From c5901c65b30dd1b163f809e8e98270e0854c130d Mon Sep 17 00:00:00 2001
From: Rune Harlyk <rune@harlyk.dk>
Date: Fri, 11 Jul 2025 13:25:03 +0200
Subject: [PATCH] =?UTF-8?q?=E2=9C=A8=20Adds=20yertle=20model=20visulizatio?=
 =?UTF-8?q?n?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 app/src/lib/components/Visualization.svelte |   332 +-
 app/src/lib/gait.ts                         |     6 +-
 app/src/lib/kinematic.ts                    |    24 +-
 app/src/lib/stores/featureFlags.ts          |    42 +-
 app/src/lib/utilities/model-utilities.ts    |     7 +-
 app/static/URDF.zip                         |   Bin 0 -> 1215085 bytes
 app/static/URDF/femur.mtl                   |     5 +
 app/static/URDF/femur.obj                   |  2106 +
 app/static/URDF/femur.stl                   |   Bin 0 -> 29384 bytes
 app/static/URDF/frame.mtl                   |     5 +
 app/static/URDF/frame.obj                   | 43125 ++++++++++++++++++
 app/static/URDF/frame.stl                   |   Bin 0 -> 1439484 bytes
 app/static/URDF/lb shoulder.mtl             |    14 +
 app/static/URDF/lb shoulder.obj             | 36032 +++++++++++++++
 app/static/URDF/lb shoulder.stl             |   Bin 0 -> 538384 bytes
 app/static/URDF/lf shoulder.mtl             |    14 +
 app/static/URDF/lf shoulder.obj             | 36033 +++++++++++++++
 app/static/URDF/lf shoulder.stl             |   Bin 0 -> 538384 bytes
 app/static/URDF/rb shoulder.mtl             |    14 +
 app/static/URDF/rb shoulder.obj             | 36059 +++++++++++++++
 app/static/URDF/rb shoulder.stl             |   Bin 0 -> 538384 bytes
 app/static/URDF/rf shoulder.mtl             |    14 +
 app/static/URDF/rf shoulder.obj             | 36059 +++++++++++++++
 app/static/URDF/rf shoulder.stl             |   Bin 0 -> 538384 bytes
 app/static/URDF/shell.mtl                   |     5 +
 app/static/URDF/shell.obj                   |  6804 +++
 app/static/URDF/shell.stl                   |   Bin 0 -> 225984 bytes
 app/static/URDF/tibia.mtl                   |    14 +
 app/static/URDF/tibia.obj                   | 15354 +++++++
 app/static/URDF/tibia.stl                   |   Bin 0 -> 219884 bytes
 app/static/yertle.URDF                      |   402 +
 31 files changed, 212288 insertions(+), 182 deletions(-)
 create mode 100644 app/static/URDF.zip
 create mode 100644 app/static/URDF/femur.mtl
 create mode 100644 app/static/URDF/femur.obj
 create mode 100644 app/static/URDF/femur.stl
 create mode 100644 app/static/URDF/frame.mtl
 create mode 100644 app/static/URDF/frame.obj
 create mode 100644 app/static/URDF/frame.stl
 create mode 100644 app/static/URDF/lb shoulder.mtl
 create mode 100644 app/static/URDF/lb shoulder.obj
 create mode 100644 app/static/URDF/lb shoulder.stl
 create mode 100644 app/static/URDF/lf shoulder.mtl
 create mode 100644 app/static/URDF/lf shoulder.obj
 create mode 100644 app/static/URDF/lf shoulder.stl
 create mode 100644 app/static/URDF/rb shoulder.mtl
 create mode 100644 app/static/URDF/rb shoulder.obj
 create mode 100644 app/static/URDF/rb shoulder.stl
 create mode 100644 app/static/URDF/rf shoulder.mtl
 create mode 100644 app/static/URDF/rf shoulder.obj
 create mode 100644 app/static/URDF/rf shoulder.stl
 create mode 100644 app/static/URDF/shell.mtl
 create mode 100644 app/static/URDF/shell.obj
 create mode 100644 app/static/URDF/shell.stl
 create mode 100644 app/static/URDF/tibia.mtl
 create mode 100644 app/static/URDF/tibia.obj
 create mode 100644 app/static/URDF/tibia.stl
 create mode 100644 app/static/yertle.URDF

diff --git a/app/src/lib/components/Visualization.svelte b/app/src/lib/components/Visualization.svelte
index 6e5b568..2969608 100644
--- a/app/src/lib/components/Visualization.svelte
+++ b/app/src/lib/components/Visualization.svelte
@@ -1,5 +1,5 @@
 <script lang="ts">
-  import { onDestroy, onMount } from 'svelte';
+  import { onDestroy, onMount } from 'svelte'
   import {
     BufferGeometry,
     Line,
@@ -10,8 +10,8 @@
     SphereGeometry,
     Vector3,
     type NormalBufferAttributes,
-    type Object3DEventMap,
-  } from 'three';
+    type Object3DEventMap
+  } from 'three'
   import {
     ModesEnum,
     kinematicData,
@@ -22,54 +22,55 @@
     servoAngles,
     mpu,
     jointNames,
-  } from '$lib/stores';
+    currentKinematic
+  } from '$lib/stores'
   import {
     extractFootColor,
     populateModelCache,
     throttler,
-    getToeWorldPositions,
-  } from '$lib/utilities';
-  import SceneBuilder from '$lib/sceneBuilder';
-  import { lerp, degToRad } from 'three/src/math/MathUtils';
-  import { GUI } from 'three/addons/libs/lil-gui.module.min.js';
-  import Kinematic, { type body_state_t } from '$lib/kinematic';
+    getToeWorldPositions
+  } from '$lib/utilities'
+  import SceneBuilder from '$lib/sceneBuilder'
+  import { lerp, degToRad } from 'three/src/math/MathUtils'
+  import { GUI } from 'three/addons/libs/lil-gui.module.min.js'
+  import Kinematic, { type body_state_t } from '$lib/kinematic'
   import {
     BezierState,
     CalibrationState,
     EightPhaseWalkState,
     IdleState,
     RestState,
-    StandState,
-  } from '$lib/gait';
-  import { radToDeg } from 'three/src/math/MathUtils.js';
-  import type { URDFRobot } from 'urdf-loader';
-  import { get } from 'svelte/store';
+    StandState
+  } from '$lib/gait'
+  import { radToDeg } from 'three/src/math/MathUtils.js'
+  import type { URDFRobot } from 'urdf-loader'
+  import { get } from 'svelte/store'
 
   interface Props {
-    sky?: boolean;
-    orbit?: boolean;
-    panel?: boolean;
-    debug?: boolean;
-    ground?: boolean;
+    sky?: boolean
+    orbit?: boolean
+    panel?: boolean
+    debug?: boolean
+    ground?: boolean
   }
 
-  let { sky = true, orbit = false, panel = true, debug = false, ground = true }: Props = $props();
+  let { sky = true, orbit = false, panel = true, debug = false, ground = true }: Props = $props()
 
-  let sceneManager = $state(new SceneBuilder());
-  let canvas: HTMLCanvasElement;
+  let sceneManager = $state(new SceneBuilder())
+  let canvas: HTMLCanvasElement
 
