unitree_ros/robots/b1_description/xacro/b1.urdf

<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from robot.xacro                    | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="b1_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="0.9137254901960784 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>
  <!-- ros_control plugin -->
  <gazebo>
    <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
      <robotNamespace>/aliengo_gazebo</robotNamespace>
      <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
    </plugin>
  </gazebo>
  <!-- Show the trajectory of trunk center. -->
  <gazebo>
    <plugin filename="libLinkPlot3DPlugin.so" name="3dplot">
      <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 name="3dplot" filename="libLinkPlot3DPlugin.so">
            <frequency>100</frequency>
            <plot>
                <link>FL_foot</link>
                <pose>0 0 0 0 0 0</pose>
                <material>Gazebo/Green</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="stick_link">
    <mu1>0.2</mu1>
    <mu2>0.2</mu2>
    <material>Gazebo/White</material>
  </gazebo>
  <gazebo reference="imu_link">
    <mu1>0.2</mu1>
    <mu2>0.2</mu2>
    <material>Gazebo/Red</material>
  </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>0.6</mu1>
    <mu2>0.6</mu2>
    <self_collide>1</self_collide>
    <material>Gazebo/DarkGrey</material>
    <kp value="1000000.0"/>
    <kd value="1.0"/>
  </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>0.6</mu1>
    <mu2>0.6</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>0.6</mu1>
    <mu2>0.6</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>0.6</mu1>
    <mu2>0.6</mu2>
    <self_collide>1</self_collide>
    <material>Gazebo/DarkGrey</material>
    <kp value="1000000.0"/>
    <kd value="1.0"/>
  </gazebo>
  <!-- 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. -->
  <!-- Debug mode will hung up the robot, use "true" or "false" to switch it. -->
  <!-- <xacro:if value="$(arg DEBUG)">
        <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>
    </xacro:if>  -->
  <link name="base">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.001 0.001 0.001"/>
      </geometry>
    </visual>
  </link>
  <joint name="floating_base" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <parent link="base"/>
    <child link="trunk"/>
  </joint>
  <link name="trunk">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://b1_description/meshes/trunk.dae" scale="1 1 1"/>
      </geometry>
      <material name="orange"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.647 0.3 0.15"/>
      </geometry>
    </collision>
    <!-- <collision>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="package://b1_description/meshes/trunk.dae" scale="1 1 1"/>
            </geometry>
        </collision> -->
    <inertial>
      <origin rpy="0 0 0" xyz="0.008987 0.002243 0.003013"/>
      <mass value="25"/>
      <inertia ixx="0.183142146" ixy="-0.001379002" ixz="-0.027956055" iyy="0.756327752" iyz="0.000193774" izz="0.783777558"/>
    </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="0.000001" 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="0.3455 -0.072 0"/>
    <parent link="trunk"/>
    <child link="FR_hip"/>
    <axis xyz="1 0 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="91.0035" lower="-0.75" upper="0.75" velocity="19.69"/>
  </joint>
  <joint name="FR_hip_rotor_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.1955 -0.072 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="package://b1_description/meshes/hip.dae" scale="1 1 1"/>
      </geometry>
      <material name="orange"/>
    </visual>
    <collision>
      <origin rpy="1.5707963267948966 0 0" xyz="0 -0.12675 0"/>
      <geometry>
        <cylinder length="0.04" radius="0.09"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.020298 -0.009758 0.000109"/>
      <mass value="2.1"/>
      <inertia ixx="0.00406608" ixy="0.000288071" ixz="-4.371e-06" iyy="0.008775259" iyz="-1.811e-06" izz="0.006060348"/>
    </inertial>
  </link>
  <link name="FR_hip_rotor">
    <visual>
      <origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.02" radius="0.05"/>
      </geometry>
      <material name="green"/>
    </visual>
    <collision>
      <origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.02" radius="0.05"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="0.199"/>
      <inertia ixx="0.00039249" ixy="0.0" ixz="0.0" iyy="0.000219397" iyz="0.0" izz="0.000219397"/>
    </inertial>
  </link>
  <joint name="FR_thigh_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 -0.12675 0"/>
    <parent link="FR_hip"/>
    <child link="FR_thigh"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="93.33" lower="-1.0" upper="3.5" velocity="23.32"/>
  </joint>
  <joint name="FR_thigh_rotor_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.0 -0.00935 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="package://b1_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
      </geometry>
      <material name="orange"/>
    </visual>
    <collision>
      <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.175"/>
      <geometry>
        <box size="0.35 0.05 0.08"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.000235 0.028704 -0.054169"/>
      <mass value="3.934"/>
      <inertia ixx="0.044459086" ixy="-0.000128738" ixz="-0.002343913" iyy="0.046023457" iyz="-0.006032996" izz="0.008696078"/>
    </inertial>
