<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (py backend), content 837bfc0dfc24b22b -->
<robot name="b2_description">
  <material name="磨砂铝合金_011-effect">
    <color rgba="0.74876 0.74876 0.74876 1.0" />
  </material>
  <link name="base_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://b2_description/meshes/base_link.dae" />
      </geometry>
      <material name="磨砂铝合金_011-effect" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <box size="0.5 0.28 0.15" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.000458 0.005261 0.000665" rpy="0.0 0.0 0.0" />
      <mass value="35.86" />
      <inertia ixx="0.27466" ixy="-0.000622" ixz="0.00315" iyy="1.0618" iyz="-0.00139" izz="1.1825" />
    </inertial>
  </link>
  <link name="lidar_link">
    <collision>
      <origin xyz="0.0 0.0 -0.02" rpy="0.0 0.0 0.0" />
      <geometry>
        <cylinder length="0.16" radius="0.076" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.34218 0.0 0.17851" rpy="0.0 0.0 0.0" />
      <mass value="4.19e-15" />
      <inertia ixx="1.68e-27" ixy="-3.2e-45" ixz="7.68e-44" iyy="1.68e-27" iyz="-9.26e-47" izz="1.68e-27" />
    </inertial>
  </link>
  <joint name="joint_lidar" type="fixed">
    <origin xyz="0.34218 0.0 0.17851" rpy="0.0 0.0 0.0" />
    <parent link="base_link" />
    <child link="lidar_link" />
  </joint>
  <link name="f_dc_link">
    <inertial>
      <origin xyz="3.47e-18 0.0 5.55e-17" rpy="0.0 0.0 0.0" />
      <mass value="4.19e-15" />
      <inertia ixx="1.68e-27" ixy="-9.81e-45" ixz="-2.54e-44" iyy="1.68e-27" iyz="0.0" izz="1.68e-27" />
    </inertial>
  </link>
  <joint name="joint_f_dc" type="fixed">
    <origin xyz="0.41251 0.024997 0.04765" rpy="-2.3562 0.0 -1.5708" />
    <parent link="base_link" />
    <child link="f_dc_link" />
  </joint>
  <link name="r_dc_link">
    <inertial>
      <origin xyz="-7.46e-16 -3.33e-16 -1.11e-15" rpy="0.0 0.0 0.0" />
      <mass value="4.19e-15" />
      <inertia ixx="1.68e-27" ixy="-4.31e-44" ixz="2.48e-45" iyy="1.68e-27" iyz="0.0" izz="1.68e-27" />
    </inertial>
  </link>
  <joint name="joint_r_dc" type="fixed">
    <origin xyz="-0.4081 -0.025 0.024861" rpy="-2.3557 0.0 1.5708" />
    <parent link="base_link" />
    <child link="r_dc_link" />
  </joint>
  <link name="imu_link">
    <inertial>
      <origin xyz="-2.02e-17 1.73e-17 -1.39e-17" rpy="0.0 0.0 0.0" />
      <mass value="4.19e-15" />
      <inertia ixx="1.68e-27" ixy="1.84e-44" ixz="-7.35e-44" iyy="1.68e-27" iyz="-3.67e-44" izz="1.68e-27" />
    </inertial>
  </link>
  <joint name="joint_imu" type="fixed">
    <origin xyz="0.0 -0.02341 0.04927" rpy="0.0 0.0 0.0" />
    <parent link="base_link" />
    <child link="imu_link" />
  </joint>
  <link name="head_Link">
    <collision>
      <origin xyz="0.41 0.0 0.005" rpy="0.0 0.0 0.0" />
      <geometry>
        <box size="0.04 0.12 0.14" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.33989 -0.000168 0.12029" rpy="0.0 0.0 0.0" />
      <mass value="3.6885" />
      <inertia ixx="0.026455" ixy="3.15e-05" ixz="0.00166" iyy="0.029221" iyz="-3.27e-05" izz="0.010918" />
    </inertial>
  </link>
  <joint name="joint_head" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="base_link" />
    <child link="head_Link" />
  </joint>
  <link name="tail_link">
    <collision>
      <origin xyz="-0.405 0.0 0.005" rpy="0.0 0.0 0.0" />
      <geometry>
        <box size="0.025 0.12 0.14" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.37448 0.000488 0.006495" rpy="0.0 0.0 0.0" />
      <mass value="0.795" />
