diff --git a/robots/aliengo_description/launch/check_joint.rviz b/robots/aliengo_description/launch/check_joint.rviz
index 9c912dd..64f8beb 100644
--- a/robots/aliengo_description/launch/check_joint.rviz
+++ b/robots/aliengo_description/launch/check_joint.rviz
@@ -5,8 +5,9 @@ Panels:
     Property Tree Widget:
       Expanded:
         - /Global Options1
+        - /RobotModel1
       Splitter Ratio: 0.5
-    Tree Height: 420
+    Tree Height: 398
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -22,10 +23,13 @@ Panels:
     Name: Views
     Splitter Ratio: 0.5
   - Class: rviz/Time
-    Experimental: false
     Name: Time
     SyncMode: 0
     SyncSource: ""
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
 Visualization Manager:
   Class: ""
   Displays:
@@ -47,7 +51,7 @@ Visualization Manager:
       Plane Cell Count: 10
       Reference Frame: <Fixed Frame>
       Value: true
-    - Alpha: 1
+    - Alpha: 0.5
       Class: rviz/RobotModel
       Collision Enabled: false
       Enabled: true
@@ -61,6 +65,11 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
+        FL_calf_rotor:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
         FL_foot:
           Alpha: 1
           Show Axes: false
@@ -71,16 +80,31 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
+        FL_hip_rotor:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
         FL_thigh:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
+        FL_thigh_rotor:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
         FR_calf:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
+        FR_calf_rotor:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
         FR_foot:
           Alpha: 1
           Show Axes: false
@@ -91,17 +115,32 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
+        FR_hip_rotor:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
         FR_thigh:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
+        FR_thigh_rotor:
+          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_calf_rotor:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
         RL_foot:
           Alpha: 1
           Show Axes: false
@@ -112,16 +151,31 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
+        RL_hip_rotor:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
         RL_thigh:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
+        RL_thigh_rotor:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
         RR_calf:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
+        RR_calf_rotor:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
         RR_foot:
           Alpha: 1
           Show Axes: false
@@ -132,11 +186,21 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
+        RR_hip_rotor:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
         RR_thigh:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
+        RR_thigh_rotor:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
         base:
           Alpha: 1
           Show Axes: false
@@ -158,18 +222,21 @@ Visualization Manager:
       Update Interval: 0
       Value: true
       Visual Enabled: true
-    - Class: rviz/Axes
+    - Alpha: 1
+      Class: rviz/Axes
       Enabled: false
       Length: 1
       Name: Axes
       Radius: 0.10000000149011612
       Reference Frame: <Fixed Frame>
+      Show Trail: false
       Value: false
     - Class: rviz/TF
       Enabled: false
       Frame Timeout: 15
       Frames:
         All Enabled: true
+      Marker Alpha: 1
       Marker Scale: 1
       Name: TF
       Show Arrows: true
@@ -194,7 +261,10 @@ Visualization Manager:
     - Class: rviz/FocusCamera
     - Class: rviz/Measure
     - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
       Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
     - Class: rviz/SetGoal
       Topic: /move_base_simple/goal
     - Class: rviz/PublishPoint
@@ -210,6 +280,7 @@ Visualization Manager:
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
+      Field of View: 0.7853981852531433
       Focal Point:
         X: 0.0760490670800209
         Y: 0.11421932280063629
@@ -221,7 +292,6 @@ Visualization Manager:
       Near Clip Distance: 0.009999999776482582
       Pitch: 0.49979713559150696
       Target Frame: <Fixed Frame>
-      Value: Orbit (rviz)
       Yaw: 5.093583106994629
     Saved: ~
 Window Geometry:
@@ -230,7 +300,7 @@ Window Geometry:
   Height: 627
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000016a0000022ffc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000270000022f000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d00650072006101000001be000001900000000000000000000000010000010f000002e2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002e2000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000006400000003efc0100000002fb0000000800540069006d0065000000000000000640000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000002e40000022f00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000219fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000219000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d00650072006101000001be000001900000000000000000000000010000010f000002e2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002e2000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000006400000003efc0100000002fb0000000800540069006d00650000000000000006400000042800fffffffb0000000800540069006d00650100000000000004500000000000000000000002e40000021900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -241,4 +311,4 @@ Window Geometry:
     collapsed: false
   Width: 1108
   X: 812
-  Y: 241
+  Y: 204
diff --git a/robots/aliengo_description/urdf/aliengo.urdf b/robots/aliengo_description/urdf/aliengo.urdf
index 28e48a2..f45b7e2 100644
--- a/robots/aliengo_description/urdf/aliengo.urdf
+++ b/robots/aliengo_description/urdf/aliengo.urdf
@@ -1,4 +1,4 @@
-<?xml version="1.0" encoding="utf-8"?>
+<?xml version="1.0" ?>
 <!-- =================================================================================== -->
 <!-- |    This document was autogenerated by xacro from robot.xacro                    | -->
 <!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
@@ -17,13 +17,13 @@
     <color rgba="0.2 0.2 0.2 1.0"/>
   </material>
   <material name="silver">
-    <color rgba="0.913725490196 0.913725490196 0.847058823529 1.0"/>
+    <color rgba="0.9137254901960784 0.9137254901960784 0.8470588235294118 1.0"/>
   </material>
   <material name="orange">
-    <color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
+    <color rgba="1.0 0.4235294117647059 0.0392156862745098 1.0"/>
   </material>
   <material name="brown">
-    <color rgba="0.870588235294 0.811764705882 0.764705882353 1.0"/>
+    <color rgba="0.8705882352941177 0.8117647058823529 0.7647058823529411 1.0"/>
   </material>
   <material name="red">
     <color rgba="0.8 0.0 0.0 1.0"/>
@@ -279,6 +279,8 @@
     <kp value="1000000.0"/>
     <kd value="1.0"/>
   </gazebo>
+  <!-- Rotor related joint and link is only for demonstrate location. -->
+  <!-- Actually, the rotor will rotate and the joint is not fixed. Reduction ratio should be considered. -->
   <!-- Debug mode will hung up the robot, use "true" or "false" to switch it. -->
   <!-- <xacro:if value="$(arg DEBUG)">
         <link name="world"/>
@@ -322,9 +324,9 @@
             </geometry>
         </collision> -->
     <inertial>
-      <origin rpy="0 0 0" xyz="0.008465 0.004045 -0.000763"/>
-      <mass value="9.041"/>
-      <inertia ixx="0.033260231" ixy="-0.000451628" ixz="0.000487603" iyy="0.16117211" iyz="4.8356e-05" izz="0.17460442"/>
+      <origin rpy="0 0 0" xyz="0.008811 0.003839 0.000273"/>
+      <mass value="11.644"/>
+      <inertia ixx="0.051944892" ixy="0.001703617" ixz="0.000235941" iyy="0.24693924" iyz="0.000119783" izz="0.270948307"/>
     </inertial>
   </link>
   <joint name="imu_joint" type="fixed">
@@ -353,23 +355,28 @@
     </collision>
   </link>
   <joint name="FR_hip_joint" type="revolute">
-    <origin rpy="0 0 0" xyz="0.2399 -0.051 0"/>
+    <origin rpy="0 0 0" xyz="0.2407 -0.051 0"/>
     <parent link="trunk"/>
     <child link="FR_hip"/>
     <axis xyz="1 0 0"/>
     <dynamics damping="0" friction="0"/>
-    <limit effort="44" lower="-1.2217304764" upper="1.2217304764" velocity="20"/>
+    <limit effort="35.278" lower="-1.2217304763960306" upper="1.2217304763960306" velocity="20"/>
+  </joint>
+  <joint name="FR_hip_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.139985 -0.051 0"/>
+    <parent link="trunk"/>
+    <child link="FR_hip_rotor"/>
   </joint>
   <link name="FR_hip">
     <visual>
-      <origin rpy="3.14159265359 0 0" xyz="0 0 0"/>
+      <origin rpy="3.141592653589793 0 0" xyz="0 0 0"/>
       <geometry>
         <mesh filename="package://aliengo_description/meshes/hip.dae" scale="1 1 1"/>
       </geometry>
       <material name="orange"/>
     </visual>
     <collision>
-      <origin rpy="1.57079632679 0 0" xyz="0 -0.083 0"/>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 -0.083 0"/>
       <geometry>
         <cylinder length="0.0418" radius="0.046"/>
       </geometry>
@@ -377,30 +384,41 @@
     <inertial>
       <origin rpy="0 0 0" xyz="-0.022191 -0.015144 -1.5e-05"/>
       <mass value="1.993"/>
-      <inertia ixx="0.002903894" ixy="7.185e-05" ixz="-1.262e-06" iyy="0.004907517" iyz="1.75e-06" izz="0.005586944"/>
+      <inertia ixx="0.002446735" ixy="0.00059805" ixz="1.945e-06" iyy="0.003925876" iyz="-1.284e-06" izz="0.004148145"/>
+    </inertial>
+  </link>
+  <link name="FR_hip_rotor">
+    <visual>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="0.146"/>
+      <inertia ixx="0.000138702" ixy="0.0" ixz="0.0" iyy="8.3352e-05" iyz="0.0" izz="8.3352e-05"/>
     </inertial>
   </link>
-  <!-- <joint name="${name}_hip_fixed" type="fixed">
-            <origin rpy="0 0 0" xyz="0 ${(thigh_shoulder_length/2.0+hip_offset)*mirror} 0"/>
-            <parent link="${name}_hip"/>
-            <child link="${name}_thigh_shoulder"/>
-        </joint> -->
-  <!-- this link is only for collision -->
-  <!-- <link name="${name}_thigh_shoulder">
-            <collision>
-                <origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
-                <geometry>
-                    <cylinder length="${thigh_shoulder_length}" radius="${thigh_shoulder_radius}"/>
-                </geometry>
-            </collision>
-        </link> -->
   <joint name="FR_thigh_joint" type="continuous">
-    <origin rpy="0 0 0" xyz="0 -0.083 0"/>
+    <origin rpy="0 0 0" xyz="0 -0.0868 0"/>
     <parent link="FR_hip"/>
     <child link="FR_thigh"/>
     <axis xyz="0 1 0"/>
     <dynamics damping="0" friction="0"/>
-    <limit effort="44" velocity="20"/>
+    <limit effort="35.278" velocity="20"/>
+  </joint>
+  <joint name="FR_thigh_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 -0.0298 0"/>
+    <parent link="FR_hip"/>
+    <child link="FR_thigh_rotor"/>
   </joint>
   <link name="FR_thigh">
     <visual>
@@ -411,7 +429,7 @@
       <material name="orange"/>
     </visual>
     <collision>
-      <origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.125"/>
       <geometry>
         <box size="0.25 0.0374 0.043"/>
       </geometry>
@@ -419,7 +437,27 @@
     <inertial>
       <origin rpy="0 0 0" xyz="-0.005607 0.003877 -0.048199"/>
       <mass value="0.639"/>
-      <inertia ixx="0.005666803" ixy="-3.597e-06" ixz="0.000491446" iyy="0.005847229" iyz="-1.0086e-05" izz="0.000369811"/>
+      <inertia ixx="0.004173855" ixy="-1.0284e-05" ixz="-0.000318874" iyy="0.004343802" iyz="-0.000109233" izz="0.000340136"/>
+    </inertial>
+  </link>
+  <link name="FR_thigh_rotor">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="0.146"/>
+      <inertia ixx="8.3352e-05" ixy="0.0" ixz="0.0" iyy="0.000138702" iyz="0.0" izz="8.3352e-05"/>
     </inertial>
   </link>
   <joint name="FR_calf_joint" type="revolute">
@@ -428,7 +466,12 @@
     <child link="FR_calf"/>
     <axis xyz="0 1 0"/>
     <dynamics damping="0" friction="0"/>
-    <limit effort="55" lower="-2.77507351067" upper="-0.645771823238" velocity="16"/>
+    <limit effort="44.4" lower="-2.775073510670984" upper="-0.6457718232379019" velocity="15.89"/>
+  </joint>
+  <joint name="FR_calf_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 0.0997 0"/>
+    <parent link="FR_thigh"/>
+    <child link="FR_calf_rotor"/>
   </joint>
   <link name="FR_calf">
     <visual>
@@ -439,7 +482,7 @@
       <material name="orange"/>
     </visual>
     <collision>
-      <origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.125"/>
       <geometry>
         <box size="0.25 0.0208 0.016"/>
       </geometry>
@@ -447,7 +490,27 @@
     <inertial>
       <origin rpy="0 0 0" xyz="0.002781 6.3e-05 -0.142518"/>
       <mass value="0.207"/>
-      <inertia ixx="0.006341369" ixy="-3e-09" ixz="-8.7951e-05" iyy="0.006355157" iyz="-1.336e-06" izz="3.9188e-05"/>
+      <inertia ixx="0.002129279" ixy="3.9e-08" ixz="5.757e-06" iyy="0.002141463" iyz="-5.16e-07" izz="3.7583e-05"/>
+    </inertial>
+  </link>
+  <link name="FR_calf_rotor">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="0.132"/>
+      <inertia ixx="0.000145463" ixy="0.0" ixz="0.0" iyy="0.000133031" iyz="0.0" izz="0.000145463"/>
     </inertial>
   </link>
   <joint name="FR_foot_fixed" type="fixed">
@@ -471,7 +534,7 @@
     </collision>
     <inertial>
       <mass value="0.06"/>
-      <inertia ixx="1.6854e-05" ixy="0.0" ixz="0.0" iyy="1.6854e-05" iyz="0.0" izz="1.6854e-05"/>
+      <inertia ixx="1.6853999999999998e-05" ixy="0.0" ixz="0.0" iyy="1.6853999999999998e-05" iyz="0.0" izz="1.6853999999999998e-05"/>
     </inertial>
   </link>
   <transmission name="FR_hip_tran">
@@ -505,12 +568,17 @@
     </actuator>
   </transmission>
   <joint name="FL_hip_joint" type="revolute">
-    <origin rpy="0 0 0" xyz="0.2399 0.051 0"/>
+    <origin rpy="0 0 0" xyz="0.2407 0.051 0"/>
     <parent link="trunk"/>
     <child link="FL_hip"/>
     <axis xyz="1 0 0"/>
     <dynamics damping="0" friction="0"/>
-    <limit effort="44" lower="-1.2217304764" upper="1.2217304764" velocity="20"/>
+    <limit effort="35.278" lower="-1.2217304763960306" upper="1.2217304763960306" velocity="20"/>
+  </joint>
+  <joint name="FL_hip_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.139985 0.051 0"/>
+    <parent link="trunk"/>
+    <child link="FL_hip_rotor"/>
   </joint>
   <link name="FL_hip">
     <visual>
@@ -521,7 +589,7 @@
       <material name="orange"/>
     </visual>
     <collision>
-      <origin rpy="1.57079632679 0 0" xyz="0 0.083 0"/>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0.083 0"/>
       <geometry>
         <cylinder length="0.0418" radius="0.046"/>
       </geometry>
@@ -529,30 +597,41 @@
     <inertial>
       <origin rpy="0 0 0" xyz="-0.022191 0.015144 -1.5e-05"/>
       <mass value="1.993"/>
-      <inertia ixx="0.002903894" ixy="-7.185e-05" ixz="-1.262e-06" iyy="0.004907517" iyz="-1.75e-06" izz="0.005586944"/>
+      <inertia ixx="0.002446735" ixy="-0.00059805" ixz="1.945e-06" iyy="0.003925876" iyz="1.284e-06" izz="0.004148145"/>
+    </inertial>
+  </link>
+  <link name="FL_hip_rotor">
+    <visual>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="0.146"/>
+      <inertia ixx="0.000138702" ixy="0.0" ixz="0.0" iyy="8.3352e-05" iyz="0.0" izz="8.3352e-05"/>
     </inertial>
   </link>
-  <!-- <joint name="${name}_hip_fixed" type="fixed">
-            <origin rpy="0 0 0" xyz="0 ${(thigh_shoulder_length/2.0+hip_offset)*mirror} 0"/>
-            <parent link="${name}_hip"/>
-            <child link="${name}_thigh_shoulder"/>
-        </joint> -->
-  <!-- this link is only for collision -->
-  <!-- <link name="${name}_thigh_shoulder">
-            <collision>
-                <origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
-                <geometry>
-                    <cylinder length="${thigh_shoulder_length}" radius="${thigh_shoulder_radius}"/>
-                </geometry>
-            </collision>
-        </link> -->
   <joint name="FL_thigh_joint" type="continuous">
-    <origin rpy="0 0 0" xyz="0 0.083 0"/>
+    <origin rpy="0 0 0" xyz="0 0.0868 0"/>
     <parent link="FL_hip"/>
     <child link="FL_thigh"/>
     <axis xyz="0 1 0"/>
     <dynamics damping="0" friction="0"/>
-    <limit effort="44" velocity="20"/>
+    <limit effort="35.278" velocity="20"/>
+  </joint>
+  <joint name="FL_thigh_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 0.0298 0"/>
+    <parent link="FL_hip"/>
+    <child link="FL_thigh_rotor"/>
   </joint>
   <link name="FL_thigh">
     <visual>
@@ -563,7 +642,7 @@
       <material name="orange"/>
     </visual>
     <collision>
-      <origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.125"/>
       <geometry>
         <box size="0.25 0.0374 0.043"/>
       </geometry>
@@ -571,7 +650,27 @@
     <inertial>
       <origin rpy="0 0 0" xyz="-0.005607 -0.003877 -0.048199"/>
       <mass value="0.639"/>
-      <inertia ixx="0.005666803" ixy="3.597e-06" ixz="0.000491446" iyy="0.005847229" iyz="1.0086e-05" izz="0.000369811"/>
+      <inertia ixx="0.004173855" ixy="1.0284e-05" ixz="-0.000318874" iyy="0.004343802" iyz="0.000109233" izz="0.000340136"/>
+    </inertial>
+  </link>
+  <link name="FL_thigh_rotor">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="0.146"/>
+      <inertia ixx="8.3352e-05" ixy="0.0" ixz="0.0" iyy="0.000138702" iyz="0.0" izz="8.3352e-05"/>
     </inertial>
   </link>
   <joint name="FL_calf_joint" type="revolute">
@@ -580,7 +679,12 @@
     <child link="FL_calf"/>
     <axis xyz="0 1 0"/>
     <dynamics damping="0" friction="0"/>
-    <limit effort="55" lower="-2.77507351067" upper="-0.645771823238" velocity="16"/>
+    <limit effort="44.4" lower="-2.775073510670984" upper="-0.6457718232379019" velocity="15.89"/>
+  </joint>
+  <joint name="FL_calf_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 -0.0997 0"/>
+    <parent link="FL_thigh"/>
+    <child link="FL_calf_rotor"/>
   </joint>
   <link name="FL_calf">
     <visual>
@@ -591,7 +695,7 @@
       <material name="orange"/>
     </visual>
     <collision>
-      <origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.125"/>
       <geometry>
         <box size="0.25 0.0208 0.016"/>
       </geometry>
@@ -599,7 +703,27 @@
     <inertial>
       <origin rpy="0 0 0" xyz="0.002781 6.3e-05 -0.142518"/>
       <mass value="0.207"/>
-      <inertia ixx="0.006341369" ixy="-3e-09" ixz="-8.7951e-05" iyy="0.006355157" iyz="-1.336e-06" izz="3.9188e-05"/>
+      <inertia ixx="0.002129279" ixy="3.9e-08" ixz="5.757e-06" iyy="0.002141463" iyz="-5.16e-07" izz="3.7583e-05"/>
+    </inertial>
+  </link>
+  <link name="FL_calf_rotor">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="0.132"/>
+      <inertia ixx="0.000145463" ixy="0.0" ixz="0.0" iyy="0.000133031" iyz="0.0" izz="0.000145463"/>
     </inertial>
   </link>
   <joint name="FL_foot_fixed" type="fixed">
@@ -623,7 +747,7 @@
     </collision>
     <inertial>
       <mass value="0.06"/>
-      <inertia ixx="1.6854e-05" ixy="0.0" ixz="0.0" iyy="1.6854e-05" iyz="0.0" izz="1.6854e-05"/>
+      <inertia ixx="1.6853999999999998e-05" ixy="0.0" ixz="0.0" iyy="1.6853999999999998e-05" iyz="0.0" izz="1.6853999999999998e-05"/>
     </inertial>
   </link>
   <transmission name="FL_hip_tran">
@@ -657,23 +781,28 @@
     </actuator>
   </transmission>
   <joint name="RR_hip_joint" type="revolute">
-    <origin rpy="0 0 0" xyz="-0.2399 -0.051 0"/>
+    <origin rpy="0 0 0" xyz="-0.2407 -0.051 0"/>
     <parent link="trunk"/>
     <child link="RR_hip"/>
     <axis xyz="1 0 0"/>
     <dynamics damping="0" friction="0"/>
-    <limit effort="44" lower="-1.2217304764" upper="1.2217304764" velocity="20"/>
+    <limit effort="35.278" lower="-1.2217304763960306" upper="1.2217304763960306" velocity="20"/>
+  </joint>
+  <joint name="RR_hip_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.139985 -0.051 0"/>
+    <parent link="trunk"/>
+    <child link="RR_hip_rotor"/>
   </joint>
   <link name="RR_hip">
     <visual>
-      <origin rpy="3.14159265359 3.14159265359 0" xyz="0 0 0"/>
+      <origin rpy="3.141592653589793 3.141592653589793 0" xyz="0 0 0"/>
       <geometry>
         <mesh filename="package://aliengo_description/meshes/hip.dae" scale="1 1 1"/>
       </geometry>
       <material name="orange"/>
     </visual>
     <collision>
-      <origin rpy="1.57079632679 0 0" xyz="0 -0.083 0"/>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 -0.083 0"/>
       <geometry>
         <cylinder length="0.0418" radius="0.046"/>
       </geometry>
@@ -681,30 +810,41 @@
     <inertial>
       <origin rpy="0 0 0" xyz="0.022191 -0.015144 -1.5e-05"/>
       <mass value="1.993"/>
-      <inertia ixx="0.002903894" ixy="-7.185e-05" ixz="1.262e-06" iyy="0.004907517" iyz="1.75e-06" izz="0.005586944"/>
+      <inertia ixx="0.002446735" ixy="-0.00059805" ixz="-1.945e-06" iyy="0.003925876" iyz="-1.284e-06" izz="0.004148145"/>
+    </inertial>
+  </link>
+  <link name="RR_hip_rotor">
+    <visual>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="0.146"/>
+      <inertia ixx="0.000138702" ixy="0.0" ixz="0.0" iyy="8.3352e-05" iyz="0.0" izz="8.3352e-05"/>
     </inertial>
   </link>
-  <!-- <joint name="${name}_hip_fixed" type="fixed">
-            <origin rpy="0 0 0" xyz="0 ${(thigh_shoulder_length/2.0+hip_offset)*mirror} 0"/>
-            <parent link="${name}_hip"/>
-            <child link="${name}_thigh_shoulder"/>
-        </joint> -->
-  <!-- this link is only for collision -->
-  <!-- <link name="${name}_thigh_shoulder">
-            <collision>
-                <origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
-                <geometry>
-                    <cylinder length="${thigh_shoulder_length}" radius="${thigh_shoulder_radius}"/>
-                </geometry>
-            </collision>
-        </link> -->
   <joint name="RR_thigh_joint" type="continuous">
-    <origin rpy="0 0 0" xyz="0 -0.083 0"/>
+    <origin rpy="0 0 0" xyz="0 -0.0868 0"/>
     <parent link="RR_hip"/>
     <child link="RR_thigh"/>
     <axis xyz="0 1 0"/>
     <dynamics damping="0" friction="0"/>
-    <limit effort="44" velocity="20"/>
+    <limit effort="35.278" velocity="20"/>
+  </joint>
+  <joint name="RR_thigh_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 -0.0298 0"/>
+    <parent link="RR_hip"/>
+    <child link="RR_thigh_rotor"/>
   </joint>
   <link name="RR_thigh">
     <visual>
@@ -715,7 +855,7 @@
       <material name="orange"/>
     </visual>
     <collision>
-      <origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.125"/>
       <geometry>
         <box size="0.25 0.0374 0.043"/>
       </geometry>
@@ -723,7 +863,27 @@
     <inertial>
       <origin rpy="0 0 0" xyz="-0.005607 0.003877 -0.048199"/>
       <mass value="0.639"/>
-      <inertia ixx="0.005666803" ixy="-3.597e-06" ixz="0.000491446" iyy="0.005847229" iyz="-1.0086e-05" izz="0.000369811"/>
+      <inertia ixx="0.004173855" ixy="-1.0284e-05" ixz="-0.000318874" iyy="0.004343802" iyz="-0.000109233" izz="0.000340136"/>
+    </inertial>
+  </link>
+  <link name="RR_thigh_rotor">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="0.146"/>
+      <inertia ixx="8.3352e-05" ixy="0.0" ixz="0.0" iyy="0.000138702" iyz="0.0" izz="8.3352e-05"/>
     </inertial>
   </link>
   <joint name="RR_calf_joint" type="revolute">
@@ -732,7 +892,12 @@
     <child link="RR_calf"/>
     <axis xyz="0 1 0"/>
     <dynamics damping="0" friction="0"/>
-    <limit effort="55" lower="-2.77507351067" upper="-0.645771823238" velocity="16"/>
+    <limit effort="44.4" lower="-2.775073510670984" upper="-0.6457718232379019" velocity="15.89"/>
+  </joint>
+  <joint name="RR_calf_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 0.0997 0"/>
+    <parent link="RR_thigh"/>
+    <child link="RR_calf_rotor"/>
   </joint>
   <link name="RR_calf">
     <visual>
@@ -743,7 +908,7 @@
       <material name="orange"/>
     </visual>
     <collision>
-      <origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.125"/>
       <geometry>
         <box size="0.25 0.0208 0.016"/>
       </geometry>
@@ -751,7 +916,27 @@
     <inertial>
       <origin rpy="0 0 0" xyz="0.002781 6.3e-05 -0.142518"/>
       <mass value="0.207"/>
-      <inertia ixx="0.006341369" ixy="-3e-09" ixz="-8.7951e-05" iyy="0.006355157" iyz="-1.336e-06" izz="3.9188e-05"/>
+      <inertia ixx="0.002129279" ixy="3.9e-08" ixz="5.757e-06" iyy="0.002141463" iyz="-5.16e-07" izz="3.7583e-05"/>
+    </inertial>
+  </link>
+  <link name="RR_calf_rotor">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="0.132"/>
+      <inertia ixx="0.000145463" ixy="0.0" ixz="0.0" iyy="0.000133031" iyz="0.0" izz="0.000145463"/>
     </inertial>
   </link>
   <joint name="RR_foot_fixed" type="fixed">
@@ -775,7 +960,7 @@
     </collision>
     <inertial>
       <mass value="0.06"/>
-      <inertia ixx="1.6854e-05" ixy="0.0" ixz="0.0" iyy="1.6854e-05" iyz="0.0" izz="1.6854e-05"/>
+      <inertia ixx="1.6853999999999998e-05" ixy="0.0" ixz="0.0" iyy="1.6853999999999998e-05" iyz="0.0" izz="1.6853999999999998e-05"/>
     </inertial>
   </link>
   <transmission name="RR_hip_tran">
@@ -809,23 +994,28 @@
     </actuator>
   </transmission>
   <joint name="RL_hip_joint" type="revolute">
-    <origin rpy="0 0 0" xyz="-0.2399 0.051 0"/>
+    <origin rpy="0 0 0" xyz="-0.2407 0.051 0"/>
     <parent link="trunk"/>
     <child link="RL_hip"/>
     <axis xyz="1 0 0"/>
     <dynamics damping="0" friction="0"/>
-    <limit effort="44" lower="-1.2217304764" upper="1.2217304764" velocity="20"/>
+    <limit effort="35.278" lower="-1.2217304763960306" upper="1.2217304763960306" velocity="20"/>
+  </joint>
+  <joint name="RL_hip_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.139985 0.051 0"/>
+    <parent link="trunk"/>
+    <child link="RL_hip_rotor"/>
   </joint>
   <link name="RL_hip">
     <visual>
-      <origin rpy="0 3.14159265359 0" xyz="0 0 0"/>
+      <origin rpy="0 3.141592653589793 0" xyz="0 0 0"/>
       <geometry>
         <mesh filename="package://aliengo_description/meshes/hip.dae" scale="1 1 1"/>
       </geometry>
       <material name="orange"/>
     </visual>
     <collision>
-      <origin rpy="1.57079632679 0 0" xyz="0 0.083 0"/>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0.083 0"/>
       <geometry>
         <cylinder length="0.0418" radius="0.046"/>
       </geometry>
@@ -833,30 +1023,41 @@
     <inertial>
       <origin rpy="0 0 0" xyz="0.022191 0.015144 -1.5e-05"/>
       <mass value="1.993"/>
-      <inertia ixx="0.002903894" ixy="7.185e-05" ixz="1.262e-06" iyy="0.004907517" iyz="-1.75e-06" izz="0.005586944"/>
+      <inertia ixx="0.002446735" ixy="0.00059805" ixz="-1.945e-06" iyy="0.003925876" iyz="1.284e-06" izz="0.004148145"/>
+    </inertial>
+  </link>
+  <link name="RL_hip_rotor">
+    <visual>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="0.146"/>
+      <inertia ixx="0.000138702" ixy="0.0" ixz="0.0" iyy="8.3352e-05" iyz="0.0" izz="8.3352e-05"/>
     </inertial>
   </link>
-  <!-- <joint name="${name}_hip_fixed" type="fixed">
-            <origin rpy="0 0 0" xyz="0 ${(thigh_shoulder_length/2.0+hip_offset)*mirror} 0"/>
-            <parent link="${name}_hip"/>
-            <child link="${name}_thigh_shoulder"/>
-        </joint> -->
-  <!-- this link is only for collision -->
-  <!-- <link name="${name}_thigh_shoulder">
-            <collision>
-                <origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
-                <geometry>
-                    <cylinder length="${thigh_shoulder_length}" radius="${thigh_shoulder_radius}"/>
-                </geometry>
-            </collision>
-        </link> -->
   <joint name="RL_thigh_joint" type="continuous">
-    <origin rpy="0 0 0" xyz="0 0.083 0"/>
+    <origin rpy="0 0 0" xyz="0 0.0868 0"/>
     <parent link="RL_hip"/>
     <child link="RL_thigh"/>
     <axis xyz="0 1 0"/>
     <dynamics damping="0" friction="0"/>
-    <limit effort="44" velocity="20"/>
+    <limit effort="35.278" velocity="20"/>
+  </joint>
+  <joint name="RL_thigh_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 0.0298 0"/>
+    <parent link="RL_hip"/>
+    <child link="RL_thigh_rotor"/>
   </joint>
   <link name="RL_thigh">
     <visual>
@@ -867,7 +1068,7 @@
       <material name="orange"/>
     </visual>
     <collision>
-      <origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.125"/>
       <geometry>
         <box size="0.25 0.0374 0.043"/>
       </geometry>
@@ -875,7 +1076,27 @@
     <inertial>
       <origin rpy="0 0 0" xyz="-0.005607 -0.003877 -0.048199"/>
       <mass value="0.639"/>
-      <inertia ixx="0.005666803" ixy="3.597e-06" ixz="0.000491446" iyy="0.005847229" iyz="1.0086e-05" izz="0.000369811"/>
+      <inertia ixx="0.004173855" ixy="1.0284e-05" ixz="-0.000318874" iyy="0.004343802" iyz="0.000109233" izz="0.000340136"/>
+    </inertial>
+  </link>
+  <link name="RL_thigh_rotor">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="0.146"/>
+      <inertia ixx="8.3352e-05" ixy="0.0" ixz="0.0" iyy="0.000138702" iyz="0.0" izz="8.3352e-05"/>
     </inertial>
   </link>
   <joint name="RL_calf_joint" type="revolute">
@@ -884,7 +1105,12 @@
     <child link="RL_calf"/>
     <axis xyz="0 1 0"/>
     <dynamics damping="0" friction="0"/>
-    <limit effort="55" lower="-2.77507351067" upper="-0.645771823238" velocity="16"/>
+    <limit effort="44.4" lower="-2.775073510670984" upper="-0.6457718232379019" velocity="15.89"/>
+  </joint>
+  <joint name="RL_calf_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 -0.0997 0"/>
+    <parent link="RL_thigh"/>
+    <child link="RL_calf_rotor"/>
   </joint>
   <link name="RL_calf">
     <visual>
@@ -895,7 +1121,7 @@
       <material name="orange"/>
     </visual>
     <collision>
-      <origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.125"/>
       <geometry>
         <box size="0.25 0.0208 0.016"/>
       </geometry>
@@ -903,7 +1129,27 @@
     <inertial>
       <origin rpy="0 0 0" xyz="0.002781 6.3e-05 -0.142518"/>
       <mass value="0.207"/>
-      <inertia ixx="0.006341369" ixy="-3e-09" ixz="-8.7951e-05" iyy="0.006355157" iyz="-1.336e-06" izz="3.9188e-05"/>
+      <inertia ixx="0.002129279" ixy="3.9e-08" ixz="5.757e-06" iyy="0.002141463" iyz="-5.16e-07" izz="3.7583e-05"/>
+    </inertial>
+  </link>
+  <link name="RL_calf_rotor">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.02" radius="0.035"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="0.132"/>
+      <inertia ixx="0.000145463" ixy="0.0" ixz="0.0" iyy="0.000133031" iyz="0.0" izz="0.000145463"/>
     </inertial>
   </link>
   <joint name="RL_foot_fixed" type="fixed">
@@ -927,7 +1173,7 @@
     </collision>
     <inertial>
       <mass value="0.06"/>
-      <inertia ixx="1.6854e-05" ixy="0.0" ixz="0.0" iyy="1.6854e-05" iyz="0.0" izz="1.6854e-05"/>
+      <inertia ixx="1.6853999999999998e-05" ixy="0.0" ixz="0.0" iyy="1.6853999999999998e-05" iyz="0.0" izz="1.6853999999999998e-05"/>
     </inertial>
   </link>
   <transmission name="RL_hip_tran">
diff --git a/robots/aliengo_description/xacro/const.xacro b/robots/aliengo_description/xacro/const.xacro
index 1d8c959..1915d0a 100644
--- a/robots/aliengo_description/xacro/const.xacro
+++ b/robots/aliengo_description/xacro/const.xacro
@@ -33,6 +33,29 @@
     <xacro:property name="trunk_offset_z" value="0.01675"/>
     <xacro:property name="hip_offset" value="0.083"/>
 
