<mujoco model="laikago_description">
    <compiler angle="radian" />
    <size njmax="500" nconmax="100" />
    <!--<asset>
        <mesh name="trunk" file="meshes/trunk.stl" scale="0.05 0.05 0.05" />
        <mesh name="hip" file="meshes/hip.stl" scale="0.05 0.05 0.05" />
        <mesh name="thigh_mirror" file="meshes/thigh_mirror.stl" scale="1 1 1" />
        <mesh name="calf" file="meshes/calf.stl" scale="0.05 0.05 0.05" />
        <mesh name="thigh" file="meshes/thigh.stl" scale="1 1 1" />
    </asset>-->
    <default>
        <default class="viz">
            <geom contype="0" conaffinity="0" group="1" type="mesh" />
        </default>
        <default class="coll">
            <geom group="1"/>
        </default>
        <default class="real_joint">
            <joint stiffness="3" damping="1" armature="0.1"/>
        </default>
    </default>
    <actuator>
        <motor ctrllimited="true" ctrlrange="-80.0 80.0" joint="FR_hip_joint" name="FR_hip_motor" gear="37"/>
        <motor ctrllimited="true" ctrlrange="-80.0 80.0" joint="FL_hip_joint" name="FL_hip_motor" gear="37"/>
        <motor ctrllimited="true" ctrlrange="-40.0 40.0" joint="RR_hip_joint" name="RR_hip_motor" gear="37"/>
        <motor ctrllimited="true" ctrlrange="-40.0 40.0" joint="RL_hip_joint" name="RL_hip_motor" gear="37"/>
        <motor ctrllimited="true" ctrlrange="-9.0 9.0" joint="FR_thigh_joint" name="FR_thigh_motor" gear="37"/>
        <motor ctrllimited="true" ctrlrange="-9.0 9.0" joint="FL_thigh_joint" name="FL_thigh_motor" gear="37"/>
        <motor ctrllimited="true" ctrlrange="-9.0 9.0" joint="RR_thigh_joint" name="RR_thigh_motor" gear="37"/>
        <motor ctrllimited="true" ctrlrange="-9.0 9.0" joint="RL_thigh_joint" name="RL_thigh_motor" gear="37"/>
        <motor ctrllimited="true" ctrlrange="-9.0 9.0" joint="FR_calf_joint" name="FR_calf_motor" gear="37"/>
        <motor ctrllimited="true" ctrlrange="-9.0 9.0" joint="FL_calf_joint" name="FL_calf_motor" gear="37"/>
        <motor ctrllimited="true" ctrlrange="-9.0 9.0" joint="RR_calf_joint" name="RR_calf_motor" gear="37"/>
        <motor ctrllimited="true" ctrlrange="-9.0 9.0" joint="RL_calf_joint" name="RL_calf_motor" gear="37"/>
    </actuator>

    <worldbody>
        <light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>   
        <!--<geom type="plane" size="1 1 0.1" pos = "0 0 -0.8" rgba=".9 0 0 1"/>-->
        <body name="chassis" pos="0.0 0.0 0.45" quat="1.0 0.0 0.0 0.0">
            <inertial fullinertia="0.073348887 0.250684593 0.254469458 0.00030338 0.001918218 -7.5402e-05" mass="13.715" pos="0.002284 -4.1e-05 0.025165" />
            <joint name="chassis_joint" type="free" />
            <!-- <geom conaffinity="0" contype="0" group="1" mesh="robot0_chassis_vhacd_mod_zup" rgba="1 1 1 1" type="mesh" /> -->
            <geom pos="0 0 0.01675" rgba="1 0.8 0.8 1" size="0.2808 0.086 0.09375" type="box" class="coll"/>
            
        <body name="FR_hip" pos="0.21935 -0.0875 0">
            <inertial pos="-0.00108591 -0.0125067 0.000598358" quat="0.341697 0.364655 -0.611962 0.613003" mass="1.58257" diaginertia="0.00290099 0.00281591 0.00145377" />
              
            <!-- FR_hip Oleg DBG: urdf tags effort=20 and velocity="52.4" do not have an equivalent here. Is that OK? Also damping/friction=0? -->
            <joint name="FR_hip_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-1.0472 0.872665" class="real_joint" />            
            <!--<geom mesh="hip" pos="0 0 0" class="viz" quat="0 1 0 0"/> -->
            <geom size="0.041 0.04" pos="0 0.021 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.2 0.2 0.2 1" class="coll" />

            <!-- FR_thigh_Shoulder_this link is only for collision, shoud not be visualized according to the URDF -->
            <geom size="0.044 0.04" pos="0 -0.059 0" quat="0.707107 0.707107 0 0" type="cylinder" class="coll"/>
            <body name="FR_thigh" pos="0 -0.037 0">
