<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from robot.xacro                    | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="cyber_dog">
  <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>
  <link name="base_link">
    <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_link"/>
    <child link="body"/>
  </joint>
  <link name="body">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="file:///home/tlab-uav/ros2_ws/install/cyberdog_description/share/cyberdog_description/meshes/body.dae" scale="1 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.236 0.19 0.109"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.0273 -0.000242 0.0143"/>
      <mass value="4.03"/>
      <inertia ixx="0.0185" ixy="-0.000173" ixz="-0.0102" iyy="0.0517" iyz="-2.83e-05" izz="0.0483"/>
    </inertial>
  </link>
  <joint name="imu_joint" type="fixed">
    <parent link="body"/>
    <child link="imu_link"/>
    <origin rpy="0 0 0" xyz="33.4e-3 -17.2765e-3 51.0469e-3"/>
  </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>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size=".001 .001 .001"/>
      </geometry>
    </collision>
  </link>
  <joint name="scan_joint" type="fixed">
    <parent link="body"/>
    <child link="lidar_link"/>
    <origin rpy="0 0 0" xyz="0.21425 0 0.0908"/>
  </joint>
  <link name="lidar_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>
  </link>
  <joint name="D435_camera_joint" type="fixed">
    <parent link="body"/>
    <child link="D435_camera_link"/>
    <origin rpy="0 0 0" xyz="271.994e-3 25e-3 114.912e-3"/>
  </joint>
  <link name="D435_camera_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>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size=".001 .001 .001"/>
      </geometry>
    </collision>
  </link>
  <joint name="RGB_camera_joint" type="fixed">
    <parent link="body"/>
    <child link="RGB_camera_link"/>
    <origin rpy="0 0 0" xyz="275.76e-3 0 125.794e-3"/>
  </joint>
  <link name="RGB_camera_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>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size=".001 .001 .001"/>
      </geometry>
    </collision>
  </link>
  <joint name="AI_camera_joint" type="fixed">
    <parent link="body"/>
    <child link="AI_camera_link"/>
    <origin rpy="0 0 0" xyz="290.228e-3 0 147.420e-3"/>
  </joint>
  <link name="AI_camera_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>
    </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="0.164 -0.042 0"/>
    <parent link="body"/>
    <child link="FR_abad"/>
    <axis xyz="1 0 0"/>
    <dynamics damping="0.01" friction="0.1"/>
    <limit effort="12.0001" lower="-0.6806784082777885" upper="0.6806784082777885" velocity="30.9971"/>
  </joint>
  <link name="FR_abad">
    <visual>
      <origin rpy="3.141592653589793 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="file:///home/tlab-uav/ros2_ws/install/cyberdog_description/share/cyberdog_description/meshes/abad.dae" scale="1 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.035" radius="0.039"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.00392 -0.015 -0.000306"/>
      <mass value="0.354"/>
      <inertia ixx="0.00019" ixy="2.7e-05" ixz="-3.44e-07" iyy="0.000276" iyz="-1.95e-06" izz="0.000233"/>
    </inertial>
  </link>
  <joint name="FR_abad_rotor_fix" type="fixed">
    <origin rpy="0 0 0" xyz="-0.0642303 0 0"/>
    <parent link="FR_abad"/>
    <child link="FR_abad_rotor"/>
  </joint>
  <!-- this link is only for abad rotor inertial -->
  <link name="FR_abad_rotor">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.0567"/>
      <inertia ixx="2.53e-05" ixy="0" ixz="0" iyy="4.78e-05" iyz="0" izz="2.53e-05"/>
    </inertial>
  </link>
  <joint name="FR_abad_fixed" type="fixed">
    <origin rpy="0 0 0" xyz="0 -0.059 0"/>
    <parent link="FR_abad"/>
    <child link="FR_hip_shoulder"/>
  </joint>
  <link name="FR_hip_shoulder">
