Refactors simulation an raspberry pi project

2024-03-04 22:27:43 +01:00
parent ebca54f2a0
commit 5449658df7
167 changed files with 771 additions and 6589 deletions
@@ -0,0 +1,2 @@
+*.pyc
+spot_env
@@ -1,248 +0,0 @@
-cmake_minimum_required(VERSION 2.8.3)
-project(mini_ros)
-
-## Compile as C++11, supported in ROS Kinetic and newer
-add_compile_options(-Wall -Wextra -pipe -Wno-psabi)
-
-set(CMAKE_CXX_STANDARD 17)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
-set(CMAKE_CXX_EXTENSIONS OFF)
-
-## 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
-  geometry_msgs
-  message_generation
-  message_runtime
-  roscpp
-  rospy
-  rostest
-  sensor_msgs
-  visualization_msgs
-)
-
-find_package(Eigen3 3.3 REQUIRED NO_MODULE)
-
-## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
-
-
-# Install Python Modules
-catkin_python_setup()
-
-## 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
-  MiniCmd.msg
-  JoyButtons.msg
-  IMUdata.msg
-  ContactData.msg
-  AgentData.msg
-  JointAngles.msg
-  JointPulse.msg
-)
-
-## Generate services in the 'srv' folder
-add_service_files(
-  FILES
-  CalibServo.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
-)
-
-################################################
-## 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 ${PROJECT_NAME}
-CATKIN_DEPENDS geometry_msgs message_generation message_runtime roscpp rospy sensor_msgs visualization_msgs
-#  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}
-  ${Eigen3_INCLUDE_DIRS}
-)
-
-## Declare a C++ library
-add_library(${PROJECT_NAME}
-  src/${PROJECT_NAME}/spot.cpp
-  src/${PROJECT_NAME}/teleop.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(spot_sm src/spot_sm.cpp)
-add_executable(teleop_node src/teleop_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(spot_sm PROPERTIES OUTPUT_NAME spot_sm PREFIX "")
-set_target_properties(teleop_node PROPERTIES OUTPUT_NAME teleop_node PREFIX "")
-
-## Add cmake target dependencies of the executable
-## same as for the library above
-add_dependencies(spot_sm ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-add_dependencies(teleop_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-
-## Specify libraries to link a library or executable target against
-target_link_libraries(
-spot_sm
-# Eigen3::Eigen
-${PROJECT_NAME}
-${catkin_LIBRARIES}
-)
-
-target_link_libraries(
-teleop_node
-# Eigen3::Eigen
-${PROJECT_NAME}
-${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
-  src/spot_pybullet_interface
-  src/spot_real_interface
-  src/servo_calibration
-  src/sensor_interface
-  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
-
-## Mark executables for installation
-## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
-install(TARGETS spot_sm teleop_node
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
-
-## Mark libraries for installation
-## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
-install(TARGETS ${PROJECT_NAME}
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
-)
-
-## Mark cpp header files for installation
-install(DIRECTORY include/${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/${PROJECT_NAME}_test.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
-
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)
-
-# if (CATKIN_ENABLE_TESTING)
-#     catkin_add_gtest(${PROJECT_NAME}_test tests/${PROJECT_NAME}_test.cpp)
-#     target_link_libraries(${PROJECT_NAME}_test ${catkin_Libraries} gtest_main ${PROJECT_NAME})
-# endif()
@@ -1,34 +0,0 @@
-spot:
-  joint_states_controller:
-      type: joint_state_controller/JointStateController
-      publish_rate: 50
-
-  joint_group_position_controller:
-      type: effort_controllers/JointTrajectoryController
-      joints:
-          - motor_front_left_hip
-          - motor_front_left_upper_leg
-          - motor_front_left_lower_leg
-          - motor_front_right_hip
-          - motor_front_right_upper_leg
-          - motor_front_right_lower_leg
-          - motor_back_left_hip
-          - motor_back_left_upper_leg
-          - motor_back_left_lower_leg
-          - motor_back_right_hip
-          - motor_back_right_upper_leg
-          - motor_back_right_lower_leg
-
-      gains:
-        motor_front_left_hip        : {p: 180, d: 0.9, i: 20}
-        motor_front_left_upper_leg  : {p: 180, d: 0.9, i: 20}
-        motor_front_left_lower_leg  : {p: 180, d: 0.9, i: 20}
-        motor_front_right_hip       : {p: 180, d: 0.9, i: 20}
-        motor_front_right_upper_leg : {p: 180, d: 0.9, i: 20}
-        motor_front_right_lower_leg : {p: 180, d: 0.9, i: 20}
-        motor_back_left_hip         : {p: 180, d: 0.9, i: 20}
-        motor_back_left_upper_leg   : {p: 180, d: 0.9, i: 20}
-        motor_back_left_lower_leg   : {p: 180, d: 0.9, i: 20}
-        motor_back_right_hip        : {p: 180, d: 0.9, i: 20}
-        motor_back_right_upper_leg  : {p: 180, d: 0.9, i: 20}
-        motor_back_right_lower_leg  : {p: 180, d: 0.9, i: 20}
@@ -1,12 +0,0 @@
-# Right Joystick (Push U/D L/R)
-STEPLENGTH_SCALE: 0.05
-# Left Joystick (Push U/D)
-Z_SCALE_CTRL: 0.15
-# Right Joystick (Push U/D L/R) | Left Joystick (Push L/R)
-RPY_SCALE: 0.785
-# Lower Bumpers (Step Velocity [Left Lowers | Right Raises])
-SV_SCALE: 0.05
-# Arrow Pad (U/D for Clearance Height | L/R for Penetration Depth)
-CHPD_SCALE: 0.0005
-# Left Joystick (L/R)
-YAW_SCALE: 1.25
@@ -1,14 +0,0 @@
-# AGENT PARAMS - SCALING and FILTERING
-# Clearance Height and Penetration Depth
-CD_SCALE: 0.05
-# Step Length and Velocity
-SLV_SCALE: 0.05
-# Residuals
-RESIDUALS_SCALE: 0.015
-# Body Height Modulation
-Z_SCALE: 0.035
-# Exponential Filter Amplitude
-alpha: 0.7
-# Added this to avoid filtering residuals
-# -1 for all
-actions_to_filter: 14
@@ -1,39 +0,0 @@
-# MEASURE
-# COM to Shoulder
-shoulder_length: 0.055
-# Shoulder to Elbow
-elbow_length: 0.10652
-# Elbow to Wrist
-wrist_length: 0.145
-# Forward Hip Separation
-hip_x: 0.23
-# Lateral Hip Separation
-hip_y: 0.075
-
-# ADJUSTABLE
-# Stance Length
-foot_x: 0.23
-# Stance Width
-foot_y: 0.185
-# Stance Height
-height: 0.20
-# Adjust for balanced walk
-com_offset: 0.0
-
-# Time Step
-dt: 0.001
-
-# Swing Period (lower is faster)
-Tswing: 0.2
-SwingPeriod_LIMITS: [0.1, 0.3]
-
-# Step Velocity (Using very low value as my main form of speed control is swing period)
-BaseStepVelocity: 0.001
-
-# Foot Clearance Height
-BaseClearanceHeight: 0.035
-ClearanceHeight_LIMITS: [0.0, 0.04]
-
-# Foot Penetration Depth
-BasePenetrationDepth: 0.003
-PenetrationDepth_LIMITS: [0.0, 0.02]
@@ -1,83 +0,0 @@
-#ifndef SPOT_INCLUDE_GUARD_HPP
-#define SPOT_INCLUDE_GUARD_HPP
-/// \file
-/// \brief Spots library which contains control functionality for Spot Mini Mini.
-#include <vector>
-#include <ros/ros.h>
-
-namespace spot
-{
-
-    /// \brief approximately compare two floating-point numbers using
-    ///        an absolute comparison
-    /// \param d1 - a number to compare
-    /// \param d2 - a second number to compare
-    /// \param epsilon - absolute threshold required for equality
-    /// \return true if abs(d1 - d2) < epsilon
-    /// Note: the fabs function in <cmath> (c++ equivalent of math.h) will
-    /// be useful here
-    // constexpr are all define in .hpp
-    // constexpr allows fcn to be run at compile time and interface with 
-    // static_assert tests.
-    // Note high default epsilon since using controller
-    constexpr bool almost_equal(double d1, double d2, double epsilon=1.0e-1)
-    {
-        if (fabs(d1 - d2) < epsilon)
-        {
-            return true;
-        } else {
-            return false;
-        }
-    }
-
-    enum Motion {Go, Stop};
-    enum Movement {Stepping, Viewing};
-
-    // \brief Struct to store the commanded type of motion, velocity and rate
-    struct SpotCommand
-    {
-        Motion motion = Stop;
-        Movement movement = Viewing;
-        double x_velocity = 0.0;
-        double y_velocity = 0.0;
-        double rate = 0.0;
-        double roll = 0.0;
-        double pitch = 0.0;
-        double yaw = 0.0;
-        double z = 0.0;
-        double faster = 0.0;
-        double slower = 0.0;
-    };
-
-    // \brief Spot class responsible for high-level motion commands
-    class Spot
-    {
-
-    public:
-        // \brief Constructor for Spot class
-        Spot();
-
-        // \brief updates the type and velocity of motion to be commanded to the Spot
-        // \param vx: linear velocity (x)
-        // \param vy: linear velocity (y)
-        // \param z: robot height
-        // \param w: angular velocity
-        // \param wx: step height increase
-        // \param wy: step height decrease
-        void update_command(const double & vx, const double & vy, const double & z,
-                            const double & w, const double & wx, const double & wy);
-
-        // \brief changes the commanded motion from Forward/Backward to Left/Right or vice-versa
-        void switch_movement();
-
-        // \brief returns the Spot's current command (Motion, v,w) for external use
-        // \returns SpotCommand
-        SpotCommand return_command();
-
-    private:
-        SpotCommand cmd;
-    };
-    
-}
-
-#endif
@@ -1,89 +0,0 @@
-#ifndef TELEOP_INCLUDE_GUARD_HPP
-#define TELEOP_INCLUDE_GUARD_HPP
-/// \file
-/// \brief Teleoperation Library that converts Joystick commands to motion
-#include <vector>
-#include <ros/ros.h>
-#include <geometry_msgs/Twist.h>
-#include <sensor_msgs/Joy.h>
-#include "mini_ros/JoyButtons.h"
-
-namespace tele
-{
-
-    // \brief Teleop class responsible for convertick Joystick commands into linear and angular velocity
-    class Teleop
-    {
-    public:
-        // \brief Teleop constructor that defines the axes used for control and sets their scaling factor
-        // \param linear_x: joystick axis assigned to linear velocity (x)
-        // \param linear_y: joystick axis assigned to linear velocity (y)
-        // \param linear_z: joystick axis assigned to robot height [overloading]
-        // \param angular: joystick axis assigned to angular velocity
-        // \param l_scale: scaling factor for linear velocity
-        // \param a_scale: scaling factor for angular velocity
-        // \param LB: left bottom bumper axis
-        // \param RB: right bottom bumper axis
-        // \param B_scale: scaling factor for bottom bumpers
-        // \param LT: left top bumper button
-        // \param RT: right top bumper button
-        // \param UD: up/down key on arrow pad
-        // \param LR: left/right key on arrow pad
-        // \param sw: button for switch_trigger
-        // \param es: button for ESTOP
-        Teleop(const int & linear_x, const int & linear_y, const int & linear_z,
-               const int & angular, const double & l_scale, const double & a_scale,
-               const int & LB, const int & RB, const int & B_scale, const int & LT,
-               const int & RT, const int & UD, const int & LR,
-               const int & sw, const int & es);
-
-        // \brief Takes a Joy messages and converts it to linear and angular velocity (Twist)
-        // \param joy: sensor_msgs describing Joystick inputs
-        void joyCallback(const sensor_msgs::Joy::ConstPtr& joy);
-
-        // \brief returns the  most recently commanded Twist
-        // \returns: Twist
-        geometry_msgs::Twist return_twist();
-
-        // \brief returns a boolean indicating whether the movement switch trigger has been pressed
-        // \returns: switch_trigger(bool)
-        bool return_trigger();
-
-        // \brief returns whether the E-STOP has been pressed
-        // \returns: ESTOP(bool)
-        bool return_estop();
-
-        /// \brief returns other joystick buttons triggers, arrow pad etc)
-        mini_ros::JoyButtons return_buttons();
-
-    private:
-        // AXES ON JOYSTICK
-        int linear_x_ = 0;
-        int linear_y_ = 0;
-        int linear_z_ = 0;
-        int angular_= 0;
-        int RB_ = 0;
-        int LB_ = 0;
-        // BUTTONS ON JOYSTICK
-        int sw_ = 0;
-        int es_ = 0;
-        int RT_ = 0;
-        int LT_ = 0;
-        int UD_ = 0;
-        int LR_ = 0;
-        // AXIS SCALES
-        double l_scale_, a_scale_, B_scale_;
-        // TWIST
-        geometry_msgs::Twist twist;
-        // TRIGGERS
-        bool switch_trigger = false;
-        bool ESTOP = false;
-        int updown = 0;
-        int leftright = 0;
-        bool left_bump = false;
-        bool right_bump = false;
-    };
-    
-}
-
-#endif
@@ -1,16 +0,0 @@
-<launch>
-
-  <!-- Load joint controller configurations from YAML file to parameter server -->
-  <rosparam file="$(find mini_ros)/config/control.yaml" command="load"/>
-
-  <!-- Load the controllers -->
-  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
-    output="screen" ns="/spot" args="joint_group_position_controller joint_states_controller"/>
-
-
-  <!-- convert joint states to TF transforms for rviz, etc -->
-  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="false" output="screen">
-    <remap from="/joint_states" to="/spot/joint_states" />
-  </node>
-
-</launch>
@@ -1,11 +0,0 @@
-<launch>
-<!-- Sensor Calibration Node -->
-<node name="servo_calibration" pkg="mini_ros" type="servo_calibration" output="screen"/>
-
-<!-- Sensor Interface Node -->
-<node pkg="rosserial_python" type="serial_node.py" name="serial_node">
-    <param name="port" value="/dev/ttyS0"/> <!-- HW Serial -->
-    <param name="baud" value="500000"/>  <!-- must match Teensy -->
-  </node>
-
-</launch>
@@ -1,24 +0,0 @@
-<launch>
-  <!-- Load the urdf into the parameter server from the xacro file-->
-  <param name="robot_description" command="xacro '$(find mini_ros)/urdf/spot.urdf.xacro'" />
-
-  <arg name="use_sim_time" default="true"/>
-  <arg name="gui" default="true"/>
-  <arg name="headless" default="false"/>
-  <arg name="debug" default="false"/>
-
-  <!-- We reuse the logic in empty_world.launch, changing only the name of the world to be launched -->
-  <include file="$(find gazebo_ros)/launch/empty_world.launch">
-    <arg name="debug" value="$(arg debug)" />
-    <arg name="gui" value="$(arg gui)" />
-    <arg name="paused" value="true"/>
-    <arg name="use_sim_time" value="$(arg use_sim_time)"/>
-    <arg name="headless" value="$(arg headless)"/>
-  </include>
-
-  <!-- Spawn the urdf -->
-  <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -x 0.0 -y 0.0 -z 0.26 -model spot" respawn="false" output="screen"/>
-
-  <include file="$(find mini_ros)/launch/controller.launch"/>
-
-</launch>
@@ -1,41 +0,0 @@
-<launch>
- <!-- Minitaur State Machine Node-->
-  <node name="spot_sm" pkg="mini_ros" type="spot_sm" output="screen">
-    <param name="frequency" value="200.0" type="double"/>
-  </node>
-
- <!-- Joystick Node -->
-  <node respawn="true" pkg="joy"
-        type="joy_node" name="spot_joy" >
-    <param name="dev" type="string" value="/dev/input/js0" />
-    <param name="deadzone" value="0.05" />
-  </node>
-
- <!-- Teleop Node -->
- <node name="spot_teleop" pkg="mini_ros" type="teleop_node" output="screen">
-  <param name="frequency" value="200.0" type="double"/>
-  <param name="axis_linear_x" value="4" type="int"/>
-  <param name="axis_linear_y" value="3" type="int"/>
-  <param name="axis_linear_z" value="1" type="int"/>
-  <param name="axis_angular" value="0" type="int"/>
-  <param name="scale_linear" value="1.0" type="double"/>
-  <param name="scale_angular" value="1.0" type="double"/>
-  <param name="button_switch" value="0" type="int"/>
-  <param name="button_estop" value="1" type="int"/>
-</node>
-
-<!-- Policy Node -->
-<node name="spot_pybullet" pkg="mini_ros" type="spot_pybullet_interface" output="screen"/>
-
-
-<!-- NOTE:
-        Setting Up Joystick:
-          - Get Number (you will see something like jsX): ls /dev/input/
-          - Make available to ROS: sudo chmod a+rw /dev/input/jsX
-          - Make sure <param name="dev" type="string" value="/dev/input/jsX" /> is correct in launch
-
-        You can ignore this msg: [ERROR] [1591631380.406690714]: Couldn't open joystick force feedback!
-        It just means your controller is missing some functionality, but this package doesn't use it. 
-->
-
-</launch>
@@ -1,60 +0,0 @@
-<launch>
- <!-- Minitaur State Machine Node-->
-  <node name="spot_sm" pkg="mini_ros" type="spot_sm" output="screen">
-    <param name="frequency" value="200.0" type="double"/>
-  </node>
-
- <!-- Joystick Node -->
-  <node respawn="true" pkg="joy"
-        type="joy_node" name="spot_joy" >
-    <param name="dev" type="string" value="/dev/input/js0" />
-    <param name="deadzone" value="0.005" />
-  </node>
-
- <!-- Teleop Node -->
- <node name="spot_teleop" pkg="mini_ros" type="teleop_node" output="screen">
-  <param name="frequency" value="200.0" type="double"/>
-  <param name="axis_linear_x" value="4" type="int"/>
-  <param name="axis_linear_y" value="3" type="int"/>
-  <param name="axis_linear_z" value="1" type="int"/>
-  <param name="axis_angular" value="0" type="int"/>
-  <param name="scale_linear" value="1.0" type="double"/>
-  <param name="scale_angular" value="1.0" type="double"/>
-  <param name="button_switch" value="0" type="int"/>
-  <param name="button_estop" value="1" type="int"/>
-</node>
-
-<!-- Policy Node -->
-<arg name="agent_num" default="0" doc="Agent Number for ARS (GMBC) Policy. Default (0) Loads no Agent. Policy numbers start at 9 and increase by 10. E.G: 9...19...29..."/> 
-<param name="agent_num" value="$(eval arg('agent_num'))" />
-
-<!-- Spot Params -->
-<rosparam command="load" file="$(find mini_ros)/config/spot_params.yaml" />
-
-<!-- Policy Params -->
-<rosparam command="load" file="$(find mini_ros)/config/policy_params.yaml" />
-
-<!-- Joystick Params -->
-<rosparam command="load" file="$(find mini_ros)/config/joy_params.yaml" />
-
-<!-- the above is equivalent to $(eval agent_num) but I left it in to acknowledge that both options exist -->
-<node name="spot_real" pkg="mini_ros" type="spot_real_interface" output="screen"/>
-
-<!-- Sensor Interface Node -->
-<node pkg="rosserial_python" type="serial_node.py" name="serial_node">
-    <param name="port" value="/dev/ttyS0"/> <!-- HW Serial -->
-    <param name="baud" value="500000"/>  <!-- must match Teensy -->
-  </node>
-
-
-<!-- NOTE:
-        Setting Up Joystick:
-          - Get Number (you will see something like jsX): ls /dev/input/
-          - Make available to ROS: sudo chmod a+rw /dev/input/jsX
-          - Make sure <param name="dev" type="string" value="/dev/input/jsX" /> is correct in launch
-
-        You can ignore this msg: [ERROR] [1591631380.406690714]: Couldn't open joystick force feedback!
-        It just means your controller is missing some functionality, but this package doesn't use it. 
