<?xml version="1.0"?>
<robot name="Dog">
    <material name="white">
        <color rgba="1 1 1 1" />
    </material>
    <material name="black">
        <color rgba="0 0 0 1" />
    </material>
    <material name="foot_color">
        <color rgba="0 0.75 1 1" />
    </material>
    <link name="base_link">
        <visual>
            <geometry>
                <mesh filename="package://URDF/frame.stl" />
            </geometry>
            <origin rpy="0 0 3.141" xyz="0 0 0.0" />
            <material name="black" />
        </visual>
        <inertial>
            <mass value="1.5" />
            <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
        </inertial>
    </link>
    <!-- shell -->
    <link name="frame">
        <visual>
            <geometry>
                <mesh filename="package://URDF/shell.stl" />
            </geometry>
            <origin rpy="0 0 3.141" xyz="0 0 0" />
            <material name="white" />
        </visual>
        <inertial>
            <mass value="0.025" />
            <inertia ixx="0.4" ixy="0.4" ixz="0.4" iyy="0.4" iyz="0.4" izz="0.4" />
        </inertial>
        <collision>
            <geometry>
                <mesh filename="package://URDF/shell.stl" />
            </geometry>
            <origin rpy="0 0 3.141" xyz="0 0 0.0" />
        </collision>
    </link>
    <joint name="base_to_frame" type="fixed">
        <parent link="base_link" />
        <child link="frame" />
        <origin xyz="0 0 0" />
    </joint>
    <!-- lf shoulder -->
    <link name="lf_shoulder">
        <visual>
            <geometry>
                <mesh filename="package://URDF/lf shoulder.stl" />
            </geometry>
            <origin rpy="3.141 3.141 0" xyz="0 0 0" />
            <material name="black" />
        </visual>
        <inertial>
            <mass value="0.025" />
            <inertia ixx="0.4" ixy="0.4" ixz="0.4" iyy="0.4" iyz="0.4" izz="0.4" />
        </inertial>
    </link>
    <joint name="lf_shoulder" type="continuous">
        <parent link="base_link" />
        <child link="lf_shoulder" />
        <origin xyz="0.090 0.037 0" />
        <axis xyz="1 0 0" />
    </joint>
    <link name="lf_thigh">
        <visual>
            <geometry>
                <mesh filename="package://URDF/femur.stl" />
            </geometry>
            <origin rpy="1.5708 0 1.5708" xyz="0 0 0" />
            <material name="black" />
        </visual>
        <inertial>
            <mass value="0.025" />
            <inertia ixx="0.4" ixy="0.4" ixz="0.4" iyy="0.4" iyz="0.4" izz="0.4" />
        </inertial>
    </link>
    <joint name="lf_thigh" type="continuous">
        <parent link="lf_shoulder" />
        <child link="lf_thigh" />
        <origin xyz="0.025 0.027 0 " />
        <axis xyz="0 1 0" />
    </joint>
    <link name="lf_shin">
        <visual>
            <geometry>
                <mesh filename="package://URDF/tibia.stl" />
            </geometry>
            <origin rpy="0.610865 0 -1.5708" xyz="0 0.008 0" />
            <material name="black" />
        </visual>
        <inertial>
            <mass value="0.025" />
            <inertia ixx="0.4" ixy="0.4" ixz="0.4" iyy="0.4" iyz="0.4" izz="0.4" />
        </inertial>
        <collision>
            <geometry>
                <mesh filename="package://URDF/tibia.stl" />
            </geometry>
            <origin rpy="0.610865 0 -1.5708" xyz="0 0.008 0" />
        </collision>
    </link>
    <joint name="lf_shin" type="continuous">
        <parent link="lf_thigh" />
        <child link="lf_shin" />
        <origin xyz="0 0 -0.130 " />
        <axis xyz="0 1 0" />
    </joint>
    <link name="lf_toe">
        <visual>
            <geometry>
                <sphere radius="0.005" />
            </geometry>
            <origin rpy="0 0 0" xyz="0 0 0" />
            <material name="foot_color" />
        </visual>
        <inertial>
            <mass value="0.05" />
            <inertia ixx="0.4" ixy="0.4" ixz="0.4" iyy="0.4" iyz="0.4" izz="0.4" />
        </inertial>
        <collision>
            <geometry>
                <sphere radius="0.020" />
            </geometry>
            <origin rpy="0 0 0" xyz="0 0 0" />
        </collision>
    </link>
    <joint name="lf_toe" type="fixed">
        <parent link="lf_shin" />
        <child link="lf_toe" />
        <origin xyz="0 0 -0.130" />
