Expand Unitree coverage with 74 validated USD variants, H2 Plus and pinned sources (part 5)

Preserve all 40 original asset/configuration files; add source licenses, provenance, catalog, normalized URDF inputs and reproducible conversion scripts. Check all 74 converted stages for geometry/physics references, active joint and mass preservation, and 2,389 independent body poses. Simulator runtime testing remains outstanding and is documented.

sources/unitree_ros/robots/as2_description/meshes/RL_foot.STL

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+size 3465284

sources/unitree_ros/robots/as2_description/meshes/RL_hip.STL

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sources/unitree_ros/robots/as2_description/meshes/RL_thigh.STL

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+size 479784

sources/unitree_ros/robots/as2_description/meshes/RR_calf.STL

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sources/unitree_ros/robots/as2_description/meshes/RR_foot.STL

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sources/unitree_ros/robots/as2_description/meshes/RR_hip.STL

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sources/unitree_ros/robots/as2_description/meshes/RR_thigh.STL

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+oid sha256:1bcc5881b8b981cfca73f8718c1db6c2398b66fe7bb2fa6fb978cea7c8c7ec7d
+size 479284

sources/unitree_ros/robots/as2_description/meshes/base_link.STL

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+oid sha256:4ace66bb12a972a67e1dbd823b55162e6d3931d23ccf56c707370c932f297f92
+size 6311184

sources/unitree_ros/robots/as2_description/urdf/as2.urdf

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+<robot name="as2">
+
+  <!-- [CAUTION] uncomment when convert to mujoco -->
+  <mujoco>
+    <compiler meshdir="../meshes" discardvisual="false" />
+  </mujoco>
+  <link name="world"></link>
+  <joint name="floating_base_joint" type="floating">
+    <parent link="world" />
+    <child link="base_link" />
+  </joint>
+
+  <link
+    name="base_link">
+    <inertial>
+      <origin
+        xyz="0.045604 -0.0009 0.020368"
+        rpy="0 0 0" />
+      <mass
+        value="8.8" />
+      <inertia
+        ixx="0.044044"
+        ixy="1.959E-05"
+        ixz="-0.026181"
+        iyy="0.13739"
+        iyz="0.00030824"
+        izz="0.1462" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="-0.0 -0.0 0.006" rpy="0 0 0" />
+      <geometry>
+        <box size="0.2 0.224 0.14" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.283 -0.0 0.078" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.043" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.23 -0.0 0.085" rpy="0 1.68 0" />
+      <geometry>
+        <cylinder radius="0.045" length="0.06" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="FL_hip">
+    <inertial>
+      <origin
+        xyz="-0.0046547 -0.0088505 3.4235E-05"
+        rpy="0 0 0" />
+      <mass
+        value="0.695" />
+      <inertia
+        ixx="0.00045574"
+        ixy="3.269E-05"
+        ixz="-1.7E-07"
+        iyy="0.00057398"
+        iyz="8.3E-07"
+        izz="0.0005503" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/FL_hip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+
+  </link>
+  <joint
+    name="FL_hip_joint"
+    type="revolute">
+    <origin
+      xyz="0.2119 0.06 0"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="FL_hip" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.785"
+      upper="0.785"
+      effort="60.0"
+      velocity="24.0" />
+  </joint>
+  <link
+    name="FL_thigh">
+    <inertial>
+      <origin
+        xyz="-0.0060186 -0.024079 -0.0374"
+        rpy="0 0 0" />
+      <mass
+        value="1.25" />
+      <inertia
+        ixx="0.0060449"
+        ixy="0.00020856"
+        ixz="-0.00063523"
+        iyy="0.0054351"
+        iyz="0.0010644"
+        izz="0.0015788" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/FL_thigh.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.0 -0.03 0" rpy="1.571 0 0" />
+      <geometry>
+        <cylinder radius="0.04" length="0.1" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.02 -0.00 -0.09" rpy="0 0.1 0" />
+      <geometry>
+        <box size="0.045 0.03 0.14" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.02 0.00 -0.21" rpy="0 -0.77 0" />
+      <geometry>
+        <box size="0.01 0.035 0.04" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="FL_thigh_joint"
+    type="revolute">
+    <origin
+      xyz="0 0.1054 0"
+      rpy="0 0 0" />
+    <parent
+      link="FL_hip" />
+    <child
+      link="FL_thigh" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-2"
+      upper="3.492"
+      effort="60.0"
+      velocity="24.0" />
+  </joint>
+  <link
+    name="FL_calf">
+    <inertial>
+      <origin
+        xyz="0.0078616 -7.7635E-08 -0.085034"
+        rpy="0 0 0" />
+      <mass
+        value="0.22" />
+      <inertia
+        ixx="0.0010957"
+        ixy="0"
+        ixz="0.00012446"
+        iyy="0.001123"
+        iyz="0"
+        izz="4.952E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/FL_calf.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.011 -0.00 -0.08" rpy="0 -0.285 0" />
+      <geometry>
+        <cylinder radius="0.013" length="0.05" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0215 -0.00 -0.13" rpy="0 -0.1 0" />
+      <geometry>
+        <cylinder radius="0.012" length="0.06" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.02 -0.00 -0.185" rpy="0 0.15 0" />
+      <geometry>
+        <cylinder radius="0.012" length="0.055" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="FL_calf_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.212"
+      rpy="0 0 0" />
+    <parent
+      link="FL_thigh" />
+    <child
+      link="FL_calf" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-2.7677"
+      upper="-0.8133"
+      effort="90.0"
+      velocity="16.0" />
+  </joint>
+  <link
+    name="FL_foot">
+    <inertial>
+      <origin
+        xyz="0.0 0.0 0.0"
+        rpy="0 0 0" />
+      <mass
+        value="0.045" />
+      <inertia
+        ixx="1.0E-05"
+        ixy="0"
+        ixz="0"
+        iyy="1.0E-05"
+        iyz="0"
+        izz="1.0E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/FL_foot.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.69804 0.69804 0.69804 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.0 -0.00 -0.0" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.028" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="FL_foot_joint"
+    type="fixed">
+    <origin
+      xyz="0 0 -0.21344"
+      rpy="0 0 0" />
+    <parent
+      link="FL_calf" />
+    <child
+      link="FL_foot" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="FR_hip">
+    <inertial>
+      <origin
+        xyz="-0.0046547 0.0088505 3.4234E-05"
+        rpy="0 0 0" />
+      <mass
+        value="0.695" />
+      <inertia
+        ixx="0.00045574"
+        ixy="-3.269E-05"
+        ixz="-1.7E-07"
+        iyy="0.00057398"
+        iyz="-8.3E-07"
+        izz="0.0005503" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/FR_hip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+  </link>
+  <joint
+    name="FR_hip_joint"
+    type="revolute">
+    <origin
+      xyz="0.2119 -0.06 0"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="FR_hip" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.785"
+      upper="0.785"
+      effort="60.0"
+      velocity="24.0" />
+  </joint>
+  <link
+    name="FR_thigh">
+    <inertial>
+      <origin
+        xyz="-0.0060187 0.02408 -0.037399"
+        rpy="0 0 0" />
+      <mass
+        value="1.25" />
+      <inertia
+        ixx="0.006045"
+        ixy="-0.00020856"
+        ixz="-0.00063524"
+        iyy="0.0054353"
+        iyz="-0.0010645"
+        izz="0.0015788" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/FR_thigh.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.0 0.03 0" rpy="1.571 0 0" />
+      <geometry>
+        <cylinder radius="0.04" length="0.1" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.02 -0.00 -0.09" rpy="0 0.1 0" />
+      <geometry>
+        <box size="0.045 0.03 0.14" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.02 0.00 -0.21" rpy="0 -0.77 0" />
+      <geometry>
+        <box size="0.01 0.035 0.04" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="FR_thigh_joint"
+    type="revolute">
+    <origin
+      xyz="0 -0.1054 0"
+      rpy="0 0 0" />
+    <parent
+      link="FR_hip" />
+    <child
+      link="FR_thigh" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-2"
+      upper="3.492"
+      effort="60.0"
+      velocity="24.0" />
+  </joint>
+  <link
+    name="FR_calf">
+    <inertial>
+      <origin
+        xyz="0.0078616 -8.926E-08 -0.085034"
+        rpy="0 0 0" />
+      <mass
+        value="0.22" />
+      <inertia
+        ixx="0.0010957"
+        ixy="0"
+        ixz="0.00012446"
+        iyy="0.001123"
+        iyz="0"
+        izz="4.952E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/FR_calf.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.011 -0.00 -0.08" rpy="0 -0.285 0" />
+      <geometry>
