go2_robot_sdk/urdf/multi_go2.urdf

<?xml version="1.0" encoding="utf-8"?>
<xacro:property name="robot_num" value="robot0"/>
<!-- 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">
  <link
    name="{robot_num}/base_link">
    <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://go2_robot_sdk/dae/base.dae" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <box size="0.3762 0.0935 0.114" />
      </geometry>
    </collision>
  </link>
  <link
    name="odom">
  </link>
  <joint
    name="odom_joint"
    type="fixed">
    <origin
      xyz="0 0 0"
      rpy="0 0 0" />
    <parent
      link="odom" />
    <child
      link="{robot_num}/base_link" />
  </joint>

  <joint name="{robot_num}/base_footprint_joint" type="fixed">
    <parent link="{robot_num}/base_link"/>
    <child link="{robot_num}/base_footprint"/>
    <origin xyz="0 0 0" rpy="0 0 0"/>
  </joint>
  <link name="{robot_num}/base_footprint">
    </link>
  <link
    name="map">
  </link>
  <joint
    name="map_joint"
    type="fixed">
    <origin
      xyz="0 0 0"
      rpy="0 0 0" />
    <parent
      link="map" />
    <child
      link="odom" />
  </joint>
  <link
    name="{robot_num}/Head_upper">
    <inertial>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <mass
        value="0.001" />
      <inertia
        ixx="9.6e-06"
        ixy="0"
        ixz="0"
        iyy="9.6e-06"
        iyz="0"
        izz="9.6e-06" />
    </inertial>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <cylinder radius="0.05" length="0.09" />
      </geometry>
    </collision>
  </link>
  <joint
    name="{robot_num}/Head_upper_joint"
    type="fixed" dont_collapse="true">
    <origin
      xyz="0.285 0 0.01"
      rpy="0 0 0" />
    <parent
      link="{robot_num}/base_link" />
    <child
      link="{robot_num}/Head_upper" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link name="{robot_num}/front_camera">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <cylinder radius="0.01" length="0.01" />
      </geometry>
      <material name="camera_color">
        <color rgba="0.1 0.1 0.1 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <cylinder radius="0.05" length="0.09" />
      </geometry>
    </collision>
  </link>
  <joint name="{robot_num}/front_camera_joint" type="fixed">
    <origin xyz="0.045 0 0.03" rpy="-1.5708 0 -1.5708" />
    <parent link="{robot_num}/Head_upper" />
    <child link="{robot_num}/front_camera" />
    <axis xyz="0 0 0" />
  </joint>  
  <link
    name="{robot_num}/Head_lower">
    <inertial>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <mass
        value="0.001" />
      <inertia
        ixx="9.6e-06"
        ixy="0"
        ixz="0"
        iyy="9.6e-06"
        iyz="0"
        izz="9.6e-06" />
    </inertial>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <sphere radius="0.047" />
      </geometry>
    </collision>
  </link>
  <joint
    name="{robot_num}/Head_lower_joint"
    type="fixed" dont_collapse="true">
    <origin
      xyz="0.008 0 -0.07"
      rpy="0 0 0" />
    <parent
      link="{robot_num}/Head_upper" />
    <child
      link="{robot_num}/Head_lower" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="{robot_num}/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>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://go2_robot_sdk/dae/hip.dae" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0.08 0" />
      <geometry>
        <cylinder length="0.04" radius="0.046" />
      </geometry>
    </collision>
  </link>
  <joint
    name="{robot_num}/FL_hip_joint"
    type="revolute">
    <origin
      xyz="0.1934 0.0465 0"
      rpy="0 0 0" />
    <parent
      link="{robot_num}/base_link" />
    <child
      link="{robot_num}/FL_hip" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="-1.0472"
      upper="1.0472"
      effort="23.7"
      velocity="30.1" />
  </joint>
  <link
    name="{robot_num}/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>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://go2_robot_sdk/dae/thigh.dae" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065" />
      <geometry>
        <box size="0.213 0.0245 0.034" />
      </geometry>
    </collision>
  </link>
  <joint
    name="{robot_num}/FL_thigh_joint"
    type="revolute">
    <origin
      xyz="0 0.0955 0"
      rpy="0 0 0" />
    <parent
      link="{robot_num}/FL_hip" />
    <child
      link="{robot_num}/FL_thigh" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-1.5708"
      upper="3.4907"
      effort="23.7"
      velocity="30.1" />
  </joint>
  <link
