<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (py backend), content 1f7d704a6f75e92d -->
<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_c_simple_description/meshes/base.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <box size="0.58 0.14 0.18" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.2175 0.07 0.0" rpy="0.0 1.57079632679 0.0" />
      <geometry>
        <cylinder length="0.145" radius="0.09" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="-0.2175 0.07 0.0" rpy="0.0 1.57079632679 0.0" />
      <geometry>
        <cylinder length="0.145" radius="0.09" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.2175 -0.07 0.0" rpy="0.0 1.57079632679 0.0" />
      <geometry>
        <cylinder length="0.145" radius="0.09" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="-0.2175 -0.07 0.0" rpy="0.0 1.57079632679 0.0" />
      <geometry>
        <cylinder length="0.145" radius="0.09" />
      </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="-0.018 -0.002 0.024" rpy="0.0 0.0 0.0" />
      <mass value="6.222" />
      <inertia ixx="0.017938806" ixy="0.00387963" ixz="0.001500772" iyy="0.370887745" iyz="6.8963e-05" izz="0.372497653" />
    </inertial>
  </link>
  <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_c_simple_description/meshes/top_shell.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="-0.00777 -0.00013 0.06523" rpy="0.0 0.0 0.0" />
      <mass value="0.534" />
      <inertia ixx="0.00664789486" ixy="1.247923e-05" ixz="0.00053990097" iyy="0.02587392411" iyz="3.7614e-07" izz="0.03152303792" />
    </inertial>
  </link>
  <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_c_simple_description/meshes/bottom_shell.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="-0.00333 1e-05 -0.07705" rpy="0.0 0.0 0.0" />
      <mass value="1.15" />
      <inertia ixx="0.00927353677" ixy="5.41222e-06" ixz="9.039821e-05" iyy="0.06134388239" iyz="2.3042e-07" izz="0.06853531465" />
    </inertial>
  </link>
  <joint name="base_remote" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="base" />
    <child link="remote" />
  </joint>
  <link name="remote">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://anymal_c_simple_description/meshes/remote.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="-0.171 0.002 0.096" rpy="0.0 0.0 0.0" />
      <mass value="0.3262" />
      <inertia ixx="0.000528486" ixy="4.547e-05" ixz="1.10327e-05" iyy="0.001165035" iyz="7.4e-07" izz="0.00124026" />
    </inertial>
  </link>
  <joint name="base_handle" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="base" />
    <child link="handle" />
  </joint>
  <link name="handle">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://anymal_c_simple_description/meshes/handle.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="0.37801 0.0 0.1372" rpy="0.0 0.0 0.0" />
      <mass value="0.314" />
      <inertia ixx="0.001525739" ixy="0.0" ixz="6.272e-05" iyy="0.00071584" iyz="1e-09" izz="0.001164779" />
    </inertial>
  </link>
  <joint name="base_face_front" type="fixed">
    <origin xyz="0.4145 0.0 0.0" rpy="0.0 0.0 -0.0" />
    <parent link="base" />
    <child link="face_front" />
  </joint>
  <link name="face_front">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://anymal_c_simple_description/meshes/face.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.055 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <box size="0.11 0.14 0.18" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.055 0.07 0.0" rpy="0.0 1.57079632679 0.0" />
      <geometry>
        <cylinder length="0.11" radius="0.09" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.055 -0.07 0.0" rpy="0.0 1.57079632679 0.0" />
      <geometry>
        <cylinder length="0.11" radius="0.09" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.042 -0.001 0.004" rpy="0.0 0.0 0.0" />
      <mass value="0.73" />
      <inertia ixx="0.005238611" ixy="1.7609e-05" ixz="7.2167e-05" iyy="0.002643098" iyz="1.9548e-05" izz="0.004325938" />
    </inertial>
  </link>
  <joint name="face_front_to_depth_camera_front_camera" type="fixed">
    <origin xyz="0.04715 0.0 -0.0292" rpy="0.0 0.523598775598 0.0" />
    <parent link="face_front" />
    <child link="depth_camera_front_camera" />
  </joint>
  <link name="depth_camera_front_camera">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://anymal_c_simple_description/meshes/depth_camera.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="-0.021 -0.002 0.025" rpy="0.0 0.0 0.0" />
      <mass value="0.16043" />
      <inertia ixx="0.000637051" ixy="0.000484569" ixz="0.000424211" iyy="0.000929402" iyz="5.138e-06" izz="0.000484569" />
    </inertial>
  </link>
  <joint name="depth_camera_front_camera_to_camera_parent" type="fixed">
    <origin xyz="0.0255 0.0175 0.0" rpy="0.0 0.0 0.0" />
    <parent link="depth_camera_front_camera" />
    <child link="depth_camera_front_camera_parent" />
  </joint>
  <link name="depth_camera_front_camera_parent" />
