<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from robot.xacro                    | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="a1_description" xmlns:xacro="http://www.ros.org/wiki/xacro">

  <mujoco>
        <compiler 
        meshdir="../meshes/" 
        balanceinertia="true" 
        discardvisual="false" />
  </mujoco>

  <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>
  <!-- <xacro:include filename="$(find aliengo_gazebo)/launch/gazebo.xacro"/> -->
  <!-- Debug mode will hung up the robot, use "true" or "false" to switch it. -->
  <!-- <xacro:if value="$(arg DEBUG)">
        <link name="world"/>
        <joint name="base_static_joint" type="fixed">
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <parent link="world"/>
            <child link="base"/>
        </joint>
    </xacro:if>  -->
<link name="world"/>
  <joint name="" type="floating">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <parent link="world"/>
    <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="0.267 0.194 0.114"/>
      </geometry>
    </collision>
 <!-- <collision>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="../meshes/trunk.stl" scale="1 1 1"/>
            </geometry>
        </collision> -->
    <inertial>
      <origin rpy="0 0 0" xyz="0.012731 0.002186 0.000515"/>
      <mass value="4.713"/>
      <inertia ixx="0.01683993" ixy="8.3902e-05" ixz="0.000597679" iyy="0.056579028" iyz="2.5134e-05" izz="0.064713601"/>
    </inertial>
  </link>
  <joint name="imu_joint" type="fixed">
    <parent link="trunk"/>
    <child link="imu_link"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
  </joint>
  <link name="imu_link">
    <inertial>
      <mass value="0.001"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.0001"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.001 0.001 0.001"/>
      </geometry>
      <material name="red"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size=".001 .001 .001"/>
      </geometry>
    </collision>
  </link>
  <joint name="FR_hip_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0.183 -0.047 0"/>
    <parent link="trunk"/>
    <child link="FR_hip"/>
    <axis xyz="1 0 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="20" lower="-0.802851455917" upper="0.802851455917" velocity="52.4"/>
  </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 -0.055 0"/>
      <geometry>
        <cylinder length="0.08" radius="0.04"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.003311 -0.000635 3.1e-05"/>
      <mass value="0.696"/>
      <inertia ixx="0.000469246" ixy="9.409e-06" ixz="-3.42e-07" iyy="0.00080749" iyz="4.66e-07" izz="0.000552929"/>
    </inertial>
  </link>
<!--  <joint name="${name}_hip_fixed" type="fixed">
    <origin rpy="0 0 0" xyz="0 ${(thigh_shoulder_length/2.0+hip_offset)*mirror} 0"/>
    <parent link="${name}_hip"/>
    <child link="${name}_thigh_shoulder"/>
  </joint> -->
  <!-- this link is only for collision -->
 <!-- <link name="${name}_thigh_shoulder">
    <collision>
      <origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="${thigh_shoulder_length}" radius="${thigh_shoulder_radius}"/>
      </geometry>
    </collision>
  </link> -->
  <joint name="FR_thigh_joint" type="continuous">
    <origin rpy="0 0 0" xyz="0 -0.08505 0"/>
    <parent link="FR_hip"/>
    <child link="FR_thigh"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="55" lower="-1.0471975512" upper="4.18879020479" velocity="28.6"/>
  </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 -0.1"/>
      <geometry>
        <box size="0.2 0.0245 0.034"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.003237 0.022327 -0.027326"/>
      <mass value="1.013"/>
      <inertia ixx="0.005529065" ixy="-4.825e-06" ixz="0.000343869" iyy="0.005139339" iyz="-2.2448e-05" izz="0.001367788"/>
    </inertial>
  </link>
  <joint name="FR_calf_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 -0.2"/>
    <parent link="FR_thigh"/>
    <child link="FR_calf"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="55" lower="-2.69653369433" upper="-0.916297857297" velocity="28.6"/>
  </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 -0.1"/>
      <geometry>
        <box size="0.2 0.016 0.016"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.006435 0.0 -0.107388"/>
      <mass value="0.166"/>
      <inertia ixx="0.002997972" ixy="0.0" ixz="-0.000141163" iyy="0.003014022" iyz="0.0" izz="3.2426e-05"/>
    </inertial>
  </link>
  <joint name="FR_foot_fixed" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 -0.2"/>
    <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>
  <transmission name="FR_hip_tran">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="FR_hip_joint">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="FR_hip_motor">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="FR_thigh_tran">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="FR_thigh_joint">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="FR_thigh_motor">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="FR_calf_tran">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="FR_calf_joint">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="FR_calf_motor">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <joint name="FL_hip_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0.183 0.047 0"/>
