<?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!--   Copyright 2019 ANYbotics, https://www.anybotics.com                               -->
<!-- =================================================================================== -->
<!-- This file contains the description of the ANYmal B robot. -->
<robot name="anymal"
    xmlns:xacro="http://www.ros.org/wiki/xacro">  
    <!-- Material for the visual primitives -->  
    <material name="anymal_material">    
        <color rgba="0.7 0.7 0.7 1.0"/>  
    </material>  
    <!-- Base link -->  
    <link name="base">    
        <visual>      
            <origin rpy="0 0 0" xyz="0 0 0"/>      
            <geometry>        
                <mesh filename="../meshes/anymal_base.dae" scale="0.001 0.001 0.001"/>      
            </geometry>      
            <!-- <material name="anymal_material"/>     -->
        </visual>    
        <collision>      
            <!-- Main Body -->      
            <origin rpy="0 0 0" xyz="0 0 0.08"/>      
            <geometry>        
                <box size="0.531 0.27 0.24"/>      
            </geometry>    
        </collision>    
        <inertial>      
            <origin rpy="0 0 0" xyz="-0.001960558279 -0.001413217745 0.050207125344"/>      
            <mass value="16.793507758"/>      
            <inertia ixx="0.217391101503" ixy="-0.00132873239126" ixz="-0.00228200226173" iyy="0.639432546734" iyz="-0.00138078263145" izz="0.62414077654"/>    
        </inertial>  
    </link>  
    <link name="LF_HIP">    
        <visual>      
            <origin rpy="0 0 0.0" xyz="0 0 0"/>      
            <geometry>        
                <mesh filename="../meshes/anymal_hip_l.dae" scale="0.001 0.001     0.001"/>      
            </geometry>      
            <!-- <material name="anymal_material"/>     -->
        </visual> 
        <inertial>      
            <origin rpy="0 0 0" xyz="0.064516258147 -0.003787101702 -0.000152184388"/>      
            <mass value="1.42462064"/>      
            <inertia ixx="0.00243023349564" ixy="-1.53023971e-05" ixz="-2.1819095354e-05" iyy="0.00230257239103" iyz="2.6473021273e-05" izz="0.0019806759227"/>    
        </inertial>  
    </link>  
    <!-- Hip joint -->  
    <joint name="LF_HAA" type="revolute">    
        <parent link="base"/>    
        <child link="LF_HIP"/>    
        <origin xyz="0.277 0.116 0.0"/>    
        <axis xyz="1 0 0"/>    
        <limit command_effort="80" current="10" effort="80" gear_velocity="10" lower="-9.42" upper="9.42" velocity="15"/>    
        <dynamics damping="0.0" friction="0.0"/>  
    </joint>  
    <link name="LF_THIGH">    
        <visual>      
            <origin rpy="0 0 0.0" xyz="0 0 0"/>      
            <geometry>        
                <mesh filename="../meshes/anymal_thigh_l.dae" scale="0.001 0.001     0.001"/>      
            </geometry>      
            <!-- <material name="anymal_material"/>     -->
        </visual>        
        <collision>      
            <!-- KFE actuator -->      
            <origin rpy="1.57079632679 0 0" xyz="0.0 0.069 -0.25"/>      
            <geometry>        
                <cylinder length="0.12" radius="0.06"/>      
            </geometry>    
        </collision>    
        <inertial>      
            <origin rpy="0 0 0" xyz="-0.003897968082 0.054226618537 -0.214583373795"/>      
            <mass value="1.634976467"/>      
            <inertia ixx="0.0120367944369" ixy="6.762065206e-05" ixz="0.000287806340448" iyy="0.0120643637939" iyz="-0.00140610131218" izz="0.00249422574881"/>    
        </inertial>  
    </link>  
    <!-- Thigh joint -->  
    <joint name="LF_HFE" type="revolute">    
        <parent link="LF_HIP"/>    
        <child link="LF_THIGH"/>    
        <origin xyz="0.0635                    0.041                    0.0"/>    
        <axis xyz="0 1 0"/>    
        <limit command_effort="80" effort="80" lower="-9.42" upper="9.42" velocity="20"/> 
        <dynamics damping="0.0" friction="0.0"/>  
    </joint>  
    <link name="LF_SHANK">    
