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+          <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_yaw_link"/>
+          <body name="left_knee_link" pos="-0.010308 0.022549 -0.31959">
+            <inertial pos="0.00461331 -0.022549 -0.167155" quat="0.689662 0.00325283 0.00290593 0.724118" mass="4.3534" diaginertia="0.0512388 0.0510884 0.00333998"/>
+            <joint name="left_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.08725 2.53025" actuatorfrcrange="-360 360"/>
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_knee_link"/>
+            <geom size="0.025 0.175" pos="0.01 -0.022549 -0.25" type="cylinder" rgba="0.7 0.7 0.7 1"/>
+            <body name="left_ankle_roll_link" pos="0.032719 -0.023002 -0.49662">
+              <inertial pos="-0.0174063 6.424e-05 -0.0002146" quat="0.499157 0.502573 -0.497809 0.500449" mass="0.123182" diaginertia="4.00501e-05 3.43207e-05 1.44993e-05"/>
+              <joint name="left_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.349066 0.296706" actuatorfrcrange="-19 19"/>
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_ankle_roll_link"/>
+              <body name="left_ankle_pitch_link" pos="-0.014516 -0.0373 0">
+                <inertial pos="0.032059 0.0370053 -0.0288282" quat="6.19452e-05 0.72345 -3.0004e-05 0.690377" mass="0.894967" diaginertia="0.00438317 0.00410964 0.000599978"/>
+                <joint name="left_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.13446 0.610865" actuatorfrcrange="-66.88 66.88"/>
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.4 0.4 0.4 1" mesh="left_ankle_pitch_link"/>
+                <geom size="0.008" pos="-0.075 0.066 -0.05" rgba="0.4 0.4 0.4 1"/>
+                <geom size="0.008" pos="-0.075 0.007 -0.05" rgba="0.4 0.4 0.4 1"/>
+                <geom size="0.008" pos="0.1 0.08 -0.048" rgba="0.4 0.4 0.4 1"/>
+                <geom size="0.008" pos="0.1 -0.007 -0.048" rgba="0.4 0.4 0.4 1"/>
+                <geom size="0.008" pos="0.15 0.066 -0.05" rgba="0.4 0.4 0.4 1"/>
+                <geom size="0.008" pos="0.15 0.007 -0.05" rgba="0.4 0.4 0.4 1"/>
+                <geom size="0.115 0.04 0.004" pos="0.035 0.0365 -0.04" type="box" rgba="0.4 0.4 0.4 1"/>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_hip_pitch_link" pos="0 -0.08038 -0.046407" quat="0.965926 0.25882 0 0">
+      <inertial pos="0.00294368 -0.061102 -0.017351" quat="0.453883 0.89044 0.0304704 0.0133707" mass="2.8737" diaginertia="0.00537408 0.00421163 0.0036878"/>
+      <joint name="right_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.4526 2.77542" actuatorfrcrange="-360 360"/>
+      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.4 0.4 0.4 1" mesh="right_hip_pitch_link"/>
+      <body name="right_hip_roll_link" pos="0.041774 -0.0635 -0.019" quat="0.965926 -0.25882 0 0">
+        <inertial pos="-0.0175789 0.00607425 -0.041315" quat="0.165515 0.598251 0.0524355 0.782273" mass="0.75122" diaginertia="0.0023778 0.00200443 0.0015153"/>
+        <joint name="right_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.16886 0.467441" actuatorfrcrange="-360 360"/>
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hip_roll_link"/>
+        <geom size="0.05" pos="-0.038 0 0" rgba="0.7 0.7 0.7 1"/>
+        <body name="right_hip_yaw_link" pos="-0.028187 0.0095 -0.0737">
+          <inertial pos="0.00069408 0.0108659 -0.113015" quat="0.781747 0.0198649 -0.0405938 0.621956" mass="7.0875" diaginertia="0.0514013 0.0505964 0.0130063"/>
+          <joint name="right_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.827 2.827" actuatorfrcrange="-360 360"/>
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hip_yaw_link"/>
+          <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_yaw_link"/>
+          <body name="right_knee_link" pos="-0.010308 -0.022549 -0.31959">
+            <inertial pos="0.00461331 0.022549 -0.167155" quat="0.724118 0.00290593 0.00325283 0.689662" mass="4.3534" diaginertia="0.0512388 0.0510884 0.00333998"/>
+            <joint name="right_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.08725 2.53025" actuatorfrcrange="-360 360"/>
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_knee_link"/>
+            <geom size="0.025 0.175" pos="0.01 0.022549 -0.25" type="cylinder" rgba="0.7 0.7 0.7 1"/>
+            <body name="right_ankle_roll_link" pos="0.032719 0.023002 -0.49662">
+              <inertial pos="-0.0174063 -6.424e-05 -0.0002146" quat="0.502573 0.499157 -0.500449 0.497809" mass="0.123182" diaginertia="4.00501e-05 3.43207e-05 1.44993e-05"/>
+              <joint name="right_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.296706 0.349066" actuatorfrcrange="-19 19"/>
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_ankle_roll_link"/>
+              <body name="right_ankle_pitch_link" pos="-0.014516 0.0373 0">
+                <inertial pos="0.032059 -0.0370053 -0.0288282" quat="-6.19452e-05 0.72345 3.0004e-05 0.690377" mass="0.894967" diaginertia="0.00438317 0.00410964 0.000599978"/>
+                <joint name="right_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.13446 0.610865" actuatorfrcrange="-66.88 66.88"/>
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.4 0.4 0.4 1" mesh="right_ankle_pitch_link"/>
+                <geom size="0.008" pos="-0.075 -0.066 -0.05" rgba="0.4 0.4 0.4 1"/>
+                <geom size="0.008" pos="-0.075 -0.007 -0.05" rgba="0.4 0.4 0.4 1"/>
+                <geom size="0.008" pos="0.1 -0.08 -0.048" rgba="0.4 0.4 0.4 1"/>
+                <geom size="0.008" pos="0.1 0.007 -0.048" rgba="0.4 0.4 0.4 1"/>
+                <geom size="0.008" pos="0.15 -0.066 -0.05" rgba="0.4 0.4 0.4 1"/>
+                <geom size="0.008" pos="0.15 -0.007 -0.05" rgba="0.4 0.4 0.4 1"/>
+                <geom size="0.115 0.04 0.004" pos="0.035 -0.0365 -0.04" type="box" rgba="0.4 0.4 0.4 1"/>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="waist_yaw_link" pos="0 0 0.090537">
+      <inertial pos="0.00648295 1.018e-05 0.0176063" quat="0.000115436 0.720073 0.000256241 0.693898" mass="0.312936" diaginertia="0.00033891 0.00028436 0.00012018"/>
+      <joint name="waist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.7453 1.7453" actuatorfrcrange="-120 120"/>
+      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_yaw_link"/>
+      <body name="waist_roll_link" pos="0 0 0.0325">
+        <inertial pos="0 0.00061119 0" quat="0.5 0.5 -0.5 0.5" mass="0.138419" diaginertia="2.304e-05 1.668e-05 1.509e-05"/>
+        <joint name="waist_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.5236 0.5236" actuatorfrcrange="-180 180"/>
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_roll_link"/>
+        <body name="torso_link">
+          <site name="secondary_imu" size="0.01" pos="0.0 0.0 0.0"/>
+          <inertial pos="0.00740421 0.00628045 0.215575" quat="0.99932 -0.0321662 -0.00775231 0.0162839" mass="18.532" diaginertia="0.287321 0.26278 0.0934525"/>
+          <joint name="waist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.43633 0.5236" actuatorfrcrange="-180 180"/>
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="torso_link"/>
+          <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="torso_link"/>
+          <body name="head_pitch_link" pos="-0.0001147 -0.0189 0.4218">
+            <inertial pos="0.000126 0.018817 0.052939" quat="0.999996 -0.000955249 -0.00262397 -0.000580497" mass="1.82" diaginertia="0.00538697 0.00532442 0.00140982"/>
+            <joint name="head_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.5236 0.83775" actuatorfrcrange="-50 50"/>
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="head_pitch_link"/>
+            <body name="head_yaw_link" pos="0 0.0189 0.1335">
+              <inertial pos="0.023654 -0.000734 0.042315" quat="0.667311 -0.227767 -0.231751 0.670156" mass="1.3" diaginertia="0.00535274 0.00472336 0.00378091"/>
+              <joint name="head_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.7453 1.7453" actuatorfrcrange="-50 50"/>
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="head_yaw_link"/>
+              <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="head_yaw_link"/>
+            </body>
+          </body>
+          <body name="left_shoulder_pitch_link" pos="0.0030848 0.11 0.36008" quat="0.990959 0.134164 0 0">
+            <inertial pos="-0.0027817 0.050393 -0.023914" quat="0.959427 0.279803 0.00644957 0.0341716" mass="1.1927" diaginertia="0.00174925 0.00162902 0.000852428"/>
+            <joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.618 1.833" actuatorfrcrange="-130 130"/>
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_pitch_link"/>
+            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_pitch_link"/>
+            <body name="left_shoulder_roll_link" pos="-0.0032074 0.059938 -0.039865" quat="0.990959 -0.134164 0 0">
+              <inertial pos="-0.00126759 0.00399799 -0.0665267" quat="0.719226 0.0130341 -0.00543937 0.694633" mass="1.10983" diaginertia="0.00193836 0.00176489 0.00106378"/>
+              <joint name="left_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.517 2.494" actuatorfrcrange="-60 60"/>
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_roll_link"/>
+              <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_roll_link"/>
+              <body name="left_shoulder_yaw_link" pos="-0.0025601 0.0036752 -0.10421">
+                <inertial pos="0.00265957 0.0123454 -0.059622" quat="0.655577 0.0514587 -0.154929 0.737271" mass="0.352739" diaginertia="0.000897689 0.000854204 0.000287447"/>
+                <joint name="left_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-60 60"/>
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link"/>
+                <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link"/>
+                <body name="left_elbow_link" pos="0.016655 0.02211 -0.12792">
+                  <inertial pos="0.0506767 -0.0216173 -0.00672238" quat="0.162352 0.731329 0.192833 0.633732" mass="1.70612" diaginertia="0.00522743 0.00521428 0.00111897"/>
+                  <joint name="left_elbow_joint" pos="0 0 0" axis="0 1 0" range="-0.986 3.071" actuatorfrcrange="-60 60"/>
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link"/>
+                  <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link"/>
+                  <body name="left_wrist_roll_link" pos="0.13119 -0.021497 -0.013769">
+                    <inertial pos="0.035915 -0.00154506 0.00012879" quat="0.349429 0.616315 -0.3656 0.603649" mass="0.77426" diaginertia="0.000715547 0.000661189 0.000632495"/>
+                    <joint name="left_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.618 2.618" actuatorfrcrange="-60 60"/>
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link"/>
+                    <body name="left_wrist_pitch_link" pos="0.037994 0.031144 0.00045104">
+                      <inertial pos="0.0651093 -0.0317607 0.00235463" quat="0.491682 0.228754 0.718653 0.435268" mass="0.615258" diaginertia="0.000423535 0.000417983 0.000396162"/>
+                      <joint name="left_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.576 0.576" actuatorfrcrange="-10 10"/>
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link"/>
+                      <body name="left_wrist_yaw_link" pos="0.069283 -0.031045 -0.0006247">
+                        <inertial pos="0.0800267 -0.00476807 0.00340465" quat="0.488112 0.56744 0.412641 0.51912" mass="0.616082" diaginertia="0.00189912 0.00166583 0.000524241"/>
+                        <joint name="left_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.22 1.22" actuatorfrcrange="-10 10"/>
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.4 0.4 0.4 1" mesh="left_wrist_yaw_link"/>
+                        <geom type="mesh" rgba="0.4 0.4 0.4 1" mesh="left_wrist_yaw_link"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+          <body name="right_shoulder_pitch_link" pos="0.0030848 -0.11 0.36008" quat="0.990959 -0.134164 0 0">
+            <inertial pos="-0.0027814 -0.050393 -0.023914" quat="0.959425 -0.279804 0.00643587 -0.0342398" mass="1.1927" diaginertia="0.00174925 0.00162902 0.000852428"/>
+            <joint name="right_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.618 1.833" actuatorfrcrange="-130 130"/>
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_pitch_link"/>
+            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_pitch_link"/>
+            <body name="right_shoulder_roll_link" pos="-0.0032074 -0.059938 -0.039865" quat="0.990959 0.134164 0 0">
+              <inertial pos="-0.00126782 -0.0039981 -0.0665261" quat="0.694607 -0.0054503 0.0130148 0.719251" mass="1.10982" diaginertia="0.00193838 0.00176496 0.00106379"/>
+              <joint name="right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.494 0.517" actuatorfrcrange="-60 60"/>
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_roll_link"/>
+              <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_roll_link"/>
+              <body name="right_shoulder_yaw_link" pos="-0.0025601 -0.0036752 -0.10421">
+                <inertial pos="0.00266059 -0.0123451 -0.0596234" quat="0.737262 -0.154921 0.0514524 0.65559" mass="0.352742" diaginertia="0.000897692 0.000854184 0.000287444"/>
+                <joint name="right_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-60 60"/>
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link"/>
+                <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link"/>
+                <body name="right_elbow_link" pos="0.016655 -0.02211 -0.12792">
+                  <inertial pos="0.0506784 0.0216171 -0.00672338" quat="-0.1624 0.731318 -0.192894 0.633713" mass="1.70617" diaginertia="0.00522767 0.0052145 0.00111905"/>
+                  <joint name="right_elbow_joint" pos="0 0 0" axis="0 1 0" range="-0.986 3.071" actuatorfrcrange="-60 60"/>
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link"/>
+                  <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link"/>
+                  <body name="right_wrist_roll_link" pos="0.13119 0.021497 -0.013769">
+                    <inertial pos="0.0359137 0.00155865 0.00014187" quat="0.61587 0.348982 -0.602387 0.368844" mass="0.774265" diaginertia="0.00071595 0.000661595 0.000632525"/>
+                    <joint name="right_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.618 2.618" actuatorfrcrange="-60 60"/>
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link"/>
+                    <body name="right_wrist_pitch_link" pos="0.037994 -0.031144 0.00045104">
+                      <inertial pos="0.0651131 0.0317523 0.00231986" quat="0.440426 0.716762 0.242507 0.483185" mass="0.615837" diaginertia="0.000424256 0.000418373 0.000396861"/>
+                      <joint name="right_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.576 0.576" actuatorfrcrange="-10 10"/>
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link"/>
+                      <body name="right_wrist_yaw_link" pos="0.069283 0.031045 -0.0006247">
+                        <inertial pos="0.0800267 0.00476817 0.00340501" quat="0.519117 0.41264 0.567453 0.488102" mass="0.616082" diaginertia="0.00189915 0.00166585 0.00052423"/>
+                        <joint name="right_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.22 1.22" actuatorfrcrange="-10 10"/>
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.4 0.4 0.4 1" mesh="right_wrist_yaw_link"/>
+                        <geom type="mesh" rgba="0.4 0.4 0.4 1" mesh="right_wrist_yaw_link"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    </body>
+  </worldbody>
+
+  <actuator>
+    <motor name="left_hip_pitch" joint="left_hip_pitch_joint" ctrlrange="-360 360" />
+    <motor name="left_hip_roll" joint="left_hip_roll_joint" ctrlrange="-360 360" />
+    <motor name="left_hip_yaw" joint="left_hip_yaw_joint" ctrlrange="-360 360" />
+    <motor name="left_knee" joint="left_knee_joint" ctrlrange="-360 360" />
+    <motor name="left_ankle_roll" joint="left_ankle_roll_joint" ctrlrange="-19 19" />
+    <motor name="left_ankle_pitch" joint="left_ankle_pitch_joint" ctrlrange="-66.88 66.88" />
+
+    <motor name="right_hip_pitch" joint="right_hip_pitch_joint" ctrlrange="-360 360" />
+    <motor name="right_hip_roll" joint="right_hip_roll_joint" ctrlrange="-360 360" />
+    <motor name="right_hip_yaw" joint="right_hip_yaw_joint" ctrlrange="-360 360" />
+    <motor name="right_knee" joint="right_knee_joint" ctrlrange="-360 360" />
+    <motor name="right_ankle_roll" joint="right_ankle_roll_joint" ctrlrange="-19 19" />
+    <motor name="right_ankle_pitch" joint="right_ankle_pitch_joint" ctrlrange="-66.88 66.88" />
+
+    <motor name="waist_yaw" joint="waist_yaw_joint" ctrlrange="-120 120" />
+    <motor name="waist_roll" joint="waist_roll_joint" ctrlrange="-180 180" />
+    <motor name="waist_pitch" joint="waist_pitch_joint" ctrlrange="-180 180" />
+
+    <motor name="left_shoulder_pitch" joint="left_shoulder_pitch_joint" ctrlrange="-130 130" />
+    <motor name="left_shoulder_roll" joint="left_shoulder_roll_joint" ctrlrange="-60 60" />
+    <motor name="left_shoulder_yaw" joint="left_shoulder_yaw_joint" ctrlrange="-60 60" />
+    <motor name="left_elbow" joint="left_elbow_joint" ctrlrange="-60 60" />
+    <motor name="left_wrist_roll" joint="left_wrist_roll_joint" ctrlrange="-60 60" />
+    <motor name="left_wrist_pitch" joint="left_wrist_pitch_joint" ctrlrange="-10 10" />
+    <motor name="left_wrist_yaw" joint="left_wrist_yaw_joint" ctrlrange="-10 10" />
+
+    <motor name="right_shoulder_pitch" joint="right_shoulder_pitch_joint" ctrlrange="-130 130" />
+    <motor name="right_shoulder_roll" joint="right_shoulder_roll_joint" ctrlrange="-60 60" />
+    <motor name="right_shoulder_yaw" joint="right_shoulder_yaw_joint" ctrlrange="-60 60" />
+    <motor name="right_elbow" joint="right_elbow_joint" ctrlrange="-60 60" />
+    <motor name="right_wrist_roll" joint="right_wrist_roll_joint" ctrlrange="-60 60" />
+    <motor name="right_wrist_pitch" joint="right_wrist_pitch_joint" ctrlrange="-10 10" />
+    <motor name="right_wrist_yaw" joint="right_wrist_yaw_joint" ctrlrange="-10 10" />
+
+    <motor name="head_pitch" joint="head_pitch_joint" ctrlrange="-50 50" />
+    <motor name="head_yaw" joint="head_yaw_joint" ctrlrange="-50 50" />
+  </actuator>
+
+  <sensor>
+    <jointpos name="left_hip_pitch_pos" joint="left_hip_pitch_joint" />
+    <jointpos name="left_hip_roll_pos" joint="left_hip_roll_joint" />
+    <jointpos name="left_hip_yaw_pos" joint="left_hip_yaw_joint" />
+    <jointpos name="left_knee_pos" joint="left_knee_joint" />
+    <jointpos name="left_ankle_roll_pos" joint="left_ankle_roll_joint" />
+    <jointpos name="left_ankle_pitch_pos" joint="left_ankle_pitch_joint" />
+    <jointpos name="right_hip_pitch_pos" joint="right_hip_pitch_joint" />
+    <jointpos name="right_hip_roll_pos" joint="right_hip_roll_joint" />
+    <jointpos name="right_hip_yaw_pos" joint="right_hip_yaw_joint" />
+    <jointpos name="right_knee_pos" joint="right_knee_joint" />
+    <jointpos name="right_ankle_roll_pos" joint="right_ankle_roll_joint" />
+    <jointpos name="right_ankle_pitch_pos" joint="right_ankle_pitch_joint" />
+    <jointpos name="waist_yaw_pos" joint="waist_yaw_joint" />
+    <jointpos name="waist_roll_pos" joint="waist_roll_joint" />
+    <jointpos name="waist_pitch_pos" joint="waist_pitch_joint" />
+    <jointpos name="left_shoulder_pitch_pos" joint="left_shoulder_pitch_joint" />
+    <jointpos name="left_shoulder_roll_pos" joint="left_shoulder_roll_joint" />
+    <jointpos name="left_shoulder_yaw_pos" joint="left_shoulder_yaw_joint" />
+    <jointpos name="left_elbow_pos" joint="left_elbow_joint" />
+    <jointpos name="left_wrist_roll_pos" joint="left_wrist_roll_joint" />
+    <jointpos name="left_wrist_pitch_pos" joint="left_wrist_pitch_joint" />
+    <jointpos name="left_wrist_yaw_pos" joint="left_wrist_yaw_joint" />
+    <jointpos name="right_shoulder_pitch_pos" joint="right_shoulder_pitch_joint" />
+    <jointpos name="right_shoulder_roll_pos" joint="right_shoulder_roll_joint" />
+    <jointpos name="right_shoulder_yaw_pos" joint="right_shoulder_yaw_joint" />
+    <jointpos name="right_elbow_pos" joint="right_elbow_joint" />
+    <jointpos name="right_wrist_roll_pos" joint="right_wrist_roll_joint" />
+    <jointpos name="right_wrist_pitch_pos" joint="right_wrist_pitch_joint" />
+    <jointpos name="right_wrist_yaw_pos" joint="right_wrist_yaw_joint" />
+    <jointpos name="head_pitch_pos" joint="head_pitch_joint" />
+    <jointpos name="head_yaw_pos" joint="head_yaw_joint" />
+
+    <jointvel name="left_hip_pitch_vel" joint="left_hip_pitch_joint" />
+    <jointvel name="left_hip_roll_vel" joint="left_hip_roll_joint" />
+    <jointvel name="left_hip_yaw_vel" joint="left_hip_yaw_joint" />
+    <jointvel name="left_knee_vel" joint="left_knee_joint" />
+    <jointvel name="left_ankle_roll_vel" joint="left_ankle_roll_joint" />
+    <jointvel name="left_ankle_pitch_vel" joint="left_ankle_pitch_joint" />
+    <jointvel name="right_hip_pitch_vel" joint="right_hip_pitch_joint" />
+    <jointvel name="right_hip_roll_vel" joint="right_hip_roll_joint" />
+    <jointvel name="right_hip_yaw_vel" joint="right_hip_yaw_joint" />
+    <jointvel name="right_knee_vel" joint="right_knee_joint" />
+    <jointvel name="right_ankle_roll_vel" joint="right_ankle_roll_joint" />
+    <jointvel name="right_ankle_pitch_vel" joint="right_ankle_pitch_joint" />
+    <jointvel name="waist_yaw_vel" joint="waist_yaw_joint" />
+    <jointvel name="waist_roll_vel" joint="waist_roll_joint" />
+    <jointvel name="waist_pitch_vel" joint="waist_pitch_joint" />
+    <jointvel name="left_shoulder_pitch_vel" joint="left_shoulder_pitch_joint" />
+    <jointvel name="left_shoulder_roll_vel" joint="left_shoulder_roll_joint" />
+    <jointvel name="left_shoulder_yaw_vel" joint="left_shoulder_yaw_joint" />
+    <jointvel name="left_elbow_vel" joint="left_elbow_joint" />
+    <jointvel name="left_wrist_roll_vel" joint="left_wrist_roll_joint" />
+    <jointvel name="left_wrist_pitch_vel" joint="left_wrist_pitch_joint" />
+    <jointvel name="left_wrist_yaw_vel" joint="left_wrist_yaw_joint" />
+    <jointvel name="right_shoulder_pitch_vel" joint="right_shoulder_pitch_joint" />
+    <jointvel name="right_shoulder_roll_vel" joint="right_shoulder_roll_joint" />
+    <jointvel name="right_shoulder_yaw_vel" joint="right_shoulder_yaw_joint" />
+    <jointvel name="right_elbow_vel" joint="right_elbow_joint" />
+    <jointvel name="right_wrist_roll_vel" joint="right_wrist_roll_joint" />
+    <jointvel name="right_wrist_pitch_vel" joint="right_wrist_pitch_joint" />
+    <jointvel name="right_wrist_yaw_vel" joint="right_wrist_yaw_joint" />
+    <jointvel name="head_pitch_vel" joint="head_pitch_joint" />
+    <jointvel name="head_yaw_vel" joint="head_yaw_joint" />
+
+    <jointactuatorfrc name="left_hip_pitch_torque" joint="left_hip_pitch_joint" />
+    <jointactuatorfrc name="left_hip_roll_torque" joint="left_hip_roll_joint" />
+    <jointactuatorfrc name="left_hip_yaw_torque" joint="left_hip_yaw_joint" />
+    <jointactuatorfrc name="left_knee_torque" joint="left_knee_joint" />
+    <jointactuatorfrc name="left_ankle_roll_torque" joint="left_ankle_roll_joint" />
+    <jointactuatorfrc name="left_ankle_pitch_torque" joint="left_ankle_pitch_joint" />
+    <jointactuatorfrc name="right_hip_pitch_torque" joint="right_hip_pitch_joint" />
+    <jointactuatorfrc name="right_hip_roll_torque" joint="right_hip_roll_joint" />
+    <jointactuatorfrc name="right_hip_yaw_torque" joint="right_hip_yaw_joint" />
+    <jointactuatorfrc name="right_knee_torque" joint="right_knee_joint" />
+    <jointactuatorfrc name="right_ankle_roll_torque" joint="right_ankle_roll_joint" />
+    <jointactuatorfrc name="right_ankle_pitch_torque" joint="right_ankle_pitch_joint" />
+    <jointactuatorfrc name="waist_yaw_torque" joint="waist_yaw_joint" />
+    <jointactuatorfrc name="waist_roll_torque" joint="waist_roll_joint" />
+    <jointactuatorfrc name="waist_pitch_torque" joint="waist_pitch_joint" />
+    <jointactuatorfrc name="left_shoulder_pitch_torque" joint="left_shoulder_pitch_joint" />
+    <jointactuatorfrc name="left_shoulder_roll_torque" joint="left_shoulder_roll_joint" />
+    <jointactuatorfrc name="left_shoulder_yaw_torque" joint="left_shoulder_yaw_joint" />
+    <jointactuatorfrc name="left_elbow_torque" joint="left_elbow_joint" />
+    <jointactuatorfrc name="left_wrist_roll_torque" joint="left_wrist_roll_joint" />
+    <jointactuatorfrc name="left_wrist_pitch_torque" joint="left_wrist_pitch_joint" />
+    <jointactuatorfrc name="left_wrist_yaw_torque" joint="left_wrist_yaw_joint" />
+    <jointactuatorfrc name="right_shoulder_pitch_torque" joint="right_shoulder_pitch_joint" />
+    <jointactuatorfrc name="right_shoulder_roll_torque" joint="right_shoulder_roll_joint" />
+    <jointactuatorfrc name="right_shoulder_yaw_torque" joint="right_shoulder_yaw_joint" />
+    <jointactuatorfrc name="right_elbow_torque" joint="right_elbow_joint" />
+    <jointactuatorfrc name="right_wrist_roll_torque" joint="right_wrist_roll_joint" />
+    <jointactuatorfrc name="right_wrist_pitch_torque" joint="right_wrist_pitch_joint" />
+    <jointactuatorfrc name="right_wrist_yaw_torque" joint="right_wrist_yaw_joint" />
+    <jointactuatorfrc name="head_pitch_torque" joint="head_pitch_joint" />
+    <jointactuatorfrc name="head_yaw_torque" joint="head_yaw_joint" />
+
+    <framequat name="imu_quat" objtype="site" objname="imu" />
+    <gyro name="imu_gyro" site="imu" />
+    <accelerometer name="imu_acc" site="imu" />
+
+    <framepos name="frame_pos" objtype="site" objname="imu" />
+    <framelinvel name="frame_vel" objtype="site" objname="imu" />
+
+    <framequat name="secondary_imu_quat" objtype="site" objname="secondary_imu" />
+    <gyro name="secondary_imu_gyro" site="secondary_imu" noise="5e-4" cutoff="34.9" />
+    <accelerometer name="secondary_imu_acc" site="secondary_imu" noise="1e-2" cutoff="157" />
+  </sensor>
+</mujoco>
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+  <include file="h2_mujoco.xml"/>
+  <statistic center="1 0.7 1.5" extent="0.8"/>
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+</mujoco>
\ No newline at end of file
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+  <default>
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+    <mesh name="left_hip_roll_link" file="left_hip_roll_link.STL"/>
+    <mesh name="left_hip_yaw_link" file="left_hip_yaw_link.STL"/>
+    <mesh name="left_knee_link" file="left_knee_link.STL"/>
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+    <mesh name="left_ankle_B_link" file="left_ankle_B_link.STL"/>
+    <mesh name="left_ankle_B_rod_link" file="left_ankle_B_rod_link.STL"/>
+    <mesh name="left_ankle_pitch_link" file="left_ankle_pitch_link.STL"/>
+    <mesh name="left_ankle_roll_link" file="left_ankle_roll_link.STL"/>
+    <mesh name="left_ankle_constraint_A_link" file="left_ankle_constraint_A_link.STL"/>
+    <mesh name="left_ankle_constraint_B_link" file="left_ankle_constraint_B_link.STL"/>
+    <mesh name="right_hip_pitch_link" file="right_hip_pitch_link.STL"/>
+    <mesh name="right_hip_roll_link" file="right_hip_roll_link.STL"/>
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+    <mesh name="right_knee_link" file="right_knee_link.STL"/>
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+    <mesh name="right_ankle_B_link" file="right_ankle_B_link.STL"/>
+    <mesh name="right_ankle_B_rod_link" file="right_ankle_B_rod_link.STL"/>
+    <mesh name="right_ankle_pitch_link" file="right_ankle_pitch_link.STL"/>
+    <mesh name="right_ankle_roll_link" file="right_ankle_roll_link.STL"/>