-  let currentModelAngles: number[] = new Array(12).fill(0);
-  let modelTargetAngles: number[] = new Array(12).fill(0);
-  let gui_panel: GUI;
-  let Throttler = new throttler();
+  let currentModelAngles: number[] = new Array(12).fill(0)
+  let modelTargetAngles: number[] = new Array(12).fill(0)
+  let gui_panel: GUI
+  let Throttler = new throttler()
 
-  let feet_trace = new Array(4).fill([]);
-  let trace_lines: BufferGeometry<NormalBufferAttributes>[] = [];
-  let target: Object3D<Object3DEventMap>;
+  let feet_trace = new Array(4).fill([])
+  let trace_lines: BufferGeometry<NormalBufferAttributes>[] = []
+  let target: Object3D<Object3DEventMap>
 
-  let target_position = { x: 0, z: 0, yaw: 0 };
+  let target_position = { x: 0, z: 0, yaw: 0 }
 
-  let kinematic = new Kinematic();
+  let kinematic = get(currentKinematic)
 
   let planners = {
     [ModesEnum.Deactivated]: new IdleState(),
@@ -78,11 +79,11 @@
     [ModesEnum.Rest]: new RestState(),
     [ModesEnum.Stand]: new StandState(),
     [ModesEnum.Crawl]: new EightPhaseWalkState(),
-    [ModesEnum.Walk]: new BezierState(),
-  };
-  let lastTick = performance.now();
+    [ModesEnum.Walk]: new BezierState()
+  }
+  let lastTick = performance.now()
 
-  const dir = [1, -1, -1, -1, -1, -1, 1, -1, -1, -1, -1, -1];
+  const dir = [1, -1, -1, -1, -1, -1, 1, -1, -1, -1, -1, -1]
 
   let body_state = {
     omega: 0,
@@ -91,8 +92,8 @@
     xm: 0,
     ym: 0.5,
     zm: 0,
-    feet: kinematic.getDefaultFeetPos(),
-  };
+    feet: kinematic.getDefaultFeetPos()
+  }
 
   let settings = {
     'Internal kinematic': true,
@@ -109,52 +110,52 @@
     xm: 0,
     ym: 0.7,
     zm: 0,
-    Background: 'black',
-  };
+    Background: 'black'
+  }
 
   onMount(async () => {
-    await populateModelCache();
-    await createScene();
-    servoAngles.subscribe(updateAnglesFromStore);
-    if (panel) createPanel();
-  });
+    await populateModelCache()
+    await createScene()
+    servoAngles.subscribe(updateAnglesFromStore)
+    if (panel) createPanel()
+  })
 
   onDestroy(() => {
-    canvas.remove();
-    gui_panel?.destroy();
-  });
+    canvas.remove()
+    gui_panel?.destroy()
+  })
 
   const updateAnglesFromStore = (angles: number[]) => {
-    if (sceneManager.isDragging) return;
-    if (settings['Internal kinematic']) return;
-    modelTargetAngles = angles;
-  };
+    if (sceneManager.isDragging) return
+    if (settings['Internal kinematic']) return
+    modelTargetAngles = angles
+  }
 
   const createPanel = () => {
-    gui_panel = new GUI({ width: 310 });
-    gui_panel.close();
-    gui_panel.domElement.id = 'three-gui-panel';
+    gui_panel = new GUI({ width: 310 })
+    gui_panel.close()
+    gui_panel.domElement.id = 'three-gui-panel'
 
-    const general = gui_panel.addFolder('General');
-    general.add(settings, 'Internal kinematic');
-    general.add(settings, 'Robot transform controls');
-    general.add(settings, 'Auto orient robot');
+    const general = gui_panel.addFolder('General')
+    general.add(settings, 'Internal kinematic')
+    general.add(settings, 'Robot transform controls')
+    general.add(settings, 'Auto orient robot')
 
-    const kinematic = gui_panel.addFolder('Kinematics');
-    kinematic.add(settings, 'omega', -20, 20).onChange(updateKinematicPosition).listen();
-    kinematic.add(settings, 'phi', -30, 30).onChange(updateKinematicPosition).listen();
-    kinematic.add(settings, 'psi', -20, 15).onChange(updateKinematicPosition).listen();
-    kinematic.add(settings, 'xm', -1, 1).onChange(updateKinematicPosition).listen();
-    kinematic.add(settings, 'ym', 0, 1).onChange(updateKinematicPosition).listen();
-    kinematic.add(settings, 'zm', -1.3, 1.3).onChange(updateKinematicPosition).listen();
+    const kinematic = gui_panel.addFolder('Kinematics')
+    kinematic.add(settings, 'omega', -20, 20).onChange(updateKinematicPosition).listen()
+    kinematic.add(settings, 'phi', -30, 30).onChange(updateKinematicPosition).listen()
+    kinematic.add(settings, 'psi', -20, 15).onChange(updateKinematicPosition).listen()
+    kinematic.add(settings, 'xm', -1, 1).onChange(updateKinematicPosition).listen()
+    kinematic.add(settings, 'ym', 0, 1).onChange(updateKinematicPosition).listen()
+    kinematic.add(settings, 'zm', -1.3, 1.3).onChange(updateKinematicPosition).listen()
 
-    const visibility = gui_panel.addFolder('Visualization');
-    visibility.add(settings, 'Trace feet');
-    visibility.add(settings, 'Trace points', 1, 1000, 1);
-    visibility.add(settings, 'Target position');
-    visibility.add(settings, 'Smooth motion');
-    visibility.addColor(settings, 'Background');
-  };
+    const visibility = gui_panel.addFolder('Visualization')
+    visibility.add(settings, 'Trace feet')
+    visibility.add(settings, 'Trace points', 1, 1000, 1)
+    visibility.add(settings, 'Target position')
+    visibility.add(settings, 'Smooth motion')
+    visibility.addColor(settings, 'Background')
+  }
 
   const updateKinematicPosition = () => {
     kinematicData.set([
@@ -163,17 +164,14 @@
       settings.psi,
       settings.xm,
       settings.ym,
-      settings.zm,
-    ]);
-  };
+      settings.zm
+    ])
+  }
 
   const updateAngles = (name: string, angle: number) => {
-    modelTargetAngles[$jointNames.indexOf(name)] = angle * (180 / Math.PI);
-    Throttler.throttle(
-      () => servoAnglesOut.set(modelTargetAngles.map(num => Math.round(num))),
-      100
-    );
-  };
+    modelTargetAngles[$jointNames.indexOf(name)] = angle * (180 / Math.PI)
+    Throttler.throttle(() => servoAnglesOut.set(modelTargetAngles.map(num => Math.round(num))), 100)
+  }
 
   const createScene = async () => {
     sceneManager
@@ -187,46 +185,46 @@
       .addTransformControls(sceneManager.model)
       .fillParent()
       .addRenderCb(render)
-      .startRenderLoop();
+      .startRenderLoop()
 
-    if (ground) sceneManager.addGroundPlane();
+    if (ground) sceneManager.addGroundPlane()
 
