diff --git a/Robots/digit-v3-modified/digit-v3-modified.urdf b/Robots/digit-v3-modified/digit-v3-modified.urdf
deleted file mode 100644
index 8de13e8f..00000000
--- a/Robots/digit-v3-modified/digit-v3-modified.urdf
+++ /dev/null
@@ -1,1454 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<robot name="digit-v3-modified">
-  <!-- floating base -->
-  <link name = "ground">
-    <inertial>
-      <origin xyz = "0 0 0" rpy = "0 0 0" />
-      <mass value = "0"/>
-      <inertia ixx = "0" ixy = "0" ixz = "0" iyy = "0" iyz = "0" izz = "0"/>
-    </inertial>
-  </link>
-  <link name = "Px">
-    <inertial>
-      <origin xyz = "0 0 0" rpy = "0 0 0" />
-      <mass value = "0"/>
-      <inertia ixx = "0" ixy = "0" ixz = "0" iyy = "0" iyz = "0" izz = "0"/>
-    </inertial>
-  </link>
-  <link name = "Py">
-    <inertial>
-      <origin xyz = "0 0 0" rpy = "0 0 0" />
-      <mass value = "0"/>
-      <inertia ixx = "0" ixy = "0" ixz = "0" iyy = "0" iyz = "0" izz = "0"/>
-    </inertial>
-  </link>
-  <link name = "Pz">
-    <inertial>
-      <origin xyz = "0 0 0" rpy = "0 0 0" />
-      <mass value = "0"/>
-      <inertia ixx = "0" ixy = "0" ixz = "0" iyy = "0" iyz = "0" izz = "0"/>
-    </inertial>
-  </link>
-  <link name = "Rx">
-    <inertial>
-      <origin xyz = "0 0 0" rpy = "0 0 0" />
-      <mass value = "0"/>
-      <inertia ixx = "0" ixy = "0" ixz = "0" iyy = "0" iyz = "0" izz = "0"/>
-    </inertial>
-  </link>
-  <link name = "Ry">
-    <inertial>
-      <origin xyz = "0 0 0" rpy = "0 0 0" />
-      <mass value = "0"/>
-      <inertia ixx = "0" ixy = "0" ixz = "0" iyy = "0" iyz = "0" izz = "0"/>
-    </inertial>
-  </link>
-  <link name = "Rz">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0.001636612541 0.0002001180789 0.2593064529"/>
-      <mass value="15.028392"/>
-      <inertia ixx="0.3759052548" ixy="-8.776732849e-05" ixz="0.008498611229" iyy="0.3441935" iyz="6.621611757e-05" izz="0.09873232746"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/torso-v3/torso.stl"/>
-      </geometry>
-      <material name="scarlet">
-        <color rgba="0.427 0.784 0.714 1"/>
-      </material>
-    </visual>
-    <visual>
-      <origin rpy="0 -1.5707963267948966192313216916398 0" xyz="-0.001 0.091 0"/>
-      <geometry>
-        <mesh filename="meshes/leg-v3/hip-roll-housing.stl"/>
-      </geometry>
-      <material name="light_grey">
-        <color rgba="0.75 0.75 0.75 1"/>
-      </material>
-    </visual>
-    <visual>
-      <origin rpy="-0 -1.5707963267948966192313216916398 0" xyz="-0.001 0.12 0.4"/>
-      <geometry>
-        <mesh filename="meshes/arm-v3/link-0.stl"/>
-      </geometry>
-      <material name="light_grey">
-        <color rgba="0.75 0.75 0.75 1"/>
-      </material>
-    </visual>
-    <visual>
-      <origin rpy="0 -1.5707963267948966192313216916398 0" xyz="-0.001 -0.091 0"/>
-      <geometry>
-        <mesh filename="meshes/leg-v3/hip-roll-housing.stl"/>
-      </geometry>
-      <material name="light_grey">
-        <color rgba="0.75 0.75 0.75 1"/>
-      </material>
-    </visual>
-    <visual>
-      <origin rpy="0 -1.5707963267948966192313216916398 0" xyz="-0.001 -0.12 0.4"/>
-      <geometry>
-        <mesh filename="meshes/arm-v3/link-0.stl"/>
-      </geometry>
-      <material name="light_grey">
-        <color rgba="0.75 0.75 0.75 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/torso-v3/torso.stl"/>
-      </geometry>
-    </collision>
-    <collision>
-      <origin rpy="0 -1.5707963267948966192313216916398 0" xyz="-0.001 0.091 0"/>
-      <geometry>
-        <mesh filename="meshes/leg-v3/hip-roll-housing.stl"/>
-      </geometry>
-    </collision>
-    <collision>
-      <origin rpy="-0.1745   -1.5707963267948966192313216916398         0" xyz="-0.001 0.12 0.4"/>
-      <geometry>
-        <mesh filename="meshes/arm-v3/link-0.stl"/>
-      </geometry>
-    </collision>
-    <collision>
-      <origin rpy="0 -1.5707963267948966192313216916398 0" xyz="-0.001 -0.091 0"/>
-      <geometry>
-        <mesh filename="meshes/leg-v3/hip-roll-housing.stl"/>
-      </geometry>
-    </collision>
-    <collision>
-      <origin rpy="0.1745   -1.5707963267948966192313216916398         0" xyz="-0.001 -0.12 0.4"/>
-      <geometry>
-        <mesh filename="meshes/arm-v3/link-0.stl"/>
-      </geometry>
-    </collision>
-  </link>
-
-  <!-- left leg -->
-  <link name="left_hip_roll">
-    <inertial>
-      <origin rpy="0 0 0" xyz="-0.001967 0.000244 0.031435"/>
-      <mass value="0.915088"/>
-      <inertia ixx="0.001017" ixy="-3e-06" ixz="1.3e-05" iyy="0.001148" iyz="-4e-06" izz="0.000766"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/leg-v3/hip-yaw-housing.stl"/>
-      </geometry>
-      <material name="light_grey">
-        <color rgba="0.75 0.75 0.75 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/leg-v3/hip-yaw-housing.stl"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="left_hip_yaw">
-    <inertial>
-      <origin rpy="0 0 0" xyz="1e-05 -0.001945 0.042033"/>
-      <mass value="0.818753"/>
-      <inertia ixx="0.001627" ixy="-1e-06" ixz="2e-06" iyy="0.001929" iyz="5.3e-05" izz="0.00077"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/leg-v3/hip-pitch-housing.stl"/>
-      </geometry>
-      <material name="light_grey">
-        <color rgba="0.75 0.75 0.75 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/leg-v3/hip-pitch-housing.stl"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="left_hip_pitch">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0.060537 0.000521 -0.038857"/>
-      <mass value="6.244279"/>
-      <inertia ixx="0.011533" ixy="-0.000171" ixz="0.000148" iyy="0.033345" iyz="0.000178" izz="0.033958"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/leg-v3/hip-pitch.stl"/>
-      </geometry>
-      <material name="scarlet">
