diff --git a/sim/envs/__init__.py b/sim/envs/__init__.py
index 639853fc..13260f07 100755
--- a/sim/envs/__init__.py
+++ b/sim/envs/__init__.py
@@ -16,10 +16,10 @@
 from sim.envs.humanoids.grp_config import GprCfg, GprCfgPPO, GprStandingCfg
 from sim.envs.humanoids.h1_config import H1Cfg, H1CfgPPO
 from sim.envs.humanoids.h1_env import H1FreeEnv
-from sim.envs.humanoids.stompymicro_config import StompyMicroCfg, StompyMicroCfgPPO
-from sim.envs.humanoids.stompymicro_env import StompyMicroEnv
 from sim.envs.humanoids.xbot_config import XBotCfg, XBotCfgPPO
 from sim.envs.humanoids.xbot_env import XBotLFreeEnv
+from sim.envs.humanoids.zeroth_config import ZerothCfg, ZerothCfgPPO
+from sim.envs.humanoids.zeroth_env import ZerothEnv
 from sim.utils.task_registry import TaskRegistry  # noqa: E402
 
 task_registry = TaskRegistry()
@@ -29,4 +29,4 @@
 task_registry.register("h1", H1FreeEnv, H1Cfg(), H1CfgPPO())
 task_registry.register("g1", G1FreeEnv, G1Cfg(), G1CfgPPO())
 task_registry.register("XBotL_free", XBotLFreeEnv, XBotCfg(), XBotCfgPPO())
-task_registry.register("stompymicro", StompyMicroEnv, StompyMicroCfg(), StompyMicroCfgPPO())
+task_registry.register("zeroth", ZerothEnv, ZerothCfg(), ZerothCfgPPO())
diff --git a/sim/envs/humanoids/stompymicro_config.py b/sim/envs/humanoids/zeroth_config.py
similarity index 85%
rename from sim/envs/humanoids/stompymicro_config.py
rename to sim/envs/humanoids/zeroth_config.py
index 4189afda..7926cef5 100644
--- a/sim/envs/humanoids/stompymicro_config.py
+++ b/sim/envs/humanoids/zeroth_config.py
@@ -5,12 +5,12 @@
     LeggedRobotCfg,
     LeggedRobotCfgPPO,
 )
-from sim.resources.stompymicro.joints import Robot
+from sim.resources.zeroth.joints import Robot
 
 NUM_JOINTS = len(Robot.all_joints())  # 20
 
 
-class StompyMicroCfg(LeggedRobotCfg):
+class ZerothCfg(LeggedRobotCfg):
     """Configuration class for the Legs humanoid robot."""
 
     class env(LeggedRobotCfg.env):
@@ -34,11 +34,11 @@ class safety:
         terminate_after_contacts_on = []
 
     class asset(LeggedRobotCfg.asset):
-        name = "stompymicro"
+        name = "zeroth"
         file = str(robot_urdf_path(name))
 
-        foot_name = ["foot_left", "foot_right"]
-        knee_name = ["ankle_pitch_left", "ankle_pitch_right"]
+        foot_name = ["foot_bracket_for_5dof_leg_v9", "foot_bracket_for_5dof_leg_v9_2"]
+        knee_name = ["leg_top_bracket_v8_1", "leg_top_bracket_v8_1_2"]
 
         termination_height = 0.05
         default_feet_height = 0.01
@@ -97,7 +97,7 @@ class control(LeggedRobotCfg.control):
         # action scale: target angle = actionScale * action + defaultAngle
         action_scale = 0.25
         # decimation: Number of control action updates @ sim DT per policy DT
-        decimation = 20  # 100hz
+        decimation = 10  # 100hz
 
     class sim(LeggedRobotCfg.sim):
         dt = 0.001  # 1000 Hz
@@ -123,7 +123,7 @@ class domain_rand(LeggedRobotCfg.domain_rand):
         randomize_friction = True
         friction_range = [0.1, 2.0]
         randomize_base_mass = True  # True
-        added_mass_range = [-0.5, 0.5]
+        added_mass_range = [-0.25, 0.25]
         push_robots = True  # True
         push_interval_s = 4
         max_push_vel_xy = 0.05
@@ -157,30 +157,25 @@ class rewards:
         only_positive_rewards = True
         # tracking reward = exp(error*sigma)
         tracking_sigma = 5.0
-        max_contact_force = 50  # forces above this value are penalized
+        max_contact_force = 400  # forces above this value are penalized
 
         class scales:
-
-            # TODO: add an argument
-            walking = False
-
-            if walking == True:
-                # reference motion tracking
-                joint_pos = 1.6
-                feet_clearance = 1.2
-                feet_contact_number = 1.2
-                feet_air_time = 1.2
-                foot_slip = -0.05
-                feet_distance = 0.2
-                knee_distance = 0.2
-                # contact
-                feet_contact_forces = -0.01
-                # vel tracking
-                tracking_lin_vel = 1.2
-                tracking_ang_vel = 1.1
-                vel_mismatch_exp = 0.5  # lin_z; ang x,y
-                low_speed = 0.4
-                track_vel_hard = 0.5
+            # reference motion tracking
+            joint_pos = 1.6
+            feet_clearance = 1.2
+            feet_contact_number = 1.2
+            feet_air_time = 1.2
+            foot_slip = -0.05
+            feet_distance = 0.2
+            knee_distance = 0.2
+            # contact
+            feet_contact_forces = -0.01
+            # vel tracking
+            tracking_lin_vel = 1.2
+            tracking_ang_vel = 1.1
+            vel_mismatch_exp = 0.5  # lin_z; ang x,y
+            low_speed = 0.4
+            track_vel_hard = 0.5
 
             # base pos
             default_joint_pos = 1.0
@@ -212,7 +207,7 @@ class viewer:
         lookat = [0, -2, 0]
 
 
-class StompyMicroCfgPPO(LeggedRobotCfgPPO):
+class ZerothCfgPPO(LeggedRobotCfgPPO):
     seed = 5
     runner_class_name = "OnPolicyRunner"  # DWLOnPolicyRunner
 
@@ -237,7 +232,7 @@ class runner:
 
         # logging
         save_interval = 300  # check for potential saves every this many iterations
-        experiment_name = "StompyMicro"
+        experiment_name = "zeroth"
         run_name = ""
         # load and resume
         resume = False
diff --git a/sim/envs/humanoids/stompymicro_env.py b/sim/envs/humanoids/zeroth_env.py
similarity index 99%
rename from sim/envs/humanoids/stompymicro_env.py
rename to sim/envs/humanoids/zeroth_env.py
index 79669b50..c65c9e20 100644
--- a/sim/envs/humanoids/stompymicro_env.py
+++ b/sim/envs/humanoids/zeroth_env.py
@@ -2,7 +2,7 @@
 """Defines the environment for training the humanoid."""
 
 from sim.envs.base.legged_robot import LeggedRobot
-from sim.resources.stompymicro.joints import Robot
+from sim.resources.zeroth.joints import Robot
 from sim.utils.terrain import HumanoidTerrain
 
 from isaacgym import gymtorch  # isort:skip
@@ -12,8 +12,8 @@
 import torch  # isort:skip
 
 
-class StompyMicroEnv(LeggedRobot):
-    """StompyFreeEnv is a class that represents a custom environment for a legged robot.
+class ZerothEnv(LeggedRobot):
+    """ZerothFreeEnv is a class that represents a custom environment for a legged robot.
 