    <collision>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.035" radius="0.039"/>
      </geometry>
    </collision>
  </link>
  <joint name="FR_thigh_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 -0.094 0"/>
    <parent link="FR_abad"/>
    <child link="FR_hip"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0.01" friction="0.1"/>
    <limit effort="12.0001" lower="-1.3264502315156903" upper="2.792526803190927" velocity="30.9971"/>
  </joint>
  <link name="FR_hip">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="file:///home/tlab-uav/ros2_ws/install/cyberdog_description/share/cyberdog_description/meshes/hip_mirror.dae" scale="1 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.06"/>
      <geometry>
        <box size="0.12 0.025 0.034"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.00212 0.0212 -0.0184"/>
      <mass value="0.482"/>
      <inertia ixx="0.00101" ixy="-2.23e-05" ixz="-3.85e-05" iyy="0.000983" iyz="-0.000199" izz="0.000347"/>
    </inertial>
  </link>
  <joint name="FR_hip_rotor_fix" type="fixed">
    <origin rpy="0 0 0" xyz="0 0.07577 0"/>
    <parent link="FR_hip"/>
    <child link="FR_hip_rotor"/>
  </joint>
  <!-- this link is only for hip rotor inertial -->
  <link name="FR_hip_rotor">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.0567"/>
      <inertia ixx="2.53e-05" ixy="0" ixz="0" iyy="4.78e-05" iyz="0" izz="2.53e-05"/>
    </inertial>
  </link>
  <joint name="FR_knee_rotor_fix" type="fixed">
    <origin rpy="0 0 0" xyz="0 0.0342303 0"/>
    <parent link="FR_hip"/>
    <child link="FR_knee_rotor"/>
  </joint>
  <!-- this link is only for knee rotor inertial -->
  <link name="FR_knee_rotor">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.0567"/>
      <inertia ixx="2.53e-05" ixy="0" ixz="0" iyy="4.78e-05" iyz="0" izz="2.53e-05"/>
    </inertial>
  </link>
  <joint name="FR_calf_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 -0.12"/>
    <parent link="FR_hip"/>
    <child link="FR_knee"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0.01" friction="0.1"/>
    <limit effort="12.0001" lower="-2.5307274153917776" upper="-0.5235987755982988" velocity="30.9971"/>
  </joint>
  <link name="FR_knee">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="file:///home/tlab-uav/ros2_ws/install/cyberdog_description/share/cyberdog_description/meshes/knee.dae" scale="1 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 3.141592653589793 0" xyz="0 0 -0.091705"/>
      <geometry>
        <box size="0.016 0.016 0.18341"/>
      </geometry>
    </collision>
    <collision name="FR_knee_rubber">
      <origin rpy="0 3.141592653589793 0" xyz="-0.01 0 -0.007"/>
      <geometry>
        <sphere radius="0.016"/>
      </geometry>
      <surface>
        <contact>
          <ode>
            <max_vel>0.00001</max_vel>
            <min_depth>0.0</min_depth>
          </ode>
        </contact>
      </surface>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.0006 -4.72e-05 -0.0893"/>
      <mass value="0.116"/>
      <inertia ixx="0.000668" ixy="3e-09" ixz="2.37e-05" iyy="0.000674" iyz="6.03e-07" izz="1.54e-05"/>
    </inertial>
  </link>
  <joint name="FR_foot_fixed" type="fixed">
    <origin rpy="0 0 0" xyz="0.0055 0 -0.17390999999999998"/>
    <parent link="FR_knee"/>
    <child link="FR_foot"/>
  </joint>
  <link name="FR_foot">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.009"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.019"/>
      </geometry>
      <surface>
        <contact>
          <ode>
            <max_vel>0.001</max_vel>
            <min_depth>0.0</min_depth>
          </ode>
        </contact>
      </surface>
    </collision>
  </link>
  <transmission name="FR_abad_tran">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="FR_abad_joint">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="FR_abad_motor">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>&quot;7.75&quot;</mechanicalReduction>
