<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from xacro/robot.xacro              | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="aliengo">
  <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="0.9137254901960784 0.9137254901960784 0.8470588235294118 1.0"/>
  </material>
  <material name="orange">
    <color rgba="1.0 0.4235294117647059 0.0392156862745098 1.0"/>
  </material>
  <material name="brown">
    <color rgba="0.8705882352941177 0.8117647058823529 0.7647058823529411 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>
  <ros2_control name="UnitreeSystem" type="system">
    <hardware>
      <plugin>hardware_unitree_mujoco/HardwareUnitree</plugin>
    </hardware>
    <joint name="FR_hip_joint">
      <command_interface name="position"/>
      <command_interface name="velocity"/>
      <command_interface name="effort"/>
      <command_interface name="kp"/>
      <command_interface name="kd"/>
      <state_interface name="position"/>
      <state_interface name="velocity"/>
      <state_interface name="effort"/>
    </joint>
    <joint name="FR_thigh_joint">
      <command_interface name="position"/>
      <command_interface name="velocity"/>
      <command_interface name="effort"/>
      <command_interface name="kp"/>
      <command_interface name="kd"/>
      <state_interface name="position"/>
      <state_interface name="velocity"/>
      <state_interface name="effort"/>
    </joint>
    <joint name="FR_calf_joint">
      <command_interface name="position"/>
      <command_interface name="velocity"/>
      <command_interface name="effort"/>
      <command_interface name="kp"/>
      <command_interface name="kd"/>
      <state_interface name="position"/>
      <state_interface name="velocity"/>
      <state_interface name="effort"/>
    </joint>
    <joint name="FL_hip_joint">
      <command_interface name="position"/>
      <command_interface name="velocity"/>
      <command_interface name="effort"/>
      <command_interface name="kp"/>
      <command_interface name="kd"/>
      <state_interface name="position"/>
      <state_interface name="velocity"/>
      <state_interface name="effort"/>
    </joint>
    <joint name="FL_thigh_joint">
      <command_interface name="position"/>
      <command_interface name="velocity"/>
      <command_interface name="effort"/>
      <command_interface name="kp"/>
      <command_interface name="kd"/>
      <state_interface name="position"/>
      <state_interface name="velocity"/>
      <state_interface name="effort"/>
    </joint>
    <joint name="FL_calf_joint">
      <command_interface name="position"/>
      <command_interface name="velocity"/>
      <command_interface name="effort"/>
      <command_interface name="kp"/>
      <command_interface name="kd"/>
      <state_interface name="position"/>
      <state_interface name="velocity"/>
      <state_interface name="effort"/>
    </joint>
    <joint name="RR_hip_joint">
      <command_interface name="position"/>
      <command_interface name="velocity"/>
      <command_interface name="effort"/>
      <command_interface name="kp"/>
      <command_interface name="kd"/>
      <state_interface name="position"/>
      <state_interface name="velocity"/>
      <state_interface name="effort"/>
    </joint>
    <joint name="RR_thigh_joint">
      <command_interface name="position"/>
      <command_interface name="velocity"/>
      <command_interface name="effort"/>
      <command_interface name="kp"/>
      <command_interface name="kd"/>
      <state_interface name="position"/>
      <state_interface name="velocity"/>
      <state_interface name="effort"/>
    </joint>
    <joint name="RR_calf_joint">
      <command_interface name="position"/>
      <command_interface name="velocity"/>
      <command_interface name="effort"/>
      <command_interface name="kp"/>
      <command_interface name="kd"/>
      <state_interface name="position"/>
      <state_interface name="velocity"/>
      <state_interface name="effort"/>
    </joint>
    <joint name="RL_hip_joint">
      <command_interface name="position"/>