     Args:
         cfg: Configuration object for the legged robot.
diff --git a/sim/resources/stompymicro/joints.py b/sim/resources/stompymicro/joints.py
deleted file mode 100644
index fb1e1551..00000000
--- a/sim/resources/stompymicro/joints.py
+++ /dev/null
@@ -1,280 +0,0 @@
-"""Defines a more Pythonic interface for specifying the joint names.
-
-The best way to re-generate this snippet for a new robot is to use the
-`sim/scripts/print_joints.py` script. This script will print out a hierarchical
-tree of the various joint names in the robot.
-"""
-
-import textwrap
-from abc import ABC
-from typing import Dict, List, Tuple, Union
-
-
-class Node(ABC):
-    @classmethod
-    def children(cls) -> List["Union[Node, str]"]:
-        return [
-            attr
-            for attr in (getattr(cls, attr) for attr in dir(cls) if not attr.startswith("__"))
-            if isinstance(attr, (Node, str))
-        ]
-
-    @classmethod
-    def joints(cls) -> List[str]:
-        return [
-            attr
-            for attr in (getattr(cls, attr) for attr in dir(cls) if not attr.startswith("__"))
-            if isinstance(attr, str)
-        ]
-
-    @classmethod
-    def joints_motors(cls) -> List[Tuple[str, str]]:
-        joint_names: List[Tuple[str, str]] = []
-        for attr in dir(cls):
-            if not attr.startswith("__"):
-                attr2 = getattr(cls, attr)
-                if isinstance(attr2, str):
-                    joint_names.append((attr, attr2))
-
-        return joint_names
-
-    @classmethod
-    def all_joints(cls) -> List[str]:
-        leaves = cls.joints()
-        for child in cls.children():
-            if isinstance(child, Node):
-                leaves.extend(child.all_joints())
-        return leaves
-
-    def __str__(self) -> str:
-        parts = [str(child) for child in self.children()]
-        parts_str = textwrap.indent("\n" + "\n".join(parts), "  ")
-        return f"[{self.__class__.__name__}]{parts_str}"
-
-
-class LeftArm(Node):
-    shoulder_yaw = "left_shoulder_yaw"
-    shoulder_pitch = "left_shoulder_pitch"
-    elbow_pitch = "left_elbow_yaw"  # FIXME: yaw vs pitch
-
-
-class RightArm(Node):
-    shoulder_yaw = "right_shoulder_yaw"
-    shoulder_pitch = "right_shoulder_pitch"
-    elbow_pitch = "right_elbow_yaw"  # FIXME: yaw vs pitch
-
-
-class LeftLeg(Node):
-    hip_roll = "left_hip_roll"
-    hip_yaw = "left_hip_yaw"
-    hip_pitch = "left_hip_pitch"
-    knee_pitch = "left_knee_pitch"
-    ankle_pitch = "left_ankle_pitch"
-
-
-class RightLeg(Node):
-    hip_roll = "right_hip_roll"
-    hip_yaw = "right_hip_yaw"
-    hip_pitch = "right_hip_pitch"
-    knee_pitch = "right_knee_pitch"
-    ankle_pitch = "right_ankle_pitch"
-
-
-class Legs(Node):
-    left = LeftLeg()
-    right = RightLeg()
-
-
-class Robot(Node):
-    height = 0.31
-    rotation = [0, 0, 0.707, 0.707]
-
-    # left_arm = LeftArm()
-    # right_arm = RightArm()
-    legs = Legs()
-
-    @classmethod
-    def default_standing(cls) -> Dict[str, float]:
-        return {
-            # Legs
-            cls.legs.left.hip_pitch: 0.0,
-            cls.legs.left.hip_yaw: 0,
-            cls.legs.left.hip_roll: 0,
-            cls.legs.left.knee_pitch: 0,
-            cls.legs.left.ankle_pitch: 0,
-            cls.legs.right.hip_pitch: 0,
-            cls.legs.right.hip_yaw: 0,
-            cls.legs.right.hip_roll: 0,
-            cls.legs.right.knee_pitch: 0,
-            cls.legs.right.ankle_pitch: 0,
-            # TODO: fixing this for debugging
-            # Arms
-            # cls.left_arm.shoulder_pitch: 0,
-            # cls.left_arm.shoulder_yaw: 0,
-            # cls.left_arm.elbow_pitch: 0,
-            # cls.right_arm.shoulder_pitch: 0,
-            # cls.right_arm.shoulder_yaw: 0,
-            # cls.right_arm.elbow_pitch: 0,
-        }
-
-    @classmethod
-    def default_limits(cls) -> Dict[str, Dict[str, float]]:
-        return {
-            # # left arm
-            # Robot.left_arm.shoulder_pitch: {
-            #     "lower": -1.5707963,
-            #     "upper": 1.5707963,
-            # },
-            # Robot.left_arm.shoulder_yaw: {
-            #     "lower": -1.5707963,
-            #     "upper": 1.5707963,
-            # },
-            # Robot.left_arm.elbow_pitch: {
-            #     "lower": -1.2217305,
-            #     "upper": 1.2217305,
-            # },
-            # # right arm
-            # Robot.right_arm.shoulder_pitch: {
-            #     "lower": -1.5707963,
-            #     "upper": 1.5707963,
-            # },
-            # Robot.right_arm.shoulder_yaw: {
-            #     "lower": -1.5707963,
-            #     "upper": 1.5707963,
-            # },
-            # Robot.right_arm.elbow_pitch: {
-            #     "lower": -1.2217305,
-            #     "upper": 1.2217305,
-            # },
-            # left leg
-            Robot.legs.left.hip_pitch: {
-                "lower": -1.5707963,
-                "upper": 1.5707963,
-            },
-            Robot.legs.left.hip_yaw: {
-                "lower": -1.5707963,
-                "upper": 0.087266463,
-            },
-            Robot.legs.left.hip_roll: {
-                "lower": -0.78539816,
-                "upper": 0.78539816,
-            },
-            Robot.legs.left.knee_pitch: {
-                "lower": 0,
-                "upper": 1.0471976,
-            },
-            Robot.legs.left.ankle_pitch: {
-                "lower": -1.0471976,
-                "upper": 1.0471976,
-            },
-            # right leg
-            Robot.legs.right.hip_pitch: {
-                "lower": -1.5707963,
-                "upper": 1.5707963,
-            },
-            Robot.legs.right.hip_yaw: {
-                "lower": -0.087266463,
-                "upper": 1.5707963,
-            },
-            Robot.legs.right.hip_roll: {
-                "lower": -0.78539816,
-                "upper": 0.78539816,
-            },
-            Robot.legs.right.knee_pitch: {
-                "lower": -1.0471976,
-                "upper": 0,
-            },
-            Robot.legs.right.ankle_pitch: {
-                "lower": -1.0471976,
-                "upper": 1.0471976,
-            },
-        }
-
-    # p_gains
-    @classmethod
-    def stiffness(cls) -> Dict[str, float]:
-        return {
-            "hip_pitch": 5,
-            "hip_yaw": 5,
-            "hip_roll": 5,
-            "knee_pitch": 5,
-            "ankle_pitch": 5,
-            # "shoulder_pitch": 5,
-            # "shoulder_yaw": 5,
-            # "shoulder_roll": 5,
-            # "elbow_pitch": 5,
-            # "elbow_yaw": 5,
-        }
-
-    # d_gains
-    @classmethod
-    def damping(cls) -> Dict[str, float]:
-        return {
-            "hip_pitch": 0.3,
-            "hip_yaw": 0.3,
-            "hip_roll": 0.3,
-            "knee_pitch": 0.3,
-            "ankle_pitch": 0.3,
-            # "shoulder_pitch": 0.3,
-            # "shoulder_yaw": 0.3,
-            # "shoulder_roll": 0.3,
-            # "elbow_pitch": 0.3,
-            # "elbow_yaw": 0.3,
-        }
-
-    # pos_limits
-    @classmethod
-    def effort(cls) -> Dict[str, float]:
-        return {
-            "hip_pitch": 1,
-            "hip_yaw": 1,
-            "hip_roll": 1,
-            "knee_pitch": 1,
-            "ankle_pitch": 1,
-            # "shoulder_pitch": 1,
-            # "shoulder_yaw": 1,
-            # "shoulder_roll": 1,
-            # "elbow_pitch": 1,
-            # "elbow_yaw": 1,
-        }
-
-    # vel_limits
-    @classmethod
-    def velocity(cls) -> Dict[str, float]:
-        return {
-            "hip_pitch": 10,
-            "hip_yaw": 10,
-            "hip_roll": 10,
-            "knee_pitch": 10,
-            "ankle_pitch": 10,
-            # "shoulder_pitch": 10,
-            # "shoulder_yaw": 10,
-            # "shoulder_roll": 10,
-            # "elbow_pitch": 10,
-            # "elbow_yaw": 10,
-        }
-
-    @classmethod
-    def friction(cls) -> Dict[str, float]:
-        return {
-            # pfb30 todo
-            "hip_pitch": 0.05,
-            "hip_yaw": 0.05,
-            "hip_roll": 0.05,
-            "knee_pitch": 0.05,
-            "ankle_pitch": 0.05,
-            # "ankle_pitch": 0.05,
-            # "elbow_yaw": 0.05,
-            # "elbow_pitch": 0.05,
-        }
-
-
-def print_joints() -> None:
-    joints = Robot.all_joints()
-    assert len(joints) == len(set(joints)), "Duplicate joint names found!"
-    print(Robot())
-
-
-if __name__ == "__main__":
-    # python -m sim.Robot.joints
-    print_joints()
diff --git a/sim/resources/stompymicro/robot.urdf b/sim/resources/stompymicro/robot.urdf
deleted file mode 100644
index a75c6b84..00000000
--- a/sim/resources/stompymicro/robot.urdf
+++ /dev/null
@@ -1,501 +0,0 @@
-<?xml version="1.0" ?>
-<robot name="opus">
-  <link name="base">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="0.001"/>
-      <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
-    </inertial>
-  </link>
-  <joint name="floating_base" type="fixed">
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-    <parent link="base"/>
-    <child link="Torso"/>
-  </joint>
-  <link name="Torso">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/Torso.stl"/>
-      </geometry>
-      <material name="Torso_material">
-        <color rgba="0.97254902 0.52941176 0.0039215686 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/Torso.stl"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="1.5697539312"/>
-      <inertia ixx="0.0056060930975062925" iyy="0.0073310764831877725" izz="0.002555258648683461" ixy="5.455941982626269e-06" ixz="-8.678303814394845e-05" iyz="0.00034633637897867406"/>
-      <origin xyz="0.0006379977765356807 0.0037125891477163145 -0.0018039549717621631" rpy="0 0 0"/>
-    </inertial>
-  </link>
-  <joint name="right_shoulder_pitch" type="revolute">
-    <origin xyz="-0.07813646375169968 -0.0003355559182753147 0.04305328991827533" rpy="1.5707963 2.220446049250313e-16 1.5707963"/>
-    <parent link="Torso"/>
-    <child link="shoulder_yaw_right"/>
-    <limit effort="1" velocity="20" lower="-1.5707963" upper="1.5707963"/>
-    <axis xyz="0 0 1"/>
-  </joint>
-  <link name="shoulder_yaw_right">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/shoulder_yaw_right.stl"/>
-      </geometry>
-      <material name="shoulder_yaw_right_material">
-        <color rgba="0.97254902 0.52941176 0.0039215686 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/shoulder_yaw_right.stl"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.040362728"/>
-      <inertia ixx="1.0226821e-05" iyy="2.2303144e-05" izz="2.1988958e-05" ixy="0" ixz="0" iyz="-1.8359103e-06"/>
-      <origin xyz="-0.00037600968 -0.0036566476 -0.017432914" rpy="0 0 0"/>
-    </inertial>
-  </link>
-  <joint name="left_shoulder_pitch" type="revolute">
-    <origin xyz="0.0781635406483003 -0.0003355560817246521 0.04305329008172466" rpy="-1.5707963071795865 0.0 1.5707963000000003"/>
-    <parent link="Torso"/>
-    <child link="shoulder_yaw_left"/>
-    <limit effort="1" velocity="20" lower="-1.5707963" upper="1.5707963"/>
-    <axis xyz="0 0 1"/>
-  </joint>
-  <link name="shoulder_yaw_left">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/shoulder_yaw_left.stl"/>
-      </geometry>
-      <material name="shoulder_yaw_left_material">
-        <color rgba="0.97254902 0.52941176 0.0039215686 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/shoulder_yaw_left.stl"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.040363129"/>
-      <inertia ixx="1.0227007e-05" iyy="2.2303258e-05" izz="2.1989069e-05" ixy="0" ixz="0" iyz="1.8360421e-06"/>
-      <origin xyz="-0.00037590896 0.0036565205 -0.017432695" rpy="0 0 0"/>
-    </inertial>
-  </link>
-  <joint name="right_shoulder_yaw" type="revolute">
-    <origin xyz="-0.018825 -0.01629921 -0.03" rpy="3.1415927 -1.5707963 0"/>
-    <parent link="shoulder_yaw_right"/>
-    <child link="right_shoulder_yaw_motor"/>
-    <limit effort="1" velocity="20" lower="-1.5707963" upper="1.5707963"/>
-    <axis xyz="0 0 -1"/>
-  </joint>
-  <link name="right_shoulder_yaw_motor">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/right_shoulder_yaw_motor.stl"/>
-      </geometry>
-      <material name="right_shoulder_yaw_motor_material">
-        <color rgba="0.4 0.4 0.4 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/right_shoulder_yaw_motor.stl"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.17145988099999998"/>
-      <inertia ixx="0.00013262325307405754" iyy="6.0724117002077606e-05" izz="0.00013875614802904093" ixy="4.288149187392555e-05" ixz="1.8301480028463223e-07" iyz="-3.923791483229383e-07"/>
-      <origin xyz="-0.014954779548987598 0.03207058001285851 0.01810151127113155" rpy="0 0 0"/>
-    </inertial>
-  </link>
-  <joint name="right_hip_pitch" type="revolute">
-    <origin xyz="-0.04563646320240432 -0.00033555485567163604 -0.09694671547403086" rpy="-1.570796353589792 -4.6410206566704915e-08 1.5707963000000003"/>
-    <parent link="Torso"/>
-    <child link="hip_yaw_right"/>
-    <limit effort="1" velocity="20" lower="-1.5707963" upper="1.5707963"/>
-    <axis xyz="0 0 -1"/>
-  </joint>
-  <link name="hip_yaw_right">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/hip_yaw_right.stl"/>
-      </geometry>
-      <material name="hip_yaw_right_material">
-        <color rgba="0.97254902 0.52941176 0.0039215686 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/hip_yaw_right.stl"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.10319577099999999"/>
-      <inertia ixx="4.318575205232385e-05" iyy="3.6230883570948907e-05" izz="3.840805007327843e-05" ixy="-2.9128945888629886e-08" ixz="-6.96211329136451e-08" iyz="3.2487836840400852e-06"/>
-      <origin xyz="-0.007775213144040673 -0.010188892005385952 0.015272495649744542" rpy="0 0 0"/>
-    </inertial>
-  </link>
-  <joint name="left_hip_pitch" type="revolute">
-    <origin xyz="0.04566353964830031 -0.0003355550191209561 -0.09694671547403086" rpy="1.5707963535897942 -4.6410206566704915e-08 1.5707963000000003"/>
-    <parent link="Torso"/>
-    <child link="hip_yaw_left"/>
-    <limit effort="1" velocity="20" lower="-1.5707963" upper="1.5707963"/>
-    <axis xyz="0 0 -1"/>
-  </joint>
-  <link name="hip_yaw_left">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/hip_yaw_left.stl"/>
-      </geometry>
-      <material name="hip_yaw_left_material">
-        <color rgba="0.97254902 0.52941176 0.0039215686 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/hip_yaw_left.stl"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.103201904"/>
-      <inertia ixx="4.31868121602293e-05" iyy="3.623346153388101e-05" izz="3.8409711336322e-05" ixy="2.9558133603560806e-08" ixz="-7.066797363081703e-08" iyz="-3.2490435867892277e-06"/>
-      <origin xyz="-0.007776157110492239 0.010188687432665504 0.015271760814946028" rpy="0 0 0"/>
-    </inertial>
-  </link>
-  <joint name="left_shoulder_yaw" type="revolute">
-    <origin xyz="-0.018825 0.01629921 -0.03" rpy="3.1415927 1.5707963 0"/>
-    <parent link="shoulder_yaw_left"/>
-    <child link="left_shoulder_yaw_motor"/>
