<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (py backend), content db26ad7d3b78907f -->
<robot name="go2_description">
  <material name="深色橡胶_001-effect">
    <color rgba="0.6717055 0.6924257 0.7742702 1.0" />
  </material>
  <link name="base">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://go2_description/dae/base.dae" />
      </geometry>
      <material name="深色橡胶_001-effect" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <box size="0.3762 0.0935 0.114" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.021112 0.0 -0.005366" rpy="0.0 0.0 0.0" />
      <mass value="6.921" />
      <inertia ixx="0.02448" ixy="0.00012166" ixz="0.0014849" iyy="0.098077" iyz="-3.12e-05" izz="0.107" />
    </inertial>
  </link>
  <link name="Head_upper">
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <cylinder length="0.09" radius="0.05" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.001" />
      <inertia ixx="9.6e-06" ixy="0.0" ixz="0.0" iyy="9.6e-06" iyz="0.0" izz="9.6e-06" />
    </inertial>
  </link>
  <joint name="Head_upper_joint" type="fixed">
    <origin xyz="0.285 0.0 0.01" rpy="0.0 0.0 0.0" />
    <parent link="base" />
    <child link="Head_upper" />
  </joint>
  <link name="Head_lower">
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <sphere radius="0.047" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.001" />
      <inertia ixx="9.6e-06" ixy="0.0" ixz="0.0" iyy="9.6e-06" iyz="0.0" izz="9.6e-06" />
    </inertial>
  </link>
  <joint name="Head_lower_joint" type="fixed">
    <origin xyz="0.008 0.0 -0.07" rpy="0.0 0.0 0.0" />
    <parent link="Head_upper" />
    <child link="Head_lower" />
  </joint>
  <link name="FL_hip">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://go2_description/dae/hip.dae" />
      </geometry>
      <material name="深色橡胶_001-effect" />
    </visual>
    <collision>
      <origin xyz="0.0 0.08 0.0" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <cylinder length="0.04" radius="0.046" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.0054 0.00194 -0.000105" rpy="0.0 0.0 0.0" />
      <mass value="0.678" />
      <inertia ixx="0.00048" ixy="-3.01e-06" ixz="1.11e-06" iyy="0.000884" iyz="-1.42e-06" izz="0.000596" />
    </inertial>
  </link>
  <joint name="FL_hip_joint" type="revolute">
    <origin xyz="0.1934 0.0465 0.0" rpy="0.0 0.0 0.0" />
    <parent link="base" />
    <child link="FL_hip" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="23.7" velocity="30.1" lower="-1.0472" upper="1.0472" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="FL_hip_rotor">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.089" />
      <inertia ixx="0.000111842" ixy="0.0" ixz="0.0" iyy="5.9647e-05" iyz="0.0" izz="5.9647e-05" />
    </inertial>
  </link>
  <joint name="FL_hip_rotor_joint" type="fixed">
    <origin xyz="0.11215 0.04675 0.0" rpy="0.0 0.0 0.0" />
    <parent link="base" />
    <child link="FL_hip_rotor" />
  </joint>
  <material name="深色橡胶_003-effect">
    <color rgba="0.6717055 0.6924257 0.7742702 1.0" />
  </material>
  <link name="FL_thigh">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://go2_description/dae/thigh.dae" />
      </geometry>
      <material name="深色橡胶_003-effect" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 -0.1065" rpy="0.0 1.5707963267948966 0.0" />
      <geometry>
        <box size="0.213 0.0245 0.034" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.00374 -0.0223 -0.0327" rpy="0.0 0.0 0.0" />
      <mass value="1.152" />
      <inertia ixx="0.00584" ixy="8.72e-05" ixz="-0.000289" iyy="0.0058" iyz="0.000808" izz="0.00103" />
    </inertial>
  </link>
  <joint name="FL_thigh_joint" type="revolute">
