[ADD] Unitree Go1 3d model, readme

.gitattributes

@@ -57,3 +57,10 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+# 3D model files
+*.stl  filter=lfs diff=lfs merge=lfs -text
+*.obj  filter=lfs diff=lfs merge=lfs -text
+*.dae  filter=lfs diff=lfs merge=lfs -text
+*.glb  filter=lfs diff=lfs merge=lfs -text
+*.gltf filter=lfs diff=lfs merge=lfs -text
+*.fbx  filter=lfs diff=lfs merge=lfs -text

README.md

@@ -0,0 +1,5 @@
+## Robot Assets
+
+- urdf
+- xml
+- usd(tbd)

unitree_go1/README.md

@@ -0,0 +1 @@
+# Unitree Go1 Description

unitree_go1/go1.urdf

@@ -0,0 +1,1777 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from robot.xacro                    | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="go1">
+  <material name="black">
+    <color rgba="0.0 0.0 0.0 1.0"/>
+  </material>
+  <material name="blue">
+    <color rgba="0.0 0.0 0.8 1.0"/>
+  </material>
+  <material name="green">
+    <color rgba="0.0 0.8 0.0 1.0"/>
+  </material>
+  <material name="grey">
+    <color rgba="0.2 0.2 0.2 1.0"/>
+  </material>
+  <material name="silver">
+    <color rgba="0.9137254901960784 0.9137254901960784 0.8470588235294118 1.0"/>
+  </material>
+  <material name="orange">
+    <color rgba="1.0 0.4235294117647059 0.0392156862745098 1.0"/>
+  </material>
+  <material name="brown">
+    <color rgba="0.8705882352941177 0.8117647058823529 0.7647058823529411 1.0"/>
+  </material>
+  <material name="red">
+    <color rgba="0.8 0.0 0.0 1.0"/>
+  </material>
+  <material name="white">
+    <color rgba="1.0 1.0 1.0 1.0"/>
+  </material>
+  <!-- ros_control plugin -->
+  <gazebo>
+    <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
+      <robotNamespace>/go1_gazebo</robotNamespace>
+      <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
+    </plugin>
+  </gazebo>
+  <!-- Show the trajectory of trunk center. -->
+  <gazebo>
+    <plugin filename="libLinkPlot3DPlugin.so" name="3dplot">
+      <frequency>10</frequency>
+      <plot>
+        <link>base</link>
+        <pose>0 0 0 0 0 0</pose>
+        <material>Gazebo/Yellow</material>
+      </plot>
+    </plugin>
+  </gazebo>
+  <!-- Show the trajectory of foot. You can add another trajectory about another foot. -->
+  <!-- <gazebo>
+        <plugin name="3dplot" filename="libLinkPlot3DPlugin.so">
+            <frequency>100</frequency>
+            <plot>
+                <link>FL_foot</link>
+                <pose>0 0 0 0 0 0</pose>
+                <material>Gazebo/Green</material>
+            </plot>
+        </plugin>
+    </gazebo> -->
+  <gazebo>
+    <plugin filename="libgazebo_ros_force.so" name="gazebo_ros_force">
+      <bodyName>trunk</bodyName>
+      <topicName>/apply_force/trunk</topicName>
+    </plugin>
+  </gazebo>
+  <gazebo reference="imu_link">
+    <gravity>true</gravity>
+    <sensor name="imu_sensor" type="imu">
+      <always_on>true</always_on>
+      <update_rate>1000</update_rate>
+      <visualize>true</visualize>
+      <topic>__default_topic__</topic>
+      <plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
+        <topicName>trunk_imu</topicName>
+        <bodyName>imu_link</bodyName>
+        <updateRateHZ>1000.0</updateRateHZ>
+        <gaussianNoise>0.0</gaussianNoise>
+        <xyzOffset>0 0 0</xyzOffset>
+        <rpyOffset>0 0 0</rpyOffset>
+        <frameName>imu_link</frameName>
+      </plugin>
+      <pose>0 0 0 0 0 0</pose>
+    </sensor>
+  </gazebo>
+  <!-- Depth camera -->
+  <!-- <gazebo>
+        <plugin name="camera_plugin" filename="libgazebo_ros_openni_kinect.so">
+            <baseline>0.025</baseline>
+            <always_on>true</always_on>
+            <updateRate>0.0</updateRate>
+            <cameraName>unitree_camera_left</cameraName>
+            <frameName>depthCamera_link_left</frameName>
+            <imageTopicName>rgb/imageRaw_left</imageTopicName>
+            <depthImageTopicName>depth/imageRaw_left</depthImageTopicName>
+            <pointCloudTopicName>depth/points_left</pointCloudTopicName>
+            <cameraInfoTopicName>rgb/cameraInfo_left</cameraInfoTopicName>              
+            <depthImageCameraInfoTopicName>depth/cameraInfo_left</depthImageCameraInfoTopicName>            
+            <pointCloudCutoff>0.1</pointCloudCutoff>                
+            <pointCloudCutoffMax>1.5</pointCloudCutoffMax>                
+            <distortionK1>0.0</distortionK1>
+            <distortionK2>0.0</distortionK2>
+            <distortionK3>0.0</distortionK3>
+            <distortionT1>0.0</distortionT1>
+            <distortionT2>0.0</distortionT2>
+            <CxPrime>0.0</CxPrime>
+            <Cx>0.0045</Cx>
+            <Cy>0.0039</Cy>
+            <focalLength>0.004</focalLength>
+            <hackBaseline>0.0</hackBaseline>
+        </plugin>
+    </gazebo> -->
+  <!-- <gazebo reference="depthCamera_link_left">
+        <sensor name="unitree_camera_left" type="depth_camera">
+            <update_rate>16</update_rate>
+            <always_on>true</always_on>
+            <visualize>true</visualize>
+            <camera>
+                <horizontal_fov>2.094</horizontal_fov>
+                <image>
+                    <width>928</width>
+                    <height>800</height>
+                    <format>R8G8B8</format>
+                </image>
+                <depth_camera></depth_camera>
+                <clip>
+                    <near>0.1</near>
+                    <far>100</far>
+                </clip>
+            </camera>
+            <plugin name="camera_plugin" filename="libgazebo_ros_openni_kinect.so">
+                <baseline>0.025</baseline>
+                <always_on>true</always_on>
+                <updateRate>0.0</updateRate>
+                <cameraName>unitree_camera_left</cameraName>
+                <frameName>depthCamera_link_left</frameName>
+                <imageTopicName>rgb/imageRaw_left</imageTopicName>
+                <depthImageTopicName>depth/imageRaw_left</depthImageTopicName>
+                <pointCloudTopicName>depth/points_left</pointCloudTopicName>
+                <cameraInfoTopicName>rgb/cameraInfo_left</cameraInfoTopicName>              
+                <depthImageCameraInfoTopicName>depth/cameraInfo_left</depthImageCameraInfoTopicName>            
+                <pointCloudCutoff>0.1</pointCloudCutoff>                
+                <pointCloudCutoffMax>1.5</pointCloudCutoffMax>                
+                <distortionK1>0.0</distortionK1>
+                <distortionK2>0.0</distortionK2>
+                <distortionK3>0.0</distortionK3>
+                <distortionT1>0.0</distortionT1>
+                <distortionT2>0.0</distortionT2>
+                <CxPrime>0.0</CxPrime>
+                <Cx>0.0045</Cx>
+                <Cy>0.0039</Cy>
+                <focalLength>0.004</focalLength>
+                <hackBaseline>0.0</hackBaseline>
+            </plugin>
+        </sensor>
+    </gazebo> -->
+  <gazebo reference="depthCamera_link_left">
+    <sensor name="camera_link_camera" type="depth">
+      <update_rate>20</update_rate>
+      <camera>
+        <horizontal_fov>1.047198</horizontal_fov>
+        <image>
+          <width>640</width>
+          <height>480</height>
+          <format>R8G8B8</format>
+        </image>
+        <clip>
+          <near>0.05</near>
+          <far>3</far>
+        </clip>
+      </camera>
+      <plugin filename="libgazebo_ros_openni_kinect.so" name="camera_link_controller">
+        <baseline>0.2</baseline>
+        <alwaysOn>true</alwaysOn>
+        <updateRate>1.0</updateRate>
+        <cameraName>camera_link_ir</cameraName>
+        <imageTopicName>/camera_link/color/image_raw</imageTopicName>
+        <cameraInfoTopicName>/camera_link/color/camera_info</cameraInfoTopicName>
+        <depthImageTopicName>/camera_link/depth/image_raw</depthImageTopicName>
+        <depthImageInfoTopicName>/camera_link/depth/camera_info</depthImageInfoTopicName>
+        <pointCloudTopicName>/camera_link/depth/points</pointCloudTopicName>
+        <frameName>depthCamera_link_left</frameName>
+        <pointCloudCutoff>0.5</pointCloudCutoff>
+        <pointCloudCutoffMax>3.0</pointCloudCutoffMax>
+        <distortionK1>0.00000001</distortionK1>
+        <distortionK2>0.00000001</distortionK2>
+        <distortionK3>0.00000001</distortionK3>
+        <distortionT1>0.00000001</distortionT1>
+        <distortionT2>0.00000001</distortionT2>
