<?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!--   Copyright 2020 ANYbotics, https://www.anybotics.com                               -->
<!-- =================================================================================== -->
<!-- This file contains the description of the ANYmal C robot. -->
<robot name="anymal">
    <!-- Base link -->
    <link name="base">
        <visual>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="../meshes/base.dae" scale="1.0 1.0 1.0"/>
            </geometry>
        </visual>
        <collision>
            <origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
            <geometry>
                <cylinder length="0.75" radius="0.1"/>
            </geometry>
        </collision>
        <inertial>
            <origin rpy="0 0 0" xyz="-0.018 -0.002 0.024"/>
            <mass value="6.222"/>
            <inertia ixx="0.017938806" ixy="0.00387963" ixz="0.001500772" iyy="0.370887745" iyz="6.8963e-05" izz="0.372497653"/>
        </inertial>
    </link>
    <!-- Fixed joint base topshell -->
    <joint name="base_top_shell" type="fixed">
        <parent link="base"/>
        <child link="top_shell"/>
        <origin rpy="0 0 0" xyz="0 0 0"/>
    </joint>
    <!-- Top shell link -->
    <link name="top_shell">
        <visual>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="../meshes/top_shell.dae" scale="1.0 1.0 1.0"/>
            </geometry>
        </visual>
        <inertial>
            <origin rpy="0 0 0" xyz="-0.00777 -0.00013 0.06523"/>
            <mass value="0.534"/>
            <inertia ixx="0.00664789486" ixy="1.247923e-05" ixz="0.00053990097" iyy="0.02587392411" iyz="3.7614e-07" izz="0.03152303792"/>
        </inertial>
    </link>
    <!-- Fixed joint base topshell -->
    <joint name="base_bottom_shell" type="fixed">
        <parent link="base"/>
        <child link="bottom_shell"/>
        <origin rpy="0 0 0" xyz="0 0 0"/>
    </joint>
    <!-- Bottom shell link -->
    <link name="bottom_shell">
        <visual>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="../meshes/bottom_shell.dae" scale="1.0 1.0 1.0"/>
            </geometry>
        </visual>
        <inertial>
            <origin rpy="0 0 0" xyz="-0.00333 1e-05 -0.07705"/>
            <mass value="1.15"/>
            <inertia ixx="0.00927353677" ixy="5.41222e-06" ixz="9.039821e-05" iyy="0.06134388239" iyz="2.3042e-07" izz="0.06853531465"/>
        </inertial>
    </link>
    <!-- Fixed joint base remote -->
    <joint name="base_remote" type="fixed">
        <parent link="base"/>
        <child link="remote"/>
        <origin rpy="0 0 0" xyz="0 0 0"/>
    </joint>
    <!-- Remote link -->
    <link name="remote">
        <visual>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="../meshes/remote.dae" scale="1.0 1.0 1.0"/>
            </geometry>
        </visual>
        <inertial>
            <origin rpy="0 0 0" xyz="-0.171 0.002 0.096"/>
            <mass value="0.3262"/>
            <inertia ixx="0.000528486" ixy="4.547e-05" ixz="1.10327e-05" iyy="0.001165035" iyz="7.4e-07" izz="0.00124026"/>
        </inertial>
    </link>
    <!-- Fixed joint base handle -->
    <joint name="base_handle" type="fixed">
        <parent link="base"/>
        <child link="handle"/>
        <origin rpy="0 0 0" xyz="0 0 0"/>
    </joint>
    <!-- Handle link -->
    <link name="handle">
        <visual>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="../meshes/handle.dae" scale="1.0 1.0 1.0"/>
            </geometry>
        </visual>
        <inertial>
            <origin rpy="0 0 0" xyz="0.37801 0.0 0.1372"/>
            <mass value="0.314"/>
            <inertia ixx="0.001525739" ixy="0.0" ixz="6.272e-05" iyy="0.00071584" iyz="1e-09" izz="0.001164779"/>
        </inertial>
    </link>
    <!-- Fixed joint base face -->
    <joint name="base_face_front" type="fixed">
        <parent link="base"/>
        <child link="face_front"/>
        <origin rpy="0 0 -0.0" xyz="0.4145 0 0"/>
    </joint>
    <!-- Shell link -->
    <link name="face_front">
        <visual>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="../meshes/face.dae" scale="1.0 1.0 1.0"/>
            </geometry>
        </visual>
        <inertial>
            <origin rpy="0 0 0" xyz="0.042 -0.001 0.004"/>
            <mass value="0.73"/>
            <inertia ixx="0.005238611" ixy="1.7609e-05" ixz="7.2167e-05" iyy="0.002643098" iyz="1.9548e-05" izz="0.004325938"/>
        </inertial>
    </link>
    <!-- Camera joint -->
    <!-- Is located between the two back screw holes at ground level. -->
    <joint name="face_front_to_depth_camera_front_camera" type="fixed">
        <parent link="face_front"/>
        <child link="depth_camera_front_camera"/>
        <origin rpy="0.0 0.523598775598 0" xyz="0.04715 0.0 -0.0292"/>
    </joint>
    <!-- Camera link -->
    <link name="depth_camera_front_camera">
        <visual>
            <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
            <geometry>
                <mesh filename="../meshes/depth_camera.dae" scale="1.0 1.0 1.0"/>
            </geometry>
        </visual>
        <inertial>
            <origin rpy="0 0 0" xyz="-0.021 -0.002 0.025"/>
            <mass value="0.16043"/>
            <inertia ixx="0.000637051" ixy="0.000484569" ixz="0.000424211" iyy="0.000929402" iyz="5.138e-06" izz="0.000484569"/>
        </inertial>
    </link>
    <!-- Camera parent joint -->
    <!-- Frame lies on the left ir camera according to any_realsense2_camera urdf. -->
    <joint name="depth_camera_front_camera_to_camera_parent" type="fixed">
        <parent link="depth_camera_front_camera"/>
        <child link="depth_camera_front_camera_parent"/>
        <origin rpy="0.0 0.0 0.0" xyz="0.0255 0.0175 0.0"/>
    </joint>
    <!-- Camera parent link -->
    <link name="depth_camera_front_camera_parent"/>
    <!-- Depth optical frame joint -->
    <joint name="depth_camera_front_camera_parent_to_depth_optical_frame" type="fixed">
        <parent link="depth_camera_front_camera_parent"/>
        <child link="depth_camera_front_depth_optical_frame"/>
        <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
    </joint>
    <!-- Depth optical frame link -->
    <link name="depth_camera_front_depth_optical_frame"/>
    <!-- Camera color frame joint -->
    <joint name="depth_camera_front_camera_parent_to_color_frame" type="fixed">
        <parent link="depth_camera_front_camera_parent"/>
        <child link="depth_camera_front_color_frame"/>
        <origin rpy="0 0 0" xyz="0 0.015 0"/>
    </joint>
