diff --git a/src/rl_sar/launch/gazebo_l4w4.launch b/src/rl_sar/launch/gazebo_l4w4.launch
index 452fc3e..65a8389 100644
--- a/src/rl_sar/launch/gazebo_l4w4.launch
+++ b/src/rl_sar/launch/gazebo_l4w4.launch
@@ -27,9 +27,7 @@
     </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)"/>
+    <param name="robot_description" textfile="$(find l4w4_description)/urdf/l4w4.urdf"/>
 
     <!-- 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 -->
diff --git a/src/rl_sar/models/l4w4/legged_gym/policy.pt b/src/rl_sar/models/l4w4/legged_gym/policy.pt
new file mode 100644
index 0000000..89b4116
Binary files /dev/null and b/src/rl_sar/models/l4w4/legged_gym/policy.pt differ
diff --git a/src/robots/l4w4_description/launch/check_joint.rviz b/src/robots/l4w4_description/launch/check_joint.rviz
deleted file mode 100644
index f0f5209..0000000
--- a/src/robots/l4w4_description/launch/check_joint.rviz
+++ /dev/null
@@ -1,265 +0,0 @@
-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/src/robots/l4w4_description/launch/display.launch b/src/robots/l4w4_description/launch/display.launch
deleted file mode 100644
index f7457c8..0000000
--- a/src/robots/l4w4_description/launch/display.launch
+++ /dev/null
@@ -1,20 +0,0 @@
-<launch>
-  <arg
-    name="model" />
-  <param
-    name="robot_description"
-    textfile="$(find assembly_q4w4_sw2urdf)/urdf/assembly_q4w4_sw2urdf.urdf" />
-  <node
-    name="joint_state_publisher_gui"
-    pkg="joint_state_publisher_gui"
-    type="joint_state_publisher_gui" />
-  <node
-    name="robot_state_publisher"
-    pkg="robot_state_publisher"
-    type="robot_state_publisher" />
-  <node
-    name="rviz"
-    pkg="rviz"
-    type="rviz"
-    args="-d $(find assembly_q4w4_sw2urdf)/urdf.rviz" />
-</launch>
\ No newline at end of file
diff --git a/src/robots/l4w4_description/launch/gazebo.launch b/src/robots/l4w4_description/launch/gazebo.launch
deleted file mode 100644
index eb28edf..0000000
--- a/src/robots/l4w4_description/launch/gazebo.launch
+++ /dev/null
@@ -1,20 +0,0 @@
-<launch>
-  <include
-    file="$(find gazebo_ros)/launch/empty_world.launch" />
-  <node
-    name="tf_footprint_base"
-    pkg="tf"
-    type="static_transform_publisher"
-    args="0 0 0 0 0 0 base_link base_footprint 40" />
-  <node
-    name="spawn_model"
-    pkg="gazebo_ros"
-    type="spawn_model"
-    args="-file /home/lidar2/rl_sar-main/src/robots/l4w4_description/urdf/l4w4.urdf -urdf -model l4w4"
-    output="screen" />
-  <node
-    name="fake_joint_calibration"
-    pkg="rostopic"
-    type="rostopic"
-    args="pub /calibrated std_msgs/Bool true" />
-</launch>
diff --git a/src/robots/l4w4_description/launch/l4w4_rviz.launch b/src/robots/l4w4_description/launch/l4w4_rviz.launch
deleted file mode 100644
index bc68a68..0000000
--- a/src/robots/l4w4_description/launch/l4w4_rviz.launch
+++ /dev/null
@@ -1,23 +0,0 @@
-<launch>
-
-    <arg name="user_debug" default="false"/>
-    
-    <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find l4w4_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 l4w4_description)/launch/check_joint.rviz"/>
-
-</launch>
diff --git a/src/robots/l4w4_description/urdf/l4w4.urdf b/src/robots/l4w4_description/urdf/l4w4.urdf
index aa0a27b..a77e6a5 100755
--- a/src/robots/l4w4_description/urdf/l4w4.urdf
+++ b/src/robots/l4w4_description/urdf/l4w4.urdf
@@ -1,977 +1,906 @@
 <?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) 
+<!-- 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="l4w4">
-  <link
-    name="trunk">
+<robot name="l4w4">
+  <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>/l4w4_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>
+
+  <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="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>
+  <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">
     <inertial>
-      <origin
-        xyz="-0.0107 -0.00135 0.005"
-        rpy="0 0 0" />
-      <mass
-        value="18.057" />
-      <inertia
-        ixx="0.12015"
-        ixy="-0.00086"
-        ixz="-0.00124"
-        iyy="0.36210"
-        iyz="-0.00004"
-        izz="0.40829" />
+      <origin xyz="-0.0107 -0.00135 0.005" rpy="0 0 0" />
+      <mass value="18.057" />
+      <inertia ixx="0.12015" ixy="-0.00086" ixz="-0.00124" iyy="0.36210" iyz="-0.00004" izz="0.40829" />
     </inertial>
     <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
+      <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh
-          filename="../meshes/trunk.STL" />
+        <mesh filename="package://l4w4_description/meshes/trunk.STL" />
       </geometry>
-      <material
-        name="">
-        <color
-          rgba="0.25 0.25 0.25 1" />
+      <material name="">
+        <color rgba="0.25 0.25 0.25 1" />
       </material>
     </visual>
     <collision>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-	  <geometry>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
         <box size="0.688 0.18 0.18" />
       </geometry>
     </collision>
   </link>
 
 
-  <link
-    name="FR_hip">
+  <link name="FR_hip">
     <inertial>
-      <origin
-        xyz="-0.004726 -0.001176 0.000044"
-        rpy="0 0 0" />
-      <mass
-        value="2" />
-      <inertia
-        ixx="0.003012"
-        ixy="0.000018"
-        ixz="0.000006"
-        iyy="0.005188"
-        iyz="-0.000004"
-        izz="0.003993" />
+      <origin xyz="-0.004726 -0.001176 0.000044" rpy="0 0 0" />
+      <mass value="2" />
+      <inertia ixx="0.003012" ixy="0.000018" ixz="0.000006" iyy="0.005188" iyz="-0.000004" izz="0.003993" />
     </inertial>
     <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
+      <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh
-          filename="../meshes/shoulder_R.STL" />
+        <mesh filename="package://l4w4_description/meshes/shoulder_R.STL" />
       </geometry>
-      <material
-        name="">
-        <color
-          rgba="1 0.7765 0.0314 1" />
+      <material name="">
+        <color rgba="1 0.7765 0.0314 1" />
       </material>
     </visual>
     <collision>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
+      <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
         <cylinder length="0" radius="0" />
       </geometry>
     </collision>
   </link>
-  <joint
-    name="FR_hip_joint"
-    type="revolute">
-    <origin
-      xyz="0.249 -0.065 0"
-      rpy="0 0 0" />
-    <parent
-      link="trunk" />
-    <child
-      link="FR_hip" />
-    <axis
-      xyz="1 0 0" />
-    <limit
-      lower="-0.785"
-      upper="0.785"
-      effort="130"
-      velocity="11.5" />
+  <joint name="FR_hip_joint" type="revolute">
+    <origin xyz="0.249 -0.065 0" rpy="0 0 0" />
+    <parent link="trunk" />
+    <child link="FR_hip" />
+    <axis xyz="1 0 0" />
+    <limit lower="-0.5236" upper="0.5236" effort="110" velocity="11.5" />
   </joint>
 