    </actuator>
  </transmission>
  <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>&quot;7.75&quot;</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="FR_knee_tran">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="FR_knee_joint">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="FR_knee_motor">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>&quot;7.75&quot;</mechanicalReduction>
    </actuator>
  </transmission>
  <gazebo reference="FR_abad">
    <mu1>0.2</mu1>
    <mu2>0.2</mu2>
    <visual>
      <material>
        <ambient>.5 .5 .5 1.0</ambient>
        <diffuse>.5 .5 .5 1.0</diffuse>
        <specular>.5 .5 .5 1.0</specular>
      </material>
    </visual>
  </gazebo>
  <gazebo reference="FR_hip">
    <mu1>0.2</mu1>
    <mu2>0.2</mu2>
    <self_collide>1</self_collide>
    <visual>
      <material>
        <ambient>.05 .05 .05 1.0</ambient>
        <diffuse>.05 .05 .05 1.0</diffuse>
        <specular>.05 .05 .05 1.0</specular>
      </material>
    </visual>
  </gazebo>
  <gazebo reference="FR_knee">
    <mu1>0.7</mu1>
    <mu2>0.7</mu2>
    <self_collide>1</self_collide>
    <visual>
      <material>
        <ambient>.5 .5 .5 1.0</ambient>
        <diffuse>.5 .5 .5 1.0</diffuse>
        <specular>.5 .5 .5 1.0</specular>
      </material>
    </visual>
  </gazebo>
  <gazebo reference="FR_foot">
    <mu1>0.7</mu1>
    <mu2>0.7</mu2>
    <self_collide>1</self_collide>
    <visual>
      <material>
        <ambient>.5 .5 .5 1.0</ambient>
        <diffuse>.5 .5 .5 1.0</diffuse>
        <specular>.5 .5 .5 1.0</specular>
      </material>
    </visual>
  </gazebo>
  <joint name="FL_hip_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0.164 0.042 0"/>
    <parent link="body"/>
    <child link="FL_abad"/>
    <axis xyz="1 0 0"/>
    <dynamics damping="0.01" friction="0.1"/>
    <limit effort="12.0001" lower="-0.6806784082777885" upper="0.6806784082777885" velocity="30.9971"/>
  </joint>
  <link name="FL_abad">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="file:///home/tlab-uav/ros2_ws/install/cyberdog_description/share/cyberdog_description/meshes/abad.dae" scale="1 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.035" radius="0.039"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.00392 0.015 -0.000306"/>
      <mass value="0.354"/>
      <inertia ixx="0.00019" ixy="-2.7e-05" ixz="-3.44e-07" iyy="0.000276" iyz="1.95e-06" izz="0.000233"/>
    </inertial>
  </link>
  <joint name="FL_abad_rotor_fix" type="fixed">
    <origin rpy="0 0 0" xyz="-0.0642303 0 0"/>
    <parent link="FL_abad"/>
    <child link="FL_abad_rotor"/>
  </joint>
  <!-- this link is only for abad rotor inertial -->
  <link name="FL_abad_rotor">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.0567"/>
      <inertia ixx="2.53e-05" ixy="0" ixz="0" iyy="4.78e-05" iyz="0" izz="2.53e-05"/>
    </inertial>
  </link>
  <joint name="FL_abad_fixed" type="fixed">
    <origin rpy="0 0 0" xyz="0 0.059 0"/>
    <parent link="FL_abad"/>
    <child link="FL_hip_shoulder"/>
  </joint>
  <link name="FL_hip_shoulder">
    <collision>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.035" radius="0.039"/>
      </geometry>
    </collision>
  </link>
  <joint name="FL_thigh_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 0.094 0"/>
    <parent link="FL_abad"/>
    <child link="FL_hip"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0.01" friction="0.1"/>
    <limit effort="12.0001" lower="-1.3264502315156903" upper="2.792526803190927" velocity="30.9971"/>
  </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/cyberdog_description/share/cyberdog_description/meshes/hip.dae" scale="1 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.06"/>
      <geometry>
        <box size="0.12 0.025 0.034"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.00212 -0.0212 -0.0184"/>
      <mass value="0.482"/>