    <origin xyz="0.0 0.0955 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="23.7" velocity="30.1" lower="-1.5708" upper="3.4907" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="FL_thigh_rotor">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.089" />
      <inertia ixx="5.9647e-05" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="5.9647e-05" />
    </inertial>
  </link>
  <joint name="FL_thigh_rotor_joint" type="fixed">
    <origin xyz="0.0 -0.00015 0.0" rpy="0.0 0.0 0.0" />
    <parent link="FL_hip" />
    <child link="FL_thigh_rotor" />
  </joint>
  <material name="黑色足端_005-effect">
    <color rgba="0.0 0.0 0.0 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://go2_description/dae/calf.dae" />
      </geometry>
      <material name="黑色足端_005-effect" />
    </visual>
    <collision>
      <origin xyz="0.008 0.0 -0.06" rpy="0.0 -0.21 0.0" />
      <geometry>
        <cylinder length="0.12" radius="0.012" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.00548 -0.000975 -0.115" rpy="0.0 0.0 0.0" />
      <mass value="0.154" />
      <inertia ixx="0.00108" ixy="3.4e-07" ixz="1.72e-05" iyy="0.0011" iyz="8.28e-06" izz="3.29e-05" />
    </inertial>
  </link>
  <joint name="FL_calf_joint" type="revolute">
    <origin xyz="0.0 0.0 -0.213" 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="45.43" velocity="15.7" lower="-2.7227" upper="-0.83776" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="FL_calflower">
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <cylinder length="0.065" radius="0.011" />
      </geometry>
    </collision>
  </link>
  <joint name="FL_calflower_joint" type="fixed">
    <origin xyz="0.02 0.0 -0.148" rpy="0.0 0.05 0.0" />
    <parent link="FL_calf" />
    <child link="FL_calflower" />
  </joint>
  <link name="FL_calflower1">
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <cylinder length="0.03" radius="0.0155" />
      </geometry>
    </collision>
  </link>
  <joint name="FL_calflower1_joint" type="fixed">
    <origin xyz="-0.01 0.0 -0.04" rpy="0.0 0.48 0.0" />
    <parent link="FL_calflower" />
    <child link="FL_calflower1" />
  </joint>
  <link name="FL_calf_rotor">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.089" />
      <inertia ixx="5.9647e-05" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="5.9647e-05" />
    </inertial>
  </link>
  <joint name="FL_calf_rotor_joint" type="fixed">
    <origin xyz="0.0 -0.03235 0.0" rpy="0.0 0.0 0.0" />
    <parent link="FL_thigh" />
    <child link="FL_calf_rotor" />
  </joint>
  <material name="黑色足端_007-effect">
    <color rgba="0.0 0.0 0.0 1.0" />
  </material>
  <link name="FL_foot">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://go2_description/dae/foot.dae" />
      </geometry>
      <material name="黑色足端_007-effect" />
    </visual>
    <collision>
      <origin xyz="-0.002 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <sphere radius="0.022" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.04" />
      <inertia ixx="9.6e-06" ixy="0.0" ixz="0.0" iyy="9.6e-06" iyz="0.0" izz="9.6e-06" />
    </inertial>
  </link>
  <joint name="FL_foot_joint" type="fixed">
    <origin xyz="0.0 0.0 -0.213" 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="3.1415 0.0 0.0" />
      <geometry>
        <mesh filename="package://go2_description/dae/hip.dae" />
      </geometry>
      <material name="深色橡胶_001-effect" />
    </visual>
    <collision>
      <origin xyz="0.0 -0.08 0.0" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <cylinder length="0.04" radius="0.046" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.0054 -0.00194 -0.000105" rpy="0.0 0.0 0.0" />
      <mass value="0.678" />
      <inertia ixx="0.00048" ixy="3.01e-06" ixz="1.11e-06" iyy="0.000884" iyz="1.42e-06" izz="0.000596" />
    </inertial>
  </link>
  <joint name="FR_hip_joint" type="revolute">
    <origin xyz="0.1934 -0.0465 0.0" rpy="0.0 0.0 0.0" />
