<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from go2_description.urdf           | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by
Stephen Brawner (brawner@gmail.com) 
     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot name="go2">
  <link name="base_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.021112 0 -0.005366"/>
      <mass value="6.921"/>
      <inertia ixx="0.02448" ixy="0.00012166" ixz="0.0014849" iyy="0.098077" iyz="-3.12E-05" izz="0.107"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="go2_assets/dae/base.dae"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.3762 0.0935 0.154"/>
      </geometry>
    </collision>
  </link>
  <link name="Head_upper">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.001"/>
      <inertia ixx="9.6e-06" ixy="0" ixz="0" iyy="9.6e-06" iyz="0" izz="9.6e-06"/>
    </inertial>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.09" radius="0.05"/>
      </geometry>
    </collision>
  </link>
  <joint dont_collapse="true" name="Head_upper_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.285 0 0.01"/>
    <parent link="base_link"/>
    <child link="Head_upper"/>
    <axis xyz="0 0 0"/>
  </joint>
  <link name="Head_lower">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.001"/>
      <inertia ixx="9.6e-06" ixy="0" ixz="0" iyy="9.6e-06" iyz="0" izz="9.6e-06"/>
    </inertial>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.047"/>
      </geometry>
    </collision>
  </link>
  <joint dont_collapse="true" name="Head_lower_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.008 0 -0.07"/>
    <parent link="Head_upper"/>
    <child link="Head_lower"/>
    <axis xyz="0 0 0"/>
  </joint>
  <link name="FL_HAA">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.0054 0.00194 -0.000105"/>
      <mass value="0.678"/>
      <inertia ixx="0.00048" ixy="-3.01E-06" ixz="1.11E-06" iyy="0.000884" iyz="-1.42E-06" izz="0.000596"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="go2_assets/dae/hip.dae"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <!-- <collision>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0.08 0"/>
      <geometry>
        <cylinder length="0.04" radius="0.046"/>
      </geometry>
    </collision> -->
  </link>
  <joint name="FL_HAA_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0.1934 0.0465 0"/>
    <parent link="base_link"/>
    <child link="FL_HAA"/>
    <axis xyz="1 0 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="23.7" lower="-1.0472" upper="1.0472" velocity="30.1"/>
  </joint>
  <link name="FL_HFE">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.00374 -0.0223 -0.0327"/>
      <mass value="1.152"/>
      <inertia ixx="0.00584" ixy="8.72E-05" ixz="-0.000289" iyy="0.0058" iyz="0.000808" izz="0.00103"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="go2_assets/dae/thigh.dae"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065"/>
      <geometry>
        <box size="0.213 0.0245 0.034"/>
      </geometry>
    </collision>
  </link>
  <joint name="FL_HFE_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 0.0955 0"/>
    <parent link="FL_HAA"/>
    <child link="FL_HFE"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="23.7" lower="-1.5708" upper="3.4907" velocity="30.1"/>
  </joint>
  <link name="FL_KFE">
    <inertial>
      <origin rpy="0 0 0" xyz="0.00548 -0.000975 -0.115"/>
      <mass value="0.154"/>
      <inertia ixx="0.00108" ixy="3.4E-07" ixz="1.72E-05" iyy="0.0011" iyz="8.28E-06" izz="3.29E-05"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="go2_assets/dae/calf.dae"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 -0.21 0" xyz="0.008 0 -0.06"/>
      <geometry>
        <cylinder length="0.12" radius="0.012"/>
      </geometry>
    </collision>
  </link>
  <joint name="FL_KFE_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 -0.213"/>
    <parent link="FL_HFE"/>
    <child link="FL_KFE"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="45.43" lower="-2.7227" upper="-0.83776" velocity="15.70"/>
  </joint>
  <link name="FL_KFElower">