    <!-- Camera color frame link -->
    <link name="depth_camera_front_color_frame"/>
    <!-- Camera color optical joint -->
    <joint name="depth_camera_front_color_frame_to_color_optical_frame" type="fixed">
        <parent link="depth_camera_front_color_frame"/>
        <child link="depth_camera_front_color_optical_frame"/>
        <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
    </joint>
    <!-- Camera color optical link -->
    <link name="depth_camera_front_color_optical_frame"/>
    <!-- Camera joint -->
    <!-- Is located in the center of the mounting points. -->
    <joint name="face_front_to_wide_angle_camera_front_camera" type="fixed">
        <parent link="face_front"/>
        <child link="wide_angle_camera_front_camera"/>
        <origin rpy="0 0 0" xyz="0.09850 0.0 0.01497"/>
    </joint>
    <!-- Camera link -->
    <link name="wide_angle_camera_front_camera">
        <visual>
            <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
            <geometry>
                <mesh filename="../meshes/wide_angle_camera.dae" scale="1.0 1.0 1.0"/>
            </geometry>
        </visual>
        <inertial>
            <origin rpy="0 0 0" xyz="-0.053 -0.001 0.025"/>
            <mass value="0.287"/>
            <inertia ixx="0.000559232" ixy="1.6875e-05" ixz="0.000423761" iyy="0.000946504" iyz="1.3234e-07" izz="0.000493052"/>
        </inertial>
    </link>
    <!-- Camera parent joint -->
    <joint name="wide_angle_camera_front_camera_to_camera_parent" type="fixed">
        <parent link="wide_angle_camera_front_camera"/>
        <child link="wide_angle_camera_front_camera_parent"/>
        <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
    </joint>
    <!-- Camera parent link -->
    <link name="wide_angle_camera_front_camera_parent"/>
    <!-- Fixed joint base face -->
    <joint name="base_face_rear" type="fixed">
        <parent link="base"/>
        <child link="face_rear"/>
        <origin rpy="0 0 3.14159265359" xyz="-0.4145 0 0"/>
    </joint>
    <!-- Shell link -->
    <link name="face_rear">
        <visual>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="../meshes/face.dae" scale="1.0 1.0 1.0"/>
            </geometry>
        </visual>
        <inertial>
            <origin rpy="0 0 0" xyz="0.042 -0.001 0.004"/>
            <mass value="0.73"/>
            <inertia ixx="0.005238611" ixy="1.7609e-05" ixz="7.2167e-05" iyy="0.002643098" iyz="1.9548e-05" izz="0.004325938"/>
        </inertial>
    </link>
    <!-- Camera joint -->
    <!-- Is located between the two back screw holes at ground level. -->
    <joint name="face_rear_to_depth_camera_rear_camera" type="fixed">
        <parent link="face_rear"/>
        <child link="depth_camera_rear_camera"/>
        <origin rpy="0.0 0.523598775598 0" xyz="0.04715 0.0 -0.0292"/>
    </joint>
    <!-- Camera link -->
    <link name="depth_camera_rear_camera">
        <visual>
            <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
            <geometry>
                <mesh filename="../meshes/depth_camera.dae" scale="1.0 1.0 1.0"/>
            </geometry>
        </visual>
        <inertial>
            <origin rpy="0 0 0" xyz="-0.021 -0.002 0.025"/>
            <mass value="0.16043"/>
            <inertia ixx="0.000637051" ixy="0.000484569" ixz="0.000424211" iyy="0.000929402" iyz="5.138e-06" izz="0.000484569"/>
        </inertial>
    </link>
    <!-- Camera parent joint -->
    <!-- Frame lies on the left ir camera according to any_realsense2_camera urdf. -->
    <joint name="depth_camera_rear_camera_to_camera_parent" type="fixed">
        <parent link="depth_camera_rear_camera"/>
        <child link="depth_camera_rear_camera_parent"/>
        <origin rpy="0.0 0.0 0.0" xyz="0.0255 0.0175 0.0"/>
    </joint>
    <!-- Camera parent link -->
    <link name="depth_camera_rear_camera_parent"/>
    <!-- Depth optical frame joint -->
    <joint name="depth_camera_rear_camera_parent_to_depth_optical_frame" type="fixed">
        <parent link="depth_camera_rear_camera_parent"/>
        <child link="depth_camera_rear_depth_optical_frame"/>
        <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
    </joint>
    <!-- Depth optical frame link -->
    <link name="depth_camera_rear_depth_optical_frame"/>
    <!-- Camera color frame joint -->
    <joint name="depth_camera_rear_camera_parent_to_color_frame" type="fixed">
        <parent link="depth_camera_rear_camera_parent"/>
        <child link="depth_camera_rear_color_frame"/>
        <origin rpy="0 0 0" xyz="0 0.015 0"/>
    </joint>
    <!-- Camera color frame link -->
    <link name="depth_camera_rear_color_frame"/>
    <!-- Camera color optical joint -->
    <joint name="depth_camera_rear_color_frame_to_color_optical_frame" type="fixed">
        <parent link="depth_camera_rear_color_frame"/>
        <child link="depth_camera_rear_color_optical_frame"/>
        <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
    </joint>
    <!-- Camera color optical link -->
    <link name="depth_camera_rear_color_optical_frame"/>
    <!-- Camera joint -->
    <!-- Is located in the center of the mounting points. -->
    <joint name="face_rear_to_wide_angle_camera_rear_camera" type="fixed">
        <parent link="face_rear"/>
        <child link="wide_angle_camera_rear_camera"/>
        <origin rpy="0 0 0" xyz="0.09850 0.0 0.01497"/>
    </joint>
    <!-- Camera link -->
    <link name="wide_angle_camera_rear_camera">
        <visual>
            <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
            <geometry>
                <mesh filename="../meshes/wide_angle_camera.dae" scale="1.0 1.0 1.0"/>
            </geometry>
        </visual>
        <inertial>
            <origin rpy="0 0 0" xyz="-0.053 -0.001 0.025"/>
            <mass value="0.287"/>
            <inertia ixx="0.000559232" ixy="1.6875e-05" ixz="0.000423761" iyy="0.000946504" iyz="1.3234e-07" izz="0.000493052"/>
        </inertial>
    </link>
    <!-- Camera parent joint -->
    <joint name="wide_angle_camera_rear_camera_to_camera_parent" type="fixed">
        <parent link="wide_angle_camera_rear_camera"/>
        <child link="wide_angle_camera_rear_camera_parent"/>
        <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
    </joint>
    <!-- Camera parent link -->
    <link name="wide_angle_camera_rear_camera_parent"/>
    <!-- Fixed joint base battery -->
    <joint name="base_battery" type="fixed">
        <parent link="base"/>
        <child link="battery"/>
        <origin rpy="0 0 0" xyz="0 0 0"/>
