<!--
 ~ Copyright 2019 The ROBEL Authors.
 ~
 ~ Licensed under the Apache License, Version 2.0 (the "License");
 ~ you may not use this file except in compliance with the License.
 ~ You may obtain a copy of the License at
 ~
 ~     http://www.apache.org/licenses/LICENSE-2.0
 ~
 ~ Unless required by applicable law or agreed to in writing, software
 ~ distributed under the License is distributed on an "AS IS" BASIS,
 ~ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 ~ See the License for the specific language governing permissions and
 ~ limitations under the License.
 -->

<?xml version="1.0"?>
<mujocoinclude>
  <body childclass="dkitty" name="A:dkitty">
    <!-- Torso -->
    <geom class="viz_plastic" name="A:head" type="box" size=".012 .035 .017" pos="0 0.104 0" rgba="0 0 1 1"/>
    <geom class="viz_plastic" mesh="D_kitty_plates_V2" pos="0 0 0.0155" rgba=".3 .3 1 1"/>
    <geom class="viz_plastic" mesh="D_kitty_plates_V2" pos="0 0 -0.0155" rgba=".3 .3 1 1"/>
    <geom class="viz_metal_grey" mesh="screws"/>
    <geom class="viz_plastic" mesh="bulkhead"/>
    <geom class="collision" mesh="bulkhead_low_poly" type="mesh" mass=".038"/>
    <geom class="collision" mesh="bulkhead_low_poly1" type="mesh" mass=".085"/>
    <geom class="collision" mesh="bulkhead_low_poly2" type="mesh" mass=".065"/>
    <geom class="collision" mesh="bulkhead_low_poly3" type="mesh" mass=".065"/>
    <geom class="collision" mesh="bulkhead_low_poly4" type="mesh" mass=".085"/>
    <geom class="collision" mesh="bulkhead_low_poly5" type="mesh" mass=".038"/>
    <geom class="viz_metal_black" euler="1.57 -1.57 0" mesh="x430_dkitty_2" pos=".08 -0.121 0"/>
    <geom class="viz_metal_black" euler="-1.57 -1.57 0" mesh="x430_dkitty_2" pos=".08 0.121 0"/>
    <geom class="viz_metal_black" euler="1.57 1.57 0" mesh="x430_dkitty_2" pos="-.08 0.121 0"/>
    <geom class="viz_metal_black" euler="-1.57 1.57 0" mesh="x430_dkitty_2" pos="-.08 -0.121 0"/>
    <geom class="collision" pos="0.078 -0.122 0" size="0.024 0.018 0.015" type="box" mass=".086"/>
    <geom class="collision" pos="-0.078 -0.122 0" size="0.024 0.018 0.015" type="box" mass=".086"/>
    <geom class="collision" pos="-0.078 0.122 0" size="0.024 0.018 0.015" type="box" mass=".086"/>
    <geom class="collision" pos="0.078 0.122 0" size="0.024 0.018 0.015" type="box" mass=".086"/>
    <!-- Front Right Leg -->
    <body euler="0 -3.14 0" name="A:FR10" pos="0.09 0.122 0">
      <joint axis="0 1 0" name="A:FRJ10" range="-3.419 0.279"/>
      <geom class="viz_metal_grey" euler="0 0 1.57" mesh="fr12_h103_3" pos="0 0 0.0005"/>
      <geom class="viz_metal_black" euler="0 3.14 0" mesh="x430_dkitty_2" pos="0 0 0.086"/>
      <geom class="viz_metal_black" mesh="xh_clamping_small" pos="0 0 0.055"/>
      <geom class="collision" euler="0 0 1.57" pos="0 -0.02 0.026" size="0.0015 0.013 0.029" type="box" mass=".005"/>
      <geom class="collision" euler="0 0 1.57" pos="0 0.02 0.026" size="0.0015 0.013 0.029" type="box" mass=".005"/>
      <geom class="collision" euler="0 0 1.57" pos="0 0 0.051" size="0.019 0.016 0.004" type="box" mass=".008"/>
      <geom class="collision" pos="0 0 0.061" size="0.019 0.013 0.006" type="box" mass=".005"/>
      <geom class="collision" pos="0 0 0.084" size="0.018 0.015 0.024" type="box" mass=".095"/>
