<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from robot.xacro                    | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="laikago" xmlns:xacro="http://www.ros.org/wiki/xacro">
  <material name="black">
    <color rgba="0.0 0.0 0.0 1.0"/>
  </material>
  <material name="blue">
    <color rgba="0.0 0.0 0.8 1.0"/>
  </material>
  <material name="green">
    <color rgba="0.0 0.8 0.0 1.0"/>
  </material>
  <material name="grey">
    <color rgba="0.2 0.2 0.2 1.0"/>
  </material>
  <material name="silver">
    <color rgba="0.913725490196 0.913725490196 0.847058823529 1.0"/>
  </material>
  <material name="orange">
    <color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
  </material>
  <material name="brown">
    <color rgba="0.870588235294 0.811764705882 0.764705882353 1.0"/>
  </material>
  <material name="red">
    <color rgba="0.8 0.0 0.0 1.0"/>
  </material>
  <material name="white">
    <color rgba="1.0 1.0 1.0 1.0"/>
  </material>

  <link name="trunk">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://example-robot-data/robots/laikago_description/meshes/trunk.obj" scale="1 1 1"/>
      </geometry>
      <material name="orange"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.01675"/>
      <geometry>
        <box size="0.5616 0.172 0.1875"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.002284 -4.1e-05 0.025165"/>
      <mass value="13.733"/>
      <inertia ixx="0.073348887" ixy="0.00030338" ixz="0.001918218" iyy="0.250684593" iyz="-7.5402e-05" izz="0.254469458"/>
    </inertial>
  </link>
  <joint name="FR_hip_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0.21935 -0.0875 0"/>
    <parent link="trunk"/>
    <child link="FR_hip"/>
    <axis xyz="1 0 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="20" lower="-1.0471975512" upper="0.872664625997" velocity="52.4"/>
  </joint>
  <link name="FR_hip">
    <visual>
      <origin rpy="3.14159265359 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://example-robot-data/robots/laikago_description/meshes/hip.obj" scale="1 1 1"/>
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin rpy="1.57079632679 0 0" xyz="0 0.021 0"/>
      <geometry>
        <cylinder length="0.08" radius="0.041"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.001568 0.008134 0.000864"/>
      <mass value="1.096"/>
      <inertia ixx="0.000822113" ixy="4.982e-06" ixz="-3.672e-05" iyy="0.000983196" iyz="-2.811e-06" izz="0.000864753"/>
    </inertial>
  </link>
  <joint name="FR_hip_fixed" type="fixed">
    <origin rpy="0 0 0" xyz="0 -0.059 0"/>
    <parent link="FR_hip"/>
    <child link="FR_thigh_shoulder"/>
  </joint>
  <!-- this link is only for collision -->
  <link name="FR_thigh_shoulder">
    <collision>
      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.08" radius="0.044"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0"/>
      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
    </inertial>
  </link>
  <joint name="FR_thigh_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 -0.037 0"/>
    <parent link="FR_hip"/>
    <child link="FR_thigh"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="55" lower="-0.523598775598" upper="3.92699081699" velocity="28.6"/>
  </joint>
  <link name="FR_thigh">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://example-robot-data/robots/laikago_description/meshes/thigh_mirror.obj" scale="1 1 1"/>
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
      <geometry>
        <box size="0.25 0.034 0.043"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.000482 -0.02001 -0.031996"/>
      <mass value="1.528"/>
      <inertia ixx="0.00991611" ixy="-1.0388e-05" ixz="0.000250428" iyy="0.009280083" iyz="8.511e-05" izz="0.00178256"/>
    </inertial>
  </link>
  <joint name="FR_calf_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 -0.25"/>
    <parent link="FR_thigh"/>
    <child link="FR_calf"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="55" lower="-2.77507351067" upper="-0.610865238198" velocity="28.6"/>
  </joint>
  <link name="FR_calf">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://example-robot-data/robots/laikago_description/meshes/calf.obj" scale="1 1 1"/>
      </geometry>
      <material name="silver"/>
    </visual>
    <collision>
      <origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
      <geometry>
        <box size="0.25 0.016 0.016"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.002196 -0.000381 -0.12338"/>
      <mass value="0.241"/>
      <inertia ixx="0.006181961" ixy="2.37e-07" ixz="-2.985e-06" iyy="0.006196546" iyz="5.138e-06" izz="3.4774e-05"/>
    </inertial>
  </link>
  <joint name="FR_foot_fixed" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 -0.25"/>
    <parent link="FR_calf"/>
    <child link="FR_foot"/>
  </joint>
  <link name="FR_foot">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.0165"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.0265"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.06"/>
      <inertia ixx="1.6854e-05" ixy="0.0" ixz="0.0" iyy="1.6854e-05" iyz="0.0" izz="1.6854e-05"/>
    </inertial>
  </link>

  <joint name="FL_hip_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0.21935 0.0875 0"/>
