<?xml version="1.0" encoding="utf-8"?>
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by
Stephen Brawner (brawner@gmail.com)
     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot
  name="go2_description">
  <link
    name="base">
    <inertial>
      <origin
        xyz="0.021112 0 -0.005366"
        rpy="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>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="package://example-robot-data/robots/go2_description/visuals/base.dae" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision><geometry>
        <mesh filename="package://example-robot-data/robots/go2_description/collisions/base_body_convex.stl" />
    </geometry></collision>
    <collision><geometry>
        <mesh filename="package://example-robot-data/robots/go2_description/collisions/base_neck_convex.stl" />
    </geometry></collision>
    <collision><geometry>
        <mesh filename="package://example-robot-data/robots/go2_description/collisions/base_head_convex.stl" />
    </geometry></collision>
    <collision><geometry>
        <mesh filename="package://example-robot-data/robots/go2_description/collisions/base_fl_support_convex.stl" />
    </geometry></collision>
    <collision><geometry>
        <mesh filename="package://example-robot-data/robots/go2_description/collisions/base_fr_support_convex.stl" />
    </geometry></collision>
    <collision><geometry>
        <mesh filename="package://example-robot-data/robots/go2_description/collisions/base_rl_support_convex.stl" />
    </geometry></collision>
    <collision><geometry>
        <mesh filename="package://example-robot-data/robots/go2_description/collisions/base_rr_support_convex.stl" />
    </geometry></collision>
  </link>
  <link
    name="FL_hip">
    <inertial>
      <origin
        xyz="-0.0054 0.00194 -0.000105"
        rpy="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>
    <visual>
      <geometry>
        <mesh
          filename="package://example-robot-data/robots/go2_description/visuals/hip.dae" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision><geometry>
        <mesh filename="package://example-robot-data/robots/go2_description/collisions/hip_convex.stl" />
    </geometry></collision>
  </link>
  <joint
    name="FL_hip_joint"
    type="revolute">
    <origin
      xyz="0.1934 0.0465 0"
      rpy="0 0 0" />
    <parent
      link="base" />
    <child
      link="FL_hip" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="-1.0472"
      upper="1.0472"
      effort="23.7"
      velocity="30.1" />
  </joint>
  <link name="FL_hip_rotor">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="0.089"/>
      <inertia ixx="0.000111842" ixy="0.0" ixz="0.0" iyy="0.000059647" iyz="0.0" izz="0.000059647"/>
    </inertial>
  </link>
  <joint name="FL_hip_rotor_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.11215 0.04675 0"/>
    <parent link="base"/>
    <child link="FL_hip_rotor"/>
  </joint>
  <link
    name="FL_thigh">
    <inertial>
      <origin
        xyz="-0.00374 -0.0223 -0.0327"
        rpy="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>
    <visual>
      <geometry>
        <mesh
          filename="package://example-robot-data/robots/go2_description/visuals/thigh.dae" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision><geometry>
        <mesh filename="package://example-robot-data/robots/go2_description/collisions/thigh_convex.stl" />
    </geometry></collision>
  </link>
  <joint
    name="FL_thigh_joint"
    type="revolute">
    <origin
      xyz="0 0.0955 0"
      rpy="0 0 0" />
    <parent
      link="FL_hip" />
    <child
      link="FL_thigh" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-1.5708"
      upper="3.4907"
      effort="23.7"
      velocity="30.1" />
  </joint>
  <link name="FL_thigh_rotor">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="0.089"/>
      <inertia ixx="0.000059647" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="0.000059647"/>
    </inertial>
  </link>
  <joint name="FL_thigh_rotor_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 -0.00015 0"/>
    <parent link="FL_hip"/>
    <child link="FL_thigh_rotor"/>
  </joint>
  <link
    name="FL_calf">
    <inertial>
      <origin
        xyz="0.00548 -0.000975 -0.115"
        rpy="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>
    <visual>
