diff --git a/CM3020 Artificial Intelligence/Week 7/Files/01-creating-things.ipynb b/CM3020 Artificial Intelligence/Week 7/Files/01-creating-things.ipynb
new file mode 100644
index 0000000..b52ecc8
--- /dev/null
+++ b/CM3020 Artificial Intelligence/Week 7/Files/01-creating-things.ipynb	
@@ -0,0 +1,139 @@
+{
+ "cells": [
+  {
+   "cell_type": "code",
+   "execution_count": 1,
+   "id": "43832635-49f6-45d0-9a5f-14d4d634731d",
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "0"
+      ]
+     },
+     "execution_count": 1,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "import pybullet as p\n",
+    "p.connect(p.GUI)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 2,
+   "id": "e374f315-b9ab-42d1-b33d-518c74f95c43",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "floor_shape = p.createCollisionShape(p.GEOM_PLANE)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 4,
+   "id": "f844a0fb-efa5-4461-9589-31ba09f526b8",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "floor = p.createMultiBody(floor_shape, floor_shape) #(vision geometry, collision geometry)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 5,
+   "id": "fb392ce2-d95b-4481-9246-08ca71adeb12",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "# Create a new geometry, box instead of a plane\n",
+    "box_shape = p.createCollisionShape(p.GEOM_BOX, halfExtents = [1, 1, 1])"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 6,
+   "id": "c50db6e4-d784-4924-8751-da704e376352",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "box = p.createMultiBody(box_shape, box_shape) #create a box at (0.0.0)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 7,
+   "id": "857c7c29-7bf0-486b-8aa4-9deb5e0a76e5",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "p.setGravity(0, 0, -10) #(x, z, y) forces\n",
+    "p.setRealTimeSimulation(1)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 9,
+   "id": "c6c09422-92f2-4eef-8c22-55fb86c1c1b0",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "box_object1 = p.createMultiBody(box_shape,box_shape)\n",
+    "box_object2 = p.createMultiBody(box_shape,box_shape)\n",
+    "p.resetBasePositionAndOrientation(box_object1, [0, -1, 2], [0, 0, 0, 1])\n",
+    "p.resetBasePositionAndOrientation(box_object2, [0, 1, 2], [0, 0, 0, 1])\n",
+    "p.setGravity(0, 0, -10)\n",
+    "p.setRealTimeSimulation(1)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 13,
+   "id": "e3e857c9-d3e4-4028-8abf-3ad25b4cbc63",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "fruits = [p.createMultiBody(box_shape,box_shape)] * 9\n",
+    "for index in range(9):\n",
+    "    p.resetBasePositionAndOrientation(fruits[index], [index, index * 3, 4], [0, 0, 0, 1])\n",
+    "p.setGravity(0, 0, -10)\n",
+    "p.setRealTimeSimulation(1)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 27,
+   "id": "7834922b-8671-4997-a14d-696ddd217805",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "box_object3 = p.createMultiBody(box_shape,box_shape)\n",
+    "p.resetBasePositionAndOrientation(box_object1, [5, 5, 5], [3, 3, 3, 1])"
+   ]
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": "Python 3 (ipykernel)",
+   "language": "python",
+   "name": "python3"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 3
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython3",
+   "version": "3.10.8"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 5
+}
diff --git a/CM3020 Artificial Intelligence/Week 7/Files/02-urdf-file-format.ipynb b/CM3020 Artificial Intelligence/Week 7/Files/02-urdf-file-format.ipynb
new file mode 100644
index 0000000..ff4bf0f
--- /dev/null
+++ b/CM3020 Artificial Intelligence/Week 7/Files/02-urdf-file-format.ipynb	
@@ -0,0 +1,94 @@
+{
+ "cells": [
+  {
+   "cell_type": "markdown",
+   "id": "75ce20a6-75e2-488a-8bf9-fb77a28b67dc",
+   "metadata": {},
+   "source": [
+    "# Let's load a premade model"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 1,
+   "id": "b4ef4a73-341b-4069-97ea-f112ca016113",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "import pybullet_data as pd"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 2,
+   "id": "19eb502d-a4e4-48f8-aadd-e62f608f5dd4",
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "'C:\\\\Users\\\\Lev\\\\venvs\\\\pybullet-1\\\\lib\\\\site-packages\\\\pybullet_data'"
+      ]
+     },