+    <!-- offset of link and rotor locations (left front) -->
+    <xacro:property name="hip_offset_x" value="0.2407"/>
+    <xacro:property name="hip_offset_y" value="0.051"/>
+    <xacro:property name="hip_offset_z" value="0.0"/>
+    <xacro:property name="hip_rotor_offset_x" value="0.139985"/>
+    <xacro:property name="hip_rotor_offset_y" value="0.051"/>
+    <xacro:property name="hip_rotor_offset_z" value="0.0"/>
+
+    <xacro:property name="thigh_offset_x" value="0"/>
+    <xacro:property name="thigh_offset_y" value="0.0868"/>
+    <xacro:property name="thigh_offset_z" value="0.0"/>
+    <xacro:property name="thigh_rotor_offset_x" value="0.0"/>
+    <xacro:property name="thigh_rotor_offset_y" value="0.0298"/>
+    <xacro:property name="thigh_rotor_offset_z" value="0.0"/>
+
+    <xacro:property name="calf_offset_x" value="0.0"/>
+    <xacro:property name="calf_offset_y" value="0.0"/>
+    <xacro:property name="calf_offset_z" value="-0.25"/>
+    <xacro:property name="calf_rotor_offset_x" value="0.0"/>
+    <xacro:property name="calf_rotor_offset_y" value="-0.0997"/>
+    <xacro:property name="calf_rotor_offset_z" value="0.0"/>
+
+
     <!-- joint limits -->
     <xacro:property name="damping" value="0"/>
     <xacro:property name="friction" value="0"/>
@@ -49,54 +72,87 @@
     <xacro:property name="calf_velocity_max" value="15.89"/>
     <xacro:property name="calf_torque_max" value="44.4"/>
 