  <joint name="depth_camera_front_camera_parent_to_depth_optical_frame" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="-1.57079632679 0.0 -1.57079632679" />
    <parent link="depth_camera_front_camera_parent" />
    <child link="depth_camera_front_depth_optical_frame" />
  </joint>
  <link name="depth_camera_front_depth_optical_frame" />
  <joint name="depth_camera_front_camera_parent_to_color_frame" type="fixed">
    <origin xyz="0.0 0.015 0.0" rpy="0.0 0.0 0.0" />
    <parent link="depth_camera_front_camera_parent" />
    <child link="depth_camera_front_color_frame" />
  </joint>
  <link name="depth_camera_front_color_frame" />
  <joint name="depth_camera_front_color_frame_to_color_optical_frame" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="-1.57079632679 0.0 -1.57079632679" />
    <parent link="depth_camera_front_color_frame" />
    <child link="depth_camera_front_color_optical_frame" />
  </joint>
  <link name="depth_camera_front_color_optical_frame" />
  <joint name="face_front_to_wide_angle_camera_front_camera" type="fixed">
    <origin xyz="0.0985 0.0 0.01497" 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">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://anymal_c_simple_description/meshes/wide_angle_camera.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="-0.053 -0.001 0.025" rpy="0.0 0.0 0.0" />
      <mass value="0.287" />
      <inertia ixx="0.000559232" ixy="1.6875e-05" ixz="0.000423761" iyy="0.000946504" iyz="1.3234e-07" izz="0.000493052" />
    </inertial>
  </link>
  <joint name="wide_angle_camera_front_camera_to_camera_parent" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="-1.57079632679 0.0 -1.57079632679" />
    <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="-0.4145 0.0 0.0" rpy="0.0 0.0 3.14159265359" />
    <parent link="base" />
    <child link="face_rear" />
  </joint>
  <link name="face_rear">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://anymal_c_simple_description/meshes/face.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.055 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <box size="0.11 0.14 0.18" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.055 0.07 0.0" rpy="0.0 1.57079632679 0.0" />
      <geometry>
        <cylinder length="0.11" radius="0.09" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.055 -0.07 0.0" rpy="0.0 1.57079632679 0.0" />
      <geometry>
        <cylinder length="0.11" radius="0.09" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.042 -0.001 0.004" rpy="0.0 0.0 0.0" />
      <mass value="0.73" />
      <inertia ixx="0.005238611" ixy="1.7609e-05" ixz="7.2167e-05" iyy="0.002643098" iyz="1.9548e-05" izz="0.004325938" />
    </inertial>
  </link>
  <joint name="face_rear_to_depth_camera_rear_camera" type="fixed">
    <origin xyz="0.04715 0.0 -0.0292" rpy="0.0 0.523598775598 0.0" />
    <parent link="face_rear" />
    <child link="depth_camera_rear_camera" />
  </joint>
  <link name="depth_camera_rear_camera">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://anymal_c_simple_description/meshes/depth_camera.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="-0.021 -0.002 0.025" rpy="0.0 0.0 0.0" />
      <mass value="0.16043" />
      <inertia ixx="0.000637051" ixy="0.000484569" ixz="0.000424211" iyy="0.000929402" iyz="5.138e-06" izz="0.000484569" />
    </inertial>
  </link>
  <joint name="depth_camera_rear_camera_to_camera_parent" type="fixed">
    <origin xyz="0.0255 0.0175 0.0" rpy="0.0 0.0 0.0" />
    <parent link="depth_camera_rear_camera" />
    <child link="depth_camera_rear_camera_parent" />
  </joint>
  <link name="depth_camera_rear_camera_parent" />
  <joint name="depth_camera_rear_camera_parent_to_depth_optical_frame" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="-1.57079632679 0.0 -1.57079632679" />
    <parent link="depth_camera_rear_camera_parent" />
    <child link="depth_camera_rear_depth_optical_frame" />
  </joint>
  <link name="depth_camera_rear_depth_optical_frame" />
  <joint name="depth_camera_rear_camera_parent_to_color_frame" type="fixed">
    <origin xyz="0.0 0.015 0.0" rpy="0.0 0.0 0.0" />
    <parent link="depth_camera_rear_camera_parent" />
    <child link="depth_camera_rear_color_frame" />
  </joint>
  <link name="depth_camera_rear_color_frame" />
  <joint name="depth_camera_rear_color_frame_to_color_optical_frame" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="-1.57079632679 0.0 -1.57079632679" />
    <parent link="depth_camera_rear_color_frame" />
    <child link="depth_camera_rear_color_optical_frame" />
  </joint>
  <link name="depth_camera_rear_color_optical_frame" />
  <joint name="face_rear_to_wide_angle_camera_rear_camera" type="fixed">
    <origin xyz="0.0985 0.0 0.01497" 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">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://anymal_c_simple_description/meshes/wide_angle_camera.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="-0.053 -0.001 0.025" rpy="0.0 0.0 0.0" />