      <command_interface name="velocity"/>
      <command_interface name="effort"/>
      <command_interface name="kp"/>
      <command_interface name="kd"/>
      <state_interface name="position"/>
      <state_interface name="velocity"/>
      <state_interface name="effort"/>
    </joint>
    <joint name="RL_thigh_joint">
      <command_interface name="position"/>
      <command_interface name="velocity"/>
      <command_interface name="effort"/>
      <command_interface name="kp"/>
      <command_interface name="kd"/>
      <state_interface name="position"/>
      <state_interface name="velocity"/>
      <state_interface name="effort"/>
    </joint>
    <joint name="RL_calf_joint">
      <command_interface name="position"/>
      <command_interface name="velocity"/>
      <command_interface name="effort"/>
      <command_interface name="kp"/>
      <command_interface name="kd"/>
      <state_interface name="position"/>
      <state_interface name="velocity"/>
      <state_interface name="effort"/>
    </joint>
    <sensor name="imu_sensor">
      <state_interface name="orientation.w"/>
      <state_interface name="orientation.x"/>
      <state_interface name="orientation.y"/>
      <state_interface name="orientation.z"/>
      <state_interface name="angular_velocity.x"/>
      <state_interface name="angular_velocity.y"/>
      <state_interface name="angular_velocity.z"/>
      <state_interface name="linear_acceleration.x"/>
      <state_interface name="linear_acceleration.y"/>
      <state_interface name="linear_acceleration.z"/>
    </sensor>
    <sensor name="foot_force">
      <state_interface name="FR"/>
      <state_interface name="FL"/>
      <state_interface name="RR"/>
      <state_interface name="RL"/>
    </sensor>
  </ros2_control>
  <!-- Rotor related joint and link is only for demonstrate location. -->
  <!-- Actually, the rotor will rotate and the joint is not fixed. Reduction ratio should be considered. -->
  <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="file:///home/tlab-uav/ros2_ws/install/aliengo_description/share/aliengo_description/meshes/trunk.dae" scale="1 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.647 0.15 0.112"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.008811 0.003839 0.000273"/>
      <mass value="11.644"/>
      <inertia ixx="0.051944892" ixy="0.001703617" ixz="0.000235941" iyy="0.24693924" iyz="0.000119783" izz="0.270948307"/>
    </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="red"/>
    </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="0.2407 -0.051 0"/>
    <parent link="trunk"/>
    <child link="FR_hip"/>
    <axis xyz="1 0 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="35.278" lower="-1.2217304763960306" upper="1.2217304763960306" velocity="20"/>
  </joint>
  <joint name="FR_hip_rotor_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.139985 -0.051 0"/>
    <parent link="trunk"/>
    <child link="FR_hip_rotor"/>
  </joint>
  <link name="FR_hip">
    <visual>
      <origin rpy="3.141592653589793 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="file:///home/tlab-uav/ros2_ws/install/aliengo_description/share/aliengo_description/meshes/hip.dae" scale="1 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="1.5707963267948966 0 0" xyz="0 -0.083 0"/>
      <geometry>
        <cylinder length="0.0418" radius="0.046"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.022191 -0.015144 -1.5e-05"/>
      <mass value="1.993"/>
      <inertia ixx="0.002446735" ixy="0.00059805" ixz="1.945e-06" iyy="0.003925876" iyz="-1.284e-06" izz="0.004148145"/>
    </inertial>
  </link>
  <link name="FR_hip_rotor">
    <visual>
      <origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.02" radius="0.035"/>
      </geometry>
      <material name="green"/>
    </visual>
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="0.146"/>
      <inertia ixx="0.000138702" ixy="0.0" ixz="0.0" iyy="8.3352e-05" iyz="0.0" izz="8.3352e-05"/>
    </inertial>
  </link>