-  <link
-    name="FR_thigh">
+  <link name="FR_thigh">
     <inertial>
-      <origin
-        xyz="-0.007013 -0.09103 -0.06380"
-        rpy="0 0 0" />
-      <mass
-        value="3.396" />
-      <inertia
-        ixx="0.043751"
-        ixy="0.000606"
-        ixz="0.002054"
-        iyy="0.043937"
-        iyz="0.005154"
-        izz="0.006846" />
+      <origin xyz="-0.007013 -0.09103 -0.06380" rpy="0 0 0" />
+      <mass value="3.396" />
+      <inertia ixx="0.043751" ixy="0.000606" ixz="0.002054" iyy="0.043937" iyz="0.005154" izz="0.006846" />
     </inertial>
     <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
+      <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh
-          filename="../meshes/thigh_R.STL" scale = "1 1 1"/>
+        <mesh filename="package://l4w4_description/meshes/thigh_R.STL" scale = "1 1 1"/>
       </geometry>
-      <material
-        name="">
-        <color
-          rgba="1 1 1 1" />
+      <material name="">
+        <color rgba="1 1 1 1" />
       </material>
     </visual>
     <collision>
-      <origin
-        xyz="0 -0.1145 -0.100"
-        rpy="0 0 0" />
+      <origin xyz="0 -0.1145 -0.100" rpy="0 0 0" />
       <geometry>
         <box size="0.122 0.044 0.32" />
       </geometry>
     </collision>
   </link>
-  <joint
-    name="FR_thigh_joint"
-    type="revolute">
-    <origin
-      xyz="0 0 0"
-      rpy="0 0 0" />
-    <parent
-      link="FR_hip" />
-    <child
-      link="FR_thigh" />
-    <axis
-      xyz="0 1 0" />
-    <limit
-      lower="-1.4"
-      upper="3.14"
-      effort="135"
-      velocity="12.56" />
+  <joint name="FR_thigh_joint" type="revolute">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="FR_hip" />
+    <child link="FR_thigh" />
+    <axis xyz="0 1 0" />
+    <limit lower="-1.4" upper="3.14" effort="110" velocity="12.56" />
   </joint>
 
-  <link
-    name="FR_calf">
+  <link name="FR_calf">
     <inertial>
-      <origin
-        xyz="-0.001448 0.001637 -0.130288"
-        rpy="0 0 0" />
-      <mass
-        value="0.829" />
-      <inertia
-        ixx="0.012593"
-        ixy="0.000001"
-        ixz="-0.000510"
-        iyy="0.012842"
-        iyz="-0.000137"
-        izz="0.000514" />
+      <origin xyz="-0.001448 0.001637 -0.130288" rpy="0 0 0" />
+      <mass value="0.829" />
+      <inertia ixx="0.012593" ixy="0.000001" ixz="-0.000510" iyy="0.012842" iyz="-0.000137" izz="0.000514" />
     </inertial>
     <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
+      <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh
-          filename="../meshes/shank_R.STL" scale = "1 1 1"/>
+        <mesh filename="package://l4w4_description/meshes/shank_R.STL" scale = "1 1 1"/>
       </geometry>
-      <material
-        name="">
-        <color
-          rgba="1 0.8 0.8 1" />
+      <material name="">
+        <color rgba="1 0.8 0.8 1" />
       </material>
     </visual>
     <collision>
-      <origin
-        xyz="0 0 -0.2"
-        rpy="0 0 0" />
+      <origin xyz="0 0 -0.2" rpy="0 0 0" />
       <geometry>
         <box size="0.06 0.03 0.1"/>
       </geometry>
     </collision>
   </link>
-  <joint
-    name="FR_calf_joint"
-    type="revolute">
-    <origin
-      xyz="0 -0.1145 -0.3"
-      rpy="0 0 0" />
-    <parent
-      link="FR_thigh" />
-    <child
-      link="FR_calf" />
-    <axis
-      xyz="0 1 0" />
-    <limit
-      lower="-2.7"
-      upper="-0.17"
-      effort="135"
-      velocity="12.56" />
+  <joint name="FR_calf_joint" type="revolute">
+    <origin xyz="0 -0.1145 -0.3" rpy="0 0 0" />
+    <parent link="FR_thigh" />
+    <child link="FR_calf" />
+    <axis xyz="0 1 0" />
+    <limit lower="-2.7" upper="-0.17" effort="135" velocity="12.56" />
   </joint>
 
