python/CMakeLists.txt

-SET(${PROJECT_NAME}_PYTHON_FILES
-  robots_loader.py
-  __main__.py
-  __init__.py
-  )
+set(${PROJECT_NAME}_PYTHON_FILES robots_loader.py __main__.py __init__.py)
 
-FOREACH(python ${${PROJECT_NAME}_PYTHON_FILES})
-  PYTHON_INSTALL_ON_SITE(${PY_NAME} ${python})
-ENDFOREACH(python ${${PROJECT_NAME}_PYTHON_FILES})
+foreach(python ${${PROJECT_NAME}_PYTHON_FILES})
+  python_install_on_site(${PY_NAME} ${python})
+endforeach()
+
+configure_file(${PY_NAME}/path.py.in ${PY_NAME}/path.py)
+install(FILES ${CMAKE_CURRENT_BINARY_DIR}/${PY_NAME}/path.py
+        DESTINATION "${PYTHON_SITELIB}/${PY_NAME}")

python/example_robot_data/__init__.py

 # flake8: noqa
-from .robots_loader import (getModelPath, loadANYmal, loadHyQ, loadICub, loadKinova, loadRomeo, loadSolo, loadTalos,
-                            loadTalosArm, loadTalosLegs, loadTiago, loadTiagoNoHand, loadUR, readParamsFromSrdf)
+from .robots_loader import ROBOTS, getModelPath, load, load_full, readParamsFromSrdf

python/example_robot_data/__main__.py

 from argparse import ArgumentParser
 
-from . import robots_loader
+from .robots_loader import ROBOTS, load
 
-ROBOTS = [
-    'anymal', 'anymal_kinova', 'hyq', 'solo', 'solo12', 'talos', 'talos_arm', 'talos_legs', 'kinova', 'tiago',
-    'tiago_no_hand', 'icub', 'ur5', 'romeo'
-]
+ROBOTS = sorted(ROBOTS.keys())
 
-parser = ArgumentParser()
-parser.add_argument('robot', nargs='?', default=ROBOTS[0], choices=ROBOTS)
+parser = ArgumentParser(description=load.__doc__)
+parser.add_argument("robot", nargs="?", default=ROBOTS[0], choices=ROBOTS)
+parser.add_argument("--no-display", action="store_true")
 
 args = parser.parse_args()
 
-if args.robot == 'anymal':
-    anymal = robots_loader.loadANYmal()
-    anymal.initViewer(loadModel=True)
-    anymal.display(anymal.q0)
-
-elif args.robot == 'anymal_kinova':
-    anymal = robots_loader.loadANYmal(withArm='kinova')
-    anymal.initViewer(loadModel=True)
-    anymal.display(anymal.q0)
-
-elif args.robot == 'hyq':
-    hyq = robots_loader.loadHyQ()
-    hyq.initViewer(loadModel=True)
-    hyq.display(hyq.q0)
-
-elif args.robot == 'solo':
-    solo = robots_loader.loadSolo()
-    solo.initViewer(loadModel=True)
-    solo.display(solo.q0)
-
-elif args.robot == 'solo12':
-    solo = robots_loader.loadSolo(False)
-    solo.initViewer(loadModel=True)
-    solo.display(solo.q0)
-
-elif args.robot == 'talos':
-    talos = robots_loader.loadTalos()
-    talos.initViewer(loadModel=True)
-    talos.display(talos.q0)
-
-elif args.robot == 'talos_arm':
-    talos_arm = robots_loader.loadTalosArm()
-    talos_arm.initViewer(loadModel=True)
-    talos_arm.display(talos_arm.q0)
-
-elif args.robot == 'talos_legs':
-    talos_legs = robots_loader.loadTalosLegs()
-    talos_legs.initViewer(loadModel=True)
-    talos_legs.display(talos_legs.q0)
-
-elif args.robot == 'kinova':
-    kinova = robots_loader.loadKinova()
-    kinova.initViewer(loadModel=True)
-    kinova.display(kinova.q0)
-
-elif args.robot == 'tiago':
-    tiago = robots_loader.loadTiago()
-    tiago.initViewer(loadModel=True)
-    tiago.display(tiago.q0)
-
-elif args.robot == 'tiago_no_hand':
-    tiago_no_hand = robots_loader.loadTiagoNoHand()
-    tiago_no_hand.initViewer(loadModel=True)
-    tiago_no_hand.display(tiago_no_hand.q0)
-
-elif args.robot == 'icub':
-    icub = robots_loader.loadICub()
-    icub.initViewer(loadModel=True)
-    icub.display(icub.q0)
-
-elif args.robot == 'ur5':
-    ur5 = robots_loader.loadUR()
-    ur5.initViewer(loadModel=True)
-    ur5.display(ur5.q0)
-
-elif args.robot == 'romeo':
-    romeo = robots_loader.loadRomeo()
-    romeo.initViewer(loadModel=True)
-    romeo.display(romeo.q0)
+load(args.robot, display=not args.no_display)