-->
-
-</launch>
@@ -1,21 +0,0 @@
-<launch>
-  <!-- This launchfile loads a differential drive robot into RViz, whose parameters are set
-       and can be modified in diff_params.yaml -->
-
-  <!-- load the urdf into the parameter server from the xacro file-->
-  <param name="robot_description" command="xacro '$(find mini_ros)/urdf/spot.urdf.xacro'" />
-
-  <!-- The robot_state_publisher reads the urdf from /robot_description parameter
-       and listens to joint information on the /joint_states topic -->
-  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
-
-  <!-- The joint state publisher will be launched with a gui, read the urdf from /robot_description
-       and publish the joint values on /joint_states. Optional launch using use_jsp_gui:=1 --> 
-  <arg name="use_jsp_gui" default="True" doc="Launch the joint_state_publisher gui to publish joint angles"/>
-  <node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui"/>
-  <!-- <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"/> -->
-
-  <!-- rviz will enable us to see the robot. REQUIRED NODE - All other nodes terminate when RViz closes -->
-  <node name="rviz" pkg="rviz" type="rviz" required="True" args="-d $(find mini_ros)/rviz/spot.rviz"/>
-
-</launch>
@@ -1,14 +0,0 @@
-float32 action0
-float32 action1
-float32 action2
-float32 action3
-float32 action4
-float32 action5
-float32 action6
-float32 action7
-float32 action8
-float32 action9
-float32 action10
-float32 action11
-float32 action12
-float32 action13
@@ -1,4 +0,0 @@
-bool FL
-bool FR
-bool BL
-bool BR
@@ -1,8 +0,0 @@
-float32 roll
-float32 pitch
-float32 acc_x
-float32 acc_y
-float32 acc_z
-float32 gyro_x
-float32 gyro_y
-float32 gyro_z
@@ -1,36 +0,0 @@
-# FL
-# Shoulder or x
-float32 fls
-# Elbow or y
-float32 fle
-# Wrist or z
-float32 flw
-
-# FR
-# Shoulder or x
-float32 frs
-# Elbow or y
-float32 fre
-# Wrist or z
-float32 frw
-
-# BL
-# Shoulder or x
-float32 bls
-# Elbow or y
-float32 ble
-# Wrist or z
-float32 blw
-
-# BR
-# Shoulder or x
-float32 brs
-# Elbow or y
-float32 bre
-# Wrist or z
-float32 brw
-
-# Move Type (for servo smoothness)
-# step is 0
-# view is 1
-bool step_or_view
@@ -1,2 +0,0 @@
-int8 servo_num
-int32 servo_pulse
@@ -1,4 +0,0 @@
-int8 updown
-int8 leftright
-int8 left_bump
-int8 right_bump
@@ -1,24 +0,0 @@
-# motion type: Go, Stop
-string motion
-
-# movement type: Stepping, Viewing
-string movement
-
-# linear velocity
-float32 x_velocity
-float32 y_velocity
-
-# angular rate
-float32 rate
-
-# viewing params
-float32 roll
-float32 pitch
-float32 yaw
-
-# robot height
-float32 z
-
-# Step adjust
-float32 faster
-float32 slower
@@ -1,83 +0,0 @@
-<?xml version="1.0"?>
-<package format="2">
-  <name>mini_ros</name>
-  <version>0.0.0</version>
-  <description>Controls Minitaur Robot using Trained Policies in Pybullet and IRL</description>
-
-  <!-- One maintainer tag required, multiple allowed, one person per tag -->
-  <!-- Example:  -->
-  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
-  <maintainer email="mauricerahme2020@u.northwestern.edu">mori</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>MIT</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/mini_ros</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>geometry_msgs</build_depend>
-  <build_depend>message_generation</build_depend>
-  <build_depend>message_runtime</build_depend>
-  <build_depend>roscpp</build_depend>
-  <build_depend>rospy</build_depend>
-  <build_depend>sensor_msgs</build_depend>
-  <build_depend>visualization_msgs</build_depend>
-  <build_export_depend>geometry_msgs</build_export_depend>
-  <build_export_depend>message_generation</build_export_depend>
-  <build_export_depend>message_runtime</build_export_depend>
-  <build_export_depend>roscpp</build_export_depend>
-  <build_export_depend>rospy</build_export_depend>
-  <build_export_depend>sensor_msgs</build_export_depend>
-  <build_export_depend>visualization_msgs</build_export_depend>
-  <exec_depend>geometry_msgs</exec_depend>
-  <exec_depend>message_runtime</exec_depend>
-  <exec_depend>roscpp</exec_depend>
-  <exec_depend>rospy</exec_depend>
-  <exec_depend>sensor_msgs</exec_depend>
-  <exec_depend>visualization_msgs</exec_depend>
-  <exec_depend>hector_gazebo_plugins</exec_depend>
-  <exec_depend>hector_sensors_description</exec_depend>
-  <test_depend>rostest</test_depend>
-  <test_depend>rosunit</test_depend>
-
-
-  <!-- The export tag contains other, unspecified, tags -->
-  <export>
-    <!-- Other tools can request additional information be placed here -->
-
-  </export>
-</package>
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-      Target Frame: <Fixed Frame>
-      Value: Orbit (rviz)
-      Yaw: 0.8954905271530151
-    Saved: ~
-Window Geometry:
-  Displays:
-    collapsed: false
-  Height: 846
-  Hide Left Dock: false
-  Hide Right Dock: true
-  QMainWindow State: 000000ff00000000fd000000040000000000000156000002b4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000002b4000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000002b4000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000024400fffffffb0000000800540069006d0065010000000000000450000000000000000000000354000002b400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
-  Selection:
-    collapsed: false
-  Time:
-    collapsed: false
-  Tool Properties:
-    collapsed: false
-  Views:
-    collapsed: true
-  Width: 1200
-  X: 2392
-  Y: 87
@@ -1,11 +0,0 @@
-## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD
-## Copies from http://docs.ros.org/melodic/api/catkin/html/howto/format2/installing_python.html and edited for our package
-from distutils.core import setup
-from catkin_pkg.python_setup import generate_distutils_setup
-
-# fetch values from package.xml
-setup_args = generate_distutils_setup(
-    packages=['mini_bullet', 'ars_lib'],
-    package_dir={'../mini_bullet/src': ''})
-
-setup(**setup_args)
@@ -1,118 +0,0 @@
-#include "mini_ros/spot.hpp"
-
-namespace spot
-{
-
-	// Spot Constructor
-	Spot::Spot()
-	{
-		cmd.x_velocity = 0.0;
-		cmd.y_velocity = 0.0;
-		cmd.rate = 0.0;
-        cmd.roll = 0.0;
-        cmd.pitch = 0.0;
-        cmd.yaw = 0.0;
-        cmd.z = 0.0;
-		cmd.motion = Stop;
-		cmd.movement = Viewing;
-	}
-
-	void Spot::update_command(const double & vx, const double & vy, const double & z,
-							  const double & w, const double & wx, const double & wy)
-	{
-		// If Command is nearly zero, just give zero
-		if (almost_equal(vx, 0.0) and almost_equal(vy, 0.0) and almost_equal(z, 0.0) and almost_equal(w, 0.0))
-		{
-			cmd.motion = Stop;
-			cmd.x_velocity = 0.0;
-			cmd.y_velocity = 0.0;
-			cmd.rate = 0.0;
-			cmd.roll = 0.0;
-	        cmd.pitch = 0.0;
-	        cmd.yaw = 0.0;
-	        cmd.z = 0.0;
-	        cmd.faster = 0.0;
-	        cmd.slower = 0.0;
-		} else
-		{
-			cmd.motion = Go;
-			if (cmd.movement == Stepping)
-			{
-				// Stepping Mode, use commands as vx, vy, rate, Z
-				cmd.x_velocity = vx;
-				cmd.y_velocity = vy;
-				cmd.rate = w;
-				cmd.z = z;
-				cmd.roll = 0.0;
-		        cmd.pitch = 0.0;
-		        cmd.yaw = 0.0;
-		        // change clearance height from +- 0-2 * scaling
-		        cmd.faster = 1.0 - wx;
-		        cmd.slower = -(1.0 - wy);
-			} else
-			{
-				// Viewing Mode, use commands as RPY, Z
-				cmd.x_velocity = 0.0;
-				cmd.y_velocity = 0.0;
-				cmd.rate = 0.0;
-				cmd.roll = vy;
-		        cmd.pitch = vx;
-		        cmd.yaw = w;
-		        cmd.z = z;
-		        cmd.faster = 0.0;
-		        cmd.slower = 0.0;
-			}
-		}
-		
-	}
-
-	void Spot::switch_movement()
-	{
-		if (!almost_equal(cmd.x_velocity, 0.0) and !almost_equal(cmd.y_velocity, 0.0) and !almost_equal(cmd.rate, 0.0))
-		{
-			ROS_WARN("MAKE SURE BOTH LINEAR [%.2f, %.2f] AND ANGULAR VELOCITY [%.2f] ARE AT 0.0 BEFORE SWITCHING!", cmd.x_velocity, cmd.y_velocity, cmd.rate);
-
-			ROS_WARN("STOPPING ROBOT...");
-
-			cmd.motion = Stop;
-			cmd.x_velocity = 0.0;
-			cmd.y_velocity = 0.0;
-			cmd.rate = 0.0;
-			cmd.roll = 0.0;
-	        cmd.pitch = 0.0;
-	        cmd.yaw = 0.0;
-	        cmd.z = 0.0;
-	        cmd.faster = 0.0;
-	        cmd.slower = 0.0;
-		} else
-		{
-			cmd.x_velocity = 0.0;
-			cmd.y_velocity = 0.0;
-			cmd.rate = 0.0;
-			cmd.roll = 0.0;
-	        cmd.pitch = 0.0;
-	        cmd.yaw = 0.0;
-	        cmd.z = 0.0;
-	        cmd.faster = 0.0;
-	        cmd.slower = 0.0;
-			if (cmd.movement == Viewing)
-			{
-				ROS_INFO("SWITCHING TO STEPPING MOTION, COMMANDS NOW MAPPED TO VX|VY|W|Z.");
-
-				cmd.movement = Stepping;
-				cmd.motion = Stop;
-			} else
-			{
-				ROS_INFO("SWITCHING TO VIEWING MOTION, COMMANDS NOW MAPPED TO R|P|Y|Z.");
-
-				cmd.movement = Viewing;
-				cmd.motion = Stop;
-			}
-		}
-	}
-
-	SpotCommand Spot::return_command()
-	{
-		return cmd;
-	}
-}
@@ -1,102 +0,0 @@
-#include "mini_ros/teleop.hpp"
-
-namespace tele
-{
-	Teleop::Teleop(const int & linear_x, const int & linear_y, const int & linear_z,
-	               const int & angular, const double & l_scale, const double & a_scale,
-	               const int & LB, const int & RB, const int & B_scale, const int & LT,
-	               const int & RT, const int & UD, const int & LR,
-	               const int & sw, const int & es)
-	{
-		// step length or pitch
-		linear_x_ = linear_x;
-		// lateral fraction or roll
-		linear_y_ = linear_y;
-		// height
-		linear_z_ = linear_z;
-		// yaw rate or yaw
-		angular_ = angular;
-		// scale linear axis (usually just 1)
-		l_scale_ = l_scale;
-		// scale angular axis (usually just 1)
-		a_scale_ = a_scale;
-		// for incrementing and decrementing step velocity
-		// Bottom Bumpers
-		RB_ = RB;
-		LB_ = LB;
-		// scale Bottom Trigger axis (usually just 1)
-		B_scale_ = B_scale;
-		// Top Bumpers
-		RT_ = RT;
-		LT_ = LT;
-		// Switch between Stepping and Viewing
-		sw_ = sw;
-		// E-STOP
-		es_ = es;
-
-		// Arrow PAd
-		UD_ = UD;
-		LR_ = LR;
-
-		switch_trigger = false;
-		ESTOP = false;
-		updown = 0;
-        leftright = 0;
-
-		left_bump = false;
-		right_bump = false;
-	}
-
-	void Teleop::joyCallback(const sensor_msgs::Joy::ConstPtr& joy)
-	{
-		twist.linear.x = l_scale_*joy->axes[linear_x_];
-		twist.linear.y = l_scale_*joy->axes[linear_y_];
-		// NOTE: used to control robot height
-		twist.linear.z = -l_scale_*joy->axes[linear_z_];
-		twist.angular.z = a_scale_*joy->axes[angular_];
-		// NOTE: bottom bumpers used for changing step velocity
-		twist.angular.x = B_scale_*joy->axes[RB_];
-		twist.angular.y = B_scale_*joy->axes[LB_];
-		
-
-		// Switch Trigger: Button A
-		switch_trigger = joy->buttons[sw_];
-
-		// ESTOP: Button B
-		ESTOP = joy->buttons[es_];
-
-		// Arrow Pad
-		updown = joy->axes[UD_];
-		leftright = -joy->axes[LR_];
-
-		// Top Bumpers
-		left_bump = joy->buttons[LT_];
-		right_bump = joy->buttons[RT_];
-	}
-
-	geometry_msgs::Twist Teleop::return_twist()
-	{
-		return twist;
-	}
-
-	bool Teleop::return_trigger()
-	{
-		return switch_trigger;
-	}
-
-	bool Teleop::return_estop()
-	{
-		return ESTOP;
-	}
-
-	mini_ros::JoyButtons Teleop::return_buttons()
-	{
-		mini_ros::JoyButtons jb;
-		jb.updown = updown;
-		jb.leftright = leftright;
-		jb.left_bump = left_bump;
-		jb.right_bump = right_bump;
-
-		return jb;
-	}	
-}
@@ -1,132 +0,0 @@
-#!/usr/bin/env python3
-"""
-DESCRIPTION:
-
-SUBSCRIBERS:
-"""
-
-from __future__ import division
-import rospy
-from mini_ros.msg import IMUdata, ContactData
-from std_msgs.msg import String
-# Used for str(Boolean) --> Boolean
-from distutils.util import strtobool
-
-import sys
-
-import rospkg
-rospack = rospkg.RosPack()
-
-sys.path.append(rospack.get_path('mini_ros') + '/../')
-
-sys.path.append('../../')
-
-from spot_real.Control.RPi.lib.Teensy_Interface import TeensyInterface
-from spot_real.Control.RPi.lib.imu import IMU
-
-
-class SensorInterface():
-    def __init__(self):
-
-        rospy.init_node('SensorInterface', anonymous=True)
-        self.TI = TeensyInterface()
-        self.imu_pub = rospy.Publisher('spot/imu', IMUdata, queue_size=1)
-        self.cnt_pub = rospy.Publisher('spot/contact',
-                                       ContactData,
-                                       queue_size=1)
-        self.str_pub = rospy.Publisher('spot/teensydebug',
-                                       String,
-                                       queue_size=1)
-        print("PUT SPOT ON THE GROUND, CALIBRATING IMU")
-        self.imu = IMU()
-
-    def read_sensors(self):
-        """ Reads IMU and Contact Sensor data from Teensy 4.0
-            and publishes to respective topics
-        """
-        while not rospy.is_shutdown():
-            data = self.TI.read_buffer()
-
-            rospy.logdebug(data)
-
-            imu_dat = IMUdata()
-            imu_read = False
-            cnt_dat = ContactData()
-            cnt_read = False
-
-            msg = data.decode().split(",")
-            # REMOVE NEWLINE
-            msg[-1] = msg[-1].rstrip('\r\n')
-
-            # IMU
-            if msg[0] == "IMUDATA":
-                try:
-                    imu_msg = [float(x) for x in msg[1:]]
-                    # rospy.loginfo(imu_msg)
-                    # IMU
-                    imu_dat.roll = imu_msg[0]
-                    imu_dat.pitch = imu_msg[1]
-                    imu_dat.acc_x = imu_msg[2]
-                    imu_dat.acc_y = imu_msg[3]
-                    imu_dat.acc_z = imu_msg[4]
-                    imu_dat.gyro_x = imu_msg[5]
-                    imu_dat.gyro_y = imu_msg[6]
-                    imu_dat.gyro_z = imu_msg[7]
-                    imu_read = True
-                except:
-                    rospy.logdebug("bad imu read")
-
-            # CONTACT
-            elif msg[0] == "CONTACT":
-                try:
-                    cnt_msg = [strtobool(x) for x in msg[1:]]
-                    # rospy.loginfo(cnt_msg)
-                    # Contact Sensor
-                    cnt_dat.FL = cnt_msg[0]
-                    cnt_dat.FR = cnt_msg[1]
-                    cnt_dat.BL = cnt_msg[2]
-                    cnt_dat.BR = cnt_msg[3]
-                    cnt_read = True
-                except:
-                    rospy.logdebug("bad contact read")
-
-            # READ IMU
-            self.imu.filter_rpy()
-            imu_dat.roll = self.imu.true_roll
-            imu_dat.pitch = self.imu.true_pitch
-            imu_dat.acc_x = self.imu.imu_data[3]
-            imu_dat.acc_y = self.imu.imu_data[4]
-            imu_dat.acc_z = self.imu.imu_data[5]
-            imu_dat.gyro_x = self.imu.imu_data[0]
-            imu_dat.gyro_y = self.imu.imu_data[1]
-            imu_dat.gyro_z = self.imu.imu_data[2]
-            imu_read = True
-
-            if imu_read:
-                self.imu_pub.publish(imu_dat)
-                # rospy.logdebug("IMU")
-            if cnt_read:
-                self.cnt_pub.publish(cnt_dat)
-                # rospy.logdebug("CONTACT")
-
-            string_msg = String()
-            string_msg.data = data
-            self.str_pub.publish(string_msg)
-
-
-def main():
-    """ The main() function. """
-    si = SensorInterface()
-    rospy.loginfo("Ready To Log Data!")
-    # rate = rospy.Rate(1.0 / 60.0)
-    while not rospy.is_shutdown():
-        si.read_sensors()
-        # rate.sleep()
-        rospy.spin()
-
-
-if __name__ == '__main__':
-    try:
-        main()
-    except rospy.ROSInterruptException:
-        pass
@@ -1,66 +0,0 @@
-#!/usr/bin/env python
-"""
-DESCRIPTION:
-
-SUBSCRIBERS:
-"""
-
-from __future__ import division
-import rospy
-from mini_ros.srv import CalibServo, CalibServoResponse
-from mini_ros.msg import JointPulse
-import numpy as np
-
-import sys
-
-import rospkg
-rospack = rospkg.RosPack()
-
-sys.path.append(rospack.get_path('mini_ros') + '/../')
-
-sys.path.append('../../')
-
-
-class ServoCalibrator():
-    def __init__(self):
-
-        rospy.init_node('ServoCalibrator', anonymous=True)
-
-        self.serv = rospy.Service('servo_calibrator', CalibServo,
-                                  self.calib_service_cb)
-        self.jp_pub = rospy.Publisher('spot/pulse', JointPulse, queue_size=1)
-
-    def calib_service_cb(self, req):
-        """ Requests a servo to be moved to a certain position
-
-            Args: req
-            Returns: response
-        """
-        try:
-            jp_msg = JointPulse()
-
-            jp_msg.servo_num = req.servo_num
-            jp_msg.servo_pulse = req.servo_pulse
-
-            self.jp_pub.publish(jp_msg)
-            response = "Servo Command Sent."
-        except rospy.ROSInterruptException:
-            response = "FAILED to send Servo Command"
-        return CalibServoResponse(response)
-
-
-def main():
-    """ The main() function. """
-    srv_calib = ServoCalibrator()
-    rospy.loginfo(
-        "Use The servo_calibrator service (Pulse Width Unit is us (nominal ~500-2500))."
-    )
-    while not rospy.is_shutdown():
-        rospy.spin()
-
-
-if __name__ == '__main__':
-    try:
-        main()
-    except rospy.ROSInterruptException:
-        pass
@@ -1,256 +0,0 @@
-#!/usr/bin/env python
-"""
-DESCRIPTION:
-
-SUBSCRIBERS:
-"""
-
-from __future__ import division
-import os
-import rospy
-import numpy as np
-from mini_ros.msg import MiniCmd, JoyButtons
-import copy
-
-import sys
-
-import rospkg 
-rospack = rospkg.RosPack()
-
-
-sys.path.append(rospack.get_path('mini_ros') + '/../')
-
-sys.path.append('../../')
-
-from spotmicro.GymEnvs.spot_bezier_env import spotBezierEnv
-from spotmicro.Kinematics.SpotKinematics import SpotModel
-from spotmicro.GaitGenerator.Bezier import BezierGait
-
-# Controller Params
-STEPLENGTH_SCALE = 0.06
-Z_SCALE_CTRL = 0.12
-RPY_SCALE = 0.6
-SV_SCALE = 0.1
-CHPD_SCALE = 0.0005
-YAW_SCALE = 1.5
-
-# AGENT PARAMS
-CD_SCALE = 0.05
-SLV_SCALE = 0.05
-RESIDUALS_SCALE = 0.03
-Z_SCALE = 0.05
-# Filter actions
-alpha = 0.7
-# Added this to avoid filtering residuals
-# -1 for all
-
-
-class SpotCommander():
-    def __init__(self):
-
-        rospy.init_node('Policies', anonymous=True)
-        self.agents = {}
-        # self.movetypes = [
-        #     "Forward", "Backward", "Left", "Right", "CW", "CCW", "Stop"
-        # ]
-        self.movetypes = ["Stop"]
-        self.mini_cmd = MiniCmd()
-        self.jb = JoyButtons()
-        self.mini_cmd.x_velocity = 0.0
-        self.mini_cmd.y_velocity = 0.0
-        self.mini_cmd.rate = 0.0
-        self.mini_cmd.roll = 0.0
-        self.mini_cmd.pitch = 0.0
-        self.mini_cmd.yaw = 0.0
-        self.mini_cmd.z = 0.0
-        self.mini_cmd.motion = "Stop"
-        self.mini_cmd.movement = "Stepping"
-        # FIXED
-        self.BaseStepVelocity = 0.1
-        self.StepVelocity = self.BaseStepVelocity
-        # Stock, use Bumpers to change
-        self.BaseSwingPeriod = 0.2
-        self.SwingPeriod = self.BaseSwingPeriod
-        # Stock, use arrow pads to change
-        self.BaseClearanceHeight = 0.04
-        self.BasePenetrationDepth = 0.005
-        self.ClearanceHeight = self.BaseClearanceHeight
-        self.PenetrationDepth = self.BasePenetrationDepth
-
-        self.load_spot()
-        # mini_cmd_cb from mini_cmd topic
-        self.sub_cmd = rospy.Subscriber('mini_cmd', MiniCmd, self.mini_cmd_cb)
-        self.sub_jb = rospy.Subscriber('joybuttons', JoyButtons, self.jb_cb)
-        self.time = rospy.get_time()
-        print("READY TO GO!")