-  <link
-    name="FR_foot">
+  <link name="FR_foot">
     <inertial>
-      <origin
-        xyz="0 -0.045 0"
-        rpy="0 0 0" />
-      <mass
-        value="1.939" />
-      <inertia
-        ixx="0.003934"
-        ixy="0.0"
-        ixz="0.000004"
-        iyy="0.007113"
-        iyz="-0.000004"
-        izz="0.00395" />
+      <origin xyz="0 -0.045 0" rpy="0 0 0" />
+      <mass value="1.939" />
+      <inertia ixx="0.003934" ixy="0.0" ixz="0.000004" iyy="0.007113" iyz="-0.000004" izz="0.00395" />
     </inertial>
     <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
+      <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh
-          filename="../meshes/wheel_R.STL" scale = "1 1 1"/>
+        <mesh filename="package://l4w4_description/meshes/wheel_R.STL" scale = "1 1 1"/>
       </geometry>
-      <material
-        name="">
-        <color
-          rgba="0.25 0.25 0.25 1" />
+      <material name="">
+        <color rgba="0.25 0.25 0.25 1" />
       </material>
     </visual>
     <collision>
-      <origin
-        xyz="0 -0.045 0"
-        rpy="1.570796327 0 0" />
+      <origin xyz="0 -0.045 0" rpy="1.570796327 0 0" />
       <geometry>
         <cylinder length="0.038" radius="0.105"/>
       </geometry>
     </collision>
   </link>
-  <joint
-    name="FR_foot_joint"
-    type="revolute">
-    <origin
-      xyz="0 0 -0.3"
-      rpy="0 0 0" />
-    <parent
-      link="FR_calf" />
-    <child
-      link="FR_foot" />
-    <axis
-      xyz="0 1 0" />
-    <limit
-      lower="-1000000"
-      upper="1000000"
-      effort="32"
-      velocity="12.0" />
+  <joint name="FR_foot_joint" type="revolute">
+    <origin xyz="0 0 -0.3" rpy="0 0 0" />
+    <parent link="FR_calf" />
+    <child link="FR_foot" />
+    <axis xyz="0 1 0" />
+    <limit lower="-1000000" upper="1000000" effort="32" velocity="12.0" />
   </joint>
-  
-  <link
-    name="FL_hip">
+
+  <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>
+  <transmission name="FR_foot_tran">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="FR_foot_joint">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="FR_foot_motor">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+
+  <link name="FL_hip">
     <inertial>
-      <origin
-        xyz="-0.004726 0.001176 0.000044"
-        rpy="0 0 0" />
-      <mass
-        value="2" />
-      <inertia
-        ixx="0.003012"
-        ixy="-0.000018"
-        ixz="0.000006"
-        iyy="0.005188"
-        iyz="0.000004"
-        izz="0.003993" />
+      <origin xyz="-0.004726 0.001176 0.000044" rpy="0 0 0" />
+      <mass value="2" />
+      <inertia ixx="0.003012" ixy="-0.000018" ixz="0.000006" iyy="0.005188" iyz="0.000004" izz="0.003993" />
     </inertial>
     <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
+      <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh
-          filename="../meshes/shoulder_R.STL" scale = "1 -1 1"/>
+        <mesh filename="package://l4w4_description/meshes/shoulder_R.STL" scale = "1 -1 1"/>
       </geometry>
-      <material
-        name="">
-        <color
-          rgba="1 0.7765 0.0314 1" />
+      <material name="">
+        <color rgba="1 0.7765 0.0314 1" />
       </material>
     </visual>
     <collision>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
+      <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
         <cylinder length="0" radius="0" />
       </geometry>
     </collision>
   </link>
-  <joint
-    name="FL_hip_joint"
-    type="revolute">
-    <origin
-      xyz="0.249 0.065 0"
-      rpy="0 0 0" />
-    <parent
-      link="trunk" />
-    <child
-      link="FL_hip" />
-    <axis
-      xyz="1 0 0" />
-    <limit
-      lower="-0.785"
-      upper="0.785"
-      effort="130"
-      velocity="11.5" />
+  <joint name="FL_hip_joint" type="revolute">
+    <origin xyz="0.249 0.065 0" rpy="0 0 0" />
+    <parent link="trunk" />
+    <child link="FL_hip" />
+    <axis xyz="1 0 0" />
+    <limit lower="-0.5236" upper="0.5236" effort="110" velocity="11.5" />
   </joint>
 
-  <link
-    name="FL_thigh">
+  <link name="FL_thigh">
     <inertial>
-      <origin
-        xyz="-0.007013 0.09103 -0.06380"
-        rpy="0 0 0" />
-      <mass
-        value="3.396" />
-      <inertia
-        ixx="0.043751"
-        ixy="-0.000606"
-        ixz="0.002054"
-        iyy="0.043937"
-        iyz="-0.005154"
-        izz="0.006846" />
+      <origin xyz="-0.007013 0.09103 -0.06380" rpy="0 0 0" />
+      <mass value="3.396" />
+      <inertia ixx="0.043751" ixy="-0.000606" ixz="0.002054" iyy="0.043937" iyz="-0.005154" izz="0.006846" />
     </inertial>
     <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
+      <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh
-          filename="../meshes/thigh_R.STL" scale = "1 -1 1"/>
+        <mesh filename="package://l4w4_description/meshes/thigh_R.STL" scale = "1 -1 1"/>
       </geometry>
-      <material
-        name="">
-        <color
-          rgba="1 1 1 1" />
+      <material name="">
+        <color rgba="1 1 1 1" />
       </material>
     </visual>
     <collision>
-      <origin
-        xyz="0 0.1145 -0.100"
-        rpy="0 0 0" />
+      <origin xyz="0 0.1145 -0.100" rpy="0 0 0" />
       <geometry>
         <box size="0.122 0.044 0.32" />
       </geometry>
     </collision>
   </link>
-  <joint
-    name="FL_thigh_joint"
-    type="revolute">
-    <origin
-      xyz="0 0 0"
-      rpy="0 0 0" />
-    <parent
-      link="FL_hip" />
-    <child
-      link="FL_thigh" />
-    <axis
-      xyz="0 1 0" />
-    <limit
-      lower="-1.4"
-      upper="3.14"
-      effort="135"
-      velocity="12.56" />
+  <joint name="FL_thigh_joint" type="revolute">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="FL_hip" />
+    <child link="FL_thigh" />
+    <axis xyz="0 1 0" />
+    <limit lower="-1.4" upper="3.14" effort="110" velocity="12.56" />
   </joint>
 
-  <link
-    name="FL_calf">
+  <link name="FL_calf">
     <inertial>
-      <origin
-        xyz="-0.001448 -0.001637 -0.130288"
-        rpy="0 0 0" />
-      <mass
-        value="0.829" />
-      <inertia
-        ixx="0.012593"
-        ixy="-0.000001"
-        ixz="-0.000510"
-        iyy="0.012842"
-        iyz="0.000137"
-        izz="0.000514" />
+      <origin xyz="-0.001448 -0.001637 -0.130288" rpy="0 0 0" />
+      <mass value="0.829" />
+      <inertia ixx="0.012593" ixy="-0.000001" ixz="-0.000510" iyy="0.012842" iyz="0.000137" izz="0.000514" />
     </inertial>
     <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
+      <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh
-          filename="../meshes/shank_R.STL" scale = "1 -1 1"/>
+        <mesh filename="package://l4w4_description/meshes/shank_R.STL" scale = "1 -1 1"/>
       </geometry>
-      <material
-        name="">
-        <color
-          rgba="1 0.8 0.8 1" />
+      <material name="">
+        <color rgba="1 0.8 0.8 1" />
       </material>
     </visual>
     <collision>
-      <origin
-        xyz="0 0 -0.2"
-        rpy="0 0 0" />
+      <origin xyz="0 0 -0.2" rpy="0 0 0" />
       <geometry>
         <box size="0.06 0.03 0.1"/>
       </geometry>
     </collision>
   </link>
-  <joint
-    name="FL_calf_joint"
-    type="revolute">
-    <origin
-      xyz="0 0.1145 -0.3"
-      rpy="0 0 0" />
-    <parent
-      link="FL_thigh" />
-    <child
-      link="FL_calf" />
-    <axis
-      xyz="0 1 0" />
-    <limit
-      lower="-2.7"
-      upper="-0.17"
-      effort="135"
-      velocity="12.56" />
+  <joint name="FL_calf_joint" type="revolute">
+    <origin xyz="0 0.1145 -0.3" rpy="0 0 0" />
+    <parent link="FL_thigh" />
+    <child link="FL_calf" />
+    <axis xyz="0 1 0" />
+    <limit lower="-2.7" upper="-0.17" effort="135" velocity="12.56" />
   </joint>
-  
-  <link
-    name="FL_foot">
+
+  <link name="FL_foot">
     <inertial>
-      <origin
-        xyz="0 0.045 0"
-        rpy="0 0 0" />
-      <mass
-        value="1.939" />
-      <inertia
-        ixx="0.003934"
-        ixy="0.0"
-        ixz="0.000004"
-        iyy="0.007113"
-        iyz="0.000004"
-        izz="0.00395" />
+      <origin xyz="0 0.045 0" rpy="0 0 0" />
+      <mass value="1.939" />
+      <inertia ixx="0.003934" ixy="0.0" ixz="0.000004" iyy="0.007113" iyz="0.000004" izz="0.00395" />
     </inertial>
     <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
+      <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh
-          filename="../meshes/wheel_R.STL" scale = "1 -1 1"/>
+        <mesh filename="package://l4w4_description/meshes/wheel_R.STL" scale = "1 -1 1"/>
       </geometry>
-      <material
-        name="">
-        <color
-          rgba="0.25 0.25 0.25 1" />
+      <material name="">
+        <color rgba="0.25 0.25 0.25 1" />
       </material>
     </visual>
     <collision>
-      <origin
-        xyz="0 0.045 0"
-        rpy="1.570796327 0 0" />
+      <origin xyz="0 0.045 0" rpy="1.570796327 0 0" />
       <geometry>
         <cylinder length="0.038" radius="0.105"/>
       </geometry>
     </collision>
   </link>
-  <joint
-    name="FL_foot_joint"
-    type="revolute">
-    <origin
-      xyz="0 0 -0.3"
-      rpy="0 0 0" />
-    <parent
-      link="FL_calf" />
-    <child
-      link="FL_foot" />
-    <axis
-      xyz="0 1 0" />
-    <limit
-      lower="-1000000"
-      upper="1000000"
-      effort="32"
-      velocity="12.0" />
+  <joint name="FL_foot_joint" type="revolute">
+    <origin xyz="0 0 -0.3" rpy="0 0 0" />
+    <parent link="FL_calf" />
+    <child link="FL_foot" />
+    <axis xyz="0 1 0" />
+    <limit lower="-1000000" upper="1000000" effort="32" velocity="12.0" />
   </joint>
 