+        <cylinder radius="0.013" length="0.05" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0215 -0.00 -0.13" rpy="0 -0.1 0" />
+      <geometry>
+        <cylinder radius="0.012" length="0.06" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.02 -0.00 -0.185" rpy="0 0.15 0" />
+      <geometry>
+        <cylinder radius="0.012" length="0.055" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="FR_calf_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.212"
+      rpy="0 0 0" />
+    <parent
+      link="FR_thigh" />
+    <child
+      link="FR_calf" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-2.7677"
+      upper="-0.8133"
+      effort="90.0"
+      velocity="16.0" />
+  </joint>
+  <link
+    name="FR_foot">
+    <inertial>
+      <origin
+        xyz="0.0 0.0 0.0"
+        rpy="0 0 0" />
+      <mass
+        value="0.045" />
+      <inertia
+        ixx="1.0E-05"
+        ixy="0"
+        ixz="0"
+        iyy="1.0E-05"
+        iyz="0"
+        izz="1.0E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/FR_foot.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.0 -0.00 -0.0" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.028" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="FR_foot_joint"
+    type="fixed">
+    <origin
+      xyz="0 0 -0.21344"
+      rpy="0 0 0" />
+    <parent
+      link="FR_calf" />
+    <child
+      link="FR_foot" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="RL_hip">
+    <inertial>
+      <origin
+        xyz="0.0046637 -0.0088505 -3.8901E-05"
+        rpy="0 0 0" />
+      <mass
+        value="0.695" />
+      <inertia
+        ixx="0.00045574"
+        ixy="-3.289E-05"
+        ixz="-1.8E-07"
+        iyy="0.00057392"
+        iyz="-7.3E-07"
+        izz="0.00055024" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/RL_hip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+  </link>
+  <joint
+    name="RL_hip_joint"
+    type="revolute">
+    <origin
+      xyz="-0.2119 0.06 0"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="RL_hip" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.785"
+      upper="0.785"
+      effort="60.0"
+      velocity="24.0" />
+  </joint>
+  <link
+    name="RL_thigh">
+    <inertial>
+      <origin
+        xyz="-0.0068766 -0.022228 -0.039019"
+        rpy="0 0 0" />
+      <mass
+        value="1.25" />
+      <inertia
+        ixx="0.0061346"
+        ixy="0.00017144"
+        ixz="-0.00062209"
+        iyy="0.0055602"
+        iyz="0.0010266"
+        izz="0.0015189" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/RL_thigh.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.0 -0.03 0" rpy="1.571 0 0" />
+      <geometry>
+        <cylinder radius="0.04" length="0.1" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.02 -0.00 -0.09" rpy="0 0.1 0" />
+      <geometry>
+        <box size="0.045 0.03 0.14" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.02 0.00 -0.21" rpy="0 -0.77 0" />
+      <geometry>
+        <box size="0.01 0.035 0.04" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="RL_thigh_joint"
+    type="revolute">
+    <origin
+      xyz="0 0.1054 0"
+      rpy="0 0 0" />
+    <parent
+      link="RL_hip" />
+    <child
+      link="RL_thigh" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-1.3"
+      upper="4.19"
+      effort="60.0"
+      velocity="24.0" />
+  </joint>
+  <link
+    name="RL_calf">
+    <inertial>
+      <origin
+        xyz="0.0078616 -7.7491E-08 -0.085034"
+        rpy="0 0 0" />
+      <mass
+        value="0.22" />
+      <inertia
+        ixx="0.0010957"
+        ixy="0"
+        ixz="0.00012446"
+        iyy="0.001123"
+        iyz="0"
+        izz="4.952E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/RL_calf.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.011 -0.00 -0.08" rpy="0 -0.285 0" />
+      <geometry>
+        <cylinder radius="0.013" length="0.05" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0215 -0.00 -0.13" rpy="0 -0.1 0" />
+      <geometry>
+        <cylinder radius="0.012" length="0.06" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.02 -0.00 -0.185" rpy="0 0.15 0" />
+      <geometry>
+        <cylinder radius="0.012" length="0.055" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="RL_calf_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.212"
+      rpy="0 0 0" />
+    <parent
+      link="RL_thigh" />
+    <child
+      link="RL_calf" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-2.7677"
+      upper="-0.8133"
+      effort="90.0"
+      velocity="16.0" />
+  </joint>
+  <link
+    name="RL_foot">
+    <inertial>
+      <origin
+        xyz="0.0 0.0 0.0"
+        rpy="0 0 0" />
+      <mass
+        value="0.045" />
+      <inertia
+        ixx="1.0E-05"
+        ixy="0"
+        ixz="0"
+        iyy="1.0E-05"
+        iyz="0"
+        izz="1.0E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/RL_foot.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.69804 0.69804 0.69804 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.0 -0.00 -0.0" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.028" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="RL_foot_joint"
+    type="fixed">
+    <origin
+      xyz="0 0 -0.21344"
+      rpy="0 0 0" />
+    <parent
+      link="RL_calf" />
+    <child
+      link="RL_foot" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="RR_hip">
+    <inertial>
+      <origin
+        xyz="0.0046637 0.0088505 -3.89E-05"
+        rpy="0 0 0" />
+      <mass
+        value="0.695" />
+      <inertia
+        ixx="0.00045574"
+        ixy="3.289E-05"
+        ixz="-1.8E-07"
+        iyy="0.00057392"
+        iyz="7.3E-07"
+        izz="0.00055024" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/RR_hip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+  </link>
+  <joint
+    name="RR_hip_joint"
+    type="revolute">
+    <origin
+      xyz="-0.2119 -0.06 0"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="RR_hip" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.785"
+      upper="0.785"
+      effort="60.0"
+      velocity="24.0" />
+  </joint>
+  <link
+    name="RR_thigh">
+    <inertial>
+      <origin
+        xyz="-0.0068763 0.022228 -0.039019"
+        rpy="0 0 0" />
+      <mass
+        value="1.25" />
+      <inertia
+        ixx="0.0061347"
+        ixy="-0.00017144"
+        ixz="-0.00062209"
+        iyy="0.0055603"
+        iyz="-0.0010266"
+        izz="0.0015189" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/RR_thigh.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.0 0.03 0" rpy="1.571 0 0" />
+      <geometry>
+        <cylinder radius="0.04" length="0.1" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.02 -0.00 -0.09" rpy="0 0.1 0" />
+      <geometry>
+        <box size="0.045 0.03 0.14" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.02 0.00 -0.21" rpy="0 -0.77 0" />
+      <geometry>
+        <box size="0.01 0.035 0.04" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="RR_thigh_joint"
+    type="revolute">
+    <origin
+      xyz="0 -0.1054 0"
+      rpy="0 0 0" />
+    <parent
+      link="RR_hip" />
+    <child
+      link="RR_thigh" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-1.3"
+      upper="4.19"
+      effort="60.0"
+      velocity="24.0" />
+  </joint>
+  <link
+    name="RR_calf">
+    <inertial>
+      <origin
+        xyz="0.0078616 -8.6653E-08 -0.085034"
+        rpy="0 0 0" />
+      <mass
+        value="0.22" />
+      <inertia
+        ixx="0.0010957"
+        ixy="0"
+        ixz="0.00012446"
+        iyy="0.001123"
+        iyz="0"
+        izz="4.952E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/RR_calf.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.011 -0.00 -0.08" rpy="0 -0.285 0" />
+      <geometry>
+        <cylinder radius="0.013" length="0.05" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0215 -0.00 -0.13" rpy="0 -0.1 0" />
+      <geometry>
+        <cylinder radius="0.012" length="0.06" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.02 -0.00 -0.185" rpy="0 0.15 0" />
+      <geometry>
+        <cylinder radius="0.012" length="0.055" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="RR_calf_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.212"
+      rpy="0 0 0" />
+    <parent
+      link="RR_thigh" />
+    <child
+      link="RR_calf" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-2.7677"
+      upper="-0.8133"
+      effort="90.0"
+      velocity="16.0" />
+  </joint>
+  <link
+    name="RR_foot">
+    <inertial>
+      <origin
+        xyz="0.0 0.0 0.0"
+        rpy="0 0 0" />
+      <mass
+        value="0.045" />
+      <inertia
+        ixx="1.0E-05"
+        ixy="0"
+        ixz="0"
+        iyy="1.0E-05"
+        iyz="0"
+        izz="1.0E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/RR_foot.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.0 -0.00 -0.0" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.028" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="RR_foot_joint"
+    type="fixed">
+    <origin
+      xyz="0 0 -0.21344"
+      rpy="0 0 0" />
+    <parent
+      link="RR_calf" />
+    <child
+      link="RR_foot" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+</robot>

