<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (py backend), content b003865db035f218 -->
<robot name="aliengo">
  <material name="black">
    <color rgba="0.0 0.0 0.0 1.0" />
  </material>
  <material name="blue">
    <color rgba="0.0 0.0 0.8 1.0" />
  </material>
  <material name="green">
    <color rgba="0.0 0.8 0.0 1.0" />
  </material>
  <material name="grey">
    <color rgba="0.2 0.2 0.2 1.0" />
  </material>
  <material name="silver">
    <color rgba="0.9137254901960784 0.9137254901960784 0.8470588235294118 1.0" />
  </material>
  <material name="orange">
    <color rgba="1.0 0.4235294117647059 0.0392156862745098 1.0" />
  </material>
  <material name="brown">
    <color rgba="0.8705882352941177 0.8117647058823529 0.7647058823529411 1.0" />
  </material>
  <material name="red">
    <color rgba="0.8 0.0 0.0 1.0" />
  </material>
  <material name="white">
    <color rgba="1.0 1.0 1.0 1.0" />
  </material>
  <link name="base">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <box size="0.001 0.001 0.001" />
      </geometry>
    </visual>
  </link>
  <joint name="floating_base" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="base" />
    <child link="trunk" />
  </joint>
  <link name="trunk">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://aliengo_description/meshes/trunk.dae" />
      </geometry>
      <material name="orange" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <box size="0.647 0.15 0.112" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.008811 0.003839 0.000273" rpy="0.0 0.0 0.0" />
      <mass value="11.644" />
      <inertia ixx="0.051944892" ixy="0.001703617" ixz="0.000235941" iyy="0.24693924" iyz="0.000119783" izz="0.270948307" />
    </inertial>
  </link>
  <joint name="imu_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="trunk" />
    <child link="imu_link" />
  </joint>
  <link name="imu_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <box size="0.001 0.001 0.001" />
      </geometry>
      <material name="red" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <box size="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.001" />
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="0.0001" />
    </inertial>
  </link>
  <joint name="FR_hip_joint" type="revolute">
    <origin xyz="0.2407 -0.051 0.0" rpy="0.0 0.0 0.0" />
    <parent link="trunk" />
    <child link="FR_hip" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="35.278" velocity="20.0" lower="-1.2217304763960306" upper="1.2217304763960306" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="FR_hip_rotor_joint" type="fixed">
    <origin xyz="0.139985 -0.051 0.0" rpy="0.0 0.0 0.0" />
    <parent link="trunk" />
    <child link="FR_hip_rotor" />
  </joint>
  <link name="FR_hip">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="3.141592653589793 0.0 0.0" />
      <geometry>
        <mesh filename="package://aliengo_description/meshes/hip.dae" />
      </geometry>
      <material name="orange" />
    </visual>
    <collision>
      <origin xyz="0.0 -0.083 0.0" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <cylinder length="0.0418" radius="0.046" />
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    </collision>
    <inertial>
      <origin xyz="-0.022191 -0.015144 -1.5e-05" rpy="0.0 0.0 0.0" />
      <mass value="1.993" />
      <inertia ixx="0.002446735" ixy="0.00059805" ixz="1.945e-06" iyy="0.003925876" iyz="-1.284e-06" izz="0.004148145" />
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  </link>
  <link name="FR_hip_rotor">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 1.5707963267948966 0.0" />
      <geometry>
        <cylinder length="0.02" radius="0.035" />
      </geometry>
      <material name="green" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 1.5707963267948966 0.0" />
      <geometry>
        <cylinder length="0.02" radius="0.035" />
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    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.146" />
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  </link>
  <joint name="FR_thigh_joint" type="continuous">
    <origin xyz="0.0 -0.0868 0.0" rpy="0.0 0.0 0.0" />
    <parent link="FR_hip" />
    <child link="FR_thigh" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="35.278" velocity="20.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="FR_thigh_rotor_joint" type="fixed">
    <origin xyz="0.0 -0.0298 0.0" rpy="0.0 0.0 0.0" />
    <parent link="FR_hip" />
    <child link="FR_thigh_rotor" />
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  <link name="FR_thigh">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://aliengo_description/meshes/thigh_mirror.dae" />
      </geometry>
      <material name="orange" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 -0.125" rpy="0.0 1.5707963267948966 0.0" />
      <geometry>
        <box size="0.25 0.0374 0.043" />
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    </collision>
    <inertial>
      <origin xyz="-0.005607 0.003877 -0.048199" rpy="0.0 0.0 0.0" />