      <mass value="0.287" />
      <inertia ixx="0.000559232" ixy="1.6875e-05" ixz="0.000423761" iyy="0.000946504" iyz="1.3234e-07" izz="0.000493052" />
    </inertial>
  </link>
  <joint name="wide_angle_camera_rear_camera_to_camera_parent" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="-1.57079632679 0.0 -1.57079632679" />
    <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_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_c_simple_description/meshes/battery.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="-0.00067 -0.00023 -0.03362" rpy="0.0 0.0 0.0" />
      <mass value="5.53425" />
      <inertia ixx="0.00749474794" ixy="0.00016686282" ixz="7.82763e-05" iyy="0.0722338913" iyz="1.42902e-06" izz="0.07482717535" />
    </inertial>
  </link>
  <joint name="base_to_docking_hatch_cover" type="fixed">
    <origin xyz="0.343 0.0 -0.07" rpy="0.0 0.0 0.0" />
    <parent link="base" />
    <child link="docking_hatch_cover" />
  </joint>
  <link name="docking_hatch_cover">
    <inertial>
      <origin xyz="-0.003 0.0 0.005" rpy="0.0 0.0 0.0" />
      <mass value="0.065" />
      <inertia ixx="0.00063283" ixy="0.0" ixz="3.45e-07" iyy="0.00110971" iyz="0.0" izz="0.00171883" />
    </inertial>
  </link>
  <link name="imu_link">
    <visual>
      <origin xyz="0.0 0.0 0.005" rpy="0.0 0.0 0.0" />
      <geometry>
        <box size="0.024 0.024 0.01" />
      </geometry>
      <material name="orange" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.005" rpy="0.0 0.0 0.0" />
      <geometry>
        <box size="0.024 0.024 0.01" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.01" />
      <inertia ixx="5.63333333333e-07" ixy="0.0" ixz="0.0" iyy="9.6e-07" iyz="0.0" izz="5.63333333333e-07" />
    </inertial>
  </link>
  <joint name="imu_joint" type="fixed">
    <origin xyz="0.2488 0.00835 0.04628" rpy="0.0 0.0 1.57079632679" />
    <parent link="base" />
    <child link="imu_link" />
  </joint>
  <joint name="base_to_depth_camera_left_camera" type="fixed">
    <origin xyz="0.0 0.07646 0.02905" rpy="0.0 0.523598775598 1.57079632679" />
    <parent link="base" />
    <child link="depth_camera_left_camera" />
  </joint>
  <link name="depth_camera_left_camera">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://anymal_c_simple_description/meshes/depth_camera.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="-0.021 -0.002 0.025" rpy="0.0 0.0 0.0" />
      <mass value="0.16043" />
      <inertia ixx="0.000637051" ixy="0.000484569" ixz="0.000424211" iyy="0.000929402" iyz="5.138e-06" izz="0.000484569" />
    </inertial>
  </link>
  <joint name="depth_camera_left_camera_to_camera_parent" type="fixed">
    <origin xyz="0.0255 0.0175 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_optical_frame" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="-1.57079632679 0.0 -1.57079632679" />
    <parent link="depth_camera_left_camera_parent" />
    <child link="depth_camera_left_depth_optical_frame" />
  </joint>
  <link name="depth_camera_left_depth_optical_frame" />
  <joint name="depth_camera_left_camera_parent_to_color_frame" type="fixed">
    <origin xyz="0.0 0.015 0.0" rpy="0.0 0.0 0.0" />
    <parent link="depth_camera_left_camera_parent" />
    <child link="depth_camera_left_color_frame" />
  </joint>
  <link name="depth_camera_left_color_frame" />
  <joint name="depth_camera_left_color_frame_to_color_optical_frame" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="-1.57079632679 0.0 -1.57079632679" />
    <parent link="depth_camera_left_color_frame" />
    <child link="depth_camera_left_color_optical_frame" />
  </joint>
  <link name="depth_camera_left_color_optical_frame" />
  <joint name="base_to_depth_camera_right_camera" type="fixed">
    <origin xyz="0.0 -0.07646 0.02905" rpy="0.0 0.523598775598 -1.57079632679" />
    <parent link="base" />
    <child link="depth_camera_right_camera" />
  </joint>
  <link name="depth_camera_right_camera">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://anymal_c_simple_description/meshes/depth_camera.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="-0.021 -0.002 0.025" rpy="0.0 0.0 0.0" />
      <mass value="0.16043" />
      <inertia ixx="0.000637051" ixy="0.000484569" ixz="0.000424211" iyy="0.000929402" iyz="5.138e-06" izz="0.000484569" />
    </inertial>
  </link>
  <joint name="depth_camera_right_camera_to_camera_parent" type="fixed">
    <origin xyz="0.0255 0.0175 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_optical_frame" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="-1.57079632679 0.0 -1.57079632679" />
    <parent link="depth_camera_right_camera_parent" />
    <child link="depth_camera_right_depth_optical_frame" />
  </joint>
  <link name="depth_camera_right_depth_optical_frame" />
  <joint name="depth_camera_right_camera_parent_to_color_frame" type="fixed">
    <origin xyz="0.0 0.015 0.0" rpy="0.0 0.0 0.0" />