        <visual>      
            <origin rpy="0 0 0.0" xyz="0 0 0"/>      
            <geometry>        
                <mesh filename="../meshes/anymal_shank_l.dae" scale="0.001 0.001     0.001"/>      
            </geometry>      
            <!-- <material name="anymal_material"/>     -->
        </visual>    
        <inertial>      
            <origin rpy="0 0 0" xyz="0.030816858139 -0.004617229294 0.000893125713"/>      
            <mass value="0.207204302"/>      
            <inertia ixx="0.0002104880248" ixy="-5.6750980345e-05" ixz="1.0127699391e-05" iyy="0.000676270210023" iyz="-8.22869024e-07" izz="0.000545032674924"/>    
        </inertial>  
    </link>  
    <!-- Shank joint -->  
    <joint name="LF_KFE" type="revolute">    
        <parent link="LF_THIGH"/>    
        <child link="LF_SHANK"/>    
        <origin xyz="0.0 0.109 -0.25"/>    
        <axis xyz="0 1 0"/>    
        <limit command_effort="80" effort="80" lower="-9.42" upper="9.42" velocity="20"/> 
        <dynamics damping="0.0" friction="0.0"/>  
    </joint>  
    <!-- Shank to Adapter joint -->  
    <joint name="LF_SHANK_TO_ADAPTER" type="fixed">    
        <parent link="LF_SHANK"/>    
        <child link="LF_ADAPTER"/>    
        <origin rpy="0.0 0.0 0.0" xyz="0.1 -0.02 0.0"/>  
    </joint>  
    <!-- Adapter link -->  
    <link name="LF_ADAPTER">    
        <visual>      
            <origin rpy="0 0 0.0" xyz="0 0 0.032"/>      
            <geometry>        
                <mesh filename="../meshes/anymal_foot.dae" scale="0.001 0.001     0.001"/>      
            </geometry>      
            <!-- <material name="anymal_material"/>     -->
        </visual>    
        <collision>      
            <origin rpy="0 0 0" xyz="0 0 -0.160625"/>      
            <geometry>        
                <cylinder length="0.25" radius="0.015"/>      
            </geometry>      
            <!-- <material name="anymal_material"/>     -->
        </collision>    
        <inertial>      
            <origin rpy="0 0 0" xyz="-8.66e-10 -1.472e-09 -0.244345749188"/>      
            <mass value="0.140170767"/>      
            <inertia ixx="0.00159938741862" ixy="-9.32e-13" ixz="1.039e-11" iyy="0.00159938741932" iyz="1.7563e-11" izz="5.4423177329e-05"/>    
        </inertial>  
    </link>  
    <!-- Adapter to Foot joint -->  
    <joint name="LF_ADAPTER_TO_FOOT" type="fixed" dont_collapse="true">    
        <parent link="LF_ADAPTER"/>    
        <child link="LF_FOOT"/>    
        <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.32125"/>  
    </joint>  
    <!-- Foot link -->  
    <link name="LF_FOOT">    
        <collision>      
            <origin xyz="0 0 0.02325"/>      
            <geometry>        
                <sphere radius="0.031"/>      
            </geometry>    
        </collision> 
        <inertial>
            <origin rpy="0 0 0" xyz="0 0 0.02325"/>
            <mass value="0.05"/>
            <inertia ixx="0.001" ixy="-2.63048e-07" ixz="6.815581e-06" iyy="0.001" iyz="-6.815583e-06" izz="8.319196e-06"/>
        </inertial> 
    </link>  
    <link name="RF_HIP">    
        <visual>      
            <origin rpy="0 0 0.0" xyz="0 0 0"/>      
            <geometry>        
                <mesh filename="../meshes/anymal_hip_r.dae" scale="0.001 0.001     0.001"/>      
            </geometry>      
            <!-- <material name="anymal_material"/>     -->
        </visual>    
        <inertial>      
            <origin rpy="0 0 0" xyz="0.064516258147 0.003787101702 -0.000152184388"/>      
            <mass value="1.42462064"/>      
            <inertia ixx="0.00243023349564" ixy="1.53023971e-05" ixz="-2.1819095354e-05" iyy="0.00230257239103" iyz="-2.6473021273e-05" izz="0.0019806759227"/>    
        </inertial>  
    </link>  
    <!-- Hip joint -->  
    <joint name="RF_HAA" type="revolute">    
        <parent link="base"/>    
        <child link="RF_HIP"/>    
        <origin xyz="0.277 -0.116 0.0"/>    
        <axis xyz="1 0 0"/>    