-    <!-- dynamics inertial value        total 22.0kg -->
+    <!-- dynamics inertial value        total 23.0kg -->
     <!-- trunk -->
-    <xacro:property name="trunk_mass" value="11.041"/>
-    <xacro:property name="trunk_com_x" value="0.008465"/>
-    <xacro:property name="trunk_com_y" value="0.004045"/>
-    <xacro:property name="trunk_com_z" value="-0.000763"/>
-    <xacro:property name="trunk_ixx" value="0.050874"/>
-    <xacro:property name="trunk_ixy" value="-0.000451628"/>
-    <xacro:property name="trunk_ixz" value="0.000487603"/>
-    <xacro:property name="trunk_iyy" value="0.64036"/>
-    <xacro:property name="trunk_iyz" value="0.000048356"/>
-    <xacro:property name="trunk_izz" value="0.65655"/>
+    <xacro:property name="trunk_mass" value="11.644"/>
+    <xacro:property name="trunk_com_x" value="0.008811"/>
+    <xacro:property name="trunk_com_y" value="0.003839"/>
+    <xacro:property name="trunk_com_z" value="0.000273"/>
+    <xacro:property name="trunk_ixx" value="0.051944892"/>
+    <xacro:property name="trunk_ixy" value="0.001703617"/>
+    <xacro:property name="trunk_ixz" value="0.000235941"/>
+    <xacro:property name="trunk_iyy" value="0.24693924"/>
+    <xacro:property name="trunk_iyz" value="0.000119783"/>
+    <xacro:property name="trunk_izz" value="0.270948307"/>
 
