ANYmal D

ANYbotics · licence BSD-3-Clause · source: github.com/ANYbotics/anymal_d_simple_description @ 6adc14720

What you are looking at is RobotDescription.from_urdf(original).to_urdf_string(): the reference implementation's re-serialisation of the original file, not the original file itself.

Loading the model…

drag to orbit · scroll to zoom · right-drag to pan

robot.urdf

<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (py backend), content ba79c8c80cf77c88 -->
<robot name="anymal">
  <link name="base">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://anymal_d_simple_description/meshes/base.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.016" rpy="0.0 0.0 0.0" />
      <geometry>
        <box size="0.894 0.1615 0.256" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.23529999999999995 0.08075 0.0" rpy="0.0 1.5707963267948966 0.0" />
      <geometry>
        <cylinder length="0.1482" radius="0.089" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.23529999999999995 -0.08075 0.0" rpy="0.0 1.5707963267948966 0.0" />
      <geometry>
        <cylinder length="0.1482" radius="0.089" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="-0.23529999999999995 0.08075 0.0" rpy="0.0 1.5707963267948966 0.0" />
      <geometry>
        <cylinder length="0.1482" radius="0.089" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="-0.23529999999999995 -0.08075 0.0" rpy="0.0 1.5707963267948966 0.0" />
      <geometry>
        <cylinder length="0.1482" radius="0.089" />
      </geometry>
    </collision>
  </link>
  <joint name="base_to_base_inertia" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="base" />
    <child link="base_inertia" />
  </joint>
  <link name="base_inertia">
    <inertial>
      <origin xyz="-0.02148 0.00173 -0.04417" rpy="0.0 0.0 0.0" />
      <mass value="8.27629" />
      <inertia ixx="0.06185585085" ixy="0.00052357046" ixz="-0.02204886469" iyy="0.46467853407" iyz="0.00058724812" izz="0.47162119244" />
    </inertial>
  </link>
  <joint name="base_to_body_top" type="fixed">
    <origin xyz="0.0 0.0 0.144" rpy="0.0 0.0 0.0" />
    <parent link="base" />
    <child link="body_top" />
  </joint>
  <link name="body_top" />
  <joint name="base_top_shell" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="base" />
    <child link="top_shell" />
  </joint>
  <link name="top_shell">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://anymal_d_simple_description/meshes/top_shell.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="-0.0226 -0.00027 0.07263" rpy="0.0 0.0 0.0" />
      <mass value="0.32381" />
      <inertia ixx="0.00391191516" ixy="-1.078994e-05" ixz="-0.00048832706" iyy="0.01761096758" iyz="4.45768e-06" izz="0.02086102766" />
    </inertial>
  </link>
  <joint name="base_bottom_shell" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="base" />
    <child link="bottom_shell" />
  </joint>
  <link name="bottom_shell">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://anymal_d_simple_description/meshes/bottom_shell.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="9e-05 0.0 -0.0705" rpy="0.0 0.0 0.0" />
      <mass value="0.73783" />
      <inertia ixx="0.00724251946" ixy="8.94306e-06" ixz="7.96806e-05" iyy="0.03457730959" iyz="4.87e-09" izz="0.04075819312" />
    </inertial>
  </link>
  <joint name="base_face_front" type="fixed">
    <origin xyz="0.4087 0.0 0.0205" rpy="0.0 0.0 -0.0" />
    <parent link="base" />
    <child link="face_front" />
  </joint>
  <link name="face_front">
    <inertial>
      <origin xyz="-0.0362 0.00223 -0.02808" rpy="0.0 0.0 0.0" />
      <mass value="0.48634" />
      <inertia ixx="0.00077413444" ixy="1.55433e-06" ixz="6.243539e-05" iyy="0.00076586537" iyz="4.61106e-06" izz="0.00055588292" />
    </inertial>
  </link>
  <joint name="face_front_to_depth_camera_front_lower_camera" type="fixed">
    <origin xyz="-0.04028 -0.025 -0.08051" rpy="0.0 1.0471975511965976 0.0" />
    <parent link="face_front" />
    <child link="depth_camera_front_lower_camera" />
  </joint>
  <link name="depth_camera_front_lower_camera">
    <inertial>
      <origin xyz="-0.00362 -0.01787 -0.00011" rpy="0.0 0.0 0.0" />
      <mass value="0.06355" />
      <inertia ixx="6.841545e-05" ixy="1.46667e-06" ixz="4.115e-08" iyy="5.2817e-06" iyz="8.039e-08" izz="6.669787e-05" />
    </inertial>
  </link>
  <joint name="depth_camera_front_lower_camera_to_camera_parent" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="3.141592653589793 0.0 0.0" />
    <parent link="depth_camera_front_lower_camera" />
    <child link="depth_camera_front_lower_camera_parent" />
  </joint>
  <link name="depth_camera_front_lower_camera_parent" />
  <joint name="depth_camera_front_lower_camera_parent_to_depth_frame" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="depth_camera_front_lower_camera_parent" />
    <child link="depth_camera_front_lower_depth_frame" />
  </joint>
  <link name="depth_camera_front_lower_depth_frame" />
  <joint name="depth_camera_front_lower_camera_depth_to_depth_optical_frame" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="-1.5707963267948966 0.0 -1.5707963267948966" />
    <parent link="depth_camera_front_lower_depth_frame" />
    <child link="depth_camera_front_lower_depth_optical_frame" />
  </joint>
  <link name="depth_camera_front_lower_depth_optical_frame" />
  <joint name="face_front_to_depth_camera_front_upper_camera" type="fixed">
    <origin xyz="-0.00993 -0.025 -0.04096" rpy="0.0 0.2617993877991494 0.0" />
    <parent link="face_front" />
    <child link="depth_camera_front_upper_camera" />
  </joint>
  <link name="depth_camera_front_upper_camera">
    <inertial>
      <origin xyz="-0.00362 -0.01787 -0.00011" rpy="0.0 0.0 0.0" />
      <mass value="0.06355" />
      <inertia ixx="6.841545e-05" ixy="1.46667e-06" ixz="4.115e-08" iyy="5.2817e-06" iyz="8.039e-08" izz="6.669787e-05" />
    </inertial>
  </link>
  <joint name="depth_camera_front_upper_camera_to_camera_parent" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="3.141592653589793 0.0 0.0" />
    <parent link="depth_camera_front_upper_camera" />
    <child link="depth_camera_front_upper_camera_parent" />
  </joint>
  <link name="depth_camera_front_upper_camera_parent" />
  <joint name="depth_camera_front_upper_camera_parent_to_depth_frame" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="depth_camera_front_upper_camera_parent" />
    <child link="depth_camera_front_upper_depth_frame" />
  </joint>
  <link name="depth_camera_front_upper_depth_frame" />
  <joint name="depth_camera_front_upper_camera_depth_to_depth_optical_frame" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="-1.5707963267948966 0.0 -1.5707963267948966" />
    <parent link="depth_camera_front_upper_depth_frame" />
    <child link="depth_camera_front_upper_depth_optical_frame" />
  </joint>
  <link name="depth_camera_front_upper_depth_optical_frame" />
  <joint name="face_front_to_wide_angle_camera_front_camera" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="face_front" />
    <child link="wide_angle_camera_front_camera" />
  </joint>
  <link name="wide_angle_camera_front_camera" />
  <joint name="wide_angle_camera_front_camera_to_camera_parent" type="fixed">
    <origin xyz="-0.00421 0.0 0.0" rpy="-1.5707963267948966 0.0 -1.5707963267948966" />
    <parent link="wide_angle_camera_front_camera" />
    <child link="wide_angle_camera_front_camera_parent" />
  </joint>
  <link name="wide_angle_camera_front_camera_parent" />
  <joint name="base_face_rear" type="fixed">
    <origin xyz="-0.4087 0.0 0.0205" rpy="0.0 0.0 3.141592653589793" />
    <parent link="base" />
    <child link="face_rear" />
  </joint>
  <link name="face_rear">
    <inertial>
      <origin xyz="-0.0362 0.00223 -0.02808" rpy="0.0 0.0 0.0" />
      <mass value="0.48634" />
      <inertia ixx="0.00077413444" ixy="1.55433e-06" ixz="6.243539e-05" iyy="0.00076586537" iyz="4.61106e-06" izz="0.00055588292" />
    </inertial>
  </link>
  <joint name="face_rear_to_depth_camera_rear_lower_camera" type="fixed">
    <origin xyz="-0.04028 -0.025 -0.08051" rpy="0.0 1.0471975511965976 0.0" />
    <parent link="face_rear" />
    <child link="depth_camera_rear_lower_camera" />
  </joint>
  <link name="depth_camera_rear_lower_camera">
    <inertial>
      <origin xyz="-0.00362 -0.01787 -0.00011" rpy="0.0 0.0 0.0" />
      <mass value="0.06355" />
      <inertia ixx="6.841545e-05" ixy="1.46667e-06" ixz="4.115e-08" iyy="5.2817e-06" iyz="8.039e-08" izz="6.669787e-05" />
    </inertial>
  </link>
  <joint name="depth_camera_rear_lower_camera_to_camera_parent" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="3.141592653589793 0.0 0.0" />
    <parent link="depth_camera_rear_lower_camera" />
    <child link="depth_camera_rear_lower_camera_parent" />
  </joint>
  <link name="depth_camera_rear_lower_camera_parent" />
  <joint name="depth_camera_rear_lower_camera_parent_to_depth_frame" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="depth_camera_rear_lower_camera_parent" />
    <child link="depth_camera_rear_lower_depth_frame" />
  </joint>
  <link name="depth_camera_rear_lower_depth_frame" />
  <joint name="depth_camera_rear_lower_camera_depth_to_depth_optical_frame" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="-1.5707963267948966 0.0 -1.5707963267948966" />
    <parent link="depth_camera_rear_lower_depth_frame" />
    <child link="depth_camera_rear_lower_depth_optical_frame" />
  </joint>
  <link name="depth_camera_rear_lower_depth_optical_frame" />
  <joint name="face_rear_to_depth_camera_rear_upper_camera" type="fixed">
    <origin xyz="-0.00993 -0.025 -0.04096" rpy="0.0 0.2617993877991494 0.0" />
    <parent link="face_rear" />
    <child link="depth_camera_rear_upper_camera" />
  </joint>
  <link name="depth_camera_rear_upper_camera">
    <inertial>
      <origin xyz="-0.00362 -0.01787 -0.00011" rpy="0.0 0.0 0.0" />
      <mass value="0.06355" />
      <inertia ixx="6.841545e-05" ixy="1.46667e-06" ixz="4.115e-08" iyy="5.2817e-06" iyz="8.039e-08" izz="6.669787e-05" />
    </inertial>
  </link>
  <joint name="depth_camera_rear_upper_camera_to_camera_parent" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="3.141592653589793 0.0 0.0" />
    <parent link="depth_camera_rear_upper_camera" />
    <child link="depth_camera_rear_upper_camera_parent" />
  </joint>
  <link name="depth_camera_rear_upper_camera_parent" />
  <joint name="depth_camera_rear_upper_camera_parent_to_depth_frame" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="depth_camera_rear_upper_camera_parent" />
    <child link="depth_camera_rear_upper_depth_frame" />
  </joint>
  <link name="depth_camera_rear_upper_depth_frame" />
  <joint name="depth_camera_rear_upper_camera_depth_to_depth_optical_frame" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="-1.5707963267948966 0.0 -1.5707963267948966" />
    <parent link="depth_camera_rear_upper_depth_frame" />
    <child link="depth_camera_rear_upper_depth_optical_frame" />
  </joint>
  <link name="depth_camera_rear_upper_depth_optical_frame" />
  <joint name="face_rear_to_wide_angle_camera_rear_camera" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="face_rear" />
    <child link="wide_angle_camera_rear_camera" />
  </joint>
  <link name="wide_angle_camera_rear_camera" />
  <joint name="wide_angle_camera_rear_camera_to_camera_parent" type="fixed">
    <origin xyz="-0.00421 0.0 0.0" rpy="-1.5707963267948966 0.0 -1.5707963267948966" />
    <parent link="wide_angle_camera_rear_camera" />
    <child link="wide_angle_camera_rear_camera_parent" />
  </joint>
  <link name="wide_angle_camera_rear_camera_parent" />
  <joint name="base_face_shell_front" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="face_front" />
    <child link="face_shell_front" />
  </joint>
  <link name="face_shell_front">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://anymal_d_simple_description/meshes/face_shell.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="0.01446 4e-05 -0.01698" rpy="0.0 0.0 0.0" />
      <mass value="0.1369" />
      <inertia ixx="0.00102140404" ixy="9.54e-09" ixz="4.343039e-05" iyy="0.00051576362" iyz="2.7592e-07" izz="0.00057208503" />
    </inertial>
  </link>
  <joint name="base_face_shell_rear" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="face_rear" />
    <child link="face_shell_rear" />
  </joint>
  <link name="face_shell_rear">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://anymal_d_simple_description/meshes/face_shell.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="0.01446 4e-05 -0.01698" rpy="0.0 0.0 0.0" />
      <mass value="0.1369" />
      <inertia ixx="0.00102140404" ixy="9.54e-09" ixz="4.343039e-05" iyy="0.00051576362" iyz="2.7592e-07" izz="0.00057208503" />
    </inertial>
  </link>
  <joint name="base_battery" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="base" />
    <child link="battery" />
  </joint>
  <link name="battery">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://anymal_d_simple_description/meshes/battery.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="-0.00067 0.00023 -0.02212" rpy="0.0 0.0 0.0" />