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.065" radius="0.011"/>
      </geometry>
    </collision>
  </link>
  <joint name="FL_KFElower_joint" type="fixed">
    <origin rpy="0 0.05 0" xyz="0.020 0 -0.148"/>
    <parent link="FL_KFE"/>
    <child link="FL_KFElower"/>
    <axis xyz="0 0 0"/>
  </joint>
  <link name="FL_KFElower1">
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.03" radius="0.0155"/>
      </geometry>
    </collision>
  </link>
  <joint name="FL_KFElower1_joint" type="fixed">
    <origin rpy="0 0.48 0" xyz="-0.01 0 -0.04"/>
    <parent link="FL_KFElower"/>
    <child link="FL_KFElower1"/>
    <axis xyz="0 0 0"/>
  </joint>
  <link name="FL_FOOT">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.04"/>
      <inertia ixx="9.6e-06" ixy="0" ixz="0" iyy="9.6e-06" iyz="0" izz="9.6e-06"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="go2_assets/dae/foot.dae"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.002 0 0"/>
      <geometry>
        <sphere radius="0.022"/>
      </geometry>
    </collision>
  </link>
  <joint dont_collapse="true" name="FL_FOOT_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 -0.213"/>
    <parent link="FL_KFE"/>
    <child link="FL_FOOT"/>
    <axis xyz="0 0 0"/>
  </joint>
  <link name="FR_HAA">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.0054 -0.00194 -0.000105"/>
      <mass value="0.678"/>
      <inertia ixx="0.00048" ixy="3.01E-06" ixz="1.11E-06" iyy="0.000884" iyz="1.42E-06" izz="0.000596"/>
    </inertial>
    <visual>
      <origin rpy="3.1415 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="go2_assets/dae/hip.dae"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <!-- <collision>
      <origin rpy="1.5707963267948966 0 0" xyz="0 -0.08 0"/>
      <geometry>
        <cylinder length="0.04" radius="0.046"/>
      </geometry>
    </collision> -->
  </link>
  <joint name="FR_HAA_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0.1934 -0.0465 0"/>
    <parent link="base_link"/>
    <child link="FR_HAA"/>
    <axis xyz="1 0 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="23.7" lower="-1.0472" upper="1.0472" velocity="30.1"/>
  </joint>
  <link name="FR_HFE">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.00374 0.0223 -0.0327"/>
      <mass value="1.152"/>
      <inertia ixx="0.00584" ixy="-8.72E-05" ixz="-0.000289" iyy="0.0058" iyz="-0.000808" izz="0.00103"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="go2_assets/dae/thigh_mirror.dae"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065"/>
      <geometry>
        <box size="0.213 0.0245 0.034"/>
      </geometry>
    </collision>
  </link>
  <joint name="FR_HFE_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 -0.0955 0"/>
    <parent link="FR_HAA"/>
    <child link="FR_HFE"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="23.7" lower="-1.5708" upper="3.4907" velocity="30.1"/>
  </joint>
  <link name="FR_KFE">
    <inertial>
      <origin rpy="0 0 0" xyz="0.00548 0.000975 -0.115"/>
      <mass value="0.154"/>
      <inertia ixx="0.00108" ixy="-3.4E-07" ixz="1.72E-05" iyy="0.0011" iyz="-8.28E-06" izz="3.29E-05"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="go2_assets/dae/calf_mirror.dae"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 -0.2 0" xyz="0.01 0 -0.06"/>
      <geometry>
        <cylinder length="0.12" radius="0.013"/>
      </geometry>
    </collision>
  </link>
  <joint name="FR_KFE_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 -0.213"/>
    <parent link="FR_HFE"/>
    <child link="FR_KFE"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="45.43" lower="-2.7227" upper="-0.83776" velocity="15.70"/>
  </joint>
  <link name="FR_KFElower">
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.065" radius="0.011"/>
      </geometry>
    </collision>
  </link>
  <joint name="FR_KFElower_joint" type="fixed">
    <origin rpy="0 0.05 0" xyz="0.020 0 -0.148"/>
    <parent link="FR_KFE"/>
    <child link="FR_KFElower"/>
    <axis xyz="0 0 0"/>
  </joint>
  <link name="FR_KFElower1">