python/example_robot_data/path.py.in

+EXAMPLE_ROBOT_DATA_MODEL_DIR = "${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME}/robots"
+EXAMPLE_ROBOT_DATA_SOURCE_DIR = "${PROJECT_SOURCE_DIR}/robots"

robots/a1_description/README.md

+# Unitree A1
+
+upstream: https://github.com/unitreerobotics/unitree_ros/tree/master/robots/a1_description
+license: MPL-2.0
+
+
+### Modifications:
+
+ - Removed Gazebo and transmission tags
+ - Added SRDF
+ - Added colors in collada files and URDF

robots/a1_description/srdf/a1.srdf

+<?xml version="1.0" ?>
+<robot name="a1">
+  <group name="whole_body">
+    <joint name="root_joint"/>
+    <joint name="FL_hip_joint"/>
+    <joint name="FL_thigh_joint"/>
+    <joint name="FL_calf_joint"/>
+    <joint name="RL_hip_joint"/>
+    <joint name="RL_thigh_joint"/>
+    <joint name="RL_calf_joint"/>
+    <joint name="FR_hip_joint"/>
+    <joint name="FR_thigh_joint"/>
+    <joint name="FR_calf_joint"/>
+    <joint name="RR_hip_joint"/>
+    <joint name="RR_thigh_joint"/>
+    <joint name="RR_calf_joint"/>
+  </group>
+  <virtual_joint name="root_joint" type="floating" parent_frame="world_frame" child_link="base"/>
+
+  <group name="lf_leg">
+    <joint name="FL_hip_joint"/>
+    <joint name="FL_thigh_joint"/>
+    <joint name="FL_calf_joint"/>
+    <chain base_link="base" tip_link="FL_foot"/>
+  </group>
+  <group name="lh_leg">
+    <joint name="RL_hip_joint"/>
+    <joint name="RL_thigh_joint"/>
+    <joint name="RL_calf_joint"/>
+    <chain base_link="base" tip_link="RL_foot"/>
+  </group>
+  <group name="rf_leg">
+    <joint name="FR_hip_joint"/>
+    <joint name="FR_thigh_joint"/>
+    <joint name="FR_calf_joint"/>
+    <chain base_link="base" tip_link="FR_foot"/>
+  </group>
+  <group name="rh_leg">
+    <joint name="RR_hip_joint"/>
+    <joint name="RR_thigh_joint"/>
+    <joint name="RR_calf_joint"/>
+    <chain base_link="base" tip_link="RR_foot"/>
+  </group>
+  <group name="all_legs">
+    <group name="lf_leg"/>
+    <group name="rf_leg"/>
+    <group name="lh_leg"/>
+    <group name="rh_leg"/>
+  </group>
+  <group name="r_legs">
+    <group name="rf_leg"/>
+    <group name="rh_leg"/>
+  </group>
+  <group name="l_legs">
+    <group name="lf_leg"/>
+    <group name="lh_leg"/>
+  </group>
+  <group name="f_legs">
+    <group name="lf_leg"/>
+    <group name="rf_leg"/>
+  </group>
+  <group name="h_legs">
+    <group name="lh_leg"/>
+    <group name="rh_leg"/>
+  </group>
+  <group name="ld_legs">
+    <group name="lf_leg"/>
+    <group name="rh_leg"/>
+  </group>
+  <group name="rd_legs">
+    <group name="rf_leg"/>
+    <group name="lh_leg"/>
+  </group>
+
+  <end_effector name="lf_foot" parent_link="FL_foot" group="lf_leg"/>
+  <end_effector name="rf_foot" parent_link="FR_foot" group="rf_leg"/>
+  <end_effector name="lh_foot" parent_link="RL_foot" group="lh_leg"/>
+  <end_effector name="rh_foot" parent_link="RR_foot" group="rh_leg"/>
+
+  <group_state name="standing" group="whole_body">
+    <joint name="root_joint" value="0. 0. 0.26 0. 0. 0. 1."/>
+    <joint name="FL_hip_joint" value="0."/>
+    <joint name="FL_thigh_joint" value="0.8"/>
+    <joint name="FL_calf_joint" value="-1.81"/>
+    <joint name="FR_hip_joint" value="0."/>