  <joint name="FR_thigh_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 -0.0868 0"/>
    <parent link="FR_hip"/>
    <child link="FR_thigh"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="35.278" lower="-2.0943951023931953" upper="4.1887902047863905" velocity="20"/>
  </joint>
  <joint name="FR_thigh_rotor_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.0 -0.0298 0"/>
    <parent link="FR_hip"/>
    <child link="FR_thigh_rotor"/>
  </joint>
  <link name="FR_thigh">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="file:///home/tlab-uav/ros2_ws/install/aliengo_description/share/aliengo_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.125"/>
      <geometry>
        <box size="0.25 0.0374 0.043"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.005607 0.003877 -0.048199"/>
      <mass value="0.639"/>
      <inertia ixx="0.004173855" ixy="-1.0284e-05" ixz="-0.000318874" iyy="0.004343802" iyz="-0.000109233" izz="0.000340136"/>
    </inertial>
  </link>
  <link name="FR_thigh_rotor">
    <visual>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.02" radius="0.035"/>
      </geometry>
      <material name="green"/>
    </visual>
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="0.146"/>
      <inertia ixx="8.3352e-05" ixy="0.0" ixz="0.0" iyy="0.000138702" iyz="0.0" izz="8.3352e-05"/>
    </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="44.4" lower="-2.775073510670984" upper="-0.6457718232379019" velocity="15.89"/>
  </joint>
  <joint name="FR_calf_rotor_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.0 0.0997 0"/>
    <parent link="FR_thigh"/>
    <child link="FR_calf_rotor"/>
  </joint>
  <link name="FR_calf">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="file:///home/tlab-uav/ros2_ws/install/aliengo_description/share/aliengo_description/meshes/calf.dae" scale="1 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.125"/>
      <geometry>
        <box size="0.25 0.0208 0.016"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.002781 6.3e-05 -0.142518"/>
      <mass value="0.207"/>
      <inertia ixx="0.002129279" ixy="3.9e-08" ixz="5.757e-06" iyy="0.002141463" iyz="-5.16e-07" izz="3.7583e-05"/>
    </inertial>
  </link>
  <link name="FR_calf_rotor">
    <visual>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.02" radius="0.035"/>
      </geometry>
    </visual>
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="0.132"/>
      <inertia ixx="0.000145463" ixy="0.0" ixz="0.0" iyy="0.000133031" iyz="0.0" izz="0.000145463"/>
    </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="1.6853999999999998e-05" ixy="0.0" ixz="0.0" iyy="1.6853999999999998e-05" iyz="0.0" izz="1.6853999999999998e-05"/>
    </inertial>
  </link>
  <!-- FL leg -->
  <gazebo reference="{name}_hip">
    <mu1>0.2</mu1>
    <mu2>0.2</mu2>
  </gazebo>
  <gazebo reference="{name}_thigh">
    <mu1>0.2</mu1>
    <mu2>0.2</mu2>
    <self_collide>1</self_collide>
    <kp value="1000000.0"/>
    <kd value="1.0"/>
  </gazebo>
  <gazebo reference="{name}_calf">
    <mu1>0.2</mu1>
    <mu2>0.2</mu2>
    <self_collide>1</self_collide>
  </gazebo>
  <gazebo reference="{name}_foot">
    <mu1>0.6</mu1>
    <mu2>0.6</mu2>
    <self_collide>1</self_collide>
    <kp value="1000000.0"/>
    <kd value="1.0"/>
  </gazebo>
  <transmission name="FR_hip_tran">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="FR_hip_joint">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="FR_hip_motor">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="FR_thigh_tran">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="FR_thigh_joint">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="FR_thigh_motor">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="FR_calf_tran">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="FR_calf_joint">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="FR_calf_motor">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <joint name="FL_hip_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0.2407 0.051 0"/>
    <parent link="trunk"/>
    <child link="FL_hip"/>