      <inertia ixx="0.0028118" ixy="1.95e-05" ixz="-7.87e-06" iyy="0.0047506" iyz="-1.57e-05" izz="0.0029154" />
    </inertial>
  </link>
  <joint name="joint_tail" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="base_link" />
    <child link="tail_link" />
  </joint>
  <material name="磨砂铝合金_008-effect">
    <color rgba="0.85 0.85 0.85 1.0" />
  </material>
  <link name="FL_hip">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://b2_description/meshes/FL_hip.dae" />
      </geometry>
      <material name="磨砂铝合金_008-effect" />
    </visual>
    <collision>
      <origin xyz="0.0 0.12 0.0" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <cylinder length="0.05" radius="0.07" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.003841 -0.009068 0.0" rpy="0.0 0.0 0.0" />
      <mass value="2.673" />
      <inertia ixx="0.0033188" ixy="7.16e-05" ixz="-3.77e-07" iyy="0.0048743" iyz="4e-09" izz="0.0037087" />
    </inertial>
  </link>
  <joint name="FL_hip_joint" type="revolute">
    <origin xyz="0.3285 0.072 0.0" rpy="0.0 0.0 0.0" />
    <parent link="base_link" />
    <child link="FL_hip" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="200.0" velocity="23.0" lower="-0.87" upper="0.87" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="FL_hip_rotor">
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 1.5707963267948966 0.0" />
      <geometry>
        <cylinder length="0.02" radius="0.05" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.2734" />
      <inertia ixx="0.000144463" ixy="0.0" ixz="0.0" iyy="0.000144463" iyz="0.0" izz="0.000263053" />
    </inertial>
  </link>
  <joint name="FL_hip_rotor_joint" type="fixed">
    <origin xyz="0.20205 0.072 0.0" rpy="0.0 0.0 0.0" />
    <parent link="base_link" />
    <child link="FL_hip_rotor" />
  </joint>
  <link name="FL_thigh">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://b2_description/meshes/FL_thigh.dae" />
      </geometry>
      <material name="磨砂铝合金_008-effect" />
    </visual>
    <collision>
      <origin xyz="-0.025 0.0 -0.16" rpy="0.0 1.57 0.0" />
      <geometry>
        <box size="0.32 0.0445 0.054" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.006279 -0.032049 -0.057835" rpy="0.0 0.0 0.0" />
      <mass value="4.536" />
      <inertia ixx="0.062299" ixy="0.00087781" ixz="-0.0036475" iyy="0.061399" iyz="0.0083537" izz="0.0081997" />
    </inertial>
  </link>
  <joint name="FL_thigh_joint" type="revolute">
    <origin xyz="0.0 0.11973 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="200.0" velocity="23.0" lower="-0.94" upper="4.69" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="FL_thigh_rotor">
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <cylinder length="0.02" radius="0.05" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.2734" />
      <inertia ixx="0.000144463" ixy="0.0" ixz="0.0" iyy="0.000144463" iyz="0.0" izz="0.000263053" />
    </inertial>
  </link>
  <joint name="FL_thigh_rotor_joint" type="fixed">
    <origin xyz="0.0 -0.00798 0.0" rpy="0.0 0.0 0.0" />
    <parent link="FL_hip" />
    <child link="FL_thigh_rotor" />
  </joint>
  <material name="磨砂铝合金_018-effect">
    <color rgba="0.74876 0.74876 0.74876 1.0" />
  </material>
  <link name="FL_calf">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://b2_description/meshes/FL_calf.dae" />
      </geometry>
      <material name="磨砂铝合金_018-effect" />
    </visual>
    <collision>
      <origin xyz="-0.002 0.0 -0.03" rpy="0.0 1.2 0.0" />
      <geometry>
        <box size="0.1 0.0245 0.018" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.022 0.0 -0.1" rpy="0.0 1.35 0.0" />