      <geometry>
        <mesh
          filename="package://example-robot-data/robots/go2_description/visuals/calf.dae" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision><geometry>
        <mesh filename="package://example-robot-data/robots/go2_description/collisions/calf_upper_convex.stl" />
    </geometry></collision>
    <collision><geometry>
        <mesh filename="package://example-robot-data/robots/go2_description/collisions/calf_lower_convex.stl" />
    </geometry></collision>
  </link>
  <joint
    name="FL_calf_joint"
    type="revolute">
    <origin
      xyz="0 0 -0.213"
      rpy="0 0 0" />
    <parent
      link="FL_thigh" />
    <child
      link="FL_calf" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-2.7227"
      upper="-0.83776"
      effort="45.43"
      velocity="15.70" />
  </joint>
  <link name="FL_calf_rotor">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="0.089"/>
      <inertia ixx="0.000059647" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="0.000059647"/>
    </inertial>
  </link>
  <joint name="FL_calf_rotor_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 -0.03235 0"/>
    <parent link="FL_thigh"/>
    <child link="FL_calf_rotor"/>
  </joint>
  <link
    name="FL_foot">
    <inertial>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <mass
        value="0.04" />
      <inertia
        ixx="9.6e-06"
        ixy="0"
        ixz="0"
        iyy="9.6e-06"
        iyz="0"
        izz="9.6e-06" />
    </inertial>
    <visual>
      <geometry>
        <mesh
          filename="package://example-robot-data/robots/go2_description/visuals/foot.dae" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision><geometry>
        <mesh filename="package://example-robot-data/robots/go2_description/collisions/foot_convex.stl" />
    </geometry></collision>
  </link>
  <joint
    name="FL_foot_joint"
    type="fixed" dont_collapse="true">
    <origin
      xyz="0 0 -0.213"
      rpy="0 0 0" />
    <parent
      link="FL_calf" />
    <child
      link="FL_foot" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="FR_hip">
    <inertial>
      <origin
        xyz="-0.0054 -0.00194 -0.000105"
        rpy="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>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="3.1415 0 0" />
      <geometry>
        <mesh
          filename="package://example-robot-data/robots/go2_description/visuals/hip.dae" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
      xyz="0 0 0"
      rpy="3.1415 0 0" />
      <geometry>
        <mesh filename="package://example-robot-data/robots/go2_description/collisions/hip_convex.stl" />
      </geometry>
    </collision>
  </link>
  <joint
    name="FR_hip_joint"
    type="revolute">
    <origin
      xyz="0.1934 -0.0465 0"
      rpy="0 0 0" />
    <parent
      link="base" />
    <child
      link="FR_hip" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="-1.0472"
      upper="1.0472"
      effort="23.7"
      velocity="30.1" />
  </joint>
  <link name="FR_hip_rotor">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="0.089"/>
      <inertia ixx="0.000111842" ixy="0.0" ixz="0.0" iyy="0.000059647" iyz="0.0" izz="0.000059647"/>
    </inertial>
  </link>
  <joint name="FR_hip_rotor_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.11215 -0.04675 0"/>
    <parent link="base"/>
    <child link="FR_hip_rotor"/>
  </joint>
  <link
    name="FR_thigh">
    <inertial>
      <origin
        xyz="-0.00374 0.0223 -0.0327"
        rpy="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>
    <visual>
      <geometry>
        <mesh
          filename="package://example-robot-data/robots/go2_description/visuals/thigh_mirror.dae" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision><geometry>
        <mesh filename="package://example-robot-data/robots/go2_description/collisions/thigh_mirror_convex.stl" />
    </geometry></collision>
  </link>
  <joint
    name="FR_thigh_joint"
    type="revolute">
    <origin
      xyz="0 -0.0955 0"
      rpy="0 0 0" />
    <parent
      link="FR_hip" />
    <child
      link="FR_thigh" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-1.5708"
      upper="3.4907"
      effort="23.7"
      velocity="30.1" />
  </joint>
  <link name="FR_thigh_rotor">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="0.089"/>