-  <link
-    name="RR_hip">
+  <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>
+  <transmission name="FL_foot_tran">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="FL_foot_joint">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="FL_foot_motor">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+
+  <link name="RR_hip">
     <inertial>
-      <origin
-        xyz="0.004726 -0.001176 0.000044"
-        rpy="0 0 0" />
-      <mass
-        value="2" />
-      <inertia
-        ixx="0.003012"
-        ixy="-0.000018"
-        ixz="-0.000006"
-        iyy="0.005188"
-        iyz="-0.000004"
-        izz="0.003993" />
+      <origin xyz="0.004726 -0.001176 0.000044" rpy="0 0 0" />
+      <mass value="2" />
+      <inertia ixx="0.003012" ixy="-0.000018" ixz="-0.000006" iyy="0.005188" iyz="-0.000004" izz="0.003993" />
     </inertial>
     <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
+      <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh
-          filename="../meshes/shoulder_R.STL" scale="-1 1 1"/>
+        <mesh filename="package://l4w4_description/meshes/shoulder_R.STL" scale="-1 1 1"/>
       </geometry>
-      <material
-        name="">
-        <color
-          rgba="1 0.7765 0.0314 1" />
+      <material name="">
+        <color rgba="1 0.7765 0.0314 1" />
       </material>
     </visual>
     <collision>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
+      <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
         <cylinder length="0" radius="0" />
       </geometry>
     </collision>
   </link>
-  <joint
-    name="RR_hip_joint"
-    type="revolute">
-    <origin
-      xyz="-0.249 -0.065 0"
-      rpy="0 0 0" />
-    <parent
-      link="trunk" />
-    <child
-      link="RR_hip" />
-    <axis
-      xyz="1 0 0" />
-    <limit
-      lower="-0.785"
-      upper="0.785"
-      effort="130"
-      velocity="11.5" />
+  <joint name="RR_hip_joint" type="revolute">
+    <origin xyz="-0.249 -0.065 0" rpy="0 0 0" />
+    <parent link="trunk" />
+    <child link="RR_hip" />
+    <axis xyz="1 0 0" />
+    <limit lower="-0.5236" upper="0.5236" effort="110" velocity="11.5" />
   </joint>
 
-  <link
-    name="RR_thigh">
+  <link name="RR_thigh">
     <inertial>
-      <origin
-        xyz="-0.007013 -0.09103 -0.06380"
-        rpy="0 0 0" />
-      <mass
-        value="3.396" />
-      <inertia
-        ixx="0.043751"
-        ixy="0.000606"
-        ixz="0.002054"
-        iyy="0.043937"
-        iyz="0.005154"
-        izz="0.006846" />
+      <origin xyz="-0.007013 -0.09103 -0.06380" rpy="0 0 0" />
+      <mass value="3.396" />
+      <inertia ixx="0.043751" ixy="0.000606" ixz="0.002054" iyy="0.043937" iyz="0.005154" izz="0.006846" />
     </inertial>
     <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
+      <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh
-          filename="../meshes/thigh_R.STL" scale = "1 1 1"/>
+        <mesh filename="package://l4w4_description/meshes/thigh_R.STL" scale = "1 1 1"/>
       </geometry>
-      <material
-        name="">
-        <color
-          rgba="1 0.7765 0.0314 1" />
+      <material name="">
+        <color rgba="1 0.7765 0.0314 1" />
       </material>
     </visual>
     <collision>
-      <origin
-        xyz="0 -0.1145 -0.100"
-        rpy="0 0 0" />
+      <origin xyz="0 -0.1145 -0.100" rpy="0 0 0" />
       <geometry>
         <box size="0.122 0.044 0.32" />
       </geometry>
     </collision>
   </link>
-  <joint
-    name="RR_thigh_joint"
-    type="revolute">
-    <origin
-      xyz="0 0 0"
-      rpy="0 0 0" />
-    <parent
-      link="RR_hip" />
-    <child
-      link="RR_thigh" />
-    <axis
-      xyz="0 1 0" />
-    <limit
-      lower="-1.4"
-      upper="3.14"
-      effort="135"
-      velocity="12.56" />
+  <joint name="RR_thigh_joint" type="revolute">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="RR_hip" />
+    <child link="RR_thigh" />
+    <axis xyz="0 1 0" />
+    <limit lower="-1.4" upper="3.14" effort="110" velocity="12.56" />
   </joint>
 