     <!-- hip (left front) -->
     <xacro:property name="hip_mass" value="1.993"/>
     <xacro:property name="hip_com_x" value="-0.022191"/>
     <xacro:property name="hip_com_y" value="0.015144"/>
     <xacro:property name="hip_com_z" value="-0.000015"/>
-    <xacro:property name="hip_ixx" value="0.002903894"/>
-    <xacro:property name="hip_ixy" value="-0.000071850"/>
-    <xacro:property name="hip_ixz" value="-0.000001262"/>
-    <xacro:property name="hip_iyy" value="0.004907517"/>
-    <xacro:property name="hip_iyz" value="-0.00000175"/>
-    <xacro:property name="hip_izz" value="0.005586944"/>
+    <xacro:property name="hip_ixx" value="0.002446735"/>
+    <xacro:property name="hip_ixy" value="-0.00059805"/>
+    <xacro:property name="hip_ixz" value="0.000001945"/>
+    <xacro:property name="hip_iyy" value="0.003925876"/>
+    <xacro:property name="hip_iyz" value="0.000001284"/>
+    <xacro:property name="hip_izz" value="0.004148145"/>
+
+    <xacro:property name="hip_rotor_mass" value="0.146"/>
+    <xacro:property name="hip_rotor_com_x" value="0.0"/>
+    <xacro:property name="hip_rotor_com_y" value="0.0"/>
+    <xacro:property name="hip_rotor_com_z" value="0.0"/>
+    <xacro:property name="hip_rotor_ixx" value="0.000138702"/>
+    <xacro:property name="hip_rotor_ixy" value="0.0"/>
+    <xacro:property name="hip_rotor_ixz" value="0.0"/>
+    <xacro:property name="hip_rotor_iyy" value="0.000083352"/>
+    <xacro:property name="hip_rotor_iyz" value="0.0"/>
+    <xacro:property name="hip_rotor_izz" value="0.000083352"/>
 
