unitree_model

<?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="b2_description">
  <link name="world"/>
  <joint name="floating_base_joint" type="floating">
    <parent link="world"/>
    <child link="base_link"/>
  </joint>
  <link name="base_link">
    <inertial>
      <origin xyz="0.000458 0.005261 0.000665" rpy="0 0 0"/>
      <mass value="35.606"/>
      <inertia ixx="0.27466" ixy="-0.000622" ixz="0.00315" iyy="1.0618" iyz="-0.00139" izz="1.1825"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="../../../sources/unitree_ros/robots/b2_description_mujoco/meshes/base_link.obj"/>
      </geometry>
      <material name="unnamed_material_0">
        <color rgba="0.7 0.7 0.7 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
          <box size="0.5 0.28 0.15"/>
      </geometry>
    </collision>
  </link>

  <link name="logo_left_link">
    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <mass value="6.55E-08"/>
      <inertia ixx="1.64E-15" ixy="0" ixz="-1.09E-47" iyy="1.64E-15" iyz="-1.32E-47" izz="1.64E-15"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="../../../sources/unitree_ros/robots/b2_description_mujoco/meshes/logo_left.obj"/>
      </geometry>
      <material name="unnamed_material_1">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
  </link>
  <joint name="logo_left_joint" type="fixed">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="base_link"/>
    <child link="logo_left_link"/>
    <axis xyz="0 0 0"/>
  </joint>

  <link name="logo_right_link">
    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <mass value="6.55E-08"/>
      <inertia ixx="1.64E-15" ixy="0" ixz="-1.09E-47" iyy="1.64E-15" iyz="-1.32E-47" izz="1.64E-15"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="../../../sources/unitree_ros/robots/b2_description_mujoco/meshes/logo_right.obj"/>
      </geometry>
      <material name="unnamed_material_2">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
  </link>
  <joint name="logo_right_joint" type="fixed">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="base_link"/>
    <child link="logo_right_link"/>
    <axis xyz="0 0 0"/>
  </joint>

  <link name="lidar_link">
    <inertial>
      <origin xyz="4.22E-15 1.05E-14 -3.05E-16" rpy="0 0 0"/>
      <mass value="6.55E-08"/>
      <inertia ixx="1.64E-15" ixy="0" ixz="-1.09E-47" iyy="1.64E-15" iyz="-1.32E-47" izz="1.64E-15"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="../../../sources/unitree_ros/robots/b2_description_mujoco/meshes/unitree_ladar.obj"/>
      </geometry>
      <material name="unnamed_material_3">
        <color rgba="0.15 0.15 0.15 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 -0.02" rpy="0 0 0"/>
      <geometry>
        <cylinder length="0.16" radius="0.076"/>
      </geometry>
    </collision>
  </link>
  <joint name="joint_lidar" type="fixed">
    <origin xyz="0.34218 0 0.17851" rpy="0 0 0"/>
    <parent link="base_link"/>
    <child link="lidar_link"/>
    <axis xyz="0 0 0"/>
  </joint>
  <link name="f_dc_link">
    <inertial>
      <origin xyz="-3.47E-18 -1.11E-16 1.11E-16" rpy="0 0 0"/>
      <mass value="6.54E-08"/>
      <inertia ixx="1.64E-15" ixy="1.87E-32" ixz="-6.15E-32" iyy="1.64E-15" iyz="4.93E-32" izz="1.64E-15"/>
    </inertial>
    <visual>
      <origin xyz="0.025 -0.362 0.245" rpy="0 0.7805 1.5708"/>
      <geometry>
        <mesh filename="../../../sources/unitree_ros/robots/b2_description_mujoco/meshes/f_dc_link.obj"/>
      </geometry>
      <material name="unnamed_material_4">
        <color rgba="0 0 0 1"/>
      </material>
    </visual>
  </link>
  <joint name="joint_f_dc" type="fixed">
    <origin xyz="0.41251 0.024997 0.04765" rpy="-2.3562 0 -1.5708"/>
    <parent link="base_link"/>
    <child link="f_dc_link"/>
    <axis xyz="0 0 0"/>
  </joint>
  <link name="r_dc_link">
    <inertial>
      <origin xyz="1.63E-16 1.39E-16 2.78E-17" rpy="0 0 0"/>
      <mass value="6.55E-08"/>
      <inertia ixx="1.64E-15" ixy="-4.94E-44" ixz="4.36E-43" iyy="1.64E-15" iyz="0" izz="1.64E-15"/>
    </inertial>
    <visual>
      <origin xyz="0.0252 0.3074 0.265" rpy="0 -0.7805 1.5708"/>
      <geometry>
        <mesh filename="../../../sources/unitree_ros/robots/b2_description_mujoco/meshes/r_dc_link.obj"/>
      </geometry>