    </joint>
    <!-- Shell link -->
    <link name="battery">
        <visual>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="../meshes/battery.dae" scale="1.0 1.0 1.0"/>
            </geometry>
        </visual>
        <inertial>
            <origin rpy="0 0 0" xyz="-0.00067 -0.00023 -0.03362"/>
            <mass value="5.53425"/>
            <inertia ixx="0.00749474794" ixy="0.00016686282" ixz="7.82763e-05" iyy="0.0722338913" iyz="1.42902e-06" izz="0.07482717535"/>
        </inertial>
    </link>
    <!-- Fixed joint to add docking  -->
    <joint name="base_to_docking_hatch_cover" type="fixed">
        <parent link="base"/>
        <child link="docking_hatch_cover"/>
        <origin rpy="0 0 0" xyz="0.343 0.0 -0.07"/>
    </joint>
    <!-- Hatch cover link -->
    <link name="docking_hatch_cover">
        <!--  TODO(fgiraldez): add visual    -->
        <inertial>
            <origin rpy="0 0 0" xyz="-0.003 0.0 0.005"/>
            <mass value="0.065"/>
            <inertia ixx="0.00063283" ixy="0.0" ixz="3.45e-07" iyy="0.00110971" iyz="0.0" izz="0.00171883"/>
        </inertial>
    </link>
    <link name="imu_link">
        <visual>
            <origin rpy="0 0 0" xyz="0 0 0.005"/>
            <geometry>
                <box size="0.024 0.024 0.01"/>
            </geometry>
            <material name="orange"/>
        </visual>
        <inertial>
            <mass value="0.01"/>
            <origin xyz="0 0 0"/>
            <inertia ixx="5.63333333333e-07" ixy="0.0" ixz="0.0" iyy="9.6e-07" iyz="0.0" izz="5.63333333333e-07"/>
        </inertial>
    </link>
    <joint name="imu_joint" type="fixed">
        <parent link="base"/>
        <child link="imu_link"/>
        <origin rpy="0.0 0.0 1.57079632679" xyz="0.2488 0.00835 0.04628"/>
    </joint>
    <!-- Camera joint -->
    <!-- Is located between the two back screw holes at ground level. -->
    <joint name="base_to_depth_camera_left_camera" type="fixed">
        <parent link="base"/>
        <child link="depth_camera_left_camera"/>
        <origin rpy="0.0 0.523598775598 1.57079632679" xyz="0.0 0.07646 0.02905"/>
    </joint>
    <!-- Camera link -->
    <link name="depth_camera_left_camera">
        <visual>
            <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
            <geometry>
                <mesh filename="../meshes/depth_camera.dae" scale="1.0 1.0 1.0"/>
            </geometry>
        </visual>
        <inertial>
            <origin rpy="0 0 0" xyz="-0.021 -0.002 0.025"/>
            <mass value="0.16043"/>
            <inertia ixx="0.000637051" ixy="0.000484569" ixz="0.000424211" iyy="0.000929402" iyz="5.138e-06" izz="0.000484569"/>
        </inertial>
    </link>
    <!-- Camera parent joint -->
    <!-- Frame lies on the left ir camera according to any_realsense2_camera urdf. -->
    <joint name="depth_camera_left_camera_to_camera_parent" type="fixed">
        <parent link="depth_camera_left_camera"/>
        <child link="depth_camera_left_camera_parent"/>
        <origin rpy="0.0 0.0 0.0" xyz="0.0255 0.0175 0.0"/>
    </joint>
    <!-- Camera parent link -->
    <link name="depth_camera_left_camera_parent"/>
    <!-- Depth optical frame joint -->
    <joint name="depth_camera_left_camera_parent_to_depth_optical_frame" type="fixed">
        <parent link="depth_camera_left_camera_parent"/>
        <child link="depth_camera_left_depth_optical_frame"/>
        <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
    </joint>
    <!-- Depth optical frame link -->
    <link name="depth_camera_left_depth_optical_frame"/>
    <!-- Camera color frame joint -->
    <joint name="depth_camera_left_camera_parent_to_color_frame" type="fixed">
        <parent link="depth_camera_left_camera_parent"/>
        <child link="depth_camera_left_color_frame"/>
        <origin rpy="0 0 0" xyz="0 0.015 0"/>
    </joint>
    <!-- Camera color frame link -->
    <link name="depth_camera_left_color_frame"/>
    <!-- Camera color optical joint -->
    <joint name="depth_camera_left_color_frame_to_color_optical_frame" type="fixed">
        <parent link="depth_camera_left_color_frame"/>
        <child link="depth_camera_left_color_optical_frame"/>
        <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
    </joint>
    <!-- Camera color optical link -->
    <link name="depth_camera_left_color_optical_frame"/>
    <!-- Camera joint -->
    <!-- Is located between the two back screw holes at ground level. -->
    <joint name="base_to_depth_camera_right_camera" type="fixed">
        <parent link="base"/>
        <child link="depth_camera_right_camera"/>
        <origin rpy="0.0 0.523598775598 -1.57079632679" xyz="0.0 -0.07646 0.02905"/>
    </joint>
    <!-- Camera link -->
    <link name="depth_camera_right_camera">
        <visual>
            <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
            <geometry>
                <mesh filename="../meshes/depth_camera.dae" scale="1.0 1.0 1.0"/>
            </geometry>
        </visual>
        <inertial>
            <origin rpy="0 0 0" xyz="-0.021 -0.002 0.025"/>
            <mass value="0.16043"/>
            <inertia ixx="0.000637051" ixy="0.000484569" ixz="0.000424211" iyy="0.000929402" iyz="5.138e-06" izz="0.000484569"/>
        </inertial>
    </link>
    <!-- Camera parent joint -->
    <!-- Frame lies on the left ir camera according to any_realsense2_camera urdf. -->
    <joint name="depth_camera_right_camera_to_camera_parent" type="fixed">
        <parent link="depth_camera_right_camera"/>
        <child link="depth_camera_right_camera_parent"/>
        <origin rpy="0.0 0.0 0.0" xyz="0.0255 0.0175 0.0"/>
    </joint>
    <!-- Camera parent link -->
    <link name="depth_camera_right_camera_parent"/>
    <!-- Depth optical frame joint -->
    <joint name="depth_camera_right_camera_parent_to_depth_optical_frame" type="fixed">
        <parent link="depth_camera_right_camera_parent"/>
        <child link="depth_camera_right_depth_optical_frame"/>
        <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
    </joint>
    <!-- Depth optical frame link -->
    <link name="depth_camera_right_depth_optical_frame"/>
    <!-- Camera color frame joint -->
    <joint name="depth_camera_right_camera_parent_to_color_frame" type="fixed">
        <parent link="depth_camera_right_camera_parent"/>
        <child link="depth_camera_right_color_frame"/>
        <origin rpy="0 0 0" xyz="0 0.015 0"/>
    </joint>
    <!-- Camera color frame link -->
    <link name="depth_camera_right_color_frame"/>