sources/unitree_ros/robots/as2w_description/as2w.urdf

@@ -0,0 +1,516 @@
+<robot name="AS2W">
+  <link name="base_link">
+    <inertial>
+      <origin xyz="0.035002 -0.0007562 0.017521" rpy="0 0 0"/>
+      <mass value="10.08"/>
+      <inertia ixx="0.05069483" ixy="-0.0002906" ixz="-0.02480435" iyy="0.13822065" iyz="0.00027717" izz="0.1505824"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/base_link.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/base_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="FL_hip">
+    <inertial>
+      <origin xyz="-0.0046547 -0.0088505 3.4235E-05" rpy="0 0 0"/>
+      <mass value="0.75"/>
+      <inertia ixx="0.00049181" ixy="3.528E-05" ixz="-1.8E-07" iyy="0.0006194" iyz="9E-07" izz="0.00059384"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/FL_hip.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/FL_hip.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="FL_hip" type="revolute">
+    <origin xyz="0.2119 0.06 0" rpy="0 0 0"/>
+    <parent link="base_link"/>
+    <child link="FL_hip"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-0.785" upper="0.785" effort="60" velocity="25"/>
+  </joint>
+  <link name="FL_thigh">
+    <inertial>
+      <origin xyz="-0.0060187 -0.02408 -0.037399" rpy="0 0 0"/>
+      <mass value="1.41"/>
+      <inertia ixx="0.00681859" ixy="0.00023526" ixz="-0.00071654" iyy="0.00613083" iyz="0.00120069" izz="0.00178083"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/FL_thigh.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/FL_thigh.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="FL_thigh" type="revolute">
+    <origin xyz="0 0.1054 0" rpy="0 0 0"/>
+    <parent link="FL_hip"/>
+    <child link="FL_thigh"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-2" upper="3.492" effort="60" velocity="25"/>
+  </joint>
+  <link name="FL_calf">
+    <inertial>
+      <origin xyz="0.0015109 0.0022187 -0.16915" rpy="0 0 0"/>
+      <mass value="1.1"/>
+      <inertia ixx="0.0067061" ixy="3.87E-06" ixz="-3.5E-07" iyy="0.0067667" iyz="9.146E-05" izz="0.00061164"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/FL_calf.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/FL_calf.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="FL_calf" type="revolute">
+    <origin xyz="0 0 -0.212" rpy="0 0 0"/>
+    <parent link="FL_thigh"/>
+    <child link="FL_calf"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-2.7677" upper="-0.8133" effort="90" velocity="16.67"/>
+  </joint>
+  <link name="FL_foot">
+    <inertial>
+      <origin xyz="2.7756E-17 0.053412 8.3267E-16" rpy="0 0 0"/>
+      <mass value="0.595"/>
+      <inertia ixx="0.0014579" ixy="0" ixz="0" iyy="0.0025769" iyz="0" izz="0.0014579"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/FL_foot.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/FL_foot.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="FL_foot" type="continuous">
+    <origin xyz="0 0 -0.212" rpy="0 0 0"/>
+    <parent link="FL_calf"/>
+    <child link="FL_foot"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="15" velocity="98.47"/>
+  </joint>
+  <link name="FR_hip">
+    <inertial>
+      <origin xyz="-0.0046547 0.0088505 3.4234E-05" rpy="0 0 0"/>
+      <mass value="0.75"/>
+      <inertia ixx="0.00049181" ixy="-3.527E-05" ixz="-1.8E-07" iyy="0.0006194" iyz="-9E-07" izz="0.00059384"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/FR_hip.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/FR_hip.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="FR_hip" type="revolute">
+    <origin xyz="0.2119 -0.06 0" rpy="0 0 0"/>
+    <parent link="base_link"/>
+    <child link="FR_hip"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-0.785" upper="0.785" effort="60" velocity="25"/>
+  </joint>
+  <link name="FR_thigh">
+    <inertial>
+      <origin xyz="-0.0060187 0.02408 -0.037399" rpy="0 0 0"/>
+      <mass value="1.41"/>
+      <inertia ixx="0.00681875" ixy="-0.00023526" ixz="-0.00071655" iyy="0.00613099" iyz="-0.00120071" izz="0.00178083"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/FR_thigh.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/FR_thigh.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="FR_thigh" type="revolute">
+    <origin xyz="0 -0.1054 0" rpy="0 0 0"/>
+    <parent link="FR_hip"/>
+    <child link="FR_thigh"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-2" upper="3.492" effort="60" velocity="25"/>
+  </joint>
+  <link name="FR_calf">
+    <inertial>
+      <origin xyz="0.0015111 -0.0022187 -0.16915" rpy="0 0 0"/>
+      <mass value="1.1"/>
+      <inertia ixx="0.0067059" ixy="-3.88E-06" ixz="-3.3E-07" iyy="0.0067665" iyz="-9.144E-05" izz="0.00061165"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/FR_calf.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/FR_calf.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="FR_calf" type="revolute">
+    <origin xyz="0 0 -0.212" rpy="0 0 0"/>
+    <parent link="FR_thigh"/>
+    <child link="FR_calf"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-2.7677" upper="-0.8133" effort="90" velocity="16.67"/>
+  </joint>
+  <link name="FR_foot">
+    <inertial>
+      <origin xyz="5.5511E-17 -0.053412 8.3267E-16" rpy="0 0 0"/>
+      <mass value="0.595"/>
+      <inertia ixx="0.0014579" ixy="0" ixz="0" iyy="0.0025769" iyz="0" izz="0.0014579"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/FR_foot.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/FR_foot.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="FR_foot" type="continuous">
+    <origin xyz="0 0 -0.212" rpy="0 0 0"/>
+    <parent link="FR_calf"/>
+    <child link="FR_foot"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="15" velocity="98.47"/>
+  </joint>
+  <link name="RL_hip">
+    <inertial>
+      <origin xyz="0.0046637 -0.0088505 -3.8901E-05" rpy="0 0 0"/>
+      <mass value="0.75"/>
+      <inertia ixx="0.0004918" ixy="-3.549E-05" ixz="-2E-07" iyy="0.00061933" iyz="-7.9E-07" izz="0.00059378"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/RL_hip.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/RL_hip.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="RL_hip" type="revolute">
+    <origin xyz="-0.2119 0.06 0" rpy="0 0 0"/>
+    <parent link="base_link"/>
+    <child link="RL_hip"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-0.785" upper="0.785" effort="60" velocity="25"/>
+  </joint>
+  <link name="RL_thigh">
+    <inertial>
+      <origin xyz="-0.0068767 -0.022228 -0.039019" rpy="0 0 0"/>
+      <mass value="1.41"/>
+      <inertia ixx="0.0069198" ixy="0.00019339" ixz="-0.00070171" iyy="0.0062719" iyz="0.001158" izz="0.0017134"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/RL_thigh.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/RL_thigh.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="RL_thigh" type="revolute">
+    <origin xyz="0 0.1054 0" rpy="0 0 0"/>
+    <parent link="RL_hip"/>
+    <child link="RL_thigh"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-1.3" upper="4.19" effort="60" velocity="25"/>
+  </joint>
+  <link name="RL_calf">
+    <inertial>
+      <origin xyz="0.0010538 0.0023186 -0.18449" rpy="0 0 0"/>
+      <mass value="1.1"/>
+      <inertia ixx="0.0049046" ixy="2.76E-06" ixz="-1.873E-05" iyy="0.0050599" iyz="6.496E-05" izz="0.00054577"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/RL_calf.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/RL_calf.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="RL_calf" type="revolute">
+    <origin xyz="0 0 -0.212" rpy="0 0 0"/>
+    <parent link="RL_thigh"/>
+    <child link="RL_calf"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-2.7677" upper="-0.8133" effort="90" velocity="16.67"/>
+  </joint>
+  <link name="RL_foot">
+    <inertial>
+      <origin xyz="1.1102E-16 0.053412 8.8818E-16" rpy="0 0 0"/>
+      <mass value="0.595"/>
+      <inertia ixx="0.0014579" ixy="0" ixz="0" iyy="0.0025769" iyz="0" izz="0.0014579"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/RL_foot.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/RL_foot.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="RL_foot" type="continuous">
+    <origin xyz="0 0 -0.212" rpy="0 0 0"/>
+    <parent link="RL_calf"/>
+    <child link="RL_foot"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="15" velocity="98.47"/>
+  </joint>
+  <link name="RR_hip">
+    <inertial>
+      <origin xyz="0.0046637 0.0088505 -3.89E-05" rpy="0 0 0"/>
+      <mass value="0.75"/>
+      <inertia ixx="0.00049181" ixy="3.549E-05" ixz="-2E-07" iyy="0.00061933" iyz="7.9E-07" izz="0.00059378"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/RR_hip.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/RR_hip.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="RR_hip" type="revolute">
+    <origin xyz="-0.2119 -0.06 0" rpy="0 0 0"/>
+    <parent link="base_link"/>
+    <child link="RR_hip"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-0.785" upper="0.785" effort="60" velocity="25"/>
+  </joint>
+  <link name="RR_thigh">
+    <inertial>
+      <origin xyz="-0.0068763 0.022228 -0.039019" rpy="0 0 0"/>
+      <mass value="1.41"/>
+      <inertia ixx="0.00691991" ixy="-0.00019339" ixz="-0.00070172" iyy="0.00627201" iyz="-0.001158" izz="0.00171336"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/RR_thigh.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/RR_thigh.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="RR_thigh" type="revolute">
+    <origin xyz="0 -0.1054 0" rpy="0 0 0"/>
+    <parent link="RR_hip"/>
+    <child link="RR_thigh"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-1.3" upper="4.19" effort="60" velocity="25"/>
+  </joint>
+  <link name="RR_calf">
+    <inertial>
+      <origin xyz="0.001054 -0.0023186 -0.18449" rpy="0 0 0"/>
+      <mass value="1.1"/>
+      <inertia ixx="0.0049045" ixy="-2.77E-06" ixz="-1.872E-05" iyy="0.0050598" iyz="-6.496E-05" izz="0.00054577"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/RR_calf.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/RR_calf.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="RR_calf" type="revolute">
+    <origin xyz="0 0 -0.212" rpy="0 0 0"/>
+    <parent link="RR_thigh"/>
+    <child link="RR_calf"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-2.7677" upper="-0.8133" effort="90" velocity="16.67"/>
+  </joint>
+  <link name="RR_foot">
+    <inertial>
+      <origin xyz="1.1102E-16 -0.053412 8.8818E-16" rpy="0 0 0"/>
+      <mass value="0.595"/>
+      <inertia ixx="0.0014579" ixy="0" ixz="0" iyy="0.0025769" iyz="0" izz="0.0014579"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/RR_foot.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/RR_foot.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="RR_foot" type="continuous">
+    <origin xyz="0 0 -0.212" rpy="0 0 0"/>
+    <parent link="RR_calf"/>
+    <child link="RR_foot"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="15" velocity="98.47"/>
+  </joint>
+  <link name="JT128">
+    <inertial>
+      <origin xyz="0.0011355 0.00042838 -0.015107" rpy="0 0 0"/>
+      <mass value="0.5"/>
+      <inertia ixx="0.00053309" ixy="-3.8E-07" ixz="1.84E-06" iyy="0.00054088" iyz="1.242E-05" izz="0.00053064"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/JT128.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/JT128.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="JT128" type="fixed">
+    <origin xyz="0.27666 0 0.078863" rpy="-3.1416 1.4661 -3.1416"/>
+    <parent link="base_link"/>
+    <child link="JT128"/>
+    <axis xyz="0 0 0"/>
+  </joint>
+</robot>

sources/unitree_ros/robots/as2w_description/meshes/FL_calf.STL

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+size 2619984

sources/unitree_ros/robots/as2w_description/meshes/FL_foot.STL

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sources/unitree_ros/robots/as2w_description/meshes/FL_hip.STL

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+size 1385084

sources/unitree_ros/robots/as2w_description/meshes/FL_thigh.STL

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+size 641184

sources/unitree_ros/robots/as2w_description/meshes/FR_calf.STL

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+size 2618684

sources/unitree_ros/robots/as2w_description/meshes/FR_foot.STL

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+size 763084

sources/unitree_ros/robots/as2w_description/meshes/FR_hip.STL

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+size 1383384

sources/unitree_ros/robots/as2w_description/meshes/FR_thigh.STL

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+size 640484

sources/unitree_ros/robots/as2w_description/meshes/JT128.STL

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sources/unitree_ros/robots/as2w_description/meshes/RL_calf.STL

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sources/unitree_ros/robots/as2w_description/meshes/RL_foot.STL

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sources/unitree_ros/robots/as2w_description/meshes/RL_hip.STL

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sources/unitree_ros/robots/as2w_description/meshes/RL_thigh.STL

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+size 479784

sources/unitree_ros/robots/as2w_description/meshes/RR_calf.STL

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sources/unitree_ros/robots/as2w_description/meshes/RR_foot.STL

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+size 762384

sources/unitree_ros/robots/as2w_description/meshes/RR_hip.STL

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sources/unitree_ros/robots/as2w_description/meshes/RR_thigh.STL

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sources/unitree_ros/robots/as2w_description/meshes/base_link.STL