-    const geometry = new SphereGeometry(0.1, 32, 16);
-    const material = new MeshBasicMaterial({ color: 0xffff00 });
-    target = new Mesh(geometry, material);
-    sceneManager.scene.add(target);
+    const geometry = new SphereGeometry(0.1, 32, 16)
+    const material = new MeshBasicMaterial({ color: 0xffff00 })
+    target = new Mesh(geometry, material)
+    sceneManager.scene.add(target)
 
     if (debug) {
-      sceneManager.addDragControl(updateAngles);
+      sceneManager.addDragControl(updateAngles)
     }
-    if (sky) sceneManager.addSky();
+    if (sky) sceneManager.addSky()
 
     for (let i = 0; i < 4; i++) {
-      const geometry = new BufferGeometry();
-      const material = new LineBasicMaterial({ color: extractFootColor() });
-      const line = new Line(geometry, material);
-      trace_lines.push(geometry);
-      sceneManager.scene.add(line);
+      const geometry = new BufferGeometry()
+      const material = new LineBasicMaterial({ color: extractFootColor() })
+      const line = new Line(geometry, material)
+      trace_lines.push(geometry)
+      sceneManager.scene.add(line)
     }
-  };
+  }
 
   const renderTraceLines = (foot_positions: Vector3[]) => {
     if (!settings['Trace feet']) {
-      if (!feet_trace.length) return;
-      trace_lines.forEach((line, i) => line.setFromPoints(feet_trace[i].slice(-1)));
-      feet_trace = new Array(4).fill([]);
-      return;
+      if (!feet_trace.length) return
+      trace_lines.forEach((line, i) => line.setFromPoints(feet_trace[i].slice(-1)))
+      feet_trace = new Array(4).fill([])
+      return
     }
 
     trace_lines.forEach((line, i) => {
-      feet_trace[i].push(foot_positions[i]);
-      feet_trace[i] = feet_trace[i].slice(-settings['Trace points']);
-      line.setFromPoints(feet_trace[i]);
-    });
-  };
+      feet_trace[i].push(foot_positions[i])
+      feet_trace[i] = feet_trace[i].slice(-settings['Trace points'])
+      line.setFromPoints(feet_trace[i])
+    })
+  }
 
   const calculate_kinematics = () => {
-    if (sceneManager.isDragging || !settings['Internal kinematic']) return;
+    if (sceneManager.isDragging || !settings['Internal kinematic']) return
     const position: body_state_t = {
       omega: settings.omega,
       phi: settings.phi,
@@ -234,37 +232,37 @@
       xm: settings.xm,
       ym: settings.ym,
       zm: settings.zm,
-      feet: body_state.feet,
-    };
+      feet: body_state.feet
+    }
 
-    let new_angles = kinematic.calcIK(position).map((x, i) => radToDeg(x * dir[i]));
-    modelTargetAngles = new_angles;
-  };
+    let new_angles = kinematic.calcIK(position).map((x, i) => radToDeg(x * dir[i]))
+    modelTargetAngles = new_angles
+  }
 
   const orient_robot = (robot: URDFRobot, toes: Vector3[]) => {
-    if (settings['Robot transform controls'] || !settings['Auto orient robot']) return;
-    robot.position.y = robot.position.y - Math.min(...toes.map(toe => toe.y));
+    if (settings['Robot transform controls'] || !settings['Auto orient robot']) return
+    robot.position.y = robot.position.y - Math.min(...toes.map(toe => toe.y))
 
-    robot.position.z = smooth(robot.position.z, -settings.xm, 0.1);
-    robot.position.x = smooth(robot.position.x, -settings.zm, 0.1);
+    robot.position.z = smooth(robot.position.z, -settings.xm, 0.1)
+    robot.position.x = smooth(robot.position.x, -settings.zm, 0.1)
 
-    robot.rotation.z = smooth(robot.rotation.z, degToRad(-settings.phi + $mpu.heading + 90), 0.1);
-    robot.rotation.y = smooth(robot.rotation.y, degToRad(settings.omega), 0.1);
-    robot.rotation.x = smooth(robot.rotation.x, degToRad(settings.psi - 90), 0.1);
-  };
+    robot.rotation.z = smooth(robot.rotation.z, degToRad(-settings.phi + $mpu.heading + 90), 0.1)
+    robot.rotation.y = smooth(robot.rotation.y, degToRad(settings.omega), 0.1)
+    robot.rotation.x = smooth(robot.rotation.x, degToRad(settings.psi - 90), 0.1)
+  }
 
   const update_camera = (robot: URDFRobot) => {
-    if (!settings['Fix camera on robot']) return;
-    sceneManager.orbit.target = robot.position.clone();
-  };
+    if (!settings['Fix camera on robot']) return
+    sceneManager.orbit.target = robot.position.clone()
+  }
 
   const smooth = (start: number, end: number, amount: number) => {
-    return settings['Smooth motion'] ? lerp(start, end, amount) : end;
-  };
+    return settings['Smooth motion'] ? lerp(start, end, amount) : end
+  }
 
   const update_gait = () => {
-    if (sceneManager.isDragging || !settings['Internal kinematic']) return;
-    const controlData = get(outControllerData);
+    if (sceneManager.isDragging || !settings['Internal kinematic']) return
+    const controlData = get(outControllerData)
     const data = {
       stop: controlData[0],
       lx: controlData[1],
@@ -273,67 +271,67 @@
       ry: controlData[4],
       h: controlData[5],
       s: controlData[6],
-      s1: controlData[7],
-    };
-    body_state.ym = ((data.h + 127) * 0.35) / 100;
+      s1: controlData[7]
+    }
+    body_state.ym = ((data.h + 127) * 0.35) / 100
 
-    let planner = planners[get(mode)];
-    const delta = performance.now() - lastTick;
-    lastTick = performance.now();
+    let planner = planners[get(mode)]
+    const delta = performance.now() - lastTick
+    lastTick = performance.now()
 
-    body_state = planner.step(body_state, data, delta);
+    body_state = planner.step(body_state, data, delta)
 
-    settings.omega = body_state.omega;
-    settings.phi = body_state.phi;
-    settings.psi = body_state.psi;
-    settings.xm = body_state.xm;
-    settings.ym = body_state.ym;
-    settings.zm = body_state.zm;
-  };
+    settings.omega = body_state.omega
+    settings.phi = body_state.phi
+    settings.psi = body_state.psi
+    settings.xm = body_state.xm
+    settings.ym = body_state.ym
+    settings.zm = body_state.zm
+  }
 
   const update_robot_position = (robot: URDFRobot) => {
-    if (!settings['Robot transform controls']) return;
-    settings.omega = radToDeg(robot.rotation.y);
-    settings.phi = radToDeg(robot.rotation.z) + $mpu.heading - 90;
-    settings.psi = radToDeg(robot.rotation.x) + 90;
-    settings.xm = robot.position.z * 100;
-    settings.zm = -robot.position.x * 100;
-  };
+    if (!settings['Robot transform controls']) return
+    settings.omega = radToDeg(robot.rotation.y)
+    settings.phi = radToDeg(robot.rotation.z) + $mpu.heading - 90
+    settings.psi = radToDeg(robot.rotation.x) + 90
+    settings.xm = robot.position.z * 100
+    settings.zm = -robot.position.x * 100
+  }
 
   const updateTargetPosition = () => {
-    target.visible = settings['Target position'];
-    target.position.x = smooth(target.position.x, target_position.x, 0.5);
-    target.position.z = smooth(target.position.z, target_position.z, 0.5);
-  };
+    target.visible = settings['Target position']
+    target.position.x = smooth(target.position.x, target_position.x, 0.5)
+    target.position.z = smooth(target.position.z, target_position.z, 0.5)
+  }
 
   const render = () => {
-    const robot = sceneManager.model;
-    if (!robot) return;
+    const robot = sceneManager.model
+    if (!robot) return
 
