<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (py backend), content b05c8a143289b71f -->
<robot name="solo">
  <material name="grey">
    <color rgba="0.8 0.8 0.8 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://example-robot-data/robots/solo_description/meshes/stl/solo12/solo_12_base.stl" />
      </geometry>
      <material name="grey" />
    </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/solo_description/meshes/stl/solo12/solo_12_base.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="1.16115091" />
      <inertia ixx="0.00578574" ixy="0.0" ixz="0.0" iyy="0.01938108" iyz="0.0" izz="0.02476124" />
    </inertial>
  </link>
  <joint name="FL_HAA" type="revolute">
    <origin xyz="0.1946 0.0875 0.0" rpy="0.0 0.0 0.0" />
    <parent link="base_link" />
    <child link="FL_SHOULDER" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="1000.0" velocity="1000.0" lower="-10.0" upper="10.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="FL_SHOULDER">
    <visual>
      <origin xyz="0.0195 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://example-robot-data/robots/solo_description/meshes/stl/solo12/solo12_hip_fe_fl.stl" />
      </geometry>
      <material name="grey" />
    </visual>
    <collision>
      <origin xyz="0.0195 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://example-robot-data/robots/solo_description/meshes/stl/solo12/solo12_hip_fe_fl.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.078707 0.01 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.14853845" />
      <inertia ixx="3.024e-05" ixy="4.671e-05" ixz="0.0" iyy="0.00041193" iyz="0.0" izz="0.00041107" />
    </inertial>
  </link>
  <joint name="FL_HFE" type="revolute">
    <origin xyz="0.0 0.014 0.0" rpy="0.0 0.0 0.0" />
    <parent link="FL_SHOULDER" />
    <child link="FL_UPPER_LEG" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="1000.0" velocity="1000.0" lower="-10.0" upper="10.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="FL_UPPER_LEG">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://example-robot-data/robots/solo_description/meshes/stl/with_foot/solo_upper_leg_left_side.stl" />
      </geometry>
      <material name="grey" />
    </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/solo_description/meshes/stl/with_foot/solo_upper_leg_left_side.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="1.377e-05 0.01935853 -0.078707" rpy="0.0 0.0 0.0" />
      <mass value="0.14853845" />
      <inertia ixx="0.00041107" ixy="0.0" ixz="0.0" iyy="0.00041193" iyz="4.671e-05" izz="3.024e-05" />
    </inertial>
  </link>
  <joint name="FL_KFE" type="revolute">
    <origin xyz="0.0 0.03745 -0.16" rpy="0.0 0.0 0.0" />
    <parent link="FL_UPPER_LEG" />
    <child link="FL_LOWER_LEG" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="1000.0" velocity="1000.0" lower="-10.0" upper="10.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="FL_LOWER_LEG">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://example-robot-data/robots/solo_description/meshes/stl/with_foot/solo_lower_leg_left_side.stl" />
      </geometry>
      <material name="grey" />
    </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/solo_description/meshes/stl/with_foot/solo_lower_leg_left_side.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.00787644 -0.08928215" rpy="0.0 0.0 0.0" />
      <mass value="0.03070001" />
      <inertia ixx="0.00012024" ixy="0.0" ixz="0.0" iyy="0.00012029" iyz="3.05e-06" izz="2.16e-06" />
    </inertial>
  </link>
  <joint name="FL_ANKLE" type="fixed">
    <origin xyz="0.0 0.008 -0.16" rpy="0.0 0.0 0.0" />
    <parent link="FL_LOWER_LEG" />
    <child link="FL_FOOT" />
  </joint>
  <link name="FL_FOOT">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://example-robot-data/robots/solo_description/meshes/stl/with_foot/solo_foot.stl" />
      </geometry>
      <material name="grey" />
    </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/solo_description/meshes/stl/with_foot/solo_foot.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.00035767" rpy="0.0 0.0 0.0" />
      <mass value="0.00693606" />
      <inertia ixx="5.7e-07" ixy="0.0" ixz="0.0" iyy="8.4e-07" iyz="0.0" izz="5.3e-07" />
    </inertial>
  </link>
  <joint name="FR_HAA" type="revolute">
    <origin xyz="0.1946 -0.0875 0.0" rpy="0.0 0.0 0.0" />
    <parent link="base_link" />
    <child link="FR_SHOULDER" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="1000.0" velocity="1000.0" lower="-10.0" upper="10.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="FR_SHOULDER">
    <visual>
      <origin xyz="0.0195 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://example-robot-data/robots/solo_description/meshes/stl/solo12/solo12_hip_fe_fr.stl" />
      </geometry>
      <material name="grey" />
    </visual>
    <collision>
      <origin xyz="0.0195 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://example-robot-data/robots/solo_description/meshes/stl/solo12/solo12_hip_fe_fr.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.078707 -0.01 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.14853845" />