-
-    def load_spot(self):
-
-        self.env = spotBezierEnv(render=True,
-                                 on_rack=False,
-                                 height_field=False,
-                                 draw_foot_path=False)
-
-        self.env.reset()
-
-        seed = 0
-        # Set seeds
-        self.env.seed(seed)
-        np.random.seed(seed)
-
-        state_dim = self.env.observation_space.shape[0]
-        print("STATE DIM: {}".format(state_dim))
-        action_dim = self.env.action_space.shape[0]
-        print("ACTION DIM: {}".format(action_dim))
-        max_action = float(self.env.action_space.high[0])
-        print("RECORDED MAX ACTION: {}".format(max_action))
-
-        self.state = self.env.reset()
-
-        # Load Spot Model
-        self.spot = SpotModel()
-
-        self.dt = self.env._time_step
-
-        self.T_bf0 = self.spot.WorldToFoot
-        self.T_bf = copy.deepcopy(self.T_bf0)
-
-        self.bzg = BezierGait(dt=self.env._time_step)
-
-    def mini_cmd_cb(self, mini_cmd):
-        """ Reads the desired Minitaur command and passes it for execution
-
-            Args: mini_cmd
-        """
-        try:
-            # Update mini_cmd
-            self.mini_cmd = mini_cmd
-            # log input data as debug-level message
-            rospy.logdebug(mini_cmd)
-        except rospy.ROSInterruptException:
-            pass
-
-    def jb_cb(self, jb):
-        """ Reads the desired additional joystick buttons
-
-            Args: jb
-        """
-        try:
-            # Update jb
-            self.jb = jb
-            # log input data as debug-level message
-            rospy.logdebug(jb)
-        except rospy.ROSInterruptException:
-            pass
-
-    def move(self):
-        """ Turn joystick inputs into commands
-        """
-
-        if self.mini_cmd.motion != "Stop":
-            self.StepVelocity = self.BaseStepVelocity
-            self.SwingPeriod = np.clip(
-                self.BaseSwingPeriod +
-                (-self.mini_cmd.faster + -self.mini_cmd.slower) * SV_SCALE,
-                0.1, 0.3)
-            if self.mini_cmd.movement == "Stepping":
-                StepLength = self.mini_cmd.x_velocity + abs(
-                    self.mini_cmd.y_velocity * 0.66)
-                StepLength = np.clip(StepLength, -1.0, 1.0)
-                StepLength *= STEPLENGTH_SCALE
-                LateralFraction = self.mini_cmd.y_velocity * np.pi / 2
-                YawRate = self.mini_cmd.rate * YAW_SCALE
-                # x offset
-                pos = np.array(
-                    [0.0, 0.0, self.mini_cmd.z * Z_SCALE_CTRL])
-                orn = np.array([0.0, 0.0, 0.0])
-            else:
-                StepLength = 0.0
-                LateralFraction = 0.0
-                YawRate = 0.0
-                # RESET
-                self.ClearanceHeight = self.BaseClearanceHeight
-                self.PenetrationDepth = self.BasePenetrationDepth
-                self.StepVelocity = self.BaseStepVelocity
-                # x offset
-                pos = np.array(
-                    [0.0, 0.0, self.mini_cmd.z * Z_SCALE_CTRL])
-                orn = np.array([
-                    self.mini_cmd.roll * RPY_SCALE,
-                    self.mini_cmd.pitch * RPY_SCALE,
-                    self.mini_cmd.yaw * RPY_SCALE
-                ])
-        else:
-            StepLength = 0.0
-            LateralFraction = 0.0
-            YawRate = 0.0
-            # RESET
-            self.ClearanceHeight = self.BaseClearanceHeight
-            self.PenetrationDepth = self.BasePenetrationDepth
-            self.StepVelocity = self.BaseStepVelocity
-            self.SwingPeriod = self.BaseSwingPeriod
-            pos = np.array([0.0, 0.0, 0.0])
-            orn = np.array([0.0, 0.0, 0.0])
-
-        # TODO: integrate into controller
-        self.ClearanceHeight += self.jb.updown * CHPD_SCALE
-        self.PenetrationDepth += self.jb.leftright * CHPD_SCALE
-
-        # Manual Reset
-        if self.jb.left_bump or self.jb.right_bump:
-            self.ClearanceHeight = self.BaseClearanceHeight
-            self.PenetrationDepth = self.BasePenetrationDepth
-            self.StepVelocity = self.BaseStepVelocity
-            self.SwingPeriod = self.BaseSwingPeriod
-            self.env.reset()
-
-
-        # print("SL: {} \tSV: {} \nLAT: {} \tYAW: {}".format(
-        #     StepLength, self.StepVelocity, LateralFraction, YawRate))
-        # print("BASE VEL: {}".format(self.BaseStepVelocity))
-        # print("---------------------------------------")
-
-        contacts = self.state[-4:]
-
-        # Time
-        dt = rospy.get_time() - self.time
-        # print("dt: {}".format(dt))
-        self.time = rospy.get_time()
-
-        # Update Step Period
-        self.bzg.Tswing = self.SwingPeriod
-
-        self.T_bf = self.bzg.GenerateTrajectory(StepLength, LateralFraction,
-                                                YawRate, self.StepVelocity,
-                                                self.T_bf0, self.T_bf,
-                                                self.ClearanceHeight,
-                                                self.PenetrationDepth,
-                                                contacts, dt)
-
-        joint_angles = self.spot.IK(orn, pos, self.T_bf)
-        self.env.pass_joint_angles(joint_angles.reshape(-1))
-        # Get External Observations
-        # TODO
-        # self.env.spot.GetExternalObservations(bzg, bz_step)
-        # Step
-        action = self.env.action_space.sample()
-        action[:] = 0.0
-        self.state, reward, done, _ = self.env.step(action)
-
-
-def main():
-    """ The main() function. """
-    mini_commander = SpotCommander()
-    rate = rospy.Rate(600.0)
-    while not rospy.is_shutdown():
-        # This is called continuously. Has timeout functionality too
-        mini_commander.move()
-        rate.sleep()
-        # rospy.spin()
-
-
-if __name__ == '__main__':
-    try:
-        main()
-    except rospy.ROSInterruptException:
-        pass
@@ -1,388 +0,0 @@
-#!/usr/bin/env python
-"""
-DESCRIPTION:
-
-SUBSCRIBERS:
-"""
-
-from __future__ import division
-import rospy
-import numpy as np
-from mini_ros.msg import MiniCmd, JoyButtons, IMUdata, ContactData, AgentData, JointAngles
-import copy
-import sys
-import os
-import rospkg
-rospack = rospkg.RosPack()
-
-sys.path.append(rospack.get_path('mini_ros') + '/../')
-
-sys.path.append('../../')
-
-from spotmicro.Kinematics.SpotKinematics import SpotModel
-from spotmicro.GaitGenerator.Bezier import BezierGait
-from spot_bullet.src.ars_lib.ars import ARSAgent, Normalizer, Policy
-from spotmicro.GymEnvs.spot_bezier_env import spotBezierEnv
-
-# Initialize Node
-rospy.init_node('Policies', anonymous=True)
-
-# Controller Params
-STEPLENGTH_SCALE = rospy.get_param("STEPLENGTH_SCALE")
-Z_SCALE_CTRL = rospy.get_param("Z_SCALE_CTRL")
-RPY_SCALE = rospy.get_param("RPY_SCALE")
-SV_SCALE = rospy.get_param("SV_SCALE")
-CHPD_SCALE = rospy.get_param("CHPD_SCALE")
-YAW_SCALE = rospy.get_param("YAW_SCALE")
-
-# AGENT PARAMS
-CD_SCALE = rospy.get_param("CD_SCALE")
-SLV_SCALE = rospy.get_param("SLV_SCALE")
-RESIDUALS_SCALE = rospy.get_param("RESIDUALS_SCALE")
-Z_SCALE = rospy.get_param("Z_SCALE")
-# Filter actions
-alpha = rospy.get_param("alpha")
-# Added this to avoid filtering residuals
-# -1 for all
-actions_to_filter = rospy.get_param("actions_to_filter")
-
-
-class SpotCommander():
-    def __init__(self, Agent=True, contacts=False):
-
-        self.Agent = Agent
-        self.agent_num = rospy.get_param("agent_num")
-        self.movetypes = ["Stop"]
-        self.mini_cmd = MiniCmd()
-        self.jb = JoyButtons()
-        self.mini_cmd.x_velocity = 0.0
-        self.mini_cmd.y_velocity = 0.0
-        self.mini_cmd.rate = 0.0
-        self.mini_cmd.roll = 0.0
-        self.mini_cmd.pitch = 0.0
-        self.mini_cmd.yaw = 0.0
-        self.mini_cmd.z = 0.0
-        self.mini_cmd.motion = "Stop"
-        self.mini_cmd.movement = "Stepping"
-        # FIXED
-        self.BaseStepVelocity = rospy.get_param("BaseStepVelocity")
-        self.StepVelocity = copy.deepcopy(self.BaseStepVelocity)
-        # Stock, use Bumpers to change
-        self.BaseSwingPeriod = rospy.get_param("Tswing")
-        self.SwingPeriod = copy.deepcopy(self.BaseSwingPeriod)
-        self.SwingPeriod_LIMITS = rospy.get_param("SwingPeriod_LIMITS")
-        # Stock, use arrow pads to change
-        self.BaseClearanceHeight = rospy.get_param("BaseClearanceHeight")
-        self.BasePenetrationDepth = rospy.get_param("BasePenetrationDepth")
-        self.ClearanceHeight = copy.deepcopy(self.BaseClearanceHeight)
-        self.PenetrationDepth = copy.deepcopy(self.BasePenetrationDepth)
-        self.ClearanceHeight_LIMITS = rospy.get_param("ClearanceHeight_LIMITS")
-        self.PenetrationDepth_LIMITS = rospy.get_param(
-            "PenetrationDepth_LIMITS")
-
-        # Time
-        self.time = rospy.get_time()
-
-        self.enable_contact = contacts
-
-        # Contacts: FL, FR, BL, BR
-        self.contacts = [0, 0, 0, 0]
-
-        # IMU: R, P, Ax, Ay, Az, Gx, Gy, Gz
-        self.imu = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
-
-        # See spot_params.yaml in config
-        self.spot = SpotModel(
-            shoulder_length=rospy.get_param("shoulder_length"),
-            elbow_length=rospy.get_param("elbow_length"),
-            wrist_length=rospy.get_param("wrist_length"),
-            hip_x=rospy.get_param("hip_x"),
-            hip_y=rospy.get_param("hip_y"),
-            foot_x=rospy.get_param("foot_x"),
-            foot_y=rospy.get_param("foot_y"),
-            height=rospy.get_param("height"),
-            com_offset=rospy.get_param("com_offset"))
-
-        self.T_bf0 = self.spot.WorldToFoot
-        self.T_bf = copy.deepcopy(self.T_bf0)
-
-        # See spot_params.yaml in config
-        self.bzg = BezierGait(dt=rospy.get_param("dt"),
-                              Tswing=rospy.get_param("Tswing"))
-
-        if self.Agent:
-            self.load_spot(contacts, agent_num=self.agent_num)
-        # cmd_cb from mini_cmd topic
-        self.sub_cmd = rospy.Subscriber('mini_cmd',
-                                        MiniCmd,
-                                        self.cmd_cb,
-                                        queue_size=1)
-        self.sub_jb = rospy.Subscriber('joybuttons',
-                                       JoyButtons,
-                                       self.jb_cb,
-                                       queue_size=1)
-        self.sub_imu = rospy.Subscriber('spot/imu',
-                                        IMUdata,
-                                        self.imu_cb,
-                                        queue_size=1)
-        self.sub_cnt = rospy.Subscriber('spot/contact',
-                                        ContactData,
-                                        self.cnt_cb,
-                                        queue_size=1)
-        self.ag_pub = rospy.Publisher('spot/agent', AgentData, queue_size=1)
-        self.ja_pub = rospy.Publisher('spot/joints', JointAngles, queue_size=1)
-        print("READY TO GO!")
-
-    def load_spot(self, contacts, state_dim=12, action_dim=14, agent_num=0):
-        self.policy = Policy(state_dim=state_dim, action_dim=action_dim)
-        self.normalizer = Normalizer(state_dim=state_dim)
-        env = spotBezierEnv(render=False,
-                            on_rack=False,
-                            height_field=False,
-                            draw_foot_path=False)
-        agent = ARSAgent(self.normalizer, self.policy, env)
-        my_path = os.path.abspath(os.path.dirname(__file__))
-        if contacts:
-            models_path = os.path.join(my_path,
-                                       "../../spot_bullet/models/contact")
-        else:
-            models_path = os.path.join(my_path,
-                                       "../../spot_bullet/models/no_contact")
-
-        print("MODEL PATH: {}".format(my_path))
-        file_name = "spot_ars_"
-        if os.path.exists(models_path + "/" + file_name + str(agent_num) +
-                          "_policy"):
-            print("Loading Existing agent: {}".format(agent_num))
-            agent.load(models_path + "/" + file_name + str(agent_num))
-            agent.policy.episode_steps = np.inf
-            self.policy = agent.policy
-
-        self.action = np.zeros(action_dim)
-        self.old_act = self.action[:actions_to_filter]
-
-    def imu_cb(self, imu):
-        """ Reads the IMU
-
-            Args: imu
-        """
-        try:
-            # Update imu
-            self.imu = [
-                imu.roll, imu.pitch,
-                np.radians(imu.gyro_x),
-                np.radians(imu.gyro_y),
-                np.radians(imu.gyro_z), imu.acc_x, imu.acc_y, imu.acc_z - 9.81
-            ]
-            # log input data as debug-level message
-            rospy.logdebug(imu)
-        except rospy.ROSInterruptException:
-            pass
-
-    def cnt_cb(self, cnt):
-        """ Reads the Contact Sensors
-
-            Args: cnt
-        """
-        try:
-            # Update contacts
-            self.contacts = [cnt.FL, cnt.FR, cnt.BL, cnt.BR]
-            # log input data as debug-level message
-            rospy.logdebug(cnt)
-        except rospy.ROSInterruptException:
-            pass
-
-    def cmd_cb(self, mini_cmd):
-        """ Reads the desired Minitaur command and passes it for execution
-
-            Args: mini_cmd
-        """
-        try:
-            # Update mini_cmd
-            self.mini_cmd = mini_cmd
-            # log input data as debug-level message
-            rospy.logdebug(mini_cmd)
-        except rospy.ROSInterruptException:
-            pass
-
-    def jb_cb(self, jb):
-        """ Reads the desired additional joystick buttons
-
-            Args: jb
-        """
-        try:
-            # Update jb
-            self.jb = jb
-            # log input data as debug-level message
-            rospy.logdebug(jb)
-        except rospy.ROSInterruptException:
-            pass
-
-    def move(self):
-        """ Turn joystick inputs into commands
-        """
-
-        # Move Type
-        if self.mini_cmd.movement == "Stepping":
-            step_or_view = False
-        else:
-            step_or_view = True
-
-        if self.mini_cmd.motion != "Stop":
-            self.StepVelocity = copy.deepcopy(self.BaseStepVelocity)
-            self.SwingPeriod = np.clip(
-                copy.deepcopy(self.BaseSwingPeriod) +
-                (-self.mini_cmd.faster + -self.mini_cmd.slower) * SV_SCALE,
-                self.SwingPeriod_LIMITS[0], self.SwingPeriod_LIMITS[1])
-            if self.mini_cmd.movement == "Stepping":
-                # Only take 2/3 of lateral step length or it will be too great.
-                StepLength = self.mini_cmd.x_velocity + abs(
-                    self.mini_cmd.y_velocity * 0.66)
-                StepLength = np.clip(StepLength, -1.0, 1.0)
-                StepLength *= STEPLENGTH_SCALE
-                # Convert lateral joystick action into poolar coordinates
-                # for lateral movement
-                LateralFraction = self.mini_cmd.y_velocity * np.pi / 2
-                YawRate = self.mini_cmd.rate * YAW_SCALE
-                # NOTE: NO HEIGHT MOD DURING WALK
-                pos = np.array([0.0, 0.0, 0.0])
-                orn = np.array([0.0, 0.0, 0.0])
-            else:
-                StepLength = 0.0
-                LateralFraction = 0.0
-                YawRate = 0.0
-                # RESET
-                self.ClearanceHeight = copy.deepcopy(self.BaseClearanceHeight)
-                self.PenetrationDepth = copy.deepcopy(
-                    self.BasePenetrationDepth)
-                self.StepVelocity = copy.deepcopy(self.BaseStepVelocity)
-                # x offset
-                pos = np.array([0.0, 0.0, self.mini_cmd.z * Z_SCALE_CTRL])
-                orn = np.array([
-                    self.mini_cmd.roll * RPY_SCALE,
-                    self.mini_cmd.pitch * RPY_SCALE,
-                    self.mini_cmd.yaw * RPY_SCALE
-                ])
-        else:
-            StepLength = 0.0
-            LateralFraction = 0.0
-            YawRate = 0.0
-            # RESET
-            self.ClearanceHeight = self.BaseClearanceHeight
-            self.PenetrationDepth = self.BasePenetrationDepth
-            self.StepVelocity = self.BaseStepVelocity
-            self.SwingPeriod = self.BaseSwingPeriod
-            pos = np.array([0.0, 0.0, 0.0])
-            orn = np.array([0.0, 0.0, 0.0])
-
-        # TODO: integrate into controller
-        self.ClearanceHeight += self.jb.updown * CHPD_SCALE
-        self.PenetrationDepth += self.jb.leftright * CHPD_SCALE
-
-        # Manual Reset
-        if self.jb.left_bump or self.jb.right_bump:
-            self.ClearanceHeight = copy.deepcopy(self.BaseClearanceHeight)
-            self.PenetrationDepth = copy.deepcopy(self.BasePenetrationDepth)
-            self.StepVelocity = copy.deepcopy(self.BaseStepVelocity)
-            self.SwingPeriod = copy.deepcopy(self.BaseSwingPeriod)
-
-        # OPTIONAL: Agent
-        if self.Agent and self.mini_cmd.motion != "Stop":
-            phases = copy.deepcopy(self.bzg.Phases)
-            # Total 12
-            state = []
-            # r, p, gz, gy, gz, ax, ay, az (8)
-            state.extend(self.imu)
-            # FL, FR, BL, BR (4)
-            state.extend(phases)
-            # FL, FR, BL, BR (4)
-            if self.enable_contact:
-                state.extend(self.contacts)
-            self.normalizer.observe(state)
-            # Don't normalize contacts
-            state[:-4] = self.normalizer.normalize(state)[:-4]
-            self.action = self.policy.evaluate(state, None, None)
-            self.action = np.tanh(self.action)
-            # EXP FILTER
-            self.action[:actions_to_filter] = alpha * self.old_act + (
-                1.0 - alpha) * self.action[:actions_to_filter]
-            self.old_act = self.action[:actions_to_filter]
-
-            self.ClearanceHeight += self.action[0] * CD_SCALE
-
-        # Time
-        dt = rospy.get_time() - self.time
-        # print("dt: {}".format(dt))
-        self.time = rospy.get_time()
-
-        # Update Step Period
-        self.bzg.Tswing = self.SwingPeriod
-
-        # CLIP
-        self.ClearanceHeight = np.clip(self.ClearanceHeight,
-                                       self.ClearanceHeight_LIMITS[0],
-                                       self.ClearanceHeight_LIMITS[1])
-        self.PenetrationDepth = np.clip(self.PenetrationDepth,
-                                        self.PenetrationDepth_LIMITS[0],
-                                        self.PenetrationDepth_LIMITS[1])
-
-        self.T_bf = self.bzg.GenerateTrajectory(StepLength, LateralFraction,
-                                                YawRate, self.StepVelocity,
-                                                self.T_bf0, self.T_bf,
-                                                self.ClearanceHeight,
-                                                self.PenetrationDepth,
-                                                self.contacts, dt)
-
-        T_bf_copy = copy.deepcopy(self.T_bf)
-        # OPTIONAL: Agent
-        if self.Agent and self.mini_cmd.motion != "Stop":
-            self.action[2:] *= RESIDUALS_SCALE
-            # Add DELTA to XYZ Foot Poses
-            T_bf_copy["FL"][:3, 3] += self.action[2:5]
-            T_bf_copy["FR"][:3, 3] += self.action[5:8]
-            T_bf_copy["BL"][:3, 3] += self.action[8:11]
-            T_bf_copy["BR"][:3, 3] += self.action[11:14]
-            pos[2] += abs(self.action[1]) * Z_SCALE
-
-        joint_angles = self.spot.IK(orn, pos, T_bf_copy)
-
-        ja_msg = JointAngles()
-
-        ja_msg.fls = np.degrees(joint_angles[0][0])
-        ja_msg.fle = np.degrees(joint_angles[0][1])
-        ja_msg.flw = np.degrees(joint_angles[0][2])
-
-        ja_msg.frs = np.degrees(joint_angles[1][0])
-        ja_msg.fre = np.degrees(joint_angles[1][1])
-        ja_msg.frw = np.degrees(joint_angles[1][2])
-
-        ja_msg.bls = np.degrees(joint_angles[2][0])
-        ja_msg.ble = np.degrees(joint_angles[2][1])
-        ja_msg.blw = np.degrees(joint_angles[2][2])
-
-        ja_msg.brs = np.degrees(joint_angles[3][0])
-        ja_msg.bre = np.degrees(joint_angles[3][1])
-        ja_msg.brw = np.degrees(joint_angles[3][2])
-
-        # Move Type
-        ja_msg.step_or_view = step_or_view
-
-        self.ja_pub.publish(ja_msg)
-
-
-def main():
-    """ The main() function. """
-    mini_commander = SpotCommander()
-    rate = rospy.Rate(600.0)
-    while not rospy.is_shutdown():
-        # This is called continuously. Has timeout functionality too
-        mini_commander.move()
-        rate.sleep()
-        # rospy.spin()
-
-
-if __name__ == '__main__':
-    try:
-        main()
-    except rospy.ROSInterruptException:
-        pass
@@ -1,184 +0,0 @@
-/// \file
-/// \brief Draws Each Obstacle in RViz using MarkerArrays
-///
-/// PARAMETERS:
-/// PUBLISHES:
-/// SUBSCRIBES:
-/// FUNCTIONS:
-
-#include <ros/ros.h>
-
-#include <math.h>
-#include <string>
-#include <vector>
-
-#include <mini_ros/spot.hpp>
-#include <mini_ros/teleop.hpp>
-#include "mini_ros/MiniCmd.h"
-#include "std_srvs/Empty.h"
-#include "std_msgs/Bool.h"
-
-// Global Vars
-spot::Spot spot_mini = spot::Spot();
-bool teleop_flag = false;
-bool motion_flag = false;
-bool ESTOP = false;
-// Init Time
-ros::Time current_time;
-ros::Time last_time;
-
-
-void teleop_callback(const geometry_msgs::Twist &tw)
-{ 
-  /// \brief cmd_vel subscriber callback. Records commanded twist
-  ///
-  /// \param tw (geometry_msgs::Twist): the commanded linear and angular velocity
-  /** 
-  * This function runs every time we get a geometry_msgs::Twist message on the "cmd_vel" topic.
