<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (py backend), content 19d79ab5d3598bbd -->
<robot name="hyq">
  <material name="white">
    <color rgba="1.0 1.0 1.0 1.0" />
  </material>
  <material name="black">
    <color rgba="0.0 0.0 0.0 1.0" />
  </material>
  <joint name="floating_base" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="base_link" />
    <child link="trunk" />
  </joint>
  <link name="base_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <cylinder length="0.01" radius="0.01" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="1e-06" />
      <inertia ixx="1e-06" ixy="1e-06" ixz="1e-06" iyy="1e-06" iyz="1e-06" izz="1e-06" />
    </inertial>
  </link>
  <link name="trunk">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://example-robot-data/robots/hyq_description/meshes/trunk/trunk.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://example-robot-data/robots/hyq_description/meshes/trunk/trunk.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.056 0.0215 0.00358" />
      <mass value="60.96" />
      <inertia ixx="1.5725937" ixy="0.028375" ixz="-0.203139" iyy="8.5015928" iyz="-0.004462" izz="9.1954911" />
    </inertial>
  </link>
  <joint name="lf_haa_joint" type="revolute">
    <origin xyz="0.3735 0.207 0.0" rpy="0.0 1.57079632679 3.14159265359" />
    <parent link="trunk" />
    <child link="lf_hipassembly" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="150.0" velocity="12.0" lower="-1.2217304764" upper="0.436332312999" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <joint name="lf_hfe_joint" type="revolute">
    <origin xyz="0.08 0.0 0.0" rpy="1.57079632679 0.0 0.0" />
    <parent link="lf_hipassembly" />
    <child link="lf_upperleg" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="150.0" velocity="12.0" lower="-0.872664625997" upper="1.2217304764" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <joint name="lf_kfe_joint" type="revolute">
    <origin xyz="0.35 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="lf_upperleg" />
    <child link="lf_lowerleg" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="150.0" velocity="12.0" lower="-2.44346095279" upper="-0.349065850399" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <joint name="lf_foot_joint" type="fixed">
    <origin xyz="0.346 0.0 0.0" rpy="1.57079632679 0.0 -1.57079632679" />
    <parent link="lf_lowerleg" />
    <child link="lf_foot" />
  </joint>
  <link name="lf_hipassembly">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://example-robot-data/robots/hyq_description/meshes/leg/hipassembly.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://example-robot-data/robots/hyq_description/meshes/leg/hipassembly.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.04263 0.0 0.16931" />
      <mass value="2.93" />
      <inertia ixx="0.05071" ixy="-4e-05" ixz="-0.00159" iyy="0.05486" iyz="-5e-05" izz="0.00571" />
    </inertial>
  </link>
  <link name="lf_upperleg">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://example-robot-data/robots/hyq_description/meshes/leg/upperleg.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://example-robot-data/robots/hyq_description/meshes/leg/upperleg.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.15074 -0.02625 0.0" />
      <mass value="2.638" />
      <inertia ixx="0.00368" ixy="-0.00302" ixz="0.0001" iyy="0.02719" iyz="2e-05" izz="0.02811" />
    </inertial>
  </link>
  <link name="lf_lowerleg">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://example-robot-data/robots/hyq_description/meshes/leg/lowerleg.dae" />
      </geometry>
      <material name="white" />
    </visual>
    <collision>
      <origin xyz="0.173 0.0 0.0" rpy="0.0 -1.57079632679 0.0" />
      <geometry>
        <cylinder length="0.346" radius="0.02" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.1254 4e-05 -0.0001" />
      <mass value="0.881" />
      <inertia ixx="0.00047" ixy="6e-05" ixz="-1e-05" iyy="0.01256" iyz="-0.0" izz="0.01233" />
    </inertial>
  </link>
  <link name="lf_foot">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <sphere radius="0.02175" />
      </geometry>
      <material name="black" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <sphere radius="0.02175" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="1e-06" />
      <inertia ixx="1e-06" ixy="1e-06" ixz="1e-06" iyy="1e-06" iyz="1e-06" izz="1e-06" />
    </inertial>
  </link>
  <joint name="rf_haa_joint" type="revolute">
    <origin xyz="0.3735 -0.207 0.0" rpy="0.0 1.57079632679 0.0" />
    <parent link="trunk" />
    <child link="rf_hipassembly" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="150.0" velocity="12.0" lower="-1.2217304764" upper="0.436332312999" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <joint name="rf_hfe_joint" type="revolute">
    <origin xyz="0.08 0.0 0.0" rpy="-1.57079632679 0.0 0.0" />
    <parent link="rf_hipassembly" />
    <child link="rf_upperleg" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="150.0" velocity="12.0" lower="-0.872664625997" upper="1.2217304764" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <joint name="rf_kfe_joint" type="revolute">