      <inertia ixx="0.000059647" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="0.000059647"/>
    </inertial>
  </link>
  <joint name="FR_thigh_rotor_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0.00015 0"/>
    <parent link="FR_hip"/>
    <child link="FR_thigh_rotor"/>
  </joint>
  <link
    name="FR_calf">
    <inertial>
      <origin
        xyz="0.00548 0.000975 -0.115"
        rpy="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>
    <visual>
      <geometry>
        <mesh
          filename="package://example-robot-data/robots/go2_description/visuals/calf_mirror.dae" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision><geometry>
        <mesh filename="package://example-robot-data/robots/go2_description/collisions/calf_upper_mirror_convex.stl" />
    </geometry></collision>
    <collision><geometry>
        <mesh filename="package://example-robot-data/robots/go2_description/collisions/calf_lower_mirror_convex.stl" />
    </geometry></collision>
  </link>
  <joint
    name="FR_calf_joint"
    type="revolute">
    <origin
      xyz="0 0 -0.213"
      rpy="0 0 0" />
    <parent
      link="FR_thigh" />
    <child
      link="FR_calf" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-2.7227"
      upper="-0.83776"
      effort="45.43"
      velocity="15.70" />
  </joint>
  <link name="FR_calf_rotor">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="0.089"/>
      <inertia ixx="0.000059647" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="0.000059647"/>
    </inertial>
  </link>
  <joint name="FR_calf_rotor_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0.03235 0"/>
    <parent link="FR_thigh"/>
    <child link="FR_calf_rotor"/>
  </joint>
  <link
    name="FR_foot">
    <inertial>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <mass
        value="0.04" />
      <inertia
        ixx="9.6e-06"
        ixy="0"
        ixz="0"
        iyy="9.6e-06"
        iyz="0"
        izz="9.6e-06" />
    </inertial>
    <visual>
      <geometry>
        <mesh
          filename="package://example-robot-data/robots/go2_description/visuals/foot.dae" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision><geometry>
        <mesh filename="package://example-robot-data/robots/go2_description/collisions/foot_convex.stl" />
    </geometry></collision>
  </link>
  <joint
    name="FR_foot_joint"
    type="fixed" dont_collapse="true">
    <origin
      xyz="0 0 -0.213"
      rpy="0 0 0" />
    <parent
      link="FR_calf" />
    <child
      link="FR_foot" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="RL_hip">
    <inertial>
      <origin
        xyz="0.0054 0.00194 -0.000105"
        rpy="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>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 3.1415 0" />
      <geometry>
        <mesh
          filename="package://example-robot-data/robots/go2_description/visuals/hip.dae" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 3.1415 0" />
      <geometry>
        <mesh filename="package://example-robot-data/robots/go2_description/collisions/hip_convex.stl" />
      </geometry>
    </collision>
  </link>
  <joint
    name="RL_hip_joint"
    type="revolute">
    <origin
      xyz="-0.1934 0.0465 0"
      rpy="0 0 0" />
    <parent
      link="base" />
    <child
      link="RL_hip" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="-1.0472"
      upper="1.0472"
      effort="23.7"
      velocity="30.1" />
  </joint>
  <link name="RL_hip_rotor">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="0.089"/>
      <inertia ixx="0.000111842" ixy="0.0" ixz="0.0" iyy="0.000059647" iyz="0.0" izz="0.000059647"/>
    </inertial>
  </link>
  <joint name="RL_hip_rotor_joint" type="fixed">
    <origin rpy="0 0 0" xyz="-0.11215 0.04675 0"/>
    <parent link="base"/>
    <child link="RL_hip_rotor"/>
  </joint>
  <link
    name="RL_thigh">
    <inertial>
      <origin
        xyz="-0.00374 -0.0223 -0.0327"
        rpy="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>
    <visual>
      <geometry>
        <mesh
          filename="package://example-robot-data/robots/go2_description/visuals/thigh.dae" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision><geometry>
        <mesh filename="package://example-robot-data/robots/go2_description/collisions/thigh_convex.stl" />
    </geometry></collision>
  </link>
  <joint