-  * We generally use the const <message>ConstPtr &msg syntax to prevent our node from accidentally
-  * changing the message, in the case that another node is also listening to it.
-  */
-  
-  spot_mini.update_command(tw.linear.x, tw.linear.y, tw.linear.z, tw.angular.z, tw.angular.x, tw.angular.y);
-}
-
-void estop_callback(const std_msgs::Bool &estop)
-{ 
-  if (estop.data)
-  {
-    spot_mini.update_command(0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
-    motion_flag = true;
-    if (!ESTOP)
-    {
-      ROS_ERROR("ENGAGING MANUAL E-STOP!");
-      ESTOP = true;
-    } else
-    {
-      ROS_WARN("DIS-ENGAGING MANUAL E-STOP!");
-      ESTOP = false;
-    }
-  }
-
-  last_time = ros::Time::now();
-}
-
-
-bool swm_callback(std_srvs::Empty::Request&, std_srvs::Empty::Response&)
-/// Switches the Movement mode from FB (Forward/Backward) to LR (Left/Right)
-/// and vice versa
-{
-    spot_mini.switch_movement();
-    motion_flag = true;
-    return true;
-}
-
-
-int main(int argc, char** argv)
-/// The Main Function ///
-{
-    ROS_INFO("STARTING NODE: spot_mini State Machine");
-
-    // Vars
-    double frequency = 5;
-    // Seconds for timeout
-    double timeout = 1.0;
-
-    ros::init(argc, argv, "mini_sm_node"); // register the node on ROS
-    ros::NodeHandle nh; // get a handle to ROS
-    ros::NodeHandle nh_("~"); // get a handle to ROS
-    // Parameters
-    nh_.getParam("frequency", frequency);
-
-    // Init Subscriber
-    ros::Subscriber teleop_sub = nh.subscribe("teleop", 1, teleop_callback);
-    ros::Subscriber estop_sub = nh.subscribe("estop", 1, estop_callback);
-    // Init Command Publisher
-    ros::Publisher mini_pub = nh.advertise<mini_ros::MiniCmd>("mini_cmd", 1);
-
-    // Init Switch Movement Service Server
-    ros::ServiceServer switch_movement_server = nh.advertiseService("switch_movement", swm_callback);
-
-    // Init MiniCmd
-    mini_ros::MiniCmd mini_cmd;
-    // Placeholder
-    mini_cmd.x_velocity = 0.0;
-    mini_cmd.y_velocity = 0.0;
-    mini_cmd.rate = 0.0;
-    mini_cmd.roll = 0.0;
-    mini_cmd.pitch = 0.0;
-    mini_cmd.yaw = 0.0;
-    mini_cmd.z = 0.0;
-    mini_cmd.faster = 0.0;
-    mini_cmd.slower = 0.0;
-    mini_cmd.motion = "Stop";
-    mini_cmd.movement = "Stepping";
-
-    ros::Rate rate(frequency);
-    current_time = ros::Time::now();
-    last_time = ros::Time::now();
-    // Main While
-    while (ros::ok())
-    {
-        ros::spinOnce();
-        current_time = ros::Time::now();
-
-        spot::SpotCommand cmd = spot_mini.return_command();
-
-        // Condition for sending non-stop command
-        if (!motion_flag and !(current_time.toSec() - last_time.toSec() > timeout) and !ESTOP)
-        {
-          mini_cmd.x_velocity = cmd.x_velocity;
-          mini_cmd.y_velocity = cmd.y_velocity;
-          mini_cmd.rate = cmd.rate;
-          mini_cmd.roll = cmd.roll;
-          mini_cmd.pitch = cmd.pitch;
-          mini_cmd.yaw = cmd.yaw;
-          mini_cmd.z = cmd.z;
-          mini_cmd.faster = cmd.faster;
-          mini_cmd.slower = cmd.slower;
-          // Now convert enum to string
-          // Motion
-          if (cmd.motion == spot::Go)
-          {
-            mini_cmd.motion = "Go";
-          } else
-          {
-            mini_cmd.motion = "Stop";
-          }
-          // Movement
-          if (cmd.movement == spot::Stepping)
-          {
-            mini_cmd.movement = "Stepping";
-          } else
-          {
-            mini_cmd.movement = "Viewing";
-          }
-
-        } else
-        {
-          mini_cmd.x_velocity = 0.0;
-          mini_cmd.y_velocity = 0.0;
-          mini_cmd.rate = 0.0;
-          mini_cmd.roll = 0.0;
-          mini_cmd.pitch = 0.0;
-          mini_cmd.yaw = 0.0;
-          mini_cmd.z = 0.0;
-          mini_cmd.faster = 0.0;
-          mini_cmd.slower = 0.0;
-          mini_cmd.motion = "Stop";
-        }
-
-        if (current_time.toSec() - last_time.toSec() > timeout)
-        {
-          ROS_ERROR("TIMEOUT...ENGAGING E-STOP!");
-        }
-
-        // Now publish
-        mini_pub.publish(mini_cmd);
-        motion_flag = false;
-        
-        rate.sleep();
-    }
-
-    return 0;
-}
@@ -1,134 +0,0 @@
-/// \file
-/// \brief Draws Each Obstacle in RViz using MarkerArrays
-///
-/// PARAMETERS:
-/// PUBLISHES:
-/// SUBSCRIBES:
-/// FUNCTIONS:
-
-#include <ros/ros.h>
-
-#include <math.h>
-#include <string>
-#include <vector>
-
-#include <mini_ros/spot.hpp>
-#include <mini_ros/teleop.hpp>
-#include "mini_ros/MiniCmd.h"
-#include "std_msgs/Bool.h"
-#include "std_srvs/Empty.h"
-#include "mini_ros/JoyButtons.h"
-
-#include <functional>  // To use std::bind
-
-
-int main(int argc, char** argv)
-/// The Main Function ///
-{
-    ROS_INFO("STARTING NODE: Teleoperation");
-
-    // Vars
-    double frequency = 60;
-    int linear_x = 4;
-    int linear_y = 3;
-    int linear_z = 1;
-    int angular = 0;
-    int sw = 0;
-    int es = 1;
-    int RB = 5;
-    int LB = 2;
-    int RT = 5;
-    int LT = 4;
-    int UD = 7;
-    int LR = 6;
-    double l_scale = 1.0;
-    double a_scale = 1.0;
-    double B_scale = 1.0;
-    double debounce_thresh = 0.15; // sec
-
-    ros::init(argc, argv, "teleop_node"); // register the node on ROS
-    ros::NodeHandle nh; // get a handle to ROS
-    ros::NodeHandle nh_("~"); // get a handle to ROS
-    // Parameters
-    nh_.getParam("frequency", frequency);
-    nh_.getParam("axis_linear_x", linear_x);
-    nh_.getParam("axis_linear_y", linear_y);
-    nh_.getParam("axis_linear_z", linear_z);
-    nh_.getParam("axis_angular", angular);
-    nh_.getParam("scale_linear", l_scale);
-    nh_.getParam("scale_angular", a_scale);
-    nh_.getParam("scale_bumper", B_scale);
-    nh_.getParam("button_switch", sw);
-    nh_.getParam("button_estop", es);
-    nh_.getParam("rb", RB);
-    nh_.getParam("lb", LB);
-    nh_.getParam("rt", RT);
-    nh_.getParam("lt", LT);
-    nh_.getParam("updown", UD);
-    nh_.getParam("leftright", LR);
-    nh_.getParam("debounce_thresh", debounce_thresh);
-
-    tele::Teleop teleop = tele::Teleop(linear_x, linear_y, linear_z, angular,
-                                       l_scale, a_scale, LB, RB, B_scale, LT,
-                                       RT, UD, LR, sw, es);
-
-    // Init Switch Movement Server
-    ros::ServiceClient switch_movement_client = nh.serviceClient<std_srvs::Empty>("switch_movement");
-    ros::service::waitForService("switch_movement", -1);
-
-    // Init ESTOP Publisher
-    ros::Publisher estop_pub = nh.advertise<std_msgs::Bool>("estop", 1);
-    // Init Command Publisher
-    ros::Publisher vel_pub = nh.advertise<geometry_msgs::Twist>("teleop", 1);
-    // Init Joy Button Publisher
-    ros::Publisher jb_pub = nh.advertise<mini_ros::JoyButtons>("joybuttons", 1);
-
-    // Init Subscriber (also handles pub)
-    // TODO: Figure out how to use std::bind properly
-    // ros::Subscriber joy_sub = nh.subscribe<sensor_msgs::Joy>("joy", 1, std::bind(&tele::Teleop::joyCallback, std::placeholders::_1, vel_pub), &teleop);
-    ros::Subscriber joy_sub = nh.subscribe<sensor_msgs::Joy>("joy", 1, &tele::Teleop::joyCallback, &teleop);
-
-    ros::Rate rate(frequency);
-
-    // Record time for debouncing buttons
-    ros::Time current_time = ros::Time::now();
-    ros::Time last_time = ros::Time::now();
-
-
-    // Main While
-    while (ros::ok())
-    {
-        ros::spinOnce();
-        current_time = ros::Time::now();
-
-        std_msgs::Bool estop;
-        estop.data = teleop.return_estop();
-
-        if (estop.data and current_time.toSec() - last_time.toSec() >= debounce_thresh)
-        {
-            ROS_INFO("SENDING E-STOP COMMAND!");
-            last_time = ros::Time::now();
-        } else if (!teleop.return_trigger())
-        {
-          // Send Twist
-          vel_pub.publish(teleop.return_twist());
-          estop.data = 0;
-        } else if (current_time.toSec() - last_time.toSec() >= debounce_thresh)
-        {
-          // Call Switch Service
-          std_srvs::Empty e;
-          switch_movement_client.call(e);
-          estop.data = 0;
-          last_time = ros::Time::now();
-        }
-        // pub buttons
-        jb_pub.publish(teleop.return_buttons());
-
-        estop_pub.publish(estop);
-        
-        
-        rate.sleep();
-    }
-
-    return 0;
-}
@@ -1,6 +0,0 @@
-# Request
-int8 servo_num
-int32 servo_pulse
---
-# Response
-string Response
@@ -1,57 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro">
-    <xacro:include filename="$(find hector_sensors_description)/urdf/hokuyo_utm30lx.urdf.xacro" />
-    <xacro:include filename="$(find hector_sensors_description)/urdf/asus_camera.urdf.xacro" />
-
-    <xacro:hokuyo_utm30lx 
-        name="hokuyo" 
-        parent="base_link" 
-        ros_topic="scan" 
-        update_rate="30" 
-        ray_count="1040" 
-        min_angle="130" 
-        max_angle="-130" >
-        <origin xyz="0.0 0.0 0.1" rpy="0 0 0"/>
-    </xacro:hokuyo_utm30lx>
-    
-    <gazebo reference="hokuyo_frame">
-		<material>Gazebo/FlatBlack</material>
-	</gazebo>
-
-    <!-- <xacro:asus_camera 
-        parent="base_link" 
-        name="camera">
-        <origin xyz="0.2 0.0 0.05" rpy="0 0 0"/>
-    </xacro:asus_camera> -->
-
-    <gazebo>
-        <plugin name="imu_controller" filename="libhector_gazebo_ros_imu.so">
-            <updateRate>50.0</updateRate>
-            <bodyName>imu_link</bodyName>
-            <topicName>imu/data</topicName>
-            <accelDrift>0.005 0.005 0.005</accelDrift>
-            <accelGaussianNoise>0.005 0.005 0.005</accelGaussianNoise>
-            <rateDrift>0.005 0.005 0.005 </rateDrift>
-            <rateGaussianNoise>0.005 0.005 0.005 </rateGaussianNoise>
-            <headingDrift>0.005</headingDrift>
-            <headingGaussianNoise>0.005</headingGaussianNoise>
-        </plugin>
-    </gazebo>
-
-    <link name="imu_link">
-        <inertial>
-            <mass value="0.001"/>
-            <origin xyz="0 0 0" rpy="0 0 0"/>
-            <inertia ixx="1e-09" ixy="0.0" ixz="0.0" iyy="1e-09" iyz="0.0" izz="1e-09"/>
-        </inertial>
-    </link>
-    <joint name="imu_joint" type="fixed">
-        <parent link="base_link" />
-        <child link="imu_link" />
-    </joint>
-
-    <!-- <xacro:include filename="$(find champ_arm_description)/urdf/champ_arm.urdf.xacro" />
-    <xacro:champ_arm parent="base_link">
-        <origin xyz="0.07 0.0 ${base_z_length / 2}" rpy="0 0 0"/>
-    </xacro:champ_arm> -->
-</robot>
@@ -1,938 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<!-- =================================================================================== -->
-<!-- |    This document was autogenerated by xacro from spot.urdf.xacro                | -->
-<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
-<!-- =================================================================================== -->
-<robot name="spot">
-  <material name="orange">
-    <color rgba="1.0 0.5 0.0 1"/>
-  </material>
-  <material name="black">
-    <color rgba="0.1 0.1 0.1 1"/>
-  </material>
-  <material name="grey">
-    <color rgba="0.6 0.6 0.6 1"/>
-  </material>
-  <!-- Left Leg: prefix is front or rear -->
-  <!--   <xacro:macro name="LeftLeg" params="prefix reflect">
-    <link name="${prefix}_Left_Leg">
-        <visual>
-            <geometry>
-                <box size="${leglen} 0.1 0.2"/>
-            </geometry>
-            <origin xyz="0 0 -${leglen/2}" rpy="0 ${pi/2} 0"/>
-            <material name="white"/>
-        </visual>
-        <collision>
-            <geometry>
-                <box size="${leglen} 0.1 0.2"/>
-            </geometry>
-            <origin xyz="0 0 -${leglen/2}" rpy="0 ${pi/2} 0"/>
-        </collision>
-        <xacro:default_inertial mass="10"/>
-    </link>
-
-    <joint name="base_to_${prefix}_leg" type="fixed">
-        <parent link="base_link"/>
-        <child link="${prefix}_leg"/>
-        <origin xyz="0 ${reflect*(width+.02)} 0.25" />
-    </joint>
-</xacro:macro> -->
-  <!-- <xacro:include filename="$(find mini_ros)/urdf/accessories.urdf.xacro" /> -->
-  <!-- Robot description -->
-  <!-- STATIC Links -->
-  <link name="base_link"/>
-  <link name="base_inertia">
-    <visual>
-      <origin rpy="0 0 1.57079632679" xyz="-0.16 0.035 -0.045"/>
-      <geometry>
-        <mesh filename="package://mini_ros/stl/OpenQuadruped/MAINBODY.stl" scale="1 1 1"/>
-      </geometry>
-      <material name="orange"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
-      <geometry>
-        <box size="0.114 0.2 0.1"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.6"/>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <!-- Inertial Axes -->
-      <inertia ixx="0.0025" ixy="0" ixz="0" iyx="0" iyy="0.0011498" iyz="0" izx="0" izy="0" izz="0.0026498"/>
-    </inertial>
-  </link>
-  <gazebo reference="base_inertia">
-    <material>Gazebo/Orange</material>
-  </gazebo>
-  <!-- m to mm -->
-  <link name="battery">
-    <visual>
-      <origin rpy="0 0 1.57079632679" xyz="-0.15 0.035 -0.022"/>
-      <geometry>
-        <mesh filename="package://mini_ros/stl/OpenQuadruped/Battery.stl" scale="1 1 1"/>
-      </geometry>
-      <material name="black"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
-      <geometry>
-        <box size="0.048 0.145 0.026"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.4"/>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <!-- Inertial Axes -->
-      <inertia ixx="0.000723366666667" ixy="0" ixz="0" iyx="0" iyy="9.93333333333e-05" iyz="0" izx="0" izy="0" izz="0.000777633333333"/>
-    </inertial>
-  </link>
-  <gazebo reference="battery">
-    <material>Gazebo/Black</material>
-  </gazebo>
-  <!-- m to mm -->
-  <link name="chassis_left">
-    <visual>
-      <origin rpy="0 1.57079632679 -1.57079632679" xyz="0.016 0.003 0"/>
-      <geometry>
-        <mesh filename="package://mini_ros/stl/OpenQuadruped/Chassis_Left_Side.stl" scale="1 1 1"/>
-      </geometry>
-      <material name="black"/>
-    </visual>
-    <collision>
-      <origin rpy="0 1.57079632679 -1.57079632679" xyz="0 0 0"/>
-      <geometry>
-        <box size="0.06 0.15 0.006"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.01"/>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <!-- Inertial Axes -->
-      <inertia ixx="1.878e-05" ixy="0" ixz="0" iyx="0" iyy="3.03e-06" iyz="0" izx="0" izy="0" izz="2.175e-05"/>
-    </inertial>
-  </link>
-  <gazebo reference="chassis_left">
-    <material>Gazebo/Black</material>
-  </gazebo>
-  <!-- m to mm -->
-  <link name="chassis_right">
-    <visual>
-      <origin rpy="0 1.57079632679 1.57079632679" xyz="-0.016 -0.003 0"/>
-      <geometry>
-        <mesh filename="package://mini_ros/stl/OpenQuadruped/Chassis_Right_Side.stl" scale="1 1 1"/>
-      </geometry>
-      <material name="black"/>
-    </visual>
-    <collision>
-      <origin rpy="0 1.57079632679 1.57079632679" xyz="0 0 0"/>
-      <geometry>
-        <box size="0.06 0.15 0.006"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.01"/>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <!-- Inertial Axes -->
-      <inertia ixx="1.878e-05" ixy="0" ixz="0" iyx="0" iyy="3.03e-06" iyz="0" izx="0" izy="0" izz="2.175e-05"/>
-    </inertial>
-  </link>
-  <gazebo reference="chassis_right">
-    <material>Gazebo/Black</material>
-  </gazebo>
-  <!-- m to mm -->
-  <link name="front">
-    <visual>
-      <origin rpy="0 0 1.57079632679" xyz="-0.16 0.035 -0.045"/>
-      <geometry>
-        <mesh filename="package://mini_ros/stl/OpenQuadruped/Front.stl" scale="1 1 1"/>
-      </geometry>
-      <material name="orange"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 1.57079632679" xyz="0.16 0 0.006"/>
-      <geometry>
-        <box size="0.114 0.045 0.085"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.1"/>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <!-- Inertial Axes -->
-      <inertia ixx="7.70833333333e-05" ixy="0" ixz="0" iyx="0" iyy="0.000168508333333" iyz="0" izx="0" izy="0" izz="0.000125175"/>
-    </inertial>
-  </link>
-  <gazebo reference="front">
-    <material>Gazebo/Orange</material>
-  </gazebo>
-  <!-- m to mm -->
-  <link name="back">
-    <visual>
-      <origin rpy="0 0 1.57079632679" xyz="-0.16 0.035 -0.045"/>
-      <geometry>
-        <mesh filename="package://mini_ros/stl/OpenQuadruped/Back.stl" scale="1 1 1"/>
-      </geometry>
-      <material name="orange"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 1.57079632679" xyz="-0.16 0 0.006"/>
-      <geometry>
-        <box size="0.114 0.075 0.085"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.1"/>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <!-- Inertial Axes -->
-      <inertia ixx="0.000107083333333" ixy="0" ixz="0" iyx="0" iyy="0.000168508333333" iyz="0" izx="0" izy="0" izz="0.000155175"/>
-    </inertial>
-  </link>
-  <gazebo reference="back">
-    <material>Gazebo/Orange</material>
-  </gazebo>
-  <!-- m to mm -->
-  <link name="front_bracket">
-    <visual>
-      <origin rpy="0 0 1.57079632679" xyz="-0.16 0.035 -0.045"/>
-      <geometry>
-        <mesh filename="package://mini_ros/stl/OpenQuadruped/Front_Bracket.stl" scale="1 1 1"/>
-      </geometry>
-      <material name="black"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 1.57079632679" xyz="0.1 0 0"/>
-      <geometry>
-        <box size="0.025 0.075 0.085"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.1"/>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <!-- Inertial Axes -->
-      <inertia ixx="0.000107083333333" ixy="0" ixz="0" iyx="0" iyy="6.54166666667e-05" iyz="0" izx="0" izy="0" izz="5.20833333333e-05"/>
-    </inertial>
-  </link>
-  <gazebo reference="front_bracket">
-    <material>Gazebo/Black</material>
-  </gazebo>
-  <!-- m to mm -->
-  <link name="back_bracket">
-    <visual>
-      <origin rpy="0 0 1.57079632679" xyz="-0.16 0.035 -0.045"/>
-      <geometry>
-        <mesh filename="package://mini_ros/stl/OpenQuadruped/Back_Bracket.stl" scale="1 1 1"/>
-      </geometry>
-      <material name="black"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 1.57079632679" xyz="-0.1 0 0"/>
-      <geometry>
-        <box size="0.025 0.075 0.085"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.1"/>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <!-- Inertial Axes -->
-      <inertia ixx="0.000107083333333" ixy="0" ixz="0" iyx="0" iyy="6.54166666667e-05" iyz="0" izx="0" izy="0" izz="5.20833333333e-05"/>
-    </inertial>
-  </link>
-  <gazebo reference="back_bracket">
-    <material>Gazebo/Black</material>
-  </gazebo>
-  <!-- m to mm -->
-  <link name="front_left_hip">
-    <visual>
-      <origin rpy="0 0 1.57079632679" xyz="-0.25 -0.0044 -0.067"/>
-      <geometry>
-        <mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_HIP.stl" scale="1 1 1"/>
