diff --git a/src/rl_sar/include/rl_real_cyberdog.hpp b/src/rl_sar/include/rl_real_cyberdog.hpp
index 630b195..926be97 100644
--- a/src/rl_sar/include/rl_real_cyberdog.hpp
+++ b/src/rl_sar/include/rl_real_cyberdog.hpp
@@ -79,6 +79,14 @@ private:
 
     int dof_mapping[12] = {3, 4, 5, 0, 1, 2, 9, 10, 11, 6, 7, 8};
     int hip_scale_reduction_indices[4] = {0, 3, 6, 9};
+    float Kp[13] = {20, 40, 40, //FL
+                    20, 40, 40, //FR
+                    20, 40, 40, //RL
+                    20, 40, 40};//RR
+    float Kd[13] = {1.0, 1.5, 1.5, 
+                    1.0, 1.5, 1.5, 
+                    1.0, 1.5, 1.5, 
+                    1.0, 1.5, 1.5};
 
     std::chrono::high_resolution_clock::time_point start_time;
 
diff --git a/src/rl_sar/scripts/init_cyberdog.sh b/src/rl_sar/scripts/init_cyberdog.sh
index 7b6a90c..499b311 100644
--- a/src/rl_sar/scripts/init_cyberdog.sh
+++ b/src/rl_sar/scripts/init_cyberdog.sh
@@ -1,12 +1,20 @@
 #!/bin/bash
-set -e
+set +e
 set -u
 
-# 获取IP地址对应的网络设备
+HOMENAME=$(basename $HOME)
+
 network_device=$(ifconfig | grep -B 1 192.168.55.100 | grep "flags" | cut -d ':' -f1)
-
-# 配置网络设备为多播
 sudo ifconfig $network_device multicast
+sudo route add -net 224.0.0.0 netmask 240.0.0.0 dev $network_device
 
-# 添加路由表
-sudo route add -net 224.0.0.0 netmask 240.0.0.0 dev $network_device
\ No newline at end of file
+sudo sed -i 's/#\s*StrictHostKeyChecking/StrictHostKeyChecking/' /etc/ssh/ssh_config
+if grep -q "StrictHostKeyChecking" /etc/ssh/ssh_config; then
+    sudo sed -i 's/StrictHostKeyChecking.*/StrictHostKeyChecking no/' /etc/ssh/ssh_config
+else
+    echo "StrictHostKeyChecking no" | sudo tee -a /etc/ssh/ssh_config
+fi
+
+ssh-keygen -f "/home/${HOMENAME}/.ssh/known_hosts" -R "192.168.55.233"
+
+bash kill_cyberdog.sh
\ No newline at end of file
diff --git a/src/rl_sar/src/rl_real_cyberdog.cpp b/src/rl_sar/src/rl_real_cyberdog.cpp
index f75229f..413120d 100644
--- a/src/rl_sar/src/rl_real_cyberdog.cpp
+++ b/src/rl_sar/src/rl_real_cyberdog.cpp
@@ -20,8 +20,8 @@ RL_Real::RL_Real() : CustomInterface(500)
     this->params.num_observations = 45;
     this->params.clip_obs = 100.0;
     this->params.clip_actions = 100.0;
-    this->params.damping = 1.0;
-    this->params.stiffness = 30;
+    this->params.damping = 0.5;
+    this->params.stiffness = 20;
     this->params.d_gains = torch::ones(12) * this->params.damping;
     this->params.p_gains = torch::ones(12) * this->params.stiffness;
     this->params.action_scale = 0.25;
@@ -167,8 +167,10 @@ void RL_Real::RobotControl()
             // cyberdogCmd.q_des[i] = 0;
             cyberdogCmd.q_des[i] = output_dof_pos[0][dof_mapping[i]].item<double>();
             cyberdogCmd.qd_des[i] = 0;
-            cyberdogCmd.kp_des[i] = params.stiffness;
-            cyberdogCmd.kd_des[i] = params.damping;
+            // cyberdogCmd.kp_des[i] = params.stiffness;
+            // cyberdogCmd.kd_des[i] = params.damping;
+            cyberdogCmd.kp_des[i] = Kp[dof_mapping[i]];
+            cyberdogCmd.kd_des[i] = Kd[dof_mapping[i]];
             // cyberdogCmd.tau_des[i] = output_torques[0][dof_mapping[i]].item<double>();
             cyberdogCmd.tau_des[i] = 0;
         }
@@ -243,46 +245,20 @@ void RL_Real::run_keyboard()
             c = fgetc(stdin);
             switch(c)
             {
-                case '0':
-                    keyboard.robot_state = STATE_POS_GETUP;
-                    break;
-                case 'p':
-                    keyboard.robot_state = STATE_RL_INIT;
-                    break;
-                case '1':
-                    keyboard.robot_state = STATE_POS_GETDOWN;
-                    break;
-                case 'q':
-                    break;
-                case 'w':
-                    keyboard.x += 0.1;
-                    break;
-                case 's':
-                    keyboard.x -= 0.1;
-                    break;
-                case 'a':
-                    keyboard.yaw += 0.1;
-                    break;
-                case 'd':
-                    keyboard.yaw -= 0.1;
-                    break;
-                case 'i':
-                    break;
-                case 'k':
-                    break;
-                case 'j':
-                    keyboard.y += 0.1;
-                    break;
-                case 'l':
-                    keyboard.y -= 0.1;
-                    break;
-                case ' ':
-                    keyboard.x = 0;
-                    keyboard.y = 0;
-                    keyboard.yaw = 0;
-                    break;
-                default:
-                    break;
+                case '0': keyboard.robot_state = STATE_POS_GETUP; break;
+                case 'p': keyboard.robot_state = STATE_RL_INIT; break;
+                case '1': keyboard.robot_state = STATE_POS_GETDOWN; break;
+                case 'q': break;
+                case 'w': keyboard.x += 0.1; break;
+                case 's': keyboard.x -= 0.1; break;
+                case 'a': keyboard.yaw += 0.1; break;
+                case 'd': keyboard.yaw -= 0.1; break;
+                case 'i': break;
+                case 'k': break;
+                case 'j': keyboard.y += 0.1; break;
+                case 'l': keyboard.y -= 0.1; break;
+                case ' ': keyboard.x = 0; keyboard.y = 0; keyboard.yaw = 0; break;
+                default: break;
             }
         }
         usleep(10000);
diff --git a/src/rl_sar/src/rl_sim.cpp b/src/rl_sar/src/rl_sim.cpp
index 9528332..b7087f3 100644
--- a/src/rl_sar/src/rl_sim.cpp
+++ b/src/rl_sar/src/rl_sim.cpp
@@ -41,11 +41,11 @@ RL_Sim::RL_Sim()
                                                  20.0, 55.0, 55.0,
                                                  20.0, 55.0, 55.0}});
 