-  <link
-     name="RR_calf">
+  <link name="RR_calf">
     <inertial>
-      <origin
-        xyz="-0.001448 0.001637 -0.130288"
-        rpy="0 0 0" />
-      <mass
-        value="0.829" />
-      <inertia
-        ixx="0.012593"
-        ixy="0.000001"
-        ixz="-0.000510"
-        iyy="0.012842"
-        iyz="-0.000137"
-        izz="0.000514" />
+      <origin xyz="-0.001448 0.001637 -0.130288" rpy="0 0 0" />
+      <mass value="0.829" />
+      <inertia ixx="0.012593" ixy="0.000001" ixz="-0.000510" iyy="0.012842" iyz="-0.000137" izz="0.000514" />
     </inertial>
     <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
+      <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh
-          filename="../meshes/shank_R.STL" scale = "1 1 1"/>
+        <mesh filename="package://l4w4_description/meshes/shank_R.STL" scale = "1 1 1"/>
       </geometry>
-      <material
-        name="">
-        <color
-          rgba="1 0.8 0.8 1" />
+      <material name="">
+        <color rgba="1 0.8 0.8 1" />
       </material>
     </visual>
     <collision>
-      <origin
-        xyz="0 0 -0.2"
-        rpy="0 0 0" />
+      <origin xyz="0 0 -0.2" rpy="0 0 0" />
       <geometry>
         <box size="0.06 0.03 0.1"/>
       </geometry>
     </collision>
   </link>
-  <joint
-    name="RR_calf_joint"
-    type="revolute">
-    <origin
-      xyz="0 -0.1145 -0.3"
-      rpy="0 0 0" />
-    <parent
-      link="RR_thigh" />
-    <child
-      link="RR_calf" />
-    <axis
-      xyz="0 1 0" />
-    <limit
-      lower="-2.7"
-      upper="-0.17"
-      effort="135"
-      velocity="12.56" />
+  <joint name="RR_calf_joint" type="revolute">
+    <origin xyz="0 -0.1145 -0.3" rpy="0 0 0" />
+    <parent link="RR_thigh" />
+    <child link="RR_calf" />
+    <axis xyz="0 1 0" />
+    <limit lower="-2.7" upper="-0.17" effort="135" velocity="12.56" />
   </joint>
 
-  <link
-    name="RR_foot">
+  <link name="RR_foot">
     <inertial>
-      <origin
-        xyz="0 -0.045 0"
-        rpy="0 0 0" />
-      <mass
-        value="1.939" />
-      <inertia
-        ixx="0.003934"
-        ixy="0.0"
-        ixz="0.000004"
-        iyy="0.007113"
-        iyz="-0.000004"
-        izz="0.00395" />
+      <origin xyz="0 -0.045 0" rpy="0 0 0" />
+      <mass value="1.939" />
+      <inertia ixx="0.003934" ixy="0.0" ixz="0.000004" iyy="0.007113" iyz="-0.000004" izz="0.00395" />
     </inertial>
     <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
+      <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh
-          filename="../meshes/wheel_R.STL" scale = "1 1 1"/>
+        <mesh filename="package://l4w4_description/meshes/wheel_R.STL" scale = "1 1 1"/>
       </geometry>
-      <material
-        name="">
-        <color
-          rgba="0.25 0.25 0.25 1" />
+      <material name="">
+        <color rgba="0.25 0.25 0.25 1" />
       </material>
     </visual>
     <collision>
-      <origin
-        xyz="0 -0.045 0"
-        rpy="1.570796327 0 0" />
+      <origin xyz="0 -0.045 0" rpy="1.570796327 0 0" />
       <geometry>
         <cylinder length="0.038" radius="0.105"/>
       </geometry>
     </collision>
   </link>
-  <joint
-    name="RR_foot_joint"
-    type="revolute">
-    <origin
-      xyz="0 0 -0.3"
-      rpy="0 0 0" />
-    <parent
-      link="RR_calf" />
-    <child
-      link="RR_foot" />
-    <axis
-      xyz="0 1 0" />
-    <limit
-      lower="-1000000"
-      upper="1000000"
-      effort="32"
-      velocity="12.56" />
+  <joint name="RR_foot_joint" type="revolute">
+    <origin xyz="0 0 -0.3" rpy="0 0 0" />
+    <parent link="RR_calf" />
+    <child link="RR_foot" />
+    <axis xyz="0 1 0" />
+    <limit lower="-1000000" upper="1000000" effort="32" velocity="12.56" />
   </joint>
 
-  <link
-    name="RL_hip">
+  <link name="RL_hip">
     <inertial>
-      <origin
-        xyz="0.004726 0.001176 0.000044"
-        rpy="0 0 0" />
-      <mass
-        value="2" />
-      <inertia
-        ixx="0.003012"
-        ixy="0.000018"
-        ixz="-0.000006"
-        iyy="0.005188"
-        iyz="0.000004"
-        izz="0.003993" />
+      <origin xyz="0.004726 0.001176 0.000044" rpy="0 0 0" />
+      <mass value="2" />
+      <inertia ixx="0.003012" ixy="0.000018" ixz="-0.000006" iyy="0.005188" iyz="0.000004" izz="0.003993" />
     </inertial>
     <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
+      <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh
-          filename="../meshes/shoulder_R.STL" scale = "-1 -1 1"/>
+        <mesh filename="package://l4w4_description/meshes/shoulder_R.STL" scale = "-1 -1 1"/>
       </geometry>
-      <material
-        name="">
-        <color
-          rgba="1 0.7765 0.0314 1" />
+      <material name="">
+        <color rgba="1 0.7765 0.0314 1" />
       </material>
     </visual>
     <collision>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
+      <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
         <cylinder length="0" radius="0" />
       </geometry>
     </collision>
   </link>
-  <joint
-    name="RL_hip_joint"
-    type="revolute">
-    <origin
-      xyz="-0.249 0.065 0"
-      rpy="0 0 0" />
-    <parent
-      link="trunk" />
-    <child
-      link="RL_hip" />
-    <axis
-      xyz="1 0 0" />
-    <limit
-      lower="-0.785"
-      upper="0.785"
-      effort="130"
-      velocity="11.5" />
+  <joint name="RL_hip_joint" type="revolute">
+    <origin xyz="-0.249 0.065 0" rpy="0 0 0" />
+    <parent link="trunk" />
+    <child link="RL_hip" />
+    <axis xyz="1 0 0" />
+    <limit lower="-0.5236" upper="0.5236" effort="110" velocity="11.5" />
   </joint>
 
-  <link
-      name="RL_thigh">
+  <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>
+  <transmission name="RL_foot_tran">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="RL_foot_joint">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="RL_foot_motor">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+
+  <link name="RL_thigh">
     <inertial>
-      <origin
-        xyz="-0.007013 0.09103 -0.06380"
-        rpy="0 0 0" />
-      <mass
-        value="3.396" />
-      <inertia
-        ixx="0.043751"
-        ixy="-0.000606"
-        ixz="0.002054"
-        iyy="0.043937"
-        iyz="-0.005154"
-        izz="0.006846" />
+      <origin xyz="-0.007013 0.09103 -0.06380" rpy="0 0 0" />
+      <mass value="3.396" />
+      <inertia ixx="0.043751" ixy="-0.000606" ixz="0.002054" iyy="0.043937" iyz="-0.005154" izz="0.006846" />
     </inertial>
     <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
+      <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh
-          filename="../meshes/thigh_R.STL" scale = "1 -1 1"/>
+        <mesh filename="package://l4w4_description/meshes/thigh_R.STL" scale = "1 -1 1"/>
       </geometry>
-      <material
-        name="">
-        <color
-          rgba="1 0.7765 0.0314 1" />
+      <material name="">
+        <color rgba="1 0.7765 0.0314 1" />
       </material>
     </visual>
     <collision>
-      <origin
-        xyz="0 0.1145 -0.100"
-        rpy="0 0 0" />
+      <origin xyz="0 0.1145 -0.100" rpy="0 0 0" />
       <geometry>
         <box size="0.122 0.044 0.32" />
       </geometry>
     </collision>
   </link>
-  <joint
-    name="RL_thigh_joint"
-    type="revolute">
-    <origin
-      xyz="0 0 0"
-      rpy="0 0 0" />
-    <parent
-      link="RL_hip" />
-    <child
-      link="RL_thigh" />
-    <axis
-      xyz="0 1 0" />
-    <limit
-      lower="-1.4"
-      upper="3.14"
-      effort="135"
-      velocity="12.56" />
+  <joint name="RL_thigh_joint" type="revolute">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="RL_hip" />
+    <child link="RL_thigh" />
+    <axis xyz="0 1 0" />
+    <limit lower="-1.4" upper="3.14" effort="110" velocity="12.56" />
   </joint>
 