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+size 5202484

sources/unitree_ros/robots/b1_description/CMakeLists.txt

@@ -0,0 +1,19 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(b1_description)
+
+find_package(catkin REQUIRED COMPONENTS
+    genmsg
+    roscpp
+    std_msgs
+    tf
+)
+
+catkin_package(
+    CATKIN_DEPENDS
+)
+
+include_directories(
+    # include
+    ${Boost_INCLUDE_DIR}
+    ${catkin_INCLUDE_DIRS}
+)

sources/unitree_ros/robots/b1_description/config/robot_control.yaml

@@ -0,0 +1,70 @@
+b1_gazebo:
+    # Publish all joint states -----------------------------------
+    joint_state_controller:
+        type: joint_state_controller/JointStateController
+        publish_rate: 1000  
+
+    # FL Controllers ---------------------------------------
+    FL_hip_controller:
+        type: unitree_legged_control/UnitreeJointController
+        joint: FL_hip_joint
+        pid: {p: 100.0, i: 0.0, d: 5.0}
+
+    FL_thigh_controller:
+        type: unitree_legged_control/UnitreeJointController
+        joint: FL_thigh_joint
+        pid: {p: 300.0, i: 0.0, d: 8.0}
+
+    FL_calf_controller:
+        type: unitree_legged_control/UnitreeJointController
+        joint: FL_calf_joint
+        pid: {p: 300.0, i: 0.0, d: 8.0}
+
+    # FR Controllers ---------------------------------------
+    FR_hip_controller:
+        type: unitree_legged_control/UnitreeJointController
+        joint: FR_hip_joint
+        pid: {p: 100.0, i: 0.0, d: 5.0}
+
+    FR_thigh_controller:
+        type: unitree_legged_control/UnitreeJointController
+        joint: FR_thigh_joint
+        pid: {p: 300.0, i: 0.0, d: 8.0}
+
+    FR_calf_controller:
+        type: unitree_legged_control/UnitreeJointController
+        joint: FR_calf_joint
+        pid: {p: 300.0, i: 0.0, d: 8.0}
+
+    # RL Controllers ---------------------------------------
+    RL_hip_controller:
+        type: unitree_legged_control/UnitreeJointController
+        joint: RL_hip_joint
+        pid: {p: 100.0, i: 0.0, d: 5.0}
+
+    RL_thigh_controller:
+        type: unitree_legged_control/UnitreeJointController
+        joint: RL_thigh_joint
+        pid: {p: 300.0, i: 0.0, d: 8.0}
+
+    RL_calf_controller:
+        type: unitree_legged_control/UnitreeJointController
+        joint: RL_calf_joint
+        pid: {p: 300.0, i: 0.0, d: 8.0}
+
+    # RR Controllers ---------------------------------------
+    RR_hip_controller:
+        type: unitree_legged_control/UnitreeJointController
+        joint: RR_hip_joint
+        pid: {p: 100.0, i: 0.0, d: 5.0}
+
+    RR_thigh_controller:
+        type: unitree_legged_control/UnitreeJointController
+        joint: RR_thigh_joint
+        pid: {p: 300.0, i: 0.0, d: 8.0}
+
+    RR_calf_controller:
+        type: unitree_legged_control/UnitreeJointController
+        joint: RR_calf_joint
+        pid: {p: 300.0, i: 0.0, d: 8.0}
+

sources/unitree_ros/robots/b1_description/launch/b1_rviz.launch

@@ -0,0 +1,25 @@
+<launch>
+
+    <arg name="user_debug" default="false"/>
+    
+    <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find b1_description)/xacro/robot.xacro'
+            DEBUG:=$(arg user_debug)"/>
+
+    <!-- for higher robot_state_publisher average rate-->
+    <!-- <param name="rate" value="1000"/> -->
+
+    <!-- send fake joint values -->
+    <!--<node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher">
+        <param name="use_gui" value="TRUE"/>
+    </node>-->
+
+    <node pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" name="joint_state_publisher"/>
+
+    <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
+        <param name="publish_frequency" type="double" value="1000.0"/>
+    </node>
+
+    <node pkg="rviz" type="rviz" name="rviz" respawn="false" output="screen"
+        args="-d $(find b1_description)/launch/check_joint.rviz"/>
+
+</launch>

sources/unitree_ros/robots/b1_description/launch/check_joint.rviz

@@ -0,0 +1,315 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /RobotModel1
+        - /TF1/Frames1
+      Splitter Ratio: 0.5
+    Tree Height: 530
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 0.5
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        FL_calf:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        FL_calf_rotor:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        FL_foot:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        FL_hip:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        FL_hip_rotor:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        FL_thigh:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        FL_thigh_rotor:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        FR_calf:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        FR_calf_rotor:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        FR_foot:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        FR_hip:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        FR_hip_rotor:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        FR_thigh:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        FR_thigh_rotor:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        Link Tree Style: Links in Alphabetic Order
+        RL_calf:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RL_calf_rotor:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RL_foot:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RL_hip:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RL_hip_rotor:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RL_thigh:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RL_thigh_rotor:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RR_calf:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RR_calf_rotor:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RR_foot:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RR_hip:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RR_hip_rotor:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RR_thigh:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RR_thigh_rotor:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        base:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        imu_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        trunk:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Alpha: 1
+      Class: rviz/Axes
+      Enabled: false
+      Length: 1
+      Name: Axes
+      Radius: 0.10000000149011612
+      Reference Frame: <Fixed Frame>
+      Show Trail: false
+      Value: false
+    - Class: rviz/TF
+      Enabled: false
+      Frame Timeout: 15
+      Frames:
+        All Enabled: false
+      Marker Alpha: 1
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        {}
+      Update Interval: 0
+      Value: false
+  Enabled: true
+  Global Options:
+    Background Color: 238; 238; 238
+    Default Light: true
+    Fixed Frame: base
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 1.7572907209396362
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Field of View: 0.7853981852531433
+      Focal Point:
+        X: 0.18471483886241913
+        Y: -0.16858524084091187
+        Z: -0.1451287716627121
+      Focal Shape Fixed Size: false
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.609795868396759
+      Target Frame: <Fixed Frame>
+      Yaw: 4.128592014312744
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 759
+  Hide Left Dock: false
+  Hide Right Dock: true
+  QMainWindow State: 000000ff00000000fd0000000400000000000001b90000029dfc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000029d000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d00650072006101000001be000001900000000000000000000000010000010f000002e2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002e2000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000006400000003efc0100000002fb0000000800540069006d00650000000000000006400000042800fffffffb0000000800540069006d00650100000000000004500000000000000000000003ae0000029d00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1389
+  X: 472
+  Y: 122

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sources/unitree_ros/robots/b1_description/package.xml

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+<?xml version="1.0"?>
+<package format="2">
+    <name>b1_description</name>
+    <version>0.0.0</version>
+    <description>The b1_description package</description>
+
+    <maintainer email="b1@unitree.cc">unitree</maintainer>
+    <license>TODO</license>
+
+    <buildtool_depend>catkin</buildtool_depend>
+    <depend>roscpp</depend>
+    <depend>std_msgs</depend>
+
+</package>