    <parent link="trunk"/>
    <child link="FL_hip"/>
    <axis xyz="1 0 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="20" lower="-0.872664625997" upper="1.0471975512" velocity="52.4"/>
  </joint>
  <link name="FL_hip">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://example-robot-data/robots/laikago_description/meshes/hip.obj" scale="1 1 1"/>
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin rpy="1.57079632679 0 0" xyz="0 -0.021 0"/>
      <geometry>
        <cylinder length="0.08" radius="0.041"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.001568 -0.008134 0.000864"/>
      <mass value="1.096"/>
      <inertia ixx="0.000822113" ixy="-4.982e-06" ixz="-3.672e-05" iyy="0.000983196" iyz="2.811e-06" izz="0.000864753"/>
    </inertial>
  </link>
  <joint name="FL_hip_fixed" type="fixed">
    <origin rpy="0 0 0" xyz="0 0.059 0"/>
    <parent link="FL_hip"/>
    <child link="FL_thigh_shoulder"/>
  </joint>
  <!-- this link is only for collision -->
  <link name="FL_thigh_shoulder">
    <collision>
      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.08" radius="0.044"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0"/>
      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
    </inertial>
  </link>
  <joint name="FL_thigh_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 0.037 0"/>
    <parent link="FL_hip"/>
    <child link="FL_thigh"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="55" lower="-0.523598775598" upper="3.92699081699" velocity="28.6"/>
  </joint>
  <link name="FL_thigh">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://example-robot-data/robots/laikago_description/meshes/thigh.obj" scale="1 1 1"/>
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
      <geometry>
        <box size="0.25 0.034 0.043"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.000482 0.02001 -0.031996"/>
      <mass value="1.528"/>
      <inertia ixx="0.00991611" ixy="1.0388e-05" ixz="0.000250428" iyy="0.009280083" iyz="-8.511e-05" izz="0.00178256"/>
    </inertial>
  </link>
  <joint name="FL_calf_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 -0.25"/>
    <parent link="FL_thigh"/>
    <child link="FL_calf"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="55" lower="-2.77507351067" upper="-0.610865238198" velocity="28.6"/>
  </joint>
  <link name="FL_calf">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://example-robot-data/robots/laikago_description/meshes/calf.obj" scale="1 1 1"/>
      </geometry>
      <material name="silver"/>
    </visual>
    <collision>
      <origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
      <geometry>
        <box size="0.25 0.016 0.016"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.002196 -0.000381 -0.12338"/>
      <mass value="0.241"/>
      <inertia ixx="0.006181961" ixy="2.37e-07" ixz="-2.985e-06" iyy="0.006196546" iyz="5.138e-06" izz="3.4774e-05"/>
    </inertial>
  </link>
  <joint name="FL_foot_fixed" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 -0.25"/>
    <parent link="FL_calf"/>
    <child link="FL_foot"/>
  </joint>
  <link name="FL_foot">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.0165"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.0265"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.06"/>
      <inertia ixx="1.6854e-05" ixy="0.0" ixz="0.0" iyy="1.6854e-05" iyz="0.0" izz="1.6854e-05"/>
    </inertial>
  </link>

  <joint name="RR_hip_joint" type="revolute">
    <origin rpy="0 0 0" xyz="-0.21935 -0.0875 0"/>
    <parent link="trunk"/>
    <child link="RR_hip"/>
    <axis xyz="1 0 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="20" lower="-1.0471975512" upper="0.872664625997" velocity="52.4"/>
  </joint>
  <link name="RR_hip">
    <visual>
      <origin rpy="3.14159265359 3.14159265359 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://example-robot-data/robots/laikago_description/meshes/hip.obj" scale="1 1 1"/>
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin rpy="1.57079632679 0 0" xyz="0 0.021 0"/>
      <geometry>
        <cylinder length="0.08" radius="0.041"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.001568 0.008134 0.000864"/>
      <mass value="1.096"/>
      <inertia ixx="0.000822113" ixy="-4.982e-06" ixz="3.672e-05" iyy="0.000983196" iyz="-2.811e-06" izz="0.000864753"/>
    </inertial>
  </link>
  <joint name="RR_hip_fixed" type="fixed">
    <origin rpy="0 0 0" xyz="0 -0.059 0"/>
    <parent link="RR_hip"/>
    <child link="RR_thigh_shoulder"/>
  </joint>
  <!-- this link is only for collision -->
  <link name="RR_thigh_shoulder">
    <collision>
      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.08" radius="0.044"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0"/>
      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
    </inertial>
  </link>
  <joint name="RR_thigh_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 -0.037 0"/>
    <parent link="RR_hip"/>
    <child link="RR_thigh"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="55" lower="-0.523598775598" upper="3.92699081699" velocity="28.6"/>
  </joint>
  <link name="RR_thigh">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://example-robot-data/robots/laikago_description/meshes/thigh_mirror.obj" scale="1 1 1"/>