+        <CxPrime>0</CxPrime>
+        <Cx>0</Cx>
+        <Cy>0</Cy>
+        <focalLength>0</focalLength>
+        <hackBaseline>0</hackBaseline>
+      </plugin>
+    </sensor>
+  </gazebo>
+  <!-- Foot contacts. -->
+  <gazebo reference="FR_calf">
+    <sensor name="FR_foot_contact" type="contact">
+      <update_rate>100</update_rate>
+      <plugin filename="libunitreeFootContactPlugin.so" name="contactPlugin"/>
+      <contact>
+        <collision>FR_calf_fixed_joint_lump__FR_foot_collision_1</collision>
+      </contact>
+    </sensor>
+  </gazebo>
+  <gazebo reference="FL_calf">
+    <sensor name="FL_foot_contact" type="contact">
+      <update_rate>100</update_rate>
+      <plugin filename="libunitreeFootContactPlugin.so" name="contactPlugin"/>
+      <contact>
+        <collision>FL_calf_fixed_joint_lump__FL_foot_collision_1</collision>
+      </contact>
+    </sensor>
+  </gazebo>
+  <gazebo reference="RR_calf">
+    <sensor name="RR_foot_contact" type="contact">
+      <update_rate>100</update_rate>
+      <plugin filename="libunitreeFootContactPlugin.so" name="contactPlugin"/>
+      <contact>
+        <collision>RR_calf_fixed_joint_lump__RR_foot_collision_1</collision>
+      </contact>
+    </sensor>
+  </gazebo>
+  <gazebo reference="RL_calf">
+    <sensor name="RL_foot_contact" type="contact">
+      <update_rate>100</update_rate>
+      <plugin filename="libunitreeFootContactPlugin.so" name="contactPlugin"/>
+      <contact>
+        <collision>RL_calf_fixed_joint_lump__RL_foot_collision_1</collision>
+      </contact>
+    </sensor>
+  </gazebo>
+  <!-- Visualization of Foot contacts. -->
+  <gazebo reference="FR_foot">
+    <visual>
+      <plugin filename="libunitreeDrawForcePlugin.so" name="drawForcePlugin">
+        <topicName>FR_foot_contact</topicName>
+      </plugin>
+    </visual>
+  </gazebo>
+  <gazebo reference="FL_foot">
+    <visual>
+      <plugin filename="libunitreeDrawForcePlugin.so" name="drawForcePlugin">
+        <topicName>FL_foot_contact</topicName>
+      </plugin>
+    </visual>
+  </gazebo>
+  <gazebo reference="RR_foot">
+    <visual>
+      <plugin filename="libunitreeDrawForcePlugin.so" name="drawForcePlugin">
+        <topicName>RR_foot_contact</topicName>
+      </plugin>
+    </visual>
+  </gazebo>
+  <gazebo reference="RL_foot">
+    <visual>
+      <plugin filename="libunitreeDrawForcePlugin.so" name="drawForcePlugin">
+        <topicName>RL_foot_contact</topicName>
+      </plugin>
+    </visual>
+  </gazebo>
+  <gazebo reference="base">
+    <material>Gazebo/Green</material>
+    <turnGravityOff>false</turnGravityOff>
+  </gazebo>
+  <gazebo reference="trunk">
+    <mu1>0.2</mu1>
+    <mu2>0.2</mu2>
+    <kp value="1000000.0"/>
+    <kd value="1.0"/>
+  </gazebo>
+  <gazebo reference="stick_link">
+    <mu1>0.2</mu1>
+    <mu2>0.2</mu2>
+    <material>Gazebo/White</material>
+  </gazebo>
+  <gazebo reference="imu_link">
+    <mu1>0.2</mu1>
+    <mu2>0.2</mu2>
+    <material>Gazebo/Red</material>
+  </gazebo>
+  <!-- FL leg -->
+  <gazebo reference="FL_hip">
+    <mu1>0.2</mu1>
+    <mu2>0.2</mu2>
+    <material>Gazebo/DarkGrey</material>
+  </gazebo>
+  <gazebo reference="FL_thigh">
+    <mu1>0.2</mu1>
+    <mu2>0.2</mu2>
+    <self_collide>1</self_collide>
+    <material>Gazebo/DarkGrey</material>
+    <kp value="1000000.0"/>
+    <kd value="1.0"/>
+  </gazebo>
+  <gazebo reference="FL_calf">
+    <mu1>0.2</mu1>
+    <mu2>0.2</mu2>
+    <self_collide>1</self_collide>
+  </gazebo>
+  <gazebo reference="FL_foot">
+    <mu1>0.6</mu1>
+    <mu2>0.6</mu2>
+    <self_collide>1</self_collide>
+    <material>Gazebo/DarkGrey</material>
+    <kp value="1000000.0"/>
+    <kd value="1.0"/>
+  </gazebo>
+  <!-- FR leg -->
+  <gazebo reference="FR_hip">
+    <mu1>0.2</mu1>
+    <mu2>0.2</mu2>
+    <material>Gazebo/DarkGrey</material>
+  </gazebo>
+  <gazebo reference="FR_thigh">
+    <mu1>0.2</mu1>
+    <mu2>0.2</mu2>
+    <self_collide>1</self_collide>
+    <material>Gazebo/DarkGrey</material>
+    <kp value="1000000.0"/>
+    <kd value="1.0"/>
+  </gazebo>
+  <gazebo reference="FR_calf">
+    <mu1>0.2</mu1>
+    <mu2>0.2</mu2>
+    <self_collide>1</self_collide>
+  </gazebo>
+  <gazebo reference="FR_foot">
+    <mu1>0.6</mu1>
+    <mu2>0.6</mu2>
+    <self_collide>1</self_collide>
+    <material>Gazebo/DarkGrey</material>
+    <kp value="1000000.0"/>
+    <kd value="1.0"/>
+  </gazebo>
+  <!-- RL leg -->
+  <gazebo reference="RL_hip">
+    <mu1>0.2</mu1>
+    <mu2>0.2</mu2>
+    <material>Gazebo/DarkGrey</material>
+  </gazebo>
+  <gazebo reference="RL_thigh">
+    <mu1>0.2</mu1>
+    <mu2>0.2</mu2>
+    <self_collide>1</self_collide>
+    <material>Gazebo/DarkGrey</material>
+    <kp value="1000000.0"/>
+    <kd value="1.0"/>
+  </gazebo>
+  <gazebo reference="RL_calf">
+    <mu1>0.2</mu1>
+    <mu2>0.2</mu2>
+    <self_collide>1</self_collide>
+  </gazebo>
+  <gazebo reference="RL_foot">
+    <mu1>0.6</mu1>
+    <mu2>0.6</mu2>
+    <self_collide>1</self_collide>
+    <material>Gazebo/DarkGrey</material>
+    <kp value="1000000.0"/>
+    <kd value="1.0"/>
+  </gazebo>
+  <!-- RR leg -->
+  <gazebo reference="RR_hip">
+    <mu1>0.2</mu1>
+    <mu2>0.2</mu2>
+    <material>Gazebo/DarkGrey</material>
+  </gazebo>
+  <gazebo reference="RR_thigh">
+    <mu1>0.2</mu1>
+    <mu2>0.2</mu2>
+    <self_collide>1</self_collide>
+    <material>Gazebo/DarkGrey</material>
+    <kp value="1000000.0"/>
+    <kd value="1.0"/>
+  </gazebo>
+  <gazebo reference="RR_calf">
+    <mu1>0.2</mu1>
+    <mu2>0.2</mu2>
+    <self_collide>1</self_collide>
+  </gazebo>
+  <gazebo reference="RR_foot">
+    <mu1>0.6</mu1>
+    <mu2>0.6</mu2>
+    <self_collide>1</self_collide>
+    <material>Gazebo/DarkGrey</material>
+    <kp value="1000000.0"/>
+    <kd value="1.0"/>
+  </gazebo>
+  <!-- <xacro:include filename="$(find go1_gazebo)/launch/stairs.urdf.xacro"/> -->
+  <!-- <xacro:stairs stairs="15" xpos="0" ypos="0" zpos="0" /> -->
+  <!-- Rotor related joint and link is only for demonstrate location. -->
+  <!-- Actually, the rotor will rotate and the joint is not fixed. Reduction ratio should be considered. -->
+  <!-- Debug mode will hung up the robot, use "true" or "false" to switch it. -->
+  <!-- <xacro:if value="$(arg DEBUG)">
+        <link name="world"/>
+        <joint name="base_static_joint" type="fixed">
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <parent link="world"/>
+            <child link="base"/>
+        </joint>
+    </xacro:if>  -->
+  <link name="base">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+  </link>
+  <joint name="floating_base" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="base"/>
+    <child link="trunk"/>
+  </joint>
+  <link name="trunk">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://go1_description/meshes/trunk.dae" scale="1 1 1"/>
+      </geometry>
+      <!-- <material name="orange"/> -->
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.3762 0.0935 0.114"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0223 0.002 -0.0005"/>
+      <mass value="5.204"/>
+      <inertia ixx="0.0168128557" ixy="-0.0002296769" ixz="-0.0002945293" iyy="0.063009565" iyz="-4.18731e-05" izz="0.0716547275"/>
+    </inertial>
+  </link>
+  <joint name="imu_joint" type="fixed">
+    <parent link="trunk"/>
+    <child link="imu_link"/>
+    <origin rpy="0 0 0" xyz="-0.01592 -0.06659 -0.00617"/>
+  </joint>
+  <link name="imu_link">
+    <inertial>
+      <mass value="0.001"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.001 0.001 0.001"/>
+      </geometry>
+      <!-- <material name="red"/> -->
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size=".001 .001 .001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="FR_hip_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0.1881 -0.04675 0"/>
+    <parent link="trunk"/>
+    <child link="FR_hip"/>
+    <axis xyz="1 0 0"/>
+    <dynamics damping="0.0" friction="0.0"/>
+    <limit effort="23.7" lower="-0.863" upper="0.863" velocity="30.1"/>
+  </joint>
+  <joint name="FR_hip_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.11215 -0.04675 0"/>
+    <parent link="trunk"/>
+    <child link="FR_hip_rotor"/>
+  </joint>
+  <link name="FR_hip">
+    <visual>
+      <origin rpy="3.141592653589793 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://go1_description/meshes/hip.dae" scale="1 1 1"/>
+      </geometry>