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+    <mesh name="right_ankle_constraint_B_link" file="right_ankle_constraint_B_link.STL"/>
+    <mesh name="imu_in_pelvis_link" file="imu_in_pelvis_link.STL"/>
+    <mesh name="waist_roll_link" file="waist_roll_link.STL"/>
+    <mesh name="waist_yaw_link" file="waist_yaw_link.STL"/>
+    <mesh name="left_shoulder_pitch_link" file="left_shoulder_pitch_link.STL"/>
+    <mesh name="left_shoulder_roll_link" file="left_shoulder_roll_link.STL"/>
+    <mesh name="left_shoulder_yaw_link" file="left_shoulder_yaw_link.STL"/>
+    <mesh name="left_elbow_link" file="left_elbow_link.STL"/>
+    <mesh name="left_wrist_roll_link" file="left_wrist_roll_link.STL"/>
+    <mesh name="right_shoulder_pitch_link" file="right_shoulder_pitch_link.STL"/>
+    <mesh name="right_shoulder_roll_link" file="right_shoulder_roll_link.STL"/>
+    <mesh name="right_shoulder_yaw_link" file="right_shoulder_yaw_link.STL"/>
+    <mesh name="right_elbow_link" file="right_elbow_link.STL"/>
+    <mesh name="right_wrist_roll_link" file="right_wrist_roll_link.STL"/>
+    <mesh name="head_pitch_link" file="head_pitch_link.STL"/>
+    <mesh name="head_yaw_link" file="head_yaw_link.STL"/>
+  </asset>
+
+  <worldbody>
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+            <body name="right_knee_link" pos="-0.02315 -0.01866 -0.159301">
+              <inertial pos="-0.00946428 0.0182147 -0.135746" quat="0.733471 0.029549 -0.0104211 0.678998" mass="2.37477" diaginertia="0.0128449 0.0125305 0.00195841"/>
+              <joint name="right_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.17453 2.42601" actuatorfrcrange="-60 60"/>
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_knee_link"/>
+              <geom type="mesh" rgba="0.79216 0.81961 0.93333 1" mesh="right_knee_collision"/>
+              <geom pos="0.0137908 0.0205811 -0.0965262" quat="0.999002 0 0.0446656 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="1 0 0 1" mesh="right_ankle_A_link"/>
+              <geom pos="0.0263779 0.00458488 -0.101716" quat="0.999002 0 0.0446656 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="1 0 0 1" mesh="right_ankle_A_rod_link"/>
+              <geom pos="0.00785625 0.0205811 -0.162761" quat="0.999002 0 0.0446656 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0 0 1 1" mesh="right_ankle_B_link"/>
+              <geom pos="0.0204422 0.0365743 -0.167963" quat="0.999002 0 0.0446656 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0 0 1 1" mesh="right_ankle_B_rod_link"/>
+              <body name="right_ankle_pitch_link" pos="-0.0168139 0.0205811 -0.309175">
+                <inertial pos="-0.000104 0 -0.00772" quat="0.707107 0 0 0.707107" mass="0.071231" diaginertia="1.2e-05 7e-06 7e-06"/>
+                <joint name="right_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.87266 0.57596" actuatorfrcrange="-50 50"/>
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_ankle_pitch_link"/>
+                <body name="right_ankle_roll_link">
+                  <inertial pos="0.0296647 0 -0.0326975" quat="0 0.737468 0 0.675382" mass="0.481688" diaginertia="0.00126935 0.00121244 0.000230475"/>
+                  <joint name="right_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.261799 0.261799" actuatorfrcrange="-50 50"/>
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_ankle_roll_link"/>
+                  <geom size="0.09 0.025 0.0075" pos="0.04 0 -0.035" type="box" rgba="0.79216 0.81961 0.93333 1"/>
+                  <geom size="0.01" pos="-0.04 0.025 -0.045" rgba="0.79216 0.81961 0.93333 1"/>
+                  <geom size="0.01" pos="-0.04 -0.025 -0.045" rgba="0.79216 0.81961 0.93333 1"/>
+                  <geom size="0.01" pos="0.115 0.025 -0.045" rgba="0.79216 0.81961 0.93333 1"/>
+                  <geom size="0.01" pos="0.115 -0.025 -0.045" rgba="0.79216 0.81961 0.93333 1"/>
+                  <geom pos="0.021 -0.014 -0.0094" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="1 0 0 1" mesh="right_ankle_constraint_A_link"/>
+                  <geom pos="0.021 0.014 -0.0094" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0 0 1 1" mesh="right_ankle_constraint_B_link"/>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="waist_roll_link">
+        <inertial pos="0.030601 0 0.004788" quat="0.999992 0 -0.00390592 0" mass="0.920736" diaginertia="0.000806008 0.000734 0.000677992"/>
+        <joint name="waist_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.5236 0.5236" actuatorfrcrange="-60 60"/>
+        <geom pos="0.0325 0 0.049" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="waist_roll_link"/>
+        <geom pos="0.0325 0 0.049" type="mesh" rgba="0.79216 0.81961 0.93333 1" mesh="waist_roll_link"/>
+        <body name="torso_link" pos="0.0325 0 0.049">
+          <inertial pos="0.000409289 -0.000333222 0.181216" quat="0.999992 -0.000325591 0.00182329 -0.00361781" mass="7.3387" diaginertia="0.110151 0.10028 0.0271256"/>
+          <joint name="waist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-60 60"/>
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="waist_yaw_link"/>
+          <geom size="0.075 0.07 0.09" pos="-0.02 0 0.12" type="box" rgba="0.79216 0.81961 0.93333 1"/>
+          <geom pos="-0.006 0.03155 0.255" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="head_pitch_link"/>
+          <geom pos="-0.006 0.03155 0.255" type="mesh" rgba="0.79216 0.81961 0.93333 1" mesh="head_pitch_link"/>
+          <geom pos="-0.0049874 0 0.3715" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="head_yaw_link"/>
+          <geom pos="-0.0049874 0 0.3715" quat="1 0 0 0" type="mesh" rgba="0.79216 0.81961 0.93333 1" mesh="head_yaw_link"/>
+          <body name="left_shoulder_pitch_link" pos="0 0.085688 0.19749" quat="0.99144 0.130561 0 0">
+            <inertial pos="0.00294386 0.0447687 -0.0228687" quat="0.933514 0.315801 -0.107611 0.131308" mass="0.83795" diaginertia="0.000664554 0.000644431 0.000530845"/>
+            <joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.1416 2.0944" actuatorfrcrange="-60 60"/>
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_shoulder_pitch_link"/>
+            <geom type="mesh" rgba="0.79216 0.81961 0.93333 1" mesh="left_shoulder_pitch_link"/>
+            <body name="left_shoulder_roll_link" pos="0.03445 0.047132 -0.025693" quat="0.99144 -0.130561 0 0">
+              <inertial pos="-0.037828 0.003967 -0.066496" quat="0.704928 -0.0676661 -0.0976966 0.699252" mass="0.740212" diaginertia="0.00108994 0.000995148 0.000547915"/>
+              <joint name="left_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.22689 2.4784" actuatorfrcrange="-60 60"/>
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_shoulder_roll_link"/>
+              <body name="left_shoulder_yaw_link" pos="-0.03445 0.0043 -0.10835">
+                <inertial pos="0.013143 -0.004355 -0.072948" quat="0.944453 -0.083861 -0.114993 0.29623" mass="0.738441" diaginertia="0.000862551 0.000851784 0.000435665"/>
+                <joint name="left_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.9199 1.9199" actuatorfrcrange="-33 33"/>
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_shoulder_yaw_link"/>
+                <geom type="mesh" rgba="0.79216 0.81961 0.93333 1" mesh="left_shoulder_yaw_link"/>
+                <body name="left_elbow_link" pos="0.016191 0.026461 -0.082858">
+                  <inertial pos="0.072371 -0.024612 -0.011566" quat="0.590432 0.585258 0.4407 0.338595" mass="0.759419" diaginertia="0.000969031 0.000938046 0.000470923"/>
+                  <joint name="left_elbow_joint" pos="0 0 0" axis="0 1 0" range="-0.97564 2.1852" actuatorfrcrange="-33 33"/>
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_elbow_link"/>
+                  <body name="left_wrist_roll_link" pos="0.11218 -0.03002 -0.011702">
+                    <inertial pos="0.068045 -0.001688 0.001392" quat="0.442664 0.566917 0.411512 0.559742" mass="0.324767" diaginertia="0.000717953 0.000704181 0.000156865"/>
+                    <joint name="left_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.9199 1.9199" actuatorfrcrange="-33 33"/>
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_wrist_roll_link"/>
+                    <geom type="mesh" rgba="0.79216 0.81961 0.93333 1" mesh="left_wrist_roll_link"/>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+          <body name="right_shoulder_pitch_link" pos="0 -0.085688 0.19749" quat="0.99144 -0.130561 0 0">
+            <inertial pos="0.00294386 -0.0447687 -0.0228687" quat="0.933514 -0.315801 -0.107611 -0.131308" mass="0.83795" diaginertia="0.000664554 0.000644431 0.000530845"/>
+            <joint name="right_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.1416 2.0944" actuatorfrcrange="-60 60"/>
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_shoulder_pitch_link"/>
+            <geom type="mesh" rgba="0.79216 0.81961 0.93333 1" mesh="right_shoulder_pitch_link"/>
+            <body name="right_shoulder_roll_link" pos="0.03445 -0.047132 -0.025693" quat="0.99144 0.130561 0 0">
+              <inertial pos="-0.037828 -0.003967 -0.066496" quat="0.699252 -0.0976966 -0.0676661 0.704928" mass="0.740212" diaginertia="0.00108994 0.000995148 0.000547915"/>
+              <joint name="right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.47849 0.2268" actuatorfrcrange="-60 60"/>
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_shoulder_roll_link"/>
+              <body name="right_shoulder_yaw_link" pos="-0.03445 -0.0043 -0.10835">
+                <inertial pos="0.013143 0.004355 -0.072948" quat="0.944453 0.083861 -0.114993 -0.29623" mass="0.738441" diaginertia="0.000862551 0.000851784 0.000435665"/>
+                <joint name="right_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.9199 1.9199" actuatorfrcrange="-33 33"/>
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_shoulder_yaw_link"/>
+                <geom type="mesh" rgba="0.79216 0.81961 0.93333 1" mesh="right_shoulder_yaw_link"/>
+                <body name="right_elbow_link" pos="0.016191 -0.026461 -0.082858">
+                  <inertial pos="0.072371 0.024612 -0.011566" quat="0.338595 0.4407 0.585258 0.590432" mass="0.759419" diaginertia="0.000969031 0.000938046 0.000470923"/>
+                  <joint name="right_elbow_joint" pos="0 0 0" axis="0 1 0" range="-0.97564 2.1852" actuatorfrcrange="-33 33"/>
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_elbow_link"/>
+                  <body name="right_wrist_roll_link" pos="0.11218 0.03002 -0.011702">
+                    <inertial pos="0.068045 0.001688 0.001392" quat="0.559742 0.411512 0.566917 0.442664" mass="0.324767" diaginertia="0.000717953 0.000704181 0.000156865"/>
+                    <joint name="right_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.9199 1.9199" actuatorfrcrange="-33 33"/>
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_wrist_roll_link"/>
+                    <geom type="mesh" rgba="0.79216 0.81961 0.93333 1" mesh="right_wrist_roll_link"/>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="waist_pitch" pos="0 0 20">
+      <inertial pos="0.0 0.0 0.0" mass="1e-03"
+        diaginertia="1e-03 1e-03 1e-03" />
+      <joint name="waist_pitch_joint" />
+    </body>
+    <body name="left_wrist_pitch" pos="0 0 20">
+      <inertial pos="0.0 0.0 0.0" mass="1e-03"
+        diaginertia="1e-03 1e-03 1e-03" />
+      <joint name="left_wrist_pitch_joint" />
+    </body>
+    <body name="left_wrist_yaw" pos="0 0 20">
+      <inertial pos="0.0 0.0 0.0" mass="1e-03"
+        diaginertia="1e-03 1e-03 1e-03" />
+      <joint name="left_wrist_yaw_joint" />
+    </body>
+    <body name="right_wrist_pitch" pos="0 0 20">
+      <inertial pos="0.0 0.0 0.0" mass="1e-03"
+        diaginertia="1e-03 1e-03 1e-03" />
+      <joint name="right_wrist_pitch_joint" />
+    </body>
+    <body name="right_wrist_yaw" pos="0 0 20">
+      <inertial pos="0.0 0.0 0.0" mass="1e-03"
+        diaginertia="1e-03 1e-03 1e-03" />
+      <joint name="right_wrist_yaw_joint" />
+    </body>
+  </worldbody>
+  
+  <actuator>
+    <motor name="left_hip_pitch" joint="left_hip_pitch_joint" ctrlrange="-88 88" />
+    <motor name="left_hip_roll" joint="left_hip_roll_joint" ctrlrange="-88 88" />
+    <motor name="left_hip_yaw" joint="left_hip_yaw_joint" ctrlrange="-88 88" />
+    <motor name="left_knee" joint="left_knee_joint" ctrlrange="-139 139" />
+    <motor name="left_ankle_pitch" joint="left_ankle_pitch_joint" ctrlrange="-50 50" />
+    <motor name="left_ankle_roll" joint="left_ankle_roll_joint" ctrlrange="-50 50" />
+
+    <motor name="right_hip_pitch" joint="right_hip_pitch_joint" ctrlrange="-88 88" />
+    <motor name="right_hip_roll" joint="right_hip_roll_joint" ctrlrange="-88 88" />
+    <motor name="right_hip_yaw" joint="right_hip_yaw_joint" ctrlrange="-88 88" />
+    <motor name="right_knee" joint="right_knee_joint" ctrlrange="-139 139" />
+    <motor name="right_ankle_pitch" joint="right_ankle_pitch_joint" ctrlrange="-50 50" />
+    <motor name="right_ankle_roll" joint="right_ankle_roll_joint" ctrlrange="-50 50" />
+
+    <motor name="waist_roll" joint="waist_roll_joint" ctrlrange="-50 50" />
+    <motor name="waist_yaw" joint="waist_yaw_joint" ctrlrange="-88 88" />
+    <motor name="waist_pitch_joint" joint="waist_pitch_joint"/>  
+
+    <motor name="left_shoulder_pitch" joint="left_shoulder_pitch_joint" ctrlrange="-25 25" />
+    <motor name="left_shoulder_roll" joint="left_shoulder_roll_joint" ctrlrange="-25 25" />
+    <motor name="left_shoulder_yaw" joint="left_shoulder_yaw_joint" ctrlrange="-25 25" />
+    <motor name="left_elbow" joint="left_elbow_joint" ctrlrange="-25 25" />
+    <motor name="left_wrist_roll" joint="left_wrist_roll_joint" ctrlrange="-25 25" />
+    <motor name="left_wrist_pitch_joint" joint="left_wrist_pitch_joint"/>
+    <motor name="left_wrist_yaw_joint" joint="left_wrist_yaw_joint"/>
+
+    <motor name="right_shoulder_pitch" joint="right_shoulder_pitch_joint" ctrlrange="-25 25" />
+    <motor name="right_shoulder_roll" joint="right_shoulder_roll_joint" ctrlrange="-25 25" />
+    <motor name="right_shoulder_yaw" joint="right_shoulder_yaw_joint" ctrlrange="-25 25" />
+    <motor name="right_elbow" joint="right_elbow_joint" ctrlrange="-25 25" />
+    <motor name="right_wrist_roll" joint="right_wrist_roll_joint" ctrlrange="-25 25" />
+    <motor name="right_wrist_pitch_joint" joint="right_wrist_pitch_joint"/>
+    <motor name="right_wrist_yaw_joint" joint="right_wrist_yaw_joint"/>
+  </actuator>
+
+  <sensor>
+    <jointpos name="left_hip_pitch_pos" joint="left_hip_pitch_joint" />
+    <jointpos name="left_hip_roll_pos" joint="left_hip_roll_joint" />
+    <jointpos name="left_hip_yaw_pos" joint="left_hip_yaw_joint" />
+    <jointpos name="left_knee_pos" joint="left_knee_joint" />
+    <jointpos name="left_ankle_pitch_pos" joint="left_ankle_pitch_joint" />
+    <jointpos name="left_ankle_roll_pos" joint="left_ankle_roll_joint" />
+    <jointpos name="right_hip_pitch_pos" joint="right_hip_pitch_joint" />
+    <jointpos name="right_hip_roll_pos" joint="right_hip_roll_joint" />
+    <jointpos name="right_hip_yaw_pos" joint="right_hip_yaw_joint" />
+    <jointpos name="right_knee_pos" joint="right_knee_joint" />
+    <jointpos name="right_ankle_pitch_pos" joint="right_ankle_pitch_joint" />
+    <jointpos name="right_ankle_roll_pos" joint="right_ankle_roll_joint" />
+    <jointpos name="waist_roll_pos" joint="waist_roll_joint" />
+    <jointpos name="waist_yaw_pos" joint="waist_yaw_joint" />
+    <jointpos name="waist_pitch_pos" joint="waist_pitch_joint" />
+    <jointpos name="left_shoulder_pitch_pos" joint="left_shoulder_pitch_joint" />
+    <jointpos name="left_shoulder_roll_pos" joint="left_shoulder_roll_joint" />
+    <jointpos name="left_shoulder_yaw_pos" joint="left_shoulder_yaw_joint" />
+    <jointpos name="left_elbow_pos" joint="left_elbow_joint" />
+    <jointpos name="left_wrist_roll_pos" joint="left_wrist_roll_joint" />
+    <jointpos name="left_wrist_pitch_pos" joint="left_wrist_pitch_joint" />
+    <jointpos name="left_wrist_yaw_pos" joint="left_wrist_yaw_joint" />
+    <jointpos name="right_shoulder_pitch_pos" joint="right_shoulder_pitch_joint" />
+    <jointpos name="right_shoulder_roll_pos" joint="right_shoulder_roll_joint" />
+    <jointpos name="right_shoulder_yaw_pos" joint="right_shoulder_yaw_joint" />
+    <jointpos name="right_elbow_pos" joint="right_elbow_joint" />
+    <jointpos name="right_wrist_roll_pos" joint="right_wrist_roll_joint" />
+    <jointpos name="right_wrist_pitch_pos" joint="right_wrist_pitch_joint" />
+    <jointpos name="right_wrist_yaw_pos" joint="right_wrist_yaw_joint" />
+    
+    <jointvel name="left_hip_pitch_vel" joint="left_hip_pitch_joint" />
+    <jointvel name="left_hip_roll_vel" joint="left_hip_roll_joint" />
+    <jointvel name="left_hip_yaw_vel" joint="left_hip_yaw_joint" />
+    <jointvel name="left_knee_vel" joint="left_knee_joint" />
+    <jointvel name="left_ankle_pitch_vel" joint="left_ankle_pitch_joint" />
+    <jointvel name="left_ankle_roll_vel" joint="left_ankle_roll_joint" />
+    <jointvel name="right_hip_pitch_vel" joint="right_hip_pitch_joint" />
+    <jointvel name="right_hip_roll_vel" joint="right_hip_roll_joint" />
+    <jointvel name="right_hip_yaw_vel" joint="right_hip_yaw_joint" />
+    <jointvel name="right_knee_vel" joint="right_knee_joint" />
+    <jointvel name="right_ankle_pitch_vel" joint="right_ankle_pitch_joint" />
+    <jointvel name="right_ankle_roll_vel" joint="right_ankle_roll_joint" />
+    <jointvel name="waist_roll_vel" joint="waist_roll_joint" />
+    <jointvel name="waist_yaw_vel" joint="waist_yaw_joint" />
+    <jointvel name="waist_pitch_vel" joint="waist_pitch_joint" />
+    <jointvel name="left_shoulder_pitch_vel" joint="left_shoulder_pitch_joint" />
+    <jointvel name="left_shoulder_roll_vel" joint="left_shoulder_roll_joint" />
+    <jointvel name="left_shoulder_yaw_vel" joint="left_shoulder_yaw_joint" />
+    <jointvel name="left_elbow_vel" joint="left_elbow_joint" />
+    <jointvel name="left_wrist_roll_vel" joint="left_wrist_roll_joint" />
+    <jointvel name="left_wrist_pitch_vel" joint="left_wrist_pitch_joint" />
+    <jointvel name="left_wrist_yaw_vel" joint="left_wrist_yaw_joint" />
+    <jointvel name="right_shoulder_pitch_vel" joint="right_shoulder_pitch_joint" />
+    <jointvel name="right_shoulder_roll_vel" joint="right_shoulder_roll_joint" />
+    <jointvel name="right_shoulder_yaw_vel" joint="right_shoulder_yaw_joint" />
+    <jointvel name="right_elbow_vel" joint="right_elbow_joint" />
+    <jointvel name="right_wrist_roll_vel" joint="right_wrist_roll_joint" />
+    <jointvel name="right_wrist_pitch_vel" joint="right_wrist_pitch_joint" />
+    <jointvel name="right_wrist_yaw_vel" joint="right_wrist_yaw_joint" />
+
+    <jointactuatorfrc name="left_hip_pitch_torque" joint="left_hip_pitch_joint" />
+    <jointactuatorfrc name="left_hip_roll_torque" joint="left_hip_roll_joint" />
+    <jointactuatorfrc name="left_hip_yaw_torque" joint="left_hip_yaw_joint" />
+    <jointactuatorfrc name="left_knee_torque" joint="left_knee_joint" />
+    <jointactuatorfrc name="left_ankle_pitch_torque" joint="left_ankle_pitch_joint" />
+    <jointactuatorfrc name="left_ankle_roll_torque" joint="left_ankle_roll_joint" />
+    <jointactuatorfrc name="right_hip_pitch_torque" joint="right_hip_pitch_joint" />
+    <jointactuatorfrc name="right_hip_roll_torque" joint="right_hip_roll_joint" />
+    <jointactuatorfrc name="right_hip_yaw_torque" joint="right_hip_yaw_joint" />
+    <jointactuatorfrc name="right_knee_torque" joint="right_knee_joint" />
+    <jointactuatorfrc name="right_ankle_pitch_torque" joint="right_ankle_pitch_joint" />
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+version https://git-lfs.github.com/spec/v1
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+size 366584
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new file mode 100644
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/sources/unitree_mujoco/unitree_robots/r1/scene.xml b/sources/unitree_mujoco/unitree_robots/r1/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5e80d08160fc1af0472a2d914b92bfedfb42aa1a
--- /dev/null
+++ b/sources/unitree_mujoco/unitree_robots/r1/scene.xml
@@ -0,0 +1,22 @@
+<mujoco model="r1 scene">
+  <include file="R1_C++.xml"/>
+
+  <statistic center="1.0 0.7 1.0" extent="0.8"/>
+
+  <visual>
+    <headlight diffuse="0.6 0.6 0.6" ambient="0.1 0.1 0.1" specular="0.9 0.9 0.9"/>
+    <rgba haze="0.15 0.25 0.35 1"/>
+    <global azimuth="-140" elevation="-20"/>
+  </visual>
+
+  <asset>
+    <texture type="skybox" builtin="flat" rgb1="0 0 0" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+  </asset>
+
+  <worldbody>
+    <light pos="1 0 3.5" dir="0 0 -1" directional="true"/>
+    <geom name="floor" size="0 0 0.05" type="plane" material="groundplane" friction="1 1 1"/>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/sources/unitree_ros/LICENSE b/sources/unitree_ros/LICENSE
new file mode 100644
index 0000000000000000000000000000000000000000..6dfdadaa90baa4f7bea7400d3c4e8b9c784ae37f
--- /dev/null
+++ b/sources/unitree_ros/LICENSE
@@ -0,0 +1,29 @@
+BSD 3-Clause License
+
+Copyright (c) 2016-2022 HangZhou YuShu TECHNOLOGY CO.,LTD. ("Unitree Robotics")
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+* Neither the name of the copyright holder nor the names of its
+  contributors may be used to endorse or promote products derived from
+  this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
\ No newline at end of file
diff --git a/sources/unitree_ros/README.md b/sources/unitree_ros/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..faee0afc5628d7225147fc349b5e04f386a364ac
--- /dev/null
+++ b/sources/unitree_ros/README.md
@@ -0,0 +1,133 @@
+# Introduction
+Here are the ROS simulation packages for Unitree robots, You can load robots and joint controllers in Gazebo, so you can perform low-level control (control the torque, position and angular velocity) of the robot joints. Please be aware that the Gazebo simulation cannot do high-level control, namely walking. Aside from these simulation functions, you can also control your real robots in ROS with the [unitree_ros_to_real](https://github.com/unitreerobotics/unitree_ros_to_real) packages. For real robots, you can do high-level and low-level control using our ROS packages.
+
+## Packages
+
+### Robot descriptions
+
+Every robot model lives under [`robots/`](robots). See [`robots/README.md`](robots/README.md) for the model files, variants and launch files of each package.
+
+| Robot | Type | Package / model | DOF |
+| :--- | :--- | :--- | ---: |
+| A1 | Quadruped | [`a1_description`](robots/a1_description) | 12 |
+| A2 | Quadruped | [`a2_description`](robots/a2_description) | 12 |
+| AlienGo | Quadruped | [`aliengo_description`](robots/aliengo_description) | 12 |
+| As2 | Quadruped | [`as2_description`](robots/as2_description) | 12 |
+| B1 | Quadruped | [`b1_description`](robots/b1_description) | 12 |
+| B2 | Quadruped | [`b2_description`](robots/b2_description) | 12 |
+| Go1 | Quadruped | [`go1_description`](robots/go1_description) | 12 |
+| Go2 | Quadruped | [`go2_description`](robots/go2_description) | 12 |
+| Laikago | Quadruped | [`laikago_description`](robots/laikago_description) | 12 |
+| As2-W | Wheeled quadruped | [`as2w_description`](robots/as2w_description) | 12 + 4 |
+| B2-W | Wheeled quadruped | [`b2w_description`](robots/b2w_description) | 12 + 4 |
+| Go2-W | Wheeled quadruped | [`go2w_description`](robots/go2w_description) | 12 + 4 |
+| G1 | Humanoid | [`g1_description`](robots/g1_description) | 23 / 29 |
+| G1+ | Humanoid | [`g1_pl.urdf`](robots/g1_description/g1_pl.urdf) | 31 |
+| G1 with BrainCo Hand | Humanoid | [`g1_with_brainco_hand`](robots/g1_with_brainco_hand) | 61 |
+| H1 | Humanoid | [`h1_description`](robots/h1_description) | 19 (45) |
+| H1-2 | Humanoid | [`h1_2_description`](robots/h1_2_description) | 27 (51) |
+| H2 | Humanoid | [`h2_description`](robots/h2_description) | 31 |
+| H2 Plus | Humanoid | [`h2_plus`](robots/h2_plus) | 31 (75) |
+| H2-X | Humanoid | [`h2x_description`](robots/h2x_description) | 31 (37) |
+| R1 | Humanoid | [`r1_description`](robots/r1_description) | 26 |
+| R1 Air | Humanoid | [`r1_air_description`](robots/r1_air_description) | 20 |
+| G1-D | Wheeled humanoid | [`g1_d_description`](robots/g1_d_description) | 17 / 19 |
+| H2-D | Wheeled humanoid | [`h2d_description`](robots/h2d_description) | 19 |
+| R1-A7-D | Wheeled mobile manipulator | [`r1d_description`](robots/r1d_description) | 21 |
+| AlienGo with Z1 | Mobile manipulator | [`aliengoZ1_description`](robots/aliengoZ1_description) | 12 + 6 |
+| R1-7a | Robotic arm | [`r1_7a_description`](robots/r1_7a_description) | 7 |
+| R1-A5 | Dual-arm upper body | [`r1_a5_description`](robots/r1_a5_description) | 13 |
+| R1-A7 | Dual-arm upper body | [`r1_a7_description`](robots/r1_a7_description) | 17 |
+| Z1 | Robotic arm | [`z1_description`](robots/z1_description) | 6 |
+| Dex1-1 / Dex2/5 / Dex3-1 / Dex5-1 | Dexterous hands | [`dexterous_hand_description`](robots/dexterous_hand_description) | 2 / 10 / 7 / 20 |
+| B2 (MuJoCo) | Quadruped | [`b2_description_mujoco`](robots/b2_description_mujoco) | 12 |
+
+`DOF` counts the actuated joints in the model files: `23 / 29` denotes model variants, `19 (45)` is the body DOF with dexterous hands, `31 (37)` adds transmission joints, `12 + 4` adds the wheel joints, and the hand figures are actuated joints per hand. `G1+` is a URDF variant (`g1_pl.urdf`) inside `g1_description` rather than a separate package.
+
+### Controllers, simulation and messages
+
+| Package | Description |
+| :--- | :--- |
+| [`unitree_controller`](unitree_controller) | Stand/servo nodes and disturbance or pose publishers: `unitree_servo`, `unitree_external_force`, `unitree_move_kinetic` |
+| [`unitree_gazebo`](unitree_gazebo) | Gazebo launch files, worlds and plugins (foot contact force, force drawing) |
+| [`unitree_legged_control`](unitree_legged_control) | `controller_manager` plugin `UnitreeJointController` for position, velocity and torque control |
+| [`unitree_ros_to_real`](unitree_ros_to_real) | Submodule with `unitree_legged_msgs` and the real-robot ROS packages |
+
+# Dependencies
+* [ROS](https://www.ros.org/) Melodic or ROS Kinetic (has not been tested)
+* [Gazebo8](http://gazebosim.org/)
+* [unitree_legged_msgs](https://github.com/unitreerobotics/unitree_ros_to_real): `unitree_legged_msgs` is a package under [unitree_ros_to_real](https://github.com/unitreerobotics/unitree_ros_to_real).
+# Build
+<!-- If you would like to fully compile the `unitree_ros`, please run the following command to install relative packages. -->
+
+For ROS Melodic:
+```
+sudo apt-get install ros-melodic-controller-interface  ros-melodic-gazebo-ros-control ros-melodic-joint-state-controller ros-melodic-effort-controllers ros-melodic-joint-trajectory-controller
+```
+For ROS Kinetic:
+```
+sudo apt-get install ros-kinetic-controller-manager ros-kinetic-ros-control ros-kinetic-ros-controllers ros-kinetic-joint-state-controller ros-kinetic-effort-controllers ros-kinetic-velocity-controllers ros-kinetic-position-controllers ros-kinetic-robot-controllers ros-kinetic-robot-state-publisher ros-kinetic-gazebo8-ros ros-kinetic-gazebo8-ros-control ros-kinetic-gazebo8-ros-pkgs ros-kinetic-gazebo8-ros-dev
+```
+
+And open the file `unitree_gazebo/worlds/stairs.world`. At the end of the file:
+```
+<include>
+    <uri>model:///home/unitree/catkin_ws/src/unitree_ros/unitree_gazebo/worlds/building_editor_models/stairs</uri>
+</include>
+```
+Please change the path of `building_editor_models/stairs` to the real path on your PC.
