<?xml version="1.0" ?>
<robot name="mini_cheetah" xmlns:xacro="http://ros.org/wiki/xacro">

<material name="cheetah_material">
    <color rgba="0.7 0.7 0.7 1.0"/>
</material>


<!--!!!!!!!!!!!!!!!!!!BODY!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!-->
<!--   <link name="trunk">
        <inertial>
            <mass value="3.3"/>
            <origin xyz="0.0 0.0 0.0"/>
            <inertia ixx="0.011253" ixy="0" ixz="0" iyy="0.036203" iyz="0" izz="0.042673"/>
        </inertial>
        <visual>
            <geometry>
              mesh filename="meshes/mini_body.obj"/!!!
	        <box size="0.23 0.18 0.1"/>
            </geometry>
            <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
        </visual>
        <collision>
            <geometry>
              mesh filename="meshes/mini_body.obj"/
	      <box size="0.23 0.18 0.1"/>
            </geometry>
            <origin rpy="0 0 0" xyz="0 0 0"/>
        </collision>
        <material name="cheetah_material"/>
    </link>

 -->
<link name="base">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <inertial>
      <origin rpy="0 0 0" xyz="0.012731 0.002186 0.000515"/>
      <mass value="3.3"/>
      <inertia ixx="0.01683993" ixy="8.3902e-05" ixz="0.000597679" iyy="0.056579028" iyz="2.5134e-05" izz="0.064713601"/>
    </inertial>
  </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>
        <box size="0.23 0.18 0.1"/>
        </geometry>
      <!-- <geometry>
        <mesh filename="../meshes/trunk.dae" scale="1 1 1"/>
      </geometry> -->
      <material name="cheetah_material"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.23 0.18 0.1"/>
      </geometry>
    </collision>
    <material name="cheetah_material"/>
  </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> -->


<!--!!!!!!!!!!!! Front Left Leg !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!-->
    <joint name="FL_hip_joint" type="revolute">
        <axis xyz="1 0 0"/>
        <origin rpy="0 0 0" xyz="0.19 0.049 0.0"/>
        <parent link="trunk"/>
        <child link="FL_hip"/>
	<limit effort="18" lower="-1.6" upper="1.6" velocity="40"/>
    </joint>
    <link name="FL_hip">
        <material name="cheetah_material"/>
        <inertial>
            <mass value="0.54"/>
            <origin xyz="0.0 0.036 0."/>
            <inertia ixx="0.000381" ixy="0.000058" ixz="0.00000045" 
                iyy="0.000560" iyz="0.00000095" izz="0.000444"/>
        </inertial>
        <visual>
            <geometry>
              <!--mesh filename="meshes/mini_abad.obj"/-->
	      <cylinder length ="0.01" radius = "0.0475"/>
            </geometry>
            <origin rpy="0. 1.5708 -1.5708" xyz="-0.055 0.0 0.0"/>
        </visual>
	<visual>
            <geometry>
              <!--mesh filename="meshes/mini_abad.obj"/-->
	      <cylinder length ="0.06" radius = "0.0425"/>
            </geometry>
            <!--origin rpy="3.141592 0.0 1.5708" xyz="-0.055 0.0 0.0"/-->
	    <origin rpy="1.5708 0.0 0.0" xyz="0.0 0.0 0.0"/>
        </visual>
        <collision>
            <geometry>
              <!--mesh filename="meshes/mini_abad.obj"/-->
	      <cylinder length ="0.01" radius = "0.0475"/>
            </geometry>
            <!--origin rpy="0 0 -1.5708" xyz="-0.055 0 0"/-->
	    <origin rpy="0 1.5708 -1.5708" xyz="-0.055 0.0 0.0"/>
        </collision>
	<collision>
            <geometry>
              <!--mesh filename="meshes/mini_abad.obj"/-->
	      <cylinder length ="0.06" radius = "0.0425"/>
            </geometry>
            <!--origin rpy="0 0 -1.5708" xyz="-0.055 0 0"/-->
	    <origin rpy="1.5708 0.0 0.0" xyz="0.0 0.0 0.0"/>
        </collision>
    </link>

    <joint name="FL_hip_fixed" type="fixed">
    <origin rpy="0 0 0" xyz="0 0.081 0"/>
    <parent link="FL_hip"/>
    <child link="FL_thigh_shoulder"/>
  </joint>
  <!-- this link is only for collision -->
  <link name="FL_thigh_shoulder">
    <!-- <collision>
      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.032" radius="0.041"/>
      </geometry>
    </collision> -->
  </link>