      <mass value="5.51206" />
      <inertia ixx="0.00745533705" ixy="-0.00016412238" ixz="7.454512e-05" iyy="0.07199300212" iyz="-1.31605e-06" izz="0.07459357231" />
    </inertial>
  </link>
  <joint name="base_to_docking_socket" type="fixed">
    <origin xyz="0.26132 0.0 -0.06205" rpy="0.0 0.0 0.0" />
    <parent link="base" />
    <child link="docking_socket" />
  </joint>
  <link name="docking_socket">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://anymal_d_simple_description/meshes/docking_socket.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="0.00606 0.0 0.01903" rpy="0.0 0.0 0.0" />
      <mass value="0.21905" />
      <inertia ixx="0.00010664534" ixy="5.383e-08" ixz="4.91832e-06" iyy="0.00015585103" iyz="1.7942e-07" izz="0.00021982177" />
    </inertial>
  </link>
  <joint name="base_hbc_receiver" type="fixed">
    <origin xyz="-0.0435 0.0 0.144" rpy="0.0 0.0 0.0" />
    <parent link="base" />
    <child link="hbc_receiver" />
  </joint>
  <link name="hbc_receiver">
    <inertial>
      <origin xyz="-0.00144 -0.00075 -0.01143" rpy="0.0 0.0 0.0" />
      <mass value="0.60727" />
      <inertia ixx="0.00172041475" ixy="2.466045e-05" ixz="1.95244e-06" iyy="0.00100683572" iyz="3.598867e-05" izz="0.00217149159" />
    </inertial>
  </link>
  <link name="imu_link" />
  <joint name="imu_joint" type="fixed">
    <origin xyz="-0.25565 0.00255 0.07672" rpy="3.141592653589793 0.0 3.141592653589793" />
    <parent link="base" />
    <child link="imu_link" />
  </joint>
  <joint name="base_to_depth_camera_left_camera" type="fixed">
    <origin xyz="-0.025 0.0923 0.0123" rpy="0.0 0.7330382858376184 1.5707963267948966" />
    <parent link="base" />
    <child link="depth_camera_left_camera" />
  </joint>
  <link name="depth_camera_left_camera">
    <inertial>
      <origin xyz="-0.01352 -0.02667 -0.00198" rpy="0.0 0.0 0.0" />
      <mass value="0.11196" />
      <inertia ixx="0.00011356938" ixy="3.5285e-06" ixz="4.9332e-07" iyy="2.382311e-05" iyz="3.3737e-07" izz="0.00012178739" />
    </inertial>
  </link>
  <joint name="depth_camera_left_camera_to_camera_parent" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="depth_camera_left_camera" />
    <child link="depth_camera_left_camera_parent" />
  </joint>
  <link name="depth_camera_left_camera_parent" />
  <joint name="depth_camera_left_camera_parent_to_depth_frame" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="depth_camera_left_camera_parent" />
    <child link="depth_camera_left_depth_frame" />
  </joint>
  <link name="depth_camera_left_depth_frame" />
  <joint name="depth_camera_left_camera_depth_to_depth_optical_frame" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="-1.5707963267948966 0.0 -1.5707963267948966" />
    <parent link="depth_camera_left_depth_frame" />
    <child link="depth_camera_left_depth_optical_frame" />
  </joint>
  <link name="depth_camera_left_depth_optical_frame" />
  <joint name="base_to_depth_camera_right_camera" type="fixed">
    <origin xyz="0.025 -0.0923 0.0123" rpy="0.0 0.7330382858376184 -1.5707963267948966" />
    <parent link="base" />
    <child link="depth_camera_right_camera" />
  </joint>
  <link name="depth_camera_right_camera">
    <inertial>
      <origin xyz="-0.01352 -0.02667 -0.00198" rpy="0.0 0.0 0.0" />
      <mass value="0.11196" />
      <inertia ixx="0.00011356938" ixy="3.5285e-06" ixz="4.9332e-07" iyy="2.382311e-05" iyz="3.3737e-07" izz="0.00012178739" />
    </inertial>
  </link>
  <joint name="depth_camera_right_camera_to_camera_parent" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="depth_camera_right_camera" />
    <child link="depth_camera_right_camera_parent" />
  </joint>
  <link name="depth_camera_right_camera_parent" />
  <joint name="depth_camera_right_camera_parent_to_depth_frame" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="depth_camera_right_camera_parent" />
    <child link="depth_camera_right_depth_frame" />
  </joint>
  <link name="depth_camera_right_depth_frame" />
  <joint name="depth_camera_right_camera_depth_to_depth_optical_frame" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="-1.5707963267948966 0.0 -1.5707963267948966" />
    <parent link="depth_camera_right_depth_frame" />
    <child link="depth_camera_right_depth_optical_frame" />
  </joint>
  <link name="depth_camera_right_depth_optical_frame" />
  <joint name="base_to_lidar_parent" type="fixed">
    <origin xyz="-0.31 0.0 0.1585" rpy="0.0 0.0 1.5707963267948966" />
    <parent link="base" />
    <child link="lidar_parent" />
  </joint>
  <joint name="lidar_parent_to_lidar" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 1.5707963267948966" />
    <parent link="lidar_parent" />
    <child link="lidar" />
  </joint>
  <link name="lidar_parent" />
  <link name="lidar">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://anymal_d_simple_description/meshes/lidar.dae" />
      </geometry>
    </visual>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://anymal_d_simple_description/meshes/lidar_guard.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <cylinder length="0.1355" radius="0.07" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.00371 -0.00326 -0.00485" rpy="0.0 0.0 0.0" />
      <mass value="0.9017" />
      <inertia ixx="0.00111563406" ixy="0.00012074344" ixz="0.00011445184" iyy="0.00114682455" iyz="0.00010431906" izz="0.00132807373" />
    </inertial>
  </link>
  <joint name="base_LF_HAA_drive" type="fixed">
    <origin xyz="0.304 0.109 0.0" rpy="0.0 0.0 0.0" />
    <parent link="base" />
    <child link="LF_HAA_drive" />
  </joint>
  <link name="LF_HAA_drive">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://anymal_d_simple_description/meshes/drive.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="-0.05783 -0.00014 0.00036" rpy="0.0 0.0 0.0" />
      <mass value="2.01511" />
      <inertia ixx="0.0033251482" ixy="2.567315e-05" ixz="2.599963e-05" iyy="0.00318377804" iyz="9.462185e-05" izz="0.00355095312" />
    </inertial>
  </link>
  <joint name="LF_HAA" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="LF_HAA_drive" />
    <child link="LF_HIP" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="80.0" velocity="8.5" lower="-0.7853985" upper="0.6108655" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="LF_HIP">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.001" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <joint name="LF_HIP_LF_hip_fixed" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="LF_HIP" />
    <child link="LF_hip_fixed" />
  </joint>
  <link name="LF_hip_fixed">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://anymal_d_simple_description/meshes/hip.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="0.03505 -0.00125 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.36386" />
      <inertia ixx="0.00023646957" ixy="3.45771e-06" ixz="1.268e-08" iyy="0.00055386457" iyz="1.811e-08" izz="0.00043888609" />
    </inertial>
  </link>
  <joint name="LF_hip_fixed_LF_HFE_output" type="fixed">
    <origin xyz="0.069 0.006 0.0" rpy="0.0 0.0 -1.5707963267948966" />
    <parent link="LF_hip_fixed" />
    <child link="LF_HFE_output" />
  </joint>
  <link name="LF_HFE_output">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.001" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <link name="LF_HFE_drive">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://anymal_d_simple_description/meshes/drive.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="-0.0595 0.0 0.0" rpy="0.0 1.5707963267948966 0.0" />
      <geometry>
        <cylinder length="0.119" radius="0.05375" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.05783 -0.00014 0.00036" rpy="0.0 0.0 0.0" />
      <mass value="2.01511" />
      <inertia ixx="0.0033251482" ixy="2.567315e-05" ixz="2.599963e-05" iyy="0.00318377804" iyz="9.462185e-05" izz="0.00355095312" />
    </inertial>
  </link>
  <joint name="LF_HFE" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="LF_HFE_output" />
    <child link="LF_THIGH" />
    <axis xyz="-1.0 0.0 0.0" />
    <limit effort="80.0" velocity="8.5" lower="-9.42477796076938" upper="9.42477796076938" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="LF_THIGH">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.001" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <joint name="LF_THIGH_to_LF_HFE_drive" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="LF_THIGH" />
    <child link="LF_HFE_drive" />
  </joint>
  <joint name="LF_HFE_drive_LF_thigh_fixed" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 1.5707963267948966" />
    <parent link="LF_HFE_drive" />
    <child link="LF_thigh_fixed" />
  </joint>
  <link name="LF_thigh_fixed">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://anymal_d_simple_description/meshes/thigh.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.10519500000000001 0.0" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <cylinder length="0.08313000000000001" radius="0.07" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.0 0.09513 -0.1425" rpy="0.0 0.0 0.0" />
      <geometry>
        <box size="0.093 0.063 0.285" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.0 0.08506500000000002 -0.285" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <cylinder length="0.08313000000000001" radius="0.07" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.00041 0.09155 -0.13317" rpy="0.0 0.0 0.0" />
      <mass value="1.10098" />
      <inertia ixx="0.01541669135" ixy="0.00021116021" ixz="0.00031942961" iyy="0.01630081575" iyz="0.00143783119" izz="0.00258410631" />
    </inertial>
  </link>
  <joint name="LF_thigh_fixed_LF_KFE_drive" type="fixed">
    <origin xyz="0.0 0.1805 -0.285" rpy="0.0 0.0 1.5707963267948966" />
    <parent link="LF_thigh_fixed" />
    <child link="LF_KFE_drive" />
  </joint>
  <link name="LF_KFE_drive">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://anymal_d_simple_description/meshes/drive.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="-0.0595 0.0 0.0" rpy="0.0 1.5707963267948966 0.0" />
      <geometry>
        <cylinder length="0.119" radius="0.05375" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.05783 -0.00014 0.00036" rpy="0.0 0.0 0.0" />
      <mass value="2.01511" />
      <inertia ixx="0.0033251482" ixy="2.567315e-05" ixz="2.599963e-05" iyy="0.00318377804" iyz="9.462185e-05" izz="0.00355095312" />
    </inertial>
  </link>
  <joint name="LF_KFE" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="LF_KFE_drive" />
    <child link="LF_SHANK" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="80.0" velocity="8.5" lower="-9.42477796076938" upper="9.42477796076938" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="LF_SHANK">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.001" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <joint name="LF_shank_LF_shank_fixed" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 -1.5707963267948966" />
    <parent link="LF_SHANK" />
    <child link="LF_shank_fixed" />
  </joint>
  <link name="LF_shank_fixed">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://anymal_d_simple_description/meshes/shank_l.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <cylinder length="0.05732" radius="0.071" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.066415 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <box size="0.13283 0.08302 0.05732" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.02186 0.00895 0.00042" rpy="0.0 0.0 0.0" />
      <mass value="0.49854" />
      <inertia ixx="0.00054939614" ixy="2.147115e-05" ixz="1.687902e-05" iyy="0.00166971314" iyz="1.71584e-06" izz="0.00127258622" />
    </inertial>
  </link>
  <joint name="LF_shank_fixed_LF_FOOT" type="fixed">
    <origin xyz="0.1 0.02225 -0.39246" rpy="0.0 0.0 0.0" />
    <parent link="LF_shank_fixed" />
    <child link="LF_FOOT" />
  </joint>
  <link name="LF_FOOT">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://anymal_d_simple_description/meshes/foot.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 -0.016891153063699788 0.22824319686592265" rpy="0.0 0.0 0.0" />
      <geometry>
        <cylinder length="0.39572" radius="0.0175" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.0 -0.008141153063699788 0.03038319686592264" rpy="0.0 0.0 0.0" />
      <geometry>
        <sphere radius="0.031455" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 -0.01559 0.15004" rpy="0.0 0.0 0.0" />
      <mass value="0.29644" />
      <inertia ixx="0.00514263169" ixy="1.46e-09" ixz="6.85e-09" iyy="0.0051315957" iyz="0.00016323086" izz="0.00011890148" />
    </inertial>
  </link>
  <joint name="base_RF_HAA_drive" type="fixed">
    <origin xyz="0.304 -0.109 0.0" rpy="0.0 0.0 0.0" />
    <parent link="base" />
    <child link="RF_HAA_drive" />
  </joint>
  <link name="RF_HAA_drive">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://anymal_d_simple_description/meshes/drive.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="-0.05783 -0.00014 0.00036" rpy="0.0 0.0 0.0" />
      <mass value="2.01511" />
