<?xml version="1.0" encoding="utf-8"?>
<!-- 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="cyberdog_description">
  <material name="black">
    <color rgba="0.0 0.0 0.0 1.0"/>
  </material>
  <material name="blue">
    <color rgba="0.0 0.0 0.8 1.0"/>
  </material>
  <material name="green">
    <color rgba="0.0 0.8 0.0 1.0"/>
  </material>
  <material name="grey">
    <color rgba="0.2 0.2 0.2 1.0"/>
  </material>
  <material name="silver">
    <color rgba="0.913725490196 0.913725490196 0.847058823529 1.0"/>
  </material>
  <material name="orange">
    <color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
  </material>
  <material name="brown">
    <color rgba="0.870588235294 0.811764705882 0.764705882353 1.0"/>
  </material>
  <material name="red">
    <color rgba="0.8 0.0 0.0 1.0"/>
  </material>
  <material name="white">
    <color rgba="1.0 1.0 1.0 1.0"/>
  </material>
  <!-- ros_control plugin -->
  <gazebo>
    <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
      <robotNamespace>/cyberdog_gazebo</robotNamespace>
      <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
    </plugin>
  </gazebo>
  <!-- Show the trajectory of body center. -->
  <gazebo>
    <plugin filename="libLinkPlot3DPlugin.so" name="3dplotbody">
      <frequency>10</frequency>
      <plot>
        <link>base</link>
        <pose>0 0 0 0 0 0</pose>
        <material>Gazebo/Yellow</material>
      </plot>
    </plugin>
  </gazebo>
  <!-- Show the trajectory of foot. You can add another trajectory about another foot. -->
  <gazebo>
    <plugin filename="libLinkPlot3DPlugin.so" name="3dplot">
      <frequency>1000</frequency>
      <plot>
        <link>FR_calf</link>
        <pose>0 0 -0.217 0 0 0</pose>
        <material>Gazebo/Yellow</material>
      </plot>
    </plugin>
  </gazebo>
  <gazebo>
    <plugin filename="libgazebo_ros_force.so" name="gazebo_ros_force">
      <bodyName>trunk</bodyName>
      <topicName>/apply_force/trunk</topicName>
    </plugin>
  </gazebo>
  <gazebo reference="imu_link">
    <gravity>true</gravity>
    <sensor name="imu_sensor" type="imu">
      <always_on>true</always_on>
      <update_rate>1000</update_rate>
      <visualize>true</visualize>
      <topic>__default_topic__</topic>
      <plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
        <topicName>trunk_imu</topicName>
        <bodyName>imu_link</bodyName>
        <updateRateHZ>1000.0</updateRateHZ>
        <gaussianNoise>0.0</gaussianNoise>
        <xyzOffset>0 0 0</xyzOffset>
        <rpyOffset>0 0 0</rpyOffset>
        <frameName>imu_link</frameName>
      </plugin>
      <pose>0 0 0 0 0 0</pose>
    </sensor>
  </gazebo>
  <!-- Foot contacts. -->
  <gazebo reference="FR_calf">
    <sensor name="FR_foot_contact" type="contact">
      <update_rate>100</update_rate>
      <plugin filename="libunitreeFootContactPlugin.so" name="contactPlugin"/>
      <contact>
        <collision>FR_calf_fixed_joint_lump__FR_foot_collision_1</collision>
      </contact>
    </sensor>
  </gazebo>
  <gazebo reference="FL_calf">
    <sensor name="FL_foot_contact" type="contact">
      <update_rate>100</update_rate>
      <plugin filename="libunitreeFootContactPlugin.so" name="contactPlugin"/>
      <contact>
        <collision>FL_calf_fixed_joint_lump__FL_foot_collision_1</collision>
      </contact>
    </sensor>
  </gazebo>
  <gazebo reference="RR_calf">
    <sensor name="RR_foot_contact" type="contact">
      <update_rate>100</update_rate>
      <plugin filename="libunitreeFootContactPlugin.so" name="contactPlugin"/>
      <contact>
        <collision>RR_calf_fixed_joint_lump__RR_foot_collision_1</collision>
      </contact>
    </sensor>
  </gazebo>
  <gazebo reference="RL_calf">
    <sensor name="RL_foot_contact" type="contact">
      <update_rate>100</update_rate>
      <plugin filename="libunitreeFootContactPlugin.so" name="contactPlugin"/>
      <contact>
        <collision>RL_calf_fixed_joint_lump__RL_foot_collision_1</collision>