     <!-- thigh -->
     <xacro:property name="thigh_mass" value="0.639"/>
     <xacro:property name="thigh_com_x" value="-0.005607"/>
     <xacro:property name="thigh_com_y" value="-0.003877"/>
     <xacro:property name="thigh_com_z" value="-0.048199"/>
-    <xacro:property name="thigh_ixx" value="0.005666803"/>
-    <xacro:property name="thigh_ixy" value="0.000003597"/>
-    <xacro:property name="thigh_ixz" value="0.000491446"/>
-    <xacro:property name="thigh_iyy" value="0.005847229"/>
-    <xacro:property name="thigh_iyz" value="0.000010086"/>
-    <xacro:property name="thigh_izz" value="0.000369811"/>
+    <xacro:property name="thigh_ixx" value="0.004173855"/>
+    <xacro:property name="thigh_ixy" value="0.000010284"/>
+    <xacro:property name="thigh_ixz" value="-0.000318874"/>
+    <xacro:property name="thigh_iyy" value="0.004343802"/>
+    <xacro:property name="thigh_iyz" value="0.000109233"/>
+    <xacro:property name="thigh_izz" value="0.000340136"/>
+
+    <xacro:property name="thigh_rotor_mass" value="0.146"/>
+    <xacro:property name="thigh_rotor_com_x" value="0.0"/>
+    <xacro:property name="thigh_rotor_com_y" value="0.0"/>
+    <xacro:property name="thigh_rotor_com_z" value="0.0"/>
+    <xacro:property name="thigh_rotor_ixx" value="0.000083352"/>
+    <xacro:property name="thigh_rotor_ixy" value="0.0"/>
+    <xacro:property name="thigh_rotor_ixz" value="0.0"/>
+    <xacro:property name="thigh_rotor_iyy" value="0.000138702"/>
+    <xacro:property name="thigh_rotor_iyz" value="0.0"/>
+    <xacro:property name="thigh_rotor_izz" value="0.000083352"/>
 