    </joint>
    <!-- rf shoulder -->
    <link name="rf_shoulder">
        <visual>
            <geometry>
                <mesh filename="package://URDF/rf shoulder.stl" />
            </geometry>
            <origin rpy="0 0 3.141" xyz="0 0 0" />
            <material name="black" />
        </visual>
        <inertial>
            <mass value="0.025" />
            <inertia ixx="0.4" ixy="0.4" ixz="0.4" iyy="0.4" iyz="0.4" izz="0.4" />
        </inertial>
    </link>
    <joint name="rf_shoulder" type="continuous">
        <parent link="base_link" />
        <child link="rf_shoulder" />
        <origin xyz="0.090 -0.040 0" />
        <axis xyz="1 0 0" />
    </joint>
    <link name="rf_thigh">
        <visual>
            <geometry>
                <mesh filename="package://URDF/femur.stl" />
            </geometry>
            <origin rpy="4.71239 3.141 1.5708" xyz="0 0 0" />
            <material name="black" />
        </visual>
        <inertial>
            <mass value="0.025" />
            <inertia ixx="0.4" ixy="0.4" ixz="0.4" iyy="0.4" iyz="0.4" izz="0.4" />
        </inertial>
    </link>
    <joint name="rf_thigh" type="continuous">
        <parent link="rf_shoulder" />
        <child link="rf_thigh" />
        <origin xyz="0.025 -0.027 0 " />
        <axis xyz="0 1 0" />
    </joint>
    <link name="rf_shin">
        <visual>
            <geometry>
                <mesh filename="package://URDF/tibia.stl" />
            </geometry>
            <origin rpy="0.610865 0 -1.5708" xyz="0 -0.0045 0" />
            <material name="black" />
        </visual>
        <inertial>
            <mass value="0.025" />
            <inertia ixx="0.4" ixy="0.4" ixz="0.4" iyy="0.4" iyz="0.4" izz="0.4" />
        </inertial>
        <collision>
            <geometry>
                <mesh filename="package://URDF/tibia.stl" />
            </geometry>
            <origin rpy="0.610865 0 -1.5708" xyz="0 -0.007 0" />
        </collision>
    </link>
    <joint name="rf_shin" type="continuous">
        <parent link="rf_thigh" />
        <child link="rf_shin" />
        <origin xyz="0 0 -0.130 " />
        <axis xyz="0 1 0" />
    </joint>
    <link name="rf_toe">
        <visual>
            <geometry>
                <sphere radius="0.005" />
            </geometry>
            <origin rpy="0 0 0" xyz="0 0 0" />
            <material name="foot_color" />
        </visual>
        <inertial>
            <mass value="0.05" />
            <inertia ixx="0.4" ixy="0.4" ixz="0.4" iyy="0.4" iyz="0.4" izz="0.4" />
        </inertial>
        <collision>
            <geometry>
                <sphere radius="0.020" />
            </geometry>
            <origin rpy="0 0 0" xyz="0 0 0" />
        </collision>
    </link>
    <joint name="rf_toe" type="fixed">
        <parent link="rf_shin" />
        <child link="rf_toe" />
        <origin xyz="0 0 -0.130" />
    </joint>
    <!-- lb shoulder -->
    <link name="lb_shoulder">
        <visual>
            <geometry>
                <mesh filename="package://URDF/lb shoulder.stl" />
            </geometry>
            <origin rpy="3.141 3.141 0" xyz="0 0 0" />
            <material name="black" />
        </visual>
        <inertial>
            <mass value="0.025" />
            <inertia ixx="0.4" ixy="0.4" ixz="0.4" iyy="0.4" iyz="0.4" izz="0.4" />
        </inertial>
    </link>
    <joint name="lb_shoulder" type="continuous">
        <parent link="base_link" />
        <child link="lb_shoulder" />
        <origin xyz="-0.081 0.038 0" />
        <axis xyz="1 0 0" />
    </joint>
    <link name="lb_thigh">
        <visual>
            <geometry>
                <mesh filename="package://URDF/femur.stl" />
            </geometry>
            <origin rpy="1.5708 0 1.5708" xyz="0 0 0" />
            <material name="black" />
        </visual>
        <inertial>
            <mass value="0.025" />
            <inertia ixx="0.4" ixy="0.4" ixz="0.4" iyy="0.4" iyz="0.4" izz="0.4" />
        </inertial>
    </link>
    <joint name="lb_thigh" type="continuous">
        <parent link="lb_shoulder" />
        <child link="lb_thigh" />
        <origin xyz="-0.043 0.027 0 " />
        <axis xyz="0 1 0" />
    </joint>
    <link name="lb_shin">
        <visual>
            <geometry>
                <mesh filename="package://URDF/tibia.stl" />
