diff --git a/robots/b1_description/xacro/b1.urdf b/robots/b1_description/xacro/b1.urdf
index 630c4d2..e298942 100644
--- a/robots/b1_description/xacro/b1.urdf
+++ b/robots/b1_description/xacro/b1.urdf
@@ -307,14 +307,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://b1_description/meshes/trunk.dae" scale="1 1 1"/>
+        <mesh filename="package://b1_description/meshes/trunkb.dae" scale="1 1 1"/>
       </geometry>
       <material name="orange"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://b1_description/meshes/trunk.dae" scale="1 1 1"/>
+        <mesh filename="package://b1_description/meshes/trunkb.dae" scale="1 1 1"/>
       </geometry>
     </collision>
     <inertial>
@@ -365,14 +365,14 @@
     <visual>
       <origin rpy="3.141592653589793 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://b1_description/meshes/hip.dae" scale="1 1 1"/>
+        <mesh filename="package://b1_description/meshes/hipb.dae" scale="1 1 1"/>
       </geometry>
       <material name="orange"/>
     </visual>
     <collision>
       <origin rpy="3.141592653589793 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://b1_description/meshes/hip.dae" scale="1 1 1"/>
+        <mesh filename="package://b1_description/meshes/hipb.dae" scale="1 1 1"/>
       </geometry>
     </collision>
     <inertial>
@@ -418,14 +418,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://b1_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
+        <mesh filename="package://b1_description/meshes/thigh_mirrorb.dae" scale="1 1 1"/>
       </geometry>
       <material name="orange"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://b1_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
+        <mesh filename="package://b1_description/meshes/thigh_mirrorb.dae" scale="1 1 1"/>
       </geometry>
     </collision>
     <inertial>
@@ -471,14 +471,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://b1_description/meshes/calf.dae" scale="1 1 1"/>
+        <mesh filename="package://b1_description/meshes/calfb.dae" scale="1 1 1"/>
       </geometry>
       <material name="orange"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://b1_description/meshes/calf.dae" scale="1 1 1"/>
+        <mesh filename="package://b1_description/meshes/calfb.dae" scale="1 1 1"/>
       </geometry>
     </collision>
     <inertial>
@@ -578,14 +578,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://b1_description/meshes/hip.dae" scale="1 1 1"/>
+        <mesh filename="package://b1_description/meshes/hipb.dae" scale="1 1 1"/>
       </geometry>
       <material name="orange"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://b1_description/meshes/hip.dae" scale="1 1 1"/>
+        <mesh filename="package://b1_description/meshes/hipb.dae" scale="1 1 1"/>
       </geometry>
     </collision>
     <inertial>
@@ -631,14 +631,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://b1_description/meshes/thigh.dae" scale="1 1 1"/>
+        <mesh filename="package://b1_description/meshes/thighb.dae" scale="1 1 1"/>
       </geometry>
       <material name="orange"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://b1_description/meshes/thigh.dae" scale="1 1 1"/>
+        <mesh filename="package://b1_description/meshes/thighb.dae" scale="1 1 1"/>
       </geometry>
     </collision>
     <inertial>
@@ -684,14 +684,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://b1_description/meshes/calf.dae" scale="1 1 1"/>
+        <mesh filename="package://b1_description/meshes/calfb.dae" scale="1 1 1"/>
       </geometry>
       <material name="orange"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://b1_description/meshes/calf.dae" scale="1 1 1"/>
+        <mesh filename="package://b1_description/meshes/calfb.dae" scale="1 1 1"/>
       </geometry>
     </collision>
     <inertial>
@@ -791,14 +791,14 @@
     <visual>
       <origin rpy="3.141592653589793 3.141592653589793 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://b1_description/meshes/hip.dae" scale="1 1 1"/>
+        <mesh filename="package://b1_description/meshes/hipb.dae" scale="1 1 1"/>
       </geometry>
       <material name="orange"/>
     </visual>
     <collision>
       <origin rpy="3.141592653589793 3.141592653589793 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://b1_description/meshes/hip.dae" scale="1 1 1"/>
+        <mesh filename="package://b1_description/meshes/hipb.dae" scale="1 1 1"/>
       </geometry>
     </collision>
     <inertial>
@@ -844,14 +844,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://b1_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
+        <mesh filename="package://b1_description/meshes/thigh_mirrorb.dae" scale="1 1 1"/>
       </geometry>
       <material name="orange"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://b1_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
+        <mesh filename="package://b1_description/meshes/thigh_mirrorb.dae" scale="1 1 1"/>
       </geometry>
     </collision>
     <inertial>
@@ -897,14 +897,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://b1_description/meshes/calf.dae" scale="1 1 1"/>
+        <mesh filename="package://b1_description/meshes/calfb.dae" scale="1 1 1"/>
       </geometry>
       <material name="orange"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://b1_description/meshes/calf.dae" scale="1 1 1"/>
+        <mesh filename="package://b1_description/meshes/calfb.dae" scale="1 1 1"/>
       </geometry>
     </collision>
     <inertial>
@@ -1004,14 +1004,14 @@
     <visual>
       <origin rpy="0 3.141592653589793 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://b1_description/meshes/hip.dae" scale="1 1 1"/>
+        <mesh filename="package://b1_description/meshes/hipb.dae" scale="1 1 1"/>
       </geometry>
       <material name="orange"/>
     </visual>
     <collision>
       <origin rpy="0 3.141592653589793 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://b1_description/meshes/hip.dae" scale="1 1 1"/>
+        <mesh filename="package://b1_description/meshes/hipb.dae" scale="1 1 1"/>
       </geometry>
     </collision>
     <inertial>
@@ -1057,14 +1057,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://b1_description/meshes/thigh.dae" scale="1 1 1"/>
+        <mesh filename="package://b1_description/meshes/thighb.dae" scale="1 1 1"/>
       </geometry>
       <material name="orange"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://b1_description/meshes/thigh.dae" scale="1 1 1"/>
+        <mesh filename="package://b1_description/meshes/thighb.dae" scale="1 1 1"/>
       </geometry>
     </collision>
     <inertial>
@@ -1110,14 +1110,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://b1_description/meshes/calf.dae" scale="1 1 1"/>
+        <mesh filename="package://b1_description/meshes/calfb.dae" scale="1 1 1"/>
       </geometry>
       <material name="orange"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://b1_description/meshes/calf.dae" scale="1 1 1"/>
+        <mesh filename="package://b1_description/meshes/calfb.dae" scale="1 1 1"/>
       </geometry>
     </collision>
     <inertial>