-  <link
-   name="RL_calf">
+  <link name="RL_calf">
     <inertial>
-      <origin
-        xyz="-0.001448 -0.001637 -0.130288"
-        rpy="0 0 0" />
-      <mass
-        value="0.829" />
-      <inertia
-        ixx="0.012593"
-        ixy="-0.000001"
-        ixz="-0.000510"
-        iyy="0.012842"
-        iyz="0.000137"
-        izz="0.000514" />
+      <origin xyz="-0.001448 -0.001637 -0.130288" rpy="0 0 0" />
+      <mass value="0.829" />
+      <inertia ixx="0.012593" ixy="-0.000001" ixz="-0.000510" iyy="0.012842" iyz="0.000137" izz="0.000514" />
     </inertial>
     <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
+      <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh
-          filename="../meshes/shank_R.STL" scale = "1 -1 1"/>
+        <mesh filename="package://l4w4_description/meshes/shank_R.STL" scale = "1 -1 1"/>
       </geometry>
-      <material
-        name="">
-        <color
-          rgba="1 0.8 0.8 1" />
+      <material name="">
+        <color rgba="1 0.8 0.8 1" />
       </material>
     </visual>
     <collision>
-      <origin
-        xyz="0 0 -0.2"
-        rpy="0 0 0" />
+      <origin xyz="0 0 -0.2" rpy="0 0 0" />
       <geometry>
         <box size="0.06 0.03 0.1"/>
       </geometry>
     </collision>
   </link>
-  <joint
-    name="RL_calf_joint"
-    type="revolute">
-    <origin
-      xyz="0 0.1145 -0.3"
-      rpy="0 0 0" />
-    <parent
-      link="RL_thigh" />
-    <child
-      link="RL_calf" />
-    <axis
-      xyz="0 1 0" />
-    <limit
-      lower="-2.7"
-      upper="-0.17"
-      effort="135"
-      velocity="12.56" />
+  <joint name="RL_calf_joint" type="revolute">
+    <origin xyz="0 0.1145 -0.3" rpy="0 0 0" />
+    <parent link="RL_thigh" />
+    <child link="RL_calf" />
+    <axis xyz="0 1 0" />
+    <limit lower="-2.7" upper="-0.17" effort="135" velocity="12.56" />
   </joint>
 