      <material name="unnamed_material_5">
        <color rgba="0 0 0 1"/>
      </material>
    </visual>
  </link>
  <joint name="joint_r_dc" type="fixed">
    <origin xyz="-0.4081 -0.025 0.024861" rpy="-2.3557 0 1.5708"/>
    <parent link="base_link"/>
    <child link="r_dc_link"/>
    <axis xyz="0 0 0"/>
  </joint>
  <link name="imu_link">
    <inertial>
      <origin xyz="-1.11E-16 -2.81E-16 -1.32E-16" rpy="0 0 0"/>
      <mass value="6.54E-08"/>
      <inertia ixx="1.64E-15" ixy="0" ixz="-1.09E-47" iyy="1.64E-15" iyz="-1.32E-47" izz="1.64E-15"/>
    </inertial>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="../../../sources/unitree_ros/robots/b2_description_mujoco/meshes/fake_imu_link.STL"/>
      </geometry>
      <material name="unnamed_material_6">
        <color rgba="0 0 0 1"/>
      </material>
    </visual>
  </link>
  <joint name="joint_imu" type="fixed">
    <origin xyz="0 -0.02341 0.04927" rpy="0 0 0"/>
    <parent link="base_link"/>
    <child link="imu_link"/>
    <axis xyz="0 0 0"/>
  </joint>
  <link name="head_Link">
    <inertial>
      <origin xyz="0.33989 -0.000168 0.12029" rpy="0 0 0"/>
      <mass value="100.366"/>
      <inertia ixx="0.026455" ixy="3.15E-05" ixz="0.00166" iyy="0.029221" iyz="-3.27E-05" izz="0.010918"/>
    </inertial>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="../../../sources/unitree_ros/robots/b2_description_mujoco/meshes/fake_head_Link.STL"/>
      </geometry>
      <material name="unnamed_material_7">
        <color rgba="0 0 0 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0.41 0 0.005" rpy="0 0 0"/>
      <geometry>
        <box size="0.04 0.12 0.14"/>
      </geometry>
    </collision>
  </link>
  <joint name="joint_head" type="fixed">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="base_link"/>
    <child link="head_Link"/>
    <axis xyz="0 0 0"/>
  </joint>
  <link name="tail_link">
    <inertial>
      <origin xyz="-0.37448 0.000488 0.006495" rpy="0 0 0"/>
      <mass value="0.777"/>
      <inertia ixx="0.0028118" ixy="1.95E-05" ixz="-7.87E-06" iyy="0.0047506" iyz="-1.57E-05" izz="0.0029154"/>
    </inertial>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="../../../sources/unitree_ros/robots/b2_description_mujoco/meshes/fake_tail_link.STL"/>
      </geometry>
      <material name="unnamed_material_8">
        <color rgba="0 0 0 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="-0.405 0 0.005" rpy="0 0 0"/>
      <geometry>
        <box size="0.025 0.12 0.14"/>
      </geometry>
    </collision>
  </link>
  <joint name="joint_tail" type="fixed">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="base_link"/>
    <child link="tail_link"/>
    <axis xyz="0 0 0"/>
  </joint>
  <link name="FL_hip">
    <inertial>
      <origin xyz="-0.009305 -0.010228 0.000264" rpy="0 0 0"/>
      <mass value="2.256"/>
      <inertia ixx="0.0026431" ixy="0.00019234" ixz="-6.76E-06" iyy="0.0046728" iyz="-7.16E-06" izz="0.0034208"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="../../../sources/unitree_ros/robots/b2_description_mujoco/meshes/FL_hip.obj"/>
      </geometry>
      <material name="unnamed_material_9">
        <color rgba="0.7 0.7 0.7 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0.12 0" rpy="1.5707963267948966 0 0"/>
      <geometry>
        <cylinder length="0.05" radius="0.07"/>
      </geometry>
    </collision>
  </link>
  <joint name="FL_hip_joint" type="revolute">
    <origin xyz="0.3285 0.072 0" rpy="0 0 0"/>
    <parent link="base_link"/>
    <child link="FL_hip"/>
    <axis xyz="1 0 0"/>
    <limit lower="-0.87" upper="0.87" effort="200" velocity="23"/>
  </joint>
  <link name="FL_hip_rotor">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="0.2734"/>
      <inertia ixx="0.000144463" ixy="0.0" ixz="0.0" iyy="0.000144463" iyz="0.0" izz="0.000263053"/>
    </inertial>
  </link>
  <joint name="FL_hip_rotor_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.20205 0.072 0"/>
    <parent link="base_link"/>
    <child link="FL_hip_rotor"/>
  </joint>
  <link name="FL_thigh">
    <inertial>
      <origin xyz="-0.004346 -0.035797 -0.044921" rpy="0 0 0"/>
      <mass value="3.591"/>