    <parent link="depth_camera_right_camera_parent" />
    <child link="depth_camera_right_color_frame" />
  </joint>
  <link name="depth_camera_right_color_frame" />
  <joint name="depth_camera_right_color_frame_to_color_optical_frame" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="-1.57079632679 0.0 -1.57079632679" />
    <parent link="depth_camera_right_color_frame" />
    <child link="depth_camera_right_color_optical_frame" />
  </joint>
  <link name="depth_camera_right_color_optical_frame" />
  <joint name="base_to_lidar_cage" type="fixed">
    <origin xyz="-0.364 0.0 0.0735" rpy="0.0 0.0 0.0" />
    <parent link="base" />
    <child link="lidar_cage" />
  </joint>
  <link name="lidar_cage">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://anymal_c_simple_description/meshes/lidar_cage.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.06" rpy="0.0 0.0 0.0" />
      <geometry>
        <cylinder length="0.12" radius="0.07" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.002 0.0 0.099" rpy="0.0 0.0 0.0" />
      <mass value="0.545" />
      <inertia ixx="0.003156254" ixy="0.0" ixz="1.0992e-05" iyy="0.002357216" iyz="0.0" izz="0.001326455" />
    </inertial>
  </link>
  <joint name="lidar_cage_to_lidar" type="fixed">
    <origin xyz="0.0 0.0 0.0687" rpy="0.0 0.0 -1.57079632679" />
    <parent link="lidar_cage" />
    <child link="lidar" />
  </joint>
  <link name="lidar">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://anymal_c_simple_description/meshes/lidar.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="-0.012 0.001 -0.008" rpy="0.0 0.0 0.0" />
      <mass value="0.695" />
      <inertia ixx="0.000846765" ixy="6.9565e-05" ixz="0.00027111" iyy="0.001367583" iyz="5.8984e-05" izz="0.001363673" />
    </inertial>
  </link>
  <joint name="base_LF_HAA" type="fixed">
    <origin xyz="0.2999 0.104 0.0" rpy="2.61799387799 0.0 0.0" />
    <parent link="base" />
    <child link="LF_HAA" />
  </joint>
  <link name="LF_HAA">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://anymal_c_simple_description/meshes/drive.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="-0.063 7e-05 0.00046" rpy="0.0 0.0 0.0" />
      <mass value="2.04" />
      <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827" />
    </inertial>
  </link>
  <joint name="LF_HAA" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="LF_HAA" />
    <child link="LF_HIP" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="80.0" velocity="7.5" lower="-0.72" upper="0.49" />
    <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="-2.61799387799 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_c_simple_description/meshes/hip_l.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="0.048 0.008 -0.003" rpy="0.0 0.0 0.0" />
      <mass value="0.74" />
      <inertia ixx="0.001393106" ixy="8.4012e-05" ixz="2.3378e-05" iyy="0.003798579" iyz="7.1319e-05" izz="0.003897509" />
    </inertial>
  </link>
  <joint name="LF_hip_fixed_LF_HFE" type="fixed">
    <origin xyz="0.0599 0.08381 0.0" rpy="0.0 0.0 1.57079632679" />
    <parent link="LF_hip_fixed" />
    <child link="LF_HFE" />
  </joint>
  <link name="LF_HFE">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://anymal_c_simple_description/meshes/drive.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="-0.07 0.0 0.0" rpy="0.0 1.57079632679 0.0" />
      <geometry>
        <cylinder length="0.14" radius="0.05" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.063 7e-05 0.00046" rpy="0.0 0.0 0.0" />
      <mass value="2.04" />
      <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827" />
    </inertial>
  </link>
  <joint name="LF_HFE" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="LF_HFE" />
    <child link="LF_THIGH" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="80.0" velocity="7.5" lower="-9.42477796077" upper="9.42477796077" />
    <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_LF_thigh_fixed" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 -1.57079632679" />
    <parent link="LF_THIGH" />
    <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_c_simple_description/meshes/thigh.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.04 0.0" rpy="1.57079632679 0.0 0.0" />
      <geometry>
        <cylinder length="0.08" radius="0.065" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.0 0.03 -0.1413135" rpy="0.0 0.0 0.0" />
      <geometry>
        <box size="0.075 0.06 0.282627" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.018 -0.169" rpy="0.0 0.0 0.0" />
      <mass value="1.03" />
      <inertia ixx="0.018644469" ixy="5.2e-08" ixz="1.0157e-05" iyy="0.019312599" iyz="0.002520077" izz="0.002838361" />
    </inertial>
  </link>
  <joint name="LF_thigh_fixed_LF_KFE" type="fixed">
    <origin xyz="0.0 0.1003 -0.285" rpy="0.0 0.0 1.57079632679" />
    <parent link="LF_thigh_fixed" />
    <child link="LF_KFE" />
  </joint>