+    <joint name="FR_thigh_joint" value="0.8"/>
+    <joint name="FR_calf_joint" value="-1.81"/>
+    <joint name="RL_hip_joint" value="0."/>
+    <joint name="RL_thigh_joint" value="0.8"/>
+    <joint name="RL_calf_joint" value="-1.81"/>
+    <joint name="RR_hip_joint" value="0."/>
+    <joint name="RR_thigh_joint" value="0.8"/>
+    <joint name="RR_calf_joint" value="-1.81"/>
+  </group_state>
+
+  <disable_collisions link1="FL_calf" link2="FL_foot" reason="Adjacent"/>
+  <disable_collisions link1="FL_calf" link2="FL_hip" reason="Never"/>
+  <disable_collisions link1="FL_calf" link2="FL_thigh" reason="Adjacent"/>
+  <disable_collisions link1="FL_calf" link2="FL_thigh_shoulder" reason="Never"/>
+  <disable_collisions link1="FL_calf" link2="FR_hip" reason="Never"/>
+  <disable_collisions link1="FL_calf" link2="FR_thigh_shoulder" reason="Never"/>
+  <disable_collisions link1="FL_calf" link2="RL_hip" reason="Never"/>
+  <disable_collisions link1="FL_calf" link2="RR_hip" reason="Never"/>
+  <disable_collisions link1="FL_calf" link2="RR_thigh_shoulder" reason="Never"/>
+  <disable_collisions link1="FL_calf" link2="imu_link" reason="Never"/>
+  <disable_collisions link1="FL_calf" link2="trunk" reason="Never"/>
+  <disable_collisions link1="FL_foot" link2="FL_hip" reason="Never"/>
+  <disable_collisions link1="FL_foot" link2="FL_thigh" reason="Never"/>
+  <disable_collisions link1="FL_foot" link2="FL_thigh_shoulder" reason="Never"/>
+  <disable_collisions link1="FL_foot" link2="FR_hip" reason="Never"/>
+  <disable_collisions link1="FL_foot" link2="FR_thigh_shoulder" reason="Never"/>
+  <disable_collisions link1="FL_foot" link2="RL_hip" reason="Never"/>
+  <disable_collisions link1="FL_foot" link2="RR_hip" reason="Never"/>
+  <disable_collisions link1="FL_foot" link2="RR_thigh_shoulder" reason="Never"/>
+  <disable_collisions link1="FL_foot" link2="imu_link" reason="Never"/>
+  <disable_collisions link1="FL_hip" link2="FL_thigh" reason="Adjacent"/>
+  <disable_collisions link1="FL_hip" link2="FL_thigh_shoulder" reason="Adjacent"/>
+  <disable_collisions link1="FL_hip" link2="FR_calf" reason="Never"/>
+  <disable_collisions link1="FL_hip" link2="FR_foot" reason="Never"/>
+  <disable_collisions link1="FL_hip" link2="FR_hip" reason="Never"/>
+  <disable_collisions link1="FL_hip" link2="FR_thigh" reason="Never"/>
+  <disable_collisions link1="FL_hip" link2="FR_thigh_shoulder" reason="Never"/>
+  <disable_collisions link1="FL_hip" link2="RL_calf" reason="Never"/>
+  <disable_collisions link1="FL_hip" link2="RL_foot" reason="Never"/>
+  <disable_collisions link1="FL_hip" link2="RL_hip" reason="Never"/>
+  <disable_collisions link1="FL_hip" link2="RL_thigh" reason="Never"/>
+  <disable_collisions link1="FL_hip" link2="RL_thigh_shoulder" reason="Never"/>
+  <disable_collisions link1="FL_hip" link2="RR_calf" reason="Never"/>
+  <disable_collisions link1="FL_hip" link2="RR_foot" reason="Never"/>
+  <disable_collisions link1="FL_hip" link2="RR_hip" reason="Never"/>
+  <disable_collisions link1="FL_hip" link2="RR_thigh" reason="Never"/>
+  <disable_collisions link1="FL_hip" link2="RR_thigh_shoulder" reason="Never"/>
+  <disable_collisions link1="FL_hip" link2="imu_link" reason="Never"/>
+  <disable_collisions link1="FL_hip" link2="trunk" reason="Adjacent"/>