    <parent link="base" />
    <child link="FR_hip" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="23.7" velocity="30.1" lower="-1.0472" upper="1.0472" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="FR_hip_rotor">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.089" />
      <inertia ixx="0.000111842" ixy="0.0" ixz="0.0" iyy="5.9647e-05" iyz="0.0" izz="5.9647e-05" />
    </inertial>
  </link>
  <joint name="FR_hip_rotor_joint" type="fixed">
    <origin xyz="0.11215 -0.04675 0.0" rpy="0.0 0.0 0.0" />
    <parent link="base" />
    <child link="FR_hip_rotor" />
  </joint>
  <material name="深色橡胶_012-effect">
    <color rgba="0.6717055 0.6924257 0.7742702 1.0" />
  </material>
  <link name="FR_thigh">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://go2_description/dae/thigh_mirror.dae" />
      </geometry>
      <material name="深色橡胶_012-effect" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 -0.1065" rpy="0.0 1.5707963267948966 0.0" />
      <geometry>
        <box size="0.213 0.0245 0.034" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.00374 0.0223 -0.0327" rpy="0.0 0.0 0.0" />
      <mass value="1.152" />
      <inertia ixx="0.00584" ixy="-8.72e-05" ixz="-0.000289" iyy="0.0058" iyz="-0.000808" izz="0.00103" />
    </inertial>
  </link>
  <joint name="FR_thigh_joint" type="revolute">
    <origin xyz="0.0 -0.0955 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="23.7" velocity="30.1" lower="-1.5708" upper="3.4907" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="FR_thigh_rotor">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.089" />
      <inertia ixx="5.9647e-05" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="5.9647e-05" />
    </inertial>
  </link>
  <joint name="FR_thigh_rotor_joint" type="fixed">
    <origin xyz="0.0 0.00015 0.0" rpy="0.0 0.0 0.0" />
    <parent link="FR_hip" />
    <child link="FR_thigh_rotor" />
  </joint>
  <material name="黑色足端_006-effect">
    <color rgba="0.0 0.0 0.0 1.0" />
  </material>
  <link name="FR_calf">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://go2_description/dae/calf_mirror.dae" />
      </geometry>
      <material name="黑色足端_006-effect" />
    </visual>
    <collision>
      <origin xyz="0.01 0.0 -0.06" rpy="0.0 -0.2 0.0" />
      <geometry>
        <cylinder length="0.12" radius="0.013" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.00548 0.000975 -0.115" rpy="0.0 0.0 0.0" />
      <mass value="0.154" />
      <inertia ixx="0.00108" ixy="-3.4e-07" ixz="1.72e-05" iyy="0.0011" iyz="-8.28e-06" izz="3.29e-05" />
    </inertial>
  </link>
  <joint name="FR_calf_joint" type="revolute">
    <origin xyz="0.0 0.0 -0.213" 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="45.43" velocity="15.7" lower="-2.7227" upper="-0.83776" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="FR_calflower">
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <cylinder length="0.065" radius="0.011" />
      </geometry>
    </collision>
  </link>
  <joint name="FR_calflower_joint" type="fixed">
    <origin xyz="0.02 0.0 -0.148" rpy="0.0 0.05 0.0" />
    <parent link="FR_calf" />
    <child link="FR_calflower" />
  </joint>
  <link name="FR_calflower1">
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <cylinder length="0.03" radius="0.0155" />
      </geometry>
    </collision>
  </link>
  <joint name="FR_calflower1_joint" type="fixed">
    <origin xyz="-0.01 0.0 -0.04" rpy="0.0 0.48 0.0" />
    <parent link="FR_calflower" />
    <child link="FR_calflower1" />
  </joint>
  <link name="FR_calf_rotor">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.089" />
      <inertia ixx="5.9647e-05" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="5.9647e-05" />
    </inertial>
  </link>