    <joint name="FL_thigh_joint" type="revolute">
        <axis xyz="0 -1 0"/>
        <origin rpy="0.0 0.0 0.0" xyz="0.0 0.062 0.00"/>
        <parent link="FL_hip"/>
        <child link="FL_thigh"/>
	<limit effort="18" lower="-2.6" upper="2.6" velocity="40"/>
    </joint>
    <link name="FL_thigh">
        <material name="cheetah_material"/>
        <inertial>
            <mass value="0.634"/>
            <origin xyz="0.0 0.016 -0.02"/>
            <inertia ixx="0.001983" ixy="0.000245" ixz="0.000013" 
                iyy="0.002103" iyz="0.0000015" izz="0.000408"/>
        </inertial>
        <visual>
            <geometry>
              <!--mesh filename="meshes/mini_upper_link.obj"/-->
	      <cylinder length ="0.17" radius = "0.015"/>
            </geometry>
            <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.105"/>
        </visual>
        <collision>
            <geometry>
              <!--mesh filename="meshes/mini_upper_link.obj"/-->
	      <cylinder length ="0.17" radius = "0.015"/>
            </geometry>
            <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.105"/>
        </collision>
    </link>

    <joint name="FL_calf_joint" type="revolute">
        <axis xyz="0 -1 0"/>
        <origin rpy="0.0 0 0.0" xyz="0.0 0.0 -0.209"/>
        <parent link="FL_thigh"/>
        <child link="FL_calf"/>
	<limit effort="26" lower="-2.6" upper="2.6" velocity="26"/>
    </joint>
    <link name="FL_calf">
        <material name="cheetah_material"/>
        <inertial>
            <mass value="0.064"/>
            <origin xyz="0.0 0.0 -0.209"/>
            <inertia ixx="0.000245" ixy="0" ixz="0.0" iyy="0.000248" iyz="0" izz="0.000006"/>
        </inertial>
        <visual>
            <geometry>
              <!--mesh filename="meshes/mini_lower_link.obj"/-->
	      <cylinder length ="0.15" radius = "0.01"/>
            </geometry>
            <origin rpy="0.0 3.141592 0.0" xyz="0.0 0.0 -0.095"/>
        </visual>
        <collision>
            <geometry>
              <!--mesh filename="meshes/mini_lower_link.obj"/-->
	      <cylinder length ="0.15" radius = "0.01"/>
            </geometry>
            <origin rpy="0.0 3.141592 0.0" xyz="0 0 -0.095"/>
        </collision>
    </link>
    <!-- Adapter to Foot joint -->
    <joint name="FL_foot_fixed" type="fixed">
        <parent link="FL_calf"/>
        <child link="FL_foot"/>
        <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.19"/>
    </joint>
    <link name="FL_foot">
        <material name="cheetah_material"/>
        <inertial>
            <mass value="0.0"/>
            <inertia ixx="0.000025" ixy="0" ixz="0.0" iyy="0.000025" iyz="0" izz="0.000025"/>
        </inertial>
	<visual>
            <geometry>
              <sphere radius = "0.0175"/>
            </geometry>
            <origin rpy="0.0 3.141592 0.0" xyz="0.0 0.0 0.0"/>
        </visual>
	<collision>
            <geometry>
              <!--mesh filename="meshes/mini_lower_link.obj"/-->
	      <sphere radius = "0.0175"/>
            </geometry>
            <origin rpy="0.0 3.141592 0.0" xyz="0 0 0"/>
        </collision>
    </link>
	


    
    <!--!!!!!!!!!!!! Front Right Leg !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!-->