      <body name="A:FR11" pos="0 0 0.0965">
        <joint axis="1 0 0" name="A:FRJ11" range="-2.14 2.14"/>
        <geom class="viz_metal_grey" mesh="fr12_h103_3"/>
        <geom class="viz_metal_black" euler="0 3.14 0" mesh="x430_dkitty_2" pos="0 0 0.085"/>
        <geom class="viz_metal_black" mesh="xh_clamping_small" pos="0 0 0.0545"/>
        <geom class="collision" pos="0 0 0.051" size="0.019 0.016 0.004" type="box" mass=".008"/>
        <geom class="collision" pos="-0.02 0 0.026" size="0.0015 0.013 0.029" type="box" mass=".005"/>
        <geom class="collision" pos="0.02 0 0.026" size="0.0015 0.013 0.029" type="box" mass=".005"/>
        <geom class="collision" pos="0 0 0.084" size="0.018 0.015 0.023" type="box" mass=".095"/>
        <geom class="collision" pos="0 0 0.06" size="0.019 0.013 0.006" type="box" mass=".005"/>
        <body name="A:FR12" pos="0 0 0.0945">
          <joint axis="1 0 0" name="A:FRJ12" range="-1.57 1.57"/>
          <geom class="viz_metal_grey" mesh="fr12_h103_3" pos="0 0 0.001"/>
          <geom class="viz_plastic" mesh="xh_finger_tip" pos="0 0 0.055"/>
          <geom class="collision" pos="0.02 0 0.026" size="0.0015 0.013 0.029" type="box" mass=".005"/>
          <geom class="collision" pos="-0.02 0 0.026" size="0.0015 0.013 0.029" type="box" mass=".005"/>
          <geom class="collision" pos="0 0 0.052" size="0.019 0.016 0.004" type="box" mass=".008"/>
          <geom class="collision" pos="0 0 0.058" size="0.025 0.014 0.003" type="box" mass=".002"/>
          <geom class="collision" pos="0 0 0.082" size="0.0103 0.0187" type="capsule" mass=".02"/>
          <site name="A:FLfoot" group="1" type="sphere" pos="0 0 .101" size="0.0105" rgba="1 1 .3 1"/>
        </body>
      </body>
    </body>
    <!-- Front Left Leg -->
    <body euler="0 3.14 0" name="A:FL20" pos="-0.09 0.122 0">
      <joint axis="0 1 0" name="A:FLJ20" range="-0.279 3.419"/>
      <geom class="viz_metal_grey" euler="0 0 1.57" mesh="fr12_h103_3" pos="0 0 0.0005"/>
      <geom class="viz_metal_black" euler="0 3.14 0" mesh="x430_dkitty_2" pos="0 0 0.086"/>
      <geom class="viz_metal_black" mesh="xh_clamping_small" pos="0 0 0.055"/>
      <geom class="collision" euler="0 0 1.57" pos="0 -0.02 0.026" size="0.0015 0.013 0.029" type="box" mass=".005"/>
      <geom class="collision" euler="0 0 1.57" pos="0 0.02 0.026" size="0.0015 0.013 0.029" type="box" mass=".005"/>
      <geom class="collision" euler="0 0 1.57" pos="0 0 0.051" size="0.019 0.016 0.004" type="box" mass=".008"/>
      <geom class="collision" pos="0 0 0.061" size="0.019 0.013 0.006" type="box" mass=".005"/>
      <geom class="collision" pos="0 0 0.084" size="0.018 0.015 0.024" type="box" mass=".095"/>
      <body name="A:FL21" pos="0 0 0.0965">
        <joint axis="1 0 0" name="A:FLJ21" range="-2.14 2.14"/>
        <geom class="viz_metal_grey" mesh="fr12_h103_3"/>
        <geom class="viz_metal_black" euler="0 3.14 0" mesh="x430_dkitty_2" pos="0 0 0.085"/>
        <geom class="viz_metal_black" mesh="xh_clamping_small" pos="0 0 0.0545"/>
        <geom class="collision" pos="0 0 0.051" size="0.019 0.016 0.004" type="box" mass=".008"/>
        <geom class="collision" pos="-0.02 0 0.026" size="0.0015 0.013 0.029" type="box" mass=".005"/>
        <geom class="collision" pos="0.02 0 0.026" size="0.0015 0.013 0.029" type="box" mass=".005"/>