-    <limit effort="1" velocity="20" lower="-1.5707963" upper="1.5707963"/>
-    <axis xyz="0 0 1"/>
-  </joint>
-  <link name="left_shoulder_yaw_motor">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/left_shoulder_yaw_motor.stl"/>
-      </geometry>
-      <material name="left_shoulder_yaw_motor_material">
-        <color rgba="0.4 0.4 0.4 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/left_shoulder_yaw_motor.stl"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.171459652"/>
-      <inertia ixx="0.00013262990226591847" iyy="6.071731649741009e-05" izz="0.0001387561460545798" ixy="4.2373954399027645e-05" ixz="1.8300960471168456e-07" iyz="-3.9237987690711426e-07"/>
-      <origin xyz="0.01495475586438801 -0.03207058301892832 -0.018101540546377845" rpy="0 0 0"/>
-    </inertial>
-  </link>
-  <joint name="right_hip_yaw" type="revolute">
-    <origin xyz="-0.02550000162875169 0.0025000011415515153 0.019359999918275368" rpy="9.282041333256968e-08 1.5707963000000005 0.0"/>
-    <parent link="hip_yaw_right"/>
-    <child link="hip_roll_right"/>
-    <limit effort="1" velocity="20" lower="-0.087266463" upper="1.5707963"/>
-    <axis xyz="0 0 1"/>
-  </joint>
-  <link name="hip_roll_right">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/hip_roll_right.stl"/>
-      </geometry>
-      <material name="hip_roll_right_material">
-        <color rgba="0.97254902 0.52941176 0.0039215686 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/hip_roll_right.stl"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.111293388"/>
-      <inertia ixx="6.57187282381467e-05" iyy="3.611810901444388e-05" izz="4.5395675003437e-05" ixy="8.212582995854536e-08" ixz="-2.2471146072130633e-08" iyz="-3.4518887360620174e-06"/>
-      <origin xyz="5.2211227247596255e-05 0.04271834544407224 0.027962543113983985" rpy="0 0 0"/>
-    </inertial>
-  </link>
-  <joint name="left_hip_yaw" type="revolute">
-    <origin xyz="-0.02550000297464769 -0.0025000010000000017 0.01936000008172467" rpy="-3.1415926071795863 -1.5707963 0.0"/>
-    <parent link="hip_yaw_left"/>
-    <child link="hip_roll_left"/>
-    <limit effort="1" velocity="20" lower="-1.5707963" upper="0.087266463"/>
-    <axis xyz="0 0 1"/>
-  </joint>
-  <link name="hip_roll_left">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/hip_roll_left.stl"/>
-      </geometry>
-      <material name="hip_roll_left_material">
-        <color rgba="0.97254902 0.52941176 0.0039215686 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/hip_roll_left.stl"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.111293526"/>
-      <inertia ixx="6.571885628721675e-05" iyy="3.6118218228694584e-05" izz="4.539570186252418e-05" ixy="-8.212631041317914e-08" ixz="2.2471679414859696e-08" iyz="-3.4519619781216844e-06"/>
-      <origin xyz="-5.2212826152564546e-05 0.04271835909112089 0.027962565619545642" rpy="0 0 0"/>
-    </inertial>
-  </link>
-  <joint name="right_elbow_yaw" type="revolute">
-    <origin xyz="-0.03000311610855749 0.06434189253104221 0.00025000101875458525" rpy="8.847213864293657e-08 -1.9613800805728943e-08 0.4363323099999996"/>
-    <parent link="right_shoulder_yaw_motor"/>
-    <child link="Left_Hand"/>
-    <limit effort="1" velocity="20" lower="-1.2217305" upper="1.2217305"/>
-    <axis xyz="0 0 1"/>
-  </joint>
-  <link name="Left_Hand">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/Left_Hand.stl"/>
-      </geometry>
-      <material name="Left_Hand_material">
-        <color rgba="0.97254902 0.52941176 0.0039215686 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/Left_Hand.stl"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.075184887"/>
-      <inertia ixx="5.6585944e-05" iyy="1.4864722e-05" izz="4.710315e-05" ixy="-2.4063655e-06" ixz="0" iyz="0"/>
-      <origin xyz="0.0011184952 0.046132358 0.018254412" rpy="0 0 0"/>
-    </inertial>
-  </link>
-  <joint name="left_elbow_yaw" type="revolute">
-    <origin xyz="0.03000311710160605 -0.06434189183411612 -0.0002500013458960012" rpy="-3.141592607179586 -2.220446049250313e-16 0.43633231000000006"/>
-    <parent link="left_shoulder_yaw_motor"/>
-    <child link="hand_right"/>
-    <limit effort="1" velocity="20" lower="-1.2217305" upper="1.2217305"/>
-    <axis xyz="0 0 1"/>
-  </joint>
-  <link name="hand_right">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/hand_right.stl"/>
-      </geometry>
-      <material name="hand_right_material">
-        <color rgba="0.97254902 0.52941176 0.0039215686 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/hand_right.stl"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.075183656"/>
-      <inertia ixx="5.6585045e-05" iyy="1.4864063e-05" izz="4.7102936e-05" ixy="2.4062028e-06" ixz="0" iyz="0"/>
-      <origin xyz="-0.0011185716 0.046132566 0.018254616" rpy="0 0 0"/>
-    </inertial>
-  </link>
-  <joint name="right_hip_roll" type="revolute">
-    <origin xyz="0.0 0.06776001387753285 0.015000000939161373" rpy="1.5707963999999996 0.0 0.0"/>
-    <parent link="hip_roll_right"/>
-    <child link="knee_pitch_right"/>
-    <limit effort="1" velocity="20" lower="-0.78539816" upper="0.78539816"/>
-    <axis xyz="0 0 1"/>
-  </joint>
-  <link name="knee_pitch_right">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/knee_pitch_right.stl"/>
-      </geometry>
-      <material name="knee_pitch_right_material">
-        <color rgba="0.97254902 0.52941176 0.0039215686 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/knee_pitch_right.stl"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.11061241299999999"/>
-      <inertia ixx="6.256455107906355e-05" iyy="6.848300154382249e-05" izz="2.7272974458875817e-05" ixy="-1.7202857813824897e-07" ixz="6.756595730316172e-07" iyz="6.994109024317401e-06"/>
-      <origin xyz="0.0007189519537218518 -0.0023746643916922137 -0.021913106490424647" rpy="0 0 0"/>
-    </inertial>
-  </link>
-  <joint name="left_hip_roll" type="revolute">
-    <origin xyz="0.0 0.06776001212246713 0.014999999060838654" rpy="1.5707963 0.0 0.0"/>
-    <parent link="hip_roll_left"/>
-    <child link="knee_pitch_right_2"/>
-    <limit effort="1" velocity="20" lower="-0.78539816" upper="0.78539816"/>
-    <axis xyz="0 0 1"/>
-  </joint>
-  <link name="knee_pitch_right_2">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/knee_pitch_right_2.stl"/>
-      </geometry>
-      <material name="knee_pitch_right_material_2">
-        <color rgba="0.97254902 0.52941176 0.0039215686 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/knee_pitch_right_2.stl"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.11061241299999999"/>
-      <inertia ixx="6.811358369755594e-05" iyy="7.403582703586009e-05" izz="2.7276767279426143e-05" ixy="1.8563071717604188e-07" ixz="-8.248656959451613e-07" iyz="7.656982124567568e-06"/>
-      <origin xyz="-0.0006438206184322414 -0.0023746644421732206 -0.024438821233669406" rpy="0 0 0"/>
-    </inertial>
-  </link>
-  <joint name="right_knee_pitch" type="revolute">
-    <origin xyz="0.01882501239711481 -9.39161338975314e-10 -0.04221000153916135" rpy="-1.5707963 0.0 1.5707963"/>
-    <parent link="knee_pitch_right"/>
-    <child link="ankle_pitch_right"/>
-    <limit effort="1" velocity="20" lower="-1.0471976" upper="1.0471976"/>
-    <axis xyz="0 0 1"/>
-  </joint>
-  <link name="ankle_pitch_right">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/ankle_pitch_right.stl"/>
-      </geometry>
-      <material name="ankle_pitch_right_material">
-        <color rgba="0.97254902 0.52941176 0.0039215686 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/ankle_pitch_right.stl"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.109625116"/>
-      <inertia ixx="5.751366326764494e-05" iyy="2.786435696863557e-05" izz="4.601315056057759e-05" ixy="2.781681647488596e-09" ixz="-2.535829062531046e-11" iyz="1.4671593859070324e-07"/>
-      <origin xyz="-5.290268857115649e-07 0.04092239693101483 0.017864163896558594" rpy="0 0 0"/>
-    </inertial>
-  </link>
-  <joint name="left_knee_pitch" type="revolute">
-    <origin xyz="-0.018775013847819433 9.3916133203642e-10 -0.04596000193916135" rpy="-1.5707963071795865 0.0 1.5707963000000003"/>
-    <parent link="knee_pitch_right_2"/>
-    <child link="ankle_pitch_left"/>
-    <limit effort="1" velocity="20" lower="-1.0471976" upper="1.0471976"/>
-    <axis xyz="0 0 -1"/>
-  </joint>
-  <link name="ankle_pitch_left">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/ankle_pitch_left.stl"/>
-      </geometry>
-      <material name="ankle_pitch_left_material">
-        <color rgba="0.97254902 0.52941176 0.0039215686 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/ankle_pitch_left.stl"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.109625115"/>
-      <inertia ixx="5.332419486756842e-05" iyy="2.7987836076502866e-05" izz="4.170020090666129e-05" ixy="3.0260808403941346e-10" ixz="-3.119719583279756e-11" iyz="1.212609004459173e-06"/>
-      <origin xyz="2.1519678784208124e-06 0.03837394107872274 -0.01957899760073858" rpy="0 0 0"/>
-    </inertial>
-  </link>
-  <joint name="right_ankle_pitch" type="revolute">
-    <origin xyz="0.0 0.060220001 -1.3000000000096268e-08" rpy="-3.1415926071795863 0.0 0.0"/>
-    <parent link="ankle_pitch_right"/>
-    <child link="foot_right"/>
-    <limit effort="1" velocity="20" lower="-1.0471976" upper="1.0471976"/>
-    <axis xyz="0 0 -1"/>
-  </joint>
-  <link name="foot_right">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/foot_right.stl"/>
-      </geometry>
-      <material name="foot_right_material">
-        <color rgba="0.97254902 0.52941176 0.0039215686 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/foot_right.stl"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.040622158"/>
-      <inertia ixx="1.3644671e-05" iyy="3.7817973e-05" izz="2.8893973e-05" ixy="-1.0762297e-06" ixz="0" iyz="0"/>
-      <origin xyz="-0.0077822731 -0.016191375 -0.017831949" rpy="0 0 0"/>
-    </inertial>
-  </link>
-  <joint name="left_ankle_pitch" type="revolute">
-    <origin xyz="1.3458959276929638e-09 0.05646999986991183 -0.0004500036541040392" rpy="-3.1415926071795863 2.220446049250313e-15 -9.282041313340983e-08"/>
-    <parent link="ankle_pitch_left"/>
-    <child link="foot_left"/>
-    <limit effort="1" velocity="20" lower="-1.0471976" upper="1.0471976"/>
-    <axis xyz="0 0 1"/>
-  </joint>
-  <link name="foot_left">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/foot_left.stl"/>
-      </geometry>
-      <material name="foot_left_material">
-        <color rgba="0.97254902 0.52941176 0.0039215686 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/foot_left.stl"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.04062216"/>
-      <inertia ixx="1.3644672e-05" iyy="3.7817974e-05" izz="2.8893973e-05" ixy="-1.0762295e-06" ixz="0" iyz="0"/>
-      <origin xyz="-0.0077822737 -0.016191375 0.01783195" rpy="0 0 0"/>
-    </inertial>
-  </link>
-</robot>
\ No newline at end of file
diff --git a/sim/resources/stompymicro/robot_calibration.xml b/sim/resources/stompymicro/robot_calibration.xml
deleted file mode 100644
index 199afdbf..00000000
--- a/sim/resources/stompymicro/robot_calibration.xml
+++ /dev/null
@@ -1,181 +0,0 @@
-<mujoco model="torso">
-  <compiler angle="radian" meshdir="meshes" eulerseq="zyx" autolimits="true"/>
-  <default>
-    <joint limited="true" damping="0.01" armature="0.01" frictionloss="0.01"/>
-    <geom condim="4" contype="1" conaffinity="15" friction="0.9 0.2 0.2" solref="0.001 2"/>
-    <motor ctrllimited="true"/>
-    <equality solref="0.001 2"/>
-    <default class="visualgeom">
-      <geom material="visualgeom" condim="1" contype="0" conaffinity="0"/>
-    </default>
-  </default>
-  <option iterations="50" timestep="0.001" solver="PGS" gravity="0 0 -9.81"/>
-  <asset>
-    <mesh name="Base_Motor_Mount_List_cGDi0X0HPtm1lf=Default" file="Base_Motor_Mount_List_cGDi0X0HPtm1lf=Default.stl"/>
-    <mesh name="DRIVING_ROTOR_PLATE" file="DRIVING_ROTOR_PLATE.stl"/>
-    <mesh name="DRIVING_ROTOR_PLATE_2" file="DRIVING_ROTOR_PLATE_2.stl"/>
-    <mesh name="DRIVING_ROTOR_PLATE_3" file="DRIVING_ROTOR_PLATE_3.stl"/>
-    <mesh name="DRIVING_ROTOR_PLATE_4" file="DRIVING_ROTOR_PLATE_4.stl"/>
-    <mesh name="DRIVING_ROTOR_PLATE_5" file="DRIVING_ROTOR_PLATE_5.stl"/>
-    <mesh name="DRIVING_ROTOR_PLATE_6" file="DRIVING_ROTOR_PLATE_6.stl"/>
-    <mesh name="LX-16A" file="LX-16A.stl"/>
-    <mesh name="LX-16A_2" file="LX-16A_2.stl"/>
-    <mesh name="DRIVING_ROTOR_PLATE_7" file="DRIVING_ROTOR_PLATE_7.stl"/>
-    <mesh name="DRIVING_ROTOR_PLATE_8" file="DRIVING_ROTOR_PLATE_8.stl"/>
-    <mesh name="DRIVING_ROTOR_PLATE_9" file="DRIVING_ROTOR_PLATE_9.stl"/>
-    <mesh name="DRIVING_ROTOR_PLATE_10" file="DRIVING_ROTOR_PLATE_10.stl"/>
-    <mesh name="DRIVING_ROTOR_PLATE_11" file="DRIVING_ROTOR_PLATE_11.stl"/>
-    <mesh name="DRIVING_ROTOR_PLATE_12" file="DRIVING_ROTOR_PLATE_12.stl"/>
-    <mesh name="DRIVING_ROTOR_PLATE_13" file="DRIVING_ROTOR_PLATE_13.stl"/>
-    <mesh name="DRIVING_ROTOR_PLATE_14" file="DRIVING_ROTOR_PLATE_14.stl"/>
-    <texture name="texplane" type="2d" builtin="checker" rgb1=".0 .0 .0" rgb2=".8 .8 .8" width="100" height="108"/>
-    <material name="matplane" reflectance="0." texture="texplane" texrepeat="1 1" texuniform="true"/>
-    <material name="visualgeom" rgba="0.5 0.9 0.2 1"/>
-
-  </asset>
-
-  <worldbody>
-    <geom name="ground" type="plane" pos="0.001 0 0" quat="1 0 0 0" material="matplane" condim="1" conaffinity="15" size="0 0 1"/>
-    <light directional="true" diffuse="0.6 0.6 0.6" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1"/>
-    <light directional="true" diffuse="0.4 0.4 0.4" specular="0.1 0.1 0.1" pos="0 0 5.0" dir="0 0 -1" castshadow="false"/>
-
-    <body name="torso" pos="0 0 0.2" quat="0.0 0.0 0 1">
-      <!-- <joint type="free" name="root_joint"/> -->
-
-      <geom type="mesh" mesh="Base_Motor_Mount_List_cGDi0X0HPtm1lf=Default" class="visualgeom"/>
-      <geom type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="Base_Motor_Mount_List_cGDi0X0HPtm1lf=Default" contype="0" conaffinity="0" group="1" density="0"/>
-      <geom pos="0.0713138 -0.0234828 0.108127" quat="0 -0.707107 0 -0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="DRIVING_ROTOR_PLATE_3" class="visualgeom"/>
-      <geom pos="0.0713138 -0.0234828 0.108127" quat="0 -0.707107 0 -0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="DRIVING_ROTOR_PLATE_3" contype="0" conaffinity="0" group="1" density="0"/>
-      <geom pos="0.100707 -0.0398328 0.0898537" quat="-0.707107 -0.707107 0 0" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="LX-16A" class="visualgeom"/>
-      <geom pos="0.100707 -0.0398328 0.0898537" quat="-0.707107 -0.707107 0 0" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="LX-16A" contype="0" conaffinity="0" group="1" density="0"/>
-
-      <geom pos="0.100707 -0.0398328 0.0196537" quat="-4.80472e-09 -4.80472e-09 -0.707107 0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="DRIVING_ROTOR_PLATE_7" class="visualgeom"/>
-      <geom pos="0.100707 -0.0398328 0.0196537" quat="-4.80472e-09 -4.80472e-09 -0.707107 0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="DRIVING_ROTOR_PLATE_7" contype="0" conaffinity="0" group="1" density="0"/>
