<?xml version="1.0" ?>
<robot name="go1_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
  <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>


  <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="../meshes/trunk.stl" scale="1 1 1"/>
      </geometry>
      <material name="silver"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.3762 0.0935 0.114"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.011611 0.004437 0.000108"/>
      <mass value="4.8"/>
      <inertia ixx="0.016130741919" ixy="0.000593180607" ixz="7.324662e-06" iyy="0.036507810812" iyz="2.0969537e-05" izz="0.044693872053"/>
    </inertial>
  </link>
  <joint name="imu_joint" type="fixed">
    <parent link="trunk"/>
    <child link="imu_link"/>
    <origin rpy="0 0 0" xyz="-0.01592 -0.06659 -0.00617"/>
  </joint>
  <link name="imu_link">
    <inertial>
      <mass value="0.001"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.001 0.001 0.001"/>
      </geometry>
      <material name="red"/>
    </visual>
    <!-- <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size=".001 .001 .001"/>
      </geometry>
    </collision> -->
  </link>
  <joint name="FR_hip_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0.1881 -0.04675 0"/>
    <parent link="trunk"/>
    <child link="FR_hip"/>
    <axis xyz="1 0 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="33.5" lower="-0.802851455917" upper="0.802851455917" velocity="50"/>
  </joint>
  <link name="FR_hip">
    <visual>
      <origin rpy="3.14159265359 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="../meshes/hip.stl" scale="1 1 1"/>
      </geometry>
      <material name="silver"/>
    </visual>
    <collision>
      <origin rpy="1.57079632679 0 0" xyz="0 -0.045 0"/>
      <geometry>
        <cylinder length="0.04" radius="0.046"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.00541 0.00074 6e-06"/>
      <mass value="0.510299"/>
      <inertia ixx="0.00030528937" ixy="7.788013e-06" ixz="2.2016e-07" iyy="0.000590894859" iyz="1.7175e-08" izz="0.000396594572"/>
    </inertial>
  </link>
  <joint name="FR_hip_fixed" type="fixed">
    <origin rpy="0 0 0" xyz="0 -0.08 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">
    <origin rpy="0 0 0" xyz="0 -0.08 0"/>
    <parent link="FR_hip"/>
    <child link="FR_thigh"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="33.5" lower="-1.0471975512" upper="4.18879020479" velocity="28"/>
  </joint>
  <link name="FR_thigh">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="../meshes/thigh_mirror.stl" scale="1 1 1"/>
      </geometry>
      <material name="silver"/>
    </visual>
    <collision>
      <origin rpy="0 1.57079632679 0" xyz="0 0 -0.1065"/>
      <geometry>
        <box size="0.213 0.0245 0.034"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.003468 0.018947 -0.032736"/>
      <mass value="0.898919"/>
      <inertia ixx="0.005395867678" ixy="-1.02809e-07" ixz="0.000337529085" iyy="0.005142451046" iyz="5.816563e-06" izz="0.00102478732"/>
    </inertial>
  </link>
  <joint name="FR_calf_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 -0.213"/>
    <parent link="FR_thigh"/>
    <child link="FR_calf"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="33.5" lower="-2.69653369433" upper="-0.916297857297" velocity="28"/>
  </joint>
  <link name="FR_calf">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="../meshes/calf.stl" scale="1 1 1"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 1.57079632679 0" xyz="0 0 -0.1065"/>
      <geometry>
        <box size="0.213 0.016 0.016"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.006286 0.001307 -0.122269"/>
      <mass value="0.158015"/>
      <inertia ixx="0.003607648222" ixy="1.494971e-06" ixz="-0.000132778525" iyy="0.003626771492" iyz="-2.8638535e-05" izz="3.5148003e-05"/>
    </inertial>
  </link>
  <joint name="FR_foot_fixed" type="fixed" dont_collapse="true">
    <origin rpy="0 0 0" xyz="0 0 -0.213"/>
    <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="0.01"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.02"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.06"/>
      <inertia ixx="9.6e-06" ixy="0.0" ixz="0.0" iyy="9.6e-06" iyz="0.0" izz="9.6e-06"/>
    </inertial>
  </link>

  <joint name="FL_hip_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0.1881 0.04675 0"/>
    <parent link="trunk"/>
    <child link="FL_hip"/>
    <axis xyz="1 0 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="33.5" lower="-0.802851455917" upper="0.802851455917" velocity="50"/>