      <inertia ixx="0.041718" ixy="0.00055623" ixz="-0.0022768" iyy="0.041071" iyz="0.005796" izz="0.0065677"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="../../../sources/unitree_ros/robots/b2_description_mujoco/meshes/FL_thigh.obj"/>
      </geometry>
      <material name="unnamed_material_10">
        <color rgba="0.7 0.7 0.7 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="-0.025 0 -0.16" rpy="0 1.57 0"/>
      <geometry>
        <box size="0.32 0.0445 0.054"/>
      </geometry>
    </collision>
  </link>
  <joint name="FL_thigh_joint" type="revolute">
    <origin xyz="0 0.11973 0" rpy="0 0 0"/>
    <parent link="FL_hip"/>
    <child link="FL_thigh"/>
    <axis xyz="0 1 0"/>
    <limit lower="-0.94" upper="4.69" effort="200" velocity="23"/>
  </joint>
  <link name="FL_thigh_rotor">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="0.2734"/>
      <inertia ixx="0.000144463" ixy="0.0" ixz="0.0" iyy="0.000144463" iyz="0.0" izz="0.000263053"/>
    </inertial>
  </link>
  <joint name="FL_thigh_rotor_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 -0.00798 0"/>
    <parent link="FL_hip"/>
    <child link="FL_thigh_rotor"/>
  </joint>
  <link name="FL_thigh_protect">
    <inertial>
      <origin xyz="-0.004346 -0.035797 -0.044921" rpy="0 0 0"/>
      <mass value="3.591"/>
      <inertia ixx="0.041718" ixy="0.00055623" ixz="-0.0022768" iyy="0.041071" iyz="0.005796" izz="0.0065677"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="../../../sources/unitree_ros/robots/b2_description_mujoco/meshes/FL_thigh_protect.obj"/>
      </geometry>
      <material name="unnamed_material_11">
        <color rgba="0.65 0.68 0.65 1"/>
      </material>
    </visual>
  </link>
  <joint name="FL_thigh_protect_joint" type="fixed">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="FL_thigh"/>
    <child link="FL_thigh_protect"/>
  </joint>
  <link name="FL_calf">
    <inertial>
      <origin xyz="0.012422 0 -0.12499" rpy="0 0 0"/>
      <mass value="0.58094"/>
      <inertia ixx="0.01143" ixy="0" ixz="0.000643" iyy="0.011534" iyz="0" izz="0.000331"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="../../../sources/unitree_ros/robots/b2_description_mujoco/meshes/FL_calf.obj"/>
      </geometry>
      <material name="unnamed_material_12">
        <color rgba="0.7 0.7 0.7 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 1.2 0" xyz="-0.002 0 -0.03"/>
      <geometry>
        <box size="0.1 0.0245 0.018"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 1.35 0" xyz="0.022 0 -0.1"/>
      <geometry>
        <box size="0.1 0.0245 0.018"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 1.53 0" xyz="0.036 0 -0.225"/>
      <geometry>
        <box size="0.15 0.0245 0.015"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 2 0" xyz="0.023 0 -0.31"/>
      <geometry>
        <box size="0.05 0.028 0.035"/>
      </geometry>
    </collision>
  </link>
  <joint name="FL_calf_joint" type="revolute">
    <origin xyz="0 -8.6984E-05 -0.35" rpy="0 0 0"/>
    <parent link="FL_thigh"/>
    <child link="FL_calf"/>
    <axis xyz="0 1 0"/>
    <limit lower="-2.82" upper="-0.43" effort="320" velocity="14"/>
  </joint>
  <link name="FL_calf_rotor">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="0.2734"/>
      <inertia ixx="0.000144463" ixy="0.0" ixz="0.0" iyy="0.000144463" iyz="0.0" izz="0.000263053"/>
    </inertial>
  </link>
  <joint name="FL_calf_rotor_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 -0.05788 0"/>
    <parent link="FL_thigh"/>
    <child link="FL_calf_rotor"/>
  </joint>
  <link name="FL_foot">
    <inertial>
      <origin xyz="-0.006511 0 -0.010144" rpy="0 0 0"/>
      <mass value="0.098183"/>
      <inertia ixx="3.8E-05" ixy="0" ixz="1.1E-05" iyy="4.1E-05" iyz="0" izz="4.2E-05"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0.35" rpy="0 0 0"/>
      <geometry>
        <mesh filename="../../../sources/unitree_ros/robots/b2_description_mujoco/meshes/FL_foot.obj"/>
      </geometry>
      <material name="unnamed_material_13">
        <color rgba="0.15 0.15 0.15 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="1.57 0 0"/>
      <geometry>
        <cylinder length="0.05" radius="0.032"/>
      </geometry>
    </collision>
  </link>
  <joint name="FL_foot_joint" type="fixed">
    <origin xyz="0 8.6986E-05 -0.35" rpy="0 0 0"/>
    <parent link="FL_calf"/>
    <child link="FL_foot"/>