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.03" radius="0.0155"/>
      </geometry>
    </collision>
  </link>
  <joint name="FR_KFElower1_joint" type="fixed">
    <origin rpy="0 0.48 0" xyz="-0.01 0 -0.04"/>
    <parent link="FR_KFElower"/>
    <child link="FR_KFElower1"/>
    <axis xyz="0 0 0"/>
  </joint>
  <link name="FR_FOOT">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.04"/>
      <inertia ixx="9.6e-06" ixy="0" ixz="0" iyy="9.6e-06" iyz="0" izz="9.6e-06"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="go2_assets/dae/foot.dae"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.002 0 0"/>
      <geometry>
        <sphere radius="0.022"/>
      </geometry>
    </collision>
  </link>
  <joint dont_collapse="true" name="FR_FOOT_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 -0.213"/>
    <parent link="FR_KFE"/>
    <child link="FR_FOOT"/>
    <axis xyz="0 0 0"/>
  </joint>
  <link name="HL_HAA">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0054 0.00194 -0.000105"/>
      <mass value="0.678"/>
      <inertia ixx="0.00048" ixy="3.01E-06" ixz="-1.11E-06" iyy="0.000884" iyz="-1.42E-06" izz="0.000596"/>
    </inertial>
    <visual>
      <origin rpy="0 3.1415 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="go2_assets/dae/hip.dae"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <!-- <collision>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0.08 0"/>
      <geometry>
        <cylinder length="0.04" radius="0.046"/>
      </geometry>
    </collision> -->
  </link>
  <joint name="HL_HAA_joint" type="revolute">
    <origin rpy="0 0 0" xyz="-0.1934 0.0465 0"/>
    <parent link="base_link"/>
    <child link="HL_HAA"/>
    <axis xyz="1 0 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="23.7" lower="-1.0472" upper="1.0472" velocity="30.1"/>
  </joint>
  <link name="HL_HFE">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.00374 -0.0223 -0.0327"/>
      <mass value="1.152"/>
      <inertia ixx="0.00584" ixy="8.72E-05" ixz="-0.000289" iyy="0.0058" iyz="0.000808" izz="0.00103"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="go2_assets/dae/thigh.dae"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065"/>
      <geometry>
        <box size="0.213 0.0245 0.034"/>
      </geometry>
    </collision>
  </link>
  <joint name="HL_HFE_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 0.0955 0"/>
    <parent link="HL_HAA"/>
    <child link="HL_HFE"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="23.7" lower="-0.5236" upper="4.5379" velocity="30.1"/>
  </joint>
  <link name="HL_KFE">
    <inertial>
      <origin rpy="0 0 0" xyz="0.00548 -0.000975 -0.115"/>
      <mass value="0.154"/>
      <inertia ixx="0.00108" ixy="3.4E-07" ixz="1.72E-05" iyy="0.0011" iyz="8.28E-06" izz="3.29E-05"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="go2_assets/dae/calf.dae"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 -0.2 0" xyz="0.01 0 -0.06"/>
      <geometry>
        <cylinder length="0.12" radius="0.013"/>
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  <joint name="HL_KFE_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 -0.213"/>
    <parent link="HL_HFE"/>
    <child link="HL_KFE"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="45.43" lower="-2.7227" upper="-0.83776" velocity="15.70"/>
  </joint>
  <link name="HL_KFElower">
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.065" radius="0.011"/>
      </geometry>
    </collision>
  </link>
  <joint name="HL_KFElower_joint" type="fixed">
    <origin rpy="0 0.05 0" xyz="0.020 0 -0.148"/>
    <parent link="HL_KFE"/>
    <child link="HL_KFElower"/>
    <axis xyz="0 0 0"/>
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  <link name="HL_KFElower1">
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.03" radius="0.0155"/>
      </geometry>
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  </link>
  <joint name="HL_KFElower1_joint" type="fixed">
    <origin rpy="0 0.48 0" xyz="-0.01 0 -0.04"/>
    <parent link="HL_KFElower"/>
    <child link="HL_KFElower1"/>
    <axis xyz="0 0 0"/>
  </joint>