+
+Then you can use catkin_make to build:
+```
+cd ~/catkin_ws
+catkin_make
+```
+
+If you face a dependency problem, you can just run `catkin_make` again.
+
+# Detail of Packages
+## unitree_legged_control:
+It contains the joints controllers for Gazebo simulation, which allows users to control joints with position, velocity and torque. Refer to "[unitree_ros/unitree_controller/src/servo.cpp](https://github.com/unitreerobotics/unitree_ros/blob/master/unitree_controller/src/servo.cpp)" for joint control examples in different modes.
+
+## The description of robots:
+Each robot has a description package under `robots/`, containing meshes plus URDF and Xacro files (and MJCF where available). The [robot table](#robot-descriptions) lists every model with its DOF; see [`robots/README.md`](robots/README.md) for variants and launch files. Take Laikago for example, you can check the model in Rviz by:
+```
+roslaunch laikago_description laikago_rviz.launch
+```
+
+## unitree_gazebo & unitree_controller:
+You can launch the Gazebo simulation with the following command:
+```
+roslaunch unitree_gazebo normal.launch rname:=a1 wname:=stairs
+```
+Where the `rname` means robot name. Robots with a complete Gazebo controller setup (`xacro/robot.xacro` and `config/robot_control.yaml`) are `laikago`, `aliengo`, `a1`, `b1`, `b2`, `go1` and `go2`; the remaining descriptions ship RViz or display launch files only. The `wname` means world name, which can be `earth`, `space` or `stairs`. And the default value of `rname` is `laikago`, while the default value of `wname` is `earth`. In Gazebo, the robot should be lying on the ground with joints not activated.
+
+### 1. Stand controller
+After launching the gazebo simulation, you can start to control the robot:
+```
+rosrun unitree_controller unitree_servo
+```
+
+And you can add external disturbances, like a push or a kick:
+```
+rosrun unitree_controller unitree_external_force
+```
+### 2. Position and pose publisher
+Here we demonstrated how to control the position and pose of robot without a controller, which should be useful in SLAM or visual development.
+
+Then run the position and pose publisher in another terminal:
+```
+rosrun unitree_controller unitree_move_kinetic
+```
+The robot will turn around the origin, which is the movement under the world coordinate frame. And inside of the source file [move_publisher.cpp](https://github.com/unitreerobotics/unitree_ros/blob/master/unitree_controller/src/move_publisher.cpp), we also provide the method to move using the robot coordinate frame. You can change the value of `def_frame` to `coord::ROBOT` and run the catkin_make again, then the `unitree_move_publisher` will move robot under its own coordinate frame.
+
+## Z1
+
+You can launch the z1 Gazebo simulation with the following command:
+
+```
+roslaunch unitree_gazebo z1.launch
+```
+
+After launching the gazebo simulation, you can start to control the z1 robot by z1_sdk.  
+see [z1_documentation](https://dev-z1.unitree.com)
\ No newline at end of file
diff --git a/sources/unitree_ros/robots/README.md b/sources/unitree_ros/robots/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..e5e9bf73016c022c9b269fd65047040364d8400c
--- /dev/null
+++ b/sources/unitree_ros/robots/README.md
@@ -0,0 +1,96 @@
+# Robot Descriptions
+
+URDF, Xacro and MJCF models for the Unitree robots supported by this workspace.
+Directories without a `package.xml` are plain model assets: they can be loaded directly in RViz or MuJoCo, but are not built by `catkin_make`.
+
+`DOF` counts the actuated joints in the model files. `n + m` means `n` body joints plus `m` wheel joints, and values in parentheses include optional dexterous hands or extra transmission joints.
+
+| Family | Packages | Robots |
+| :--- | ---: | :--- |
+| Quadrupeds | 9 | A1, A2, AlienGo, As2, B1, B2, Go1, Go2, Laikago |
+| Wheeled quadrupeds | 3 | As2-W, B2-W, Go2-W |
+| Humanoids | 9 | G1, G1+, G1 with BrainCo Hand, H1, H1-2, H2, H2 Plus, H2-X, R1, R1 Air |
+| Wheeled humanoids | 2 | G1-D, H2-D |
+| Mobile manipulators | 2 | AlienGo with Z1, R1-A7-D |
+| Robotic arms | 4 | Z1, R1-7a, R1-A5, R1-A7 |
+| Dexterous hands | 1 | Dex1-1, Dex2/5, Dex3-1, Dex5-1 |
+| MuJoCo-only | 1 | B2 |
+
+`G1+` is a model file (`g1_pl.urdf`) inside `g1_description`, so the humanoid count lists one more robot than package.
+
+## Quadrupeds
+
+| Robot | Package | Models | DOF | Notes |
+| :--- | :--- | :--- | ---: | :--- |
+| A1 | [`a1_description`](a1_description) | Xacro + URDF | 12 | `a1_rviz.launch`; Gazebo controller config |
+| A2 | [`a2_description`](a2_description) | URDF + MJCF | 12 | `a2.xml` for MuJoCo; no catkin package |
+| AlienGo | [`aliengo_description`](aliengo_description) | Xacro + URDF | 12 | `aliengo_rviz.launch`; Gazebo controller config |
+| As2 | [`as2_description`](as2_description) | URDF + MJCF | 12 | `as2.xml` for MuJoCo; no catkin package |
+| B1 | [`b1_description`](b1_description) | Xacro | 12 | `b1_rviz.launch`; Gazebo controller config |
+| B2 | [`b2_description`](b2_description) | Xacro + URDF | 12 | `display.launch`, `gazebo.launch`; Gazebo controller config |
+| Go1 | [`go1_description`](go1_description) | Xacro + URDF | 12 | `go1_rviz.launch`; Gazebo controller config |
+| Go2 | [`go2_description`](go2_description) | Xacro + URDF | 12 | `go2_rviz.launch`, `gazebo.launch`; DAE meshes |
+| Laikago | [`laikago_description`](laikago_description) | Xacro + URDF | 12 | `laikago_rviz.launch`; Gazebo controller config |
+
+## Wheeled quadrupeds
+
+| Robot | Package | Models | DOF | Notes |
+| :--- | :--- | :--- | ---: | :--- |
+| As2-W | [`as2w_description`](as2w_description) | URDF | 12 + 4 | Wheeled As2; no catkin package |
+| B2-W | [`b2w_description`](b2w_description) | Xacro + URDF | 12 + 4 | `display.launch`, `gazebo.launch`; no controller config |
+| Go2-W | [`go2w_description`](go2w_description) | URDF | 12 + 4 | `go2w_rviz.launch`, `gazebo.launch`; DAE meshes |
+
+## Humanoids
+
+| Robot | Package | Models | DOF | Notes |
+| :--- | :--- | :--- | ---: | :--- |
+| G1 | [`g1_description`](g1_description) | URDF + MJCF | 23 / 29 | 33 model files: 23/29-DOF, lock-waist, with-hand (Dex3, Inspire), dual-arm and G1-Comp variants; see its [README](g1_description/README.md) |
+| G1+ | [`g1_description`](g1_description) | URDF (`g1_pl.urdf`) | 31 | 29-DOF G1 plus a 2-DOF neck; no hands |
+| G1 with BrainCo Hand | [`g1_with_brainco_hand`](g1_with_brainco_hand) | URDF | 61 | Single 29-DOF URDF with BrainCo hands; no catkin package |
+| H1 | [`h1_description`](h1_description) | URDF + MJCF | 19 (45) | `display.launch`, `gazebo.launch`; `h1_with_hand.urdf` (45); `mjcf/` |
+| H1-2 | [`h1_2_description`](h1_2_description) | URDF + MJCF | 27 (51) | `h1_2_handless.urdf` (27), `h1_2_with_FTP_hand.urdf` (51); MJCF |
+| H2 | [`h2_description`](h2_description) | URDF + MJCF | 31 | `H2.urdf` (31), `H2-A.urdf` (19, fixed base), `H2_loop` (closed-loop ankle, 37 motor joints), DAE variant; MJCF |
+| H2 Plus | [`h2_plus`](h2_plus) | URDF | 31 (75) | 5-finger hands in the same URDF; no catkin package |
+| H2-X | [`h2x_description`](h2x_description) | URDF | 31 (37) | Adds 6 ankle motor joints; no catkin package |
+| R1 | [`r1_description`](r1_description) | URDF | 26 | Closed-loop ankle linkage; no catkin package |
+| R1 Air | [`r1_air_description`](r1_air_description) | URDF | 20 | No waist or head joints; no catkin package |
+
+## Wheeled humanoids
+
+| Robot | Package | Models | DOF | Notes |
+| :--- | :--- | :--- | ---: | :--- |
+| G1-D | [`g1_d_description`](g1_d_description) | URDF | 17 / 19 | 2-DOF lift, 7-DOF arms, optional hands; 19 DOF with the 2-wheel chassis; no catkin package |
+| H2-D | [`h2d_description`](h2d_description) | URDF | 19 | 7-DOF arms, 1-DOF waist, 2-DOF head, 2 wheels; lift and Dex1 hands in the URDF |
+
+## Mobile manipulators
+
+| Robot | Package | Models | DOF | Notes |
+| :--- | :--- | :--- | ---: | :--- |
+| AlienGo with Z1 | [`aliengoZ1_description`](aliengoZ1_description) | Xacro | 12 + 6 | Quadruped plus Z1 arm; `aliengoZ1_rviz.launch`, `aliengoZ1_gazebo.launch`; `worlds/` |
+| R1-A7-D | [`r1d_description`](r1d_description) | URDF | 21 | Wheeled R1 (`R1D` model): 2 wheels + 2-DOF lift + 17-DOF upper body; 8 passive caster joints |
+
+## Robotic arms
+
+| Robot | Package | Models | DOF | Notes |
+| :--- | :--- | :--- | ---: | :--- |
+| Z1 | [`z1_description`](z1_description) | Xacro | 6 | 6-DOF arm plus gripper; launch with `unitree_gazebo/launch/z1.launch` |
+| R1-7a | [`r1_7a_description`](r1_7a_description) | URDF | 7 | 7-DOF arm (`R1_Robotic_Arm`); no catkin package |
+| R1-A5 | [`r1_a5_description`](r1_a5_description) | URDF | 13 | Waist yaw + 5-DOF arms + 2-DOF head |
+| R1-A7 | [`r1_a7_description`](r1_a7_description) | URDF | 17 | Waist yaw + 7-DOF arms + 2-DOF head |
+
+## Dexterous hands
+
+| Hand | Package | Models | Joints | Notes |
+| :--- | :--- | :--- | ---: | :--- |
+| Dex1-1 | [`dex1_1`](dexterous_hand_description/dex1_1) | URDF | 2 | Parallel gripper with two prismatic fingers |
+| Dex2/5 | [`dex2_5`](dexterous_hand_description/dex2_5) | URDF | 10 | Left and right hands, plus G1 5010 wrist variants |
+| Dex3-1 | [`dex3_1`](dexterous_hand_description/dex3_1) | URDF | 7 | Three fingers; left and right |
+| Dex5-1 | [`dex5_1`](dexterous_hand_description/dex5_1) | URDF | 20 | Five fingers; `Dex5-URDF-L` and `Dex5-URDF-R` |
+
+## MuJoCo-only
+
+| Robot | Package | Models | DOF | Notes |
+| :--- | :--- | :--- | ---: | :--- |
+| B2 | [`b2_description_mujoco`](b2_description_mujoco) | MJCF | 12 | `xml/scene.xml` and `xml/b2.xml` |
+
+MJCF models are also bundled with `a2_description`, `as2_description`, `g1_description`, `h1_description`, `h1_2_description` and `h2_description`.
diff --git a/sources/unitree_ros/robots/a1_description/CMakeLists.txt b/sources/unitree_ros/robots/a1_description/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2dfe747eeb3a6c7db66f9c3da9706a3180de0db5
--- /dev/null
+++ b/sources/unitree_ros/robots/a1_description/CMakeLists.txt
@@ -0,0 +1,19 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(a1_description)
+
+find_package(catkin REQUIRED COMPONENTS
+    genmsg
+    roscpp
+    std_msgs
+    tf
+)
+
+catkin_package(
+    CATKIN_DEPENDS
+)
+
+include_directories(
+    # include
+    ${Boost_INCLUDE_DIR}
+    ${catkin_INCLUDE_DIRS}
+)
diff --git a/sources/unitree_ros/robots/a1_description/config/robot_control.yaml b/sources/unitree_ros/robots/a1_description/config/robot_control.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..4f45fc2f2a252160a2268299125c2d883cc7c57b
--- /dev/null
+++ b/sources/unitree_ros/robots/a1_description/config/robot_control.yaml
@@ -0,0 +1,70 @@
+a1_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}
+
diff --git a/sources/unitree_ros/robots/a1_description/launch/a1_rviz.launch b/sources/unitree_ros/robots/a1_description/launch/a1_rviz.launch
new file mode 100644
index 0000000000000000000000000000000000000000..6d74b9bf3eae2ad1528297851a8da79c1c8c4cf4
--- /dev/null
+++ b/sources/unitree_ros/robots/a1_description/launch/a1_rviz.launch
@@ -0,0 +1,23 @@
+<launch>
+
+    <arg name="user_debug" default="false"/>
+    
+    <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find a1_description)/xacro/robot.xacro'
+            DEBUG:=$(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="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 a1_description)/launch/check_joint.rviz"/>
+
+</launch>
\ No newline at end of file
diff --git a/sources/unitree_ros/robots/a1_description/launch/check_joint.rviz b/sources/unitree_ros/robots/a1_description/launch/check_joint.rviz
new file mode 100644
index 0000000000000000000000000000000000000000..f0f52092d6c736630e073f486cce01e97cb5d2bb
--- /dev/null
+++ b/sources/unitree_ros/robots/a1_description/launch/check_joint.rviz
@@ -0,0 +1,265 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /RobotModel1
+      Splitter Ratio: 0.5
+    Tree Height: 420
+  - 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
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+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: 1
+      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_foot:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        FL_hip:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        FL_thigh:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        FL_thigh_shoulder:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        FR_calf:
+          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_thigh:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        FR_thigh_shoulder:
+          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_foot:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RL_hip:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RL_thigh:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RL_thigh_shoulder:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RR_calf:
+          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_thigh:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RR_thigh_shoulder:
+          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
+    - Class: rviz/Axes
+      Enabled: false
+      Length: 1
+      Name: Axes
+      Radius: 0.10000000149011612
+      Reference Frame: <Fixed Frame>
+      Value: false
+    - Class: rviz/TF
+      Enabled: false
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+      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
+      Topic: /initialpose
+    - 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: 1.0307118892669678
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0.0760490670800209
+        Y: 0.11421932280063629
+        Z: -0.1576911211013794
+      Focal Shape Fixed Size: false
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 1.0047969818115234
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 4.558584690093994
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 627
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a0000022ffc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000270000022f000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d00650072006101000001be000001900000000000000000000000010000010f000002e2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002e2000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000006400000003efc0100000002fb0000000800540069006d0065000000000000000640000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000002e40000022f00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1108
+  X: 812
+  Y: 241
diff --git a/sources/unitree_ros/robots/a1_description/meshes/calf.dae b/sources/unitree_ros/robots/a1_description/meshes/calf.dae
new file mode 100644
index 0000000000000000000000000000000000000000..8daa2527d5169f84bc0aa3cf6d42a78204dcbaf6
--- /dev/null
+++ b/sources/unitree_ros/robots/a1_description/meshes/calf.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:744798832678e7315ec90a3d419070f72f4049182ce1d36c627a7c53e0347729
+size 1759398
diff --git a/sources/unitree_ros/robots/a1_description/meshes/hip.dae b/sources/unitree_ros/robots/a1_description/meshes/hip.dae
new file mode 100644
index 0000000000000000000000000000000000000000..92bcfaffe05771c92e1217103b7379fe8abdebf5
--- /dev/null
+++ b/sources/unitree_ros/robots/a1_description/meshes/hip.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:601ad36dcb3a459338d91d4eb0aa15995a169ebd7f268f91b3d941f68ffd8a8d
+size 668998
diff --git a/sources/unitree_ros/robots/a1_description/meshes/thigh.dae b/sources/unitree_ros/robots/a1_description/meshes/thigh.dae
new file mode 100644
index 0000000000000000000000000000000000000000..02c02583d7c47dcda4fdfd0b79039037a4e98d54
--- /dev/null
+++ b/sources/unitree_ros/robots/a1_description/meshes/thigh.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63a7c33a0c04549e7d001e8432f27e639b09393233ad1131c6035148aa0ac1a4
+size 1151660
diff --git a/sources/unitree_ros/robots/a1_description/meshes/thigh_mirror.dae b/sources/unitree_ros/robots/a1_description/meshes/thigh_mirror.dae
new file mode 100644
index 0000000000000000000000000000000000000000..32b296881bb74a79f104874a21933e3a0ae1048a
--- /dev/null
+++ b/sources/unitree_ros/robots/a1_description/meshes/thigh_mirror.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73fc605150683746d709522ca7d84cee3c5504de77baae51f95ee757184bc8c2
+size 1187646
diff --git a/sources/unitree_ros/robots/a1_description/meshes/trunk.dae b/sources/unitree_ros/robots/a1_description/meshes/trunk.dae
new file mode 100644
index 0000000000000000000000000000000000000000..0e06a9cbcabecf9ebba7608c00740f39f958f1ec
--- /dev/null
+++ b/sources/unitree_ros/robots/a1_description/meshes/trunk.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be2f4256cd8d2944881e4fcca6f0aaac0632cdb09ae73fa9040f75cb5e15a15c
+size 4246287
diff --git a/sources/unitree_ros/robots/a1_description/meshes/trunk_A1.png b/sources/unitree_ros/robots/a1_description/meshes/trunk_A1.png
new file mode 100644
index 0000000000000000000000000000000000000000..189e61ffa51dce6217080061a0cf836de37afa02
--- /dev/null
+++ b/sources/unitree_ros/robots/a1_description/meshes/trunk_A1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:512e8cfa5ebedfc4199afe172590d3d486461e42244ab5d439020111f9fc7e78
+size 71835
diff --git a/sources/unitree_ros/robots/a1_description/package.xml b/sources/unitree_ros/robots/a1_description/package.xml
new file mode 100644
index 0000000000000000000000000000000000000000..67968951aa899cee84f960ec47216df7593dbbb0
--- /dev/null
+++ b/sources/unitree_ros/robots/a1_description/package.xml
@@ -0,0 +1,14 @@
+<?xml version="1.0"?>
+<package format="2">
+    <name>a1_description</name>
+    <version>0.0.0</version>
+    <description>The a1_description package</description>
+
+    <maintainer email="laikago@unitree.cc">unitree</maintainer>
+    <license>TODO</license>
+
+    <buildtool_depend>catkin</buildtool_depend>
+    <depend>roscpp</depend>
+    <depend>std_msgs</depend>
+
+</package>
diff --git a/sources/unitree_ros/robots/a1_description/urdf/a1.urdf b/sources/unitree_ros/robots/a1_description/urdf/a1.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d2d186f7d205b5a9c16dd79a08a8c0ac6f683ffb
--- /dev/null
+++ b/sources/unitree_ros/robots/a1_description/urdf/a1.urdf
@@ -0,0 +1,973 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from robot.xacro                    | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="a1">
+  <!-- dynamics inertial value -->
+  <!-- trunk -->
+  <!-- <xacro:property name="trunk_mass" value="5.660"/>
+    <xacro:property name="trunk_com_x" value="0.012731"/>
+    <xacro:property name="trunk_com_y" value="0.002186"/>
+    <xacro:property name="trunk_com_z" value="0.000515"/>
+    <xacro:property name="trunk_ixx" value="0.016839930"/>
+    <xacro:property name="trunk_ixy" value="0.000083902"/>
+    <xacro:property name="trunk_ixz" value="0.000597679"/>
+    <xacro:property name="trunk_iyy" value="0.056579028"/>
+    <xacro:property name="trunk_iyz" value="0.000025134"/>
+    <xacro:property name="trunk_izz" value="0.064713601"/> -->
+  <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="0.913725490196 0.913725490196 0.847058823529 1.0"/>
+  </material>
+  <material name="orange">
+    <color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
+  </material>
+  <material name="brown">
+    <color rgba="0.870588235294 0.811764705882 0.764705882353 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>/a1_gazebo</robotNamespace>
+      <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
+    </plugin>
+  </gazebo>
+  <!-- Show the trajectory of trunk center. -->
+  <gazebo>
+    <plugin filename="libLinkPlot3DPlugin.so" name="3dplotTrunk">
+      <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 filename="libLinkPlot3DPlugin.so" name="3dplot">
+      <frequency>1000</frequency>
+      <plot>
+        <link>FR_calf</link>
+        <pose>0 0 -0.2 0 0 0</pose>
+        <material>Gazebo/Yellow</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>
+  <!-- <xacro:include filename="$(find a1_gazebo)/launch/stairs.urdf.xacro"/> -->
+  <!-- <xacro:stairs stairs="15" xpos="0" ypos="0" zpos="0" /> -->
+  <!-- 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://a1_description/meshes/trunk.dae" scale="1 1 1"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.267 0.194 0.114"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0041 -0.0005"/>
+      <mass value="6.0"/>
+      <inertia ixx="0.0158533" ixy="-3.66e-05" ixz="-6.11e-05" iyy="0.0377999" iyz="-2.75e-05" izz="0.0456542"/>
+    </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="FR_hip_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0.1805 -0.047 0"/>
+    <parent link="trunk"/>
+    <child link="FR_hip"/>
+    <axis xyz="1 0 0"/>
+    <dynamics damping="0.01" friction="0.2"/>
+    <limit effort="33.5" lower="-0.802851455917" upper="0.802851455917" velocity="21"/>
+  </joint>
+  <link name="FR_hip">
+    <visual>
+      <origin rpy="3.14159265359 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://a1_description/meshes/hip.dae" scale="1 1 1"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+    <collision>
+      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.04" radius="0.046"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.003311 -0.000635 3.1e-05"/>
+      <mass value="0.696"/>
+      <inertia ixx="0.000469246" ixy="9.409e-06" ixz="-3.42e-07" iyy="0.00080749" iyz="4.66e-07" izz="0.000552929"/>
+    </inertial>
+  </link>
+  <joint name="FR_hip_fixed" type="fixed">
+    <origin rpy="0 0 0" xyz="0 -0.081 0"/>
+    <parent link="FR_hip"/>
+    <child link="FR_thigh_shoulder"/>
+  </joint>
+  <!-- this link is only for collision -->
+  <link name="FR_thigh_shoulder">
+    <collision>
+      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.032" radius="0.041"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="FR_thigh_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0 -0.0838 0"/>
+    <parent link="FR_hip"/>
+    <child link="FR_thigh"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0.01" friction="0.2"/>
+    <limit effort="33.5" lower="-1.0471975512" upper="4.18879020479" velocity="21"/>
+  </joint>
+  <link name="FR_thigh">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://a1_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.57079632679 0" xyz="0 0 -0.1"/>
+      <geometry>
+        <box size="0.2 0.0245 0.034"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.003237 0.022327 -0.027326"/>
+      <mass value="1.013"/>
+      <inertia ixx="0.005529065" ixy="-4.825e-06" ixz="0.000343869" iyy="0.005139339" iyz="-2.2448e-05" izz="0.001367788"/>
+    </inertial>
+  </link>
+  <joint name="FR_calf_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 -0.2"/>
+    <parent link="FR_thigh"/>
+    <child link="FR_calf"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0.01" friction="0.2"/>
+    <limit effort="33.5" lower="-2.69653369433" upper="-0.916297857297" velocity="21"/>
+  </joint>
+  <link name="FR_calf">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://a1_description/meshes/calf.dae" scale="1 1 1"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.57079632679 0" xyz="0 0 -0.1"/>
+      <geometry>
+        <box size="0.2 0.016 0.016"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.006435 0.0 -0.107388"/>
+      <mass value="0.166"/>
+      <inertia ixx="0.002997972" ixy="0.0" ixz="-0.000141163" iyy="0.003014022" iyz="0.0" izz="3.2426e-05"/>
+    </inertial>
+  </link>
+  <joint name="FR_foot_fixed" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 -0.2"/>
+    <parent link="FR_calf"/>
+    <child link="FR_foot"/>
+  </joint>
+  <link name="FR_foot">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.02"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.06"/>
+      <inertia ixx="9.6e-06" ixy="0.0" ixz="0.0" iyy="9.6e-06" iyz="0.0" izz="9.6e-06"/>
+    </inertial>
+  </link>
+  <transmission name="FR_hip_tran">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="FR_hip_joint">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="FR_hip_motor">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="FR_thigh_tran">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="FR_thigh_joint">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="FR_thigh_motor">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="FR_calf_tran">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="FR_calf_joint">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="FR_calf_motor">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <joint name="FL_hip_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0.1805 0.047 0"/>
+    <parent link="trunk"/>
+    <child link="FL_hip"/>
+    <axis xyz="1 0 0"/>
+    <dynamics damping="0.01" friction="0.2"/>
+    <limit effort="33.5" lower="-0.802851455917" upper="0.802851455917" velocity="21"/>
+  </joint>
+  <link name="FL_hip">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://a1_description/meshes/hip.dae" scale="1 1 1"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+    <collision>
+      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.04" radius="0.046"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.003311 0.000635 3.1e-05"/>
+      <mass value="0.696"/>
+      <inertia ixx="0.000469246" ixy="-9.409e-06" ixz="-3.42e-07" iyy="0.00080749" iyz="-4.66e-07" izz="0.000552929"/>
+    </inertial>
+  </link>
+  <joint name="FL_hip_fixed" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0.081 0"/>
+    <parent link="FL_hip"/>
+    <child link="FL_thigh_shoulder"/>
+  </joint>
+  <!-- this link is only for collision -->
+  <link name="FL_thigh_shoulder">
+    <collision>
+      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.032" radius="0.041"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="FL_thigh_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0.0838 0"/>
+    <parent link="FL_hip"/>
+    <child link="FL_thigh"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0.01" friction="0.2"/>
+    <limit effort="33.5" lower="-1.0471975512" upper="4.18879020479" velocity="21"/>
+  </joint>
+  <link name="FL_thigh">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://a1_description/meshes/thigh.dae" scale="1 1 1"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.57079632679 0" xyz="0 0 -0.1"/>
+      <geometry>
+        <box size="0.2 0.0245 0.034"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.003237 -0.022327 -0.027326"/>
+      <mass value="1.013"/>
+      <inertia ixx="0.005529065" ixy="4.825e-06" ixz="0.000343869" iyy="0.005139339" iyz="2.2448e-05" izz="0.001367788"/>
+    </inertial>
+  </link>
+  <joint name="FL_calf_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 -0.2"/>
+    <parent link="FL_thigh"/>
+    <child link="FL_calf"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0.01" friction="0.2"/>
+    <limit effort="33.5" lower="-2.69653369433" upper="-0.916297857297" velocity="21"/>
+  </joint>
+  <link name="FL_calf">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://a1_description/meshes/calf.dae" scale="1 1 1"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.57079632679 0" xyz="0 0 -0.1"/>
+      <geometry>
+        <box size="0.2 0.016 0.016"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.006435 0.0 -0.107388"/>
+      <mass value="0.166"/>
+      <inertia ixx="0.002997972" ixy="0.0" ixz="-0.000141163" iyy="0.003014022" iyz="0.0" izz="3.2426e-05"/>
+    </inertial>
+  </link>
+  <joint name="FL_foot_fixed" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 -0.2"/>
+    <parent link="FL_calf"/>
+    <child link="FL_foot"/>
+  </joint>
+  <link name="FL_foot">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.02"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.06"/>
+      <inertia ixx="9.6e-06" ixy="0.0" ixz="0.0" iyy="9.6e-06" iyz="0.0" izz="9.6e-06"/>
+    </inertial>
+  </link>
+  <transmission name="FL_hip_tran">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="FL_hip_joint">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="FL_hip_motor">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="FL_thigh_tran">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="FL_thigh_joint">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="FL_thigh_motor">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="FL_calf_tran">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="FL_calf_joint">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="FL_calf_motor">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <joint name="RR_hip_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="-0.1805 -0.047 0"/>
+    <parent link="trunk"/>
+    <child link="RR_hip"/>
+    <axis xyz="1 0 0"/>
+    <dynamics damping="0.01" friction="0.2"/>
+    <limit effort="33.5" lower="-0.802851455917" upper="0.802851455917" velocity="21"/>
+  </joint>
+  <link name="RR_hip">
+    <visual>
+      <origin rpy="3.14159265359 3.14159265359 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://a1_description/meshes/hip.dae" scale="1 1 1"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+    <collision>
+      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.04" radius="0.046"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.003311 -0.000635 3.1e-05"/>
+      <mass value="0.696"/>
+      <inertia ixx="0.000469246" ixy="-9.409e-06" ixz="3.42e-07" iyy="0.00080749" iyz="4.66e-07" izz="0.000552929"/>