      <geometry>
        <box size="0.1 0.0245 0.018" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.036 0.0 -0.225" rpy="0.0 1.53 0.0" />
      <geometry>
        <box size="0.15 0.0245 0.015" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.023 0.0 -0.31" rpy="0.0 2.0 0.0" />
      <geometry>
        <box size="0.05 0.028 0.035" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.012422 0.0 -0.12499" rpy="0.0 0.0 0.0" />
      <mass value="0.404" />
      <inertia ixx="0.01143" ixy="0.0" ixz="0.000643" iyy="0.011534" iyz="0.0" izz="0.000331" />
    </inertial>
  </link>
  <joint name="FL_calf_joint" type="revolute">
    <origin xyz="0.0 -8.6984e-05 -0.35" 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="320.0" velocity="14.0" lower="-2.82" upper="-0.43" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="FL_calf_rotor">
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <cylinder length="0.02" radius="0.05" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.2734" />
      <inertia ixx="0.000144463" ixy="0.0" ixz="0.0" iyy="0.000144463" iyz="0.0" izz="0.000263053" />
    </inertial>
  </link>
  <joint name="FL_calf_rotor_joint" type="fixed">
    <origin xyz="0.0 -0.05788 0.0" rpy="0.0 0.0 0.0" />
    <parent link="FL_thigh" />
    <child link="FL_calf_rotor" />
  </joint>
  <link name="FL_foot">
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="1.57 0.0 0.0" />
      <geometry>
        <sphere radius="0.032" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.006511 0.0 -0.010144" rpy="0.0 0.0 0.0" />
      <mass value="0.126" />
      <inertia ixx="3.8e-05" ixy="0.0" ixz="1.1e-05" iyy="4.1e-05" iyz="0.0" izz="4.2e-05" />
    </inertial>
  </link>
  <joint name="FL_foot_joint" type="fixed">
    <origin xyz="0.0 0.0 -0.35" rpy="0.0 0.0 0.0" />
    <parent link="FL_calf" />
    <child link="FL_foot" />
  </joint>
  <link name="FR_hip">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://b2_description/meshes/FR_hip.dae" />
      </geometry>
      <material name="磨砂铝合金_008-effect" />
    </visual>
    <collision>
      <origin xyz="0.0 -0.12 0.0" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <cylinder length="0.05" radius="0.07" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.009305 0.010228 0.000264" rpy="0.0 0.0 0.0" />
      <mass value="2.673" />
      <inertia ixx="0.0026431" ixy="-0.00019234" ixz="-6.76e-06" iyy="0.0046728" iyz="7.16e-06" izz="0.0034208" />
    </inertial>
  </link>
  <joint name="FR_hip_joint" type="revolute">
    <origin xyz="0.3285 -0.072 0.0" rpy="0.0 0.0 0.0" />
    <parent link="base_link" />
    <child link="FR_hip" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="200.0" velocity="23.0" lower="-0.87" upper="0.87" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="FR_hip_rotor">
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 1.5707963267948966 0.0" />
      <geometry>
        <cylinder length="0.02" radius="0.05" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.2734" />
      <inertia ixx="0.000144463" ixy="0.0" ixz="0.0" iyy="0.000144463" iyz="0.0" izz="0.000263053" />
    </inertial>
  </link>
  <joint name="FR_hip_rotor_joint" type="fixed">
    <origin xyz="0.20205 -0.072 0.0" rpy="0.0 0.0 0.0" />
    <parent link="base_link" />
    <child link="FR_hip_rotor" />
  </joint>
  <link name="FR_thigh">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://b2_description/meshes/FR_thigh.dae" />
      </geometry>
      <material name="磨砂铝合金_008-effect" />