  </joint>
  <link name="FL_hip">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="../meshes/hip.stl" scale="1 1 1"/>
      </geometry>
      <material name="silver"/>
    </visual>
    <collision>
      <origin rpy="1.57079632679 0 0" xyz="0 0.045 0"/>
      <geometry>
        <cylinder length="0.04" radius="0.046"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.00541 -0.00074 6e-06"/>
      <mass value="0.510299"/>
      <inertia ixx="0.00030528937" ixy="-7.788013e-06" ixz="2.2016e-07" iyy="0.000590894859" iyz="-1.7175e-08" izz="0.000396594572"/>
    </inertial>
  </link>
  <joint name="FL_hip_fixed" type="fixed">
    <origin rpy="0 0 0" xyz="0 0.08 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">
    <origin rpy="0 0 0" xyz="0 0.08 0"/>
    <parent link="FL_hip"/>
    <child link="FL_thigh"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="33.5" lower="-1.0471975512" upper="4.18879020479" velocity="28"/>
  </joint>
  <link name="FL_thigh">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="../meshes/thigh.stl" scale="1 1 1"/>
      </geometry>
      <material name="silver"/>
    </visual>
    <collision>
      <origin rpy="0 1.57079632679 0" xyz="0 0 -0.1065"/>
      <geometry>
        <box size="0.213 0.0245 0.034"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.003468 -0.018947 -0.032736"/>
      <mass value="0.898919"/>
      <inertia ixx="0.005395867678" ixy="1.02809e-07" ixz="0.000337529085" iyy="0.005142451046" iyz="-5.816563e-06" izz="0.00102478732"/>
    </inertial>
  </link>
  <joint name="FL_calf_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 -0.213"/>
    <parent link="FL_thigh"/>
    <child link="FL_calf"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="33.5" lower="-2.69653369433" upper="-0.916297857297" velocity="28"/>
  </joint>
  <link name="FL_calf">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="../meshes/calf.stl" scale="1 1 1"/>
      </geometry>
      <material name="silver"/>
    </visual>
    <collision>
      <origin rpy="0 1.57079632679 0" xyz="0 0 -0.1065"/>
      <geometry>
        <box size="0.213 0.016 0.016"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.006286 0.001307 -0.122269"/>
      <mass value="0.158015"/>
      <inertia ixx="0.003607648222" ixy="1.494971e-06" ixz="-0.000132778525" iyy="0.003626771492" iyz="-2.8638535e-05" izz="3.5148003e-05"/>
    </inertial>
  </link>
  <joint name="FL_foot_fixed" type="fixed" dont_collapse="true">
    <origin rpy="0 0 0" xyz="0 0 -0.213"/>
    <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="0.01"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.02"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.06"/>
      <inertia ixx="9.6e-06" ixy="0.0" ixz="0.0" iyy="9.6e-06" iyz="0.0" izz="9.6e-06"/>
    </inertial>
  </link>

  <joint name="RR_hip_joint" type="revolute">
    <origin rpy="0 0 0" xyz="-0.1881 -0.04675 0"/>
    <parent link="trunk"/>
    <child link="RR_hip"/>
    <axis xyz="1 0 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="33.5" lower="-0.802851455917" upper="0.802851455917" velocity="50"/>
  </joint>
  <link name="RR_hip">
    <visual>
      <origin rpy="3.14159265359 3.14159265359 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="../meshes/hip.stl" scale="1 1 1"/>
      </geometry>
      <material name="silver"/>
    </visual>
    <collision>
      <origin rpy="1.57079632679 0 0" xyz="0 -0.045 0"/>
      <geometry>
        <cylinder length="0.04" radius="0.046"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.00541 0.00074 6e-06"/>
      <mass value="0.510299"/>
      <inertia ixx="0.00030528937" ixy="-7.788013e-06" ixz="-2.2016e-07" iyy="0.000590894859" iyz="1.7175e-08" izz="0.000396594572"/>
    </inertial>
  </link>
  <joint name="RR_hip_fixed" type="fixed">
    <origin rpy="0 0 0" xyz="0 -0.08 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">
    <origin rpy="0 0 0" xyz="0 -0.08 0"/>
    <parent link="RR_hip"/>
    <child link="RR_thigh"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="33.5" lower="-1.0471975512" upper="4.18879020479" velocity="28"/>
  </joint>
  <link name="RR_thigh">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="../meshes/thigh_mirror.stl" scale="1 1 1"/>
      </geometry>
      <material name="silver"/>
    </visual>
    <collision>
      <origin rpy="0 1.57079632679 0" xyz="0 0 -0.1065"/>
      <geometry>
        <box size="0.213 0.0245 0.034"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.003468 0.018947 -0.032736"/>