      </contact>
    </sensor>
  </gazebo>
  <!-- Visualization of Foot contacts. -->
  <gazebo reference="FR_foot">
    <visual>
      <plugin filename="libunitreeDrawForcePlugin.so" name="drawForcePlugin">
        <topicName>FR_foot_contact</topicName>
      </plugin>
    </visual>
  </gazebo>
  <gazebo reference="FL_foot">
    <visual>
      <plugin filename="libunitreeDrawForcePlugin.so" name="drawForcePlugin">
        <topicName>FL_foot_contact</topicName>
      </plugin>
    </visual>
  </gazebo>
  <gazebo reference="RR_foot">
    <visual>
      <plugin filename="libunitreeDrawForcePlugin.so" name="drawForcePlugin">
        <topicName>RR_foot_contact</topicName>
      </plugin>
    </visual>
  </gazebo>
  <gazebo reference="RL_foot">
    <visual>
      <plugin filename="libunitreeDrawForcePlugin.so" name="drawForcePlugin">
        <topicName>RL_foot_contact</topicName>
      </plugin>
    </visual>
  </gazebo>
  <gazebo reference="base">
    <material>Gazebo/Green</material>
    <turnGravityOff>false</turnGravityOff>
  </gazebo>
  <gazebo reference="trunk">
    <mu1>0.2</mu1>
    <mu2>0.2</mu2>
    <kp value="1000000.0"/>
    <kd value="1.0"/>
  </gazebo>
  <gazebo reference="imu_link">
    <mu1>0.2</mu1>
    <mu2>0.2</mu2>
    <material>Gazebo/Red</material>
  </gazebo>
  <!-- FR leg -->
  <gazebo reference="FR_hip">
    <mu1>0.2</mu1>
    <mu2>0.2</mu2>
    <material>Gazebo/DarkGrey</material>
  </gazebo>
  <gazebo reference="FR_thigh">
    <mu1>0.2</mu1>
    <mu2>0.2</mu2>
    <self_collide>1</self_collide>
    <material>Gazebo/DarkGrey</material>
    <kp value="1000000.0"/>
    <kd value="1.0"/>
  </gazebo>
  <gazebo reference="FR_calf">
    <mu1>0.2</mu1>
    <mu2>0.2</mu2>
    <self_collide>1</self_collide>
  </gazebo>
  <gazebo reference="FR_foot">
    <mu1>0.9</mu1>
    <mu2>0.9</mu2>
    <self_collide>1</self_collide>
    <material>Gazebo/DarkGrey</material>
    <kp value="1000000.0"/>
    <kd value="1.0"/>
  </gazebo>
  <!-- FL leg -->
  <gazebo reference="FL_hip">
    <mu1>0.2</mu1>
    <mu2>0.2</mu2>
    <material>Gazebo/DarkGrey</material>
  </gazebo>
  <gazebo reference="FL_thigh">
    <mu1>0.2</mu1>
    <mu2>0.2</mu2>
    <self_collide>1</self_collide>
    <material>Gazebo/DarkGrey</material>
    <kp value="1000000.0"/>
    <kd value="1.0"/>
  </gazebo>
  <gazebo reference="FL_calf">
    <mu1>0.2</mu1>
    <mu2>0.2</mu2>
    <self_collide>1</self_collide>
  </gazebo>
  <gazebo reference="FL_foot">
    <mu1>0.9</mu1>
    <mu2>0.9</mu2>
    <self_collide>1</self_collide>
    <material>Gazebo/DarkGrey</material>
    <kp value="1000000.0"/>
    <kd value="1.0"/>
  </gazebo>
  <!-- RR leg -->
  <gazebo reference="RR_hip">
    <mu1>0.2</mu1>
    <mu2>0.2</mu2>
    <material>Gazebo/DarkGrey</material>
  </gazebo>
  <gazebo reference="RR_thigh">
    <mu1>0.2</mu1>
    <mu2>0.2</mu2>
    <self_collide>1</self_collide>
    <material>Gazebo/DarkGrey</material>
    <kp value="1000000.0"/>
    <kd value="1.0"/>
  </gazebo>
  <gazebo reference="RR_calf">
    <mu1>0.2</mu1>
    <mu2>0.2</mu2>
    <self_collide>1</self_collide>
  </gazebo>
  <gazebo reference="RR_foot">
    <mu1>0.9</mu1>
    <mu2>0.9</mu2>
    <self_collide>1</self_collide>
    <material>Gazebo/DarkGrey</material>
    <kp value="1000000.0"/>
    <kd value="1.0"/>
  </gazebo>
  <!-- RL leg -->
  <gazebo reference="RL_hip">
    <mu1>0.2</mu1>
    <mu2>0.2</mu2>
    <material>Gazebo/DarkGrey</material>
  </gazebo>
  <gazebo reference="RL_thigh">
    <mu1>0.2</mu1>
    <mu2>0.2</mu2>
    <self_collide>1</self_collide>
    <material>Gazebo/DarkGrey</material>
    <kp value="1000000.0"/>
    <kd value="1.0"/>
  </gazebo>
  <gazebo reference="RL_calf">
    <mu1>0.2</mu1>
    <mu2>0.2</mu2>
    <self_collide>1</self_collide>
  </gazebo>
  <gazebo reference="RL_foot">
    <mu1>0.9</mu1>
    <mu2>0.9</mu2>
    <self_collide>1</self_collide>
    <material>Gazebo/DarkGrey</material>
    <kp value="1000000.0"/>
    <kd value="1.0"/>
  </gazebo>

