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2025-04-03 20:00:18 -04:00 · 2021-09-18 10:42:37 -04:00 · 2021-09-18 10:42:37 -04:00 · 8cecde8917
commit 8cecde8917
37 changed files with 2618 additions and 0 deletions
--- a/olympian_description/CMakeLists.txt
+++ b/olympian_description/CMakeLists.txt
@ -0,0 +1,197 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(olympian_description)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  rospy
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES fusion2urdf
+#  CATKIN_DEPENDS rospy
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/fusion2urdf.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/fusion2urdf_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_fusion2urdf.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
--- a/olympian_description/LICENSE
+++ b/olympian_description/LICENSE
@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2018 Toshinori Kitamura
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
--- a/olympian_description/launch/controller.launch
+++ b/olympian_description/launch/controller.launch
@ -0,0 +1,9 @@
+<launch>
+
+<rosparam file="$(find olympian_description)/launch/controller.yaml" command="load"/>
+<node args="Rev1_position_controller Rev2_position_controller Rev3_position_controller Rev4_position_controller Rev5_position_controller Rev6_position_controller Rev7_position_controller Rev8_position_controller Rev9_position_controller Rev10_position_controller Rev11_position_controller Rev12_position_controller Rev13_position_controller Rev14_position_controller Rev15_position_controller Rev16_position_controller Rev19_position_controller Rev20_position_controller Rev21_position_controller Rev22_position_controller Rev23_position_controller Rev24_position_controller Rev25_position_controller joint_state_controller " name="controller_spawner" ns="olympian" output="screen" pkg="controller_manager" respawn="false" type="spawner"/>
+<node name="robot_state_publisher" output="screen" pkg="robot_state_publisher" respawn="false" type="robot_state_publisher">
+  <remap from="/joint_states" to="/olympian/joint_states"/>
+</node>
+
+</launch>
--- a/olympian_description/launch/controller.yaml
+++ b/olympian_description/launch/controller.yaml
@ -0,0 +1,99 @@
+olympian_controller:
+  # Publish all joint states -----------------------------------
+  joint_state_controller:
+    type: joint_state_controller/JointStateController
+    publish_rate: 50
+
+  # Position Controllers --------------------------------------
+  Rev1_position_controller:
+    type: effort_controllers/JointPositionController
+    joint: Rev1
+    pid: {p: 100.0, i: 0.01, d: 10.0}
+  Rev2_position_controller:
+    type: effort_controllers/JointPositionController
+    joint: Rev2
+    pid: {p: 100.0, i: 0.01, d: 10.0}
+  Rev3_position_controller:
+    type: effort_controllers/JointPositionController
+    joint: Rev3
+    pid: {p: 100.0, i: 0.01, d: 10.0}
+  Rev4_position_controller:
+    type: effort_controllers/JointPositionController
+    joint: Rev4
+    pid: {p: 100.0, i: 0.01, d: 10.0}
+  Rev5_position_controller:
+    type: effort_controllers/JointPositionController
+    joint: Rev5
+    pid: {p: 100.0, i: 0.01, d: 10.0}
+  Rev6_position_controller:
+    type: effort_controllers/JointPositionController
+    joint: Rev6
+    pid: {p: 100.0, i: 0.01, d: 10.0}
+  Rev7_position_controller:
+    type: effort_controllers/JointPositionController
+    joint: Rev7
+    pid: {p: 100.0, i: 0.01, d: 10.0}
+  Rev8_position_controller:
+    type: effort_controllers/JointPositionController
+    joint: Rev8
+    pid: {p: 100.0, i: 0.01, d: 10.0}
+  Rev9_position_controller:
+    type: effort_controllers/JointPositionController
+    joint: Rev9
+    pid: {p: 100.0, i: 0.01, d: 10.0}
+  Rev10_position_controller:
+    type: effort_controllers/JointPositionController
+    joint: Rev10
+    pid: {p: 100.0, i: 0.01, d: 10.0}
+  Rev11_position_controller:
+    type: effort_controllers/JointPositionController
+    joint: Rev11
+    pid: {p: 100.0, i: 0.01, d: 10.0}
+  Rev12_position_controller:
+    type: effort_controllers/JointPositionController
+    joint: Rev12
+    pid: {p: 100.0, i: 0.01, d: 10.0}
+  Rev13_position_controller:
+    type: effort_controllers/JointPositionController
+    joint: Rev13
+    pid: {p: 100.0, i: 0.01, d: 10.0}
+  Rev14_position_controller:
+    type: effort_controllers/JointPositionController
+    joint: Rev14
+    pid: {p: 100.0, i: 0.01, d: 10.0}
+  Rev15_position_controller:
+    type: effort_controllers/JointPositionController
+    joint: Rev15
+    pid: {p: 100.0, i: 0.01, d: 10.0}
+  Rev16_position_controller:
+    type: effort_controllers/JointPositionController
+    joint: Rev16
+    pid: {p: 100.0, i: 0.01, d: 10.0}
+  Rev19_position_controller:
+    type: effort_controllers/JointPositionController
+    joint: Rev19
+    pid: {p: 100.0, i: 0.01, d: 10.0}
+  Rev20_position_controller:
+    type: effort_controllers/JointPositionController
+    joint: Rev20
+    pid: {p: 100.0, i: 0.01, d: 10.0}
+  Rev21_position_controller:
+    type: effort_controllers/JointPositionController
+    joint: Rev21
+    pid: {p: 100.0, i: 0.01, d: 10.0}
+  Rev22_position_controller:
+    type: effort_controllers/JointPositionController
+    joint: Rev22
+    pid: {p: 100.0, i: 0.01, d: 10.0}
+  Rev23_position_controller:
+    type: effort_controllers/JointPositionController
+    joint: Rev23
+    pid: {p: 100.0, i: 0.01, d: 10.0}
+  Rev24_position_controller:
+    type: effort_controllers/JointPositionController
+    joint: Rev24
+    pid: {p: 100.0, i: 0.01, d: 10.0}
+  Rev25_position_controller:
+    type: effort_controllers/JointPositionController
+    joint: Rev25
+    pid: {p: 100.0, i: 0.01, d: 10.0}
--- a/olympian_description/launch/display.launch
+++ b/olympian_description/launch/display.launch
@ -0,0 +1,10 @@
+<launch>
+  <arg default="$(find olympian_description)/urdf/olympian.xacro" name="model"/>
+  <arg default="true" name="gui"/>
+  <arg default="$(find olympian_description)/launch/urdf.rviz" name="rvizconfig"/>
+  <param command="$(find xacro)/xacro $(arg model)" name="robot_description"/>
+  <param name="use_gui" value="$(arg gui)"/>
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"/>
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
+  <node args="-d $(arg rvizconfig)" name="rviz" pkg="rviz" required="true" type="rviz"/>
+</launch>
--- a/olympian_description/launch/gazebo.launch
+++ b/olympian_description/launch/gazebo.launch
@ -0,0 +1,11 @@
+<launch>
+  <param command="$(find xacro)/xacro $(find olympian_description)/urdf/olympian.xacro" name="robot_description"/>
+  <node args="-param robot_description -urdf -model olympian" name="spawn_urdf" pkg="gazebo_ros" type="spawn_model"/>
+  <include file="$(find gazebo_ros)/launch/empty_world.launch">
+    <arg name="paused" value="true"/>
+    <arg name="use_sim_time" value="true"/>
+    <arg name="gui" value="true"/>
+    <arg name="headless" value="false"/>
+    <arg name="debug" value="false"/>
+  </include>
+</launch>
--- a/olympian_description/launch/urdf.rviz
+++ b/olympian_description/launch/urdf.rviz
@ -0,0 +1,422 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /RobotModel1
+        - /TF1
+      Splitter Ratio: 0.5
+    Tree Height: 591
+  - 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: ""
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+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:
+        2dofknuckle_link_1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        2dofknuckle_link_10:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        2dofknuckle_link_2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        2dofknuckle_link_3:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        2dofknuckle_link_4:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        2dofknuckle_link_5:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        2dofknuckle_link_6:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        2dofknuckle_link_7:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        2dofknuckle_link_8:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        2dofknuckle_link_9:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        bucket_link_1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        face_link_1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        facebracket_link_1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        hcsr04_cans_link_1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        hcsr04_chips_link_1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        hcsr04_link_1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        leg_link_1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        leg_link_2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        leg_link_3:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        leg_link_4:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        lipo_link_1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        mg90_link_1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        mg90_link_10:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        mg90_link_2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        mg90_link_3:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        mg90_link_4:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        mg90_link_5:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        mg90_link_6:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        mg90_link_7:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        mg90_link_8:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        mg90_link_9:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        mpu9250_cap_link_1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        mpu9250_link_1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        mpu9250_mpu_link_1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        pizerow_cam_link_1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        pizerow_con_link_1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        pizerow_cpu_link_1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        pizerow_link_1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        raspicam_cam_link_1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        raspicam_chips_link_1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        raspicam_con_link_1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        raspicam_link_1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        servobottom_link_1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        servobottom_link_10:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        servobottom_link_2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        servobottom_link_3:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        servobottom_link_4:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        servobottom_link_5:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        servobottom_link_6:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        servobottom_link_7:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        servobottom_link_8:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        servobottom_link_9:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        shell_link_1:
+          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/TF
+      Enabled: false
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+      Marker Scale: 0.5
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        {}
+      Update Interval: 0
+      Value: false
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: base_link
+    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
+      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
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 0.34426525235176086
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: -0.0016349668148905039
+        Y: -0.014781012199819088
+        Z: 0.017814036458730698
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.46039697527885437
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.593582272529602
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 882
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd000000040000000000000142000002d9fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000037000002d9000000ca00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002d9fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000037000002d9000000a100fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004c000000044fc0100000002fb0000000800540069006d00650100000000000004c00000026b00fffffffb0000000800540069006d0065010000000000000450000000000000000000000267000002d900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1216
+  X: 700
+  Y: 385
--- a/olympian_description/meshes/Ankle_Link_v1_1.stl
+++ b/olympian_description/meshes/Ankle_Link_v1_1.stl
--- a/olympian_description/meshes/Ankle_Link_v1_2.stl
+++ b/olympian_description/meshes/Ankle_Link_v1_2.stl
--- a/olympian_description/meshes/Box_Head_v1_1.stl
+++ b/olympian_description/meshes/Box_Head_v1_1.stl
--- a/olympian_description/meshes/Chest_v6_1.stl
+++ b/olympian_description/meshes/Chest_v6_1.stl
--- a/olympian_description/meshes/Foot_v2_1.stl
+++ b/olympian_description/meshes/Foot_v2_1.stl
--- a/olympian_description/meshes/Foot_v2_2.stl
+++ b/olympian_description/meshes/Foot_v2_2.stl
--- a/olympian_description/meshes/Leg_Pitch_v2_1.stl
+++ b/olympian_description/meshes/Leg_Pitch_v2_1.stl
--- a/olympian_description/meshes/Leg_Pitch_v2_2.stl
+++ b/olympian_description/meshes/Leg_Pitch_v2_2.stl
--- a/olympian_description/meshes/Leg_Roll_v2_1.stl
+++ b/olympian_description/meshes/Leg_Roll_v2_1.stl
--- a/olympian_description/meshes/Leg_Roll_v2_2.stl
+++ b/olympian_description/meshes/Leg_Roll_v2_2.stl
--- a/olympian_description/meshes/Lower_Arm_v3_1.stl
+++ b/olympian_description/meshes/Lower_Arm_v3_1.stl
--- a/olympian_description/meshes/Lower_Arm_v3_2.stl
+++ b/olympian_description/meshes/Lower_Arm_v3_2.stl
--- a/olympian_description/meshes/Lower_Leg_v2_1.stl
+++ b/olympian_description/meshes/Lower_Leg_v2_1.stl
--- a/olympian_description/meshes/Lower_Leg_v2_2.stl
+++ b/olympian_description/meshes/Lower_Leg_v2_2.stl
--- a/olympian_description/meshes/Pelvis_v4_1.stl
+++ b/olympian_description/meshes/Pelvis_v4_1.stl
--- a/olympian_description/meshes/Upper_Arm_Link_type_b_v2_1.stl
+++ b/olympian_description/meshes/Upper_Arm_Link_type_b_v2_1.stl
--- a/olympian_description/meshes/Upper_Arm_Link_type_b_v2_2.stl
+++ b/olympian_description/meshes/Upper_Arm_Link_type_b_v2_2.stl
--- a/olympian_description/meshes/Upper_Arm_Roll_Link_v2_1.stl
+++ b/olympian_description/meshes/Upper_Arm_Roll_Link_v2_1.stl
--- a/olympian_description/meshes/Upper_Arm_Roll_Link_v2_2.stl
+++ b/olympian_description/meshes/Upper_Arm_Roll_Link_v2_2.stl
--- a/olympian_description/meshes/Upper_Arm_v8_1.stl
+++ b/olympian_description/meshes/Upper_Arm_v8_1.stl
--- a/olympian_description/meshes/Upper_Arm_v8_3.stl
+++ b/olympian_description/meshes/Upper_Arm_v8_3.stl
--- a/olympian_description/meshes/Upper_Leg_v1_1.stl
+++ b/olympian_description/meshes/Upper_Leg_v1_1.stl
--- a/olympian_description/meshes/Upper_Leg_v1_2.stl
+++ b/olympian_description/meshes/Upper_Leg_v1_2.stl
--- a/olympian_description/meshes/base_link.stl
+++ b/olympian_description/meshes/base_link.stl
--- a/olympian_description/package.xml
+++ b/olympian_description/package.xml
@ -0,0 +1,62 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>olympian_description</name>
+  <version>0.0.0</version>
+<description>The olympian_description package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="syuntoku14@todo.todo">syuntoku14</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/fusion2urdf</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>rospy</build_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <exec_depend>rospy</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
--- a/olympian_description/urdf/materials.xacro
+++ b/olympian_description/urdf/materials.xacro
@ -0,0 +1,8 @@
+<?xml version="1.0" ?>
+<robot name="olympian" xmlns:xacro="http://www.ros.org/wiki/xacro" >
+
+<material name="silver_default">
+  <color rgba="0.700 0.700 0.700 1.000"/>
+</material>
+
+</robot>
--- a/olympian_description/urdf/olympian.gazebo
+++ b/olympian_description/urdf/olympian.gazebo
@ -0,0 +1,178 @@
+<?xml version="1.0" ?>