      <mass value="0.639" />
      <inertia ixx="0.004173855" ixy="-1.0284e-05" ixz="-0.000318874" iyy="0.004343802" iyz="-0.000109233" izz="0.000340136" />
    </inertial>
  </link>
  <link name="FR_thigh_rotor">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <cylinder length="0.02" radius="0.035" />
      </geometry>
      <material name="green" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <cylinder length="0.02" radius="0.035" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.146" />
      <inertia ixx="8.3352e-05" ixy="0.0" ixz="0.0" iyy="0.000138702" iyz="0.0" izz="8.3352e-05" />
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  </link>
  <joint name="FR_calf_joint" type="revolute">
    <origin xyz="0.0 0.0 -0.25" rpy="0.0 0.0 0.0" />
    <parent link="FR_thigh" />
    <child link="FR_calf" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="44.4" velocity="15.89" lower="-2.775073510670984" upper="-0.6457718232379019" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="FR_calf_rotor_joint" type="fixed">
    <origin xyz="0.0 0.0997 0.0" rpy="0.0 0.0 0.0" />
    <parent link="FR_thigh" />
    <child link="FR_calf_rotor" />
  </joint>
  <link name="FR_calf">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://aliengo_description/meshes/calf.dae" />
      </geometry>
      <material name="orange" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 -0.125" rpy="0.0 1.5707963267948966 0.0" />
      <geometry>
        <box size="0.25 0.0208 0.016" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.002781 6.3e-05 -0.142518" rpy="0.0 0.0 0.0" />
      <mass value="0.207" />
      <inertia ixx="0.002129279" ixy="3.9e-08" ixz="5.757e-06" iyy="0.002141463" iyz="-5.16e-07" izz="3.7583e-05" />
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  </link>
  <link name="FR_calf_rotor">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <cylinder length="0.02" radius="0.035" />
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      <material name="green" />
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    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <cylinder length="0.02" radius="0.035" />
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    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.132" />
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  </link>
  <joint name="FR_foot_fixed" type="fixed">
    <origin xyz="0.0 0.0 -0.25" rpy="0.0 0.0 0.0" />
    <parent link="FR_calf" />
    <child link="FR_foot" />
  </joint>
  <link name="FR_foot">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <sphere radius="0.0165" />
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      <material name="green" />
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    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <sphere radius="0.0265" />
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    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.06" />
      <inertia ixx="1.6853999999999998e-05" ixy="0.0" ixz="0.0" iyy="1.6853999999999998e-05" iyz="0.0" izz="1.6853999999999998e-05" />
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  </link>
  <joint name="FL_hip_joint" type="revolute">
    <origin xyz="0.2407 0.051 0.0" rpy="0.0 0.0 0.0" />
    <parent link="trunk" />
    <child link="FL_hip" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="35.278" velocity="20.0" lower="-1.2217304763960306" upper="1.2217304763960306" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="FL_hip_rotor_joint" type="fixed">
    <origin xyz="0.139985 0.051 0.0" rpy="0.0 0.0 0.0" />
    <parent link="trunk" />
    <child link="FL_hip_rotor" />
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  <link name="FL_hip">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://aliengo_description/meshes/hip.dae" />
      </geometry>
      <material name="orange" />
    </visual>
    <collision>
      <origin xyz="0.0 0.083 0.0" rpy="1.5707963267948966 0.0 0.0" />
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        <cylinder length="0.0418" radius="0.046" />
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    </collision>
    <inertial>
      <origin xyz="-0.022191 0.015144 -1.5e-05" rpy="0.0 0.0 0.0" />
      <mass value="1.993" />
      <inertia ixx="0.002446735" ixy="-0.00059805" ixz="1.945e-06" iyy="0.003925876" iyz="1.284e-06" izz="0.004148145" />
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  </link>
  <link name="FL_hip_rotor">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 1.5707963267948966 0.0" />
      <geometry>
        <cylinder length="0.02" radius="0.035" />
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      <material name="green" />
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    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 1.5707963267948966 0.0" />
      <geometry>
        <cylinder length="0.02" radius="0.035" />
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    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.146" />