+    </inertial>
+  </link>
+  <joint name="RR_hip_fixed" type="fixed">
+    <origin rpy="0 0 0" xyz="0 -0.081 0"/>
+    <parent link="RR_hip"/>
+    <child link="RR_thigh_shoulder"/>
+  </joint>
+  <!-- this link is only for collision -->
+  <link name="RR_thigh_shoulder">
+    <collision>
+      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.032" radius="0.041"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="RR_thigh_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0 -0.0838 0"/>
+    <parent link="RR_hip"/>
+    <child link="RR_thigh"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0.01" friction="0.2"/>
+    <limit effort="33.5" lower="-1.0471975512" upper="4.18879020479" velocity="21"/>
+  </joint>
+  <link name="RR_thigh">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://a1_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.57079632679 0" xyz="0 0 -0.1"/>
+      <geometry>
+        <box size="0.2 0.0245 0.034"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.003237 0.022327 -0.027326"/>
+      <mass value="1.013"/>
+      <inertia ixx="0.005529065" ixy="-4.825e-06" ixz="0.000343869" iyy="0.005139339" iyz="-2.2448e-05" izz="0.001367788"/>
+    </inertial>
+  </link>
+  <joint name="RR_calf_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 -0.2"/>
+    <parent link="RR_thigh"/>
+    <child link="RR_calf"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0.01" friction="0.2"/>
+    <limit effort="33.5" lower="-2.69653369433" upper="-0.916297857297" velocity="21"/>
+  </joint>
+  <link name="RR_calf">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://a1_description/meshes/calf.dae" scale="1 1 1"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.57079632679 0" xyz="0 0 -0.1"/>
+      <geometry>
+        <box size="0.2 0.016 0.016"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.006435 0.0 -0.107388"/>
+      <mass value="0.166"/>
+      <inertia ixx="0.002997972" ixy="0.0" ixz="-0.000141163" iyy="0.003014022" iyz="0.0" izz="3.2426e-05"/>
+    </inertial>
+  </link>
+  <joint name="RR_foot_fixed" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 -0.2"/>
+    <parent link="RR_calf"/>
+    <child link="RR_foot"/>
+  </joint>
+  <link name="RR_foot">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.02"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.06"/>
+      <inertia ixx="9.6e-06" ixy="0.0" ixz="0.0" iyy="9.6e-06" iyz="0.0" izz="9.6e-06"/>
+    </inertial>
+  </link>
+  <transmission name="RR_hip_tran">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="RR_hip_joint">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="RR_hip_motor">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="RR_thigh_tran">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="RR_thigh_joint">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="RR_thigh_motor">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="RR_calf_tran">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="RR_calf_joint">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="RR_calf_motor">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <joint name="RL_hip_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="-0.1805 0.047 0"/>
+    <parent link="trunk"/>
+    <child link="RL_hip"/>
+    <axis xyz="1 0 0"/>
+    <dynamics damping="0.01" friction="0.2"/>
+    <limit effort="33.5" lower="-0.802851455917" upper="0.802851455917" velocity="21"/>
+  </joint>
+  <link name="RL_hip">
+    <visual>
+      <origin rpy="0 3.14159265359 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://a1_description/meshes/hip.dae" scale="1 1 1"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+    <collision>
+      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.04" radius="0.046"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.003311 0.000635 3.1e-05"/>
+      <mass value="0.696"/>
+      <inertia ixx="0.000469246" ixy="9.409e-06" ixz="3.42e-07" iyy="0.00080749" iyz="-4.66e-07" izz="0.000552929"/>
+    </inertial>
+  </link>
+  <joint name="RL_hip_fixed" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0.081 0"/>
+    <parent link="RL_hip"/>
+    <child link="RL_thigh_shoulder"/>
+  </joint>
+  <!-- this link is only for collision -->
+  <link name="RL_thigh_shoulder">
+    <collision>
+      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.032" radius="0.041"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="RL_thigh_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0.0838 0"/>
+    <parent link="RL_hip"/>
+    <child link="RL_thigh"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0.01" friction="0.2"/>
+    <limit effort="33.5" lower="-1.0471975512" upper="4.18879020479" velocity="21"/>
+  </joint>
+  <link name="RL_thigh">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://a1_description/meshes/thigh.dae" scale="1 1 1"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.57079632679 0" xyz="0 0 -0.1"/>
+      <geometry>
+        <box size="0.2 0.0245 0.034"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.003237 -0.022327 -0.027326"/>
+      <mass value="1.013"/>
+      <inertia ixx="0.005529065" ixy="4.825e-06" ixz="0.000343869" iyy="0.005139339" iyz="2.2448e-05" izz="0.001367788"/>
+    </inertial>
+  </link>
+  <joint name="RL_calf_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 -0.2"/>
+    <parent link="RL_thigh"/>
+    <child link="RL_calf"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0.01" friction="0.2"/>
+    <limit effort="33.5" lower="-2.69653369433" upper="-0.916297857297" velocity="21"/>
+  </joint>
+  <link name="RL_calf">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://a1_description/meshes/calf.dae" scale="1 1 1"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.57079632679 0" xyz="0 0 -0.1"/>
+      <geometry>
+        <box size="0.2 0.016 0.016"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.006435 0.0 -0.107388"/>
+      <mass value="0.166"/>
+      <inertia ixx="0.002997972" ixy="0.0" ixz="-0.000141163" iyy="0.003014022" iyz="0.0" izz="3.2426e-05"/>
+    </inertial>
+  </link>
+  <joint name="RL_foot_fixed" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 -0.2"/>
+    <parent link="RL_calf"/>
+    <child link="RL_foot"/>
+  </joint>
+  <link name="RL_foot">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.02"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.06"/>
+      <inertia ixx="9.6e-06" ixy="0.0" ixz="0.0" iyy="9.6e-06" iyz="0.0" izz="9.6e-06"/>
+    </inertial>
+  </link>
+  <transmission name="RL_hip_tran">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="RL_hip_joint">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="RL_hip_motor">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="RL_thigh_tran">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="RL_thigh_joint">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="RL_thigh_motor">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="RL_calf_tran">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="RL_calf_joint">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="RL_calf_motor">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <!-- <xacro:stairs stairs="15" xpos="0" ypos="2.0" zpos="0" /> -->
+</robot>
+
diff --git a/sources/unitree_ros/robots/a1_description/xacro/const.xacro b/sources/unitree_ros/robots/a1_description/xacro/const.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..e149ad75d72368dc43a291122a6442862dce5f74
--- /dev/null
+++ b/sources/unitree_ros/robots/a1_description/xacro/const.xacro
@@ -0,0 +1,104 @@
+<?xml version="1.0"?>
+
+<robot 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="0.194"/> 
+    <xacro:property name="trunk_length" value="0.267"/>
+    <xacro:property name="trunk_height" value="0.114"/>
+    <xacro:property name="hip_radius" value="0.046"/>
+    <xacro:property name="hip_length" value="0.04"/>
+    <xacro:property name="thigh_shoulder_radius" value="0.041"/>
+    <xacro:property name="thigh_shoulder_length" value="0.032"/>
+    <xacro:property name="thigh_width" value="0.0245"/>
+    <xacro:property name="thigh_height" value="0.034"/>
+    <xacro:property name="calf_width" value="0.016"/>
+    <xacro:property name="calf_height" value="0.016"/>
+    <xacro:property name="foot_radius" value="0.02"/>
+    <xacro:property name="stick_radius" value="0.01"/>
+    <xacro:property name="stick_length" value="0.2"/>
+
+    <!-- kinematic value -->
+    <xacro:property name="thigh_offset" value="0.0838"/>
+    <xacro:property name="thigh_length" value="0.2"/>
+    <xacro:property name="calf_length" value="0.2"/>
+
+    <!-- leg offset from trunk center value -->
+    <xacro:property name="leg_offset_x" value="0.1805"/>
+    <xacro:property name="leg_offset_y" value="0.047"/>
+    <xacro:property name="trunk_offset_z" value="0.01675"/>
+    <xacro:property name="hip_offset" value="0.065"/>
+
+    <!-- joint limits -->
+    <xacro:property name="damping" value="0"/>
+    <xacro:property name="friction" value="0"/>
+    <xacro:property name="hip_max" value="46"/>
+    <xacro:property name="hip_min" value="-46"/>
+    <xacro:property name="hip_velocity_max" value="21"/>
+    <xacro:property name="hip_torque_max" value="33.5"/>
+    <xacro:property name="thigh_max" value="240"/>
+    <xacro:property name="thigh_min" value="-60"/>
+    <xacro:property name="thigh_velocity_max" value="21"/>
+    <xacro:property name="thigh_torque_max" value="33.5"/>
+    <xacro:property name="calf_max" value="-52.5"/>
+    <xacro:property name="calf_min" value="-154.5"/>
+    <xacro:property name="calf_velocity_max" value="21"/>
+    <xacro:property name="calf_torque_max" value="33.5"/>
+
+    <!-- dynamics inertial value        total 13.9kg -->
+    <!-- trunk -->
+    <xacro:property name="trunk_mass" value="6.0"/>
+    <xacro:property name="trunk_com_x" value="0.0000"/>
+    <xacro:property name="trunk_com_y" value="0.0041"/>
+    <xacro:property name="trunk_com_z" value="-0.0005"/>
+    <xacro:property name="trunk_ixx" value="0.0158533"/>
+    <xacro:property name="trunk_ixy" value="-0.0000366"/>
+    <xacro:property name="trunk_ixz" value="-0.0000611"/>
+    <xacro:property name="trunk_iyy" value="0.0377999"/>
+    <xacro:property name="trunk_iyz" value="-0.0000275"/>
+    <xacro:property name="trunk_izz" value="0.0456542"/>
+
+    <!-- hip (left front) -->
+    <xacro:property name="hip_mass" value="0.595"/>
+    <xacro:property name="hip_com_x" value="-0.003875"/>
+    <xacro:property name="hip_com_y" value="0.001622"/>
+    <xacro:property name="hip_com_z" value="0.000042"/>
+    <xacro:property name="hip_ixx" value="0.000402747"/>
+    <xacro:property name="hip_ixy" value="-0.000008709"/>
+    <xacro:property name="hip_ixz" value="-0.000000297"/>
+    <xacro:property name="hip_iyy" value="0.000691123"/>
+    <xacro:property name="hip_iyz" value="-0.000000545"/>
+    <xacro:property name="hip_izz" value="0.000487919"/>
+
+    <!-- thigh -->
+    <xacro:property name="thigh_mass" value="0.888"/>
+    <xacro:property name="thigh_com_x" value="-0.003574"/>
+    <xacro:property name="thigh_com_y" value="-0.019529"/>
+    <xacro:property name="thigh_com_z" value="-0.030323"/>
+    <xacro:property name="thigh_ixx" value="0.005251806"/>
+    <xacro:property name="thigh_ixy" value="-0.000002168"/>
+    <xacro:property name="thigh_ixz" value="0.000346889"/>
+    <xacro:property name="thigh_iyy" value="0.005000475"/>
+    <xacro:property name="thigh_iyz" value="-0.000028174"/>
+    <xacro:property name="thigh_izz" value="0.001110200"/>
+
+    <!-- calf -->
+    <xacro:property name="calf_mass" value="0.151"/>
+    <xacro:property name="calf_com_x" value="0.007105"/>
+    <xacro:property name="calf_com_y" value="-0.000239"/>
+    <xacro:property name="calf_com_z" value="-0.096933"/>
+    <xacro:property name="calf_ixx" value="0.002344758"/>
+    <xacro:property name="calf_ixy" value="0.0"/>
+    <xacro:property name="calf_ixz" value="-0.000141275"/>
+    <xacro:property name="calf_iyy" value="0.002360755"/>
+    <xacro:property name="calf_iyz" value="0.0"/>
+    <xacro:property name="calf_izz" value="0.000031158"/>
+
+    <!-- foot -->
+    <xacro:property name="foot_mass" value="0.06"/>
+
+</robot>
diff --git a/sources/unitree_ros/robots/a1_description/xacro/gazebo.xacro b/sources/unitree_ros/robots/a1_description/xacro/gazebo.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..a8dbc1cc39d150a35a0496ab20417dcb5ae8b590
--- /dev/null
+++ b/sources/unitree_ros/robots/a1_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>/a1_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>
diff --git a/sources/unitree_ros/robots/a1_description/xacro/leg.xacro b/sources/unitree_ros/robots/a1_description/xacro/leg.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..7949286da87a963bd7c5c1fbea0ae91f545abbf9
--- /dev/null
+++ b/sources/unitree_ros/robots/a1_description/xacro/leg.xacro
@@ -0,0 +1,176 @@
+<?xml version="1.0"?>
+
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+    <xacro:include filename="$(find a1_description)/xacro/transmission.xacro"/>
+
+    <xacro:macro name="leg" params="name mirror mirror_dae front_hind front_hind_dae *origin">
+
+        <joint name="${name}_hip_joint" type="revolute">
+            <xacro:insert_block name="origin"/>
+            <parent link="trunk"/>
+            <child link="${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_min*PI/180.0}" upper="${hip_max*PI/180.0}"/>
+            </xacro:if>
+            <xacro:if value="${(mirror_dae == False)}">
+                <limit effort="${hip_torque_max}" velocity="${hip_velocity_max}" lower="${-hip_max*PI/180.0}" upper="${-hip_min*PI/180.0}"/>
+            </xacro:if>            
+        </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} ${PI} 0" xyz="0 0 0"/>
+                </xacro:if>
+                <geometry>
+                    <mesh filename="package://a1_description/meshes/hip.dae" scale="1 1 1"/>
+                </geometry>
+                <material name="orange"/>
+            </visual>
+            <collision>
+                <origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
+                <geometry>
+                    <cylinder length="${hip_length}" radius="${hip_radius}"/>
+                </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>
+
+        <joint name="${name}_hip_fixed" type="fixed">
+            <origin rpy="0 0 0" xyz="0 ${(thigh_shoulder_length/2.0+hip_offset)*mirror} 0"/>
+            <parent link="${name}_hip"/>
+            <child link="${name}_thigh_shoulder"/>
+        </joint>
+
+        <!-- this link is only for collision -->
+        <link name="${name}_thigh_shoulder">
+            <collision>
+                <origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
+                <geometry>
+                    <cylinder length="${thigh_shoulder_length}" radius="${thigh_shoulder_radius}"/>
+                </geometry>
+            </collision>
+        </link>
+
+        <joint name="${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_min*PI/180.0}" upper="${thigh_max*PI/180.0}"/>
+        </joint>
+
+        <link name="${name}_thigh">
+            <visual>
+                <origin rpy="0 0 0" xyz="0 0 0"/>
+                <geometry>
+                    <xacro:if value="${mirror_dae == True}">
+                        <mesh filename="package://a1_description/meshes/thigh.dae" scale="1 1 1"/>
+                    </xacro:if>
+                    <xacro:if value="${mirror_dae == False}">
+                        <mesh filename="package://a1_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
+                    </xacro:if>
+                </geometry>
+                <material name="orange"/>
+            </visual>
+            <collision>
+                <origin rpy="0 ${PI/2.0} 0" xyz="0 0 ${-thigh_length/2.0}"/>
+                <geometry>
+                    <box size="${thigh_length} ${thigh_width} ${thigh_height}"/>
+                </geometry>      
+            </collision>
+            <inertial>
+                <origin rpy="0 0 0" xyz="${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>
+
+        <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_min*PI/180.0}" upper="${calf_max*PI/180.0}"/>
+        </joint>
+
+        <link name="${name}_calf">
+            <visual>
+                <origin rpy="0 0 0" xyz="0 0 0"/>
+                <geometry>
+                    <mesh filename="package://a1_description/meshes/calf.dae" scale="1 1 1"/>
+                </geometry>
+                <material name="orange"/>
+            </visual>
+            <collision>
+                <origin rpy="0 ${PI/2.0} 0" xyz="0 0 ${-calf_length/2.0}"/>
+                <geometry>
+                    <box size="${calf_length} ${calf_width} ${calf_height}"/>
+                </geometry>      
+            </collision>
+            <inertial>
+                <origin rpy="0 0 0" xyz="${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>
+
+        <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="${foot_radius-0.01}"/>
+                </geometry>
+                <material name="orange"/>
+            </visual>
+            <collision>
+                <origin rpy="0 0 0" xyz="0 0 0"/>
+                <geometry>
+                    <sphere radius="${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="${name}"/>
+    </xacro:macro>
+</robot>
diff --git a/sources/unitree_ros/robots/a1_description/xacro/materials.xacro b/sources/unitree_ros/robots/a1_description/xacro/materials.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..ee4dc3b4ff8027072779c81a402f4d637546c107
--- /dev/null
+++ b/sources/unitree_ros/robots/a1_description/xacro/materials.xacro
@@ -0,0 +1,40 @@
+<?xml version="1.0"?>
+<robot>
+
+    <material name="black">
+        <color rgba="0.0 0.0 0.0 1.0"/>
+    </material>
+
+    <material name="blue">
+        <color rgba="0.0 0.0 0.8 1.0"/>
+    </material>
+
+    <material name="green">
+        <color rgba="0.0 0.8 0.0 1.0"/>
+    </material>
+
+    <material name="grey">
+        <color rgba="0.2 0.2 0.2 1.0"/>
+    </material>
+
+    <material name="silver">
+        <color rgba="${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} ${195/255} 1.0"/>
+    </material>
+
+    <material name="red">
+        <color rgba="0.8 0.0 0.0 1.0"/>
+    </material>
+
+    <material name="white">
+        <color rgba="1.0 1.0 1.0 1.0"/>
+    </material>
+
+</robot>
diff --git a/sources/unitree_ros/robots/a1_description/xacro/robot.xacro b/sources/unitree_ros/robots/a1_description/xacro/robot.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..d106404d73de1e4c9f76bcb6ee79c7ae72bd77df
--- /dev/null
+++ b/sources/unitree_ros/robots/a1_description/xacro/robot.xacro
@@ -0,0 +1,144 @@
+<?xml version="1.0"?>
+
+<robot name="a1" xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+    <xacro:arg name="DEBUG" default="false"/>
+
+    <xacro:include filename="$(find a1_description)/xacro/const.xacro"/>
+    <xacro:include filename="$(find a1_description)/xacro/materials.xacro"/>
+    <xacro:include filename="$(find a1_description)/xacro/leg.xacro"/>
+    <xacro:include filename="$(find a1_description)/xacro/stairs.xacro"/>
+    <xacro:include filename="$(find a1_description)/xacro/gazebo.xacro"/>
+    <!-- <xacro:include filename="$(find a1_gazebo)/launch/stairs.urdf.xacro"/> -->
+
+    <!-- <xacro:stairs stairs="15" xpos="0" ypos="0" zpos="0" /> -->
+
+    <!-- Rollover Protection mode will add an additional stick on the top, use "true" or "false" to switch it. -->
+    <xacro:property name="rolloverProtection" value="false"/>
+
+    <!-- Debug mode will hung up the robot, use "true" or "false" to switch it. -->
+    <xacro:if value="$(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://a1_description/meshes/trunk.dae" scale="1 1 1"/>
+            </geometry>
+            <material name="orange"/>
+        </visual>
+        <collision>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <box size="${trunk_length} ${trunk_width} ${trunk_height}"/>
+            </geometry>
+        </collision>
+        <inertial>
+            <origin rpy="0 0 0" xyz="${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>
+
+    <xacro:if value="${(rolloverProtection == 'true')}">
+        <joint name="stick_joint" type="fixed">
+            <parent link="trunk"/>
+            <child link="stick_link"/>
+            <origin rpy="0 0 0" xyz="${0.18} 0 ${stick_length/2.0+0.08}"/>
+        </joint>
+
+        <link name="stick_link">
+            <visual>
+                <geometry>
+                    <cylinder length="${stick_length}" radius="${stick_radius}"/>
+                </geometry>
+                <origin rpy="0 0 0" xyz="0 0 0"/>
+                <material name="white"/>
+            </visual>
+            <collision>
+                <geometry>
+                    <cylinder length="${stick_length}" radius="${stick_radius}"/>
+                </geometry>
+                <origin rpy="0 0 0" xyz="0 0 0"/>
+            </collision>
+            <inertial>
+                <mass value="${stick_mass}"/>
+                <inertia
+                    ixx="${stick_mass / 2.0 * (stick_radius*stick_radius)}" ixy="0.0" ixz="0.0"
+                    iyy="${stick_mass / 12.0 * (3*stick_radius*stick_radius + stick_length*stick_length)}" iyz="0.0"
+                    izz="${stick_mass / 12.0 * (3*stick_radius*stick_radius + stick_length*stick_length)}"/>                   
+            </inertial>
+        </link>
+    </xacro:if> 
+
+    <joint name="imu_joint" type="fixed">
+        <parent link="trunk"/>
+        <child link="imu_link"/>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+    </joint>
+
+    <link name="imu_link">
+        <inertial>
+            <mass value="0.001"/>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
+        </inertial>
+        <visual>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <box size="0.001 0.001 0.001"/>
+            </geometry>
+            <material name="red"/>
+        </visual>
+        <collision>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <box size=".001 .001 .001"/>
+            </geometry>
+        </collision>
+    </link>
+
+    <xacro:leg name="FR" mirror="-1" mirror_dae="False" front_hind="1" front_hind_dae="True">
+        <origin rpy="0 0 0" xyz="${leg_offset_x} ${-leg_offset_y} 0"/>
+    </xacro:leg>
+
+    <xacro:leg name="FL" mirror="1" mirror_dae="True" front_hind="1" front_hind_dae="True">
+        <origin rpy="0 0 0" xyz="${leg_offset_x} ${leg_offset_y} 0"/>
+    </xacro:leg>
+
+    <xacro:leg name="RR" mirror="-1" mirror_dae="False" front_hind="-1" front_hind_dae="False">
+        <origin rpy="0 0 0" xyz="${-leg_offset_x} ${-leg_offset_y} 0"/>
+    </xacro:leg>
+
+    <xacro:leg name="RL" mirror="1" mirror_dae="True" front_hind="-1" front_hind_dae="False">
+        <origin rpy="0 0 0" xyz="${-leg_offset_x} ${leg_offset_y} 0"/>
+    </xacro:leg>
+
+    <!-- <xacro:stairs stairs="15" xpos="0" ypos="2.0" zpos="0" /> -->
+
+</robot>
diff --git a/sources/unitree_ros/robots/a1_description/xacro/stairs.xacro b/sources/unitree_ros/robots/a1_description/xacro/stairs.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..c95ecb0ca6c19c6f12fd2770e2e3140d5c74d970
--- /dev/null
+++ b/sources/unitree_ros/robots/a1_description/xacro/stairs.xacro
@@ -0,0 +1,46 @@
+<?xml version="1.0"?>
+
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+    <xacro:property name="stair_length" value="0.640" />
+    <xacro:property name="stair_width" value="0.310" />
+    <xacro:property name="stair_height" value="0.170" />
+
+    <xacro:macro name="stairs" params="stairs xpos ypos zpos">
+
+        <joint name="stair_joint_origin" type="fixed">
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <parent link="world"/>
+            <child link="stair_link_${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>
\ No newline at end of file
diff --git a/sources/unitree_ros/robots/a1_description/xacro/transmission.xacro b/sources/unitree_ros/robots/a1_description/xacro/transmission.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..cee02e41d7b019faf50f09a8d84023a18de2f6e8
--- /dev/null
+++ b/sources/unitree_ros/robots/a1_description/xacro/transmission.xacro
@@ -0,0 +1,42 @@
+<?xml version="1.0"?>
+
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+    <xacro:macro name="leg_transmission" params="name">
+
+        <transmission name="${name}_hip_tran">
+            <type>transmission_interface/SimpleTransmission</type>
+            <joint name="${name}_hip_joint">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+            </joint>
+            <actuator name="${name}_hip_motor">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+            <mechanicalReduction>1</mechanicalReduction>
+            </actuator>
+        </transmission>
+
+        <transmission name="${name}_thigh_tran">
+            <type>transmission_interface/SimpleTransmission</type>
+            <joint name="${name}_thigh_joint">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+            </joint>
+            <actuator name="${name}_thigh_motor">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+            <mechanicalReduction>1</mechanicalReduction>
+            </actuator>
+        </transmission>
+
+        <transmission name="${name}_calf_tran">
+            <type>transmission_interface/SimpleTransmission</type>
+            <joint name="${name}_calf_joint">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+            </joint>
+            <actuator name="${name}_calf_motor">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+            <mechanicalReduction>1</mechanicalReduction>
+            </actuator>
+        </transmission>
+
+    </xacro:macro>
+
+</robot>
diff --git a/sources/unitree_ros/robots/a2_description/a2.xml b/sources/unitree_ros/robots/a2_description/a2.xml
new file mode 100644
index 0000000000000000000000000000000000000000..fa3fd9e8286cac3716b9dfed3f8bfbd49abca3bb
--- /dev/null
+++ b/sources/unitree_ros/robots/a2_description/a2.xml
@@ -0,0 +1,217 @@
+<mujoco model="a2">
+  <compiler angle="radian" meshdir="meshes/"/>
+  <option gravity="0 0 -9.81"/>
+
+  <default>
+      <default class="hip_joint">
+        <joint damping="0.2" armature="0.03" frictionloss="1.0" />
+      </default>
+      <default class="thigh_joint">
+        <joint damping="0.2" armature="0.03" frictionloss="1.0" />
+      </default>
+      <default class="calf_joint">
+        <joint damping="1.0" armature="0.03" frictionloss="3.0" />
+      </default>
+      <default class="collision">
+        <geom group="3" priority="1" condim="6"/>
+      </default>
+      <default class="foot">
+<!--           <geom group="3" priority="1" condim="6" friction="0.3 0.01 0.01"/> -->
+          <geom group="3" priority="1" condim="6"/>
+      </default>
+  </default>
+
+  <asset>
+    <mesh name="base_link" file="base_link.STL"/>
+    <mesh name="left_front_Link1" file="left_front_Link1.STL"/>
+    <mesh name="left_front_Link2" file="left_front_Link2.STL"/>
+    <mesh name="left_front_Link3" file="left_front_Link3.STL"/>
+    <mesh name="left_front_Link4" file="left_front_Link4.STL"/>
+    <mesh name="left_hind_Link1" file="left_hind_Link1.STL"/>
+    <mesh name="left_hind_Link2" file="left_hind_Link2.STL"/>
+    <mesh name="left_hind_Link3" file="left_hind_Link3.STL"/>
+    <mesh name="left_hind_Link4" file="left_hind_Link4.STL"/>
+    <mesh name="right_front_Link1" file="right_front_Link1.STL"/>
+    <mesh name="right_front_Link2" file="right_front_Link2.STL"/>
+    <mesh name="right_front_Link3" file="right_front_Link3.STL"/>
+    <mesh name="right_front_Link4" file="right_front_Link4.STL"/>
+    <mesh name="right_hind_Link1" file="right_hind_Link1.STL"/>
+    <mesh name="right_hind_Link2" file="right_hind_Link2.STL"/>
+    <mesh name="right_hind_Link3" file="right_hind_Link3.STL"/>
+    <mesh name="right_hind_Link4" file="right_hind_Link4.STL"/>
+  </asset>
+
+  <worldbody>
+    <body name="base_link" pos="-1 1 0.7">
+      <inertial pos="0.00698259 -0.000712858 0.0128895" quat="-0.00152907 0.699583 -0.00252986 0.714546" mass="19.651" diaginertia="0.472398 0.407723 0.141627"/>
+      <joint name="floating_base_joint" type="free" limited="false" actuatorfrclimited="false"/>
+      <site name="imu" pos="-0.0 0 0.0" />
+      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="base_link"/>
+      <geom class="collision" size="0.12 0.14 0.085" pos="0 0 0.007" type="box" rgba="0.792157 0.819608 0.933333 1"/>
+      <geom class="collision" size="0.04 0.025 0.01" pos="0.25 0 0.119" type="box" rgba="0.792157 0.819608 0.933333 1"/>
+      <geom class="collision" size="0.025 0.015 0.008" pos="-0.22 0 0.119" quat="0.999888 0 -0.0149994 0" type="box" rgba="0.792157 0.819608 0.933333 1"/>
+      <geom class="collision" size="0.03 0.05 0.005" pos="0.365 0 0.1" quat="0.939373 0 -0.342898 0" type="box" rgba="0.792157 0.819608 0.933333 1"/>
+      <geom class="collision" size="0.0225 0.05 0.005" pos="-0.31 0 0.112" quat="0.939373 0 0.342898 0" type="box" rgba="0.792157 0.819608 0.933333 1"/>
+      <body name="FL_hip" pos="0.25944 0.075113 0">
+        <inertial pos="-0.002408 -0.01622 0.000239" quat="0.66751 0.421649 0.565191 0.239168" mass="1.62" diaginertia="0.0016644 0.00161602 0.00145995"/>