  <link name="HL_FOOT">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.04"/>
      <inertia ixx="9.6e-06" ixy="0" ixz="0" iyy="9.6e-06" iyz="0" izz="9.6e-06"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="go2_assets/dae/foot.dae"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.002 0 0"/>
      <geometry>
        <sphere radius="0.022"/>
      </geometry>
    </collision>
  </link>
  <joint dont_collapse="true" name="HL_FOOT_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 -0.213"/>
    <parent link="HL_KFE"/>
    <child link="HL_FOOT"/>
    <axis xyz="0 0 0"/>
  </joint>
  <link name="HR_HAA">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0054 -0.00194 -0.000105"/>
      <mass value="0.678"/>
      <inertia ixx="0.00048" ixy="-3.01E-06" ixz="-1.11E-06" iyy="0.000884" iyz="1.42E-06" izz="0.000596"/>
    </inertial>
    <visual>
      <origin rpy="3.1415 3.1415 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="go2_assets/dae/hip.dae"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <!-- <collision>
      <origin rpy="1.5707963267948966 0 0" xyz="0 -0.08 0"/>
      <geometry>
        <cylinder length="0.04" radius="0.046"/>
      </geometry>
    </collision> -->
  </link>
  <joint name="HR_HAA_joint" type="revolute">
    <origin rpy="0 0 0" xyz="-0.1934 -0.0465 0"/>
    <parent link="base_link"/>
    <child link="HR_HAA"/>
    <axis xyz="1 0 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="23.7" lower="-1.0472" upper="1.0472" velocity="30.1"/>
  </joint>
  <link name="HR_HFE">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.00374 0.0223 -0.0327"/>
      <mass value="1.152"/>
      <inertia ixx="0.00584" ixy="-8.72E-05" ixz="-0.000289" iyy="0.0058" iyz="-0.000808" izz="0.00103"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="go2_assets/dae/thigh_mirror.dae"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065"/>
      <geometry>
        <box size="0.213 0.0245 0.034"/>
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  <joint name="HR_HFE_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 -0.0955 0"/>
    <parent link="HR_HAA"/>
    <child link="HR_HFE"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="23.7" lower="-0.5236" upper="4.5379" velocity="30.1"/>
  </joint>
  <link name="HR_KFE">
    <inertial>
      <origin rpy="0 0 0" xyz="0.00548 0.000975 -0.115"/>
      <mass value="0.154"/>
      <inertia ixx="0.00108" ixy="-3.4E-07" ixz="1.72E-05" iyy="0.0011" iyz="-8.28E-06" izz="3.29E-05"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="go2_assets/dae/calf_mirror.dae"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
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    <collision>
      <origin rpy="0 -0.2 0" xyz="0.01 0 -0.06"/>
      <geometry>
        <cylinder length="0.12" radius="0.013"/>
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  <joint name="HR_KFE_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 -0.213"/>
    <parent link="HR_HFE"/>
    <child link="HR_KFE"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="45.43" lower="-2.7227" upper="-0.83776" velocity="15.70"/>
  </joint>
  <link name="HR_KFElower">
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.065" radius="0.011"/>
      </geometry>
    </collision>
  </link>
  <joint name="HR_KFElower_joint" type="fixed">
    <origin rpy="0 0.05 0" xyz="0.020 0 -0.148"/>
    <parent link="HR_KFE"/>
    <child link="HR_KFElower"/>
    <axis xyz="0 0 0"/>
  </joint>
  <link name="HR_KFElower1">
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.03" radius="0.0155"/>
      </geometry>
    </collision>
  </link>
  <joint name="HR_KFElower1_joint" type="fixed">
    <origin rpy="0 0.48 0" xyz="-0.01 0 -0.04"/>
    <parent link="HR_KFElower"/>
    <child link="HR_KFElower1"/>
    <axis xyz="0 0 0"/>
  </joint>
  <link name="HR_FOOT">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.04"/>
      <inertia ixx="9.6e-06" ixy="0" ixz="0" iyy="9.6e-06" iyz="0" izz="9.6e-06"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="go2_assets/dae/foot.dae"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.002 0 0"/>