-    const toes = getToeWorldPositions(robot);
+    const toes = getToeWorldPositions(robot)
 
-    renderTraceLines(toes);
-    update_camera(robot);
-    update_gait();
-    calculate_kinematics();
-    update_robot_position(robot);
+    renderTraceLines(toes)
+    update_camera(robot)
+    update_gait()
+    calculate_kinematics()
+    update_robot_position(robot)
 
-    sceneManager.transformControl.showX = settings['Robot transform controls'];
-    sceneManager.transformControl.showY = settings['Robot transform controls'];
-    sceneManager.transformControl.showZ = settings['Robot transform controls'];
+    sceneManager.transformControl.showX = settings['Robot transform controls']
+    sceneManager.transformControl.showY = settings['Robot transform controls']
+    sceneManager.transformControl.showZ = settings['Robot transform controls']
 
     for (let i = 0; i < $jointNames.length; i++) {
       currentModelAngles[i] = smooth(
         (robot.joints[$jointNames[i]].angle as number) * (180 / Math.PI),
         modelTargetAngles[i],
         0.1
-      );
-      robot.joints[$jointNames[i]].setJointValue(degToRad(currentModelAngles[i]));
+      )
+      robot.joints[$jointNames[i]].setJointValue(degToRad(currentModelAngles[i]))
     }
 
-    orient_robot(robot, toes);
-    updateTargetPosition();
-  };
+    orient_robot(robot, toes)
+    updateTargetPosition()
+  }
 </script>
 
 <svelte:window onresize={sceneManager.fillParent} />
diff --git a/app/src/lib/gait.ts b/app/src/lib/gait.ts
index 23fc5dd..d5d600f 100644
--- a/app/src/lib/gait.ts
+++ b/app/src/lib/gait.ts
@@ -1,6 +1,6 @@
+import { get } from 'svelte/store'
 import type { body_state_t } from './kinematic'
-import Kinematic from './kinematic'
-import { fromInt8 } from './utilities'
+import { currentKinematic } from './stores/featureFlags'
 
 const { sin } = Math
 
@@ -39,7 +39,7 @@ export abstract class GaitState {
   }
 
   public get default_feet_pos() {
-    return new Kinematic().getDefaultFeetPos()
+    return get(currentKinematic).getDefaultFeetPos()
   }
 
   protected get default_height() {
diff --git a/app/src/lib/kinematic.ts b/app/src/lib/kinematic.ts
index aa232bb..7ec3414 100644
--- a/app/src/lib/kinematic.ts
+++ b/app/src/lib/kinematic.ts
@@ -20,6 +20,15 @@ export interface target_position {
   yaw: number
 }
 
+export interface KinematicParams {
+  l1: number
+  l2: number
+  l3: number
+  l4: number
+  L: number
+  W: number
+}
+
 const { cos, sin, atan2, acos, sqrt, max, min } = Math
 
 const DEG2RAD = 0.017453292519943
@@ -43,14 +52,13 @@ export default class Kinematic {
     [1, 0, 0]
   ]
 
-  constructor() {
-    this.l1 = 60.5 / 100
-    this.l2 = 10 / 100
-    this.l3 = 111.7 / 100
-    this.l4 = 118.5 / 100
-
-    this.L = 207.5 / 100
-    this.W = 78 / 100
+  constructor(params: KinematicParams) {
+    this.l1 = params.l1
+    this.l2 = params.l2
+    this.l3 = params.l3
+    this.l4 = params.l4
+    this.L = params.L
+    this.W = params.W
 
     this.mountOffsets = [
       [this.L / 2, 0, this.W / 2],
diff --git a/app/src/lib/stores/featureFlags.ts b/app/src/lib/stores/featureFlags.ts
index de6ee23..826860d 100644
--- a/app/src/lib/stores/featureFlags.ts
+++ b/app/src/lib/stores/featureFlags.ts
@@ -1,7 +1,8 @@
 import { api } from '$lib/api'
 import { notifications } from '$lib/components/toasts/notifications'
+import Kinematic from '$lib/kinematic'
 import { persistentStore } from '$lib/utilities'
-import { type Writable } from 'svelte/store'
+import { derived, type Writable } from 'svelte/store'
 
 let featureFlagsStore: Writable<Record<string, boolean | string>>
 
@@ -19,3 +20,42 @@ export function useFeatureFlags() {
 
   return featureFlagsStore
 }
+
+export const variants = {
+  SPOTMICRO_ESP32: {
+    model: '/spot_micro.urdf.xacro',
+    stl: '/stl.zip',
+    kinematics: {
+      l1: 60.5 / 100,
+      l2: 10 / 100,
+      l3: 111.7 / 100,
+      l4: 118.5 / 100,
+      L: 207.5 / 100,
+      W: 78 / 100
+    }
+  },
+  SPOTMICRO_YERTLE: {
+    model: '/yertle.URDF',
+    stl: '/URDF.zip',
+    kinematics: {
+      l1: 35 / 100,
+      l2: 0 / 100,
+      l3: 130 / 100,
+      l4: 130 / 100,
+      L: 240 / 100,
+      W: 78 / 100
+    }
+  }
+}
+
+export const currentVariant = derived(useFeatureFlags(), $flagStore => {
+  const variantFlag = $flagStore['variant'] as string
+  return variantFlag && variants[variantFlag as keyof typeof variants] ?
+      variants[variantFlag as keyof typeof variants]
+    : variants.SPOTMICRO_ESP32
+})
+
+export const currentKinematic = derived(
+  currentVariant,
+  $variant => new Kinematic($variant.kinematics)
+)
diff --git a/app/src/lib/utilities/model-utilities.ts b/app/src/lib/utilities/model-utilities.ts
index 7a2dbab..c339865 100644
--- a/app/src/lib/utilities/model-utilities.ts
+++ b/app/src/lib/utilities/model-utilities.ts
@@ -2,15 +2,16 @@ import { Color, LoaderUtils, Vector3 } from 'three'
 import URDFLoader, { type URDFRobot } from 'urdf-loader'
 import { XacroLoader } from 'xacro-parser'
 import { Result } from '$lib/utilities'
-import { jointNames, model } from '$lib/stores'
+import { currentVariant, jointNames, model } from '$lib/stores'
 import uzip from 'uzip'
 import { fileService } from '$lib/services'
+import { get } from 'svelte/store'
 
 let model_xml: XMLDocument
 
 export const populateModelCache = async () => {
   await cacheModelFiles()
-  const modelRes = await loadModel('/spot_micro.urdf.xacro')
+  const modelRes = await loadModel(get(currentVariant).model)
   if (modelRes.isOk()) {
     const [urdf, JOINT_NAME] = modelRes.inner
     jointNames.set(JOINT_NAME)
@@ -21,7 +22,7 @@ export const populateModelCache = async () => {
 }
 