        <limit command_effort="80" effort="80" lower="-9.42" upper="9.42" velocity="20"/>    
        <dynamics damping="0.0" friction="0.0"/>  
    </joint>  
    <link name="RF_THIGH">    
        <visual>      
            <origin rpy="0 0 0.0" xyz="0 0 0"/>      
            <geometry>        
                <mesh filename="../meshes/anymal_thigh_r.dae" scale="0.001 0.001     0.001"/>      
            </geometry>      
            <!-- <material name="anymal_material"/>     -->
        </visual>    
        <collision>      
            <!-- KFE actuator -->      
            <origin rpy="1.57079632679 0 0" xyz="0.0 -0.069 -0.25"/>      
            <geometry>        
                <cylinder length="0.12" radius="0.06"/>      
            </geometry>    
        </collision>    
        <inertial>      
            <origin rpy="0 0 0" xyz="-0.003897968082 -0.054226618537 -0.214583373795"/>      
            <mass value="1.634976467"/>      
            <inertia ixx="0.0120367944369" ixy="-6.762065206e-05" ixz="0.000287806340448" iyy="0.0120643637939" iyz="0.00140610131218" izz="0.00249422574881"/>    
        </inertial>  
    </link>  
    <!-- Thigh joint -->  
    <joint name="RF_HFE" type="revolute">    
        <parent link="RF_HIP"/>    
        <child link="RF_THIGH"/>    
        <origin xyz="0.0635                    -0.041                    0.0"/>    
        <axis xyz="0 1 0"/>    
        <limit command_effort="80" effort="80" lower="-9.42" upper="9.42" velocity="20"/> 
        <dynamics damping="0.0" friction="0.0"/>  
    </joint>  
    <link name="RF_SHANK">    
        <visual>      
            <origin rpy="0 0 0.0" xyz="0 0 0"/>      
            <geometry>        
                <mesh filename="../meshes/anymal_shank_r.dae" scale="0.001 0.001     0.001"/>      
            </geometry>      
            <!-- <material name="anymal_material"/>     -->
        </visual>       
        <inertial>      
            <origin rpy="0 0 0" xyz="0.030816858139 0.004617229294 0.000893125713"/>      
            <mass value="0.207204302"/>      
            <inertia ixx="0.0002104880248" ixy="5.6750980345e-05" ixz="1.0127699391e-05" iyy="0.000676270210023" iyz="8.22869024e-07" izz="0.000545032674924"/>    
        </inertial>  
    </link>  
    <!-- Shank joint -->  
    <joint name="RF_KFE" type="revolute">    
        <parent link="RF_THIGH"/>    
        <child link="RF_SHANK"/>    
        <origin xyz="0.0 -0.109 -0.25"/>    
        <axis xyz="0 1 0"/>    
        <limit command_effort="80" effort="80" lower="-9.42" upper="9.42" velocity="20"/> 
        <dynamics damping="0.0" friction="0.0"/>  
    </joint>  
    <!-- Shank to Adapter joint -->  
    <joint name="RF_SHANK_TO_ADAPTER" type="fixed">    
        <parent link="RF_SHANK"/>    
        <child link="RF_ADAPTER"/>    
        <origin rpy="-0.0 0.0 -0.0" xyz="0.1 0.02 0.0"/>  
    </joint>  
    <!-- Adapter link -->  
    <link name="RF_ADAPTER">    
        <visual>      
            <origin rpy="0 0 0.0" xyz="0 0 0.032"/>      
            <geometry>        
                <mesh filename="../meshes/anymal_foot.dae" scale="0.001 0.001     0.001"/>      
            </geometry>      
            <!-- <material name="anymal_material"/>     -->
        </visual>    
        <collision>      
            <origin rpy="0 0 0" xyz="0 0 -0.160625"/>      
            <geometry>        
                <cylinder length="0.25" radius="0.015"/>      
            </geometry>      
            <!-- <material name="anymal_material"/>     -->
        </collision>    
        <inertial>      
            <origin rpy="0 0 0" xyz="-8.66e-10 -1.472e-09 -0.244345749188"/>      
            <mass value="0.140170767"/>      
            <inertia ixx="0.00159938741862" ixy="-9.32e-13" ixz="1.039e-11" iyy="0.00159938741932" iyz="1.7563e-11" izz="5.4423177329e-05"/>    
        </inertial>  
    </link>  
    <!-- Adapter to Foot joint -->  
    <joint name="RF_ADAPTER_TO_FOOT" type="fixed" dont_collapse="true">    
        <parent link="RF_ADAPTER"/>    