    <origin xyz="0.35 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="rf_upperleg" />
    <child link="rf_lowerleg" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="150.0" velocity="12.0" lower="-2.44346095279" upper="-0.349065850399" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <joint name="rf_foot_joint" type="fixed">
    <origin xyz="0.346 0.0 0.0" rpy="1.57079632679 0.0 -1.57079632679" />
    <parent link="rf_lowerleg" />
    <child link="rf_foot" />
  </joint>
  <link name="rf_hipassembly">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="3.14159265359 0.0 0.0" />
      <geometry>
        <mesh filename="package://example-robot-data/robots/hyq_description/meshes/leg/hipassembly.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="3.14159265359 0.0 0.0" />
      <geometry>
        <mesh filename="package://example-robot-data/robots/hyq_description/meshes/leg/hipassembly.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.04263 -0.0 -0.16931" />
      <mass value="2.93" />
      <inertia ixx="0.05071" ixy="4e-05" ixz="0.00159" iyy="0.05486" iyz="-5e-05" izz="0.00571" />
    </inertial>
  </link>
  <link name="rf_upperleg">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://example-robot-data/robots/hyq_description/meshes/leg/upperleg.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://example-robot-data/robots/hyq_description/meshes/leg/upperleg.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.15074 -0.02625 0.0" />
      <mass value="2.638" />
      <inertia ixx="0.00368" ixy="-0.00302" ixz="0.0001" iyy="0.02719" iyz="2e-05" izz="0.02811" />
    </inertial>
  </link>
  <link name="rf_lowerleg">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://example-robot-data/robots/hyq_description/meshes/leg/lowerleg.dae" />
      </geometry>
      <material name="white" />
    </visual>
    <collision>
      <origin xyz="0.173 0.0 0.0" rpy="0.0 -1.57079632679 0.0" />
      <geometry>
        <cylinder length="0.346" radius="0.02" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.1254 4e-05 -0.0001" />
      <mass value="0.881" />
      <inertia ixx="0.00047" ixy="6e-05" ixz="-1e-05" iyy="0.01256" iyz="-0.0" izz="0.01233" />
    </inertial>
  </link>
  <link name="rf_foot">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <sphere radius="0.02175" />
      </geometry>
      <material name="black" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <sphere radius="0.02175" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="1e-06" />
      <inertia ixx="1e-06" ixy="1e-06" ixz="1e-06" iyy="1e-06" iyz="1e-06" izz="1e-06" />
    </inertial>
  </link>
  <joint name="lh_haa_joint" type="revolute">
    <origin xyz="-0.3735 0.207 0.0" rpy="0.0 1.57079632679 3.14159265359" />
    <parent link="trunk" />
    <child link="lh_hipassembly" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="150.0" velocity="12.0" lower="-1.2217304764" upper="0.436332312999" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <joint name="lh_hfe_joint" type="revolute">
    <origin xyz="0.08 0.0 0.0" rpy="1.57079632679 0.0 0.0" />
    <parent link="lh_hipassembly" />
    <child link="lh_upperleg" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="150.0" velocity="12.0" lower="-1.2217304764" upper="0.872664625997" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <joint name="lh_kfe_joint" type="revolute">
    <origin xyz="0.35 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="lh_upperleg" />
    <child link="lh_lowerleg" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="150.0" velocity="12.0" lower="0.349065850399" upper="2.44346095279" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <joint name="lh_foot_joint" type="fixed">
    <origin xyz="0.346 0.0 0.0" rpy="1.57079632679 0.0 -1.57079632679" />
    <parent link="lh_lowerleg" />
    <child link="lh_foot" />
  </joint>
  <link name="lh_hipassembly">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="3.14159265359 0.0 0.0" />
      <geometry>
        <mesh filename="package://example-robot-data/robots/hyq_description/meshes/leg/hipassembly.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="3.14159265359 0.0 0.0" />
      <geometry>
        <mesh filename="package://example-robot-data/robots/hyq_description/meshes/leg/hipassembly.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.04263 -0.0 -0.16931" />
      <mass value="2.93" />
      <inertia ixx="0.05071" ixy="4e-05" ixz="0.00159" iyy="0.05486" iyz="-5e-05" izz="0.00571" />
    </inertial>
  </link>
  <link name="lh_upperleg">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="3.14159265359 0.0 0.0" />
      <geometry>
        <mesh filename="package://example-robot-data/robots/hyq_description/meshes/leg/upperleg.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="3.14159265359 0.0 0.0" />
      <geometry>
        <mesh filename="package://example-robot-data/robots/hyq_description/meshes/leg/upperleg.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.15074 0.02625 0.0" />
      <mass value="2.638" />
