diff --git a/data/a1/urdf/a1.xml b/data/a1/xml/a1.xml
similarity index 95%
rename from data/a1/urdf/a1.xml
rename to data/a1/xml/a1.xml
index 4ce5f62..39f17da 100644
--- a/data/a1/urdf/a1.xml
+++ b/data/a1/xml/a1.xml
@@ -1,7 +1,6 @@
-
@@ -10,7 +9,7 @@
-
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@@ -28,18 +27,25 @@
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-
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@@ -166,6 +172,15 @@
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diff --git a/data/aliengo/urdf/aliengo.urdf b/data/aliengo/urdf/aliengo.urdf
index 6570326..174d3fe 100644
--- a/data/aliengo/urdf/aliengo.urdf
+++ b/data/aliengo/urdf/aliengo.urdf
@@ -49,7 +49,7 @@
-->
-
+
diff --git a/data/aliengo/urdf/aliengo.xml b/data/aliengo/xml/aliengo.xml
similarity index 94%
rename from data/aliengo/urdf/aliengo.xml
rename to data/aliengo/xml/aliengo.xml
index 35e2547..71c5cd8 100644
--- a/data/aliengo/urdf/aliengo.xml
+++ b/data/aliengo/xml/aliengo.xml
@@ -9,7 +9,7 @@
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@@ -27,18 +27,25 @@
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@@ -121,6 +128,7 @@
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@@ -165,5 +173,13 @@
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diff --git a/data/go1/meshes/calf.stl b/data/go1/meshes/calf.stl
new file mode 100644
index 0000000..3e8ac94
Binary files /dev/null and b/data/go1/meshes/calf.stl differ
diff --git a/data/go1/meshes/hip.stl b/data/go1/meshes/hip.stl
new file mode 100644
index 0000000..ae590bf
Binary files /dev/null and b/data/go1/meshes/hip.stl differ
diff --git a/data/go1/meshes/thigh.stl b/data/go1/meshes/thigh.stl
new file mode 100644
index 0000000..353801b
Binary files /dev/null and b/data/go1/meshes/thigh.stl differ
diff --git a/data/go1/meshes/thigh_mirror.stl b/data/go1/meshes/thigh_mirror.stl
new file mode 100644
index 0000000..11ef770
Binary files /dev/null and b/data/go1/meshes/thigh_mirror.stl differ
diff --git a/data/go1/meshes/trunk.stl b/data/go1/meshes/trunk.stl
new file mode 100644
index 0000000..2659eb1
Binary files /dev/null and b/data/go1/meshes/trunk.stl differ
diff --git a/data/go1/urdf/go1.urdf b/data/go1/urdf/go1.urdf
new file mode 100644
index 0000000..d073657
--- /dev/null
+++ b/data/go1/urdf/go1.urdf
@@ -0,0 +1,704 @@
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+ transmission_interface/SimpleTransmission
+
+ hardware_interface/EffortJointInterface
+
+
+ hardware_interface/EffortJointInterface
+ 1
+
+
+
+ transmission_interface/SimpleTransmission
+
+ hardware_interface/EffortJointInterface
+
+
+ hardware_interface/EffortJointInterface
+ 1
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+
+
+ transmission_interface/SimpleTransmission
+
+ hardware_interface/EffortJointInterface
+
+
+ hardware_interface/EffortJointInterface
+ 1
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+ transmission_interface/SimpleTransmission
+
+ hardware_interface/EffortJointInterface
+
+
+ hardware_interface/EffortJointInterface
+ 1
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+
+
+ transmission_interface/SimpleTransmission
+
+ hardware_interface/EffortJointInterface
+
+
+ hardware_interface/EffortJointInterface
+ 1
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+
+
+ transmission_interface/SimpleTransmission
+
+ hardware_interface/EffortJointInterface
+
+
+ hardware_interface/EffortJointInterface
+ 1
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+ transmission_interface/SimpleTransmission
+
+ hardware_interface/EffortJointInterface
+
+
+ hardware_interface/EffortJointInterface
+ 1
+
+
+
+ transmission_interface/SimpleTransmission
+
+ hardware_interface/EffortJointInterface
+
+
+ hardware_interface/EffortJointInterface
+ 1
+
+
+
+ transmission_interface/SimpleTransmission
+
+ hardware_interface/EffortJointInterface
+
+
+ hardware_interface/EffortJointInterface
+ 1
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+
+
+ transmission_interface/SimpleTransmission
+
+ hardware_interface/EffortJointInterface
+
+
+ hardware_interface/EffortJointInterface
+ 1
+
+
+
+ transmission_interface/SimpleTransmission
+
+ hardware_interface/EffortJointInterface
+
+
+ hardware_interface/EffortJointInterface
+ 1
+
+
+
+ transmission_interface/SimpleTransmission
+
+ hardware_interface/EffortJointInterface
+
+
+ hardware_interface/EffortJointInterface
+ 1
+
+
+
+
diff --git a/data/go1/xml/go1.xml b/data/go1/xml/go1.xml
new file mode 100644
index 0000000..5638d58
--- /dev/null
+++ b/data/go1/xml/go1.xml
@@ -0,0 +1,195 @@
+
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diff --git a/data/laikago/urdf/laikago.urdf b/data/laikago/urdf/laikago.urdf
index 747a03c..81ad5ed 100644
--- a/data/laikago/urdf/laikago.urdf
+++ b/data/laikago/urdf/laikago.urdf
@@ -41,7 +41,7 @@
-
+
diff --git a/data/laikago/urdf/laikago.xml b/data/laikago/xml/laikago.xml
similarity index 91%
rename from data/laikago/urdf/laikago.xml
rename to data/laikago/xml/laikago.xml
index 0244237..6a2829b 100644
--- a/data/laikago/urdf/laikago.xml
+++ b/data/laikago/xml/laikago.xml
@@ -9,7 +9,7 @@
-
+
@@ -21,6 +21,11 @@
+
+
+
+
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@@ -31,11 +36,13 @@
-
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@@ -51,6 +58,7 @@
+
@@ -69,6 +77,7 @@
+
@@ -87,6 +96,7 @@
+
@@ -105,6 +115,7 @@