+      <!-- <material name="orange"/> -->
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 -0.08 0"/>
+      <geometry>
+        <cylinder length="0.04" radius="0.046"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.005657 0.008752 -0.000102"/>
+      <mass value="0.591"/>
+      <inertia ixx="0.000334008405" ixy="1.0826066e-05" ixz="1.290732e-06" iyy="0.000619101213" iyz="-1.643194e-06" izz="0.00040057614"/>
+    </inertial>
+  </link>
+  <link name="FR_hip_rotor">
+    <visual>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="0.089"/>
+      <inertia ixx="0.000111842" ixy="0.0" ixz="0.0" iyy="5.9647e-05" iyz="0.0" izz="5.9647e-05"/>
+    </inertial>
+  </link>
+  <joint name="FR_thigh_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0 -0.08 0"/>
+    <parent link="FR_hip"/>
+    <child link="FR_thigh"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0.0" friction="0.0"/>
+    <limit effort="23.7" lower="-0.686" upper="4.501" velocity="30.1"/>
+  </joint>
+  <joint name="FR_thigh_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 0.00015 0"/>
+    <parent link="FR_hip"/>
+    <child link="FR_thigh_rotor"/>
+  </joint>
+  <link name="FR_thigh">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://go1_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
+      </geometry>
+      <!-- <material name="orange"/> -->
+    </visual>
+    <collision>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065"/>
+      <geometry>
+        <box size="0.213 0.0245 0.034"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.003342 0.018054 -0.033451"/>
+      <mass value="0.92"/>
+      <inertia ixx="0.004431760472" ixy="-5.7496807e-05" ixz="-0.000218457134" iyy="0.004485671726" iyz="-0.000572001265" izz="0.000740309489"/>
+    </inertial>
+  </link>
+  <link name="FR_thigh_rotor">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="0.089"/>
+      <inertia ixx="5.9647e-05" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="5.9647e-05"/>
+    </inertial>
+  </link>
+  <joint name="FR_calf_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 -0.213"/>
+    <parent link="FR_thigh"/>
+    <child link="FR_calf"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0.0" friction="0.0"/>
+    <limit effort="35.55" lower="-2.818" upper="-0.888" velocity="20.06"/>
+  </joint>
+  <joint name="FR_calf_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 0.03235 0"/>
+    <parent link="FR_thigh"/>
+    <child link="FR_calf_rotor"/>
+  </joint>
+  <link name="FR_calf">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://go1_description/meshes/calf.dae" scale="1 1 1"/>
+      </geometry>
+      <!-- <material name="orange"/> -->
+    </visual>
+    <collision>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065"/>
+      <geometry>
+        <box size="0.213 0.016 0.016"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.006197 0.001408 -0.116695"/>
+      <mass value="0.135862"/>
+      <inertia ixx="0.001088793059" ixy="-2.55679e-07" ixz="7.117814e-06" iyy="0.001100428748" iyz="2.077264e-06" izz="2.4787446e-05"/>
+    </inertial>
+  </link>
+  <link name="FR_calf_rotor">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="0.089"/>
+      <inertia ixx="5.9647e-05" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="5.9647e-05"/>
+    </inertial>
+  </link>
+  <joint name="FR_foot_fixed" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 -0.213"/>
+    <parent link="FR_calf"/>
+    <child link="FR_foot"/>
+  </joint>
+  <link name="FR_foot">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+      <!-- <material name="orange"/> -->
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.02"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.06"/>
+      <inertia ixx="9.600000000000001e-06" ixy="0.0" ixz="0.0" iyy="9.600000000000001e-06" iyz="0.0" izz="9.600000000000001e-06"/>
+    </inertial>
+  </link>
+  <transmission name="FR_hip_tran">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="FR_hip_joint">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="FR_hip_motor">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="FR_thigh_tran">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="FR_thigh_joint">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="FR_thigh_motor">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="FR_calf_tran">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="FR_calf_joint">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="FR_calf_motor">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <joint name="FL_hip_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0.1881 0.04675 0"/>
+    <parent link="trunk"/>
+    <child link="FL_hip"/>
+    <axis xyz="1 0 0"/>
+    <dynamics damping="0.0" friction="0.0"/>
+    <limit effort="23.7" lower="-0.863" upper="0.863" velocity="30.1"/>
+  </joint>
+  <joint name="FL_hip_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.11215 0.04675 0"/>
+    <parent link="trunk"/>
+    <child link="FL_hip_rotor"/>
+  </joint>
+  <link name="FL_hip">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://go1_description/meshes/hip.dae" scale="1 1 1"/>
+      </geometry>
+      <!-- <material name="orange"/> -->
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0.08 0"/>
+      <geometry>
+        <cylinder length="0.04" radius="0.046"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.005657 -0.008752 -0.000102"/>
+      <mass value="0.591"/>
+      <inertia ixx="0.000334008405" ixy="-1.0826066e-05" ixz="1.290732e-06" iyy="0.000619101213" iyz="1.643194e-06" izz="0.00040057614"/>
+    </inertial>
+  </link>
+  <link name="FL_hip_rotor">
+    <visual>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="0.089"/>
+      <inertia ixx="0.000111842" ixy="0.0" ixz="0.0" iyy="5.9647e-05" iyz="0.0" izz="5.9647e-05"/>
+    </inertial>
+  </link>
+  <joint name="FL_thigh_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0.08 0"/>
+    <parent link="FL_hip"/>
+    <child link="FL_thigh"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0.0" friction="0.0"/>
+    <limit effort="23.7" lower="-0.686" upper="4.501" velocity="30.1"/>
+  </joint>
+  <joint name="FL_thigh_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 -0.00015 0"/>
+    <parent link="FL_hip"/>
+    <child link="FL_thigh_rotor"/>
+  </joint>
+  <link name="FL_thigh">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://go1_description/meshes/thigh.dae" scale="1 1 1"/>
+      </geometry>
+      <!-- <material name="orange"/> -->
+    </visual>
+    <collision>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065"/>
+      <geometry>
+        <box size="0.213 0.0245 0.034"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.003342 -0.018054 -0.033451"/>
+      <mass value="0.92"/>
+      <inertia ixx="0.004431760472" ixy="5.7496807e-05" ixz="-0.000218457134" iyy="0.004485671726" iyz="0.000572001265" izz="0.000740309489"/>
+    </inertial>
+  </link>
+  <link name="FL_thigh_rotor">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="0.089"/>
+      <inertia ixx="5.9647e-05" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="5.9647e-05"/>
+    </inertial>
+  </link>
+  <joint name="FL_calf_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 -0.213"/>
+    <parent link="FL_thigh"/>
+    <child link="FL_calf"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0.0" friction="0.0"/>
+    <limit effort="35.55" lower="-2.818" upper="-0.888" velocity="20.06"/>
+  </joint>
+  <joint name="FL_calf_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 -0.03235 0"/>
+    <parent link="FL_thigh"/>
+    <child link="FL_calf_rotor"/>
+  </joint>
+  <link name="FL_calf">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://go1_description/meshes/calf.dae" scale="1 1 1"/>
+      </geometry>
+      <!-- <material name="orange"/> -->
+    </visual>
+    <collision>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065"/>
+      <geometry>
+        <box size="0.213 0.016 0.016"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.006197 0.001408 -0.116695"/>
+      <mass value="0.135862"/>
+      <inertia ixx="0.001088793059" ixy="-2.55679e-07" ixz="7.117814e-06" iyy="0.001100428748" iyz="2.077264e-06" izz="2.4787446e-05"/>
+    </inertial>
+  </link>
+  <link name="FL_calf_rotor">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="0.089"/>
+      <inertia ixx="5.9647e-05" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="5.9647e-05"/>