      <inertia ixx="0.00101" ixy="2.23e-05" ixz="-3.85e-05" iyy="0.000983" iyz="0.000199" izz="0.000347"/>
    </inertial>
  </link>
  <joint name="FL_hip_rotor_fix" type="fixed">
    <origin rpy="0 0 0" xyz="0 -0.07577 0"/>
    <parent link="FL_hip"/>
    <child link="FL_hip_rotor"/>
  </joint>
  <!-- this link is only for hip rotor inertial -->
  <link name="FL_hip_rotor">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.0567"/>
      <inertia ixx="2.53e-05" ixy="0" ixz="0" iyy="4.78e-05" iyz="0" izz="2.53e-05"/>
    </inertial>
  </link>
  <joint name="FL_knee_rotor_fix" type="fixed">
    <origin rpy="0 0 0" xyz="0 -0.0342303 0"/>
    <parent link="FL_hip"/>
    <child link="FL_knee_rotor"/>
  </joint>
  <!-- this link is only for knee rotor inertial -->
  <link name="FL_knee_rotor">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.0567"/>
      <inertia ixx="2.53e-05" ixy="0" ixz="0" iyy="4.78e-05" iyz="0" izz="2.53e-05"/>
    </inertial>
  </link>
  <joint name="FL_calf_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 -0.12"/>
    <parent link="FL_hip"/>
    <child link="FL_knee"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0.01" friction="0.1"/>
    <limit effort="12.0001" lower="-2.5307274153917776" upper="-0.5235987755982988" velocity="30.9971"/>
  </joint>
  <link name="FL_knee">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="file:///home/tlab-uav/ros2_ws/install/cyberdog_description/share/cyberdog_description/meshes/knee.dae" scale="1 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 3.141592653589793 0" xyz="0 0 -0.091705"/>
      <geometry>
        <box size="0.016 0.016 0.18341"/>
      </geometry>
    </collision>
    <collision name="FL_knee_rubber">
      <origin rpy="0 3.141592653589793 0" xyz="-0.01 0 -0.007"/>
      <geometry>
        <sphere radius="0.016"/>
      </geometry>
      <surface>
        <contact>
          <ode>
            <max_vel>0.00001</max_vel>
            <min_depth>0.0</min_depth>
          </ode>
        </contact>
      </surface>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.0006 -4.72e-05 -0.0893"/>
      <mass value="0.116"/>
      <inertia ixx="0.000668" ixy="3e-09" ixz="2.37e-05" iyy="0.000674" iyz="6.03e-07" izz="1.54e-05"/>
    </inertial>
  </link>
  <joint name="FL_foot_fixed" type="fixed">
    <origin rpy="0 0 0" xyz="0.0055 0 -0.17390999999999998"/>
    <parent link="FL_knee"/>
    <child link="FL_foot"/>
  </joint>
  <link name="FL_foot">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.009"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.019"/>
      </geometry>
      <surface>
        <contact>
          <ode>
            <max_vel>0.001</max_vel>
            <min_depth>0.0</min_depth>
          </ode>
        </contact>
      </surface>
    </collision>
  </link>
  <transmission name="FL_abad_tran">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="FL_abad_joint">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="FL_abad_motor">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>&quot;7.75&quot;</mechanicalReduction>
    </actuator>
  </transmission>
  <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>&quot;7.75&quot;</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="FL_knee_tran">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="FL_knee_joint">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="FL_knee_motor">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>&quot;7.75&quot;</mechanicalReduction>
    </actuator>
  </transmission>
  <gazebo reference="FL_abad">
    <mu1>0.2</mu1>
    <mu2>0.2</mu2>
    <visual>
      <material>
        <ambient>.5 .5 .5 1.0</ambient>
        <diffuse>.5 .5 .5 1.0</diffuse>
        <specular>.5 .5 .5 1.0</specular>
      </material>
    </visual>
  </gazebo>
  <gazebo reference="FL_hip">
    <mu1>0.2</mu1>
    <mu2>0.2</mu2>
    <self_collide>1</self_collide>
    <visual>
      <material>