    <axis xyz="1 0 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="35.278" lower="-1.2217304763960306" upper="1.2217304763960306" velocity="20"/>
  </joint>
  <joint name="FL_hip_rotor_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.139985 0.051 0"/>
    <parent link="trunk"/>
    <child link="FL_hip_rotor"/>
  </joint>
  <link name="FL_hip">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="file:///home/tlab-uav/ros2_ws/install/aliengo_description/share/aliengo_description/meshes/hip.dae" scale="1 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0.083 0"/>
      <geometry>
        <cylinder length="0.0418" radius="0.046"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.022191 0.015144 -1.5e-05"/>
      <mass value="1.993"/>
      <inertia ixx="0.002446735" ixy="-0.00059805" ixz="1.945e-06" iyy="0.003925876" iyz="1.284e-06" izz="0.004148145"/>
    </inertial>
  </link>
  <link name="FL_hip_rotor">
    <visual>
      <origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.02" radius="0.035"/>
      </geometry>
      <material name="green"/>
    </visual>
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="0.146"/>
      <inertia ixx="0.000138702" ixy="0.0" ixz="0.0" iyy="8.3352e-05" iyz="0.0" izz="8.3352e-05"/>
    </inertial>
  </link>
  <joint name="FL_thigh_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 0.0868 0"/>
    <parent link="FL_hip"/>
    <child link="FL_thigh"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="35.278" lower="-2.0943951023931953" upper="4.1887902047863905" velocity="20"/>
  </joint>
  <joint name="FL_thigh_rotor_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.0 0.0298 0"/>
    <parent link="FL_hip"/>
    <child link="FL_thigh_rotor"/>
  </joint>
  <link name="FL_thigh">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="file:///home/tlab-uav/ros2_ws/install/aliengo_description/share/aliengo_description/meshes/thigh.dae" scale="1 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.125"/>
      <geometry>
        <box size="0.25 0.0374 0.043"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.005607 -0.003877 -0.048199"/>
      <mass value="0.639"/>
      <inertia ixx="0.004173855" ixy="1.0284e-05" ixz="-0.000318874" iyy="0.004343802" iyz="0.000109233" izz="0.000340136"/>
    </inertial>
  </link>
  <link name="FL_thigh_rotor">
    <visual>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.02" radius="0.035"/>
      </geometry>
      <material name="green"/>
    </visual>
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="0.146"/>
      <inertia ixx="8.3352e-05" ixy="0.0" ixz="0.0" iyy="0.000138702" iyz="0.0" izz="8.3352e-05"/>
    </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="44.4" lower="-2.775073510670984" upper="-0.6457718232379019" velocity="15.89"/>
  </joint>
  <joint name="FL_calf_rotor_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.0 -0.0997 0"/>
    <parent link="FL_thigh"/>
    <child link="FL_calf_rotor"/>
  </joint>
  <link name="FL_calf">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="file:///home/tlab-uav/ros2_ws/install/aliengo_description/share/aliengo_description/meshes/calf.dae" scale="1 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.125"/>
      <geometry>
        <box size="0.25 0.0208 0.016"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.002781 6.3e-05 -0.142518"/>
      <mass value="0.207"/>
      <inertia ixx="0.002129279" ixy="3.9e-08" ixz="5.757e-06" iyy="0.002141463" iyz="-5.16e-07" izz="3.7583e-05"/>
    </inertial>
  </link>
  <link name="FL_calf_rotor">
    <visual>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.02" radius="0.035"/>
      </geometry>
    </visual>
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="0.132"/>
      <inertia ixx="0.000145463" ixy="0.0" ixz="0.0" iyy="0.000133031" iyz="0.0" izz="0.000145463"/>
    </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="1.6853999999999998e-05" ixy="0.0" ixz="0.0" iyy="1.6853999999999998e-05" iyz="0.0" izz="1.6853999999999998e-05"/>
    </inertial>
  </link>
  <!-- FL leg -->