    name="{robot_num}/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>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://go2_robot_sdk/dae/calf.dae" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin rpy="0 -0.21 0" xyz="0.008 0 -0.06" />
      <geometry>
        <cylinder length="0.12" radius="0.012" />
      </geometry>
    </collision>
  </link>
  <joint
    name="{robot_num}/FL_calf_joint"
    type="revolute">
    <origin
      xyz="0 0 -0.213"
      rpy="0 0 0" />
    <parent
      link="{robot_num}/FL_thigh" />
    <child
      link="{robot_num}/FL_calf" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-2.7227"
      upper="-0.83776"
      effort="45.43"
      velocity="15.70" />
  </joint>
  <link
    name="{robot_num}/FL_calflower">
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <cylinder length="0.065" radius="0.011" />
      </geometry>
    </collision>
  </link>
  <joint
    name="{robot_num}/FL_calflower_joint"
    type="fixed">
    <origin
      xyz="0.020 0 -0.148"
      rpy="0 0.05 0" />
    <parent
      link="{robot_num}/FL_calf" />
    <child
      link="{robot_num}/FL_calflower" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="{robot_num}/FL_calflower1">
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <cylinder length="0.03" radius="0.0155" />
      </geometry>
    </collision>
  </link>
  <joint
    name="{robot_num}/FL_calflower1_joint"
    type="fixed">
    <origin
      xyz="-0.01 0 -0.04"
      rpy="0 0.48 0" />
    <parent
      link="{robot_num}/FL_calflower" />
    <child
      link="{robot_num}/FL_calflower1" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="{robot_num}/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>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://go2_robot_sdk/dae/foot.dae" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.002 0 0" />
      <geometry>
        <sphere radius="0.022" />
      </geometry>
    </collision>
  </link>
  <joint
    name="{robot_num}/FL_foot_joint"
    type="fixed" dont_collapse="true">
    <origin
      xyz="0 0 -0.213"
      rpy="0 0 0" />
    <parent
      link="{robot_num}/FL_calf" />
    <child
      link="{robot_num}/FL_foot" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="{robot_num}/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://go2_robot_sdk/dae/hip.dae" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin rpy="1.5707963267948966 0 0" xyz="0 -0.08 0" />
      <geometry>
        <cylinder length="0.04" radius="0.046" />
      </geometry>
    </collision>
  </link>
  <joint
    name="{robot_num}/FR_hip_joint"
    type="revolute">
    <origin
      xyz="0.1934 -0.0465 0"
      rpy="0 0 0" />
    <parent
      link="{robot_num}/base_link" />
    <child
      link="{robot_num}/FR_hip" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="-1.0472"
      upper="1.0472"
      effort="23.7"
      velocity="30.1" />
  </joint>
  <link
    name="{robot_num}/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>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://go2_robot_sdk/dae/thigh_mirror.dae" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065" />
      <geometry>
        <box size="0.213 0.0245 0.034" />
      </geometry>
    </collision>
  </link>
  <joint
    name="{robot_num}/FR_thigh_joint"
    type="revolute">
    <origin
      xyz="0 -0.0955 0"
      rpy="0 0 0" />
    <parent
      link="{robot_num}/FR_hip" />
    <child
      link="{robot_num}/FR_thigh" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-1.5708"
      upper="3.4907"
      effort="23.7"
      velocity="30.1" />
  </joint>
  <link
    name="{robot_num}/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>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://go2_robot_sdk/dae/calf_mirror.dae" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin rpy="0 -0.2 0" xyz="0.01 0 -0.06" />
      <geometry>
        <cylinder length="0.12" radius="0.013" />
      </geometry>
    </collision>
  </link>
  <joint
    name="{robot_num}/FR_calf_joint"
    type="revolute">
    <origin
      xyz="0 0 -0.213"
      rpy="0 0 0" />
    <parent
      link="{robot_num}/FR_thigh" />
    <child
      link="{robot_num}/FR_calf" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-2.7227"
      upper="-0.83776"
      effort="45.43"
      velocity="15.70" />
  </joint>
  <link
    name="{robot_num}/FR_calflower">
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <cylinder length="0.065" radius="0.011" />
      </geometry>
    </collision>
  </link>
  <joint
    name="{robot_num}/FR_calflower_joint"