  </link>
  <link name="FR_thigh_rotor">
    <visual>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.02" radius="0.05"/>
      </geometry>
      <material name="green"/>
    </visual>
    <collision>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.02" radius="0.05"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="0.266"/>
      <inertia ixx="0.000485657" ixy="0.0" ixz="0.0" iyy="0.00091885" iyz="0.0" izz="0.000485657"/>
    </inertial>
  </link>
  <joint name="FR_calf_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 -0.35"/>
    <parent link="FR_thigh"/>
    <child link="FR_calf"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="140" lower="-2.6" upper="-0.6" velocity="15.55"/>
  </joint>
  <joint name="FR_calf_rotor_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.0 0.0519 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="package://b1_description/meshes/calf.dae" scale="1 1 1"/>
      </geometry>
      <material name="orange"/>
    </visual>
    <collision>
      <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.175"/>
      <geometry>
        <box size="0.35 0.04 0.05"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.005237 0.0 -0.202805"/>
      <mass value="0.857"/>
      <inertia ixx="0.015011003" ixy="5.2e-08" ixz="0.000250042" iyy="0.015159462" iyz="4.61e-07" izz="0.000375749"/>
    </inertial>
  </link>
  <link name="FR_calf_rotor">
    <visual>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.02" radius="0.05"/>
      </geometry>
      <material name="green"/>
    </visual>
    <collision>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.02" radius="0.05"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="0.266"/>
      <inertia ixx="0.000485657" ixy="0.0" ixz="0.0" iyy="0.00091885" iyz="0.0" izz="0.000485657"/>
    </inertial>
  </link>
  <joint name="FR_foot_fixed" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 -0.35"/>
    <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="0.03"/>
      </geometry>
      <material name="green"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.04"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.05"/>
      <inertia ixx="3.2000000000000005e-05" ixy="0.0" ixz="0.0" iyy="3.2000000000000005e-05" iyz="0.0" izz="3.2000000000000005e-05"/>
    </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>
  <joint name="FL_hip_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0.3455 0.072 0"/>
    <parent link="trunk"/>
    <child link="FL_hip"/>
    <axis xyz="1 0 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="91.0035" lower="-0.75" upper="0.75" velocity="19.69"/>
  </joint>
  <joint name="FL_hip_rotor_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.1955 0.072 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="package://b1_description/meshes/hip.dae" scale="1 1 1"/>
      </geometry>
      <material name="orange"/>
    </visual>
    <collision>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0.12675 0"/>
      <geometry>
        <cylinder length="0.04" radius="0.09"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.020298 0.009758 0.000109"/>
      <mass value="2.1"/>
      <inertia ixx="0.00406608" ixy="-0.000288071" ixz="-4.371e-06" iyy="0.008775259" iyz="1.811e-06" izz="0.006060348"/>
    </inertial>
  </link>
  <link name="FL_hip_rotor">
    <visual>
      <origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.02" radius="0.05"/>
      </geometry>
      <material name="green"/>
    </visual>
    <collision>
      <origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.02" radius="0.05"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="0.199"/>
      <inertia ixx="0.00039249" ixy="0.0" ixz="0.0" iyy="0.000219397" iyz="0.0" izz="0.000219397"/>
    </inertial>
  </link>
  <joint name="FL_thigh_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 0.12675 0"/>
    <parent link="FL_hip"/>
    <child link="FL_thigh"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="93.33" lower="-1.0" upper="3.5" velocity="23.32"/>
  </joint>
  <joint name="FL_thigh_rotor_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.0 0.00935 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="package://b1_description/meshes/thigh.dae" scale="1 1 1"/>
      </geometry>
      <material name="orange"/>
    </visual>
    <collision>
      <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.175"/>
      <geometry>
        <box size="0.35 0.05 0.08"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.000235 -0.028704 -0.054169"/>
      <mass value="3.934"/>
      <inertia ixx="0.044459086" ixy="0.000128738" ixz="-0.002343913" iyy="0.046023457" iyz="0.006032996" izz="0.008696078"/>
    </inertial>
  </link>
  <link name="FL_thigh_rotor">
    <visual>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.02" radius="0.05"/>
      </geometry>
      <material name="green"/>
    </visual>
    <collision>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.02" radius="0.05"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="0.266"/>
      <inertia ixx="0.000485657" ixy="0.0" ixz="0.0" iyy="0.00091885" iyz="0.0" izz="0.000485657"/>
    </inertial>
  </link>
  <joint name="FL_calf_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 -0.35"/>
    <parent link="FL_thigh"/>
    <child link="FL_calf"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="140" lower="-2.6" upper="-0.6" velocity="15.55"/>
  </joint>