+    </inertial>
+  </link>
+  <joint name="FL_foot_fixed" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 -0.213"/>
+    <parent link="FL_calf"/>
+    <child link="FL_foot"/>
+  </joint>
+  <link name="FL_foot">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+      <!-- <material name="orange"/> -->
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.02"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.06"/>
+      <inertia ixx="9.600000000000001e-06" ixy="0.0" ixz="0.0" iyy="9.600000000000001e-06" iyz="0.0" izz="9.600000000000001e-06"/>
+    </inertial>
+  </link>
+  <transmission name="FL_hip_tran">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="FL_hip_joint">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="FL_hip_motor">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="FL_thigh_tran">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="FL_thigh_joint">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="FL_thigh_motor">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="FL_calf_tran">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="FL_calf_joint">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="FL_calf_motor">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <joint name="RR_hip_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="-0.1881 -0.04675 0"/>
+    <parent link="trunk"/>
+    <child link="RR_hip"/>
+    <axis xyz="1 0 0"/>
+    <dynamics damping="0.0" friction="0.0"/>
+    <limit effort="23.7" lower="-0.863" upper="0.863" velocity="30.1"/>
+  </joint>
+  <joint name="RR_hip_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.11215 -0.04675 0"/>
+    <parent link="trunk"/>
+    <child link="RR_hip_rotor"/>
+  </joint>
+  <link name="RR_hip">
+    <visual>
+      <origin rpy="3.141592653589793 3.141592653589793 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://go1_description/meshes/hip.dae" scale="1 1 1"/>
+      </geometry>
+      <!-- <material name="orange"/> -->
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 -0.08 0"/>
+      <geometry>
+        <cylinder length="0.04" radius="0.046"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.005657 0.008752 -0.000102"/>
+      <mass value="0.591"/>
+      <inertia ixx="0.000334008405" ixy="-1.0826066e-05" ixz="-1.290732e-06" iyy="0.000619101213" iyz="-1.643194e-06" izz="0.00040057614"/>
+    </inertial>
+  </link>
+  <link name="RR_hip_rotor">
+    <visual>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="0.089"/>
+      <inertia ixx="0.000111842" ixy="0.0" ixz="0.0" iyy="5.9647e-05" iyz="0.0" izz="5.9647e-05"/>
+    </inertial>
+  </link>
+  <joint name="RR_thigh_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0 -0.08 0"/>
+    <parent link="RR_hip"/>
+    <child link="RR_thigh"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0.0" friction="0.0"/>
+    <limit effort="23.7" lower="-0.686" upper="4.501" velocity="30.1"/>
+  </joint>
+  <joint name="RR_thigh_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 0.00015 0"/>
+    <parent link="RR_hip"/>
+    <child link="RR_thigh_rotor"/>
+  </joint>
+  <link name="RR_thigh">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://go1_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
+      </geometry>
+      <!-- <material name="orange"/> -->
+    </visual>
+    <collision>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065"/>
+      <geometry>
+        <box size="0.213 0.0245 0.034"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.003342 0.018054 -0.033451"/>
+      <mass value="0.92"/>
+      <inertia ixx="0.004431760472" ixy="-5.7496807e-05" ixz="-0.000218457134" iyy="0.004485671726" iyz="-0.000572001265" izz="0.000740309489"/>
+    </inertial>
+  </link>
+  <link name="RR_thigh_rotor">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="0.089"/>
+      <inertia ixx="5.9647e-05" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="5.9647e-05"/>
+    </inertial>
+  </link>
+  <joint name="RR_calf_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 -0.213"/>
+    <parent link="RR_thigh"/>
+    <child link="RR_calf"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0.0" friction="0.0"/>
+    <limit effort="35.55" lower="-2.818" upper="-0.888" velocity="20.06"/>
+  </joint>
+  <joint name="RR_calf_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 0.03235 0"/>
+    <parent link="RR_thigh"/>
+    <child link="RR_calf_rotor"/>
+  </joint>
+  <link name="RR_calf">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://go1_description/meshes/calf.dae" scale="1 1 1"/>
+      </geometry>
+      <!-- <material name="orange"/> -->
+    </visual>
+    <collision>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065"/>
+      <geometry>
+        <box size="0.213 0.016 0.016"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.006197 0.001408 -0.116695"/>
+      <mass value="0.135862"/>
+      <inertia ixx="0.001088793059" ixy="-2.55679e-07" ixz="7.117814e-06" iyy="0.001100428748" iyz="2.077264e-06" izz="2.4787446e-05"/>
+    </inertial>
+  </link>
+  <link name="RR_calf_rotor">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="0.089"/>
+      <inertia ixx="5.9647e-05" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="5.9647e-05"/>
+    </inertial>
+  </link>
+  <joint name="RR_foot_fixed" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 -0.213"/>
+    <parent link="RR_calf"/>
+    <child link="RR_foot"/>
+  </joint>
+  <link name="RR_foot">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+      <!-- <material name="orange"/> -->
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.02"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.06"/>
+      <inertia ixx="9.600000000000001e-06" ixy="0.0" ixz="0.0" iyy="9.600000000000001e-06" iyz="0.0" izz="9.600000000000001e-06"/>
+    </inertial>
+  </link>
+  <transmission name="RR_hip_tran">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="RR_hip_joint">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="RR_hip_motor">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="RR_thigh_tran">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="RR_thigh_joint">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="RR_thigh_motor">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="RR_calf_tran">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="RR_calf_joint">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="RR_calf_motor">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <joint name="RL_hip_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="-0.1881 0.04675 0"/>
+    <parent link="trunk"/>
+    <child link="RL_hip"/>
+    <axis xyz="1 0 0"/>
+    <dynamics damping="0.0" friction="0.0"/>
+    <limit effort="23.7" lower="-0.863" upper="0.863" velocity="30.1"/>
+  </joint>
+  <joint name="RL_hip_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.11215 0.04675 0"/>
+    <parent link="trunk"/>
+    <child link="RL_hip_rotor"/>
+  </joint>
+  <link name="RL_hip">
+    <visual>
+      <origin rpy="0 3.141592653589793 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://go1_description/meshes/hip.dae" scale="1 1 1"/>
+      </geometry>
+      <!-- <material name="orange"/> -->
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0.08 0"/>
+      <geometry>
+        <cylinder length="0.04" radius="0.046"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.005657 -0.008752 -0.000102"/>
+      <mass value="0.591"/>
+      <inertia ixx="0.000334008405" ixy="1.0826066e-05" ixz="-1.290732e-06" iyy="0.000619101213" iyz="1.643194e-06" izz="0.00040057614"/>
+    </inertial>
+  </link>
+  <link name="RL_hip_rotor">
+    <visual>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="0.089"/>
+      <inertia ixx="0.000111842" ixy="0.0" ixz="0.0" iyy="5.9647e-05" iyz="0.0" izz="5.9647e-05"/>
+    </inertial>
+  </link>
+  <joint name="RL_thigh_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0.08 0"/>
+    <parent link="RL_hip"/>
+    <child link="RL_thigh"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0.0" friction="0.0"/>
+    <limit effort="23.7" lower="-0.686" upper="4.501" velocity="30.1"/>
+  </joint>
+  <joint name="RL_thigh_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 -0.00015 0"/>
+    <parent link="RL_hip"/>
+    <child link="RL_thigh_rotor"/>
+  </joint>
+  <link name="RL_thigh">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://go1_description/meshes/thigh.dae" scale="1 1 1"/>