sources/unitree_ros/robots/b1_description/xacro/b1.urdf

@@ -0,0 +1,1277 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from robot.xacro                    | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="b1_description">
+  <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>/aliengo_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>
+  <!-- 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>
+  <!-- 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://b1_description/meshes/trunkb.dae" scale="1 1 1"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://b1_description/meshes/trunkb.dae" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.008987 0.002243 0.003013"/>
+      <mass value="29.45"/>
+      <inertia ixx="0.183142146" ixy="-0.001379002" ixz="-0.027956055" iyy="0.756327752" iyz="0.000193774" izz="0.783777558"/>
+    </inertial>
+  </link>
+  <joint name="imu_joint" type="fixed">
+    <parent link="trunk"/>
+    <child link="imu_link"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+  </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="0.000001" 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="left_side_camera_joint" type="fixed">
+	    <parent link="trunk"/>
+	    <child link="left_side_camera_link"/>
+	    <origin rpy="-0.331612 0 0" xyz="-0.1086 0.1371 -0.03077"/>
+    </joint>
+
+    <link name="left_side_camera_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>
+    </link>
+
+	    
+    <joint name="right_side_camera_joint" type="fixed">
+	    <parent link="trunk"/>
+	    <child link="right_side_camera_link"/>
+	    <origin rpy="0.331612 0 0" xyz="-0.10190 -0.1371 -0.03077"/>
+    </joint>
+
+    <link name="right_side_camera_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>
+    </link>
+-
+    <joint name="head_camera_1_joint" type="fixed">
+	    <parent link="trunk"/>
+	    <child link="head_camera_1_link"/>
+	    <origin rpy="0 0 0" xyz="0.48883 0 0.0255"/>
+    </joint>
+
+    <link name="head_camera_1_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>
+    </link>
+
+    <joint name="head_camera_2_joint" type="fixed">
+	    <parent link="trunk"/>
+	    <child link="head_camera_2_link"/>
+	    <origin rpy="0 0 0" xyz="0.45430 0 -0.081"/>
+    </joint>
+
+    <link name="head_camera_2_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>
+    </link>
+
+    <joint name="tail_camera_joint" type="fixed">
+	    <parent link="trunk"/>
+	    <child link="tail_camera_link"/>
+	    <origin rpy="0 0 0" xyz="-0.459 0 -0.081"/>
+    </joint>
+
+    <link name="tail_camera_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>
+    </link>
+
+  <joint name="FR_hip_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0.3455 -0.072 0"/>
+    <parent link="trunk"/>
+    <child link="FR_hip"/>
+    <axis xyz="1 0 0"/>
+    <dynamics damping="0" friction="0"/>
+    <limit effort="91.0035" lower="-0.75" upper="0.75" velocity="19.69"/>
+  </joint>
+  <joint name="FR_hip_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.1955 -0.072 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://b1_description/meshes/hipb.dae" scale="1 1 1"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+    <collision>
+      <origin rpy="3.141592653589793 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://b1_description/meshes/hipb.dae" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.020298 -0.009758 0.000109"/>
+      <mass value="2.15"/>
+      <inertia ixx="0.00406608" ixy="0.000288071" ixz="-4.371e-06" iyy="0.008775259" iyz="-1.811e-06" izz="0.006060348"/>
+    </inertial>
+  </link>
+  <link name="FR_hip_rotor">
+    <visual>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.05"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.05"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="0.199"/>
+      <inertia ixx="0.00039249" ixy="0.0" ixz="0.0" iyy="0.000219397" iyz="0.0" izz="0.000219397"/>
+    </inertial>
+  </link>
+  <joint name="FR_thigh_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0 -0.12675 0"/>
+    <parent link="FR_hip"/>
+    <child link="FR_thigh"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0" friction="0"/>
+    <limit effort="93.33" lower="-1.0" upper="3.5" velocity="23.32"/>
+  </joint>
+  <joint name="FR_thigh_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 -0.00935 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://b1_description/meshes/thigh_mirrorb.dae" scale="1 1 1"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://b1_description/meshes/thigh_mirrorb.dae" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.000235 0.028704 -0.054169"/>
+      <mass value="4.3"/>
+      <inertia ixx="0.044459086" ixy="-0.000128738" ixz="-0.002343913" iyy="0.046023457" iyz="-0.006032996" izz="0.008696078"/>
+    </inertial>
+  </link>
+  <link name="FR_thigh_rotor">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.05"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.05"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="0.266"/>
+      <inertia ixx="0.000485657" ixy="0.0" ixz="0.0" iyy="0.00091885" iyz="0.0" izz="0.000485657"/>
+    </inertial>
+  </link>
+  <joint name="FR_calf_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 -0.35"/>
+    <parent link="FR_thigh"/>
+    <child link="FR_calf"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0" friction="0"/>
+    <limit effort="140" lower="-2.6" upper="-0.6" velocity="15.55"/>
+  </joint>
+  <joint name="FR_calf_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 0.0519 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://b1_description/meshes/calfb.dae" scale="1 1 1"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://b1_description/meshes/calfb.dae" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.005237 0.0 -0.202805"/>
+      <mass value="1.05"/>
+      <inertia ixx="0.015011003" ixy="5.2e-08" ixz="0.000250042" iyy="0.015159462" iyz="4.61e-07" izz="0.000375749"/>
+    </inertial>
+  </link>
+  <link name="FR_calf_rotor">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.05"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.05"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="0.266"/>
+      <inertia ixx="0.000485657" ixy="0.0" ixz="0.0" iyy="0.00091885" iyz="0.0" izz="0.000485657"/>
+    </inertial>
+  </link>
+  <joint name="FR_foot_fixed" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 -0.35"/>
+    <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="0.03"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.04"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.05"/>
+      <inertia ixx="3.2000000000000005e-05" ixy="0.0" ixz="0.0" iyy="3.2000000000000005e-05" iyz="0.0" izz="3.2000000000000005e-05"/>
+    </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="0.3455 0.072 0"/>
+    <parent link="trunk"/>
+    <child link="FL_hip"/>
+    <axis xyz="1 0 0"/>
+    <dynamics damping="0" friction="0"/>
+    <limit effort="91.0035" lower="-0.75" upper="0.75" velocity="19.69"/>
+  </joint>
+  <joint name="FL_hip_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.1955 0.072 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://b1_description/meshes/hipb.dae" scale="1 1 1"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://b1_description/meshes/hipb.dae" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.020298 0.009758 0.000109"/>
+      <mass value="2.15"/>
+      <inertia ixx="0.00406608" ixy="-0.000288071" ixz="-4.371e-06" iyy="0.008775259" iyz="1.811e-06" izz="0.006060348"/>
+    </inertial>
+  </link>
+  <link name="FL_hip_rotor">
+    <visual>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.05"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.05"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="0.199"/>
+      <inertia ixx="0.00039249" ixy="0.0" ixz="0.0" iyy="0.000219397" iyz="0.0" izz="0.000219397"/>
+    </inertial>
+  </link>
+  <joint name="FL_thigh_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0.12675 0"/>
+    <parent link="FL_hip"/>
+    <child link="FL_thigh"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0" friction="0"/>
+    <limit effort="93.33" lower="-1.0" upper="3.5" velocity="23.32"/>
+  </joint>
+  <joint name="FL_thigh_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 0.00935 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://b1_description/meshes/thighb.dae" scale="1 1 1"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://b1_description/meshes/thighb.dae" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.000235 -0.028704 -0.054169"/>
+      <mass value="4.3"/>
+      <inertia ixx="0.044459086" ixy="0.000128738" ixz="-0.002343913" iyy="0.046023457" iyz="0.006032996" izz="0.008696078"/>
+    </inertial>
+  </link>
+  <link name="FL_thigh_rotor">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.05"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.05"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="0.266"/>
+      <inertia ixx="0.000485657" ixy="0.0" ixz="0.0" iyy="0.00091885" iyz="0.0" izz="0.000485657"/>
+    </inertial>
+  </link>
+  <joint name="FL_calf_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 -0.35"/>
+    <parent link="FL_thigh"/>
+    <child link="FL_calf"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0" friction="0"/>
+    <limit effort="140" lower="-2.6" upper="-0.6" velocity="15.55"/>
+  </joint>
+  <joint name="FL_calf_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 -0.0519 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://b1_description/meshes/calfb.dae" scale="1 1 1"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://b1_description/meshes/calfb.dae" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.005237 0.0 -0.202805"/>
+      <mass value="1.05"/>
+      <inertia ixx="0.015011003" ixy="5.2e-08" ixz="0.000250042" iyy="0.015159462" iyz="4.61e-07" izz="0.000375749"/>
+    </inertial>
+  </link>
+  <link name="FL_calf_rotor">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.05"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.05"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="0.266"/>
+      <inertia ixx="0.000485657" ixy="0.0" ixz="0.0" iyy="0.00091885" iyz="0.0" izz="0.000485657"/>
+    </inertial>
+  </link>
+  <joint name="FL_foot_fixed" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 -0.35"/>
+    <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="0.03"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.04"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.05"/>
+      <inertia ixx="3.2000000000000005e-05" ixy="0.0" ixz="0.0" iyy="3.2000000000000005e-05" iyz="0.0" izz="3.2000000000000005e-05"/>
+    </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="-0.3455 -0.072 0"/>
+    <parent link="trunk"/>
+    <child link="RR_hip"/>
+    <axis xyz="1 0 0"/>
+    <dynamics damping="0" friction="0"/>
+    <limit effort="91.0035" lower="-0.75" upper="0.75" velocity="19.69"/>
+  </joint>
+  <joint name="RR_hip_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.1955 -0.072 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://b1_description/meshes/hipb.dae" scale="1 1 1"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+    <collision>
+      <origin rpy="3.141592653589793 3.141592653589793 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://b1_description/meshes/hipb.dae" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.020298 -0.009758 0.000109"/>
+      <mass value="2.15"/>
+      <inertia ixx="0.00406608" ixy="-0.000288071" ixz="4.371e-06" iyy="0.008775259" iyz="-1.811e-06" izz="0.006060348"/>
+    </inertial>
+  </link>
+  <link name="RR_hip_rotor">
+    <visual>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.05"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.05"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="0.199"/>
+      <inertia ixx="0.00039249" ixy="0.0" ixz="0.0" iyy="0.000219397" iyz="0.0" izz="0.000219397"/>
+    </inertial>
+  </link>
+  <joint name="RR_thigh_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0 -0.12675 0"/>
+    <parent link="RR_hip"/>
+    <child link="RR_thigh"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0" friction="0"/>
+    <limit effort="93.33" lower="-1.0" upper="3.5" velocity="23.32"/>
+  </joint>
+  <joint name="RR_thigh_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 -0.00935 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://b1_description/meshes/thigh_mirrorb.dae" scale="1 1 1"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://b1_description/meshes/thigh_mirrorb.dae" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.000235 0.028704 -0.054169"/>
+      <mass value="4.3"/>
+      <inertia ixx="0.044459086" ixy="-0.000128738" ixz="-0.002343913" iyy="0.046023457" iyz="-0.006032996" izz="0.008696078"/>
+    </inertial>
+  </link>
+  <link name="RR_thigh_rotor">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.05"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.05"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="0.266"/>
+      <inertia ixx="0.000485657" ixy="0.0" ixz="0.0" iyy="0.00091885" iyz="0.0" izz="0.000485657"/>
+    </inertial>
+  </link>
+  <joint name="RR_calf_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 -0.35"/>
+    <parent link="RR_thigh"/>
+    <child link="RR_calf"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0" friction="0"/>
+    <limit effort="140" lower="-2.6" upper="-0.6" velocity="15.55"/>
+  </joint>
+  <joint name="RR_calf_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 0.0519 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://b1_description/meshes/calfb.dae" scale="1 1 1"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://b1_description/meshes/calfb.dae" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.005237 0.0 -0.202805"/>
+      <mass value="1.05"/>
+      <inertia ixx="0.015011003" ixy="5.2e-08" ixz="0.000250042" iyy="0.015159462" iyz="4.61e-07" izz="0.000375749"/>
+    </inertial>
+  </link>
+  <link name="RR_calf_rotor">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.05"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.05"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="0.266"/>
+      <inertia ixx="0.000485657" ixy="0.0" ixz="0.0" iyy="0.00091885" iyz="0.0" izz="0.000485657"/>
+    </inertial>
+  </link>
+  <joint name="RR_foot_fixed" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 -0.35"/>
+    <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="0.03"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.04"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.05"/>
+      <inertia ixx="3.2000000000000005e-05" ixy="0.0" ixz="0.0" iyy="3.2000000000000005e-05" iyz="0.0" izz="3.2000000000000005e-05"/>
+    </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="-0.3455 0.072 0"/>
+    <parent link="trunk"/>
+    <child link="RL_hip"/>
+    <axis xyz="1 0 0"/>
+    <dynamics damping="0" friction="0"/>
+    <limit effort="91.0035" lower="-0.75" upper="0.75" velocity="19.69"/>
+  </joint>
+  <joint name="RL_hip_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.1955 0.072 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://b1_description/meshes/hipb.dae" scale="1 1 1"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+    <collision>
+      <origin rpy="0 3.141592653589793 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://b1_description/meshes/hipb.dae" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.020298 0.009758 0.000109"/>
+      <mass value="2.15"/>
+      <inertia ixx="0.00406608" ixy="0.000288071" ixz="4.371e-06" iyy="0.008775259" iyz="1.811e-06" izz="0.006060348"/>
+    </inertial>
+  </link>
+  <link name="RL_hip_rotor">
+    <visual>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.05"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.05"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="0.199"/>
+      <inertia ixx="0.00039249" ixy="0.0" ixz="0.0" iyy="0.000219397" iyz="0.0" izz="0.000219397"/>
+    </inertial>
+  </link>
+  <joint name="RL_thigh_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0.12675 0"/>
+    <parent link="RL_hip"/>
+    <child link="RL_thigh"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0" friction="0"/>
+    <limit effort="93.33" lower="-1.0" upper="3.5" velocity="23.32"/>
+  </joint>
+  <joint name="RL_thigh_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 0.00935 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://b1_description/meshes/thighb.dae" scale="1 1 1"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://b1_description/meshes/thighb.dae" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.000235 -0.028704 -0.054169"/>
+      <mass value="4.3"/>
+      <inertia ixx="0.044459086" ixy="0.000128738" ixz="-0.002343913" iyy="0.046023457" iyz="0.006032996" izz="0.008696078"/>
+    </inertial>
+  </link>
+  <link name="RL_thigh_rotor">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.05"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.05"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="0.266"/>
+      <inertia ixx="0.000485657" ixy="0.0" ixz="0.0" iyy="0.00091885" iyz="0.0" izz="0.000485657"/>
+    </inertial>
+  </link>
+  <joint name="RL_calf_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 -0.35"/>
+    <parent link="RL_thigh"/>
+    <child link="RL_calf"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0" friction="0"/>
+    <limit effort="140" lower="-2.6" upper="-0.6" velocity="15.55"/>
+  </joint>
+  <joint name="RL_calf_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 -0.0519 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://b1_description/meshes/calfb.dae" scale="1 1 1"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://b1_description/meshes/calfb.dae" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.005237 0.0 -0.202805"/>
+      <mass value="1.05"/>
+      <inertia ixx="0.015011003" ixy="5.2e-08" ixz="0.000250042" iyy="0.015159462" iyz="4.61e-07" izz="0.000375749"/>
+    </inertial>
+  </link>
+  <link name="RL_calf_rotor">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.05"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.05"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="0.266"/>
+      <inertia ixx="0.000485657" ixy="0.0" ixz="0.0" iyy="0.00091885" iyz="0.0" izz="0.000485657"/>
+    </inertial>
+  </link>
+  <joint name="RL_foot_fixed" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 -0.35"/>
+    <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="0.03"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.04"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.05"/>
+      <inertia ixx="3.2000000000000005e-05" ixy="0.0" ixz="0.0" iyy="3.2000000000000005e-05" iyz="0.0" izz="3.2000000000000005e-05"/>
+    </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>
+  <!-- <xacro:stairs stairs="15" xpos="0" ypos="2.0" zpos="0" /> -->
+</robot>
+