+  <disable_collisions link1="FL_thigh" link2="FL_thigh_shoulder" reason="Default"/>
+  <disable_collisions link1="FL_thigh" link2="FR_hip" reason="Never"/>
+  <disable_collisions link1="FL_thigh" link2="FR_thigh_shoulder" reason="Never"/>
+  <disable_collisions link1="FL_thigh" link2="RL_hip" reason="Never"/>
+  <disable_collisions link1="FL_thigh" link2="RL_thigh_shoulder" reason="Never"/>
+  <disable_collisions link1="FL_thigh" link2="RR_hip" reason="Never"/>
+  <disable_collisions link1="FL_thigh" link2="RR_thigh" reason="Never"/>
+  <disable_collisions link1="FL_thigh" link2="RR_thigh_shoulder" reason="Never"/>
+  <disable_collisions link1="FL_thigh" link2="imu_link" reason="Never"/>
+  <disable_collisions link1="FL_thigh_shoulder" link2="FR_calf" reason="Never"/>
+  <disable_collisions link1="FL_thigh_shoulder" link2="FR_foot" reason="Never"/>
+  <disable_collisions link1="FL_thigh_shoulder" link2="FR_hip" reason="Never"/>
+  <disable_collisions link1="FL_thigh_shoulder" link2="FR_thigh" reason="Never"/>
+  <disable_collisions link1="FL_thigh_shoulder" link2="FR_thigh_shoulder" reason="Never"/>
+  <disable_collisions link1="FL_thigh_shoulder" link2="RL_hip" reason="Never"/>
+  <disable_collisions link1="FL_thigh_shoulder" link2="RL_thigh" reason="Never"/>
+  <disable_collisions link1="FL_thigh_shoulder" link2="RL_thigh_shoulder" reason="Never"/>
+  <disable_collisions link1="FL_thigh_shoulder" link2="RR_calf" reason="Never"/>
+  <disable_collisions link1="FL_thigh_shoulder" link2="RR_foot" reason="Never"/>
+  <disable_collisions link1="FL_thigh_shoulder" link2="RR_hip" reason="Never"/>
+  <disable_collisions link1="FL_thigh_shoulder" link2="RR_thigh" reason="Never"/>
+  <disable_collisions link1="FL_thigh_shoulder" link2="RR_thigh_shoulder" reason="Never"/>
+  <disable_collisions link1="FL_thigh_shoulder" link2="imu_link" reason="Never"/>
+  <disable_collisions link1="FL_thigh_shoulder" link2="trunk" reason="Never"/>
+  <disable_collisions link1="FR_calf" link2="FR_foot" reason="Adjacent"/>
+  <disable_collisions link1="FR_calf" link2="FR_hip" reason="Never"/>
+  <disable_collisions link1="FR_calf" link2="FR_thigh" reason="Adjacent"/>
+  <disable_collisions link1="FR_calf" link2="FR_thigh_shoulder" reason="Never"/>
+  <disable_collisions link1="FR_calf" link2="RL_hip" reason="Never"/>
+  <disable_collisions link1="FR_calf" link2="RL_thigh_shoulder" reason="Never"/>
+  <disable_collisions link1="FR_calf" link2="RR_hip" reason="Never"/>
+  <disable_collisions link1="FR_calf" link2="imu_link" reason="Never"/>
+  <disable_collisions link1="FR_calf" link2="trunk" reason="Never"/>
+  <disable_collisions link1="FR_foot" link2="FR_hip" reason="Never"/>
+  <disable_collisions link1="FR_foot" link2="FR_thigh" reason="Never"/>
+  <disable_collisions link1="FR_foot" link2="FR_thigh_shoulder" reason="Never"/>
+  <disable_collisions link1="FR_foot" link2="RL_hip" reason="Never"/>
+  <disable_collisions link1="FR_foot" link2="RL_thigh_shoulder" reason="Never"/>
+  <disable_collisions link1="FR_foot" link2="RR_hip" reason="Never"/>
+  <disable_collisions link1="FR_foot" link2="imu_link" reason="Never"/>
+  <disable_collisions link1="FR_hip" link2="FR_thigh" reason="Adjacent"/>