      <inertia ixx="0.0033251482" ixy="2.567315e-05" ixz="2.599963e-05" iyy="0.00318377804" iyz="9.462185e-05" izz="0.00355095312" />
    </inertial>
  </link>
  <joint name="RF_HAA" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="RF_HAA_drive" />
    <child link="RF_HIP" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="80.0" velocity="8.5" lower="-0.6108655" upper="0.7853985" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="RF_HIP">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.001" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <joint name="RF_HIP_RF_hip_fixed" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="RF_HIP" />
    <child link="RF_hip_fixed" />
  </joint>
  <link name="RF_hip_fixed">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="-3.141592653589793 0.0 0.0" />
      <geometry>
        <mesh filename="package://anymal_d_simple_description/meshes/hip.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="0.03505 0.00125 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.36386" />
      <inertia ixx="0.00023646957" ixy="-3.45771e-06" ixz="1.268e-08" iyy="0.00055386457" iyz="-1.811e-08" izz="0.00043888609" />
    </inertial>
  </link>
  <joint name="RF_hip_fixed_RF_HFE_output" type="fixed">
    <origin xyz="0.069 -0.006 0.0" rpy="0.0 0.0 1.5707963267948966" />
    <parent link="RF_hip_fixed" />
    <child link="RF_HFE_output" />
  </joint>
  <link name="RF_HFE_output">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.001" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <link name="RF_HFE_drive">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://anymal_d_simple_description/meshes/drive.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="-0.0595 0.0 0.0" rpy="0.0 1.5707963267948966 0.0" />
      <geometry>
        <cylinder length="0.119" radius="0.05375" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.05783 -0.00014 0.00036" rpy="0.0 0.0 0.0" />
      <mass value="2.01511" />
      <inertia ixx="0.0033251482" ixy="2.567315e-05" ixz="2.599963e-05" iyy="0.00318377804" iyz="9.462185e-05" izz="0.00355095312" />
    </inertial>
  </link>
  <joint name="RF_HFE" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="RF_HFE_output" />
    <child link="RF_THIGH" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="80.0" velocity="8.5" lower="-9.42477796076938" upper="9.42477796076938" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="RF_THIGH">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.001" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <joint name="RF_THIGH_to_RF_HFE_drive" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="RF_THIGH" />
    <child link="RF_HFE_drive" />
  </joint>
  <joint name="RF_HFE_drive_RF_thigh_fixed" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 -1.5707963267948966" />
    <parent link="RF_HFE_drive" />
    <child link="RF_thigh_fixed" />
  </joint>
  <link name="RF_thigh_fixed">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 -3.141592653589793" />
      <geometry>
        <mesh filename="package://anymal_d_simple_description/meshes/thigh.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 -0.10519500000000001 0.0" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <cylinder length="0.08313000000000001" radius="0.07" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.0 -0.09513 -0.1425" rpy="0.0 0.0 0.0" />
      <geometry>
        <box size="0.093 0.063 0.285" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.0 -0.08506500000000002 -0.285" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <cylinder length="0.08313000000000001" radius="0.07" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.00041 -0.09155 -0.13317" rpy="0.0 0.0 0.0" />
      <mass value="1.10098" />
      <inertia ixx="0.01541669135" ixy="-0.00021116021" ixz="0.00031942961" iyy="0.01630081575" iyz="-0.00143783119" izz="0.00258410631" />
    </inertial>
  </link>
  <joint name="RF_thigh_fixed_RF_KFE_drive" type="fixed">
    <origin xyz="0.0 -0.1805 -0.285" rpy="0.0 0.0 -1.5707963267948966" />
    <parent link="RF_thigh_fixed" />
    <child link="RF_KFE_drive" />
  </joint>
  <link name="RF_KFE_drive">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://anymal_d_simple_description/meshes/drive.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="-0.0595 0.0 0.0" rpy="0.0 1.5707963267948966 0.0" />
      <geometry>
        <cylinder length="0.119" radius="0.05375" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.05783 -0.00014 0.00036" rpy="0.0 0.0 0.0" />
      <mass value="2.01511" />
      <inertia ixx="0.0033251482" ixy="2.567315e-05" ixz="2.599963e-05" iyy="0.00318377804" iyz="9.462185e-05" izz="0.00355095312" />
    </inertial>
  </link>
  <joint name="RF_KFE" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="RF_KFE_drive" />
    <child link="RF_SHANK" />
    <axis xyz="-1.0 0.0 0.0" />
    <limit effort="80.0" velocity="8.5" lower="-9.42477796076938" upper="9.42477796076938" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="RF_SHANK">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.001" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <joint name="RF_shank_RF_shank_fixed" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 1.5707963267948966" />
    <parent link="RF_SHANK" />
    <child link="RF_shank_fixed" />
  </joint>
  <link name="RF_shank_fixed">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://anymal_d_simple_description/meshes/shank_r.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <cylinder length="0.05732" radius="0.071" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.066415 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <box size="0.13283 0.08302 0.05732" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.02186 -0.00895 0.00042" rpy="0.0 0.0 0.0" />
      <mass value="0.49854" />
      <inertia ixx="0.00054939614" ixy="-2.147115e-05" ixz="1.687902e-05" iyy="0.00166971314" iyz="-1.71584e-06" izz="0.00127258622" />
    </inertial>
  </link>
  <joint name="RF_shank_fixed_RF_FOOT" type="fixed">
    <origin xyz="0.1 -0.02225 -0.39246" rpy="0.0 0.0 0.0" />
    <parent link="RF_shank_fixed" />
    <child link="RF_FOOT" />
  </joint>
  <link name="RF_FOOT">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 -3.141592653589793" />
      <geometry>
        <mesh filename="package://anymal_d_simple_description/meshes/foot.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.016891153063699788 0.22824319686592265" rpy="0.0 0.0 0.0" />
      <geometry>
        <cylinder length="0.39572" radius="0.0175" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.0 0.008141153063699788 0.03038319686592264" rpy="0.0 0.0 0.0" />
      <geometry>
        <sphere radius="0.031455" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.01559 0.15004" rpy="0.0 0.0 0.0" />
      <mass value="0.29644" />
      <inertia ixx="0.00514263169" ixy="-1.46e-09" ixz="6.85e-09" iyy="0.0051315957" iyz="-0.00016323086" izz="0.00011890148" />
    </inertial>
  </link>
  <joint name="base_LH_HAA_drive" type="fixed">
    <origin xyz="-0.304 0.109 0.0" rpy="0.0 0.0 -3.141592653589793" />
    <parent link="base" />
    <child link="LH_HAA_drive" />
  </joint>
  <link name="LH_HAA_drive">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://anymal_d_simple_description/meshes/drive.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="-0.05783 -0.00014 0.00036" rpy="0.0 0.0 0.0" />
      <mass value="2.01511" />
      <inertia ixx="0.0033251482" ixy="2.567315e-05" ixz="2.599963e-05" iyy="0.00318377804" iyz="9.462185e-05" izz="0.00355095312" />
    </inertial>
  </link>
  <joint name="LH_HAA" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="LH_HAA_drive" />
    <child link="LH_HIP" />
    <axis xyz="-1.0 0.0 0.0" />
    <limit effort="80.0" velocity="8.5" lower="-0.7853985" upper="0.6108655" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="LH_HIP">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.001" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <joint name="LH_HIP_LH_hip_fixed" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 -3.141592653589793" />
    <parent link="LH_HIP" />
    <child link="LH_hip_fixed" />
  </joint>
  <link name="LH_hip_fixed">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="-3.141592653589793 0.0 -3.141592653589793" />
      <geometry>
        <mesh filename="package://anymal_d_simple_description/meshes/hip.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="-0.03505 -0.00125 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.36386" />
      <inertia ixx="0.00023646957" ixy="-3.45771e-06" ixz="-1.268e-08" iyy="0.00055386457" iyz="1.811e-08" izz="0.00043888609" />
    </inertial>
  </link>
  <joint name="LH_hip_fixed_LH_HFE_output" type="fixed">
    <origin xyz="-0.069 0.006 0.0" rpy="0.0 0.0 -1.5707963267948966" />
    <parent link="LH_hip_fixed" />
    <child link="LH_HFE_output" />
  </joint>
  <link name="LH_HFE_output">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.001" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <link name="LH_HFE_drive">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://anymal_d_simple_description/meshes/drive.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="-0.0595 0.0 0.0" rpy="0.0 1.5707963267948966 0.0" />
      <geometry>
        <cylinder length="0.119" radius="0.05375" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.05783 -0.00014 0.00036" rpy="0.0 0.0 0.0" />
      <mass value="2.01511" />
      <inertia ixx="0.0033251482" ixy="2.567315e-05" ixz="2.599963e-05" iyy="0.00318377804" iyz="9.462185e-05" izz="0.00355095312" />
    </inertial>
  </link>
  <joint name="LH_HFE" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="LH_HFE_output" />
    <child link="LH_THIGH" />
    <axis xyz="-1.0 0.0 0.0" />
    <limit effort="80.0" velocity="8.5" lower="-9.42477796076938" upper="9.42477796076938" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="LH_THIGH">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.001" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <joint name="LH_THIGH_to_LH_HFE_drive" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="LH_THIGH" />
    <child link="LH_HFE_drive" />
  </joint>
  <joint name="LH_HFE_drive_LH_thigh_fixed" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 1.5707963267948966" />
    <parent link="LH_HFE_drive" />
    <child link="LH_thigh_fixed" />
  </joint>
  <link name="LH_thigh_fixed">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://anymal_d_simple_description/meshes/thigh.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.10519500000000001 0.0" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <cylinder length="0.08313000000000001" radius="0.07" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.0 0.09513 -0.1425" rpy="0.0 0.0 0.0" />
      <geometry>
        <box size="0.093 0.063 0.285" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.0 0.08506500000000002 -0.285" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <cylinder length="0.08313000000000001" radius="0.07" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.00041 0.09155 -0.13317" rpy="0.0 0.0 0.0" />
      <mass value="1.10098" />
      <inertia ixx="0.01541669135" ixy="-0.00021116021" ixz="-0.00031942961" iyy="0.01630081575" iyz="0.00143783119" izz="0.00258410631" />
    </inertial>
  </link>
  <joint name="LH_thigh_fixed_LH_KFE_drive" type="fixed">
    <origin xyz="-0.0 0.1805 -0.285" rpy="0.0 0.0 1.5707963267948966" />
    <parent link="LH_thigh_fixed" />
    <child link="LH_KFE_drive" />
  </joint>
  <link name="LH_KFE_drive">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://anymal_d_simple_description/meshes/drive.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="-0.0595 0.0 0.0" rpy="0.0 1.5707963267948966 0.0" />
      <geometry>
        <cylinder length="0.119" radius="0.05375" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.05783 -0.00014 0.00036" rpy="0.0 0.0 0.0" />
      <mass value="2.01511" />
      <inertia ixx="0.0033251482" ixy="2.567315e-05" ixz="2.599963e-05" iyy="0.00318377804" iyz="9.462185e-05" izz="0.00355095312" />
    </inertial>
  </link>
  <joint name="LH_KFE" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="LH_KFE_drive" />
    <child link="LH_SHANK" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="80.0" velocity="8.5" lower="-9.42477796076938" upper="9.42477796076938" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="LH_SHANK">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.001" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <joint name="LH_shank_LH_shank_fixed" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 -1.5707963267948966" />
    <parent link="LH_SHANK" />
    <child link="LH_shank_fixed" />
  </joint>
  <link name="LH_shank_fixed">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 -3.141592653589793" />
      <geometry>