+      </geometry>
+      <!-- <material name="orange"/> -->
+    </visual>
+    <collision>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065"/>
+      <geometry>
+        <box size="0.213 0.0245 0.034"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.003342 -0.018054 -0.033451"/>
+      <mass value="0.92"/>
+      <inertia ixx="0.004431760472" ixy="5.7496807e-05" ixz="-0.000218457134" iyy="0.004485671726" iyz="0.000572001265" izz="0.000740309489"/>
+    </inertial>
+  </link>
+  <link name="RL_thigh_rotor">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="0.089"/>
+      <inertia ixx="5.9647e-05" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="5.9647e-05"/>
+    </inertial>
+  </link>
+  <joint name="RL_calf_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 -0.213"/>
+    <parent link="RL_thigh"/>
+    <child link="RL_calf"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0.0" friction="0.0"/>
+    <limit effort="35.55" lower="-2.818" upper="-0.888" velocity="20.06"/>
+  </joint>
+  <joint name="RL_calf_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 -0.03235 0"/>
+    <parent link="RL_thigh"/>
+    <child link="RL_calf_rotor"/>
+  </joint>
+  <link name="RL_calf">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://go1_description/meshes/calf.dae" scale="1 1 1"/>
+      </geometry>
+      <!-- <material name="orange"/> -->
+    </visual>
+    <collision>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065"/>
+      <geometry>
+        <box size="0.213 0.016 0.016"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.006197 0.001408 -0.116695"/>
+      <mass value="0.135862"/>
+      <inertia ixx="0.001088793059" ixy="-2.55679e-07" ixz="7.117814e-06" iyy="0.001100428748" iyz="2.077264e-06" izz="2.4787446e-05"/>
+    </inertial>
+  </link>
+  <link name="RL_calf_rotor">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="0.089"/>
+      <inertia ixx="5.9647e-05" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="5.9647e-05"/>
+    </inertial>
+  </link>
+  <joint name="RL_foot_fixed" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 -0.213"/>
+    <parent link="RL_calf"/>
+    <child link="RL_foot"/>
+  </joint>
+  <link name="RL_foot">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+      <!-- <material name="orange"/> -->
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.02"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.06"/>
+      <inertia ixx="9.600000000000001e-06" ixy="0.0" ixz="0.0" iyy="9.600000000000001e-06" iyz="0.0" izz="9.600000000000001e-06"/>
+    </inertial>
+  </link>
+  <transmission name="RL_hip_tran">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="RL_hip_joint">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="RL_hip_motor">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="RL_thigh_tran">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="RL_thigh_joint">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="RL_thigh_motor">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="RL_calf_tran">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="RL_calf_joint">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="RL_calf_motor">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <joint name="camera_joint_face" type="fixed">
+    <origin rpy="3.141592653589793 0 0" xyz="0.2785 0.0125 0.0167"/>
+    <parent link="trunk"/>
+    <child link="camera_face"/>
+  </joint>
+  <link name="camera_face">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size=".001 .001 .001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://go1_description/meshes/depthCamera.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <inertial>
+      <mass value="1e-5"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
+    </inertial>
+  </link>
+  <joint name="camera_optical_joint_face" type="fixed">
+    <origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
+    <parent link="camera_face"/>
+    <child link="camera_optical_face"/>
+  </joint>
+  <link name="camera_optical_face">
+        </link>
+  <gazebo reference="camera_face">
+    <!-- <material>Gazebo/Black</material> -->
+    <sensor name="camera_face_camera" type="depth">
+      <update_rate>16</update_rate>
+      <camera>
+        <horizontal_fov>2.094</horizontal_fov>
+        <image>
+          <width>928</width>
+          <height>800</height>
+          <format>R8G8B8</format>
+        </image>
+        <clip>
+          <near>0.1</near>
+          <far>5</far>
+        </clip>
+      </camera>
+      <plugin filename="libgazebo_ros_openni_kinect.so" name="camera_face_controller">
+        <baseline>0.025</baseline>
+        <alwaysOn>true</alwaysOn>
+        <updateRate>0.0</updateRate>
+        <cameraName>camera_face_ir</cameraName>
+        <imageTopicName>/camera_face/color/image_raw</imageTopicName>
+        <cameraInfoTopicName>/camera_face/color/camera_info</cameraInfoTopicName>
+        <depthImageTopicName>/camera_face/depth/image_raw</depthImageTopicName>
+        <depthImageInfoTopicName>/camera_face/depth/camera_info</depthImageInfoTopicName>
+        <!-- <pointCloudTopicName>/camera_${name}/depth/points</pointCloudTopicName> -->
+        <pointCloudTopicName>/cam1/point_cloud_face</pointCloudTopicName>
+        <frameName>camera_optical_face</frameName>
+        <pointCloudCutoff>0.1</pointCloudCutoff>
+        <pointCloudCutoffMax>1.5</pointCloudCutoffMax>
+        <distortionK1>0.0</distortionK1>
+        <distortionK2>0.0</distortionK2>
+        <distortionK3>0.0</distortionK3>
+        <distortionT1>0.0</distortionT1>
+        <distortionT2>0.0</distortionT2>
+        <CxPrime>0</CxPrime>
+        <Cx>0.0045</Cx>
+        <Cy>0.0039</Cy>
+        <focalLength>0</focalLength>
+        <hackBaseline>0</hackBaseline>
+      </plugin>
+    </sensor>
+  </gazebo>
+  <joint name="camera_joint_chin" type="fixed">
+    <origin rpy="3.141592653589793 1.5707963267948966 0" xyz="0.2522 0.0125 -0.0436"/>
+    <parent link="trunk"/>
+    <child link="camera_chin"/>
+  </joint>
+  <link name="camera_chin">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size=".001 .001 .001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://go1_description/meshes/depthCamera.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <inertial>
+      <mass value="1e-5"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
+    </inertial>
+  </link>
+  <joint name="camera_optical_joint_chin" type="fixed">
+    <origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
+    <parent link="camera_chin"/>
+    <child link="camera_optical_chin"/>
+  </joint>
+  <link name="camera_optical_chin">
+        </link>
+  <gazebo reference="camera_chin">
+    <!-- <material>Gazebo/Black</material> -->
+    <sensor name="camera_chin_camera" type="depth">
+      <update_rate>16</update_rate>
+      <camera>
+        <horizontal_fov>2.094</horizontal_fov>
+        <image>
+          <width>928</width>
+          <height>800</height>
+          <format>R8G8B8</format>
+        </image>
+        <clip>
+          <near>0.1</near>
+          <far>5</far>
+        </clip>
+      </camera>
+      <plugin filename="libgazebo_ros_openni_kinect.so" name="camera_chin_controller">
+        <baseline>0.025</baseline>
+        <alwaysOn>true</alwaysOn>
+        <updateRate>0.0</updateRate>
+        <cameraName>camera_chin_ir</cameraName>
+        <imageTopicName>/camera_chin/color/image_raw</imageTopicName>
+        <cameraInfoTopicName>/camera_chin/color/camera_info</cameraInfoTopicName>
+        <depthImageTopicName>/camera_chin/depth/image_raw</depthImageTopicName>
+        <depthImageInfoTopicName>/camera_chin/depth/camera_info</depthImageInfoTopicName>
+        <!-- <pointCloudTopicName>/camera_${name}/depth/points</pointCloudTopicName> -->
+        <pointCloudTopicName>/cam2/point_cloud_chin</pointCloudTopicName>
+        <frameName>camera_optical_chin</frameName>
+        <pointCloudCutoff>0.1</pointCloudCutoff>
+        <pointCloudCutoffMax>1.5</pointCloudCutoffMax>
+        <distortionK1>0.0</distortionK1>
+        <distortionK2>0.0</distortionK2>
+        <distortionK3>0.0</distortionK3>
+        <distortionT1>0.0</distortionT1>
+        <distortionT2>0.0</distortionT2>
+        <CxPrime>0</CxPrime>
+        <Cx>0.0045</Cx>
+        <Cy>0.0039</Cy>
+        <focalLength>0</focalLength>