+     "execution_count": 2,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "pd.getDataPath()"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 3,
+   "id": "990ca6c6-2ad0-4ac2-9dad-1c3604ad9d89",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "run starter.py"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 5,
+   "id": "b0457b7d-eb89-4170-aaa6-e0183cfb40f6",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "robot = p.loadURDF(\"C:/Users/Lev/venvs/pybullet-1/Lib/site-packages/pybullet_data/r2d2.urdf\")"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 6,
+   "id": "6573fad6-3e0a-4c6c-b9af-dedabc043c51",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "samurai = p.loadURDF(\"C:/Users/Lev/venvs/pybullet-1/Lib/site-packages/pybullet_data/samurai.urdf\")"
+   ]
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": "Python 3 (ipykernel)",
+   "language": "python",
+   "name": "python3"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 3
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython3",
+   "version": "3.10.8"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 5
+}
diff --git a/CM3020 Artificial Intelligence/Week 7/Files/03-from-scract.ipynb b/CM3020 Artificial Intelligence/Week 7/Files/03-from-scract.ipynb
new file mode 100644
index 0000000..5466a79
--- /dev/null
+++ b/CM3020 Artificial Intelligence/Week 7/Files/03-from-scract.ipynb	
@@ -0,0 +1,116 @@
+{
+ "cells": [
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "bf434024-1856-402d-83d2-83ea018a15b3",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "run starter.py"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "9a2fdca7-e44d-48ab-9094-bcbdccb9c24f",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "more test.urdf"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "5dd58498-852b-4e05-8cdb-b0ca81ce2a36",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "rob = p.loadURDF(\"C:/Users/Lev/venvs/pybullet-1/Lib/site-packages/pybullet_data/r2d2.urdf\")"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "cc47478e-bdf6-47da-8b12-0c9a83cd09eb",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "robo1 = p.loadURDF(\"test.urdf\")"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "fcc550f3-08c0-41bf-bc2c-fe66a76840b6",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "p.setRealTimeSimulation(1)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "8421e1a6-a0a9-48ea-803e-a10061a98749",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "robo2 = p.loadURDF(\"test2.urdf\") # Collision"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "5176eddf-f4e2-4bc7-88a6-084e9d240f66",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "robo2 = p.loadURDF(\"test3.urdf\") # Inertia"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "271311c5-2151-4c18-a2e5-fc7a49436dbe",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "robo3 = p.loadURDF(\"test4.urdf\") # multiple links and one joint\n",
+    "#rpy is roll pitch and y, rotation in different axis"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "4213edfc-c8d3-435f-a7ac-c852e24d454b",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "robo3 = p.loadURDF(\"humanoid.urdf\")"
+   ]
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": "Python 3 (ipykernel)",
+   "language": "python",
+   "name": "python3"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 3
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython3",
+   "version": "3.10.8"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 5
+}
diff --git a/CM3020 Artificial Intelligence/Week 7/Files/04-moving-robot.ipynb b/CM3020 Artificial Intelligence/Week 7/Files/04-moving-robot.ipynb
new file mode 100644
index 0000000..e377b3f
--- /dev/null
+++ b/CM3020 Artificial Intelligence/Week 7/Files/04-moving-robot.ipynb	
@@ -0,0 +1,185 @@
+{
+ "cells": [
+  {
+   "cell_type": "code",
+   "execution_count": 1,
+   "id": "4ab5ff34-e912-4cab-8381-de7ec26b65fc",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "run starter.py"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 2,
+   "id": "fc0c016e-af2f-4424-a8c1-a6cc33681b22",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "robo1 = p.loadURDF(\"test5.urdf\")"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 3,
+   "id": "6f93de75-3fc1-4eaa-957d-19883f9b7d97",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "p.setRealTimeSimulation(1)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 11,