      <inertia ixx="3.024e-05" ixy="-4.671e-05" ixz="0.0" iyy="0.00041193" iyz="0.0" izz="0.00041107" />
    </inertial>
  </link>
  <joint name="FR_HFE" type="revolute">
    <origin xyz="0.0 -0.014 0.0" rpy="0.0 0.0 0.0" />
    <parent link="FR_SHOULDER" />
    <child link="FR_UPPER_LEG" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="1000.0" velocity="1000.0" lower="-10.0" upper="10.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="FR_UPPER_LEG">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://example-robot-data/robots/solo_description/meshes/stl/with_foot/solo_upper_leg_right_side.stl" />
      </geometry>
      <material name="grey" />
    </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/solo_description/meshes/stl/with_foot/solo_upper_leg_right_side.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-1.377e-05 -0.01935853 -0.078707" rpy="0.0 0.0 0.0" />
      <mass value="0.14853845" />
      <inertia ixx="0.00041107" ixy="0.0" ixz="0.0" iyy="0.00041193" iyz="-4.671e-05" izz="3.024e-05" />
    </inertial>
  </link>
  <joint name="FR_KFE" type="revolute">
    <origin xyz="0.0 -0.03745 -0.16" rpy="0.0 0.0 0.0" />
    <parent link="FR_UPPER_LEG" />
    <child link="FR_LOWER_LEG" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="1000.0" velocity="1000.0" lower="-10.0" upper="10.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="FR_LOWER_LEG">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://example-robot-data/robots/solo_description/meshes/stl/with_foot/solo_lower_leg_right_side.stl" />
      </geometry>
      <material name="grey" />
    </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/solo_description/meshes/stl/with_foot/solo_lower_leg_right_side.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.00787644 -0.08928215" rpy="0.0 0.0 0.0" />
      <mass value="0.03070001" />
      <inertia ixx="0.00012024" ixy="0.0" ixz="0.0" iyy="0.00012029" iyz="-3.05e-06" izz="2.16e-06" />
    </inertial>
  </link>
  <joint name="FR_ANKLE" type="fixed">
    <origin xyz="0.0 -0.008 -0.16" rpy="0.0 0.0 0.0" />
    <parent link="FR_LOWER_LEG" />
    <child link="FR_FOOT" />
  </joint>
  <link name="FR_FOOT">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://example-robot-data/robots/solo_description/meshes/stl/with_foot/solo_foot.stl" />
      </geometry>
      <material name="grey" />
    </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/solo_description/meshes/stl/with_foot/solo_foot.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.00035767" rpy="0.0 0.0 0.0" />
      <mass value="0.00693606" />
      <inertia ixx="5.7e-07" ixy="0.0" ixz="0.0" iyy="8.4e-07" iyz="0.0" izz="5.3e-07" />
    </inertial>
  </link>
  <joint name="HL_HAA" type="revolute">
    <origin xyz="-0.1946 0.0875 0.0" rpy="0.0 0.0 0.0" />
    <parent link="base_link" />
    <child link="HL_SHOULDER" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="1000.0" velocity="1000.0" lower="-10.0" upper="10.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="HL_SHOULDER">
    <visual>
      <origin xyz="-0.0195 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://example-robot-data/robots/solo_description/meshes/stl/solo12/solo12_hip_fe_hl.stl" />
      </geometry>
      <material name="grey" />
    </visual>
    <collision>
      <origin xyz="-0.0195 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://example-robot-data/robots/solo_description/meshes/stl/solo12/solo12_hip_fe_hl.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.078707 0.01 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.14853845" />
      <inertia ixx="3.024e-05" ixy="4.671e-05" ixz="0.0" iyy="0.00041193" iyz="0.0" izz="0.00041107" />
    </inertial>
  </link>
  <joint name="HL_HFE" type="revolute">
    <origin xyz="0.0 0.014 0.0" rpy="0.0 0.0 0.0" />
    <parent link="HL_SHOULDER" />
    <child link="HL_UPPER_LEG" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="1000.0" velocity="1000.0" lower="-10.0" upper="10.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="HL_UPPER_LEG">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://example-robot-data/robots/solo_description/meshes/stl/with_foot/solo_upper_leg_left_side.stl" />
      </geometry>
      <material name="grey" />
    </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/solo_description/meshes/stl/with_foot/solo_upper_leg_left_side.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="1.377e-05 0.01935853 -0.078707" rpy="0.0 0.0 0.0" />
      <mass value="0.14853845" />
      <inertia ixx="0.00041107" ixy="0.0" ixz="0.0" iyy="0.00041193" iyz="4.671e-05" izz="3.024e-05" />
    </inertial>
  </link>
  <joint name="HL_KFE" type="revolute">
    <origin xyz="0.0 0.03745 -0.16" rpy="0.0 0.0 0.0" />
    <parent link="HL_UPPER_LEG" />