  <joint name="FR_calf_rotor_joint" type="fixed">
    <origin xyz="0.0 0.03235 0.0" rpy="0.0 0.0 0.0" />
    <parent link="FR_thigh" />
    <child link="FR_calf_rotor" />
  </joint>
  <link name="FR_foot">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://go2_description/dae/foot.dae" />
      </geometry>
      <material name="黑色足端_007-effect" />
    </visual>
    <collision>
      <origin xyz="-0.002 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <sphere radius="0.022" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.04" />
      <inertia ixx="9.6e-06" ixy="0.0" ixz="0.0" iyy="9.6e-06" iyz="0.0" izz="9.6e-06" />
    </inertial>
  </link>
  <joint name="FR_foot_joint" type="fixed">
    <origin xyz="0.0 0.0 -0.213" 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 3.1415 0.0" />
      <geometry>
        <mesh filename="package://go2_description/dae/hip.dae" />
      </geometry>
      <material name="深色橡胶_001-effect" />
    </visual>
    <collision>
      <origin xyz="0.0 0.08 0.0" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <cylinder length="0.04" radius="0.046" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0054 0.00194 -0.000105" rpy="0.0 0.0 0.0" />
      <mass value="0.678" />
      <inertia ixx="0.00048" ixy="3.01e-06" ixz="-1.11e-06" iyy="0.000884" iyz="-1.42e-06" izz="0.000596" />
    </inertial>
  </link>
  <joint name="RL_hip_joint" type="revolute">
    <origin xyz="-0.1934 0.0465 0.0" rpy="0.0 0.0 0.0" />
    <parent link="base" />
    <child link="RL_hip" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="23.7" velocity="30.1" lower="-1.0472" upper="1.0472" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="RL_hip_rotor">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.089" />
      <inertia ixx="0.000111842" ixy="0.0" ixz="0.0" iyy="5.9647e-05" iyz="0.0" izz="5.9647e-05" />
    </inertial>
  </link>
  <joint name="RL_hip_rotor_joint" type="fixed">
    <origin xyz="-0.11215 0.04675 0.0" rpy="0.0 0.0 0.0" />
    <parent link="base" />
    <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://go2_description/dae/thigh.dae" />
      </geometry>
      <material name="深色橡胶_003-effect" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 -0.1065" rpy="0.0 1.5707963267948966 0.0" />
      <geometry>
        <box size="0.213 0.0245 0.034" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.00374 -0.0223 -0.0327" rpy="0.0 0.0 0.0" />
      <mass value="1.152" />
      <inertia ixx="0.00584" ixy="8.72e-05" ixz="-0.000289" iyy="0.0058" iyz="0.000808" izz="0.00103" />
    </inertial>
  </link>
  <joint name="RL_thigh_joint" type="revolute">
    <origin xyz="0.0 0.0955 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="23.7" velocity="30.1" lower="-0.5236" upper="4.5379" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="RL_thigh_rotor">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.089" />
      <inertia ixx="5.9647e-05" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="5.9647e-05" />
    </inertial>
  </link>
  <joint name="RL_thigh_rotor_joint" type="fixed">
    <origin xyz="0.0 -0.00015 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://go2_description/dae/calf.dae" />
      </geometry>
      <material name="黑色足端_005-effect" />
    </visual>
    <collision>
      <origin xyz="0.01 0.0 -0.06" rpy="0.0 -0.2 0.0" />
      <geometry>
        <cylinder length="0.12" radius="0.013" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.00548 -0.000975 -0.115" rpy="0.0 0.0 0.0" />
      <mass value="0.154" />
      <inertia ixx="0.00108" ixy="3.4e-07" ixz="1.72e-05" iyy="0.0011" iyz="8.28e-06" izz="3.29e-05" />
    </inertial>
  </link>
  <joint name="RL_calf_joint" type="revolute">