-      </geometry>
-      <material name="black"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 1.57079632679" xyz="0.015 0.01 -0.01"/>
-      <geometry>
-        <box size="0.05 0.065 0.065"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.2"/>
-      <origin rpy="0 0 0" xyz="0 0.075 0"/>
-      <!-- Inertial Axes -->
-      <inertia ixx="0.000140833333333" ixy="0" ixz="0" iyx="0" iyy="0.000112083333333" iyz="0" izx="0" izy="0" izz="0.000112083333333"/>
-    </inertial>
-  </link>
-  <gazebo reference="front_left_hip">
-    <material>Gazebo/Black</material>
-  </gazebo>
-  <joint name="motor_front_left_hip" type="revolute">
-    <axis xyz="1 0 0"/>
-    <origin rpy="0 0 0" xyz="0.0915 0.0394 0.022"/>
-    <parent link="front_bracket"/>
-    <child link="front_left_hip"/>
-    <limit effort="4.0" lower="-1.04" upper="1.04" velocity="4.0"/>
-    <joint_properties damping="0.0" friction="0.0"/>
-  </joint>
-  <link name="front_left_upper_leg">
-    <visual>
-      <origin rpy="0 0 1.57079632679" xyz="-0.252 -0.05 -0.055"/>
-      <geometry>
-        <mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_UPPER_LEG.stl" scale="1 1 1"/>
-      </geometry>
-      <material name="black"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 1.57079632679" xyz="0 0.02 -0.05"/>
-      <geometry>
-        <box size="0.035 0.035 0.11"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.13"/>
-      <origin rpy="0 0 0" xyz="-0.005 0.0175 -0.055"/>
-      <!-- Inertial Axes -->
-      <inertia ixx="0.000144354166667" ixy="0" ixz="0" iyx="0" iyy="0.000144354166667" iyz="0" izx="0" izy="0" izz="2.65416666667e-05"/>
-    </inertial>
-  </link>
-  <gazebo reference="front_left_upper_leg">
-    <material>Gazebo/Black</material>
-  </gazebo>
-  <joint name="motor_front_left_upper_leg" type="revolute">
-    <axis xyz="0 1 0"/>
-    <origin rpy="0 0 0" xyz="0.0015 0.045 -0.0087"/>
-    <parent link="front_left_hip"/>
-    <child link="front_left_upper_leg"/>
-    <limit effort="4.0" lower="-1.57079632679" upper="2.59" velocity="4.0"/>
-    <joint_properties damping="0.0" friction="0.0"/>
-  </joint>
-  <link name="front_left_lower_leg">
-    <visual>
-      <origin rpy="0 0 1.57079632679" xyz="-0.247 -0.068 0.0535"/>
-      <geometry>
-        <mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_LOWER_LEG.stl" scale="1 1 1"/>
-      </geometry>
-      <material name="black"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 1.57079632679" xyz="0 0 -0.06"/>
-      <geometry>
-        <box size="0.035 0.035 0.12"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.05"/>
-      <origin rpy="0 0 0" xyz="-0.01 0 -0.06"/>
-      <!-- Inertial Axes -->
-      <inertia ixx="6.51041666667e-05" ixy="0" ixz="0" iyx="0" iyy="6.51041666667e-05" iyz="0" izx="0" izy="0" izz="1.02083333333e-05"/>
-    </inertial>
-  </link>
-  <gazebo reference="front_left_lower_leg">
-    <material>Gazebo/Black</material>
-  </gazebo>
-  <joint name="motor_front_left_lower_leg" type="revolute">
-    <axis xyz="0 1 0"/>
-    <origin rpy="0 0 0" xyz="-0.005 0.018 -0.109"/>
-    <parent link="front_left_upper_leg"/>
-    <child link="front_left_lower_leg"/>
-    <limit effort="4.0" lower="-2.9" upper="1.57079632679" velocity="4.0"/>
-    <joint_properties damping="0.0" friction="0.0"/>
-  </joint>
-  <link name="front_left_foot">
-    <visual>
-      <origin rpy="0 0 1.57079632679" xyz="-0.247 -0.068 0.18"/>
-      <geometry>
-        <mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_FOOT.stl" scale="1 1 1"/>
-      </geometry>
-      <material name="orange"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 1.57079632679" xyz="-0.247 -0.068 0.18"/>
-      <geometry>
-        <mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_FOOT.stl" scale="1 1 1"/>
-      </geometry>
-      <contact_coefficients mu="10.1"/>
-    </collision>
-    <inertial>
-      <mass value="0.005"/>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <!-- Inertial Axes -->
-      <inertia ixx="3.52083333333e-06" ixy="0" ixz="0" iyx="0" iyy="2.80208333333e-06" iyz="0" izx="0" izy="0" izz="2.80208333333e-06"/>
-    </inertial>
-  </link>
-  <gazebo reference="front_left_foot">
-    <kp>1000000.0</kp>
-    <kd>1.0</kd>
-    <mu1>0.8</mu1>
-    <mu2>0.8</mu2>
-    <maxVel>0.0</maxVel>
-    <minDepth>0.001</minDepth>
-    <material>Gazebo/Orange</material>
-  </gazebo>
-  <joint name="front_left_leg_foot" type="fixed">
-    <origin rpy="0 0 0" xyz="0 0 -0.1265"/>
-    <parent link="front_left_lower_leg"/>
-    <child link="front_left_foot"/>
-  </joint>
-  <link name="back_left_hip">
-    <visual>
-      <origin rpy="0 0 1.57079632679" xyz="-0.25 -0.0044 -0.067"/>
-      <geometry>
-        <mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_HIP.stl" scale="1 1 1"/>
-      </geometry>
-      <material name="black"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 1.57079632679" xyz="0.015 0.01 -0.01"/>
-      <geometry>
-        <box size="0.05 0.065 0.065"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.2"/>
-      <origin rpy="0 0 0" xyz="0 0.075 0"/>
-      <!-- Inertial Axes -->
-      <inertia ixx="0.000140833333333" ixy="0" ixz="0" iyx="0" iyy="0.000112083333333" iyz="0" izx="0" izy="0" izz="0.000112083333333"/>
-    </inertial>
-  </link>
-  <gazebo reference="back_left_hip">
-    <material>Gazebo/Black</material>
-  </gazebo>
-  <joint name="motor_back_left_hip" type="revolute">
-    <axis xyz="1 0 0"/>
-    <origin rpy="0 0 0" xyz="-0.1365 0.0394 0.022"/>
-    <parent link="back_bracket"/>
-    <child link="back_left_hip"/>
-    <limit effort="4.0" lower="-1.04" upper="1.04" velocity="4.0"/>
-    <joint_properties damping="0.0" friction="0.0"/>
-  </joint>
-  <link name="back_left_upper_leg">
-    <visual>
-      <origin rpy="0 0 1.57079632679" xyz="-0.252 -0.05 -0.055"/>
-      <geometry>
-        <mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_UPPER_LEG.stl" scale="1 1 1"/>
-      </geometry>
-      <material name="black"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 1.57079632679" xyz="0 0.02 -0.05"/>
-      <geometry>
-        <box size="0.035 0.035 0.11"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.13"/>
-      <origin rpy="0 0 0" xyz="-0.005 0.0175 -0.055"/>
-      <!-- Inertial Axes -->
-      <inertia ixx="0.000144354166667" ixy="0" ixz="0" iyx="0" iyy="0.000144354166667" iyz="0" izx="0" izy="0" izz="2.65416666667e-05"/>
-    </inertial>
-  </link>
-  <gazebo reference="back_left_upper_leg">
-    <material>Gazebo/Black</material>
-  </gazebo>
-  <joint name="motor_back_left_upper_leg" type="revolute">
-    <axis xyz="0 1 0"/>
-    <origin rpy="0 0 0" xyz="0.0015 0.045 -0.0087"/>
-    <parent link="back_left_hip"/>
-    <child link="back_left_upper_leg"/>
-    <limit effort="4.0" lower="-1.57079632679" upper="2.59" velocity="4.0"/>
-    <joint_properties damping="0.0" friction="0.0"/>
-  </joint>
-  <link name="back_left_lower_leg">
-    <visual>
-      <origin rpy="0 0 1.57079632679" xyz="-0.247 -0.068 0.0535"/>
-      <geometry>
-        <mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_LOWER_LEG.stl" scale="1 1 1"/>
-      </geometry>
-      <material name="black"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 1.57079632679" xyz="0 0 -0.06"/>
-      <geometry>
-        <box size="0.035 0.035 0.12"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.05"/>
-      <origin rpy="0 0 0" xyz="-0.01 0 -0.06"/>
-      <!-- Inertial Axes -->
-      <inertia ixx="6.51041666667e-05" ixy="0" ixz="0" iyx="0" iyy="6.51041666667e-05" iyz="0" izx="0" izy="0" izz="1.02083333333e-05"/>
-    </inertial>
-  </link>
-  <gazebo reference="back_left_lower_leg">
-    <material>Gazebo/Black</material>
-  </gazebo>
-  <joint name="motor_back_left_lower_leg" type="revolute">
-    <axis xyz="0 1 0"/>
-    <origin rpy="0 0 0" xyz="-0.005 0.018 -0.109"/>
-    <parent link="back_left_upper_leg"/>
-    <child link="back_left_lower_leg"/>
-    <limit effort="4.0" lower="-2.9" upper="1.57079632679" velocity="4.0"/>
-    <joint_properties damping="0.0" friction="0.0"/>
-  </joint>
-  <link name="back_left_foot">
-    <visual>
-      <origin rpy="0 0 1.57079632679" xyz="-0.247 -0.068 0.18"/>
-      <geometry>
-        <mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_FOOT.stl" scale="1 1 1"/>
-      </geometry>
-      <material name="orange"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 1.57079632679" xyz="-0.247 -0.068 0.18"/>
-      <geometry>
-        <mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_FOOT.stl" scale="1 1 1"/>
-      </geometry>
-      <contact_coefficients mu="10.1"/>
-    </collision>
-    <inertial>
-      <mass value="0.005"/>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <!-- Inertial Axes -->
-      <inertia ixx="3.52083333333e-06" ixy="0" ixz="0" iyx="0" iyy="2.80208333333e-06" iyz="0" izx="0" izy="0" izz="2.80208333333e-06"/>
-    </inertial>
-  </link>
-  <gazebo reference="back_left_foot">
-    <kp>1000000.0</kp>
-    <kd>1.0</kd>
-    <mu1>0.8</mu1>
-    <mu2>0.8</mu2>
-    <maxVel>0.0</maxVel>
-    <minDepth>0.001</minDepth>
-    <material>Gazebo/Orange</material>
-  </gazebo>
-  <joint name="back_left_leg_foot" type="fixed">
-    <origin rpy="0 0 0" xyz="0 0 -0.1265"/>
-    <parent link="back_left_lower_leg"/>
-    <child link="back_left_foot"/>
-  </joint>
-  <link name="front_right_hip">
-    <visual>
-      <origin rpy="0 0 1.57079632679" xyz="-0.25 0.074 -0.067"/>
-      <geometry>
-        <mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_HIP.stl" scale="1 1 1"/>
-      </geometry>
-      <material name="black"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 1.57079632679" xyz="0.015 -0.01 -0.01"/>
-      <geometry>
-        <box size="0.05 0.065 0.065"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.2"/>
-      <origin rpy="0 0 0" xyz="0 -0.075 0"/>
-      <!-- Inertial Axes -->
-      <inertia ixx="0.000140833333333" ixy="0" ixz="0" iyx="0" iyy="0.000112083333333" iyz="0" izx="0" izy="0" izz="0.000112083333333"/>
-    </inertial>
-  </link>
-  <gazebo reference="front_right_hip">
-    <material>Gazebo/Black</material>
-  </gazebo>
-  <joint name="motor_front_right_hip" type="revolute">
-    <axis xyz="1 0 0"/>
-    <origin rpy="0 0 0" xyz="0.0915 -0.0394 0.022"/>
-    <parent link="front_bracket"/>
-    <child link="front_right_hip"/>
-    <limit effort="4.0" lower="-1.04" upper="1.04" velocity="4.0"/>
-    <joint_properties damping="0.0" friction="0.0"/>
-  </joint>
-  <link name="front_right_upper_leg">
-    <visual>
-      <origin rpy="0 0 1.57079632679" xyz="-0.252 0.12 -0.055"/>
-      <geometry>
-        <mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_UPPER_LEG.stl" scale="1 1 1"/>
-      </geometry>
-      <material name="black"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 1.57079632679" xyz="0 -0.02 -0.05"/>
-      <geometry>
-        <box size="0.035 0.035 0.11"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.13"/>
-      <origin rpy="0 0 0" xyz="-0.005 -0.0175 -0.055"/>
-      <!-- Inertial Axes -->
-      <inertia ixx="0.000144354166667" ixy="0" ixz="0" iyx="0" iyy="0.000144354166667" iyz="0" izx="0" izy="0" izz="2.65416666667e-05"/>
-    </inertial>
-  </link>
-  <gazebo reference="front_right_upper_leg">
-    <material>Gazebo/Black</material>
-  </gazebo>
-  <joint name="motor_front_right_upper_leg" type="revolute">
-    <axis xyz="0 1 0"/>
-    <origin rpy="0 0 0" xyz="0.0015 -0.045 -0.0087"/>
-    <parent link="front_right_hip"/>
-    <child link="front_right_upper_leg"/>
-    <limit effort="4.0" lower="-1.57079632679" upper="2.59" velocity="4.0"/>
-    <joint_properties damping="0.0" friction="0.0"/>
-  </joint>
-  <link name="front_right_lower_leg">
-    <visual>
-      <origin rpy="0 0 1.57079632679" xyz="-0.247 0.138 0.0535"/>
-      <geometry>
-        <mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_LOWER_LEG.stl" scale="1 1 1"/>
-      </geometry>
-      <material name="black"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 1.57079632679" xyz="0 0 -0.06"/>
-      <geometry>
-        <box size="0.035 0.035 0.12"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.05"/>
-      <origin rpy="0 0 0" xyz="-0.01 0 -0.06"/>
-      <!-- Inertial Axes -->
-      <inertia ixx="6.51041666667e-05" ixy="0" ixz="0" iyx="0" iyy="6.51041666667e-05" iyz="0" izx="0" izy="0" izz="1.02083333333e-05"/>
-    </inertial>
-  </link>
-  <gazebo reference="front_right_lower_leg">
-    <material>Gazebo/Black</material>
-  </gazebo>
-  <joint name="motor_front_right_lower_leg" type="revolute">
-    <axis xyz="0 1 0"/>
-    <origin rpy="0 0 0" xyz="-0.005 -0.018 -0.109"/>
-    <parent link="front_right_upper_leg"/>
-    <child link="front_right_lower_leg"/>
-    <limit effort="4.0" lower="-2.9" upper="1.57079632679" velocity="4.0"/>
-    <joint_properties damping="0.0" friction="0.0"/>
-  </joint>
-  <link name="front_right_foot">
-    <visual>
-      <origin rpy="0 0 1.57079632679" xyz="-0.247 0.138 0.18"/>
-      <geometry>
-        <mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_FOOT.stl" scale="1 1 1"/>
-      </geometry>
-      <material name="orange"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 1.57079632679" xyz="-0.247 0.138 0.18"/>
-      <geometry>
-        <mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_FOOT.stl" scale="1 1 1"/>
-      </geometry>
-      <contact_coefficients mu="10.1"/>
-    </collision>
-    <inertial>
-      <mass value="0.005"/>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <!-- Inertial Axes -->
-      <inertia ixx="3.52083333333e-06" ixy="0" ixz="0" iyx="0" iyy="2.80208333333e-06" iyz="0" izx="0" izy="0" izz="2.80208333333e-06"/>
-    </inertial>
-  </link>
-  <gazebo reference="front_right_foot">
-    <kp>1000000.0</kp>
-    <kd>1.0</kd>
-    <mu1>0.8</mu1>
-    <mu2>0.8</mu2>
-    <maxVel>0.0</maxVel>
-    <minDepth>0.001</minDepth>
-    <material>Gazebo/Orange</material>
-  </gazebo>
-  <joint name="front_right_leg_foot" type="fixed">
-    <origin rpy="0 0 0" xyz="0 0 -0.1265"/>
-    <parent link="front_right_lower_leg"/>
-    <child link="front_right_foot"/>
-  </joint>
-  <link name="back_right_hip">
-    <visual>
-      <origin rpy="0 0 1.57079632679" xyz="-0.25 0.074 -0.067"/>
-      <geometry>
-        <mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_HIP.stl" scale="1 1 1"/>
-      </geometry>
-      <material name="black"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 1.57079632679" xyz="0.015 -0.01 -0.01"/>
-      <geometry>
-        <box size="0.05 0.065 0.065"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.2"/>
-      <origin rpy="0 0 0" xyz="0 -0.075 0"/>
-      <!-- Inertial Axes -->
-      <inertia ixx="0.000140833333333" ixy="0" ixz="0" iyx="0" iyy="0.000112083333333" iyz="0" izx="0" izy="0" izz="0.000112083333333"/>
-    </inertial>
-  </link>
-  <gazebo reference="back_right_hip">
-    <material>Gazebo/Black</material>
-  </gazebo>
-  <joint name="motor_back_right_hip" type="revolute">
-    <axis xyz="1 0 0"/>
-    <origin rpy="0 0 0" xyz="-0.1365 -0.0394 0.022"/>
-    <parent link="back_bracket"/>
-    <child link="back_right_hip"/>
-    <limit effort="4.0" lower="-1.04" upper="1.04" velocity="4.0"/>
-    <joint_properties damping="0.0" friction="0.0"/>
-  </joint>
-  <link name="back_right_upper_leg">
-    <visual>
-      <origin rpy="0 0 1.57079632679" xyz="-0.252 0.12 -0.055"/>
-      <geometry>
-        <mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_UPPER_LEG.stl" scale="1 1 1"/>
-      </geometry>
-      <material name="black"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 1.57079632679" xyz="0 -0.02 -0.05"/>
-      <geometry>
-        <box size="0.035 0.035 0.11"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.13"/>
-      <origin rpy="0 0 0" xyz="-0.005 -0.0175 -0.055"/>
-      <!-- Inertial Axes -->
-      <inertia ixx="0.000144354166667" ixy="0" ixz="0" iyx="0" iyy="0.000144354166667" iyz="0" izx="0" izy="0" izz="2.65416666667e-05"/>
-    </inertial>
-  </link>
-  <gazebo reference="back_right_upper_leg">
-    <material>Gazebo/Black</material>
-  </gazebo>
-  <joint name="motor_back_right_upper_leg" type="revolute">
-    <axis xyz="0 1 0"/>
-    <origin rpy="0 0 0" xyz="0.0015 -0.045 -0.0087"/>
-    <parent link="back_right_hip"/>
-    <child link="back_right_upper_leg"/>
-    <limit effort="4.0" lower="-1.57079632679" upper="2.59" velocity="4.0"/>
-    <joint_properties damping="0.0" friction="0.0"/>
-  </joint>
-  <link name="back_right_lower_leg">
-    <visual>
-      <origin rpy="0 0 1.57079632679" xyz="-0.247 0.138 0.0535"/>
-      <geometry>
-        <mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_LOWER_LEG.stl" scale="1 1 1"/>
-      </geometry>
-      <material name="black"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 1.57079632679" xyz="0 0 -0.06"/>
-      <geometry>
-        <box size="0.035 0.035 0.12"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.05"/>
-      <origin rpy="0 0 0" xyz="-0.01 0 -0.06"/>
-      <!-- Inertial Axes -->
-      <inertia ixx="6.51041666667e-05" ixy="0" ixz="0" iyx="0" iyy="6.51041666667e-05" iyz="0" izx="0" izy="0" izz="1.02083333333e-05"/>
-    </inertial>
-  </link>
-  <gazebo reference="back_right_lower_leg">
-    <material>Gazebo/Black</material>
-  </gazebo>
-  <joint name="motor_back_right_lower_leg" type="revolute">
-    <axis xyz="0 1 0"/>
-    <origin rpy="0 0 0" xyz="-0.005 -0.018 -0.109"/>
-    <parent link="back_right_upper_leg"/>
-    <child link="back_right_lower_leg"/>
-    <limit effort="4.0" lower="-2.9" upper="1.57079632679" velocity="4.0"/>
-    <joint_properties damping="0.0" friction="0.0"/>
-  </joint>
-  <link name="back_right_foot">
-    <visual>
-      <origin rpy="0 0 1.57079632679" xyz="-0.247 0.138 0.18"/>
-      <geometry>
-        <mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_FOOT.stl" scale="1 1 1"/>
-      </geometry>
-      <material name="orange"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 1.57079632679" xyz="-0.247 0.138 0.18"/>
-      <geometry>
-        <mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_FOOT.stl" scale="1 1 1"/>
-      </geometry>
-      <contact_coefficients mu="10.1"/>
-    </collision>
-    <inertial>
-      <mass value="0.005"/>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <!-- Inertial Axes -->
-      <inertia ixx="3.52083333333e-06" ixy="0" ixz="0" iyx="0" iyy="2.80208333333e-06" iyz="0" izx="0" izy="0" izz="2.80208333333e-06"/>
-    </inertial>
-  </link>
-  <gazebo reference="back_right_foot">
-    <kp>1000000.0</kp>
-    <kd>1.0</kd>
-    <mu1>0.8</mu1>
-    <mu2>0.8</mu2>
-    <maxVel>0.0</maxVel>
-    <minDepth>0.001</minDepth>
-    <material>Gazebo/Orange</material>
-  </gazebo>
-  <joint name="back_right_leg_foot" type="fixed">