  </joint>
  <link name="FR_hip">
    <inertial>
      <origin xyz="-0.009305 0.010228 0.000264" rpy="0 0 0"/>
      <mass value="2.256"/>
      <inertia ixx="0.0026431" ixy="-0.00019234" ixz="-6.76E-06" iyy="0.0046728" iyz="7.16E-06" izz="0.0034208"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="../../../sources/unitree_ros/robots/b2_description_mujoco/meshes/FR_hip.obj"/>
      </geometry>
      <material name="unnamed_material_14">
        <color rgba="0.7 0.7 0.7 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 -0.12 0" rpy="1.5707963267948966 0 0"/>
      <geometry>
        <cylinder length="0.05" radius="0.07"/>
      </geometry>
    </collision>
  </link>
  <joint name="FR_hip_joint" type="revolute">
    <origin xyz="0.3285 -0.072 0" rpy="0 0 0"/>
    <parent link="base_link"/>
    <child link="FR_hip"/>
    <axis xyz="1 0 0"/>
    <limit lower="-0.87" upper="0.87" effort="200" velocity="23"/>
  </joint>
  <link name="FR_hip_rotor">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="0.2734"/>
      <inertia ixx="0.000144463" ixy="0.0" ixz="0.0" iyy="0.000144463" iyz="0.0" izz="0.000263053"/>
    </inertial>
  </link>
  <joint name="FR_hip_rotor_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.20205 -0.072 0"/>
    <parent link="base_link"/>
    <child link="FR_hip_rotor"/>
  </joint>
  <link name="FR_thigh">
    <inertial>
      <origin xyz="-0.004346 0.035797 -0.044921" rpy="0 0 0"/>
      <mass value="3.591"/>
      <inertia ixx="0.041718" ixy="-0.00055623" ixz="-0.0022768" iyy="0.041071" iyz="-0.005796" izz="0.0065677"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="../../../sources/unitree_ros/robots/b2_description_mujoco/meshes/FR_thigh.obj"/>
      </geometry>
      <material name="unnamed_material_15">
        <color rgba="0.7 0.7 0.7 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 1.57 0" xyz="-0.03 0 -0.2"/>
      <geometry>
        <box size="0.25 0.028 0.04"/>
      </geometry>
    </collision>
  </link>
  <joint name="FR_thigh_joint" type="revolute">
    <origin xyz="0 -0.11973 0" rpy="0 0 0"/>
    <parent link="FR_hip"/>
    <child link="FR_thigh"/>
    <axis xyz="0 1 0"/>
    <limit lower="-0.94" upper="4.69" effort="200" velocity="23"/>
  </joint>
  <link name="FR_thigh_rotor">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="0.2734"/>
      <inertia ixx="0.000144463" ixy="0.0" ixz="0.0" iyy="0.000144463" iyz="0.0" izz="0.000263053"/>
    </inertial>
  </link>
  <joint name="FR_thigh_rotor_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0.00798 0"/>
    <parent link="FR_hip"/>
    <child link="FR_thigh_rotor"/>
  </joint>
  <link name="FR_thigh_protect">
    <inertial>
      <origin xyz="-0.004346 0.035797 -0.044921" rpy="0 0 0"/>
      <mass value="3.591"/>
      <inertia ixx="0.041718" ixy="-0.00055623" ixz="-0.0022768" iyy="0.041071" iyz="-0.005796" izz="0.0065677"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="../../../sources/unitree_ros/robots/b2_description_mujoco/meshes/FR_thigh_protect.obj"/>
      </geometry>
      <material name="unnamed_material_16">
        <color rgba="0.65 0.68 0.65 1"/>
      </material>
    </visual>
  </link>
  <joint name="FR_thigh_protect_joint" type="fixed">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="FR_thigh"/>
    <child link="FR_thigh_protect"/>
  </joint>
  <link name="FR_calf">
    <inertial>
      <origin xyz="0.012422 0 -0.12499" rpy="0 0 0"/>
      <mass value="0.58094"/>
      <inertia ixx="0.01143" ixy="0" ixz="0.000643" iyy="0.011534" iyz="0" izz="0.000331"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="../../../sources/unitree_ros/robots/b2_description_mujoco/meshes/FR_calf.obj"/>
      </geometry>
      <material name="unnamed_material_17">
        <color rgba="0.7 0.7 0.7 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 1.2 0" xyz="-0.002 0 -0.03"/>
      <geometry>
        <box size="0.1 0.0245 0.018"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 1.35 0" xyz="0.022 0 -0.1"/>
      <geometry>
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    <collision>
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        <box size="0.05 0.028 0.035"/>
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    <origin xyz="0 8.6986E-05 -0.35" rpy="0 0 0"/>