+<robot name="olympian" xmlns:xacro="http://www.ros.org/wiki/xacro" >
+
+<xacro:property name="body_color" value="Gazebo/Silver" />
+
+<gazebo>
+  <plugin filename="libgazebo_ros_control.so" name="control"/>
+</gazebo>
+<gazebo reference="base_link">
+  <material>${body_color}</material>
+  <mu1>0.2</mu1>
+  <mu2>0.2</mu2>
+  <selfCollide>true</selfCollide>
+  <gravity>true</gravity>
+</gazebo>
+
+<gazebo reference="Pelvis_v4_1">
+  <material>${body_color}</material>
+  <mu1>0.2</mu1>
+  <mu2>0.2</mu2>
+  <selfCollide>true</selfCollide>
+</gazebo>
+
+<gazebo reference="Chest_v6_1">
+  <material>${body_color}</material>
+  <mu1>0.2</mu1>
+  <mu2>0.2</mu2>
+  <selfCollide>true</selfCollide>
+</gazebo>
+
+<gazebo reference="Upper_Arm_Link_type_b_v2_1">
+  <material>${body_color}</material>
+  <mu1>0.2</mu1>
+  <mu2>0.2</mu2>
+  <selfCollide>true</selfCollide>
+</gazebo>
+
+<gazebo reference="Upper_Arm_Roll_Link_v2_1">
+  <material>${body_color}</material>
+  <mu1>0.2</mu1>
+  <mu2>0.2</mu2>
+  <selfCollide>true</selfCollide>
+</gazebo>
+
+<gazebo reference="Upper_Arm_v8_1">
+  <material>${body_color}</material>
+  <mu1>0.2</mu1>
+  <mu2>0.2</mu2>
+  <selfCollide>true</selfCollide>
+</gazebo>
+
+<gazebo reference="Lower_Arm_v3_1">
+  <material>${body_color}</material>
+  <mu1>0.2</mu1>
+  <mu2>0.2</mu2>
+  <selfCollide>true</selfCollide>
+</gazebo>
+
+<gazebo reference="Upper_Arm_Link_type_b_v2_2">
+  <material>${body_color}</material>
+  <mu1>0.2</mu1>
+  <mu2>0.2</mu2>
+  <selfCollide>true</selfCollide>
+</gazebo>
+
+<gazebo reference="Upper_Arm_Roll_Link_v2_2">
+  <material>${body_color}</material>
+  <mu1>0.2</mu1>
+  <mu2>0.2</mu2>
+  <selfCollide>true</selfCollide>
+</gazebo>
+
+<gazebo reference="Upper_Arm_v8_3">
+  <material>${body_color}</material>
+  <mu1>0.2</mu1>
+  <mu2>0.2</mu2>
+  <selfCollide>true</selfCollide>
+</gazebo>
+
+<gazebo reference="Lower_Arm_v3_2">
+  <material>${body_color}</material>
+  <mu1>0.2</mu1>
+  <mu2>0.2</mu2>
+  <selfCollide>true</selfCollide>
+</gazebo>
+
+<gazebo reference="Box_Head_v1_1">
+  <material>${body_color}</material>
+  <mu1>0.2</mu1>
+  <mu2>0.2</mu2>
+  <selfCollide>true</selfCollide>
+</gazebo>
+
+<gazebo reference="Leg_Pitch_v2_1">
+  <material>${body_color}</material>
+  <mu1>0.2</mu1>
+  <mu2>0.2</mu2>
+  <selfCollide>true</selfCollide>
+</gazebo>
+
+<gazebo reference="Leg_Roll_v2_1">
+  <material>${body_color}</material>
+  <mu1>0.2</mu1>
+  <mu2>0.2</mu2>
+  <selfCollide>true</selfCollide>
+</gazebo>
+
+<gazebo reference="Upper_Leg_v1_1">
+  <material>${body_color}</material>
+  <mu1>0.2</mu1>
+  <mu2>0.2</mu2>
+  <selfCollide>true</selfCollide>
+</gazebo>
+
+<gazebo reference="Lower_Leg_v2_1">
+  <material>${body_color}</material>
+  <mu1>0.2</mu1>
+  <mu2>0.2</mu2>
+  <selfCollide>true</selfCollide>
+</gazebo>
+
+<gazebo reference="Ankle_Link_v1_1">
+  <material>${body_color}</material>
+  <mu1>0.2</mu1>
+  <mu2>0.2</mu2>
+  <selfCollide>true</selfCollide>
+</gazebo>
+
+<gazebo reference="Foot_v2_1">
+  <material>${body_color}</material>
+  <mu1>0.2</mu1>
+  <mu2>0.2</mu2>
+  <selfCollide>true</selfCollide>
+</gazebo>
+
+<gazebo reference="Leg_Pitch_v2_2">
+  <material>${body_color}</material>
+  <mu1>0.2</mu1>
+  <mu2>0.2</mu2>
+  <selfCollide>true</selfCollide>
+</gazebo>
+
+<gazebo reference="Leg_Roll_v2_2">
+  <material>${body_color}</material>
+  <mu1>0.2</mu1>
+  <mu2>0.2</mu2>
+  <selfCollide>true</selfCollide>
+</gazebo>
+
+<gazebo reference="Upper_Leg_v1_2">
+  <material>${body_color}</material>
+  <mu1>0.2</mu1>
+  <mu2>0.2</mu2>
+  <selfCollide>true</selfCollide>
+</gazebo>
+
+<gazebo reference="Lower_Leg_v2_2">
+  <material>${body_color}</material>
+  <mu1>0.2</mu1>
+  <mu2>0.2</mu2>
+  <selfCollide>true</selfCollide>
+</gazebo>
+
+<gazebo reference="Ankle_Link_v1_2">
+  <material>${body_color}</material>
+  <mu1>0.2</mu1>
+  <mu2>0.2</mu2>
+  <selfCollide>true</selfCollide>
+</gazebo>
+
+<gazebo reference="Foot_v2_2">
+  <material>${body_color}</material>
+  <mu1>0.2</mu1>
+  <mu2>0.2</mu2>
+  <selfCollide>true</selfCollide>
+</gazebo>
+
+</robot>
--- a/olympian_description/urdf/olympian.trans
+++ b/olympian_description/urdf/olympian.trans
@ -0,0 +1,257 @@
+<?xml version="1.0" ?>
+<robot name="olympian" xmlns:xacro="http://www.ros.org/wiki/xacro" >
+
+<transmission name="Rev1_tran">
+  <type>transmission_interface/SimpleTransmission</type>
+  <joint name="Rev1">
+    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+  </joint>
+  <actuator name="Rev1_actr">
+    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    <mechanicalReduction>1</mechanicalReduction>
+  </actuator>
+</transmission>
+
+<transmission name="Rev2_tran">
+  <type>transmission_interface/SimpleTransmission</type>
+  <joint name="Rev2">
+    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+  </joint>
+  <actuator name="Rev2_actr">
+    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    <mechanicalReduction>1</mechanicalReduction>
+  </actuator>
+</transmission>
+
+<transmission name="Rev3_tran">
+  <type>transmission_interface/SimpleTransmission</type>
+  <joint name="Rev3">
+    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+  </joint>
+  <actuator name="Rev3_actr">
+    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    <mechanicalReduction>1</mechanicalReduction>
+  </actuator>
+</transmission>
+
+<transmission name="Rev4_tran">
+  <type>transmission_interface/SimpleTransmission</type>
+  <joint name="Rev4">
+    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+  </joint>
+  <actuator name="Rev4_actr">
+    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    <mechanicalReduction>1</mechanicalReduction>
+  </actuator>
+</transmission>
+
+<transmission name="Rev5_tran">
+  <type>transmission_interface/SimpleTransmission</type>
+  <joint name="Rev5">
+    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+  </joint>
+  <actuator name="Rev5_actr">
+    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    <mechanicalReduction>1</mechanicalReduction>
+  </actuator>
+</transmission>
+
+<transmission name="Rev6_tran">
+  <type>transmission_interface/SimpleTransmission</type>
+  <joint name="Rev6">
+    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+  </joint>
+  <actuator name="Rev6_actr">
+    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    <mechanicalReduction>1</mechanicalReduction>
+  </actuator>
+</transmission>
+
+<transmission name="Rev7_tran">
+  <type>transmission_interface/SimpleTransmission</type>
+  <joint name="Rev7">
+    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+  </joint>
+  <actuator name="Rev7_actr">
+    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    <mechanicalReduction>1</mechanicalReduction>
+  </actuator>
+</transmission>
+
+<transmission name="Rev8_tran">
+  <type>transmission_interface/SimpleTransmission</type>
+  <joint name="Rev8">
+    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+  </joint>
+  <actuator name="Rev8_actr">
+    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    <mechanicalReduction>1</mechanicalReduction>
+  </actuator>
+</transmission>
+
+<transmission name="Rev9_tran">
+  <type>transmission_interface/SimpleTransmission</type>
+  <joint name="Rev9">
+    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+  </joint>
+  <actuator name="Rev9_actr">
+    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    <mechanicalReduction>1</mechanicalReduction>
+  </actuator>
+</transmission>
+
+<transmission name="Rev10_tran">
+  <type>transmission_interface/SimpleTransmission</type>
+  <joint name="Rev10">
+    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+  </joint>
+  <actuator name="Rev10_actr">
+    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    <mechanicalReduction>1</mechanicalReduction>
+  </actuator>
+</transmission>
+
+<transmission name="Rev11_tran">
+  <type>transmission_interface/SimpleTransmission</type>
+  <joint name="Rev11">
+    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+  </joint>
+  <actuator name="Rev11_actr">
+    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    <mechanicalReduction>1</mechanicalReduction>
+  </actuator>
+</transmission>
+
+<transmission name="Rev12_tran">
+  <type>transmission_interface/SimpleTransmission</type>