-      <geom pos="-0.0713138 -0.0234828 0.108127" quat="0 -0.707107 0 0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="DRIVING_ROTOR_PLATE_4" class="visualgeom"/>
-      <geom pos="-0.0713138 -0.0234828 0.108127" quat="0 -0.707107 0 0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="DRIVING_ROTOR_PLATE_4" contype="0" conaffinity="0" group="1" density="0"/>
-      <geom pos="-0.100707 -0.0384328 0.0898537" quat="-0.707107 -0.707107 0 0" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="LX-16A_2" class="visualgeom"/>
-      <geom pos="-0.100707 -0.0384328 0.0898537" quat="-0.707107 -0.707107 0 0" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="LX-16A_2" contype="0" conaffinity="0" group="1" density="0"/>
-      <geom pos="-0.100707 -0.0384328 0.0196537" quat="-1.64085e-08 -1.64085e-08 0.707107 -0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="DRIVING_ROTOR_PLATE_8"/>
-      <geom pos="-0.100707 -0.0384328 0.0196537" quat="-1.64085e-08 -1.64085e-08 0.707107 -0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="DRIVING_ROTOR_PLATE_8" contype="0" conaffinity="0" group="1" density="0"/>
-      <site name="imu" size="0.01" pos="0 0 0"/>
-      <body name="DRIVING_ROTOR_PLATE" pos="0.0413138 -0.0234828 -0.00437283" quat="1.64085e-08 -0.707107 -1.64085e-08 -0.707107">
-        <inertial pos="0.00739899 0.000707591 0.0199583" quat="0.575948 0.426026 0.459929 0.524643" mass="0.0679127" diaginertia="2.06887e-05 1.87407e-05 1.38506e-05"/>
-        <joint name="left_hip_pitch" pos="0 0 0" axis="0 0 -1" range="-1.5708 1.5708" actuatorfrcrange="-1 1"/>
-        <geom type="mesh" mesh="DRIVING_ROTOR_PLATE" class="visualgeom"/>
-        <geom type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="DRIVING_ROTOR_PLATE" contype="0" conaffinity="0" group="1" density="0"/>
-        <body name="DRIVING_ROTOR_PLATE_5" pos="-0.0074 0.01695 0.02285" quat="0.5 -0.5 0.5 0.5">
-          <inertial pos="-1.51786e-06 0.0320531 -0.0325003" quat="0.706299 0.707914 -9.78407e-05 0.000106782" mass="0.19606" diaginertia="8.94807e-05 6.54785e-05 5.49377e-05"/>
-          <joint name="left_hip_yaw" pos="0 0 0" axis="0 0 -1" range="-1.5708 0.0872665" actuatorfrcrange="-1 1"/>
-          <geom type="mesh" mesh="DRIVING_ROTOR_PLATE_5" class="visualgeom"/>
-          <geom type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="DRIVING_ROTOR_PLATE_5" contype="0" conaffinity="0" group="1" density="0"/>
-          <body name="DRIVING_ROTOR_PLATE_9" pos="-2.44814e-09 0.05275 -0.007" quat="1.64085e-08 1.64085e-08 -0.707107 -0.707107">
-            <inertial pos="-0.000259815 8.18298e-06 0.0247536" quat="0.707123 0.000568123 7.48082e-05 0.707091" mass="0.0598571" diaginertia="2.09913e-05 1.82322e-05 8.4096e-06"/>
-            <joint name="left_hip_roll" pos="0 0 0" axis="0 0 -1" range="-0.523599 0.523599" actuatorfrcrange="-1 1"/>
-            <geom type="mesh" mesh="DRIVING_ROTOR_PLATE_9"  class="visualgeom"/>
-            <geom type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="DRIVING_ROTOR_PLATE_9" contype="0" conaffinity="0" group="1" density="0"/>
-            <body name="DRIVING_ROTOR_PLATE_11" pos="-0.0162309 1.02299e-09 0.0417" quat="0.5 0.5 -0.5 -0.5">
-              <inertial pos="1.53986e-05 0.0349186 -0.0157451" quat="0.730936 0.682446 0.000438709 0.000357984" mass="0.0704091" diaginertia="3.03594e-05 2.47989e-05 1.35071e-05"/>
-              <joint name="left_knee_pitch" pos="0 0 0" axis="0 0 -1" range="-1.5708 1.5708" actuatorfrcrange="-1 1"/>
-              <geom type="mesh" mesh="DRIVING_ROTOR_PLATE_11" class="visualgeom"/>
-              <geom type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="DRIVING_ROTOR_PLATE_11" contype="0" conaffinity="0" group="1" density="0"/>
-              <body name="DRIVING_ROTOR_PLATE_13" pos="-1.20434e-09 0.0552 -0.000319124" quat="1 0 0 0">
-                <inertial pos="-0.003644 0.0159002 -0.0152307" quat="0.500833 0.501995 0.497696 0.499466" mass="0.0450745" diaginertia="4.03647e-05 2.90427e-05 1.60029e-05"/>
-                <joint name="left_ankle_pitch" pos="0 0 0" axis="0 0 -1" range="-1.5708 1.5708" actuatorfrcrange="-1 1"/>
-                <geom type="mesh" mesh="DRIVING_ROTOR_PLATE_13" class="visualgeom"/>
-                <geom type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="DRIVING_ROTOR_PLATE_13"/>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-      <body name="DRIVING_ROTOR_PLATE_2" pos="-0.0413138 -0.0234828 -0.00437283" quat="2.58819e-08 -0.707107 2.58819e-08 0.707107">
-        <inertial pos="-0.00739212 0.000326566 0.0199574" quat="0.451732 0.537528 0.56406 0.434555" mass="0.0678925" diaginertia="2.06635e-05 1.87261e-05 1.38335e-05"/>
-        <joint name="right_hip_pitch" pos="0 0 0" axis="0 0 -1" range="-1.5708 1.5708" actuatorfrcrange="-1 1"/>
-        <geom type="mesh" mesh="DRIVING_ROTOR_PLATE_2" class="visualgeom"/>
-        <geom type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="DRIVING_ROTOR_PLATE_2" contype="0" conaffinity="0" group="1" density="0"/>
-        <body name="DRIVING_ROTOR_PLATE_6" pos="0.0074 0.01645 0.02285" quat="0.5 -0.5 -0.5 -0.5">
-          <inertial pos="-1.51786e-06 0.0320531 -0.0325003" quat="0.706299 0.707914 -9.78407e-05 0.000106782" mass="0.19606" diaginertia="8.94807e-05 6.54785e-05 5.49377e-05"/>
-          <joint name="right_hip_yaw" pos="0 0 0" axis="0 0 -1" range="-0.0872665 1.5708" actuatorfrcrange="-1 1"/>
-          <geom type="mesh" mesh="DRIVING_ROTOR_PLATE_6" class="visualgeom"/>
-          <geom type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="DRIVING_ROTOR_PLATE_6" contype="0" conaffinity="0" group="1" density="0"/>
-          <body name="DRIVING_ROTOR_PLATE_10" pos="-2.44814e-09 0.05275 -0.007" quat="1.64085e-08 1.64085e-08 -0.707107 -0.707107">
-            <inertial pos="0.000259815 -8.18299e-06 0.0247536" quat="0.707123 -0.000568123 -7.48082e-05 0.707091" mass="0.0598571" diaginertia="2.09913e-05 1.82322e-05 8.4096e-06"/>
-            <joint name="right_hip_roll" pos="0 0 0" axis="0 0 -1" range="-0.523599 0.523599" actuatorfrcrange="-1 1"/>
-            <geom type="mesh" mesh="DRIVING_ROTOR_PLATE_10" class="visualgeom"/>
-            <geom type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="DRIVING_ROTOR_PLATE_10" contype="0" conaffinity="0" group="1" density="0"/>
-            <body name="DRIVING_ROTOR_PLATE_12" pos="0.0162309 -1.77627e-09 0.0417" quat="0.5 0.5 0.5 0.5">
-              <inertial pos="1.53986e-05 0.0349186 -0.0157451" quat="0.730936 0.682446 0.000438709 0.000357984" mass="0.0704091" diaginertia="3.03594e-05 2.47989e-05 1.35071e-05"/>
-              <joint name="right_knee_pitch" pos="0 0 0" axis="0 0 -1" range="-1.5708 1.5708" actuatorfrcrange="-1 1"/>
-              <geom type="mesh" mesh="DRIVING_ROTOR_PLATE_12" class="visualgeom"/>
-              <geom type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="DRIVING_ROTOR_PLATE_12" contype="0" conaffinity="0" group="1" density="0"/>
-              <body name="DRIVING_ROTOR_PLATE_14" pos="-1.20434e-09 0.0552 -0.000319124" quat="1 0 0 0">
-                <inertial pos="0.00362763 0.0158996 -0.0152306" quat="0.4977 0.499471 0.500827 0.501992" mass="0.0450552" diaginertia="4.03232e-05 2.90112e-05 1.59929e-05"/>
-                <joint name="right_ankle_pitch" pos="0 0 0" axis="0 0 -1" range="-1.5708 1.5708" actuatorfrcrange="-1 1"/>
-                <geom type="mesh" mesh="DRIVING_ROTOR_PLATE_14" class="visualgeom"/>
-                <geom type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="DRIVING_ROTOR_PLATE_14"/>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-  <sensor>
-    <actuatorpos name="left_hip_pitch_p" actuator="left_hip_pitch_motor" user="13"/>
-    <actuatorpos name="right_hip_pitch_p" actuator="right_hip_pitch_motor" user="13"/>
-    <actuatorpos name="left_hip_yaw_p" actuator="left_hip_yaw_motor" user="13"/>
-    <actuatorpos name="right_hip_yaw_p" actuator="right_hip_yaw_motor" user="13"/>
-    <actuatorpos name="left_hip_roll_p" actuator="left_hip_roll_motor" user="13"/>
-    <actuatorpos name="right_hip_roll_p" actuator="right_hip_roll_motor" user="13"/>
-    <actuatorpos name="left_knee_pitch_p" actuator="left_knee_pitch_motor" user="13"/>
-    <actuatorpos name="right_knee_pitch_p" actuator="right_knee_pitch_motor" user="13"/>
-    <actuatorpos name="left_ankle_pitch_p" actuator="left_ankle_pitch_motor" user="13"/>
-    <actuatorpos name="right_ankle_pitch_p" actuator="right_ankle_pitch_motor" user="13"/>
-
-    <!-- Actuator Velocity Sensors -->
-    <actuatorvel name="left_hip_pitch_v" actuator="left_hip_pitch_motor" user="13"/>
-    <actuatorvel name="right_hip_pitch_v" actuator="right_hip_pitch_motor" user="13"/>
-    <actuatorvel name="left_hip_yaw_v" actuator="left_hip_yaw_motor" user="13"/>
-    <actuatorvel name="right_hip_yaw_v" actuator="right_hip_yaw_motor" user="13"/>
-    <actuatorvel name="left_hip_roll_v" actuator="left_hip_roll_motor" user="13"/>
-    <actuatorvel name="right_hip_roll_v" actuator="right_hip_roll_motor" user="13"/>
-    <actuatorvel name="left_knee_pitch_v" actuator="left_knee_pitch_motor" user="13"/>
-    <actuatorvel name="right_knee_pitch_v" actuator="right_knee_pitch_motor" user="13"/>
-    <actuatorvel name="left_ankle_pitch_v" actuator="left_ankle_pitch_motor" user="13"/>
-    <actuatorvel name="right_ankle_pitch_v" actuator="right_ankle_pitch_motor" user="13"/>
-
-    <!-- Actuator Force Sensors -->
-    <actuatorfrc name="left_hip_pitch_f" actuator="left_hip_pitch_motor" user="13" noise="0.001"/>
-    <actuatorfrc name="right_hip_pitch_f" actuator="right_hip_pitch_motor" user="13" noise="0.001"/>
-    <actuatorfrc name="left_hip_yaw_f" actuator="left_hip_yaw_motor" user="13" noise="0.001"/>
-    <actuatorfrc name="right_hip_yaw_f" actuator="right_hip_yaw_motor" user="13" noise="0.001"/>
-    <actuatorfrc name="left_hip_roll_f" actuator="left_hip_roll_motor" user="13" noise="0.001"/>
-    <actuatorfrc name="right_hip_roll_f" actuator="right_hip_roll_motor" user="13" noise="0.001"/>
-    <actuatorfrc name="left_knee_pitch_f" actuator="left_knee_pitch_motor" user="13" noise="0.001"/>
-    <actuatorfrc name="right_knee_pitch_f" actuator="right_knee_pitch_motor" user="13" noise="0.001"/>
-    <actuatorfrc name="left_ankle_pitch_f" actuator="left_ankle_pitch_motor" user="13" noise="0.001"/>
-    <actuatorfrc name="right_ankle_pitch_f" actuator="right_ankle_pitch_motor" user="13" noise="0.001"/>
-
-    <!-- Attach sensors to the torso body -->
-    <framequat name="orientation" objtype="site" noise="0.001" objname="imu"/>
-    <gyro name="angular-velocity" site="imu" noise="0.005" cutoff="34.9"/>
-  </sensor>
-
-  <actuator>
-    <motor name="left_hip_pitch_motor" joint="left_hip_pitch" ctrlrange="-100 100"/>
-    <motor name="right_hip_pitch_motor" joint="right_hip_pitch" ctrlrange="-100 100"/>
-    <motor name="left_hip_yaw_motor" joint="left_hip_yaw" ctrlrange="-100 100"/>
-    <motor name="right_hip_yaw_motor" joint="right_hip_yaw" ctrlrange="-100 100"/>
-    <motor name="left_hip_roll_motor" joint="left_hip_roll" ctrlrange="-100 100"/>
-    <motor name="right_hip_roll_motor" joint="right_hip_roll" ctrlrange="-100 100"/>
-    <motor name="left_knee_pitch_motor" joint="left_knee_pitch" ctrlrange="-100 100"/>
-    <motor name="right_knee_pitch_motor" joint="right_knee_pitch" ctrlrange="-100 100"/>
-    <motor name="left_ankle_pitch_motor" joint="left_ankle_pitch" ctrlrange="-100 100"/>
-    <motor name="right_ankle_pitch_motor" joint="right_ankle_pitch" ctrlrange="-100 100"/>
-  </actuator>
-
-  <keyframe>
-    <key name="default" qpos="0 0 0 0 0 0 0 0 0 0"/>
-</keyframe>
-
-</mujoco>
diff --git a/sim/resources/stompymicro/robot_fixed.urdf b/sim/resources/stompymicro/robot_fixed.urdf
deleted file mode 100644
index b4fc9eb5..00000000
--- a/sim/resources/stompymicro/robot_fixed.urdf
+++ /dev/null
@@ -1,500 +0,0 @@
-<robot name="opus">
-  <link name="base">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0" />
-      <mass value="0.001" />
-      <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001" />
-    </inertial>
-  </link>
-  <joint name="floating_base" type="fixed">
-    <origin rpy="0 0 0" xyz="0 0 0" />
-    <parent link="base" />
-    <child link="Torso" />
-  </joint>
-  <link name="Torso">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/Torso.stl" />
-      </geometry>
-      <material name="Torso_material">
-        <color rgba="0.97254902 0.52941176 0.0039215686 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/Torso.stl" />
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="1.5697539312" />
-      <inertia ixx="0.0056060930975062925" iyy="0.0073310764831877725" izz="0.002555258648683461" ixy="5.455941982626269e-06" ixz="-8.678303814394845e-05" iyz="0.00034633637897867406" />
-      <origin xyz="0.0006379977765356807 0.0037125891477163145 -0.0018039549717621631" rpy="0 0 0" />
-    </inertial>
-  </link>
-  <joint name="right_shoulder_pitch" type="fixed">
-    <origin xyz="-0.07813646375169968 -0.0003355559182753147 0.04305328991827533" rpy="1.5707963 2.220446049250313e-16 1.5707963" />
-    <parent link="Torso" />
-    <child link="shoulder_yaw_right" />
-    <limit effort="1" velocity="20" lower="-1.5707963" upper="1.5707963" />
-    <axis xyz="0 0 1" />
-  </joint>
-  <link name="shoulder_yaw_right">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/shoulder_yaw_right.stl" />
-      </geometry>
-      <material name="shoulder_yaw_right_material">
-        <color rgba="0.97254902 0.52941176 0.0039215686 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/shoulder_yaw_right.stl" />
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.040362728" />
-      <inertia ixx="1.0226821e-05" iyy="2.2303144e-05" izz="2.1988958e-05" ixy="0" ixz="0" iyz="-1.8359103e-06" />
-      <origin xyz="-0.00037600968 -0.0036566476 -0.017432914" rpy="0 0 0" />
-    </inertial>
-  </link>
-  <joint name="left_shoulder_pitch" type="fixed">
-    <origin xyz="0.0781635406483003 -0.0003355560817246521 0.04305329008172466" rpy="-1.5707963071795865 0.0 1.5707963000000003" />
-    <parent link="Torso" />
-    <child link="shoulder_yaw_left" />
-    <limit effort="1" velocity="20" lower="-1.5707963" upper="1.5707963" />
-    <axis xyz="0 0 1" />
-  </joint>
-  <link name="shoulder_yaw_left">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/shoulder_yaw_left.stl" />
-      </geometry>
-      <material name="shoulder_yaw_left_material">
-        <color rgba="0.97254902 0.52941176 0.0039215686 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/shoulder_yaw_left.stl" />
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.040363129" />
-      <inertia ixx="1.0227007e-05" iyy="2.2303258e-05" izz="2.1989069e-05" ixy="0" ixz="0" iyz="1.8360421e-06" />
-      <origin xyz="-0.00037590896 0.0036565205 -0.017432695" rpy="0 0 0" />
-    </inertial>
-  </link>
-  <joint name="right_shoulder_yaw" type="fixed">
-    <origin xyz="-0.018825 -0.01629921 -0.03" rpy="3.1415927 -1.5707963 0" />
-    <parent link="shoulder_yaw_right" />