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  </link>
  <joint name="FL_thigh_joint" type="continuous">
    <origin xyz="0.0 0.0868 0.0" rpy="0.0 0.0 0.0" />
    <parent link="FL_hip" />
    <child link="FL_thigh" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="35.278" velocity="20.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="FL_thigh_rotor_joint" type="fixed">
    <origin xyz="0.0 0.0298 0.0" rpy="0.0 0.0 0.0" />
    <parent link="FL_hip" />
    <child link="FL_thigh_rotor" />
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  <link name="FL_thigh">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://aliengo_description/meshes/thigh.dae" />
      </geometry>
      <material name="orange" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 -0.125" rpy="0.0 1.5707963267948966 0.0" />
      <geometry>
        <box size="0.25 0.0374 0.043" />
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    </collision>
    <inertial>
      <origin xyz="-0.005607 -0.003877 -0.048199" rpy="0.0 0.0 0.0" />
      <mass value="0.639" />
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  </link>
  <link name="FL_thigh_rotor">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <cylinder length="0.02" radius="0.035" />
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      <material name="green" />
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    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
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        <cylinder length="0.02" radius="0.035" />
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    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.146" />
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  </link>
  <joint name="FL_calf_joint" type="revolute">
    <origin xyz="0.0 0.0 -0.25" rpy="0.0 0.0 0.0" />
    <parent link="FL_thigh" />
    <child link="FL_calf" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="44.4" velocity="15.89" lower="-2.775073510670984" upper="-0.6457718232379019" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="FL_calf_rotor_joint" type="fixed">
    <origin xyz="0.0 -0.0997 0.0" rpy="0.0 0.0 0.0" />
    <parent link="FL_thigh" />
    <child link="FL_calf_rotor" />
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  <link name="FL_calf">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://aliengo_description/meshes/calf.dae" />
      </geometry>
      <material name="orange" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 -0.125" rpy="0.0 1.5707963267948966 0.0" />
      <geometry>
        <box size="0.25 0.0208 0.016" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.002781 6.3e-05 -0.142518" rpy="0.0 0.0 0.0" />
      <mass value="0.207" />
      <inertia ixx="0.002129279" ixy="3.9e-08" ixz="5.757e-06" iyy="0.002141463" iyz="-5.16e-07" izz="3.7583e-05" />
    </inertial>
  </link>
  <link name="FL_calf_rotor">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <cylinder length="0.02" radius="0.035" />
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      <material name="green" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <cylinder length="0.02" radius="0.035" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.132" />
      <inertia ixx="0.000145463" ixy="0.0" ixz="0.0" iyy="0.000133031" iyz="0.0" izz="0.000145463" />
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  </link>
  <joint name="FL_foot_fixed" type="fixed">
    <origin xyz="0.0 0.0 -0.25" rpy="0.0 0.0 0.0" />
    <parent link="FL_calf" />
    <child link="FL_foot" />
  </joint>
  <link name="FL_foot">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <sphere radius="0.0165" />
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      <material name="green" />
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    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <sphere radius="0.0265" />
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    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.06" />
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    </inertial>
  </link>
  <joint name="RR_hip_joint" type="revolute">
    <origin xyz="-0.2407 -0.051 0.0" rpy="0.0 0.0 0.0" />
    <parent link="trunk" />
    <child link="RR_hip" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="35.278" velocity="20.0" lower="-1.2217304763960306" upper="1.2217304763960306" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="RR_hip_rotor_joint" type="fixed">
    <origin xyz="-0.139985 -0.051 0.0" rpy="0.0 0.0 0.0" />
    <parent link="trunk" />
    <child link="RR_hip_rotor" />
  </joint>
  <link name="RR_hip">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="3.141592653589793 3.141592653589793 0.0" />
      <geometry>
        <mesh filename="package://aliengo_description/meshes/hip.dae" />
      </geometry>
      <material name="orange" />
    </visual>
    <collision>
      <origin xyz="0.0 -0.083 0.0" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <cylinder length="0.0418" radius="0.046" />