    type="fixed">
    <origin
      xyz="0.020 0 -0.148"
      rpy="0 0.05 0" />
    <parent
      link="{robot_num}/FR_calf" />
    <child
      link="{robot_num}/FR_calflower" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="{robot_num}/FR_calflower1">
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <cylinder length="0.03" radius="0.0155" />
      </geometry>
    </collision>
  </link>
  <joint
    name="{robot_num}/FR_calflower1_joint"
    type="fixed">
    <origin
      xyz="-0.01 0 -0.04"
      rpy="0 0.48 0" />
    <parent
      link="{robot_num}/FR_calflower" />
    <child
      link="{robot_num}/FR_calflower1" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="{robot_num}/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>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://go2_robot_sdk/dae/foot.dae" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.002 0 0" />
      <geometry>
        <sphere radius="0.022" />
      </geometry>
    </collision>
  </link>
  <joint
    name="{robot_num}/FR_foot_joint"
    type="fixed" dont_collapse="true">
    <origin
      xyz="0 0 -0.213"
      rpy="0 0 0" />
    <parent
      link="{robot_num}/FR_calf" />
    <child
      link="{robot_num}/FR_foot" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="{robot_num}/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://go2_robot_sdk/dae/hip.dae" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0.08 0" />
      <geometry>
        <cylinder length="0.04" radius="0.046" />
      </geometry>
    </collision>
  </link>
  <joint
    name="{robot_num}/RL_hip_joint"
    type="revolute">
    <origin
      xyz="-0.1934 0.0465 0"
      rpy="0 0 0" />
    <parent
      link="{robot_num}/base_link" />
    <child
      link="{robot_num}/RL_hip" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="-1.0472"
      upper="1.0472"
      effort="23.7"
      velocity="30.1" />
  </joint>
  <link
    name="{robot_num}/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>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://go2_robot_sdk/dae/thigh.dae" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065" />
      <geometry>
        <box size="0.213 0.0245 0.034" />
      </geometry>
    </collision>
  </link>
  <joint
    name="{robot_num}/RL_thigh_joint"
    type="revolute">
    <origin
      xyz="0 0.0955 0"
      rpy="0 0 0" />
    <parent
      link="{robot_num}/RL_hip" />
    <child
      link="{robot_num}/RL_thigh" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-0.5236"
      upper="4.5379"
      effort="23.7"
      velocity="30.1" />
  </joint>
  <link
    name="{robot_num}/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>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://go2_robot_sdk/dae/calf.dae" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin rpy="0 -0.2 0" xyz="0.01 0 -0.06" />
      <geometry>
        <cylinder length="0.12" radius="0.013" />
      </geometry>
    </collision>
  </link>
  <joint
    name="{robot_num}/RL_calf_joint"
    type="revolute">
    <origin
      xyz="0 0 -0.213"
      rpy="0 0 0" />
    <parent
      link="{robot_num}/RL_thigh" />
    <child
      link="{robot_num}/RL_calf" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-2.7227"
      upper="-0.83776"
      effort="45.43"
      velocity="15.70" />
  </joint>
  <link
    name="{robot_num}/RL_calflower">
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <cylinder length="0.065" radius="0.011" />
      </geometry>
    </collision>
  </link>
  <joint
    name="{robot_num}/RL_calflower_joint"
    type="fixed">
    <origin
      xyz="0.020 0 -0.148"
      rpy="0 0.05 0" />
    <parent
      link="{robot_num}/RL_calf" />
    <child
      link="{robot_num}/RL_calflower" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="{robot_num}/RL_calflower1">
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <cylinder length="0.03" radius="0.0155" />
      </geometry>
    </collision>
  </link>
  <joint
    name="{robot_num}/RL_calflower1_joint"
    type="fixed">
    <origin
      xyz="-0.01 0 -0.04"
      rpy="0 0.48 0" />
    <parent
      link="{robot_num}/RL_calflower" />
    <child
      link="{robot_num}/RL_calflower1" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="{robot_num}/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>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://go2_robot_sdk/dae/foot.dae" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.002 0 0" />
      <geometry>
        <sphere radius="0.022" />
      </geometry>
    </collision>