     <!-- calf -->
     <xacro:property name="calf_mass" value="0.207"/>
     <xacro:property name="calf_com_x" value="0.002781"/>
     <xacro:property name="calf_com_y" value="0.000063"/>
     <xacro:property name="calf_com_z" value="-0.142518"/>
-    <xacro:property name="calf_ixx" value="0.006341369"/>
-    <xacro:property name="calf_ixy" value="-0.000000003"/>
-    <xacro:property name="calf_ixz" value="-0.000087951"/>
-    <xacro:property name="calf_iyy" value="0.006355157"/>
-    <xacro:property name="calf_iyz" value="-0.000001336"/>
-    <xacro:property name="calf_izz" value="0.000039188"/>
+    <xacro:property name="calf_ixx" value="0.002129279"/>
+    <xacro:property name="calf_ixy" value="0.000000039"/>
+    <xacro:property name="calf_ixz" value="0.000005757"/>
+    <xacro:property name="calf_iyy" value="0.002141463"/>
+    <xacro:property name="calf_iyz" value="-0.000000516"/>
+    <xacro:property name="calf_izz" value="0.000037583"/>
+
+    <xacro:property name="calf_rotor_mass" value="0.132"/>
+    <xacro:property name="calf_rotor_com_x" value="0.0"/>
+    <xacro:property name="calf_rotor_com_y" value="0.0"/>
+    <xacro:property name="calf_rotor_com_z" value="0.0"/>
+    <xacro:property name="calf_rotor_ixx" value="0.000145463"/>
+    <xacro:property name="calf_rotor_ixy" value="0.0"/>
+    <xacro:property name="calf_rotor_ixz" value="0.0"/>
+    <xacro:property name="calf_rotor_iyy" value="0.000133031"/>
+    <xacro:property name="calf_rotor_iyz" value="0.0"/>
+    <xacro:property name="calf_rotor_izz" value="0.000145463"/>
 