+        <joint name="FL_hip_joint" pos="0 0 0" axis="1 0 0" range="-1.01 1.01" actuatorfrcrange="-120 120" class="hip_joint"/>
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.898039 0.917647 0.929412 1" mesh="left_front_Link1"/>
+        <body name="FL_thigh" pos="0 0.12779 0">
+          <inertial pos="-0.003268 -0.03111 -0.053896" quat="0.993045 0.11348 0.0231928 0.0211279" mass="3.079" diaginertia="0.0293395 0.0280448 0.00383794"/>
+          <joint name="FL_thigh_joint" pos="0 0 0" axis="0 1 0" range="-2.34 3.15" actuatorfrcrange="-120 120" class="thigh_joint"/>
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.898039 0.917647 0.929412 1" mesh="left_front_Link2"/>
+          <geom class="collision" size="0.048 0.06" pos="0 -0.04 0" quat="0.707035 0.707179 0 0" type="cylinder" rgba="0.898039 0.917647 0.929412 1"/>
+          <geom class="collision" size="0.0275 0.018 0.085" pos="-0.025 0 -0.09" quat="0.999988 0 0.00499998 0" type="box" rgba="0.898039 0.917647 0.929412 1"/>
+          <geom class="collision" size="0.0085 0.025 0.025" pos="-0.022 0 -0.27" quat="0.930508 0 -0.366273 0" type="box" rgba="0.898039 0.917647 0.929412 1"/>
+          <body name="FL_calf" pos="0 0 -0.275">
+            <inertial pos="0.0102138 -1.99312e-05 -0.136496" quat="0.706884 -0.0119077 -0.0120568 0.707127" mass="0.407" diaginertia="0.00511119 0.00502314 0.000177746"/>
+            <joint name="FL_calf_joint" pos="0 0 0" axis="0 1 0" range="-2.77 -0.54" actuatorfrcrange="-180 180" class="calf_joint"/>
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.898039 0.917647 0.929412 1" mesh="left_front_Link3"/>
+            <geom class="collision" size="0.012 0.015 0.05" pos="0.018 0 -0.08" quat="0.992809 0 -0.119712 0" type="box" rgba="0.898039 0.917647 0.929412 1"/>
+            <geom class="collision" size="0.011 0.015 0.04" pos="0.033 0 -0.17" quat="0.999888 0 -0.0149994 0" type="box" rgba="0.898039 0.917647 0.929412 1"/>
+            <geom class="collision" size="0.01 0.018 0.03" pos="0.029 0 -0.236" quat="0.995004 0 0.0998334 0" type="box" rgba="0.898039 0.917647 0.929412 1"/>
+            <geom class="collision" size="0.005 0.018 0.03" pos="0.008 0 -0.23" quat="0.942755 0 0.333487 0" type="box" rgba="0.898039 0.917647 0.929412 1"/>
+            <geom pos="0 0 -0.275" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1" mesh="left_front_Link4"/>
+            <geom size="0.032" pos="0 0 -0.275" rgba="0.698039 0.698039 0.698039 1" class="foot"/>
+          </body>
+        </body>
+      </body>
+      <body name="RL_hip" pos="-0.25944 0.075113 0">
+        <inertial pos="0.00327 -0.01622 -9.7e-05" quat="0.358494 0.383537 0.580824 0.622113" mass="1.62" diaginertia="0.00167848 0.00163116 0.00141504"/>
+        <joint name="RL_hip_joint" pos="0 0 0" axis="1 0 0" range="-1.01 1.01" actuatorfrcrange="-120 120" class="hip_joint"/>
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.898039 0.917647 0.929412 1" mesh="left_hind_Link1"/>
+        <body name="RL_thigh" pos="0 0.12779 0">
+          <inertial pos="-0.003268 -0.03111 -0.053896" quat="0.993045 0.11348 0.0231928 0.0211279" mass="3.079" diaginertia="0.0293395 0.0280448 0.00383794"/>
+          <joint name="RL_thigh_joint" pos="0 0 0" axis="0 1 0" range="-1.56 3.94" actuatorfrcrange="-120 120" class="thigh_joint"/>
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.898039 0.917647 0.929412 1" mesh="left_hind_Link2"/>
+          <geom class="collision" size="0.048 0.06" pos="0 -0.04 0" quat="0.707035 0.707179 0 0" type="cylinder" rgba="0.898039 0.917647 0.929412 1"/>
+          <geom class="collision" size="0.0275 0.018 0.085" pos="-0.025 0 -0.09" quat="0.999988 0 0.00499998 0" type="box" rgba="0.898039 0.917647 0.929412 1"/>
+          <geom class="collision" size="0.0085 0.025 0.025" pos="-0.022 0 -0.27" quat="0.930508 0 -0.366273 0" type="box" rgba="0.898039 0.917647 0.929412 1"/>
+          <body name="RL_calf" pos="0 0 -0.275">
+            <inertial pos="0.0102138 -1.99312e-05 -0.136496" quat="0.706884 -0.0119077 -0.0120568 0.707127" mass="0.407" diaginertia="0.00511119 0.00502314 0.000177746"/>
+            <joint name="RL_calf_joint" pos="0 0 0" axis="0 1 0" range="-2.77 -0.54" actuatorfrcrange="-180 180" class="calf_joint"/>
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.898039 0.917647 0.929412 1" mesh="left_hind_Link3"/>
+            <geom class="collision" size="0.012 0.015 0.05" pos="0.018 0 -0.08" quat="0.992809 0 -0.119712 0" type="box" rgba="0.898039 0.917647 0.929412 1"/>
+            <geom class="collision" size="0.011 0.015 0.04" pos="0.033 0 -0.17" quat="0.999888 0 -0.0149994 0" type="box" rgba="0.898039 0.917647 0.929412 1"/>
+            <geom class="collision" size="0.01 0.018 0.03" pos="0.029 0 -0.236" quat="0.995004 0 0.0998334 0" type="box" rgba="0.898039 0.917647 0.929412 1"/>
+            <geom class="collision" size="0.005 0.018 0.03" pos="0.008 0 -0.23" quat="0.942755 0 0.333487 0" type="box" rgba="0.898039 0.917647 0.929412 1"/>
+            <geom pos="0 0 -0.275" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1" mesh="left_hind_Link4"/>
+            <geom size="0.032" pos="0 0 -0.275" rgba="0.698039 0.698039 0.698039 1" class="foot"/>
+          </body>
+        </body>
+      </body>
+      <body name="FR_hip" pos="0.25944 -0.075113 0">
+        <inertial pos="-0.002465 0.01622 0.000318" quat="0.244263 0.553086 0.449878 0.657299" mass="1.62" diaginertia="0.0016672 0.00160755 0.00146457"/>
+        <joint name="FR_hip_joint" pos="0 0 0" axis="1 0 0" range="-1.01 1.01" actuatorfrcrange="-120 120" class="hip_joint"/>
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.898039 0.917647 0.929412 1" mesh="right_front_Link1"/>
+        <body name="FR_thigh" pos="0 -0.12779 0">
+          <inertial pos="-0.003256 0.031125 -0.053921" quat="0.993054 -0.113587 0.0234158 -0.0198545" mass="3.077" diaginertia="0.029323 0.028038 0.00383842"/>
+          <joint name="FR_thigh_joint" pos="0 0 0" axis="0 1 0" range="-2.34 3.15" actuatorfrcrange="-120 120" class="thigh_joint"/>
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.898039 0.917647 0.929412 1" mesh="right_front_Link2"/>
+          <geom class="collision" size="0.048 0.06" pos="0 0.04 0" quat="0.707035 0.707179 0 0" type="cylinder" rgba="0.898039 0.917647 0.929412 1"/>
+          <geom class="collision" size="0.0275 0.018 0.085" pos="-0.025 0 -0.09" quat="0.999988 0 0.00499998 0" type="box" rgba="0.898039 0.917647 0.929412 1"/>
+          <geom class="collision" size="0.0085 0.025 0.025" pos="-0.022 0 -0.27" quat="0.930508 0 -0.366273 0" type="box" rgba="0.898039 0.917647 0.929412 1"/>
+          <body name="FR_calf" pos="0 0 -0.275">
+            <inertial pos="0.0102138 1.55479e-05 -0.136496" quat="0.707151 -0.0120743 -0.0118903 0.706859" mass="0.407" diaginertia="0.00511119 0.00502314 0.000177746"/>
+            <joint name="FR_calf_joint" pos="0 0 0" axis="0 1 0" range="-2.77 -0.54" actuatorfrcrange="-180 180" class="calf_joint"/>
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.898039 0.917647 0.929412 1" mesh="right_front_Link3"/>
+            <geom class="collision" size="0.012 0.015 0.05" pos="0.018 0 -0.08" quat="0.992809 0 -0.119712 0" type="box" rgba="0.898039 0.917647 0.929412 1"/>
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+            <geom pos="0 0 -0.275" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1" mesh="right_front_Link4"/>
+            <geom size="0.032" pos="0 0 -0.275" rgba="0.698039 0.698039 0.698039 1" class="foot"/>
+          </body>
+        </body>
+      </body>
+      <body name="RR_hip" pos="-0.25944 -0.075113 0">
+        <inertial pos="0.00327 0.01622 -3.7e-05" quat="0.616206 0.585144 0.36648 0.378931" mass="1.62" diaginertia="0.00167769 0.00163476 0.00141225"/>
+        <joint name="RR_hip_joint" pos="0 0 0" axis="1 0 0" range="-1.01 1.01" actuatorfrcrange="-120 120" class="hip_joint"/>
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.898039 0.917647 0.929412 1" mesh="right_hind_Link1"/>
+        <body name="RR_thigh" pos="0 -0.12779 0">
+          <inertial pos="-0.003256 0.031125 -0.053921" quat="0.993054 -0.113587 0.0234158 -0.0198545" mass="3.077" diaginertia="0.029323 0.028038 0.00383842"/>
+          <joint name="RR_thigh_joint" pos="0 0 0" axis="0 1 0" range="-1.56 3.94" actuatorfrcrange="-120 120" class="thigh_joint"/>
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.898039 0.917647 0.929412 1" mesh="right_hind_Link2"/>
+          <geom class="collision" size="0.048 0.06" pos="0 0.04 0" quat="0.707035 0.707179 0 0" type="cylinder" rgba="0.898039 0.917647 0.929412 1"/>
+          <geom class="collision" size="0.0275 0.018 0.085" pos="-0.025 0 -0.09" quat="0.999988 0 0.00499998 0" type="box" rgba="0.898039 0.917647 0.929412 1"/>
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+          <body name="RR_calf" pos="0 0 -0.275">
+            <inertial pos="0.0102138 1.55479e-05 -0.136496" quat="0.707151 -0.0120743 -0.0118903 0.706859" mass="0.407" diaginertia="0.00511119 0.00502314 0.000177746"/>
+            <joint name="RR_calf_joint" pos="0 0 0" axis="0 1 0" range="-2.77 -0.54" actuatorfrcrange="-180 180" class="calf_joint"/>
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.898039 0.917647 0.929412 1" mesh="right_hind_Link3"/>
+            <geom class="collision" size="0.012 0.015 0.05" pos="0.018 0 -0.08" quat="0.992809 0 -0.119712 0" type="box" rgba="0.898039 0.917647 0.929412 1"/>
+            <geom class="collision" size="0.011 0.015 0.04" pos="0.033 0 -0.17" quat="0.999888 0 -0.0149994 0" type="box" rgba="0.898039 0.917647 0.929412 1"/>
+            <geom class="collision" size="0.01 0.018 0.03" pos="0.029 0 -0.236" quat="0.995004 0 0.0998334 0" type="box" rgba="0.898039 0.917647 0.929412 1"/>
+            <geom class="collision" size="0.005 0.018 0.03" pos="0.008 0 -0.23" quat="0.942755 0 0.333487 0" type="box" rgba="0.898039 0.917647 0.929412 1"/>
+            <geom pos="0 0 -0.275" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1" mesh="right_hind_Link4"/>
+            <geom size="0.032" pos="0 0 -0.275" rgba="0.698039 0.698039 0.698039 1" class="foot"/>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+
+  <actuator>
+    <motor ctrlrange="-120 120"  name="FR_hip" joint="FR_hip_joint"/>
+    <motor ctrlrange="-120 120"  name="FR_thigh" joint="FR_thigh_joint"/>
+    <motor ctrlrange="-180 180"  name="FR_calf" joint="FR_calf_joint"/>
+    <motor ctrlrange="-120 120"  name="FL_hip" joint="FL_hip_joint"/>
+    <motor ctrlrange="-120 120"  name="FL_thigh" joint="FL_thigh_joint"/>
+    <motor ctrlrange="-180 180" name="FL_calf" joint="FL_calf_joint"/>
+    <motor ctrlrange="-120 120"  name="RR_hip" joint="RR_hip_joint"/>
+    <motor ctrlrange="-120 120"  name="RR_thigh" joint="RR_thigh_joint"/>
+    <motor ctrlrange="-180 180" name="RR_calf" joint="RR_calf_joint"/>
+    <motor ctrlrange="-120 120"  name="RL_hip" joint="RL_hip_joint"/>
+    <motor ctrlrange="-120 120"  name="RL_thigh" joint="RL_thigh_joint"/>
+    <motor ctrlrange="-180 180" name="RL_calf" joint="RL_calf_joint"/>
+  </actuator>
+
+  <sensor>
+    <jointpos name="FR_hip_pos" joint="FR_hip_joint" />
+    <jointpos name="FR_thigh_pos" joint="FR_thigh_joint" />
+    <jointpos name="FR_calf_pos" joint="FR_calf_joint" />
+    <jointpos name="FL_hip_pos" joint="FL_hip_joint" />
+    <jointpos name="FL_thigh_pos" joint="FL_thigh_joint" />
+    <jointpos name="FL_calf_pos" joint="FL_calf_joint" />
+    <jointpos name="RR_hip_pos" joint="RR_hip_joint" />
+    <jointpos name="RR_thigh_pos" joint="RR_thigh_joint" />
+    <jointpos name="RR_calf_pos" joint="RR_calf_joint" />
+    <jointpos name="RL_hip_pos" joint="RL_hip_joint" />
+    <jointpos name="RL_thigh_pos" joint="RL_thigh_joint" />
+    <jointpos name="RL_calf_pos" joint="RL_calf_joint" />
+
+    <jointvel name="FR_hip_vel" joint="FR_hip_joint" />
+    <jointvel name="FR_thigh_vel" joint="FR_thigh_joint" />
+    <jointvel name="FR_calf_vel" joint="FR_calf_joint" />
+    <jointvel name="FL_hip_vel" joint="FL_hip_joint" />
+    <jointvel name="FL_thigh_vel" joint="FL_thigh_joint" />
+    <jointvel name="FL_calf_vel" joint="FL_calf_joint" />
+    <jointvel name="RR_hip_vel" joint="RR_hip_joint" />
+    <jointvel name="RR_thigh_vel" joint="RR_thigh_joint" />
+    <jointvel name="RR_calf_vel" joint="RR_calf_joint" />
+    <jointvel name="RL_hip_vel" joint="RL_hip_joint" />
+    <jointvel name="RL_thigh_vel" joint="RL_thigh_joint" />
+    <jointvel name="RL_calf_vel" joint="RL_calf_joint" />
+
+    <jointactuatorfrc name="FR_hip_torque" joint="FR_hip_joint" noise="0.01" />
+    <jointactuatorfrc name="FR_thigh_torque" joint="FR_thigh_joint" noise="0.01" />
+    <jointactuatorfrc name="FR_calf_torque" joint="FR_calf_joint" noise="0.01" />
+    <jointactuatorfrc name="FL_hip_torque" joint="FL_hip_joint" noise="0.01" />
+    <jointactuatorfrc name="FL_thigh_torque" joint="FL_thigh_joint" noise="0.01" />
+    <jointactuatorfrc name="FL_calf_torque" joint="FL_calf_joint" noise="0.01" />
+    <jointactuatorfrc name="RR_hip_torque" joint="RR_hip_joint" noise="0.01" />
+    <jointactuatorfrc name="RR_thigh_torque" joint="RR_thigh_joint" noise="0.01" />
+    <jointactuatorfrc name="RR_calf_torque" joint="RR_calf_joint" noise="0.01" />
+    <jointactuatorfrc name="RL_hip_torque" joint="RL_hip_joint" noise="0.01" />
+    <jointactuatorfrc name="RL_thigh_torque" joint="RL_thigh_joint" noise="0.01" />
+    <jointactuatorfrc name="RL_calf_torque" joint="RL_calf_joint" noise="0.01" />
+
+    <framequat name="imu_quat" objtype="site" objname="imu" noise="0.01" />
+    <gyro name="imu_gyro" site="imu" noise="0.01" />
+    <accelerometer name="imu_acc" site="imu" noise="0.01" />
+    
+    <framepos name="frame_pos" objtype="site" objname="imu" />
+    <framelinvel name="frame_vel" objtype="site" objname="imu" />
+  </sensor>
+
+</mujoco>
diff --git a/sources/unitree_ros/robots/a2_description/meshes/base_link.STL b/sources/unitree_ros/robots/a2_description/meshes/base_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..ed4372fc855e3705dc5648174a3ae0399eccb6ba
--- /dev/null
+++ b/sources/unitree_ros/robots/a2_description/meshes/base_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d63bf204cc935a7df7415d31bfb953f3ded653899b6b27bbf0268fc363e5904
+size 3421184
diff --git a/sources/unitree_ros/robots/a2_description/meshes/left_front_Link1.STL b/sources/unitree_ros/robots/a2_description/meshes/left_front_Link1.STL
new file mode 100644
index 0000000000000000000000000000000000000000..c666488f44654f8feba51ed05890f743afe5e3ee
--- /dev/null
+++ b/sources/unitree_ros/robots/a2_description/meshes/left_front_Link1.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/sources/unitree_ros/robots/a2_description/meshes/left_front_Link2.STL b/sources/unitree_ros/robots/a2_description/meshes/left_front_Link2.STL
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+version https://git-lfs.github.com/spec/v1
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diff --git a/sources/unitree_ros/robots/a2_description/meshes/left_front_Link4.STL b/sources/unitree_ros/robots/a2_description/meshes/left_front_Link4.STL
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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+size 1719884
diff --git a/sources/unitree_ros/robots/a2_description/meshes/left_hind_Link1.STL b/sources/unitree_ros/robots/a2_description/meshes/left_hind_Link1.STL
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index 0000000000000000000000000000000000000000..97bef143bc62c659ae8ab714ce005dfc298fda0d
--- /dev/null
+++ b/sources/unitree_ros/robots/a2_description/meshes/left_hind_Link1.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 249684
diff --git a/sources/unitree_ros/robots/a2_description/meshes/left_hind_Link2.STL b/sources/unitree_ros/robots/a2_description/meshes/left_hind_Link2.STL
new file mode 100644
index 0000000000000000000000000000000000000000..0c8438e194135e25d22a48f4ee104df373e7bb8f
--- /dev/null
+++ b/sources/unitree_ros/robots/a2_description/meshes/left_hind_Link2.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 310484
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb913b7637a5e3d252efa7e71e4af3be63658f699a2401b29f2a059bc0ae6326
+size 1719884
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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+size 310484
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diff --git a/sources/unitree_ros/robots/a2_description/meshes/right_hind_Link1.STL b/sources/unitree_ros/robots/a2_description/meshes/right_hind_Link1.STL
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/sources/unitree_ros/robots/a2_description/meshes/right_hind_Link2.STL b/sources/unitree_ros/robots/a2_description/meshes/right_hind_Link2.STL
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/sources/unitree_ros/robots/a2_description/meshes/right_hind_Link4.STL b/sources/unitree_ros/robots/a2_description/meshes/right_hind_Link4.STL
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/sources/unitree_ros/robots/a2_description/urdf/a2.urdf b/sources/unitree_ros/robots/a2_description/urdf/a2.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4541ca47c339ce263198853690347172ff8f5512
--- /dev/null
+++ b/sources/unitree_ros/robots/a2_description/urdf/a2.urdf
@@ -0,0 +1,1085 @@
+<robot name="a2">
+
+  <!-- [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="6.982591E-03 -0.712858E-03 12.889523E-03"
+        rpy="0 0 0" />
+      <mass
+        value="19.651" />
+      <inertia
+        ixx="141775328.248061E-09"
+        ixy="400505.020171E-09"
+        ixz="-6996487.718114E-09"
+        iyy="407724601.564754E-09"
+        iyz="-361858.857563E-09"
+        izz="472247985.516800E-09" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+
+    <collision>
+      <origin xyz="0 0 0.007" rpy="0 0 0" />
+      <geometry>
+        <box size="0.24 0.28 0.17" />
+      </geometry>
+    </collision>
+
+    <collision>
+      <origin xyz="0.25 0 0.119" rpy="0.0 0 0.0" />
+      <geometry>
+        <box size="0.08 0.05 0.02" />
+      </geometry>
+    </collision>
+
+    <collision>
+      <origin xyz="-0.22 0 0.119" rpy="-0.0 -0.03 0.0" />
+      <geometry>
+        <box size="0.05 0.03 0.016" />
+      </geometry>
+    </collision>
+
+    <collision>
+      <origin xyz="0.365 0 0.1" rpy="0 -0.7 0" />
+      <geometry>
+        <box size="0.06 0.1 0.01" />
+      </geometry>
+    </collision>
+
+    <collision>
+      <origin xyz="-0.31 0 0.112" rpy="0 0.7 0" />
+      <geometry>
+        <box size="0.045 0.1 0.01" />
+      </geometry>
+    </collision>
+
+  </link>
+
+
+  <link
+    name="FL_hip">
+    <inertial>
+      <origin
+        xyz="-2.408E-03 -16.220E-03 0.239E-03"
+        rpy="0 0 0" />
+      <mass
+        value="1.620" />
+      <inertia
+        ixx="1476.261E-06"
+        ixy="53.160E-06"
+        ixz="-7.425E-06"
+        iyy="1633.309E-06"
+        iyz="-21.032E-06"
+        izz="1630.804E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/left_front_Link1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+
+  </link>
+  <joint
+    name="FL_hip_joint"
+    type="revolute">
+    <origin
+      xyz="0.25944 0.075113 0"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="FL_hip" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-1.01"
+      upper="1.01"
+      effort="120.0"
+      velocity="22.0" />
+  </joint>
+  <link
+    name="FL_thigh">
+    <inertial>
+      <origin
+        xyz="-3.268E-03 -31.110E-03 -53.896E-03"
+        rpy="0 0 0" />
+      <mass
+        value="3.079" />
+      <inertia
+        ixx="29271.794E-06"
+        ixy="337.285E-06"
+        ixz="-1251.409E-06"
+        iyy="26828.777E-06"
+        iyz="5283.783E-06"
+        izz="5121.720E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_front_Link2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.0 -0.04 0" rpy="1.571 0 0" />
+      <geometry>
+        <cylinder radius="0.048" length="0.12" />
+      </geometry>
+    </collision>
+
+    <collision>
+      <origin xyz="-0.025 0.00 -0.09" rpy="0 0.01 0" />
+      <geometry>
+        <box size="0.055 0.036 0.17" />
+      </geometry>
+    </collision>
+
+    <collision>
+      <origin xyz="-0.022 0.00 -0.27" rpy="0 -0.75 0" />
+      <geometry>
+        <box size="0.017 0.05 0.05" />
+      </geometry>
+    </collision>
+
+  </link>
+  <joint
+    name="FL_thigh_joint"
+    type="revolute">
+    <origin
+      xyz="0 0.12779 0"
+      rpy="0 0 0" />
+    <parent
+      link="FL_hip" />
+    <child
+      link="FL_thigh" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-2.34"
+      upper="3.15"
+      effort="120.0"
+      velocity="22.0" />
+  </joint>
+  <link
+    name="FL_calf">
+    <inertial>
+      <origin
+        xyz="12.515E-03 -0.024E-03 -117.649E-03"
+        rpy="0 0 0" />
+      <mass
+        value="0.361" />
+      <inertia
+        ixx="3869.035E-06"
+        ixy="-0.093E-06"
+        ixz="298.636E-06"
+        iyy="3945.295E-06"
+        iyz="0.826E-06"
+        izz="150.991E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_front_Link3.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+
+    <collision>
+      <origin xyz="0.018 -0.00 -0.08" rpy="0 -0.24 0" />
+      <geometry>
+        <box size="0.024 0.03 0.1" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.033 -0.00 -0.17" rpy="0 -0.03 0" />
+      <geometry>
+        <box size="0.022 0.03 0.08" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.029 -0.00 -0.236" rpy="0 0.2 0" />
+      <geometry>
+        <box size="0.02 0.036 0.06" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.008 -0.00 -0.23" rpy="0 0.68 0" />
+      <geometry>
+        <box size="0.01 0.036 0.06" />
+      </geometry>
+    </collision>
+
+  </link>
+  <joint
+    name="FL_calf_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.275"
+      rpy="0 0 0" />
+    <parent
+      link="FL_thigh" />
+    <child
+      link="FL_calf" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-2.77"
+      upper="-0.54"
+      effort="180.0"
+      velocity="14.6667" />
+  </joint>
+  <link
+    name="FL_foot">
+    <inertial>
+      <origin
+        xyz="-7.846E-03 0.012E-03 -9.403E-03"
+        rpy="0 0 0" />
+      <mass
+        value="0.046" />
+      <inertia
+        ixx="13.994E-06"
+        ixy="-0.003E-06"
+        ixz="3.992E-06"
+        iyy="14.434E-06"
+        iyz="-0.004E-06"
+        izz="15.404E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_front_Link4.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
+      </material>
+    </visual>
+
+    <collision>
+      <origin xyz="0.0 -0.00 -0.0" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.032" />
+      </geometry>
+    </collision>
+
+  </link>
+  <joint
+    name="FL_foot_joint"
+    type="fixed" dont_collapse="true">
+    <origin
+      xyz="0 0 -0.275"
+      rpy="0 0 0" />
+    <parent
+      link="FL_calf" />
+    <child
+      link="FL_foot" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+
+
+  <link
+    name="RL_hip">
+    <inertial>
+      <origin
+        xyz="3.270E-03 -16.220E-03 -0.097E-03"
+        rpy="0 0 0" />
+      <mass
+        value="1.620" />
+      <inertia
+        ixx="1468.092E-06"
+        ixy="-105.396E-06"
+        ixz="-7.294E-06"
+        iyy="1625.457E-06"
+        iyz="-0.444E-06"
+        izz="1631.122E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_hind_Link1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+
+  </link>
+  <joint
+    name="RL_hip_joint"
+    type="revolute">
+    <origin
+      xyz="-0.25944 0.075113 0"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="RL_hip" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-1.01"
+      upper="1.01"
+      effort="120.0"
+      velocity="22.0" />
+  </joint>
+  <link
+    name="RL_thigh">
+    <inertial>
+      <origin
+        xyz="-3.268E-03 -31.110E-03 -53.896E-03"
+        rpy="0 0 0" />
+      <mass
+        value="3.079" />
+      <inertia
+        ixx="29271.794E-06"
+        ixy="337.285E-06"
+        ixz="-1251.409E-06"
+        iyy="26828.777E-06"
+        iyz="5283.783E-06"
+        izz="5121.720E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_hind_Link2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+
+    <collision>
+      <origin xyz="0.0 -0.04 0" rpy="1.571 0 0" />
+      <geometry>
+        <cylinder radius="0.048" length="0.12" />
+      </geometry>
+    </collision>
+
+    <collision>
+      <origin xyz="-0.025 0.00 -0.09" rpy="0 0.01 0" />
+      <geometry>
+        <box size="0.055 0.036 0.17" />
+      </geometry>
+    </collision>
+
+    <collision>
+      <origin xyz="-0.022 0.00 -0.27" rpy="0 -0.75 0" />
+      <geometry>
+        <box size="0.017 0.05 0.05" />
+      </geometry>
+    </collision>
+
+  </link>
+  <joint
+    name="RL_thigh_joint"
+    type="revolute">
+    <origin
+      xyz="0 0.12779 0"
+      rpy="0 0 0" />
+    <parent
+      link="RL_hip" />
+    <child
+      link="RL_thigh" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-1.56"
+      upper="3.94"
+      effort="120.0"
+      velocity="22.0" />
+  </joint>
+  <link
+    name="RL_calf">
+    <inertial>
+      <origin
+        xyz="12.515E-03 -0.024E-03 -117.649E-03"
+        rpy="0 0 0" />
+      <mass
+        value="0.361" />
+      <inertia
+        ixx="3869.035E-06"
+        ixy="-0.093E-06"
+        ixz="298.636E-06"
+        iyy="3945.295E-06"
+        iyz="0.826E-06"
+        izz="150.991E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_hind_Link3.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.018 -0.00 -0.08" rpy="0 -0.24 0" />
+      <geometry>
+        <box size="0.024 0.03 0.1" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.033 -0.00 -0.17" rpy="0 -0.03 0" />
+      <geometry>
+        <box size="0.022 0.03 0.08" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.029 -0.00 -0.236" rpy="0 0.2 0" />
+      <geometry>
+        <box size="0.02 0.036 0.06" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.008 -0.00 -0.23" rpy="0 0.68 0" />
+      <geometry>
+        <box size="0.01 0.036 0.06" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="RL_calf_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.275"
+      rpy="0 0 0" />
+    <parent
+      link="RL_thigh" />
+    <child
+      link="RL_calf" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-2.77"
+      upper="-0.54"
+      effort="180.0"
+      velocity="14.6667" />
+  </joint>
+  <link
+    name="RL_foot">
+    <inertial>
+      <origin
+        xyz="-7.846E-03 0.012E-03 -9.403E-03"
+        rpy="0 0 0" />
+      <mass
+        value="0.046" />
+      <inertia
+        ixx="13.994E-06"
+        ixy="-0.003E-06"
+        ixz="3.992E-06"
+        iyy="14.434E-06"
+        iyz="-0.004E-06"
+        izz="15.404E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_hind_Link4.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.0 -0.00 -0.0" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.032" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="RL_foot_joint"
+    type="fixed" dont_collapse="true">
+    <origin
+      xyz="0 0 -0.275"
+      rpy="0 0 0" />
+    <parent
+      link="RL_calf" />
+    <child
+      link="RL_foot" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+
+
+  <link
+    name="FR_hip">
+    <inertial>
+      <origin
+        xyz="-2.465E-03 16.220E-03 0.318E-03"
+        rpy="0 0 0" />
+      <mass
+        value="1.620" />
+      <inertia
+        ixx="1483.677E-06"
+        ixy="-56.616E-06"
+        ixz="-5.890E-06"
+        iyy="1632.784E-06"
+        iyz="25.536E-06"
+        izz="1622.864E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_front_Link1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+
+  </link>
+  <joint
+    name="FR_hip_joint"
+    type="revolute">
+    <origin
+      xyz="0.25944 -0.075113 0"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="FR_hip" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-1.01"
+      upper="1.01"
+      effort="120.0"
+      velocity="22.0" />
+  </joint>
+  <link
+    name="FR_thigh">
+    <inertial>
+      <origin
+        xyz="-3.256E-03 31.125E-03 -53.921E-03"
+        rpy="0 0 0" />
+      <mass
+        value="3.077" />
+      <inertia
+        ixx="29255.209E-06"
+        ixy="-334.771E-06"
+        ixz="-1255.239E-06"
+        iyy="26819.094E-06"
+        iyz="-5288.175E-06"
+        izz="5125.147E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_front_Link2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+
+    <collision>
+      <origin xyz="0.0 0.04 0" rpy="1.571 0 0" />
+      <geometry>
+        <cylinder radius="0.048" length="0.12" />
+      </geometry>
+    </collision>
+
+    <collision>
+      <origin xyz="-0.025 0.00 -0.09" rpy="0 0.01 0" />
+      <geometry>
+        <box size="0.055 0.036 0.17" />
+      </geometry>
+    </collision>
+
+    <collision>
+      <origin xyz="-0.022 0.00 -0.27" rpy="0 -0.75 0" />
+      <geometry>
+        <box size="0.017 0.05 0.05" />
+      </geometry>
+    </collision>
+
+  </link>
+  <joint
+    name="FR_thigh_joint"
+    type="revolute">
+    <origin
+      xyz="0 -0.12779 0"
+      rpy="0 0 0" />
+    <parent
+      link="FR_hip" />
+    <child
+      link="FR_thigh" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-2.34"
+      upper="3.15"
+      effort="120.0"
+      velocity="22.0" />
+  </joint>
+  <link
+    name="FR_calf">
+    <inertial>
+      <origin