    <origin xyz="0.0 0.0 -0.213" 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="45.43" velocity="15.7" lower="-2.7227" upper="-0.83776" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="RL_calflower">
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <cylinder length="0.065" radius="0.011" />
      </geometry>
    </collision>
  </link>
  <joint name="RL_calflower_joint" type="fixed">
    <origin xyz="0.02 0.0 -0.148" rpy="0.0 0.05 0.0" />
    <parent link="RL_calf" />
    <child link="RL_calflower" />
  </joint>
  <link name="RL_calflower1">
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <cylinder length="0.03" radius="0.0155" />
      </geometry>
    </collision>
  </link>
  <joint name="RL_calflower1_joint" type="fixed">
    <origin xyz="-0.01 0.0 -0.04" rpy="0.0 0.48 0.0" />
    <parent link="RL_calflower" />
    <child link="RL_calflower1" />
  </joint>
  <link name="RL_calf_rotor">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.089" />
      <inertia ixx="5.9647e-05" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="5.9647e-05" />
    </inertial>
  </link>
  <joint name="RL_calf_rotor_joint" type="fixed">
    <origin xyz="0.0 -0.03235 0.0" rpy="0.0 0.0 0.0" />
    <parent link="RL_thigh" />
    <child link="RL_calf_rotor" />
  </joint>
  <link name="RL_foot">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://go2_description/dae/foot.dae" />
      </geometry>
      <material name="黑色足端_007-effect" />
    </visual>
    <collision>
      <origin xyz="-0.002 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <sphere radius="0.022" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.04" />
      <inertia ixx="9.6e-06" ixy="0.0" ixz="0.0" iyy="9.6e-06" iyz="0.0" izz="9.6e-06" />
    </inertial>
  </link>
  <joint name="RL_foot_joint" type="fixed">
    <origin xyz="0.0 0.0 -0.213" 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="3.1415 3.1415 0.0" />
      <geometry>
        <mesh filename="package://go2_description/dae/hip.dae" />
      </geometry>
      <material name="深色橡胶_001-effect" />
    </visual>
    <collision>
      <origin xyz="0.0 -0.08 0.0" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <cylinder length="0.04" radius="0.046" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0054 -0.00194 -0.000105" rpy="0.0 0.0 0.0" />
      <mass value="0.678" />
      <inertia ixx="0.00048" ixy="-3.01e-06" ixz="-1.11e-06" iyy="0.000884" iyz="1.42e-06" izz="0.000596" />
    </inertial>
  </link>
  <joint name="RR_hip_joint" type="revolute">
    <origin xyz="-0.1934 -0.0465 0.0" rpy="0.0 0.0 0.0" />
    <parent link="base" />
    <child link="RR_hip" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="23.7" velocity="30.1" lower="-1.0472" upper="1.0472" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="RR_hip_rotor">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.089" />
      <inertia ixx="0.000111842" ixy="0.0" ixz="0.0" iyy="5.9647e-05" iyz="0.0" izz="5.9647e-05" />
    </inertial>
  </link>
  <joint name="RR_hip_rotor_joint" type="fixed">
    <origin xyz="-0.11215 -0.04675 0.0" rpy="0.0 0.0 0.0" />
    <parent link="base" />
    <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://go2_description/dae/thigh_mirror.dae" />
      </geometry>
      <material name="深色橡胶_012-effect" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 -0.1065" rpy="0.0 1.5707963267948966 0.0" />
      <geometry>
        <box size="0.213 0.0245 0.034" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.00374 0.0223 -0.0327" rpy="0.0 0.0 0.0" />
      <mass value="1.152" />
      <inertia ixx="0.00584" ixy="-8.72e-05" ixz="-0.000289" iyy="0.0058" iyz="-0.000808" izz="0.00103" />
    </inertial>
  </link>
  <joint name="RR_thigh_joint" type="revolute">