        <child link="RF_FOOT"/>    
        <origin rpy="-0.0 0.0 -0.0" xyz="0.0 -0.0 -0.32125"/>  
    </joint>  
    <!-- Foot link -->  
    <link name="RF_FOOT">    
        <collision>      
            <origin xyz="0 0 0.02325"/>      
            <geometry>        
                <sphere radius="0.031"/>      
            </geometry>    
        </collision>
        <inertial>
            <origin rpy="0 0 0" xyz="0 0 0.02325"/>
            <mass value="0.05"/>
            <inertia ixx="0.001" ixy="-2.63048e-07" ixz="6.815581e-06" iyy="0.001" iyz="-6.815583e-06" izz="8.319196e-06"/>
        </inertial>   
    </link>  
    <link name="LH_HIP">    
        <visual>      
            <origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>      
            <geometry>        
                <mesh filename="../meshes/anymal_hip_r.dae" scale="0.001 0.001     0.001"/>      
            </geometry>      
            <!-- <material name="anymal_material"/>     -->
        </visual>    
        <inertial>      
            <origin rpy="0 0 0" xyz="-0.064516258147 -0.003787101702 -0.000152184388"/>      
            <mass value="1.42462064"/>      
            <inertia ixx="0.00243023349564" ixy="1.53023971e-05" ixz="2.1819095354e-05" iyy="0.00230257239103" iyz="2.6473021273e-05" izz="0.0019806759227"/>    
        </inertial>  
    </link>  
    <!-- Hip joint -->  
    <joint name="LH_HAA" type="revolute">    
        <parent link="base"/>    
        <child link="LH_HIP"/>    
        <origin xyz="-0.277 0.116 0.0"/>    
        <axis xyz="1 0 0"/>    
        <limit command_effort="80" current="10" effort="80" gear_velocity="10" lower="-9.42" upper="9.42" velocity="15"/>    
        <dynamics damping="0.0" friction="0.0"/>  
    </joint>  
    <link name="LH_THIGH">    
        <visual>      
            <origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>      
            <geometry>        
                <mesh filename="../meshes/anymal_thigh_r.dae" scale="0.001 0.001     0.001"/>      
            </geometry>      
            <!-- <material name="anymal_material"/>     -->
        </visual>    
        <collision>      
            <!-- KFE actuator -->      
            <origin rpy="1.57079632679 0 0" xyz="0.0 0.069 -0.25"/>      
            <geometry>        
                <cylinder length="0.12" radius="0.06"/>      
            </geometry>    
        </collision>    
        <inertial>      
            <origin rpy="0 0 0" xyz="0.003897968082 0.054226618537 -0.214583373795"/>      
            <mass value="1.634976467"/>      
            <inertia ixx="0.0120367944369" ixy="-6.762065206e-05" ixz="-0.000287806340448" iyy="0.0120643637939" iyz="-0.00140610131218" izz="0.00249422574881"/>    
        </inertial>  
    </link>  
    <!-- Thigh joint -->  
    <joint name="LH_HFE" type="revolute">    
        <parent link="LH_HIP"/>    
        <child link="LH_THIGH"/>    
        <origin xyz="-0.0635                    0.041                    0.0"/>    
        <axis xyz="0 1 0"/>    
        <limit command_effort="80" effort="80" lower="-9.42" upper="9.42" velocity="20"/> 
        <dynamics damping="0.0" friction="0.0"/>  
    </joint>  
    <link name="LH_SHANK">    
        <visual>      
            <origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>      
            <geometry>        
                <mesh filename="../meshes/anymal_shank_r.dae" scale="0.001 0.001     0.001"/>      
            </geometry>      
            <!-- <material name="anymal_material"/>     -->
        </visual>       
        <inertial>      
            <origin rpy="0 0 0" xyz="-0.030816858139 -0.004617229294 0.000893125713"/>      
            <mass value="0.207204302"/>      
            <inertia ixx="0.0002104880248" ixy="5.6750980345e-05" ixz="-1.0127699391e-05" iyy="0.000676270210023" iyz="-8.22869024e-07" izz="0.000545032674924"/>    
        </inertial>  
    </link>  
    <!-- Shank joint -->  
    <joint name="LH_KFE" type="revolute">    