                <inertial pos="-0.000482 -0.02001 -0.031996" quat="0.999848 0.00577968 -0.0153453 -0.00595156" mass="1.528" diaginertia="0.00992391 0.00928096 0.00177389" />
                <joint name="FR_thigh_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-0.523599 3.92699" class="real_joint" />
                <!-- <geom mesh="thigh" pos="0 0 0" class="viz" quat="1 0 0 0"/> -->
                <geom size="0.125 0.017 0.0215" pos="0 0 -0.125" quat="0.707107 0 0.707107 0" type="box" rgba="0.2 0.2 0.2 1" class="coll" />
                <body name="FR_calf" pos="0 0 -0.25">
                    <inertial pos="-0.00175826 -0.000305053 -0.14862" quat="0.712055 -0.000143547 -0.000911446 0.702123" mass="0.301" diaginertia="0.00698385 0.00696904 5.18431e-05" />
                    <joint name="FR_calf_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-2.77507 -0.610865" class="real_joint" />
                    <!--<geom mesh="calf" pos="0 0 0" class="viz" quat="1 0 0 0"/> -->
                    <geom size="0.125 0.008 0.008" pos="0 0 -0.125" quat="0.707107 0 0.707107 0" type="box" rgba="0.913725 0.913725 0.847059 1" class="coll"/>
                    <geom type="sphere" size="0.0165" pos="0 0 -0.25" class="viz"/>
                    <geom type="sphere" size="0.0265" pos="0 0 -0.25" class="coll" />
                </body>
            </body>
        </body>
        <body name="FL_hip" pos="0.21935 0.0875 0">
            <inertial pos="-0.00108591 0.0125067 0.000598358" quat="0.364655 0.341697 -0.613003 0.611962" mass="1.58257" diaginertia="0.00290099 0.00281591 0.00145377" />
            <joint name="FL_hip_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-0.872665 1.0472" class="real_joint" />
            <!--<geom mesh="hip" pos="0 0 0" class="viz" quat="1 0 0 0"/> -->
            <geom size="0.041 0.04" pos="0 -0.021 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.2 0.2 0.2 1" class="coll" />
            <!-- FL_thigh_Shoulder_ -->
            <geom size="0.044 0.04" pos="0 0.059 0" quat="0.707107 0.707107 0 0" type="cylinder" class="coll" />
            <body name="FL_thigh" pos="0 0.037 0">
                <inertial pos="-0.000482 0.02001 -0.031996" quat="0.999848 -0.00577968 -0.0153453 0.00595156" mass="1.528" diaginertia="0.00992391 0.00928096 0.00177389" />
                <joint name="FL_thigh_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-0.523599 3.92699" class="real_joint" />
                <!-- <geom mesh="thigh_mirror" pos="0 0 0" class="viz" quat="1 0 0 0"/> -->
                <geom size="0.125 0.017 0.0215" pos="0 0 -0.125" quat="0.707107 0 0.707107 0" type="box" rgba="0.2 0.2 0.2 1" class="coll" />
                <body name="FL_calf" pos="0 0 -0.25">
                    <inertial pos="-0.00175826 -0.000305053 -0.14862" quat="0.712055 -0.000143547 -0.000911446 0.702123" mass="0.301" diaginertia="0.00698385 0.00696904 5.18431e-05" />
                    <joint name="FL_calf_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-2.77507 -0.610865" class="real_joint" />
                    <!-- <geom mesh="calf" pos="0 0 0" class="viz" quat="1 0 0 0"/> -->
                    <geom size="0.125 0.008 0.008" pos="0 0 -0.125" quat="0.707107 0 0.707107 0" type="box" rgba="0.913725 0.913725 0.847059 1" class="coll"/>
                    <!--FL_foot -->
                     <geom type="sphere" size="0.0165" pos="0 0 -0.25" class="viz" />
                    <geom size="0.0265" pos="0 0 -0.25" class="coll" />
                </body>
            </body>
        </body>
        <body name="RR_hip" pos="-0.21935 -0.0875 0">
            <inertial pos="0.00108591 -0.0125067 0.000598358" quat="0.613003 0.611962 -0.364655 0.341697" mass="1.58257" diaginertia="0.00290099 0.00281591 0.00145377" />
            <joint name="RR_hip_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-1.0472 0.872665" class="real_joint" />