    </visual>
    <collision>
      <origin xyz="-0.03 0.0 -0.2" rpy="0.0 1.57 0.0" />
      <geometry>
        <box size="0.25 0.028 0.04" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.006279 0.032049 -0.057835" rpy="0.0 0.0 0.0" />
      <mass value="4.536" />
      <inertia ixx="0.06229908" ixy="-0.000877808" ixz="-0.003647464" iyy="0.06139927" iyz="-0.008353671" izz="0.008199745" />
    </inertial>
  </link>
  <joint name="FR_thigh_joint" type="revolute">
    <origin xyz="0.0 -0.11973 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="200.0" velocity="23.0" lower="-0.94" upper="4.69" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="FR_thigh_rotor">
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <cylinder length="0.02" radius="0.05" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.2734" />
      <inertia ixx="0.000144463" ixy="0.0" ixz="0.0" iyy="0.000144463" iyz="0.0" izz="0.000263053" />
    </inertial>
  </link>
  <joint name="FR_thigh_rotor_joint" type="fixed">
    <origin xyz="0.0 0.00798 0.0" rpy="0.0 0.0 0.0" />
    <parent link="FR_hip" />
    <child link="FR_thigh_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://b2_description/meshes/FR_calf.dae" />
      </geometry>
      <material name="磨砂铝合金_018-effect" />
    </visual>
    <collision>
      <origin xyz="-0.002 0.0 -0.03" rpy="0.0 1.2 0.0" />
      <geometry>
        <box size="0.1 0.0245 0.018" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.022 0.0 -0.1" rpy="0.0 1.35 0.0" />
      <geometry>
        <box size="0.1 0.0245 0.018" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.036 0.0 -0.225" rpy="0.0 1.53 0.0" />
      <geometry>
        <box size="0.15 0.0245 0.015" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.023 0.0 -0.31" rpy="0.0 2.0 0.0" />
      <geometry>
        <box size="0.05 0.028 0.035" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.012422 0.0 -0.12499" rpy="0.0 0.0 0.0" />
      <mass value="0.404" />
      <inertia ixx="0.01143" ixy="0.0" ixz="0.000643" iyy="0.011534" iyz="0.0" izz="0.000331" />
    </inertial>
  </link>
  <joint name="FR_calf_joint" type="revolute">
    <origin xyz="0.0 8.6986e-05 -0.35" 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="320.0" velocity="14.0" lower="-2.82" upper="-0.43" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="FR_calf_rotor">
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <cylinder length="0.02" radius="0.05" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.2734" />
      <inertia ixx="0.000144463" ixy="0.0" ixz="0.0" iyy="0.000144463" iyz="0.0" izz="0.000263053" />
    </inertial>
  </link>
  <joint name="FR_calf_rotor_joint" type="fixed">
    <origin xyz="0.0 0.05788 0.0" rpy="0.0 0.0 0.0" />
    <parent link="FR_thigh" />
    <child link="FR_calf_rotor" />
  </joint>
  <link name="FR_foot">
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="1.57 0.0 0.0" />
      <geometry>
        <sphere radius="0.032" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.006511 0.0 -0.010144" rpy="0.0 0.0 0.0" />
      <mass value="0.126" />
      <inertia ixx="3.8e-05" ixy="0.0" ixz="1.1e-05" iyy="4.1e-05" iyz="0.0" izz="4.2e-05" />
    </inertial>
  </link>
  <joint name="FR_foot_joint" type="fixed">
    <origin xyz="0.0 0.0 -0.35" rpy="0.0 0.0 0.0" />
    <parent link="FR_calf" />
    <child link="FR_foot" />
  </joint>
  <link name="RL_hip">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://b2_description/meshes/RL_hip.dae" />
      </geometry>
      <material name="磨砂铝合金_008-effect" />