-        <color rgba="0.75 0.75 0.75 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/leg-v3/hip-pitch.stl"/>
-      </geometry>
-    </collision>
-  </link>
-
-  <!-- left knee close loop -->
-  <!-- <link name="left_achilles_rod">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="0."/>
-      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/leg-v3/achilles-rod.stl"/>
-      </geometry>
-      <material name="light_grey">
-        <color rgba="0.75 0.75 0.75 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/leg-v3/achilles-rod.stl"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="left_ach2">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0.2506 0 0"/>
-      <mass value="0.178148"/>
-      <inertia ixx="3e-06" ixy="0" ixz="0" iyy="0.004501" iyz="0" izz="0.004501"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <sphere radius = "0.0" />
-      </geometry>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <sphere radius = "0.0" />
-      </geometry>
-    </collision>
-  </link> -->
-
-  <link name="left_knee">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0.045641 0.042154 0.001657"/>
-      <mass value="1.227077"/>
-      <inertia ixx="0.002643" ixy="-0.001832" ixz="6.6e-05" iyy="0.005098" iyz="4.5e-05" izz="0.007019"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/leg-v3/knee.stl"/>
-      </geometry>
-      <material name="light_grey">
-        <color rgba="0.75 0.75 0.75 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/leg-v3/knee.stl"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="left_shin">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0.174265 0.010265 0.00107"/>
-      <mass value="0.895793"/>
-      <inertia ixx="0.001128" ixy="0.001098" ixz="0.000196" iyy="0.022492" iyz="-3e-06" izz="0.022793"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/leg-v3/shin.stl"/>
-      </geometry>
-      <material name="scarlet">
-        <color rgba="0.427 0.784 0.714 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/leg-v3/shin.stl"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="left_tarsus">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0.100777 -0.029183 0.000678"/>
-      <mass value="1.322865"/>
-      <inertia ixx="0.000932" ixy="0.00061" ixz="0.000102" iyy="0.016409" iyz="9e-06" izz="0.016501"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/leg-v3/tarsus.stl"/>
-      </geometry>
-      <material name="light_grey">
-        <color rgba="0.75 0.75 0.75 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/leg-v3/tarsus.stl"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="left_heel_spring">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0.049086 0.004739 -4.5e-05"/>
-      <mass value="0.230018"/>
-      <inertia ixx="5.5e-05" ixy="1.5e-05" ixz="1e-06" iyy="0.00074" iyz="0" izz="0.000701"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/leg-v3/heel-spring.stl"/>
-      </geometry>
-      <material name="grey">
-        <color rgba="0.35 0.35 0.35 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/leg-v3/heel-spring.stl"/>
-      </geometry>
-    </collision>
-  </link>
-
-  <!-- left toe close loop-->
-  <!-- <link name="left_toe_A">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0.005161 1e-06 -0.002248"/>
-      <mass value="0.139557"/>
-      <inertia ixx="2.9e-05" ixy="0" ixz="-4e-06" iyy="5.8e-05" iyz="0" izz="7.4e-05"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/leg-v3/toe-output.stl"/>
-      </geometry>
-      <material name="light_grey">
-        <color rgba="0.75 0.75 0.75 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/leg-v3/toe-output.stl"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="left_toe_A_rod">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="0."/>
-      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/leg-v3/toe-a-rod.stl"/>
-      </geometry>
-      <material name="light_grey">
-        <color rgba="0.75 0.75 0.75 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/leg-v3/toe-a-rod.stl"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="left_A2">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0.171071 0 0"/>
-      <mass value="0.090983"/>
-      <inertia ixx="1e-06" ixy="0" ixz="0" iyy="0.001182" iyz="0" izz="0.001182"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <sphere radius = "0.0" />
-      </geometry>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <sphere radius = "0.0" />
-      </geometry>
-    </collision>
-  </link>
-  <link name="left_toe_B">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0.005161 1e-06 -0.002248"/>
-      <mass value="0.139557"/>
-      <inertia ixx="2.9e-05" ixy="0" ixz="-4e-06" iyy="5.8e-05" iyz="0" izz="7.4e-05"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/leg-v3/toe-output.stl"/>
-      </geometry>
-      <material name="light_grey">
-        <color rgba="0.75 0.75 0.75 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/leg-v3/toe-output.stl"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="left_toe_B_rod">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="0."/>
-      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/leg-v3/toe-b-rod.stl"/>
-      </geometry>
-      <material name="light_grey">
-        <color rgba="0.75 0.75 0.75 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/leg-v3/toe-b-rod.stl"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="left_B2">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0.142991 0 0"/>
-      <mass value="0.079507"/>
-      <inertia ixx="1e-06" ixy="0" ixz="0" iyy="0.000768" iyz="0" izz="0.000768"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <sphere radius = "0.0" />
-      </geometry>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <sphere radius = "0.0" />
-      </geometry>
-    </collision>
-  </link> -->
-
-  <link name="left_toe_pitch">
-    <inertial>