+  <disable_collisions link1="FR_hip" link2="FR_thigh_shoulder" reason="Adjacent"/>
+  <disable_collisions link1="FR_hip" link2="RL_calf" reason="Never"/>
+  <disable_collisions link1="FR_hip" link2="RL_foot" reason="Never"/>
+  <disable_collisions link1="FR_hip" link2="RL_hip" reason="Never"/>
+  <disable_collisions link1="FR_hip" link2="RL_thigh" reason="Never"/>
+  <disable_collisions link1="FR_hip" link2="RL_thigh_shoulder" reason="Never"/>
+  <disable_collisions link1="FR_hip" link2="RR_calf" reason="Never"/>
+  <disable_collisions link1="FR_hip" link2="RR_foot" reason="Never"/>
+  <disable_collisions link1="FR_hip" link2="RR_hip" reason="Never"/>
+  <disable_collisions link1="FR_hip" link2="RR_thigh" reason="Never"/>
+  <disable_collisions link1="FR_hip" link2="RR_thigh_shoulder" reason="Never"/>
+  <disable_collisions link1="FR_hip" link2="imu_link" reason="Never"/>
+  <disable_collisions link1="FR_hip" link2="trunk" reason="Adjacent"/>
+  <disable_collisions link1="FR_thigh" link2="FR_thigh_shoulder" reason="Default"/>
+  <disable_collisions link1="FR_thigh" link2="RL_calf" reason="Never"/>
+  <disable_collisions link1="FR_thigh" link2="RL_hip" reason="Never"/>
+  <disable_collisions link1="FR_thigh" link2="RL_thigh" reason="Never"/>
+  <disable_collisions link1="FR_thigh" link2="RL_thigh_shoulder" reason="Never"/>
+  <disable_collisions link1="FR_thigh" link2="RR_hip" reason="Never"/>
+  <disable_collisions link1="FR_thigh" link2="RR_thigh_shoulder" reason="Never"/>
+  <disable_collisions link1="FR_thigh" link2="imu_link" reason="Never"/>
+  <disable_collisions link1="FR_thigh_shoulder" link2="RL_calf" reason="Never"/>
+  <disable_collisions link1="FR_thigh_shoulder" link2="RL_foot" reason="Never"/>
+  <disable_collisions link1="FR_thigh_shoulder" link2="RL_hip" reason="Never"/>
+  <disable_collisions link1="FR_thigh_shoulder" link2="RL_thigh" reason="Never"/>
+  <disable_collisions link1="FR_thigh_shoulder" link2="RL_thigh_shoulder" reason="Never"/>
+  <disable_collisions link1="FR_thigh_shoulder" link2="RR_hip" reason="Never"/>
+  <disable_collisions link1="FR_thigh_shoulder" link2="RR_thigh" reason="Never"/>
+  <disable_collisions link1="FR_thigh_shoulder" link2="RR_thigh_shoulder" reason="Never"/>
+  <disable_collisions link1="FR_thigh_shoulder" link2="imu_link" reason="Never"/>
+  <disable_collisions link1="FR_thigh_shoulder" link2="trunk" reason="Never"/>
+  <disable_collisions link1="RL_calf" link2="RL_foot" reason="Adjacent"/>
+  <disable_collisions link1="RL_calf" link2="RL_hip" reason="Never"/>
+  <disable_collisions link1="RL_calf" link2="RL_thigh" reason="Adjacent"/>
+  <disable_collisions link1="RL_calf" link2="RL_thigh_shoulder" reason="Never"/>
+  <disable_collisions link1="RL_calf" link2="RR_hip" reason="Never"/>
+  <disable_collisions link1="RL_calf" link2="RR_thigh_shoulder" reason="Never"/>
+  <disable_collisions link1="RL_calf" link2="imu_link" reason="Never"/>
+  <disable_collisions link1="RL_calf" link2="trunk" reason="Never"/>
+  <disable_collisions link1="RL_foot" link2="RL_hip" reason="Never"/>
+  <disable_collisions link1="RL_foot" link2="RL_thigh" reason="Never"/>
+  <disable_collisions link1="RL_foot" link2="RL_thigh_shoulder" reason="Never"/>
