<?xml version="1.0" ?>
<!-- ==================================================================================================== -->
<!-- |    This document was autogenerated by xacro, then had the Gazebo and transmission tags removed   | -->
<!-- ==================================================================================================== -->
<robot name="a1">
  <material name="grey">
    <color rgba="0.2 0.2 0.2 1.0"/>
  </material>
  <material name="silver">
    <color rgba="0.6980 0.7529 0.8392 1"/>
  </material>
  <link name="base">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.001 0.001 0.001"/>
      </geometry>
    </visual>
  </link>
  <joint name="floating_base" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <parent link="base"/>
    <child link="trunk"/>
  </joint>
  <link name="trunk">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://example-robot-data/robots/a1_description/meshes/trunk.dae" scale="1 1 1"/>
      </geometry>
      <material name="silver"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.267 0.194 0.114"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0041 -0.0005"/>
      <mass value="6.0"/>
      <inertia ixx="0.0158533" ixy="-3.66e-05" ixz="-6.11e-05" iyy="0.0377999" iyz="-2.75e-05" izz="0.0456542"/>
    </inertial>
  </link>
  <joint name="imu_joint" type="fixed">
    <parent link="trunk"/>
    <child link="imu_link"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
  </joint>
  <link name="imu_link">
    <inertial>
      <mass value="0.001"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size=".001 .001 .001"/>
      </geometry>
    </collision>
  </link>
  <joint name="FR_hip_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0.1805 -0.047 0"/>
    <parent link="trunk"/>
    <child link="FR_hip"/>
    <axis xyz="1 0 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="33.5" lower="-0.8028514559173915" upper="0.8028514559173915" velocity="21"/>
  </joint>
  <link name="FR_hip">
    <visual>
      <origin rpy="3.141592653589793 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://example-robot-data/robots/a1_description/meshes/hip.dae" scale="1 1 1"/>
      </geometry>
      <material name="silver"/>
    </visual>
    <collision>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.04" radius="0.046"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.003311 -0.000635 3.1e-05"/>
      <mass value="0.696"/>
      <inertia ixx="0.000469246" ixy="9.409e-06" ixz="-3.42e-07" iyy="0.00080749" iyz="4.66e-07" izz="0.000552929"/>
    </inertial>
  </link>
  <joint name="FR_hip_fixed" type="fixed">
    <origin rpy="0 0 0" xyz="0 -0.081 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="1.5707963267948966 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.032" radius="0.041"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0"/>
      <origin rpy="0 0 0" xyz="0 0 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 -0.0838 0"/>
    <parent link="FR_hip"/>
    <child link="FR_thigh"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="33.5" lower="-1.0471975511965976" upper="4.1887902047863905" velocity="21"/>
  </joint>
  <link name="FR_thigh">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://example-robot-data/robots/a1_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
      </geometry>
      <material name="silver"/>
    </visual>
    <collision>
      <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1"/>
      <geometry>
        <box size="0.2 0.0245 0.034"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.003237 0.022327 -0.027326"/>
      <mass value="1.013"/>
      <inertia ixx="0.005529065" ixy="-4.825e-06" ixz="0.000343869" iyy="0.005139339" iyz="-2.2448e-05" izz="0.001367788"/>
    </inertial>
  </link>
  <joint name="FR_calf_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 -0.2"/>
    <parent link="FR_thigh"/>
    <child link="FR_calf"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="33.5" lower="-2.6965336943312392" upper="-0.9162978572970231" velocity="21"/>
  </joint>
  <link name="FR_calf">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://example-robot-data/robots/a1_description/meshes/calf.dae" scale="1 1 1"/>
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1"/>
      <geometry>
        <box size="0.2 0.016 0.016"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.006435 0.0 -0.107388"/>
      <mass value="0.166"/>
      <inertia ixx="0.002997972" ixy="0.0" ixz="-0.000141163" iyy="0.003014022" iyz="0.0" izz="3.2426e-05"/>
    </inertial>
  </link>
  <joint name="FR_foot_fixed" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 -0.2"/>
    <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="0.01"/>
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.02"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.06"/>
      <inertia ixx="9.600000000000001e-06" ixy="0.0" ixz="0.0" iyy="9.600000000000001e-06" iyz="0.0" izz="9.600000000000001e-06"/>
    </inertial>
  </link>