        <ambient>.05 .05 .05 1.0</ambient>
        <diffuse>.05 .05 .05 1.0</diffuse>
        <specular>.05 .05 .05 1.0</specular>
      </material>
    </visual>
  </gazebo>
  <gazebo reference="FL_knee">
    <mu1>0.7</mu1>
    <mu2>0.7</mu2>
    <self_collide>1</self_collide>
    <visual>
      <material>
        <ambient>.5 .5 .5 1.0</ambient>
        <diffuse>.5 .5 .5 1.0</diffuse>
        <specular>.5 .5 .5 1.0</specular>
      </material>
    </visual>
  </gazebo>
  <gazebo reference="FL_foot">
    <mu1>0.7</mu1>
    <mu2>0.7</mu2>
    <self_collide>1</self_collide>
    <visual>
      <material>
        <ambient>.5 .5 .5 1.0</ambient>
        <diffuse>.5 .5 .5 1.0</diffuse>
        <specular>.5 .5 .5 1.0</specular>
      </material>
    </visual>
  </gazebo>
  <joint name="RR_hip_joint" type="revolute">
    <origin rpy="0 0 0" xyz="-0.164 -0.042 0"/>
    <parent link="body"/>
    <child link="RR_abad"/>
    <axis xyz="1 0 0"/>
    <dynamics damping="0.01" friction="0.1"/>
    <limit effort="12.0001" lower="-0.6806784082777885" upper="0.6806784082777885" velocity="30.9971"/>
  </joint>
  <link name="RR_abad">
    <visual>
      <origin rpy="3.141592653589793 3.141592653589793 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="file:///home/tlab-uav/ros2_ws/install/cyberdog_description/share/cyberdog_description/meshes/abad.dae" scale="1 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.035" radius="0.039"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.00392 -0.015 -0.000306"/>
      <mass value="0.354"/>
      <inertia ixx="0.00019" ixy="-2.7e-05" ixz="3.44e-07" iyy="0.000276" iyz="-1.95e-06" izz="0.000233"/>
    </inertial>
  </link>
  <joint name="RR_abad_rotor_fix" type="fixed">
    <origin rpy="0 0 0" xyz="0.0642303 0 0"/>
    <parent link="RR_abad"/>
    <child link="RR_abad_rotor"/>
  </joint>
  <!-- this link is only for abad rotor inertial -->
  <link name="RR_abad_rotor">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.0567"/>
      <inertia ixx="2.53e-05" ixy="0" ixz="0" iyy="4.78e-05" iyz="0" izz="2.53e-05"/>
    </inertial>
  </link>
  <joint name="RR_abad_fixed" type="fixed">
    <origin rpy="0 0 0" xyz="0 -0.059 0"/>
    <parent link="RR_abad"/>
    <child link="RR_hip_shoulder"/>
  </joint>
  <link name="RR_hip_shoulder">
    <collision>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.035" radius="0.039"/>
      </geometry>
    </collision>
  </link>
  <joint name="RR_thigh_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 -0.094 0"/>
    <parent link="RR_abad"/>
    <child link="RR_hip"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0.01" friction="0.1"/>
    <limit effort="12.0001" lower="-0.9773843811168246" upper="3.141592653589793" velocity="30.9971"/>
  </joint>
  <link name="RR_hip">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="file:///home/tlab-uav/ros2_ws/install/cyberdog_description/share/cyberdog_description/meshes/hip_mirror.dae" scale="1 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.06"/>
      <geometry>
        <box size="0.12 0.025 0.034"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.00212 0.0212 -0.0184"/>
      <mass value="0.482"/>
      <inertia ixx="0.00101" ixy="-2.23e-05" ixz="-3.85e-05" iyy="0.000983" iyz="-0.000199" izz="0.000347"/>
    </inertial>
  </link>
  <joint name="RR_hip_rotor_fix" type="fixed">
    <origin rpy="0 0 0" xyz="0 0.07577 0"/>
    <parent link="RR_hip"/>
    <child link="RR_hip_rotor"/>
  </joint>
  <!-- this link is only for hip rotor inertial -->
  <link name="RR_hip_rotor">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.0567"/>
      <inertia ixx="2.53e-05" ixy="0" ixz="0" iyy="4.78e-05" iyz="0" izz="2.53e-05"/>
    </inertial>
  </link>
  <joint name="RR_knee_rotor_fix" type="fixed">
    <origin rpy="0 0 0" xyz="0 0.0342303 0"/>
    <parent link="RR_hip"/>
    <child link="RR_knee_rotor"/>
  </joint>