        <parent link="LH_THIGH"/>    
        <child link="LH_SHANK"/>    
        <origin xyz="-0.0 0.109 -0.25"/>    
        <axis xyz="0 1 0"/>    
        <limit command_effort="80" effort="80" lower="-9.42" upper="9.42" velocity="20"/> 
        <dynamics damping="0.0" friction="0.0"/>  
    </joint>  
    <!-- Shank to Adapter joint -->  
    <joint name="LH_SHANK_TO_ADAPTER" type="fixed">    
        <parent link="LH_SHANK"/>    
        <child link="LH_ADAPTER"/>    
        <origin rpy="0.0 -0.0 -0.0" xyz="-0.1 -0.02 0.0"/>  
    </joint>  
    <!-- Adapter link -->  
    <link name="LH_ADAPTER">    
        <visual>      
            <origin rpy="0 0 -3.14159265359" xyz="0 0 0.032"/>      
            <geometry>        
                <mesh filename="../meshes/anymal_foot.dae" scale="0.001 0.001     0.001"/>      
            </geometry>      
            <!-- <material name="anymal_material"/>     -->
        </visual>    
        <collision>      
            <origin rpy="0 0 0" xyz="0 0 -0.160625"/>      
            <geometry>        
                <cylinder length="0.25" radius="0.015"/>      
            </geometry>      
            <!-- <material name="anymal_material"/>     -->
        </collision>    
        <inertial>      
            <origin rpy="0 0 0" xyz="-8.66e-10 -1.472e-09 -0.244345749188"/>      
            <mass value="0.140170767"/>      
            <inertia ixx="0.00159938741862" ixy="-9.32e-13" ixz="1.039e-11" iyy="0.00159938741932" iyz="1.7563e-11" izz="5.4423177329e-05"/>    
        </inertial>  
    </link>  
    <!-- Adapter to Foot joint -->  
    <joint name="LH_ADAPTER_TO_FOOT" type="fixed" dont_collapse="true">    
        <parent link="LH_ADAPTER"/>    
        <child link="LH_FOOT"/>    
        <origin rpy="0.0 -0.0 -0.0" xyz="-0.0 0.0 -0.32125"/>  
    </joint>  
    <!-- Foot link -->  
    <link name="LH_FOOT">    
        <collision>      
            <origin xyz="0 0 0.02325"/>      
            <geometry>        
                <sphere radius="0.031"/>      
            </geometry>    
        </collision>  
        <inertial>
            <origin rpy="0 0 0" xyz="0 0 0.02325"/>
            <mass value="0.05"/>
            <inertia ixx="0.001" ixy="-2.63048e-07" ixz="6.815581e-06" iyy="0.001" iyz="-6.815583e-06" izz="8.319196e-06"/>
        </inertial> 
    </link>  
    <link name="RH_HIP">    
        <visual>      
            <origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>      
            <geometry>        
                <mesh filename="../meshes/anymal_hip_l.dae" scale="0.001 0.001     0.001"/>      
            </geometry>      
            <!-- <material name="anymal_material"/>     -->
        </visual>    
        <inertial>      
            <origin rpy="0 0 0" xyz="-0.064516258147 0.003787101702 -0.000152184388"/>      
            <mass value="1.42462064"/>      
            <inertia ixx="0.00243023349564" ixy="-1.53023971e-05" ixz="2.1819095354e-05" iyy="0.00230257239103" iyz="-2.6473021273e-05" izz="0.0019806759227"/>    
        </inertial>  
    </link>  
    <!-- Hip joint -->  
    <joint name="RH_HAA" type="revolute">    
        <parent link="base"/>    
        <child link="RH_HIP"/>    
        <origin xyz="-0.277 -0.116 0.0"/>    
        <axis xyz="1 0 0"/>    
        <limit command_effort="80" current="10" effort="80" gear_velocity="10" lower="-9.42" upper="9.42" velocity="15"/>    
        <dynamics damping="0.0" friction="0.0"/>  
    </joint>  
    <link name="RH_THIGH">    
        <visual>      
            <origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>      
            <geometry>        
                <mesh filename="../meshes/anymal_thigh_l.dae" scale="0.001 0.001     0.001"/>      
            </geometry>      
            <!-- <material name="anymal_material"/>     -->
        </visual>    
        <collision>      
            <!-- KFE actuator -->      
            <origin rpy="1.57079632679 0 0" xyz="0.0 -0.069 -0.25"/>      
            <geometry>        