    <!-- Camera color optical joint -->
    <joint name="depth_camera_right_color_frame_to_color_optical_frame" type="fixed">
        <parent link="depth_camera_right_color_frame"/>
        <child link="depth_camera_right_color_optical_frame"/>
        <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
    </joint>
    <!-- Camera color optical link -->
    <link name="depth_camera_right_color_optical_frame"/>
    <!-- parent to cage joint, located between mounting plate on trunk and the cage -->
    <joint name="base_to_lidar_cage" type="fixed">
        <parent link="base"/>
        <child link="lidar_cage"/>
        <origin rpy="0 0 0" xyz="-0.364 0.0 0.0735"/>
    </joint>
    <!-- Velodyne cage link -->
    <link name="lidar_cage">
        <visual>
            <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
            <geometry>
                <mesh filename="../meshes/lidar_cage.dae" scale="1.0 1.0 1.0"/>
            </geometry>
        </visual>
        <inertial>
            <origin rpy="0.0 0.0 0.0" xyz="0.002 0.0 0.099"/>
            <mass value="0.545"/>
            <inertia ixx="0.003156254" ixy="0.0" ixz="1.0992e-05" iyy="0.002357216" iyz="0.0" izz="0.001326455"/>
        </inertial>
    </link>
    <!-- parent to sensor joint -->
    <joint name="lidar_cage_to_lidar" type="fixed">
        <parent link="lidar_cage"/>
        <child link="lidar"/>
        <origin rpy="0.0 0.0 -1.57079632679" xyz="0.0 0.0 0.0687"/>
    </joint>
    <!-- Velodyne sensor link -->
    <link name="lidar">
        <inertial>
            <origin rpy="0.0 0.0 0.0" xyz="-0.012 0.001 -0.008"/>
            <mass value="0.695"/>
            <inertia ixx="0.000846765" ixy="6.9565e-05" ixz="0.00027111" iyy="0.001367583" iyz="5.8984e-05" izz="0.001363673"/>
        </inertial>
        <visual>
            <origin xyz="0 0 0"/>
            <geometry>
                <mesh filename="../meshes/lidar.dae"/>
            </geometry>
        </visual>
    </link>
    <!-- joint base HAA -->
    <joint name="base_LF_HAA" type="fixed">
        <parent link="base"/>
        <child link="LF_HAA"/>
        <origin rpy="2.61799387799 0 0.0" xyz="0.2999 0.104 0.0"/>
    </joint>
    <!-- Drive link -->
    <link name="LF_HAA">
        <visual>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="../meshes/drive.dae" scale="1.0 1.0 1.0"/>
            </geometry>
        </visual>
        <inertial>
            <origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
            <mass value="2.04"/>
            <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
        </inertial>
    </link>
    <!-- joint Drive output -->
    <joint name="LF_HAA" type="revolute">
        <parent link="LF_HAA"/>
        <child link="LF_HIP"/>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <axis xyz="1 0 0"/>
        <limit effort="80.0" velocity="20." />
        <dynamics damping="0.0" friction="0.0"/>
    </joint>
    <!-- Drive output link -->
    <link name="LF_HIP">
        <inertial>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <mass value="0.001"/>
            <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
        </inertial>
    </link>
    <!-- joint HAA hip -->
    <joint name="LF_HIP_LF_hip_fixed" type="fixed">
        <parent link="LF_HIP"/>
        <child link="LF_hip_fixed"/>
        <origin rpy="-2.61799387799 0 0.0" xyz="0 0 0"/>
    </joint>
    <!-- Hip link -->
    <link name="LF_hip_fixed">
        <visual>
            <origin rpy="0 0 0.0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="../meshes/hip_l.dae" scale="1.0 1.0 1.0"/>
            </geometry>
        </visual>
        <inertial>
            <origin rpy="0 0 0" xyz="0.048 0.008 -0.003"/>
            <mass value="0.74"/>
            <inertia ixx="0.001393106" ixy="8.4012e-05" ixz="2.3378e-05" iyy="0.003798579" iyz="7.1319e-05" izz="0.003897509"/>
        </inertial>
    </link>
    <!-- joint hip HFE -->
    <joint name="LF_hip_fixed_LF_HFE" type="fixed">
        <parent link="LF_hip_fixed"/>
        <child link="LF_HFE"/>
        <origin rpy="0 0 1.57079632679" xyz="0.0599 0.08381 0.0"/>
    </joint>
    <!-- Drive link -->
    <link name="LF_HFE">
        <visual>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="../meshes/drive.dae" scale="1.0 1.0 1.0"/>
            </geometry>
        </visual>
        <inertial>
            <origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
            <mass value="2.04"/>
            <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
        </inertial>
    </link>
    <!-- joint Drive output -->
    <joint name="LF_HFE" type="revolute">
        <parent link="LF_HFE"/>
        <child link="LF_THIGH"/>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <axis xyz="1 0 0"/>
        <limit effort="80.0" velocity="20." />
        <dynamics damping="0.0" friction="0.0"/>
    </joint>
    <!-- Drive output link -->
    <link name="LF_THIGH">
        <inertial>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <mass value="0.001"/>
            <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
        </inertial>
    </link>
    <!-- joint HFE thigh -->
    <joint name="LF_THIGH_LF_thigh_fixed" type="fixed">
        <parent link="LF_THIGH"/>
        <child link="LF_thigh_fixed"/>
        <origin rpy="0 0 -1.57079632679" xyz="0 0 0"/>
    </joint>
    <!-- Thigh link -->
    <link name="LF_thigh_fixed">
        <visual>
            <origin rpy="0 0 0.0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="../meshes/thigh.dae" scale="1.0 1.0 1.0"/>
            </geometry>
        </visual>
        <inertial>
            <origin rpy="0 0 0" xyz="0.0 0.018 -0.169"/>
            <mass value="1.03"/>
            <inertia ixx="0.018644469" ixy="5.2e-08" ixz="1.0157e-05" iyy="0.019312599" iyz="0.002520077" izz="0.002838361"/>
        </inertial>
    </link>
    <!-- joint thigh KFE -->
    <joint name="LF_thigh_fixed_LF_KFE" type="fixed">
        <parent link="LF_thigh_fixed"/>
        <child link="LF_KFE"/>
        <origin rpy="0 0 1.57079632679" xyz="0.0 0.1003 -0.285"/>
    </joint>
    <!-- Drive link -->
    <link name="LF_KFE">
        <visual>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="../meshes/drive.dae" scale="1.0 1.0 1.0"/>
            </geometry>
        </visual>
        <collision>
            <origin rpy="0 1.57079632679 0" xyz="-0.07 0 0"/>
            <geometry>
                <cylinder length="0.08" radius="0.06"/>
            </geometry>
        </collision>
        <inertial>