 export const cacheModelFiles = async () => {
-  const data = await fetch('/stl.zip')
+  const data = await fetch(get(currentVariant).stl)
 
   const files = uzip.parse(await data.arrayBuffer())
 
diff --git a/app/static/URDF.zip b/app/static/URDF.zip
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diff --git a/app/static/URDF/femur.mtl b/app/static/URDF/femur.mtl
new file mode 100644
index 0000000..a217eaa
--- /dev/null
+++ b/app/static/URDF/femur.mtl
@@ -0,0 +1,5 @@
+# WaveFront *.mtl file (generated by Autodesk ATF)
+
+newmtl Plastic_-_Matte_(Black)
+Kd 0.098039 0.098039 0.098039
+
diff --git a/app/static/URDF/femur.obj b/app/static/URDF/femur.obj
new file mode 100644
index 0000000..719dcb1
--- /dev/null
+++ b/app/static/URDF/femur.obj
@@ -0,0 +1,2106 @@
+# WaveFront *.obj file (generated by Autodesk ATF)
+
+mtllib femur.mtl
+
+g Body5
+
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diff --git a/app/static/URDF/femur.stl b/app/static/URDF/femur.stl
new file mode 100644
index 0000000000000000000000000000000000000000..d49daed6386ce2c64aaa81218cb97a875466e6ec
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diff --git a/app/static/URDF/frame.mtl b/app/static/URDF/frame.mtl
new file mode 100644
index 0000000..68afc6f
--- /dev/null
+++ b/app/static/URDF/frame.mtl
@@ -0,0 +1,5 @@
+# WaveFront *.mtl file (generated by Autodesk ATF)
+
+newmtl Steel_-_Satin
+Kd 0.627451 0.627451 0.627451
+
diff --git a/app/static/URDF/frame.obj b/app/static/URDF/frame.obj
new file mode 100644
index 0000000..ec16040
--- /dev/null
+++ b/app/static/URDF/frame.obj
@@ -0,0 +1,43125 @@
+# WaveFront *.obj file (generated by Autodesk ATF)
+
+mtllib frame.mtl
+
+g 3
+
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diff --git a/app/static/URDF/frame.stl b/app/static/URDF/frame.stl
new file mode 100644
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diff --git a/app/static/URDF/lb shoulder.mtl b/app/static/URDF/lb shoulder.mtl
new file mode 100644
index 0000000..0c0bfae
--- /dev/null
+++ b/app/static/URDF/lb shoulder.mtl	
@@ -0,0 +1,14 @@
+# WaveFront *.mtl file (generated by Autodesk ATF)
+
+newmtl Opaque(28,28,28)
+Kd 0.109804 0.109804 0.109804
+
+newmtl Steel_-_Satin
+Kd 0.627451 0.627451 0.627451
+
+newmtl Opaque(0,0,255)
+Kd 0.000000 0.000000 1.000000
+
+newmtl Opaque(202,209,238)
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+
diff --git a/app/static/URDF/lb shoulder.obj b/app/static/URDF/lb shoulder.obj
new file mode 100644
index 0000000..2b39128
--- /dev/null
+++ b/app/static/URDF/lb shoulder.obj	
@@ -0,0 +1,36032 @@
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+
+mtllib lb shoulder.mtl
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diff --git a/app/static/URDF/lb shoulder.stl b/app/static/URDF/lb shoulder.stl
new file mode 100644
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diff --git a/app/static/URDF/lf shoulder.mtl b/app/static/URDF/lf shoulder.mtl
new file mode 100644
index 0000000..719b202
--- /dev/null
+++ b/app/static/URDF/lf shoulder.mtl	
@@ -0,0 +1,14 @@
+# WaveFront *.mtl file (generated by Autodesk ATF)
+
+newmtl Opaque(28,28,28)
+Kd 0.109804 0.109804 0.109804
+
+newmtl Opaque(0,0,255)
+Kd 0.000000 0.000000 1.000000
+
+newmtl Opaque(202,209,238)
+Kd 0.792157 0.819608 0.933333
+
+newmtl Steel_-_Satin
+Kd 0.627451 0.627451 0.627451
+
diff --git a/app/static/URDF/lf shoulder.obj b/app/static/URDF/lf shoulder.obj
new file mode 100644
index 0000000..72222bf
--- /dev/null
+++ b/app/static/URDF/lf shoulder.obj	
@@ -0,0 +1,36033 @@
+# WaveFront *.obj file (generated by Autodesk ATF)
+
+mtllib shoulder front.mtl
+
+g Body6
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+f 5295/10904/8881 5335/10905/8882 5296/10906/8883
+f 5296/10906/8883 5335/10905/8882 5334/10907/8884
+f 5296/10906/8883 5334/10907/8884 5297/10908/8885
+f 5297/10908/8885 5334/10907/8884 5333/10909/8886
+f 5297/10908/8885 5333/10909/8886 5298/10910/8887
+f 5298/10910/8887 5333/10909/8886 5332/10911/8888
+f 5298/10910/8887 5332/10911/8888 5331/10912/8889
+f 5298/10910/8887 5331/10912/8889 5299/10913/8890
+f 5299/10913/8890 5331/10912/8889 5330/10914/8891
+f 5299/10913/8890 5330/10914/8891 5300/10915/8892
+f 5300/10915/8892 5330/10914/8891 5329/10916/8893
+f 5300/10915/8892 5329/10916/8893 5301/10917/8894
+f 5301/10917/8894 5329/10916/8893 5328/10918/8895
+f 5301/10917/8894 5328/10918/8895 5302/10919/8896
+f 5302/10919/8896 5328/10918/8895 5327/10920/8897
+f 5302/10919/8896 5327/10920/8897 5326/10921/8898
+f 5302/10919/8896 5326/10921/8898 5303/10922/8899
+f 5303/10922/8899 5326/10921/8898 5325/10923/8900
+f 5303/10922/8899 5325/10923/8900 5304/10924/8901
+f 5304/10924/8901 5325/10923/8900 5324/10925/8902
+f 5304/10924/8901 5324/10925/8902 5305/10926/8903
+f 5305/10926/8903 5324/10925/8902 5323/10927/8904
+f 5305/10926/8903 5323/10927/8904 5306/10928/8905
+f 5306/10928/8905 5323/10927/8904 5322/10898/8875
+f 5306/10928/8905 5322/10898/8875 5293/10900/8877
+# 5366 vertices
+# 10928 texture params
+# 8905 normals
+# 10766 facets
+
+# 23 groups
diff --git a/app/static/URDF/lf shoulder.stl b/app/static/URDF/lf shoulder.stl
new file mode 100644
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diff --git a/app/static/URDF/rb shoulder.mtl b/app/static/URDF/rb shoulder.mtl
new file mode 100644
index 0000000..719b202