-    //                                             hip,    thigh,   calf
-    this->params.default_dof_pos = torch::tensor({{0.1000, 0.8000, -1.5000,   // front left
-                                                  -0.1000, 0.8000, -1.5000,   // front right
-                                                   0.1000, 1.0000, -1.5000,   // rear  left
-                                                  -0.1000, 1.0000, -1.5000}});// rear  right
+    //                                              hip,    thigh,   calf
+    this->params.default_dof_pos = torch::tensor({{ 0.1000, 0.8000, -1.5000,   // FL
+                                                   -0.1000, 0.8000, -1.5000,   // FR
+                                                    0.1000, 1.0000, -1.5000,   // RR
+                                                   -0.1000, 1.0000, -1.5000}});// RL
 
     this->history_obs_buf = ObservationBuffer(1, this->params.num_observations, 6);
 
@@ -156,7 +156,7 @@ void RL_Sim::RunModel()
     //     joint_velocities[7], joint_velocities[8], joint_velocities[6],
     //     joint_velocities[10], joint_velocities[11], joint_velocities[9]);
 
-    this->obs.lin_vel = torch::tensor({{vel.linear.x, vel.linear.y, vel.linear.z}});
+    // this->obs.lin_vel = torch::tensor({{vel.linear.x, vel.linear.y, vel.linear.z}});
     this->obs.ang_vel = torch::tensor({{vel.angular.x, vel.angular.y, vel.angular.z}});
     this->obs.commands = torch::tensor({{cmd_vel.linear.x, cmd_vel.linear.y, cmd_vel.angular.z}});
     this->obs.base_quat = torch::tensor({{pose.orientation.x, pose.orientation.y, pose.orientation.z, pose.orientation.w}});
@@ -182,8 +182,8 @@ void RL_Sim::RunModel()
 