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    </collision>
    <inertial>
      <origin xyz="0.022191 -0.015144 -1.5e-05" rpy="0.0 0.0 0.0" />
      <mass value="1.993" />
      <inertia ixx="0.002446735" ixy="-0.00059805" ixz="-1.945e-06" iyy="0.003925876" iyz="-1.284e-06" izz="0.004148145" />
    </inertial>
  </link>
  <link name="RR_hip_rotor">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 1.5707963267948966 0.0" />
      <geometry>
        <cylinder length="0.02" radius="0.035" />
      </geometry>
      <material name="green" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 1.5707963267948966 0.0" />
      <geometry>
        <cylinder length="0.02" radius="0.035" />
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    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.146" />
      <inertia ixx="0.000138702" ixy="0.0" ixz="0.0" iyy="8.3352e-05" iyz="0.0" izz="8.3352e-05" />
    </inertial>
  </link>
  <joint name="RR_thigh_joint" type="continuous">
    <origin xyz="0.0 -0.0868 0.0" rpy="0.0 0.0 0.0" />
    <parent link="RR_hip" />
    <child link="RR_thigh" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="35.278" velocity="20.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="RR_thigh_rotor_joint" type="fixed">
    <origin xyz="0.0 -0.0298 0.0" rpy="0.0 0.0 0.0" />
    <parent link="RR_hip" />
    <child link="RR_thigh_rotor" />
  </joint>
  <link name="RR_thigh">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://aliengo_description/meshes/thigh_mirror.dae" />
      </geometry>
      <material name="orange" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 -0.125" rpy="0.0 1.5707963267948966 0.0" />
      <geometry>
        <box size="0.25 0.0374 0.043" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.005607 0.003877 -0.048199" rpy="0.0 0.0 0.0" />
      <mass value="0.639" />
      <inertia ixx="0.004173855" ixy="-1.0284e-05" ixz="-0.000318874" iyy="0.004343802" iyz="-0.000109233" izz="0.000340136" />
    </inertial>
  </link>
  <link name="RR_thigh_rotor">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <cylinder length="0.02" radius="0.035" />
      </geometry>
      <material name="green" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <cylinder length="0.02" radius="0.035" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.146" />
      <inertia ixx="8.3352e-05" ixy="0.0" ixz="0.0" iyy="0.000138702" iyz="0.0" izz="8.3352e-05" />
    </inertial>
  </link>
  <joint name="RR_calf_joint" type="revolute">
    <origin xyz="0.0 0.0 -0.25" rpy="0.0 0.0 0.0" />
    <parent link="RR_thigh" />
    <child link="RR_calf" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="44.4" velocity="15.89" lower="-2.775073510670984" upper="-0.6457718232379019" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="RR_calf_rotor_joint" type="fixed">
    <origin xyz="0.0 0.0997 0.0" rpy="0.0 0.0 0.0" />
    <parent link="RR_thigh" />
    <child link="RR_calf_rotor" />
  </joint>
  <link name="RR_calf">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://aliengo_description/meshes/calf.dae" />
      </geometry>
      <material name="orange" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 -0.125" rpy="0.0 1.5707963267948966 0.0" />
      <geometry>
        <box size="0.25 0.0208 0.016" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.002781 6.3e-05 -0.142518" rpy="0.0 0.0 0.0" />
      <mass value="0.207" />
      <inertia ixx="0.002129279" ixy="3.9e-08" ixz="5.757e-06" iyy="0.002141463" iyz="-5.16e-07" izz="3.7583e-05" />
    </inertial>
  </link>
  <link name="RR_calf_rotor">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <cylinder length="0.02" radius="0.035" />
      </geometry>
      <material name="green" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <cylinder length="0.02" radius="0.035" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.132" />
      <inertia ixx="0.000145463" ixy="0.0" ixz="0.0" iyy="0.000133031" iyz="0.0" izz="0.000145463" />
    </inertial>
  </link>
  <joint name="RR_foot_fixed" type="fixed">
    <origin xyz="0.0 0.0 -0.25" rpy="0.0 0.0 0.0" />
    <parent link="RR_calf" />
    <child link="RR_foot" />
  </joint>
  <link name="RR_foot">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <sphere radius="0.0165" />
      </geometry>
      <material name="green" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <sphere radius="0.0265" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.06" />
      <inertia ixx="1.6853999999999998e-05" ixy="0.0" ixz="0.0" iyy="1.6853999999999998e-05" iyz="0.0" izz="1.6853999999999998e-05" />
    </inertial>
  </link>
  <joint name="RL_hip_joint" type="revolute">
    <origin xyz="-0.2407 0.051 0.0" rpy="0.0 0.0 0.0" />
    <parent link="trunk" />
    <child link="RL_hip" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="35.278" velocity="20.0" lower="-1.2217304763960306" upper="1.2217304763960306" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="RL_hip_rotor_joint" type="fixed">
