<?xml version="1.0" ?>
<robot name="aliengo_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
  <material name="grey">
    <color rgba="0.2 0.2 0.2 1.0"/>
  </material>
  <material name="red">
    <color rgba="0.8 0.0 0.0 1.0"/>
  </material>
  <material name="white">
    <color rgba="1.0 1.0 1.0 1.0"/>
  </material>
  <link name="trunk">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="meshes/trunk.obj" scale="1 1 1"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.647 0.15 0.112"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.008465 0.004045 -0.000763"/>
      <mass value="9.041"/>
      <inertia ixx="0.033260231" ixy="-0.000451628" ixz="0.000487603" iyy="0.16117211" iyz="4.8356e-05" izz="0.17460442"/>
    </inertial>
  </link>
  <joint name="imu_joint" type="fixed">
    <parent link="trunk"/>
    <child link="imu_link"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
  </joint>
  <link name="imu_link">
    <inertial>
      <mass value="0.001"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.0001"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.001 0.001 0.001"/>
      </geometry>
      <material name="red"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size=".001 .001 .001"/>
      </geometry>
    </collision>
  </link>
  <joint name="FR_hip_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0.2399 -0.051 0"/>
    <parent link="trunk"/>
    <child link="FR_hip"/>
    <axis xyz="1 0 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="44.4" lower="-1.2217304764" upper="1.2217304764" velocity="40"/>
  </joint>
  <link name="FR_hip">
    <visual>
      <origin rpy="3.14159265359 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="meshes/hip.obj" scale="1 1 1"/>
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin rpy="1.57079632679 0 0" xyz="0 -0.083 0"/>
      <geometry>
        <cylinder length="0.0418" radius="0.046"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.022191 -0.015144 -1.5e-05"/>
      <mass value="1.993"/>
      <inertia ixx="0.002903894" ixy="7.185e-05" ixz="-1.262e-06" iyy="0.004907517" iyz="1.75e-06" izz="0.005586944"/>
    </inertial>
  </link>
  <joint name="FR_upper_joint" type="continuous">
    <origin rpy="0 0 0" xyz="0 -0.083 0"/>
    <parent link="FR_hip"/>
    <child link="FR_upper"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="44.4" velocity="40"/>
  </joint>
  <link name="FR_upper">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="meshes/thigh_mirror.obj" scale="1 1 1"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
      <geometry>
        <box size="0.25 0.0374 0.043"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.005607 0.003877 -0.048199"/>
      <mass value="0.639"/>
      <inertia ixx="0.005666803" ixy="-3.597e-06" ixz="0.000491446" iyy="0.005847229" iyz="-1.0086e-05" izz="0.000369811"/>
    </inertial>
  </link>
  <joint name="FR_lower_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 -0.25"/>
    <parent link="FR_upper"/>
    <child link="FR_lower"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="44.4" lower="-2.77507351067" upper="-0.645771823238" velocity="40"/>
  </joint>
  <link name="FR_lower">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="meshes/calf.obj" scale="1 1 1"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
      <geometry>
        <box size="0.25 0.0208 0.016"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.002781 6.3e-05 -0.142518"/>
      <mass value="0.207"/>
      <inertia ixx="0.006341369" ixy="-3e-09" ixz="-8.7951e-05" iyy="0.006355157" iyz="-1.336e-06" izz="3.9188e-05"/>
    </inertial>
  </link>
  <joint name="FR_toe_fixed" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 -0.25"/>
    <parent link="FR_lower"/>
    <child link="FR_toe"/>
  </joint>
  <link name="FR_toe">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.0165"/>
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.0265"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.06"/>
      <inertia ixx="1.6854e-05" ixy="0.0" ixz="0.0" iyy="1.6854e-05" iyz="0.0" izz="1.6854e-05"/>
    </inertial>
  </link>

  <joint name="FL_hip_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0.2399 0.051 0"/>