  <link name="LF_KFE">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://anymal_c_simple_description/meshes/drive.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="-0.07 0.0 0.0" rpy="0.0 1.57079632679 0.0" />
      <geometry>
        <cylinder length="0.14" radius="0.05" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.063 7e-05 0.00046" rpy="0.0 0.0 0.0" />
      <mass value="2.04" />
      <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827" />
    </inertial>
  </link>
  <joint name="LF_KFE" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="LF_KFE" />
    <child link="LF_SHANK" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="80.0" velocity="7.5" lower="-9.42477796077" upper="9.42477796077" />
    <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 -1.57079632679" />
    <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_c_simple_description/meshes/shank_l.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.02 0.0" rpy="1.57079632679 0.0 0.0" />
      <geometry>
        <cylinder length="0.04" radius="0.06" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.057499 0.02 0.0" rpy="1.57079632679 0.0 0.0" />
      <geometry>
        <box size="0.114998 0.0675 0.04" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.03463 0.00688 0.00098" rpy="0.0 0.0 0.0" />
      <mass value="0.33742" />
      <inertia ixx="0.00032748005" ixy="2.142561e-05" ixz="1.33942e-05" iyy="0.00110974122" iyz="7.601e-08" izz="0.00089388521" />
    </inertial>
  </link>
  <joint name="LF_shank_fixed_LF_FOOT" type="fixed">
    <origin xyz="0.08795 0.01305 -0.33797" 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 -0.785398163397" />
      <geometry>
        <mesh filename="package://anymal_c_simple_description/meshes/foot.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.168985" rpy="0.0 0.0 0.0" />
      <geometry>
        <cylinder length="0.282504" radius="0.0175" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.0 0.0 0.0225" rpy="0.0 0.0 0.0" />
      <geometry>
        <sphere radius="0.03" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.00948 -0.00948 0.1468" rpy="0.0 0.0 0.0" />
      <mass value="0.25" />
      <inertia ixx="0.00317174097" ixy="2.63048e-06" ixz="6.815581e-05" iyy="0.00317174092" iyz="6.815583e-05" izz="8.319196e-05" />
    </inertial>
  </link>
  <joint name="base_RF_HAA" type="fixed">
    <origin xyz="0.2999 -0.104 0.0" rpy="-2.61799387799 0.0 0.0" />
    <parent link="base" />
    <child link="RF_HAA" />
  </joint>
  <link name="RF_HAA">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://anymal_c_simple_description/meshes/drive.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="-0.063 7e-05 0.00046" rpy="0.0 0.0 0.0" />
      <mass value="2.04" />
      <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827" />
    </inertial>
  </link>
  <joint name="RF_HAA" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="RF_HAA" />
    <child link="RF_HIP" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="80.0" velocity="7.5" lower="-0.49" upper="0.72" />
    <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="2.61799387799 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="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://anymal_c_simple_description/meshes/hip_r.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="0.048 -0.008 -0.003" rpy="0.0 0.0 0.0" />
      <mass value="0.74" />
      <inertia ixx="0.001393106" ixy="-8.4012e-05" ixz="2.3378e-05" iyy="0.003798579" iyz="-7.1319e-05" izz="0.003897509" />
    </inertial>
  </link>
  <joint name="RF_hip_fixed_RF_HFE" type="fixed">
    <origin xyz="0.0599 -0.08381 0.0" rpy="0.0 0.0 -1.57079632679" />
    <parent link="RF_hip_fixed" />
    <child link="RF_HFE" />
  </joint>
  <link name="RF_HFE">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://anymal_c_simple_description/meshes/drive.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="-0.07 0.0 0.0" rpy="0.0 1.57079632679 0.0" />
      <geometry>
        <cylinder length="0.14" radius="0.05" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.063 7e-05 0.00046" rpy="0.0 0.0 0.0" />
      <mass value="2.04" />
      <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827" />
    </inertial>
  </link>
  <joint name="RF_HFE" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="RF_HFE" />
    <child link="RF_THIGH" />
    <axis xyz="-1.0 0.0 0.0" />
    <limit effort="80.0" velocity="7.5" lower="-9.42477796077" upper="9.42477796077" />
    <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_RF_thigh_fixed" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 1.57079632679" />
    <parent link="RF_THIGH" />
    <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 -3.14159265359" />
      <geometry>
        <mesh filename="package://anymal_c_simple_description/meshes/thigh.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 -0.04 0.0" rpy="1.57079632679 0.0 0.0" />
      <geometry>
        <cylinder length="0.08" radius="0.065" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.0 -0.03 -0.1413135" rpy="0.0 0.0 0.0" />