    <origin xyz="-0.139985 0.051 0.0" rpy="0.0 0.0 0.0" />
    <parent link="trunk" />
    <child link="RL_hip_rotor" />
  </joint>
  <link name="RL_hip">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 3.141592653589793 0.0" />
      <geometry>
        <mesh filename="package://aliengo_description/meshes/hip.dae" />
      </geometry>
      <material name="orange" />
    </visual>
    <collision>
      <origin xyz="0.0 0.083 0.0" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <cylinder length="0.0418" radius="0.046" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.022191 0.015144 -1.5e-05" rpy="0.0 0.0 0.0" />
      <mass value="1.993" />
      <inertia ixx="0.002446735" ixy="0.00059805" ixz="-1.945e-06" iyy="0.003925876" iyz="1.284e-06" izz="0.004148145" />
    </inertial>
  </link>
  <link name="RL_hip_rotor">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 1.5707963267948966 0.0" />
      <geometry>
        <cylinder length="0.02" radius="0.035" />
      </geometry>
      <material name="green" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 1.5707963267948966 0.0" />
      <geometry>
        <cylinder length="0.02" radius="0.035" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.146" />
      <inertia ixx="0.000138702" ixy="0.0" ixz="0.0" iyy="8.3352e-05" iyz="0.0" izz="8.3352e-05" />
    </inertial>
  </link>
  <joint name="RL_thigh_joint" type="continuous">
    <origin xyz="0.0 0.0868 0.0" rpy="0.0 0.0 0.0" />
    <parent link="RL_hip" />
    <child link="RL_thigh" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="35.278" velocity="20.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="RL_thigh_rotor_joint" type="fixed">
    <origin xyz="0.0 0.0298 0.0" rpy="0.0 0.0 0.0" />
    <parent link="RL_hip" />
    <child link="RL_thigh_rotor" />
  </joint>
  <link name="RL_thigh">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://aliengo_description/meshes/thigh.dae" />
      </geometry>
      <material name="orange" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 -0.125" rpy="0.0 1.5707963267948966 0.0" />
      <geometry>
        <box size="0.25 0.0374 0.043" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.005607 -0.003877 -0.048199" rpy="0.0 0.0 0.0" />
      <mass value="0.639" />
      <inertia ixx="0.004173855" ixy="1.0284e-05" ixz="-0.000318874" iyy="0.004343802" iyz="0.000109233" izz="0.000340136" />
    </inertial>
  </link>
  <link name="RL_thigh_rotor">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <cylinder length="0.02" radius="0.035" />
      </geometry>
      <material name="green" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <cylinder length="0.02" radius="0.035" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.146" />
      <inertia ixx="8.3352e-05" ixy="0.0" ixz="0.0" iyy="0.000138702" iyz="0.0" izz="8.3352e-05" />
    </inertial>
  </link>
  <joint name="RL_calf_joint" type="revolute">
    <origin xyz="0.0 0.0 -0.25" rpy="0.0 0.0 0.0" />
    <parent link="RL_thigh" />
    <child link="RL_calf" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="44.4" velocity="15.89" lower="-2.775073510670984" upper="-0.6457718232379019" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="RL_calf_rotor_joint" type="fixed">
    <origin xyz="0.0 -0.0997 0.0" rpy="0.0 0.0 0.0" />
    <parent link="RL_thigh" />
    <child link="RL_calf_rotor" />
  </joint>
  <link name="RL_calf">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://aliengo_description/meshes/calf.dae" />
      </geometry>
      <material name="orange" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 -0.125" rpy="0.0 1.5707963267948966 0.0" />
      <geometry>
        <box size="0.25 0.0208 0.016" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.002781 6.3e-05 -0.142518" rpy="0.0 0.0 0.0" />
      <mass value="0.207" />
      <inertia ixx="0.002129279" ixy="3.9e-08" ixz="5.757e-06" iyy="0.002141463" iyz="-5.16e-07" izz="3.7583e-05" />
    </inertial>
  </link>
  <link name="RL_calf_rotor">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <cylinder length="0.02" radius="0.035" />
      </geometry>
      <material name="green" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <cylinder length="0.02" radius="0.035" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.132" />
      <inertia ixx="0.000145463" ixy="0.0" ixz="0.0" iyy="0.000133031" iyz="0.0" izz="0.000145463" />
    </inertial>
  </link>
  <joint name="RL_foot_fixed" type="fixed">
    <origin xyz="0.0 0.0 -0.25" rpy="0.0 0.0 0.0" />
    <parent link="RL_calf" />
    <child link="RL_foot" />
  </joint>
  <link name="RL_foot">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <sphere radius="0.0165" />
      </geometry>
      <material name="green" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <sphere radius="0.0265" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.06" />
      <inertia ixx="1.6853999999999998e-05" ixy="0.0" ixz="0.0" iyy="1.6853999999999998e-05" iyz="0.0" izz="1.6853999999999998e-05" />
    </inertial>
  </link>
</robot>