  <!-- 悬挂 -->
  <!-- <link name="world"/>
  <joint name="base_static_joint" type="fixed">
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <parent link="world"/>
      <child link="base"/>
  </joint> -->

  <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">
    <inertial>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <mass value="7.18" />
      <inertia
        ixx="0.032051"
        ixy="-0.00023217"
        ixz="0.002728"
        iyy="0.13707"
        iyz="5.6623E-05"
        izz="0.14946" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="package://cyberdog_description/meshes/body.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="package://cyberdog_description/meshes/body.STL" />
      </geometry>
    </collision>
  </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>

  <link name="FR_hip">
    <inertial>
      <origin
        xyz="0 -0.053575 0"
        rpy="0 0 0" />
      <mass value="0.509" />
      <inertia
        ixx="0.00038097"
        ixy="1.2523E-05"
        ixz="-1.1653E-05"
        iyy="0.00069383"
        iyz="5.071E-06"
        izz="0.00047336" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="package://cyberdog_description/meshes/link_abad_fr.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="package://cyberdog_description/meshes/link_abad_fr.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="FR_hip_joint"
    type="revolute">
    <origin
      xyz="0.23536 -0.05 0"
      rpy="0 0 0" />
    <parent link="trunk" />
    <child link="FR_hip" />
    <axis xyz="1 0 0" />
    <limit
      lower="-0.75"
      upper="0.75"
      effort="170"
      velocity="12" />
    <dynamics
      damping="0.01"
      friction="0.2" />
  </joint>
  <link name="FR_thigh">
    <inertial>
      <origin
        xyz="0 0 -0.1"
        rpy="0 0 0" />
      <mass value="0.664" />
      <inertia
        ixx="0.0033376"
        ixy="-7.1504E-07"
        ixz="-0.00019282"
        iyy="0.0026385"
        iyz="-9.3033E-06"
        izz="0.0013093" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="package://cyberdog_description/meshes/link_hip_fr.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="package://cyberdog_description/meshes/link_hip_fr.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="FR_thigh_joint"
    type="revolute">
    <origin
      xyz="0 -0.10715 0"
      rpy="0 0 0" />
    <parent link="FR_hip" />
    <child link="FR_thigh" />
    <axis xyz="0 1 0" />
    <limit
      lower="-1.257"
      upper="4.363"
      effort="240"
      velocity="12" />
    <dynamics
      damping="0.01"
      friction="0.2" />
  </joint>
  <link name="FR_calf">
    <inertial>
      <origin
        xyz="0 0 -0.11439"
        rpy="0 0 0" />
      <mass value="0.114" />
      <inertia
        ixx="0.0014553"
        ixy="-3.2376E-08"
        ixz="8.3885E-05"
        iyy="0.0021522"
        iyz="5.1259E-07"
        izz="0.00070545" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="package://cyberdog_description/meshes/link_knee_fr.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="package://cyberdog_description/meshes/link_knee_fr.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="FR_calf_joint"
    type="revolute">
    <origin
      xyz="0 0 -0.2"
      rpy="0 0 0" />
    <parent link="FR_thigh" />
    <child link="FR_calf" />
    <axis xyz="0 1 0" />
    <limit
      lower="-2.478"
      upper="-0.506"
      effort="240"
      velocity="12" />
    <dynamics
      damping="0.01"
      friction="0.2" />
  </joint>
  <joint name="FR_foot_fixed" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 -0.217"/>
    <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="0.022"/>
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.022"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.026"/>
      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
    </inertial>
  </link>