-      <origin rpy="0 0 0" xyz="-0.000141 2e-06 3e-06"/>
-      <mass value="0.043881"/>
-      <inertia ixx="5e-06" ixy="0" ixz="0" iyy="8e-06" iyz="0" izz="4e-06"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/leg-v3/toe-pitch.stl"/>
-      </geometry>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/leg-v3/toe-pitch.stl"/>
-      </geometry>
-      <material name="light_grey">
-        <color rgba="0.75 0.75 0.75 1"/>
-      </material>
-    </collision>
-  </link>
-  <link name="left_toe_roll">
-    <inertial>
-      <origin rpy="0 0 0" xyz="9e-06 -0.028084 -0.023204"/>
-      <mass value="0.531283"/>
-      <inertia ixx="0.00187" ixy="0" ixz="0" iyy="0.001616" iyz="0.000566" izz="0.000843"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/leg-v3/toe-roll.stl"/>
-      </geometry>
-      <material name="light_grey">
-        <color rgba="0.75 0.75 0.75 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/leg-v3/toe-roll.stl"/>
-      </geometry>
-    </collision>
-  </link>
-
-  <!-- left arm -->
-  <link name="left_shoulder_roll">
-    <inertial>
-      <origin rpy="0 0 0" xyz="-0.000819 -0.003158 0.023405"/>
-      <mass value="0.535396"/>
-      <inertia ixx="0.000704" ixy="1.4e-05" ixz="1.2e-05" iyy="0.00075" iyz="3.5e-05" izz="0.000298"/>
-    </inertial>
-    <visual>
-      <origin rpy="0         0   -0.2793" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/arm-v3/link-1.stl"/>
-      </geometry>
-      <material name="light_grey">
-        <color rgba="0.75 0.75 0.75 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0         0   -0.2793" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/arm-v3/link-1.stl"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="left_shoulder_pitch">
-    <inertial>
-      <origin rpy="0 0 0" xyz="-4.2e-05 -0.061882 -0.073788"/>
-      <mass value="1.440357"/>
-      <inertia ixx="0.006761" ixy="-6e-06" ixz="-3e-06" iyy="0.002087" iyz="-0.002046" izz="0.005778"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/arm-v3/link-2.stl"/>
-      </geometry>
-      <material name="scarlet">
-        <color rgba="0.427 0.784 0.714 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/arm-v3/link-2.stl"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="left_shoulder_yaw">
-    <inertial>
-      <origin rpy="0 0 0" xyz="-3e-05 0.001937 0.11407"/>
-      <mass value="1.065387"/>
-      <inertia ixx="0.006967" ixy="-1e-06" ixz="-1e-06" iyy="0.007003" iyz="-1.5e-05" izz="0.000673"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/arm-v3/link-3.stl"/>
-      </geometry>
-      <material name="light_grey">
-        <color rgba="0.75 0.75 0.75 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/arm-v3/link-3.stl"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="left_elbow">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0.107996 0.000521 -0.017765"/>
-      <mass value="0.550582"/>
-      <inertia ixx="0.000476" ixy="-2.9e-05" ixz="0.001403" iyy="0.009564" iyz="9e-06" izz="0.009437"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/arm-v3/link-4.stl"/>
-      </geometry>
-      <material name="grey">
-        <color rgba="0.35 0.35 0.35 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/arm-v3/link-4.stl"/>
-      </geometry>
-    </collision>
-  </link>
-  
-  <!-- right leg -->
-  <link name="right_hip_roll">
-    <inertial>
-      <origin rpy="0 0 0" xyz="-0.001967 -0.000244 0.031435"/>
-      <mass value="0.915088"/>
-      <inertia ixx="0.001017" ixy="3e-06" ixz="1.3e-05" iyy="0.001148" iyz="4e-06" izz="0.000766"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/leg-v3/hip-yaw-housing.stl" scale="1 1 1"/>
-      </geometry>
-      <material name="light_grey">
-        <color rgba="0.75 0.75 0.75 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/leg-v3/hip-yaw-housing.stl" scale="1 1 1"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="right_hip_yaw">
-    <inertial>
-      <origin rpy="0 0 0" xyz="1e-05 0.001945 0.042033"/>
-      <mass value="0.818753"/>
-      <inertia ixx="0.001627" ixy="1e-06" ixz="2e-06" iyy="0.001929" iyz="-5.3e-05" izz="0.00077"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 3.1415926535897932384626433832795" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/leg-v3/hip-pitch-housing.stl" scale="1 1 1"/>
-      </geometry>
-      <material name="light_grey">
-        <color rgba="0.75 0.75 0.75 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/leg-v3/hip-pitch-housing.stl" scale="1 1 1"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="right_hip_pitch">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0.060537 -0.000521 -0.038857"/>
-      <mass value="6.244279"/>
-      <inertia ixx="0.011533" ixy="0.000171" ixz="0.000148" iyy="0.033345" iyz="-0.000178" izz="0.033958"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/leg-v3/hip-pitch.stl" scale="1 1 1"/>
-      </geometry>
-      <material name="scarlet">
-        <color rgba="0.75 0.75 0.75 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/leg-v3/hip-pitch.stl" scale="1 1 1"/>
-      </geometry>
-    </collision>
-  </link>
-
-  <!-- right knee close loop -->
-  <!-- <link name="right_achilles_rod">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="0."/>
-      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/leg-v3/achilles-rod.stl" scale="1 1 1"/>
-      </geometry>
-      <material name="light_grey">
-        <color rgba="0.75 0.75 0.75 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/leg-v3/achilles-rod.stl" scale="1 1 1"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="right_ach2">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0.2506 0 0"/>
-      <mass value="0.178148"/>
-      <inertia ixx="3e-06" ixy="0" ixz="0" iyy="0.004501" iyz="0" izz="0.004501"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <sphere radius = "0.0" />