    <!--!!!!Joint!!!!!!!!!!!!-->
    <joint name="FR_hip_joint" type="revolute">
        <axis xyz="1 0 0"/>
        <origin rpy="0 0 0" xyz="0.19 -0.049 0.0"/>
        <parent link="trunk"/>
        <child link="FR_hip"/>
	<limit effort="18" lower="-1.6" upper="1.6" velocity="40"/>
    </joint>
    <link name="FR_hip">
        <material name="cheetah_material"/>
        <inertial>
            <mass value="0.54"/>
            <origin xyz="0.0 0.036 0."/>
            <inertia ixx="0.000381" ixy="0.000058" ixz="0.00000045" 
                iyy="0.000560" iyz="0.00000095" izz="0.000444"/>
        </inertial>
        <visual>
            <geometry>
              <!--mesh filename="meshes/mini_abad.obj"/-->
	      <cylinder length ="0.01" radius = "0.0475"/>
            </geometry>
            <!--origin rpy="3.141592 0.0 1.5708" xyz="-0.055 0.0 0.0"/-->
	    <origin rpy="3.141592 1.5708 1.5708" xyz="-0.055 0.0 0.0"/>
        </visual>
	<visual>
            <geometry>
              <!--mesh filename="meshes/mini_abad.obj"/-->
	      <cylinder length ="0.06" radius = "0.0425"/>
            </geometry>
            <!--origin rpy="3.141592 0.0 1.5708" xyz="-0.055 0.0 0.0"/-->
	    <origin rpy="1.5708 0.0 0.0" xyz="0.0 0.0 0.0"/>
        </visual>
        <collision>
            <geometry>
              <!--mesh filename="meshes/mini_abad.obj"/-->
	      <cylinder length ="0.01" radius = "0.0475"/>
            </geometry>
            <origin rpy="3.141592 1.5708 1.5708" xyz="-0.055 0 0"/>
        </collision>
	<collision>
            <geometry>
              <!--mesh filename="meshes/mini_abad.obj"/-->
	      <cylinder length ="0.06" radius = "0.0425"/>
            </geometry>
            <origin rpy="1.5708 0.0 0.0" xyz="-0.055 0 0"/>
        </collision>
    </link>

    <joint name="FR_hip_fixed" type="fixed">
    <origin rpy="0 0 0" xyz="0 0.081 0"/>
    <parent link="FR_hip"/>
    <child link="FR_thigh_shoulder"/>
  </joint>
  <!-- this link is only for collision -->
  <link name="FR_thigh_shoulder">
    <!-- <collision>
      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.032" radius="0.041"/>
      </geometry>
    </collision> -->
  </link>

    <joint name="FR_thigh_joint" type="revolute">
        <axis xyz="0 -1 0"/>
        <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.062 0.00"/>
        <parent link="FR_hip"/>
        <child link="FR_thigh"/>
	<limit effort="18" lower="-2.6" upper="2.6" velocity="40"/>
    </joint>
    <link name="FR_thigh">
        <material name="cheetah_material"/>
        <inertial>
            <mass value="0.634"/>
            <origin xyz="0.0 0.016 -0.02"/>
            <inertia ixx="0.001983" ixy="0.000245" ixz="0.000013" 
                iyy="0.002103" iyz="0.0000015" izz="0.000408"/>
        </inertial>
        <visual>
            <geometry>
              <!--mesh filename="meshes/mini_upper_link.obj"/-->
	      <cylinder length ="0.17" radius = "0.015"/>
            </geometry>
            <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.105"/>
        </visual>
        <collision>
            <geometry>
              <!--mesh filename="meshes/mini_upper_link.obj"/-->
	      <cylinder length ="0.17" radius = "0.015"/>
            </geometry>
            <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.105"/>
        </collision>
    </link>

    <joint name="FR_calf_joint" type="revolute">
        <axis xyz="0 -1 0"/>
        <origin rpy="0.0 0 0.0" xyz="0.0 0.0 -0.209"/>
        <parent link="FR_thigh"/>
        <child link="FR_calf"/>
	<limit effort="26" lower="-2.6" upper="2.6" velocity="26"/>
    </joint>
    <link name="FR_calf">
        <material name="cheetah_material"/>
        <inertial>
            <mass value="0.064"/>
            <origin xyz="0.0 0.0 -0.209"/>
            <inertia ixx="0.000245" ixy="0" ixz="0.0" iyy="0.000248" iyz="0" izz="0.000006"/>
        </inertial>
        <visual>
            <geometry>
              <!--mesh filename="meshes/mini_lower_link.obj"/-->
	      <cylinder length ="0.15" radius = "0.01"/>
            </geometry>
            <origin rpy="0.0 3.141592 0.0" xyz="0.0 0.0 -0.095"/>
        </visual>
        <collision>
            <geometry>
              <!--mesh filename="meshes/mini_lower_link.obj"/-->
	      <cylinder length ="0.15" radius = "0.01"/>
            </geometry>
            <origin rpy="0.0 3.141592 0.0" xyz="0.0 0.0 -0.095"/>
        </collision>
    </link>