 torch::Tensor RL_Sim::ComputeObservation()
 {
-    torch::Tensor obs = torch::cat({// (this->QuatRotateInverse(this->base_quat, this->lin_vel)) * this->params.lin_vel_scale,
-                                    (this->QuatRotateInverse(this->obs.base_quat, this->obs.ang_vel)) * this->params.ang_vel_scale,
+    torch::Tensor obs = torch::cat({// this->QuatRotateInverse(this->obs.base_quat, this->obs.lin_vel) * this->params.lin_vel_scale,
+                                    this->QuatRotateInverse(this->obs.base_quat, this->obs.ang_vel) * this->params.ang_vel_scale,
                                     this->QuatRotateInverse(this->obs.base_quat, this->obs.gravity_vec),
                                     this->obs.commands * this->params.commands_scale,
                                     (this->obs.dof_pos - this->params.default_dof_pos) * this->params.dof_pos_scale,
diff --git a/src/robots/cyberdog_description/config/joint_names_cyberdog_urdf_test.yaml b/src/robots/cyberdog_description/config/joint_names_cyberdog_urdf_test.yaml
deleted file mode 100644
index 5e625d2..0000000
--- a/src/robots/cyberdog_description/config/joint_names_cyberdog_urdf_test.yaml
+++ /dev/null
@@ -1 +0,0 @@
-controller_joint_names: ['joint_abad_bl', 'joint_abad_fr', 'joint_hip_fr', 'joint_knee_fr', 'joint_abad_fl', 'joint_hip_fl', 'joint_knee_fl', 'joint_abad_br', 'joint_hip_br', 'joint_knee_br', 'joint_abad_bl', 'joint_hip_bl', 'joint_knee_bl', ]
diff --git a/src/robots/cyberdog_description/meshes/link_knee_bl.STL b/src/robots/cyberdog_description/meshes/calf.STL
similarity index 100%
rename from src/robots/cyberdog_description/meshes/link_knee_bl.STL
rename to src/robots/cyberdog_description/meshes/calf.STL
diff --git a/src/robots/cyberdog_description/meshes/link_abad_bl.STL b/src/robots/cyberdog_description/meshes/hip.STL
similarity index 100%
rename from src/robots/cyberdog_description/meshes/link_abad_bl.STL
rename to src/robots/cyberdog_description/meshes/hip.STL
diff --git a/src/robots/cyberdog_description/meshes/link_abad_br.STL b/src/robots/cyberdog_description/meshes/hip_mirror.STL
similarity index 100%
rename from src/robots/cyberdog_description/meshes/link_abad_br.STL
rename to src/robots/cyberdog_description/meshes/hip_mirror.STL
diff --git a/src/robots/cyberdog_description/meshes/link_abad_fl.STL b/src/robots/cyberdog_description/meshes/link_abad_fl.STL
deleted file mode 100644
index c9701e7..0000000
Binary files a/src/robots/cyberdog_description/meshes/link_abad_fl.STL and /dev/null differ
diff --git a/src/robots/cyberdog_description/meshes/link_abad_fr.STL b/src/robots/cyberdog_description/meshes/link_abad_fr.STL
deleted file mode 100644
index ca0aabe..0000000
Binary files a/src/robots/cyberdog_description/meshes/link_abad_fr.STL and /dev/null differ
diff --git a/src/robots/cyberdog_description/meshes/link_hip_br.STL b/src/robots/cyberdog_description/meshes/link_hip_br.STL
deleted file mode 100644
index 9ae1784..0000000
Binary files a/src/robots/cyberdog_description/meshes/link_hip_br.STL and /dev/null differ
diff --git a/src/robots/cyberdog_description/meshes/link_hip_fl.STL b/src/robots/cyberdog_description/meshes/link_hip_fl.STL
deleted file mode 100644
index 9ae1784..0000000
Binary files a/src/robots/cyberdog_description/meshes/link_hip_fl.STL and /dev/null differ
diff --git a/src/robots/cyberdog_description/meshes/link_hip_fr.STL b/src/robots/cyberdog_description/meshes/link_hip_fr.STL
deleted file mode 100644
index 9ae1784..0000000
Binary files a/src/robots/cyberdog_description/meshes/link_hip_fr.STL and /dev/null differ
diff --git a/src/robots/cyberdog_description/meshes/link_knee_br.STL b/src/robots/cyberdog_description/meshes/link_knee_br.STL
deleted file mode 100644
index 025e006..0000000
Binary files a/src/robots/cyberdog_description/meshes/link_knee_br.STL and /dev/null differ
diff --git a/src/robots/cyberdog_description/meshes/link_knee_fl.STL b/src/robots/cyberdog_description/meshes/link_knee_fl.STL
deleted file mode 100644
index 5d505f1..0000000
Binary files a/src/robots/cyberdog_description/meshes/link_knee_fl.STL and /dev/null differ
diff --git a/src/robots/cyberdog_description/meshes/link_knee_fr.STL b/src/robots/cyberdog_description/meshes/link_knee_fr.STL
deleted file mode 100644
index 025e006..0000000
Binary files a/src/robots/cyberdog_description/meshes/link_knee_fr.STL and /dev/null differ
diff --git a/src/robots/cyberdog_description/meshes/link_hip_bl.STL b/src/robots/cyberdog_description/meshes/thigh.STL
similarity index 100%
rename from src/robots/cyberdog_description/meshes/link_hip_bl.STL
rename to src/robots/cyberdog_description/meshes/thigh.STL
diff --git a/src/robots/cyberdog_description/meshes/body.STL b/src/robots/cyberdog_description/meshes/trunk.STL
similarity index 100%
rename from src/robots/cyberdog_description/meshes/body.STL
rename to src/robots/cyberdog_description/meshes/trunk.STL
diff --git a/src/robots/cyberdog_description/urdf/cyberdog_description.csv b/src/robots/cyberdog_description/urdf/cyberdog_description.csv
deleted file mode 100644
index ce6ed29..0000000
--- a/src/robots/cyberdog_description/urdf/cyberdog_description.csv
+++ /dev/null
@@ -1,14 +0,0 @@
-Link Name,Center of Mass X,Center of Mass Y,Center of Mass Z,Center of Mass Roll,Center of Mass Pitch,Center of Mass Yaw,Mass,Moment Ixx,Moment Ixy,Moment Ixz,Moment Iyy,Moment Iyz,Moment Izz,Visual X,Visual Y,Visual Z,Visual Roll,Visual Pitch,Visual Yaw,Mesh Filename,Color Red,Color Green,Color Blue,Color Alpha,Collision X,Collision Y,Collision Z,Collision Roll,Collision Pitch,Collision Yaw,Collision Mesh Filename,Material Name,SW Components,Coordinate System,Axis Name,Joint Name,Joint Type,Joint Origin X,Joint Origin Y,Joint Origin Z,Joint Origin Roll,Joint Origin Pitch,Joint Origin Yaw,Parent,Joint Axis X,Joint Axis Y,Joint Axis Z,Limit Effort,Limit Velocity,Limit Lower,Limit Upper,Calibration rising,Calibration falling,Dynamics Damping,Dynamics Friction,Safety Soft Upper,Safety Soft Lower,Safety K Position,Safety K Velocity
-body,0,0,0,0,0,0,7.18,0.032051,-0.00023217,0.002728,0.13707,5.6623E-05,0.14946,0,0,0,0,0,0,package://cyberdog_description/meshes/body.STL,1,1,1,1,0,0,0,0,0,0,package://cyberdog_description/meshes/body.STL,,body^Cyberdog-1;cyber_dog_body-1,coor_body,axis_left_abad,joint_abad_bl,revolute,-0.23536,0.05,0,0,0,0,body,1,0,0,17,12,-0.75,0.75,,,0.01,0.2,,,,
-link_abad_fr,0,-0.053575,0,0,0,0,0.509,0.00038097,1.2523E-05,-1.1653E-05,0.00069383,5.071E-06,0.00047336,0,0,0,0,0,0,package://cyberdog_description/meshes/link_abad_fr.STL,1,1,1,1,0,0,0,0,0,0,package://cyberdog_description/meshes/link_abad_fr.STL,,abad_link^Cyberdog-8,coor_leg0_abad,axis_right_abad,joint_abad_fr,revolute,0.23536,-0.05,0,0,0,0,body,1,0,0,17,12,-0.75,0.75,,,0.01,0.2,,,,