  <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>

  <link name="FL_hip">
    <inertial>
      <origin
        xyz="0 0.053575 0"
        rpy="0 0 0" />
      <mass value="0.509" />
      <inertia
        ixx="0.00038097"
        ixy="1.2523E-05"
        ixz="-1.1653E-05"
        iyy="0.00069383"
        iyz="5.071E-06"
        izz="0.00047336" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="package://cyberdog_description/meshes/link_abad_fl.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="package://cyberdog_description/meshes/link_abad_fl.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="FL_hip_joint"
    type="revolute">
    <origin
      xyz="0.23536 0.05 0"
      rpy="0 0 0" />
    <parent link="trunk" />
    <child link="FL_hip" />
    <axis xyz="1 0 0" />
    <limit
      lower="-0.75"
      upper="0.75"
      effort="170"
      velocity="12" />
    <dynamics
      damping="0.01"
      friction="0.2" />
  </joint>
  <link name="FL_thigh">
    <inertial>
      <origin
        xyz="0 0 -0.1"
        rpy="0 0 0" />
      <mass value="0.664" />
      <inertia
        ixx="0.0033376"
        ixy="-7.150375E-07"
        ixz="-0.00019282"
        iyy="0.0026385"
        iyz="-9.3033E-06"
        izz="0.0013093" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="package://cyberdog_description/meshes/link_hip_fl.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="package://cyberdog_description/meshes/link_hip_fl.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="FL_thigh_joint"
    type="revolute">
    <origin
      xyz="0 0.10715 0"
      rpy="0 0 0" />
    <parent link="FL_hip" />
    <child link="FL_thigh" />
    <axis xyz="0 1 0" />
    <limit
      lower="-1.257"
      upper="4.363"
      effort="240"
      velocity="12" />
    <dynamics
      damping="0.01"
      friction="0.2" />
  </joint>
  <link name="FL_calf">
    <inertial>
      <origin
        xyz="0 0 -0.11439"
        rpy="0 0 0" />
      <mass value="0.114" />
      <inertia
        ixx="0.0014553"
        ixy="-3.2376E-08"
        ixz="8.3885E-05"
        iyy="0.0021522"
        iyz="5.1259E-07"
        izz="0.00070545" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="package://cyberdog_description/meshes/link_knee_fl.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="package://cyberdog_description/meshes/link_knee_fl.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="FL_calf_joint"
    type="revolute">
    <origin
      xyz="0 0 -0.2"
      rpy="0 0 0" />
    <parent link="FL_thigh" />
    <child link="FL_calf" />
    <axis xyz="0 1 0" />
    <limit
      lower="-2.478"
      upper="-0.506"
      effort="240"
      velocity="12" />
    <dynamics
      damping="0.01"
      friction="0.2" />
  </joint>
  <joint name="FL_foot_fixed" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 -0.217"/>
    <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="0.022"/>
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.022"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.026"/>
      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
    </inertial>
  </link>

  <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>

  <link name="RR_hip">
    <inertial>
      <origin
        xyz="0 -0.053575 0"
        rpy="0 0 0" />
      <mass value="0.509" />
      <inertia
        ixx="0.00038097"
        ixy="1.2523E-05"
        ixz="-1.1653E-05"
        iyy="0.00069383"
        iyz="5.071E-06"
        izz="0.00047336" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="package://cyberdog_description/meshes/link_abad_br.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="package://cyberdog_description/meshes/link_abad_br.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="RR_hip_joint"
    type="revolute">
    <origin
      xyz="-0.23536 -0.05 0"
      rpy="0 0 0" />
    <parent link="trunk" />
    <child link="RR_hip" />
    <axis xyz="1 0 0" />
    <limit
      lower="-0.75"
      upper="0.75"
      effort="170"
      velocity="12" />
    <dynamics
      damping="0.01"
      friction="0.2" />
  </joint>
  <link name="RR_thigh">
    <inertial>
      <origin
        xyz="0 0 -0.1"
        rpy="0 0 0" />
      <mass value="0.664" />
      <inertia
        ixx="0.0033376"
        ixy="-7.150375E-07"
        ixz="-0.00019282"
        iyy="0.0026385"
        iyz="-9.3033E-06"
        izz="0.0013093" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="package://cyberdog_description/meshes/link_hip_br.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="package://cyberdog_description/meshes/link_hip_br.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="RR_thigh_joint"
    type="revolute">
    <origin
      xyz="0 -0.10715 0"
      rpy="0 0 0" />
    <parent link="RR_hip" />
    <child link="RR_thigh" />
    <axis xyz="0 1 0" />
    <limit
      lower="-2.01"
      upper="3.49"
      effort="240"
      velocity="12" />
    <dynamics
      damping="0.01"
      friction="0.2" />
  </joint>
  <link name="RR_calf">
    <inertial>
      <origin
        xyz="0 0 -0.11439"
        rpy="0 0 0" />
      <mass value="0.114" />
      <inertia
        ixx="0.0014553"
        ixy="-3.2376E-08"
        ixz="8.3885E-05"
        iyy="0.0021522"
        iyz="5.1259E-07"
        izz="0.00070545" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="package://cyberdog_description/meshes/link_knee_br.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="package://cyberdog_description/meshes/link_knee_br.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="RR_calf_joint"
    type="revolute">
    <origin
      xyz="0 0 -0.2"
      rpy="0 0 0" />
    <parent link="RR_thigh" />
    <child link="RR_calf" />
    <axis xyz="0 1 0" />
    <limit
      lower="-2.478"
      upper="-0.506"
      effort="240"
      velocity="12" />
    <dynamics
      damping="0.01"
      friction="0.2" />
  </joint>
  <joint name="RR_foot_fixed" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 -0.217"/>
    <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="0.022"/>
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.022"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.026"/>
      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
    </inertial>
  </link>