--- /dev/null
+++ b/app/static/URDF/rb shoulder.mtl	
@@ -0,0 +1,14 @@
+# WaveFront *.mtl file (generated by Autodesk ATF)
+
+newmtl Opaque(28,28,28)
+Kd 0.109804 0.109804 0.109804
+
+newmtl Opaque(0,0,255)
+Kd 0.000000 0.000000 1.000000
+
+newmtl Opaque(202,209,238)
+Kd 0.792157 0.819608 0.933333
+
+newmtl Steel_-_Satin
+Kd 0.627451 0.627451 0.627451
+
diff --git a/app/static/URDF/rb shoulder.obj b/app/static/URDF/rb shoulder.obj
new file mode 100644
index 0000000..721d8ce
--- /dev/null
+++ b/app/static/URDF/rb shoulder.obj	
@@ -0,0 +1,36059 @@
+# WaveFront *.obj file (generated by Autodesk ATF)
+
+mtllib rb shoulder.mtl
+
+g Body4
+
+v 0.013450 0.010000 0.015000
+v 0.013450 0.009866 0.015500
+v 0.013450 0.009500 0.015866
+v 0.013450 0.009000 0.016000
+v 0.053450 0.009000 0.016000
+v 0.053450 0.009500 0.015866
+v 0.053450 0.009866 0.015500
+v 0.053450 0.010000 0.015000
+v 0.023450 0.009866 0.015500
+v 0.033450 0.009866 0.015500
+v 0.043450 0.009866 0.015500
+v 0.023450 0.009500 0.015866
+v 0.033450 0.009500 0.015866
+v 0.043450 0.009500 0.015866
+v 0.053450 0.005333 0.016000
+v 0.053450 0.005333 0.010200
+v 0.053450 0.010000 0.010200
+v 0.013450 0.005333 0.016000
+v 0.007250 0.005333 0.016000
+v 0.007250 -0.001333 0.016000
+v 0.013450 -0.001333 0.016000
+v 0.013450 -0.009000 0.016000
+v 0.053450 -0.009000 0.016000
+v 0.053450 -0.001333 0.016000
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+v 0.059650 0.005333 0.016000
+v 0.013450 0.010000 0.010200
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+v 0.013450 -0.001333 0.010200
+v 0.005250 -0.001333 0.010200
+v 0.005250 0.005333 0.010200
+v 0.061650 0.005333 0.014000
+v 0.061382 0.005333 0.015000
+v 0.060650 0.005333 0.015732
+v 0.060650 -0.001333 0.015732
+v 0.061382 -0.001333 0.015000
+v 0.061650 -0.001333 0.014000
+v 0.057650 -0.001333 0.011500
+v 0.056900 -0.001333 0.011701
+v 0.056351 -0.001333 0.012250
+v 0.056150 -0.001333 0.013000
+v 0.056351 -0.001333 0.013750
+v 0.056900 -0.001333 0.014299
+v 0.057650 -0.001333 0.014500
+v 0.058400 -0.001333 0.014299
+v 0.058949 -0.001333 0.013750
+v 0.059150 -0.001333 0.013000
+v 0.058949 -0.001333 0.012250
+v 0.058400 -0.001333 0.011701
+v 0.005250 -0.001333 0.014000
+v 0.005518 -0.001333 0.015000
+v 0.006250 -0.001333 0.015732
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+# 8899 normals
+# 10766 facets
+
+# 23 groups
diff --git a/app/static/URDF/rb shoulder.stl b/app/static/URDF/rb shoulder.stl
new file mode 100644
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diff --git a/app/static/URDF/rf shoulder.mtl b/app/static/URDF/rf shoulder.mtl
new file mode 100644
index 0000000..719b202
--- /dev/null
+++ b/app/static/URDF/rf shoulder.mtl	
@@ -0,0 +1,14 @@
+# WaveFront *.mtl file (generated by Autodesk ATF)
+
+newmtl Opaque(28,28,28)
+Kd 0.109804 0.109804 0.109804
+
+newmtl Opaque(0,0,255)
+Kd 0.000000 0.000000 1.000000
+
+newmtl Opaque(202,209,238)
+Kd 0.792157 0.819608 0.933333
+
+newmtl Steel_-_Satin
+Kd 0.627451 0.627451 0.627451
+
diff --git a/app/static/URDF/rf shoulder.obj b/app/static/URDF/rf shoulder.obj
new file mode 100644
index 0000000..c1fe606
--- /dev/null
+++ b/app/static/URDF/rf shoulder.obj	
@@ -0,0 +1,36059 @@
+# WaveFront *.obj file (generated by Autodesk ATF)
+
+mtllib rf shoulder.mtl
+
+g Body6
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+# 8899 normals
+# 10766 facets
+
+# 23 groups
diff --git a/app/static/URDF/rf shoulder.stl b/app/static/URDF/rf shoulder.stl
new file mode 100644
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diff --git a/app/static/URDF/shell.mtl b/app/static/URDF/shell.mtl
new file mode 100644
index 0000000..68afc6f
--- /dev/null
+++ b/app/static/URDF/shell.mtl
@@ -0,0 +1,5 @@
+# WaveFront *.mtl file (generated by Autodesk ATF)
+
+newmtl Steel_-_Satin
+Kd 0.627451 0.627451 0.627451
+
diff --git a/app/static/URDF/shell.obj b/app/static/URDF/shell.obj
new file mode 100644
index 0000000..ba3e863
--- /dev/null
+++ b/app/static/URDF/shell.obj
@@ -0,0 +1,6804 @@
+# WaveFront *.obj file (generated by Autodesk ATF)
+
+mtllib shell.mtl
+
+g Bottom_Cover_Template
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diff --git a/app/static/URDF/shell.stl b/app/static/URDF/shell.stl
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diff --git a/app/static/URDF/tibia.mtl b/app/static/URDF/tibia.mtl
new file mode 100644
index 0000000..3694bb7
--- /dev/null
+++ b/app/static/URDF/tibia.mtl
@@ -0,0 +1,14 @@
+# WaveFront *.mtl file (generated by Autodesk ATF)
+
+newmtl Stainless_Steel_-_Satin
+Kd 0.796078 0.796078 0.796078
+
+newmtl Steel_-_Satin
+Kd 0.627451 0.627451 0.627451
+
+newmtl Plastic_-_Matte_(Black)
+Kd 0.098039 0.098039 0.098039
+
+newmtl Rubber_-_Soft
+Kd 0.152941 0.152941 0.152941
+
diff --git a/app/static/URDF/tibia.obj b/app/static/URDF/tibia.obj
new file mode 100644
index 0000000..a0f8ef0
--- /dev/null
+++ b/app/static/URDF/tibia.obj
@@ -0,0 +1,15354 @@
+# WaveFront *.obj file (generated by Autodesk ATF)
+
+mtllib tibia.mtl
+
+g Body1
+
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+# 2200 vertices
+# 4531 texture params
+# 4197 normals
+# 4396 facets
+
+# 7 groups
diff --git a/app/static/URDF/tibia.stl b/app/static/URDF/tibia.stl
new file mode 100644
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HcmV?d00001

