFE" value="1.6" />
    </group_state>

    <disable_collisions link1="FL_SHOULDER" link2="base_link" reason="Adjacent" />
    <disable_collisions link1="FR_SHOULDER" link2="base_link" reason="Adjacent" />
    <disable_collisions link1="HL_SHOULDER" link2="base_link" reason="Adjacent" />
    <disable_collisions link1="HR_SHOULDER" link2="base_link" reason="Adjacent" />

    <disable_collisions link1="FL_UPPER_LEG" link2="FL_SHOULDER" reason="Adjacent" />
    <disable_collisions link1="FR_UPPER_LEG" link2="FR_SHOULDER" reason="Adjacent" />
    <disable_collisions link1="HL_UPPER_LEG" link2="HL_SHOULDER" reason="Adjacent" />
    <disable_collisions link1="HR_UPPER_LEG" link2="HR_SHOULDER" reason="Adjacent" />

    <disable_collisions link1="FL_LOWER_LEG" link2="FL_UPPER_LEG" reason="Adjacent" />
    <disable_collisions link1="FR_LOWER_LEG" link2="FR_UPPER_LEG" reason="Adjacent" />
    <disable_collisions link1="HL_LOWER_LEG" link2="HL_UPPER_LEG" reason="Adjacent" />
    <disable_collisions link1="HR_LOWER_LEG" link2="HR_UPPER_LEG" reason="Adjacent" />
</robot>