  </link>
  <joint
    name="{robot_num}/RL_foot_joint"
    type="fixed" dont_collapse="true">
    <origin
      xyz="0 0 -0.213"
      rpy="0 0 0" />
    <parent
      link="{robot_num}/RL_calf" />
    <child
      link="{robot_num}/RL_foot" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="{robot_num}/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://go2_robot_sdk/dae/hip.dae" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin rpy="1.5707963267948966 0 0" xyz="0 -0.08 0" />
      <geometry>
        <cylinder length="0.04" radius="0.046" />
      </geometry>
    </collision>
  </link>
  <joint
    name="{robot_num}/RR_hip_joint"
    type="revolute">
    <origin
      xyz="-0.1934 -0.0465 0"
      rpy="0 0 0" />
    <parent
      link="{robot_num}/base_link" />
    <child
      link="{robot_num}/RR_hip" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="-1.0472"
      upper="1.0472"
      effort="23.7"
      velocity="30.1" />
  </joint>
  <link
    name="{robot_num}/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>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://go2_robot_sdk/dae/thigh_mirror.dae" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065" />
      <geometry>
        <box size="0.213 0.0245 0.034" />
      </geometry>
    </collision>
  </link>
  <joint
    name="{robot_num}/RR_thigh_joint"
    type="revolute">
    <origin
      xyz="0 -0.0955 0"
      rpy="0 0 0" />
    <parent
      link="{robot_num}/RR_hip" />
    <child
      link="{robot_num}/RR_thigh" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-0.5236"
      upper="4.5379"
      effort="23.7"
      velocity="30.1" />
  </joint>
  <link
    name="{robot_num}/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>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://go2_robot_sdk/dae/calf_mirror.dae" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin rpy="0 -0.2 0" xyz="0.01 0 -0.06" />
      <geometry>
        <cylinder length="0.12" radius="0.013" />
      </geometry>
    </collision>
  </link>
  <joint
    name="{robot_num}/RR_calf_joint"
    type="revolute">
    <origin
      xyz="0 0 -0.213"
      rpy="0 0 0" />
    <parent
      link="{robot_num}/RR_thigh" />
    <child
      link="{robot_num}/RR_calf" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-2.7227"
      upper="-0.83776"
      effort="45.43"
      velocity="15.70" />
  </joint>
  <link
    name="{robot_num}/RR_calflower">
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <cylinder length="0.065" radius="0.011" />
      </geometry>
    </collision>
  </link>
  <joint
    name="{robot_num}/RR_calflower_joint"
    type="fixed">
    <origin
      xyz="0.020 0 -0.148"
      rpy="0 0.05 0" />
    <parent
      link="{robot_num}/RR_calf" />
    <child
      link="{robot_num}/RR_calflower" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="{robot_num}/RR_calflower1">
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <cylinder length="0.03" radius="0.0155" />
      </geometry>
    </collision>
  </link>
  <joint
    name="{robot_num}/RR_calflower1_joint"
    type="fixed">
    <origin
      xyz="-0.01 0 -0.04"
      rpy="0 0.48 0" />
    <parent
      link="{robot_num}/RR_calflower" />
    <child
      link="{robot_num}/RR_calflower1" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="{robot_num}/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>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://go2_robot_sdk/dae/foot.dae" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.002 0 0" />
      <geometry>
        <sphere radius="0.022" />
      </geometry>
    </collision>
  </link>
  <joint
    name="{robot_num}/RR_foot_joint"
    type="fixed" dont_collapse="true">
    <origin
      xyz="0 0 -0.213"
      rpy="0 0 0" />
    <parent
      link="{robot_num}/RR_calf" />
    <child
      link="{robot_num}/RR_foot" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="{robot_num}/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="{robot_num}/imu_joint"
    type="fixed">
    <origin
      xyz="-0.02557 0 0.04232"
      rpy="0 0 0" />
    <parent
      link="{robot_num}/base_link" />
    <child
      link="{robot_num}/imu" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="{robot_num}/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="{robot_num}/radar_joint"
    type="fixed">
    <origin
      xyz="0.28945 0 -0.046825"
      rpy="0 2.8782 0" />
    <parent
      link="{robot_num}/base_link" />
    <child
      link="{robot_num}/radar" />
    <axis
      xyz="0 0 0" />
  </joint>
</robot>