    </visual>
    <collision>
      <origin xyz="0.0 0.12 0.0" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <cylinder length="0.05" radius="0.07" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.009305 -0.010228 0.000264" rpy="0.0 0.0 0.0" />
      <mass value="2.673" />
      <inertia ixx="0.0026431" ixy="-0.00019234" ixz="6.76e-06" iyy="0.0046728" iyz="-7.16e-06" izz="0.0034208" />
    </inertial>
  </link>
  <joint name="RL_hip_joint" type="revolute">
    <origin xyz="-0.3285 0.072 0.0" rpy="0.0 0.0 0.0" />
    <parent link="base_link" />
    <child link="RL_hip" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="200.0" velocity="23.0" lower="-0.87" upper="0.87" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="RL_hip_rotor">
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 1.5707963267948966 0.0" />
      <geometry>
        <cylinder length="0.02" radius="0.05" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.2734" />
      <inertia ixx="0.000144463" ixy="0.0" ixz="0.0" iyy="0.000144463" iyz="0.0" izz="0.000263053" />
    </inertial>
  </link>
  <joint name="RL_hip_rotor_joint" type="fixed">
    <origin xyz="-0.20205 0.072 0.0" rpy="0.0 0.0 0.0" />
    <parent link="base_link" />
    <child link="RL_hip_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://b2_description/meshes/RL_thigh.dae" />
      </geometry>
      <material name="磨砂铝合金_008-effect" />
    </visual>
    <collision>
      <origin xyz="-0.03 0.0 -0.2" rpy="0.0 1.57 0.0" />
      <geometry>
        <box size="0.25 0.028 0.04" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.006279 -0.032049 -0.057835" rpy="0.0 0.0 0.0" />
      <mass value="4.536" />
      <inertia ixx="0.06229908" ixy="0.000877808" ixz="-0.003647464" iyy="0.06139927" iyz="0.008353671" izz="0.008199745" />
    </inertial>
  </link>
  <joint name="RL_thigh_joint" type="revolute">
    <origin xyz="0.0 0.11973 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="200.0" velocity="23.0" lower="-0.94" upper="4.69" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="RL_thigh_rotor">
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <cylinder length="0.02" radius="0.05" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.2734" />
      <inertia ixx="0.000144463" ixy="0.0" ixz="0.0" iyy="0.000144463" iyz="0.0" izz="0.000263053" />
    </inertial>
  </link>
  <joint name="RL_thigh_rotor_joint" type="fixed">
    <origin xyz="0.0 -0.00798 0.0" rpy="0.0 0.0 0.0" />
    <parent link="RL_hip" />
    <child link="RL_thigh_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://b2_description/meshes/RL_calf.dae" />
      </geometry>
      <material name="磨砂铝合金_018-effect" />
    </visual>
    <collision>
      <origin xyz="-0.002 0.0 -0.03" rpy="0.0 1.2 0.0" />
      <geometry>
        <box size="0.1 0.0245 0.018" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.022 0.0 -0.1" rpy="0.0 1.35 0.0" />
      <geometry>
        <box size="0.1 0.0245 0.018" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.036 0.0 -0.225" rpy="0.0 1.53 0.0" />
      <geometry>
        <box size="0.15 0.0245 0.015" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.023 0.0 -0.31" rpy="0.0 2.0 0.0" />
      <geometry>
        <box size="0.05 0.028 0.035" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.012422 0.0 -0.12499" rpy="0.0 0.0 0.0" />
      <mass value="0.404" />
      <inertia ixx="0.01143" ixy="0.0" ixz="0.000643" iyy="0.011534" iyz="0.0" izz="0.000331" />
    </inertial>
  </link>
  <joint name="RL_calf_joint" type="revolute">