  <joint name="FL_calf_rotor_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.0 -0.0519 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="package://b1_description/meshes/calf.dae" scale="1 1 1"/>
      </geometry>
      <material name="orange"/>
    </visual>
    <collision>
      <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.175"/>
      <geometry>
        <box size="0.35 0.04 0.05"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.005237 0.0 -0.202805"/>
      <mass value="0.857"/>
      <inertia ixx="0.015011003" ixy="5.2e-08" ixz="0.000250042" iyy="0.015159462" iyz="4.61e-07" izz="0.000375749"/>
    </inertial>
  </link>
  <link name="FL_calf_rotor">
    <visual>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.02" radius="0.05"/>
      </geometry>
      <material name="green"/>
    </visual>
    <collision>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.02" radius="0.05"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="0.266"/>
      <inertia ixx="0.000485657" ixy="0.0" ixz="0.0" iyy="0.00091885" iyz="0.0" izz="0.000485657"/>
    </inertial>
  </link>
  <joint name="FL_foot_fixed" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 -0.35"/>
    <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="0.03"/>
      </geometry>
      <material name="green"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.04"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.05"/>
      <inertia ixx="3.2000000000000005e-05" ixy="0.0" ixz="0.0" iyy="3.2000000000000005e-05" iyz="0.0" izz="3.2000000000000005e-05"/>
    </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>
  <joint name="RR_hip_joint" type="revolute">
    <origin rpy="0 0 0" xyz="-0.3455 -0.072 0"/>
    <parent link="trunk"/>
    <child link="RR_hip"/>
    <axis xyz="1 0 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="91.0035" lower="-0.75" upper="0.75" velocity="19.69"/>
  </joint>
  <joint name="RR_hip_rotor_joint" type="fixed">
    <origin rpy="0 0 0" xyz="-0.1955 -0.072 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="package://b1_description/meshes/hip.dae" scale="1 1 1"/>
      </geometry>
      <material name="orange"/>
    </visual>
    <collision>
      <origin rpy="1.5707963267948966 0 0" xyz="0 -0.12675 0"/>
      <geometry>
        <cylinder length="0.04" radius="0.09"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.020298 -0.009758 0.000109"/>
      <mass value="2.1"/>
      <inertia ixx="0.00406608" ixy="-0.000288071" ixz="4.371e-06" iyy="0.008775259" iyz="-1.811e-06" izz="0.006060348"/>
    </inertial>
  </link>
  <link name="RR_hip_rotor">
    <visual>
      <origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.02" radius="0.05"/>
      </geometry>
      <material name="green"/>
    </visual>
    <collision>
      <origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.02" radius="0.05"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="0.199"/>
      <inertia ixx="0.00039249" ixy="0.0" ixz="0.0" iyy="0.000219397" iyz="0.0" izz="0.000219397"/>
    </inertial>
  </link>
  <joint name="RR_thigh_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 -0.12675 0"/>
    <parent link="RR_hip"/>
    <child link="RR_thigh"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="93.33" lower="-1.0" upper="3.5" velocity="23.32"/>
  </joint>
  <joint name="RR_thigh_rotor_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.0 -0.00935 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="package://b1_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
      </geometry>
      <material name="orange"/>
    </visual>
    <collision>
      <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.175"/>
      <geometry>
        <box size="0.35 0.05 0.08"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.000235 0.028704 -0.054169"/>
      <mass value="3.934"/>
      <inertia ixx="0.044459086" ixy="-0.000128738" ixz="-0.002343913" iyy="0.046023457" iyz="-0.006032996" izz="0.008696078"/>
    </inertial>
  </link>
  <link name="RR_thigh_rotor">
    <visual>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.02" radius="0.05"/>
      </geometry>
      <material name="green"/>
    </visual>
    <collision>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.02" radius="0.05"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="0.266"/>
      <inertia ixx="0.000485657" ixy="0.0" ixz="0.0" iyy="0.00091885" iyz="0.0" izz="0.000485657"/>
    </inertial>
  </link>
  <joint name="RR_calf_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 -0.35"/>
    <parent link="RR_thigh"/>
    <child link="RR_calf"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="140" lower="-2.6" upper="-0.6" velocity="15.55"/>
  </joint>
  <joint name="RR_calf_rotor_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.0 0.0519 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="package://b1_description/meshes/calf.dae" scale="1 1 1"/>
      </geometry>
      <material name="orange"/>
    </visual>
    <collision>
      <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.175"/>
      <geometry>
        <box size="0.35 0.04 0.05"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.005237 0.0 -0.202805"/>
      <mass value="0.857"/>
      <inertia ixx="0.015011003" ixy="5.2e-08" ixz="0.000250042" iyy="0.015159462" iyz="4.61e-07" izz="0.000375749"/>
    </inertial>
  </link>
  <link name="RR_calf_rotor">
    <visual>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.02" radius="0.05"/>
      </geometry>
      <material name="green"/>