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    <child link="FR_calf"/>
    <axis xyz="0 1 0"/>
    <limit lower="-2.82" upper="-0.43" effort="320" velocity="14"/>
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  <link name="FR_calf_rotor">
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      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="0.2734"/>
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  <joint name="FR_calf_rotor_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0.05788 0"/>
    <parent link="FR_thigh"/>
    <child link="FR_calf_rotor"/>
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  <link name="FR_foot">
    <inertial>
      <origin xyz="-0.006511 0 -0.010144" rpy="0 0 0"/>
      <mass value="0.098183"/>
      <inertia ixx="3.8E-05" ixy="0" ixz="1.1E-05" iyy="4.1E-05" iyz="0" izz="4.2E-05"/>
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    <visual>
      <origin xyz="0 0 0.35" rpy="0 0 0"/>
      <geometry>
        <mesh filename="../../../sources/unitree_ros/robots/b2_description_mujoco/meshes/FR_foot.obj"/>
      </geometry>
      <material name="unnamed_material_18">
        <color rgba="0.15 0.15 0.15 1"/>
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    <collision>
      <origin xyz="0 0 0" rpy="1.57 0 0"/>
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        <cylinder length="0.05" radius="0.032"/>
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    </collision>
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  <joint name="FR_foot_joint" type="fixed">
    <origin xyz="0 0 -0.35" rpy="0 0 0"/>
    <parent link="FR_calf"/>
    <child link="FR_foot"/>
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    <inertial>
      <origin xyz="0.009305 -0.010228 0.000264" rpy="0 0 0"/>
      <mass value="2.256"/>
      <inertia ixx="0.0026431" ixy="-0.00019234" ixz="6.76E-06" iyy="0.0046728" iyz="-7.16E-06" izz="0.0034208"/>
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    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="../../../sources/unitree_ros/robots/b2_description_mujoco/meshes/RL_hip.obj"/>
      </geometry>
      <material name="unnamed_material_19">
        <color rgba="0.7 0.7 0.7 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0.12 0" rpy="1.5707963267948966 0 0"/>
      <geometry>
        <cylinder length="0.05" radius="0.07"/>
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  <joint name="RL_hip_joint" type="revolute">
    <origin xyz="-0.3285 0.072 0" rpy="0 0 0"/>
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    <child link="RL_hip"/>
    <axis xyz="1 0 0"/>
    <limit lower="-0.87" upper="0.87" effort="200" velocity="23"/>
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  <link name="RL_hip_rotor">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="0.2734"/>
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  <joint name="RL_hip_rotor_joint" type="fixed">
    <origin rpy="0 0 0" xyz="-0.20205 0.072 0"/>
    <parent link="base_link"/>
    <child link="RL_hip_rotor"/>
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    <inertial>
      <origin xyz="-0.004346 -0.035797 -0.044921" rpy="0 0 0"/>
      <mass value="3.591"/>
      <inertia ixx="0.041718" ixy="0.00055623" ixz="-0.0022768" iyy="0.041071" iyz="0.005796" izz="0.0065677"/>
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    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="../../../sources/unitree_ros/robots/b2_description_mujoco/meshes/RL_thigh.obj"/>
      </geometry>
      <material name="unnamed_material_20">
        <color rgba="0.7 0.7 0.7 1"/>
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    <collision>
      <origin rpy="0 1.57 0" xyz="-0.03 0 -0.2"/>
      <geometry>
        <box size="0.25 0.028 0.04"/>
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  <joint name="RL_thigh_joint" type="revolute">
    <origin xyz="0 0.11973 0" rpy="0 0 0"/>
    <parent link="RL_hip"/>
    <child link="RL_thigh"/>
    <axis xyz="0 1 0"/>
    <limit lower="-0.94" upper="4.69" effort="200" velocity="23"/>
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  <link name="RL_thigh_rotor">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="0.2734"/>