            <origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
            <mass value="2.04"/>
            <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
        </inertial>
    </link>
    <!-- joint Drive output -->
    <joint name="LF_KFE" type="revolute">
        <parent link="LF_KFE"/>
        <child link="LF_SHANK"/>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <axis xyz="1 0 0"/>
        <limit effort="80.0" velocity="20." />
        <dynamics damping="0.0" friction="0.0"/>
    </joint>
    <!-- Drive output link -->
    <link name="LF_SHANK">
        <inertial>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <mass value="0.001"/>
            <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
        </inertial>
        <!-- Adapter collision -->
        <collision>
            <origin rpy="0 0 0" xyz="0.01 -0.1 -0.2"/>
            <geometry>
                <cylinder length="0.2" radius="0.0175"/>
            </geometry>
        </collision>
    </link>
    <!-- joint KFE shank -->
    <joint name="LF_shank_LF_shank_fixed" type="fixed">
        <parent link="LF_SHANK"/>
        <child link="LF_shank_fixed"/>
        <origin rpy="0 0 -1.57079632679" xyz="0 0 0"/>
    </joint>
    <!-- Shank link -->
    <link name="LF_shank_fixed">
        <visual>
            <origin rpy="0 0 0.0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="../meshes/shank_l.dae" scale="1.0 1.0 1.0"/>
            </geometry>
        </visual>
        <inertial>
            <origin rpy="0 0 0" xyz="0.03463 0.00688 0.00098"/>
            <mass value="0.33742"/>
            <inertia ixx="0.00032748005" ixy="2.142561e-05" ixz="1.33942e-05" iyy="0.00110974122" iyz="7.601e-08" izz="0.00089388521"/>
        </inertial>
    </link>
    <!-- Leg configurations: xx (knees bent inwards), xo (knees bent backwards) -->
    <!-- joint shank foot -->
    <joint name="LF_shank_fixed_LF_FOOT" type="fixed" dont_collapse="true">
        <parent link="LF_shank_fixed"/>
        <child link="LF_FOOT"/>
        <origin rpy="0 0 0" xyz="0.08795 0.01305 -0.33797"/>
    </joint>
    <!-- Foot link -->
    <link name="LF_FOOT">
        <visual>
            <origin rpy="0 0 -0.785398163397" xyz="0 0 0"/>
            <geometry>
                <mesh filename="../meshes/foot.dae" scale="1.0 1.0 1.0"/>
            </geometry>
        </visual>
        <!-- Foot collision -->
        <collision>
            <origin xyz="0 0 0.0225"/>
            <geometry>
                <sphere radius="0.03"/>
            </geometry>
        </collision>
        <inertial>
            <origin rpy="0 0 0" xyz="0.00948 -0.00948 0.1468"/>
            <mass value="0.25"/>
            <inertia ixx="0.00317174097" ixy="2.63048e-06" ixz="6.815581e-05" iyy="0.00317174092" iyz="6.815583e-05" izz="8.319196e-05"/>
        </inertial>
    </link>
    <!-- joint base HAA -->
    <joint name="base_RF_HAA" type="fixed">
        <parent link="base"/>
        <child link="RF_HAA"/>
        <origin rpy="-2.61799387799 0 0.0" xyz="0.2999 -0.104 0.0"/>
    </joint>
    <!-- Drive link -->
    <link name="RF_HAA">
        <visual>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="../meshes/drive.dae" scale="1.0 1.0 1.0"/>
            </geometry>
        </visual>
        <inertial>
            <origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
            <mass value="2.04"/>
            <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
        </inertial>
    </link>
    <!-- joint Drive output -->
    <joint name="RF_HAA" type="revolute">
        <parent link="RF_HAA"/>
        <child link="RF_HIP"/>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <axis xyz="1 0 0"/>
        <limit effort="80.0" velocity="20." />
        <dynamics damping="0.0" friction="0.0"/>
    </joint>
    <!-- Drive output link -->
    <link name="RF_HIP">
        <inertial>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <mass value="0.001"/>
            <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
        </inertial>
    </link>
    <!-- joint HAA hip -->
    <joint name="RF_HIP_RF_hip_fixed" type="fixed">
        <parent link="RF_HIP"/>
        <child link="RF_hip_fixed"/>
        <origin rpy="2.61799387799 0 0.0" xyz="0 0 0"/>
    </joint>
    <!-- Hip link -->
    <link name="RF_hip_fixed">
        <visual>
            <origin rpy="0 0 0.0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="../meshes/hip_r.dae" scale="1.0 1.0 1.0"/>
            </geometry>
        </visual>
        <inertial>
            <origin rpy="0 0 0" xyz="0.048 -0.008 -0.003"/>
            <mass value="0.74"/>
            <inertia ixx="0.001393106" ixy="-8.4012e-05" ixz="2.3378e-05" iyy="0.003798579" iyz="-7.1319e-05" izz="0.003897509"/>
        </inertial>
    </link>
    <!-- joint hip HFE -->
    <joint name="RF_hip_fixed_RF_HFE" type="fixed">
        <parent link="RF_hip_fixed"/>
        <child link="RF_HFE"/>
        <origin rpy="0 0 -1.57079632679" xyz="0.0599 -0.08381 0.0"/>
    </joint>
    <!-- Drive link -->
    <link name="RF_HFE">
        <visual>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="../meshes/drive.dae" scale="1.0 1.0 1.0"/>
            </geometry>
        </visual>
        <inertial>
            <origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
            <mass value="2.04"/>
            <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
        </inertial>
    </link>
    <!-- joint Drive output -->
    <joint name="RF_HFE" type="revolute">
        <parent link="RF_HFE"/>
        <child link="RF_THIGH"/>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <axis xyz="-1 0 0"/>
        <limit effort="80.0" velocity="20." />
        <dynamics damping="0.0" friction="0.0"/>
    </joint>
    <!-- Drive output link -->
    <link name="RF_THIGH">
        <inertial>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <mass value="0.001"/>
            <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
        </inertial>
    </link>
    <!-- joint HFE thigh -->
    <joint name="RF_THIGH_RF_thigh_fixed" type="fixed">
        <parent link="RF_THIGH"/>
        <child link="RF_thigh_fixed"/>
        <origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
    </joint>
    <!-- Thigh link -->
    <link name="RF_thigh_fixed">
        <visual>
            <origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
            <geometry>
                <mesh filename="../meshes/thigh.dae" scale="1.0 1.0 1.0"/>
            </geometry>
        </visual>
        <inertial>