-link_hip_fr,0,0,-0.1,0,0,0,0.664,0.0033376,-7.1504E-07,-0.00019282,0.0026385,-9.3033E-06,0.0013093,0,0,0,0,0,0,package://cyberdog_description/meshes/link_hip_fr.STL,1,1,1,1,0,0,0,0,0,0,package://cyberdog_description/meshes/link_hip_fr.STL,,hip_link^Cyberdog-6,coor_leg0_hip,axis_leg0_hip,joint_hip_fr,revolute,0,-0.10715,0,0,0,0,link_abad_fr,0,-1,0,24,12,4.363,-1.257,,,0.01,0.2,,,,
-link_knee_fr,0,0,-0.11439,0,0,0,0.114,0.0014553,-3.2376E-08,8.3885E-05,0.0021522,5.1259E-07,0.00070545,0,0,0,0,0,0,package://cyberdog_description/meshes/link_knee_fr.STL,1,1,1,1,0,0,0,0,0,0,package://cyberdog_description/meshes/link_knee_fr.STL,,knee_link^Cyberdog-6,coor_leg0_knee,axis_leg0_knee,joint_knee_fr,revolute,0,0,-0.2,0,0,0,link_hip_fr,0,-1,0,24,12,-0.506,-2.478,,,0.01,0.2,,,,
-link_abad_fl,0,0.053575,0,0,0,0,0.509,0.00038097,1.2523E-05,-1.1653E-05,0.00069383,5.071E-06,0.00047336,0,0,0,0,0,0,package://cyberdog_description/meshes/link_abad_fl.STL,1,1,1,1,0,0,0,0,0,0,package://cyberdog_description/meshes/link_abad_fl.STL,,abad_link^Cyberdog-4,coor_leg1_abad,axis_left_abad,joint_abad_fl,revolute,0.23536,0.05,0,0,0,0,body,1,0,0,17,12,-0.75,0.75,,,0.01,0.2,,,,
-link_hip_fl,0,0,-0.1,0,0,0,0.664,0.0033376,-7.150375E-07,-0.00019282,0.0026385,-9.3033E-06,0.0013093,0,0,0,0,0,0,package://cyberdog_description/meshes/link_hip_fl.STL,1,1,1,1,0,0,0,0,0,0,package://cyberdog_description/meshes/link_hip_fl.STL,,hip_link^Cyberdog-2,coor_leg1_hip,axis_leg1_hip,joint_hip_fl,revolute,0,0.10715,0,0,0,0,link_abad_fl,0,-1,0,24,12,4.363,-1.257,,,0.01,0.2,,,,
-link_knee_fl,0,0,-0.11439,0,0,0,0.114,0.0014553,-3.2376E-08,8.3885E-05,0.0021522,5.1259E-07,0.00070545,0,0,0,0,0,0,package://cyberdog_description/meshes/link_knee_fl.STL,1,1,1,1,0,0,0,0,0,0,package://cyberdog_description/meshes/link_knee_fl.STL,,knee_link^Cyberdog-2,coor_leg1_knee,axis_leg1_knee,joint_knee_fl,revolute,0,0,-0.2,0,0,0,link_hip_fl,0,-1,0,24,12,-0.506,-2.478,,,0.01,0.2,,,,
-link_abad_br,0,-0.053575,0,0,0,0,0.509,0.00038097,1.2523E-05,-1.1653E-05,0.00069383,5.071E-06,0.00047336,0,0,0,0,0,0,package://cyberdog_description/meshes/link_abad_br.STL,1,1,1,1,0,0,0,0,0,0,package://cyberdog_description/meshes/link_abad_br.STL,,abad_link^Cyberdog-9,coor_leg2_abad,axis_right_abad,joint_abad_br,revolute,-0.23536,-0.05,0,0,0,0,body,1,0,0,17,12,-0.75,0.75,,,0.01,0.2,,,,
-link_hip_br,0,0,-0.1,0,0,0,0.664,0.0033376,-7.150375E-07,-0.00019282,0.0026385,-9.3033E-06,0.0013093,0,0,0,0,0,0,package://cyberdog_description/meshes/link_hip_br.STL,1,1,1,1,0,0,0,0,0,0,package://cyberdog_description/meshes/link_hip_br.STL,,hip_link^Cyberdog-7,coor_leg2_hip,axis_leg2_hip,joint_hip_br,revolute,0,-0.10715,0,0,0,0,link_abad_br,0,-1,0,24,12,3.49,-2.01,,,0.01,0.2,,,,
-link_knee_br,0,0,-0.11439,0,0,0,0.114,0.0014553,-3.2376E-08,8.3885E-05,0.0021522,5.1259E-07,0.00070545,0,0,0,0,0,0,package://cyberdog_description/meshes/link_knee_br.STL,1,1,1,1,0,0,0,0,0,0,package://cyberdog_description/meshes/link_knee_br.STL,,knee_link^Cyberdog-7,coor_leg2_knee,axis_leg2_knee,joint_knee_br,revolute,0,0,-0.2,0,0,0,link_hip_br,0,-1,0,24,12,-0.506,-2.478,,,0.01,0.2,,,,
-link_abad_bl,0,0.053575,0,0,0,0,0.509,0.00038097,1.2523E-05,-1.1653E-05,0.00069383,5.071E-06,0.00047336,0,0,0,0,0,0,package://cyberdog_description/meshes/link_abad_bl.STL,1,1,1,1,0,0,0,0,0,0,package://cyberdog_description/meshes/link_abad_bl.STL,,abad_link^Cyberdog-5,coor_leg3_abad,axis_left_abad,joint_abad_bl,revolute,-0.23536,0.05,0,0,0,0,body,1,0,0,17,12,-0.75,0.75,,,0.01,0.2,,,,
-link_hip_bl,0,0,-0.1,0,0,0,0.664,0.0033376,-7.1504E-07,-0.00019282,0.0026385,-9.3033E-06,0.0013093,0,0,0,0,0,0,package://cyberdog_description/meshes/link_hip_bl.STL,1,1,1,1,0,0,0,0,0,0,package://cyberdog_description/meshes/link_hip_bl.STL,,hip_link^Cyberdog-3,coor_leg3_hip,axis_leg3_hip,joint_hip_bl,revolute,0,0.10715,0,0,0,0,link_abad_bl,0,-1,0,24,12,3.49,-2.01,,,0.01,0.2,,,,
-link_knee_bl,0,0,-0.11439,0,0,0,0.114,0.0014553,-3.2376E-08,8.3885E-05,0.0021522,5.1259E-07,0.00070545,0,0,0,0,0,0,package://cyberdog_description/meshes/link_knee_bl.STL,1,1,1,1,0,0,0,0,0,0,package://cyberdog_description/meshes/link_knee_bl.STL,,knee_link^Cyberdog-3,coor_leg3_knee,axis_leg3_knee,joint_knee_bl,revolute,0,0,-0.2,0,0,0,link_hip_bl,0,-1,0,24,12,-0.506,-2.478,,,0.01,0.2,,,,
diff --git a/src/robots/cyberdog_description/urdf/cyberdog_description.urdf b/src/robots/cyberdog_description/urdf/cyberdog_description.urdf
index cfa69cb..915686a 100644
--- a/src/robots/cyberdog_description/urdf/cyberdog_description.urdf
+++ b/src/robots/cyberdog_description/urdf/cyberdog_description.urdf
@@ -1,7 +1,4 @@
 <?xml version="1.0" encoding="utf-8"?>
-<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
-     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
-     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
 <robot name="cyberdog_description">
   <material name="black">
     <color rgba="0.0 0.0 0.0 1.0"/>
@@ -19,7 +16,8 @@
     <color rgba="0.913725490196 0.913725490196 0.847058823529 1.0"/>
   </material>
   <material name="orange">
-    <color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
+    <!-- <color rgba="1.0 0.423529411765 0.0392156862745 1.0"/> -->
+    <color rgba="0.12 0.15 0.2 1.0"/>
   </material>
   <material name="brown">
     <color rgba="0.870588235294 0.811764705882 0.764705882353 1.0"/>
@@ -30,6 +28,7 @@
   <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">
@@ -296,38 +295,24 @@
     <child link="trunk"/>
   </joint>
   <link name="trunk">
-    <inertial>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <mass value="7.18+1.6" />
-      <inertia
-        ixx="0.032051"
-        ixy="-0.00023217"
-        ixz="0.002728"
-        iyy="0.13707"
-        iyz="5.6623E-05"
-        izz="0.14946" />
-    </inertial>
     <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
+      <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://cyberdog_description/meshes/body.STL" />
+        <mesh filename="package://cyberdog_description/meshes/trunk.STL" scale="1 1 1"/>
       </geometry>
-      <material name="">
-        <color rgba="1 1 1 1" />
-      </material>
+      <material name="orange"/>
     </visual>
     <collision>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
+      <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://cyberdog_description/meshes/body.STL" />
+        <mesh filename="package://cyberdog_description/meshes/trunk.STL"/>
       </geometry>
     </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="8.78"/>
+      <inertia ixx="0.032051" ixy="-0.00023217" ixz="0.002728" iyy="0.13707" iyz="5.6623E-05" izz="0.14946"/>
+    </inertial>
   </link>
 