diff --git a/app/static/yertle.URDF b/app/static/yertle.URDF
new file mode 100644
index 0000000..073753a
--- /dev/null
+++ b/app/static/yertle.URDF
@@ -0,0 +1,402 @@
+<?xml version="1.0"?>
+<robot name="Dog">
+    <material name="white">
+        <color rgba="1 1 1 1" />
+    </material>
+    <material name="black">
+        <color rgba="0 0 0 1" />
+    </material>
+    <material name="foot_color">
+        <color rgba="0 0.75 1 1" />
+    </material>
+    <link name="base_link">
+        <visual>
+            <geometry>
+                <mesh filename="package://URDF/frame.stl" />
+            </geometry>
+            <origin rpy="0 0 3.141" xyz="0 0 0.0" />
+            <material name="black" />
+        </visual>
+        <inertial>
+            <mass value="1.5" />
+            <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
+        </inertial>
+    </link>
+    <!-- shell -->
+    <link name="frame">
+        <visual>
+            <geometry>
+                <mesh filename="package://URDF/shell.stl" />
+            </geometry>
+            <origin rpy="0 0 3.141" xyz="0 0 0" />
+            <material name="white" />
+        </visual>
+        <inertial>
+            <mass value="0.025" />
+            <inertia ixx="0.4" ixy="0.4" ixz="0.4" iyy="0.4" iyz="0.4" izz="0.4" />
+        </inertial>
+        <collision>
+            <geometry>
+                <mesh filename="package://URDF/shell.stl" />
+            </geometry>
+            <origin rpy="0 0 3.141" xyz="0 0 0.0" />
+        </collision>
+    </link>
+    <joint name="base_to_frame" type="fixed">
+        <parent link="base_link" />
+        <child link="frame" />
+        <origin xyz="0 0 0" />
+    </joint>
+    <!-- lf shoulder -->
+    <link name="lf_shoulder">
+        <visual>
+            <geometry>
+                <mesh filename="package://URDF/lf shoulder.stl" />
+            </geometry>
+            <origin rpy="3.141 3.141 0" xyz="0 0 0" />
+            <material name="black" />
+        </visual>
+        <inertial>
+            <mass value="0.025" />
+            <inertia ixx="0.4" ixy="0.4" ixz="0.4" iyy="0.4" iyz="0.4" izz="0.4" />
+        </inertial>
+    </link>
+    <joint name="lf_shoulder" type="continuous">
+        <parent link="base_link" />
+        <child link="lf_shoulder" />
+        <origin xyz="0.090 0.037 0" />
+        <axis xyz="1 0 0" />
+    </joint>
+    <link name="lf_thigh">
+        <visual>
+            <geometry>
+                <mesh filename="package://URDF/femur.stl" />
+            </geometry>
+            <origin rpy="1.5708 0 1.5708" xyz="0 0 0" />
+            <material name="black" />
+        </visual>
+        <inertial>
+            <mass value="0.025" />
+            <inertia ixx="0.4" ixy="0.4" ixz="0.4" iyy="0.4" iyz="0.4" izz="0.4" />
+        </inertial>
+    </link>
+    <joint name="lf_thigh" type="continuous">
+        <parent link="lf_shoulder" />
+        <child link="lf_thigh" />
+        <origin xyz="0.025 0.027 0 " />
+        <axis xyz="0 1 0" />
+    </joint>
+    <link name="lf_shin">
+        <visual>
+            <geometry>
+                <mesh filename="package://URDF/tibia.stl" />
+            </geometry>
+            <origin rpy="0.610865 0 -1.5708" xyz="0 0.008 0" />
+            <material name="black" />
+        </visual>
+        <inertial>
+            <mass value="0.025" />
+            <inertia ixx="0.4" ixy="0.4" ixz="0.4" iyy="0.4" iyz="0.4" izz="0.4" />
+        </inertial>
+        <collision>
+            <geometry>
+                <mesh filename="package://URDF/tibia.stl" />
+            </geometry>
+            <origin rpy="0.610865 0 -1.5708" xyz="0 0.008 0" />
+        </collision>
+    </link>
+    <joint name="lf_shin" type="continuous">
+        <parent link="lf_thigh" />
+        <child link="lf_shin" />
+        <origin xyz="0 0 -0.130 " />
+        <axis xyz="0 1 0" />
+    </joint>
+    <link name="lf_toe">
+        <visual>
+            <geometry>
+                <sphere radius="0.005" />
+            </geometry>
+            <origin rpy="0 0 0" xyz="0 0 0" />
+            <material name="foot_color" />
+        </visual>
+        <inertial>
+            <mass value="0.05" />
+            <inertia ixx="0.4" ixy="0.4" ixz="0.4" iyy="0.4" iyz="0.4" izz="0.4" />
+        </inertial>
+        <collision>
+            <geometry>
+                <sphere radius="0.020" />
+            </geometry>
+            <origin rpy="0 0 0" xyz="0 0 0" />
+        </collision>
+    </link>
+    <joint name="lf_toe" type="fixed">
+        <parent link="lf_shin" />
+        <child link="lf_toe" />
+        <origin xyz="0 0 -0.130" />
+    </joint>
+    <!-- rf shoulder -->
+    <link name="rf_shoulder">
+        <visual>
+            <geometry>
+                <mesh filename="package://URDF/rf shoulder.stl" />
+            </geometry>
+            <origin rpy="0 0 3.141" xyz="0 0 0" />
+            <material name="black" />
+        </visual>
+        <inertial>
+            <mass value="0.025" />
+            <inertia ixx="0.4" ixy="0.4" ixz="0.4" iyy="0.4" iyz="0.4" izz="0.4" />
+        </inertial>
+    </link>
+    <joint name="rf_shoulder" type="continuous">
+        <parent link="base_link" />
+        <child link="rf_shoulder" />
+        <origin xyz="0.090 -0.040 0" />
+        <axis xyz="1 0 0" />
+    </joint>
+    <link name="rf_thigh">
+        <visual>
+            <geometry>
+                <mesh filename="package://URDF/femur.stl" />
+            </geometry>
+            <origin rpy="4.71239 3.141 1.5708" xyz="0 0 0" />
+            <material name="black" />
+        </visual>
+        <inertial>
+            <mass value="0.025" />
+            <inertia ixx="0.4" ixy="0.4" ixz="0.4" iyy="0.4" iyz="0.4" izz="0.4" />
+        </inertial>
+    </link>
+    <joint name="rf_thigh" type="continuous">
+        <parent link="rf_shoulder" />
+        <child link="rf_thigh" />
+        <origin xyz="0.025 -0.027 0 " />
+        <axis xyz="0 1 0" />
+    </joint>
+    <link name="rf_shin">
+        <visual>
+            <geometry>
+                <mesh filename="package://URDF/tibia.stl" />
+            </geometry>
+            <origin rpy="0.610865 0 -1.5708" xyz="0 -0.0045 0" />
+            <material name="black" />
+        </visual>
+        <inertial>
+            <mass value="0.025" />
+            <inertia ixx="0.4" ixy="0.4" ixz="0.4" iyy="0.4" iyz="0.4" izz="0.4" />
+        </inertial>
+        <collision>
+            <geometry>
+                <mesh filename="package://URDF/tibia.stl" />
+            </geometry>
+            <origin rpy="0.610865 0 -1.5708" xyz="0 -0.007 0" />
+        </collision>
+    </link>
+    <joint name="rf_shin" type="continuous">
+        <parent link="rf_thigh" />
+        <child link="rf_shin" />