+  <joint name="Rev12">
+    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+  </joint>
+  <actuator name="Rev12_actr">
+    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    <mechanicalReduction>1</mechanicalReduction>
+  </actuator>
+</transmission>
+
+<transmission name="Rev13_tran">
+  <type>transmission_interface/SimpleTransmission</type>
+  <joint name="Rev13">
+    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+  </joint>
+  <actuator name="Rev13_actr">
+    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    <mechanicalReduction>1</mechanicalReduction>
+  </actuator>
+</transmission>
+
+<transmission name="Rev14_tran">
+  <type>transmission_interface/SimpleTransmission</type>
+  <joint name="Rev14">
+    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+  </joint>
+  <actuator name="Rev14_actr">
+    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    <mechanicalReduction>1</mechanicalReduction>
+  </actuator>
+</transmission>
+
+<transmission name="Rev15_tran">
+  <type>transmission_interface/SimpleTransmission</type>
+  <joint name="Rev15">
+    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+  </joint>
+  <actuator name="Rev15_actr">
+    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    <mechanicalReduction>1</mechanicalReduction>
+  </actuator>
+</transmission>
+
+<transmission name="Rev16_tran">
+  <type>transmission_interface/SimpleTransmission</type>
+  <joint name="Rev16">
+    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+  </joint>
+  <actuator name="Rev16_actr">
+    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    <mechanicalReduction>1</mechanicalReduction>
+  </actuator>
+</transmission>
+
+<transmission name="Rev19_tran">
+  <type>transmission_interface/SimpleTransmission</type>
+  <joint name="Rev19">
+    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+  </joint>
+  <actuator name="Rev19_actr">
+    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    <mechanicalReduction>1</mechanicalReduction>
+  </actuator>
+</transmission>
+
+<transmission name="Rev20_tran">
+  <type>transmission_interface/SimpleTransmission</type>
+  <joint name="Rev20">
+    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+  </joint>
+  <actuator name="Rev20_actr">
+    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    <mechanicalReduction>1</mechanicalReduction>
+  </actuator>
+</transmission>
+
+<transmission name="Rev21_tran">
+  <type>transmission_interface/SimpleTransmission</type>
+  <joint name="Rev21">
+    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+  </joint>
+  <actuator name="Rev21_actr">
+    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    <mechanicalReduction>1</mechanicalReduction>
+  </actuator>
+</transmission>
+
+<transmission name="Rev22_tran">
+  <type>transmission_interface/SimpleTransmission</type>
+  <joint name="Rev22">
+    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+  </joint>
+  <actuator name="Rev22_actr">
+    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    <mechanicalReduction>1</mechanicalReduction>
+  </actuator>
+</transmission>
+
+<transmission name="Rev23_tran">
+  <type>transmission_interface/SimpleTransmission</type>
+  <joint name="Rev23">
+    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+  </joint>
+  <actuator name="Rev23_actr">
+    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    <mechanicalReduction>1</mechanicalReduction>
+  </actuator>
+</transmission>
+
+<transmission name="Rev24_tran">
+  <type>transmission_interface/SimpleTransmission</type>
+  <joint name="Rev24">
+    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+  </joint>
+  <actuator name="Rev24_actr">
+    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    <mechanicalReduction>1</mechanicalReduction>
+  </actuator>
+</transmission>
+
+<transmission name="Rev25_tran">
+  <type>transmission_interface/SimpleTransmission</type>
+  <joint name="Rev25">
+    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+  </joint>
+  <actuator name="Rev25_actr">
+    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    <mechanicalReduction>1</mechanicalReduction>
+  </actuator>
+</transmission>
+
+</robot>
--- a/olympian_description/urdf/olympian.urdf
+++ b/olympian_description/urdf/olympian.urdf
@ -0,0 +1,672 @@
+<?xml version="1.0" ?>
+<robot name="olympian" xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+<xacro:include filename="$(find olympian_description)/urdf/materials.xacro" />
+<xacro:include filename="$(find olympian_description)/urdf/olympian.trans" />
+<xacro:include filename="$(find olympian_description)/urdf/olympian.gazebo" />
+<link name="base_link">
+  <inertial>
+    <origin rpy="0 0 0" xyz="0.10000000000000034 8.881784197001253e-17 0.05957001251491219"/>
+    <mass value="34.903843895667485"/>
+    <inertia ixx="0.175872" ixy="-0.0" ixz="0.0" iyy="0.164602" iyz="0.0" izz="0.225801"/>
+  </inertial>
+  <visual>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <geometry>
+      <mesh filename="package://olympian_description/meshes/base_link.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+    <material name="silver_default"/>
+  </visual>
+  <collision>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <geometry>
+      <mesh filename="package://olympian_description/meshes/base_link.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+  </collision>
+</link>
+
+<link name="Pelvis_v4_1">
+  <inertial>
+    <origin rpy="0 0 0" xyz="2.498001805406602e-16 0.0500000000000002 0.03191605226834057"/>
+    <mass value="10.30095363483622"/>
+    <inertia ixx="0.029727" ixy="-0.0" ixz="0.0" iyy="0.02765" iyz="0.0" izz="0.014128"/>
+  </inertial>
+  <visual>
+    <origin rpy="0 0 0" xyz="-0.1 0.05 -0.15"/>
+    <geometry>
+      <mesh filename="package://olympian_description/meshes/Pelvis_v4_1.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+    <material name="silver_default"/>
+  </visual>
+  <collision>
+    <origin rpy="0 0 0" xyz="-0.1 0.05 -0.15"/>
+    <geometry>
+      <mesh filename="package://olympian_description/meshes/Pelvis_v4_1.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+  </collision>
+</link>
+
+<link name="Chest_v6_1">
+  <inertial>
+    <origin rpy="0 0 0" xyz="0.03750000000000035 -7.105427357601002e-17 0.45087381467752496"/>
+    <mass value="145.13172277947197"/>
+    <inertia ixx="6.773723" ixy="-0.0" ixz="-0.0" iyy="4.667023" iyz="-0.0" izz="4.228166"/>
+  </inertial>
+  <visual>
+    <origin rpy="0 0 0" xyz="-0.0625 -0.0 -0.225"/>
+    <geometry>
+      <mesh filename="package://olympian_description/meshes/Chest_v6_1.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+    <material name="silver_default"/>
+  </visual>
+  <collision>
+    <origin rpy="0 0 0" xyz="-0.0625 -0.0 -0.225"/>
+    <geometry>
+      <mesh filename="package://olympian_description/meshes/Chest_v6_1.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+  </collision>
+</link>
+
+<link name="Upper_Arm_Link_type_b_v2_1">
+  <inertial>
+    <origin rpy="0 0 0" xyz="4.579669976578771e-16 -0.05271922262745299 0.0006659141958417214"/>
+    <mass value="5.046273473916873"/>
+    <inertia ixx="0.006349" ixy="0.0" ixz="0.0" iyy="0.005703" iyz="0.000139" izz="0.007446"/>
+  </inertial>
+  <visual>
+    <origin rpy="0 0 0" xyz="-0.1 0.275 -0.7414"/>
+    <geometry>
+      <mesh filename="package://olympian_description/meshes/Upper_Arm_Link_type_b_v2_1.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+    <material name="silver_default"/>
+  </visual>
+  <collision>
+    <origin rpy="0 0 0" xyz="-0.1 0.275 -0.7414"/>
+    <geometry>
+      <mesh filename="package://olympian_description/meshes/Upper_Arm_Link_type_b_v2_1.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+  </collision>
+</link>
+
+<link name="Upper_Arm_Roll_Link_v2_1">
+  <inertial>
+    <origin rpy="0 0 0" xyz="0.050000000000000336 1.4970486073018208e-08 -0.030350873813621115"/>
+    <mass value="2.175711504614426"/>
+    <inertia ixx="0.002797" ixy="-0.0" ixz="0.0" iyy="0.007577" iyz="-0.0" izz="0.007735"/>
+  </inertial>
+  <visual>
+    <origin rpy="0 0 0" xyz="-0.05 0.35 -0.7289"/>
+    <geometry>
+      <mesh filename="package://olympian_description/meshes/Upper_Arm_Roll_Link_v2_1.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+    <material name="silver_default"/>