+        xyz="12.515E-03 0.016E-03 -117.649E-03"
+        rpy="0 0 0" />
+      <mass
+        value="0.361" />
+      <inertia
+        ixx="3869.035E-06"
+        ixy="0.087E-06"
+        ixz="298.636E-06"
+        iyy="3945.295E-06"
+        iyz="-1.285E-06"
+        izz="150.991E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_front_Link3.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.018 -0.00 -0.08" rpy="0 -0.24 0" />
+      <geometry>
+        <box size="0.024 0.03 0.1" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.033 -0.00 -0.17" rpy="0 -0.03 0" />
+      <geometry>
+        <box size="0.022 0.03 0.08" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.029 -0.00 -0.236" rpy="0 0.2 0" />
+      <geometry>
+        <box size="0.02 0.036 0.06" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.008 -0.00 -0.23" rpy="0 0.68 0" />
+      <geometry>
+        <box size="0.01 0.036 0.06" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="FR_calf_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.275"
+      rpy="0 0 0" />
+    <parent
+      link="FR_thigh" />
+    <child
+      link="FR_calf" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-2.77"
+      upper="-0.54"
+      effort="180.0"
+      velocity="14.6667" />
+  </joint>
+  <link
+    name="FR_foot">
+    <inertial>
+      <origin
+        xyz="-7.846E-03 0.012E-03 -9.403E-03"
+        rpy="0 0 0" />
+      <mass
+        value="0.046" />
+      <inertia
+        ixx="13.994E-06"
+        ixy="-0.003E-06"
+        ixz="3.992E-06"
+        iyy="14.434E-06"
+        iyz="-0.004E-06"
+        izz="15.404E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_front_Link4.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.0 -0.00 -0.0" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.032" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="FR_foot_joint"
+    type="fixed" dont_collapse="true">
+    <origin
+      xyz="0 0 -0.275"
+      rpy="0 0 0" />
+    <parent
+      link="FR_calf" />
+    <child
+      link="FR_foot" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+
+
+  <link
+    name="RR_hip">
+    <inertial>
+      <origin
+        xyz="3.270E-03 16.220E-03 -0.037E-03"
+        rpy="0 0 0" />
+      <mass
+        value="1.620" />
+      <inertia
+        ixx="1464.949E-06"
+        ixy="105.396E-06"
+        ixz="-9.437E-06"
+        iyy="1625.469E-06"
+        iyz="4.282E-06"
+        izz="1634.276E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_hind_Link1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+
+  </link>
+  <joint
+    name="RR_hip_joint"
+    type="revolute">
+    <origin
+      xyz="-0.25944 -0.075113 0"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="RR_hip" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-1.01"
+      upper="1.01"
+      effort="120.0"
+      velocity="22.0" />
+  </joint>
+  <link
+    name="RR_thigh">
+    <inertial>
+      <origin
+        xyz="-3.256E-03 31.125E-03 -53.921E-03"
+        rpy="0 0 0" />
+      <mass
+        value="3.077" />
+      <inertia
+        ixx="29255.209E-06"
+        ixy="-334.771E-06"
+        ixz="-1255.239E-06"
+        iyy="26819.094E-06"
+        iyz="-5288.175E-06"
+        izz="5125.147E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_hind_Link2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.0 0.04 0" rpy="1.571 0 0" />
+      <geometry>
+        <cylinder radius="0.048" length="0.12" />
+      </geometry>
+    </collision>
+
+    <collision>
+      <origin xyz="-0.025 0.00 -0.09" rpy="0 0.01 0" />
+      <geometry>
+        <box size="0.055 0.036 0.17" />
+      </geometry>
+    </collision>
+
+    <collision>
+      <origin xyz="-0.022 0.00 -0.27" rpy="0 -0.75 0" />
+      <geometry>
+        <box size="0.017 0.05 0.05" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="RR_thigh_joint"
+    type="revolute">
+    <origin
+      xyz="0 -0.12779 0"
+      rpy="0 0 0" />
+    <parent
+      link="RR_hip" />
+    <child
+      link="RR_thigh" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-1.56"
+      upper="3.94"
+      effort="120.0"
+      velocity="22.0" />
+  </joint>
+  <link
+    name="RR_calf">
+    <inertial>
+      <origin
+        xyz="12.515E-03 0.016E-03 -117.649E-03"
+        rpy="0 0 0" />
+      <mass
+        value="0.361" />
+      <inertia
+        ixx="3869.035E-06"
+        ixy="0.087E-06"
+        ixz="298.636E-06"
+        iyy="3945.295E-06"
+        iyz="-1.285E-06"
+        izz="150.991E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_hind_Link3.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.018 -0.00 -0.08" rpy="0 -0.24 0" />
+      <geometry>
+        <box size="0.024 0.03 0.1" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.033 -0.00 -0.17" rpy="0 -0.03 0" />
+      <geometry>
+        <box size="0.022 0.03 0.08" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.029 -0.00 -0.236" rpy="0 0.2 0" />
+      <geometry>
+        <box size="0.02 0.036 0.06" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.008 -0.00 -0.23" rpy="0 0.68 0" />
+      <geometry>
+        <box size="0.01 0.036 0.06" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="RR_calf_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.275"
+      rpy="0 0 0" />
+    <parent
+      link="RR_thigh" />
+    <child
+      link="RR_calf" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-2.77"
+      upper="-0.54"
+      effort="180.0"
+      velocity="14.6667" />
+  </joint>
+  <link
+    name="RR_foot">
+    <inertial>
+      <origin
+        xyz="-7.846E-03 0.012E-03 -9.403E-03"
+        rpy="0 0 0" />
+      <mass
+        value="0.046" />
+      <inertia
+        ixx="13.994E-06"
+        ixy="-0.003E-06"
+        ixz="3.992E-06"
+        iyy="14.434E-06"
+        iyz="-0.004E-06"
+        izz="15.404E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_hind_Link4.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.0 -0.00 -0.0" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.032" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="RR_foot_joint"
+    type="fixed" dont_collapse="true">
+    <origin
+      xyz="0 0 -0.275"
+      rpy="0 0 0" />
+    <parent
+      link="RR_calf" />
+    <child
+      link="RR_foot" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+
+  <link name="camera_link"/>
+  <joint name="camera_joint" type="fixed">
+    <origin xyz="0.3381 0.0336 0.0525" rpy="0 0 0"/>
+    <parent link="base_link"/>
+    <child link="camera_link"/>
+  </joint>
+
+  <link name="front_lidar_link"/>
+
+  <joint name="front_lidar_joint" type="fixed">
+    <origin xyz="0.33767 0.0 0.08134" rpy="1.5708 0 1.5708"/>
+    <parent link="base_link"/>
+    <child link="front_lidar_link"/>
+  </joint>
+
+  <link name="rear_lidar_link"/>
+
+  <joint name="rear_lidar_joint" type="fixed">
+    <origin xyz="0.0 0.005997 -0.617643765" rpy="0 3.14159 0"/>
+    <parent link="front_lidar_link"/>
+    <child link="rear_lidar_link"/>
+  </joint>
+
+</robot>
\ No newline at end of file
diff --git a/sources/unitree_ros/robots/aliengoZ1_description/CMakeLists.txt b/sources/unitree_ros/robots/aliengoZ1_description/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bd381a8ce3db9984765e649d138870d7ca21973c
--- /dev/null
+++ b/sources/unitree_ros/robots/aliengoZ1_description/CMakeLists.txt
@@ -0,0 +1,207 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(aliengoZ1_description)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+  urdf
+  xacro
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES aliengoAndarm
+#  CATKIN_DEPENDS roscpp rospy urdf xacro
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/aliengoAndarm.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/aliengoAndarm_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_aliengoAndarm.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/sources/unitree_ros/robots/aliengoZ1_description/config/robot_control.yaml b/sources/unitree_ros/robots/aliengoZ1_description/config/robot_control.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..27fe4f9b7680d34b31bd76e54f8cc8572ac90e5f
--- /dev/null
+++ b/sources/unitree_ros/robots/aliengoZ1_description/config/robot_control.yaml
@@ -0,0 +1,105 @@
+aliengoZ1_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}
+
+    Joint01_controller:
+        type: unitree_legged_control/UnitreeJointController
+        joint: joint1
+        pid: {p: 300.0, i: 0.0, d: 5.0}
+
+    Joint02_controller:
+        type: unitree_legged_control/UnitreeJointController
+        joint: joint2
+        pid: {p: 300.0, i: 0.0, d: 5.0}
+
+    Joint03_controller:
+        type: unitree_legged_control/UnitreeJointController
+        joint: joint3
+        pid: {p: 300.0, i: 0.0, d: 5.0}
+
+    Joint04_controller:
+        type: unitree_legged_control/UnitreeJointController
+        joint: joint4
+        pid: {p: 300.0, i: 0.0, d: 5.0}
+
+    Joint05_controller:
+        type: unitree_legged_control/UnitreeJointController
+        joint: joint5
+        pid: {p: 300.0, i: 0.0, d: 5.0}
+
+    Joint06_controller:
+        type: unitree_legged_control/UnitreeJointController
+        joint: joint6
+        pid: {p: 300.0, i: 0.0, d: 5.0}
+
+    gripper_controller:
+        type: unitree_legged_control/UnitreeJointController
+        joint: jointGripper
+        pid: {p: 300.0, i: 0.0, d: 5.0}
+
diff --git a/sources/unitree_ros/robots/aliengoZ1_description/launch/aliengoZ1_gazebo.launch b/sources/unitree_ros/robots/aliengoZ1_description/launch/aliengoZ1_gazebo.launch
new file mode 100644
index 0000000000000000000000000000000000000000..d148a0fdfbdc8f419c22fa200d423f05101c7c3f
--- /dev/null
+++ b/sources/unitree_ros/robots/aliengoZ1_description/launch/aliengoZ1_gazebo.launch
@@ -0,0 +1,74 @@
+<launch>
+    <arg name="wname" default="earth"/>
+    <arg name="rname" default="aliengoZ1"/>
+    <arg name="robot_path" value="(find $(arg rname)_description)"/>
+    <arg name="dollar" value="$"/>
+
+    <arg name="UnitreeGripperYN" default="true"/>
+
+    <arg name="paused" default="true"/>
+    <arg name="use_sim_time" default="true"/>
+    <arg name="gui" default="true"/>
+    <arg name="headless" default="false"/>
+    <arg name="debug" default="false"/>
+    <!-- Debug mode will hung up the robot, use "true" or "false" to switch it. -->
+    <arg name="user_debug" default="false"/>
+    
+    <include file="$(find gazebo_ros)/launch/empty_world.launch">
+        <arg name="world_name" value="$(find unitree_gazebo)/worlds/$(arg wname).world"/>
+        <arg name="debug" value="$(arg debug)"/>
+        <arg name="gui" value="$(arg gui)"/>
+        <arg name="paused" value="$(arg paused)"/>
+        <arg name="use_sim_time" value="$(arg use_sim_time)"/>
+        <arg name="headless" value="$(arg headless)"/>
+    </include>
+
+    <!-- Load the URDF into the ROS Parameter Server -->
+    <param name="robot_description"
+           command="$(find xacro)/xacro --inorder '$(arg dollar)$(arg robot_path)/xacro/robot.xacro' 
+           DEBUG:=$(arg user_debug)"/>
+
+    <!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
+    <!-- Set trunk and joint positions at startup -->
+    <node pkg="gazebo_ros" type="spawn_model" name="urdf_spawner" respawn="false" output="screen"
+          args="-urdf -z 0.6 -model $(arg rname)_gazebo -param robot_description -unpause"/>
+
+    <!-- Load joint controller configurations from YAML file to parameter server -->
+    <rosparam file="$(arg dollar)$(arg robot_path)/config/robot_control.yaml" command="load"/>
+
+    <!-- load the controllers -->
+    <group unless="$(arg UnitreeGripperYN)">
+        <node pkg="controller_manager" type="spawner" name="controller_spawner" respawn="false"
+            output="screen" ns="/$(arg rname)_gazebo" args="joint_state_controller 
+            Joint01_controller Joint02_controller Joint03_controller
+            Joint04_controller Joint05_controller Joint06_controller
+            FL_hip_controller FL_thigh_controller FL_calf_controller
+            FR_hip_controller FR_thigh_controller FR_calf_controller
+            RL_hip_controller RL_thigh_controller RL_calf_controller
+            RR_hip_controller RR_thigh_controller RR_calf_controller"/>
+    </group>
+
+    <group if="$(arg UnitreeGripperYN)">
+        <node pkg="controller_manager" type="spawner" name="controller_spawner" respawn="false"
+            output="screen" ns="/$(arg rname)_gazebo" args="joint_state_controller 
+            Joint01_controller Joint02_controller Joint03_controller 
+            Joint04_controller Joint05_controller Joint06_controller 
+            gripper_controller
+            FL_hip_controller FL_thigh_controller FL_calf_controller
+            FR_hip_controller FR_thigh_controller FR_calf_controller
+            RL_hip_controller RL_thigh_controller RL_calf_controller
+            RR_hip_controller RR_thigh_controller RR_calf_controller"/>
+    </group>
+
+    <!-- convert joint states to TF transforms for rviz, etc -->
+    <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher"
+          respawn="false" output="screen">
+        <remap from="/joint_states" to="/$(arg rname)_gazebo/joint_states"/>
+    </node>
+
+    <!-- load the parameter unitree_controller -->
+    <include file="$(find unitree_controller)/launch/set_ctrl.launch">
+        <arg name="rname" value="$(arg rname)"/>
+    </include>
+
+</launch>
diff --git a/sources/unitree_ros/robots/aliengoZ1_description/launch/aliengoZ1_rviz.launch b/sources/unitree_ros/robots/aliengoZ1_description/launch/aliengoZ1_rviz.launch
new file mode 100644
index 0000000000000000000000000000000000000000..ba51bb7ef396a5a60375f5de7ae0bfa97e764015
--- /dev/null
+++ b/sources/unitree_ros/robots/aliengoZ1_description/launch/aliengoZ1_rviz.launch
@@ -0,0 +1,21 @@
+<launch>
+  
+    <arg name="user_debug" default="true"/>
+    <arg name="UnitreeGripperYN" default="true"/>
+
+    <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find aliengoZ1_description)/xacro/robot.xacro'
+            DEBUG:=$(arg user_debug) UnitreeGripper:=$(arg UnitreeGripperYN)"/>
+
+    <!-- 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="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 aliengo_description)/launch/check_joint.rviz"/>
+
+</launch>
diff --git a/sources/unitree_ros/robots/aliengoZ1_description/package.xml b/sources/unitree_ros/robots/aliengoZ1_description/package.xml
new file mode 100644
index 0000000000000000000000000000000000000000..387d93c1912250888e3007f72688e92de7f958e4
--- /dev/null
+++ b/sources/unitree_ros/robots/aliengoZ1_description/package.xml
@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>aliengoZ1_description</name>
+  <version>0.0.0</version>
+  <description>The aliengoZ1_description package</description>
+  <maintainer email="laikago@unitree.cc">unitree</maintainer>
+  <license>TODO</license>
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>urdf</build_depend>
+  <build_depend>xacro</build_depend>
+  <build_export_depend>urdf</build_export_depend>
+  <build_export_depend>xacro</build_export_depend>
+  <exec_depend>urdf</exec_depend>
+  <exec_depend>xacro</exec_depend>
+</package>
diff --git a/sources/unitree_ros/robots/aliengoZ1_description/worlds/earth.world b/sources/unitree_ros/robots/aliengoZ1_description/worlds/earth.world
new file mode 100644
index 0000000000000000000000000000000000000000..ff84f9bfcc94a5f2c27cbb22fe17d04f18b2eddd
--- /dev/null
+++ b/sources/unitree_ros/robots/aliengoZ1_description/worlds/earth.world
@@ -0,0 +1,24 @@
+<?xml version="1.0" ?>
+<sdf version="1.4">
+  <!-- We use a custom world for the rrbot so that the camera angle is launched correctly -->
+
+  <world name="default">
+    <include>
+      <uri>model://ground_plane</uri>
+    </include>
+
+    <!-- Global light source -->
+    <include>
+      <uri>model://sun</uri>
+    </include>
+
+    <!-- Focus camera on tall pendulum -->
+    <gui fullscreen='0'>
+      <camera name='user_camera'>
+        <pose>4.927360 -4.376610 3.740080 0.000000 0.275643 2.356190</pose>
+        <view_controller>orbit</view_controller>
+      </camera>
+    </gui>
+
+  </world>
+</sdf>
diff --git a/sources/unitree_ros/robots/aliengoZ1_description/xacro/const.xacro b/sources/unitree_ros/robots/aliengoZ1_description/xacro/const.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..fe8fd4bacafe229b76c0ef1365e7b0448273fdbf
--- /dev/null
+++ b/sources/unitree_ros/robots/aliengoZ1_description/xacro/const.xacro
@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+
+<robot name="aliengoZ1_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+    <xacro:include filename="$(find aliengo_description)/xacro/const.xacro"/>
+
+      <!-- the base of arm offset -->
+    <xacro:property name="arm_offset_x" value="${trunk_length/2.0 - 0.07}"/>
+    <xacro:property name="arm_offset_y" value="0"/>
+    <xacro:property name="arm_offset_z" value="${trunk_height/2.0}"/>
+    <xacro:property name="arm_offset_r" value="0"/>
+    <xacro:property name="arm_offset_p" value="0"/>
+    <xacro:property name="arm_offset_yaw" value="0"/>
+
+</robot>
diff --git a/sources/unitree_ros/robots/aliengoZ1_description/xacro/gazebo.xacro b/sources/unitree_ros/robots/aliengoZ1_description/xacro/gazebo.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..661b5ee3f40557fd688a492287a924f8367cad89
--- /dev/null
+++ b/sources/unitree_ros/robots/aliengoZ1_description/xacro/gazebo.xacro
@@ -0,0 +1,281 @@
+<?xml version="1.0"?>
+<robot>
+      <!-- ros_control plugin -->
+    <gazebo>
+        <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
+            <robotNamespace>/aliengoZ1_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>
+
+
+ <!-- ros_control plugin -->
+    <gazebo reference="link04">
+        <self_collide>true</self_collide>
+    </gazebo>
+
+    <gazebo reference="link05">
+        <self_collide>true</self_collide>
+    </gazebo>
+
+    <gazebo reference="link06">
+        <self_collide>true</self_collide>
+    </gazebo>
+
+
+</robot>
diff --git a/sources/unitree_ros/robots/aliengoZ1_description/xacro/robot.xacro b/sources/unitree_ros/robots/aliengoZ1_description/xacro/robot.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..7a2823e904ff2436196c4795f8ea7d4a50729dc1
--- /dev/null
+++ b/sources/unitree_ros/robots/aliengoZ1_description/xacro/robot.xacro
@@ -0,0 +1,405 @@
+<?xml version="1.0"?>
+
+<robot name="aliengoZ1_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+    <xacro:include filename="$(find aliengoZ1_description)/xacro/gazebo.xacro"/>
+    <xacro:include filename="$(find aliengoZ1_description)/xacro/const.xacro"/>
+    <xacro:include filename="$(find aliengo_description)/xacro/leg.xacro"/>
+    <xacro:include filename="$(find aliengo_description)/xacro/const.xacro"/>
+    <xacro:include filename="$(find aliengo_description)/xacro/materials.xacro"/>
+    <xacro:include filename="$(find z1_description)/xacro/const.xacro"/>
+    <xacro:include filename="$(find z1_description)/xacro/transmission.xacro"/>
+
+    <xacro:arg name="UnitreeGripper" default="true"/>
+
+    <!-- Debug mode will hung up the robot, use "true" or "false" to switch it. -->
+    <xacro:if value="$(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://aliengo_description/meshes/trunk.dae" scale="1 1 1"/>
+            </geometry>
+            <material name="orange"/>
+        </visual>
+        <collision>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <box size="${trunk_length} ${trunk_width} ${trunk_height}"/>
+            </geometry>
+        </collision>
+        <inertial>
+            <origin rpy="0 0 0" xyz="${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="0.000001" 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="trunk_arm_joint" type="fixed">
+        <origin rpy="${arm_offset_r} ${arm_offset_p} ${arm_offset_yaw}" xyz="${arm_offset_x} ${arm_offset_y} ${arm_offset_z}"/>
+        <parent link="trunk"/>
+        <child link="link00"/>
+    </joint> 
+
+     <link name="link00">
+        <visual>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="package://z1_description/meshes/visual/z1_Link00.dae" scale="1 1 1"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <cylinder length="${motor_height}" radius="${motor_diameter}"/>
+            </geometry>
+            <origin rpy="0 0 0" xyz="0 0 ${motor_height/2.0}"/>
+        </collision>
+        <inertial>
+            <origin rpy="0 0 0" xyz="${L00_ComX} ${L00_ComY} ${L00_ComZ}"/>
+            <mass value="${L00_Mass}"/>
+            <inertia
+                ixx="${L00_Ixx}" ixy="${L00_Ixy}" ixz="${L00_Ixz}"
+                iyy="${L00_Iyy}" iyz="${L00_Iyz}"
+                izz="${L00_Izz}"/>  
+        </inertial>
+    </link>
+
+   <joint name="joint1" type="revolute">
+        <origin rpy="0 0 0" xyz="0 0 0.0585"/>
+        <parent link="link00"/>
+        <child link="link01"/>
+        <axis xyz="0 0 1"/>
+        <dynamics damping="${jointDamping}" friction="${jointFriction}"/>
+        <limit effort="${torqueMax}" velocity="${velocityMax}" lower="${joint1_PositionMin}" upper="${joint1_PositionMax}"/>
+    </joint>
+
+    <link name="link01">
+        <visual>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="package://z1_description/meshes/visual/z1_Link01.dae" scale="1 1 1"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <cylinder length="${2*motor_height}" radius="${motor_diameter}"/>
+            </geometry>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+        </collision> 
+        <inertial>
+            <origin rpy="0 0 0" xyz="${L01_ComX} ${L01_ComY} ${L01_ComZ}"/>
+            <mass value="${L01_Mass}"/>
+            <inertia
+                ixx="${L01_Ixx}" ixy="${L01_Ixy}" ixz="${L01_Ixz}"
+                iyy="${L01_Iyy}" iyz="${L01_Iyz}"
+                izz="${L01_Izz}"/>  
+        </inertial>
+    </link>
+
+    <joint name="joint2" type="revolute">
+        <origin rpy="0 0 0" xyz="0 0 0.045"/>
+        <parent link="link01"/>
+        <child link="link02"/>
+        <axis xyz="0 1 0"/>
+        <dynamics damping="${2*jointDamping}" friction="${2*jointFriction}"/>
+        <limit effort="${2*torqueMax}" velocity="${velocityMax}" lower="${joint2_PositionMin}" upper="${joint2_PositionMax}"/>
+    </joint>
+
+    <link name="link02">
+        <visual>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="package://z1_description/meshes/visual/z1_Link02.dae" scale="1 1 1"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <cylinder length="${2.0*motor_height}" radius="${motor_diameter}"/>
+            </geometry>
+            <origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
+        </collision>
+        <collision>
+            <geometry>
+                <cylinder length="${arm1_height}" radius="${arm1_diameter}"/>
+            </geometry>
+            <origin rpy="0 ${PI/2.0} 0" xyz="${-0.045-arm1_height/2.0} 0 0"/>
+        </collision>
+        <collision>
+            <geometry>
+                <cylinder length="${motor_height}" radius="${motor_diameter}"/>
+            </geometry>
+            <origin rpy="${PI/2.0} 0 0" xyz="-0.35 0 0"/>
+        </collision>
+        <inertial>
+            <origin rpy="0 0 0" xyz="${L02_ComX} ${L02_ComY} ${L02_ComZ}"/>
+            <mass value="${L02_Mass}"/>
+            <inertia
+                ixx="${L02_Ixx}" ixy="${L02_Ixy}" ixz="${L02_Ixz}"
+                iyy="${L02_Iyy}" iyz="${L02_Iyz}"
+                izz="${L02_Izz}"/>  
+        </inertial>
+    </link>
+ 
+    <joint name="joint3" type="revolute">
+        <origin rpy="0 0 0" xyz="-0.35 0 0"/>
+        <parent link="link02"/>
+        <child link="link03"/>
+        <axis xyz="0 1 0"/>
+        <dynamics damping="${jointDamping}" friction="${jointFriction}"/>
+        <limit effort="${torqueMax}" velocity="${velocityMax}" lower="${joint3_PositionMin}" upper="${joint3_PositionMax}"/>
+    </joint>
+
+    <link name="link03">
+        <visual>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="package://z1_description/meshes/visual/z1_Link03.dae" scale="1 1 1"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <cylinder length="${arm2_height-0.01}" radius="${arm2_diameter}"/>
+            </geometry>
+            <origin rpy="0 ${PI/2.0} 0" xyz="${0.065+arm2_height/2.0} 0 0.055"/>
+        </collision>
+        <collision>
+            <geometry>
+                <cylinder length="0.059" radius="${motor_diameter}"/>
+            </geometry>
+            <origin rpy="0 ${PI/2.0} ${PI/2.0}" xyz="${0.065+0.185-0.059/2.0} 0 0.055"/>
+        </collision>
+        <inertial>
+            <origin rpy="0 0 0" xyz="${L03_ComX} ${L03_ComY} ${L03_ComZ}"/>
+            <mass value="${L03_Mass}"/>
+            <inertia
+                ixx="${L03_Ixx}" ixy="${L03_Ixy}" ixz="${L03_Ixz}"
+                iyy="${L03_Iyy}" iyz="${L03_Iyz}"
+                izz="${L03_Izz}"/>  
+        </inertial>
+    </link>
+
+    <joint name="joint4" type="revolute">
+        <origin rpy="0 0 0" xyz="0.218 0 0.057"/>
+        <parent link="link03"/>
+        <child link="link04"/>
+        <axis xyz="0 1 0"/>
+        <dynamics damping="${jointDamping}" friction="${jointFriction}"/>
+        <limit effort="${torqueMax}" velocity="${velocityMax}" lower="${joint4_PositionMin}" upper="${joint4_PositionMax}"/>
+    </joint>
+
+    <link name="link04">
+        <visual>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="package://z1_description/meshes/visual/z1_Link04.dae" scale="1 1 1"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <cylinder length="${motor_height + 2*0.008}" radius="${motor_diameter}"/>
+            </geometry>
+            <origin rpy="0 0 0" xyz="0.072 0 0"/>
+        </collision>
+        <inertial>
+            <origin rpy="0 0 0" xyz="${L04_ComX} ${L04_ComY} ${L04_ComZ}"/>
+            <mass value="${L04_Mass}"/>
+            <inertia
+                ixx="${L04_Ixx}" ixy="${L04_Ixy}" ixz="${L04_Ixz}"
+                iyy="${L04_Iyy}" iyz="${L04_Iyz}"
+                izz="${L04_Izz}"/>  
+        </inertial>
+    </link>
+
+    <joint name="joint5" type="revolute">
+        <origin rpy="0 0 0" xyz="0.07 0.0 0.0"/>
+        <parent link="link04"/>
+        <child link="link05"/>
+        <axis xyz="0 0 1"/>
+        <dynamics damping="${jointDamping}" friction="${jointFriction}"/>
+        <limit effort="${torqueMax}" velocity="${velocityMax}" lower="${joint5_PositionMin}" upper="${joint5_PositionMax}"/>
+    </joint>
+
+    <link name="link05">
+        <visual>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="package://z1_description/meshes/visual/z1_Link05.dae" scale="1 1 1"/>
+            </geometry>
+        </visual>
+        <inertial>
+            <origin rpy="0 0 0" xyz="${L05_ComX} ${L05_ComY} ${L05_ComZ}"/>
+            <mass value="${L05_Mass}"/>
+            <inertia
+                ixx="${L05_Ixx}" ixy="${L05_Ixy}" ixz="${L05_Ixz}"
+                iyy="${L05_Iyy}" iyz="${L05_Iyz}"
+                izz="${L05_Izz}"/>  
+        </inertial>
+    </link>
+
+    <joint name="joint6" type="revolute">
+        <origin rpy="0 0 0" xyz="0.0492 0.0 0.0"/>
+        <parent link="link05"/>
+        <child link="link06"/>
+        <axis xyz="1 0 0"/>
+        <dynamics damping="${jointDamping}" friction="${jointFriction}"/>
+        <limit effort="${torqueMax}" velocity="${velocityMax}" lower="${joint6_PositionMin}" upper="${joint6_PositionMax}"/>
+    </joint>
+
+    <link name="link06">
+        <visual>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="package://z1_description/meshes/visual/z1_Link06.dae" scale="1 1 1"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <cylinder length="${motor_height}" radius="${motor_diameter}"/>
+            </geometry>
+            <origin rpy="0 ${PI/2.0} 0" xyz="${motor_height/2.0} 0 0"/>
+        </collision>
+        <inertial>
+            <origin rpy="0 0 0" xyz="${L06_ComX} ${L06_ComY} ${L06_ComZ}"/>
+            <mass value="${L06_Mass}"/>
+            <inertia
+                ixx="${L06_Ixx}" ixy="${L06_Ixy}" ixz="${L06_Ixz}"
+                iyy="${L06_Iyy}" iyz="${L06_Iyz}"
+                izz="${L06_Izz}"/> 
+        </inertial>
+    </link>
+ 
+    <xacro:if value="$(arg UnitreeGripper)">
+        <joint name="gripperStator" type="fixed">
+            <origin rpy="0 0 0" xyz="0.051 0.0 0.0"/>
+            <parent link="link06"/>
+            <child link="gripperStator"/>
+        </joint>
+
+        <link name="gripperStator">
+            <visual>
+                <geometry>
+                    <mesh filename="package://z1_description/meshes/visual/z1_GripperStator.dae" scale="1 1 1"/>
+                </geometry>
+            </visual>
+            <collision>
+                <geometry>
+                    <mesh filename="package://z1_description/meshes/collision/z1_GripperStator.STL" scale="1 1 1"/>
+                </geometry>
+            </collision>
+            <inertial>
+                <origin rpy="0 0 0" xyz="${GripperStator_ComX} ${GripperStator_ComY} ${GripperStator_ComZ}"/>
+                <mass value="${GripperStator_Mass}"/>
+                <inertia
+                    ixx="${GripperStator_Ixx}" ixy="${GripperStator_Ixy}" ixz="${GripperStator_Ixz}"
+                    iyy="${GripperStator_Iyy}" iyz="${GripperStator_Iyz}"
+                    izz="${GripperStator_Izz}"/> 
+            </inertial>
+        </link>
+
+        <joint name="jointGripper" type="revolute">