-    <child link="right_shoulder_yaw_motor" />
-    <limit effort="1" velocity="20" lower="-1.5707963" upper="1.5707963" />
-    <axis xyz="0 0 -1" />
-  </joint>
-  <link name="right_shoulder_yaw_motor">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/right_shoulder_yaw_motor.stl" />
-      </geometry>
-      <material name="right_shoulder_yaw_motor_material">
-        <color rgba="0.4 0.4 0.4 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/right_shoulder_yaw_motor.stl" />
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.17145988099999998" />
-      <inertia ixx="0.00013262325307405754" iyy="6.0724117002077606e-05" izz="0.00013875614802904093" ixy="4.288149187392555e-05" ixz="1.8301480028463223e-07" iyz="-3.923791483229383e-07" />
-      <origin xyz="-0.014954779548987598 0.03207058001285851 0.01810151127113155" rpy="0 0 0" />
-    </inertial>
-  </link>
-  <joint name="right_hip_pitch" type="revolute">
-    <origin xyz="-0.04563646320240432 -0.00033555485567163604 -0.09694671547403086" rpy="-1.570796353589792 -4.6410206566704915e-08 1.5707963000000003" />
-    <parent link="Torso" />
-    <child link="hip_yaw_right" />
-    <limit effort="1" velocity="10" lower="-1.5707963" upper="1.5707963" />
-    <axis xyz="0 0 -1" />
-  </joint>
-  <link name="hip_yaw_right">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/hip_yaw_right.stl" />
-      </geometry>
-      <material name="hip_yaw_right_material">
-        <color rgba="0.97254902 0.52941176 0.0039215686 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/hip_yaw_right.stl" />
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.10319577099999999" />
-      <inertia ixx="4.318575205232385e-05" iyy="3.6230883570948907e-05" izz="3.840805007327843e-05" ixy="-2.9128945888629886e-08" ixz="-6.96211329136451e-08" iyz="3.2487836840400852e-06" />
-      <origin xyz="-0.007775213144040673 -0.010188892005385952 0.015272495649744542" rpy="0 0 0" />
-    </inertial>
-  </link>
-  <joint name="left_hip_pitch" type="revolute">
-    <origin xyz="0.04566353964830031 -0.0003355550191209561 -0.09694671547403086" rpy="1.5707963535897942 -4.6410206566704915e-08 1.5707963000000003" />
-    <parent link="Torso" />
-    <child link="hip_yaw_left" />
-    <limit effort="1" velocity="10" lower="-1.5707963" upper="1.5707963" />
-    <axis xyz="0 0 -1" />
-  </joint>
-  <link name="hip_yaw_left">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/hip_yaw_left.stl" />
-      </geometry>
-      <material name="hip_yaw_left_material">
-        <color rgba="0.97254902 0.52941176 0.0039215686 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/hip_yaw_left.stl" />
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.103201904" />
-      <inertia ixx="4.31868121602293e-05" iyy="3.623346153388101e-05" izz="3.8409711336322e-05" ixy="2.9558133603560806e-08" ixz="-7.066797363081703e-08" iyz="-3.2490435867892277e-06" />
-      <origin xyz="-0.007776157110492239 0.010188687432665504 0.015271760814946028" rpy="0 0 0" />
-    </inertial>
-  </link>
-  <joint name="left_shoulder_yaw" type="fixed">
-    <origin xyz="-0.018825 0.01629921 -0.03" rpy="3.1415927 1.5707963 0" />
-    <parent link="shoulder_yaw_left" />
-    <child link="left_shoulder_yaw_motor" />
-    <limit effort="1" velocity="20" lower="-1.5707963" upper="1.5707963" />
-    <axis xyz="0 0 1" />
-  </joint>
-  <link name="left_shoulder_yaw_motor">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/left_shoulder_yaw_motor.stl" />
-      </geometry>
-      <material name="left_shoulder_yaw_motor_material">
-        <color rgba="0.4 0.4 0.4 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/left_shoulder_yaw_motor.stl" />
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.171459652" />
-      <inertia ixx="0.00013262990226591847" iyy="6.071731649741009e-05" izz="0.0001387561460545798" ixy="4.2373954399027645e-05" ixz="1.8300960471168456e-07" iyz="-3.9237987690711426e-07" />
-      <origin xyz="0.01495475586438801 -0.03207058301892832 -0.018101540546377845" rpy="0 0 0" />
-    </inertial>
-  </link>
-  <joint name="right_hip_yaw" type="revolute">
-    <origin xyz="-0.02550000162875169 0.0025000011415515153 0.019359999918275368" rpy="9.282041333256968e-08 1.5707963000000005 0.0" />
-    <parent link="hip_yaw_right" />
-    <child link="hip_roll_right" />
-    <limit effort="1" velocity="10" lower="-0.087266463" upper="1.5707963" />
-    <axis xyz="0 0 1" />
-  </joint>
-  <link name="hip_roll_right">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/hip_roll_right.stl" />
-      </geometry>
-      <material name="hip_roll_right_material">
-        <color rgba="0.97254902 0.52941176 0.0039215686 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/hip_roll_right.stl" />
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.111293388" />
-      <inertia ixx="6.57187282381467e-05" iyy="3.611810901444388e-05" izz="4.5395675003437e-05" ixy="8.212582995854536e-08" ixz="-2.2471146072130633e-08" iyz="-3.4518887360620174e-06" />
-      <origin xyz="5.2211227247596255e-05 0.04271834544407224 0.027962543113983985" rpy="0 0 0" />
-    </inertial>
-  </link>
-  <joint name="left_hip_yaw" type="revolute">
-    <origin xyz="-0.02550000297464769 -0.0025000010000000017 0.01936000008172467" rpy="-3.1415926071795863 -1.5707963 0.0" />
-    <parent link="hip_yaw_left" />
-    <child link="hip_roll_left" />
-    <limit effort="1" velocity="10" lower="-1.5707963" upper="0.087266463" />
-    <axis xyz="0 0 1" />
-  </joint>
-  <link name="hip_roll_left">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/hip_roll_left.stl" />
-      </geometry>
-      <material name="hip_roll_left_material">
-        <color rgba="0.97254902 0.52941176 0.0039215686 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/hip_roll_left.stl" />
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.111293526" />
-      <inertia ixx="6.571885628721675e-05" iyy="3.6118218228694584e-05" izz="4.539570186252418e-05" ixy="-8.212631041317914e-08" ixz="2.2471679414859696e-08" iyz="-3.4519619781216844e-06" />
-      <origin xyz="-5.2212826152564546e-05 0.04271835909112089 0.027962565619545642" rpy="0 0 0" />
-    </inertial>
-  </link>
-  <joint name="right_elbow_yaw" type="fixed">
-    <origin xyz="-0.03000311610855749 0.06434189253104221 0.00025000101875458525" rpy="8.847213864293657e-08 -1.9613800805728943e-08 0.4363323099999996" />
-    <parent link="right_shoulder_yaw_motor" />
-    <child link="Left_Hand" />
-    <limit effort="1" velocity="20" lower="-1.2217305" upper="1.2217305" />
-    <axis xyz="0 0 1" />
-  </joint>
-  <link name="Left_Hand">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/Left_Hand.stl" />
-      </geometry>
-      <material name="Left_Hand_material">
-        <color rgba="0.97254902 0.52941176 0.0039215686 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/Left_Hand.stl" />
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.075184887" />
-      <inertia ixx="5.6585944e-05" iyy="1.4864722e-05" izz="4.710315e-05" ixy="-2.4063655e-06" ixz="0" iyz="0" />
-      <origin xyz="0.0011184952 0.046132358 0.018254412" rpy="0 0 0" />
-    </inertial>
-  </link>
-  <joint name="left_elbow_yaw" type="fixed">
-    <origin xyz="0.03000311710160605 -0.06434189183411612 -0.0002500013458960012" rpy="-3.141592607179586 -2.220446049250313e-16 0.43633231000000006" />
-    <parent link="left_shoulder_yaw_motor" />
-    <child link="hand_right" />
-    <limit effort="1" velocity="20" lower="-1.2217305" upper="1.2217305" />
-    <axis xyz="0 0 1" />
-  </joint>
-  <link name="hand_right">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/hand_right.stl" />
-      </geometry>
-      <material name="hand_right_material">
-        <color rgba="0.97254902 0.52941176 0.0039215686 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/hand_right.stl" />
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.075183656" />
-      <inertia ixx="5.6585045e-05" iyy="1.4864063e-05" izz="4.7102936e-05" ixy="2.4062028e-06" ixz="0" iyz="0" />
-      <origin xyz="-0.0011185716 0.046132566 0.018254616" rpy="0 0 0" />
-    </inertial>
-  </link>
-  <joint name="right_hip_roll" type="revolute">
-    <origin xyz="0.0 0.06776001387753285 0.015000000939161373" rpy="1.5707963999999996 0.0 0.0" />
-    <parent link="hip_roll_right" />
-    <child link="knee_pitch_right" />
-    <limit effort="1" velocity="10" lower="-0.78539816" upper="0.78539816" />
-    <axis xyz="0 0 1" />
-  </joint>
-  <link name="knee_pitch_right">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/knee_pitch_right.stl" />
-      </geometry>
-      <material name="knee_pitch_right_material">
-        <color rgba="0.97254902 0.52941176 0.0039215686 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/knee_pitch_right.stl" />
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.11061241299999999" />
-      <inertia ixx="6.256455107906355e-05" iyy="6.848300154382249e-05" izz="2.7272974458875817e-05" ixy="-1.7202857813824897e-07" ixz="6.756595730316172e-07" iyz="6.994109024317401e-06" />
-      <origin xyz="0.0007189519537218518 -0.0023746643916922137 -0.021913106490424647" rpy="0 0 0" />
-    </inertial>
-  </link>
-  <joint name="left_hip_roll" type="revolute">
-    <origin xyz="0.0 0.06776001212246713 0.014999999060838654" rpy="1.5707963 0.0 0.0" />
-    <parent link="hip_roll_left" />
-    <child link="knee_pitch_right_2" />
-    <limit effort="1" velocity="10" lower="-0.78539816" upper="0.78539816" />
-    <axis xyz="0 0 1" />
-  </joint>
-  <link name="knee_pitch_right_2">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/knee_pitch_right_2.stl" />
-      </geometry>
-      <material name="knee_pitch_right_material_2">
-        <color rgba="0.97254902 0.52941176 0.0039215686 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/knee_pitch_right_2.stl" />
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.11061241299999999" />
-      <inertia ixx="6.811358369755594e-05" iyy="7.403582703586009e-05" izz="2.7276767279426143e-05" ixy="1.8563071717604188e-07" ixz="-8.248656959451613e-07" iyz="7.656982124567568e-06" />
-      <origin xyz="-0.0006438206184322414 -0.0023746644421732206 -0.024438821233669406" rpy="0 0 0" />
-    </inertial>
-  </link>
-  <joint name="right_knee_pitch" type="revolute">
-    <origin xyz="0.01882501239711481 -9.39161338975314e-10 -0.04221000153916135" rpy="-1.5707963 0.0 1.5707963" />
-    <parent link="knee_pitch_right" />
-    <child link="ankle_pitch_right" />
-    <limit effort="1" velocity="10" lower="-1.0471976" upper="0" />
-    <axis xyz="0 0 1" />
-  </joint>
-  <link name="ankle_pitch_right">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/ankle_pitch_right.stl" />
-      </geometry>
-      <material name="ankle_pitch_right_material">
-        <color rgba="0.97254902 0.52941176 0.0039215686 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/ankle_pitch_right.stl" />
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.109625116" />
-      <inertia ixx="5.751366326764494e-05" iyy="2.786435696863557e-05" izz="4.601315056057759e-05" ixy="2.781681647488596e-09" ixz="-2.535829062531046e-11" iyz="1.4671593859070324e-07" />
-      <origin xyz="-5.290268857115649e-07 0.04092239693101483 0.017864163896558594" rpy="0 0 0" />
-    </inertial>
-  </link>
-  <joint name="left_knee_pitch" type="revolute">
-    <origin xyz="-0.018775013847819433 9.3916133203642e-10 -0.04596000193916135" rpy="-1.5707963071795865 0.0 1.5707963000000003" />
-    <parent link="knee_pitch_right_2" />
-    <child link="ankle_pitch_left" />
-    <limit effort="1" velocity="10" lower="0" upper="1.0471976" />
-    <axis xyz="0 0 -1" />
-  </joint>
-  <link name="ankle_pitch_left">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/ankle_pitch_left.stl" />
-      </geometry>
-      <material name="ankle_pitch_left_material">
-        <color rgba="0.97254902 0.52941176 0.0039215686 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/ankle_pitch_left.stl" />
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.109625115" />
-      <inertia ixx="5.332419486756842e-05" iyy="2.7987836076502866e-05" izz="4.170020090666129e-05" ixy="3.0260808403941346e-10" ixz="-3.119719583279756e-11" iyz="1.212609004459173e-06" />
-      <origin xyz="2.1519678784208124e-06 0.03837394107872274 -0.01957899760073858" rpy="0 0 0" />
-    </inertial>
-  </link>
-  <joint name="right_ankle_pitch" type="revolute">
-    <origin xyz="0.0 0.060220001 -1.3000000000096268e-08" rpy="-3.1415926071795863 0.0 0.0" />
-    <parent link="ankle_pitch_right" />
-    <child link="foot_right" />
-    <limit effort="1" velocity="10" lower="-1.0471976" upper="1.0471976" />
-    <axis xyz="0 0 -1" />
-  </joint>
-  <link name="foot_right">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/foot_right.stl" />
-      </geometry>
-      <material name="foot_right_material">
-        <color rgba="0.97254902 0.52941176 0.0039215686 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/foot_right.stl" />
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.040622158" />
-      <inertia ixx="1.3644671e-05" iyy="3.7817973e-05" izz="2.8893973e-05" ixy="-1.0762297e-06" ixz="0" iyz="0" />
-      <origin xyz="-0.0077822731 -0.016191375 -0.017831949" rpy="0 0 0" />
-    </inertial>
-  </link>
-  <joint name="left_ankle_pitch" type="revolute">
-    <origin xyz="1.3458959276929638e-09 0.05646999986991183 -0.0004500036541040392" rpy="-3.1415926071795863 2.220446049250313e-15 -9.282041313340983e-08" />
-    <parent link="ankle_pitch_left" />
-    <child link="foot_left" />
-    <limit effort="1" velocity="10" lower="-1.0471976" upper="1.0471976" />
-    <axis xyz="0 0 1" />
-  </joint>
-  <link name="foot_left">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/foot_left.stl" />
-      </geometry>
-      <material name="foot_left_material">
-        <color rgba="0.97254902 0.52941176 0.0039215686 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="meshes/foot_left.stl" />
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.04062216" />
-      <inertia ixx="1.3644672e-05" iyy="3.7817974e-05" izz="2.8893973e-05" ixy="-1.0762295e-06" ixz="0" iyz="0" />
-      <origin xyz="-0.0077822737 -0.016191375 0.01783195" rpy="0 0 0" />
-    </inertial>
-  </link>
-</robot>
\ No newline at end of file
diff --git a/sim/resources/stompymicro/robot_fixed.xml b/sim/resources/stompymicro/robot_fixed.xml
deleted file mode 100644
index b5436397..00000000
--- a/sim/resources/stompymicro/robot_fixed.xml
+++ /dev/null
@@ -1,177 +0,0 @@
-<mujoco model="opus">
-  <option iterations="50" timestep="0.001" solver="PGS" gravity="0 0 -9.81" />
-
-  <compiler angle="radian" meshdir="meshes" eulerseq="zyx" autolimits="true" />
-
-  <default>
-    <joint limited="true" damping="0.01" armature="0.01" frictionloss="0.01" />
-    <geom condim="4" contype="1" conaffinity="15" friction="0.9 0.2 0.2" solref="0.001 2" />
-    <motor ctrllimited="true" />
-    <equality solref="0.001 2" />
-    <default class="visualgeom">
-      <geom material="visualgeom" condim="1" contype="0" conaffinity="0" />
-    </default>
-  </default>
-
-  <asset>
-    <mesh name="Torso" file="Torso.stl" />