+  </visual>
+  <collision>
+    <origin rpy="0 0 0" xyz="-0.05 0.35 -0.7289"/>
+    <geometry>
+      <mesh filename="package://olympian_description/meshes/Upper_Arm_Roll_Link_v2_1.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+  </collision>
+</link>
+
+<link name="Upper_Arm_v8_1">
+  <inertial>
+    <origin rpy="0 0 0" xyz="4.0245584642661925e-16 -7.604189611321033e-09 -0.19774626995834443"/>
+    <mass value="6.439166560687236"/>
+    <inertia ixx="0.118193" ixy="0.0" ixz="0.0" iyy="0.122973" iyz="-0.0" izz="0.024599"/>
+  </inertial>
+  <visual>
+    <origin rpy="0 0 0" xyz="-0.1 0.35 -0.67255"/>
+    <geometry>
+      <mesh filename="package://olympian_description/meshes/Upper_Arm_v8_1.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+    <material name="silver_default"/>
+  </visual>
+  <collision>
+    <origin rpy="0 0 0" xyz="-0.1 0.35 -0.67255"/>
+    <geometry>
+      <mesh filename="package://olympian_description/meshes/Upper_Arm_v8_1.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+  </collision>
+</link>
+
+<link name="Lower_Arm_v3_1">
+  <inertial>
+    <origin rpy="0 0 0" xyz="-0.049999999999999475 0.0 -0.18053962725766542"/>
+    <mass value="9.41884357592523"/>
+    <inertia ixx="0.221573" ixy="0.0" ixz="0.0" iyy="0.223321" iyz="0.0" izz="0.024075"/>
+  </inertial>
+  <visual>
+    <origin rpy="0 0 0" xyz="-0.15 0.35 -0.30505"/>
+    <geometry>
+      <mesh filename="package://olympian_description/meshes/Lower_Arm_v3_1.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+    <material name="silver_default"/>
+  </visual>
+  <collision>
+    <origin rpy="0 0 0" xyz="-0.15 0.35 -0.30505"/>
+    <geometry>
+      <mesh filename="package://olympian_description/meshes/Lower_Arm_v3_1.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+  </collision>
+</link>
+
+<link name="Upper_Arm_Link_type_b_v2_2">
+  <inertial>
+    <origin rpy="0 0 0" xyz="2.0816681711721685e-16 0.05271922262745321 0.0006659141958419434"/>
+    <mass value="5.046273473916873"/>
+    <inertia ixx="0.006349" ixy="0.0" ixz="-0.0" iyy="0.005703" iyz="-0.000139" izz="0.007446"/>
+  </inertial>
+  <visual>
+    <origin rpy="0 0 0" xyz="-0.1 -0.275 -0.7414"/>
+    <geometry>
+      <mesh filename="package://olympian_description/meshes/Upper_Arm_Link_type_b_v2_2.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+    <material name="silver_default"/>
+  </visual>
+  <collision>
+    <origin rpy="0 0 0" xyz="-0.1 -0.275 -0.7414"/>
+    <geometry>
+      <mesh filename="package://olympian_description/meshes/Upper_Arm_Link_type_b_v2_2.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+  </collision>
+</link>
+
+<link name="Upper_Arm_Roll_Link_v2_2">
+  <inertial>
+    <origin rpy="0 0 0" xyz="0.05000000000000013 1.497048701670778e-08 -0.030350873813620893"/>
+    <mass value="2.175711504614426"/>
+    <inertia ixx="0.002797" ixy="0.0" ixz="0.0" iyy="0.007577" iyz="-0.0" izz="0.007735"/>
+  </inertial>
+  <visual>
+    <origin rpy="0 0 0" xyz="-0.05 -0.35 -0.7289"/>
+    <geometry>
+      <mesh filename="package://olympian_description/meshes/Upper_Arm_Roll_Link_v2_2.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+    <material name="silver_default"/>
+  </visual>
+  <collision>
+    <origin rpy="0 0 0" xyz="-0.05 -0.35 -0.7289"/>
+    <geometry>
+      <mesh filename="package://olympian_description/meshes/Upper_Arm_Roll_Link_v2_2.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+  </collision>
+</link>
+
+<link name="Upper_Arm_v8_3">
+  <inertial>
+    <origin rpy="0 0 0" xyz="4.440892098500626e-16 -7.604188889676067e-09 -0.19774626995834454"/>
+    <mass value="6.439166560687236"/>
+    <inertia ixx="0.118193" ixy="0.0" ixz="0.0" iyy="0.122973" iyz="-0.0" izz="0.024599"/>
+  </inertial>
+  <visual>
+    <origin rpy="0 0 0" xyz="-0.1 -0.35 -0.67255"/>
+    <geometry>
+      <mesh filename="package://olympian_description/meshes/Upper_Arm_v8_3.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+    <material name="silver_default"/>
+  </visual>
+  <collision>
+    <origin rpy="0 0 0" xyz="-0.1 -0.35 -0.67255"/>
+    <geometry>
+      <mesh filename="package://olympian_description/meshes/Upper_Arm_v8_3.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+  </collision>
+</link>
+
+<link name="Lower_Arm_v3_2">
+  <inertial>
+    <origin rpy="0 0 0" xyz="0.05000000000000035 7.216449660063518e-16 -0.18053962725766523"/>
+    <mass value="9.41884357592523"/>
+    <inertia ixx="0.221573" ixy="-0.0" ixz="0.0" iyy="0.223321" iyz="0.0" izz="0.024075"/>
+  </inertial>
+  <visual>
+    <origin rpy="0 0 0" xyz="-0.05 -0.35 -0.30505"/>
+    <geometry>
+      <mesh filename="package://olympian_description/meshes/Lower_Arm_v3_2.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+    <material name="silver_default"/>
+  </visual>
+  <collision>
+    <origin rpy="0 0 0" xyz="-0.05 -0.35 -0.30505"/>
+    <geometry>
+      <mesh filename="package://olympian_description/meshes/Lower_Arm_v3_2.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+  </collision>
+</link>
+
+<link name="Box_Head_v1_1">
+  <inertial>
+    <origin rpy="0 0 0" xyz="-4.163336342344337e-17 8.881784197001253e-17 0.12700000029388203"/>
+    <mass value="128.63845239999998"/>
+    <inertia ixx="1.383206" ixy="-0.0" ixz="-0.0" iyy="1.383206" iyz="-0.0" izz="1.383206"/>
+  </inertial>
+  <visual>
+    <origin rpy="0 0 0" xyz="-0.1 -0.0 -0.7914"/>
+    <geometry>
+      <mesh filename="package://olympian_description/meshes/Box_Head_v1_1.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+    <material name="silver_default"/>
+  </visual>
+  <collision>
+    <origin rpy="0 0 0" xyz="-0.1 -0.0 -0.7914"/>
+    <geometry>
+      <mesh filename="package://olympian_description/meshes/Box_Head_v1_1.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+  </collision>
+</link>
+
+<link name="Leg_Pitch_v2_1">
+  <inertial>
+    <origin rpy="0 0 0" xyz="3.3306690738754696e-16 -0.04779855830915972 0.002201441690840286"/>
+    <mass value="11.143265843501238"/>
+    <inertia ixx="0.017501" ixy="-0.0" ixz="0.0" iyy="0.029644" iyz="0.000974" izz="0.029644"/>
+  </inertial>
+  <visual>
+    <origin rpy="0 0 0" xyz="-0.1 0.1 -0.05"/>
+    <geometry>
+      <mesh filename="package://olympian_description/meshes/Leg_Pitch_v2_1.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+    <material name="silver_default"/>
+  </visual>
+  <collision>
+    <origin rpy="0 0 0" xyz="-0.1 0.1 -0.05"/>
+    <geometry>
+      <mesh filename="package://olympian_description/meshes/Leg_Pitch_v2_1.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+  </collision>
+</link>
+
+<link name="Leg_Roll_v2_1">
+  <inertial>
+    <origin rpy="0 0 0" xyz="0.07500000000000034 2.7755575615628914e-17 -0.03522306705344444"/>
+    <mass value="7.428843895667491"/>
+    <inertia ixx="0.014788" ixy="0.0" ixz="0.0" iyy="0.049011" iyz="0.0" izz="0.045962"/>
+  </inertial>
+  <visual>
+    <origin rpy="0 0 0" xyz="-0.025 0.15 -0.05"/>
+    <geometry>
+      <mesh filename="package://olympian_description/meshes/Leg_Roll_v2_1.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+    <material name="silver_default"/>
+  </visual>
+  <collision>
+    <origin rpy="0 0 0" xyz="-0.025 0.15 -0.05"/>
+    <geometry>
+      <mesh filename="package://olympian_description/meshes/Leg_Roll_v2_1.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+  </collision>
+</link>
+
+<link name="Upper_Leg_v1_1">
+  <inertial>
+    <origin rpy="0 0 0" xyz="9.71445146547012e-17 5.551115123125783e-17 -0.1397149960614681"/>
+    <mass value="15.877505980409534"/>
+    <inertia ixx="0.244989" ixy="-0.0" ixz="0.0" iyy="0.24065" iyz="0.0" izz="0.08503"/>
+  </inertial>
+  <visual>
+    <origin rpy="0 0 0" xyz="-0.1 0.15 0.025"/>
+    <geometry>
+      <mesh filename="package://olympian_description/meshes/Upper_Leg_v1_1.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+    <material name="silver_default"/>
+  </visual>
+  <collision>
+    <origin rpy="0 0 0" xyz="-0.1 0.15 0.025"/>
+    <geometry>
+      <mesh filename="package://olympian_description/meshes/Upper_Leg_v1_1.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+  </collision>
+</link>
+
+<link name="Lower_Leg_v2_1">
+  <inertial>