      <inertia ixx="0.000144463" ixy="0.0" ixz="0.0" iyy="0.000144463" iyz="0.0" izz="0.000263053"/>
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  <joint name="RL_thigh_rotor_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 -0.00798 0"/>
    <parent link="RL_hip"/>
    <child link="RL_thigh_rotor"/>
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  <link name="RL_thigh_protect">
    <inertial>
      <origin xyz="-0.004346 -0.035797 -0.044921" rpy="0 0 0"/>
      <mass value="3.591"/>
      <inertia ixx="0.041718" ixy="0.00055623" ixz="-0.0022768" iyy="0.041071" iyz="0.005796" izz="0.0065677"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="../../../sources/unitree_ros/robots/b2_description_mujoco/meshes/RL_thigh_protect.obj"/>
      </geometry>
      <material name="unnamed_material_21">
        <color rgba="0.65 0.68 0.65 1"/>
      </material>
    </visual>
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  <joint name="RL_thigh_protect_joint" type="fixed">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="RL_thigh"/>
    <child link="RL_thigh_protect"/>
    <axis xyz="0 1 0"/>
    <limit lower="-0.94" upper="4.69" effort="200" velocity="23"/>
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  <link name="RL_calf">
    <inertial>
      <origin xyz="0.012422 0 -0.12499" rpy="0 0 0"/>
      <mass value="0.58094"/>
      <inertia ixx="0.01143" ixy="0" ixz="0.000643" iyy="0.011534" iyz="0" izz="0.000331"/>
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    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="../../../sources/unitree_ros/robots/b2_description_mujoco/meshes/RL_calf.obj"/>
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      <material name="unnamed_material_22">
        <color rgba="0.7 0.7 0.7 1"/>
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    </visual>
    <collision>
      <origin rpy="0 1.2 0" xyz="-0.002 0 -0.03"/>
      <geometry>
        <box size="0.1 0.0245 0.018"/>
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    <collision>
      <origin rpy="0 1.35 0" xyz="0.022 0 -0.1"/>
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        <box size="0.1 0.0245 0.018"/>
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    <collision>
      <origin rpy="0 1.53 0" xyz="0.036 0 -0.225"/>
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        <box size="0.15 0.0245 0.015"/>
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    <collision>
      <origin rpy="0 2 0" xyz="0.023 0 -0.31"/>
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        <box size="0.05 0.028 0.035"/>
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  <joint name="RL_calf_joint" type="revolute">
    <origin xyz="0 -8.6984E-05 -0.35" rpy="0 0 0"/>
    <parent link="RL_thigh"/>
    <child link="RL_calf"/>
    <axis xyz="0 1 0"/>
    <limit lower="-2.82" upper="-0.43" effort="320" velocity="14"/>
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  <link name="RL_calf_rotor">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="0.2734"/>
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  <joint name="RL_calf_rotor_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 -0.05788 0"/>
    <parent link="RL_thigh"/>
    <child link="RL_calf_rotor"/>
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  <link name="RL_foot">
    <inertial>
      <origin xyz="-0.006511 0 -0.010144" rpy="0 0 0"/>
      <mass value="0.098183"/>
      <inertia ixx="3.8E-05" ixy="0" ixz="1.1E-05" iyy="4.1E-05" iyz="0" izz="4.2E-05"/>
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    <visual>
      <origin xyz="0 0 0.35" rpy="0 0 0"/>
      <geometry>
        <mesh filename="../../../sources/unitree_ros/robots/b2_description_mujoco/meshes/RL_foot.obj"/>
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      <material name="unnamed_material_23">
        <color rgba="0.15 0.15 0.15 1"/>
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    <collision>
      <origin xyz="0 0 0" rpy="1.57 0 0"/>
      <geometry>
        <cylinder length="0.05" radius="0.032"/>
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  <joint name="RL_foot_joint" type="fixed">
    <origin xyz="0 8.6986E-05 -0.35" rpy="0 0 0"/>
    <parent link="RL_calf"/>