     <!-- foot -->
     <xacro:property name="foot_mass" value="0.06"/>
diff --git a/robots/aliengo_description/xacro/leg.xacro b/robots/aliengo_description/xacro/leg.xacro
index 701f0e1..853a181 100644
--- a/robots/aliengo_description/xacro/leg.xacro
+++ b/robots/aliengo_description/xacro/leg.xacro
@@ -4,10 +4,21 @@
 
     <xacro:include filename="$(find aliengo_description)/xacro/transmission.xacro"/>
 
-    <xacro:macro name="leg" params="name mirror mirror_dae front_hind front_hind_dae *origin">
+    <xacro:macro name="leg" params="name mirror mirror_dae front_hind front_hind_dae">
 
         <joint name="${name}_hip_joint" type="revolute">
-            <xacro:insert_block name="origin"/>
+            <xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}">
+                <origin rpy="0 0 0" xyz="${leg_offset_x} ${-leg_offset_y} 0"/>
+            </xacro:if>
+            <xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}">
+                <origin rpy="0 0 0" xyz="${leg_offset_x} ${leg_offset_y} 0"/>
+            </xacro:if>
+            <xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}">
+                <origin rpy="0 0 0" xyz="${-leg_offset_x} ${-leg_offset_y} 0"/>
+            </xacro:if>
+            <xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}">
+                <origin rpy="0 0 0" xyz="${-leg_offset_x} ${leg_offset_y} 0"/>
+            </xacro:if>
             <parent link="trunk"/>
             <child link="${name}_hip"/>
             <axis xyz="1 0 0"/>
@@ -20,6 +31,23 @@
             </xacro:if>            
         </joint>
 
+        <joint name="${name}_hip_rotor_joint" type="fixed">
+            <xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}">
+                <origin rpy="0 0 0" xyz="${hip_rotor_offset_x} ${-hip_rotor_offset_y} 0"/>
+            </xacro:if>
+            <xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}">
+                <origin rpy="0 0 0" xyz="${hip_rotor_offset_x} ${hip_rotor_offset_y} 0"/>
+            </xacro:if>
+            <xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}">
+                <origin rpy="0 0 0" xyz="${-hip_rotor_offset_x} ${-hip_rotor_offset_y} 0"/>
+            </xacro:if>
+            <xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}">
+                <origin rpy="0 0 0" xyz="${-hip_rotor_offset_x} ${hip_rotor_offset_y} 0"/>
+            </xacro:if>
+            <parent link="trunk"/>
+            <child link="${name}_hip_rotor"/>         
+        </joint>
+
         <link name="${name}_hip">
             <visual>
                 <xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}">
@@ -55,21 +83,29 @@
             </inertial>
         </link>
 
-        <!-- <joint name="${name}_hip_fixed" type="fixed">
-            <origin rpy="0 0 0" xyz="0 ${(thigh_shoulder_length/2.0+hip_offset)*mirror} 0"/>
-            <parent link="${name}_hip"/>
-            <child link="${name}_thigh_shoulder"/>
-        </joint> -->
-
-        <!-- this link is only for collision -->
-        <!-- <link name="${name}_thigh_shoulder">
-            <collision>
-                <origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
+        <link name="${name}_hip_rotor">
+            <visual>
+                <origin rpy="0 ${PI/2.0} 0" xyz="0 0 0"/>
                 <geometry>
-                    <cylinder length="${thigh_shoulder_length}" radius="${thigh_shoulder_radius}"/>
+                    <cylinder length="0.02" radius="0.035"/>
+                </geometry>
+                <material name="green"/>
+            </visual>
+            <collision>
+                <origin rpy="0 ${PI/2.0} 0" xyz="0 0 0"/>
+                <geometry>
+                    <cylinder length="0.02" radius="0.035"/>
                 </geometry>
             </collision>
-        </link> -->
+            <inertial>
+                <origin rpy="0 0 0" xyz="${hip_rotor_com_x} ${hip_rotor_com_y} ${hip_rotor_com_z}"/>
+                <mass value="${hip_rotor_mass}"/>
+                <inertia
+                    ixx="${hip_rotor_ixx}" ixy="${hip_rotor_ixy}" ixz="${hip_rotor_ixz}"
+                    iyy="${hip_rotor_iyy}" iyz="${hip_rotor_iyz}"
+                    izz="${hip_rotor_izz}"/>              
+            </inertial>
+        </link>
 