  <gazebo reference="{name}_hip">
    <mu1>0.2</mu1>
    <mu2>0.2</mu2>
  </gazebo>
  <gazebo reference="{name}_thigh">
    <mu1>0.2</mu1>
    <mu2>0.2</mu2>
    <self_collide>1</self_collide>
    <kp value="1000000.0"/>
    <kd value="1.0"/>
  </gazebo>
  <gazebo reference="{name}_calf">
    <mu1>0.2</mu1>
    <mu2>0.2</mu2>
    <self_collide>1</self_collide>
  </gazebo>
  <gazebo reference="{name}_foot">
    <mu1>0.6</mu1>
    <mu2>0.6</mu2>
    <self_collide>1</self_collide>
    <kp value="1000000.0"/>
    <kd value="1.0"/>
  </gazebo>
  <transmission name="FL_hip_tran">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="FL_hip_joint">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="FL_hip_motor">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="FL_thigh_tran">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="FL_thigh_joint">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="FL_thigh_motor">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="FL_calf_tran">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="FL_calf_joint">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="FL_calf_motor">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <joint name="RR_hip_joint" type="revolute">
    <origin rpy="0 0 0" xyz="-0.2407 -0.051 0"/>
    <parent link="trunk"/>
    <child link="RR_hip"/>
    <axis xyz="1 0 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="35.278" lower="-1.2217304763960306" upper="1.2217304763960306" velocity="20"/>
  </joint>
  <joint name="RR_hip_rotor_joint" type="fixed">
    <origin rpy="0 0 0" xyz="-0.139985 -0.051 0"/>
    <parent link="trunk"/>
    <child link="RR_hip_rotor"/>
  </joint>
  <link name="RR_hip">
    <visual>
      <origin rpy="3.141592653589793 3.141592653589793 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="file:///home/tlab-uav/ros2_ws/install/aliengo_description/share/aliengo_description/meshes/hip.dae" scale="1 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="1.5707963267948966 0 0" xyz="0 -0.083 0"/>
      <geometry>
        <cylinder length="0.0418" radius="0.046"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.022191 -0.015144 -1.5e-05"/>
      <mass value="1.993"/>
      <inertia ixx="0.002446735" ixy="-0.00059805" ixz="-1.945e-06" iyy="0.003925876" iyz="-1.284e-06" izz="0.004148145"/>
    </inertial>
  </link>
  <link name="RR_hip_rotor">
    <visual>
      <origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.02" radius="0.035"/>
      </geometry>
      <material name="green"/>
    </visual>
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="0.146"/>
      <inertia ixx="0.000138702" ixy="0.0" ixz="0.0" iyy="8.3352e-05" iyz="0.0" izz="8.3352e-05"/>
    </inertial>
  </link>
  <joint name="RR_thigh_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 -0.0868 0"/>
    <parent link="RR_hip"/>
    <child link="RR_thigh"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="35.278" lower="-2.0943951023931953" upper="4.1887902047863905" velocity="20"/>
  </joint>
  <joint name="RR_thigh_rotor_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.0 -0.0298 0"/>
    <parent link="RR_hip"/>
    <child link="RR_thigh_rotor"/>
  </joint>
  <link name="RR_thigh">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="file:///home/tlab-uav/ros2_ws/install/aliengo_description/share/aliengo_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.125"/>
      <geometry>
        <box size="0.25 0.0374 0.043"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.005607 0.003877 -0.048199"/>
      <mass value="0.639"/>
      <inertia ixx="0.004173855" ixy="-1.0284e-05" ixz="-0.000318874" iyy="0.004343802" iyz="-0.000109233" izz="0.000340136"/>
    </inertial>
  </link>
  <link name="RR_thigh_rotor">
    <visual>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.02" radius="0.035"/>
      </geometry>
      <material name="green"/>
    </visual>
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="0.146"/>
      <inertia ixx="8.3352e-05" ixy="0.0" ixz="0.0" iyy="0.000138702" iyz="0.0" izz="8.3352e-05"/>