        <geom class="collision" pos="0 0 0.084" size="0.018 0.015 0.023" type="box" mass=".095"/>
        <geom class="collision" pos="0 0 0.06" size="0.019 0.013 0.006" type="box" mass=".005"/>
        <body name="A:FL22" pos="0 0 0.0945">
          <joint axis="1 0 0" name="A:FLJ22" range="-1.57 1.57"/>
          <geom class="viz_metal_grey" mesh="fr12_h103_3" pos="0 0 0.001"/>
          <geom class="viz_plastic" mesh="xh_finger_tip" pos="0 0 0.055"/>
          <geom class="collision" pos="0.02 0 0.026" size="0.0015 0.013 0.029" type="box" mass=".005"/>
          <geom class="collision" pos="-0.02 0 0.026" size="0.0015 0.013 0.029" type="box" mass=".005"/>
          <geom class="collision" pos="0 0 0.052" size="0.019 0.016 0.004" type="box" mass=".008"/>
          <geom class="collision" pos="0 0 0.058" size="0.025 0.014 0.003" type="box" mass=".002"/>
          <geom class="collision" pos="0 0 0.082" size="0.0103 0.0187" type="capsule" mass=".02"/>
          <site name="A:FRfoot" group="1" type="sphere" pos="0 0 .101" size="0.0105" rgba=".3 .3 1 1"/>
        </body>
      </body>
    </body>
    <!-- Back Left Leg -->
    <body euler="0 3.14 0" name="A:BL30" pos="-0.09 -0.122 0">
      <joint axis="0 1 0" name="A:BLJ30" range="-0.279 3.419"/>
      <geom class="viz_metal_grey" euler="0 0 1.57" mesh="fr12_h103_3" pos="0 0 0.0005"/>
      <geom class="viz_metal_black" euler="0 3.14 0" mesh="x430_dkitty_2" pos="0 0 0.086"/>
      <geom class="viz_metal_black" mesh="xh_clamping_small" pos="0 0 0.055"/>
      <geom class="collision" euler="0 0 1.57" pos="0 -0.02 0.026" size="0.0015 0.013 0.029" type="box" mass=".005"/>
      <geom class="collision" euler="0 0 1.57" pos="0 0.02 0.026" size="0.0015 0.013 0.029" type="box" mass=".005"/>
      <geom class="collision" euler="0 0 1.57" pos="0 0 0.051" size="0.019 0.016 0.004" type="box" mass=".008"/>
      <geom class="collision" pos="0 0 0.061" size="0.019 0.013 0.006" type="box" mass=".005"/>
      <geom class="collision" pos="0 0 0.084" size="0.018 0.015 0.024" type="box" mass=".095"/>
      <body name="A:BL31" pos="0 0 0.0965">
        <joint axis="1 0 0" name="A:BLJ31" range="-2.14 2.14"/>
        <geom class="viz_metal_grey" mesh="fr12_h103_3"/>
        <geom class="viz_metal_black" euler="0 3.14 0" mesh="x430_dkitty_2" pos="0 0 0.085"/>
        <geom class="viz_metal_black" mesh="xh_clamping_small" pos="0 0 0.0545"/>
        <geom class="collision" pos="0 0 0.051" size="0.019 0.016 0.004" type="box" mass=".008"/>
        <geom class="collision" pos="-0.02 0 0.026" size="0.0015 0.013 0.029" type="box" mass=".005"/>
        <geom class="collision" pos="0.02 0 0.026" size="0.0015 0.013 0.029" type="box" mass=".005"/>
        <geom class="collision" pos="0 0 0.084" size="0.018 0.015 0.023" type="box" mass=".095"/>
        <geom class="collision" pos="0 0 0.06" size="0.019 0.013 0.006" type="box" mass=".005"/>
        <body name="A:BL32" pos="0 0 0.0945">
          <joint axis="1 0 0" name="A:BLJ32" range="-1.57 1.57"/>
          <geom class="viz_metal_grey" mesh="fr12_h103_3" pos="0 0 0.001"/>
          <geom class="viz_plastic" mesh="xh_finger_tip" pos="0 0 0.055"/>
          <geom class="collision" pos="0.02 0 0.026" size="0.0015 0.013 0.029" type="box" mass=".005"/>