    <parent link="trunk"/>
    <child link="FL_hip"/>
    <axis xyz="1 0 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="20" lower="-0.802851455917" upper="0.802851455917" velocity="52.4"/>
  </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 0.055 0"/>
      <geometry>
        <cylinder length="0.08" radius="0.04"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.003311 0.000635 3.1e-05"/>
      <mass value="0.696"/>
      <inertia ixx="0.000469246" ixy="-9.409e-06" ixz="-3.42e-07" iyy="0.00080749" iyz="-4.66e-07" izz="0.000552929"/>
    </inertial>
  </link>
<!--  <joint name="${name}_hip_fixed" type="fixed">
    <origin rpy="0 0 0" xyz="0 ${(thigh_shoulder_length/2.0+hip_offset)*mirror} 0"/>
    <parent link="${name}_hip"/>
    <child link="${name}_thigh_shoulder"/>
  </joint> -->
  <!-- this link is only for collision -->
 <!-- <link name="${name}_thigh_shoulder">
    <collision>
      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="${thigh_shoulder_length}" radius="${thigh_shoulder_radius}"/>
      </geometry>
    </collision>
  </link> -->
  <joint name="FL_thigh_joint" type="continuous">
    <origin rpy="0 0 0" xyz="0 0.08505 0"/>
    <parent link="FL_hip"/>
    <child link="FL_thigh"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="55" lower="-1.0471975512" upper="4.18879020479" velocity="28.6"/>
  </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 -0.1"/>
      <geometry>
        <box size="0.2 0.0245 0.034"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.003237 -0.022327 -0.027326"/>
      <mass value="1.013"/>
      <inertia ixx="0.005529065" ixy="4.825e-06" ixz="0.000343869" iyy="0.005139339" iyz="2.2448e-05" izz="0.001367788"/>
    </inertial>
  </link>
  <joint name="FL_calf_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 -0.2"/>
    <parent link="FL_thigh"/>
    <child link="FL_calf"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="55" lower="-2.69653369433" upper="-0.916297857297" velocity="28.6"/>
  </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="black"/>
    </visual>
    <collision>
      <origin rpy="0 1.57079632679 0" xyz="0 0 -0.1"/>
      <geometry>
        <box size="0.2 0.016 0.016"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.006435 0.0 -0.107388"/>
      <mass value="0.166"/>
      <inertia ixx="0.002997972" ixy="0.0" ixz="-0.000141163" iyy="0.003014022" iyz="0.0" izz="3.2426e-05"/>
    </inertial>
  </link>
  <joint name="FL_foot_fixed" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 -0.2"/>
    <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>
  <transmission name="FL_hip_tran">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="FL_hip_joint">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="FL_hip_motor">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="FL_thigh_tran">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="FL_thigh_joint">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="FL_thigh_motor">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="FL_calf_tran">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="FL_calf_joint">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="FL_calf_motor">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <joint name="RR_hip_joint" type="revolute">
    <origin rpy="0 0 0" xyz="-0.183 -0.047 0"/>
    <parent link="trunk"/>
    <child link="RR_hip"/>
    <axis xyz="1 0 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="20" lower="-0.802851455917" upper="0.802851455917" velocity="52.4"/>
  </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 -0.055 0"/>
      <geometry>
        <cylinder length="0.08" radius="0.04"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.003311 -0.000635 3.1e-05"/>
      <mass value="0.696"/>
      <inertia ixx="0.000469246" ixy="-9.409e-06" ixz="3.42e-07" iyy="0.00080749" iyz="4.66e-07" izz="0.000552929"/>
    </inertial>
  </link>
 <!-- <joint name="${name}_hip_fixed" type="fixed">
    <origin rpy="0 0 0" xyz="0 ${(thigh_shoulder_length/2.0+hip_offset)*mirror} 0"/>
    <parent link="${name}_hip"/>
    <child link="${name}_thigh_shoulder"/>
  </joint> -->
  <!-- this link is only for collision -->
<!--  <link name="${name}_thigh_shoulder">
    <collision>
      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="${thigh_shoulder_length}" radius="${thigh_shoulder_radius}"/>
      </geometry>
    </collision>
  </link> -->
  <joint name="RR_thigh_joint" type="continuous">
    <origin rpy="0 0 0" xyz="0 -0.08505 0"/>
    <parent link="RR_hip"/>
    <child link="RR_thigh"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="55" lower="-1.0471975512" upper="4.18879020479" velocity="28.6"/>