+        <origin xyz="0 0 -0.130 " />
+        <axis xyz="0 1 0" />
+    </joint>
+    <link name="rf_toe">
+        <visual>
+            <geometry>
+                <sphere radius="0.005" />
+            </geometry>
+            <origin rpy="0 0 0" xyz="0 0 0" />
+            <material name="foot_color" />
+        </visual>
+        <inertial>
+            <mass value="0.05" />
+            <inertia ixx="0.4" ixy="0.4" ixz="0.4" iyy="0.4" iyz="0.4" izz="0.4" />
+        </inertial>
+        <collision>
+            <geometry>
+                <sphere radius="0.020" />
+            </geometry>
+            <origin rpy="0 0 0" xyz="0 0 0" />
+        </collision>
+    </link>
+    <joint name="rf_toe" type="fixed">
+        <parent link="rf_shin" />
+        <child link="rf_toe" />
+        <origin xyz="0 0 -0.130" />
+    </joint>
+    <!-- lb shoulder -->
+    <link name="lb_shoulder">
+        <visual>
+            <geometry>
+                <mesh filename="package://URDF/lb shoulder.stl" />
+            </geometry>
+            <origin rpy="3.141 3.141 0" xyz="0 0 0" />
+            <material name="black" />
+        </visual>
+        <inertial>
+            <mass value="0.025" />
+            <inertia ixx="0.4" ixy="0.4" ixz="0.4" iyy="0.4" iyz="0.4" izz="0.4" />
+        </inertial>
+    </link>
+    <joint name="lb_shoulder" type="continuous">
+        <parent link="base_link" />
+        <child link="lb_shoulder" />
+        <origin xyz="-0.081 0.038 0" />
+        <axis xyz="1 0 0" />
+    </joint>
+    <link name="lb_thigh">
+        <visual>
+            <geometry>
+                <mesh filename="package://URDF/femur.stl" />
+            </geometry>
+            <origin rpy="1.5708 0 1.5708" xyz="0 0 0" />
+            <material name="black" />
+        </visual>
+        <inertial>
+            <mass value="0.025" />
+            <inertia ixx="0.4" ixy="0.4" ixz="0.4" iyy="0.4" iyz="0.4" izz="0.4" />
+        </inertial>
+    </link>
+    <joint name="lb_thigh" type="continuous">
+        <parent link="lb_shoulder" />
+        <child link="lb_thigh" />
+        <origin xyz="-0.043 0.027 0 " />
+        <axis xyz="0 1 0" />
+    </joint>
+    <link name="lb_shin">
+        <visual>
+            <geometry>
+                <mesh filename="package://URDF/tibia.stl" />
+            </geometry>
+            <origin rpy="0.610865 0 -1.5708" xyz="0 0.008 0" />
+            <material name="black" />
+        </visual>
+        <inertial>
+            <mass value="0.025" />
+            <inertia ixx="0.4" ixy="0.4" ixz="0.4" iyy="0.4" iyz="0.4" izz="0.4" />
+        </inertial>
+        <collision>
+            <geometry>
+                <mesh filename="package://URDF/tibia.stl" />
+            </geometry>
+            <origin rpy="0.610865 0 -1.5708" xyz="0 0.008 0" />
+        </collision>
+    </link>
+    <joint name="lb_shin" type="continuous">
+        <parent link="lb_thigh" />
+        <child link="lb_shin" />
+        <origin xyz="0 0 -0.130 " />
+        <axis xyz="0 1 0" />
+    </joint>
+    <link name="lb_toe">
+        <visual>
+            <geometry>
+                <sphere radius="0.0005" />
+            </geometry>
+            <origin rpy="0 0 0" xyz="0 0 0" />
+            <material name="foot_color" />
+        </visual>
+        <inertial>
+            <mass value="0.05" />
+            <inertia ixx="0.4" ixy="0.4" ixz="0.4" iyy="0.4" iyz="0.4" izz="0.4" />
+        </inertial>
+        <collision>
+            <geometry>
+                <sphere radius="0.020" />
+            </geometry>
+            <origin rpy="0 0 0" xyz="0 0 0" />
+        </collision>
+    </link>
+    <joint name="lb_toe" type="fixed">
+        <parent link="lb_shin" />
+        <child link="lb_toe" />
+        <origin xyz="0 0 -0.130" />
+    </joint>
+    <!-- rb arm -->
+    <link name="rb_shoulder">
+        <visual>
+            <geometry>
+                <mesh filename="package://URDF/rb shoulder.stl" />
+            </geometry>
+            <origin rpy="3.141 3.141 0" xyz="0 0 0" />
+            <material name="black" />
+        </visual>
+        <inertial>
+            <mass value="0.025" />
+            <inertia ixx="0.4" ixy="0.4" ixz="0.4" iyy="0.4" iyz="0.4" izz="0.4" />
+        </inertial>
+    </link>
+    <joint name="rb_shoulder" type="continuous">
+        <parent link="base_link" />
+        <child link="rb_shoulder" />
+        <origin xyz="-0.081 -0.040 0" />
+        <axis xyz="1 0 0" />
+    </joint>
+    <link name="rb_thigh">
+        <visual>
+            <geometry>
+                <mesh filename="package://URDF/femur.stl" />
+            </geometry>
+            <origin rpy="4.71239 3.141 1.5708" xyz="0 0 0" />
+            <material name="black" />
+        </visual>
+        <inertial>
+            <mass value="0.025" />
+            <inertia ixx="0.4" ixy="0.4" ixz="0.4" iyy="0.4" iyz="0.4" izz="0.4" />
+        </inertial>
+    </link>
+    <joint name="rb_thigh" type="continuous">
+        <parent link="rb_shoulder" />
+        <child link="rb_thigh" />
+        <origin xyz="-0.043 -0.027 0 " />
+        <axis xyz="0 1 0" />
+    </joint>
+    <link name="rb_shin">
+        <visual>
+            <geometry>
+                <mesh filename="package://URDF/tibia.stl" />
+            </geometry>
+            <origin rpy="0.610865 0 -1.5708" xyz="0 -0.0045 0" />
+            <material name="black" />
+        </visual>
+        <inertial>
+            <mass value="0.025" />
+            <inertia ixx="0.4" ixy="0.4" ixz="0.4" iyy="0.4" iyz="0.4" izz="0.4" />
+        </inertial>
+        <collision>
+            <geometry>
+                <mesh filename="package://URDF/tibia.stl" />
+            </geometry>
+            <origin rpy="0.610865 0 -1.5708" xyz="0 -0.007 0" />
+        </collision>
+    </link>
+    <joint name="rb_shin" type="continuous">
+        <parent link="rb_thigh" />
+        <child link="rb_shin" />
+        <origin xyz="0 0 -0.130 " />
+        <axis xyz="0 1 0" />
+    </joint>
+    <link name="rb_toe">
+        <visual>
+            <geometry>
+                <sphere radius="0.0005" />
+            </geometry>
+            <origin rpy="0 0 0" xyz="0 0 0" />
+            <material name="foot_color" />
+        </visual>
+        <inertial>
+            <mass value="0.05" />
+            <inertia ixx="0.4" ixy="0.4" ixz="0.4" iyy="0.4" iyz="0.4" izz="0.4" />
+        </inertial>
+        <collision>
+            <geometry>
+                <sphere radius="0.020" />
+            </geometry>
+            <origin rpy="0 0 0" xyz="0 0 0" />
+        </collision>
+    </link>
+    <joint name="rb_toe" type="fixed">
+        <parent link="rb_shin" />
+        <child link="rb_toe" />
+        <origin xyz="0 0 -0.130" />
+    </joint>
+</robot>
\ No newline at end of file