        <mesh filename="package://anymal_d_simple_description/meshes/shank_r.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <cylinder length="0.05732" radius="0.071" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="-0.066415 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <box size="0.13283 0.08302 0.05732" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.02186 0.00895 0.00042" rpy="0.0 0.0 0.0" />
      <mass value="0.49854" />
      <inertia ixx="0.00054939614" ixy="-2.147115e-05" ixz="-1.687902e-05" iyy="0.00166971314" iyz="1.71584e-06" izz="0.00127258622" />
    </inertial>
  </link>
  <joint name="LH_shank_fixed_LH_FOOT" type="fixed">
    <origin xyz="-0.1 0.02225 -0.39246" rpy="0.0 0.0 0.0" />
    <parent link="LH_shank_fixed" />
    <child link="LH_FOOT" />
  </joint>
  <link name="LH_FOOT">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://anymal_d_simple_description/meshes/foot.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 -0.016891153063699788 0.22824319686592265" rpy="0.0 0.0 0.0" />
      <geometry>
        <cylinder length="0.39572" radius="0.0175" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.0 -0.008141153063699788 0.03038319686592264" rpy="0.0 0.0 0.0" />
      <geometry>
        <sphere radius="0.031455" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.0 -0.01559 0.15004" rpy="0.0 0.0 0.0" />
      <mass value="0.29644" />
      <inertia ixx="0.00514263169" ixy="-1.46e-09" ixz="-6.85e-09" iyy="0.0051315957" iyz="0.00016323086" izz="0.00011890148" />
    </inertial>
  </link>
  <joint name="base_RH_HAA_drive" type="fixed">
    <origin xyz="-0.304 -0.109 0.0" rpy="0.0 0.0 -3.141592653589793" />
    <parent link="base" />
    <child link="RH_HAA_drive" />
  </joint>
  <link name="RH_HAA_drive">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://anymal_d_simple_description/meshes/drive.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="-0.05783 -0.00014 0.00036" rpy="0.0 0.0 0.0" />
      <mass value="2.01511" />
      <inertia ixx="0.0033251482" ixy="2.567315e-05" ixz="2.599963e-05" iyy="0.00318377804" iyz="9.462185e-05" izz="0.00355095312" />
    </inertial>
  </link>
  <joint name="RH_HAA" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="RH_HAA_drive" />
    <child link="RH_HIP" />
    <axis xyz="-1.0 0.0 0.0" />
    <limit effort="80.0" velocity="8.5" lower="-0.6108655" upper="0.7853985" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="RH_HIP">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.001" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <joint name="RH_HIP_RH_hip_fixed" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 -3.141592653589793" />
    <parent link="RH_HIP" />
    <child link="RH_hip_fixed" />
  </joint>
  <link name="RH_hip_fixed">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 -3.141592653589793" />
      <geometry>
        <mesh filename="package://anymal_d_simple_description/meshes/hip.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="-0.03505 0.00125 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.36386" />
      <inertia ixx="0.00023646957" ixy="3.45771e-06" ixz="-1.268e-08" iyy="0.00055386457" iyz="-1.811e-08" izz="0.00043888609" />
    </inertial>
  </link>
  <joint name="RH_hip_fixed_RH_HFE_output" type="fixed">
    <origin xyz="-0.069 -0.006 0.0" rpy="0.0 0.0 1.5707963267948966" />
    <parent link="RH_hip_fixed" />
    <child link="RH_HFE_output" />
  </joint>
  <link name="RH_HFE_output">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.001" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <link name="RH_HFE_drive">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://anymal_d_simple_description/meshes/drive.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="-0.0595 0.0 0.0" rpy="0.0 1.5707963267948966 0.0" />
      <geometry>
        <cylinder length="0.119" radius="0.05375" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.05783 -0.00014 0.00036" rpy="0.0 0.0 0.0" />
      <mass value="2.01511" />
      <inertia ixx="0.0033251482" ixy="2.567315e-05" ixz="2.599963e-05" iyy="0.00318377804" iyz="9.462185e-05" izz="0.00355095312" />
    </inertial>
  </link>
  <joint name="RH_HFE" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="RH_HFE_output" />
    <child link="RH_THIGH" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="80.0" velocity="8.5" lower="-9.42477796076938" upper="9.42477796076938" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="RH_THIGH">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.001" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <joint name="RH_THIGH_to_RH_HFE_drive" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="RH_THIGH" />
    <child link="RH_HFE_drive" />
  </joint>
  <joint name="RH_HFE_drive_RH_thigh_fixed" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 -1.5707963267948966" />
    <parent link="RH_HFE_drive" />
    <child link="RH_thigh_fixed" />
  </joint>
  <link name="RH_thigh_fixed">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 -3.141592653589793" />
      <geometry>
        <mesh filename="package://anymal_d_simple_description/meshes/thigh.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 -0.10519500000000001 0.0" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <cylinder length="0.08313000000000001" radius="0.07" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.0 -0.09513 -0.1425" rpy="0.0 0.0 0.0" />
      <geometry>
        <box size="0.093 0.063 0.285" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.0 -0.08506500000000002 -0.285" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <cylinder length="0.08313000000000001" radius="0.07" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.00041 -0.09155 -0.13317" rpy="0.0 0.0 0.0" />
      <mass value="1.10098" />
      <inertia ixx="0.01541669135" ixy="0.00021116021" ixz="-0.00031942961" iyy="0.01630081575" iyz="-0.00143783119" izz="0.00258410631" />
    </inertial>
  </link>
  <joint name="RH_thigh_fixed_RH_KFE_drive" type="fixed">
    <origin xyz="-0.0 -0.1805 -0.285" rpy="0.0 0.0 -1.5707963267948966" />
    <parent link="RH_thigh_fixed" />
    <child link="RH_KFE_drive" />
  </joint>
  <link name="RH_KFE_drive">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://anymal_d_simple_description/meshes/drive.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="-0.0595 0.0 0.0" rpy="0.0 1.5707963267948966 0.0" />
      <geometry>
        <cylinder length="0.119" radius="0.05375" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.05783 -0.00014 0.00036" rpy="0.0 0.0 0.0" />
      <mass value="2.01511" />
      <inertia ixx="0.0033251482" ixy="2.567315e-05" ixz="2.599963e-05" iyy="0.00318377804" iyz="9.462185e-05" izz="0.00355095312" />
    </inertial>
  </link>
  <joint name="RH_KFE" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="RH_KFE_drive" />
    <child link="RH_SHANK" />
    <axis xyz="-1.0 0.0 0.0" />
    <limit effort="80.0" velocity="8.5" lower="-9.42477796076938" upper="9.42477796076938" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="RH_SHANK">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.001" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <joint name="RH_shank_RH_shank_fixed" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 1.5707963267948966" />
    <parent link="RH_SHANK" />
    <child link="RH_shank_fixed" />
  </joint>
  <link name="RH_shank_fixed">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 -3.141592653589793" />
      <geometry>
        <mesh filename="package://anymal_d_simple_description/meshes/shank_l.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <cylinder length="0.05732" radius="0.071" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="-0.066415 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <box size="0.13283 0.08302 0.05732" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.02186 -0.00895 0.00042" rpy="0.0 0.0 0.0" />
      <mass value="0.49854" />
      <inertia ixx="0.00054939614" ixy="2.147115e-05" ixz="-1.687902e-05" iyy="0.00166971314" iyz="-1.71584e-06" izz="0.00127258622" />
    </inertial>
  </link>
  <joint name="RH_shank_fixed_RH_FOOT" type="fixed">
    <origin xyz="-0.1 -0.02225 -0.39246" rpy="0.0 0.0 0.0" />
    <parent link="RH_shank_fixed" />
    <child link="RH_FOOT" />
  </joint>
  <link name="RH_FOOT">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 -3.141592653589793" />
      <geometry>
        <mesh filename="package://anymal_d_simple_description/meshes/foot.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.016891153063699788 0.22824319686592265" rpy="0.0 0.0 0.0" />
      <geometry>
        <cylinder length="0.39572" radius="0.0175" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.0 0.008141153063699788 0.03038319686592264" rpy="0.0 0.0 0.0" />
      <geometry>
        <sphere radius="0.031455" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.0 0.01559 0.15004" rpy="0.0 0.0 0.0" />
      <mass value="0.29644" />
      <inertia ixx="0.00514263169" ixy="1.46e-09" ixz="-6.85e-09" iyy="0.0051315957" iyz="-0.00016323086" izz="0.00011890148" />
    </inertial>
  </link>
  <joint name="base_to_inspection_payload_mount" type="fixed">
    <origin xyz="0.14253 0.0 0.092" rpy="0.0 0.0 0.0" />
    <parent link="base" />
    <child link="inspection_payload_mount" />
  </joint>
  <link name="inspection_payload_mount">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://anymal_d_simple_description/meshes/mount.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <box size="0.16 0.135 0.015" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0029 0.0 0.0105" rpy="0.0 0.0 0.0" />
      <mass value="0.2158" />
      <inertia ixx="0.0002346126" ixy="4.86e-09" ixz="3.55757e-06" iyy="0.00020272719" iyz="9.36e-09" izz="0.00040505639" />
    </inertial>
  </link>
  <joint name="inspection_payload_mount_to_pan" type="revolute">
    <origin xyz="0.0 0.0 0.023" rpy="0.0 0.0 0.0" />
    <parent link="inspection_payload_mount" />
    <child link="inspection_payload_pan" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="20.0" velocity="2.0" lower="-2.6" upper="2.6" />
    <dynamics damping="0.05" friction="0.01" />
  </joint>
  <link name="inspection_payload_pan">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://anymal_d_simple_description/meshes/pan.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.125" rpy="0.0 0.0 0.0" />
      <geometry>
        <box size="0.18 0.24 0.21" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.00068 -0.00349 0.07578" rpy="0.0 0.0 0.0" />
      <mass value="3.18886" />
      <inertia ixx="0.02661619524" ixy="0.00040736245" ixz="0.00195095864" iyy="0.01515399107" iyz="0.00077034252" izz="0.02200752038" />
    </inertial>
  </link>
  <joint name="inspection_payload_pan_to_tilt" type="revolute">
    <origin xyz="0.03 0.0 0.152" rpy="0.0 0.0 0.0" />
    <parent link="inspection_payload_pan" />
    <child link="inspection_payload_tilt" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="20.0" velocity="2.0" lower="-1.570796" upper="1.570796" />
    <dynamics damping="0.1" friction="0.5" />
  </joint>
  <link name="inspection_payload_tilt">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://anymal_d_simple_description/meshes/tilt.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="0.00534 -0.00379 -0.00091" rpy="0.0 0.0 0.0" />
      <mass value="2.084" />
      <inertia ixx="0.00743579757" ixy="6.988521e-05" ixz="3.254125e-05" iyy="0.00619264016" iyz="2.659381e-05" izz="0.00593296152" />
    </inertial>
  </link>
  <joint name="inspection_payload_tilt_to_head" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="inspection_payload_tilt" />
    <child link="inspection_payload_head" />
  </joint>
  <link name="inspection_payload_head" />
  <joint name="inspection_payload_head_to_camera" type="fixed">
    <origin xyz="0.055 -0.023 0.031" rpy="-1.57079633 0.0 -1.57079633" />
    <parent link="inspection_payload_head" />
    <child link="inspection_payload_camera" />
  </joint>
  <link name="inspection_payload_camera" />
  <joint name="inspection_payload_head_to_thermal_camera" type="fixed">
    <origin xyz="0.0684 -0.023 -0.03" rpy="-1.57079633 0.0 -1.57079633" />
    <parent link="inspection_payload_head" />
    <child link="inspection_payload_thermal_camera" />
  </joint>
  <link name="inspection_payload_thermal_camera" />
  <joint name="inspection_payload_head_to_light" type="fixed">
    <origin xyz="0.05495 0.03 0.03116" rpy="-1.57079633 0.0 -1.57079633" />
    <parent link="inspection_payload_head" />
    <child link="inspection_payload_light" />
  </joint>
  <link name="inspection_payload_light" />
  <joint name="inspection_payload_head_to_microphone" type="fixed">
    <origin xyz="0.0684 0.023 -0.03" rpy="-1.57079633 0.0 -1.57079633" />
    <parent link="inspection_payload_head" />
    <child link="inspection_payload_microphone" />
  </joint>
  <link name="inspection_payload_microphone" />
  <joint name="inspection_payload_mount_to_camera_default" type="fixed">
    <origin xyz="0.0 0.0 0.175" rpy="0.0 0.0 0.0" />
    <parent link="inspection_payload_mount" />
    <child link="inspection_payload_camera_default" />
  </joint>
  <link name="inspection_payload_camera_default" />
</robot>