    name="RL_thigh_joint"
    type="revolute">
    <origin
      xyz="0 0.0955 0"
      rpy="0 0 0" />
    <parent
      link="RL_hip" />
    <child
      link="RL_thigh" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-0.5236"
      upper="4.5379"
      effort="23.7"
      velocity="30.1" />
  </joint>
  <link name="RL_thigh_rotor">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="0.089"/>
      <inertia ixx="0.000059647" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="0.000059647"/>
    </inertial>
  </link>
  <joint name="RL_thigh_rotor_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 -0.00015 0"/>
    <parent link="RL_hip"/>
    <child link="RL_thigh_rotor"/>
  </joint>
  <link
    name="RL_calf">
    <inertial>
      <origin
        xyz="0.00548 -0.000975 -0.115"
        rpy="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>
    <visual>
      <geometry>
        <mesh
          filename="package://example-robot-data/robots/go2_description/visuals/calf.dae" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision><geometry>
        <mesh filename="package://example-robot-data/robots/go2_description/collisions/calf_upper_convex.stl" />
    </geometry></collision>
    <collision><geometry>
        <mesh filename="package://example-robot-data/robots/go2_description/collisions/calf_lower_convex.stl" />
    </geometry></collision>
  </link>
  <joint
    name="RL_calf_joint"
    type="revolute">
    <origin
      xyz="0 0 -0.213"
      rpy="0 0 0" />
    <parent
      link="RL_thigh" />
    <child
      link="RL_calf" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-2.7227"
      upper="-0.83776"
      effort="45.43"
      velocity="15.70" />
  </joint>
  <link name="RL_calf_rotor">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="0.089"/>
      <inertia ixx="0.000059647" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="0.000059647"/>
    </inertial>
  </link>
  <joint name="RL_calf_rotor_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 -0.03235 0"/>
    <parent link="RL_thigh"/>
    <child link="RL_calf_rotor"/>
  </joint>
  <link
    name="RL_foot">
    <inertial>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <mass
        value="0.04" />
      <inertia
        ixx="9.6e-06"
        ixy="0"
        ixz="0"
        iyy="9.6e-06"
        iyz="0"
        izz="9.6e-06" />
    </inertial>
    <visual>
      <geometry>
        <mesh
          filename="package://example-robot-data/robots/go2_description/visuals/foot.dae" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision><geometry>
        <mesh filename="package://example-robot-data/robots/go2_description/collisions/foot_convex.stl" />
    </geometry></collision>
  </link>
  <joint
    name="RL_foot_joint"
    type="fixed" dont_collapse="true">
    <origin
      xyz="0 0 -0.213"
      rpy="0 0 0" />
    <parent
      link="RL_calf" />
    <child
      link="RL_foot" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="RR_hip">
    <inertial>
      <origin
        xyz="0.0054 -0.00194 -0.000105"
        rpy="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>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="3.1415 3.1415 0" />
      <geometry>
        <mesh
          filename="package://example-robot-data/robots/go2_description/visuals/hip.dae" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="3.1415 3.1415 0" />
      <geometry>
        <mesh filename="package://example-robot-data/robots/go2_description/collisions/hip_convex.stl" />
      </geometry>
    </collision>
  </link>
  <joint
    name="RR_hip_joint"
    type="revolute">
    <origin
      xyz="-0.1934 -0.0465 0"
      rpy="0 0 0" />
    <parent
      link="base" />
    <child
      link="RR_hip" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="-1.0472"
      upper="1.0472"
      effort="23.7"
      velocity="30.1" />
  </joint>
  <link name="RR_hip_rotor">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="0.089"/>
      <inertia ixx="0.000111842" ixy="0.0" ixz="0.0" iyy="0.000059647" iyz="0.0" izz="0.000059647"/>
    </inertial>
  </link>
  <joint name="RR_hip_rotor_joint" type="fixed">
    <origin rpy="0 0 0" xyz="-0.11215 -0.04675 0"/>
    <parent link="base"/>
    <child link="RR_hip_rotor"/>
  </joint>
  <link
    name="RR_thigh">
    <inertial>
      <origin
        xyz="-0.00374 0.0223 -0.0327"