-      </geometry>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <sphere radius = "0.0" />
-      </geometry>
-    </collision>
-  </link> -->
-
-  <link name="right_knee">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0.045641 -0.042154 0.001657"/>
-      <mass value="1.227077"/>
-      <inertia ixx="0.002643" ixy="0.001832" ixz="6.6e-05" iyy="0.005098" iyz="-4.5e-05" izz="0.007019"/>
-    </inertial>
-    <visual>
-      <origin rpy="3.1415926535897932384626433832795 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/leg-v3/knee.stl" scale="1 1 1"/>
-      </geometry>
-      <material name="light_grey">
-        <color rgba="0.75 0.75 0.75 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/leg-v3/knee.stl" scale="1 1 1"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="right_shin">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0.174265 -0.010265 0.00107"/>
-      <mass value="0.895793"/>
-      <inertia ixx="0.001128" ixy="-0.001098" ixz="0.000196" iyy="0.022492" iyz="3e-06" izz="0.022793"/>
-    </inertial>
-    <visual>
-      <origin rpy="3.1415926535897932384626433832795 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/leg-v3/shin.stl" scale="1 1 1"/>
-      </geometry>
-      <material name="scarlet">
-        <color rgba="0.427 0.784 0.714 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/leg-v3/shin.stl" scale="1 1 1"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="right_tarsus">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0.100777 0.029183 0.000678"/>
-      <mass value="1.322865"/>
-      <inertia ixx="0.000932" ixy="-0.00061" ixz="0.000102" iyy="0.016409" iyz="-9e-06" izz="0.016501"/>
-    </inertial>
-    <visual>
-      <origin rpy="3.1415926535897932384626433832795 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/leg-v3/tarsus.stl" scale="1 1 1"/>
-      </geometry>
-      <material name="light_grey">
-        <color rgba="0.75 0.75 0.75 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/leg-v3/tarsus.stl" scale="1 1 1"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="right_heel_spring">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0.049086 -0.004739 -4.5e-05"/>
-      <mass value="0.230018"/>
-      <inertia ixx="5.5e-05" ixy="-1.5e-05" ixz="1e-06" iyy="0.00074" iyz="0" izz="0.000701"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/leg-v3/heel-spring.stl" scale="1 1 1"/>
-      </geometry>
-      <material name="grey">
-        <color rgba="0.35 0.35 0.35 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/leg-v3/heel-spring.stl" scale="1 1 1"/>
-      </geometry>
-    </collision>
-  </link>
-
-  <!-- right toe close loop -->
-  <!-- <link name="right_toe_A">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0.005161 -1e-06 -0.002248"/>
-      <mass value="0.139557"/>
-      <inertia ixx="2.9e-05" ixy="0" ixz="-4e-06" iyy="5.8e-05" iyz="0" izz="7.4e-05"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/leg-v3/toe-output.stl" scale="1 1 1"/>
-      </geometry>
-      <material name="light_grey">
-        <color rgba="0.75 0.75 0.75 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/leg-v3/toe-output.stl" scale="1 1 1"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="right_toe_A_rod">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="0."/>
-      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/leg-v3/toe-a-rod.stl" scale="1 1 1"/>
-      </geometry>
-      <material name="light_grey">
-        <color rgba="0.75 0.75 0.75 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/leg-v3/toe-a-rod.stl" scale="1 1 1"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="right_A2">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0.171071 0 0"/>
-      <mass value="0.090983"/>
-      <inertia ixx="1e-06" ixy="0" ixz="0" iyy="0.001182" iyz="0" izz="0.001182"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <sphere radius = "0.0" />
-      </geometry>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <sphere radius = "0.0" />
-      </geometry>
-    </collision>
-  </link>
-  <link name="right_toe_B">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0.005161 -1e-06 -0.002248"/>
-      <mass value="0.139557"/>
-      <inertia ixx="2.9e-05" ixy="0" ixz="-4e-06" iyy="5.8e-05" iyz="0" izz="7.4e-05"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/leg-v3/toe-output.stl" scale="1 1 1"/>
-      </geometry>
-      <material name="light_grey">
-        <color rgba="0.75 0.75 0.75 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/leg-v3/toe-output.stl" scale="1 1 1"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="right_toe_B_rod">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="0."/>
-      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/leg-v3/toe-b-rod.stl" scale="1 1 1"/>
-      </geometry>
-      <material name="light_grey">
-        <color rgba="0.75 0.75 0.75 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/leg-v3/toe-b-rod.stl" scale="1 1 1"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="right_B2">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0.142991 0 0"/>
-      <mass value="0.079507"/>
-      <inertia ixx="1e-06" ixy="0" ixz="0" iyy="0.000768" iyz="0" izz="0.000768"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <sphere radius = "0.0" />
-      </geometry>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <sphere radius = "0.0" />
-      </geometry>
-    </collision>
-  </link> -->
-
-  <link name="right_toe_pitch">
-    <inertial>
-      <origin rpy="0 0 0" xyz="-0.000141 -2e-06 3e-06"/>
-      <mass value="0.043881"/>
-      <inertia ixx="5e-06" ixy="0" ixz="0" iyy="8e-06" iyz="0" izz="4e-06"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/leg-v3/toe-pitch.stl" scale="1 1 1"/>
-      </geometry>
-      <material name="light_grey">