robot.xml

<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content ba79c8c80cf77c88 -->
<mujoco model="anymal">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
  <asset>
    <mesh name="base" file="anymal_d_simple_description/meshes/base.dae" />
    <mesh name="top_shell" file="anymal_d_simple_description/meshes/top_shell.dae" />
    <mesh name="bottom_shell" file="anymal_d_simple_description/meshes/bottom_shell.dae" />
    <mesh name="face_shell" file="anymal_d_simple_description/meshes/face_shell.dae" />
    <mesh name="battery" file="anymal_d_simple_description/meshes/battery.dae" />
    <mesh name="docking_socket" file="anymal_d_simple_description/meshes/docking_socket.dae" />
    <mesh name="lidar" file="anymal_d_simple_description/meshes/lidar.dae" />
    <mesh name="lidar_guard" file="anymal_d_simple_description/meshes/lidar_guard.dae" />
    <mesh name="drive" file="anymal_d_simple_description/meshes/drive.dae" />
    <mesh name="hip" file="anymal_d_simple_description/meshes/hip.dae" />
    <mesh name="thigh" file="anymal_d_simple_description/meshes/thigh.dae" />
    <mesh name="shank_l" file="anymal_d_simple_description/meshes/shank_l.dae" />
    <mesh name="foot" file="anymal_d_simple_description/meshes/foot.dae" />
    <mesh name="shank_r" file="anymal_d_simple_description/meshes/shank_r.dae" />
    <mesh name="mount" file="anymal_d_simple_description/meshes/mount.dae" />
    <mesh name="pan" file="anymal_d_simple_description/meshes/pan.dae" />
    <mesh name="tilt" file="anymal_d_simple_description/meshes/tilt.dae" />
  </asset>
  <worldbody>
    <body name="base">
      <geom name="base_vis_0" type="mesh" mesh="base" contype="0" conaffinity="0" group="2" />
      <geom name="base_col_0" type="box" size="0.447 0.08075 0.128" pos="0.0 0.0 0.016" group="3" />
      <geom name="base_col_1" type="cylinder" size="0.089 0.0741" pos="0.23529999999999995 0.08075 0.0" quat="0.7071067811865476 0.0 0.7071067811865475 0.0" group="3" />
      <geom name="base_col_2" type="cylinder" size="0.089 0.0741" pos="0.23529999999999995 -0.08075 0.0" quat="0.7071067811865476 0.0 0.7071067811865475 0.0" group="3" />
      <geom name="base_col_3" type="cylinder" size="0.089 0.0741" pos="-0.23529999999999995 0.08075 0.0" quat="0.7071067811865476 0.0 0.7071067811865475 0.0" group="3" />
      <geom name="base_col_4" type="cylinder" size="0.089 0.0741" pos="-0.23529999999999995 -0.08075 0.0" quat="0.7071067811865476 0.0 0.7071067811865475 0.0" group="3" />
      <body name="base_inertia">
        <inertial pos="-0.02148 0.00173 -0.04417" mass="8.27629" fullinertia="0.06185585085 0.46467853407 0.47162119244 0.00052357046 -0.02204886469 0.00058724812" />
      </body>
      <body name="body_top" pos="0.0 0.0 0.144" />
      <body name="top_shell">
        <inertial pos="-0.0226 -0.00027 0.07263" mass="0.32381" fullinertia="0.00391191516 0.01761096758 0.02086102766 -1.078994e-05 -0.00048832706 4.45768e-06" />
        <geom name="top_shell_vis_0" type="mesh" mesh="top_shell" contype="0" conaffinity="0" group="2" />
      </body>
      <body name="bottom_shell">
        <inertial pos="9e-05 0.0 -0.0705" mass="0.73783" fullinertia="0.00724251946 0.03457730959 0.04075819312 8.94306e-06 7.96806e-05 4.87e-09" />
        <geom name="bottom_shell_vis_0" type="mesh" mesh="bottom_shell" contype="0" conaffinity="0" group="2" />
      </body>
      <body name="face_front" pos="0.4087 0.0 0.0205">
        <inertial pos="-0.0362 0.00223 -0.02808" mass="0.48634" fullinertia="0.00077413444 0.00076586537 0.00055588292 1.55433e-06 6.243539e-05 4.61106e-06" />
        <body name="depth_camera_front_lower_camera" pos="-0.04028 -0.025 -0.08051" quat="0.8660254037844387 0.0 0.49999999999999994 0.0">
          <inertial pos="-0.00362 -0.01787 -0.00011" mass="0.06355" fullinertia="6.841545e-05 5.2817e-06 6.669787e-05 1.46667e-06 4.115e-08 8.039e-08" />
          <body name="depth_camera_front_lower_camera_parent" quat="6.123233995736766e-17 1.0 0.0 0.0">
            <body name="depth_camera_front_lower_depth_frame">
              <body name="depth_camera_front_lower_depth_optical_frame" quat="0.5000000000000001 -0.5 0.4999999999999999 -0.5" />
            </body>
          </body>
        </body>
        <body name="depth_camera_front_upper_camera" pos="-0.00993 -0.025 -0.04096" quat="0.9914448613738104 0.0 0.13052619222005157 0.0">
          <inertial pos="-0.00362 -0.01787 -0.00011" mass="0.06355" fullinertia="6.841545e-05 5.2817e-06 6.669787e-05 1.46667e-06 4.115e-08 8.039e-08" />
          <body name="depth_camera_front_upper_camera_parent" quat="6.123233995736766e-17 1.0 0.0 0.0">
            <body name="depth_camera_front_upper_depth_frame">
              <body name="depth_camera_front_upper_depth_optical_frame" quat="0.5000000000000001 -0.5 0.4999999999999999 -0.5" />
            </body>
          </body>
        </body>
        <body name="wide_angle_camera_front_camera">
          <body name="wide_angle_camera_front_camera_parent" pos="-0.00421 0.0 0.0" quat="0.5000000000000001 -0.5 0.4999999999999999 -0.5" />
        </body>
        <body name="face_shell_front">
          <inertial pos="0.01446 4e-05 -0.01698" mass="0.1369" fullinertia="0.00102140404 0.00051576362 0.00057208503 9.54e-09 4.343039e-05 2.7592e-07" />
          <geom name="face_shell_front_vis_0" type="mesh" mesh="face_shell" contype="0" conaffinity="0" group="2" />
        </body>
      </body>
      <body name="face_rear" pos="-0.4087 0.0 0.0205" quat="6.123233995736766e-17 0.0 0.0 1.0">
        <inertial pos="-0.0362 0.00223 -0.02808" mass="0.48634" fullinertia="0.00077413444 0.00076586537 0.00055588292 1.55433e-06 6.243539e-05 4.61106e-06" />
        <body name="depth_camera_rear_lower_camera" pos="-0.04028 -0.025 -0.08051" quat="0.8660254037844387 0.0 0.49999999999999994 0.0">
          <inertial pos="-0.00362 -0.01787 -0.00011" mass="0.06355" fullinertia="6.841545e-05 5.2817e-06 6.669787e-05 1.46667e-06 4.115e-08 8.039e-08" />
          <body name="depth_camera_rear_lower_camera_parent" quat="6.123233995736766e-17 1.0 0.0 0.0">
            <body name="depth_camera_rear_lower_depth_frame">
              <body name="depth_camera_rear_lower_depth_optical_frame" quat="0.5000000000000001 -0.5 0.4999999999999999 -0.5" />
            </body>
          </body>
        </body>
        <body name="depth_camera_rear_upper_camera" pos="-0.00993 -0.025 -0.04096" quat="0.9914448613738104 0.0 0.13052619222005157 0.0">
          <inertial pos="-0.00362 -0.01787 -0.00011" mass="0.06355" fullinertia="6.841545e-05 5.2817e-06 6.669787e-05 1.46667e-06 4.115e-08 8.039e-08" />
          <body name="depth_camera_rear_upper_camera_parent" quat="6.123233995736766e-17 1.0 0.0 0.0">
            <body name="depth_camera_rear_upper_depth_frame">
              <body name="depth_camera_rear_upper_depth_optical_frame" quat="0.5000000000000001 -0.5 0.4999999999999999 -0.5" />
            </body>
          </body>
        </body>
        <body name="wide_angle_camera_rear_camera">
          <body name="wide_angle_camera_rear_camera_parent" pos="-0.00421 0.0 0.0" quat="0.5000000000000001 -0.5 0.4999999999999999 -0.5" />
        </body>
        <body name="face_shell_rear">
          <inertial pos="0.01446 4e-05 -0.01698" mass="0.1369" fullinertia="0.00102140404 0.00051576362 0.00057208503 9.54e-09 4.343039e-05 2.7592e-07" />
          <geom name="face_shell_rear_vis_0" type="mesh" mesh="face_shell" contype="0" conaffinity="0" group="2" />
        </body>
      </body>
      <body name="battery">
        <inertial pos="-0.00067 0.00023 -0.02212" mass="5.51206" fullinertia="0.00745533705 0.07199300212 0.07459357231 -0.00016412238 7.454512e-05 -1.31605e-06" />
        <geom name="battery_vis_0" type="mesh" mesh="battery" contype="0" conaffinity="0" group="2" />
      </body>
      <body name="docking_socket" pos="0.26132 0.0 -0.06205">
        <inertial pos="0.00606 0.0 0.01903" mass="0.21905" fullinertia="0.00010664534 0.00015585103 0.00021982177 5.383e-08 4.91832e-06 1.7942e-07" />
        <geom name="docking_socket_vis_0" type="mesh" mesh="docking_socket" contype="0" conaffinity="0" group="2" />
      </body>
      <body name="hbc_receiver" pos="-0.0435 0.0 0.144">
        <inertial pos="-0.00144 -0.00075 -0.01143" mass="0.60727" fullinertia="0.00172041475 0.00100683572 0.00217149159 2.466045e-05 1.95244e-06 3.598867e-05" />
      </body>
      <body name="imu_link" pos="-0.25565 0.00255 0.07672" quat="3.749399456654644e-33 6.123233995736766e-17 1.0 6.123233995736766e-17" />
      <body name="depth_camera_left_camera" pos="-0.025 0.0923 0.0123" quat="0.6601410503592006 -0.2534044072834003 0.25340440728340036 0.6601410503592005">
        <inertial pos="-0.01352 -0.02667 -0.00198" mass="0.11196" fullinertia="0.00011356938 2.382311e-05 0.00012178739 3.5285e-06 4.9332e-07 3.3737e-07" />
        <body name="depth_camera_left_camera_parent">
          <body name="depth_camera_left_depth_frame">
            <body name="depth_camera_left_depth_optical_frame" quat="0.5000000000000001 -0.5 0.4999999999999999 -0.5" />
          </body>
        </body>
      </body>
      <body name="depth_camera_right_camera" pos="0.025 -0.0923 0.0123" quat="0.6601410503592006 0.2534044072834003 0.25340440728340036 -0.6601410503592005">
        <inertial pos="-0.01352 -0.02667 -0.00198" mass="0.11196" fullinertia="0.00011356938 2.382311e-05 0.00012178739 3.5285e-06 4.9332e-07 3.3737e-07" />
        <body name="depth_camera_right_camera_parent">
          <body name="depth_camera_right_depth_frame">
            <body name="depth_camera_right_depth_optical_frame" quat="0.5000000000000001 -0.5 0.4999999999999999 -0.5" />
          </body>
        </body>
      </body>
      <body name="lidar_parent" pos="-0.31 0.0 0.1585" quat="0.7071067811865476 0.0 0.0 0.7071067811865475">
        <body name="lidar" quat="0.7071067811865476 0.0 0.0 0.7071067811865475">
          <inertial pos="-0.00371 -0.00326 -0.00485" mass="0.9017" fullinertia="0.00111563406 0.00114682455 0.00132807373 0.00012074344 0.00011445184 0.00010431906" />
          <geom name="lidar_vis_0" type="mesh" mesh="lidar" contype="0" conaffinity="0" group="2" />
          <geom name="lidar_vis_1" type="mesh" mesh="lidar_guard" contype="0" conaffinity="0" group="2" />
          <geom name="lidar_col_0" type="cylinder" size="0.07 0.06775" group="3" />
        </body>
      </body>
      <body name="LF_HAA_drive" pos="0.304 0.109 0.0">