      <geometry>
        <sphere radius="0.022"/>
      </geometry>
    </collision>
  </link>
  <joint dont_collapse="true" name="HR_FOOT_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 -0.213"/>
    <parent link="HR_KFE"/>
    <child link="HR_FOOT"/>
    <axis xyz="0 0 0"/>
  </joint>
  <link name="imu_link">
    <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="imu_joint" type="fixed">
    <origin rpy="0.001697 -0.020900 -0.000007" xyz="-0.027353 -0.005499 0.039913"/>
    <parent link="base_link"/>
    <child link="imu_link"/>
    <axis xyz="0 0 0"/>
  </joint>

  <link name="utlidar">
    <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="utlidar_joint" type="fixed">
    <origin rpy="0 2.8782 0" xyz="0.28945 0 -0.046825"/>
    <parent link="base_link"/>
    <child link="utlidar"/>
    <axis xyz="0 0 0"/>
  </joint>

  <link
    name="d1_base_link">
    <inertial>
      <origin
        xyz="-0.00048697 -2.9605E-12 0.017142"
        rpy="0 0 0" />
      <mass
        value="0.077233" />
      <inertia
        ixx="0.00010316"
        ixy="-1.0285E-14"
        ixz="2.0449E-07"
        iyy="0.00011888"
        iyz="7.3026E-15"
        izz="0.00018362" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="d1_assets/stl/base_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
  </link>

  <joint name="d1_base_joint" type="fixed">
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.05"/>
    <parent link="base_link"/>
    <child link="d1_base_link"/>
    <axis xyz="0 0 0"/>
  </joint>
  <link
    name="Link1">
    <inertial>
      <origin
        xyz="0.0024649 0.00010517 0.032696"
        rpy="0 0 0" />
      <mass
        value="0.13174" />
      <inertia
        ixx="6.7236E-05"
        ixy="-5.5664E-08"
        ixz="7.0454E-08"
        iyy="5.416E-05"
        iyz="-3.5709E-07"
        izz="4.6637E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="d1_assets/stl/Link1.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
  </link>
  <joint
    name="Joint1"
    type="revolute">
    <origin
      xyz="0 0 0.0533"
      rpy="0 0 -3.1416" />
    <parent
      link="d1_base_link" />
    <child
      link="Link1" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-2.35"
      upper="2.35"
      effort="0"
      velocity="0" />
  </joint>
  <link
    name="Link2">
    <inertial>
      <origin
        xyz="0.0002018 0.19201 -0.027007"
        rpy="0 0 0" />
      <mass
        value="0.20213" />
      <inertia
        ixx="0.00025682"
        ixy="-1.139E-07"
        ixz="5.5667E-08"
        iyy="6.3307E-05"
        iyz="-3.5717E-07"
        izz="0.00022968" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="d1_assets/stl/Link2.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
  </link>
  <joint
    name="Joint2"
    type="revolute">
    <origin
      xyz="0 0.028 0.0563"
      rpy="1.5708 0 -3.1416" />
    <parent
      link="Link1" />
    <child
      link="Link2" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-1.57"
      upper="1.57"
      effort="0"
      velocity="0" />
  </joint>
  <link
    name="Link3">
    <inertial>
      <origin
        xyz="0.015164 0.044482 -0.027461"
        rpy="0 0 0" />
      <mass
        value="0.0629" />
      <inertia
        ixx="1.7232E-05"
        ixy="-2.6967E-06"
        ixz="-9.4911E-11"
        iyy="1.2606E-05"
        iyz="-9.9169E-11"
        izz="1.4964E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="d1_assets/stl/Link3.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
  </link>
  <joint
    name="Joint3"
    type="revolute">
    <origin
      xyz="0 0.2693 0.0009"
      rpy="0 0 0" />
    <parent
      link="Link2" />
    <child
      link="Link3" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-1.57"
      upper="1.57"
      effort="0"
      velocity="0" />
  </joint>
  <link
    name="Link4">
    <inertial>
      <origin
        xyz="-0.00029556 -0.00016104 0.091339"
        rpy="0 0 0" />
      <mass
        value="0.083332" />
      <inertia
        ixx="3.9308E-05"