      <geometry>
        <box size="0.075 0.06 0.282627" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 -0.018 -0.169" rpy="0.0 0.0 0.0" />
      <mass value="1.03" />
      <inertia ixx="0.018644469" ixy="-5.2e-08" ixz="1.0157e-05" iyy="0.019312599" iyz="-0.002520077" izz="0.002838361" />
    </inertial>
  </link>
  <joint name="RF_thigh_fixed_RF_KFE" type="fixed">
    <origin xyz="0.0 -0.1003 -0.285" rpy="0.0 0.0 -1.57079632679" />
    <parent link="RF_thigh_fixed" />
    <child link="RF_KFE" />
  </joint>
  <link name="RF_KFE">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://anymal_c_simple_description/meshes/drive.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="-0.07 0.0 0.0" rpy="0.0 1.57079632679 0.0" />
      <geometry>
        <cylinder length="0.14" radius="0.05" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.063 7e-05 0.00046" rpy="0.0 0.0 0.0" />
      <mass value="2.04" />
      <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827" />
    </inertial>
  </link>
  <joint name="RF_KFE" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="RF_KFE" />
    <child link="RF_SHANK" />
    <axis xyz="-1.0 0.0 0.0" />
    <limit effort="80.0" velocity="7.5" lower="-9.42477796077" upper="9.42477796077" />
    <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 1.57079632679" />
    <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_c_simple_description/meshes/shank_r.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 -0.02 0.0" rpy="1.57079632679 0.0 0.0" />
      <geometry>
        <cylinder length="0.04" radius="0.06" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.057499 -0.02 0.0" rpy="1.57079632679 0.0 0.0" />
      <geometry>
        <box size="0.114998 0.0675 0.04" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.03463 -0.00688 0.00098" rpy="0.0 0.0 0.0" />
      <mass value="0.33742" />
      <inertia ixx="0.00032748005" ixy="-2.142561e-05" ixz="1.33942e-05" iyy="0.00110974122" iyz="-7.601e-08" izz="0.00089388521" />
    </inertial>
  </link>
  <joint name="RF_shank_fixed_RF_FOOT" type="fixed">
    <origin xyz="0.08795 -0.01305 -0.33797" 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 0.785398163397" />
      <geometry>
        <mesh filename="package://anymal_c_simple_description/meshes/foot.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.168985" rpy="0.0 0.0 0.0" />
      <geometry>
        <cylinder length="0.282504" radius="0.0175" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.0 0.0 0.0225" rpy="0.0 0.0 0.0" />
      <geometry>
        <sphere radius="0.03" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.00948 0.00948 0.1468" rpy="0.0 0.0 0.0" />
      <mass value="0.25" />
      <inertia ixx="0.00317174097" ixy="-2.63048e-06" ixz="6.815581e-05" iyy="0.00317174092" iyz="-6.815583e-05" izz="8.319196e-05" />
    </inertial>
  </link>
  <joint name="base_LH_HAA" type="fixed">
    <origin xyz="-0.2999 0.104 0.0" rpy="-2.61799387799 0.0 -3.14159265359" />
    <parent link="base" />
    <child link="LH_HAA" />
  </joint>
  <link name="LH_HAA">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://anymal_c_simple_description/meshes/drive.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="-0.063 7e-05 0.00046" rpy="0.0 0.0 0.0" />
      <mass value="2.04" />
      <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827" />
    </inertial>
  </link>
  <joint name="LH_HAA" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="LH_HAA" />
    <child link="LH_HIP" />
    <axis xyz="-1.0 0.0 0.0" />
    <limit effort="80.0" velocity="7.5" lower="-0.72" upper="0.49" />
    <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="-2.61799387799 0.0 -3.14159265359" />
    <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="0.0 0.0 -3.14159265359" />
      <geometry>
        <mesh filename="package://anymal_c_simple_description/meshes/hip_r.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="-0.048 0.008 -0.003" rpy="0.0 0.0 0.0" />
      <mass value="0.74" />
      <inertia ixx="0.001393106" ixy="-8.4012e-05" ixz="-2.3378e-05" iyy="0.003798579" iyz="7.1319e-05" izz="0.003897509" />
    </inertial>
  </link>
  <joint name="LH_hip_fixed_LH_HFE" type="fixed">
    <origin xyz="-0.0599 0.08381 0.0" rpy="0.0 0.0 1.57079632679" />
    <parent link="LH_hip_fixed" />
    <child link="LH_HFE" />
  </joint>
  <link name="LH_HFE">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://anymal_c_simple_description/meshes/drive.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="-0.07 0.0 0.0" rpy="0.0 1.57079632679 0.0" />
      <geometry>
        <cylinder length="0.14" radius="0.05" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.063 7e-05 0.00046" rpy="0.0 0.0 0.0" />
      <mass value="2.04" />
      <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827" />
    </inertial>
  </link>
  <joint name="LH_HFE" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="LH_HFE" />