        <inertial pos="-0.05783 -0.00014 0.00036" mass="2.01511" fullinertia="0.0033251482 0.00318377804 0.00355095312 2.567315e-05 2.599963e-05 9.462185e-05" />
        <geom name="LF_HAA_drive_vis_0" type="mesh" mesh="drive" contype="0" conaffinity="0" group="2" />
        <body name="LF_HIP">
          <joint name="LF_HAA" type="hinge" axis="1.0 0.0 0.0" range="-0.7853985 0.6108655" />
          <inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="1e-06 1e-06 1e-06 0.0 0.0 0.0" />
          <body name="LF_hip_fixed">
            <inertial pos="0.03505 -0.00125 0.0" mass="0.36386" fullinertia="0.00023646957 0.00055386457 0.00043888609 3.45771e-06 1.268e-08 1.811e-08" />
            <geom name="LF_hip_fixed_vis_0" type="mesh" mesh="hip" contype="0" conaffinity="0" group="2" />
            <body name="LF_HFE_output" pos="0.069 0.006 0.0" quat="0.7071067811865476 0.0 0.0 -0.7071067811865475">
              <inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="1e-06 1e-06 1e-06 0.0 0.0 0.0" />
              <body name="LF_THIGH">
                <joint name="LF_HFE" type="hinge" axis="-1.0 0.0 0.0" range="-9.42477796076938 9.42477796076938" />
                <inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="1e-06 1e-06 1e-06 0.0 0.0 0.0" />
                <body name="LF_HFE_drive">
                  <inertial pos="-0.05783 -0.00014 0.00036" mass="2.01511" fullinertia="0.0033251482 0.00318377804 0.00355095312 2.567315e-05 2.599963e-05 9.462185e-05" />
                  <geom name="LF_HFE_drive_vis_0" type="mesh" mesh="drive" contype="0" conaffinity="0" group="2" />
                  <geom name="LF_HFE_drive_col_0" type="cylinder" size="0.05375 0.0595" pos="-0.0595 0.0 0.0" quat="0.7071067811865476 0.0 0.7071067811865475 0.0" group="3" />
                  <body name="LF_thigh_fixed" quat="0.7071067811865476 0.0 0.0 0.7071067811865475">
                    <inertial pos="-0.00041 0.09155 -0.13317" mass="1.10098" fullinertia="0.01541669135 0.01630081575 0.00258410631 0.00021116021 0.00031942961 0.00143783119" />
                    <geom name="LF_thigh_fixed_vis_0" type="mesh" mesh="thigh" contype="0" conaffinity="0" group="2" />
                    <geom name="LF_thigh_fixed_col_0" type="cylinder" size="0.07 0.041565000000000005" pos="0.0 0.10519500000000001 0.0" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
                    <geom name="LF_thigh_fixed_col_1" type="box" size="0.0465 0.0315 0.1425" pos="0.0 0.09513 -0.1425" group="3" />
                    <geom name="LF_thigh_fixed_col_2" type="cylinder" size="0.07 0.041565000000000005" pos="0.0 0.08506500000000002 -0.285" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
                    <body name="LF_KFE_drive" pos="0.0 0.1805 -0.285" quat="0.7071067811865476 0.0 0.0 0.7071067811865475">
                      <inertial pos="-0.05783 -0.00014 0.00036" mass="2.01511" fullinertia="0.0033251482 0.00318377804 0.00355095312 2.567315e-05 2.599963e-05 9.462185e-05" />
                      <geom name="LF_KFE_drive_vis_0" type="mesh" mesh="drive" contype="0" conaffinity="0" group="2" />
                      <geom name="LF_KFE_drive_col_0" type="cylinder" size="0.05375 0.0595" pos="-0.0595 0.0 0.0" quat="0.7071067811865476 0.0 0.7071067811865475 0.0" group="3" />
                      <body name="LF_SHANK">
                        <joint name="LF_KFE" type="hinge" axis="1.0 0.0 0.0" range="-9.42477796076938 9.42477796076938" />
                        <inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="1e-06 1e-06 1e-06 0.0 0.0 0.0" />
                        <body name="LF_shank_fixed" quat="0.7071067811865476 0.0 0.0 -0.7071067811865475">
                          <inertial pos="0.02186 0.00895 0.00042" mass="0.49854" fullinertia="0.00054939614 0.00166971314 0.00127258622 2.147115e-05 1.687902e-05 1.71584e-06" />
                          <geom name="LF_shank_fixed_vis_0" type="mesh" mesh="shank_l" contype="0" conaffinity="0" group="2" />
                          <geom name="LF_shank_fixed_col_0" type="cylinder" size="0.071 0.02866" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
                          <geom name="LF_shank_fixed_col_1" type="box" size="0.066415 0.04151 0.02866" pos="0.066415 0.0 0.0" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
                          <body name="LF_FOOT" pos="0.1 0.02225 -0.39246">
                            <inertial pos="0.0 -0.01559 0.15004" mass="0.29644" fullinertia="0.00514263169 0.0051315957 0.00011890148 1.46e-09 6.85e-09 0.00016323086" />
                            <geom name="LF_FOOT_vis_0" type="mesh" mesh="foot" contype="0" conaffinity="0" group="2" />
                            <geom name="LF_FOOT_col_0" type="cylinder" size="0.0175 0.19786" pos="0.0 -0.016891153063699788 0.22824319686592265" group="3" />
                            <geom name="LF_FOOT_col_1" type="sphere" size="0.031455" pos="0.0 -0.008141153063699788 0.03038319686592264" group="3" />
                          </body>
                        </body>
                      </body>
                    </body>
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
      <body name="RF_HAA_drive" pos="0.304 -0.109 0.0">
        <inertial pos="-0.05783 -0.00014 0.00036" mass="2.01511" fullinertia="0.0033251482 0.00318377804 0.00355095312 2.567315e-05 2.599963e-05 9.462185e-05" />
        <geom name="RF_HAA_drive_vis_0" type="mesh" mesh="drive" contype="0" conaffinity="0" group="2" />
        <body name="RF_HIP">
          <joint name="RF_HAA" type="hinge" axis="1.0 0.0 0.0" range="-0.6108655 0.7853985" />
          <inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="1e-06 1e-06 1e-06 0.0 0.0 0.0" />
          <body name="RF_hip_fixed">
            <inertial pos="0.03505 0.00125 0.0" mass="0.36386" fullinertia="0.00023646957 0.00055386457 0.00043888609 -3.45771e-06 1.268e-08 -1.811e-08" />
            <geom name="RF_hip_fixed_vis_0" type="mesh" mesh="hip" quat="6.123233995736766e-17 -1.0 0.0 0.0" contype="0" conaffinity="0" group="2" />
            <body name="RF_HFE_output" pos="0.069 -0.006 0.0" quat="0.7071067811865476 0.0 0.0 0.7071067811865475">
              <inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="1e-06 1e-06 1e-06 0.0 0.0 0.0" />
              <body name="RF_THIGH">
                <joint name="RF_HFE" type="hinge" axis="1.0 0.0 0.0" range="-9.42477796076938 9.42477796076938" />
                <inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="1e-06 1e-06 1e-06 0.0 0.0 0.0" />
                <body name="RF_HFE_drive">
                  <inertial pos="-0.05783 -0.00014 0.00036" mass="2.01511" fullinertia="0.0033251482 0.00318377804 0.00355095312 2.567315e-05 2.599963e-05 9.462185e-05" />
                  <geom name="RF_HFE_drive_vis_0" type="mesh" mesh="drive" contype="0" conaffinity="0" group="2" />
                  <geom name="RF_HFE_drive_col_0" type="cylinder" size="0.05375 0.0595" pos="-0.0595 0.0 0.0" quat="0.7071067811865476 0.0 0.7071067811865475 0.0" group="3" />
                  <body name="RF_thigh_fixed" quat="0.7071067811865476 0.0 0.0 -0.7071067811865475">
                    <inertial pos="-0.00041 -0.09155 -0.13317" mass="1.10098" fullinertia="0.01541669135 0.01630081575 0.00258410631 -0.00021116021 0.00031942961 -0.00143783119" />
                    <geom name="RF_thigh_fixed_vis_0" type="mesh" mesh="thigh" quat="6.123233995736766e-17 0.0 0.0 -1.0" contype="0" conaffinity="0" group="2" />
                    <geom name="RF_thigh_fixed_col_0" type="cylinder" size="0.07 0.041565000000000005" pos="0.0 -0.10519500000000001 0.0" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
                    <geom name="RF_thigh_fixed_col_1" type="box" size="0.0465 0.0315 0.1425" pos="0.0 -0.09513 -0.1425" group="3" />
                    <geom name="RF_thigh_fixed_col_2" type="cylinder" size="0.07 0.041565000000000005" pos="0.0 -0.08506500000000002 -0.285" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
                    <body name="RF_KFE_drive" pos="0.0 -0.1805 -0.285" quat="0.7071067811865476 0.0 0.0 -0.7071067811865475">
                      <inertial pos="-0.05783 -0.00014 0.00036" mass="2.01511" fullinertia="0.0033251482 0.00318377804 0.00355095312 2.567315e-05 2.599963e-05 9.462185e-05" />
                      <geom name="RF_KFE_drive_vis_0" type="mesh" mesh="drive" contype="0" conaffinity="0" group="2" />
                      <geom name="RF_KFE_drive_col_0" type="cylinder" size="0.05375 0.0595" pos="-0.0595 0.0 0.0" quat="0.7071067811865476 0.0 0.7071067811865475 0.0" group="3" />
                      <body name="RF_SHANK">
                        <joint name="RF_KFE" type="hinge" axis="-1.0 0.0 0.0" range="-9.42477796076938 9.42477796076938" />
                        <inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="1e-06 1e-06 1e-06 0.0 0.0 0.0" />
                        <body name="RF_shank_fixed" quat="0.7071067811865476 0.0 0.0 0.7071067811865475">
                          <inertial pos="0.02186 -0.00895 0.00042" mass="0.49854" fullinertia="0.00054939614 0.00166971314 0.00127258622 -2.147115e-05 1.687902e-05 -1.71584e-06" />
                          <geom name="RF_shank_fixed_vis_0" type="mesh" mesh="shank_r" contype="0" conaffinity="0" group="2" />
                          <geom name="RF_shank_fixed_col_0" type="cylinder" size="0.071 0.02866" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
                          <geom name="RF_shank_fixed_col_1" type="box" size="0.066415 0.04151 0.02866" pos="0.066415 0.0 0.0" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
                          <body name="RF_FOOT" pos="0.1 -0.02225 -0.39246">
                            <inertial pos="0.0 0.01559 0.15004" mass="0.29644" fullinertia="0.00514263169 0.0051315957 0.00011890148 -1.46e-09 6.85e-09 -0.00016323086" />
                            <geom name="RF_FOOT_vis_0" type="mesh" mesh="foot" quat="6.123233995736766e-17 0.0 0.0 -1.0" contype="0" conaffinity="0" group="2" />
                            <geom name="RF_FOOT_col_0" type="cylinder" size="0.0175 0.19786" pos="0.0 0.016891153063699788 0.22824319686592265" group="3" />
                            <geom name="RF_FOOT_col_1" type="sphere" size="0.031455" pos="0.0 0.008141153063699788 0.03038319686592264" group="3" />
                          </body>
                        </body>
                      </body>
                    </body>