            <origin rpy="0 0 0" xyz="0.0 -0.018 -0.169"/>
            <mass value="1.03"/>
            <inertia ixx="0.018644469" ixy="-5.2e-08" ixz="1.0157e-05" iyy="0.019312599" iyz="-0.002520077" izz="0.002838361"/>
        </inertial>
    </link>
    <!-- joint thigh KFE -->
    <joint name="RF_thigh_fixed_RF_KFE" type="fixed">
        <parent link="RF_thigh_fixed"/>
        <child link="RF_KFE"/>
        <origin rpy="0 0 -1.57079632679" xyz="0.0 -0.1003 -0.285"/>
    </joint>
    <!-- Drive link -->
    <link name="RF_KFE">
        <visual>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="../meshes/drive.dae" scale="1.0 1.0 1.0"/>
            </geometry>
        </visual>
        <collision>
            <origin rpy="0 1.57079632679 0" xyz="-0.07 0 0"/>
            <geometry>
                <cylinder length="0.08" radius="0.06"/>
            </geometry>
        </collision>
        <inertial>
            <origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
            <mass value="2.04"/>
            <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
        </inertial>
    </link>
    <!-- joint Drive output -->
    <joint name="RF_KFE" type="revolute">
        <parent link="RF_KFE"/>
        <child link="RF_SHANK"/>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <axis xyz="-1 0 0"/>
        <limit effort="80.0" velocity="20." />
        <dynamics damping="0.0" friction="0.0"/>
    </joint>
    <!-- Drive output link -->
    <link name="RF_SHANK">
        <inertial>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <mass value="0.001"/>
            <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
        </inertial>
        <!-- Adapter collision -->
        <collision>
            <origin rpy="0 0 0" xyz="0.01 0.1 -0.2"/>
            <geometry>
                <cylinder length="0.2" radius="0.0175"/>
            </geometry>
        </collision>
    </link>
    <!-- joint KFE shank -->
    <joint name="RF_shank_RF_shank_fixed" type="fixed">
        <parent link="RF_SHANK"/>
        <child link="RF_shank_fixed"/>
        <origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
    </joint>
    <!-- Shank link -->
    <link name="RF_shank_fixed">
        <visual>
            <origin rpy="0 0 0.0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="../meshes/shank_r.dae" scale="1.0 1.0 1.0"/>
            </geometry>
        </visual>
        <inertial>
            <origin rpy="0 0 0" xyz="0.03463 -0.00688 0.00098"/>
            <mass value="0.33742"/>
            <inertia ixx="0.00032748005" ixy="-2.142561e-05" ixz="1.33942e-05" iyy="0.00110974122" iyz="-7.601e-08" izz="0.00089388521"/>
        </inertial>
    </link>
    <!-- Leg configurations: xx (knees bent inwards), xo (knees bent backwards) -->
    <!-- joint shank foot -->
    <joint name="RF_shank_fixed_RF_FOOT" type="fixed" dont_collapse="true">
        <parent link="RF_shank_fixed"/>
        <child link="RF_FOOT"/>
        <origin rpy="0 0 0" xyz="0.08795 -0.01305 -0.33797"/>
    </joint>
    <!-- Foot link -->
    <link name="RF_FOOT">
        <visual>
            <origin rpy="0 0 0.785398163397" xyz="0 0 0"/>
            <geometry>
                <mesh filename="../meshes/foot.dae" scale="1.0 1.0 1.0"/>
            </geometry>
        </visual>
        <!-- Foot collision -->
        <collision>
            <origin xyz="0 0 0.0225"/>
            <geometry>
                <sphere radius="0.03"/>
            </geometry>
        </collision>
        <inertial>
            <origin rpy="0 0 0" xyz="0.00948 0.00948 0.1468"/>
            <mass value="0.25"/>
            <inertia ixx="0.00317174097" ixy="-2.63048e-06" ixz="6.815581e-05" iyy="0.00317174092" iyz="-6.815583e-05" izz="8.319196e-05"/>
        </inertial>
    </link>
    <!-- joint base HAA -->
    <joint name="base_LH_HAA" type="fixed">
        <parent link="base"/>
        <child link="LH_HAA"/>
        <origin rpy="-2.61799387799 0 -3.14159265359" xyz="-0.2999 0.104 0.0"/>
    </joint>
    <!-- Drive link -->
    <link name="LH_HAA">
        <visual>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="../meshes/drive.dae" scale="1.0 1.0 1.0"/>
            </geometry>
        </visual>
        <inertial>
            <origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
            <mass value="2.04"/>
            <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
        </inertial>
    </link>
    <!-- joint Drive output -->
    <joint name="LH_HAA" type="revolute">
        <parent link="LH_HAA"/>
        <child link="LH_HIP"/>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <axis xyz="-1 0 0"/>
        <limit effort="80.0" velocity="20." />
        <dynamics damping="0.0" friction="0.0"/>
    </joint>
    <!-- Drive output link -->
    <link name="LH_HIP">
        <inertial>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <mass value="0.001"/>
            <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
        </inertial>
    </link>
    <!-- joint HAA hip -->
    <joint name="LH_HIP_LH_hip_fixed" type="fixed">
        <parent link="LH_HIP"/>
        <child link="LH_hip_fixed"/>
        <origin rpy="-2.61799387799 0 -3.14159265359" xyz="0 0 0"/>
    </joint>
    <!-- Hip link -->
    <link name="LH_hip_fixed">
        <visual>
            <origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
            <geometry>
                <mesh filename="../meshes/hip_r.dae" scale="1.0 1.0 1.0"/>
            </geometry>
        </visual>
        <inertial>
            <origin rpy="0 0 0" xyz="-0.048 0.008 -0.003"/>
            <mass value="0.74"/>
            <inertia ixx="0.001393106" ixy="-8.4012e-05" ixz="-2.3378e-05" iyy="0.003798579" iyz="7.1319e-05" izz="0.003897509"/>
        </inertial>
    </link>
    <!-- joint hip HFE -->
    <joint name="LH_hip_fixed_LH_HFE" type="fixed">
        <parent link="LH_hip_fixed"/>
        <child link="LH_HFE"/>
        <origin rpy="0 0 1.57079632679" xyz="-0.0599 0.08381 0.0"/>
    </joint>
    <!-- Drive link -->
    <link name="LH_HFE">
        <visual>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="../meshes/drive.dae" scale="1.0 1.0 1.0"/>
            </geometry>
        </visual>
        <inertial>
            <origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
            <mass value="2.04"/>
            <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
        </inertial>
    </link>
    <!-- joint Drive output -->
    <joint name="LH_HFE" type="revolute">
        <parent link="LH_HFE"/>