    </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="44.4" lower="-2.775073510670984" upper="-0.6457718232379019" velocity="15.89"/>
  </joint>
  <joint name="RR_calf_rotor_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.0 0.0997 0"/>
    <parent link="RR_thigh"/>
    <child link="RR_calf_rotor"/>
  </joint>
  <link name="RR_calf">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="file:///home/tlab-uav/ros2_ws/install/aliengo_description/share/aliengo_description/meshes/calf.dae" scale="1 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.125"/>
      <geometry>
        <box size="0.25 0.0208 0.016"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.002781 6.3e-05 -0.142518"/>
      <mass value="0.207"/>
      <inertia ixx="0.002129279" ixy="3.9e-08" ixz="5.757e-06" iyy="0.002141463" iyz="-5.16e-07" izz="3.7583e-05"/>
    </inertial>
  </link>
  <link name="RR_calf_rotor">
    <visual>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.02" radius="0.035"/>
      </geometry>
    </visual>
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="0.132"/>
      <inertia ixx="0.000145463" ixy="0.0" ixz="0.0" iyy="0.000133031" iyz="0.0" izz="0.000145463"/>
    </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="1.6853999999999998e-05" ixy="0.0" ixz="0.0" iyy="1.6853999999999998e-05" iyz="0.0" izz="1.6853999999999998e-05"/>
    </inertial>
  </link>
  <!-- FL leg -->
  <gazebo reference="{name}_hip">
    <mu1>0.2</mu1>
    <mu2>0.2</mu2>
  </gazebo>
  <gazebo reference="{name}_thigh">
    <mu1>0.2</mu1>
    <mu2>0.2</mu2>
    <self_collide>1</self_collide>
    <kp value="1000000.0"/>
    <kd value="1.0"/>
  </gazebo>
  <gazebo reference="{name}_calf">
    <mu1>0.2</mu1>
    <mu2>0.2</mu2>
    <self_collide>1</self_collide>
  </gazebo>
  <gazebo reference="{name}_foot">
    <mu1>0.6</mu1>
    <mu2>0.6</mu2>
    <self_collide>1</self_collide>
    <kp value="1000000.0"/>
    <kd value="1.0"/>
  </gazebo>
  <transmission name="RR_hip_tran">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="RR_hip_joint">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="RR_hip_motor">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="RR_thigh_tran">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="RR_thigh_joint">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="RR_thigh_motor">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="RR_calf_tran">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="RR_calf_joint">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="RR_calf_motor">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <joint name="RL_hip_joint" type="revolute">
    <origin rpy="0 0 0" xyz="-0.2407 0.051 0"/>
    <parent link="trunk"/>
    <child link="RL_hip"/>
    <axis xyz="1 0 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="35.278" lower="-1.2217304763960306" upper="1.2217304763960306" velocity="20"/>
  </joint>
  <joint name="RL_hip_rotor_joint" type="fixed">
    <origin rpy="0 0 0" xyz="-0.139985 0.051 0"/>
    <parent link="trunk"/>
    <child link="RL_hip_rotor"/>
  </joint>
  <link name="RL_hip">
    <visual>
      <origin rpy="0 3.141592653589793 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="file:///home/tlab-uav/ros2_ws/install/aliengo_description/share/aliengo_description/meshes/hip.dae" scale="1 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0.083 0"/>
      <geometry>
        <cylinder length="0.0418" radius="0.046"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.022191 0.015144 -1.5e-05"/>
      <mass value="1.993"/>
      <inertia ixx="0.002446735" ixy="0.00059805" ixz="-1.945e-06" iyy="0.003925876" iyz="1.284e-06" izz="0.004148145"/>
    </inertial>
  </link>
  <link name="RL_hip_rotor">
    <visual>
      <origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.02" radius="0.035"/>
      </geometry>
      <material name="green"/>
    </visual>
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="0.146"/>
      <inertia ixx="0.000138702" ixy="0.0" ixz="0.0" iyy="8.3352e-05" iyz="0.0" izz="8.3352e-05"/>
    </inertial>