  <!-- this link is only for knee rotor inertial -->
  <link name="RR_knee_rotor">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.0567"/>
      <inertia ixx="2.53e-05" ixy="0" ixz="0" iyy="4.78e-05" iyz="0" izz="2.53e-05"/>
    </inertial>
  </link>
  <joint name="RR_calf_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 -0.12"/>
    <parent link="RR_hip"/>
    <child link="RR_knee"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0.01" friction="0.1"/>
    <limit effort="12.0001" lower="-2.5307274153917776" upper="-0.5235987755982988" velocity="30.9971"/>
  </joint>
  <link name="RR_knee">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="file:///home/tlab-uav/ros2_ws/install/cyberdog_description/share/cyberdog_description/meshes/knee.dae" scale="1 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 3.141592653589793 0" xyz="0 0 -0.091705"/>
      <geometry>
        <box size="0.016 0.016 0.18341"/>
      </geometry>
    </collision>
    <collision name="RR_knee_rubber">
      <origin rpy="0 3.141592653589793 0" xyz="-0.01 0 -0.007"/>
      <geometry>
        <sphere radius="0.016"/>
      </geometry>
      <surface>
        <contact>
          <ode>
            <max_vel>0.00001</max_vel>
            <min_depth>0.0</min_depth>
          </ode>
        </contact>
      </surface>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.0006 -4.72e-05 -0.0893"/>
      <mass value="0.116"/>
      <inertia ixx="0.000668" ixy="3e-09" ixz="2.37e-05" iyy="0.000674" iyz="6.03e-07" izz="1.54e-05"/>
    </inertial>
  </link>
  <joint name="RR_foot_fixed" type="fixed">
    <origin rpy="0 0 0" xyz="0.0055 0 -0.17390999999999998"/>
    <parent link="RR_knee"/>
    <child link="RR_foot"/>
  </joint>
  <link name="RR_foot">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.009"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.019"/>
      </geometry>
      <surface>
        <contact>
          <ode>
            <max_vel>0.001</max_vel>
            <min_depth>0.0</min_depth>
          </ode>
        </contact>
      </surface>
    </collision>
  </link>
  <transmission name="RR_abad_tran">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="RR_abad_joint">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="RR_abad_motor">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>&quot;7.75&quot;</mechanicalReduction>
    </actuator>
  </transmission>
  <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>&quot;7.75&quot;</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="RR_knee_tran">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="RR_knee_joint">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="RR_knee_motor">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>&quot;7.75&quot;</mechanicalReduction>
    </actuator>
  </transmission>
  <gazebo reference="RR_abad">
    <mu1>0.2</mu1>
    <mu2>0.2</mu2>
    <visual>
      <material>
        <ambient>.5 .5 .5 1.0</ambient>
        <diffuse>.5 .5 .5 1.0</diffuse>
        <specular>.5 .5 .5 1.0</specular>
      </material>
    </visual>
  </gazebo>
  <gazebo reference="RR_hip">
    <mu1>0.2</mu1>
    <mu2>0.2</mu2>
    <self_collide>1</self_collide>
    <visual>
      <material>
        <ambient>.05 .05 .05 1.0</ambient>
        <diffuse>.05 .05 .05 1.0</diffuse>
        <specular>.05 .05 .05 1.0</specular>
      </material>
    </visual>
  </gazebo>
  <gazebo reference="RR_knee">
    <mu1>0.7</mu1>
    <mu2>0.7</mu2>
    <self_collide>1</self_collide>
    <visual>
      <material>
        <ambient>.5 .5 .5 1.0</ambient>
        <diffuse>.5 .5 .5 1.0</diffuse>
        <specular>.5 .5 .5 1.0</specular>
      </material>
    </visual>
  </gazebo>
  <gazebo reference="RR_foot">
    <mu1>0.7</mu1>
    <mu2>0.7</mu2>
    <self_collide>1</self_collide>
    <visual>
      <material>
        <ambient>.5 .5 .5 1.0</ambient>
        <diffuse>.5 .5 .5 1.0</diffuse>
        <specular>.5 .5 .5 1.0</specular>