   <joint name="imu_joint" type="fixed">
@@ -336,7 +321,7 @@
     <origin rpy="0 0 0" xyz="0 0 0"/>
   </joint>
   <link name="imu_link">
-    <!-- <inertial>
+    <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"/>
@@ -348,7 +333,7 @@
       </geometry>
       <material name="red"/>
     </visual>
-    <collision>
+    <!-- <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
         <box size=".001 .001 .001"/>
@@ -356,162 +341,97 @@
     </collision> -->
   </link>
 
+  <joint name="FR_hip_joint" type="revolute">
+    <origin xyz="0.23536 -0.05 0" rpy="0 0 0"/>
+    <parent link="trunk"/>
+    <child link="FR_hip"/>
+    <axis xyz="1 0 0"/>
+    <dynamics damping="0" friction="0"/>
+    <limit effort="17" lower="-0.75" upper="0.75" velocity="12"/>
+  </joint>
   <link name="FR_hip">
-    <inertial>
-      <origin
-        xyz="0 -0.053575 0"
-        rpy="0 0 0" />
-      <mass value="0.509" />
-      <inertia
-        ixx="0.00038097"
-        ixy="1.2523E-05"
-        ixz="-1.1653E-05"
-        iyy="0.00069383"
-        iyz="5.071E-06"
-        izz="0.00047336" />
-    </inertial>
     <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
+      <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://cyberdog_description/meshes/link_abad_fr.STL" />
+        <mesh filename="package://cyberdog_description/meshes/hip_mirror.STL" scale="1 1 1"/>
       </geometry>
-      <material name="">
-        <color rgba="1 1 1 1" />
-      </material>
+      <material name="orange"/>
     </visual>
     <collision>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
+      <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://cyberdog_description/meshes/link_abad_fr.STL" />
+        <mesh filename="package://cyberdog_description/meshes/hip_mirror.STL"/>
       </geometry>
     </collision>
+    <inertial>
+      <origin xyz="0 -0.053575 0" rpy="0 0 0"/>
+      <mass value="0.509"/>
+      <inertia ixx="0.00038097" ixy="1.2523E-05" ixz="-1.1653E-05" iyy="0.00069383" iyz="5.071E-06" izz="0.00047336"/>
+    </inertial>
   </link>
-  <joint
-    name="FR_hip_joint"
-    type="revolute">
-    <origin
-      xyz="0.23536 -0.05 0"
-      rpy="0 0 0" />
-    <parent link="trunk" />
-    <child link="FR_hip" />
-    <axis xyz="1 0 0" />
-    <limit
-      lower="-0.75"
-      upper="0.75"
-      effort="170"
-      velocity="12" />
-    <dynamics
-      damping="0.01"
-      friction="0.2" />
+  <joint name="FR_hip_fixed" type="fixed">
+    <origin rpy="0 0 0" xyz="0 -0.10 0"/>
+    <parent link="FR_hip"/>
+    <child link="FR_thigh_shoulder"/>
+  </joint>
+  <link name="FR_thigh_shoulder">
+  </link>
+  <joint name="FR_thigh_joint" type="revolute">
+    <origin xyz="0 -0.10715 0" rpy="0 0 0"/>
+    <parent link="FR_hip"/>
+    <child link="FR_thigh"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0" friction="0"/>
+    <limit lower="-1.257" upper="4.363" effort="24" velocity="12"/>
   </joint>
   <link name="FR_thigh">
-    <inertial>
-      <origin
-        xyz="0 0 -0.1"
-        rpy="0 0 0" />
-      <mass value="0.664" />
-      <inertia
-        ixx="0.0033376"
-        ixy="-7.1504E-07"
-        ixz="-0.00019282"
-        iyy="0.0026385"
-        iyz="-9.3033E-06"
-        izz="0.0013093" />
-    </inertial>
     <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
+      <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://cyberdog_description/meshes/link_hip_fr.STL" />
+        <mesh filename="package://cyberdog_description/meshes/thigh.STL" scale="1 1 1"/>
       </geometry>
-      <material name="">
-        <color rgba="1 1 1 1" />
-      </material>
+      <material name="orange"/>
     </visual>
     <collision>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
+      <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://cyberdog_description/meshes/link_hip_fr.STL" />
+        <mesh filename="package://cyberdog_description/meshes/thigh.STL"/>
       </geometry>
     </collision>
+    <inertial>
+      <origin xyz="0 0 -0.1" rpy="0 0 0"/>
+      <mass value="0.664"/>
+      <inertia ixx="0.0033376" ixy="-7.1504E-07" ixz="-0.00019282" iyy="0.0026385" iyz="-9.3033E-06" izz="0.0013093"/>
+    </inertial>
   </link>
-  <joint
-    name="FR_thigh_joint"
-    type="revolute">
-    <origin
-      xyz="0 -0.10715 0"
-      rpy="0 0 0" />
-    <parent link="FR_hip" />
-    <child link="FR_thigh" />
-    <axis xyz="0 1 0" />
-    <limit
-      lower="-1.257"
-      upper="4.363"
-      effort="240"
-      velocity="12" />
-    <dynamics
-      damping="0.01"
-      friction="0.2" />
+  <joint name="FR_calf_joint" type="revolute">
+    <origin xyz="0 0 -0.2" rpy="0 0 0"/>
+    <parent link="FR_thigh"/>
+    <child link="FR_calf"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0" friction="0"/>
+    <limit lower="-2.478" upper="-0.506" effort="24" velocity="12"/>
   </joint>
   <link name="FR_calf">
-    <inertial>
-      <origin
-        xyz="0 0 -0.11439"
-        rpy="0 0 0" />
-      <mass value="0.114" />
-      <inertia
-        ixx="0.0014553"
-        ixy="-3.2376E-08"
-        ixz="8.3885E-05"
-        iyy="0.0021522"
-        iyz="5.1259E-07"
-        izz="0.00070545" />
-    </inertial>
     <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
+      <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://cyberdog_description/meshes/link_knee_fr.STL" />
+        <mesh filename="package://cyberdog_description/meshes/calf.STL" scale="1 1 1"/>
       </geometry>
-      <material name="">
-        <color rgba="1 1 1 1" />
-      </material>
+      <material name="orange"/>
     </visual>
     <collision>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
+      <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://cyberdog_description/meshes/link_knee_fr.STL" />
+        <mesh filename="package://cyberdog_description/meshes/calf.STL"/>
       </geometry>
     </collision>
+    <inertial>
+      <origin xyz="0 0 -0.11439" rpy="0 0 0"/>
+      <mass value="0.114"/>
+      <inertia ixx="0.0014553" ixy="-3.2376E-08" ixz="8.3885E-05" iyy="0.0021522" iyz="5.1259E-07" izz="0.00070545"/>
+    </inertial>
   </link>
-  <joint
-    name="FR_calf_joint"
-    type="revolute">
-    <origin
-      xyz="0 0 -0.2"
-      rpy="0 0 0" />
-    <parent link="FR_thigh" />
-    <child link="FR_calf" />
-    <axis xyz="0 1 0" />
-    <limit
-      lower="-2.478"
-      upper="-0.506"
-      effort="240"
-      velocity="12" />
-    <dynamics
-      damping="0.01"
-      friction="0.2" />
-  </joint>
   <joint name="FR_foot_fixed" type="fixed">
     <origin rpy="0 0 0" xyz="0 0 -0.217"/>
     <parent link="FR_calf"/>
@@ -521,14 +441,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <sphere radius="0.022"/>
+        <sphere radius="0.025"/>
       </geometry>
-      <material name="grey"/>
+      <material name="orange"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <sphere radius="0.022"/>
+        <sphere radius="0.025"/>
       </geometry>
     </collision>
     <inertial>
@@ -568,162 +488,97 @@
     </actuator>
   </transmission>
 