  <joint name="FL_hip_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0.1805 0.047 0"/>
    <parent link="trunk"/>
    <child link="FL_hip"/>
    <axis xyz="1 0 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="33.5" lower="-0.8028514559173915" upper="0.8028514559173915" velocity="21"/>
  </joint>
  <link name="FL_hip">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://example-robot-data/robots/a1_description/meshes/hip.dae" scale="1 1 1"/>
      </geometry>
      <material name="silver"/>
    </visual>
    <collision>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.04" radius="0.046"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.003311 0.000635 3.1e-05"/>
      <mass value="0.696"/>
      <inertia ixx="0.000469246" ixy="-9.409e-06" ixz="-3.42e-07" iyy="0.00080749" iyz="-4.66e-07" izz="0.000552929"/>
    </inertial>
  </link>
  <joint name="FL_hip_fixed" type="fixed">
    <origin rpy="0 0 0" xyz="0 0.081 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="1.5707963267948966 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.032" radius="0.041"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0"/>
      <origin rpy="0 0 0" xyz="0 0 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 0.0838 0"/>
    <parent link="FL_hip"/>
    <child link="FL_thigh"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="33.5" lower="-1.0471975511965976" upper="4.1887902047863905" velocity="21"/>
  </joint>
  <link name="FL_thigh">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://example-robot-data/robots/a1_description/meshes/thigh.dae" scale="1 1 1"/>
      </geometry>
      <material name="silver"/>
    </visual>
    <collision>
      <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1"/>
      <geometry>
        <box size="0.2 0.0245 0.034"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.003237 -0.022327 -0.027326"/>
      <mass value="1.013"/>
      <inertia ixx="0.005529065" ixy="4.825e-06" ixz="0.000343869" iyy="0.005139339" iyz="2.2448e-05" izz="0.001367788"/>
    </inertial>
  </link>
  <joint name="FL_calf_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 -0.2"/>
    <parent link="FL_thigh"/>
    <child link="FL_calf"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="33.5" lower="-2.6965336943312392" upper="-0.9162978572970231" velocity="21"/>
  </joint>
  <link name="FL_calf">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://example-robot-data/robots/a1_description/meshes/calf.dae" scale="1 1 1"/>
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1"/>
      <geometry>
        <box size="0.2 0.016 0.016"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.006435 0.0 -0.107388"/>
      <mass value="0.166"/>
      <inertia ixx="0.002997972" ixy="0.0" ixz="-0.000141163" iyy="0.003014022" iyz="0.0" izz="3.2426e-05"/>
    </inertial>
  </link>
  <joint name="FL_foot_fixed" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 -0.2"/>
    <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="0.01"/>
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.02"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.06"/>
      <inertia ixx="9.600000000000001e-06" ixy="0.0" ixz="0.0" iyy="9.600000000000001e-06" iyz="0.0" izz="9.600000000000001e-06"/>
    </inertial>
  </link>
  <joint name="RR_hip_joint" type="revolute">
    <origin rpy="0 0 0" xyz="-0.1805 -0.047 0"/>
    <parent link="trunk"/>
    <child link="RR_hip"/>
    <axis xyz="1 0 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="33.5" lower="-0.8028514559173915" upper="0.8028514559173915" velocity="21"/>
  </joint>
  <link name="RR_hip">
    <visual>
      <origin rpy="3.141592653589793 3.141592653589793 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://example-robot-data/robots/a1_description/meshes/hip.dae" scale="1 1 1"/>
      </geometry>
      <material name="silver"/>
    </visual>
    <collision>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.04" radius="0.046"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.003311 -0.000635 3.1e-05"/>
      <mass value="0.696"/>
      <inertia ixx="0.000469246" ixy="-9.409e-06" ixz="3.42e-07" iyy="0.00080749" iyz="4.66e-07" izz="0.000552929"/>
    </inertial>
  </link>
  <joint name="RR_hip_fixed" type="fixed">
    <origin rpy="0 0 0" xyz="0 -0.081 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="1.5707963267948966 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.032" radius="0.041"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0"/>
      <origin rpy="0 0 0" xyz="0 0 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 -0.0838 0"/>
    <parent link="RR_hip"/>
    <child link="RR_thigh"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="33.5" lower="-1.0471975511965976" upper="4.1887902047863905" velocity="21"/>
  </joint>
  <link name="RR_thigh">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://example-robot-data/robots/a1_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
      </geometry>