sources/unitree_ros/robots/b1_description/xacro/const.xacro

@@ -0,0 +1,160 @@
+<?xml version="1.0"?>
+
+<robot name="b1_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+    <!-- Constants for robot dimensions -->
+    <xacro:property name="PI" value="3.1415926535897931"/>
+    <xacro:property name="stick_mass" value="0.00001"/>
+
+    <!-- simplified collision value -->
+    <xacro:property name="trunk_width" value="0.30"/>
+    <xacro:property name="trunk_length" value="0.647"/>
+    <xacro:property name="trunk_height" value="0.15"/>
+    <xacro:property name="hip_radius" value="0.09"/>
+    <xacro:property name="hip_length" value="0.04"/>
+    <xacro:property name="thigh_shoulder_radius" value="0.044"/>
+    <xacro:property name="thigh_shoulder_length" value="0.08"/>
+    <xacro:property name="thigh_width" value="0.05"/>
+    <xacro:property name="thigh_height" value="0.08"/>
+    <xacro:property name="calf_width" value="0.04"/>
+    <xacro:property name="calf_height" value="0.05"/>
+    <xacro:property name="foot_radius" value="0.04"/>
+    <xacro:property name="stick_radius" value="0.01"/>
+    <xacro:property name="stick_length" value="0.2"/>
+
+    <!-- kinematic value -->
+    <xacro:property name="thigh_offset" value="0.12675"/>
+    <xacro:property name="thigh_length" value="0.35"/>
+    <xacro:property name="calf_length" value="0.35"/>
+
+    <!-- leg offset from trunk center value -->
+    <xacro:property name="leg_offset_x" value="0.3455"/>
+    <xacro:property name="leg_offset_y" value="0.072"/>
+    <xacro:property name="trunk_offset_z" value="0.01675"/>
+    <xacro:property name="hip_offset" value="0.12675"/>
+
+    <!-- offset of link and rotor locations (left front) -->
+    <xacro:property name="hip_offset_x" value="0.3455"/>
+    <xacro:property name="hip_offset_y" value="0.072"/>
+    <xacro:property name="hip_offset_z" value="0.0"/>
+    <xacro:property name="hip_rotor_offset_x" value="0.1955"/>
+    <xacro:property name="hip_rotor_offset_y" value="0.072"/>
+    <xacro:property name="hip_rotor_offset_z" value="0.0"/>
+
+    <xacro:property name="thigh_offset_x" value="0"/>
+    <xacro:property name="thigh_offset_y" value="0.12675"/>
+    <xacro:property name="thigh_offset_z" value="0.0"/>
+    <xacro:property name="thigh_rotor_offset_x" value="0.0"/>
+    <xacro:property name="thigh_rotor_offset_y" value="0.00935"/>
+    <xacro:property name="thigh_rotor_offset_z" value="0.0"/>
+
+    <xacro:property name="calf_offset_x" value="0.0"/>
+    <xacro:property name="calf_offset_y" value="0.0"/>
+    <xacro:property name="calf_offset_z" value="-0.35"/>
+    <xacro:property name="calf_rotor_offset_x" value="0.0"/>
+    <xacro:property name="calf_rotor_offset_y" value="-0.0519"/>
+    <xacro:property name="calf_rotor_offset_z" value="0.0"/>
+
+
+    <!-- joint limits -->
+    <xacro:property name="damping" value="0"/>
+    <xacro:property name="friction" value="0"/>
+    <xacro:property name="hip_position_max" value="0.75"/>
+    <xacro:property name="hip_position_min" value="-0.75"/>
+    <xacro:property name="hip_velocity_max" value="19.69"/>
+    <xacro:property name="hip_torque_max" value="91.0035"/>
+    <xacro:property name="thigh_position_max" value="3.5"/>
+    <xacro:property name="thigh_position_min" value="-1.0"/>
+    <xacro:property name="thigh_velocity_max" value="23.32"/>
+    <xacro:property name="thigh_torque_max" value="93.33"/>
+    <xacro:property name="calf_position_max" value="-0.6"/>
+    <xacro:property name="calf_position_min" value="-2.6"/>
+    <xacro:property name="calf_velocity_max" value="15.55"/>
+    <xacro:property name="calf_torque_max" value="140"/>
+
+    <!-- dynamics inertial value -->
+    <!-- trunk -->
+    <xacro:property name="trunk_mass" value="29.45"/>
+    <xacro:property name="trunk_com_x" value="0.008987"/>
+    <xacro:property name="trunk_com_y" value="0.002243"/>
+    <xacro:property name="trunk_com_z" value="0.003013"/>
+    <xacro:property name="trunk_ixx" value="0.183142146"/>
+    <xacro:property name="trunk_ixy" value="-0.001379002"/>
+    <xacro:property name="trunk_ixz" value="-0.027956055"/>
+    <xacro:property name="trunk_iyy" value="0.756327752"/>
+    <xacro:property name="trunk_iyz" value="0.000193774"/>
+    <xacro:property name="trunk_izz" value="0.783777558"/>
+
+    <!-- hip (left front) -->
+    <xacro:property name="hip_mass" value="2.15"/>
+    <xacro:property name="hip_com_x" value="-0.020298"/>
+    <xacro:property name="hip_com_y" value="0.009758"/>
+    <xacro:property name="hip_com_z" value="0.000109"/>
+    <xacro:property name="hip_ixx" value="0.00406608"/>
+    <xacro:property name="hip_ixy" value="-0.000288071"/>
+    <xacro:property name="hip_ixz" value="-0.000004371"/>
+    <xacro:property name="hip_iyy" value="0.008775259"/>
+    <xacro:property name="hip_iyz" value="0.000001811"/>
+    <xacro:property name="hip_izz" value="0.006060348"/>
+
+    <xacro:property name="hip_rotor_mass" value="0.199"/>
+    <xacro:property name="hip_rotor_com_x" value="0.0"/>
+    <xacro:property name="hip_rotor_com_y" value="0.0"/>
+    <xacro:property name="hip_rotor_com_z" value="0.0"/>
+    <xacro:property name="hip_rotor_ixx" value="0.00039249"/>
+    <xacro:property name="hip_rotor_ixy" value="0.0"/>
+    <xacro:property name="hip_rotor_ixz" value="0.0"/>
+    <xacro:property name="hip_rotor_iyy" value="0.000219397"/>
+    <xacro:property name="hip_rotor_iyz" value="0.0"/>
+    <xacro:property name="hip_rotor_izz" value="0.000219397"/>
+
+    <!-- thigh -->
+    <xacro:property name="thigh_mass" value="4.3"/>
+    <xacro:property name="thigh_com_x" value="-0.000235"/>
+    <xacro:property name="thigh_com_y" value="-0.028704"/>
+    <xacro:property name="thigh_com_z" value="-0.054169"/>
+    <xacro:property name="thigh_ixx" value="0.044459086"/>
+    <xacro:property name="thigh_ixy" value="0.000128738"/>
+    <xacro:property name="thigh_ixz" value="-0.002343913"/>
+    <xacro:property name="thigh_iyy" value="0.046023457"/>
+    <xacro:property name="thigh_iyz" value="0.006032996"/>
+    <xacro:property name="thigh_izz" value="0.008696078"/>
+
+    <xacro:property name="thigh_rotor_mass" value="0.266"/>
+    <xacro:property name="thigh_rotor_com_x" value="0.0"/>
+    <xacro:property name="thigh_rotor_com_y" value="0.0"/>
+    <xacro:property name="thigh_rotor_com_z" value="0.0"/>
+    <xacro:property name="thigh_rotor_ixx" value="0.000485657"/>
+    <xacro:property name="thigh_rotor_ixy" value="0.0"/>
+    <xacro:property name="thigh_rotor_ixz" value="0.0"/>
+    <xacro:property name="thigh_rotor_iyy" value="0.00091885"/>
+    <xacro:property name="thigh_rotor_iyz" value="0.0"/>
+    <xacro:property name="thigh_rotor_izz" value="0.000485657"/>
+
+    <!-- calf -->
+    <xacro:property name="calf_mass" value="1.05"/>
+    <xacro:property name="calf_com_x" value="0.005237"/>
+    <xacro:property name="calf_com_y" value="0.0"/>
+    <xacro:property name="calf_com_z" value="-0.202805"/>
+    <xacro:property name="calf_ixx" value="0.015011003"/>
+    <xacro:property name="calf_ixy" value="0.000000052"/>
+    <xacro:property name="calf_ixz" value="0.000250042"/>
+    <xacro:property name="calf_iyy" value="0.015159462"/>
+    <xacro:property name="calf_iyz" value="0.000000461"/>
+    <xacro:property name="calf_izz" value="0.000375749"/>
+
+    <xacro:property name="calf_rotor_mass" value="0.266"/>
+    <xacro:property name="calf_rotor_com_x" value="0.0"/>
+    <xacro:property name="calf_rotor_com_y" value="0.0"/>
+    <xacro:property name="calf_rotor_com_z" value="0.0"/>
+    <xacro:property name="calf_rotor_ixx" value="0.000485657"/>
+    <xacro:property name="calf_rotor_ixy" value="0.0"/>
+    <xacro:property name="calf_rotor_ixz" value="0.0"/>
+    <xacro:property name="calf_rotor_iyy" value="0.00091885"/>
+    <xacro:property name="calf_rotor_iyz" value="0.0"/>
+    <xacro:property name="calf_rotor_izz" value="0.000485657"/>
+
+    <!-- foot -->
+    <xacro:property name="foot_mass" value="0.05"/>
+
+</robot>