    <!-- Adapter to Foot joint -->
    <joint name="FR_foot_fixed" type="fixed">
        <parent link="FR_calf"/>
        <child link="FR_foot"/>
        <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.19"/>
    </joint>

    <link name="FR_foot">
        <material name="cheetah_material"/>
        <inertial>
            <mass value="0.0"/>
            <inertia ixx="0.000025" ixy="0" ixz="0.0" iyy="0.000025" iyz="0" izz="0.000025"/>
        </inertial>
	<visual>
            <geometry>
              <sphere radius = "0.0175"/>
            </geometry>
            <origin rpy="0.0 3.141592 0.0" xyz="0.0 0.0 0.0"/>
        </visual>
	<collision>
            <geometry>
              <!--mesh filename="meshes/mini_lower_link.obj"/-->
	       <sphere radius = "0.0175"/>
            </geometry>
            <origin rpy="0.0 3.141592 0" xyz="0.0 0.0 0"/>
        </collision>
    </link>
	



<!--!!!!!!!!!!!! Hind Left Leg !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!-->
    <joint name="RL_hip_joint" type="revolute">
        <axis xyz="1 0 0"/>
        <origin rpy="0 0 0" xyz="-0.19 0.049 0.0"/>
        <parent link="trunk"/>
        <child link="RL_hip"/>
	<limit effort="18" lower="-1.6" upper="1.6" velocity="40"/>
    </joint>
    <link name="RL_hip">
        <material name="cheetah_material"/>
        <inertial>
            <mass value="0.54"/>
            <origin xyz="0.0 0.036 0."/>
            <inertia ixx="0.000381" ixy="0.000058" ixz="0.00000045" 
                iyy="0.000560" iyz="0.00000095" izz="0.000444"/>
        </inertial>
        <visual>
            <geometry>
              <!--mesh filename="meshes/mini_abad.obj"/-->
	      <cylinder length ="0.01" radius = "0.0475"/>
            </geometry>
            <!--origin rpy="3.141592 0.0 -1.5708" xyz="0.055 0.0 0.0"/-->
	    <origin rpy="3.141592 1.5708 -1.5708" xyz="0.055 0.0 0.0"/>
        </visual>
	<visual>
            <geometry>
              <!--mesh filename="meshes/mini_abad.obj"/-->
	      <cylinder length ="0.06" radius = "0.0425"/>
            </geometry>
            <!--origin rpy="3.141592 0.0 1.5708" xyz="-0.055 0.0 0.0"/-->
	    <origin rpy="1.5708 0.0 0.0" xyz="0.0 0.0 0.0"/>
        </visual>
        <collision>
            <geometry>
              <!--mesh filename="meshes/mini_abad.obj"/-->
	      <cylinder length ="0.01" radius = "0.0475"/>
            </geometry>
            <origin rpy="3.141592 1.5708 -1.5708" xyz="0.055 0 0"/>
        </collision>
	<collision>
            <geometry>
              <!--mesh filename="meshes/mini_abad.obj"/-->
	      <cylinder length ="0.06" radius = "0.0425"/>
            </geometry>
            <origin rpy="1.5708 0.0 0.0" xyz="0.0 0.0 0.0"/>
        </collision>
    </link>
    <joint name="RL_hip_fixed" type="fixed">
    <origin rpy="0 0 0" xyz="0 0.081 0"/>
    <parent link="RL_hip"/>
    <child link="RL_thigh_shoulder"/>
  </joint>
  <!-- this link is only for collision -->
  <link name="RL_thigh_shoulder">
    <!-- <collision>
      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.032" radius="0.041"/>
      </geometry>
    </collision> -->
  </link>

    <joint name="RL_thigh_joint" type="revolute">
        <axis xyz="0 -1 0"/>
        <origin rpy="0.0 0.0 0.0" xyz="0.0 0.062 0.00"/>
        <parent link="RL_hip"/>
        <child link="RL_thigh"/>
	<limit effort="18" lower="-2.6" upper="2.6" velocity="40"/>
    </joint>
    <link name="RL_thigh">
        <material name="cheetah_material"/>
        <inertial>
            <mass value="0.634"/>
            <origin xyz="0.0 0.016 -0.02"/>
            <inertia ixx="0.001983" ixy="0.000245" ixz="0.000013" 
                iyy="0.002103" iyz="0.0000015" izz="0.000408"/>
        </inertial>
        <visual>
            <geometry>
              <!--mesh filename="meshes/mini_upper_link.obj"/-->
	      <cylinder length ="0.17" radius = "0.015"/>
            </geometry>
            <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.105"/>
        </visual>
        <collision>
            <geometry>
              <!--mesh filename="meshes/mini_upper_link.obj"/-->
	      <cylinder length ="0.17" radius = "0.015"/>
            </geometry>
            <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.105"/>
        </collision>
    </link>