      <mass value="0.898919"/>
      <inertia ixx="0.005395867678" ixy="-1.02809e-07" ixz="0.000337529085" iyy="0.005142451046" iyz="5.816563e-06" izz="0.00102478732"/>
    </inertial>
  </link>
  <joint name="RR_calf_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 -0.213"/>
    <parent link="RR_thigh"/>
    <child link="RR_calf"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="33.5" lower="-2.69653369433" upper="-0.916297857297" velocity="28"/>
  </joint>
  <link name="RR_calf">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="../meshes/calf.stl" scale="1 1 1"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 1.57079632679 0" xyz="0 0 -0.1065"/>
      <geometry>
        <box size="0.213 0.016 0.016"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.006286 0.001307 -0.122269"/>
      <mass value="0.158015"/>
      <inertia ixx="0.003607648222" ixy="1.494971e-06" ixz="-0.000132778525" iyy="0.003626771492" iyz="-2.8638535e-05" izz="3.5148003e-05"/>
    </inertial>
  </link>
  <joint name="RR_foot_fixed" type="fixed" dont_collapse="true">
    <origin rpy="0 0 0" xyz="0 0 -0.213"/>
    <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="0.01"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.02"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.06"/>
      <inertia ixx="9.6e-06" ixy="0.0" ixz="0.0" iyy="9.6e-06" iyz="0.0" izz="9.6e-06"/>
    </inertial>
  </link>

  <joint name="RL_hip_joint" type="revolute">
    <origin rpy="0 0 0" xyz="-0.1881 0.04675 0"/>
    <parent link="trunk"/>
    <child link="RL_hip"/>
    <axis xyz="1 0 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="33.5" lower="-0.802851455917" upper="0.802851455917" velocity="50"/>
  </joint>
  <link name="RL_hip">
    <visual>
      <origin rpy="0 3.14159265359 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="../meshes/hip.stl" scale="1 1 1"/>
      </geometry>
      <material name="silver"/>
    </visual>
    <collision>
      <origin rpy="1.57079632679 0 0" xyz="0 0.045 0"/>
      <geometry>
        <cylinder length="0.04" radius="0.046"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.00541 -0.00074 6e-06"/>
      <mass value="0.510299"/>
      <inertia ixx="0.00030528937" ixy="7.788013e-06" ixz="-2.2016e-07" iyy="0.000590894859" iyz="-1.7175e-08" izz="0.000396594572"/>
    </inertial>
  </link>
  <joint name="RL_hip_fixed" type="fixed">
    <origin rpy="0 0 0" xyz="0 0.08 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">
    <origin rpy="0 0 0" xyz="0 0.08 0"/>
    <parent link="RL_hip"/>
    <child link="RL_thigh"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="33.5" lower="-1.0471975512" upper="4.18879020479" velocity="28"/>
  </joint>
  <link name="RL_thigh">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="../meshes/thigh.stl" scale="1 1 1"/>
      </geometry>
      <material name="silver"/>
    </visual>
    <collision>
      <origin rpy="0 1.57079632679 0" xyz="0 0 -0.1065"/>
      <geometry>
        <box size="0.213 0.0245 0.034"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.003468 -0.018947 -0.032736"/>
      <mass value="0.898919"/>
      <inertia ixx="0.005395867678" ixy="1.02809e-07" ixz="0.000337529085" iyy="0.005142451046" iyz="-5.816563e-06" izz="0.00102478732"/>
    </inertial>
  </link>
  <joint name="RL_calf_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 -0.213"/>
    <parent link="RL_thigh"/>
    <child link="RL_calf"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="33.5" lower="-2.69653369433" upper="-0.916297857297" velocity="28"/>
  </joint>
  <link name="RL_calf">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="../meshes/calf.stl" scale="1 1 1"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 1.57079632679 0" xyz="0 0 -0.1065"/>
      <geometry>
        <box size="0.213 0.016 0.016"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.006286 0.001307 -0.122269"/>
      <mass value="0.158015"/>
      <inertia ixx="0.003607648222" ixy="1.494971e-06" ixz="-0.000132778525" iyy="0.003626771492" iyz="-2.8638535e-05" izz="3.5148003e-05"/>
    </inertial>
  </link>
  <joint name="RL_foot_fixed" type="fixed" dont_collapse="true">
    <origin rpy="0 0 0" xyz="0 0 -0.213"/>
    <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="0.01"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.02"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.06"/>
      <inertia ixx="9.6e-06" ixy="0.0" ixz="0.0" iyy="9.6e-06" iyz="0.0" izz="9.6e-06"/>
    </inertial>
  </link>
 </robot>