+        <hackBaseline>0</hackBaseline>
+      </plugin>
+    </sensor>
+  </gazebo>
+  <joint name="camera_joint_left" type="fixed">
+    <origin rpy="3.141592653589793 0.2618 1.5707963267948966" xyz="-0.066 0.082 -0.0176"/>
+    <parent link="trunk"/>
+    <child link="camera_left"/>
+  </joint>
+  <link name="camera_left">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size=".001 .001 .001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://go1_description/meshes/depthCamera.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <inertial>
+      <mass value="1e-5"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
+    </inertial>
+  </link>
+  <joint name="camera_optical_joint_left" type="fixed">
+    <origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
+    <parent link="camera_left"/>
+    <child link="camera_optical_left"/>
+  </joint>
+  <link name="camera_optical_left">
+        </link>
+  <gazebo reference="camera_left">
+    <!-- <material>Gazebo/Black</material> -->
+    <sensor name="camera_left_camera" type="depth">
+      <update_rate>16</update_rate>
+      <camera>
+        <horizontal_fov>2.094</horizontal_fov>
+        <image>
+          <width>928</width>
+          <height>800</height>
+          <format>R8G8B8</format>
+        </image>
+        <clip>
+          <near>0.1</near>
+          <far>5</far>
+        </clip>
+      </camera>
+      <plugin filename="libgazebo_ros_openni_kinect.so" name="camera_left_controller">
+        <baseline>0.025</baseline>
+        <alwaysOn>true</alwaysOn>
+        <updateRate>0.0</updateRate>
+        <cameraName>camera_left_ir</cameraName>
+        <imageTopicName>/camera_left/color/image_raw</imageTopicName>
+        <cameraInfoTopicName>/camera_left/color/camera_info</cameraInfoTopicName>
+        <depthImageTopicName>/camera_left/depth/image_raw</depthImageTopicName>
+        <depthImageInfoTopicName>/camera_left/depth/camera_info</depthImageInfoTopicName>
+        <!-- <pointCloudTopicName>/camera_${name}/depth/points</pointCloudTopicName> -->
+        <pointCloudTopicName>/cam3/point_cloud_left</pointCloudTopicName>
+        <frameName>camera_optical_left</frameName>
+        <pointCloudCutoff>0.1</pointCloudCutoff>
+        <pointCloudCutoffMax>1.5</pointCloudCutoffMax>
+        <distortionK1>0.0</distortionK1>
+        <distortionK2>0.0</distortionK2>
+        <distortionK3>0.0</distortionK3>
+        <distortionT1>0.0</distortionT1>
+        <distortionT2>0.0</distortionT2>
+        <CxPrime>0</CxPrime>
+        <Cx>0.0045</Cx>
+        <Cy>0.0039</Cy>
+        <focalLength>0</focalLength>
+        <hackBaseline>0</hackBaseline>
+      </plugin>
+    </sensor>
+  </gazebo>
+  <joint name="camera_joint_right" type="fixed">
+    <origin rpy="3.141592653589793 0.2618 -1.5707963267948966" xyz="-0.041 -0.082 -0.0176"/>
+    <parent link="trunk"/>
+    <child link="camera_right"/>
+  </joint>
+  <link name="camera_right">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size=".001 .001 .001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://go1_description/meshes/depthCamera.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <inertial>
+      <mass value="1e-5"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
+    </inertial>
+  </link>
+  <joint name="camera_optical_joint_right" type="fixed">
+    <origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
+    <parent link="camera_right"/>
+    <child link="camera_optical_right"/>
+  </joint>
+  <link name="camera_optical_right">
+        </link>
+  <gazebo reference="camera_right">
+    <!-- <material>Gazebo/Black</material> -->
+    <sensor name="camera_right_camera" type="depth">
+      <update_rate>16</update_rate>
+      <camera>
+        <horizontal_fov>2.094</horizontal_fov>
+        <image>
+          <width>928</width>
+          <height>800</height>
+          <format>R8G8B8</format>
+        </image>
+        <clip>
+          <near>0.1</near>
+          <far>5</far>
+        </clip>
+      </camera>
+      <plugin filename="libgazebo_ros_openni_kinect.so" name="camera_right_controller">
+        <baseline>0.025</baseline>
+        <alwaysOn>true</alwaysOn>
+        <updateRate>0.0</updateRate>
+        <cameraName>camera_right_ir</cameraName>
+        <imageTopicName>/camera_right/color/image_raw</imageTopicName>
+        <cameraInfoTopicName>/camera_right/color/camera_info</cameraInfoTopicName>
+        <depthImageTopicName>/camera_right/depth/image_raw</depthImageTopicName>
+        <depthImageInfoTopicName>/camera_right/depth/camera_info</depthImageInfoTopicName>
+        <!-- <pointCloudTopicName>/camera_${name}/depth/points</pointCloudTopicName> -->
+        <pointCloudTopicName>/cam4/point_cloud_right</pointCloudTopicName>
+        <frameName>camera_optical_right</frameName>
+        <pointCloudCutoff>0.1</pointCloudCutoff>
+        <pointCloudCutoffMax>1.5</pointCloudCutoffMax>
+        <distortionK1>0.0</distortionK1>
+        <distortionK2>0.0</distortionK2>
+        <distortionK3>0.0</distortionK3>
+        <distortionT1>0.0</distortionT1>
+        <distortionT2>0.0</distortionT2>
+        <CxPrime>0</CxPrime>
+        <Cx>0.0045</Cx>
+        <Cy>0.0039</Cy>
+        <focalLength>0</focalLength>
+        <hackBaseline>0</hackBaseline>
+      </plugin>
+    </sensor>
+  </gazebo>
+  <joint name="camera_joint_rearDown" type="fixed">
+    <origin rpy="3.141592653589793 1.5707963267948966 0" xyz="-0.0825 0.0125 -0.04365"/>
+    <parent link="trunk"/>
+    <child link="camera_rearDown"/>
+  </joint>
+  <link name="camera_rearDown">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size=".001 .001 .001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://go1_description/meshes/depthCamera.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <inertial>
+      <mass value="1e-5"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
+    </inertial>
+  </link>
+  <joint name="camera_optical_joint_rearDown" type="fixed">
+    <origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
+    <parent link="camera_rearDown"/>
+    <child link="camera_optical_rearDown"/>
+  </joint>
+  <link name="camera_optical_rearDown">
+        </link>
+  <gazebo reference="camera_rearDown">
+    <!-- <material>Gazebo/Black</material> -->
+    <sensor name="camera_rearDown_camera" type="depth">
+      <update_rate>16</update_rate>
+      <camera>
+        <horizontal_fov>2.094</horizontal_fov>
+        <image>
+          <width>928</width>
+          <height>800</height>
+          <format>R8G8B8</format>
+        </image>
+        <clip>
+          <near>0.1</near>
+          <far>5</far>
+        </clip>
+      </camera>
+      <plugin filename="libgazebo_ros_openni_kinect.so" name="camera_rearDown_controller">
+        <baseline>0.025</baseline>
+        <alwaysOn>true</alwaysOn>
+        <updateRate>0.0</updateRate>
+        <cameraName>camera_rearDown_ir</cameraName>
+        <imageTopicName>/camera_rearDown/color/image_raw</imageTopicName>
+        <cameraInfoTopicName>/camera_rearDown/color/camera_info</cameraInfoTopicName>
+        <depthImageTopicName>/camera_rearDown/depth/image_raw</depthImageTopicName>
+        <depthImageInfoTopicName>/camera_rearDown/depth/camera_info</depthImageInfoTopicName>
+        <!-- <pointCloudTopicName>/camera_${name}/depth/points</pointCloudTopicName> -->
+        <pointCloudTopicName>/cam5/point_cloud_rearDown</pointCloudTopicName>
+        <frameName>camera_optical_rearDown</frameName>
+        <pointCloudCutoff>0.1</pointCloudCutoff>
+        <pointCloudCutoffMax>1.5</pointCloudCutoffMax>
+        <distortionK1>0.0</distortionK1>
+        <distortionK2>0.0</distortionK2>
+        <distortionK3>0.0</distortionK3>
+        <distortionT1>0.0</distortionT1>
+        <distortionT2>0.0</distortionT2>
+        <CxPrime>0</CxPrime>
+        <Cx>0.0045</Cx>
+        <Cy>0.0039</Cy>
+        <focalLength>0</focalLength>
+        <hackBaseline>0</hackBaseline>
+      </plugin>
+    </sensor>
+  </gazebo>
+  <joint name="camera_laserscan_joint_left" type="fixed">
+    <origin rpy="0 0.2618 0" xyz="0 0 0"/>
+    <parent link="camera_left"/>
+    <child link="camera_laserscan_link_left"/>
+  </joint>
+  <link name="camera_laserscan_link_left">
+    </link>
+  <joint name="camera_laserscan_joint_right" type="fixed">
+    <origin rpy="0 0.2618 0" xyz="0 0 0"/>
+    <parent link="camera_right"/>