    <origin xyz="0.0 -8.6984e-05 -0.35" 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="320.0" velocity="14.0" lower="-2.82" upper="-0.43" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="RL_calf_rotor">
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <cylinder length="0.02" radius="0.05" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.2734" />
      <inertia ixx="0.000144463" ixy="0.0" ixz="0.0" iyy="0.000144463" iyz="0.0" izz="0.000263053" />
    </inertial>
  </link>
  <joint name="RL_calf_rotor_joint" type="fixed">
    <origin xyz="0.0 -0.05788 0.0" rpy="0.0 0.0 0.0" />
    <parent link="RL_thigh" />
    <child link="RL_calf_rotor" />
  </joint>
  <link name="RL_foot">
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="1.57 0.0 0.0" />
      <geometry>
        <sphere radius="0.032" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.006511 0.0 -0.010144" rpy="0.0 0.0 0.0" />
      <mass value="0.126" />
      <inertia ixx="3.8e-05" ixy="0.0" ixz="1.1e-05" iyy="4.1e-05" iyz="0.0" izz="4.2e-05" />
    </inertial>
  </link>
  <joint name="RL_foot_joint" type="fixed">
    <origin xyz="0.0 0.0 -0.35" rpy="0.0 0.0 0.0" />
    <parent link="RL_calf" />
    <child link="RL_foot" />
  </joint>
  <link name="RR_hip">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://b2_description/meshes/RR_hip.dae" />
      </geometry>
      <material name="磨砂铝合金_008-effect" />
    </visual>
    <collision>
      <origin xyz="0.0 -0.12 0.0" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <cylinder length="0.05" radius="0.07" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.003841 0.009068 0.0" rpy="0.0 0.0 0.0" />
      <mass value="2.673" />
      <inertia ixx="0.0033188" ixy="7.16e-05" ixz="3.77e-07" iyy="0.0048743" iyz="-4e-09" izz="0.0037087" />
    </inertial>
  </link>
  <joint name="RR_hip_joint" type="revolute">
    <origin xyz="-0.3285 -0.072 0.0" rpy="0.0 0.0 0.0" />
    <parent link="base_link" />
    <child link="RR_hip" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="200.0" velocity="23.0" lower="-0.87" upper="0.87" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="RR_hip_rotor">
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 1.5707963267948966 0.0" />
      <geometry>
        <cylinder length="0.02" radius="0.05" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.2734" />
      <inertia ixx="0.000144463" ixy="0.0" ixz="0.0" iyy="0.000144463" iyz="0.0" izz="0.000263053" />
    </inertial>
  </link>
  <joint name="RR_hip_rotor_joint" type="fixed">
    <origin xyz="-0.20205 -0.072 0.0" rpy="0.0 0.0 0.0" />
    <parent link="base_link" />
    <child link="RR_hip_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://b2_description/meshes/RR_thigh.dae" />
      </geometry>
      <material name="磨砂铝合金_008-effect" />
    </visual>
    <collision>
      <origin xyz="-0.03 0.0 -0.2" rpy="0.0 1.57 0.0" />
      <geometry>
        <box size="0.25 0.028 0.04" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.006279 0.032049 -0.057835" rpy="0.0 0.0 0.0" />
      <mass value="4.536" />
      <inertia ixx="0.062299" ixy="-0.00087781" ixz="-0.0036475" iyy="0.061399" iyz="-0.0083537" izz="0.0081997" />
    </inertial>
  </link>
  <joint name="RR_thigh_joint" type="revolute">
    <origin xyz="0.0 -0.11973 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="200.0" velocity="23.0" lower="-0.94" upper="4.69" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="RR_thigh_rotor">
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <cylinder length="0.02" radius="0.05" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.2734" />