+  <disable_collisions link1="RL_foot" link2="RR_hip" reason="Never"/>
+  <disable_collisions link1="RL_foot" link2="RR_thigh_shoulder" reason="Never"/>
+  <disable_collisions link1="RL_foot" link2="imu_link" reason="Never"/>
+  <disable_collisions link1="RL_hip" link2="RL_thigh" reason="Adjacent"/>
+  <disable_collisions link1="RL_hip" link2="RL_thigh_shoulder" reason="Adjacent"/>
+  <disable_collisions link1="RL_hip" link2="RR_calf" reason="Never"/>
+  <disable_collisions link1="RL_hip" link2="RR_foot" reason="Never"/>
+  <disable_collisions link1="RL_hip" link2="RR_hip" reason="Never"/>
+  <disable_collisions link1="RL_hip" link2="RR_thigh" reason="Never"/>
+  <disable_collisions link1="RL_hip" link2="RR_thigh_shoulder" reason="Never"/>
+  <disable_collisions link1="RL_hip" link2="imu_link" reason="Never"/>
+  <disable_collisions link1="RL_hip" link2="trunk" reason="Adjacent"/>
+  <disable_collisions link1="RL_thigh" link2="RL_thigh_shoulder" reason="Default"/>
+  <disable_collisions link1="RL_thigh" link2="RR_hip" reason="Never"/>
+  <disable_collisions link1="RL_thigh" link2="RR_thigh_shoulder" reason="Never"/>
+  <disable_collisions link1="RL_thigh" link2="imu_link" reason="Never"/>
+  <disable_collisions link1="RL_thigh_shoulder" link2="RR_calf" reason="Never"/>
+  <disable_collisions link1="RL_thigh_shoulder" link2="RR_foot" reason="Never"/>
+  <disable_collisions link1="RL_thigh_shoulder" link2="RR_hip" reason="Never"/>
+  <disable_collisions link1="RL_thigh_shoulder" link2="RR_thigh" reason="Never"/>
+  <disable_collisions link1="RL_thigh_shoulder" link2="RR_thigh_shoulder" reason="Never"/>
+  <disable_collisions link1="RL_thigh_shoulder" link2="imu_link" reason="Never"/>
+  <disable_collisions link1="RL_thigh_shoulder" link2="trunk" reason="Never"/>
+  <disable_collisions link1="RR_calf" link2="RR_foot" reason="Adjacent"/>
+  <disable_collisions link1="RR_calf" link2="RR_hip" reason="Never"/>
+  <disable_collisions link1="RR_calf" link2="RR_thigh" reason="Adjacent"/>
+  <disable_collisions link1="RR_calf" link2="RR_thigh_shoulder" reason="Never"/>
+  <disable_collisions link1="RR_calf" link2="imu_link" reason="Never"/>
+  <disable_collisions link1="RR_calf" link2="trunk" reason="Never"/>
+  <disable_collisions link1="RR_foot" link2="RR_hip" reason="Never"/>
+  <disable_collisions link1="RR_foot" link2="RR_thigh" reason="Never"/>
+  <disable_collisions link1="RR_foot" link2="RR_thigh_shoulder" reason="Never"/>
+  <disable_collisions link1="RR_foot" link2="imu_link" reason="Never"/>
+  <disable_collisions link1="RR_hip" link2="RR_thigh" reason="Adjacent"/>
+  <disable_collisions link1="RR_hip" link2="RR_thigh_shoulder" reason="Adjacent"/>
+  <disable_collisions link1="RR_hip" link2="imu_link" reason="Never"/>
+  <disable_collisions link1="RR_hip" link2="trunk" reason="Adjacent"/>
+  <disable_collisions link1="RR_thigh" link2="RR_thigh_shoulder" reason="Default"/>
+  <disable_collisions link1="RR_thigh" link2="imu_link" reason="Never"/>
+  <disable_collisions link1="RR_thigh_shoulder" link2="imu_link" reason="Never"/>
+  <disable_collisions link1="RR_thigh_shoulder" link2="trunk" reason="Never"/>
+  <disable_collisions link1="imu_link" link2="trunk" reason="Adjacent"/>
+</robot>