-  <link
-    name="RL_foot">
+  <link name="RL_foot">
     <inertial>
-      <origin
-        xyz="0 0.045 0"
-        rpy="0 0 0" />
-      <mass
-        value="1.939" />
-      <inertia
-        ixx="0.003934"
-        ixy="0.0"
-        ixz="0.000004"
-        iyy="0.007113"
-        iyz="0.000004"
-        izz="0.00395" />
+      <origin xyz="0 0.045 0" rpy="0 0 0" />
+      <mass value="1.939" />
+      <inertia ixx="0.003934" ixy="0.0" ixz="0.000004" iyy="0.007113" iyz="0.000004" izz="0.00395" />
     </inertial>
     <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
+      <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh
-          filename="../meshes/wheel_R.STL" scale = "1 -1 1"/>
+        <mesh filename="package://l4w4_description/meshes/wheel_R.STL" scale = "1 -1 1"/>
       </geometry>
-      <material
-        name="">
-        <color
-          rgba="0.25 0.25 0.25 1" />
+      <material name="">
+        <color rgba="0.25 0.25 0.25 1" />
       </material>
     </visual>
     <collision>
-      <origin
-        xyz="0 0.045 0"
-        rpy="1.570796327 0 0" />
+      <origin xyz="0 0.045 0" rpy="1.570796327 0 0" />
       <geometry>
         <cylinder length="0.038" radius="0.105"/>
       </geometry>
     </collision>
   </link>
-  <joint
-    name="RL_foot_joint"
-    type="revolute">
-    <origin
-      xyz="0 0 -0.3"
-      rpy="0 0 0" />
-    <parent
-      link="RL_calf" />
-    <child
-      link="RL_foot" />
-    <axis
-      xyz="0 1 0" />
-    <limit
-      lower="-1000000"
-      upper="1000000"
-      effort="32"
-      velocity="12.0" />
+  <joint name="RL_foot_joint" type="revolute">
+    <origin xyz="0 0 -0.3" rpy="0 0 0" />
+    <parent link="RL_calf" />
+    <child link="RL_foot" />
+    <axis xyz="0 1 0" />
+    <limit lower="-1000000" upper="1000000" effort="32" velocity="12.0" />
   </joint>
-  
-  
+
+  <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>
+  <transmission name="RR_foot_tran">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="RR_foot_joint">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="RR_foot_motor">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+
+  <link name="imu_link">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0" />
+      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
+    </inertial>
+  </link>
+  <joint name="imu_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="trunk" />
+    <child link="imu_link" />
+  </joint>
+
 </robot>
diff --git a/src/robots/l4w4_description/xacro/const.xacro b/src/robots/l4w4_description/xacro/const.xacro
deleted file mode 100644
index cd1419d..0000000
--- a/src/robots/l4w4_description/xacro/const.xacro
+++ /dev/null
@@ -1,113 +0,0 @@
-<?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="18.057"/>
-    <xacro:property name="trunk_com_x" value="-0.0107"/>
-    <xacro:property name="trunk_com_y" value="-0.00135"/>
-    <xacro:property name="trunk_com_z" value="0.005"/>
-    <xacro:property name="trunk_ixx" value="0.12015"/>
-    <xacro:property name="trunk_ixy" value="-0.00086"/>
-    <xacro:property name="trunk_ixz" value="-0.00124"/>
-    <xacro:property name="trunk_iyy" value="0.36210"/>
-    <xacro:property name="trunk_iyz" value="-0.00004"/>
-    <xacro:property name="trunk_izz" value="0.40829" />
-
-    <!-- hip (left front) -->
-    <xacro:property name="hip_mass" value="2"/>
-    <xacro:property name="hip_com_x" value="-0.004726"/>
-    <xacro:property name="hip_com_y" value="-0.001176"/>
-    <xacro:property name="hip_com_z" value="0.000044"/>
-    <xacro:property name="hip_ixx" value="0.003012"/>
-    <xacro:property name="hip_ixy" value="0.000018"/>
-    <xacro:property name="hip_ixz" value="0.000006"/>
-    <xacro:property name="hip_iyy" value="0.005188"/>
-    <xacro:property name="hip_iyz" value="-0.000004"/>
-    <xacro:property name="hip_izz" value="0.003993"/>
-
-    <!-- thigh -->
-    <xacro:property name="thigh_mass" value="3.396"/>
-    <xacro:property name="thigh_com_x" value="-0.007013"/>
-    <xacro:property name="thigh_com_y" value="0.09103"/>
-    <xacro:property name="thigh_com_z" value="-0.06380"/>
-    <xacro:property name="thigh_ixx" value="0.043751"/>
-    <xacro:property name="thigh_ixy" value="-0.000606"/>
-    <xacro:property name="thigh_ixz" value="0.002054"/>
-    <xacro:property name="thigh_iyy" value="0.043937"/>
-    <xacro:property name="thigh_iyz" value="-0.005154"/>
-    <xacro:property name="thigh_izz" value="0.006846"/>
-
-    <!-- calf -->
-    <xacro:property name="calf_mass" value="0.829"/>
-    <xacro:property name="calf_com_x" value="-0.001448"/>
-    <xacro:property name="calf_com_y" value="-0.001637"/>
-    <xacro:property name="calf_com_z" value="-0.130288"/>
-    <xacro:property name="calf_ixx" value="0.012593"/>
-    <xacro:property name="calf_ixy" value="-0.000001"/>
-    <xacro:property name="calf_ixz" value="-0.000510"/>
-    <xacro:property name="calf_iyy" value="0.012842"/>
-    <xacro:property name="calf_iyz" value="0.000137"/>
-    <xacro:property name="calf_izz" value="0.000514"/>
-
-    <!-- foot -->
-    <xacro:property name="foot_mass" value="1.939"/>
-    <xacro:property name="foot_com_x" value="0"/>
-    <xacro:property name="foot_com_y" value="0.045"/>
-    <xacro:property name="foot_com_z" value="0"/>
-    <xacro:property name="foot_ixx" value="0.003934"/>
-    <xacro:property name="foot_ixy" value="0.00000"/>
-    <xacro:property name="foot_ixz" value="0.000004"/>
-    <xacro:property name="foot_iyy" value="0.007113"/>
-    <xacro:property name="foot_iyz" value="0.000004"/>
-    <xacro:property name="foot_izz" value="0.00395"/>
-
-</robot>
diff --git a/src/robots/l4w4_description/xacro/gazebo.xacro b/src/robots/l4w4_description/xacro/gazebo.xacro
deleted file mode 100644
index 300e8b0..0000000
--- a/src/robots/l4w4_description/xacro/gazebo.xacro
+++ /dev/null
@@ -1,266 +0,0 @@
-<?xml version="1.0"?>
-<robot>
-    <!-- ros_control plugin -->
-    <gazebo>
-        <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
-            <robotNamespace>/l4w4_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/src/robots/l4w4_description/xacro/leg.xacro b/src/robots/l4w4_description/xacro/leg.xacro
deleted file mode 100644
index 56369aa..0000000
--- a/src/robots/l4w4_description/xacro/leg.xacro
+++ /dev/null
@@ -1,176 +0,0 @@
-<?xml version="1.0"?>
-
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-
-    <xacro:include filename="$(find l4w4_description)/xacro/transmission.xacro"/>
-
-    <xacro:macro name="leg" params="name mirror mirror_dae front_hind front_hind_dae *origin">
-
-        <joint name="${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="130" velocity="11.5" lower="-0.785" upper="0.785"/>
-            </xacro:if>
-            <xacro:if value="${(mirror_dae == False)}">
-                <limit effort="130" velocity="11.5" lower="-0.785" upper="0.785"/>
-            </xacro:if>            
-        </joint>
-
-        <link name="${name}_hip">
-            <visual>
-                <xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}">
-                    <origin rpy="0 0 0" xyz="-0.004726 -0.001176 0.000044"/>
-                </xacro:if>
-                <xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}">
-                    <origin rpy="0 0 0" xyz="0.004726 -0.001176 0.000044"/>
-                </xacro:if>
-                <xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}">
-                    <origin rpy="0 0 0" xyz="-0.004726 0.001176 0.000044"/>
-                </xacro:if>
-                <xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}">
-                    <origin rpy="0 0 0" xyz="0.004726 0.001176 0.000044"/>
-                </xacro:if>
-                <geometry>
-                    <mesh filename="package://l4w4_description/meshes/shoulder_R.STL" 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="${name}_thigh_joint" type="revolute">
-            <origin rpy="0 0 0" xyz="0 0 0"/>
-            <parent link="${name}_hip"/>
-            <child link="${name}_thigh"/>
-            <axis xyz="0 1 0"/>
-            <dynamics damping="${damping}" friction="${friction}"/>
-            <limit lower="-1.4" upper="3.14" effort="135" velocity="12.56"/>
-        </joint>
-
-
-        <link name="${name}_thigh">
-            <visual>
-                <origin rpy="0 0 0" xyz="0 0 0"/>
-                <geometry>
-                    <xacro:if value="${mirror_dae == True}">