-        <color rgba="0.75 0.75 0.75 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/leg-v3/toe-pitch.stl" scale="1 1 1"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="right_toe_roll">
-    <inertial>
-      <origin rpy="0 0 0" xyz="9e-06 0.028084 -0.023204"/>
-      <mass value="0.531283"/>
-      <inertia ixx="0.00187" ixy="0" ixz="0" iyy="0.001616" iyz="-0.000566" izz="0.000843"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 3.1415926535897932384626433832795" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/leg-v3/toe-roll.stl" scale="1 1 1"/>
-      </geometry>
-      <material name="light_grey">
-        <color rgba="0.75 0.75 0.75 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/leg-v3/toe-roll.stl" scale="1 1 1"/>
-      </geometry>
-    </collision>
-  </link>
-
-  <!-- right arm -->
-  <link name="right_shoulder_roll">
-    <inertial>
-      <origin rpy="0 0 0" xyz="-0.000819 0.003158 0.023405"/>
-      <mass value="0.535396"/>
-      <inertia ixx="0.000704" ixy="-1.4e-05" ixz="1.2e-05" iyy="0.00075" iyz="-3.5e-05" izz="0.000298"/>
-    </inertial>
-    <visual>
-      <origin rpy="0         0    3.1415926535897932384626433832795" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/arm-v3/link-1.stl" scale="1 1 1"/>
-      </geometry>
-      <material name="light_grey">
-        <color rgba="0.75 0.75 0.75 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0         0    0.2793" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/arm-v3/link-1.stl" scale="1 1 1"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="right_shoulder_pitch">
-    <inertial>
-      <origin rpy="0 0 0" xyz="-4.2e-05 0.061882 -0.073788"/>
-      <mass value="1.440357"/>
-      <inertia ixx="0.006761" ixy="6e-06" ixz="-3e-06" iyy="0.002087" iyz="0.002046" izz="0.005778"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 3.1415926535897932384626433832795" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/arm-v3/link-2.stl" scale="1 1 1"/>
-      </geometry>
-      <material name="scarlet">
-        <color rgba="0.427 0.784 0.714 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/arm-v3/link-2.stl" scale="1 1 1"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="right_shoulder_yaw">
-    <inertial>
-      <origin rpy="0 0 0" xyz="-3e-05 -0.001937 0.11407"/>
-      <mass value="1.065387"/>
-      <inertia ixx="0.006967" ixy="1e-06" ixz="-1e-06" iyy="0.007003" iyz="1.5e-05" izz="0.000673"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 3.1415926535897932384626433832795" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/arm-v3/link-3.stl" scale="1 1 1"/>
-      </geometry>
-      <material name="light_grey">
-        <color rgba="0.75 0.75 0.75 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/arm-v3/link-3.stl" scale="1 1 1"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="right_elbow">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0.107996 -0.000521 -0.017765"/>
-      <mass value="0.550582"/>
-      <inertia ixx="0.000476" ixy="2.9e-05" ixz="0.001403" iyy="0.009564" iyz="-9e-06" izz="0.009437"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/arm-v3/link-4.stl" scale="1 1 1"/>
-      </geometry>
-      <material name="grey">
-        <color rgba="0.35 0.35 0.35 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/arm-v3/link-4.stl" scale="1 1 1"/>
-      </geometry>
-    </collision>
-  </link>
-
-  <!-- floating base -->
-  <joint name = "Px" type = "prismatic">
-    <parent link = "ground" />
-    <child link = "Px" />
-    <origin xyz = "0 0 0" />
-    <axis xyz = "1 0 0" />
-    <limit effort="1000" lower="-2" upper="2" velocity="1000"/>
-  </joint>
-  <joint name = "Py" type = "prismatic">
-    <parent link = "Px" />
-    <child link = "Py" />
-    <origin xyz = "0 0 0" />
-    <axis xyz = "0 1 0" />
-    <limit effort="1000" lower="-2" upper="2" velocity="1000"/>
-  </joint>
-  <joint name = "Pz" type = "prismatic">
-    <parent link = "Py" />
-    <child link = "Pz" />
-    <origin xyz = "0 0 0" />
-    <axis xyz = "0 0 1" />
-    <limit effort="1000" lower="-2" upper="2" velocity="1000"/>
-  </joint>
-  <joint name = "Rx" type = "revolute">
-    <parent link = "Pz" />
-    <child link = "Rx" />
-    <origin xyz = "0 0 0" />
-    <axis xyz = "1 0 0" />
-    <limit effort="1000" lower="-1000" upper="1000" velocity="1000"/>
-  </joint>
-  <joint name = "Ry" type = "revolute">
-    <parent link = "Rx" />
-    <child link = "Ry" />
-    <origin xyz = "0 0 0" />
-    <axis xyz = "0 1 0" />
-    <limit effort="1000" lower="-1000" upper="1000" velocity="1000"/>
-  </joint>    
-  <joint name = "Rz" type = "revolute">
-    <parent link = "Ry" />
-    <child link = "Rz" />
-    <origin xyz = "0 0 0" />
-    <axis xyz = "0 0 1" />
-    <limit effort="1000" lower="-1000" upper="1000" velocity="1000"/>
-  </joint> 
-
-  <!-- left leg -->
-  <joint name="left_hip_roll" type="revolute">
-    <origin rpy="1.5707963267948966192313216916398 -1.1955515003397312323585310878116 -1.5707963267948966192313216916398" xyz="-0.001 0.091 0"/> 
-    <axis xyz="0 0 1"/>
-    <parent link="Rz"/>
-    <child link="left_hip_roll"/>
-    <dynamics damping="1.0" friction="1.0"/>
-    <limit effort="1.4" lower="-1.0472" upper="1.0472" velocity="12.15"/>
-  </joint>
-  <joint name="left_hip_yaw" type="revolute">
-    <origin rpy="0   -1.5707963267948966192313216916398         0" xyz="-0.0505 0 0.044"/>
-    <axis xyz="0 0 1"/>
-    <parent link="left_hip_roll"/>
-    <child link="left_hip_yaw"/>
-    <dynamics damping="1.0" friction="1.0"/>
-    <limit effort="1.4" lower="-0.698132" upper="0.698132" velocity="12.15"/>
-  </joint>
-  <joint name="left_hip_pitch" type="revolute">
-    <origin rpy="-1.5707963267948966192313216916398 -0.78539816339739465522740147207514 3.1415926535897932384626433832795" xyz="0 0.004 0.068"/>
-    <axis xyz="0 0 -1"/>