-    <origin rpy="0 0 0" xyz="0 0 -0.1265"/>
-    <parent link="back_right_lower_leg"/>
-    <child link="back_right_foot"/>
-  </joint>
-  <joint name="base_base" type="fixed">
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-    <parent link="base_link"/>
-    <child link="base_inertia"/>
-  </joint>
-  <joint name="base_battery" type="fixed">
-    <origin rpy="0 0 0" xyz="-0.01 0 -0.0225"/>
-    <parent link="base_link"/>
-    <child link="battery"/>
-  </joint>
-  <joint name="base_left" type="fixed">
-    <origin rpy="0 0 0" xyz="0.00 0.052 0"/>
-    <parent link="base_link"/>
-    <child link="chassis_left"/>
-  </joint>
-  <joint name="base_right" type="fixed">
-    <origin rpy="0 0 0" xyz="0.00 -0.052 0"/>
-    <parent link="base_link"/>
-    <child link="chassis_right"/>
-  </joint>
-  <joint name="base_front" type="fixed">
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-    <parent link="base_link"/>
-    <child link="front"/>
-  </joint>
-  <joint name="base_back" type="fixed">
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-    <parent link="base_link"/>
-    <child link="back"/>
-  </joint>
-  <joint name="base_front_bracket" type="fixed">
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-    <parent link="base_link"/>
-    <child link="front_bracket"/>
-  </joint>
-  <joint name="base_back_bracket" type="fixed">
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-    <parent link="base_link"/>
-    <child link="back_bracket"/>
-  </joint>
-  <transmission name="front_left_hip_joint_trans">
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="motor_front_left_hip">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="front_left_hip_joint_motor">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-      <mechanicalReduction>1</mechanicalReduction>
-    </actuator>
-  </transmission>
-  <transmission name="front_left_upper_leg_joint_trans">
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="motor_front_left_lower_leg">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="front_left_upper_leg_joint_motor">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-      <mechanicalReduction>1</mechanicalReduction>
-    </actuator>
-  </transmission>
-  <transmission name="front_left_lower_leg_joint_trans">
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="motor_front_left_upper_leg">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="front_left_lower_joint_motor">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-      <mechanicalReduction>1</mechanicalReduction>
-    </actuator>
-  </transmission>
-  <transmission name="front_right_hip_joint_trans">
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="motor_front_right_hip">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="front_right_hip_joint_motor">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-      <mechanicalReduction>1</mechanicalReduction>
-    </actuator>
-  </transmission>
-  <transmission name="front_right_upper_leg_joint_trans">
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="motor_front_right_lower_leg">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="front_right_upper_leg_joint_motor">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-      <mechanicalReduction>1</mechanicalReduction>
-    </actuator>
-  </transmission>
-  <transmission name="front_right_lower_leg_joint_trans">
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="motor_front_right_upper_leg">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="front_right_lower_joint_motor">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-      <mechanicalReduction>1</mechanicalReduction>
-    </actuator>
-  </transmission>
-  <transmission name="back_left_hip_joint_trans">
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="motor_back_left_hip">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="back_left_hip_joint_motor">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-      <mechanicalReduction>1</mechanicalReduction>
-    </actuator>
-  </transmission>
-  <transmission name="back_left_upper_leg_joint_trans">
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="motor_back_left_lower_leg">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="back_left_upper_leg_joint_motor">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-      <mechanicalReduction>1</mechanicalReduction>
-    </actuator>
-  </transmission>
-  <transmission name="back_left_lower_leg_joint_trans">
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="motor_back_left_upper_leg">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="back_left_lower_joint_motor">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-      <mechanicalReduction>1</mechanicalReduction>
-    </actuator>
-  </transmission>
-  <transmission name="back_right_hip_joint_trans">
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="motor_back_right_hip">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="back_right_hip_joint_motor">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-      <mechanicalReduction>1</mechanicalReduction>
-    </actuator>
-  </transmission>
-  <transmission name="back_right_upper_leg_joint_trans">
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="motor_back_right_lower_leg">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="back_right_upper_leg_joint_motor">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-      <mechanicalReduction>1</mechanicalReduction>
-    </actuator>
-  </transmission>
-  <transmission name="back_right_lower_leg_joint_trans">
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="motor_back_right_upper_leg">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="back_right_lower_joint_motor">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-      <mechanicalReduction>1</mechanicalReduction>
-    </actuator>
-  </transmission>
-  <gazebo>
-    <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
-      <legacyModeNS>true</legacyModeNS>
-    </plugin>
-  </gazebo>
-</robot>
@@ -1,489 +0,0 @@
-<?xml version="1.0"?>
-<robot name="spot" xmlns:xacro="http://www.ros.org/wiki/xacro">
-
-  <!-- Include Macros -->
-  <xacro:include filename="$(find mini_ros)/urdf/spot_macro.xacro" />
-  <xacro:include filename="$(find mini_ros)/urdf/transmissions.xacro" />
-  <!-- <xacro:include filename="$(find mini_ros)/urdf/accessories.urdf.xacro" /> -->
-
-  <!-- Robot description -->
-  <!-- STATIC Links -->
-  <link name="base_link"/>
-
-  <!-- MAIN BODY -->
-  <xacro:mesh_link name="base_inertia"
-              origin_rpy="0 0 ${pi/2}" origin_xyz="-0.16 0.035 -0.045"
-              i_rpy="0 0 0" i_xyz="0 0 0"
-              mass="0.6"
-              c_xyz="0 0 0"
-              length="0.114"
-              width="0.2"
-              height="0.1"
-              matname="orange"
-              meshfile="package://mini_ros/stl/OpenQuadruped/MAINBODY.stl"
-              meshscale="1 1 1" /> <!-- m to mm -->
-
-  <!-- BATTERY -->
-  <xacro:mesh_link name="battery"
-              origin_rpy="0 0 ${pi/2}" origin_xyz="-0.15 0.035 -0.022"
-              i_rpy="0 0 0" i_xyz="0 0 0"
-              mass="0.4"
-              c_xyz="0 0 0"
-              length="0.048"
-              width="0.145"
-              height="0.026"
-              matname="black"
-              meshfile="package://mini_ros/stl/OpenQuadruped/Battery.stl"
-              meshscale="1 1 1" /> <!-- m to mm -->
-
-  <!-- CHASSIS LEFT -->
-  <xacro:mesh_link name="chassis_left"
-              origin_rpy="0 ${pi/2} -${pi/2}" origin_xyz="0.016 0.003 0"
-              i_rpy="0 0 0" i_xyz="0 0 0"
-              mass="0.01"
-              c_xyz="0 0 0"
-              length="0.06"
-              width="0.15"
-              height="0.006"
-              matname="black"
-              meshfile="package://mini_ros/stl/OpenQuadruped/Chassis_Left_Side.stl"
-              meshscale="1 1 1" /> <!-- m to mm -->
-
-  <!-- CHASSIS Right -->
-  <xacro:mesh_link name="chassis_right"
-              origin_rpy="0 ${pi/2} ${pi/2}" origin_xyz="-0.016 -0.003 0"
-              i_rpy="0 0 0" i_xyz="0 0 0"
-              mass="0.01"
-              c_xyz="0 0 0"
-              length="0.06"
-              width="0.15"
-              height="0.006"
-              matname="black"
-              meshfile="package://mini_ros/stl/OpenQuadruped/Chassis_Right_Side.stl"
-              meshscale="1 1 1" /> <!-- m to mm -->
-
-  <!-- FRONT -->
-  <xacro:mesh_link name="front"
-              origin_rpy="0 0 ${pi/2}" origin_xyz="-0.16 0.035 -0.045"
-              i_rpy="0 0 0" i_xyz="0 0 0"
-              mass="0.1"
-              c_xyz="0.16 0 0.006"
-              length="0.114"
-              width="0.045"
-              height="0.085"
-              matname="orange"
-              meshfile="package://mini_ros/stl/OpenQuadruped/Front.stl"
-              meshscale="1 1 1" /> <!-- m to mm -->
-
-  <!-- BACK -->
-  <xacro:mesh_link name="back"
-              origin_rpy="0 0 ${pi/2}" origin_xyz="-0.16 0.035 -0.045"
-              i_rpy="0 0 0" i_xyz="0 0 0"
-              mass="0.1"
-              c_xyz="-0.16 0 0.006"
-              length="0.114"
-              width="0.075"
-              height="0.085"
-              matname="orange"
-              meshfile="package://mini_ros/stl/OpenQuadruped/Back.stl"
-              meshscale="1 1 1" /> <!-- m to mm -->
-
-  <!-- FRONT BRACKET -->
-  <xacro:mesh_link name="front_bracket"
-              origin_rpy="0 0 ${pi/2}" origin_xyz="-0.16 0.035 -0.045"
-              i_rpy="0 0 0" i_xyz="0 0 0"
-              mass="0.1"
-              c_xyz="0.1 0 0"
-              length="0.025"
-              width="0.075"
-              height="0.085"
-              matname="black"
-              meshfile="package://mini_ros/stl/OpenQuadruped/Front_Bracket.stl"
-              meshscale="1 1 1" /> <!-- m to mm -->
-
-  <!-- BACK BRACKET -->
-  <xacro:mesh_link name="back_bracket"
-              origin_rpy="0 0 ${pi/2}" origin_xyz="-0.16 0.035 -0.045"
-              i_rpy="0 0 0" i_xyz="0 0 0"
-              mass="0.1"
-              c_xyz="-0.1 0 0"
-              length="0.025"
-              width="0.075"
-              height="0.085"
-              matname="black"
-              meshfile="package://mini_ros/stl/OpenQuadruped/Back_Bracket.stl"
-              meshscale="1 1 1" /> <!-- m to mm -->
-
-
-  <!-- DYNAMIC LINKS (Joints Included) -->
-  <!-- FRONT LEFT LEG -->
-  <!-- HIP -->
-  <xacro:mesh_link name="front_left_hip"
-              origin_rpy="0 0 ${pi/2}" origin_xyz="-0.25 -0.0044 -0.067"
-              i_rpy="0 0 0" i_xyz="0 0.075 0"
-              mass="0.2"
-              c_xyz="0.015 0.01 -0.01"
-              length="0.05"
-              width="0.065"
-              height="0.065"
-              matname="black"
-              meshfile="package://mini_ros/stl/OpenQuadruped/LEFT_HIP.stl"
-              meshscale="1 1 1" /> <!-- m to mm -->
-  <xacro:rev_joint name="motor_front_left_hip" type="revolute"
-                    axis_xyz="1 0 0"
-                    origin_rpy="0 0 0" origin_xyz="${0.2515-0.16} ${0.0044+0.035} ${0.067-0.045}"
-                    parent="front_bracket" child="front_left_hip"
-                    effort="4.0" velocity="4.0"
-                    damping="0.0"
-                    friction="0.0"
-                    lower="-1.04"
-                    upper="1.04"/>
-  <!-- UPPER LEG -->
-  <xacro:mesh_link name="front_left_upper_leg"
-              origin_rpy="0 0 ${pi/2}" origin_xyz="${-0.252} ${-0.05} ${-0.055}"
-              i_rpy="0 0 0" i_xyz="-0.005 0.0175 -0.055"
-              mass="0.13"
-              c_xyz="0 0.02 -0.05"
-              length="0.035"
-              width="0.035"
-              height="0.11"
-              matname="black"
-              meshfile="package://mini_ros/stl/OpenQuadruped/LEFT_UPPER_LEG.stl"
-              meshscale="1 1 1" /> <!-- m to mm -->
-  <xacro:rev_joint name="motor_front_left_upper_leg" type="revolute"
-                    axis_xyz="0 1 0"
-                    origin_rpy="0 0 0" origin_xyz="0.0015 0.045 -0.0087"
-                    parent="front_left_hip" child="front_left_upper_leg"
-                    effort="4.0" velocity="4.0"
-                    damping="0.0"
-                    friction="0.0"
-                    lower="${-pi/2}"
-                    upper="2.59"/>
-  <!-- LOWER LEG -->
-  <xacro:mesh_link name="front_left_lower_leg"
-              origin_rpy="0 0 ${pi/2}" origin_xyz="${-0.247} ${-0.068} ${0.0535}"
-              i_rpy="0 0 0" i_xyz="-0.01 0 -0.06"
-              mass="0.05"
-              c_xyz="0 0 -0.06"
-              length="0.035"
-              width="0.035"
-              height="0.12"
-              matname="black"
-              meshfile="package://mini_ros/stl/OpenQuadruped/LEFT_LOWER_LEG.stl"
-              meshscale="1 1 1" /> <!-- m to mm -->
-  <xacro:rev_joint name="motor_front_left_lower_leg" type="revolute"
-                    axis_xyz="0 1 0"
-                    origin_rpy="0 0 0" origin_xyz="-0.005 0.018 -0.109"
-                    parent="front_left_upper_leg" child="front_left_lower_leg"
-                    effort="4.0" velocity="4.0"
-                    damping="0.0"
-                    friction="0.0"
-                    lower="-2.9"
-                    upper="${pi/2}"/>
-  <!-- FOOT -->
-  <xacro:mesh_link_sphere name="front_left_foot"
-              origin_rpy="0 0 ${pi/2}" origin_xyz="${-0.247} ${-0.068} ${0.18}"
-              i_rpy="0 0 0" i_xyz="0 0 0"
-              mass="0.005"
-              c_xyz="${-0.247} ${-0.068} ${0.18}"
-              length="0.05"
-              width="0.065"
-              height="0.065"
-              radius="0.02"
-              matname="orange"
-              meshfile="package://mini_ros/stl/OpenQuadruped/LEFT_FOOT.stl"
-              meshscale="1 1 1" /> <!-- m to mm -->
-  <xacro:frame_joint name="front_left_leg_foot" type="fixed"
-                  origin_rpy="0 0 0" origin_xyz="0 0 -0.1265"
-                  parent="front_left_lower_leg" child="front_left_foot"/>
-
-  <!-- BACK LEFT LEG -->
-  <!-- HIP -->
-  <xacro:mesh_link name="back_left_hip"
-              origin_rpy="0 0 ${pi/2}" origin_xyz="-0.25 -0.0044 -0.067"
-              i_rpy="0 0 0" i_xyz="0 0.075 0"
-              mass="0.2"
-              c_xyz="0.015 0.01 -0.01"
-              length="0.05"
-              width="0.065"
-              height="0.065"
-              matname="black"
-              meshfile="package://mini_ros/stl/OpenQuadruped/LEFT_HIP.stl"
-              meshscale="1 1 1" /> <!-- m to mm -->
-  <xacro:rev_joint name="motor_back_left_hip" type="revolute"
-                    axis_xyz="1 0 0"
-                    origin_rpy="0 0 0" origin_xyz="${-0.2515+0.115} ${0.0044+0.035} ${0.067-0.045}"
-                    parent="back_bracket" child="back_left_hip"
-                    effort="4.0" velocity="4.0"
-                    damping="0.0"
-                    friction="0.0"
-                    lower="-1.04"
-                    upper="1.04"/>
-  <!-- UPPER LEG -->
-  <xacro:mesh_link name="back_left_upper_leg"
-              origin_rpy="0 0 ${pi/2}" origin_xyz="${-0.252} ${-0.05} ${-0.055}"
-              i_rpy="0 0 0" i_xyz="-0.005 0.0175 -0.055"
-              mass="0.13"
-              c_xyz="0 0.02 -0.05"
-              length="0.035"
-              width="0.035"
-              height="0.11"
-              matname="black"
-              meshfile="package://mini_ros/stl/OpenQuadruped/LEFT_UPPER_LEG.stl"
-              meshscale="1 1 1" /> <!-- m to mm -->
-  <xacro:rev_joint name="motor_back_left_upper_leg" type="revolute"
-                    axis_xyz="0 1 0"
-                    origin_rpy="0 0 0" origin_xyz="0.0015 0.045 -0.0087"
-                    parent="back_left_hip" child="back_left_upper_leg"
-                    effort="4.0" velocity="4.0"
-                    damping="0.0"
-                    friction="0.0"
-                    lower="${-pi/2}"
-                    upper="2.59"/>
-  <!-- LOWER LEG -->
-  <xacro:mesh_link name="back_left_lower_leg"
-              origin_rpy="0 0 ${pi/2}" origin_xyz="${-0.247} ${-0.068} ${0.0535}"
-              i_rpy="0 0 0" i_xyz="-0.01 0 -0.06"
-              mass="0.05"
-              c_xyz="0 0 -0.06"
-              length="0.035"
-              width="0.035"
-              height="0.12"
-              matname="black"
-              meshfile="package://mini_ros/stl/OpenQuadruped/LEFT_LOWER_LEG.stl"
-              meshscale="1 1 1" /> <!-- m to mm -->
-  <xacro:rev_joint name="motor_back_left_lower_leg" type="revolute"
-                    axis_xyz="0 1 0"
-                    origin_rpy="0 0 0" origin_xyz="-0.005 0.018 -0.109"
-                    parent="back_left_upper_leg" child="back_left_lower_leg"
-                    effort="4.0" velocity="4.0"
-                    damping="0.0"
-                    friction="0.0"
-                    lower="-2.9"
-                    upper="${pi/2}"/>
-  <!-- FOOT -->
-  <xacro:mesh_link_sphere name="back_left_foot"
-              origin_rpy="0 0 ${pi/2}" origin_xyz="${-0.247} ${-0.068} ${0.18}"
-              i_rpy="0 0 0" i_xyz="0 0 0"
-              mass="0.005"
-              c_xyz="${-0.247} ${-0.068} ${0.18}"
-              length="0.05"
-              width="0.065"
-              height="0.065"
-              radius="0.02"
-              matname="orange"
-              meshfile="package://mini_ros/stl/OpenQuadruped/LEFT_FOOT.stl"
-              meshscale="1 1 1" /> <!-- m to mm -->
-  <xacro:frame_joint name="back_left_leg_foot" type="fixed"
-                  origin_rpy="0 0 0" origin_xyz="0 0 -0.1265"
-                  parent="back_left_lower_leg" child="back_left_foot"/>
-
-  <!-- FRONT RIGHT LEG -->
-  <!-- HIP -->
-  <xacro:mesh_link name="front_right_hip"
-              origin_rpy="0 0 ${pi/2}" origin_xyz="-0.25 0.074 -0.067"
-              i_rpy="0 0 0" i_xyz="0 -0.075 0"
-              mass="0.2"
-              c_xyz="0.015 ${-0.01} -0.01"
-              length="0.05"
-              width="0.065"
-              height="0.065"
-              matname="black"
-              meshfile="package://mini_ros/stl/OpenQuadruped/RIGHT_HIP.stl"
-              meshscale="1 1 1" /> <!-- m to mm -->
-  <xacro:rev_joint name="motor_front_right_hip" type="revolute"
-                    axis_xyz="1 0 0"
-                    origin_rpy="0 0 0" origin_xyz="${0.2515-0.16} ${-(0.0044+0.035)} ${0.067-0.045}"
-                    parent="front_bracket" child="front_right_hip"
-                    effort="4.0" velocity="4.0"
-                    damping="0.0"
-                    friction="0.0"
-                    lower="-1.04"
-                    upper="1.04"/>
-  <!-- UPPER LEG -->
-  <xacro:mesh_link name="front_right_upper_leg"