+   "id": "8c7b4ae6-994e-415a-9904-55c108af9ec7",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "p.resetBasePositionAndOrientation(robo1, [0, 0, 0.1], [0, 0, 0, 1]) # reset position"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 8,
+   "id": "571ef95b-aa71-4b67-a930-d6549561e703",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "p.setJointMotorControl2(robo1, 0, controlMode = p.VELOCITY_CONTROL, targetVelocity = 10)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 18,
+   "id": "4ece4ccc-e6f4-4190-8d8c-42120f37ee94",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "p.setJointMotorControl2(robo1, 0, controlMode = p.POSITION_CONTROL, targetVelocity = 10, targetPosition = 10)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 15,
+   "id": "5b025d5b-a240-4bd4-8587-0d28449233ea",
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "(0,\n",
+       " b'base_to_sub',\n",
+       " 0,\n",
+       " 7,\n",
+       " 6,\n",
+       " 1,\n",
+       " 0.0,\n",
+       " 0.0,\n",
+       " 10.0,\n",
+       " 0.0,\n",
+       " 0.0,\n",
+       " 1.0,\n",
+       " b'sub_link',\n",
+       " (1.0, 0.0, 0.0),\n",
+       " (0.0, 0.0, 0.6),\n",
+       " (0.0, 0.0, 0.0, 1.0),\n",
+       " -1)"
+      ]
+     },
+     "execution_count": 15,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "p.getJointInfo(robo1, 0)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 16,
+   "id": "5375a85d-63be-4f0b-95c1-aa89c214151c",
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "0"
+      ]
+     },
+     "execution_count": 16,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "p.JOINT_REVOLUTE"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 17,
+   "id": "09dd3456-6c9b-4ba9-aaff-e907b215ba5c",
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "1"
+      ]
+     },
+     "execution_count": 17,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "p.JOINT_PRISMATIC"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 23,
+   "id": "e65f8858-85d5-402e-855c-0972613ea529",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "robo2 = p.loadURDF(\"test6.urdf\")"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 24,
+   "id": "7124ae81-cbe3-4ca7-bf6a-16c3905f5dcf",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "p.setJointMotorControl2(robo2, 0, controlMode = p.VELOCITY_CONTROL, targetVelocity = 0.5)\n",
+    "p.setJointMotorControl2(robo2, 1, controlMode = p.VELOCITY_CONTROL, targetVelocity = 0.5)"
+   ]
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": "Python 3 (ipykernel)",
+   "language": "python",
+   "name": "python3"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 3
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython3",
+   "version": "3.10.8"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 5
+}
diff --git a/CM3020 Artificial Intelligence/Week 7/Files/05-moving-preset-robot.ipynb b/CM3020 Artificial Intelligence/Week 7/Files/05-moving-preset-robot.ipynb
new file mode 100644
index 0000000..54423ce
--- /dev/null
+++ b/CM3020 Artificial Intelligence/Week 7/Files/05-moving-preset-robot.ipynb	
@@ -0,0 +1,120 @@
+{
+ "cells": [
+  {
+   "cell_type": "code",
+   "execution_count": 1,
+   "id": "0b2e213c-9b00-4632-9d5b-85eb8b210b4f",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "run starter.py"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 3,
+   "id": "589b742b-cf39-4d26-9237-7f3bee95fba2",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "robo1 = p.loadURDF(\"C:/Users/Lev/venvs/pybullet-1/Lib/site-packages/pybullet_data/humanoid/humanoid.urdf\")"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 4,
+   "id": "05e0eddd-8e54-42cb-8739-229e14dbf56e",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "p.setRealTimeSimulation(1)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 5,
+   "id": "b113dbf1-903c-4a54-aa9a-a9a3ee6ee3e7",
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "15"
+      ]
+     },
+     "execution_count": 5,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "p.getNumJoints(robo1)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 6,
+   "id": "21c48b17-c5ea-4fb3-9a1e-17e5e817f74b",
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "4\n",
+      "2\n",
+      "2\n",
+      "2\n",
+      "0\n",
+      "4\n",
+      "2\n",
+      "0\n",