-    <parent link="left_hip_yaw"/>
-    <child link="left_hip_pitch"/>
-    <dynamics damping="1.0" friction="0.5"/>
-    <limit effort="12.5" lower="-1.0472" upper="1.5707963267948966192313216916398" velocity="8.5"/>
-  </joint>
-
-  <!-- left knee close loop -->
-  <!-- <joint name="left_achilles_rod" type="revolute">
-    <origin rpy="0.0087528908613780896652567520277444 0.07085157762907765000015558598534 -1.4355410054288866295024718056084" xyz="0 0 0.046"/>
-    <axis xyz="0 0 1"/>
-    <parent link="left_hip_pitch"/>
-    <child link="left_achilles_rod"/>
-    <dynamics damping="0.01" friction="0.0"/>
-    <limit effort="12.5" lower="-1.7453" upper="1.7453" velocity="8.5085"/>
-  </joint>
-  <joint name="left_ach2" type="revolute">
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-    <axis xyz="0 1 0"/>
-    <parent link="left_achilles_rod"/>
-    <child link="left_ach2"/>
-    <dynamics damping="0.01" friction="0.0"/>
-    <limit effort="0.9" lower="-1.7453" upper="1.7453" velocity="11.5"/>
-  </joint> -->
-
-  <joint name="left_knee" type="revolute">
-    <origin rpy="0         0   -1.5707963267948966192313216916398" xyz="0.12 0 0.0045"/>
-    <axis xyz="0 0 1"/>
-    <parent link="left_hip_pitch"/>
-    <child link="left_knee"/>
-    <dynamics damping="1.0" friction="0.5"/>
-    <limit effort="12.5" lower="-1.3963" upper="1.0193" velocity="8.5085"/>
-  </joint>
-  <joint name="left_shin" type="fixed">
-    <origin rpy="0 0 0" xyz="0.060677 0.047406 0"/>
-    <axis xyz="0 0 1"/>
-    <parent link="left_knee"/>
-    <child link="left_shin"/>
-    <dynamics damping="0.0" friction="0.0"/>
-    <limit effort="0" lower="-0.35" upper="0.35" velocity="10"/>
-  </joint>
-  <joint name="left_tarsus" type="revolute">
-    <origin rpy="0         0    1.7976883650999471164766418951331" xyz="0.434759 0.02 0"/>
-    <axis xyz="0 0 1"/>
-    <parent link="left_shin"/>
-    <child link="left_tarsus"/>
-    <dynamics damping="0.0" friction="0.0"/>
-    <limit effort="0" lower="-0.8779" upper="1.2497" velocity="20"/>
-  </joint>
-  <joint name="left_heel_spring" type="fixed">
-    <origin rpy="-0.068907263191147760661436905138544 -0.03703539652360886280657581437481 2.7207176029176958209632175567094" xyz="-0.01766 -0.029456 0.00104"/>
-    <axis xyz="0 0 1"/>
-    <parent link="left_tarsus"/>
-    <child link="left_heel_spring"/>
-    <dynamics damping="0.0" friction="0.0"/>
-    <limit effort="12" lower="-0.1047" upper="0.1047" velocity="11.5"/>
-  </joint>
-
-  <!-- left toe close loop -->
-  <!-- <joint name="left_toe_A" type="revolute">
-    <origin rpy="3.1415926535897932384626433832795 0 -1.5526449025733231046331184188602" xyz="0.059 -0.034 -0.0276"/>
-    <axis xyz="0 0 1"/>
-    <parent link="left_tarsus"/>
-    <child link="left_toe_A"/>
-    <dynamics damping="1.0" friction="1.0"/>
-    <limit effort="0.9" lower="-0.8077" upper="0.7851" velocity="11.5"/>
-  </joint>
-  <joint name="left_toe_A_rod" type="revolute">
-    <origin rpy="-0.037175987474526640819139089444434 0.0069420091856212517295032782271846 -1.5437619437662688515189302052022" xyz="0.057 0 -0.008"/>
-    <axis xyz="0 0 1"/>
-    <parent link="left_toe_A"/>
-    <child link="left_toe_A_rod"/>
-    <dynamics damping="0.01" friction="0.0"/>
-    <limit effort="0.9" lower="-1.7453" upper="1.7453" velocity="11.5"/>
-  </joint>
-  <joint name="left_A2" type="revolute">
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-    <axis xyz="0 1 0"/>
-    <parent link="left_toe_A_rod"/>
-    <child link="left_A2"/>
-    <dynamics damping="0.01" friction="0.0"/>
-    <limit effort="0.9" lower="-1.7453" upper="1.7453" velocity="11.5"/>
-  </joint>
-  <joint name="left_toe_B" type="revolute">
-    <origin rpy="0         0   -1.5526446425200970402613620535703" xyz="0.111 -0.034 0.0276"/>
-    <axis xyz="0 0 1"/>
-    <parent link="left_tarsus"/>
-    <child link="left_toe_B"/>
-    <dynamics damping="1.0" friction="1.0"/>
-    <limit effort="0.9" lower="-0.8010" upper="0.7950" velocity="11.5"/>
-  </joint>
-  <joint name="left_toe_B_rod" type="revolute">
-    <origin rpy="-0.053844685552438438513878082858355 0.0022826832958013874852465363574083 1.5418663490001245364169335516635" xyz="0.057 0 -0.008"/>
-    <axis xyz="0 0 1"/>
-    <parent link="left_toe_B"/>
-    <child link="left_toe_B_rod"/>
-    <dynamics damping="0.01" friction="0.0"/>
-    <limit effort="0.9" lower="-1.7453" upper="1.7453" velocity="11.5"/>
-  </joint>
-  <joint name="left_B2" type="revolute">
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-    <axis xyz="0 1 0"/>
-    <parent link="left_toe_B_rod"/>
-    <child link="left_B2"/>
-    <dynamics damping="0.01" friction="0.0"/>
-    <limit effort="0.9" lower="-1.7453" upper="1.7453" velocity="11.5"/>
-  </joint> -->
-
-  <joint name="left_toe_pitch" type="revolute">
-    <origin rpy="0         0    1.2522744638393012994725950193242" xyz="0.408 -0.04 0"/>
-    <axis xyz="0 0 1"/>
-    <parent link="left_tarsus"/>
-    <child link="left_toe_pitch"/>
-    <dynamics damping="0.0" friction="0.0"/>
-    <limit effort="0.9" lower="-0.7679" upper="0.5934" velocity="11.5"/>
-  </joint>
-  <joint name="left_toe_roll" type="revolute">
-    <origin rpy="0    1.5707963267948966192313216916398         0" xyz="0 0 0"/>
-    <axis xyz="0 0 1"/>
-    <parent link="left_toe_pitch"/>
-    <child link="left_toe_roll"/>
-    <dynamics damping="0.0" friction="0.0"/>
-    <limit effort="0.9" lower="-0.6458" upper="0.5760" velocity="11.5"/>
-  </joint>
-
-  <!-- left arm -->
-  <joint name="left_shoulder_roll" type="fixed">
-    <origin rpy="-1.5707963267948966192313216916398 -1.5467303 1.5707963267948966192313216916398" xyz="-0.001 0.12 0.4"/>
-    <axis xyz="0 0 1"/>
-    <parent link="Rz"/>
-    <child link="left_shoulder_roll"/>
-    <dynamics damping="2.0" friction="2.0"/>