-    <mesh name="shoulder_yaw_right" file="shoulder_yaw_right.stl" />
-    <mesh name="shoulder_yaw_left" file="shoulder_yaw_left.stl" />
-    <mesh name="right_shoulder_yaw_motor" file="right_shoulder_yaw_motor.stl" />
-    <mesh name="hip_yaw_right" file="hip_yaw_right.stl" />
-    <mesh name="hip_yaw_left" file="hip_yaw_left.stl" />
-    <mesh name="left_shoulder_yaw_motor" file="left_shoulder_yaw_motor.stl" />
-    <mesh name="hip_roll_right" file="hip_roll_right.stl" />
-    <mesh name="hip_roll_left" file="hip_roll_left.stl" />
-    <mesh name="Left_Hand" file="Left_Hand.stl" />
-    <mesh name="hand_right" file="hand_right.stl" />
-    <mesh name="knee_pitch_right" file="knee_pitch_right.stl" />
-    <mesh name="knee_pitch_right_2" file="knee_pitch_right_2.stl" />
-    <mesh name="ankle_pitch_right" file="ankle_pitch_right.stl" />
-    <mesh name="ankle_pitch_left" file="ankle_pitch_left.stl" />
-    <mesh name="foot_right" file="foot_right.stl" />
-    <mesh name="foot_left" file="foot_left.stl" />
-    <texture name="texplane" type="2d" builtin="checker" rgb1=".0 .0 .0" rgb2=".8 .8 .8" width="100" height="100" />
-    <material name="matplane" reflectance="0." texture="texplane" texrepeat="1 1" texuniform="true" />
-    <material name="visualgeom" rgba="0.5 0.9 0.2 1" />
-  </asset>
-
-  <worldbody>
-    <light directional="true" diffuse="0.4 0.4 0.4" specular="0.1 0.1 0.1" pos="0 0 5.0" dir="0 0 -1" castshadow="false" />
-    <light directional="true" diffuse="0.6 0.6 0.6" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1" />
-    <geom name="ground" type="plane" pos="0 0 0" size="100 100 0.001" quat="1 0 0 0" material="matplane" condim="3" conaffinity="15" />
-    <camera name="fixed" pos="0 -3.0 0.5375878" xyaxes="1 0 0 0 0 1" />
-    <camera name="track" mode="trackcom" pos="0 -3.0 0.5375878" xyaxes="1 0 0 0 0 1" />
-    <body name="root" pos="0 0 0" quat="0.0 0.0 0.0 1.0">
-      <freejoint name="root" />
-      <site name="imu" size="0.01" pos="0 0 0" />
-      <geom type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="Torso" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
-      <geom type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="Torso" />
-      <geom pos="-0.0781365 -0.000335556 0.0430533" quat="0.5 0.5 0.5 0.5" type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="shoulder_yaw_right" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
-      <geom type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="shoulder_yaw_right" pos="-0.0781365 -0.000335556 0.0430533" quat="0.5 0.5 0.5 0.5" />
-      <geom pos="-0.108136 -0.0191606 0.0267541" quat="-0.707107 0.707107 9.47343e-09 9.47343e-09" type="mesh" rgba="0.4 0.4 0.4 1" mesh="right_shoulder_yaw_motor" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
-      <geom type="mesh" rgba="0.4 0.4 0.4 1" mesh="right_shoulder_yaw_motor" pos="-0.108136 -0.0191606 0.0267541" quat="-0.707107 0.707107 9.47343e-09 9.47343e-09" />
-      <geom pos="-0.13814 -0.0189106 -0.0375878" quat="-0.690346 0.690345 -0.153046 -0.153046" type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="Left_Hand" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
-      <geom type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="Left_Hand" pos="-0.13814 -0.0189106 -0.0375878" quat="-0.690346 0.690345 -0.153046 -0.153046" />
-      <geom pos="0.0781635 -0.000335556 0.0430533" quat="0.5 -0.5 -0.5 0.5" type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="shoulder_yaw_left" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
-      <geom type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="shoulder_yaw_left" pos="0.0781635 -0.000335556 0.0430533" quat="0.5 -0.5 -0.5 0.5" />
-      <geom pos="0.108164 -0.0191606 0.0267541" quat="0.707107 0.707107 6.93506e-09 -6.93506e-09" type="mesh" rgba="0.4 0.4 0.4 1" mesh="left_shoulder_yaw_motor" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
-      <geom type="mesh" rgba="0.4 0.4 0.4 1" mesh="left_shoulder_yaw_motor" pos="0.108164 -0.0191606 0.0267541" quat="0.707107 0.707107 6.93506e-09 -6.93506e-09" />
-      <geom pos="0.138167 -0.0189106 -0.0375878" quat="0.690346 -0.690345 -0.153046 -0.153046" type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="hand_right" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
-      <geom type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="hand_right" pos="0.138167 -0.0189106 -0.0375878" quat="0.690346 -0.690345 -0.153046 -0.153046" />
-      <body name="hip_yaw_left" pos="0.0456635 -0.000335555 -0.0969467" quat="0.5 0.5 0.5 0.5">
-        <inertial pos="-0.00777616 0.0101887 0.0152718" quat="0.45592 0.889889 0.0131744 -0.00779523" mass="0.103202" diaginertia="4.31891e-05 4.07457e-05 3.38951e-05" />
-        <joint name="left_hip_pitch" pos="0 0 0" axis="0 0 -1" range="-1.5708 1.5708" />
-        <geom type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="hip_yaw_left" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
-        <geom type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="hip_yaw_left" />
-        <body name="hip_roll_left" pos="-0.0255 -0.0025 0.01936" quat="1.64085e-08 -0.707107 -1.64085e-08 -0.707107">
-          <inertial pos="-5.22128e-05 0.0427184 0.0279626" quat="0.585474 0.810689 -0.00167161 -0.000214986" mass="0.111294" diaginertia="6.57191e-05 4.65391e-05 3.49746e-05" />
-          <joint name="left_hip_yaw" pos="0 0 0" axis="0 0 1" range="-1.5708 0.0872665" />
-          <geom type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="hip_roll_left" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
-          <geom type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="hip_roll_left" />
-          <body name="knee_pitch_right_2" pos="0 0.06776 0.015" quat="0.707107 0.707107 0 0">
-            <inertial pos="-0.000643821 -0.00237466 -0.0244388" quat="0.706931 0.0631453 -0.0485932 0.70278" mass="0.110612" diaginertia="7.52582e-05 6.81301e-05 2.60379e-05" />
-            <joint name="left_hip_roll" pos="0 0 0" axis="0 0 1" range="-0.785398 0.785398" />
-            <geom type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="knee_pitch_right_2" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
-            <geom type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="knee_pitch_right_2" />
-            <body name="ankle_pitch_left" pos="-0.018775 9.39161e-10 -0.04596" quat="0.5 -0.5 -0.5 0.5">
-              <inertial pos="2.15197e-06 0.0383739 -0.019579" quat="0.737365 0.675494 4.40773e-06 4.03788e-06" mass="0.109625" diaginertia="5.33242e-05 4.18066e-05 2.78814e-05" />
-              <joint name="left_knee_pitch" pos="0 0 0" axis="0 0 -1" range="0 1.0472" />
-              <geom type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="ankle_pitch_left" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
-              <geom type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="ankle_pitch_left" />
-              <body name="foot_left" pos="1.3459e-09 0.05647 -0.000450004" quat="2.32051e-08 -1 4.64102e-08 0">
-                <inertial pos="-0.00778227 -0.0161914 0.0178319" quat="0.488777 0.488777 0.510977 0.510977" mass="0.0406222" diaginertia="3.78658e-05 2.8894e-05 1.35969e-05" />
-                <joint name="left_ankle_pitch" pos="0 0 0" axis="0 0 1" range="-1.0472 1.0472" />
-                <geom type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="foot_left" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
-                <geom type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="foot_left" />
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-        <body name="hip_yaw_right" pos="-0.0456365 -0.000335555 -0.0969467" quat="0.5 -0.5 -0.5 0.5">
-        <inertial pos="-0.00777521 -0.0101889 0.0152725" quat="0.889874 0.455956 0.00767715 -0.0129746" mass="0.103196" diaginertia="4.3188e-05 4.07436e-05 3.38931e-05" />
-        <joint name="right_hip_pitch" pos="0 0 0" axis="0 0 -1" range="-1.5708 1.5708" />
-        <geom type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="hip_yaw_right" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
-        <geom type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="hip_yaw_right" />
-        <body name="hip_roll_right" pos="-0.0255 0.0025 0.01936" quat="0.707107 3.2817e-08 0.707107 -3.2817e-08">
-          <inertial pos="5.22112e-05 0.0427183 0.0279625" quat="0.585477 0.810687 0.0016716 0.000214999" mass="0.111293" diaginertia="6.5719e-05 4.6539e-05 3.49745e-05" />
-          <joint name="right_hip_yaw" pos="0 0 0" axis="0 0 1" range="-0.0872665 1.5708" />
-          <geom type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="hip_roll_right" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
-          <geom type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="hip_roll_right" />
-          <body name="knee_pitch_right" pos="0 0.06776 0.015" quat="0.707107 0.707107 0 0">
-            <inertial pos="0.000718952 -0.00237466 -0.0219131" quat="0.702278 0.0508037 -0.0647173 0.707132" mass="0.110612" diaginertia="6.96382e-05 6.25773e-05 2.61051e-05" />
-            <joint name="right_hip_roll" pos="0 0 0" axis="0 0 1" range="-0.785398 0.785398" />
-            <geom type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="knee_pitch_right" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
-            <geom type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="knee_pitch_right" />
-            <body name="ankle_pitch_right" pos="0.018825 -9.39161e-10 -0.04221" quat="0.5 -0.5 -0.5 0.5">
-              <inertial pos="-5.29027e-07 0.0409224 0.0178642" quat="0.709959 0.704243 3.3304e-05 3.30359e-05" mass="0.109625" diaginertia="5.75137e-05 4.60143e-05 2.78632e-05" />
-              <joint name="right_knee_pitch" pos="0 0 0" axis="0 0 1" range="-1.0472 0" />
-              <geom type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="ankle_pitch_right" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
-              <geom type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="ankle_pitch_right" />
-              <body name="foot_right" pos="0 0.06022 -1.3e-08" quat="2.32051e-08 -1 0 0">
-                <inertial pos="-0.00778227 -0.0161914 -0.0178319" quat="0.488777 0.488777 0.510977 0.510977" mass="0.0406222" diaginertia="3.78658e-05 2.8894e-05 1.35969e-05" />
-                <joint name="right_ankle_pitch" pos="0 0 0" axis="0 0 -1" range="-1.0472 1.0472" />
-                <geom type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="foot_right" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
-                <geom type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="foot_right" />
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <motor name="left_hip_pitch" joint="left_hip_pitch" ctrllimited="true" ctrlrange="-20 20" gear="1" />
-    <motor name="left_hip_yaw" joint="left_hip_yaw" ctrllimited="true" ctrlrange="-20 20" gear="1" />
-    <motor name="left_hip_roll" joint="left_hip_roll" ctrllimited="true" ctrlrange="-20 20" gear="1" />
-    <motor name="left_knee_pitch" joint="left_knee_pitch" ctrllimited="true" ctrlrange="-20 20" gear="1" />
-    <motor name="left_ankle_pitch" joint="left_ankle_pitch" ctrllimited="true" ctrlrange="-20 20" gear="1" />
-  
-    <motor name="right_hip_pitch" joint="right_hip_pitch" ctrllimited="true" ctrlrange="-20 20" gear="1" />
-    <motor name="right_hip_yaw" joint="right_hip_yaw" ctrllimited="true" ctrlrange="-20 20" gear="1" />
-    <motor name="right_hip_roll" joint="right_hip_roll" ctrllimited="true" ctrlrange="-20 20" gear="1" />
-    <motor name="right_knee_pitch" joint="right_knee_pitch" ctrllimited="true" ctrlrange="-20 20" gear="1" />
-    <motor name="right_ankle_pitch" joint="right_ankle_pitch" ctrllimited="true" ctrlrange="-20 20" gear="1" />
-  </actuator>
-
-  <sensor>
-    <actuatorpos name="right_hip_pitch_p" actuator="right_hip_pitch" />
-    <actuatorvel name="right_hip_pitch_v" actuator="right_hip_pitch" />
-    <actuatorfrc name="right_hip_pitch_f" actuator="right_hip_pitch" noise="0.001" />
-    <actuatorpos name="right_hip_yaw_p" actuator="right_hip_yaw" />
-    <actuatorvel name="right_hip_yaw_v" actuator="right_hip_yaw" />
-    <actuatorfrc name="right_hip_yaw_f" actuator="right_hip_yaw" noise="0.001" />
-    <actuatorpos name="right_hip_roll_p" actuator="right_hip_roll" />
-    <actuatorvel name="right_hip_roll_v" actuator="right_hip_roll" />
-    <actuatorfrc name="right_hip_roll_f" actuator="right_hip_roll" noise="0.001" />
-    <actuatorpos name="right_knee_pitch_p" actuator="right_knee_pitch" />
-    <actuatorvel name="right_knee_pitch_v" actuator="right_knee_pitch" />
-    <actuatorfrc name="right_knee_pitch_f" actuator="right_knee_pitch" noise="0.001" />
-    <actuatorpos name="right_ankle_pitch_p" actuator="right_ankle_pitch" />
-    <actuatorvel name="right_ankle_pitch_v" actuator="right_ankle_pitch" />
-    <actuatorfrc name="right_ankle_pitch_f" actuator="right_ankle_pitch" noise="0.001" />
-    <actuatorpos name="left_hip_pitch_p" actuator="left_hip_pitch" />
-    <actuatorvel name="left_hip_pitch_v" actuator="left_hip_pitch" />
-    <actuatorfrc name="left_hip_pitch_f" actuator="left_hip_pitch" noise="0.001" />
-    <actuatorpos name="left_hip_yaw_p" actuator="left_hip_yaw" />
-    <actuatorvel name="left_hip_yaw_v" actuator="left_hip_yaw" />
-    <actuatorfrc name="left_hip_yaw_f" actuator="left_hip_yaw" noise="0.001" />
-    <actuatorpos name="left_hip_roll_p" actuator="left_hip_roll" />
-    <actuatorvel name="left_hip_roll_v" actuator="left_hip_roll" />
-    <actuatorfrc name="left_hip_roll_f" actuator="left_hip_roll" noise="0.001" />
-    <actuatorpos name="left_knee_pitch_p" actuator="left_knee_pitch" />
-    <actuatorvel name="left_knee_pitch_v" actuator="left_knee_pitch" />
-    <actuatorfrc name="left_knee_pitch_f" actuator="left_knee_pitch" noise="0.001" />
-    <actuatorpos name="left_ankle_pitch_p" actuator="left_ankle_pitch" />
-    <actuatorvel name="left_ankle_pitch_v" actuator="left_ankle_pitch" />
-    <actuatorfrc name="left_ankle_pitch_f" actuator="left_ankle_pitch" noise="0.001" />
-    <framequat name="orientation" objtype="site" noise="0.001" objname="imu" />
-    <gyro name="angular-velocity" site="imu" noise="0.005" cutoff="34.9" />
-  </sensor>
-
-  <keyframe>
-    <key name="default" qpos="0.0 0.0 0.30 1.0 0.0 0.0 0.0 0 0 0 0 0 0 0 0 0 0" />
-  </keyframe>
-</mujoco>
diff --git a/sim/resources/stompymicro/__init__.py b/sim/resources/zeroth/__init__.py
similarity index 100%
rename from sim/resources/stompymicro/__init__.py
rename to sim/resources/zeroth/__init__.py
diff --git a/sim/resources/zeroth/joints.py b/sim/resources/zeroth/joints.py
new file mode 100644
index 00000000..890784f1
--- /dev/null
+++ b/sim/resources/zeroth/joints.py
@@ -0,0 +1,170 @@
+"""Defines a more Pythonic interface for specifying the joint names.
+
+The best way to re-generate this snippet for a new robot is to use the
+`sim/scripts/print_joints.py` script. This script will print out a hierarchical
+tree of the various joint names in the robot.
+"""
+
+import textwrap
+from abc import ABC