    <child link="RL_foot"/>
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      <origin xyz="0.009305 -0.010228 0.000264" rpy="0 0 0"/>
      <mass value="2.256"/>
      <inertia ixx="0.0026431" ixy="0.00019234" ixz="6.76E-06" iyy="0.0046728" iyz="7.16E-06" izz="0.0034208"/>
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    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="../../../sources/unitree_ros/robots/b2_description_mujoco/meshes/RR_hip.obj"/>
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      <material name="unnamed_material_24">
        <color rgba="0.7 0.7 0.7 1"/>
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    <collision>
      <origin xyz="0 -0.12 0" rpy="1.5707963267948966 0 0"/>
      <geometry>
        <cylinder length="0.05" radius="0.07"/>
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    <origin xyz="-0.3285 -0.072 0" rpy="0 0 0"/>
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    <child link="RR_hip"/>
    <axis xyz="1 0 0"/>
    <limit lower="-0.87" upper="0.87" effort="200" velocity="23"/>
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    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="0.2734"/>
      <inertia ixx="0.000144463" ixy="0.0" ixz="0.0" iyy="0.000144463" iyz="0.0" izz="0.000263053"/>
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    <origin rpy="0 0 0" xyz="-0.20205 -0.072 0"/>
    <parent link="base_link"/>
    <child link="RR_hip_rotor"/>
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      <origin xyz="-0.004346 0.035797 -0.044921" rpy="0 0 0"/>
      <mass value="3.591"/>
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    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="../../../sources/unitree_ros/robots/b2_description_mujoco/meshes/RR_thigh.obj"/>
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      <material name="unnamed_material_25">
        <color rgba="0.7 0.7 0.7 1"/>
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    <collision>
      <origin rpy="0 1.57 0" xyz="-0.03 0 -0.2"/>
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        <box size="0.25 0.028 0.04"/>
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  <joint name="RR_thigh_joint" type="revolute">
    <origin xyz="0 -0.11973 0" rpy="0 0 0"/>
    <parent link="RR_hip"/>
    <child link="RR_thigh"/>
    <axis xyz="0 1 0"/>
    <limit lower="-0.94" upper="4.69" effort="200" velocity="23"/>
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      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="0.2734"/>
      <inertia ixx="0.000144463" ixy="0.0" ixz="0.0" iyy="0.000144463" iyz="0.0" izz="0.000263053"/>
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  <joint name="RR_thigh_rotor_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0.00798 0"/>
    <parent link="RR_hip"/>
    <child link="RR_thigh_rotor"/>
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  <link name="RR_thigh_protect">
    <inertial>
      <origin xyz="-0.004346 0.035797 -0.044921" rpy="0 0 0"/>
      <mass value="3.591"/>
      <inertia ixx="0.041718" ixy="-0.00055623" ixz="-0.0022768" iyy="0.041071" iyz="-0.005796" izz="0.0065677"/>
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    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="../../../sources/unitree_ros/robots/b2_description_mujoco/meshes/RR_thigh_protect.obj"/>
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      <material name="unnamed_material_26">
        <color rgba="0.65 0.68 0.65 1"/>
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  </link>
  <joint name="RR_thigh_protect_joint" type="fixed">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="RR_thigh"/>
    <child link="RR_thigh_protect"/>
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    <inertial>
      <origin xyz="0.012422 0 -0.12499" rpy="0 0 0"/>
      <mass value="0.58094"/>
      <inertia ixx="0.01143" ixy="0" ixz="0.000643" iyy="0.011534" iyz="0" izz="0.000331"/>
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    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="../../../sources/unitree_ros/robots/b2_description_mujoco/meshes/RR_calf.obj"/>
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      <material name="unnamed_material_27">