        <child link="LH_THIGH"/>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <axis xyz="1 0 0"/>
        <limit effort="80.0" velocity="20." />
        <dynamics damping="0.0" friction="0.0"/>
    </joint>
    <!-- Drive output link -->
    <link name="LH_THIGH">
        <inertial>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <mass value="0.001"/>
            <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
        </inertial>
    </link>
    <!-- joint HFE thigh -->
    <joint name="LH_THIGH_LH_thigh_fixed" type="fixed">
        <parent link="LH_THIGH"/>
        <child link="LH_thigh_fixed"/>
        <origin rpy="0 0 -1.57079632679" xyz="0 0 0"/>
    </joint>
    <!-- Thigh link -->
    <link name="LH_thigh_fixed">
        <visual>
            <origin rpy="0 0 0.0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="../meshes/thigh.dae" scale="1.0 1.0 1.0"/>
            </geometry>
        </visual>
        <inertial>
            <origin rpy="0 0 0" xyz="-0.0 0.018 -0.169"/>
            <mass value="1.03"/>
            <inertia ixx="0.018644469" ixy="-5.2e-08" ixz="-1.0157e-05" iyy="0.019312599" iyz="0.002520077" izz="0.002838361"/>
        </inertial>
    </link>
    <!-- joint thigh KFE -->
    <joint name="LH_thigh_fixed_LH_KFE" type="fixed">
        <parent link="LH_thigh_fixed"/>
        <child link="LH_KFE"/>
        <origin rpy="0 0 1.57079632679" xyz="-0.0 0.1003 -0.285"/>
    </joint>
    <!-- Drive link -->
    <link name="LH_KFE">
        <visual>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="../meshes/drive.dae" scale="1.0 1.0 1.0"/>
            </geometry>
        </visual>
        <collision>
            <origin rpy="0 1.57079632679 0" xyz="-0.07 0 0"/>
            <geometry>
                <cylinder length="0.08" radius="0.06"/>
            </geometry>
        </collision>
        <inertial>
            <origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
            <mass value="2.04"/>
            <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
        </inertial>
    </link>
    <!-- joint Drive output -->
    <joint name="LH_KFE" type="revolute">
        <parent link="LH_KFE"/>
        <child link="LH_SHANK"/>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <axis xyz="1 0 0"/>
        <limit effort="80.0" velocity="20." />
        <dynamics damping="0.0" friction="0.0"/>
    </joint>
    <!-- Drive output link -->
    <link name="LH_SHANK">
        <inertial>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <mass value="0.001"/>
            <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
        </inertial>
        <!-- Adapter collision -->
        <collision>
            <origin rpy="0 0 0" xyz="0.01 0.1 -0.2"/>
            <geometry>
                <cylinder length="0.2" radius="0.0175"/>
            </geometry>
        </collision>
    </link>
    <!-- joint KFE shank -->
    <joint name="LH_shank_LH_shank_fixed" type="fixed">
        <parent link="LH_SHANK"/>
        <child link="LH_shank_fixed"/>
        <origin rpy="0 0 -1.57079632679" xyz="0 0 0"/>
    </joint>
    <!-- Shank link -->
    <link name="LH_shank_fixed">
        <visual>
            <origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
            <geometry>
                <mesh filename="../meshes/shank_r.dae" scale="1.0 1.0 1.0"/>
            </geometry>
        </visual>
        <!-- Shank collision -->
        <inertial>
            <origin rpy="0 0 0" xyz="-0.03463 0.00688 0.00098"/>
            <mass value="0.33742"/>
            <inertia ixx="0.00032748005" ixy="-2.142561e-05" ixz="-1.33942e-05" iyy="0.00110974122" iyz="7.601e-08" izz="0.00089388521"/>
        </inertial>
    </link>
    <!-- Leg configurations: xx (knees bent inwards), xo (knees bent backwards) -->
    <!-- joint shank foot -->
    <joint name="LH_shank_fixed_LH_FOOT" type="fixed" dont_collapse="true">
        <parent link="LH_shank_fixed"/>
        <child link="LH_FOOT"/>
        <origin rpy="0 0 0" xyz="-0.08795 0.01305 -0.33797"/>
    </joint>
    <!-- Foot link -->
    <link name="LH_FOOT">
        <visual>
            <origin rpy="0 0 -2.35619449019" xyz="0 0 0"/>
            <geometry>
                <mesh filename="../meshes/foot.dae" scale="1.0 1.0 1.0"/>
            </geometry>
        </visual>
        <!-- Foot collision -->
        <collision>
            <origin xyz="0 0 0.0225"/>
            <geometry>
                <sphere radius="0.03"/>
            </geometry>
        </collision>
        <inertial>
            <origin rpy="0 0 0" xyz="-0.00948 -0.00948 0.1468"/>
            <mass value="0.25"/>
            <inertia ixx="0.00317174097" ixy="-2.63048e-06" ixz="-6.815581e-05" iyy="0.00317174092" iyz="6.815583e-05" izz="8.319196e-05"/>
        </inertial>
    </link>
    <!-- joint base HAA -->
    <joint name="base_RH_HAA" type="fixed">
        <parent link="base"/>
        <child link="RH_HAA"/>
        <origin rpy="2.61799387799 0 -3.14159265359" xyz="-0.2999 -0.104 0.0"/>
    </joint>
    <!-- Drive link -->
    <link name="RH_HAA">
        <visual>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="../meshes/drive.dae" scale="1.0 1.0 1.0"/>
            </geometry>
        </visual>
        <inertial>
            <origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
            <mass value="2.04"/>
            <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
        </inertial>
    </link>
    <!-- joint Drive output -->
    <joint name="RH_HAA" type="revolute">
        <parent link="RH_HAA"/>
        <child link="RH_HIP"/>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <axis xyz="-1 0 0"/>
        <limit effort="80.0" velocity="20." />
        <dynamics damping="0.0" friction="0.0"/>
    </joint>
    <!-- Drive output link -->
    <link name="RH_HIP">
        <inertial>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <mass value="0.001"/>
            <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
        </inertial>
    </link>
    <!-- joint HAA hip -->
    <joint name="RH_HIP_RH_hip_fixed" type="fixed">
        <parent link="RH_HIP"/>
        <child link="RH_hip_fixed"/>
        <origin rpy="2.61799387799 0 -3.14159265359" xyz="0 0 0"/>
    </joint>
    <!-- Hip link -->
    <link name="RH_hip_fixed">
        <visual>
            <origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
            <geometry>
                <mesh filename="../meshes/hip_l.dae" scale="1.0 1.0 1.0"/>
            </geometry>
        </visual>
        <inertial>