-    <limit effort="1.4" lower="-1.309" upper="1.309" velocity="12.5"/>
-  </joint>
-  <joint name="left_shoulder_pitch" type="fixed">
-    <origin rpy="1.5707963267948966192313216916398 1.875658163397448285891755404009 -0.2792527" xyz="-0.00317 -0.011055 0.0555"/>
-    <axis xyz="0 0 -1"/>
-    <parent link="left_shoulder_roll"/>
-    <child link="left_shoulder_pitch"/>
-    <dynamics damping="2.0" friction="2.0"/>
-    <limit effort="1.4" lower="-2.5307" upper="2.5307" velocity="12.5"/>
-  </joint>
-  <joint name="left_shoulder_yaw" type="fixed">
-    <origin rpy="1.5707963267948966192313216916398 -0.14981736 0" xyz="0 -0.165 -0.1"/>
-    <axis xyz="0 0 1"/>
-    <parent link="left_shoulder_pitch"/>
-    <child link="left_shoulder_yaw"/>
-    <dynamics damping="2.0" friction="2.0"/>
-    <limit effort="1.4" lower="-1.7453" upper="1.7453" velocity="10"/>
-  </joint>
-  <joint name="left_elbow" type="fixed">
-    <origin rpy="1.5707963267948966192313216916398 -0.3926991 0" xyz="0 -0.0385 0.185"/>
-    <axis xyz="0 0 1"/>
-    <parent link="left_shoulder_yaw"/>
-    <child link="left_elbow"/>
-    <dynamics damping="2.0" friction="2.0"/>
-    <limit effort="1.4" lower="-1.3526" upper="1.3526" velocity="12.5"/>
-  </joint>
-
-  <!-- right leg -->
-  <joint name="right_hip_roll" type="revolute">
-    <origin rpy="-1.5707963267948966192313216916398 -1.1955515003397312323585310878116 1.5707963267948966192313216916398" xyz="-0.001 -0.091 0"/>
-    <axis xyz="0 0 1"/>
-    <parent link="Rz"/>
-    <child link="right_hip_roll"/>
-    <dynamics damping="1.0" friction="1.0"/>
-    <limit effort="1.4" lower="-1.0472" upper="1.0472" velocity="12.15"/>
-  </joint>
-  <joint name="right_hip_yaw" type="revolute">
-    <origin rpy="0   -1.5707963267948966192313216916398         0" xyz="-0.0505 0 0.044"/>
-    <axis xyz="0 0 1"/>
-    <parent link="right_hip_roll"/>
-    <child link="right_hip_yaw"/>
-    <dynamics damping="1.0" friction="1.0"/>
-    <limit effort="1.4" lower="-0.698132" upper="0.698132" velocity="12.15"/>
-  </joint>
-  <joint name="right_hip_pitch" type="revolute">
-    <origin rpy="1.5707963267948966192313216916398 -0.78539855435120076165844693605322 3.1415926535897932384626433832795" xyz="0 -0.004 0.068"/>
-    <axis xyz="0 0 -1"/>
-    <parent link="right_hip_yaw"/>
-    <child link="right_hip_pitch"/>
-    <dynamics damping="1.0" friction="0.5"/>
-    <limit effort="12.5" lower="-1.5707963267948966192313216916398" upper="1.0472" velocity="8.5"/>
-  </joint>
-
-  <!-- right knee close loop -->
-  <!-- <joint name="right_achilles_rod" type="revolute">
-    <origin rpy="-0.0087523017375784415566863927438135 0.070851391807226243857442682383407 1.4355417226017064269427692124736" xyz="0 0 0.046"/>
-    <axis xyz="0 0 1"/>
-    <parent link="right_hip_pitch"/>
-    <child link="right_achilles_rod"/>
-    <dynamics damping="0.01" friction="0.0"/>
-    <limit effort="12.5" lower="-1.7453" upper="1.7453" velocity="8.5085"/>
-  </joint>
-  <joint name="right_ach2" type="revolute">
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-    <axis xyz="0 1 0"/>
-    <parent link="right_achilles_rod"/>
-    <child link="right_ach2"/>
-    <dynamics damping="0.01" friction="0.0"/>
-    <limit effort="0.9" lower="-1.7453" upper="1.7453" velocity="11.5"/>
-  </joint> -->
-
-  <joint name="right_knee" type="revolute">
-    <origin rpy="0         0    1.5707963267948966192313216916398" xyz="0.12 0 0.0045"/>
-    <axis xyz="0 0 1"/>
-    <parent link="right_hip_pitch"/>
-    <child link="right_knee"/>
-    <dynamics damping="1.0" friction="0.5"/>
-    <limit effort="12.5" lower="-1.0193" upper="1.3963" velocity="8.5085"/>
-  </joint>
-  <joint name="right_shin" type="fixed">
-    <origin rpy="0 0 0" xyz="0.060677 -0.047406 0"/>
-    <axis xyz="0 0 1"/>
-    <parent link="right_knee"/>
-    <child link="right_shin"/>
-    <dynamics damping="0.0" friction="0.0"/>
-    <limit effort="0" lower="-0.35" upper="0.35" velocity="10"/>
-  </joint>
-  <joint name="right_tarsus" type="revolute">
-    <origin rpy="0         0   -1.7976883650999471164766418951331" xyz="0.434759 -0.02 0"/>
-    <axis xyz="0 0 1"/>
-    <parent link="right_shin"/>
-    <child link="right_tarsus"/>
-    <dynamics damping="0.0" friction="0.0"/>
-    <limit effort="0" lower="-1.2497" upper="0.8779" velocity="20"/>
-  </joint>
-  <joint name="right_heel_spring" type="fixed">
-    <origin rpy="0.068907849662554282454962617521232 -0.037035299439698535217679875586327 -2.7207170387858861104746210912708" xyz="-0.01766 0.029456 0.00104"/>
-    <axis xyz="0 0 1"/>
-    <parent link="right_tarsus"/>
-    <child link="right_heel_spring"/>
-    <dynamics damping="0.0" friction="0.0"/>
-    <limit effort="12" lower="-0.1047" upper="0.1047" velocity="11.5"/>
-  </joint> 
-
-  <!-- right toe close loop -->
-  <!-- <joint name="right_toe_A" type="revolute">
-    <origin rpy="3.1415926535897932384626433832795 0 1.5526446425200970402613620535703" xyz="0.059 0.034 -0.0276"/>
-    <axis xyz="0 0 1"/>
-    <parent link="right_tarsus"/>
-    <child link="right_toe_A"/>
-    <dynamics damping="1.0" friction="1.0"/>
-    <limit effort="0.9" lower="-0.7851" upper="0.8077" velocity="11.5"/>
-  </joint>
-  <joint name="right_toe_A_rod" type="revolute">
-    <origin rpy="0.03717647899635967423392912678537 0.0069418384185932916277672610760874 1.5437611240201540852012840332463" xyz="0.057 0 -0.008"/>
-    <axis xyz="0 0 1"/>
-    <parent link="right_toe_A"/>
-    <child link="right_toe_A_rod"/>
-    <dynamics damping="0.01" friction="0.0"/>
-    <limit effort="0.9" lower="-1.7453" upper="1.7453" velocity="11.5"/>
-  </joint>
-  <joint name="right_A2" type="revolute">
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-    <axis xyz="0 1 0"/>
-    <parent link="right_toe_A_rod"/>
-    <child link="right_A2"/>