+      "4\n",
+      "2\n",
+      "0\n",
+      "2\n",
+      "2\n",
+      "0\n",
+      "2\n"
+     ]
+    }
+   ],
+   "source": [
+    "for i in range(p.getNumJoints(robo1)):\n",
+    "    print(p.getJointInfo(robo1, i) [2])"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 8,
+   "id": "969b3f01-ba40-4018-bc1c-efbd6a6d4ef6",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "for i in range(p.getNumJoints(robo1)):\n",
+    "    p.setJointMotorControl2(robo1, i, controlMode = p.VELOCITY_CONTROL, targetVelocity = -0.25)"
+   ]
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": "Python 3 (ipykernel)",
+   "language": "python",
+   "name": "python3"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 3
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython3",
+   "version": "3.10.8"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 5
+}
diff --git a/CM3020 Artificial Intelligence/Week 7/Files/06-robot-race.ipynb b/CM3020 Artificial Intelligence/Week 7/Files/06-robot-race.ipynb
new file mode 100644
index 0000000..94c9c89
--- /dev/null
+++ b/CM3020 Artificial Intelligence/Week 7/Files/06-robot-race.ipynb	
@@ -0,0 +1,79 @@
+{
+ "cells": [
+  {
+   "cell_type": "code",
+   "execution_count": 1,
+   "id": "2042474a-37dc-4469-81e0-37d9b0ff47b5",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "run starter.py"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 2,
+   "id": "c9af8a87-ec34-461e-bd7d-cf35d42df2c1",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "robots = []"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 3,
+   "id": "55df7549-1d34-43be-b7a0-0460feb8a95c",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "robots.append(p.loadURDF(\"test6.urdf\"))\n",
+    "robots.append(p.loadURDF(\"steven-chiu.urdf\"))\n",
+    "robots.append(p.loadURDF(\"zalalem-alemu.urdf\"))"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 4,
+   "id": "fa028b3d-bd3e-4f6d-b531-ae334f4a6cfd",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "for i in range(len(robots)):\n",
+    "    for j in range(p.getNumJoints(robots[i])):\n",
+    "        p.setJointMotorControl2(robots[i], j, controlMode = p.VELOCITY_CONTROL, targetVelocity = 5)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 5,
+   "id": "7d4840be-e06f-4dca-a589-a0e5d634fd97",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "p.setRealTimeSimulation(1)"
+   ]
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": "Python 3 (ipykernel)",
+   "language": "python",
+   "name": "python3"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 3
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython3",
+   "version": "3.10.8"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 5
+}
diff --git a/CM3020 Artificial Intelligence/Week 7/Files/humanoid.urdf b/CM3020 Artificial Intelligence/Week 7/Files/humanoid.urdf
new file mode 100644
index 0000000..151e0a3
--- /dev/null
+++ b/CM3020 Artificial Intelligence/Week 7/Files/humanoid.urdf	
@@ -0,0 +1,1340 @@
+<?xml version="1.0"?>
+<!--URDF MODEL 48 DoFs-->
+<!-- https://github.com/robotology/human-gazebo/tree/import_urdf/humanSubject06 -->
+<robot name="XSensStyleModel_template">
+
+<material name="color">
+    <color rgba="0.1 0.1 0.1 1"/>
+</material>
+
+<!--To open this model with Gazebo replace the null masses, inertias and dimensions of the 'fake links f1 and f2'-->
+    <!--LINKS-->
+	<!--Link base (1)-->
+	<link name="Pelvis">
+        <inertial>
+            <mass value="5.696"/>
+			<!--COM origin wrt pHipOrigin-->
+            <origin xyz="0           0    0.059167" rpy="0 0 0" />
+            <inertia ixx="0.050919" iyy="0.019195" izz="0.058056" ixy="0" ixz="0" iyz="0"/>
+        </inertial>
+
+        <visual>
+			<!--box origin wrt pHipOrigin-->
+            <origin xyz="0           0    0.059167" rpy="0 0 0" />
+            <geometry>
+                <box size="0.16655     0.30753      0.1127"/>
+            </geometry>
+            <material name="color"/>
+        </visual>
+
+        <collision>
+			<!--box origin wrt pHipOrigin-->
+            <origin xyz="0           0    0.059167" rpy="0 0 0" />
+            <geometry>
+                <box size="0.16655     0.30753      0.1127"/>
+            </geometry>
+        </collision>
+
+    </link>
+    <!--Chain from (2) to (7)-->
+	<link name="L5_f1">
+        <inertial>