        ixy="1.0126E-08"
        ixz="-9.4316E-08"
        iyy="3.4378E-05"
        iyz="-1.6915E-09"
        izz="1.1597E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="d1_assets/stl/Link4.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
  </link>
  <joint
    name="Joint4"
    type="revolute">
    <origin
      xyz="0.0577 0.042 -0.0275"
      rpy="-1.5708 0 -1.5708" />
    <parent
      link="Link3" />
    <child
      link="Link4" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-2.35"
      upper="2.35"
      effort="0"
      velocity="0" />
  </joint>
  <link
    name="Link5">
    <inertial>
      <origin
        xyz="0.040573 0.0062891 -0.023838"
        rpy="0 0 0" />
      <mass
        value="0.053817" />
      <inertia
        ixx="1.3072E-05"
        ixy="-3.9511E-07"
        ixz="-3.1889E-10"
        iyy="8.6301E-06"
        iyz="-1.8416E-09"
        izz="1.1049E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="d1_assets/stl/Link5.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
  </link>
  <joint
    name="Joint5"
    type="revolute">
    <origin
      xyz="-0.0001 -0.0237 0.14018"
      rpy="1.5708 -1.5708 0" />
    <parent
      link="Link4" />
    <child
      link="Link5" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-1.57"
      upper="1.57"
      effort="0"
      velocity="0" />
  </joint>
  <link
    name="Link6">
    <inertial>
      <origin
        xyz="-0.0068528 -3.9973E-06 0.039705"
        rpy="0 0 0" />
      <mass
        value="0.077892" />
      <inertia
        ixx="3.8236E-05"
        ixy="1.3465E-08"
        ixz="-2.0614E-07"
        iyy="1.7707E-05"
        iyz="-6.7117E-10"
        izz="4.8839E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="d1_assets/stl/Link6.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
  </link>

  <joint
    name="Joint6"
    type="revolute">
    <origin
      xyz="0.0825 -0.0010782 -0.023822"
      rpy="-1.5708 0 -1.5708" />
    <parent
      link="Link5" />
    <child
      link="Link6" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-2.35"
      upper="2.35"
      effort="0"
      velocity="0" />
  </joint>
  <link
    name="Link7_1">
    <inertial>
      <origin
        xyz="0.018927 0.006 0.012082"
        rpy="0 0 0" />
      <mass
        value="0.015046" />
      <inertia
        ixx="1.2692E-06"
        ixy="7.7441E-20"
        ixz="-1.133E-07"
        iyy="2.0229E-06"
        iyz="1.2044E-20"
        izz="2.6177E-06" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="d1_assets/stl/Link7_1.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="d1_assets/stl/Link7_1.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="Joint7_1"
    type="prismatic">
    <origin
      xyz="-0.0056012 -0.029636 0.0706"
      rpy="-1.5714 -1.5708 0" />
    <parent
      link="Link6" />
    <child
      link="Link7_1" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="0"
      upper="0.03"
      effort="0"
      velocity="0" />
  </joint>
  <link
    name="Link7_2">
    <inertial>
      <origin
        xyz="0.018927 -0.006 0.012082"
        rpy="0 0 0" />
      <mass
        value="0.015046" />
      <inertia
        ixx="1.2692E-06"
        ixy="-7.8273E-20"
        ixz="-1.133E-07"
        iyy="2.0229E-06"
        iyz="-1.2122E-20"
        izz="2.6177E-06" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="d1_assets/stl/Link7_2.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="d1_assets/stl/Link7_2.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="Joint7_2"
    type="prismatic">
    <origin
      xyz="-0.0056388 0.02964 0.0706"
      rpy="1.5702 -1.5708 0" />
    <parent
      link="Link6" />
    <child
      link="Link7_2" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-0.03"
      upper="0"
      effort="0"
      velocity="0" />
  </joint>

  <link
    name="Link6_tip">
  </link>
  <joint
    name="tip_joint"
    type="fixed">
    <origin
      xyz="0.0 0.0 0.0"
      rpy="0.0 0.0 0.0" />
    <parent
      link="Link6" />
    <child
      link="Link6_tip" />
  </joint>
</robot>