    <parent link="trunk"/>
    <child link="FL_hip"/>
    <axis xyz="1 0 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="44.4" lower="-1.2217304764" upper="1.2217304764" velocity="40"/>
  </joint>
  <link name="FL_hip">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="meshes/hip.obj" scale="1 1 1"/>
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin rpy="1.57079632679 0 0" xyz="0 0.083 0"/>
      <geometry>
        <cylinder length="0.0418" radius="0.046"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.022191 0.015144 -1.5e-05"/>
      <mass value="1.993"/>
      <inertia ixx="0.002903894" ixy="-7.185e-05" ixz="-1.262e-06" iyy="0.004907517" iyz="-1.75e-06" izz="0.005586944"/>
    </inertial>
  </link>
  <joint name="FL_upper_joint" type="continuous">
    <origin rpy="0 0 0" xyz="0 0.083 0"/>
    <parent link="FL_hip"/>
    <child link="FL_upper"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="44.4" velocity="40"/>
  </joint>
  <link name="FL_upper">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="meshes/thigh.obj" scale="1 1 1"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
      <geometry>
        <box size="0.25 0.0374 0.043"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.005607 -0.003877 -0.048199"/>
      <mass value="0.639"/>
      <inertia ixx="0.005666803" ixy="3.597e-06" ixz="0.000491446" iyy="0.005847229" iyz="1.0086e-05" izz="0.000369811"/>
    </inertial>
  </link>
  <joint name="FL_lower_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 -0.25"/>
    <parent link="FL_upper"/>
    <child link="FL_lower"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="44.4" lower="-2.77507351067" upper="-0.645771823238" velocity="40"/>
  </joint>
  <link name="FL_lower">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="meshes/calf.obj" scale="1 1 1"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
      <geometry>
        <box size="0.25 0.0208 0.016"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.002781 6.3e-05 -0.142518"/>
      <mass value="0.207"/>
      <inertia ixx="0.006341369" ixy="-3e-09" ixz="-8.7951e-05" iyy="0.006355157" iyz="-1.336e-06" izz="3.9188e-05"/>
    </inertial>
  </link>
  <joint name="FL_toe_fixed" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 -0.25"/>
    <parent link="FL_lower"/>
    <child link="FL_toe"/>
  </joint>
  <link name="FL_toe">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.0165"/>
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.0265"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.06"/>
      <inertia ixx="1.6854e-05" ixy="0.0" ixz="0.0" iyy="1.6854e-05" iyz="0.0" izz="1.6854e-05"/>
    </inertial>
  </link>
  <joint name="RR_hip_joint" type="revolute">
    <origin rpy="0 0 0" xyz="-0.2399 -0.051 0"/>
    <parent link="trunk"/>
    <child link="RR_hip"/>
    <axis xyz="1 0 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="44.4" lower="-1.2217304764" upper="1.2217304764" velocity="40"/>
  </joint>
  <link name="RR_hip">
    <visual>
      <origin rpy="3.14159265359 3.14159265359 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="meshes/hip.obj" scale="1 1 1"/>
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin rpy="1.57079632679 0 0" xyz="0 -0.083 0"/>
      <geometry>
        <cylinder length="0.0418" radius="0.046"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.022191 -0.015144 -1.5e-05"/>
      <mass value="1.993"/>
      <inertia ixx="0.002903894" ixy="-7.185e-05" ixz="1.262e-06" iyy="0.004907517" iyz="1.75e-06" izz="0.005586944"/>
    </inertial>
  </link>
  <joint name="RR_upper_joint" type="continuous">
    <origin rpy="0 0 0" xyz="0 -0.083 0"/>
    <parent link="RR_hip"/>
    <child link="RR_upper"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="44.4" velocity="40"/>
  </joint>
  <link name="RR_upper">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="meshes/thigh_mirror.obj" scale="1 1 1"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
      <geometry>
        <box size="0.25 0.0374 0.043"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.005607 0.003877 -0.048199"/>
      <mass value="0.639"/>