      <material name="silver"/>
    </visual>
    <collision>
      <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1"/>
      <geometry>
        <box size="0.2 0.0245 0.034"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.003237 0.022327 -0.027326"/>
      <mass value="1.013"/>
      <inertia ixx="0.005529065" ixy="-4.825e-06" ixz="0.000343869" iyy="0.005139339" iyz="-2.2448e-05" izz="0.001367788"/>
    </inertial>
  </link>
  <joint name="RR_calf_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 -0.2"/>
    <parent link="RR_thigh"/>
    <child link="RR_calf"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="33.5" lower="-2.6965336943312392" upper="-0.9162978572970231" velocity="21"/>
  </joint>
  <link name="RR_calf">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://example-robot-data/robots/a1_description/meshes/calf.dae" scale="1 1 1"/>
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1"/>
      <geometry>
        <box size="0.2 0.016 0.016"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.006435 0.0 -0.107388"/>
      <mass value="0.166"/>
      <inertia ixx="0.002997972" ixy="0.0" ixz="-0.000141163" iyy="0.003014022" iyz="0.0" izz="3.2426e-05"/>
    </inertial>
  </link>
  <joint name="RR_foot_fixed" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 -0.2"/>
    <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="0.01"/>
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.02"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.06"/>
      <inertia ixx="9.600000000000001e-06" ixy="0.0" ixz="0.0" iyy="9.600000000000001e-06" iyz="0.0" izz="9.600000000000001e-06"/>
    </inertial>
  </link>
  <joint name="RL_hip_joint" type="revolute">
    <origin rpy="0 0 0" xyz="-0.1805 0.047 0"/>
    <parent link="trunk"/>
    <child link="RL_hip"/>
    <axis xyz="1 0 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="33.5" lower="-0.8028514559173915" upper="0.8028514559173915" velocity="21"/>
  </joint>
  <link name="RL_hip">
    <visual>
      <origin rpy="0 3.141592653589793 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://example-robot-data/robots/a1_description/meshes/hip.dae" scale="1 1 1"/>
      </geometry>
      <material name="silver"/>
    </visual>
    <collision>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.04" radius="0.046"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.003311 0.000635 3.1e-05"/>
      <mass value="0.696"/>
      <inertia ixx="0.000469246" ixy="9.409e-06" ixz="3.42e-07" iyy="0.00080749" iyz="-4.66e-07" izz="0.000552929"/>
    </inertial>
  </link>
  <joint name="RL_hip_fixed" type="fixed">
    <origin rpy="0 0 0" xyz="0 0.081 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="1.5707963267948966 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.032" radius="0.041"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0"/>
      <origin rpy="0 0 0" xyz="0 0 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 0.0838 0"/>
    <parent link="RL_hip"/>
    <child link="RL_thigh"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="33.5" lower="-1.0471975511965976" upper="4.1887902047863905" velocity="21"/>
  </joint>
  <link name="RL_thigh">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://example-robot-data/robots/a1_description/meshes/thigh.dae" scale="1 1 1"/>
      </geometry>
      <material name="silver"/>
    </visual>
    <collision>
      <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1"/>
      <geometry>
        <box size="0.2 0.0245 0.034"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.003237 -0.022327 -0.027326"/>
      <mass value="1.013"/>
      <inertia ixx="0.005529065" ixy="4.825e-06" ixz="0.000343869" iyy="0.005139339" iyz="2.2448e-05" izz="0.001367788"/>
    </inertial>
  </link>
  <joint name="RL_calf_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 -0.2"/>
    <parent link="RL_thigh"/>
    <child link="RL_calf"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="33.5" lower="-2.6965336943312392" upper="-0.9162978572970231" velocity="21"/>
  </joint>
  <link name="RL_calf">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://example-robot-data/robots/a1_description/meshes/calf.dae" scale="1 1 1"/>
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1"/>
      <geometry>
        <box size="0.2 0.016 0.016"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.006435 0.0 -0.107388"/>
      <mass value="0.166"/>
      <inertia ixx="0.002997972" ixy="0.0" ixz="-0.000141163" iyy="0.003014022" iyz="0.0" izz="3.2426e-05"/>
    </inertial>
  </link>
  <joint name="RL_foot_fixed" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 -0.2"/>
    <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="0.01"/>
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.02"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.06"/>
      <inertia ixx="9.600000000000001e-06" ixy="0.0" ixz="0.0" iyy="9.600000000000001e-06" iyz="0.0" izz="9.600000000000001e-06"/>
    </inertial>
  </link>
</robot>