robots/a1_description/urdf/a1.urdf

+<?xml version="1.0" ?>
+<!-- ==================================================================================================== -->
+<!-- |    This document was autogenerated by xacro, then had the Gazebo and transmission tags removed   | -->
+<!-- ==================================================================================================== -->
+<robot name="a1">
+  <material name="grey">
+    <color rgba="0.2 0.2 0.2 1.0"/>
+  </material>
+  <material name="silver">
+    <color rgba="0.6980 0.7529 0.8392 1"/>
+  </material>
+  <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://example-robot-data/robots/a1_description/meshes/trunk.dae" scale="1 1 1"/>
+      </geometry>
+      <material name="silver"/>
+    </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="grey"/>
+    </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" friction="0"/>
+    <limit effort="33.5" lower="-0.8028514559173915" upper="0.8028514559173915" velocity="21"/>
+  </joint>
+  <link name="FR_hip">
+    <visual>
+      <origin rpy="3.141592653589793 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://example-robot-data/robots/a1_description/meshes/hip.dae" scale="1 1 1"/>
+      </geometry>
+      <material name="silver"/>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 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="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.032" radius="0.041"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+  </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" friction="0"/>
+    <limit effort="33.5" lower="-1.0471975511965976" upper="4.1887902047863905" velocity="21"/>
+  </joint>
+  <link name="FR_thigh">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://example-robot-data/robots/a1_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
+      </geometry>
+      <material name="silver"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.5707963267948966 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" friction="0"/>
+    <limit effort="33.5" lower="-2.6965336943312392" upper="-0.9162978572970231" velocity="21"/>
+  </joint>
+  <link name="FR_calf">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://example-robot-data/robots/a1_description/meshes/calf.dae" scale="1 1 1"/>
+      </geometry>
+      <material name="grey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.5707963267948966 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="grey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.02"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.06"/>
+      <inertia ixx="9.600000000000001e-06" ixy="0.0" ixz="0.0" iyy="9.600000000000001e-06" iyz="0.0" izz="9.600000000000001e-06"/>
+    </inertial>
+  </link>
+  <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" friction="0"/>
+    <limit effort="33.5" lower="-0.8028514559173915" upper="0.8028514559173915" velocity="21"/>
+  </joint>
+  <link name="FL_hip">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://example-robot-data/robots/a1_description/meshes/hip.dae" scale="1 1 1"/>
+      </geometry>
+      <material name="silver"/>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 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="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.032" radius="0.041"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+  </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" friction="0"/>
+    <limit effort="33.5" lower="-1.0471975511965976" upper="4.1887902047863905" velocity="21"/>
+  </joint>
+  <link name="FL_thigh">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://example-robot-data/robots/a1_description/meshes/thigh.dae" scale="1 1 1"/>
+      </geometry>
+      <material name="silver"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.5707963267948966 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" friction="0"/>
+    <limit effort="33.5" lower="-2.6965336943312392" upper="-0.9162978572970231" velocity="21"/>
+  </joint>
+  <link name="FL_calf">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://example-robot-data/robots/a1_description/meshes/calf.dae" scale="1 1 1"/>
+      </geometry>
+      <material name="grey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.5707963267948966 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="grey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.02"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.06"/>