            <origin rpy="0 0 0" xyz="-0.048 -0.008 -0.003"/>
            <mass value="0.74"/>
            <inertia ixx="0.001393106" ixy="8.4012e-05" ixz="-2.3378e-05" iyy="0.003798579" iyz="-7.1319e-05" izz="0.003897509"/>
        </inertial>
    </link>
    <!-- joint hip HFE -->
    <joint name="RH_hip_fixed_RH_HFE" type="fixed">
        <parent link="RH_hip_fixed"/>
        <child link="RH_HFE"/>
        <origin rpy="0 0 -1.57079632679" xyz="-0.0599 -0.08381 0.0"/>
    </joint>
    <!-- Drive link -->
    <link name="RH_HFE">
        <visual>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="../meshes/drive.dae" scale="1.0 1.0 1.0"/>
            </geometry>
        </visual>
        <inertial>
            <origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
            <mass value="2.04"/>
            <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
        </inertial>
    </link>
    <!-- joint Drive output -->
    <joint name="RH_HFE" type="revolute">
        <parent link="RH_HFE"/>
        <child link="RH_THIGH"/>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <axis xyz="-1 0 0"/>
        <limit effort="80.0" velocity="20." />
        <dynamics damping="0.0" friction="0.0"/>
    </joint>
    <!-- Drive output link -->
    <link name="RH_THIGH">
        <inertial>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <mass value="0.001"/>
            <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
        </inertial>
    </link>
    <!-- joint HFE thigh -->
    <joint name="RH_THIGH_RH_thigh_fixed" type="fixed">
        <parent link="RH_THIGH"/>
        <child link="RH_thigh_fixed"/>
        <origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
    </joint>
    <!-- Thigh link -->
    <link name="RH_thigh_fixed">
        <visual>
            <origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
            <geometry>
                <mesh filename="../meshes/thigh.dae" scale="1.0 1.0 1.0"/>
            </geometry>
        </visual>
        <inertial>
            <origin rpy="0 0 0" xyz="-0.0 -0.018 -0.169"/>
            <mass value="1.03"/>
            <inertia ixx="0.018644469" ixy="5.2e-08" ixz="-1.0157e-05" iyy="0.019312599" iyz="-0.002520077" izz="0.002838361"/>
        </inertial>
    </link>
    <!-- joint thigh KFE -->
    <joint name="RH_thigh_fixed_RH_KFE" type="fixed">
        <parent link="RH_thigh_fixed"/>
        <child link="RH_KFE"/>
        <origin rpy="0 0 -1.57079632679" xyz="-0.0 -0.1003 -0.285"/>
    </joint>
    <!-- Drive link -->
    <link name="RH_KFE">
        <visual>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="../meshes/drive.dae" scale="1.0 1.0 1.0"/>
            </geometry>
        </visual>
        <collision>
            <origin rpy="0 1.57079632679 0" xyz="-0.07 0 0"/>
            <geometry>
                <cylinder length="0.08" radius="0.06"/>
            </geometry>
        </collision>
        <inertial>
            <origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
            <mass value="2.04"/>
            <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
        </inertial>
    </link>
    <!-- joint Drive output -->
    <joint name="RH_KFE" type="revolute">
        <parent link="RH_KFE"/>
        <child link="RH_SHANK"/>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <axis xyz="-1 0 0"/>
        <limit effort="80.0" velocity="20." />
        <dynamics damping="0.0" friction="0.0"/>
    </joint>
    <!-- Drive output link -->
    <link name="RH_SHANK">
        <inertial>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <mass value="0.001"/>
            <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
        </inertial>
        <!-- Adapter collision -->
        <collision>
            <origin rpy="0 0 0" xyz="0.01 -0.1 -0.2"/>
            <geometry>
                <cylinder length="0.2" radius="0.0175"/>
            </geometry>
        </collision>
    </link>
    <!-- joint KFE shank -->
    <joint name="RH_shank_RH_shank_fixed" type="fixed">
        <parent link="RH_SHANK"/>
        <child link="RH_shank_fixed"/>
        <origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
    </joint>
    <!-- Shank link -->
    <link name="RH_shank_fixed">
        <visual>
            <origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
            <geometry>
                <mesh filename="../meshes/shank_l.dae" scale="1.0 1.0 1.0"/>
            </geometry>
        </visual>
        <inertial>
            <origin rpy="0 0 0" xyz="-0.03463 -0.00688 0.00098"/>
            <mass value="0.33742"/>
            <inertia ixx="0.00032748005" ixy="2.142561e-05" ixz="-1.33942e-05" iyy="0.00110974122" iyz="-7.601e-08" izz="0.00089388521"/>
        </inertial>
    </link>
    <!-- Leg configurations: xx (knees bent inwards), xo (knees bent backwards) -->
    <!-- joint shank foot -->
    <joint name="RH_shank_fixed_RH_FOOT" type="fixed" dont_collapse="true">
        <parent link="RH_shank_fixed"/>
        <child link="RH_FOOT"/>
        <origin rpy="0 0 0" xyz="-0.08795 -0.01305 -0.33797"/>
    </joint>
    <!-- Foot link -->
    <link name="RH_FOOT">
        <visual>
            <origin rpy="0 0 -3.92699081699" xyz="0 0 0"/>
            <geometry>
                <mesh filename="../meshes/foot.dae" scale="1.0 1.0 1.0"/>
            </geometry>
        </visual>
        <!-- Foot collision -->
        <collision>
            <origin xyz="0 0 0.0225"/>
            <geometry>
                <sphere radius="0.03"/>
            </geometry>
        </collision>
        <inertial>
            <origin rpy="0 0 0" xyz="-0.00948 0.00948 0.1468"/>
            <mass value="0.25"/>
            <inertia ixx="0.00317174097" ixy="2.63048e-06" ixz="-6.815581e-05" iyy="0.00317174092" iyz="-6.815583e-05" izz="8.319196e-05"/>
        </inertial>
    </link>
    <!-- Fixed joint base hatch -->
    <joint name="base_hatch" type="fixed">
        <parent link="base"/>
        <child link="hatch"/>
        <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
    </joint>
    <!-- Hatch link -->
    <link name="hatch">
        <visual>
            <origin rpy="0 0 0" xyz="0.116 0 0.073"/>
            <geometry>
                <mesh filename="../meshes/hatch.dae" scale="1.0 1.0 1.0"/>
            </geometry>
        </visual>
        <inertial>
            <origin rpy="0 0 0" xyz="0.116 0.0 0.0758"/>
            <mass value="0.142"/>
            <inertia ixx="0.001" ixy="0.001" ixz="0.001" iyy="0.001" iyz="0.001" izz="0.001"/>
        </inertial>
    </link>
</robot>