            <!-- <geom mesh="hip" pos="0 0 0" class="viz" quat="0 0 0 1"/> -->
            <geom size="0.041 0.04" pos="0 0.021 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.2 0.2 0.2 1" class="coll"/>
            <geom size="0.044 0.04" pos="0 -0.059 0" quat="0.707107 0.707107 0 0" type="cylinder" class="coll"/>
            <body name="RR_thigh" pos="0 -0.037 0">
                <inertial pos="-0.000482 -0.02001 -0.031996" quat="0.999848 0.00577968 -0.0153453 -0.00595156" mass="1.528" diaginertia="0.00992391 0.00928096 0.00177389" />
                <joint name="RR_thigh_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-0.523599 3.92699" class="real_joint" />
                <!--<geom mesh="thigh_mirror" pos="0 0 0" class="viz" quat="1 0 0 0"/>-->
                <geom size="0.125 0.017 0.0215" pos="0 0 -0.125" quat="0.707107 0 0.707107 0" type="box" rgba="0.2 0.2 0.2 1" class="coll"/>
                <body name="RR_calf" pos="0 0 -0.25">
                    <inertial pos="-0.00175826 -0.000305053 -0.14862" quat="0.712055 -0.000143547 -0.000911446 0.702123" mass="0.301" diaginertia="0.00698385 0.00696904 5.18431e-05" />
                    <joint name="RR_calf_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-2.77507 -0.610865" class="real_joint"/>
                    <!--geom mesh="calf" pos="0 0 0" class="viz" quat="1 0 0 0"/>-->
                    <geom size="0.125 0.008 0.008" pos="0 0 -0.125" quat="0.707107 0 0.707107 0" type="box" rgba="0.913725 0.913725 0.847059 1" class="coll"/>
                    <!--RR_foot-->
                    <geom type="sphere" size="0.0165" pos="0 0 -0.25" class="viz" />
                    <geom size="0.0265" pos="0 0 -0.25" class="coll" />
                </body>
            </body>
        </body>
        <body name="RL_hip" pos="-0.21935 0.0875 0">
            <inertial pos="0.00108591 0.0125067 0.000598358" quat="0.611962 0.613003 -0.341697 0.364655" mass="1.58257" diaginertia="0.00290099 0.00281591 0.00145377" />
            <joint name="RL_hip_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-0.872665 1.0472" class="real_joint" />
            <!--<geom mesh="hip" pos="0 0 0" class="viz" quat="0 0 1 0"/>-->
            <geom size="0.041 0.04" pos="0 -0.021 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.2 0.2 0.2 1" class="coll" />
            <geom size="0.044 0.04" pos="0 0.059 0" quat="0.707107 0.707107 0 0" type="cylinder" class="coll"/>
            <body name="RL_thigh" pos="0 0.037 0">
                <inertial pos="-0.000482 0.02001 -0.031996" quat="0.999848 -0.00577968 -0.0153453 0.00595156" mass="1.528" diaginertia="0.00992391 0.00928096 0.00177389" />
                <joint name="RL_thigh_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-0.523599 3.92699" class="real_joint" />
                <!-- <geom mesh="thigh_mirror" pos="0 0 0" class="viz" quat="1 0 0 0"/> -->
                <geom size="0.125 0.017 0.0215" pos="0 0 -0.125" quat="0.707107 0 0.707107 0" type="box" rgba="0.2 0.2 0.2 1" class="coll" />
                <body name="RL_calf" pos="0 0 -0.25">
                    <inertial pos="-0.00175826 -0.000305053 -0.14862" quat="0.712055 -0.000143547 -0.000911446 0.702123" mass="0.301" diaginertia="0.00698385 0.00696904 5.18431e-05" />
                    <joint name="RL_calf_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-2.77507 -0.610865" class="real_joint" />
                    <!--<geom mesh="calf" pos="0 0 0" class="viz" quat="1 0 0 0"/>-->
                    <geom size="0.125 0.008 0.008" pos="0 0 -0.125" quat="0.707107 0 0.707107 0" type="box" class="coll" />
                    <!-- RL_foot -->
                    <geom type="sphere" size="0.0165" pos="0 0 -0.25" class="viz"/>
                    <geom size="0.0265" pos="0 0 -0.25" class="coll"/>
                </body>
            </body>
        </body>
        </body>
    </worldbody>
</mujoco>