+from typing import Dict, List, Tuple, Union
+
+
+class Node(ABC):
+    @classmethod
+    def children(cls) -> List["Union[Node, str]"]:
+        return [
+            attr
+            for attr in (getattr(cls, attr) for attr in dir(cls) if not attr.startswith("__"))
+            if isinstance(attr, (Node, str))
+        ]
+
+    @classmethod
+    def joints(cls) -> List[str]:
+        return [
+            attr
+            for attr in (getattr(cls, attr) for attr in dir(cls) if not attr.startswith("__"))
+            if isinstance(attr, str)
+        ]
+
+    @classmethod
+    def joints_motors(cls) -> List[Tuple[str, str]]:
+        joint_names: List[Tuple[str, str]] = []
+        for attr in dir(cls):
+            if not attr.startswith("__"):
+                attr2 = getattr(cls, attr)
+                if isinstance(attr2, str):
+                    joint_names.append((attr, attr2))
+
+        return joint_names
+
+    @classmethod
+    def all_joints(cls) -> List[str]:
+        leaves = cls.joints()
+        for child in cls.children():
+            if isinstance(child, Node):
+                leaves.extend(child.all_joints())
+        return leaves
+
+    def __str__(self) -> str:
+        parts = [str(child) for child in self.children()]
+        parts_str = textwrap.indent("\n" + "\n".join(parts), "  ")
+        return f"[{self.__class__.__name__}]{parts_str}"
+
+
+class LeftLeg(Node):
+    hip_roll = "left_hip_roll"
+    hip_yaw = "left_hip_yaw"
+    hip_pitch = "left_hip_pitch"
+    knee_pitch = "left_knee_pitch"
+    ankle_pitch = "left_ankle_pitch"
+
+
+class RightLeg(Node):
+    hip_roll = "right_hip_roll"
+    hip_yaw = "right_hip_yaw"
+    hip_pitch = "right_hip_pitch"
+    knee_pitch = "right_knee_pitch"
+    ankle_pitch = "right_ankle_pitch"
+
+
+class Legs(Node):
+    left = LeftLeg()
+    right = RightLeg()
+
+
+class Robot(Node):
+    height = 0.34
+    rotation = [0, 0, 0, 1.0]
+
+    legs = Legs()
+
+    @classmethod
+    def default_standing(cls) -> Dict[str, float]:
+        return {
+            # Legs
+            cls.legs.left.hip_pitch: -0.267,
+            cls.legs.left.knee_pitch: -0.741,
+            cls.legs.left.hip_yaw: 0,
+            cls.legs.left.hip_roll: 0,
+            cls.legs.left.ankle_pitch: 0.581,
+            cls.legs.right.hip_pitch: -0.267,
+            cls.legs.right.knee_pitch: 0.741,
+            cls.legs.right.ankle_pitch: -0.581,
+            cls.legs.right.hip_yaw: 0,
+            cls.legs.right.hip_roll: 0,
+        }
+
+    @classmethod
+    def default_limits(cls) -> Dict[str, Dict[str, float]]:
+        return {
+            Robot.legs.left.knee_pitch: {
+                "lower": -1.57,
+                "upper": 0,
+            },
+            Robot.legs.right.knee_pitch: {
+                "lower": 0,
+                "upper": 1.57,
+            },
+        }
+
+    # p_gains
+    @classmethod
+    def stiffness(cls) -> Dict[str, float]:
+        return {
+            "hip_pitch": 17.681462808698132,
+            "hip_yaw": 17.681462808698132,
+            "hip_roll": 17.681462808698132,
+            "knee_pitch": 17.681462808698132,
+            "ankle_pitch": 17.681462808698132,
+        }
+
+    # d_gains
+    @classmethod
+    def damping(cls) -> Dict[str, float]:
+        return {
+            "hip_pitch": 0.5354656169048285,
+            "hip_yaw": 0.5354656169048285,
+            "hip_roll": 0.5354656169048285,
+            "knee_pitch": 0.5354656169048285,
+            "ankle_pitch": 0.5354656169048285,
+        }
+
+    # pos_limits
+    @classmethod
+    def effort(cls) -> Dict[str, float]:
+        return {
+            "hip_pitch": 10,
+            "hip_yaw": 10,
+            "hip_roll": 10,
+            "knee_pitch": 10,
+            "ankle_pitch": 10,
+        }
+
+    # vel_limits
+    @classmethod
+    def velocity(cls) -> Dict[str, float]:
+        return {
+            "hip_pitch": 10,
+            "hip_yaw": 10,
+            "hip_roll": 10,
+            "knee_pitch": 10,
+            "ankle_pitch": 10,
+        }
+
+    @classmethod
+    def friction(cls) -> Dict[str, float]:
+        return {
+            "ankle_pitch": 0.01,
+        }
+
+
+def print_joints() -> None:
+    joints = Robot.all_joints()
+    assert len(joints) == len(set(joints)), "Duplicate joint names found!"
+    print(Robot())
+
+
+if __name__ == "__main__":
+    # python -m sim.Robot.joints
+    print_joints()
diff --git a/sim/resources/zeroth/meshes/Part_76.stl b/sim/resources/zeroth/meshes/Part_76.stl
new file mode 100644
index 00000000..92f5aaa6
Binary files /dev/null and b/sim/resources/zeroth/meshes/Part_76.stl differ
diff --git a/sim/resources/zeroth/meshes/Robot_-_STS3250_v1.stl b/sim/resources/zeroth/meshes/Robot_-_STS3250_v1.stl
new file mode 100644
index 00000000..a2c01349
Binary files /dev/null and b/sim/resources/zeroth/meshes/Robot_-_STS3250_v1.stl differ
diff --git a/sim/resources/zeroth/meshes/Robot_-_STS3250_v1_2.stl b/sim/resources/zeroth/meshes/Robot_-_STS3250_v1_2.stl
new file mode 100644
index 00000000..29ab38b7
Binary files /dev/null and b/sim/resources/zeroth/meshes/Robot_-_STS3250_v1_2.stl differ
diff --git a/sim/resources/zeroth/meshes/Rotor.stl b/sim/resources/zeroth/meshes/Rotor.stl
new file mode 100644
index 00000000..9bd8fb9e
Binary files /dev/null and b/sim/resources/zeroth/meshes/Rotor.stl differ
diff --git a/sim/resources/zeroth/meshes/Rotor_2.stl b/sim/resources/zeroth/meshes/Rotor_2.stl
new file mode 100644
index 00000000..38311bce
Binary files /dev/null and b/sim/resources/zeroth/meshes/Rotor_2.stl differ
diff --git a/sim/resources/zeroth/meshes/foot_bracket_for_5dof_leg_v9.stl b/sim/resources/zeroth/meshes/foot_bracket_for_5dof_leg_v9.stl
new file mode 100644
index 00000000..2442217c
Binary files /dev/null and b/sim/resources/zeroth/meshes/foot_bracket_for_5dof_leg_v9.stl differ
diff --git a/sim/resources/zeroth/meshes/foot_bracket_for_5dof_leg_v9_2.stl b/sim/resources/zeroth/meshes/foot_bracket_for_5dof_leg_v9_2.stl
new file mode 100644
index 00000000..24398a89
Binary files /dev/null and b/sim/resources/zeroth/meshes/foot_bracket_for_5dof_leg_v9_2.stl differ
diff --git a/sim/resources/zeroth/meshes/leg_top_bracket_v8_1.stl b/sim/resources/zeroth/meshes/leg_top_bracket_v8_1.stl
new file mode 100644
index 00000000..d66f354b
Binary files /dev/null and b/sim/resources/zeroth/meshes/leg_top_bracket_v8_1.stl differ
diff --git a/sim/resources/zeroth/meshes/leg_top_bracket_v8_1_2.stl b/sim/resources/zeroth/meshes/leg_top_bracket_v8_1_2.stl
new file mode 100644
index 00000000..d2e329a9
Binary files /dev/null and b/sim/resources/zeroth/meshes/leg_top_bracket_v8_1_2.stl differ
diff --git a/sim/resources/zeroth/meshes/leg_top_bracket_v9.stl b/sim/resources/zeroth/meshes/leg_top_bracket_v9.stl
new file mode 100644
index 00000000..21df522f
Binary files /dev/null and b/sim/resources/zeroth/meshes/leg_top_bracket_v9.stl differ
diff --git a/sim/resources/zeroth/meshes/leg_top_bracket_v9_2.stl b/sim/resources/zeroth/meshes/leg_top_bracket_v9_2.stl
new file mode 100644
index 00000000..ebbf4949
Binary files /dev/null and b/sim/resources/zeroth/meshes/leg_top_bracket_v9_2.stl differ
diff --git a/sim/resources/zeroth/robot.urdf b/sim/resources/zeroth/robot.urdf
new file mode 100644
index 00000000..97103172
--- /dev/null
+++ b/sim/resources/zeroth/robot.urdf
@@ -0,0 +1,326 @@
+<robot name="zeroth">
+  <link name="base">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.001"/>
+      <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
+    </inertial>
+  </link>
+  <joint name="floating_base" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="base"/>
+    <child link="Part_76"/>
+  </joint>
+  <link name="Part_76">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/Part_76.stl"/>
+      </geometry>
+      <material name="Part_76_material">
+        <color rgba="0.91764706 0.91764706 0.91764706 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/Part_76.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1.6659521039999996"/>
+      <inertia ixx="0.003594519079383798" iyy="0.00525902593913726" izz="0.003303800123995831" ixy="4.700328339385156e-08" ixz="1.2617572933798065e-07" iyz="-0.00029072813799480826"/>
+      <origin xyz="1.3715674692216277e-05 -0.007508036503697799 -0.000703849283574139" rpy="0 0 0"/>
+    </inertial>
+  </link>
+  <joint name="left_hip_roll" type="revolute">
+    <origin xyz="-0.0353001417379795 -0.0036199730613269685 -0.07354320094310968" rpy="-0.005235926794896062 2.67948967458409e-08 0.0"/>
+    <parent link="Part_76"/>
+    <child link="Rotor"/>
+    <limit effort="80" velocity="5" lower="-0.78539816" upper="0.78539816"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <link name="Rotor">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/Rotor.stl"/>
+      </geometry>
+      <material name="Rotor_material">
+        <color rgba="0.91764706 0.91764706 0.91764706 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/Rotor.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.052774531"/>
+      <inertia ixx="3.0928812751456034e-05" iyy="2.2245909792798926e-05" izz="1.2651261419472649e-05" ixy="-4.2326792188443465e-10" ixz="-9.23448453238186e-10" iyz="-4.861048798725412e-06"/>
+      <origin xyz="-1.1707692728183507e-06 0.011381128084104328 0.0051042218699669534" rpy="0 0 0"/>
+    </inertial>
+  </link>
+  <joint name="right_hip_roll" type="revolute">
+    <origin xyz="0.035299859288700844 -0.0036199727372057573 -0.0735432024963366" rpy="-0.005235980384690442 -2.6794896301751692e-08 2.220446049250313e-16"/>
+    <parent link="Part_76"/>
+    <child link="Rotor_2"/>
+    <limit effort="80" velocity="5" lower="-0.78539816" upper="0.78539816"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <link name="Rotor_2">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/Rotor_2.stl"/>
+      </geometry>
+      <material name="Rotor_material_2">
+        <color rgba="0.91764706 0.91764706 0.91764706 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/Rotor_2.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.052774531"/>
+      <inertia ixx="3.0928812751456034e-05" iyy="2.2245909792798926e-05" izz="1.2651261419472649e-05" ixy="4.2326792188443465e-10" ixz="9.23448453238186e-10" iyz="-4.861048798725412e-06"/>
+      <origin xyz="1.1707692728183507e-06 0.011381128084104328 0.0051042218699669534" rpy="0 0 0"/>
+    </inertial>
+  </link>
+  <joint name="left_hip_yaw" type="revolute">
+    <origin xyz="0.0 -0.018009991 -0.020898149999999997" rpy="-1.5707963000000003 0.0 0.0"/>
+    <parent link="Rotor"/>
+    <child link="Robot_-_STS3250_v1"/>
+    <limit effort="80" velocity="5" lower="-0.087266463" upper="1.5707963"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <link name="Robot_-_STS3250_v1">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/Robot_-_STS3250_v1.stl"/>
+      </geometry>
+      <material name="Robot_-_STS3250_v1_material">
+        <color rgba="0.4 0.4 0.4 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/Robot_-_STS3250_v1.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.19823244299999998"/>
+      <inertia ixx="0.0001288980214027335" iyy="0.00011253897850565667" izz="6.812320840034133e-05" ixy="1.4352694073733687e-07" ixz="-1.5280675037644813e-06" iyz="3.6720970870327294e-06"/>
+      <origin xyz="0.0005040107458805387 0.012493056289452048 0.005414764301705825" rpy="0 0 0"/>
+    </inertial>
+  </link>
+  <joint name="right_hip_yaw" type="revolute">
+    <origin xyz="0.0 -0.018009991 -0.020898149999999997" rpy="-1.5707963000000003 0.0 0.0"/>
+    <parent link="Rotor_2"/>
+    <child link="Robot_-_STS3250_v1_2"/>
+    <limit effort="80" velocity="5" lower="-1.5707963" upper="0.087266463"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <link name="Robot_-_STS3250_v1_2">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/Robot_-_STS3250_v1_2.stl"/>
+      </geometry>
+      <material name="Robot_-_STS3250_v1_material_2">
+        <color rgba="0.4 0.4 0.4 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/Robot_-_STS3250_v1_2.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.19823244299999998"/>
+      <inertia ixx="0.00012890693486123327" iyy="0.00011253901558957325" izz="6.813208890852665e-05" ixy="-1.4371132538002443e-07" ixz="1.5280688961005715e-06" iyz="3.709121595090582e-06"/>
+      <origin xyz="-0.0005040104376827078 0.012486710104734879 0.005414768088342292" rpy="0 0 0"/>
+    </inertial>
+  </link>
+  <joint name="left_hip_pitch" type="revolute">
+    <origin xyz="0.018525040302885504 -4.922427119732897e-07 0.0183599908378569" rpy="1.570796353589794 4.641020678874952e-08 -1.5707963000000005"/>
+    <parent link="Robot_-_STS3250_v1"/>
+    <child link="leg_top_bracket_v9"/>
+    <limit effort="80" velocity="5" lower="-1.5707963" upper="1.5707963"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <link name="leg_top_bracket_v9">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/leg_top_bracket_v9.stl"/>
+      </geometry>
+      <material name="leg_top_bracket_v9_material">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/leg_top_bracket_v9.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.15518776699999998"/>
+      <inertia ixx="4.40152180954293e-05" iyy="0.0002576754462750278" izz="0.00023180573068698357" ixy="-4.141837560052671e-09" ixz="1.9547900790093517e-06" iyz="7.458007339959379e-11"/>
+      <origin xyz="-0.09027963177901355 -9.619865716231399e-07 0.01932045131266413" rpy="0 0 0"/>
+    </inertial>
+  </link>
+  <joint name="right_hip_pitch" type="revolute">
+    <origin xyz="0.01852495960295464 -4.235463209323331e-09 0.018359997984461623" rpy="-1.5707963535897924 -4.64102059005711e-08 1.5707963000000003"/>
+    <parent link="Robot_-_STS3250_v1_2"/>
+    <child link="leg_top_bracket_v9_2"/>
+    <limit effort="80" velocity="5" lower="-1.5707963" upper="1.5707963"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <link name="leg_top_bracket_v9_2">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/leg_top_bracket_v9_2.stl"/>
+      </geometry>
+      <material name="leg_top_bracket_v9_material_2">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/leg_top_bracket_v9_2.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.15518776699999998"/>
+      <inertia ixx="4.402055552142148e-05" iyy="0.000257680775231911" izz="0.00023180572221725754" ixy="-4.137676641118504e-09" ixz="2.1781725509883785e-06" iyz="7.987596359321841e-11"/>
+      <origin xyz="0.0902796310599843 9.61020000592584e-07 0.018365400961737083" rpy="0 0 0"/>
+    </inertial>
+  </link>
+  <joint name="left_knee_pitch" type="revolute">
+    <origin xyz="-0.12916282413730715 -1.9999999954778414e-09 0.0372749282506018" rpy="0.0 0.0 0.0"/>
+    <parent link="leg_top_bracket_v9"/>
+    <child link="leg_top_bracket_v8_1"/>
+    <limit effort="80" velocity="5" lower="-1.5707963" upper="1.5707963"/>
+    <axis xyz="0 0 -1"/>
+  </joint>
+  <link name="leg_top_bracket_v8_1">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/leg_top_bracket_v8_1.stl"/>
+      </geometry>