    <child link="LH_THIGH" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="80.0" velocity="7.5" lower="-9.42477796077" upper="9.42477796077" />
    <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_LH_thigh_fixed" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 -1.57079632679" />
    <parent link="LH_THIGH" />
    <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_c_simple_description/meshes/thigh.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.04 0.0" rpy="1.57079632679 0.0 0.0" />
      <geometry>
        <cylinder length="0.08" radius="0.065" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.0 0.03 -0.1413135" rpy="0.0 0.0 0.0" />
      <geometry>
        <box size="0.075 0.06 0.282627" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.0 0.018 -0.169" rpy="0.0 0.0 0.0" />
      <mass value="1.03" />
      <inertia ixx="0.018644469" ixy="-5.2e-08" ixz="-1.0157e-05" iyy="0.019312599" iyz="0.002520077" izz="0.002838361" />
    </inertial>
  </link>
  <joint name="LH_thigh_fixed_LH_KFE" type="fixed">
    <origin xyz="-0.0 0.1003 -0.285" rpy="0.0 0.0 1.57079632679" />
    <parent link="LH_thigh_fixed" />
    <child link="LH_KFE" />
  </joint>
  <link name="LH_KFE">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://anymal_c_simple_description/meshes/drive.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="-0.07 0.0 0.0" rpy="0.0 1.57079632679 0.0" />
      <geometry>
        <cylinder length="0.14" radius="0.05" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.063 7e-05 0.00046" rpy="0.0 0.0 0.0" />
      <mass value="2.04" />
      <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827" />
    </inertial>
  </link>
  <joint name="LH_KFE" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="LH_KFE" />
    <child link="LH_SHANK" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="80.0" velocity="7.5" lower="-9.42477796077" upper="9.42477796077" />
    <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 -1.57079632679" />
    <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 -3.14159265359" />
      <geometry>
        <mesh filename="package://anymal_c_simple_description/meshes/shank_r.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.02 0.0" rpy="1.57079632679 0.0 0.0" />
      <geometry>
        <cylinder length="0.04" radius="0.06" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="-0.057499 0.02 0.0" rpy="1.57079632679 0.0 0.0" />
      <geometry>
        <box size="0.114998 0.0675 0.04" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.03463 0.00688 0.00098" rpy="0.0 0.0 0.0" />
      <mass value="0.33742" />
      <inertia ixx="0.00032748005" ixy="-2.142561e-05" ixz="-1.33942e-05" iyy="0.00110974122" iyz="7.601e-08" izz="0.00089388521" />
    </inertial>
  </link>
  <joint name="LH_shank_fixed_LH_FOOT" type="fixed">
    <origin xyz="-0.08795 0.01305 -0.33797" 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 -2.35619449019" />
      <geometry>
        <mesh filename="package://anymal_c_simple_description/meshes/foot.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.168985" rpy="0.0 0.0 0.0" />
      <geometry>
        <cylinder length="0.282504" radius="0.0175" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.0 0.0 0.0225" rpy="0.0 0.0 0.0" />
      <geometry>
        <sphere radius="0.03" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.00948 -0.00948 0.1468" rpy="0.0 0.0 0.0" />
      <mass value="0.25" />
      <inertia ixx="0.00317174097" ixy="-2.63048e-06" ixz="-6.815581e-05" iyy="0.00317174092" iyz="6.815583e-05" izz="8.319196e-05" />
    </inertial>
  </link>
  <joint name="base_RH_HAA" type="fixed">
    <origin xyz="-0.2999 -0.104 0.0" rpy="2.61799387799 0.0 -3.14159265359" />
    <parent link="base" />
    <child link="RH_HAA" />
  </joint>
  <link name="RH_HAA">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://anymal_c_simple_description/meshes/drive.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="-0.063 7e-05 0.00046" rpy="0.0 0.0 0.0" />
      <mass value="2.04" />
      <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827" />
    </inertial>
  </link>
  <joint name="RH_HAA" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="RH_HAA" />
    <child link="RH_HIP" />
    <axis xyz="-1.0 0.0 0.0" />
    <limit effort="80.0" velocity="7.5" lower="-0.49" upper="0.72" />
    <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="2.61799387799 0.0 -3.14159265359" />
    <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 -3.14159265359" />
      <geometry>
        <mesh filename="package://anymal_c_simple_description/meshes/hip_l.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="-0.048 -0.008 -0.003" rpy="0.0 0.0 0.0" />
      <mass value="0.74" />
      <inertia ixx="0.001393106" ixy="8.4012e-05" ixz="-2.3378e-05" iyy="0.003798579" iyz="-7.1319e-05" izz="0.003897509" />
    </inertial>
  </link>
  <joint name="RH_hip_fixed_RH_HFE" type="fixed">