sources/unitree_ros/robots/b1_description/xacro/gazebo.xacro

@@ -0,0 +1,266 @@
+<?xml version="1.0"?>
+<robot>
+    <!-- ros_control plugin -->
+    <gazebo>
+        <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
+            <robotNamespace>/b1_gazebo</robotNamespace>
+            <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
+        </plugin>
+    </gazebo>
+
+    <!-- Show the trajectory of trunk center. -->
+    <gazebo>
+        <plugin name="3dplot" filename="libLinkPlot3DPlugin.so">
+            <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>
+
+    <!-- Foot contacts. -->
+    <gazebo reference="FR_calf">
+        <sensor name="FR_foot_contact" type="contact">
+        <update_rate>100</update_rate>
+        <plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
+        <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 name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
+        <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 name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
+        <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 name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
+        <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 name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
+                <topicName>FR_foot_contact</topicName>
+            </plugin>
+        </visual>
+    </gazebo>
+    <gazebo reference="FL_foot">
+        <visual>
+            <plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
+                <topicName>FL_foot_contact</topicName>
+            </plugin>
+        </visual>
+    </gazebo>
+    <gazebo reference="RR_foot">
+        <visual>
+            <plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
+                <topicName>RR_foot_contact</topicName>
+            </plugin>
+        </visual>
+    </gazebo>
+    <gazebo reference="RL_foot">
+        <visual>
+            <plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
+                <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>
+
+</robot>

sources/unitree_ros/robots/b1_description/xacro/leg.xacro

@@ -0,0 +1,288 @@
+<?xml version="1.0"?>
+
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+    <xacro:include filename="$(find b1_description)/xacro/transmission.xacro"/>
+
+    <xacro:macro name="leg" params="name mirror mirror_dae front_hind front_hind_dae">
+
+        <joint name="${name}_hip_joint" type="revolute">
+            <xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}">
+                <origin rpy="0 0 0" xyz="${leg_offset_x} ${-leg_offset_y} 0"/>
+            </xacro:if>
+            <xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}">
+                <origin rpy="0 0 0" xyz="${leg_offset_x} ${leg_offset_y} 0"/>
+            </xacro:if>
+            <xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}">
+                <origin rpy="0 0 0" xyz="${-leg_offset_x} ${-leg_offset_y} 0"/>
+            </xacro:if>
+            <xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}">
+                <origin rpy="0 0 0" xyz="${-leg_offset_x} ${leg_offset_y} 0"/>
+            </xacro:if>
+            <parent link="trunk"/>
+            <child link="${name}_hip"/>
+            <axis xyz="1 0 0"/>
+            <dynamics damping="${damping}" friction="${friction}"/>
+            <xacro:if value="${(mirror_dae == True)}">
+                <limit effort="${hip_torque_max}" velocity="${hip_velocity_max}" lower="${hip_position_min}" upper="${hip_position_max}"/>
+            </xacro:if>
+            <xacro:if value="${(mirror_dae == False)}">
+                <limit effort="${hip_torque_max}" velocity="${hip_velocity_max}" lower="${-hip_position_max}" upper="${-hip_position_min}"/>
+            </xacro:if>            
+        </joint>
+
+        <joint name="${name}_hip_rotor_joint" type="fixed">
+            <xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}">
+                <origin rpy="0 0 0" xyz="${hip_rotor_offset_x} ${-hip_rotor_offset_y} 0"/>
+            </xacro:if>
+            <xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}">
+                <origin rpy="0 0 0" xyz="${hip_rotor_offset_x} ${hip_rotor_offset_y} 0"/>
+            </xacro:if>
+            <xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}">
+                <origin rpy="0 0 0" xyz="${-hip_rotor_offset_x} ${-hip_rotor_offset_y} 0"/>
+            </xacro:if>
+            <xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}">
+                <origin rpy="0 0 0" xyz="${-hip_rotor_offset_x} ${hip_rotor_offset_y} 0"/>
+            </xacro:if>
+            <parent link="trunk"/>
+            <child link="${name}_hip_rotor"/>         
+        </joint>
+
+        <link name="${name}_hip">
+            <visual>
+                <xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}">
+                    <origin rpy="0 0 0" xyz="0 0 0"/>
+                </xacro:if>
+                <xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}">
+                    <origin rpy="${PI} 0 0" xyz="0 0 0"/>
+                </xacro:if>
+                <xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}">
+                    <origin rpy="0 ${PI} 0" xyz="0 0 0"/>
+                </xacro:if>
+                <xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}">
+                    <origin rpy="${PI} ${PI} 0" xyz="0 0 0"/>
+                </xacro:if>
+                <geometry>
+                    <mesh filename="package://b1_description/meshes/hipb.dae" scale="1 1 1"/>
+                </geometry>
+                <material name="orange"/>
+            </visual>
+            <collision>
+                <xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}">
+                    <origin rpy="0 0 0" xyz="0 0 0"/>
+                </xacro:if>
+                <xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}">
+                    <origin rpy="${PI} 0 0" xyz="0 0 0"/>
+                </xacro:if>
+                <xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}">
+                    <origin rpy="0 ${PI} 0" xyz="0 0 0"/>
+                </xacro:if>
+                <xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}">
+                    <origin rpy="${PI} ${PI} 0" xyz="0 0 0"/>
+                </xacro:if>
+                <geometry>
+                    <mesh filename="package://b1_description/meshes/hipb.dae" scale="1 1 1"/>
+                </geometry>
+            </collision>
+            <inertial>
+                <origin rpy="0 0 0" xyz="${hip_com_x*front_hind} ${hip_com_y*mirror} ${hip_com_z}"/>
+                <mass value="${hip_mass}"/>
+                <inertia
+                    ixx="${hip_ixx}" ixy="${hip_ixy*mirror*front_hind}" ixz="${hip_ixz*front_hind}"
+                    iyy="${hip_iyy}" iyz="${hip_iyz*mirror}"
+                    izz="${hip_izz}"/>       
+            </inertial>
+        </link>
+
+        <link name="${name}_hip_rotor">
+            <visual>
+                <origin rpy="0 ${PI/2.0} 0" xyz="0 0 0"/>
+                <geometry>
+                    <cylinder length="0.02" radius="0.05"/>
+                </geometry>
+                <material name="green"/>
+            </visual>
+            <!-- <collision>
+                <origin rpy="0 ${PI/2.0} 0" xyz="0 0 0"/>
+                <geometry>
+                    <cylinder length="0.02" radius="0.05"/>
+                </geometry>
+            </collision> -->
+            <inertial>
+                <origin rpy="0 0 0" xyz="${hip_rotor_com_x} ${hip_rotor_com_y} ${hip_rotor_com_z}"/>
+                <mass value="${hip_rotor_mass}"/>
+                <inertia
+                    ixx="${hip_rotor_ixx}" ixy="${hip_rotor_ixy}" ixz="${hip_rotor_ixz}"
+                    iyy="${hip_rotor_iyy}" iyz="${hip_rotor_iyz}"
+                    izz="${hip_rotor_izz}"/>              
+            </inertial>
+        </link>
+
+        <joint name="${name}_thigh_joint" type="revolute">
+            <origin rpy="0 0 0" xyz="0 ${thigh_offset*mirror} 0"/>
+            <parent link="${name}_hip"/>
+            <child link="${name}_thigh"/>
+            <axis xyz="0 1 0"/>
+            <dynamics damping="${damping}" friction="${friction}"/>
+            <limit effort="${thigh_torque_max}" velocity="${thigh_velocity_max}" lower="${thigh_position_min}" upper="${thigh_position_max}"/>
+        </joint>
+
+        <joint name="${name}_thigh_rotor_joint" type="fixed">
+            <origin rpy="0 0 0" xyz="${thigh_rotor_offset_x} ${thigh_rotor_offset_y*mirror} 0"/>
+            <parent link="${name}_hip"/>
+            <child link="${name}_thigh_rotor"/>         
+        </joint>
+
+        <link name="${name}_thigh">
+            <visual>
+                <origin rpy="0 0 0" xyz="0 0 0"/>
+                <geometry>
+                    <xacro:if value="${mirror_dae == True}">
+                        <mesh filename="package://b1_description/meshes/thighb.dae" scale="1 1 1"/>
+                    </xacro:if>
+                    <xacro:if value="${mirror_dae == False}">
+                        <mesh filename="package://b1_description/meshes/thigh_mirrorb.dae" scale="1 1 1"/>
+                    </xacro:if>
+                </geometry>
+                <material name="orange"/>
+            </visual>
+            <collision>
+                <origin rpy="0 0 0" xyz="0 0 0"/>
+                <geometry>
+                    <xacro:if value="${mirror_dae == True}">
+                        <mesh filename="package://b1_description/meshes/thighb.dae" scale="1 1 1"/>
+                    </xacro:if>
+                    <xacro:if value="${mirror_dae == False}">
+                        <mesh filename="package://b1_description/meshes/thigh_mirrorb.dae" scale="1 1 1"/>
+                    </xacro:if>
+                </geometry>
+            </collision>
+            <inertial>
+                <origin rpy="0 0 0" xyz="${thigh_com_x} ${thigh_com_y*mirror} ${thigh_com_z}"/>
+                <mass value="${thigh_mass}"/>
+                <inertia
+                    ixx="${thigh_ixx}" ixy="${thigh_ixy*mirror}" ixz="${thigh_ixz}"
+                    iyy="${thigh_iyy}" iyz="${thigh_iyz*mirror}"
+                    izz="${thigh_izz}"/>       
+            </inertial>
+        </link>
+
+        <link name="${name}_thigh_rotor">
+            <visual>
+                <origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
+                <geometry>
+                    <cylinder length="0.02" radius="0.05"/>
+                </geometry>
+                <material name="green"/>
+            </visual>
+            <!-- <collision>
+                <origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
+                <geometry>
+                    <cylinder length="0.02" radius="0.05"/>
+                </geometry>
+            </collision> -->
+            <inertial>
+                <origin rpy="0 0 0" xyz="${thigh_rotor_com_x} ${thigh_rotor_com_y} ${thigh_rotor_com_z}"/>
+                <mass value="${thigh_rotor_mass}"/>
+                <inertia
+                    ixx="${thigh_rotor_ixx}" ixy="${thigh_rotor_ixy}" ixz="${thigh_rotor_ixz}"
+                    iyy="${thigh_rotor_iyy}" iyz="${thigh_rotor_iyz}"
+                    izz="${thigh_rotor_izz}"/>       
+            </inertial>
+        </link>
+
+        <joint name="${name}_calf_joint" type="revolute">
+            <origin rpy="0 0 0" xyz="0 0 ${-thigh_length}"/>
+            <parent link="${name}_thigh"/>
+            <child link="${name}_calf"/>
+            <axis xyz="0 1 0"/>
+            <dynamics damping="${damping}" friction="${friction}"/>
+            <limit effort="${calf_torque_max}" velocity="${calf_velocity_max}" lower="${calf_position_min}" upper="${calf_position_max}"/>
+        </joint>
+
+        <joint name="${name}_calf_rotor_joint" type="fixed">
+            <origin rpy="0 0 0" xyz="${calf_rotor_offset_x} ${calf_rotor_offset_y*mirror} 0"/>
+            <parent link="${name}_thigh"/>
+            <child link="${name}_calf_rotor"/>         
+        </joint>
+
+        <link name="${name}_calf">
+            <visual>
+                <origin rpy="0 0 0" xyz="0 0 0"/>
+                <geometry>
+                    <mesh filename="package://b1_description/meshes/calfb.dae" scale="1 1 1"/>
+                </geometry>
+                <material name="orange"/>
+            </visual>
+            <collision>
+                <origin rpy="0 0 0" xyz="0 0 0"/>
+                <geometry>
+                    <mesh filename="package://b1_description/meshes/calfb.dae" scale="1 1 1"/>
+                </geometry>
+            </collision>
+            <inertial>
+                <origin rpy="0 0 0" xyz="${calf_com_x} ${calf_com_y} ${calf_com_z}"/>
+                <mass value="${calf_mass}"/>
+                <inertia
+                    ixx="${calf_ixx}" ixy="${calf_ixy}" ixz="${calf_ixz}"
+                    iyy="${calf_iyy}" iyz="${calf_iyz}"
+                    izz="${calf_izz}"/>       
+            </inertial>
+        </link>
+
+        <link name="${name}_calf_rotor">
+            <visual>
+                <origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
+                <geometry>
+                    <cylinder length="0.02" radius="0.05"/>
+                </geometry>
+                <material name="green"/>
+            </visual>
+            <!-- <collision>
+                <origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
+                <geometry>
+                    <cylinder length="0.02" radius="0.05"/>
+                </geometry>
+            </collision> -->
+            <inertial>
+                <origin rpy="0 0 0" xyz="${calf_rotor_com_x} ${calf_rotor_com_y} ${calf_rotor_com_z}"/>
+                <mass value="${calf_rotor_mass}"/>
+                <inertia
+                    ixx="${calf_rotor_ixx}" ixy="${calf_rotor_ixy}" ixz="${calf_rotor_ixz}"
+                    iyy="${calf_rotor_iyy}" iyz="${calf_rotor_iyz}"
+                    izz="${calf_rotor_izz}"/>     
+            </inertial>
+        </link>
+
+        <joint name="${name}_foot_fixed" type="fixed">
+            <origin rpy="0 0 0" xyz="0 0 ${-(calf_length)}"/>
+            <parent link="${name}_calf"/>
+            <child link="${name}_foot"/>
+        </joint>
+
+        <link name="${name}_foot">
+            <visual>
+                <origin rpy="0 0 0" xyz="0 0 0"/>
+                <geometry>
+                    <sphere radius="${foot_radius-0.01}"/>
+                </geometry>
+                <material name="green"/>
+            </visual>
+            <collision>
+                <origin rpy="0 0 0" xyz="0 0 0"/>
+                <geometry>
+                    <sphere radius="${foot_radius}"/>
+                </geometry>
+            </collision>
+            <inertial>
+                <mass value="${foot_mass}"/>
+                <inertia
+                    ixx="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}" ixy="0.0" ixz="0.0"
+                    iyy="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}" iyz="0.0"
+                    izz="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}"/>             
+            </inertial>
+        </link>
+
+        <xacro:leg_transmission name="${name}"/>
+    </xacro:macro>
+</robot>