            </geometry>
            <origin rpy="0.610865 0 -1.5708" xyz="0 0.008 0" />
            <material name="black" />
        </visual>
        <inertial>
            <mass value="0.025" />
            <inertia ixx="0.4" ixy="0.4" ixz="0.4" iyy="0.4" iyz="0.4" izz="0.4" />
        </inertial>
        <collision>
            <geometry>
                <mesh filename="package://URDF/tibia.stl" />
            </geometry>
            <origin rpy="0.610865 0 -1.5708" xyz="0 0.008 0" />
        </collision>
    </link>
    <joint name="lb_shin" type="continuous">
        <parent link="lb_thigh" />
        <child link="lb_shin" />
        <origin xyz="0 0 -0.130 " />
        <axis xyz="0 1 0" />
    </joint>
    <link name="lb_toe">
        <visual>
            <geometry>
                <sphere radius="0.0005" />
            </geometry>
            <origin rpy="0 0 0" xyz="0 0 0" />
            <material name="foot_color" />
        </visual>
        <inertial>
            <mass value="0.05" />
            <inertia ixx="0.4" ixy="0.4" ixz="0.4" iyy="0.4" iyz="0.4" izz="0.4" />
        </inertial>
        <collision>
            <geometry>
                <sphere radius="0.020" />
            </geometry>
            <origin rpy="0 0 0" xyz="0 0 0" />
        </collision>
    </link>
    <joint name="lb_toe" type="fixed">
        <parent link="lb_shin" />
        <child link="lb_toe" />
        <origin xyz="0 0 -0.130" />
    </joint>
    <!-- rb arm -->
    <link name="rb_shoulder">
        <visual>
            <geometry>
                <mesh filename="package://URDF/rb shoulder.stl" />
            </geometry>
            <origin rpy="3.141 3.141 0" xyz="0 0 0" />
            <material name="black" />
        </visual>
        <inertial>
            <mass value="0.025" />
            <inertia ixx="0.4" ixy="0.4" ixz="0.4" iyy="0.4" iyz="0.4" izz="0.4" />
        </inertial>
    </link>
    <joint name="rb_shoulder" type="continuous">
        <parent link="base_link" />
        <child link="rb_shoulder" />
        <origin xyz="-0.081 -0.040 0" />
        <axis xyz="1 0 0" />
    </joint>
    <link name="rb_thigh">
        <visual>
            <geometry>
                <mesh filename="package://URDF/femur.stl" />
            </geometry>
            <origin rpy="4.71239 3.141 1.5708" xyz="0 0 0" />
            <material name="black" />
        </visual>
        <inertial>
            <mass value="0.025" />
            <inertia ixx="0.4" ixy="0.4" ixz="0.4" iyy="0.4" iyz="0.4" izz="0.4" />
        </inertial>
    </link>
    <joint name="rb_thigh" type="continuous">
        <parent link="rb_shoulder" />
        <child link="rb_thigh" />
        <origin xyz="-0.043 -0.027 0 " />
        <axis xyz="0 1 0" />
    </joint>
    <link name="rb_shin">
        <visual>
            <geometry>
                <mesh filename="package://URDF/tibia.stl" />
            </geometry>
            <origin rpy="0.610865 0 -1.5708" xyz="0 -0.0045 0" />
            <material name="black" />
        </visual>
        <inertial>
            <mass value="0.025" />
            <inertia ixx="0.4" ixy="0.4" ixz="0.4" iyy="0.4" iyz="0.4" izz="0.4" />
        </inertial>
        <collision>
            <geometry>
                <mesh filename="package://URDF/tibia.stl" />
            </geometry>
            <origin rpy="0.610865 0 -1.5708" xyz="0 -0.007 0" />
        </collision>
    </link>
    <joint name="rb_shin" type="continuous">
        <parent link="rb_thigh" />
        <child link="rb_shin" />
        <origin xyz="0 0 -0.130 " />
        <axis xyz="0 1 0" />
    </joint>
    <link name="rb_toe">
        <visual>
            <geometry>
                <sphere radius="0.0005" />
            </geometry>
            <origin rpy="0 0 0" xyz="0 0 0" />
            <material name="foot_color" />
        </visual>
        <inertial>
            <mass value="0.05" />
            <inertia ixx="0.4" ixy="0.4" ixz="0.4" iyy="0.4" iyz="0.4" izz="0.4" />
        </inertial>
        <collision>
            <geometry>
                <sphere radius="0.020" />
            </geometry>
            <origin rpy="0 0 0" xyz="0 0 0" />
        </collision>
    </link>
    <joint name="rb_toe" type="fixed">
        <parent link="rb_shin" />
        <child link="rb_toe" />
        <origin xyz="0 0 -0.130" />
    </joint>
</robot>