      <inertia ixx="0.00368" ixy="0.00302" ixz="-0.0001" iyy="0.02719" iyz="2e-05" izz="0.02811" />
    </inertial>
  </link>
  <link name="lh_lowerleg">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://example-robot-data/robots/hyq_description/meshes/leg/lowerleg.dae" />
      </geometry>
      <material name="white" />
    </visual>
    <collision>
      <origin xyz="0.173 0.0 0.0" rpy="0.0 -1.57079632679 0.0" />
      <geometry>
        <cylinder length="0.346" radius="0.02" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.1254 -4e-05 0.0001" />
      <mass value="0.881" />
      <inertia ixx="0.00047" ixy="-6e-05" ixz="1e-05" iyy="0.01256" iyz="-0.0" izz="0.01233" />
    </inertial>
  </link>
  <link name="lh_foot">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <sphere radius="0.02175" />
      </geometry>
      <material name="black" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <sphere radius="0.02175" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="1e-06" />
      <inertia ixx="1e-06" ixy="1e-06" ixz="1e-06" iyy="1e-06" iyz="1e-06" izz="1e-06" />
    </inertial>
  </link>
  <joint name="rh_haa_joint" type="revolute">
    <origin xyz="-0.3735 -0.207 0.0" rpy="0.0 1.57079632679 0.0" />
    <parent link="trunk" />
    <child link="rh_hipassembly" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="150.0" velocity="12.0" lower="-1.2217304764" upper="0.436332312999" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <joint name="rh_hfe_joint" type="revolute">
    <origin xyz="0.08 0.0 0.0" rpy="-1.57079632679 0.0 0.0" />
    <parent link="rh_hipassembly" />
    <child link="rh_upperleg" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="150.0" velocity="12.0" lower="-1.2217304764" upper="0.872664625997" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <joint name="rh_kfe_joint" type="revolute">
    <origin xyz="0.35 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="rh_upperleg" />
    <child link="rh_lowerleg" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="150.0" velocity="12.0" lower="0.349065850399" upper="2.44346095279" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <joint name="rh_foot_joint" type="fixed">
    <origin xyz="0.346 0.0 0.0" rpy="1.57079632679 0.0 -1.57079632679" />
    <parent link="rh_lowerleg" />
    <child link="rh_foot" />
  </joint>
  <link name="rh_hipassembly">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://example-robot-data/robots/hyq_description/meshes/leg/hipassembly.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://example-robot-data/robots/hyq_description/meshes/leg/hipassembly.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.04263 0.0 0.16931" />
      <mass value="2.93" />
      <inertia ixx="0.05071" ixy="-4e-05" ixz="-0.00159" iyy="0.05486" iyz="-5e-05" izz="0.00571" />
    </inertial>
  </link>
  <link name="rh_upperleg">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="3.14159265359 0.0 0.0" />
      <geometry>
        <mesh filename="package://example-robot-data/robots/hyq_description/meshes/leg/upperleg.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="3.14159265359 0.0 0.0" />
      <geometry>
        <mesh filename="package://example-robot-data/robots/hyq_description/meshes/leg/upperleg.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.15074 0.02625 0.0" />
      <mass value="2.638" />
      <inertia ixx="0.00368" ixy="0.00302" ixz="-0.0001" iyy="0.02719" iyz="2e-05" izz="0.02811" />
    </inertial>
  </link>
  <link name="rh_lowerleg">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://example-robot-data/robots/hyq_description/meshes/leg/lowerleg.dae" />
      </geometry>
      <material name="white" />
    </visual>
    <collision>
      <origin xyz="0.173 0.0 0.0" rpy="0.0 -1.57079632679 0.0" />
      <geometry>
        <cylinder length="0.346" radius="0.02" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.1254 -4e-05 0.0001" />
      <mass value="0.881" />
      <inertia ixx="0.00047" ixy="-6e-05" ixz="1e-05" iyy="0.01256" iyz="-0.0" izz="0.01233" />
    </inertial>
  </link>
  <link name="rh_foot">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <sphere radius="0.02175" />
      </geometry>
      <material name="black" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <sphere radius="0.02175" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="1e-06" />
      <inertia ixx="1e-06" ixy="1e-06" ixz="1e-06" iyy="1e-06" iyz="1e-06" izz="1e-06" />
    </inertial>
  </link>
  <joint name="trunk_imu_joint" type="fixed">
    <origin xyz="0.29 0.0 0.0999214" rpy="0.0 -3.14159265359 0.0" />
    <parent link="trunk" />
    <child link="trunk_imu" />
  </joint>
  <link name="trunk_imu">
    <visual>
      <origin xyz="0.00485 0.0 -0.00105" rpy="0.0 0.0 0.0" />
      <geometry>
        <box size="0.0329 0.0244 0.0111" />
      </geometry>
      <material name="black" />
    </visual>
    <inertial>
      <origin xyz="-0.0002 0.0001 0.0011" />
      <mass value="0.018" />
      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
    </inertial>
  </link>
</robot>