+      <inertia ixx="9.600000000000001e-06" ixy="0.0" ixz="0.0" iyy="9.600000000000001e-06" iyz="0.0" izz="9.600000000000001e-06"/>
+    </inertial>
+  </link>
+  <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" friction="0"/>
+    <limit effort="33.5" lower="-0.8028514559173915" upper="0.8028514559173915" velocity="21"/>
+  </joint>
+  <link name="RR_hip">
+    <visual>
+      <origin rpy="3.141592653589793 3.141592653589793 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://example-robot-data/robots/a1_description/meshes/hip.dae" scale="1 1 1"/>
+      </geometry>
+      <material name="silver"/>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 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="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.032" radius="0.041"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+  </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" friction="0"/>
+    <limit effort="33.5" lower="-1.0471975511965976" upper="4.1887902047863905" velocity="21"/>
+  </joint>
+  <link name="RR_thigh">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://example-robot-data/robots/a1_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
+      </geometry>
+      <material name="silver"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.5707963267948966 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" friction="0"/>
+    <limit effort="33.5" lower="-2.6965336943312392" upper="-0.9162978572970231" velocity="21"/>
+  </joint>
+  <link name="RR_calf">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://example-robot-data/robots/a1_description/meshes/calf.dae" scale="1 1 1"/>
+      </geometry>
+      <material name="grey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.5707963267948966 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="grey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.02"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.06"/>
+      <inertia ixx="9.600000000000001e-06" ixy="0.0" ixz="0.0" iyy="9.600000000000001e-06" iyz="0.0" izz="9.600000000000001e-06"/>
+    </inertial>
+  </link>
+  <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" friction="0"/>
+    <limit effort="33.5" lower="-0.8028514559173915" upper="0.8028514559173915" velocity="21"/>
+  </joint>
+  <link name="RL_hip">
+    <visual>
+      <origin rpy="0 3.141592653589793 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://example-robot-data/robots/a1_description/meshes/hip.dae" scale="1 1 1"/>
+      </geometry>
+      <material name="silver"/>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 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="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.032" radius="0.041"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+  </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" friction="0"/>
+    <limit effort="33.5" lower="-1.0471975511965976" upper="4.1887902047863905" velocity="21"/>
+  </joint>
+  <link name="RL_thigh">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://example-robot-data/robots/a1_description/meshes/thigh.dae" scale="1 1 1"/>
+      </geometry>
+      <material name="silver"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.5707963267948966 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" friction="0"/>
+    <limit effort="33.5" lower="-2.6965336943312392" upper="-0.9162978572970231" velocity="21"/>
+  </joint>
+  <link name="RL_calf">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://example-robot-data/robots/a1_description/meshes/calf.dae" scale="1 1 1"/>
+      </geometry>
+      <material name="grey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.5707963267948966 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="grey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.02"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.06"/>
+      <inertia ixx="9.600000000000001e-06" ixy="0.0" ixz="0.0" iyy="9.600000000000001e-06" iyz="0.0" izz="9.600000000000001e-06"/>
+    </inertial>
+  </link>
+</robot>

robots/alex_description/README.md

+# Boarwalk Robotics - Alex Robot
+
+upstream: [](https://github.com/boardwalkrobotics/alex-robot-models) license: CC BY-NC-ND 4.0