                <cylinder length="0.12" radius="0.06"/>      
            </geometry>    
        </collision>
        <inertial>      
            <origin rpy="0 0 0" xyz="0.003897968082 -0.054226618537 -0.214583373795"/>      
            <mass value="1.634976467"/>      
            <inertia ixx="0.0120367944369" ixy="6.762065206e-05" ixz="-0.000287806340448" iyy="0.0120643637939" iyz="0.00140610131218" izz="0.00249422574881"/>    
        </inertial>  
    </link>  
    <!-- Thigh joint -->  
    <joint name="RH_HFE" type="revolute">    
        <parent link="RH_HIP"/>    
        <child link="RH_THIGH"/>    
        <origin xyz="-0.0635                    -0.041                    0.0"/>    
        <axis xyz="0 1 0"/>    
        <limit command_effort="80" effort="80" lower="-9.42" upper="9.42" velocity="20"/> 
        <dynamics damping="0.0" friction="0.0"/>  
    </joint>  
    <link name="RH_SHANK">    
        <visual>      
            <origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>      
            <geometry>        
                <mesh filename="../meshes/anymal_shank_l.dae" scale="0.001 0.001     0.001"/>      
            </geometry>      
            <!-- <material name="anymal_material"/>     -->
        </visual>      
        <inertial>      
            <origin rpy="0 0 0" xyz="-0.030816858139 0.004617229294 0.000893125713"/>      
            <mass value="0.207204302"/>      
            <inertia ixx="0.0002104880248" ixy="-5.6750980345e-05" ixz="-1.0127699391e-05" iyy="0.000676270210023" iyz="8.22869024e-07" izz="0.000545032674924"/>    
        </inertial>  
    </link>  
    <!-- Shank joint -->  
    <joint name="RH_KFE" type="revolute">    
        <parent link="RH_THIGH"/>    
        <child link="RH_SHANK"/>    
        <origin xyz="-0.0 -0.109 -0.25"/>    
        <axis xyz="0 1 0"/>    
        <limit command_effort="80" effort="80" lower="-9.42" upper="9.42" velocity="20"/> 
        <dynamics damping="0.0" friction="0.0"/>  
    </joint>  
    <!-- Shank to Adapter joint -->  
    <joint name="RH_SHANK_TO_ADAPTER" type="fixed">    
        <parent link="RH_SHANK"/>    
        <child link="RH_ADAPTER"/>    
        <origin rpy="-0.0 -0.0 0.0" xyz="-0.1 0.02 0.0"/>  
    </joint>  
    <!-- Adapter link -->  
    <link name="RH_ADAPTER">    
        <visual>      
            <origin rpy="0 0 -3.14159265359" xyz="0 0 0.032"/>      
            <geometry>        
                <mesh filename="../meshes/anymal_foot.dae" scale="0.001 0.001     0.001"/>      
            </geometry>      
            <!-- <material name="anymal_material"/>     -->
        </visual>    
        <collision>      
            <origin rpy="0 0 0" xyz="0 0 -0.160625"/>      
            <geometry>        
                <cylinder length="0.25" radius="0.015"/>      
            </geometry>      
            <!-- <material name="anymal_material"/>     -->
        </collision>    
        <inertial>      
            <origin rpy="0 0 0" xyz="-8.66e-10 -1.472e-09 -0.244345749188"/>      
            <mass value="0.140170767"/>      
            <inertia ixx="0.00159938741862" ixy="-9.32e-13" ixz="1.039e-11" iyy="0.00159938741932" iyz="1.7563e-11" izz="5.4423177329e-05"/>    
        </inertial>  
    </link>  
    <!-- Adapter to Foot joint -->  
    <joint name="RH_ADAPTER_TO_FOOT" type="fixed" dont_collapse="true">    
        <parent link="RH_ADAPTER"/>    
        <child link="RH_FOOT"/>    
        <origin rpy="-0.0 -0.0 0.0" xyz="-0.0 -0.0 -0.32125"/>  
    </joint>  
    <!-- Foot link -->  
    <link name="RH_FOOT">    
        <collision>      
            <origin xyz="0 0 0.02325"/>      
            <geometry>        
                <sphere radius="0.031"/>      
            </geometry>    
        </collision>  
        <inertial>
            <origin rpy="0 0 0" xyz="0 0 0.02325"/>
            <mass value="0.05"/>
            <inertia ixx="0.001" ixy="-2.63048e-07" ixz="6.815581e-06" iyy="0.001" iyz="-6.815583e-06" izz="8.319196e-06"/>
        </inertial> 
    </link>  
</robot>