-                        <mesh filename="package://l4w4_description/meshes/thigh_R.STL" scale = "1 -1 1"/>
-                    </xacro:if>
-                    <xacro:if value="${mirror_dae == False}">
-                        <mesh filename="package://l4w4_description/meshes/thigh_R.STL" scale="1 1 1"/>
-                    </xacro:if>
-                </geometry>
-                <material name="orange"/>
-            </visual>
-            <collision>
-                <origin rpy="0 0 0" xyz="0 -0.1145 -0.100"/>
-                <geometry>
-                    <box size="0.122 0.044 0.32"/>
-                </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 ${0.1145*mirror} -0.3"/>
-            <parent link="${name}_thigh"/>
-            <child link="${name}_calf"/>
-            <axis xyz="0 1 0"/>
-            <dynamics damping="${damping}" friction="${friction}"/>
-            <limit lower="-2.7" upper="-0.17" effort="135" velocity="12.56"/>
-        </joint>
-
-        <link name="${name}_calf">
-            <visual>
-                <origin rpy="0 0 0" xyz="0 0 0"/>
-                <geometry>
-                    <xacro:if value="${mirror_dae == True}">
-                        <mesh filename="package://l4w4_description/meshes/shank_R.STL" scale = "1 -1 1"/>
-                    </xacro:if>
-                    <xacro:if value="${mirror_dae == False}">
-                        <mesh filename="package://l4w4_description/meshes/shank_R.STL" scale="1 1 1"/>
-                    </xacro:if>
-                </geometry>
-                <material name="orange"/>
-            </visual>
-            <collision>
-                <origin rpy="0 0 0" xyz="0 0 -0.2"/>
-                <geometry>
-                    <box size="0.06 0.03 0.1"/>
-                </geometry>      
-            </collision>
-            <inertial>
-                <origin rpy="0 0 0" xyz="${calf_com_x} ${calf_com_y} ${calf_com_z}"/>
-                <mass value="${calf_mass}"/>
-                <inertia
-                    ixx="${calf_ixx}" ixy="${calf_ixy}" ixz="${calf_ixz}"
-                    iyy="${calf_iyy}" iyz="${calf_iyz}"
-                    izz="${calf_izz}"/>       
-            </inertial>
-        </link>
-
-        <joint name="${name}_foot_joint" type="revolute">
-            <origin rpy="0 0 0" xyz="0 0 -0.3"/>
-            <parent link="${name}_calf"/>
-            <child link="${name}_foot"/>
-            <axis xyz="0 1 0"/>
-            <dynamics damping="${damping}" friction="${friction}"/>
-            <limit lower="-1000000" upper="1000000" effort="32" velocity="12.0"/>
-        </joint>
-
-        <link name="${name}_foot">
-            <visual>
-                <origin rpy="0 0 0" xyz="0 -0.0 0"/>
-                <geometry>
-                    <xacro:if value="${mirror_dae == True}">
-                        <mesh filename="package://l4w4_description/meshes/wheel_R.STL" scale = "1 -1 1"/>
-                    </xacro:if>
-                    <xacro:if value="${mirror_dae == False}">
-                        <mesh filename="package://l4w4_description/meshes/wheel_R.STL" scale="1 1 1"/>
-                    </xacro:if>
-                </geometry>
-                <material name="orange"/>
-            </visual>
-            <collision>
-                <origin rpy="1.570796327 0 0" xyz="0 -0.045 0"/>
-                <geometry>
-                    <cylinder length="0.038" radius="0.105"/>
-                </geometry>      
-            </collision>
-            <inertial>
-                <origin rpy="0 0 0" xyz="${foot_com_x} ${foot_com_y} ${foot_com_z}"/>
-                <mass value="${foot_mass}"/>
-                <inertia
-                    ixx="${foot_ixx}" ixy="${foot_ixy}" ixz="${foot_ixz}"
-                    iyy="${foot_iyy}" iyz="${foot_iyz}"
-                    izz="${foot_izz}"/>       
-            </inertial>
-        </link>
-        
-
-        <xacro:leg_transmission name="${name}"/>
-    </xacro:macro>
-</robot>
diff --git a/src/robots/l4w4_description/xacro/materials.xacro b/src/robots/l4w4_description/xacro/materials.xacro
deleted file mode 100644
index ee4dc3b..0000000
--- a/src/robots/l4w4_description/xacro/materials.xacro
+++ /dev/null
@@ -1,40 +0,0 @@
-<?xml version="1.0"?>
-<robot>
-
-    <material name="black">
-        <color rgba="0.0 0.0 0.0 1.0"/>
-    </material>
-
-    <material name="blue">
-        <color rgba="0.0 0.0 0.8 1.0"/>
-    </material>
-
-    <material name="green">
-        <color rgba="0.0 0.8 0.0 1.0"/>
-    </material>
-
-    <material name="grey">
-        <color rgba="0.2 0.2 0.2 1.0"/>
-    </material>
-
-    <material name="silver">
-        <color rgba="${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} ${195/255} 1.0"/>
-    </material>
-
-    <material name="red">
-        <color rgba="0.8 0.0 0.0 1.0"/>
-    </material>
-
-    <material name="white">
-        <color rgba="1.0 1.0 1.0 1.0"/>
-    </material>
-
-</robot>
diff --git a/src/robots/l4w4_description/xacro/robot.xacro b/src/robots/l4w4_description/xacro/robot.xacro
deleted file mode 100644
index 54cee23..0000000
--- a/src/robots/l4w4_description/xacro/robot.xacro
+++ /dev/null
@@ -1,118 +0,0 @@
-<?xml version="1.0"?>
-
-<robot name="l4w4" xmlns:xacro="http://www.ros.org/wiki/xacro">
-
-    <xacro:arg name="DEBUG" default="false"/>
-
-    <xacro:include filename="$(find l4w4_description)/xacro/const.xacro"/>
-    <xacro:include filename="$(find l4w4_description)/xacro/materials.xacro"/>
-    <xacro:include filename="$(find l4w4_description)/xacro/stairs.xacro"/>
-    <xacro:include filename="$(find l4w4_description)/xacro/gazebo.xacro"/>
-    <xacro:include filename="$(find l4w4_description)/xacro/leg.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://l4w4_description/meshes/trunk.STL" scale="1 1 1"/>
-            </geometry>
-            <material name="orange"/>
-        </visual>
-        <collision>
-            <origin rpy="0 0 0" xyz="0 0 0"/>
-            <geometry>
-                <box size="0.688 0.18 0.18"/>
-            </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="${stick_mass / 12.0 * (3*stick_radius*stick_radius + stick_length*stick_length)}"/>                   
-            </inertial>
-        </link>
-    </xacro:if> 
-
-
-    <xacro:leg name="FR" mirror="-1" mirror_dae="False" front_hind="1" front_hind_dae="True">
-        <origin rpy="0 0 0" xyz="${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} ${leg_offset_y} 0"/>
-    </xacro:leg>
-
-    <!-- <xacro:stairs stairs="15" xpos="0" ypos="2.0" zpos="0" /> -->
-
-</robot>
diff --git a/src/robots/l4w4_description/xacro/stairs.xacro b/src/robots/l4w4_description/xacro/stairs.xacro
deleted file mode 100644
index c95ecb0..0000000
--- a/src/robots/l4w4_description/xacro/stairs.xacro
+++ /dev/null
@@ -1,46 +0,0 @@
-<?xml version="1.0"?>
-
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-
-    <xacro:property name="stair_length" value="0.640" />
-    <xacro:property name="stair_width" value="0.310" />
-    <xacro:property name="stair_height" value="0.170" />
-
-    <xacro:macro name="stairs" params="stairs xpos ypos zpos">
-
-        <joint name="stair_joint_origin" type="fixed">
-            <origin rpy="0 0 0" xyz="0 0 0"/>
-            <parent link="world"/>
-            <child link="stair_link_${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/src/robots/l4w4_description/xacro/transmission.xacro b/src/robots/l4w4_description/xacro/transmission.xacro
deleted file mode 100644
index 79dfd59..0000000
--- a/src/robots/l4w4_description/xacro/transmission.xacro
+++ /dev/null
@@ -1,53 +0,0 @@
-<?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="${name}_calf_motor">
-            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-            <mechanicalReduction>1</mechanicalReduction>
-            </actuator>
-        </transmission>
-        
-        <transmission name="${name}_foot_tran">
-            <type>transmission_interface/SimpleTransmission</type>
-            <joint name="${name}_foot_joint">
-            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-            </joint>
-            <actuator name="${name}_foot_motor">
-            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-            <mechanicalReduction>1</mechanicalReduction>
-            </actuator>
-        </transmission>
-
-    </xacro:macro>
-
-</robot>