    <joint name="RL_calf_joint" type="revolute">
        <axis xyz="0 -1 0"/>
        <origin rpy="0.0 0 0.0" xyz="0.0 0.0 -0.209"/>
        <parent link="RL_thigh"/>
        <child link="RL_calf"/>
	<limit effort="26" lower="-2.6" upper="2.6" velocity="26"/>
    </joint>
    <link name="RL_calf">
        <material name="cheetah_material"/>
        <inertial>
            <mass value="0.064"/>
            <origin xyz="0.0 0.0 -0.209"/>
            <inertia ixx="0.000245" ixy="0" ixz="0.0" iyy="0.000248" iyz="0" izz="0.000006"/>
        </inertial>
        <visual>
            <geometry>
              <!--mesh filename="meshes/mini_lower_link.obj"/-->
	      <cylinder length ="0.15" radius = "0.01"/>
            </geometry>
            <origin rpy="0.0 3.141592 0.0" xyz="0.0 0.0 -0.095"/>
        </visual>
        <collision>
            <geometry>
              <!--mesh filename="meshes/mini_lower_link.obj"/-->
	      <cylinder length ="0.15" radius = "0.01"/>
            </geometry>
            <origin rpy="0.0 3.141592 0.0" xyz="0.0 0.0 -0.095"/>
        </collision>
    </link>

    <!-- Adapter to Foot joint -->
    <joint name="RL_foot_fixed" type="fixed">
        <parent link="RL_calf"/>
        <child link="RL_foot"/>
        <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.19"/>
    </joint>

    <link name="RL_foot">
        <material name="cheetah_material"/>
        <inertial>
            <mass value="0.0"/>
            <inertia ixx="0.000025" ixy="0" ixz="0.0" iyy="0.000025" iyz="0" izz="0.000025"/>
        </inertial>
	<visual>
            <geometry>
              <sphere radius = "0.0175"/>
            </geometry>
            <origin rpy="0.0 3.141592 0.0" xyz="0.0 0.0 0.0"/>
        </visual>
	<collision>
            <geometry>
              <!--mesh filename="meshes/mini_lower_link.obj"/-->
	       <sphere radius = "0.0175"/>
            </geometry>
            <origin rpy="0.0 3.141592 0" xyz="0.0 0.0 0"/>
        </collision>
    </link>

    
<!--!!!!!!!!!!!! Hind Right Leg !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!-->
    <joint name="RR_hip_joint" type="revolute">
        <axis xyz="1 0 0"/>
        <origin rpy="0 0 0" xyz="-0.19 -0.049 0.0"/>
        <parent link="trunk"/>
        <child link="RR_hip"/>
	<limit effort="18" lower="-1.6" upper="1.6" velocity="40"/>
    </joint>
    <link name="RR_hip">
        <material name="cheetah_material"/>
        <inertial>
            <mass value="0.54"/>
            <origin xyz="0.0 0.036 0."/>
            <inertia ixx="0.000381" ixy="0.000058" ixz="0.00000045" 
                iyy="0.000560" iyz="0.00000095" izz="0.000444"/>
        </inertial>
        <visual>
            <geometry>
              <!--mesh filename="meshes/mini_abad.obj"/-->
	      <cylinder length ="0.01" radius = "0.0475"/>
            </geometry>
            <!--origin rpy="0.0 0.0 1.5708" xyz="0.055 0.0 0.0"/-->
	    <origin rpy="0.0 1.5708 1.5708" xyz="0.055 0.0 0.0"/>
        </visual>
	<visual>
            <geometry>
              <!--mesh filename="meshes/mini_abad.obj"/-->
	      <cylinder length ="0.06" radius = "0.0425"/>
            </geometry>
            <!--origin rpy="3.141592 0.0 1.5708" xyz="-0.055 0.0 0.0"/-->
	    <origin rpy="1.5708 0.0 0.0" xyz="0.0 0.0 0.0"/>
        </visual>
        <collision>
            <geometry>
              <!--mesh filename="meshes/mini_abad.obj"/-->
	      <cylinder length ="0.01" radius = "0.0475"/>
            </geometry>
            <origin rpy="0.0 1.5708 1.5708" xyz="0.055 0.0 0.0"/>
        </collision>
	<collision>
            <geometry>
              <!--mesh filename="meshes/mini_abad.obj"/-->
	      <cylinder length ="0.06" radius = "0.0425"/>
            </geometry>
            <origin rpy="1.5708 0.0 0.0" xyz="0.0 0.0 0.0"/>
        </collision>
    </link>