        rpy="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>
    <visual>
      <geometry>
        <mesh
          filename="package://example-robot-data/robots/go2_description/visuals/thigh_mirror.dae" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision><geometry>
        <mesh filename="package://example-robot-data/robots/go2_description/collisions/thigh_mirror_convex.stl" />
    </geometry></collision>
  </link>
  <joint
    name="RR_thigh_joint"
    type="revolute">
    <origin
      xyz="0 -0.0955 0"
      rpy="0 0 0" />
    <parent
      link="RR_hip" />
    <child
      link="RR_thigh" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-0.5236"
      upper="4.5379"
      effort="23.7"
      velocity="30.1" />
  </joint>
  <link name="RR_thigh_rotor">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="0.089"/>
      <inertia ixx="0.000059647" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="0.000059647"/>
    </inertial>
  </link>
  <joint name="RR_thigh_rotor_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0.00015 0"/>
    <parent link="RR_hip"/>
    <child link="RR_thigh_rotor"/>
  </joint>
  <link
    name="RR_calf">
    <inertial>
      <origin
        xyz="0.00548 0.000975 -0.115"
        rpy="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>
    <visual>
      <geometry>
        <mesh
          filename="package://example-robot-data/robots/go2_description/visuals/calf_mirror.dae" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision><geometry>
        <mesh filename="package://example-robot-data/robots/go2_description/collisions/calf_upper_mirror_convex.stl" />
    </geometry></collision>
    <collision><geometry>
        <mesh filename="package://example-robot-data/robots/go2_description/collisions/calf_lower_mirror_convex.stl" />
    </geometry></collision>
  </link>
  <joint
    name="RR_calf_joint"
    type="revolute">
    <origin
      xyz="0 0 -0.213"
      rpy="0 0 0" />
    <parent
      link="RR_thigh" />
    <child
      link="RR_calf" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-2.7227"
      upper="-0.83776"
      effort="45.43"
      velocity="15.70" />
  </joint>
  <link name="RR_calf_rotor">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="0.089"/>
      <inertia ixx="0.000059647" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="0.000059647"/>
    </inertial>
  </link>
  <joint name="RR_calf_rotor_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0.03235 0"/>
    <parent link="RR_thigh"/>
    <child link="RR_calf_rotor"/>
  </joint>
  <link
    name="RR_foot">
    <inertial>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <mass
        value="0.04" />
      <inertia
        ixx="9.6e-06"
        ixy="0"
        ixz="0"
        iyy="9.6e-06"
        iyz="0"
        izz="9.6e-06" />
    </inertial>
    <visual>
      <geometry>
        <mesh
          filename="package://example-robot-data/robots/go2_description/visuals/foot.dae" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision><geometry>
        <mesh filename="package://example-robot-data/robots/go2_description/collisions/foot_convex.stl" />
    </geometry></collision>
  </link>
  <joint
    name="RR_foot_joint"
    type="fixed" dont_collapse="true">
    <origin
      xyz="0 0 -0.213"
      rpy="0 0 0" />
    <parent
      link="RR_calf" />
    <child
      link="RR_foot" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="imu">
    <inertial>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <mass
        value="0" />
      <inertia
        ixx="0"
        ixy="0"
        ixz="0"
        iyy="0"
        iyz="0"
        izz="0" />
    </inertial>
  </link>
  <joint
    name="imu_joint"
    type="fixed">
    <origin
      xyz="-0.02557 0 0.04232"
      rpy="0 0 0" />
    <parent
      link="base" />
    <child
      link="imu" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="radar">
    <inertial>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <mass
        value="0" />
      <inertia
        ixx="0"
        ixy="0"
        ixz="0"
        iyy="0"
        iyz="0"
        izz="0" />
    </inertial>
  </link>
  <joint
    name="radar_joint"
    type="fixed">
    <origin
      xyz="0.28945 0 -0.046825"
      rpy="0 2.8782 0" />
    <parent
      link="base" />
    <child
      link="radar" />
    <axis
      xyz="0 0 0" />
  </joint>
</robot>