-              origin_rpy="0 0 ${pi/2}" origin_xyz="${-0.252} ${0.12} ${-0.055}"
-              i_rpy="0 0 0" i_xyz="-0.005 -0.0175 -0.055"
-              mass="0.13"
-              c_xyz="0 ${-0.02} -0.05"
-              length="0.035"
-              width="0.035"
-              height="0.11"
-              matname="black"
-              meshfile="package://mini_ros/stl/OpenQuadruped/RIGHT_UPPER_LEG.stl"
-              meshscale="1 1 1" /> <!-- m to mm -->
-  <xacro:rev_joint name="motor_front_right_upper_leg" type="revolute"
-                    axis_xyz="0 1 0"
-                    origin_rpy="0 0 0" origin_xyz="0.0015 -0.045 -0.0087"
-                    parent="front_right_hip" child="front_right_upper_leg"
-                    effort="4.0" velocity="4.0"
-                    damping="0.0"
-                    friction="0.0"
-                    lower="${-pi/2}"
-                    upper="2.59"/>
-  <!-- LOWER LEG -->
-  <xacro:mesh_link name="front_right_lower_leg"
-              origin_rpy="0 0 ${pi/2}" origin_xyz="${-0.247} ${0.138} ${0.0535}"
-              i_rpy="0 0 0" i_xyz="-0.01 0 -0.06"
-              mass="0.05"
-              c_xyz="0 0 -0.06"
-              length="0.035"
-              width="0.035"
-              height="0.12"
-              matname="black"
-              meshfile="package://mini_ros/stl/OpenQuadruped/RIGHT_LOWER_LEG.stl"
-              meshscale="1 1 1" /> <!-- m to mm -->
-  <xacro:rev_joint name="motor_front_right_lower_leg" type="revolute"
-                    axis_xyz="0 1 0"
-                    origin_rpy="0 0 0" origin_xyz="-0.005 -0.018 -0.109"
-                    parent="front_right_upper_leg" child="front_right_lower_leg"
-                    effort="4.0" velocity="4.0"
-                    damping="0.0"
-                    friction="0.0"
-                    lower="-2.9"
-                    upper="${pi/2}"/>
-  <!-- FOOT -->
-  <xacro:mesh_link_sphere name="front_right_foot"
-              origin_rpy="0 0 ${pi/2}" origin_xyz="${-0.247} ${0.138} ${0.18}"
-              i_rpy="0 0 0" i_xyz="0 0 0"
-              mass="0.005"
-              c_xyz="${-0.247} ${0.138} ${0.18}"
-              length="0.05"
-              width="0.065"
-              height="0.065"
-              radius="0.02"
-              matname="orange"
-              meshfile="package://mini_ros/stl/OpenQuadruped/RIGHT_FOOT.stl"
-              meshscale="1 1 1" /> <!-- m to mm -->
-  <xacro:frame_joint name="front_right_leg_foot" type="fixed"
-                  origin_rpy="0 0 0" origin_xyz="0 0 -0.1265"
-                  parent="front_right_lower_leg" child="front_right_foot"/>
-
-  <!-- BACK RIGHT LEG -->
-  <!-- HIP -->
-  <xacro:mesh_link name="back_right_hip"
-              origin_rpy="0 0 ${pi/2}" origin_xyz="-0.25 0.074 -0.067"
-              i_rpy="0 0 0" i_xyz="0 -0.075 0"
-              mass="0.2"
-              c_xyz="0.015 ${-0.01} -0.01"
-              length="0.05"
-              width="0.065"
-              height="0.065"
-              matname="black"
-              meshfile="package://mini_ros/stl/OpenQuadruped/RIGHT_HIP.stl"
-              meshscale="1 1 1" /> <!-- m to mm -->
-  <xacro:rev_joint name="motor_back_right_hip" type="revolute"
-                    axis_xyz="1 0 0"
-                    origin_rpy="0 0 0" origin_xyz="${-0.2515+0.115} ${-(0.0044+0.035)} ${0.067-0.045}"
-                    parent="back_bracket" child="back_right_hip"
-                    effort="4.0" velocity="4.0"
-                    damping="0.0"
-                    friction="0.0"
-                    lower="-1.04"
-                    upper="1.04"/>
-  <!-- UPPER LEG -->
-  <xacro:mesh_link name="back_right_upper_leg"
-              origin_rpy="0 0 ${pi/2}" origin_xyz="${-0.252} ${0.12} ${-0.055}"
-              i_rpy="0 0 0" i_xyz="-0.005 -0.0175 -0.055"
-              mass="0.13"
-              c_xyz="0 ${-0.02} -0.05"
-              length="0.035"
-              width="0.035"
-              height="0.11"
-              matname="black"
-              meshfile="package://mini_ros/stl/OpenQuadruped/RIGHT_UPPER_LEG.stl"
-              meshscale="1 1 1" /> <!-- m to mm -->
-  <xacro:rev_joint name="motor_back_right_upper_leg" type="revolute"
-                    axis_xyz="0 1 0"
-                    origin_rpy="0 0 0" origin_xyz="0.0015 -0.045 -0.0087"
-                    parent="back_right_hip" child="back_right_upper_leg"
-                    effort="4.0" velocity="4.0"
-                    damping="0.0"
-                    friction="0.0"
-                    lower="${-pi/2}"
-                    upper="2.59"/>
-  <!-- LOWER LEG -->
-  <xacro:mesh_link name="back_right_lower_leg"
-              origin_rpy="0 0 ${pi/2}" origin_xyz="${-0.247} ${0.138} ${0.0535}"
-              i_rpy="0 0 0" i_xyz="-0.01 0 -0.06"
-              mass="0.05"
-              c_xyz="0 0 -0.06"
-              length="0.035"
-              width="0.035"
-              height="0.12"
-              matname="black"
-              meshfile="package://mini_ros/stl/OpenQuadruped/RIGHT_LOWER_LEG.stl"
-              meshscale="1 1 1" /> <!-- m to mm -->
-  <xacro:rev_joint name="motor_back_right_lower_leg" type="revolute"
-                    axis_xyz="0 1 0"
-                    origin_rpy="0 0 0" origin_xyz="-0.005 -0.018 -0.109"
-                    parent="back_right_upper_leg" child="back_right_lower_leg"
-                    effort="4.0" velocity="4.0"
-                    damping="0.0"
-                    friction="0.0"
-                    lower="-2.9"
-                    upper="${pi/2}"/>
-  <!-- FOOT -->
-  <xacro:mesh_link_sphere name="back_right_foot"
-              origin_rpy="0 0 ${pi/2}" origin_xyz="${-0.247} ${0.138} ${0.18}"
-              i_rpy="0 0 0" i_xyz="0 0 0"
-              mass="0.005"
-              c_xyz="${-0.247} ${0.138} ${0.18}"
-              length="0.05"
-              width="0.065"
-              height="0.065"
-              radius="0.02"
-              matname="orange"
-              meshfile="package://mini_ros/stl/OpenQuadruped/RIGHT_FOOT.stl"
-              meshscale="1 1 1" /> <!-- m to mm -->
-  <xacro:frame_joint name="back_right_leg_foot" type="fixed"
-                  origin_rpy="0 0 0" origin_xyz="0 0 -0.1265"
-                  parent="back_right_lower_leg" child="back_right_foot"/>
-
-
-<!-- STATIC Joints -->
-<!-- FOOTPRINT TO MAIN BODY-->
-<xacro:frame_joint name="base_base" type="fixed"
-                  origin_rpy="0 0 0" origin_xyz="0 0 0"
-                  parent="base_link" child="base_inertia"/>
-<!-- MAIN BODY TO BATTERY -->
-<xacro:frame_joint name="base_battery" type="fixed"
-                  origin_rpy="0 0 0" origin_xyz="-0.01 0 -0.0225"
-                  parent="base_link" child="battery"/>
-<!-- MAIN BODY TO CHASSIS LEFT -->
-<xacro:frame_joint name="base_left" type="fixed"
-                  origin_rpy="0 0 0" origin_xyz="0.00 0.052 0"
-                  parent="base_link" child="chassis_left"/>
-<!-- MAIN BODY TO CHASSIS RIGHT -->
-<xacro:frame_joint name="base_right" type="fixed"
-                  origin_rpy="0 0 0" origin_xyz="0.00 -0.052 0"
-                  parent="base_link" child="chassis_right"/>
-<!-- MAIN BODY TO FRONT -->
-<xacro:frame_joint name="base_front" type="fixed"
-                  origin_rpy="0 0 0" origin_xyz="0 0 0"
-                  parent="base_link" child="front"/>
-<!-- MAIN BODY TO BACK -->
-<xacro:frame_joint name="base_back" type="fixed"
-                  origin_rpy="0 0 0" origin_xyz="0 0 0"
-                  parent="base_link" child="back"/>
-<!-- MAIN BODY TO FRONT BRACKET -->
-<xacro:frame_joint name="base_front_bracket" type="fixed"
-                  origin_rpy="0 0 0" origin_xyz="0 0 0"
-                  parent="base_link" child="front_bracket"/>
-<!-- MAIN BODY TO BACK BRACKET -->
-<xacro:frame_joint name="base_back_bracket" type="fixed"
-                  origin_rpy="0 0 0" origin_xyz="0 0 0"
-                  parent="base_link" child="back_bracket"/>
-     
-<xacro:quadruped_transmission leg="front_left"/>
-<xacro:quadruped_transmission leg="front_right"/>
-<xacro:quadruped_transmission leg="back_left"/>
-<xacro:quadruped_transmission leg="back_right"/>  
-
-<gazebo>
-	<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
-      <robotNamespace>/spot</robotNamespace>
-	</plugin>
-</gazebo>
-
-</robot>
@@ -1,129 +0,0 @@
-<?xml version="1.0" ?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-
-  <material name="orange">
-    <color rgba="1.0 0.5 0.0 1"/>
-  </material>
-  <material name="black">
-    <color rgba="0.1 0.1 0.1 1"/>
-  </material>
-  <material name="grey">
-    <color rgba="0.6 0.6 0.6 1"/>
-  </material>
-
-  <xacro:macro name="rev_joint" params="name type axis_xyz origin_rpy origin_xyz parent child effort velocity damping friction upper lower">
-    <joint name="${name}" type="${type}">
-      <axis xyz="${axis_xyz}" />
-      <origin rpy="${origin_rpy}" xyz="${origin_xyz}" />
-      <parent link="${parent}" />
-      <child link="${child}" />
-      <limit effort="${effort}" velocity="${velocity}" lower="${lower}" upper="${upper}"/>
-      <joint_properties damping="${damping}" friction="${friction}" />
-    </joint>
-  </xacro:macro>
-
-  <xacro:macro name="frame_joint" params="name type origin_rpy origin_xyz parent child">
-    <joint name="${name}" type="${type}">
-      <origin rpy="${origin_rpy}" xyz="${origin_xyz}" />
-      <parent link="${parent}" />
-      <child link="${child}" />
-    </joint>
-  </xacro:macro>
-
-  <xacro:macro name="mesh_link" params="name origin_xyz origin_rpy meshfile meshscale c_xyz matname mass i_xyz i_rpy length width height">
-    <link name="${name}">
-      <visual>
-        <origin rpy="${origin_rpy}" xyz="${origin_xyz}" />
-        <geometry>
-          <mesh filename="${meshfile}" scale="${meshscale}"/>
-        </geometry>
-        <material name="${matname}"/>
-      </visual>
-
-      <collision>
-        <origin rpy="${origin_rpy}" xyz="${c_xyz}" />
-        <geometry>
-          <box size="${length} ${width} ${height}" />
-        </geometry>
-      </collision>
-
-      <inertial>
-        <mass value="${mass}" />
-        <origin rpy="${i_rpy}" xyz="${i_xyz}" /> <!-- Inertial Axes -->
-        <inertia ixx="${mass * (width * width + height * height)/12.0}" ixy="${0}" ixz="${0}" iyx="${0}" iyy="${mass * (length * length + height * height)/12.0}" iyz="${0}" izx="${0}" izy="${0}" izz="${mass * (length * length + width * width)/12.0}" />
-      </inertial>
-    </link>
-    <gazebo reference="${name}">
-        <xacro:if value="${matname == 'black'}">
-          <material>Gazebo/Black</material>
-        </xacro:if>
-        <xacro:if value="${matname == 'orange'}">
-          <material>Gazebo/Orange</material>
-        </xacro:if>
-    </gazebo>
-  </xacro:macro>
-
-  <xacro:macro name="mesh_link_sphere" params="name origin_xyz origin_rpy meshfile meshscale c_xyz matname mass i_xyz i_rpy length width height radius">
-    <link name="${name}">
-      <visual>
-        <origin rpy="${origin_rpy}" xyz="${origin_xyz}" />
-        <geometry>
-          <mesh filename="${meshfile}" scale="${meshscale}"/>
-        </geometry>
-        <material name="${matname}"/>
-      </visual>
-
-      <collision>
-        <origin rpy="${origin_rpy}" xyz="${c_xyz}" />
-        <geometry>
-          <mesh filename="${meshfile}" scale="${meshscale}"/>
-        </geometry>
-        <contact_coefficients mu="10.1"/>
-      </collision>
-
-      <inertial>
-        <mass value="${mass}" />
-        <origin rpy="${i_rpy}" xyz="${i_xyz}" /> <!-- Inertial Axes -->
-        <inertia ixx="${mass * (width * width + height * height)/12.0}" ixy="${0}" ixz="${0}" iyx="${0}" iyy="${mass * (length * length + height * height)/12.0}" iyz="${0}" izx="${0}" izy="${0}" izz="${mass * (length * length + width * width)/12.0}" />
-      </inertial>
-    </link>
-
-    <gazebo reference="${name}">
-      <kp>1000000.0</kp>
-      <kd>1.0</kd>
-      <mu1>0.8</mu1>
-      <mu2>0.8</mu2>
-      <maxVel>0.0</maxVel>
-      <minDepth>0.001</minDepth>
-      <material>Gazebo/Orange</material>
-    </gazebo>
-  </xacro:macro>
-
-
-  <!-- Left Leg: prefix is front or rear -->
-<!--   <xacro:macro name="LeftLeg" params="prefix reflect">
-    <link name="${prefix}_Left_Leg">
-        <visual>
-            <geometry>
-                <box size="${leglen} 0.1 0.2"/>
-            </geometry>
-            <origin xyz="0 0 -${leglen/2}" rpy="0 ${pi/2} 0"/>
-            <material name="white"/>
-        </visual>
-        <collision>
-            <geometry>
-                <box size="${leglen} 0.1 0.2"/>
-            </geometry>
-            <origin xyz="0 0 -${leglen/2}" rpy="0 ${pi/2} 0"/>
-        </collision>
-        <xacro:default_inertial mass="10"/>
-    </link>
-
-    <joint name="base_to_${prefix}_leg" type="fixed">
-        <parent link="base_link"/>
-        <child link="${prefix}_leg"/>
-        <origin xyz="0 ${reflect*(width+.02)} 0.25" />
-    </joint>
-</xacro:macro> -->
-
-</robot>
@@ -1,37 +0,0 @@
-<?xml version="1.0" ?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-    <xacro:macro name="quadruped_transmission" params="leg ">
-        <transmission name="${leg}_hip_joint_trans">
-            <type>transmission_interface/SimpleTransmission</type>
-            <joint name="motor_${leg}_hip">
-                <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-            </joint>
-            <actuator name="${leg}_hip_joint_motor">
-                <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-                <mechanicalReduction>1</mechanicalReduction>
-            </actuator>
-        </transmission>
-
-        <transmission name="${leg}_upper_leg_joint_trans">
-            <type>transmission_interface/SimpleTransmission</type>
-            <joint name="motor_${leg}_lower_leg">
-                <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-            </joint>
-            <actuator name="${leg}_upper_leg_joint_motor">
-                <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-                <mechanicalReduction>1</mechanicalReduction>
-            </actuator>
-        </transmission>
-
-        <transmission name="${leg}_lower_leg_joint_trans">
-            <type>transmission_interface/SimpleTransmission</type>
-            <joint name="motor_${leg}_upper_leg">
-                <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-            </joint>
-            <actuator name="${leg}_lower_joint_motor">
-                <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-                <mechanicalReduction>1</mechanicalReduction>
-            </actuator>
-        </transmission>
-    </xacro:macro>
-</robot>
@@ -1,594 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<robot name="rex" xmlns:xacro="http://www.ros.org/wiki/xacro">
-  <material name="yellow">
-    <color rgba="0.92 0.83 0.0 1"/>
-  </material>
-  <material name="black">
-    <color rgba="0.1 0.1 0.1 1"/>
-  </material>
-  <material name="grey">
-    <color rgba="0.6 0.6 0.6 1"/>
-  </material>
-  <!-- Params -->
-  <!-- Macros -->
-  <!-- Robot Body -->
-  <link name="base_link">
-    <visual>
-      <geometry>
-        <mesh filename="stl/mainbody.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="black"/>
-      <origin rpy="0 0 0" xyz="-0.045 -0.060 -0.015"/>
-    </visual>
-    <collision>
-      <geometry>
-        <box size="0.14 0.11 0.07"/>
-      </geometry>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-    </collision>
-    <inertial>
-      <mass value="1.20"/>
-      <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
-    </inertial>
-  </link>
-
-<!--  @TODO add lidar sensor-->
-  <!-- Lidar Backpack -->
-<!--  <link name="lidar_link">-->
-<!--    <visual>-->
-<!--      <geometry>-->
-<!--        <mesh filename="stl/rplidar_main.STL" scale="0.001 0.001 0.001"/>-->
-<!--      </geometry>-->
-<!--      <material name="black"/>-->
-<!--      <origin rpy="1.57075 0 0" xyz="-0.06425 0.02885 0"/>-->
-<!--    </visual>-->
-<!--    <collision>-->
-<!--      <geometry>-->
-<!--        <box size="0.0985 0.0577 0.07"/>-->
-<!--      </geometry>-->
-<!--      <origin rpy="0 0 0" xyz="0 0 0"/>-->
-<!--    </collision>-->
-<!--    <inertial>-->
-<!--      <mass value="0.50"/>-->
-<!--      <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>-->
-<!--    </inertial>-->
-<!--  </link>-->
-<!--  <joint name="base_lidar" type="fixed">-->
-<!--    <parent link="base_link"/>-->
-<!--    <child link="lidar_link"/>-->
-<!--    <origin xyz="0 0 0.035"/>-->
-<!--  </joint>-->
-
-  <!-- create head & tail -->
-  <link name="chassis_front_link">
-    <visual>
-      <geometry>
-        <mesh filename="stl/frontpart.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <origin rpy="0 0 0" xyz="-0.040 -0.060 -0.0140"/>
-      <material name="yellow"/>
-    </visual>
-    <collision>
-      <geometry>
-        <box size="0.058 0.11 0.07"/>
-      </geometry>
-      <origin rpy="0 0 0" xyz="-0.145 0 0"/>
-    </collision>
-    <inertial>
-      <mass value="0.05"/>
-      <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
-    </inertial>
-  </link>
-  <joint name="chassis_base_front" type="fixed">
-    <parent link="base_link"/>
-    <child link="chassis_front_link"/>
-  </joint>
-  <link name="chassis_rear_link">
-    <visual>
-      <geometry>
-        <mesh filename="stl/backpart.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <origin rpy="0 0 0" xyz="-0.040 -0.060 -0.0140"/>
-      <material name="yellow"/>
-    </visual>
-    <collision>
-      <geometry>
-        <box size="0.04 0.11 0.07"/>
-      </geometry>
-      <origin rpy="0 0 0" xyz="0.135 0 0"/>
-    </collision>
-    <inertial>
-      <mass value="0.05"/>
-      <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
-    </inertial>
-  </link>
-  <joint name="chassis_base_rear" type="fixed">
-    <parent link="base_link"/>
-    <child link="chassis_rear_link"/>
-  </joint>
-
-  <!-- create Legs -->
-  <link name="front_left_shoulder_link">
-    <visual>
-      <geometry>
-        <mesh filename="stl/lshoulder.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <origin rpy="0 0 0" xyz="-0.135 -0.02 -0.01"/>
-      <material name="black"/>
-    </visual>
-    <collision>
-      <geometry>
-        <box size="0.044 0.038 0.07"/>
-      </geometry>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-    </collision>
-    <inertial>
-      <mass value="0.10"/>
-      <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
-    </inertial>
-  </link>
-  <link name="front_left_leg_link_cover">
-    <visual>
-      <geometry>
-        <mesh filename="stl/larm_cover.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <origin rpy="0 0 0" xyz="-0.125 0.04 -0.02"/>
-      <material name="yellow"/>
-    </visual>