    <origin xyz="-0.0599 -0.08381 0.0" rpy="0.0 0.0 -1.57079632679" />
    <parent link="RH_hip_fixed" />
    <child link="RH_HFE" />
  </joint>
  <link name="RH_HFE">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://anymal_c_simple_description/meshes/drive.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="-0.07 0.0 0.0" rpy="0.0 1.57079632679 0.0" />
      <geometry>
        <cylinder length="0.14" radius="0.05" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.063 7e-05 0.00046" rpy="0.0 0.0 0.0" />
      <mass value="2.04" />
      <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827" />
    </inertial>
  </link>
  <joint name="RH_HFE" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="RH_HFE" />
    <child link="RH_THIGH" />
    <axis xyz="-1.0 0.0 0.0" />
    <limit effort="80.0" velocity="7.5" lower="-9.42477796077" upper="9.42477796077" />
    <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_RH_thigh_fixed" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 1.57079632679" />
    <parent link="RH_THIGH" />
    <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 -3.14159265359" />
      <geometry>
        <mesh filename="package://anymal_c_simple_description/meshes/thigh.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 -0.04 0.0" rpy="1.57079632679 0.0 0.0" />
      <geometry>
        <cylinder length="0.08" radius="0.065" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.0 -0.03 -0.1413135" rpy="0.0 0.0 0.0" />
      <geometry>
        <box size="0.075 0.06 0.282627" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.0 -0.018 -0.169" rpy="0.0 0.0 0.0" />
      <mass value="1.03" />
      <inertia ixx="0.018644469" ixy="5.2e-08" ixz="-1.0157e-05" iyy="0.019312599" iyz="-0.002520077" izz="0.002838361" />
    </inertial>
  </link>
  <joint name="RH_thigh_fixed_RH_KFE" type="fixed">
    <origin xyz="-0.0 -0.1003 -0.285" rpy="0.0 0.0 -1.57079632679" />
    <parent link="RH_thigh_fixed" />
    <child link="RH_KFE" />
  </joint>
  <link name="RH_KFE">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://anymal_c_simple_description/meshes/drive.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="-0.07 0.0 0.0" rpy="0.0 1.57079632679 0.0" />
      <geometry>
        <cylinder length="0.14" radius="0.05" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.063 7e-05 0.00046" rpy="0.0 0.0 0.0" />
      <mass value="2.04" />
      <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827" />
    </inertial>
  </link>
  <joint name="RH_KFE" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="RH_KFE" />
    <child link="RH_SHANK" />
    <axis xyz="-1.0 0.0 0.0" />
    <limit effort="80.0" velocity="7.5" lower="-9.42477796077" upper="9.42477796077" />
    <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 1.57079632679" />
    <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 -3.14159265359" />
      <geometry>
        <mesh filename="package://anymal_c_simple_description/meshes/shank_l.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 -0.02 0.0" rpy="1.57079632679 0.0 0.0" />
      <geometry>
        <cylinder length="0.04" radius="0.06" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="-0.057499 -0.02 0.0" rpy="1.57079632679 0.0 0.0" />
      <geometry>
        <box size="0.114998 0.0675 0.04" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.03463 -0.00688 0.00098" rpy="0.0 0.0 0.0" />
      <mass value="0.33742" />
      <inertia ixx="0.00032748005" ixy="2.142561e-05" ixz="-1.33942e-05" iyy="0.00110974122" iyz="-7.601e-08" izz="0.00089388521" />
    </inertial>
  </link>
  <joint name="RH_shank_fixed_RH_FOOT" type="fixed">
    <origin xyz="-0.08795 -0.01305 -0.33797" 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 -3.92699081699" />
      <geometry>
        <mesh filename="package://anymal_c_simple_description/meshes/foot.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.168985" rpy="0.0 0.0 0.0" />
      <geometry>
        <cylinder length="0.282504" radius="0.0175" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.0 0.0 0.0225" rpy="0.0 0.0 0.0" />
      <geometry>
        <sphere radius="0.03" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.00948 0.00948 0.1468" rpy="0.0 0.0 0.0" />
      <mass value="0.25" />
      <inertia ixx="0.00317174097" ixy="2.63048e-06" ixz="-6.815581e-05" iyy="0.00317174092" iyz="-6.815583e-05" izz="8.319196e-05" />
    </inertial>
  </link>
  <joint name="base_hatch" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="base" />
    <child link="hatch" />
  </joint>
  <link name="hatch">
    <visual>
      <origin xyz="0.116 0.0 0.073" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://anymal_c_simple_description/meshes/hatch.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="0.116 0.0 0.0758" rpy="0.0 0.0 0.0" />
      <mass value="0.142" />
      <inertia ixx="0.001" ixy="0.001" ixz="0.001" iyy="0.001" iyz="0.001" izz="0.001" />
    </inertial>
  </link>
</robot>