+    <child link="camera_laserscan_link_right"/>
+  </joint>
+  <link name="camera_laserscan_link_right">
+    </link>
+  <joint name="ultraSound_joint_left" type="fixed">
+    <origin rpy="0 0.2618 1.5707963267948966" xyz="-0.0535  0.0826 0.00868"/>
+    <parent link="trunk"/>
+    <child link="ultraSound_left"/>
+  </joint>
+  <link name="ultraSound_left">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size=".001 .001 .001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://go1_description/meshes/ultraSound.dae" scale="1 1 1"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <inertial>
+      <mass value="1e-5"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
+    </inertial>
+  </link>
+  <joint name="ultraSound_joint_right" type="fixed">
+    <origin rpy="0 0.2618 -1.5707963267948966" xyz="-0.0535 -0.0826 0.00868"/>
+    <parent link="trunk"/>
+    <child link="ultraSound_right"/>
+  </joint>
+  <link name="ultraSound_right">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size=".001 .001 .001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://go1_description/meshes/ultraSound.dae" scale="1 1 1"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <inertial>
+      <mass value="1e-5"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
+    </inertial>
+  </link>
+  <joint name="ultraSound_joint_face" type="fixed">
+    <origin rpy="0 0 0" xyz="0.2747 0.0 -0.0088"/>
+    <parent link="trunk"/>
+    <child link="ultraSound_face"/>
+  </joint>
+  <link name="ultraSound_face">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size=".001 .001 .001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://go1_description/meshes/ultraSound.dae" scale="1 1 1"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <inertial>
+      <mass value="1e-5"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
+    </inertial>
+  </link>
+</robot>
+

unitree_go1/go1.xml

@@ -0,0 +1,237 @@
+<mujoco model="go1">
+  <compiler angle="radian" meshdir="meshes" autolimits="true"/>
+
+  <option iterations="1" ls_iterations="5" timestep="0.004" integrator="Euler">
+    <flag eulerdamp="disable"/>
+  </option>
+
+  <custom>
+    <numeric data="30" name="max_contact_points"/>
+    <numeric data="12" name="max_geom_pairs"/>
+  </custom>
+
+  <default>
+    <default class="go1">
+      <geom condim="1"/>
+      <joint axis="0 1 0" armature="0.005" damping="0.5"/>
+      <default class="abduction">
+        <joint axis="1 0 0" range="-0.863 0.863" frictionloss="0.3"/>
+      </default>
+      <default class="hip">
+        <joint range="-0.686 4.501" frictionloss="0.3"/>
+      </default>
+      <default class="knee">
+        <joint range="-2.818 -0.888" frictionloss="1.0"/>
+      </default>
+      <default class="visual">
+        <geom type="mesh" contype="0" conaffinity="0" group="2" material="dark"/>
+      </default>
+      <default class="collision">
+        <geom group="3" type="capsule"/>
+        <default class="hip_left1">
+          <geom size="0.046 0.02" pos="0 0.045 0" quat="1 1 0 0" type="cylinder"/>
+        </default>
+        <default class="hip_left2">
+          <geom size="0.031 0.02" pos="0 0.065 0" quat="1 1 0 0" type="cylinder"/>
+        </default>
+        <default class="hip_left3">
+          <geom size="0.046 0.02" quat="1 1 0 0" type="cylinder"/>
+        </default>
+        <default class="hip_right1">
+          <geom size="0.046 0.02" pos="0 -0.045 0" quat="1 1 0 0" type="cylinder"/>
+        </default>
+        <default class="hip_right2">
+          <geom size="0.031 0.02" pos="0 -0.065 0" quat="1 1 0 0" type="cylinder"/>
+        </default>
+        <default class="hip_right3">
+          <geom size="0.046 0.02" quat="1 1 0 0" type="cylinder"/>
+        </default>
+        <default class="thigh1">
+          <geom size="0.015" fromto="-0.02 0 0 -0.02 0 -0.16"/>
+        </default>
+        <default class="thigh2">
+          <geom size="0.015" fromto="0 0 0 -0.02 0 -0.1"/>
+        </default>
+        <default class="thigh3">
+          <geom size="0.015" fromto="-0.02 0 -0.16 0 0 -0.2"/>
+        </default>
+        <default class="calf1">
+          <geom size="0.01" fromto="0 0 0 0.02 0 -0.13"/>
+        </default>
+        <default class="calf2">
+          <geom size="0.01" fromto="0.02 0 -0.13 0 0 -0.2"/>
+        </default>
+        <default class="foot">
+          <geom type="sphere" size="0.023" pos="0 0 -0.213" solimp="0.9 .95 0.023" condim="3"/>
+        </default>
+      </default>
+    </default>
+  </default>
+
+  <asset>
+    <material name="dark" rgba="0.2 0.2 0.2 1"/>
+    <mesh class="go1" file="trunk.stl"/>
+    <mesh class="go1" file="hip.stl"/>
+    <mesh class="go1" file="thigh_mirror.stl"/>
+    <mesh class="go1" file="calf.stl"/>
+    <mesh class="go1" file="thigh.stl"/>
+  </asset>
+
+  <worldbody>
+    <light name="spotlight" mode="targetbodycom" target="trunk" pos="3 0 4"/>
+    <body name="trunk" pos="0 0 0.445" childclass="go1">
+      <camera name="track" pos="0.846 -1.3 0.316" xyaxes="0.866 0.500 0.000 -0.171 0.296 0.940" mode="trackcom"/>
+      <camera name="top" pos="-1 0 1" xyaxes="0 -1 0 0.7 0 0.7" mode="trackcom"/>
+      <camera name="side" pos="0 -1 .3" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
+      <camera name="back" pos="-1 0 .3" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
+      <site name="head" pos="0.3 0 0" rgba="1 0 0 1" size="0.02" group="5"/>
+      <inertial pos="0.0223 0.002 -0.0005" quat="-0.00342088 0.705204 0.000106698 0.708996" mass="5.204"
+        diaginertia="0.0716565 0.0630105 0.0168101"/>
+      <freejoint/>
+      <geom class="visual" mesh="trunk"/>
+      <geom class="collision" quat="1 0 1 0" pos="0 -0.04 0" size="0.058 0.125" type="cylinder"/>
+      <geom class="collision" quat="1 0 1 0" pos="0 +0.04 0" size="0.058 0.125" type="cylinder"/>
+      <site name="imu" pos="-0.01592 -0.06659 -0.00617" group="5"/>
+      <body name="FR_hip" pos="0.1881 -0.04675 0">
+        <inertial pos="-0.0049166 0.00762615 -8.865e-05" quat="0.507341 0.514169 0.495027 0.482891" mass="0.68"
+          diaginertia="0.000734064 0.000468438 0.000398719"/>
+        <joint class="abduction" name="FR_hip_joint"/>
+        <geom class="visual" mesh="hip" quat="1 0 0 0"/>
+        <geom name="fr_hip" class="hip_right1"/>
+        <body name="FR_thigh" pos="0 -0.08 0">
+          <inertial pos="-0.00304722 0.019315 -0.0305004" quat="0.65243 -0.0272313 0.0775126 0.753383" mass="1.009"
+            diaginertia="0.00478717 0.00460903 0.000709268"/>
+          <joint class="hip" name="FR_thigh_joint"/>
+          <geom class="visual" mesh="thigh_mirror"/>
+          <geom name="fr_thigh1" class="thigh1"/>
+          <geom name="fr_thigh2" class="thigh2"/>
+          <geom name="fr_thigh3" class="thigh3"/>
+          <body name="FR_calf" pos="0 0 -0.213">
+            <inertial pos="0.00429862 0.000976676 -0.146197" quat="0.691246 0.00357467 0.00511118 0.722592"
+              mass="0.195862" diaginertia="0.00149767 0.00148468 3.58427e-05"/>
+            <joint class="knee" name="FR_calf_joint"/>
+            <geom class="visual" mesh="calf"/>
+            <geom name="fr_calf1" class="calf1"/>
+            <geom name="fr_calf2" class="calf2"/>
+            <geom name="FR" class="foot"/>
+            <site name="FR" pos="0 0 -0.213" type="sphere" size="0.023" group="5"/>
+          </body>
+        </body>
+      </body>
+      <body name="FL_hip" pos="0.1881 0.04675 0">
+        <inertial pos="-0.0049166 -0.00762615 -8.865e-05" quat="0.482891 0.495027 0.514169 0.507341" mass="0.68"
+          diaginertia="0.000734064 0.000468438 0.000398719"/>
+        <joint class="abduction" name="FL_hip_joint"/>
+        <geom class="visual" mesh="hip"/>
+        <geom name="fl_hip" class="hip_left1"/>
+        <body name="FL_thigh" pos="0 0.08 0">
+          <inertial pos="-0.00304722 -0.019315 -0.0305004" quat="0.753383 0.0775126 -0.0272313 0.65243" mass="1.009"
+            diaginertia="0.00478717 0.00460903 0.000709268"/>
+          <joint class="hip" name="FL_thigh_joint"/>
+          <geom class="visual" mesh="thigh"/>
+          <geom name="fl_thigh1" class="thigh1"/>
+          <geom name="fl_thigh2" class="thigh2"/>
+          <geom name="fl_thigh3" class="thigh3"/>
+          <body name="FL_calf" pos="0 0 -0.213">
+            <inertial pos="0.00429862 0.000976676 -0.146197" quat="0.691246 0.00357467 0.00511118 0.722592"