+    <origin rpy="0 0 0" xyz="1.3877787807814457e-17 0.050000000000000155 -0.11213737482236147"/>
+    <mass value="12.32207294390752"/>
+    <inertia ixx="0.15858" ixy="-0.0" ixz="0.0" iyy="0.157094" iyz="0.0" izz="0.021244"/>
+  </inertial>
+  <visual>
+    <origin rpy="0 0 0" xyz="-0.1 0.2 0.3232"/>
+    <geometry>
+      <mesh filename="package://olympian_description/meshes/Lower_Leg_v2_1.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+    <material name="silver_default"/>
+  </visual>
+  <collision>
+    <origin rpy="0 0 0" xyz="-0.1 0.2 0.3232"/>
+    <geometry>
+      <mesh filename="package://olympian_description/meshes/Lower_Leg_v2_1.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+  </collision>
+</link>
+
+<link name="Ankle_Link_v1_1">
+  <inertial>
+    <origin rpy="0 0 0" xyz="0.030000000000000276 4.163336342344337e-16 -0.015275835790493186"/>
+    <mass value="1.1526300466135975"/>
+    <inertia ixx="0.000552" ixy="0.0" ixz="0.0" iyy="0.000715" iyz="0.0" izz="0.00045"/>
+  </inertial>
+  <visual>
+    <origin rpy="0 0 0" xyz="-0.07 0.15 0.6764"/>
+    <geometry>
+      <mesh filename="package://olympian_description/meshes/Ankle_Link_v1_1.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+    <material name="silver_default"/>
+  </visual>
+  <collision>
+    <origin rpy="0 0 0" xyz="-0.07 0.15 0.6764"/>
+    <geometry>
+      <mesh filename="package://olympian_description/meshes/Ankle_Link_v1_1.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+  </collision>
+</link>
+
+<link name="Foot_v2_1">
+  <inertial>
+    <origin rpy="0 0 0" xyz="0.03625642783113028 0.019685521169741094 -0.04039401004788612"/>
+    <mass value="4.897531572251076"/>
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+  </inertial>
+  <visual>
+    <origin rpy="0 0 0" xyz="-0.1 0.17 0.7114"/>
+    <geometry>
+      <mesh filename="package://olympian_description/meshes/Foot_v2_1.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+    <material name="silver_default"/>
+  </visual>
+  <collision>
+    <origin rpy="0 0 0" xyz="-0.1 0.17 0.7114"/>
+    <geometry>
+      <mesh filename="package://olympian_description/meshes/Foot_v2_1.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+  </collision>
+</link>
+
+<link name="Leg_Pitch_v2_2">
+  <inertial>
+    <origin rpy="0 0 0" xyz="1.5265566588595902e-16 0.047798558309159994 0.0022014416908403833"/>
+    <mass value="11.143265843501238"/>
+    <inertia ixx="0.017501" ixy="-0.0" ixz="0.0" iyy="0.029644" iyz="-0.000974" izz="0.029644"/>
+  </inertial>
+  <visual>
+    <origin rpy="0 0 0" xyz="-0.1 -0.1 -0.05"/>
+    <geometry>
+      <mesh filename="package://olympian_description/meshes/Leg_Pitch_v2_2.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+    <material name="silver_default"/>
+  </visual>
+  <collision>
+    <origin rpy="0 0 0" xyz="-0.1 -0.1 -0.05"/>
+    <geometry>
+      <mesh filename="package://olympian_description/meshes/Leg_Pitch_v2_2.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+  </collision>
+</link>
+
+<link name="Leg_Roll_v2_2">
+  <inertial>
+    <origin rpy="0 0 0" xyz="0.07500000000000034 4.718447854656915e-16 -0.03522306705344429"/>
+    <mass value="7.428843895667491"/>
+    <inertia ixx="0.014788" ixy="-0.0" ixz="0.0" iyy="0.049011" iyz="0.0" izz="0.045962"/>
+  </inertial>
+  <visual>
+    <origin rpy="0 0 0" xyz="-0.025 -0.15 -0.05"/>
+    <geometry>
+      <mesh filename="package://olympian_description/meshes/Leg_Roll_v2_2.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+    <material name="silver_default"/>
+  </visual>
+  <collision>
+    <origin rpy="0 0 0" xyz="-0.025 -0.15 -0.05"/>
+    <geometry>
+      <mesh filename="package://olympian_description/meshes/Leg_Roll_v2_2.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+  </collision>
+</link>
+
+<link name="Upper_Leg_v1_2">
+  <inertial>
+    <origin rpy="0 0 0" xyz="1.3877787807814457e-16 4.440892098500626e-16 -0.139714996061468"/>
+    <mass value="15.877505980409534"/>
+    <inertia ixx="0.244989" ixy="-0.0" ixz="0.0" iyy="0.24065" iyz="0.0" izz="0.08503"/>
+  </inertial>
+  <visual>
+    <origin rpy="0 0 0" xyz="-0.1 -0.15 0.025"/>
+    <geometry>
+      <mesh filename="package://olympian_description/meshes/Upper_Leg_v1_2.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+    <material name="silver_default"/>
+  </visual>
+  <collision>
+    <origin rpy="0 0 0" xyz="-0.1 -0.15 0.025"/>
+    <geometry>
+      <mesh filename="package://olympian_description/meshes/Upper_Leg_v1_2.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+  </collision>
+</link>
+
+<link name="Lower_Leg_v2_2">
+  <inertial>
+    <origin rpy="0 0 0" xyz="4.0245584642661925e-16 -0.04999999999999913 -0.1121373748223618"/>
+    <mass value="12.32207294390752"/>
+    <inertia ixx="0.15858" ixy="0.0" ixz="-0.0" iyy="0.157094" iyz="-0.0" izz="0.021244"/>
+  </inertial>
+  <visual>
+    <origin rpy="0 0 0" xyz="-0.1 -0.2 0.3232"/>
+    <geometry>
+      <mesh filename="package://olympian_description/meshes/Lower_Leg_v2_2.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+    <material name="silver_default"/>
+  </visual>
+  <collision>
+    <origin rpy="0 0 0" xyz="-0.1 -0.2 0.3232"/>
+    <geometry>
+      <mesh filename="package://olympian_description/meshes/Lower_Leg_v2_2.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+  </collision>
+</link>
+
+<link name="Ankle_Link_v1_2">
+  <inertial>
+    <origin rpy="0 0 0" xyz="0.030000000000000485 8.881784197001252e-16 -0.015275835790493186"/>
+    <mass value="1.1526300466135975"/>
+    <inertia ixx="0.000552" ixy="0.0" ixz="0.0" iyy="0.000715" iyz="-0.0" izz="0.00045"/>
+  </inertial>
+  <visual>
+    <origin rpy="0 0 0" xyz="-0.07 -0.15 0.6764"/>
+    <geometry>
+      <mesh filename="package://olympian_description/meshes/Ankle_Link_v1_2.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+    <material name="silver_default"/>
+  </visual>
+  <collision>
+    <origin rpy="0 0 0" xyz="-0.07 -0.15 0.6764"/>
+    <geometry>
+      <mesh filename="package://olympian_description/meshes/Ankle_Link_v1_2.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+  </collision>
+</link>
+
+<link name="Foot_v2_2">
+  <inertial>
+    <origin rpy="0 0 0" xyz="0.03625642783112998 -0.02031447883025836 -0.0403940100478859"/>
+    <mass value="4.897531572251076"/>
+    <inertia ixx="0.010851" ixy="1.5e-05" ixz="0.000818" iyy="0.030274" iyz="-7e-06" izz="0.039729"/>
+  </inertial>
+  <visual>
+    <origin rpy="0 0 0" xyz="-0.1 -0.17 0.7114"/>
+    <geometry>
+      <mesh filename="package://olympian_description/meshes/Foot_v2_2.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+    <material name="silver_default"/>
+  </visual>
+  <collision>
+    <origin rpy="0 0 0" xyz="-0.1 -0.17 0.7114"/>
+    <geometry>
+      <mesh filename="package://olympian_description/meshes/Foot_v2_2.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+  </collision>
+</link>
+
+<joint name="Rev1" type="continuous">
+  <origin rpy="0 0 0" xyz="0.1 -0.05 0.15"/>
+  <parent link="base_link"/>
+  <child link="Pelvis_v4_1"/>
+  <axis xyz="-0.0 1.0 0.0"/>
+</joint>
+
+<joint name="Rev2" type="continuous">
+  <origin rpy="0 0 0" xyz="-0.0375 0.05 0.075"/>
+  <parent link="Pelvis_v4_1"/>
+  <child link="Chest_v6_1"/>
+  <axis xyz="-1.0 -0.0 -0.0"/>
+</joint>
+
+<joint name="Rev3" type="continuous">
+  <origin rpy="0 0 0" xyz="0.0375 -0.275 0.5164"/>
+  <parent link="Chest_v6_1"/>
+  <child link="Upper_Arm_Link_type_b_v2_1"/>
+  <axis xyz="0.0 -1.0 -0.0"/>
+</joint>
+
+<joint name="Rev4" type="continuous">
+  <origin rpy="0 0 0" xyz="-0.05 -0.075 -0.0125"/>
+  <parent link="Upper_Arm_Link_type_b_v2_1"/>
+  <child link="Upper_Arm_Roll_Link_v2_1"/>
+  <axis xyz="-1.0 -0.0 -0.0"/>
+</joint>
+
+<joint name="Rev5" type="continuous">
+  <origin rpy="0 0 0" xyz="0.05 0.0 -0.05635"/>
+  <parent link="Upper_Arm_Roll_Link_v2_1"/>
+  <child link="Upper_Arm_v8_1"/>
+  <axis xyz="0.0 0.0 -1.0"/>
+</joint>
+
+<joint name="Rev6" type="continuous">
+  <origin rpy="0 0 0" xyz="0.05 0.0 -0.3675"/>
+  <parent link="Upper_Arm_v8_1"/>
+  <child link="Lower_Arm_v3_1"/>
+  <axis xyz="-1.0 -0.0 -0.0"/>
+</joint>
+
+<joint name="Rev7" type="continuous">
+  <origin rpy="0 0 0" xyz="0.0375 0.275 0.5164"/>
+  <parent link="Chest_v6_1"/>
+  <child link="Upper_Arm_Link_type_b_v2_2"/>