  </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 -0.1"/>
      <geometry>
        <box size="0.2 0.0245 0.034"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.003237 0.022327 -0.027326"/>
      <mass value="1.013"/>
      <inertia ixx="0.005529065" ixy="-4.825e-06" ixz="0.000343869" iyy="0.005139339" iyz="-2.2448e-05" izz="0.001367788"/>
    </inertial>
  </link>
  <joint name="RR_calf_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 -0.2"/>
    <parent link="RR_thigh"/>
    <child link="RR_calf"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="55" lower="-2.69653369433" upper="-0.916297857297" velocity="28.6"/>
  </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 -0.1"/>
      <geometry>
        <box size="0.2 0.016 0.016"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.006435 0.0 -0.107388"/>
      <mass value="0.166"/>
      <inertia ixx="0.002997972" ixy="0.0" ixz="-0.000141163" iyy="0.003014022" iyz="0.0" izz="3.2426e-05"/>
    </inertial>
  </link>
  <joint name="RR_foot_fixed" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 -0.2"/>
    <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>
  <transmission name="RR_hip_tran">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="RR_hip_joint">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="RR_hip_motor">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="RR_thigh_tran">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="RR_thigh_joint">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="RR_thigh_motor">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="RR_calf_tran">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="RR_calf_joint">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="RR_calf_motor">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <joint name="RL_hip_joint" type="revolute">
    <origin rpy="0 0 0" xyz="-0.183 0.047 0"/>
    <parent link="trunk"/>
    <child link="RL_hip"/>
    <axis xyz="1 0 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="20" lower="-0.802851455917" upper="0.802851455917" velocity="52.4"/>
  </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 0.055 0"/>
      <geometry>
        <cylinder length="0.08" radius="0.04"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.003311 0.000635 3.1e-05"/>
      <mass value="0.696"/>
      <inertia ixx="0.000469246" ixy="9.409e-06" ixz="3.42e-07" iyy="0.00080749" iyz="-4.66e-07" izz="0.000552929"/>
    </inertial>
  </link>
 <!-- <joint name="${name}_hip_fixed" type="fixed">
    <origin rpy="0 0 0" xyz="0 ${(thigh_shoulder_length/2.0+hip_offset)*mirror} 0"/>
    <parent link="${name}_hip"/>
    <child link="${name}_thigh_shoulder"/>
  </joint> -->
  <!-- this link is only for collision -->
 <!-- <link name="${name}_thigh_shoulder">
    <collision>
      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="${thigh_shoulder_length}" radius="${thigh_shoulder_radius}"/>
      </geometry>
    </collision>
  </link> -->
  <joint name="RL_thigh_joint" type="continuous">
    <origin rpy="0 0 0" xyz="0 0.08505 0"/>
    <parent link="RL_hip"/>
    <child link="RL_thigh"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="55" lower="-1.0471975512" upper="4.18879020479" velocity="28.6"/>
  </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 -0.1"/>
      <geometry>
        <box size="0.2 0.0245 0.034"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.003237 -0.022327 -0.027326"/>
      <mass value="1.013"/>
      <inertia ixx="0.005529065" ixy="4.825e-06" ixz="0.000343869" iyy="0.005139339" iyz="2.2448e-05" izz="0.001367788"/>
    </inertial>
  </link>
  <joint name="RL_calf_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 -0.2"/>
    <parent link="RL_thigh"/>
    <child link="RL_calf"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="55" lower="-2.69653369433" upper="-0.916297857297" velocity="28.6"/>
  </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 -0.1"/>
      <geometry>
        <box size="0.2 0.016 0.016"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.006435 0.0 -0.107388"/>
      <mass value="0.166"/>
      <inertia ixx="0.002997972" ixy="0.0" ixz="-0.000141163" iyy="0.003014022" iyz="0.0" izz="3.2426e-05"/>
    </inertial>
  </link>
  <joint name="RL_foot_fixed" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 -0.2"/>
    <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>
  <transmission name="RL_hip_tran">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="RL_hip_joint">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="RL_hip_motor">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="RL_thigh_tran">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="RL_thigh_joint">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="RL_thigh_motor">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="RL_calf_tran">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="RL_calf_joint">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="RL_calf_motor">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
</robot>