    <child link="HL_LOWER_LEG" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="1000.0" velocity="1000.0" lower="-10.0" upper="10.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="HL_LOWER_LEG">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://example-robot-data/robots/solo_description/meshes/stl/with_foot/solo_lower_leg_left_side.stl" />
      </geometry>
      <material name="grey" />
    </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/solo_description/meshes/stl/with_foot/solo_lower_leg_left_side.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.00787644 -0.08928215" rpy="0.0 0.0 0.0" />
      <mass value="0.03070001" />
      <inertia ixx="0.00012024" ixy="0.0" ixz="0.0" iyy="0.00012029" iyz="3.05e-06" izz="2.16e-06" />
    </inertial>
  </link>
  <joint name="HL_ANKLE" type="fixed">
    <origin xyz="0.0 0.008 -0.16" rpy="0.0 0.0 0.0" />
    <parent link="HL_LOWER_LEG" />
    <child link="HL_FOOT" />
  </joint>
  <link name="HL_FOOT">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://example-robot-data/robots/solo_description/meshes/stl/with_foot/solo_foot.stl" />
      </geometry>
      <material name="grey" />
    </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/solo_description/meshes/stl/with_foot/solo_foot.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.00035767" rpy="0.0 0.0 0.0" />
      <mass value="0.00693606" />
      <inertia ixx="5.7e-07" ixy="0.0" ixz="0.0" iyy="8.4e-07" iyz="0.0" izz="5.3e-07" />
    </inertial>
  </link>
  <joint name="HR_HAA" type="revolute">
    <origin xyz="-0.1946 -0.0875 0.0" rpy="0.0 0.0 0.0" />
    <parent link="base_link" />
    <child link="HR_SHOULDER" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="1000.0" velocity="1000.0" lower="-10.0" upper="10.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="HR_SHOULDER">
    <visual>
      <origin xyz="-0.0195 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://example-robot-data/robots/solo_description/meshes/stl/solo12/solo12_hip_fe_hr.stl" />
      </geometry>
      <material name="grey" />
    </visual>
    <collision>
      <origin xyz="-0.0195 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://example-robot-data/robots/solo_description/meshes/stl/solo12/solo12_hip_fe_hr.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.078707 -0.01 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.14853845" />
      <inertia ixx="3.024e-05" ixy="-4.671e-05" ixz="0.0" iyy="0.00041193" iyz="0.0" izz="0.00041107" />
    </inertial>
  </link>
  <joint name="HR_HFE" type="revolute">
    <origin xyz="0.0 -0.014 0.0" rpy="0.0 0.0 0.0" />
    <parent link="HR_SHOULDER" />
    <child link="HR_UPPER_LEG" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="1000.0" velocity="1000.0" lower="-10.0" upper="10.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="HR_UPPER_LEG">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://example-robot-data/robots/solo_description/meshes/stl/with_foot/solo_upper_leg_right_side.stl" />
      </geometry>
      <material name="grey" />
    </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/solo_description/meshes/stl/with_foot/solo_upper_leg_right_side.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-1.377e-05 -0.01935853 -0.078707" rpy="0.0 0.0 0.0" />
      <mass value="0.14853845" />
      <inertia ixx="0.00041107" ixy="0.0" ixz="0.0" iyy="0.00041193" iyz="-4.671e-05" izz="3.024e-05" />
    </inertial>
  </link>
  <joint name="HR_KFE" type="revolute">
    <origin xyz="0.0 -0.03745 -0.16" rpy="0.0 0.0 0.0" />
    <parent link="HR_UPPER_LEG" />
    <child link="HR_LOWER_LEG" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="1000.0" velocity="1000.0" lower="-10.0" upper="10.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="HR_LOWER_LEG">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://example-robot-data/robots/solo_description/meshes/stl/with_foot/solo_lower_leg_right_side.stl" />
      </geometry>
      <material name="grey" />
    </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/solo_description/meshes/stl/with_foot/solo_lower_leg_right_side.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.00787644 -0.08928215" rpy="0.0 0.0 0.0" />
      <mass value="0.03070001" />
      <inertia ixx="0.00012024" ixy="0.0" ixz="0.0" iyy="0.00012029" iyz="-3.05e-06" izz="2.16e-06" />
    </inertial>
  </link>
  <joint name="HR_ANKLE" type="fixed">
    <origin xyz="0.0 -0.008 -0.16" rpy="0.0 0.0 0.0" />
    <parent link="HR_LOWER_LEG" />
    <child link="HR_FOOT" />
  </joint>
  <link name="HR_FOOT">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://example-robot-data/robots/solo_description/meshes/stl/with_foot/solo_foot.stl" />
      </geometry>
      <material name="grey" />
    </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/solo_description/meshes/stl/with_foot/solo_foot.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.00035767" rpy="0.0 0.0 0.0" />
      <mass value="0.00693606" />
      <inertia ixx="5.7e-07" ixy="0.0" ixz="0.0" iyy="8.4e-07" iyz="0.0" izz="5.3e-07" />
    </inertial>
  </link>
</robot>