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
      <geometry>
        <box size="0.25 0.034 0.043"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.000482 -0.02001 -0.031996"/>
      <mass value="1.528"/>
      <inertia ixx="0.00991611" ixy="-1.0388e-05" ixz="0.000250428" iyy="0.009280083" iyz="8.511e-05" izz="0.00178256"/>
    </inertial>
  </link>
  <joint name="RR_calf_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 -0.25"/>
    <parent link="RR_thigh"/>
    <child link="RR_calf"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="55" lower="-2.77507351067" upper="-0.610865238198" velocity="28.6"/>
  </joint>
  <link name="RR_calf">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://example-robot-data/robots/laikago_description/meshes/calf.obj" scale="1 1 1"/>
      </geometry>
      <material name="silver"/>
    </visual>
    <collision>
      <origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
      <geometry>
        <box size="0.25 0.016 0.016"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.002196 -0.000381 -0.12338"/>
      <mass value="0.241"/>
      <inertia ixx="0.006181961" ixy="2.37e-07" ixz="-2.985e-06" iyy="0.006196546" iyz="5.138e-06" izz="3.4774e-05"/>
    </inertial>
  </link>
  <joint name="RR_foot_fixed" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 -0.25"/>
    <parent link="RR_calf"/>
    <child link="RR_foot"/>
  </joint>
  <link name="RR_foot">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.0165"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.0265"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.06"/>
      <inertia ixx="1.6854e-05" ixy="0.0" ixz="0.0" iyy="1.6854e-05" iyz="0.0" izz="1.6854e-05"/>
    </inertial>
  </link>

  <joint name="RL_hip_joint" type="revolute">
    <origin rpy="0 0 0" xyz="-0.21935 0.0875 0"/>
    <parent link="trunk"/>
    <child link="RL_hip"/>
    <axis xyz="1 0 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="20" lower="-0.872664625997" upper="1.0471975512" velocity="52.4"/>
  </joint>
  <link name="RL_hip">
    <visual>
      <origin rpy="0 3.14159265359 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://example-robot-data/robots/laikago_description/meshes/hip.obj" scale="1 1 1"/>
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin rpy="1.57079632679 0 0" xyz="0 -0.021 0"/>
      <geometry>
        <cylinder length="0.08" radius="0.041"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.001568 -0.008134 0.000864"/>
      <mass value="1.096"/>
      <inertia ixx="0.000822113" ixy="4.982e-06" ixz="3.672e-05" iyy="0.000983196" iyz="2.811e-06" izz="0.000864753"/>
    </inertial>
  </link>
  <joint name="RL_hip_fixed" type="fixed">
    <origin rpy="0 0 0" xyz="0 0.059 0"/>
    <parent link="RL_hip"/>
    <child link="RL_thigh_shoulder"/>
  </joint>
  <!-- this link is only for collision -->
  <link name="RL_thigh_shoulder">
    <collision>
      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.08" radius="0.044"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0"/>
      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
    </inertial>
  </link>
  <joint name="RL_thigh_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 0.037 0"/>
    <parent link="RL_hip"/>
    <child link="RL_thigh"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="55" lower="-0.523598775598" upper="3.92699081699" velocity="28.6"/>
  </joint>
  <link name="RL_thigh">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://example-robot-data/robots/laikago_description/meshes/thigh.obj" scale="1 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
      <geometry>
        <box size="0.25 0.034 0.043"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.000482 0.02001 -0.031996"/>
      <mass value="1.528"/>
      <inertia ixx="0.00991611" ixy="1.0388e-05" ixz="0.000250428" iyy="0.009280083" iyz="-8.511e-05" izz="0.00178256"/>
    </inertial>
  </link>
  <joint name="RL_calf_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 -0.25"/>
    <parent link="RL_thigh"/>
    <child link="RL_calf"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="55" lower="-2.77507351067" upper="-0.610865238198" velocity="28.6"/>
  </joint>
  <link name="RL_calf">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://example-robot-data/robots/laikago_description/meshes/calf.obj" scale="1 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
      <geometry>
        <box size="0.25 0.016 0.016"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.002196 -0.000381 -0.12338"/>
      <mass value="0.241"/>
      <inertia ixx="0.006181961" ixy="2.37e-07" ixz="-2.985e-06" iyy="0.006196546" iyz="5.138e-06" izz="3.4774e-05"/>
    </inertial>
  </link>
  <joint name="RL_foot_fixed" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 -0.25"/>
    <parent link="RL_calf"/>
    <child link="RL_foot"/>
  </joint>
  <link name="RL_foot">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.0165"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.0265"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.06"/>
      <inertia ixx="1.6854e-05" ixy="0.0" ixz="0.0" iyy="1.6854e-05" iyz="0.0" izz="1.6854e-05"/>
    </inertial>
  </link>
</robot>