        <color rgba="0.7 0.7 0.7 1"/>
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    <collision>
      <origin rpy="0 1.2 0" xyz="-0.002 0 -0.03"/>
      <geometry>
        <box size="0.1 0.0245 0.018"/>
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    <collision>
      <origin rpy="0 1.35 0" xyz="0.022 0 -0.1"/>
      <geometry>
        <box size="0.1 0.0245 0.018"/>
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    <collision>
      <origin rpy="0 1.53 0" xyz="0.036 0 -0.225"/>
      <geometry>
        <box size="0.15 0.0245 0.015"/>
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    <collision>
      <origin rpy="0 2 0" xyz="0.023 0 -0.31"/>
      <geometry>
        <box size="0.05 0.028 0.035"/>
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  <joint name="RR_calf_joint" type="revolute">
    <origin xyz="0 8.6986E-05 -0.35" rpy="0 0 0"/>
    <parent link="RR_thigh"/>
    <child link="RR_calf"/>
    <axis xyz="0 1 0"/>
    <limit lower="-2.82" upper="-0.43" effort="320" velocity="14"/>
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  <link name="RR_calf_rotor">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="0.2734"/>
      <inertia ixx="0.000144463" ixy="0.0" ixz="0.0" iyy="0.000144463" iyz="0.0" izz="0.000263053"/>
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  <joint name="RR_calf_rotor_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0.05788 0"/>
    <parent link="RR_thigh"/>
    <child link="RR_calf_rotor"/>
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  <link name="RR_foot">
    <inertial>
      <origin xyz="-0.006511 0 -0.010144" rpy="0 0 0"/>
      <mass value="0.098183"/>
      <inertia ixx="3.8E-05" ixy="0" ixz="1.1E-05" iyy="4.1E-05" iyz="0" izz="4.2E-05"/>
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    <visual>
      <origin xyz="0 0 0.35" rpy="0 0 0"/>
      <geometry>
        <mesh filename="../../../sources/unitree_ros/robots/b2_description_mujoco/meshes/RR_foot.obj"/>
      </geometry>
      <material name="unnamed_material_28">
        <color rgba="0.15 0.15 0.15 1"/>
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    <collision>
      <origin xyz="0 0 0" rpy="1.57 0 0"/>
      <geometry>
        <cylinder length="0.05" radius="0.032"/>
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  </link>
  <joint name="RR_foot_joint" type="fixed">
    <origin xyz="0 -8.6984E-05 -0.35" rpy="0 0 0"/>
    <parent link="RR_calf"/>
    <child link="RR_foot"/>
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    <inertial>
      <origin xyz="-2.78E-17 1.73E-18 0" rpy="0 0 0"/>
      <mass value="6.55E-08"/>
      <inertia ixx="1.64E-15" ixy="-1.32E-47" ixz="0" iyy="1.64E-15" iyz="1.09E-47" izz="1.64E-15"/>
    </inertial>
    <visual>
      <origin xyz="0.013433 0 0.45079" rpy="0 1.5708 0"/>
      <geometry>
        <mesh filename="../../../sources/unitree_ros/robots/b2_description_mujoco/meshes/f_oc_link.obj"/>
      </geometry>
      <material name="unnamed_material_29">
        <color rgba="0 0 0 1"/>
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    </visual>
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  <joint name="joint_f_oc" type="fixed">
    <origin xyz="0.39079 0 -0.013433" rpy="-1.5708 0 -1.5708"/>
    <parent link="base_link"/>
    <child link="f_oc_link"/>
    <axis xyz="0 0 0"/>
  </joint>
  <link name="r_oc_link">
    <inertial>
      <origin xyz="-1.3E-19 3.47E-18 -5.55E-17" rpy="0 0 0"/>
      <mass value="6.55E-08"/>
      <inertia ixx="1.64E-15" ixy="1.33E-47" ixz="-6.38E-33" iyy="1.64E-15" iyz="-1.64E-47" izz="1.64E-15"/>
    </inertial>
    <visual>
      <origin xyz="0.025249 0.003 -0.38" rpy="0 1.5708 0"/>
      <geometry>
        <mesh filename="../../../sources/unitree_ros/robots/b2_description_mujoco/meshes/r_oc_link.obj"/>
      </geometry>
      <material name="unnamed_material_30">
        <color rgba="0 0 0 1"/>
      </material>
    </visual>
  </link>
  <joint name="joint_r_oc" type="fixed">
    <origin xyz="-0.38451 0 -0.023249" rpy="-1.5708 0 1.5708"/>
    <parent link="base_link"/>
    <child link="r_oc_link"/>
    <axis xyz="0 0 0"/>
  </joint>
  <mujoco>
    <compiler meshdir="package://b2_description/meshes/" discardvisual="false"/>
  </mujoco>
</robot>