+            <origin rpy="0 0 0" xyz="0.049 0.0 0"/>
+            <parent link="gripperStator"/>
+            <child link="gripperMover"/>
+            <axis xyz="0 1 0"/>
+            <dynamics damping="${jointDamping}" friction="${jointFriction}"/>
+            <limit effort="${torqueMax}" velocity="${velocityMax}" lower="${Gripper_PositionMin}" upper="${Gripper_PositionMax}"/>
+        </joint>
+
+        <link name="gripperMover">
+            <visual>
+                <geometry>
+                    <mesh filename="package://z1_description/meshes/visual/z1_GripperMover.dae" scale="1 1 1"/>
+                </geometry>
+            </visual>
+            <collision>
+                <geometry>
+                    <mesh filename="package://z1_description/meshes/collision/z1_GripperMover.STL" scale="1 1 1"/>
+                </geometry>
+            </collision>
+            <inertial>
+                <origin rpy="0 0 0" xyz="${GripperMover_ComX} ${GripperMover_ComY} ${GripperMover_ComZ}"/>
+                <mass value="${GripperMover_Mass}"/>
+                <inertia
+                    ixx="${GripperMover_Ixx}" ixy="${GripperMover_Ixy}" ixz="${GripperMover_Ixz}"
+                    iyy="${GripperMover_Iyy}" iyz="${GripperMover_Iyz}"
+                    izz="${GripperMover_Izz}"/> 
+            </inertial>
+        </link>
+
+        <xacro:motorTransmission name="Gripper"/>
+
+        <gazebo reference="gripperStator">
+            <self_collide>true</self_collide>
+        </gazebo>
+
+        <gazebo reference="gripperMover">
+            <self_collide>true</self_collide>
+        </gazebo>
+    </xacro:if>
+
+    <xacro:motorTransmission name="1"/>
+    <xacro:motorTransmission name="2"/>
+    <xacro:motorTransmission name="3"/>
+    <xacro:motorTransmission name="4"/>
+    <xacro:motorTransmission name="5"/>
+    <xacro:motorTransmission name="6"/>
+
+    <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" />
+
+</robot>
diff --git a/sources/unitree_ros/robots/aliengoZ1_description/xacro/stairs.xacro b/sources/unitree_ros/robots/aliengoZ1_description/xacro/stairs.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..c95ecb0ca6c19c6f12fd2770e2e3140d5c74d970
--- /dev/null
+++ b/sources/unitree_ros/robots/aliengoZ1_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>
\ No newline at end of file
diff --git a/sources/unitree_ros/robots/aliengo_description/CMakeLists.txt b/sources/unitree_ros/robots/aliengo_description/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5a16abd2e369111b881699b6bffa42e02e2232b1
--- /dev/null
+++ b/sources/unitree_ros/robots/aliengo_description/CMakeLists.txt
@@ -0,0 +1,19 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(aliengo_description)
+
+find_package(catkin REQUIRED COMPONENTS
+    genmsg
+    roscpp
+    std_msgs
+    tf
+)
+
+catkin_package(
+    CATKIN_DEPENDS
+)
+
+include_directories(
+    # include
+    ${Boost_INCLUDE_DIR}
+    ${catkin_INCLUDE_DIRS}
+)
diff --git a/sources/unitree_ros/robots/aliengo_description/config/robot_control.yaml b/sources/unitree_ros/robots/aliengo_description/config/robot_control.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..74321e0fc6d609da5c22731f0726273404622fad
--- /dev/null
+++ b/sources/unitree_ros/robots/aliengo_description/config/robot_control.yaml
@@ -0,0 +1,70 @@
+aliengo_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}
+
diff --git a/sources/unitree_ros/robots/aliengo_description/launch/aliengo_rviz.launch b/sources/unitree_ros/robots/aliengo_description/launch/aliengo_rviz.launch
new file mode 100644
index 0000000000000000000000000000000000000000..bb8d2ecc568483c1b7f67f8abc00a42f373c3e76
--- /dev/null
+++ b/sources/unitree_ros/robots/aliengo_description/launch/aliengo_rviz.launch
@@ -0,0 +1,23 @@
+<launch>
+
+    <arg name="user_debug" default="false"/>
+    
+    <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find aliengo_description)/xacro/robot.xacro'
+            DEBUG:=$(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="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 aliengo_description)/launch/check_joint.rviz"/>
+
+</launch>
diff --git a/sources/unitree_ros/robots/aliengo_description/launch/check_joint.rviz b/sources/unitree_ros/robots/aliengo_description/launch/check_joint.rviz
new file mode 100644
index 0000000000000000000000000000000000000000..64f8beb48cd2de5db03db8c91fb93180a6abce72
--- /dev/null
+++ b/sources/unitree_ros/robots/aliengo_description/launch/check_joint.rviz
@@ -0,0 +1,314 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /RobotModel1
+      Splitter Ratio: 0.5
+    Tree Height: 398
+  - 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: true
+      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: 1.4732182025909424
+      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: 0.0760490670800209
+        Y: 0.11421932280063629
+        Z: -0.1576911211013794
+      Focal Shape Fixed Size: false
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.49979713559150696
+      Target Frame: <Fixed Frame>
+      Yaw: 5.093583106994629
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 627
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000219fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000219000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d00650072006101000001be000001900000000000000000000000010000010f000002e2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002e2000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000006400000003efc0100000002fb0000000800540069006d00650000000000000006400000042800fffffffb0000000800540069006d00650100000000000004500000000000000000000002e40000021900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1108
+  X: 812
+  Y: 204
diff --git a/sources/unitree_ros/robots/aliengo_description/meshes/calf.dae b/sources/unitree_ros/robots/aliengo_description/meshes/calf.dae
new file mode 100644
index 0000000000000000000000000000000000000000..6205ad0403bf6cdb84221664ea3a5f9d22dec63b
--- /dev/null
+++ b/sources/unitree_ros/robots/aliengo_description/meshes/calf.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a6dbeff3210f90f96b74f39e242f4906bc62c8d31be03360ab6cae8b18933ac
+size 824168
diff --git a/sources/unitree_ros/robots/aliengo_description/meshes/hip.dae b/sources/unitree_ros/robots/aliengo_description/meshes/hip.dae
new file mode 100644
index 0000000000000000000000000000000000000000..5a6b80215e6a3b2311b10cd1a99f8fd3cb159584
--- /dev/null
+++ b/sources/unitree_ros/robots/aliengo_description/meshes/hip.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08aa4f446b2f764a4e78b457d44d2835a21369454bdf11153bad7daf77e4af27
+size 379988
diff --git a/sources/unitree_ros/robots/aliengo_description/meshes/thigh.dae b/sources/unitree_ros/robots/aliengo_description/meshes/thigh.dae
new file mode 100644
index 0000000000000000000000000000000000000000..cb599dd3eb89006b24fd01755f592b9a65d5e72b
--- /dev/null
+++ b/sources/unitree_ros/robots/aliengo_description/meshes/thigh.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0751b204f8c56a75ccadf592e57287ded90955055f03d993efdb90a4b099da9
+size 741600
diff --git a/sources/unitree_ros/robots/aliengo_description/meshes/thigh_mirror.dae b/sources/unitree_ros/robots/aliengo_description/meshes/thigh_mirror.dae
new file mode 100644
index 0000000000000000000000000000000000000000..792ff31d499af00ef15404b46d8d353407f4074c
--- /dev/null
+++ b/sources/unitree_ros/robots/aliengo_description/meshes/thigh_mirror.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c045367de5833053e551f38ffc172fb04ed3af5f9258757a478bced98d433e48
+size 740540
diff --git a/sources/unitree_ros/robots/aliengo_description/meshes/trunk.dae b/sources/unitree_ros/robots/aliengo_description/meshes/trunk.dae
new file mode 100644
index 0000000000000000000000000000000000000000..f31dc826f0dba444b634785cefce64632a157cfa
--- /dev/null
+++ b/sources/unitree_ros/robots/aliengo_description/meshes/trunk.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e2e8ffe03e5b5dbbc74eb324cff218e18806cc87f08e5a06f4a9427b06903d1
+size 3434434
diff --git a/sources/unitree_ros/robots/aliengo_description/meshes/trunk_uv_base_final.png b/sources/unitree_ros/robots/aliengo_description/meshes/trunk_uv_base_final.png
new file mode 100644
index 0000000000000000000000000000000000000000..d05668650540bf2ef8660559d44678979f718bc8
--- /dev/null
+++ b/sources/unitree_ros/robots/aliengo_description/meshes/trunk_uv_base_final.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c1d1c5dd2f744af2787a6a6ca93305657fb4c6e5780c0c12494ea9038f9bbd2
+size 132768
diff --git a/sources/unitree_ros/robots/aliengo_description/package.xml b/sources/unitree_ros/robots/aliengo_description/package.xml
new file mode 100644
index 0000000000000000000000000000000000000000..78a0c9a66b3b786c6df7e9c0cd9ae37aafbb2d73
--- /dev/null
+++ b/sources/unitree_ros/robots/aliengo_description/package.xml
@@ -0,0 +1,14 @@
+<?xml version="1.0"?>
+<package format="2">
+    <name>aliengo_description</name>
+    <version>0.0.0</version>
+    <description>The aliengo_description package</description>
+
+    <maintainer email="aliengo@unitree.cc">unitree</maintainer>
+    <license>TODO</license>
+
+    <buildtool_depend>catkin</buildtool_depend>
+    <depend>roscpp</depend>
+    <depend>std_msgs</depend>
+
+</package>
diff --git a/sources/unitree_ros/robots/aliengo_description/urdf/aliengo.urdf b/sources/unitree_ros/robots/aliengo_description/urdf/aliengo.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f45b7e2920d1462a793021002e8417d3eb1d4d14
--- /dev/null
+++ b/sources/unitree_ros/robots/aliengo_description/urdf/aliengo.urdf
@@ -0,0 +1,1211 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from robot.xacro                    | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="aliengo">
+  <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://aliengo_description/meshes/trunk.dae" scale="1 1 1"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.647 0.15 0.112"/>
+      </geometry>
+    </collision>
+    <!-- <collision>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="package://aliengo_description/meshes/trunk.dae" scale="1 1 1"/>
+            </geometry>
+        </collision> -->
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.008811 0.003839 0.000273"/>
+      <mass value="11.644"/>
+      <inertia ixx="0.051944892" ixy="0.001703617" ixz="0.000235941" iyy="0.24693924" iyz="0.000119783" izz="0.270948307"/>
+    </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="FR_hip_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0.2407 -0.051 0"/>
+    <parent link="trunk"/>
+    <child link="FR_hip"/>
+    <axis xyz="1 0 0"/>
+    <dynamics damping="0" friction="0"/>
+    <limit effort="35.278" lower="-1.2217304763960306" upper="1.2217304763960306" velocity="20"/>
+  </joint>
+  <joint name="FR_hip_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.139985 -0.051 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://aliengo_description/meshes/hip.dae" scale="1 1 1"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 -0.083 0"/>
+      <geometry>
+        <cylinder length="0.0418" radius="0.046"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.022191 -0.015144 -1.5e-05"/>
+      <mass value="1.993"/>
+      <inertia ixx="0.002446735" ixy="0.00059805" ixz="1.945e-06" iyy="0.003925876" iyz="-1.284e-06" izz="0.004148145"/>
+    </inertial>
+  </link>
+  <link name="FR_hip_rotor">
+    <visual>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="0.146"/>
+      <inertia ixx="0.000138702" ixy="0.0" ixz="0.0" iyy="8.3352e-05" iyz="0.0" izz="8.3352e-05"/>
+    </inertial>
+  </link>
+  <joint name="FR_thigh_joint" type="continuous">
+    <origin rpy="0 0 0" xyz="0 -0.0868 0"/>
+    <parent link="FR_hip"/>
+    <child link="FR_thigh"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0" friction="0"/>
+    <limit effort="35.278" velocity="20"/>
+  </joint>
+  <joint name="FR_thigh_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 -0.0298 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://aliengo_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.125"/>
+      <geometry>
+        <box size="0.25 0.0374 0.043"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.005607 0.003877 -0.048199"/>
+      <mass value="0.639"/>
+      <inertia ixx="0.004173855" ixy="-1.0284e-05" ixz="-0.000318874" iyy="0.004343802" iyz="-0.000109233" izz="0.000340136"/>
+    </inertial>
+  </link>
+  <link name="FR_thigh_rotor">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="0.146"/>
+      <inertia ixx="8.3352e-05" ixy="0.0" ixz="0.0" iyy="0.000138702" iyz="0.0" izz="8.3352e-05"/>
+    </inertial>
+  </link>
+  <joint name="FR_calf_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 -0.25"/>
+    <parent link="FR_thigh"/>
+    <child link="FR_calf"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0" friction="0"/>
+    <limit effort="44.4" lower="-2.775073510670984" upper="-0.6457718232379019" velocity="15.89"/>
+  </joint>
+  <joint name="FR_calf_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 0.0997 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://aliengo_description/meshes/calf.dae" scale="1 1 1"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.125"/>
+      <geometry>
+        <box size="0.25 0.0208 0.016"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.002781 6.3e-05 -0.142518"/>
+      <mass value="0.207"/>
+      <inertia ixx="0.002129279" ixy="3.9e-08" ixz="5.757e-06" iyy="0.002141463" iyz="-5.16e-07" izz="3.7583e-05"/>
+    </inertial>
+  </link>
+  <link name="FR_calf_rotor">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="0.132"/>
+      <inertia ixx="0.000145463" ixy="0.0" ixz="0.0" iyy="0.000133031" iyz="0.0" izz="0.000145463"/>
+    </inertial>
+  </link>
+  <joint name="FR_foot_fixed" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 -0.25"/>
+    <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="0.0165"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.0265"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.06"/>
+      <inertia ixx="1.6853999999999998e-05" ixy="0.0" ixz="0.0" iyy="1.6853999999999998e-05" iyz="0.0" izz="1.6853999999999998e-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="0.2407 0.051 0"/>
+    <parent link="trunk"/>
+    <child link="FL_hip"/>
+    <axis xyz="1 0 0"/>
+    <dynamics damping="0" friction="0"/>
+    <limit effort="35.278" lower="-1.2217304763960306" upper="1.2217304763960306" velocity="20"/>
+  </joint>
+  <joint name="FL_hip_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.139985 0.051 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://aliengo_description/meshes/hip.dae" scale="1 1 1"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0.083 0"/>
+      <geometry>
+        <cylinder length="0.0418" radius="0.046"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.022191 0.015144 -1.5e-05"/>
+      <mass value="1.993"/>
+      <inertia ixx="0.002446735" ixy="-0.00059805" ixz="1.945e-06" iyy="0.003925876" iyz="1.284e-06" izz="0.004148145"/>
+    </inertial>
+  </link>
+  <link name="FL_hip_rotor">
+    <visual>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="0.146"/>
+      <inertia ixx="0.000138702" ixy="0.0" ixz="0.0" iyy="8.3352e-05" iyz="0.0" izz="8.3352e-05"/>
+    </inertial>
+  </link>
+  <joint name="FL_thigh_joint" type="continuous">
+    <origin rpy="0 0 0" xyz="0 0.0868 0"/>
+    <parent link="FL_hip"/>
+    <child link="FL_thigh"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0" friction="0"/>
+    <limit effort="35.278" velocity="20"/>
+  </joint>
+  <joint name="FL_thigh_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 0.0298 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://aliengo_description/meshes/thigh.dae" scale="1 1 1"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.125"/>
+      <geometry>
+        <box size="0.25 0.0374 0.043"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.005607 -0.003877 -0.048199"/>
+      <mass value="0.639"/>
+      <inertia ixx="0.004173855" ixy="1.0284e-05" ixz="-0.000318874" iyy="0.004343802" iyz="0.000109233" izz="0.000340136"/>
+    </inertial>
+  </link>
+  <link name="FL_thigh_rotor">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="0.146"/>
+      <inertia ixx="8.3352e-05" ixy="0.0" ixz="0.0" iyy="0.000138702" iyz="0.0" izz="8.3352e-05"/>
+    </inertial>
+  </link>
+  <joint name="FL_calf_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 -0.25"/>
+    <parent link="FL_thigh"/>
+    <child link="FL_calf"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0" friction="0"/>
+    <limit effort="44.4" lower="-2.775073510670984" upper="-0.6457718232379019" velocity="15.89"/>
+  </joint>
+  <joint name="FL_calf_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 -0.0997 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://aliengo_description/meshes/calf.dae" scale="1 1 1"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.125"/>
+      <geometry>
+        <box size="0.25 0.0208 0.016"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.002781 6.3e-05 -0.142518"/>
+      <mass value="0.207"/>
+      <inertia ixx="0.002129279" ixy="3.9e-08" ixz="5.757e-06" iyy="0.002141463" iyz="-5.16e-07" izz="3.7583e-05"/>
+    </inertial>
+  </link>
+  <link name="FL_calf_rotor">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="0.132"/>
+      <inertia ixx="0.000145463" ixy="0.0" ixz="0.0" iyy="0.000133031" iyz="0.0" izz="0.000145463"/>
+    </inertial>
+  </link>
+  <joint name="FL_foot_fixed" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 -0.25"/>
+    <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="0.0165"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.0265"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.06"/>
+      <inertia ixx="1.6853999999999998e-05" ixy="0.0" ixz="0.0" iyy="1.6853999999999998e-05" iyz="0.0" izz="1.6853999999999998e-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="-0.2407 -0.051 0"/>
+    <parent link="trunk"/>
+    <child link="RR_hip"/>
+    <axis xyz="1 0 0"/>
+    <dynamics damping="0" friction="0"/>
+    <limit effort="35.278" lower="-1.2217304763960306" upper="1.2217304763960306" velocity="20"/>
+  </joint>
+  <joint name="RR_hip_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.139985 -0.051 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://aliengo_description/meshes/hip.dae" scale="1 1 1"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 -0.083 0"/>
+      <geometry>
+        <cylinder length="0.0418" radius="0.046"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.022191 -0.015144 -1.5e-05"/>
+      <mass value="1.993"/>
+      <inertia ixx="0.002446735" ixy="-0.00059805" ixz="-1.945e-06" iyy="0.003925876" iyz="-1.284e-06" izz="0.004148145"/>
+    </inertial>
+  </link>
+  <link name="RR_hip_rotor">
+    <visual>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="0.146"/>
+      <inertia ixx="0.000138702" ixy="0.0" ixz="0.0" iyy="8.3352e-05" iyz="0.0" izz="8.3352e-05"/>
+    </inertial>
+  </link>
+  <joint name="RR_thigh_joint" type="continuous">
+    <origin rpy="0 0 0" xyz="0 -0.0868 0"/>
+    <parent link="RR_hip"/>
+    <child link="RR_thigh"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0" friction="0"/>
+    <limit effort="35.278" velocity="20"/>
+  </joint>
+  <joint name="RR_thigh_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 -0.0298 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://aliengo_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.125"/>
+      <geometry>
+        <box size="0.25 0.0374 0.043"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.005607 0.003877 -0.048199"/>
+      <mass value="0.639"/>
+      <inertia ixx="0.004173855" ixy="-1.0284e-05" ixz="-0.000318874" iyy="0.004343802" iyz="-0.000109233" izz="0.000340136"/>
+    </inertial>
+  </link>
+  <link name="RR_thigh_rotor">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="0.146"/>
+      <inertia ixx="8.3352e-05" ixy="0.0" ixz="0.0" iyy="0.000138702" iyz="0.0" izz="8.3352e-05"/>
+    </inertial>
+  </link>
+  <joint name="RR_calf_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 -0.25"/>
+    <parent link="RR_thigh"/>
+    <child link="RR_calf"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0" friction="0"/>
+    <limit effort="44.4" lower="-2.775073510670984" upper="-0.6457718232379019" velocity="15.89"/>
+  </joint>
+  <joint name="RR_calf_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 0.0997 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://aliengo_description/meshes/calf.dae" scale="1 1 1"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.125"/>
+      <geometry>
+        <box size="0.25 0.0208 0.016"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.002781 6.3e-05 -0.142518"/>
+      <mass value="0.207"/>
+      <inertia ixx="0.002129279" ixy="3.9e-08" ixz="5.757e-06" iyy="0.002141463" iyz="-5.16e-07" izz="3.7583e-05"/>
+    </inertial>
+  </link>
+  <link name="RR_calf_rotor">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="0.132"/>
+      <inertia ixx="0.000145463" ixy="0.0" ixz="0.0" iyy="0.000133031" iyz="0.0" izz="0.000145463"/>
+    </inertial>
+  </link>
+  <joint name="RR_foot_fixed" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 -0.25"/>
+    <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="0.0165"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.0265"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.06"/>
+      <inertia ixx="1.6853999999999998e-05" ixy="0.0" ixz="0.0" iyy="1.6853999999999998e-05" iyz="0.0" izz="1.6853999999999998e-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="-0.2407 0.051 0"/>
+    <parent link="trunk"/>
+    <child link="RL_hip"/>
+    <axis xyz="1 0 0"/>
+    <dynamics damping="0" friction="0"/>
+    <limit effort="35.278" lower="-1.2217304763960306" upper="1.2217304763960306" velocity="20"/>
+  </joint>
+  <joint name="RL_hip_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.139985 0.051 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://aliengo_description/meshes/hip.dae" scale="1 1 1"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0.083 0"/>
+      <geometry>
+        <cylinder length="0.0418" radius="0.046"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.022191 0.015144 -1.5e-05"/>
+      <mass value="1.993"/>
+      <inertia ixx="0.002446735" ixy="0.00059805" ixz="-1.945e-06" iyy="0.003925876" iyz="1.284e-06" izz="0.004148145"/>
+    </inertial>
+  </link>
+  <link name="RL_hip_rotor">
+    <visual>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="0.146"/>
+      <inertia ixx="0.000138702" ixy="0.0" ixz="0.0" iyy="8.3352e-05" iyz="0.0" izz="8.3352e-05"/>
+    </inertial>
+  </link>
+  <joint name="RL_thigh_joint" type="continuous">
+    <origin rpy="0 0 0" xyz="0 0.0868 0"/>
+    <parent link="RL_hip"/>
+    <child link="RL_thigh"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0" friction="0"/>
+    <limit effort="35.278" velocity="20"/>
+  </joint>
+  <joint name="RL_thigh_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 0.0298 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://aliengo_description/meshes/thigh.dae" scale="1 1 1"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.125"/>
+      <geometry>
+        <box size="0.25 0.0374 0.043"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.005607 -0.003877 -0.048199"/>
+      <mass value="0.639"/>
+      <inertia ixx="0.004173855" ixy="1.0284e-05" ixz="-0.000318874" iyy="0.004343802" iyz="0.000109233" izz="0.000340136"/>
+    </inertial>
+  </link>
+  <link name="RL_thigh_rotor">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="0.146"/>
+      <inertia ixx="8.3352e-05" ixy="0.0" ixz="0.0" iyy="0.000138702" iyz="0.0" izz="8.3352e-05"/>
+    </inertial>
+  </link>
+  <joint name="RL_calf_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 -0.25"/>
+    <parent link="RL_thigh"/>
+    <child link="RL_calf"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0" friction="0"/>
+    <limit effort="44.4" lower="-2.775073510670984" upper="-0.6457718232379019" velocity="15.89"/>
+  </joint>
+  <joint name="RL_calf_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 -0.0997 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://aliengo_description/meshes/calf.dae" scale="1 1 1"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.125"/>
+      <geometry>
+        <box size="0.25 0.0208 0.016"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.002781 6.3e-05 -0.142518"/>
+      <mass value="0.207"/>
+      <inertia ixx="0.002129279" ixy="3.9e-08" ixz="5.757e-06" iyy="0.002141463" iyz="-5.16e-07" izz="3.7583e-05"/>
+    </inertial>
+  </link>
+  <link name="RL_calf_rotor">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="0.132"/>
+      <inertia ixx="0.000145463" ixy="0.0" ixz="0.0" iyy="0.000133031" iyz="0.0" izz="0.000145463"/>
+    </inertial>
+  </link>
+  <joint name="RL_foot_fixed" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 -0.25"/>
+    <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="0.0165"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.0265"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.06"/>
+      <inertia ixx="1.6853999999999998e-05" ixy="0.0" ixz="0.0" iyy="1.6853999999999998e-05" iyz="0.0" izz="1.6853999999999998e-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>
+
diff --git a/sources/unitree_ros/robots/aliengo_description/xacro/const.xacro b/sources/unitree_ros/robots/aliengo_description/xacro/const.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..1915d0a7ea999184977348a60b452ae99bccb6de
--- /dev/null
+++ b/sources/unitree_ros/robots/aliengo_description/xacro/const.xacro
@@ -0,0 +1,160 @@
+<?xml version="1.0"?>
+
+<robot 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="0.150"/> 
+    <xacro:property name="trunk_length" value="0.647"/>
+    <xacro:property name="trunk_height" value="0.112"/>
+    <xacro:property name="hip_radius" value="0.046"/>
+    <xacro:property name="hip_length" value="0.0418"/>
+    <xacro:property name="thigh_shoulder_radius" value="0.044"/>
+    <xacro:property name="thigh_shoulder_length" value="0.08"/>
+    <xacro:property name="thigh_width" value="0.0374"/>
+    <xacro:property name="thigh_height" value="0.043"/>
+    <xacro:property name="calf_width" value="0.0208"/>
+    <xacro:property name="calf_height" value="0.016"/>
+    <xacro:property name="foot_radius" value="0.0265"/>
+    <xacro:property name="stick_radius" value="0.01"/>
+    <xacro:property name="stick_length" value="0.2"/>
+
+    <!-- kinematic value -->
+    <xacro:property name="thigh_offset" value="0.0868"/>
+    <xacro:property name="thigh_length" value="0.25"/>
+    <xacro:property name="calf_length" value="0.25"/>
+
+    <!-- leg offset from trunk center value -->
+    <xacro:property name="leg_offset_x" value="0.2407"/>
+    <xacro:property name="leg_offset_y" value="0.051"/>
+    <xacro:property name="trunk_offset_z" value="0.01675"/>
+    <xacro:property name="hip_offset" value="0.083"/>
+
+    <!-- offset of link and rotor locations (left front) -->
+    <xacro:property name="hip_offset_x" value="0.2407"/>
+    <xacro:property name="hip_offset_y" value="0.051"/>
+    <xacro:property name="hip_offset_z" value="0.0"/>
+    <xacro:property name="hip_rotor_offset_x" value="0.139985"/>
+    <xacro:property name="hip_rotor_offset_y" value="0.051"/>
+    <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="0.0868"/>
+    <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="0.0298"/>
+    <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="-0.25"/>
+    <xacro:property name="calf_rotor_offset_x" value="0.0"/>
+    <xacro:property name="calf_rotor_offset_y" value="-0.0997"/>
+    <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="${70*PI/180.0}"/>
+    <xacro:property name="hip_position_min" value="${-70*PI/180.0}"/>
+    <xacro:property name="hip_velocity_max" value="20"/>
+    <xacro:property name="hip_torque_max" value="35.278"/>
+    <xacro:property name="thigh_position_max" value="${240*PI/180.0}"/>
+    <xacro:property name="thigh_position_min" value="${-120*PI/180.0}"/>
+    <xacro:property name="thigh_velocity_max" value="20"/>
+    <xacro:property name="thigh_torque_max" value="35.278"/>
+    <xacro:property name="calf_position_max" value="${-37*PI/180.0}"/>
+    <xacro:property name="calf_position_min" value="${-159*PI/180.0}"/>
+    <xacro:property name="calf_velocity_max" value="15.89"/>
+    <xacro:property name="calf_torque_max" value="44.4"/>
+
+    <!-- dynamics inertial value        total 23.0kg -->
+    <!-- trunk -->
+    <xacro:property name="trunk_mass" value="11.644"/>
+    <xacro:property name="trunk_com_x" value="0.008811"/>
+    <xacro:property name="trunk_com_y" value="0.003839"/>
+    <xacro:property name="trunk_com_z" value="0.000273"/>
+    <xacro:property name="trunk_ixx" value="0.051944892"/>
+    <xacro:property name="trunk_ixy" value="0.001703617"/>
+    <xacro:property name="trunk_ixz" value="0.000235941"/>
+    <xacro:property name="trunk_iyy" value="0.24693924"/>
+    <xacro:property name="trunk_iyz" value="0.000119783"/>
+    <xacro:property name="trunk_izz" value="0.270948307"/>
+
+    <!-- hip (left front) -->
+    <xacro:property name="hip_mass" value="1.993"/>
+    <xacro:property name="hip_com_x" value="-0.022191"/>
+    <xacro:property name="hip_com_y" value="0.015144"/>