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
      <body name="LH_HAA_drive" pos="-0.304 0.109 0.0" quat="6.123233995736766e-17 0.0 0.0 -1.0">
        <inertial pos="-0.05783 -0.00014 0.00036" mass="2.01511" fullinertia="0.0033251482 0.00318377804 0.00355095312 2.567315e-05 2.599963e-05 9.462185e-05" />
        <geom name="LH_HAA_drive_vis_0" type="mesh" mesh="drive" contype="0" conaffinity="0" group="2" />
        <body name="LH_HIP">
          <joint name="LH_HAA" type="hinge" axis="-1.0 0.0 0.0" range="-0.7853985 0.6108655" />
          <inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="1e-06 1e-06 1e-06 0.0 0.0 0.0" />
          <body name="LH_hip_fixed" quat="6.123233995736766e-17 0.0 0.0 -1.0">
            <inertial pos="-0.03505 -0.00125 0.0" mass="0.36386" fullinertia="0.00023646957 0.00055386457 0.00043888609 -3.45771e-06 -1.268e-08 1.811e-08" />
            <geom name="LH_hip_fixed_vis_0" type="mesh" mesh="hip" quat="3.749399456654644e-33 -6.123233995736766e-17 1.0 -6.123233995736766e-17" contype="0" conaffinity="0" group="2" />
            <body name="LH_HFE_output" pos="-0.069 0.006 0.0" quat="0.7071067811865476 0.0 0.0 -0.7071067811865475">
              <inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="1e-06 1e-06 1e-06 0.0 0.0 0.0" />
              <body name="LH_THIGH">
                <joint name="LH_HFE" type="hinge" axis="-1.0 0.0 0.0" range="-9.42477796076938 9.42477796076938" />
                <inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="1e-06 1e-06 1e-06 0.0 0.0 0.0" />
                <body name="LH_HFE_drive">
                  <inertial pos="-0.05783 -0.00014 0.00036" mass="2.01511" fullinertia="0.0033251482 0.00318377804 0.00355095312 2.567315e-05 2.599963e-05 9.462185e-05" />
                  <geom name="LH_HFE_drive_vis_0" type="mesh" mesh="drive" contype="0" conaffinity="0" group="2" />
                  <geom name="LH_HFE_drive_col_0" type="cylinder" size="0.05375 0.0595" pos="-0.0595 0.0 0.0" quat="0.7071067811865476 0.0 0.7071067811865475 0.0" group="3" />
                  <body name="LH_thigh_fixed" quat="0.7071067811865476 0.0 0.0 0.7071067811865475">
                    <inertial pos="0.00041 0.09155 -0.13317" mass="1.10098" fullinertia="0.01541669135 0.01630081575 0.00258410631 -0.00021116021 -0.00031942961 0.00143783119" />
                    <geom name="LH_thigh_fixed_vis_0" type="mesh" mesh="thigh" contype="0" conaffinity="0" group="2" />
                    <geom name="LH_thigh_fixed_col_0" type="cylinder" size="0.07 0.041565000000000005" pos="0.0 0.10519500000000001 0.0" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
                    <geom name="LH_thigh_fixed_col_1" type="box" size="0.0465 0.0315 0.1425" pos="0.0 0.09513 -0.1425" group="3" />
                    <geom name="LH_thigh_fixed_col_2" type="cylinder" size="0.07 0.041565000000000005" pos="0.0 0.08506500000000002 -0.285" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
                    <body name="LH_KFE_drive" pos="-0.0 0.1805 -0.285" quat="0.7071067811865476 0.0 0.0 0.7071067811865475">
                      <inertial pos="-0.05783 -0.00014 0.00036" mass="2.01511" fullinertia="0.0033251482 0.00318377804 0.00355095312 2.567315e-05 2.599963e-05 9.462185e-05" />
                      <geom name="LH_KFE_drive_vis_0" type="mesh" mesh="drive" contype="0" conaffinity="0" group="2" />
                      <geom name="LH_KFE_drive_col_0" type="cylinder" size="0.05375 0.0595" pos="-0.0595 0.0 0.0" quat="0.7071067811865476 0.0 0.7071067811865475 0.0" group="3" />
                      <body name="LH_SHANK">
                        <joint name="LH_KFE" type="hinge" axis="1.0 0.0 0.0" range="-9.42477796076938 9.42477796076938" />
                        <inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="1e-06 1e-06 1e-06 0.0 0.0 0.0" />
                        <body name="LH_shank_fixed" quat="0.7071067811865476 0.0 0.0 -0.7071067811865475">
                          <inertial pos="-0.02186 0.00895 0.00042" mass="0.49854" fullinertia="0.00054939614 0.00166971314 0.00127258622 -2.147115e-05 -1.687902e-05 1.71584e-06" />
                          <geom name="LH_shank_fixed_vis_0" type="mesh" mesh="shank_r" quat="6.123233995736766e-17 0.0 0.0 -1.0" contype="0" conaffinity="0" group="2" />
                          <geom name="LH_shank_fixed_col_0" type="cylinder" size="0.071 0.02866" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
                          <geom name="LH_shank_fixed_col_1" type="box" size="0.066415 0.04151 0.02866" pos="-0.066415 0.0 0.0" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
                          <body name="LH_FOOT" pos="-0.1 0.02225 -0.39246">
                            <inertial pos="-0.0 -0.01559 0.15004" mass="0.29644" fullinertia="0.00514263169 0.0051315957 0.00011890148 -1.46e-09 -6.85e-09 0.00016323086" />
                            <geom name="LH_FOOT_vis_0" type="mesh" mesh="foot" contype="0" conaffinity="0" group="2" />
                            <geom name="LH_FOOT_col_0" type="cylinder" size="0.0175 0.19786" pos="0.0 -0.016891153063699788 0.22824319686592265" group="3" />
                            <geom name="LH_FOOT_col_1" type="sphere" size="0.031455" pos="0.0 -0.008141153063699788 0.03038319686592264" group="3" />
                          </body>
                        </body>
                      </body>
                    </body>
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
      <body name="RH_HAA_drive" pos="-0.304 -0.109 0.0" quat="6.123233995736766e-17 0.0 0.0 -1.0">
        <inertial pos="-0.05783 -0.00014 0.00036" mass="2.01511" fullinertia="0.0033251482 0.00318377804 0.00355095312 2.567315e-05 2.599963e-05 9.462185e-05" />
        <geom name="RH_HAA_drive_vis_0" type="mesh" mesh="drive" contype="0" conaffinity="0" group="2" />
        <body name="RH_HIP">
          <joint name="RH_HAA" type="hinge" axis="-1.0 0.0 0.0" range="-0.6108655 0.7853985" />
          <inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="1e-06 1e-06 1e-06 0.0 0.0 0.0" />
          <body name="RH_hip_fixed" quat="6.123233995736766e-17 0.0 0.0 -1.0">
            <inertial pos="-0.03505 0.00125 0.0" mass="0.36386" fullinertia="0.00023646957 0.00055386457 0.00043888609 3.45771e-06 -1.268e-08 -1.811e-08" />
            <geom name="RH_hip_fixed_vis_0" type="mesh" mesh="hip" quat="6.123233995736766e-17 0.0 0.0 -1.0" contype="0" conaffinity="0" group="2" />
            <body name="RH_HFE_output" pos="-0.069 -0.006 0.0" quat="0.7071067811865476 0.0 0.0 0.7071067811865475">
              <inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="1e-06 1e-06 1e-06 0.0 0.0 0.0" />
              <body name="RH_THIGH">
                <joint name="RH_HFE" type="hinge" axis="1.0 0.0 0.0" range="-9.42477796076938 9.42477796076938" />
                <inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="1e-06 1e-06 1e-06 0.0 0.0 0.0" />
                <body name="RH_HFE_drive">
                  <inertial pos="-0.05783 -0.00014 0.00036" mass="2.01511" fullinertia="0.0033251482 0.00318377804 0.00355095312 2.567315e-05 2.599963e-05 9.462185e-05" />
                  <geom name="RH_HFE_drive_vis_0" type="mesh" mesh="drive" contype="0" conaffinity="0" group="2" />
                  <geom name="RH_HFE_drive_col_0" type="cylinder" size="0.05375 0.0595" pos="-0.0595 0.0 0.0" quat="0.7071067811865476 0.0 0.7071067811865475 0.0" group="3" />
                  <body name="RH_thigh_fixed" quat="0.7071067811865476 0.0 0.0 -0.7071067811865475">
                    <inertial pos="0.00041 -0.09155 -0.13317" mass="1.10098" fullinertia="0.01541669135 0.01630081575 0.00258410631 0.00021116021 -0.00031942961 -0.00143783119" />
                    <geom name="RH_thigh_fixed_vis_0" type="mesh" mesh="thigh" quat="6.123233995736766e-17 0.0 0.0 -1.0" contype="0" conaffinity="0" group="2" />
                    <geom name="RH_thigh_fixed_col_0" type="cylinder" size="0.07 0.041565000000000005" pos="0.0 -0.10519500000000001 0.0" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
                    <geom name="RH_thigh_fixed_col_1" type="box" size="0.0465 0.0315 0.1425" pos="0.0 -0.09513 -0.1425" group="3" />
                    <geom name="RH_thigh_fixed_col_2" type="cylinder" size="0.07 0.041565000000000005" pos="0.0 -0.08506500000000002 -0.285" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
                    <body name="RH_KFE_drive" pos="-0.0 -0.1805 -0.285" quat="0.7071067811865476 0.0 0.0 -0.7071067811865475">
                      <inertial pos="-0.05783 -0.00014 0.00036" mass="2.01511" fullinertia="0.0033251482 0.00318377804 0.00355095312 2.567315e-05 2.599963e-05 9.462185e-05" />
                      <geom name="RH_KFE_drive_vis_0" type="mesh" mesh="drive" contype="0" conaffinity="0" group="2" />
                      <geom name="RH_KFE_drive_col_0" type="cylinder" size="0.05375 0.0595" pos="-0.0595 0.0 0.0" quat="0.7071067811865476 0.0 0.7071067811865475 0.0" group="3" />
                      <body name="RH_SHANK">
                        <joint name="RH_KFE" type="hinge" axis="-1.0 0.0 0.0" range="-9.42477796076938 9.42477796076938" />
                        <inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="1e-06 1e-06 1e-06 0.0 0.0 0.0" />
                        <body name="RH_shank_fixed" quat="0.7071067811865476 0.0 0.0 0.7071067811865475">
                          <inertial pos="-0.02186 -0.00895 0.00042" mass="0.49854" fullinertia="0.00054939614 0.00166971314 0.00127258622 2.147115e-05 -1.687902e-05 -1.71584e-06" />
                          <geom name="RH_shank_fixed_vis_0" type="mesh" mesh="shank_l" quat="6.123233995736766e-17 0.0 0.0 -1.0" contype="0" conaffinity="0" group="2" />
                          <geom name="RH_shank_fixed_col_0" type="cylinder" size="0.071 0.02866" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
                          <geom name="RH_shank_fixed_col_1" type="box" size="0.066415 0.04151 0.02866" pos="-0.066415 0.0 0.0" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
                          <body name="RH_FOOT" pos="-0.1 -0.02225 -0.39246">
                            <inertial pos="-0.0 0.01559 0.15004" mass="0.29644" fullinertia="0.00514263169 0.0051315957 0.00011890148 1.46e-09 -6.85e-09 -0.00016323086" />
                            <geom name="RH_FOOT_vis_0" type="mesh" mesh="foot" quat="6.123233995736766e-17 0.0 0.0 -1.0" contype="0" conaffinity="0" group="2" />