  </link>
  <joint name="RL_thigh_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 0.0868 0"/>
    <parent link="RL_hip"/>
    <child link="RL_thigh"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="35.278" lower="-2.0943951023931953" upper="4.1887902047863905" velocity="20"/>
  </joint>
  <joint name="RL_thigh_rotor_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.0 0.0298 0"/>
    <parent link="RL_hip"/>
    <child link="RL_thigh_rotor"/>
  </joint>
  <link name="RL_thigh">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="file:///home/tlab-uav/ros2_ws/install/aliengo_description/share/aliengo_description/meshes/thigh.dae" scale="1 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.125"/>
      <geometry>
        <box size="0.25 0.0374 0.043"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.005607 -0.003877 -0.048199"/>
      <mass value="0.639"/>
      <inertia ixx="0.004173855" ixy="1.0284e-05" ixz="-0.000318874" iyy="0.004343802" iyz="0.000109233" izz="0.000340136"/>
    </inertial>
  </link>
  <link name="RL_thigh_rotor">
    <visual>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.02" radius="0.035"/>
      </geometry>
      <material name="green"/>
    </visual>
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="0.146"/>
      <inertia ixx="8.3352e-05" ixy="0.0" ixz="0.0" iyy="0.000138702" iyz="0.0" izz="8.3352e-05"/>
    </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="44.4" lower="-2.775073510670984" upper="-0.6457718232379019" velocity="15.89"/>
  </joint>
  <joint name="RL_calf_rotor_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.0 -0.0997 0"/>
    <parent link="RL_thigh"/>
    <child link="RL_calf_rotor"/>
  </joint>
  <link name="RL_calf">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="file:///home/tlab-uav/ros2_ws/install/aliengo_description/share/aliengo_description/meshes/calf.dae" scale="1 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.125"/>
      <geometry>
        <box size="0.25 0.0208 0.016"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.002781 6.3e-05 -0.142518"/>
      <mass value="0.207"/>
      <inertia ixx="0.002129279" ixy="3.9e-08" ixz="5.757e-06" iyy="0.002141463" iyz="-5.16e-07" izz="3.7583e-05"/>
    </inertial>
  </link>
  <link name="RL_calf_rotor">
    <visual>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.02" radius="0.035"/>
      </geometry>
    </visual>
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="0.132"/>
      <inertia ixx="0.000145463" ixy="0.0" ixz="0.0" iyy="0.000133031" iyz="0.0" izz="0.000145463"/>
    </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="1.6853999999999998e-05" ixy="0.0" ixz="0.0" iyy="1.6853999999999998e-05" iyz="0.0" izz="1.6853999999999998e-05"/>
    </inertial>
  </link>
  <!-- FL leg -->
  <gazebo reference="{name}_hip">
    <mu1>0.2</mu1>
    <mu2>0.2</mu2>
  </gazebo>
  <gazebo reference="{name}_thigh">
    <mu1>0.2</mu1>
    <mu2>0.2</mu2>
    <self_collide>1</self_collide>
    <kp value="1000000.0"/>
    <kd value="1.0"/>
  </gazebo>
  <gazebo reference="{name}_calf">
    <mu1>0.2</mu1>
    <mu2>0.2</mu2>
    <self_collide>1</self_collide>
  </gazebo>
  <gazebo reference="{name}_foot">
    <mu1>0.6</mu1>
    <mu2>0.6</mu2>
    <self_collide>1</self_collide>
    <kp value="1000000.0"/>
    <kd value="1.0"/>
  </gazebo>
  <transmission name="RL_hip_tran">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="RL_hip_joint">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="RL_hip_motor">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="RL_thigh_tran">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="RL_thigh_joint">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="RL_thigh_motor">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="RL_calf_tran">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="RL_calf_joint">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="RL_calf_motor">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <!-- <xacro:stairs stairs="15" xpos="0" ypos="2.0" zpos="0" /> -->
</robot>