-    <dynamics damping="0.01" friction="0.0"/>
-    <limit effort="0.9" lower="-1.7453" upper="1.7453" velocity="11.5"/>
-  </joint>
-  <joint name="right_toe_B" type="revolute">
-    <origin rpy="0         0    1.5526446425200970402613620535703" xyz="0.111 0.034 0.0276"/>
-    <axis xyz="0 0 1"/>
-    <parent link="right_tarsus"/>
-    <child link="right_toe_B"/>
-    <dynamics damping="1.0" friction="1.0"/>
-    <limit effort="0.9" lower="-0.7950" upper="0.8010" velocity="11.5"/>
-  </joint>
-  <joint name="right_toe_B_rod" type="revolute">
-    <origin rpy="0.053844685552438438513878082858355 0.0022826832958013874852465363574083 -1.5418663490001245364169335516635" xyz="0.057 0 -0.008"/>
-    <axis xyz="0 0 1"/>
-    <parent link="right_toe_B"/>
-    <child link="right_toe_B_rod"/>
-    <dynamics damping="0.01" friction="0.0"/>
-    <limit effort="0.9" lower="-1.7453" upper="1.7453" velocity="11.5"/>
-  </joint>
-  <joint name="right_B2" type="revolute">
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-    <axis xyz="0 1 0"/>
-    <parent link="right_toe_B_rod"/>
-    <child link="right_B2"/>
-    <dynamics damping="0.01" friction="0.0"/>
-    <limit effort="0.9" lower="-1.7453" upper="1.7453" velocity="11.5"/>
-  </joint> -->
-
-  <joint name="right_toe_pitch" type="revolute">
-    <origin rpy="0         0   -1.2522744638393012994725950193242" xyz="0.408 0.04 0"/>
-    <axis xyz="0 0 1"/>
-    <parent link="right_tarsus"/>
-    <child link="right_toe_pitch"/>
-    <dynamics damping="0.0" friction="0.0"/>
-    <limit effort="0.9" lower="-0.5934" upper="0.7679" velocity="11.5"/>
-  </joint>
-  <joint name="right_toe_roll" type="revolute">
-    <origin rpy="0    1.5707963267948966192313216916398         0" xyz="0 0 0"/>
-    <axis xyz="0 0 1"/>
-    <parent link="right_toe_pitch"/>
-    <child link="right_toe_roll"/>
-    <dynamics damping="0.0" friction="0.0"/>
-    <limit effort="0.9" lower="-0.5760" upper="0.6458" velocity="11.5"/>
-  </joint>
-
-  <!-- right arm -->
-  <joint name="right_shoulder_roll" type="fixed">
-    <origin rpy="1.5707963267948966192313216916398 -1.5467303 -1.5707963267948966192313216916398" xyz="-0.001 -0.12 0.4"/>
-    <axis xyz="0 0 1"/>
-    <parent link="Rz"/>
-    <child link="right_shoulder_roll"/>
-    <dynamics damping="2.0" friction="2.0"/>
-    <limit effort="1.4" lower="-1.309" upper="1.309" velocity="12.5"/>
-  </joint>
-  <joint name="right_shoulder_pitch" type="fixed">
-    <origin rpy="-1.5707963267948966192313216916398 1.875658163397448285891755404009 0.2792527" xyz="-0.00317 0.011055 0.0555"/>
-    <axis xyz="0 0 -1"/>
-    <parent link="right_shoulder_roll"/>
-    <child link="right_shoulder_pitch"/>
-    <dynamics damping="2.0" friction="2.0"/>
-    <limit effort="1.4" lower="-2.5307" upper="2.5307" velocity="12.5"/>
-  </joint>
-  <joint name="right_shoulder_yaw" type="fixed">
-    <origin rpy="-1.5707963267948966192313216916398 -0.14981736 0" xyz="0 0.165 -0.1"/>
-    <axis xyz="0 0 1"/>
-    <parent link="right_shoulder_pitch"/>
-    <child link="right_shoulder_yaw"/>
-    <dynamics damping="2.0" friction="2.0"/>
-    <limit effort="1.4" lower="-1.7453" upper="1.7453" velocity="10"/>
-  </joint>
-  <joint name="right_elbow" type="fixed">
-    <origin rpy="-1.5707963267948966192313216916398 -0.3926991 0" xyz="0 0.0385 0.185"/>
-    <axis xyz="0 0 1"/>
-    <parent link="right_shoulder_yaw"/>
-    <child link="right_elbow"/>
-    <dynamics damping="2.0" friction="2.0"/>
-    <limit effort="1.4" lower="-1.3526" upper="1.3526" velocity="12.5"/>
-  </joint>
-</robot>
diff --git a/Robots/digit-v3-modified/meshes/arm-v3/link-0.stl b/Robots/digit-v3-modified/meshes/arm-v3/link-0.stl
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diff --git a/Robots/digit-v3-modified/meshes/arm-v3/link-1.stl b/Robots/digit-v3-modified/meshes/arm-v3/link-1.stl
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diff --git a/Robots/digit-v3-modified/meshes/arm-v3/link-2.stl b/Robots/digit-v3-modified/meshes/arm-v3/link-2.stl
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diff --git a/Robots/digit-v3-modified/meshes/arm-v3/link-3.stl b/Robots/digit-v3-modified/meshes/arm-v3/link-3.stl
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index 56a970fd..00000000
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diff --git a/Robots/digit-v3-modified/meshes/arm-v3/link-4.stl b/Robots/digit-v3-modified/meshes/arm-v3/link-4.stl
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index 04b7d706..00000000
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diff --git a/Robots/digit-v3-modified/meshes/leg-v3/achilles-rod.stl b/Robots/digit-v3-modified/meshes/leg-v3/achilles-rod.stl
deleted file mode 100644
index 29454b9f..00000000
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diff --git a/Robots/digit-v3-modified/meshes/leg-v3/heel-spring.stl b/Robots/digit-v3-modified/meshes/leg-v3/heel-spring.stl
deleted file mode 100644
index 9336b7a7..00000000
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diff --git a/Robots/digit-v3-modified/meshes/leg-v3/hip-pitch-housing.stl b/Robots/digit-v3-modified/meshes/leg-v3/hip-pitch-housing.stl
deleted file mode 100644
index 66cf206b..00000000
Binary files a/Robots/digit-v3-modified/meshes/leg-v3/hip-pitch-housing.stl and /dev/null differ
diff --git a/Robots/digit-v3-modified/meshes/leg-v3/hip-pitch.stl b/Robots/digit-v3-modified/meshes/leg-v3/hip-pitch.stl
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index 836a7490..00000000
Binary files a/Robots/digit-v3-modified/meshes/leg-v3/hip-pitch.stl and /dev/null differ
diff --git a/Robots/digit-v3-modified/meshes/leg-v3/hip-roll-housing.stl b/Robots/digit-v3-modified/meshes/leg-v3/hip-roll-housing.stl
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index 9368093b..00000000
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