+    <xacro:property name="hip_com_z" value="-0.000015"/>
+    <xacro:property name="hip_ixx" value="0.002446735"/>
+    <xacro:property name="hip_ixy" value="-0.00059805"/>
+    <xacro:property name="hip_ixz" value="0.000001945"/>
+    <xacro:property name="hip_iyy" value="0.003925876"/>
+    <xacro:property name="hip_iyz" value="0.000001284"/>
+    <xacro:property name="hip_izz" value="0.004148145"/>
+
+    <xacro:property name="hip_rotor_mass" value="0.146"/>
+    <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="0.000138702"/>
+    <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="0.000083352"/>
+    <xacro:property name="hip_rotor_iyz" value="0.0"/>
+    <xacro:property name="hip_rotor_izz" value="0.000083352"/>
+
+    <!-- thigh -->
+    <xacro:property name="thigh_mass" value="0.639"/>
+    <xacro:property name="thigh_com_x" value="-0.005607"/>
+    <xacro:property name="thigh_com_y" value="-0.003877"/>
+    <xacro:property name="thigh_com_z" value="-0.048199"/>
+    <xacro:property name="thigh_ixx" value="0.004173855"/>
+    <xacro:property name="thigh_ixy" value="0.000010284"/>
+    <xacro:property name="thigh_ixz" value="-0.000318874"/>
+    <xacro:property name="thigh_iyy" value="0.004343802"/>
+    <xacro:property name="thigh_iyz" value="0.000109233"/>
+    <xacro:property name="thigh_izz" value="0.000340136"/>
+
+    <xacro:property name="thigh_rotor_mass" value="0.146"/>
+    <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="0.000083352"/>
+    <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="0.000138702"/>
+    <xacro:property name="thigh_rotor_iyz" value="0.0"/>
+    <xacro:property name="thigh_rotor_izz" value="0.000083352"/>
+
+    <!-- calf -->
+    <xacro:property name="calf_mass" value="0.207"/>
+    <xacro:property name="calf_com_x" value="0.002781"/>
+    <xacro:property name="calf_com_y" value="0.000063"/>
+    <xacro:property name="calf_com_z" value="-0.142518"/>
+    <xacro:property name="calf_ixx" value="0.002129279"/>
+    <xacro:property name="calf_ixy" value="0.000000039"/>
+    <xacro:property name="calf_ixz" value="0.000005757"/>
+    <xacro:property name="calf_iyy" value="0.002141463"/>
+    <xacro:property name="calf_iyz" value="-0.000000516"/>
+    <xacro:property name="calf_izz" value="0.000037583"/>
+
+    <xacro:property name="calf_rotor_mass" value="0.132"/>
+    <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="0.000145463"/>
+    <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="0.000133031"/>
+    <xacro:property name="calf_rotor_iyz" value="0.0"/>
+    <xacro:property name="calf_rotor_izz" value="0.000145463"/>
+
+    <!-- foot -->
+    <xacro:property name="foot_mass" value="0.06"/>
+
+</robot>
diff --git a/sources/unitree_ros/robots/aliengo_description/xacro/gazebo.xacro b/sources/unitree_ros/robots/aliengo_description/xacro/gazebo.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..3e7bb533abbc3af6c45bf3e4e57538dbe7a0a0fe
--- /dev/null
+++ b/sources/unitree_ros/robots/aliengo_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>/aliengo_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>
diff --git a/sources/unitree_ros/robots/aliengo_description/xacro/leg.xacro b/sources/unitree_ros/robots/aliengo_description/xacro/leg.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..a0127ef1ab7e3ad2e85c921ba5d1cb486d693172
--- /dev/null
+++ b/sources/unitree_ros/robots/aliengo_description/xacro/leg.xacro
@@ -0,0 +1,272 @@
+<?xml version="1.0"?>
+
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+    <xacro:include filename="$(find aliengo_description)/xacro/transmission.xacro"/>
+
+    <xacro:macro name="leg" params="name mirror mirror_dae front_hind front_hind_dae">
+
+        <joint name="${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} ${PI} 0" xyz="0 0 0"/>
+                </xacro:if>
+                <geometry>
+                    <mesh filename="package://aliengo_description/meshes/hip.dae" scale="1 1 1"/>
+                </geometry>
+                <material name="orange"/>
+            </visual>
+            <collision>
+                <origin rpy="${PI/2.0} 0 0" xyz="0 ${hip_offset*mirror} 0"/>
+                <geometry>
+                    <cylinder length="${hip_length}" radius="${hip_radius}"/>
+                </geometry>
+            </collision>
+            <inertial>
+                <origin rpy="0 0 0" xyz="${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="0.035"/>
+                </geometry>
+                <material name="green"/>
+            </visual>
+            <!-- <collision>
+                <origin rpy="0 ${PI/2.0} 0" xyz="0 0 0"/>
+                <geometry>
+                    <cylinder length="0.02" radius="0.035"/>
+                </geometry>
+            </collision> -->
+            <inertial>
+                <origin rpy="0 0 0" xyz="${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="continuous">
+            <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="${thigh_velocity_max}"/>
+        </joint>
+
+        <joint name="${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="${mirror_dae == True}">
+                        <mesh filename="package://aliengo_description/meshes/thigh.dae" scale="1 1 1"/>
+                    </xacro:if>
+                    <xacro:if value="${mirror_dae == False}">
+                        <mesh filename="package://aliengo_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
+                    </xacro:if>
+                </geometry>
+                <material name="orange"/>
+            </visual>
+            <collision>
+                <origin rpy="0 ${PI/2.0} 0" xyz="0 0 ${-thigh_length/2.0}"/>
+                <geometry>
+                    <box size="${thigh_length} ${thigh_width} ${thigh_height}"/>
+                </geometry>      
+            </collision>
+            <inertial>
+                <origin rpy="0 0 0" xyz="${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="0.035"/>
+                </geometry>
+                <material name="green"/>
+            </visual>
+            <!-- <collision>
+                <origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
+                <geometry>
+                    <cylinder length="0.02" radius="0.035"/>
+                </geometry>
+            </collision> -->
+            <inertial>
+                <origin rpy="0 0 0" xyz="${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://aliengo_description/meshes/calf.dae" scale="1 1 1"/>
+                </geometry>
+                <material name="orange"/>
+            </visual>
+            <collision>
+                <origin rpy="0 ${PI/2.0} 0" xyz="0 0 ${-calf_length/2.0}"/>
+                <geometry>
+                    <box size="${calf_length} ${calf_width} ${calf_height}"/>
+                </geometry>      
+            </collision>
+            <inertial>
+                <origin rpy="0 0 0" xyz="${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="0.035"/>
+                </geometry>
+                <material name="green"/>
+            </visual>
+            <!-- <collision>
+                <origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
+                <geometry>
+                    <cylinder length="0.02" radius="0.035"/>
+                </geometry>
+            </collision> -->
+            <inertial>
+                <origin rpy="0 0 0" xyz="${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="${name}"/>
+    </xacro:macro>
+</robot>
diff --git a/sources/unitree_ros/robots/aliengo_description/xacro/materials.xacro b/sources/unitree_ros/robots/aliengo_description/xacro/materials.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..ee4dc3b4ff8027072779c81a402f4d637546c107
--- /dev/null
+++ b/sources/unitree_ros/robots/aliengo_description/xacro/materials.xacro
@@ -0,0 +1,40 @@
+<?xml version="1.0"?>
+<robot>
+
+    <material name="black">
+        <color rgba="0.0 0.0 0.0 1.0"/>
+    </material>
+
+    <material name="blue">
+        <color rgba="0.0 0.0 0.8 1.0"/>
+    </material>
+
+    <material name="green">
+        <color rgba="0.0 0.8 0.0 1.0"/>
+    </material>
+
+    <material name="grey">
+        <color rgba="0.2 0.2 0.2 1.0"/>
+    </material>
+
+    <material name="silver">
+        <color rgba="${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} ${195/255} 1.0"/>
+    </material>
+
+    <material name="red">
+        <color rgba="0.8 0.0 0.0 1.0"/>
+    </material>
+
+    <material name="white">
+        <color rgba="1.0 1.0 1.0 1.0"/>
+    </material>
+
+</robot>
diff --git a/sources/unitree_ros/robots/aliengo_description/xacro/robot.xacro b/sources/unitree_ros/robots/aliengo_description/xacro/robot.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..f17d06c84aa0672dc2c2a62d7e7f2e0913fc26fe
--- /dev/null
+++ b/sources/unitree_ros/robots/aliengo_description/xacro/robot.xacro
@@ -0,0 +1,102 @@
+<?xml version="1.0"?>
+
+<robot name="aliengo" xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+    <xacro:include filename="$(find aliengo_description)/xacro/const.xacro"/>
+    <xacro:include filename="$(find aliengo_description)/xacro/materials.xacro"/>
+    <xacro:include filename="$(find aliengo_description)/xacro/leg.xacro"/>
+    <xacro:include filename="$(find aliengo_description)/xacro/gazebo.xacro"/>
+
+    <!-- Rotor related joint and link is only for demonstrate location. -->
+    <!-- Actually, the rotor will rotate and the joint is not fixed. Reduction ratio should be considered. -->
+
+    <!-- Debug mode will hung up the robot, use "true" or "false" to switch it. -->
+    <xacro:if value="$(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://aliengo_description/meshes/trunk.dae" scale="1 1 1"/>
+            </geometry>
+            <material name="orange"/>
+        </visual>
+        <collision>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <box size="${trunk_length} ${trunk_width} ${trunk_height}"/>
+            </geometry>
+        </collision>
+        <!-- <collision>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="package://aliengo_description/meshes/trunk.dae" scale="1 1 1"/>
+            </geometry>
+        </collision> -->
+        <inertial>
+            <origin rpy="0 0 0" xyz="${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>
+
+    <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>
diff --git a/sources/unitree_ros/robots/aliengo_description/xacro/stairs.xacro b/sources/unitree_ros/robots/aliengo_description/xacro/stairs.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..c95ecb0ca6c19c6f12fd2770e2e3140d5c74d970
--- /dev/null
+++ b/sources/unitree_ros/robots/aliengo_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>
\ No newline at end of file
diff --git a/sources/unitree_ros/robots/aliengo_description/xacro/transmission.xacro b/sources/unitree_ros/robots/aliengo_description/xacro/transmission.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..cee02e41d7b019faf50f09a8d84023a18de2f6e8
--- /dev/null
+++ b/sources/unitree_ros/robots/aliengo_description/xacro/transmission.xacro
@@ -0,0 +1,42 @@
+<?xml version="1.0"?>
+
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+    <xacro:macro name="leg_transmission" params="name">
+
+        <transmission name="${name}_hip_tran">
+            <type>transmission_interface/SimpleTransmission</type>
+            <joint name="${name}_hip_joint">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+            </joint>
+            <actuator name="${name}_hip_motor">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+            <mechanicalReduction>1</mechanicalReduction>
+            </actuator>
+        </transmission>
+
+        <transmission name="${name}_thigh_tran">
+            <type>transmission_interface/SimpleTransmission</type>
+            <joint name="${name}_thigh_joint">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+            </joint>
+            <actuator name="${name}_thigh_motor">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+            <mechanicalReduction>1</mechanicalReduction>
+            </actuator>
+        </transmission>
+
+        <transmission name="${name}_calf_tran">
+            <type>transmission_interface/SimpleTransmission</type>
+            <joint name="${name}_calf_joint">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+            </joint>
+            <actuator name="${name}_calf_motor">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+            <mechanicalReduction>1</mechanicalReduction>
+            </actuator>
+        </transmission>
+
+    </xacro:macro>
+
+</robot>
diff --git a/sources/unitree_ros/robots/as2_description/as2.xml b/sources/unitree_ros/robots/as2_description/as2.xml
new file mode 100644
index 0000000000000000000000000000000000000000..cc740a82440abeb926c2ff4f765cf19f2c12bdf5
--- /dev/null
+++ b/sources/unitree_ros/robots/as2_description/as2.xml
@@ -0,0 +1,207 @@
+<mujoco model="as2">
+  <compiler angle="radian" meshdir="./meshes/" />
+
+    <default>
+      <default class="hip_joint">
+        <joint damping="0.2" armature="0.026" frictionloss="1.0" />
+      </default>
+      <default class="thigh_joint">
+        <joint damping="0.2" armature="0.026" frictionloss="1.0" />
+      </default>
+      <default class="calf_joint">
+        <joint damping="0.5" armature="0.038" frictionloss="2.0" />
+      </default>
+      <default class="collision">
+        <geom group="3" priority="1" condim="6" />
+      </default>
+      <default class="foot">
+<!--           <geom group="3" priority="1" condim="6"  friction="0.3 0.1 0.01"/> -->
+      </default>
+  </default>
+
+  <asset>
+    <mesh name="base_link" content_type="model/stl" file="base_link.STL" />
+    <mesh name="FL_hip" content_type="model/stl" file="FL_hip.STL" />
+    <mesh name="FL_thigh" content_type="model/stl" file="FL_thigh.STL" />
+    <mesh name="FL_calf" content_type="model/stl" file="FL_calf.STL" />
+    <mesh name="FL_foot" content_type="model/stl" file="FL_foot.STL" />
+    <mesh name="FR_hip" content_type="model/stl" file="FR_hip.STL" />
+    <mesh name="FR_thigh" content_type="model/stl" file="FR_thigh.STL" />
+    <mesh name="FR_calf" content_type="model/stl" file="FR_calf.STL" />
+    <mesh name="FR_foot" content_type="model/stl" file="FR_foot.STL" />
+    <mesh name="RL_hip" content_type="model/stl" file="RL_hip.STL" />
+    <mesh name="RL_thigh" content_type="model/stl" file="RL_thigh.STL" />
+    <mesh name="RL_calf" content_type="model/stl" file="RL_calf.STL" />
+    <mesh name="RL_foot" content_type="model/stl" file="RL_foot.STL" />
+    <mesh name="RR_hip" content_type="model/stl" file="RR_hip.STL" />
+    <mesh name="RR_thigh" content_type="model/stl" file="RR_thigh.STL" />
+    <mesh name="RR_calf" content_type="model/stl" file="RR_calf.STL" />
+    <mesh name="RR_foot" content_type="model/stl" file="RR_foot.STL" />
+  </asset>
+
+  <worldbody>
+    <body name="base_link" pos="0 0 0.5">
+      <inertial pos="0.045604 -0.0009 0.020368" quat="0.00794069 0.618593 0.00566881 0.785651" mass="8.8" diaginertia="0.152525 0.137384 0.037725" />
+      <joint name="floating_base_joint" type="free" />
+      <site name="imu" pos="-0.0 0 0.0" />
+      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="base_link" />
+      <geom size="0.1 0.112 0.07" pos="0 0 0.006" type="box" rgba="0.79216 0.81961 0.93333 1" group="3" />
+      <geom size="0.043" pos="0.283 0 0.078" rgba="0.79216 0.81961 0.93333 1" group="3" />
+      <geom size="0.045 0.03" pos="0.23 0 0.085" quat="0.667463 0 0.744643 0" type="cylinder" rgba="0.79216 0.81961 0.93333 1" group="3" />
+      <body name="FL_hip" pos="0.2119 0.06 0">
+        <inertial pos="-0.0046547 -0.0088505 3.4235e-05" quat="0.554825 0.563062 0.425623 0.440426" mass="0.695" diaginertia="0.000582434 0.000550283 0.000447303" />
+        <joint class="hip_joint" name="FL_hip_joint" pos="0 0 0" axis="1 0 0" range="-0.785 0.785" actuatorfrcrange="-60 60" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="FL_hip" />
+        <body name="FL_thigh" pos="0 0.1054 0">
+          <inertial pos="-0.0060186 -0.024079 -0.0374" quat="0.987997 0.129345 0.0616652 0.0576939" mass="1.25" diaginertia="0.0061413 0.0057051 0.0012124" />
+          <joint class="thigh_joint" name="FL_thigh_joint" pos="0 0 0" axis="0 1 0" range="-2 3.492" actuatorfrcrange="-60 60" />
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="FL_thigh" />
+          <geom size="0.04 0.05" pos="0 -0.03 0" quat="0.707035 0.707179 0 0" type="cylinder" rgba="0.79216 0.81961 0.93333 1" group="3" />
+          <geom size="0.0225 0.015 0.07" pos="-0.02 0 -0.09" quat="0.99875 0 0.0499792 0" type="box" rgba="0.79216 0.81961 0.93333 1" group="3" />
+          <geom size="0.005 0.0175 0.02" pos="-0.02 0 -0.21" quat="0.926798 0 -0.375559 0" type="box" rgba="0.79216 0.81961 0.93333 1" group="3" />
+          <body name="FL_calf" pos="0 0 -0.212">
+            <inertial pos="0.00652661 -6.44517e-08 -0.106839" quat="0.706867 -0.0184087 -0.0184087 0.706867" mass="0.265" diaginertia="0.00175128 0.00172619 5.73076e-05"/>
+            <joint class="calf_joint" name="FL_calf_joint" pos="0 0 0" axis="0 1 0" range="-2.7677 -0.8133" actuatorfrcrange="-90 90" />
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="FL_calf" />
+            <geom size="0.013 0.025" pos="0.011 0 -0.08" quat="0.989864 0 -0.142018 0" type="cylinder" rgba="0.79216 0.81961 0.93333 1" group="3" />
+            <geom size="0.012 0.03" pos="0.0215 0 -0.13" quat="0.99875 0 -0.0499792 0" type="cylinder" rgba="0.79216 0.81961 0.93333 1" group="3" />
+            <geom size="0.012 0.0275" pos="0.02 0 -0.185" quat="0.997189 0 0.0749297 0" type="cylinder" rgba="0.79216 0.81961 0.93333 1" group="3" />
+            <geom pos="0 0 -0.21344" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.69804 0.69804 0.69804 1" mesh="FL_foot" />
+            <geom size="0.028" pos="0 0 -0.21344" rgba="0.69804 0.69804 0.69804 1" group="3" class="foot"/>
+          </body>
+        </body>
+      </body>
+      <body name="FR_hip" pos="0.2119 -0.06 0">
+        <inertial pos="-0.0046547 0.0088505 3.4234e-05" quat="0.440426 0.425623 0.563062 0.554825" mass="0.695" diaginertia="0.000582434 0.000550283 0.000447303" />
+        <joint class="hip_joint" name="FR_hip_joint" pos="0 0 0" axis="1 0 0" range="-0.785 0.785" actuatorfrcrange="-60 60" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="FR_hip" />
+        <body name="FR_thigh" pos="0 -0.1054 0">
+          <inertial pos="-0.0060187 0.02408 -0.037399" quat="0.987996 -0.12935 0.0616633 -0.0577" mass="1.25" diaginertia="0.0061414 0.00570534 0.00121236" />
+          <joint class="thigh_joint" name="FR_thigh_joint" pos="0 0 0" axis="0 1 0" range="-2 3.492" actuatorfrcrange="-60 60" />
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="FR_thigh" />
+          <geom size="0.04 0.05" pos="0 0.03 0" quat="0.707035 0.707179 0 0" type="cylinder" rgba="0.79216 0.81961 0.93333 1" group="3" />
+          <geom size="0.0225 0.015 0.07" pos="-0.02 0 -0.09" quat="0.99875 0 0.0499792 0" type="box" rgba="0.79216 0.81961 0.93333 1" group="3" />
+          <geom size="0.005 0.0175 0.02" pos="-0.02 0 -0.21" quat="0.926798 0 -0.375559 0" type="box" rgba="0.79216 0.81961 0.93333 1" group="3" />
+          <body name="FR_calf" pos="0 0 -0.212">
+            <inertial pos="0.00652661 -7.41026e-08 -0.106839" quat="0.706867 -0.0184087 -0.0184087 0.706867" mass="0.265" diaginertia="0.00175128 0.00172619 5.73076e-05"/>
+            <joint class="calf_joint" name="FR_calf_joint" pos="0 0 0" axis="0 1 0" range="-2.7677 -0.8133" actuatorfrcrange="-90 90" />
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="FR_calf" />
+            <geom size="0.013 0.025" pos="0.011 0 -0.08" quat="0.989864 0 -0.142018 0" type="cylinder" rgba="0.79216 0.81961 0.93333 1" group="3" />
+            <geom size="0.012 0.03" pos="0.0215 0 -0.13" quat="0.99875 0 -0.0499792 0" type="cylinder" rgba="0.79216 0.81961 0.93333 1" group="3" />
+            <geom size="0.012 0.0275" pos="0.02 0 -0.185" quat="0.997189 0 0.0749297 0" type="cylinder" rgba="0.79216 0.81961 0.93333 1" group="3" />
+            <geom pos="0 0 -0.21344" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="FR_foot" />
+            <geom size="0.028" pos="0 0 -0.21344" rgba="0.79216 0.81961 0.93333 1" group="3" class="foot"/>
+          </body>
+        </body>
+      </body>
+      <body name="RL_hip" pos="-0.2119 0.06 0">
+        <inertial pos="0.0046637 -0.0088505 -3.8901e-05" quat="0.439127 0.426151 0.562725 0.55579" mass="0.695" diaginertia="0.00058247 0.000550228 0.000447202" />
+        <joint class="hip_joint" name="RL_hip_joint" pos="0 0 0" axis="1 0 0" range="-0.785 0.785" actuatorfrcrange="-60 60" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="RL_hip" />
+        <body name="RL_thigh" pos="0 0.1054 0">
+          <inertial pos="-0.0068766 -0.022228 -0.039019" quat="0.990443 0.118947 0.0612549 0.0334983" mass="1.25" diaginertia="0.00621983 0.0058049 0.00118897" />
+          <joint class="thigh_joint" name="RL_thigh_joint" pos="0 0 0" axis="0 1 0" range="-1.3 4.19" actuatorfrcrange="-60 60" />
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="RL_thigh" />
+          <geom size="0.04 0.05" pos="0 -0.03 0" quat="0.707035 0.707179 0 0" type="cylinder" rgba="0.79216 0.81961 0.93333 1" group="3" />
+          <geom size="0.0225 0.015 0.07" pos="-0.02 0 -0.09" quat="0.99875 0 0.0499792 0" type="box" rgba="0.79216 0.81961 0.93333 1" group="3" />
+          <geom size="0.005 0.0175 0.02" pos="-0.02 0 -0.21" quat="0.926798 0 -0.375559 0" type="box" rgba="0.79216 0.81961 0.93333 1" group="3" />
+          <body name="RL_calf" pos="0 0 -0.212">
+            <inertial pos="0.00652661 -6.43322e-08 -0.106839" quat="0.706867 -0.0184087 -0.0184087 0.706867" mass="0.265" diaginertia="0.00175128 0.00172619 5.73076e-05"/>
+            <joint class="calf_joint" name="RL_calf_joint" pos="0 0 0" axis="0 1 0" range="-2.7677 -0.8133" actuatorfrcrange="-90 90" />
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="RL_calf" />
+            <geom size="0.013 0.025" pos="0.011 0 -0.08" quat="0.989864 0 -0.142018 0" type="cylinder" rgba="0.79216 0.81961 0.93333 1" group="3" />
+            <geom size="0.012 0.03" pos="0.0215 0 -0.13" quat="0.99875 0 -0.0499792 0" type="cylinder" rgba="0.79216 0.81961 0.93333 1" group="3" />
+            <geom size="0.012 0.0275" pos="0.02 0 -0.185" quat="0.997189 0 0.0749297 0" type="cylinder" rgba="0.79216 0.81961 0.93333 1" group="3" />
+            <geom pos="0 0 -0.21344" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.69804 0.69804 0.69804 1" mesh="RL_foot" />
+            <geom size="0.028" pos="0 0 -0.21344" rgba="0.69804 0.69804 0.69804 1" group="3" class="foot"/>
+          </body>
+        </body>
+      </body>
+      <body name="RR_hip" pos="-0.2119 -0.06 0">
+        <inertial pos="0.0046637 0.0088505 -3.89e-05" quat="0.55579 0.562725 0.426151 0.439127" mass="0.695" diaginertia="0.00058247 0.000550228 0.000447202" />
+        <joint class="hip_joint" name="RR_hip_joint" pos="0 0 0" axis="1 0 0" range="-0.785 0.785" actuatorfrcrange="-60 60" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="RR_hip" />
+        <body name="RR_thigh" pos="0 -0.1054 0">
+          <inertial pos="-0.0068763 0.022228 -0.039019" quat="0.990443 -0.118945 0.0612534 -0.0335016" mass="1.25" diaginertia="0.00621993 0.00580499 0.00118898" />
+          <joint class="thigh_joint" name="RR_thigh_joint" pos="0 0 0" axis="0 1 0" range="-1.3 4.19" actuatorfrcrange="-60 60" />
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="RR_thigh" />
+          <geom size="0.04 0.05" pos="0 0.03 0" quat="0.707035 0.707179 0 0" type="cylinder" rgba="0.79216 0.81961 0.93333 1" group="3" />
+          <geom size="0.0225 0.015 0.07" pos="-0.02 0 -0.09" quat="0.99875 0 0.0499792 0" type="box" rgba="0.79216 0.81961 0.93333 1" group="3" />
+          <geom size="0.005 0.0175 0.02" pos="-0.02 0 -0.21" quat="0.926798 0 -0.375559 0" type="box" rgba="0.79216 0.81961 0.93333 1" group="3" />
+          <body name="RR_calf" pos="0 0 -0.212">
+            <inertial pos="0.00652661 -7.19383e-08 -0.106839" quat="0.706867 -0.0184087 -0.0184087 0.706867" mass="0.265" diaginertia="0.00175128 0.00172619 5.73076e-05"/>
+            <joint class="calf_joint" name="RR_calf_joint" pos="0 0 0" axis="0 1 0" range="-2.7677 -0.8133" actuatorfrcrange="-90 90" />
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="RR_calf" />
+            <geom size="0.013 0.025" pos="0.011 0 -0.08" quat="0.989864 0 -0.142018 0" type="cylinder" rgba="0.79216 0.81961 0.93333 1" group="3" />
+            <geom size="0.012 0.03" pos="0.0215 0 -0.13" quat="0.99875 0 -0.0499792 0" type="cylinder" rgba="0.79216 0.81961 0.93333 1" group="3" />
+            <geom size="0.012 0.0275" pos="0.02 0 -0.185" quat="0.997189 0 0.0749297 0" type="cylinder" rgba="0.79216 0.81961 0.93333 1" group="3" />
+            <geom pos="0 0 -0.21344" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="RR_foot" />
+            <geom size="0.028" pos="0 0 -0.21344" rgba="0.79216 0.81961 0.93333 1" group="3" class="foot"/>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+  <actuator>
+    <motor ctrlrange="-60 60" name="FR_hip" joint="FR_hip_joint" />
+    <motor ctrlrange="-60 60" name="FR_thigh" joint="FR_thigh_joint" />
+    <motor ctrlrange="-90 90" name="FR_calf" joint="FR_calf_joint" />
+    <motor ctrlrange="-60 60" name="FL_hip" joint="FL_hip_joint" />
+    <motor ctrlrange="-60 60" name="FL_thigh" joint="FL_thigh_joint" />
+    <motor ctrlrange="-90 90" name="FL_calf" joint="FL_calf_joint" />
+    <motor ctrlrange="-60 60" name="RR_hip" joint="RR_hip_joint" />
+    <motor ctrlrange="-60 60" name="RR_thigh" joint="RR_thigh_joint" />
+    <motor ctrlrange="-90 90" name="RR_calf" joint="RR_calf_joint" />
+    <motor ctrlrange="-60 60" name="RL_hip" joint="RL_hip_joint" />
+    <motor ctrlrange="-60 60" name="RL_thigh" joint="RL_thigh_joint" />
+    <motor ctrlrange="-90 90" name="RL_calf" joint="RL_calf_joint" />
+  </actuator>
+
+  <sensor>
+    <jointpos name="FR_hip_pos" joint="FR_hip_joint" />
+    <jointpos name="FR_thigh_pos" joint="FR_thigh_joint" />
+    <jointpos name="FR_calf_pos" joint="FR_calf_joint" />
+    <jointpos name="FL_hip_pos" joint="FL_hip_joint" />
+    <jointpos name="FL_thigh_pos" joint="FL_thigh_joint" />
+    <jointpos name="FL_calf_pos" joint="FL_calf_joint" />
+    <jointpos name="RR_hip_pos" joint="RR_hip_joint" />
+    <jointpos name="RR_thigh_pos" joint="RR_thigh_joint" />
+    <jointpos name="RR_calf_pos" joint="RR_calf_joint" />
+    <jointpos name="RL_hip_pos" joint="RL_hip_joint" />
+    <jointpos name="RL_thigh_pos" joint="RL_thigh_joint" />
+    <jointpos name="RL_calf_pos" joint="RL_calf_joint" />
+
+    <jointvel name="FR_hip_vel" joint="FR_hip_joint" />
+    <jointvel name="FR_thigh_vel" joint="FR_thigh_joint" />
+    <jointvel name="FR_calf_vel" joint="FR_calf_joint" />
+    <jointvel name="FL_hip_vel" joint="FL_hip_joint" />
+    <jointvel name="FL_thigh_vel" joint="FL_thigh_joint" />
+    <jointvel name="FL_calf_vel" joint="FL_calf_joint" />
+    <jointvel name="RR_hip_vel" joint="RR_hip_joint" />
+    <jointvel name="RR_thigh_vel" joint="RR_thigh_joint" />
+    <jointvel name="RR_calf_vel" joint="RR_calf_joint" />
+    <jointvel name="RL_hip_vel" joint="RL_hip_joint" />
+    <jointvel name="RL_thigh_vel" joint="RL_thigh_joint" />
+    <jointvel name="RL_calf_vel" joint="RL_calf_joint" />
+
+    <jointactuatorfrc name="FR_hip_torque" joint="FR_hip_joint" />
+    <jointactuatorfrc name="FR_thigh_torque" joint="FR_thigh_joint"/>
+    <jointactuatorfrc name="FR_calf_torque" joint="FR_calf_joint"/>
+    <jointactuatorfrc name="FL_hip_torque" joint="FL_hip_joint"/>
+    <jointactuatorfrc name="FL_thigh_torque" joint="FL_thigh_joint"/>
+    <jointactuatorfrc name="FL_calf_torque" joint="FL_calf_joint"/>
+    <jointactuatorfrc name="RR_hip_torque" joint="RR_hip_joint"/>
+    <jointactuatorfrc name="RR_thigh_torque" joint="RR_thigh_joint"/>
+    <jointactuatorfrc name="RR_calf_torque" joint="RR_calf_joint"/>
+    <jointactuatorfrc name="RL_hip_torque" joint="RL_hip_joint"/>
+    <jointactuatorfrc name="RL_thigh_torque" joint="RL_thigh_joint"/>
+    <jointactuatorfrc name="RL_calf_torque" joint="RL_calf_joint"/>
+
+    <framequat name="imu_quat" objtype="site" objname="imu"/>
+    <gyro name="imu_gyro" site="imu"/>
+    <accelerometer name="imu_acc" site="imu"/>
+    
+    <framepos name="frame_pos" objtype="site" objname="imu" />
+    <framelinvel name="frame_vel" objtype="site" objname="imu" />
+  </sensor>
+</mujoco>
\ No newline at end of file
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--- /dev/null
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new file mode 100644
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+version https://git-lfs.github.com/spec/v1
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diff --git a/sources/unitree_ros/robots/as2_description/meshes/FR_foot.STL b/sources/unitree_ros/robots/as2_description/meshes/FR_foot.STL
new file mode 100644
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new file mode 100644
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new file mode 100644
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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