sources/unitree_ros/robots/b1_description/xacro/materials.xacro

@@ -0,0 +1,40 @@
+<?xml version="1.0"?>
+<robot>
+
+    <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="${233/255} ${233/255} ${216/255} 1.0"/>
+    </material>
+
+    <material name="orange">
+        <color rgba="${255/255} ${108/255} ${10/255} 1.0"/>
+    </material>
+
+    <material name="brown">
+        <color rgba="${222/255} ${207/255} ${195/255} 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>
+
+</robot>

sources/unitree_ros/robots/b1_description/xacro/robot.xacro

@@ -0,0 +1,168 @@
+<?xml version="1.0"?>
+
+<robot name="b1_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+    <xacro:include filename="$(find b1_description)/xacro/const.xacro"/>
+    <xacro:include filename="$(find b1_description)/xacro/materials.xacro"/>
+    <xacro:include filename="$(find b1_description)/xacro/leg.xacro"/>
+    <xacro:include filename="$(find b1_description)/xacro/gazebo.xacro"/>
+
+    <!-- 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="$(arg DEBUG)">
+        <link name="world"/>
+        <joint name="base_static_joint" type="fixed">
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <parent link="world"/>
+            <child link="base"/>
+        </joint>
+    </xacro:if> 
+
+    <link name="base">
+        <visual>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <box size="0.001 0.001 0.001"/>
+            </geometry>
+        </visual>
+    </link>
+
+    <joint name="floating_base" type="fixed">
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <parent link="base"/>
+        <child link="trunk"/>
+    </joint>
+
+    <link name="trunk">
+        <visual>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="package://b1_description/meshes/trunkb.dae" scale="1 1 1"/>
+            </geometry>
+            <material name="orange"/>
+        </visual>
+        <collision>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="package://b1_description/meshes/trunkb.dae" scale="1 1 1"/>
+            </geometry>
+        </collision> 
+        <inertial>
+            <origin rpy="0 0 0" xyz="${trunk_com_x} ${trunk_com_y} ${trunk_com_z}"/>
+            <mass value="${trunk_mass}"/>
+            <inertia
+                ixx="${trunk_ixx}" ixy="${trunk_ixy}" ixz="${trunk_ixz}"
+                iyy="${trunk_iyy}" iyz="${trunk_iyz}"
+                izz="${trunk_izz}"/>  
+        </inertial>
+    </link>
+
+    <joint name="imu_joint" type="fixed">
+        <parent link="trunk"/>
+        <child link="imu_link"/>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+    </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="left_side_camera_joint" type="fixed">
+	    <parent link="trunk"/>
+	    <child link="left_side_camera_link"/>
+	    <origin rpy="-0.331612 0 0" xyz="-0.1086 0.1371 -0.03077"/>
+    </joint>
+
+    <link name="left_side_camera_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>
+    </link>
+
+	    
+    <joint name="right_side_camera_joint" type="fixed">
+	    <parent link="trunk"/>
+	    <child link="right_side_camera_link"/>
+	    <origin rpy="0.331612 0 0" xyz="-0.10190 -0.1371 -0.03077"/>
+    </joint>
+
+    <link name="right_side_camera_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>
+    </link>
+-
+    <joint name="head_camera_1_joint" type="fixed">
+	    <parent link="trunk"/>
+	    <child link="head_camera_1_link"/>
+	    <origin rpy="0 0 0" xyz="0.48883 0 0.0255"/>
+    </joint>
+
+    <link name="head_camera_1_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>
+    </link>
+
+    <joint name="head_camera_2_joint" type="fixed">
+	    <parent link="trunk"/>
+	    <child link="head_camera_2_link"/>
+	    <origin rpy="0 0 0" xyz="0.45430 0 -0.081"/>
+    </joint>
+
+    <link name="head_camera_2_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>
+    </link>
+
+    <joint name="tail_camera_joint" type="fixed">
+	    <parent link="trunk"/>
+	    <child link="tail_camera_link"/>
+	    <origin rpy="0 0 0" xyz="-0.459 0 -0.081"/>
+    </joint>
+
+    <link name="tail_camera_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>
+    </link>
+
+
+    <xacro:leg name="FR" mirror="-1" mirror_dae= "False" front_hind="1"  front_hind_dae="True"  />
+    <xacro:leg name="FL" mirror="1"  mirror_dae="True"   front_hind="1"  front_hind_dae="True"  />
+    <xacro:leg name="RR" mirror="-1" mirror_dae="False"  front_hind="-1" front_hind_dae="False" />
+    <xacro:leg name="RL" mirror="1"  mirror_dae="True"   front_hind="-1" front_hind_dae="False" />
+
+    <!-- <xacro:stairs stairs="15" xpos="0" ypos="2.0" zpos="0" /> -->
+
+</robot>

sources/unitree_ros/robots/b1_description/xacro/stairs.xacro

@@ -0,0 +1,46 @@
+<?xml version="1.0"?>
+
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+    <xacro:property name="stair_length" value="0.640" />
+    <xacro:property name="stair_width" value="0.310" />
+    <xacro:property name="stair_height" value="0.170" />
+
+    <xacro:macro name="stairs" params="stairs xpos ypos zpos">
+
+        <joint name="stair_joint_origin" type="fixed">
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <parent link="world"/>
+            <child link="stair_link_${stairs}"/>
+        </joint>
+
+        <link name="stair_link_${stairs}">
+            <visual>
+                <geometry>
+                    <box size="${stair_length} ${stair_width} ${stair_height}"/>
+                </geometry>
+                <material name="grey"/>
+                <origin rpy="0 0 0" xyz="${xpos} ${ypos} ${zpos}"/>
+            </visual>
+            <collision>
+                <geometry>
+                    <box size="${stair_length} ${stair_width} ${stair_height}"/>
+                </geometry>
+            </collision>
+            <inertial>
+                <mass value="0.80"/>
+                <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
+            </inertial>
+        </link>
+
+        <xacro:if value="${stairs}">
+            <xacro:stairs stairs="${stairs-1}" xpos="0" ypos="${ypos-stair_width/2}" zpos="${zpos+stair_height}"/>
+            <joint name="stair_joint_${stairs}" type="fixed">
+                <parent link="stair_link_${stairs}"/>
+                <child link="stair_link_${stairs-1}"/>
+            </joint>
+        </xacro:if>
+
+    </xacro:macro>
+
+</robot>