+  <joint name="FL_hip_joint" type="revolute">
+    <origin xyz="0.23536 0.05 0" rpy="0 0 0"/>
+    <parent link="trunk"/>
+    <child link="FL_hip"/>
+    <axis xyz="1 0 0"/>
+    <dynamics damping="0" friction="0"/>
+    <limit lower="-0.75" upper="0.75" effort="17" velocity="12"/>
+  </joint>
   <link name="FL_hip">
-    <inertial>
-      <origin
-        xyz="0 0.053575 0"
-        rpy="0 0 0" />
-      <mass value="0.509" />
-      <inertia
-        ixx="0.00038097"
-        ixy="1.2523E-05"
-        ixz="-1.1653E-05"
-        iyy="0.00069383"
-        iyz="5.071E-06"
-        izz="0.00047336" />
-    </inertial>
     <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
+      <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://cyberdog_description/meshes/link_abad_fl.STL" />
+        <mesh filename="package://cyberdog_description/meshes/hip.STL" scale="1 1 1"/>
       </geometry>
-      <material name="">
-        <color rgba="1 1 1 1" />
-      </material>
+      <material name="orange"/>
     </visual>
     <collision>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
+      <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://cyberdog_description/meshes/link_abad_fl.STL" />
+        <mesh filename="package://cyberdog_description/meshes/hip.STL"/>
       </geometry>
     </collision>
+    <inertial>
+      <origin xyz="0 0.053575 0" rpy="0 0 0"/>
+      <mass value="0.509"/>
+      <inertia ixx="0.00038097" ixy="1.2523E-05" ixz="-1.1653E-05" iyy="0.00069383" iyz="5.071E-06" izz="0.00047336"/>
+    </inertial>
   </link>
-  <joint
-    name="FL_hip_joint"
-    type="revolute">
-    <origin
-      xyz="0.23536 0.05 0"
-      rpy="0 0 0" />
-    <parent link="trunk" />
-    <child link="FL_hip" />
-    <axis xyz="1 0 0" />
-    <limit
-      lower="-0.75"
-      upper="0.75"
-      effort="170"
-      velocity="12" />
-    <dynamics
-      damping="0.01"
-      friction="0.2" />
+  <joint name="FL_hip_fixed" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0.10 0"/>
+    <parent link="FL_hip"/>
+    <child link="FL_thigh_shoulder"/>
+  </joint>
+  <link name="FL_thigh_shoulder">
+  </link>
+  <joint name="FL_thigh_joint" type="revolute">
+    <origin xyz="0 0.10715 0" rpy="0 0 0"/>
+    <parent link="FL_hip"/>
+    <child link="FL_thigh"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0" friction="0"/>
+    <limit lower="-1.257" upper="4.363" effort="24" velocity="12"/>
   </joint>
   <link name="FL_thigh">
-    <inertial>
-      <origin
-        xyz="0 0 -0.1"
-        rpy="0 0 0" />
-      <mass value="0.664" />
-      <inertia
-        ixx="0.0033376"
-        ixy="-7.150375E-07"
-        ixz="-0.00019282"
-        iyy="0.0026385"
-        iyz="-9.3033E-06"
-        izz="0.0013093" />
-    </inertial>
     <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
+      <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://cyberdog_description/meshes/link_hip_fl.STL" />
+        <mesh filename="package://cyberdog_description/meshes/thigh.STL" scale="1 1 1"/>
       </geometry>
-      <material name="">
-        <color rgba="1 1 1 1" />
-      </material>
+      <material name="orange"/>
     </visual>
     <collision>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
+      <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://cyberdog_description/meshes/link_hip_fl.STL" />
+        <mesh filename="package://cyberdog_description/meshes/thigh.STL"/>
       </geometry>
     </collision>
+    <inertial>
+      <origin xyz="0 0 -0.1" rpy="0 0 0"/>
+      <mass value="0.664"/>
+      <inertia ixx="0.0033376" ixy="-7.150375E-07" ixz="-0.00019282" iyy="0.0026385" iyz="-9.3033E-06" izz="0.0013093"/>
+    </inertial>
   </link>
-  <joint
-    name="FL_thigh_joint"
-    type="revolute">
-    <origin
-      xyz="0 0.10715 0"
-      rpy="0 0 0" />
-    <parent link="FL_hip" />
-    <child link="FL_thigh" />
-    <axis xyz="0 1 0" />
-    <limit
-      lower="-1.257"
-      upper="4.363"
-      effort="240"
-      velocity="12" />
-    <dynamics
-      damping="0.01"
-      friction="0.2" />
+  <joint name="FL_calf_joint" type="revolute">
+    <origin xyz="0 0 -0.2" rpy="0 0 0"/>
+    <parent link="FL_thigh"/>
+    <child link="FL_calf"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0" friction="0"/>
+    <limit lower="-2.478" upper="-0.506" effort="24" velocity="12"/>
   </joint>
   <link name="FL_calf">
-    <inertial>
-      <origin
-        xyz="0 0 -0.11439"
-        rpy="0 0 0" />
-      <mass value="0.114" />
-      <inertia
-        ixx="0.0014553"
-        ixy="-3.2376E-08"
-        ixz="8.3885E-05"
-        iyy="0.0021522"
-        iyz="5.1259E-07"
-        izz="0.00070545" />
-    </inertial>
     <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
+      <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://cyberdog_description/meshes/link_knee_fl.STL" />
+        <mesh filename="package://cyberdog_description/meshes/calf.STL" scale="1 1 1"/>
       </geometry>
-      <material name="">
-        <color rgba="1 1 1 1" />
-      </material>
+      <material name="orange"/>
     </visual>
     <collision>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
+      <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://cyberdog_description/meshes/link_knee_fl.STL" />
+        <mesh filename="package://cyberdog_description/meshes/calf.STL"/>
       </geometry>
     </collision>
+    <inertial>
+      <origin xyz="0 0 -0.11439" rpy="0 0 0"/>
+      <mass value="0.114"/>
+      <inertia ixx="0.0014553" ixy="-3.2376E-08" ixz="8.3885E-05" iyy="0.0021522" iyz="5.1259E-07" izz="0.00070545"/>
+    </inertial>
   </link>
-  <joint
-    name="FL_calf_joint"
-    type="revolute">
-    <origin
-      xyz="0 0 -0.2"
-      rpy="0 0 0" />
-    <parent link="FL_thigh" />
-    <child link="FL_calf" />
-    <axis xyz="0 1 0" />
-    <limit
-      lower="-2.478"
-      upper="-0.506"
-      effort="240"
-      velocity="12" />
-    <dynamics
-      damping="0.01"
-      friction="0.2" />
-  </joint>
   <joint name="FL_foot_fixed" type="fixed">
     <origin rpy="0 0 0" xyz="0 0 -0.217"/>
     <parent link="FL_calf"/>
@@ -733,14 +588,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <sphere radius="0.022"/>
+        <sphere radius="0.025"/>
       </geometry>
-      <material name="grey"/>
+      <material name="orange"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <sphere radius="0.022"/>
+        <sphere radius="0.025"/>
       </geometry>
     </collision>
     <inertial>
@@ -780,162 +635,97 @@
     </actuator>
   </transmission>
 