  <transmission name="BR_hip_tran">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="RR_hip_joint">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="BR_hip_motor">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="BR_thigh_tran">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="RR_thigh_joint">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="BR_thigh_motor">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="BR_calf_tran">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="RR_calf_joint">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="BR_calf_motor">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>

  <link name="RL_hip">
    <inertial>
      <origin
        xyz="0 0.053575 0"
        rpy="0 0 0" />
      <mass value="0.509" />
      <inertia
        ixx="0.00038097"
        ixy="1.2523E-05"
        ixz="-1.1653E-05"
        iyy="0.00069383"
        iyz="5.071E-06"
        izz="0.00047336" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="package://cyberdog_description/meshes/link_abad_bl.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="package://cyberdog_description/meshes/link_abad_bl.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="RL_hip_joint"
    type="revolute">
    <origin
      xyz="-0.23536 0.05 0"
      rpy="0 0 0" />
    <parent link="trunk" />
    <child link="RL_hip" />
    <axis xyz="1 0 0" />
    <limit
      lower="-0.75"
      upper="0.75"
      effort="170"
      velocity="12" />
    <dynamics
      damping="0.01"
      friction="0.2" />
  </joint>
  <link name="RL_thigh">
    <inertial>
      <origin
        xyz="0 0 -0.1"
        rpy="0 0 0" />
      <mass value="0.664" />
      <inertia
        ixx="0.0033376"
        ixy="-7.1504E-07"
        ixz="-0.00019282"
        iyy="0.0026385"
        iyz="-9.3033E-06"
        izz="0.0013093" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="package://cyberdog_description/meshes/link_hip_bl.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="package://cyberdog_description/meshes/link_hip_bl.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="RL_thigh_joint"
    type="revolute">
    <origin
      xyz="0 0.10715 0"
      rpy="0 0 0" />
    <parent link="RL_hip" />
    <child link="RL_thigh" />
    <axis xyz="0 1 0" />
    <limit
      lower="-2.01"
      upper="3.49"
      effort="240"
      velocity="12" />
    <dynamics
      damping="0.01"
      friction="0.2" />
  </joint>
  <link name="RL_calf">
    <inertial>
      <origin
        xyz="0 0 -0.11439"
        rpy="0 0 0" />
      <mass value="0.114" />
      <inertia
        ixx="0.0014553"
        ixy="-3.2376E-08"
        ixz="8.3885E-05"
        iyy="0.0021522"
        iyz="5.1259E-07"
        izz="0.00070545" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="package://cyberdog_description/meshes/link_knee_bl.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="package://cyberdog_description/meshes/link_knee_bl.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="RL_calf_joint"
    type="revolute">
    <origin
      xyz="0 0 -0.2"
      rpy="0 0 0" />
    <parent link="RL_thigh" />
    <child link="RL_calf" />
    <axis xyz="0 1 0" />
    <limit
      lower="-2.478"
      upper="-0.506"
      effort="240"
      velocity="12" />
    <dynamics
      damping="0.01"
      friction="0.2" />
  </joint>
  <joint name="RL_foot_fixed" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 -0.217"/>
    <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="0.022"/>
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.022"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.026"/>
      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
    </inertial>
  </link>

  <transmission name="BL_hip_tran">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="RL_hip_joint">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="BL_hip_motor">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="BL_thigh_tran">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="RL_thigh_joint">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="BL_thigh_motor">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="BL_calf_tran">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="RL_calf_joint">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="BL_calf_motor">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>

</robot>