+            <mass value="0"/>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
+        </inertial>
+    </link>
+	<link name="L5">
+        <inertial>
+            <mass value="7.2624"/>
+			<!--COM origin wrt jL5S1-->
+            <origin xyz="0           0    0.044881" rpy="0 0 0" />
+            <inertia ixx="0.02831" iyy="0.021663" izz="0.040221" ixy="0" ixz="0" iyz="0"/>
+        </inertial>
+
+        <visual>
+			<!--box origin origin wrt jL5S1-->
+            <origin xyz="0           0    0.044881" rpy="0 0 0" />
+            <geometry>
+                <box size="0.16655     0.19678    0.089762"/>
+            </geometry>
+            <material name="color"/>
+        </visual>
+
+        <collision>
+			<!--box origin origin wrt jL5S1-->
+            <origin xyz="0           0    0.044881" rpy="0 0 0" />
+            <geometry>
+                <box size="0.16655     0.19678    0.089762"/>
+            </geometry>
+        </collision>
+    </link>
+	<link name="L3_f1">
+        <inertial>
+            <mass value="0"/>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
+        </inertial>
+    </link>
+	<link name="L3">
+        <inertial>
+            <mass value="7.2624"/>
+			<!--COM origin wrt jL4L3-->
+            <origin xyz="0           0    0.040536" rpy="0 0 0" />
+            <inertia ixx="0.027412" iyy="0.020764" izz="0.040221" ixy="0" ixz="0" iyz="0"/>
+        </inertial>
+
+        <visual>
+			<!--box origin origin wrt jL4L3-->
+            <origin xyz="0           0    0.040536" rpy="0 0 0" />
+            <geometry>
+                <box size="0.16655     0.19678    0.081071"/>
+            </geometry>
+            <material name="color"/>
+        </visual>
+
+        <collision>
+			<!--box origin origin wrt jL4L3-->
+            <origin xyz="0           0    0.040536" rpy="0 0 0" />
+            <geometry>
+                <box size="0.16655     0.19678    0.081071"/>
+            </geometry>
+        </collision>
+    </link>
+	<link name="T12_f1">
+        <inertial>
+            <mass value="0"/>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
+        </inertial>
+    </link>
+	<link name="T12">
+        <inertial>
+            <mass value="7.2624"/>
+			<!--COM origin wrt jL1T12-->
+            <origin xyz="0           0    0.040536" rpy="0 0 0" />
+            <inertia ixx="0.027412" iyy="0.020764" izz="0.040221" ixy="0" ixz="0" iyz="0"/>
+        </inertial>
+
+        <visual>
+			<!--box origin origin wrt jL1T12-->
+            <origin xyz="0           0    0.040536" rpy="0 0 0" />
+            <geometry>
+                <box size="0.16655     0.19678    0.081071"/>
+            </geometry>
+            <material name="color"/>
+        </visual>
+
+        <collision>
+			<!--box origin origin wrt jL1T12-->
+            <origin xyz="0           0    0.040536" rpy="0 0 0" />
+            <geometry>
+                <box size="0.16655     0.19678    0.081071"/>
+            </geometry>
+        </collision>
+    </link>
+	<link name="T8_f1">
+        <inertial>
+            <mass value="0"/>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
+        </inertial>
+    </link>
+	<link name="T8_f2">
+        <inertial>
+            <mass value="0"/>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
+        </inertial>
+    </link>
+	<link name="T8">
+        <inertial>
+            <mass value="2.848"/>
+			<!--COM origin wrt jT9T8-->
+            <origin xyz="0           0    0.058058" rpy="0 0 0" />
+            <inertia ixx="0.0040381" iyy="0.0077541" izz="0.0053923" ixy="0" ixz="0" iyz="0"/>
+        </inertial>
+
+        <visual>
+			<!--box origin wrt jT9T8-->
+            <origin xyz="0           0    0.058058" rpy="0 0 0" />
+            <geometry>
+                <box size="0.13852    0.059426     0.11612"/>
+            </geometry>
+            <material name="color"/>
+        </visual>
+
+        <collision>
+			<!--box origin wrt jT9T8-->
+            <origin xyz="0           0    0.058058" rpy="0 0 0" />
+            <geometry>
+                <box size="0.13852    0.059426     0.11612"/>
+            </geometry>
+        </collision>
+
+    </link>
+	<link name="Neck_f1">
+        <inertial>
+            <mass value="0"/>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
+        </inertial>
+    </link>
+	<link name="Neck_f2">