    <joint name="RR_hip_fixed" type="fixed">
    <origin rpy="0 0 0" xyz="0 0.081 0"/>
    <parent link="RR_hip"/>
    <child link="RR_thigh_shoulder"/>
  </joint>
  <!-- this link is only for collision -->
  <link name="RR_thigh_shoulder">
    <!-- <collision>
      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.032" radius="0.041"/>
      </geometry>
    </collision> -->
  </link>

    <joint name="RR_thigh_joint" type="revolute">
        <axis xyz="0 -1 0"/>
        <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.062 0.00"/>
        <parent link="RR_hip"/>
        <child link="RR_thigh"/>
	<limit effort="18" lower="-2.6" upper="2.6" velocity="40"/>
    </joint>
    <link name="RR_thigh">
        <material name="cheetah_material"/>
        <inertial>
            <mass value="0.634"/>
            <origin xyz="0.0 0.016 -0.02"/>
            <inertia ixx="0.001983" ixy="0.000245" ixz="0.000013" 
                iyy="0.002103" iyz="0.0000015" izz="0.000408"/>
        </inertial>
        <visual>
            <geometry>
              <!--mesh filename="meshes/mini_upper_link.obj"/-->
	      <cylinder length ="0.17" radius = "0.015"/>
            </geometry>
            <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.105"/>
        </visual>
        <collision>
            <geometry>
              <!--mesh filename="meshes/mini_upper_link.obj"/-->
	      <cylinder length ="0.17" radius = "0.015"/>
            </geometry>
            <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.105"/>
        </collision>
    </link>

    <joint name="RR_calf_joint" type="revolute">
        <axis xyz="0 -1 0"/>
        <origin rpy="0.0 0 0.0" xyz="0.0 0.0 -0.209"/>
        <parent link="RR_thigh"/>
        <child link="RR_calf"/>
	<limit effort="26" lower="-2.6" upper="2.6" velocity="26"/>
    </joint>
    <link name="RR_calf">
        <material name="cheetah_material"/>
        <inertial>
            <mass value="0.064"/>
            <origin xyz="0.0 0.0 -0.209"/>
            <inertia ixx="0.000245" ixy="0" ixz="0.0" iyy="0.000248" iyz="0" izz="0.000006"/>
        </inertial>
        <visual>
            <geometry>
              <!--mesh filename="meshes/mini_lower_link.obj"/-->
	      <cylinder length ="0.15" radius = "0.01"/>
            </geometry>
            <origin rpy="0.0 3.141592 0.0" xyz="0.0 0.0 -0.095"/>
        </visual>
        <collision>
            <geometry>
              <!--mesh filename="meshes/mini_lower_link.obj"/-->
	      <cylinder length ="0.15" radius = "0.01"/>
            </geometry>
            <origin rpy="0.0 3.141592 0.0" xyz="0 0 -0.095"/>
        </collision>

    </link>

    <!-- Adapter to Foot joint -->
    <joint name="RR_foot_fixed" type="fixed">
        <parent link="RR_calf"/>
        <child link="RR_foot"/>
        <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.19"/>
    </joint>

    <link name="RR_foot">
        <material name="cheetah_material"/>
        <inertial>
            <mass value="0.0"/>
            <inertia ixx="0.000025" ixy="0" ixz="0.0" iyy="0.000025" iyz="0" izz="0.000025"/>
        </inertial>
	<visual>
            <geometry>
              <sphere radius = "0.0175"/>
            </geometry>
            <origin rpy="0.0 3.141592 0.0" xyz="0.0 0.0 0.0"/>
        </visual>
	<collision>
            <geometry>
              <!--mesh filename="meshes/mini_lower_link.obj"/-->
	       <sphere radius = "0.0175"/>
            </geometry>
            <origin rpy="0.0 3.141592 0" xyz="0.0 0.0 0"/>
        </collision>
    </link>

</robot>