+      <material name="leg_top_bracket_v8_1_material">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/leg_top_bracket_v8_1.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.14284619399999998"/>
+      <inertia ixx="3.797592496450627e-05" iyy="0.00014832933202230754" izz="0.00012744533964232057" ixy="-3.0129096618860415e-09" ixz="-1.4953568530857623e-06" iyz="5.8428009555147734e-12"/>
+      <origin xyz="-0.06877406876791146 -1.0761506499492685e-06 -0.017703540131795367" rpy="0 0 0"/>
+    </inertial>
+  </link>
+  <joint name="right_knee_pitch" type="revolute">
+    <origin xyz="0.12916282526269282 1.999999997212565e-09 0.0003749122493981972" rpy="-3.1415926071795863 0.0 0.0"/>
+    <parent link="leg_top_bracket_v9_2"/>
+    <child link="leg_top_bracket_v8_1_2"/>
+    <limit effort="80" velocity="5" lower="-1.5707963" upper="1.5707963"/>
+    <axis xyz="0 0 -1"/>
+  </joint>
+  <link name="leg_top_bracket_v8_1_2">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/leg_top_bracket_v8_1_2.stl"/>
+      </geometry>
+      <material name="leg_top_bracket_v8_1_material_2">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/leg_top_bracket_v8_1_2.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.14284619399999998"/>
+      <inertia ixx="3.797494468858281e-05" iyy="0.0001483283574247835" izz="0.00012744534632391704" ixy="3.037412258479129e-09" ixz="1.3479314832646434e-06" iyz="1.0823172083825887e-11"/>
+      <origin xyz="0.06877407089321254 -1.0831521767993736e-06 -0.017633978573914535" rpy="0 0 0"/>
+    </inertial>
+  </link>
+  <joint name="left_ankle_pitch" type="revolute">
+    <origin xyz="-0.09999999473730714 -3.719999999707291e-08 -7.499219426298359e-05" rpy="-3.1415926071795863 0.0 0.0"/>
+    <parent link="leg_top_bracket_v8_1"/>
+    <child link="foot_bracket_for_5dof_leg_v9"/>
+    <limit effort="80" velocity="5" lower="-1.5707963" upper="1.5707963"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <link name="foot_bracket_for_5dof_leg_v9">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/foot_bracket_for_5dof_leg_v9.stl"/>
+      </geometry>
+      <material name="foot_bracket_for_5dof_leg_v9_material">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/foot_bracket_for_5dof_leg_v9.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.09911156"/>
+      <inertia ixx="0.00010319248" iyy="3.7444559e-05" izz="8.358988e-05" ixy="-6.3817294e-06" ixz="2.1688004e-06" iyz="0"/>
+      <origin xyz="-0.02364449 -0.012772993 0.017738481" rpy="0 0 0"/>
+    </inertial>
+  </link>
+  <joint name="right_ankle_pitch" type="revolute">
+    <origin xyz="0.09999999915897508 -5.7487026731006386e-08 2.5007553905526114e-05" rpy="-3.141592607179616 2.6794969798515922e-08 -5.535897937836154e-07"/>
+    <parent link="leg_top_bracket_v8_1_2"/>
+    <child link="foot_bracket_for_5dof_leg_v9_2"/>
+    <limit effort="80" velocity="5" lower="-1.5707963" upper="1.5707963"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <link name="foot_bracket_for_5dof_leg_v9_2">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/foot_bracket_for_5dof_leg_v9_2.stl"/>
+      </geometry>
+      <material name="foot_bracket_for_5dof_leg_v9_material_2">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/foot_bracket_for_5dof_leg_v9_2.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.09911156"/>
+      <inertia ixx="0.00010319248" iyy="3.7444559e-05" izz="8.358988e-05" ixy="6.3817294e-06" ixz="-2.1688004e-06" iyz="0"/>
+      <origin xyz="0.02364449 -0.012772993 0.017738481" rpy="0 0 0"/>
+    </inertial>
+  </link>
+</robot>
\ No newline at end of file
diff --git a/sim/resources/zeroth/robot_fixed.urdf b/sim/resources/zeroth/robot_fixed.urdf
new file mode 100644
index 00000000..d5dc68e7
--- /dev/null
+++ b/sim/resources/zeroth/robot_fixed.urdf
@@ -0,0 +1,326 @@
+<robot name="zeroth">
+  <link name="base">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <mass value="0.001" />
+      <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001" />
+    </inertial>
+  </link>
+  <joint name="floating_base" type="fixed">
+    <origin rpy="0 0 -1.5707963267948966" xyz="0 0 0" />
+    <parent link="base" />
+    <child link="Part_76" />
+  </joint>
+  <link name="Part_76">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/Part_76.stl" />
+      </geometry>
+      <material name="Part_76_material">
+        <color rgba="0.91764706 0.91764706 0.91764706 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/Part_76.stl" />
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1.6659521039999996" />
+      <inertia ixx="0.003594519079383798" iyy="0.00525902593913726" izz="0.003303800123995831" ixy="4.700328339385156e-08" ixz="1.2617572933798065e-07" iyz="-0.00029072813799480826" />
+      <origin xyz="1.3715674692216277e-05 -0.007508036503697799 -0.000703849283574139" rpy="0 0 0" />
+    </inertial>
+  </link>
+  <joint name="left_hip_roll" type="revolute">
+    <origin xyz="-0.0353001417379795 -0.0036199730613269685 -0.07354320094310968" rpy="-0.005235926794896062 2.67948967458409e-08 0.0" />
+    <parent link="Part_76" />
+    <child link="Rotor" />
+    <limit effort="10" velocity="10" lower="-0.78539816" upper="0.78539816" />
+    <axis xyz="0 0 1" />
+  </joint>
+  <link name="Rotor">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/Rotor.stl" />
+      </geometry>
+      <material name="Rotor_material">
+        <color rgba="0.91764706 0.91764706 0.91764706 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/Rotor.stl" />
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.052774531" />
+      <inertia ixx="3.0928812751456034e-05" iyy="2.2245909792798926e-05" izz="1.2651261419472649e-05" ixy="-4.2326792188443465e-10" ixz="-9.23448453238186e-10" iyz="-4.861048798725412e-06" />
+      <origin xyz="-1.1707692728183507e-06 0.011381128084104328 0.0051042218699669534" rpy="0 0 0" />
+    </inertial>
+  </link>
+  <joint name="right_hip_roll" type="revolute">
+    <origin xyz="0.035299859288700844 -0.0036199727372057573 -0.0735432024963366" rpy="-0.005235980384690442 -2.6794896301751692e-08 2.220446049250313e-16" />
+    <parent link="Part_76" />
+    <child link="Rotor_2" />
+    <limit effort="10" velocity="10" lower="-0.78539816" upper="0.78539816" />
+    <axis xyz="0 0 1" />
+  </joint>
+  <link name="Rotor_2">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/Rotor_2.stl" />
+      </geometry>
+      <material name="Rotor_material_2">
+        <color rgba="0.91764706 0.91764706 0.91764706 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/Rotor_2.stl" />
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.052774531" />
+      <inertia ixx="3.0928812751456034e-05" iyy="2.2245909792798926e-05" izz="1.2651261419472649e-05" ixy="4.2326792188443465e-10" ixz="9.23448453238186e-10" iyz="-4.861048798725412e-06" />
+      <origin xyz="1.1707692728183507e-06 0.011381128084104328 0.0051042218699669534" rpy="0 0 0" />
+    </inertial>
+  </link>
+  <joint name="left_hip_yaw" type="revolute">
+    <origin xyz="0.0 -0.018009991 -0.020898149999999997" rpy="-1.5707963000000003 0.0 0.0" />
+    <parent link="Rotor" />
+    <child link="Robot_-_STS3250_v1" />
+    <limit effort="10" velocity="10" lower="-0.087266463" upper="1.5707963" />
+    <axis xyz="0 0 1" />
+  </joint>
+  <link name="Robot_-_STS3250_v1">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/Robot_-_STS3250_v1.stl" />
+      </geometry>
+      <material name="Robot_-_STS3250_v1_material">
+        <color rgba="0.4 0.4 0.4 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/Robot_-_STS3250_v1.stl" />
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.19823244299999998" />
+      <inertia ixx="0.0001288980214027335" iyy="0.00011253897850565667" izz="6.812320840034133e-05" ixy="1.4352694073733687e-07" ixz="-1.5280675037644813e-06" iyz="3.6720970870327294e-06" />
+      <origin xyz="0.0005040107458805387 0.012493056289452048 0.005414764301705825" rpy="0 0 0" />
+    </inertial>
+  </link>
+  <joint name="right_hip_yaw" type="revolute">
+    <origin xyz="0.0 -0.018009991 -0.020898149999999997" rpy="-1.5707963000000003 0.0 0.0" />
+    <parent link="Rotor_2" />
+    <child link="Robot_-_STS3250_v1_2" />
+    <limit effort="10" velocity="10" lower="-1.5707963" upper="0.087266463" />
+    <axis xyz="0 0 1" />
+  </joint>
+  <link name="Robot_-_STS3250_v1_2">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/Robot_-_STS3250_v1_2.stl" />
+      </geometry>
+      <material name="Robot_-_STS3250_v1_material_2">
+        <color rgba="0.4 0.4 0.4 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/Robot_-_STS3250_v1_2.stl" />
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.19823244299999998" />
+      <inertia ixx="0.00012890693486123327" iyy="0.00011253901558957325" izz="6.813208890852665e-05" ixy="-1.4371132538002443e-07" ixz="1.5280688961005715e-06" iyz="3.709121595090582e-06" />
+      <origin xyz="-0.0005040104376827078 0.012486710104734879 0.005414768088342292" rpy="0 0 0" />
+    </inertial>
+  </link>
+  <joint name="left_hip_pitch" type="revolute">
+    <origin xyz="0.018525040302885504 -4.922427119732897e-07 0.0183599908378569" rpy="1.570796353589794 4.641020678874952e-08 -1.5707963000000005" />
+    <parent link="Robot_-_STS3250_v1" />
+    <child link="leg_top_bracket_v9" />
+    <limit effort="10" velocity="10" lower="-1.5707963" upper="1.5707963" />
+    <axis xyz="0 0 1" />
+  </joint>
+  <link name="leg_top_bracket_v9">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/leg_top_bracket_v9.stl" />
+      </geometry>
+      <material name="leg_top_bracket_v9_material">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/leg_top_bracket_v9.stl" />
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.15518776699999998" />
+      <inertia ixx="4.40152180954293e-05" iyy="0.0002576754462750278" izz="0.00023180573068698357" ixy="-4.141837560052671e-09" ixz="1.9547900790093517e-06" iyz="7.458007339959379e-11" />
+      <origin xyz="-0.09027963177901355 -9.619865716231399e-07 0.01932045131266413" rpy="0 0 0" />
+    </inertial>
+  </link>
+  <joint name="right_hip_pitch" type="revolute">
+    <origin xyz="0.01852495960295464 -4.235463209323331e-09 0.018359997984461623" rpy="-1.5707963535897924 -4.64102059005711e-08 1.5707963000000003" />
+    <parent link="Robot_-_STS3250_v1_2" />
+    <child link="leg_top_bracket_v9_2" />
+    <limit effort="10" velocity="10" lower="-1.5707963" upper="1.5707963" />
+    <axis xyz="0 0 1" />
+  </joint>
+  <link name="leg_top_bracket_v9_2">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/leg_top_bracket_v9_2.stl" />
+      </geometry>
+      <material name="leg_top_bracket_v9_material_2">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/leg_top_bracket_v9_2.stl" />
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.15518776699999998" />
+      <inertia ixx="4.402055552142148e-05" iyy="0.000257680775231911" izz="0.00023180572221725754" ixy="-4.137676641118504e-09" ixz="2.1781725509883785e-06" iyz="7.987596359321841e-11" />
+      <origin xyz="0.0902796310599843 9.61020000592584e-07 0.018365400961737083" rpy="0 0 0" />
+    </inertial>
+  </link>
+  <joint name="left_knee_pitch" type="revolute">
+    <origin xyz="-0.12916282413730715 -1.9999999954778414e-09 0.0372749282506018" rpy="0.0 0.0 0.0" />
+    <parent link="leg_top_bracket_v9" />
+    <child link="leg_top_bracket_v8_1" />
+    <limit effort="10" velocity="10" lower="-1.57" upper="0" />
+    <axis xyz="0 0 -1" />
+  </joint>
+  <link name="leg_top_bracket_v8_1">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/leg_top_bracket_v8_1.stl" />
+      </geometry>
+      <material name="leg_top_bracket_v8_1_material">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/leg_top_bracket_v8_1.stl" />
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.14284619399999998" />
+      <inertia ixx="3.797592496450627e-05" iyy="0.00014832933202230754" izz="0.00012744533964232057" ixy="-3.0129096618860415e-09" ixz="-1.4953568530857623e-06" iyz="5.8428009555147734e-12" />
+      <origin xyz="-0.06877406876791146 -1.0761506499492685e-06 -0.017703540131795367" rpy="0 0 0" />
+    </inertial>
+  </link>
+  <joint name="right_knee_pitch" type="revolute">
+    <origin xyz="0.12916282526269282 1.999999997212565e-09 0.0003749122493981972" rpy="-3.1415926071795863 0.0 0.0" />
+    <parent link="leg_top_bracket_v9_2" />
+    <child link="leg_top_bracket_v8_1_2" />
+    <limit effort="10" velocity="10" lower="0" upper="1.57" />
+    <axis xyz="0 0 -1" />
+  </joint>
+  <link name="leg_top_bracket_v8_1_2">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/leg_top_bracket_v8_1_2.stl" />
+      </geometry>
+      <material name="leg_top_bracket_v8_1_material_2">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/leg_top_bracket_v8_1_2.stl" />
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.14284619399999998" />
+      <inertia ixx="3.797494468858281e-05" iyy="0.0001483283574247835" izz="0.00012744534632391704" ixy="3.037412258479129e-09" ixz="1.3479314832646434e-06" iyz="1.0823172083825887e-11" />
+      <origin xyz="0.06877407089321254 -1.0831521767993736e-06 -0.017633978573914535" rpy="0 0 0" />
+    </inertial>
+  </link>
+  <joint name="left_ankle_pitch" type="revolute">
+    <origin xyz="-0.09999999473730714 -3.719999999707291e-08 -7.499219426298359e-05" rpy="-3.1415926071795863 0.0 0.0" />
+    <parent link="leg_top_bracket_v8_1" />
+    <child link="foot_bracket_for_5dof_leg_v9" />
+    <limit effort="10" velocity="10" lower="-1.5707963" upper="1.5707963" />
+    <axis xyz="0 0 1" />
+  </joint>
+  <link name="foot_bracket_for_5dof_leg_v9">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/foot_bracket_for_5dof_leg_v9.stl" />
+      </geometry>
+      <material name="foot_bracket_for_5dof_leg_v9_material">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/foot_bracket_for_5dof_leg_v9.stl" />
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.09911156" />
+      <inertia ixx="0.00010319248" iyy="3.7444559e-05" izz="8.358988e-05" ixy="-6.3817294e-06" ixz="2.1688004e-06" iyz="0" />
+      <origin xyz="-0.02364449 -0.012772993 0.017738481" rpy="0 0 0" />
+    </inertial>
+  </link>
+  <joint name="right_ankle_pitch" type="revolute">
+    <origin xyz="0.09999999915897508 -5.7487026731006386e-08 2.5007553905526114e-05" rpy="-3.141592607179616 2.6794969798515922e-08 -5.535897937836154e-07" />
+    <parent link="leg_top_bracket_v8_1_2" />
+    <child link="foot_bracket_for_5dof_leg_v9_2" />
+    <limit effort="10" velocity="10" lower="-1.5707963" upper="1.5707963" />
+    <axis xyz="0 0 1" />
+  </joint>
+  <link name="foot_bracket_for_5dof_leg_v9_2">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/foot_bracket_for_5dof_leg_v9_2.stl" />
+      </geometry>
+      <material name="foot_bracket_for_5dof_leg_v9_material_2">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/foot_bracket_for_5dof_leg_v9_2.stl" />
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.09911156" />
+      <inertia ixx="0.00010319248" iyy="3.7444559e-05" izz="8.358988e-05" ixy="6.3817294e-06" ixz="-2.1688004e-06" iyz="0" />
+      <origin xyz="0.02364449 -0.012772993 0.017738481" rpy="0 0 0" />
+    </inertial>
+  </link>
+</robot>
\ No newline at end of file