      <inertia ixx="0.000144463" ixy="0.0" ixz="0.0" iyy="0.000144463" iyz="0.0" izz="0.000263053" />
    </inertial>
  </link>
  <joint name="RR_thigh_rotor_joint" type="fixed">
    <origin xyz="0.0 0.00798 0.0" rpy="0.0 0.0 0.0" />
    <parent link="RR_hip" />
    <child link="RR_thigh_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://b2_description/meshes/RR_calf.dae" />
      </geometry>
      <material name="磨砂铝合金_018-effect" />
    </visual>
    <collision>
      <origin xyz="-0.002 0.0 -0.03" rpy="0.0 1.2 0.0" />
      <geometry>
        <box size="0.1 0.0245 0.018" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.022 0.0 -0.1" rpy="0.0 1.35 0.0" />
      <geometry>
        <box size="0.1 0.0245 0.018" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.036 0.0 -0.225" rpy="0.0 1.53 0.0" />
      <geometry>
        <box size="0.15 0.0245 0.015" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.023 0.0 -0.31" rpy="0.0 2.0 0.0" />
      <geometry>
        <box size="0.05 0.028 0.035" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.012422 0.0 -0.12499" rpy="0.0 0.0 0.0" />
      <mass value="0.404" />
      <inertia ixx="0.01143" ixy="0.0" ixz="0.000643" iyy="0.011534" iyz="0.0" izz="0.000331" />
    </inertial>
  </link>
  <joint name="RR_calf_joint" type="revolute">
    <origin xyz="0.0 8.6986e-05 -0.35" 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="320.0" velocity="14.0" lower="-2.82" upper="-0.43" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="RR_calf_rotor">
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <cylinder length="0.02" radius="0.05" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.2734" />
      <inertia ixx="0.000144463" ixy="0.0" ixz="0.0" iyy="0.000144463" iyz="0.0" izz="0.000263053" />
    </inertial>
  </link>
  <joint name="RR_calf_rotor_joint" type="fixed">
    <origin xyz="0.0 0.05788 0.0" rpy="0.0 0.0 0.0" />
    <parent link="RR_thigh" />
    <child link="RR_calf_rotor" />
  </joint>
  <link name="RR_foot">
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="1.57 0.0 0.0" />
      <geometry>
        <sphere radius="0.032" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.006511 0.0 -0.010144" rpy="0.0 0.0 0.0" />
      <mass value="0.126" />
      <inertia ixx="3.8e-05" ixy="0.0" ixz="1.1e-05" iyy="4.1e-05" iyz="0.0" izz="4.2e-05" />
    </inertial>
  </link>
  <joint name="RR_foot_joint" type="fixed">
    <origin xyz="0.0 -8.6984e-05 -0.35" rpy="0.0 0.0 0.0" />
    <parent link="RR_calf" />
    <child link="RR_foot" />
  </joint>
  <link name="f_oc_link">
    <inertial>
      <origin xyz="-3.39e-15 1.46e-16 -6.11e-16" rpy="0.0 0.0 0.0" />
      <mass value="4.19e-15" />
      <inertia ixx="1.68e-27" ixy="-3.89e-44" ixz="5.04e-44" iyy="1.68e-27" iyz="2.81e-45" izz="1.68e-27" />
    </inertial>
  </link>
  <joint name="joint_f_oc" type="fixed">
    <origin xyz="0.39079 0.0 -0.013433" rpy="-1.5708 0.0 -1.5708" />
    <parent link="base_link" />
    <child link="f_oc_link" />
  </joint>
  <link name="r_oc_link">
    <inertial>
      <origin xyz="-0.39143 1.52e-07 -0.011961" rpy="0.0 0.0 0.0" />
      <mass value="4.19e-12" />
      <inertia ixx="1.68e-22" ixy="9.03e-39" ixz="0.0" iyy="1.68e-22" iyz="-1.2e-38" izz="1.68e-22" />
    </inertial>
  </link>
  <joint name="joint_r_oc" type="fixed">
    <origin xyz="-0.38451 0.0 -0.023249" rpy="-1.5708 0.0 1.5708" />
    <parent link="base_link" />
    <child link="r_oc_link" />
  </joint>
</robot>