                            <geom name="RH_FOOT_col_0" type="cylinder" size="0.0175 0.19786" pos="0.0 0.016891153063699788 0.22824319686592265" group="3" />
                            <geom name="RH_FOOT_col_1" type="sphere" size="0.031455" pos="0.0 0.008141153063699788 0.03038319686592264" group="3" />
                          </body>
                        </body>
                      </body>
                    </body>
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
      <body name="inspection_payload_mount" pos="0.14253 0.0 0.092">
        <inertial pos="0.0029 0.0 0.0105" mass="0.2158" fullinertia="0.0002346126 0.00020272719 0.00040505639 4.86e-09 3.55757e-06 9.36e-09" />
        <geom name="inspection_payload_mount_vis_0" type="mesh" mesh="mount" contype="0" conaffinity="0" group="2" />
        <geom name="inspection_payload_mount_col_0" type="box" size="0.08 0.0675 0.0075" group="3" />
        <body name="inspection_payload_pan" pos="0.0 0.0 0.023">
          <joint name="inspection_payload_mount_to_pan" type="hinge" axis="0.0 0.0 1.0" range="-2.6 2.6" damping="0.05" frictionloss="0.01" />
          <inertial pos="0.00068 -0.00349 0.07578" mass="3.18886" fullinertia="0.02661619524 0.01515399107 0.02200752038 0.00040736245 0.00195095864 0.00077034252" />
          <geom name="inspection_payload_pan_vis_0" type="mesh" mesh="pan" contype="0" conaffinity="0" group="2" />
          <geom name="inspection_payload_pan_col_0" type="box" size="0.09 0.12 0.105" pos="0.0 0.0 0.125" group="3" />
          <body name="inspection_payload_tilt" pos="0.03 0.0 0.152">
            <joint name="inspection_payload_pan_to_tilt" type="hinge" axis="0.0 1.0 0.0" range="-1.570796 1.570796" damping="0.1" frictionloss="0.5" />
            <inertial pos="0.00534 -0.00379 -0.00091" mass="2.084" fullinertia="0.00743579757 0.00619264016 0.00593296152 6.988521e-05 3.254125e-05 2.659381e-05" />
            <geom name="inspection_payload_tilt_vis_0" type="mesh" mesh="tilt" contype="0" conaffinity="0" group="2" />
            <body name="inspection_payload_head">
              <body name="inspection_payload_camera" pos="0.055 -0.023 0.031" quat="0.4999999983974483 -0.5 0.5000000016025516 -0.5" />
              <body name="inspection_payload_thermal_camera" pos="0.0684 -0.023 -0.03" quat="0.4999999983974483 -0.5 0.5000000016025516 -0.5" />
              <body name="inspection_payload_light" pos="0.05495 0.03 0.03116" quat="0.4999999983974483 -0.5 0.5000000016025516 -0.5" />
              <body name="inspection_payload_microphone" pos="0.0684 0.023 -0.03" quat="0.4999999983974483 -0.5 0.5000000016025516 -0.5" />
            </body>
          </body>
        </body>
        <body name="inspection_payload_camera_default" pos="0.0 0.0 0.175" />
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="base" body2="base_inertia" />
    <exclude body1="base" body2="body_top" />
    <exclude body1="base" body2="top_shell" />
    <exclude body1="base" body2="bottom_shell" />
    <exclude body1="base" body2="face_front" />
    <exclude body1="face_front" body2="depth_camera_front_lower_camera" />
    <exclude body1="depth_camera_front_lower_camera" body2="depth_camera_front_lower_camera_parent" />
    <exclude body1="depth_camera_front_lower_camera_parent" body2="depth_camera_front_lower_depth_frame" />
    <exclude body1="depth_camera_front_lower_depth_frame" body2="depth_camera_front_lower_depth_optical_frame" />
    <exclude body1="face_front" body2="depth_camera_front_upper_camera" />
    <exclude body1="depth_camera_front_upper_camera" body2="depth_camera_front_upper_camera_parent" />
    <exclude body1="depth_camera_front_upper_camera_parent" body2="depth_camera_front_upper_depth_frame" />
    <exclude body1="depth_camera_front_upper_depth_frame" body2="depth_camera_front_upper_depth_optical_frame" />
    <exclude body1="face_front" body2="wide_angle_camera_front_camera" />
    <exclude body1="wide_angle_camera_front_camera" body2="wide_angle_camera_front_camera_parent" />
    <exclude body1="base" body2="face_rear" />
    <exclude body1="face_rear" body2="depth_camera_rear_lower_camera" />
    <exclude body1="depth_camera_rear_lower_camera" body2="depth_camera_rear_lower_camera_parent" />
    <exclude body1="depth_camera_rear_lower_camera_parent" body2="depth_camera_rear_lower_depth_frame" />
    <exclude body1="depth_camera_rear_lower_depth_frame" body2="depth_camera_rear_lower_depth_optical_frame" />
    <exclude body1="face_rear" body2="depth_camera_rear_upper_camera" />
    <exclude body1="depth_camera_rear_upper_camera" body2="depth_camera_rear_upper_camera_parent" />
    <exclude body1="depth_camera_rear_upper_camera_parent" body2="depth_camera_rear_upper_depth_frame" />
    <exclude body1="depth_camera_rear_upper_depth_frame" body2="depth_camera_rear_upper_depth_optical_frame" />
    <exclude body1="face_rear" body2="wide_angle_camera_rear_camera" />
    <exclude body1="wide_angle_camera_rear_camera" body2="wide_angle_camera_rear_camera_parent" />
    <exclude body1="face_front" body2="face_shell_front" />
    <exclude body1="face_rear" body2="face_shell_rear" />
    <exclude body1="base" body2="battery" />
    <exclude body1="base" body2="docking_socket" />
    <exclude body1="base" body2="hbc_receiver" />
    <exclude body1="base" body2="imu_link" />
    <exclude body1="base" body2="depth_camera_left_camera" />
    <exclude body1="depth_camera_left_camera" body2="depth_camera_left_camera_parent" />
    <exclude body1="depth_camera_left_camera_parent" body2="depth_camera_left_depth_frame" />
    <exclude body1="depth_camera_left_depth_frame" body2="depth_camera_left_depth_optical_frame" />
    <exclude body1="base" body2="depth_camera_right_camera" />
    <exclude body1="depth_camera_right_camera" body2="depth_camera_right_camera_parent" />
    <exclude body1="depth_camera_right_camera_parent" body2="depth_camera_right_depth_frame" />
    <exclude body1="depth_camera_right_depth_frame" body2="depth_camera_right_depth_optical_frame" />
    <exclude body1="base" body2="lidar_parent" />
    <exclude body1="lidar_parent" body2="lidar" />
    <exclude body1="base" body2="LF_HAA_drive" />
    <exclude body1="LF_HAA_drive" body2="LF_HIP" />
    <exclude body1="LF_HIP" body2="LF_hip_fixed" />
    <exclude body1="LF_hip_fixed" body2="LF_HFE_output" />
    <exclude body1="LF_HFE_output" body2="LF_THIGH" />
    <exclude body1="LF_THIGH" body2="LF_HFE_drive" />
    <exclude body1="LF_HFE_drive" body2="LF_thigh_fixed" />
    <exclude body1="LF_thigh_fixed" body2="LF_KFE_drive" />
    <exclude body1="LF_KFE_drive" body2="LF_SHANK" />
    <exclude body1="LF_SHANK" body2="LF_shank_fixed" />
    <exclude body1="LF_shank_fixed" body2="LF_FOOT" />
    <exclude body1="base" body2="RF_HAA_drive" />
    <exclude body1="RF_HAA_drive" body2="RF_HIP" />
    <exclude body1="RF_HIP" body2="RF_hip_fixed" />
    <exclude body1="RF_hip_fixed" body2="RF_HFE_output" />
    <exclude body1="RF_HFE_output" body2="RF_THIGH" />
    <exclude body1="RF_THIGH" body2="RF_HFE_drive" />
    <exclude body1="RF_HFE_drive" body2="RF_thigh_fixed" />
    <exclude body1="RF_thigh_fixed" body2="RF_KFE_drive" />
    <exclude body1="RF_KFE_drive" body2="RF_SHANK" />
    <exclude body1="RF_SHANK" body2="RF_shank_fixed" />
    <exclude body1="RF_shank_fixed" body2="RF_FOOT" />
    <exclude body1="base" body2="LH_HAA_drive" />
    <exclude body1="LH_HAA_drive" body2="LH_HIP" />
    <exclude body1="LH_HIP" body2="LH_hip_fixed" />
    <exclude body1="LH_hip_fixed" body2="LH_HFE_output" />
    <exclude body1="LH_HFE_output" body2="LH_THIGH" />
    <exclude body1="LH_THIGH" body2="LH_HFE_drive" />
    <exclude body1="LH_HFE_drive" body2="LH_thigh_fixed" />
    <exclude body1="LH_thigh_fixed" body2="LH_KFE_drive" />
    <exclude body1="LH_KFE_drive" body2="LH_SHANK" />
    <exclude body1="LH_SHANK" body2="LH_shank_fixed" />
    <exclude body1="LH_shank_fixed" body2="LH_FOOT" />
    <exclude body1="base" body2="RH_HAA_drive" />
    <exclude body1="RH_HAA_drive" body2="RH_HIP" />
    <exclude body1="RH_HIP" body2="RH_hip_fixed" />
    <exclude body1="RH_hip_fixed" body2="RH_HFE_output" />
    <exclude body1="RH_HFE_output" body2="RH_THIGH" />
    <exclude body1="RH_THIGH" body2="RH_HFE_drive" />
    <exclude body1="RH_HFE_drive" body2="RH_thigh_fixed" />
    <exclude body1="RH_thigh_fixed" body2="RH_KFE_drive" />
    <exclude body1="RH_KFE_drive" body2="RH_SHANK" />
    <exclude body1="RH_SHANK" body2="RH_shank_fixed" />
    <exclude body1="RH_shank_fixed" body2="RH_FOOT" />
    <exclude body1="base" body2="inspection_payload_mount" />
    <exclude body1="inspection_payload_mount" body2="inspection_payload_pan" />
    <exclude body1="inspection_payload_pan" body2="inspection_payload_tilt" />
    <exclude body1="inspection_payload_tilt" body2="inspection_payload_head" />
    <exclude body1="inspection_payload_head" body2="inspection_payload_camera" />
    <exclude body1="inspection_payload_head" body2="inspection_payload_thermal_camera" />
    <exclude body1="inspection_payload_head" body2="inspection_payload_light" />
    <exclude body1="inspection_payload_head" body2="inspection_payload_microphone" />
    <exclude body1="inspection_payload_mount" body2="inspection_payload_camera_default" />
  </contact>
</mujoco>

Import report

Counts

Links	96
Joints	95
Moving joints	14
Visuals	40
Collisions	44
Materials	0

Meshes

Formats: dae.
Asset size: 4.3 MB.

Dropped on import

Tag	Count	Why
`@command_effort`	12	attribute 'command_effort' is not part of the URDF subset RobotDescription mirrors
`@current`	12	attribute 'current' is not part of the URDF subset RobotDescription mirrors
`@gear_velocity`	12	attribute 'gear_velocity' is not part of the URDF subset RobotDescription mirrors

Forward-kinematics check

Forward kinematics of 96 link frames at 20 random joint positions within limits, original URDF against robot.urdf, computed by pinocchio 3.8.0. Worst difference: 0.0e+00 m · 2.8e-16 rad.

MuJoCo

robot.xml compiles in MuJoCo with its meshes (nq = 14).

Source & licence

Repository	https://github.com/ANYbotics/anymal_d_simple_description
Commit	`6adc14720aab583613975e5a9d6d4fa3cfcdd081`
Original file	`urdf/anymal.urdf`
Licence	BSD-3-Clause · the upstream LICENSE file
Files	robot.urdf · robot.xml

Meshes are copied verbatim from the repository at the pinned commit and keep their upstream licence.