+  <axis xyz="-0.0 1.0 0.0"/>
+</joint>
+
+<joint name="Rev8" type="continuous">
+  <origin rpy="0 0 0" xyz="-0.05 0.075 -0.0125"/>
+  <parent link="Upper_Arm_Link_type_b_v2_2"/>
+  <child link="Upper_Arm_Roll_Link_v2_2"/>
+  <axis xyz="-1.0 -0.0 -0.0"/>
+</joint>
+
+<joint name="Rev9" type="continuous">
+  <origin rpy="0 0 0" xyz="0.05 0.0 -0.05635"/>
+  <parent link="Upper_Arm_Roll_Link_v2_2"/>
+  <child link="Upper_Arm_v8_3"/>
+  <axis xyz="0.0 0.0 -1.0"/>
+</joint>
+
+<joint name="Rev10" type="continuous">
+  <origin rpy="0 0 0" xyz="-0.05 0.0 -0.3675"/>
+  <parent link="Upper_Arm_v8_3"/>
+  <child link="Lower_Arm_v3_2"/>
+  <axis xyz="1.0 0.0 0.0"/>
+</joint>
+
+<joint name="Rev11" type="continuous">
+  <origin rpy="0 0 0" xyz="0.0375 0.0 0.5664"/>
+  <parent link="Chest_v6_1"/>
+  <child link="Box_Head_v1_1"/>
+  <axis xyz="-0.0 -0.0 1.0"/>
+</joint>
+
+<joint name="Rev12" type="continuous">
+  <origin rpy="0 0 0" xyz="0.1 -0.1 0.05"/>
+  <parent link="base_link"/>
+  <child link="Leg_Pitch_v2_1"/>
+  <axis xyz="0.0 -1.0 -0.0"/>
+</joint>
+
+<joint name="Rev13" type="continuous">
+  <origin rpy="0 0 0" xyz="-0.075 -0.05 0.0"/>
+  <parent link="Leg_Pitch_v2_1"/>
+  <child link="Leg_Roll_v2_1"/>
+  <axis xyz="-1.0 -0.0 -0.0"/>
+</joint>
+
+<joint name="Rev14" type="continuous">
+  <origin rpy="0 0 0" xyz="0.075 0.0 -0.075"/>
+  <parent link="Leg_Roll_v2_1"/>
+  <child link="Upper_Leg_v1_1"/>
+  <axis xyz="0.0 0.0 -1.0"/>
+</joint>
+
+<joint name="Rev15" type="continuous">
+  <origin rpy="0 0 0" xyz="0.0 -0.05 -0.2982"/>
+  <parent link="Upper_Leg_v1_1"/>
+  <child link="Lower_Leg_v2_1"/>
+  <axis xyz="-0.0 1.0 0.0"/>
+</joint>
+
+<joint name="Rev16" type="continuous">
+  <origin rpy="0 0 0" xyz="-0.03 0.05 -0.3532"/>
+  <parent link="Lower_Leg_v2_1"/>
+  <child link="Ankle_Link_v1_1"/>
+  <axis xyz="1.0 0.0 0.0"/>
+</joint>
+
+<joint name="Rev19" type="continuous">
+  <origin rpy="0 0 0" xyz="0.03 -0.02 -0.035"/>
+  <parent link="Ankle_Link_v1_1"/>
+  <child link="Foot_v2_1"/>
+  <axis xyz="0.0 -1.0 -0.0"/>
+</joint>
+
+<joint name="Rev20" type="continuous">
+  <origin rpy="0 0 0" xyz="0.1 0.1 0.05"/>
+  <parent link="base_link"/>
+  <child link="Leg_Pitch_v2_2"/>
+  <axis xyz="-0.0 1.0 0.0"/>
+</joint>
+
+<joint name="Rev21" type="continuous">
+  <origin rpy="0 0 0" xyz="-0.075 0.05 0.0"/>
+  <parent link="Leg_Pitch_v2_2"/>
+  <child link="Leg_Roll_v2_2"/>
+  <axis xyz="-1.0 -0.0 -0.0"/>
+</joint>
+
+<joint name="Rev22" type="continuous">
+  <origin rpy="0 0 0" xyz="0.075 0.0 -0.075"/>
+  <parent link="Leg_Roll_v2_2"/>
+  <child link="Upper_Leg_v1_2"/>
+  <axis xyz="0.0 0.0 -1.0"/>
+</joint>
+
+<joint name="Rev23" type="continuous">
+  <origin rpy="0 0 0" xyz="0.0 0.05 -0.2982"/>
+  <parent link="Upper_Leg_v1_2"/>
+  <child link="Lower_Leg_v2_2"/>
+  <axis xyz="0.0 -1.0 -0.0"/>
+</joint>
+
+<joint name="Rev24" type="continuous">
+  <origin rpy="0 0 0" xyz="-0.03 -0.05 -0.3532"/>
+  <parent link="Lower_Leg_v2_2"/>
+  <child link="Ankle_Link_v1_2"/>
+  <axis xyz="1.0 0.0 0.0"/>
+</joint>
+
+<joint name="Rev25" type="continuous">
+  <origin rpy="0 0 0" xyz="0.03 0.02 -0.035"/>
+  <parent link="Ankle_Link_v1_2"/>
+  <child link="Foot_v2_2"/>
+  <axis xyz="-0.0 1.0 0.0"/>
+</joint>
+
+</robot>
--- a/olympian_description/urdf/olympian.xacro
+++ b/olympian_description/urdf/olympian.xacro
@ -0,0 +1,672 @@
+<?xml version="1.0" ?>
+<robot name="olympian" xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+<xacro:include filename="$(find olympian_description)/urdf/materials.xacro" />
+<xacro:include filename="$(find olympian_description)/urdf/olympian.trans" />
+<xacro:include filename="$(find olympian_description)/urdf/olympian.gazebo" />
+<link name="base_link">
+  <inertial>
+    <origin rpy="0 0 0" xyz="0.10000000000000034 8.881784197001253e-17 0.05957001251491219"/>
+    <mass value="34.903843895667485"/>
+    <inertia ixx="0.175872" ixy="-0.0" ixz="0.0" iyy="0.164602" iyz="0.0" izz="0.225801"/>
+  </inertial>
+  <visual>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <geometry>
+      <mesh filename="package://olympian_description/meshes/base_link.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+    <material name="silver_default"/>
+  </visual>
+  <collision>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <geometry>
+      <mesh filename="package://olympian_description/meshes/base_link.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+  </collision>
+</link>
+
+<link name="Pelvis_v4_1">
+  <inertial>
+    <origin rpy="0 0 0" xyz="2.498001805406602e-16 0.0500000000000002 0.03191605226834057"/>
+    <mass value="10.30095363483622"/>
+    <inertia ixx="0.029727" ixy="-0.0" ixz="0.0" iyy="0.02765" iyz="0.0" izz="0.014128"/>
+  </inertial>
+  <visual>
+    <origin rpy="0 0 0" xyz="-0.1 0.05 -0.15"/>
+    <geometry>
+      <mesh filename="package://olympian_description/meshes/Pelvis_v4_1.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+    <material name="silver_default"/>
+  </visual>
+  <collision>
+    <origin rpy="0 0 0" xyz="-0.1 0.05 -0.15"/>
+    <geometry>
+      <mesh filename="package://olympian_description/meshes/Pelvis_v4_1.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+  </collision>
+</link>
+
+<link name="Chest_v6_1">
+  <inertial>
+    <origin rpy="0 0 0" xyz="0.03750000000000035 -7.105427357601002e-17 0.45087381467752496"/>
+    <mass value="145.13172277947197"/>
+    <inertia ixx="6.773723" ixy="-0.0" ixz="-0.0" iyy="4.667023" iyz="-0.0" izz="4.228166"/>
+  </inertial>
+  <visual>
+    <origin rpy="0 0 0" xyz="-0.0625 -0.0 -0.225"/>
+    <geometry>
+      <mesh filename="package://olympian_description/meshes/Chest_v6_1.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+    <material name="silver_default"/>
+  </visual>
+  <collision>
+    <origin rpy="0 0 0" xyz="-0.0625 -0.0 -0.225"/>
+    <geometry>
+      <mesh filename="package://olympian_description/meshes/Chest_v6_1.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+  </collision>
+</link>
+
+<link name="Upper_Arm_Link_type_b_v2_1">
+  <inertial>
+    <origin rpy="0 0 0" xyz="4.579669976578771e-16 -0.05271922262745299 0.0006659141958417214"/>
+    <mass value="5.046273473916873"/>
+    <inertia ixx="0.006349" ixy="0.0" ixz="0.0" iyy="0.005703" iyz="0.000139" izz="0.007446"/>
+  </inertial>
+  <visual>
+    <origin rpy="0 0 0" xyz="-0.1 0.275 -0.7414"/>
+    <geometry>
+      <mesh filename="package://olympian_description/meshes/Upper_Arm_Link_type_b_v2_1.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+    <material name="silver_default"/>
+  </visual>
+  <collision>
+    <origin rpy="0 0 0" xyz="-0.1 0.275 -0.7414"/>
+    <geometry>
+      <mesh filename="package://olympian_description/meshes/Upper_Arm_Link_type_b_v2_1.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+  </collision>
+</link>
+
+<link name="Upper_Arm_Roll_Link_v2_1">
+  <inertial>
+    <origin rpy="0 0 0" xyz="0.050000000000000336 1.4970486073018208e-08 -0.030350873813621115"/>
+    <mass value="2.175711504614426"/>
+    <inertia ixx="0.002797" ixy="-0.0" ixz="0.0" iyy="0.007577" iyz="-0.0" izz="0.007735"/>
+  </inertial>
+  <visual>
+    <origin rpy="0 0 0" xyz="-0.05 0.35 -0.7289"/>
+    <geometry>
+      <mesh filename="package://olympian_description/meshes/Upper_Arm_Roll_Link_v2_1.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+    <material name="silver_default"/>
+  </visual>
+  <collision>
+    <origin rpy="0 0 0" xyz="-0.05 0.35 -0.7289"/>
+    <geometry>
+      <mesh filename="package://olympian_description/meshes/Upper_Arm_Roll_Link_v2_1.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+  </collision>
+</link>
+
+<link name="Upper_Arm_v8_1">
+  <inertial>
+    <origin rpy="0 0 0" xyz="4.0245584642661925e-16 -7.604189611321033e-09 -0.19774626995834443"/>
+    <mass value="6.439166560687236"/>
+    <inertia ixx="0.118193" ixy="0.0" ixz="0.0" iyy="0.122973" iyz="-0.0" izz="0.024599"/>
+  </inertial>
+  <visual>
+    <origin rpy="0 0 0" xyz="-0.1 0.35 -0.67255"/>
+    <geometry>
+      <mesh filename="package://olympian_description/meshes/Upper_Arm_v8_1.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+    <material name="silver_default"/>
+  </visual>
+  <collision>
+    <origin rpy="0 0 0" xyz="-0.1 0.35 -0.67255"/>
+    <geometry>