          <geom class="collision" pos="-0.02 0 0.026" size="0.0015 0.013 0.029" type="box" mass=".005"/>
          <geom class="collision" pos="0 0 0.052" size="0.019 0.016 0.004" type="box" mass=".008"/>
          <geom class="collision" pos="0 0 0.058" size="0.025 0.014 0.003" type="box" mass=".002"/>
          <geom class="collision" pos="0 0 0.082" size="0.0103 0.0187" type="capsule" mass=".02"/>
          <site name="A:BLfoot" group="1" type="sphere" pos="0 0 .101" size="0.0105" rgba=".3 1 .3 1"/>
        </body>
      </body>
    </body>
    <!-- Back Right Leg -->
    <body euler="0 -3.14 0" name="A:BR40" pos="0.09 -0.122 0">
      <joint axis="0 1 0" name="A:BRJ40" range="-3.419 0.279"/>
      <geom class="viz_metal_grey" euler="0 0 1.57" mesh="fr12_h103_3" pos="0 0 0.0005"/>
      <geom class="viz_metal_black" euler="0 3.14 0" mesh="x430_dkitty_2" pos="0 0 0.086"/>
      <geom class="viz_metal_black" mesh="xh_clamping_small" pos="0 0 0.055"/>
      <geom class="collision" euler="0 0 1.57" pos="0 -0.02 0.026" size="0.0015 0.013 0.029" type="box" mass=".005"/>
      <geom class="collision" euler="0 0 1.57" pos="0 0.02 0.026" size="0.0015 0.013 0.029" type="box" mass=".005"/>
      <geom class="collision" euler="0 0 1.57" pos="0 0 0.051" size="0.019 0.016 0.004" type="box" mass=".008"/>
      <geom class="collision" pos="0 0 0.061" size="0.019 0.013 0.006" type="box" mass=".005"/>
      <geom class="collision" pos="0 0 0.084" size="0.018 0.015 0.024" type="box" mass=".095"/>
      <body name="A:BR41" pos="0 0 0.0965">
        <joint axis="1 0 0" name="A:BRJ41" range="-2.14 2.14"/>
        <geom class="viz_metal_grey" mesh="fr12_h103_3"/>
        <geom class="viz_metal_black" euler="0 3.14 0" mesh="x430_dkitty_2" pos="0 0 0.085"/>
        <geom class="viz_metal_black" mesh="xh_clamping_small" pos="0 0 0.0545"/>
        <geom class="collision" pos="0 0 0.051" size="0.019 0.016 0.004" type="box" mass=".008"/>
        <geom class="collision" pos="-0.02 0 0.026" size="0.0015 0.013 0.029" type="box" mass=".005"/>
        <geom class="collision" pos="0.02 0 0.026" size="0.0015 0.013 0.029" type="box" mass=".005"/>
        <geom class="collision" pos="0 0 0.084" size="0.018 0.015 0.023" type="box" mass=".095"/>
        <geom class="collision" pos="0 0 0.06" size="0.019 0.013 0.006" type="box" mass=".005"/>
        <body name="A:BR42" pos="0 0 0.0945">
          <joint axis="1 0 0" name="A:BRJ42" range="-1.57 1.57"/>
          <geom class="viz_metal_grey" mesh="fr12_h103_3" pos="0 0 0.001"/>
          <geom class="viz_plastic" mesh="xh_finger_tip" pos="0 0 0.055"/>
          <geom class="collision" pos="0.02 0 0.026" size="0.0015 0.013 0.029" type="box" mass=".005"/>
          <geom class="collision" pos="-0.02 0 0.026" size="0.0015 0.013 0.029" type="box" mass=".005"/>
          <geom class="collision" pos="0 0 0.052" size="0.019 0.016 0.004" type="box" mass=".008"/>
          <geom class="collision" pos="0 0 0.058" size="0.025 0.014 0.003" type="box" mass=".002"/>
          <geom class="collision" pos="0 0 0.082" size="0.0103 0.0187" type="capsule" mass=".02"/>
          <site name="A:BRfoot" group="1" type="sphere" pos="0 0 .101" size="0.0105" rgba="1 .3 .3 1"/>
        </body>
      </body>
    </body>
  </body>
</mujocoinclude>