      </material>
    </visual>
  </gazebo>
  <joint name="RL_hip_joint" type="revolute">
    <origin rpy="0 0 0" xyz="-0.164 0.042 0"/>
    <parent link="body"/>
    <child link="RL_abad"/>
    <axis xyz="1 0 0"/>
    <dynamics damping="0.01" friction="0.1"/>
    <limit effort="12.0001" lower="-0.6806784082777885" upper="0.6806784082777885" velocity="30.9971"/>
  </joint>
  <link name="RL_abad">
    <visual>
      <origin rpy="0 3.141592653589793 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="file:///home/tlab-uav/ros2_ws/install/cyberdog_description/share/cyberdog_description/meshes/abad.dae" scale="1 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.035" radius="0.039"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.00392 0.015 -0.000306"/>
      <mass value="0.354"/>
      <inertia ixx="0.00019" ixy="2.7e-05" ixz="3.44e-07" iyy="0.000276" iyz="1.95e-06" izz="0.000233"/>
    </inertial>
  </link>
  <joint name="RL_abad_rotor_fix" type="fixed">
    <origin rpy="0 0 0" xyz="0.0642303 0 0"/>
    <parent link="RL_abad"/>
    <child link="RL_abad_rotor"/>
  </joint>
  <!-- this link is only for abad rotor inertial -->
  <link name="RL_abad_rotor">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.0567"/>
      <inertia ixx="2.53e-05" ixy="0" ixz="0" iyy="4.78e-05" iyz="0" izz="2.53e-05"/>
    </inertial>
  </link>
  <joint name="RL_abad_fixed" type="fixed">
    <origin rpy="0 0 0" xyz="0 0.059 0"/>
    <parent link="RL_abad"/>
    <child link="RL_hip_shoulder"/>
  </joint>
  <link name="RL_hip_shoulder">
    <collision>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.035" radius="0.039"/>
      </geometry>
    </collision>
  </link>
  <joint name="RL_thigh_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 0.094 0"/>
    <parent link="RL_abad"/>
    <child link="RL_hip"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0.01" friction="0.1"/>
    <limit effort="12.0001" lower="-0.9773843811168246" upper="3.141592653589793" velocity="30.9971"/>
  </joint>
  <link name="RL_hip">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="file:///home/tlab-uav/ros2_ws/install/cyberdog_description/share/cyberdog_description/meshes/hip.dae" scale="1 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.06"/>
      <geometry>
        <box size="0.12 0.025 0.034"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.00212 -0.0212 -0.0184"/>
      <mass value="0.482"/>
      <inertia ixx="0.00101" ixy="2.23e-05" ixz="-3.85e-05" iyy="0.000983" iyz="0.000199" izz="0.000347"/>
    </inertial>
  </link>
  <joint name="RL_hip_rotor_fix" type="fixed">
    <origin rpy="0 0 0" xyz="0 -0.07577 0"/>
    <parent link="RL_hip"/>
    <child link="RL_hip_rotor"/>
  </joint>
  <!-- this link is only for hip rotor inertial -->
  <link name="RL_hip_rotor">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.0567"/>
      <inertia ixx="2.53e-05" ixy="0" ixz="0" iyy="4.78e-05" iyz="0" izz="2.53e-05"/>
    </inertial>
  </link>
  <joint name="RL_knee_rotor_fix" type="fixed">
    <origin rpy="0 0 0" xyz="0 -0.0342303 0"/>
    <parent link="RL_hip"/>
    <child link="RL_knee_rotor"/>
  </joint>
  <!-- this link is only for knee rotor inertial -->
  <link name="RL_knee_rotor">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.0567"/>
      <inertia ixx="2.53e-05" ixy="0" ixz="0" iyy="4.78e-05" iyz="0" izz="2.53e-05"/>
    </inertial>
  </link>
  <joint name="RL_calf_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 -0.12"/>
    <parent link="RL_hip"/>
    <child link="RL_knee"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0.01" friction="0.1"/>
    <limit effort="12.0001" lower="-2.5307274153917776" upper="-0.5235987755982988" velocity="30.9971"/>
  </joint>
  <link name="RL_knee">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="file:///home/tlab-uav/ros2_ws/install/cyberdog_description/share/cyberdog_description/meshes/knee.dae" scale="1 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 3.141592653589793 0" xyz="0 0 -0.091705"/>