-  </link>
-  <link name="front_left_leg_link">
-    <visual>
-      <geometry>
-        <mesh filename="stl/larm.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <origin rpy="0 0 0" xyz="-0.125 0.04 -0.02"/>
-      <material name="black"/>
-    </visual>
-    <collision>
-      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050"/>
-      <geometry>
-        <box size="0.028 0.036 0.12"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.1"/>
-      <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
-    </inertial>
-  </link>
-  <link name="front_left_foot_link">
-    <visual>
-      <geometry>
-        <mesh filename="stl/lfoot.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <origin rpy="0 0 0" xyz="-0.120 0.04 0.1"/>
-      <material name="black"/>
-    </visual>
-    <collision>
-      <geometry>
-        <box size="0.026 0.020 0.115"/>
-      </geometry>
-      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050"/>
-    </collision>
-    <inertial>
-      <mass value="0.1"/>
-      <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
-    </inertial>
-  </link>
-  <link name="front_left_toe_link">
-    <visual>
-      <geometry>
-        <mesh filename="stl/foot.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <origin rpy="0 -0.40010 0" xyz="0 -0.01 0"/>
-      <material name="grey"/>
-    </visual>
-    <collision>
-      <geometry>
-        <mesh filename="stl/foot.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <origin rpy="0 -0.40010 0" xyz="0 -0.01 0"/>
-      <contact_coefficients mu="100.0"/>
-    </collision>
-    <inertial>
-      <mass value="0.005"/>
-      <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
-    </inertial>
-  </link>
-  <joint name="motor_front_left_shoulder" type="revolute">
-    <parent link="base_link"/>
-    <child link="front_left_shoulder_link"/>
-    <axis xyz="1 0 0"/>
-    <origin rpy="0 0 0" xyz="-0.093 -0.036 0"/>
-    <limit effort="100.0" lower="-1.0" upper="1.0" velocity="0.7"/>
-    <dynamics damping="0.0" friction="0.5"/>
-  </joint>
-  <joint name="motor_front_left_leg" type="revolute">
-    <parent link="front_left_shoulder_link"/>
-    <child link="front_left_leg_link"/>
-    <axis xyz="0 1 0"/>
-    <origin rpy="0 0 0" xyz="0 -0.052 0"/>
-    <limit effort="100.0" lower="-2.17" upper="0.97" velocity="0.5"/>
-    <dynamics damping="0.0" friction="0.0"/>
-  </joint>
-  <joint name="front_left_leg_cover_joint" type="fixed">
-    <parent link="front_left_leg_link"/>
-    <child link="front_left_leg_link_cover"/>
-    <origin xyz="0 0 0"/>
-  </joint>
-  <joint name="foot_motor_front_left" type="revolute">
-    <parent link="front_left_leg_link"/>
-    <child link="front_left_foot_link"/>
-    <axis xyz="0 1 0"/>
-    <origin rpy="0 0 0" xyz="-0.01 0 -0.12"/>
-    <limit effort="100.0" lower="-0.1" upper="2.59" velocity="0.5"/>
-    <dynamics damping="0.0" friction="0.5"/>
-  </joint>
-  <joint name="front_left_toe" type="fixed">
-    <parent link="front_left_foot_link"/>
-    <child link="front_left_toe_link"/>
-    <origin xyz="0 0 -0.115"/>
-  </joint>
-
-  <link name="front_right_shoulder_link">
-    <visual>
-      <geometry>
-        <mesh filename="stl/rshoulder.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <origin rpy="0 0 0" xyz="-0.135 -0.09 -0.01"/>
-      <material name="black"/>
-    </visual>
-    <collision>
-      <geometry>
-        <box size="0.044 0.038 0.07"/>
-      </geometry>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-    </collision>
-    <inertial>
-      <mass value="0.10"/>
-      <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
-    </inertial>
-  </link>
-  <link name="front_right_leg_link_cover">
-    <visual>
-      <geometry>
-        <mesh filename="stl/rarm_cover.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <origin rpy="0 0 0" xyz="-0.125 -0.15 -0.02"/>
-      <material name="yellow"/>
-    </visual>
-  </link>
-  <link name="front_right_leg_link">
-    <visual>
-      <geometry>
-        <mesh filename="stl/rarm.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <origin rpy="0 0 0" xyz="-0.125 -0.15 -0.02"/>
-      <material name="black"/>
-    </visual>
-    <collision>
-      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050"/>
-      <geometry>
-        <box size="0.028 0.036 0.12"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.1"/>
-      <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
-    </inertial>
-  </link>
-  <link name="front_right_foot_link">
-    <visual>
-      <geometry>
-        <mesh filename="stl/rfoot.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <origin rpy="0 0 0" xyz="-0.120 -0.15 0.1"/>
-      <material name="black"/>
-    </visual>
-    <collision>
-      <geometry>
-        <box size="0.026 0.020 0.115"/>
-      </geometry>
-      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050"/>
-    </collision>
-    <inertial>
-      <mass value="0.1"/>
-      <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
-    </inertial>
-  </link>
-  <link name="front_right_toe_link">
-    <visual>
-      <geometry>
-        <mesh filename="stl/foot.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <origin rpy="0 -0.40010 0" xyz="0 -0.01 0"/>
-      <material name="grey"/>
-    </visual>
-    <collision>
-      <geometry>
-        <mesh filename="stl/foot.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <origin rpy="0 -0.40010 0" xyz="0 -0.01 0"/>
-      <contact_coefficients mu="100.0"/>
-    </collision>
-    <inertial>
-      <mass value="0.005"/>
-      <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
-    </inertial>
-  </link>
-  <joint name="motor_front_right_shoulder" type="revolute">
-    <parent link="base_link"/>
-    <child link="front_right_shoulder_link"/>
-    <axis xyz="1 0 0"/>
-    <origin rpy="0 0 0" xyz="-0.093 0.036 0"/>
-    <limit effort="100.0" lower="-1.0" upper="1.0" velocity="0.7"/>
-    <dynamics damping="0.0" friction="0.5"/>
-  </joint>
-  <joint name="motor_front_right_leg" type="revolute">
-    <parent link="front_right_shoulder_link"/>
-    <child link="front_right_leg_link"/>
-    <axis xyz="0 1 0"/>
-    <origin rpy="0 0 0" xyz="0 0.052 0"/>
-    <limit effort="100.0" lower="-2.17" upper="0.97" velocity="0.5"/>
-    <dynamics damping="0.0" friction="0.0"/>
-  </joint>
-  <joint name="front_right_leg_cover_joint" type="fixed">
-    <parent link="front_right_leg_link"/>
-    <child link="front_right_leg_link_cover"/>
-    <origin xyz="0 0 0"/>
-  </joint>
-  <joint name="foot_motor_front_right" type="revolute">
-    <parent link="front_right_leg_link"/>
-    <child link="front_right_foot_link"/>
-    <axis xyz="0 1 0"/>
-    <origin rpy="0 0 0" xyz="-0.01 0 -0.12"/>
-    <limit effort="100.0" lower="-0.1" upper="2.59" velocity="0.5"/>
-    <dynamics damping="0.0" friction="0.5"/>
-  </joint>
-  <joint name="front_right_toe" type="fixed">
-    <parent link="front_right_foot_link"/>
-    <child link="front_right_toe_link"/>
-    <origin xyz="0 0 -0.115"/>
-  </joint>
-
-  <link name="rear_left_shoulder_link">
-    <visual>
-      <geometry>
-        <mesh filename="stl/lshoulder.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <origin rpy="0 0 0" xyz="-0.135 -0.02 -0.01"/>
-      <material name="black"/>
-    </visual>
-    <collision>
-      <geometry>
-        <box size="0.044 0.038 0.07"/>
-      </geometry>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-    </collision>
-    <inertial>
-      <mass value="0.10"/>
-      <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
-    </inertial>
-  </link>
-  <link name="rear_left_leg_link_cover">
-    <visual>
-      <geometry>
-        <mesh filename="stl/larm_cover.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <origin rpy="0 0 0" xyz="-0.125 0.04 -0.02"/>
-      <material name="yellow"/>
-    </visual>
-  </link>
-  <link name="rear_left_leg_link">
-    <visual>
-      <geometry>
-        <mesh filename="stl/larm.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <origin rpy="0 0 0" xyz="-0.125 0.04 -0.02"/>
-      <material name="black"/>
-    </visual>
-    <collision>
-      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050"/>
-      <geometry>
-        <box size="0.028 0.036 0.12"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.10"/>
-      <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
-    </inertial>
-  </link>
-  <link name="rear_left_foot_link">
-    <visual>
-      <geometry>
-        <mesh filename="stl/lfoot.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <origin rpy="0 0 0" xyz="-0.120 0.04 0.1"/>
-      <material name="black"/>
-    </visual>
-    <collision>
-      <geometry>
-        <box size="0.026 0.020 0.115"/>
-      </geometry>
-      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050"/>
-    </collision>
-    <inertial>
-      <mass value="0.1"/>
-      <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
-    </inertial>
-  </link>
-  <link name="rear_left_toe_link">
-    <visual>
-      <geometry>
-        <mesh filename="stl/foot.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <origin rpy="0 -0.40010 0" xyz="0 -0.01 0"/>
-      <material name="grey"/>
-    </visual>
-    <collision>
-      <geometry>
-        <mesh filename="stl/foot.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <origin rpy="0 -0.40010 0" xyz="0 -0.01 0"/>
-      <contact_coefficients mu="100.0"/>
-    </collision>
-    <inertial>
-      <mass value="0.005"/>
-      <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
-    </inertial>
-  </link>
-  <joint name="motor_rear_left_shoulder" type="revolute">
-    <parent link="base_link"/>
-    <child link="rear_left_shoulder_link"/>
-    <axis xyz="1 0 0"/>
-    <origin rpy="0 0 0" xyz="0.093 -0.036 0"/>
-    <limit effort="100.0" lower="-1.0" upper="1.0" velocity="0.7"/>
-    <dynamics damping="0.0" friction="0.5"/>
-  </joint>
-  <joint name="motor_rear_left_leg" type="revolute">
-    <parent link="rear_left_shoulder_link"/>
-    <child link="rear_left_leg_link"/>
-    <axis xyz="0 1 0"/>
-    <origin rpy="0 0 0" xyz="0 -0.052 0"/>
-    <limit effort="100.0" lower="-2.17" upper="0.97" velocity="0.5"/>
-    <dynamics damping="0.0" friction="0.0"/>
-  </joint>
-  <joint name="rear_left_leg_cover_joint" type="fixed">
-    <parent link="rear_left_leg_link"/>
-    <child link="rear_left_leg_link_cover"/>
-    <origin xyz="0 0 0"/>
-  </joint>
-  <joint name="foot_motor_rear_left" type="revolute">
-    <parent link="rear_left_leg_link"/>
-    <child link="rear_left_foot_link"/>
-    <axis xyz="0 1 0"/>
-    <origin rpy="0 0 0" xyz="-0.01 0 -0.12"/>
-    <limit effort="100.0" lower="-0.1" upper="2.59" velocity="0.5"/>
-    <dynamics damping="0.0" friction="0.5"/>
-  </joint>
-  <joint name="rear_left_toe" type="fixed">
-    <parent link="rear_left_foot_link"/>
-    <child link="rear_left_toe_link"/>
-    <origin xyz="0 0 -0.115"/>
-  </joint>
-
-  <link name="rear_right_shoulder_link">
-    <visual>
-      <geometry>
-        <mesh filename="stl/rshoulder.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <origin rpy="0 0 0" xyz="-0.135 -0.09 -0.01"/>
-      <material name="black"/>
-    </visual>
-    <collision>
-      <geometry>
-        <box size="0.044 0.038 0.07"/>
-      </geometry>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-    </collision>
-    <inertial>
-      <mass value="0.10"/>
-      <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
-    </inertial>
-  </link>
-  <link name="rear_right_leg_link_cover">
-    <visual>
-      <geometry>
-        <mesh filename="stl/rarm_cover.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <origin rpy="0 0 0" xyz="-0.125 -0.15 -0.02"/>
-      <material name="yellow"/>
-    </visual>
-  </link>
-  <link name="rear_right_leg_link">
-    <visual>
-      <geometry>
-        <mesh filename="stl/rarm.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <origin rpy="0 0 0" xyz="-0.125 -0.15 -0.02"/>
-      <material name="black"/>
-    </visual>
-    <collision>
-      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050"/>
-      <geometry>
-        <box size="0.028 0.036 0.12"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.10"/>
-      <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
-    </inertial>
-  </link>
-  <link name="rear_right_foot_link">
-    <visual>
-      <geometry>
-        <mesh filename="stl/rfoot.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <origin rpy="0 0 0" xyz="-0.120 -0.15 0.1"/>
-      <material name="black"/>
-    </visual>
-    <collision>
-      <geometry>
-        <box size="0.026 0.020 0.115"/>
-      </geometry>
-      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050"/>
-    </collision>
-    <inertial>
-      <mass value="0.1"/>
-      <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
-    </inertial>
-  </link>
-  <link name="rear_right_toe_link">
-    <visual>
-      <geometry>
-        <mesh filename="stl/foot.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <origin rpy="0 -0.40010 0" xyz="0 -0.01 0"/>
-      <material name="grey"/>
-    </visual>
-    <collision>
-      <geometry>
-        <mesh filename="stl/foot.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <origin rpy="0 -0.40010 0" xyz="0 -0.01 0"/>
-      <contact_coefficients mu="100.0"/>
-    </collision>
-    <inertial>
-      <mass value="0.005"/>
-      <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
-    </inertial>
-  </link>
-  <joint name="motor_rear_right_shoulder" type="revolute">
-    <parent link="base_link"/>
-    <child link="rear_right_shoulder_link"/>
-    <axis xyz="1 0 0"/>
-    <origin rpy="0 0 0" xyz="0.093 0.036 0"/>
-    <limit effort="100.0" lower="-1.0" upper="1.0" velocity="0.7"/>
-    <dynamics damping="0.0" friction="0.5"/>
-  </joint>
-  <joint name="motor_rear_right_leg" type="revolute">
-    <parent link="rear_right_shoulder_link"/>
-    <child link="rear_right_leg_link"/>
-    <axis xyz="0 1 0"/>
-    <origin rpy="0 0 0" xyz="0 0.052 0"/>
-    <limit effort="100.0" lower="-2.17" upper="0.97" velocity="0.5"/>
-    <dynamics damping="0.0" friction="0.0"/>
-  </joint>
-  <joint name="rear_right_leg_cover_joint" type="fixed">
-    <parent link="rear_right_leg_link"/>
-    <child link="rear_right_leg_link_cover"/>
-    <origin xyz="0 0 0"/>
-  </joint>
-  <joint name="foot_motor_rear_right" type="revolute">
-    <parent link="rear_right_leg_link"/>
-    <child link="rear_right_foot_link"/>
-    <axis xyz="0 1 0"/>
-    <origin rpy="0 0 0" xyz="-0.01 0 -0.12"/>
-    <limit effort="100.0" lower="-0.1" upper="2.59" velocity="0.5"/>
-    <dynamics damping="0.0" friction="0.5"/>
-  </joint>
-  <joint name="rear_right_toe" type="fixed">
-    <parent link="rear_right_foot_link"/>
-    <child link="rear_right_toe_link"/>
-    <origin xyz="0 0 -0.115"/>
-  </joint>
-</robot>
@@ -1,3 +0,0 @@
-Spotmicro - robot dog (http://www.thingiverse.com/thing:3445283) by KDY0523 is licensed under the Creative Commons - Attribution license.
-http://creativecommons.org/licenses/by/3.0/
-
@@ -1,92 +0,0 @@
-                   .:                     :,                                          
-,:::::::: ::`      :::                   :::                                          
-,:::::::: ::`      :::                   :::                                          
-.,,:::,,, ::`.:,   ... .. .:,     .:. ..`... ..`   ..   .:,    .. ::  .::,     .:,`   
-   ,::    :::::::  ::, :::::::  `:::::::.,:: :::  ::: .::::::  ::::: ::::::  .::::::  
-   ,::    :::::::: ::, :::::::: ::::::::.,:: :::  ::: :::,:::, ::::: ::::::, :::::::: 
-   ,::    :::  ::: ::, :::  :::`::.  :::.,::  ::,`::`:::   ::: :::  `::,`   :::   ::: 
-   ,::    ::.  ::: ::, ::`  :::.::    ::.,::  :::::: ::::::::: ::`   :::::: ::::::::: 
-   ,::    ::.  ::: ::, ::`  :::.::    ::.,::  .::::: ::::::::: ::`    ::::::::::::::: 
-   ,::    ::.  ::: ::, ::`  ::: ::: `:::.,::   ::::  :::`  ,,, ::`  .::  :::.::.  ,,, 
-   ,::    ::.  ::: ::, ::`  ::: ::::::::.,::   ::::   :::::::` ::`   ::::::: :::::::. 
-   ,::    ::.  ::: ::, ::`  :::  :::::::`,::    ::.    :::::`  ::`   ::::::   :::::.  
-                                ::,  ,::                               ``             
-                                ::::::::                                              
-                                 ::::::                                               
-                                  `,,`
-
-
-http://www.thingiverse.com/thing:3445283
-Spotmicro - robot dog by KDY0523 is licensed under the Creative Commons - Attribution license.
-http://creativecommons.org/licenses/by/3.0/
-
-# Summary
-
-I designed Spotmicro inspired by the Spotmini of Boston Dynamics.
-
-It works on the basis of the Arduino mega, and if you use a different board, you have to redesign the 'plate' file yourself and print the non-mega file instead of the regular file.
-
-The ultra sonic sensor can be used for mapping or obstacle avoidance.
-
-When you attach the servo horn to the 3D printed parts, you must use the HOTGLUE.
-
-THERE IS NO CODE YET, SO YOU HAVE TO WRITE IT YOURSELF.
-
-Assembly video part 1 : https://youtu.be/03RR-mz2hwA
-
-Assembly video part 2 : https://youtu.be/LV5vvmhwtxM
-                           
-Instagram : https://www.instagram.com/kim.d.yeon/
-
-To make this, you need the following...
-
-_Electronics_
-12 × MG 996 R servo motor
-1 × Arduino Mega
-2 × HC-SR04 Ultrasonic sensor
-1 × HC-06 Bluetooth module
-1 × MPU-6050 Gyro sensor
-1 × I2C 16x2 LCD Module
-1 × Rleil rocker switch RL3-4
-7.4v Battery
-
-_Screws, Nuts and Bearings_
-8 × 'M5×15'
-40 × 'M4×20'
-8 × 'M4×15'
-48 × 'M4 nut'
-4 × 'M3×20'
-28 × 'M3×10'
-16 × 'M3 nut'
-8 × 'F625zz Flange ball bearing'
-
-
-
-Made by Deok-yeon Kim
-
-# Print Settings
-
-Printer Brand: Creality
-Printer: Ender 3
-Infill: 10~20%
-Filament_brand: .
-Filament_color: Yellow, Black, Gray
-Filament_material: PLA, Flexible
-
-# Post-Printing
-
-![Alt text](https://cdn.thingiverse.com/assets/5d/9f/90/dd/a9/complete_1.jpg)
-
-![Alt text](https://cdn.thingiverse.com/assets/e0/6f/f7/86/7d/complete_4.jpg)
-
-![Alt text](https://cdn.thingiverse.com/assets/3d/1a/c2/52/17/complete_front.jpg)
-
-![Alt text](https://cdn.thingiverse.com/assets/fc/ee/68/ac/75/complete_back.jpg)
-
-![Alt text](https://cdn.thingiverse.com/assets/67/d1/49/80/50/complete_top.jpg)
-
-![Alt text](https://cdn.thingiverse.com/assets/13/bf/32/0e/d4/complete_bottom.jpg)
-
-![Alt text](https://cdn.thingiverse.com/assets/93/fc/7f/81/17/frame_3.jpg)
-
-![Alt text](https://cdn.thingiverse.com/assets/4e/0b/38/9c/80/frame-1.jpg)
@@ -0,0 +1,8 @@
+from .src.spot import Spot
+# Server
+
+# Bluetooth controller
+
+# Motion planing
+
+# Hardware connections
@@ -0,0 +1,5 @@
+
+
+class Spot:
+    def __init__(self) -> None:
+        pass
--- a/Show More
+++ b/Show More