         <joint name="${name}_thigh_joint" type="continuous">
             <origin rpy="0 0 0" xyz="0 ${thigh_offset*mirror} 0"/>
@@ -80,6 +116,12 @@
             <limit effort="${thigh_torque_max}" velocity="${thigh_velocity_max}"/>
         </joint>
 
+        <joint name="${name}_thigh_rotor_joint" type="fixed">
+            <origin rpy="0 0 0" xyz="${thigh_rotor_offset_x} ${thigh_rotor_offset_y*mirror} 0"/>
+            <parent link="${name}_hip"/>
+            <child link="${name}_thigh_rotor"/>         
+        </joint>
+
         <link name="${name}_thigh">
             <visual>
                 <origin rpy="0 0 0" xyz="0 0 0"/>
@@ -109,6 +151,30 @@
             </inertial>
         </link>
 
+        <link name="${name}_thigh_rotor">
+            <visual>
+                <origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
+                <geometry>
+                    <cylinder length="0.02" radius="0.035"/>
+                </geometry>
+                <material name="green"/>
+            </visual>
+            <collision>
+                <origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
+                <geometry>
+                    <cylinder length="0.02" radius="0.035"/>
+                </geometry>
+            </collision>
+            <inertial>
+                <origin rpy="0 0 0" xyz="${thigh_rotor_com_x} ${thigh_rotor_com_y} ${thigh_rotor_com_z}"/>
+                <mass value="${thigh_rotor_mass}"/>
+                <inertia
+                    ixx="${thigh_rotor_ixx}" ixy="${thigh_rotor_ixy}" ixz="${thigh_rotor_ixz}"
+                    iyy="${thigh_rotor_iyy}" iyz="${thigh_rotor_iyz}"
+                    izz="${thigh_rotor_izz}"/>       
+            </inertial>
+        </link>
+
         <joint name="${name}_calf_joint" type="revolute">
             <origin rpy="0 0 0" xyz="0 0 ${-thigh_length}"/>
             <parent link="${name}_thigh"/>
@@ -118,6 +184,12 @@
             <limit effort="${calf_torque_max}" velocity="${calf_velocity_max}" lower="${calf_position_min}" upper="${calf_position_max}"/>
         </joint>
 
+        <joint name="${name}_calf_rotor_joint" type="fixed">
+            <origin rpy="0 0 0" xyz="${calf_rotor_offset_x} ${calf_rotor_offset_y*mirror} 0"/>
+            <parent link="${name}_thigh"/>
+            <child link="${name}_calf_rotor"/>         
+        </joint>
+
         <link name="${name}_calf">
             <visual>
                 <origin rpy="0 0 0" xyz="0 0 0"/>
@@ -142,6 +214,30 @@
             </inertial>
         </link>
 
+        <link name="${name}_calf_rotor">
+            <visual>
+                <origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
+                <geometry>
+                    <cylinder length="0.02" radius="0.035"/>
+                </geometry>
+                <material name="green"/>
+            </visual>
+            <collision>
+                <origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
+                <geometry>
+                    <cylinder length="0.02" radius="0.035"/>
+                </geometry>
+            </collision>
+            <inertial>
+                <origin rpy="0 0 0" xyz="${calf_rotor_com_x} ${calf_rotor_com_y} ${calf_rotor_com_z}"/>
+                <mass value="${calf_rotor_mass}"/>
+                <inertia
+                    ixx="${calf_rotor_ixx}" ixy="${calf_rotor_ixy}" ixz="${calf_rotor_ixz}"
+                    iyy="${calf_rotor_iyy}" iyz="${calf_rotor_iyz}"
+                    izz="${calf_rotor_izz}"/>     
+            </inertial>
+        </link>
+
         <joint name="${name}_foot_fixed" type="fixed">
             <origin rpy="0 0 0" xyz="0 0 ${-(calf_length)}"/>
             <parent link="${name}_calf"/>
diff --git a/robots/aliengo_description/xacro/robot.xacro b/robots/aliengo_description/xacro/robot.xacro
index d2376ae..2ae1f8b 100644
--- a/robots/aliengo_description/xacro/robot.xacro
+++ b/robots/aliengo_description/xacro/robot.xacro
@@ -2,15 +2,13 @@
 
 <robot name="aliengo" xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-    <xacro:arg name="DEBUG" default="false"/>
-
     <xacro:include filename="$(find aliengo_description)/xacro/const.xacro"/>
     <xacro:include filename="$(find aliengo_description)/xacro/materials.xacro"/>
     <xacro:include filename="$(find aliengo_description)/xacro/leg.xacro"/>
     <xacro:include filename="$(find aliengo_description)/xacro/gazebo.xacro"/>
 
-    <!-- Rollover Protection mode will add an additional stick on the top, use "true" or "false" to switch it. -->
-    <xacro:property name="rolloverProtection" value="false"/>
+    <!-- Rotor related joint and link is only for demonstrate location. -->
+    <!-- Actually, the rotor will rotate and the joint is not fixed. Reduction ratio should be considered. -->
 
     <!-- Debug mode will hung up the robot, use "true" or "false" to switch it. -->
     <!-- <xacro:if value="$(arg DEBUG)">
@@ -67,37 +65,6 @@
         </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> 
-
     <joint name="imu_joint" type="fixed">
         <parent link="trunk"/>
         <child link="imu_link"/>
@@ -125,21 +92,10 @@
         </collision>
     </link>
 
-    <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:leg name="FR" mirror="-1" mirror_dae= "False" front_hind="1"  front_hind_dae="True"  />
+    <xacro:leg name="FL" mirror="1"  mirror_dae="True"   front_hind="1"  front_hind_dae="True"  />
+    <xacro:leg name="RR" mirror="-1" mirror_dae="False"  front_hind="-1" front_hind_dae="False" />
+    <xacro:leg name="RL" mirror="1"  mirror_dae="True"   front_hind="-1" front_hind_dae="False" />
 
     <!-- <xacro:stairs stairs="15" xpos="0" ypos="2.0" zpos="0" /> -->