+              mass="0.195862" diaginertia="0.00149767 0.00148468 3.58427e-05"/>
+            <joint class="knee" name="FL_calf_joint"/>
+            <geom class="visual" mesh="calf"/>
+            <geom name="fl_calf1" class="calf1"/>
+            <geom name="fl_calf2" class="calf2"/>
+            <geom name="FL" class="foot"/>
+            <site name="FL" pos="0 0 -0.213" type="sphere" size="0.023" group="5"/>
+          </body>
+        </body>
+      </body>
+      <body name="RR_hip" pos="-0.1881 -0.04675 0">
+        <inertial pos="0.0049166 0.00762615 -8.865e-05" quat="0.495027 0.482891 0.507341 0.514169" mass="0.68"
+          diaginertia="0.000734064 0.000468438 0.000398719"/>
+        <joint class="abduction" name="RR_hip_joint"/>
+        <geom class="visual" quat="0 0 0 -1" mesh="hip"/>
+        <geom name="rr_hip" class="hip_right1"/>
+        <body name="RR_thigh" pos="0 -0.08 0">
+          <inertial pos="-0.00304722 0.019315 -0.0305004" quat="0.65243 -0.0272313 0.0775126 0.753383" mass="1.009"
+            diaginertia="0.00478717 0.00460903 0.000709268"/>
+          <joint class="hip" name="RR_thigh_joint"/>
+          <geom class="visual" mesh="thigh_mirror"/>
+          <geom name="rr_thigh1" class="thigh1"/>
+          <geom name="rr_thigh2" class="thigh2"/>
+          <geom name="rr_thigh3" class="thigh3"/>
+          <body name="RR_calf" pos="0 0 -0.213">
+            <inertial pos="0.00429862 0.000976676 -0.146197" quat="0.691246 0.00357467 0.00511118 0.722592"
+              mass="0.195862" diaginertia="0.00149767 0.00148468 3.58427e-05"/>
+            <joint class="knee" name="RR_calf_joint"/>
+            <geom class="visual" mesh="calf"/>
+            <geom name="rr_calf1" class="calf1"/>
+            <geom name="rr_calf2" class="calf2"/>
+            <geom name="RR" class="foot"/>
+            <site name="RR" pos="0 0 -0.213" type="sphere" size="0.023" group="5"/>
+          </body>
+        </body>
+      </body>
+      <body name="RL_hip" pos="-0.1881 0.04675 0">
+        <inertial pos="0.0049166 -0.00762615 -8.865e-05" quat="0.514169 0.507341 0.482891 0.495027" mass="0.68"
+          diaginertia="0.000734064 0.000468438 0.000398719"/>
+        <joint class="abduction" name="RL_hip_joint"/>
+        <geom class="visual" quat="0 0 1 0" mesh="hip"/>
+        <geom name="rl_hip" class="hip_left1"/>
+        <body name="RL_thigh" pos="0 0.08 0">
+          <inertial pos="-0.00304722 -0.019315 -0.0305004" quat="0.753383 0.0775126 -0.0272313 0.65243" mass="1.009"
+            diaginertia="0.00478717 0.00460903 0.000709268"/>
+          <joint class="hip" name="RL_thigh_joint"/>
+          <geom class="visual" mesh="thigh"/>
+          <geom name="rl_thigh1" class="thigh1"/>
+          <geom name="rl_thigh2" class="thigh2"/>
+          <geom name="rl_thigh3" class="thigh3"/>
+          <body name="RL_calf" pos="0 0 -0.213">
+            <inertial pos="0.00429862 0.000976676 -0.146197" quat="0.691246 0.00357467 0.00511118 0.722592"
+              mass="0.195862" diaginertia="0.00149767 0.00148468 3.58427e-05"/>
+            <joint class="knee" name="RL_calf_joint"/>
+            <geom class="visual" mesh="calf"/>
+            <geom name="rl_calf1" class="calf1"/>
+            <geom name="rl_calf2" class="calf2"/>
+            <geom name="RL" class="foot"/>
+            <site name="RL" pos="0 0 -0.213" type="sphere" size="0.023" group="5"/>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+
+  <actuator>
+    <motor name="FR_hip" joint="FR_hip_joint" gear="1" ctrlrange="-23.7 23.7"/>
+    <motor name="FR_thigh" joint="FR_thigh_joint" gear="1" ctrlrange="-23.7 23.7"/>
+    <motor name="FR_calf" joint="FR_calf_joint" gear="1" ctrlrange="-35.55 35.55"/>
+    <motor name="FL_hip" joint="FL_hip_joint" gear="1" ctrlrange="-23.7 23.7"/>
+    <motor name="FL_thigh" joint="FL_thigh_joint" gear="1" ctrlrange="-23.7 23.7"/>
+    <motor name="FL_calf" joint="FL_calf_joint" gear="1" ctrlrange="-35.55 35.55"/>
+    <motor name="RR_hip" joint="RR_hip_joint" gear="1" ctrlrange="-23.7 23.7"/>
+    <motor name="RR_thigh" joint="RR_thigh_joint" gear="1" ctrlrange="-23.7 23.7"/>
+    <motor name="RR_calf" joint="RR_calf_joint" gear="1" ctrlrange="-35.55 35.55"/>
+    <motor name="RL_hip" joint="RL_hip_joint" gear="1" ctrlrange="-23.7 23.7"/>
+    <motor name="RL_thigh" joint="RL_thigh_joint" gear="1" ctrlrange="-23.7 23.7"/>
+    <motor name="RL_calf" joint="RL_calf_joint" gear="1" ctrlrange="-35.55 35.55"/>
+  </actuator>
+
+  <sensor>
+    <gyro site="imu" name="gyro"/>
+    <velocimeter site="imu" name="local_linvel"/>
+    <accelerometer site="imu" name="accelerometer"/>
+    <framepos objtype="site" objname="imu" name="position"/>
+    <framezaxis objtype="site" objname="imu" name="upvector"/>
+    <framexaxis objtype="site" objname="imu" name="forwardvector"/>
+    <framelinvel objtype="site" objname="imu" name="global_linvel"/>
+    <frameangvel objtype="site" objname="imu" name="global_angvel"/>
+    <framequat objtype="site" objname="imu" name="orientation"/>
+    <framelinvel objtype="site" objname="FR" name="FR_global_linvel"/>
+    <framelinvel objtype="site" objname="FL" name="FL_global_linvel"/>
+    <framelinvel objtype="site" objname="RR" name="RR_global_linvel"/>
+    <framelinvel objtype="site" objname="RL" name="RL_global_linvel"/>
+    <framepos objtype="site" objname="FR" name="FR_pos" reftype="site" refname="imu"/>
+    <framepos objtype="site" objname="FL" name="FL_pos" reftype="site" refname="imu"/>
+    <framepos objtype="site" objname="RR" name="RR_pos" reftype="site" refname="imu"/>
+    <framepos objtype="site" objname="RL" name="RL_pos" reftype="site" refname="imu"/>
+    <framepos objtype="site" objname="head" name="head_pos"/>
+  </sensor>
+</mujoco>

unitree_go1/meshes/calf.dae

@@ -0,0 +1,3 @@
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+<mujoco model="go1 feetonly flat terrain scene">
+  <include file="go1.xml"/>
+
+  <statistic center="0 0 0.1" extent="0.8" meansize="0.04"/>
+
+  <visual>
+    <headlight diffuse=".8 .8 .8" ambient=".2 .2 .2" specular="1 1 1"/>
+    <rgba force="1 0 0 1"/>
+    <global azimuth="120" elevation="-20"/>
+    <map force="0.01"/>
+    <scale forcewidth="0.3" contactwidth="0.5" contactheight="0.2"/>
+    <quality shadowsize="8192"/>
+  </visual>
+
+  <asset>
+    <texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="800" height="800"/>
+    <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="1 1 1" rgb2="1 1 1" markrgb="0 0 0"
+      width="300" height="300"/>
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.01" type="plane" material="groundplane" contype="1" conaffinity="0" priority="1"
+      friction="0.6" condim="3"/>
+  </worldbody>
+
+  <sensor>
+    <contact name="FR_floor_found" geom1="FR" geom2="floor" reduce="mindist" num="1" data="found"/>
+    <contact name="FL_floor_found" geom1="FL" geom2="floor" reduce="mindist" num="1" data="found"/>
+    <contact name="RL_floor_found" geom1="RL" geom2="floor" reduce="mindist" num="1" data="found"/>
+    <contact name="RR_floor_found" geom1="RR" geom2="floor" reduce="mindist" num="1" data="found"/>
+  </sensor>
+
+  <keyframe>
+    <key name="home" qpos="
+    0 0 0.278
+    1 0 0 0
+    0.1 0.9 -1.8
+    -0.1 0.9 -1.8
+    0.1 0.9 -1.8
+    -0.1 0.9 -1.8"
+      ctrl="0.1 0.9 -1.8 -0.1 0.9 -1.8 0.1 0.9 -1.8 -0.1 0.9 -1.8"/>
+    <key name="home_higher" qpos="0 0 0.31 1 0 0 0 0 0.82 -1.63 0 0.82 -1.63 0 0.82 -1.63 0 0.82 -1.63"
+      ctrl="0 0.82 -1.63 0 0.82 -1.63 0 0.82 -1.63 0 0.82 -1.63"/>
+    <key
+    name="footstand"
+    qpos='
+    0 0 0.54
+    0.8 0 -0.8 0
+    0 0.82 -1.6 0 0.82 -1.68 0 1.82 -1.16 0.0 1.82 -1.16'
+    ctrl='0 0.82 -1.6 0 0.82 -1.68 0 1.82 -1.16 0.0 1.82 -1.16'/>
+    <key name="handstand"
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+      0.8 0 0.8 0
+      0 -0.686 -1.16
+      0 -0.686 -1.16
+      0 1.7 -1.853
+      0 1.7 -1.853"
+      ctrl="0 -0.686 -1.16 0 -0.686 -1.16 0 1.7 -1.853 0 1.7 -1.853"/>
+    <key name="pre_recovery"
+      qpos="-0.0318481 -0.000215369 0.0579031 1 -2.70738e-05 6.06169e-05 0.000231261 -0.352275 1.18554 -2.80738 0.360892 1.1806 -2.80281 -0.381197 1.16812 -2.79123 0.391054 1.1622 -2.78576"
+      ctrl="-0.352275 1.18554 -2.80738 0.360892 1.1806 -2.80281 -0.381197 1.16812 -2.79123 0.391054 1.1622 -2.78576"/>
+  </keyframe>
+</mujoco>