      <geometry>
        <box size="0.016 0.016 0.18341"/>
      </geometry>
    </collision>
    <collision name="RL_knee_rubber">
      <origin rpy="0 3.141592653589793 0" xyz="-0.01 0 -0.007"/>
      <geometry>
        <sphere radius="0.016"/>
      </geometry>
      <surface>
        <contact>
          <ode>
            <max_vel>0.00001</max_vel>
            <min_depth>0.0</min_depth>
          </ode>
        </contact>
      </surface>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.0006 -4.72e-05 -0.0893"/>
      <mass value="0.116"/>
      <inertia ixx="0.000668" ixy="3e-09" ixz="2.37e-05" iyy="0.000674" iyz="6.03e-07" izz="1.54e-05"/>
    </inertial>
  </link>
  <joint name="RL_foot_fixed" type="fixed">
    <origin rpy="0 0 0" xyz="0.0055 0 -0.17390999999999998"/>
    <parent link="RL_knee"/>
    <child link="RL_foot"/>
  </joint>
  <link name="RL_foot">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.009"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.019"/>
      </geometry>
      <surface>
        <contact>
          <ode>
            <max_vel>0.001</max_vel>
            <min_depth>0.0</min_depth>
          </ode>
        </contact>
      </surface>
    </collision>
  </link>
  <transmission name="RL_abad_tran">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="RL_abad_joint">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="RL_abad_motor">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>&quot;7.75&quot;</mechanicalReduction>
    </actuator>
  </transmission>
  <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>&quot;7.75&quot;</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="RL_knee_tran">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="RL_knee_joint">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="RL_knee_motor">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>&quot;7.75&quot;</mechanicalReduction>
    </actuator>
  </transmission>
  <gazebo reference="RL_abad">
    <mu1>0.2</mu1>
    <mu2>0.2</mu2>
    <visual>
      <material>
        <ambient>.5 .5 .5 1.0</ambient>
        <diffuse>.5 .5 .5 1.0</diffuse>
        <specular>.5 .5 .5 1.0</specular>
      </material>
    </visual>
  </gazebo>
  <gazebo reference="RL_hip">
    <mu1>0.2</mu1>
    <mu2>0.2</mu2>
    <self_collide>1</self_collide>
    <visual>
      <material>
        <ambient>.05 .05 .05 1.0</ambient>
        <diffuse>.05 .05 .05 1.0</diffuse>
        <specular>.05 .05 .05 1.0</specular>
      </material>
    </visual>
  </gazebo>
  <gazebo reference="RL_knee">
    <mu1>0.7</mu1>
    <mu2>0.7</mu2>
    <self_collide>1</self_collide>
    <visual>
      <material>
        <ambient>.5 .5 .5 1.0</ambient>
        <diffuse>.5 .5 .5 1.0</diffuse>
        <specular>.5 .5 .5 1.0</specular>
      </material>
    </visual>
  </gazebo>
  <gazebo reference="RL_foot">
    <mu1>0.7</mu1>
    <mu2>0.7</mu2>
    <self_collide>1</self_collide>
    <visual>
      <material>
        <ambient>.5 .5 .5 1.0</ambient>
        <diffuse>.5 .5 .5 1.0</diffuse>
        <specular>.5 .5 .5 1.0</specular>
      </material>
    </visual>
  </gazebo>
  <!-- This link is only for head collision -->
  <joint name="head_joint" type="fixed">
    <parent link="body"/>
    <child link="head"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
  </joint>
  <link name="head">
    <collision>
      <origin rpy="0 0 0" xyz="0.256 0 0.120"/>
      <geometry>
        <box size="0.076 0.060 0.040"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.225 0 0.150"/>
      <geometry>
        <box size="0.020 0.080 0.100"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="body">
    <visual>
      <material>
        <ambient>.1 .1 .1 1.0</ambient>
        <diffuse>.1 .1 .1 1.0</diffuse>
        <specular>.1 .1 .1 1.0</specular>
      </material>
    </visual>
  </gazebo>
</robot>