    </visual>
    <collision>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.02" radius="0.05"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="0.266"/>
      <inertia ixx="0.000485657" ixy="0.0" ixz="0.0" iyy="0.00091885" iyz="0.0" izz="0.000485657"/>
    </inertial>
  </link>
  <joint name="RR_foot_fixed" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 -0.35"/>
    <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="0.03"/>
      </geometry>
      <material name="green"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.04"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.05"/>
      <inertia ixx="3.2000000000000005e-05" ixy="0.0" ixz="0.0" iyy="3.2000000000000005e-05" iyz="0.0" izz="3.2000000000000005e-05"/>
    </inertial>
  </link>
  <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="-0.3455 0.072 0"/>
    <parent link="trunk"/>
    <child link="RL_hip"/>
    <axis xyz="1 0 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="91.0035" lower="-0.75" upper="0.75" velocity="19.69"/>
  </joint>
  <joint name="RL_hip_rotor_joint" type="fixed">
    <origin rpy="0 0 0" xyz="-0.1955 0.072 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="package://b1_description/meshes/hip.dae" scale="1 1 1"/>
      </geometry>
      <material name="orange"/>
    </visual>
    <collision>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0.12675 0"/>
      <geometry>
        <cylinder length="0.04" radius="0.09"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.020298 0.009758 0.000109"/>
      <mass value="2.1"/>
      <inertia ixx="0.00406608" ixy="0.000288071" ixz="4.371e-06" iyy="0.008775259" iyz="1.811e-06" izz="0.006060348"/>
    </inertial>
  </link>
  <link name="RL_hip_rotor">
    <visual>
      <origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.02" radius="0.05"/>
      </geometry>
      <material name="green"/>
    </visual>
    <collision>
      <origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.02" radius="0.05"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="0.199"/>
      <inertia ixx="0.00039249" ixy="0.0" ixz="0.0" iyy="0.000219397" iyz="0.0" izz="0.000219397"/>
    </inertial>
  </link>
  <joint name="RL_thigh_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 0.12675 0"/>
    <parent link="RL_hip"/>
    <child link="RL_thigh"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="93.33" lower="-1.0" upper="3.5" velocity="23.32"/>
  </joint>
  <joint name="RL_thigh_rotor_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.0 0.00935 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="package://b1_description/meshes/thigh.dae" scale="1 1 1"/>
      </geometry>
      <material name="orange"/>
    </visual>
    <collision>
      <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.175"/>
      <geometry>
        <box size="0.35 0.05 0.08"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.000235 -0.028704 -0.054169"/>
      <mass value="3.934"/>
      <inertia ixx="0.044459086" ixy="0.000128738" ixz="-0.002343913" iyy="0.046023457" iyz="0.006032996" izz="0.008696078"/>
    </inertial>
  </link>
  <link name="RL_thigh_rotor">
    <visual>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.02" radius="0.05"/>
      </geometry>
      <material name="green"/>
    </visual>
    <collision>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.02" radius="0.05"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="0.266"/>
      <inertia ixx="0.000485657" ixy="0.0" ixz="0.0" iyy="0.00091885" iyz="0.0" izz="0.000485657"/>
    </inertial>
  </link>
  <joint name="RL_calf_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 -0.35"/>
    <parent link="RL_thigh"/>
    <child link="RL_calf"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="140" lower="-2.6" upper="-0.6" velocity="15.55"/>
  </joint>
  <joint name="RL_calf_rotor_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.0 -0.0519 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="package://b1_description/meshes/calf.dae" scale="1 1 1"/>
      </geometry>
      <material name="orange"/>
    </visual>
    <collision>
      <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.175"/>
      <geometry>
        <box size="0.35 0.04 0.05"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.005237 0.0 -0.202805"/>
      <mass value="0.857"/>
      <inertia ixx="0.015011003" ixy="5.2e-08" ixz="0.000250042" iyy="0.015159462" iyz="4.61e-07" izz="0.000375749"/>
    </inertial>
  </link>
  <link name="RL_calf_rotor">
    <visual>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.02" radius="0.05"/>
      </geometry>
      <material name="green"/>
    </visual>
    <collision>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.02" radius="0.05"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="0.266"/>
      <inertia ixx="0.000485657" ixy="0.0" ixz="0.0" iyy="0.00091885" iyz="0.0" izz="0.000485657"/>
    </inertial>
  </link>
  <joint name="RL_foot_fixed" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 -0.35"/>
    <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="0.03"/>
      </geometry>
      <material name="green"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.04"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.05"/>
      <inertia ixx="3.2000000000000005e-05" ixy="0.0" ixz="0.0" iyy="3.2000000000000005e-05" iyz="0.0" izz="3.2000000000000005e-05"/>
    </inertial>
  </link>
  <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>