    <origin xyz="0.0 -0.0955 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="23.7" velocity="30.1" lower="-0.5236" upper="4.5379" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="RR_thigh_rotor">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.089" />
      <inertia ixx="5.9647e-05" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="5.9647e-05" />
    </inertial>
  </link>
  <joint name="RR_thigh_rotor_joint" type="fixed">
    <origin xyz="0.0 0.00015 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://go2_description/dae/calf_mirror.dae" />
      </geometry>
      <material name="黑色足端_006-effect" />
    </visual>
    <collision>
      <origin xyz="0.01 0.0 -0.06" rpy="0.0 -0.2 0.0" />
      <geometry>
        <cylinder length="0.12" radius="0.013" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.00548 0.000975 -0.115" rpy="0.0 0.0 0.0" />
      <mass value="0.154" />
      <inertia ixx="0.00108" ixy="-3.4e-07" ixz="1.72e-05" iyy="0.0011" iyz="-8.28e-06" izz="3.29e-05" />
    </inertial>
  </link>
  <joint name="RR_calf_joint" type="revolute">
    <origin xyz="0.0 0.0 -0.213" 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="45.43" velocity="15.7" lower="-2.7227" upper="-0.83776" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="RR_calflower">
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <cylinder length="0.065" radius="0.011" />
      </geometry>
    </collision>
  </link>
  <joint name="RR_calflower_joint" type="fixed">
    <origin xyz="0.02 0.0 -0.148" rpy="0.0 0.05 0.0" />
    <parent link="RR_calf" />
    <child link="RR_calflower" />
  </joint>
  <link name="RR_calflower1">
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <cylinder length="0.03" radius="0.0155" />
      </geometry>
    </collision>
  </link>
  <joint name="RR_calflower1_joint" type="fixed">
    <origin xyz="-0.01 0.0 -0.04" rpy="0.0 0.48 0.0" />
    <parent link="RR_calflower" />
    <child link="RR_calflower1" />
  </joint>
  <link name="RR_calf_rotor">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.089" />
      <inertia ixx="5.9647e-05" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="5.9647e-05" />
    </inertial>
  </link>
  <joint name="RR_calf_rotor_joint" type="fixed">
    <origin xyz="0.0 0.03235 0.0" rpy="0.0 0.0 0.0" />
    <parent link="RR_thigh" />
    <child link="RR_calf_rotor" />
  </joint>
  <link name="RR_foot">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://go2_description/dae/foot.dae" />
      </geometry>
      <material name="黑色足端_007-effect" />
    </visual>
    <collision>
      <origin xyz="-0.002 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <sphere radius="0.022" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.04" />
      <inertia ixx="9.6e-06" ixy="0.0" ixz="0.0" iyy="9.6e-06" iyz="0.0" izz="9.6e-06" />
    </inertial>
  </link>
  <joint name="RR_foot_joint" type="fixed">
    <origin xyz="0.0 0.0 -0.213" rpy="0.0 0.0 0.0" />
    <parent link="RR_calf" />
    <child link="RR_foot" />
  </joint>
  <link name="imu">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.0" />
      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
    </inertial>
  </link>
  <joint name="imu_joint" type="fixed">
    <origin xyz="-0.02557 0.0 0.04232" rpy="0.0 0.0 0.0" />
    <parent link="base" />
    <child link="imu" />
  </joint>
  <link name="radar">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.0" />
      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
    </inertial>
  </link>
  <joint name="radar_joint" type="fixed">
    <origin xyz="0.28945 0.0 -0.046825" rpy="0.0 2.8782 0.0" />
    <parent link="base" />
    <child link="radar" />
  </joint>
  <joint name="front_camera_joint" type="fixed">
    <origin xyz="0.32715 -3e-05 0.04297" rpy="0.0 0.0 0.0" />
    <parent link="base" />
    <child link="front_camera" />
  </joint>
  <link name="front_camera" />
</robot>