+  <joint name="RR_hip_joint" type="revolute">
+    <origin xyz="-0.23536 -0.05 0" rpy="0 0 0"/>
+    <parent link="trunk"/>
+    <child link="RR_hip"/>
+    <axis xyz="1 0 0"/>
+    <dynamics damping="0" friction="0"/>
+    <limit lower="-0.75" upper="0.75" effort="17" velocity="12"/>
+  </joint>
   <link name="RR_hip">
-    <inertial>
-      <origin
-        xyz="0 -0.053575 0"
-        rpy="0 0 0" />
-      <mass value="0.509" />
-      <inertia
-        ixx="0.00038097"
-        ixy="1.2523E-05"
-        ixz="-1.1653E-05"
-        iyy="0.00069383"
-        iyz="5.071E-06"
-        izz="0.00047336" />
-    </inertial>
     <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
+      <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://cyberdog_description/meshes/link_abad_br.STL" />
+        <mesh filename="package://cyberdog_description/meshes/hip_mirror.STL" scale="1 1 1"/>
       </geometry>
-      <material name="">
-        <color rgba="1 1 1 1" />
-      </material>
+      <material name="orange"/>
     </visual>
     <collision>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
+      <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://cyberdog_description/meshes/link_abad_br.STL" />
+        <mesh filename="package://cyberdog_description/meshes/hip_mirror.STL"/>
       </geometry>
     </collision>
+    <inertial>
+      <origin xyz="0 -0.053575 0" rpy="0 0 0"/>
+      <mass value="0.509"/>
+      <inertia ixx="0.00038097" ixy="1.2523E-05" ixz="-1.1653E-05" iyy="0.00069383" iyz="5.071E-06" izz="0.00047336"/>
+    </inertial>
   </link>
-  <joint
-    name="RR_hip_joint"
-    type="revolute">
-    <origin
-      xyz="-0.23536 -0.05 0"
-      rpy="0 0 0" />
-    <parent link="trunk" />
-    <child link="RR_hip" />
-    <axis xyz="1 0 0" />
-    <limit
-      lower="-0.75"
-      upper="0.75"
-      effort="170"
-      velocity="12" />
-    <dynamics
-      damping="0.01"
-      friction="0.2" />
+  <joint name="RR_hip_fixed" type="fixed">
+    <origin rpy="0 0 0" xyz="0 -0.10 0"/>
+    <parent link="RR_hip"/>
+    <child link="RR_thigh_shoulder"/>
+  </joint>
+  <link name="RR_thigh_shoulder">
+  </link>
+  <joint name="RR_thigh_joint" type="revolute">
+    <origin xyz="0 -0.10715 0" rpy="0 0 0"/>
+    <parent link="RR_hip"/>
+    <child link="RR_thigh"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0" friction="0"/>
+    <limit lower="-2.01" upper="3.49" effort="24" velocity="12"/>
   </joint>
   <link name="RR_thigh">
-    <inertial>
-      <origin
-        xyz="0 0 -0.1"
-        rpy="0 0 0" />
-      <mass value="0.664" />
-      <inertia
-        ixx="0.0033376"
-        ixy="-7.150375E-07"
-        ixz="-0.00019282"
-        iyy="0.0026385"
-        iyz="-9.3033E-06"
-        izz="0.0013093" />
-    </inertial>
     <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
+      <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://cyberdog_description/meshes/link_hip_br.STL" />
+        <mesh filename="package://cyberdog_description/meshes/thigh.STL" scale="1 1 1"/>
       </geometry>
-      <material name="">
-        <color rgba="1 1 1 1" />
-      </material>
+      <material name="orange"/>
     </visual>
     <collision>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
+      <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://cyberdog_description/meshes/link_hip_br.STL" />
+        <mesh filename="package://cyberdog_description/meshes/thigh.STL"/>
       </geometry>
     </collision>
+    <inertial>
+      <origin xyz="0 0 -0.1" rpy="0 0 0"/>
+      <mass value="0.664"/>
+      <inertia ixx="0.0033376" ixy="-7.150375E-07" ixz="-0.00019282" iyy="0.0026385" iyz="-9.3033E-06" izz="0.0013093"/>
+    </inertial>
   </link>
-  <joint
-    name="RR_thigh_joint"
-    type="revolute">
-    <origin
-      xyz="0 -0.10715 0"
-      rpy="0 0 0" />
-    <parent link="RR_hip" />
-    <child link="RR_thigh" />
-    <axis xyz="0 1 0" />
-    <limit
-      lower="-2.01"
-      upper="3.49"
-      effort="240"
-      velocity="12" />
-    <dynamics
-      damping="0.01"
-      friction="0.2" />
+  <joint name="RR_calf_joint" type="revolute">
+    <origin xyz="0 0 -0.2" rpy="0 0 0"/>
+    <parent link="RR_thigh"/>
+    <child link="RR_calf"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0" friction="0"/>
+    <limit lower="-2.478" upper="-0.506" effort="24" velocity="12"/>
   </joint>
   <link name="RR_calf">
-    <inertial>
-      <origin
-        xyz="0 0 -0.11439"
-        rpy="0 0 0" />
-      <mass value="0.114" />
-      <inertia
-        ixx="0.0014553"
-        ixy="-3.2376E-08"
-        ixz="8.3885E-05"
-        iyy="0.0021522"
-        iyz="5.1259E-07"
-        izz="0.00070545" />
-    </inertial>
     <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
+      <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://cyberdog_description/meshes/link_knee_br.STL" />
+        <mesh filename="package://cyberdog_description/meshes/calf.STL" scale="1 1 1"/>
       </geometry>
-      <material name="">
-        <color rgba="1 1 1 1" />
-      </material>
+      <material name="orange"/>
     </visual>
     <collision>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
+      <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://cyberdog_description/meshes/link_knee_br.STL" />
+        <mesh filename="package://cyberdog_description/meshes/calf.STL"/>
       </geometry>
     </collision>
+    <inertial>
+      <origin xyz="0 0 -0.11439" rpy="0 0 0"/>
+      <mass value="0.114"/>
+      <inertia ixx="0.0014553" ixy="-3.2376E-08" ixz="8.3885E-05" iyy="0.0021522" iyz="5.1259E-07" izz="0.00070545"/>
+    </inertial>
   </link>
-  <joint
-    name="RR_calf_joint"
-    type="revolute">
-    <origin
-      xyz="0 0 -0.2"
-      rpy="0 0 0" />
-    <parent link="RR_thigh" />
-    <child link="RR_calf" />
-    <axis xyz="0 1 0" />
-    <limit
-      lower="-2.478"
-      upper="-0.506"
-      effort="240"
-      velocity="12" />
-    <dynamics
-      damping="0.01"
-      friction="0.2" />
-  </joint>
   <joint name="RR_foot_fixed" type="fixed">
     <origin rpy="0 0 0" xyz="0 0 -0.217"/>
     <parent link="RR_calf"/>
@@ -945,14 +735,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <sphere radius="0.022"/>
+        <sphere radius="0.025"/>
       </geometry>
-      <material name="grey"/>
+      <material name="orange"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <sphere radius="0.022"/>
+        <sphere radius="0.025"/>
       </geometry>
     </collision>
     <inertial>
@@ -992,162 +782,97 @@
     </actuator>
   </transmission>
 