      <inertia ixx="0.005666803" ixy="-3.597e-06" ixz="0.000491446" iyy="0.005847229" iyz="-1.0086e-05" izz="0.000369811"/>
    </inertial>
  </link>
  <joint name="RR_lower_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 -0.25"/>
    <parent link="RR_upper"/>
    <child link="RR_lower"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="44.4" lower="-2.77507351067" upper="-0.645771823238" velocity="40"/>
  </joint>
  <link name="RR_lower">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="meshes/calf.obj" scale="1 1 1"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
      <geometry>
        <box size="0.25 0.0208 0.016"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.002781 6.3e-05 -0.142518"/>
      <mass value="0.207"/>
      <inertia ixx="0.006341369" ixy="-3e-09" ixz="-8.7951e-05" iyy="0.006355157" iyz="-1.336e-06" izz="3.9188e-05"/>
    </inertial>
  </link>
  <joint name="RR_toe_fixed" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 -0.25"/>
    <parent link="RR_lower"/>
    <child link="RR_toe"/>
  </joint>
  <link name="RR_toe">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.0165"/>
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.0265"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.06"/>
      <inertia ixx="1.6854e-05" ixy="0.0" ixz="0.0" iyy="1.6854e-05" iyz="0.0" izz="1.6854e-05"/>
    </inertial>
  </link>

  <joint name="RL_hip_joint" type="revolute">
    <origin rpy="0 0 0" xyz="-0.2399 0.051 0"/>
    <parent link="trunk"/>
    <child link="RL_hip"/>
    <axis xyz="1 0 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="44.4" lower="-1.2217304764" upper="1.2217304764" velocity="40"/>
  </joint>
  <link name="RL_hip">
    <visual>
      <origin rpy="0 3.14159265359 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="meshes/hip.obj" scale="1 1 1"/>
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin rpy="1.57079632679 0 0" xyz="0 0.083 0"/>
      <geometry>
        <cylinder length="0.0418" radius="0.046"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.022191 0.015144 -1.5e-05"/>
      <mass value="1.993"/>
      <inertia ixx="0.002903894" ixy="7.185e-05" ixz="1.262e-06" iyy="0.004907517" iyz="-1.75e-06" izz="0.005586944"/>
    </inertial>
  </link>
  <joint name="RL_upper_joint" type="continuous">
    <origin rpy="0 0 0" xyz="0 0.083 0"/>
    <parent link="RL_hip"/>
    <child link="RL_upper"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="44.4" velocity="40"/>
  </joint>
  <link name="RL_upper">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="meshes/thigh.obj" scale="1 1 1"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
      <geometry>
        <box size="0.25 0.0374 0.043"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.005607 -0.003877 -0.048199"/>
      <mass value="0.639"/>
      <inertia ixx="0.005666803" ixy="3.597e-06" ixz="0.000491446" iyy="0.005847229" iyz="1.0086e-05" izz="0.000369811"/>
    </inertial>
  </link>
  <joint name="RL_lower_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 -0.25"/>
    <parent link="RL_upper"/>
    <child link="RL_lower"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0" friction="0"/>
    <limit effort="44.4" lower="-2.77507351067" upper="-0.645771823238" velocity="40"/>
  </joint>
  <link name="RL_lower">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="meshes/calf.obj" scale="1 1 1"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
      <geometry>
        <box size="0.25 0.0208 0.016"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.002781 6.3e-05 -0.142518"/>
      <mass value="0.207"/>
      <inertia ixx="0.006341369" ixy="-3e-09" ixz="-8.7951e-05" iyy="0.006355157" iyz="-1.336e-06" izz="3.9188e-05"/>
    </inertial>
  </link>
  <joint name="RL_toe_fixed" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 -0.25"/>
    <parent link="RL_lower"/>
    <child link="RL_toe"/>
  </joint>
  <link name="RL_toe">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.0165"/>
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.0265"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.06"/>
      <inertia ixx="1.6854e-05" ixy="0.0" ixz="0.0" iyy="1.6854e-05" iyz="0.0" izz="1.6854e-05"/>
    </inertial>
  </link>

</robot>