+      <mesh filename="package://olympian_description/meshes/Upper_Arm_v8_1.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+  </collision>
+</link>
+
+<link name="Lower_Arm_v3_1">
+  <inertial>
+    <origin rpy="0 0 0" xyz="-0.049999999999999475 0.0 -0.18053962725766542"/>
+    <mass value="9.41884357592523"/>
+    <inertia ixx="0.221573" ixy="0.0" ixz="0.0" iyy="0.223321" iyz="0.0" izz="0.024075"/>
+  </inertial>
+  <visual>
+    <origin rpy="0 0 0" xyz="-0.15 0.35 -0.30505"/>
+    <geometry>
+      <mesh filename="package://olympian_description/meshes/Lower_Arm_v3_1.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+    <material name="silver_default"/>
+  </visual>
+  <collision>
+    <origin rpy="0 0 0" xyz="-0.15 0.35 -0.30505"/>
+    <geometry>
+      <mesh filename="package://olympian_description/meshes/Lower_Arm_v3_1.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+  </collision>
+</link>
+
+<link name="Upper_Arm_Link_type_b_v2_2">
+  <inertial>
+    <origin rpy="0 0 0" xyz="2.0816681711721685e-16 0.05271922262745321 0.0006659141958419434"/>
+    <mass value="5.046273473916873"/>
+    <inertia ixx="0.006349" ixy="0.0" ixz="-0.0" iyy="0.005703" iyz="-0.000139" izz="0.007446"/>
+  </inertial>
+  <visual>
+    <origin rpy="0 0 0" xyz="-0.1 -0.275 -0.7414"/>
+    <geometry>
+      <mesh filename="package://olympian_description/meshes/Upper_Arm_Link_type_b_v2_2.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+    <material name="silver_default"/>
+  </visual>
+  <collision>
+    <origin rpy="0 0 0" xyz="-0.1 -0.275 -0.7414"/>
+    <geometry>
+      <mesh filename="package://olympian_description/meshes/Upper_Arm_Link_type_b_v2_2.stl" scale="0.001 0.001 0.001"/>
+    </geometry>
+  </collision>
+</link>
+
+<link name="Upper_Arm_Roll_Link_v2_2">
+  <inertial>
+    <origin rpy="0 0 0" xyz="0.05000000000000013 1.497048701670778e-08 -0.030350873813620893"/>
+    <mass value="2.175711504614426"/>
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+<link name="Box_Head_v1_1">
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+    <material name="silver_default"/>
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+<link name="Leg_Roll_v2_1">
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+<link name="Upper_Leg_v1_1">
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+<link name="Ankle_Link_v1_1">
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+<link name="Foot_v2_1">
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+<link name="Leg_Pitch_v2_2">
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+<link name="Leg_Roll_v2_2">
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+<link name="Upper_Leg_v1_2">
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+<link name="Lower_Leg_v2_2">
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+    <geometry>
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+    <material name="silver_default"/>
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+<link name="Ankle_Link_v1_2">
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+    <geometry>
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+    <material name="silver_default"/>
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+<link name="Foot_v2_2">
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+    <geometry>
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+<joint name="Rev1" type="continuous">
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+  <child link="Pelvis_v4_1"/>
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+<joint name="Rev2" type="continuous">
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+<joint name="Rev3" type="continuous">
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+  <child link="Upper_Arm_Link_type_b_v2_1"/>
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+<joint name="Rev4" type="continuous">
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+  <parent link="Upper_Arm_Link_type_b_v2_1"/>
+  <child link="Upper_Arm_Roll_Link_v2_1"/>
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+<joint name="Rev5" type="continuous">
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+  <parent link="Upper_Arm_Roll_Link_v2_1"/>
+  <child link="Upper_Arm_v8_1"/>
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+<joint name="Rev6" type="continuous">
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+  <parent link="Upper_Arm_v8_1"/>
+  <child link="Lower_Arm_v3_1"/>
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+<joint name="Rev7" type="continuous">
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+  <parent link="Chest_v6_1"/>
+  <child link="Upper_Arm_Link_type_b_v2_2"/>
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+<joint name="Rev8" type="continuous">
+  <origin rpy="0 0 0" xyz="-0.05 0.075 -0.0125"/>
+  <parent link="Upper_Arm_Link_type_b_v2_2"/>
+  <child link="Upper_Arm_Roll_Link_v2_2"/>
+  <axis xyz="-1.0 -0.0 -0.0"/>
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+<joint name="Rev9" type="continuous">
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+  <parent link="Upper_Arm_Roll_Link_v2_2"/>
+  <child link="Upper_Arm_v8_3"/>
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+<joint name="Rev10" type="continuous">
+  <origin rpy="0 0 0" xyz="-0.05 0.0 -0.3675"/>
+  <parent link="Upper_Arm_v8_3"/>
+  <child link="Lower_Arm_v3_2"/>
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+<joint name="Rev11" type="continuous">
+  <origin rpy="0 0 0" xyz="0.0375 0.0 0.5664"/>
+  <parent link="Chest_v6_1"/>
+  <child link="Box_Head_v1_1"/>
+  <axis xyz="-0.0 -0.0 1.0"/>
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+<joint name="Rev12" type="continuous">
+  <origin rpy="0 0 0" xyz="0.1 -0.1 0.05"/>
+  <parent link="base_link"/>
+  <child link="Leg_Pitch_v2_1"/>
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+<joint name="Rev13" type="continuous">
+  <origin rpy="0 0 0" xyz="-0.075 -0.05 0.0"/>
+  <parent link="Leg_Pitch_v2_1"/>
+  <child link="Leg_Roll_v2_1"/>
+  <axis xyz="-1.0 -0.0 -0.0"/>
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+<joint name="Rev14" type="continuous">
+  <origin rpy="0 0 0" xyz="0.075 0.0 -0.075"/>
+  <parent link="Leg_Roll_v2_1"/>
+  <child link="Upper_Leg_v1_1"/>
+  <axis xyz="0.0 0.0 -1.0"/>
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+<joint name="Rev15" type="continuous">
+  <origin rpy="0 0 0" xyz="0.0 -0.05 -0.2982"/>
+  <parent link="Upper_Leg_v1_1"/>
+  <child link="Lower_Leg_v2_1"/>
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+<joint name="Rev16" type="continuous">
+  <origin rpy="0 0 0" xyz="-0.03 0.05 -0.3532"/>
+  <parent link="Lower_Leg_v2_1"/>
+  <child link="Ankle_Link_v1_1"/>
+  <axis xyz="1.0 0.0 0.0"/>
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+<joint name="Rev19" type="continuous">
+  <origin rpy="0 0 0" xyz="0.03 -0.02 -0.035"/>
+  <parent link="Ankle_Link_v1_1"/>
+  <child link="Foot_v2_1"/>
+  <axis xyz="0.0 -1.0 -0.0"/>
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+
+<joint name="Rev20" type="continuous">
+  <origin rpy="0 0 0" xyz="0.1 0.1 0.05"/>
+  <parent link="base_link"/>
+  <child link="Leg_Pitch_v2_2"/>
+  <axis xyz="-0.0 1.0 0.0"/>
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+<joint name="Rev21" type="continuous">
+  <origin rpy="0 0 0" xyz="-0.075 0.05 0.0"/>
+  <parent link="Leg_Pitch_v2_2"/>
+  <child link="Leg_Roll_v2_2"/>
+  <axis xyz="-1.0 -0.0 -0.0"/>
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+<joint name="Rev22" type="continuous">
+  <origin rpy="0 0 0" xyz="0.075 0.0 -0.075"/>
+  <parent link="Leg_Roll_v2_2"/>
+  <child link="Upper_Leg_v1_2"/>
+  <axis xyz="0.0 0.0 -1.0"/>
+</joint>
+
+<joint name="Rev23" type="continuous">
+  <origin rpy="0 0 0" xyz="0.0 0.05 -0.2982"/>
+  <parent link="Upper_Leg_v1_2"/>
+  <child link="Lower_Leg_v2_2"/>
+  <axis xyz="0.0 -1.0 -0.0"/>
+</joint>
+
+<joint name="Rev24" type="continuous">
+  <origin rpy="0 0 0" xyz="-0.03 -0.05 -0.3532"/>
+  <parent link="Lower_Leg_v2_2"/>
+  <child link="Ankle_Link_v1_2"/>
+  <axis xyz="1.0 0.0 0.0"/>
+</joint>
+
+<joint name="Rev25" type="continuous">
+  <origin rpy="0 0 0" xyz="0.03 0.02 -0.035"/>
+  <parent link="Ankle_Link_v1_2"/>
+  <child link="Foot_v2_2"/>
+  <axis xyz="-0.0 1.0 0.0"/>
+</joint>
+
+</robot>