+  <joint name="RL_hip_joint" type="revolute">
+    <origin xyz="-0.23536 0.05 0" rpy="0 0 0"/>
+    <parent link="trunk"/>
+    <child link="RL_hip"/>
+    <axis xyz="1 0 0"/>
+    <dynamics damping="0" friction="0"/>
+    <limit lower="-0.75" upper="0.75" effort="17" velocity="12"/>
+  </joint>
   <link name="RL_hip">
-    <inertial>
-      <origin
-        xyz="0 0.053575 0"
-        rpy="0 0 0" />
-      <mass value="0.509" />
-      <inertia
-        ixx="0.00038097"
-        ixy="1.2523E-05"
-        ixz="-1.1653E-05"
-        iyy="0.00069383"
-        iyz="5.071E-06"
-        izz="0.00047336" />
-    </inertial>
     <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
+      <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://cyberdog_description/meshes/link_abad_bl.STL" />
+        <mesh filename="package://cyberdog_description/meshes/hip.STL" scale="1 1 1"/>
       </geometry>
-      <material name="">
-        <color rgba="1 1 1 1" />
-      </material>
+      <material name="orange"/>
     </visual>
     <collision>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
+      <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://cyberdog_description/meshes/link_abad_bl.STL" />
+        <mesh filename="package://cyberdog_description/meshes/hip.STL"/>
       </geometry>
     </collision>
+    <inertial>
+      <origin xyz="0 0.053575 0" rpy="0 0 0"/>
+      <mass value="0.509"/>
+      <inertia ixx="0.00038097" ixy="1.2523E-05" ixz="-1.1653E-05" iyy="0.00069383" iyz="5.071E-06" izz="0.00047336"/>
+    </inertial>
   </link>
-  <joint
-    name="RL_hip_joint"
-    type="revolute">
-    <origin
-      xyz="-0.23536 0.05 0"
-      rpy="0 0 0" />
-    <parent link="trunk" />
-    <child link="RL_hip" />
-    <axis xyz="1 0 0" />
-    <limit
-      lower="-0.75"
-      upper="0.75"
-      effort="170"
-      velocity="12" />
-    <dynamics
-      damping="0.01"
-      friction="0.2" />
+  <joint name="RL_hip_fixed" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0.10 0"/>
+    <parent link="RL_hip"/>
+    <child link="RL_thigh_shoulder"/>
+  </joint>
+  <link name="RL_thigh_shoulder">
+  </link>
+  <joint name="RL_thigh_joint" type="revolute">
+    <origin xyz="0 0.10715 0" rpy="0 0 0"/>
+    <parent link="RL_hip"/>
+    <child link="RL_thigh"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0" friction="0"/>
+    <limit lower="-2.01" upper="3.49" effort="24" velocity="12"/>
   </joint>
   <link name="RL_thigh">
-    <inertial>
-      <origin
-        xyz="0 0 -0.1"
-        rpy="0 0 0" />
-      <mass value="0.664" />
-      <inertia
-        ixx="0.0033376"
-        ixy="-7.1504E-07"
-        ixz="-0.00019282"
-        iyy="0.0026385"
-        iyz="-9.3033E-06"
-        izz="0.0013093" />
-    </inertial>
     <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
+      <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://cyberdog_description/meshes/link_hip_bl.STL" />
+        <mesh filename="package://cyberdog_description/meshes/thigh.STL" scale="1 1 1"/>
       </geometry>
-      <material name="">
-        <color rgba="1 1 1 1" />
-      </material>
+      <material name="orange"/>
     </visual>
     <collision>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
+      <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://cyberdog_description/meshes/link_hip_bl.STL" />
+        <mesh filename="package://cyberdog_description/meshes/thigh.STL"/>
       </geometry>
     </collision>
+    <inertial>
+      <origin xyz="0 0 -0.1" rpy="0 0 0"/>
+      <mass value="0.664"/>
+      <inertia ixx="0.0033376" ixy="-7.1504E-07" ixz="-0.00019282" iyy="0.0026385" iyz="-9.3033E-06" izz="0.0013093"/>
+    </inertial>
   </link>
-  <joint
-    name="RL_thigh_joint"
-    type="revolute">
-    <origin
-      xyz="0 0.10715 0"
-      rpy="0 0 0" />
-    <parent link="RL_hip" />
-    <child link="RL_thigh" />
-    <axis xyz="0 1 0" />
-    <limit
-      lower="-2.01"
-      upper="3.49"
-      effort="240"
-      velocity="12" />
-    <dynamics
-      damping="0.01"
-      friction="0.2" />
+  <joint name="RL_calf_joint" type="revolute">
+    <origin xyz="0 0 -0.2" rpy="0 0 0"/>
+    <parent link="RL_thigh"/>
+    <child link="RL_calf"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0" friction="0"/>
+    <limit lower="-2.478" upper="-0.506" effort="24" velocity="12"/>
   </joint>
   <link name="RL_calf">
-    <inertial>
-      <origin
-        xyz="0 0 -0.11439"
-        rpy="0 0 0" />
-      <mass value="0.114" />
-      <inertia
-        ixx="0.0014553"
-        ixy="-3.2376E-08"
-        ixz="8.3885E-05"
-        iyy="0.0021522"
-        iyz="5.1259E-07"
-        izz="0.00070545" />
-    </inertial>
     <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
+      <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://cyberdog_description/meshes/link_knee_bl.STL" />
+        <mesh filename="package://cyberdog_description/meshes/calf.STL" scale="1 1 1"/>
       </geometry>
-      <material name="">
-        <color rgba="1 1 1 1" />
-      </material>
+      <material name="orange"/>
     </visual>
     <collision>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
+      <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://cyberdog_description/meshes/link_knee_bl.STL" />
+        <mesh filename="package://cyberdog_description/meshes/calf.STL"/>
       </geometry>
     </collision>
+    <inertial>
+      <origin xyz="0 0 -0.11439" rpy="0 0 0"/>
+      <mass value="0.114"/>
+      <inertia ixx="0.0014553" ixy="-3.2376E-08" ixz="8.3885E-05" iyy="0.0021522" iyz="5.1259E-07" izz="0.00070545"/>
+    </inertial>
   </link>
-  <joint
-    name="RL_calf_joint"
-    type="revolute">
-    <origin
-      xyz="0 0 -0.2"
-      rpy="0 0 0" />
-    <parent link="RL_thigh" />
-    <child link="RL_calf" />
-    <axis xyz="0 1 0" />
-    <limit
-      lower="-2.478"
-      upper="-0.506"
-      effort="240"
-      velocity="12" />
-    <dynamics
-      damping="0.01"
-      friction="0.2" />
-  </joint>
   <joint name="RL_foot_fixed" type="fixed">
     <origin rpy="0 0 0" xyz="0 0 -0.217"/>
     <parent link="RL_calf"/>
@@ -1157,14 +882,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <sphere radius="0.022"/>
+        <sphere radius="0.025"/>
       </geometry>
-      <material name="grey"/>
+      <material name="orange"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <sphere radius="0.022"/>
+        <sphere radius="0.025"/>
       </geometry>
     </collision>
     <inertial>
@@ -1204,4 +929,5 @@
     </actuator>
   </transmission>
 
-</robot>
\ No newline at end of file
+</robot>
+