+        <inertial>
+            <mass value="0"/>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
+        </inertial>
+    </link>
+	<link name="Neck">
+        <inertial>
+            <mass value="0.8544"/>
+			<!--COM origin wrt jT1C7-->
+            <origin xyz="0           0    0.048176" rpy="0 0 0" />
+            <inertia ixx="0.00086442" iyy="0.00086442" izz="0.00040681" ixy="0" ixz="0" iyz="0"/>
+        </inertial>
+
+        <visual>
+			<!--box origin wrt jT1C7-->
+            <origin xyz="0           0    0.048176" rpy="0 0 0" />
+            <geometry>
+		<cylinder length="0.096353" radius="0.01543"/>
+            </geometry>
+            <material name="color"/>
+        </visual>
+
+        <collision>
+			<!--box origin wrt jT1C7-->
+            <origin xyz="0           0    0.048176" rpy="0 0 0" />
+            <geometry>
+                <cylinder length="0.096353" radius="0.01543"/>
+            </geometry>
+        </collision>
+    </link>
+	<link name="Head_f1">
+        <inertial>
+            <mass value="0"/>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
+        </inertial>
+    </link>
+	<link name="Head">
+        <inertial>
+            <mass value="2.5632"/>
+			<!--COM origin wrt jC1Head-->
+            <origin xyz="0           0    0.099452" rpy="0 0 0" />
+            <inertia ixx="0.010141" iyy="0.010141" izz="0.010141" ixy="0" ixz="0" iyz="0"/>
+        </inertial>
+
+        <visual>
+			<!--boc origin wrt jC1Head-->
+            <origin xyz="0           0    0.099452" rpy="0 0 0" />
+            <geometry>
+                <sphere radius="0.099452"/>
+            </geometry>
+            <material name="color"/>
+        </visual>
+
+        <collision>
+			<!--box origin wrt jC1Head-->
+            <origin xyz="0           0    0.099452" rpy="0 0 0" />
+            <geometry>
+                <sphere radius="0.099452"/>
+            </geometry>
+        </collision>
+
+    </link>
+	<!--Chain from (8) to (11)-->
+	<link name="RightShoulder">
+        <inertial>
+            <mass value="2.2072"/>
+			<!--COM origin wrt jRightC7Shoulder-->
+            <origin xyz="0   -0.078854           0" rpy="0 0 0" />
+            <inertia ixx="0.0050082" iyy="0.00086686" izz="0.0050082" ixy="0" ixz="0" iyz="0"/>
+        </inertial>
+
+        <visual>
+			<!--box origin wrt jRightC7Shoulder. RPY rotated of pi/2.-->
+            <origin xyz="0   -0.078854           0" rpy="1.5708 0 0" />
+            <geometry>
+                <cylinder length="0.15771" radius="0.028026"/>
+            </geometry>
+            <material name="color"/>
+        </visual>
+
+        <collision>
+			<!--box origin wrt jRightC7Shoulder. RPY rotated of pi/2.-->
+            <origin xyz="0   -0.078854           0" rpy="1.5708 0 0" />
+            <geometry>
+                <cylinder length="0.15771" radius="0.028026"/>
+            </geometry>
+        </collision>
+
+    </link>
+	<link name="RightUpperArm_f1">
+        <inertial>
+            <mass value="0"/>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
+        </inertial>
+    </link>
+	<link name="RightUpperArm_f2">
+        <inertial>
+            <mass value="0"/>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
+        </inertial>
+    </link>
+    <link name="RightUpperArm">
+        <inertial>
+            <mass value="2.136"/>
+			<!--COM origin wrt jRightShoulder-->
+            <origin xyz="0    -0.14573           0" rpy="0 0 0" />
+            <inertia ixx="0.015663" iyy="0.0010831" izz="0.015663" ixy="0" ixz="0" iyz="0"/>
+        </inertial>
+
+        <visual>
+			<!--box origin wrt jRightShoulder. RPY rotated of pi/2.-->
+            <origin xyz="0    -0.14573           0" rpy="1.5708 0 0" />
+            <geometry>
+                <cylinder length="0.29147" radius="0.031846"/>
+            </geometry>
+            <material name="color"/>
+        </visual>
+
+        <collision>
+			<!--box origin wrt jRightShoulder. RPY rotated of pi/2.-->
+            <origin xyz="0    -0.14573           0" rpy="1.5708 0 0" />
+            <geometry>
+                <cylinder length="0.29147" radius="0.031846"/>
+            </geometry>
+        </collision>
+
+    </link>
+	<link name="RightForeArm_f1">
+        <inertial>
+            <mass value="0"/>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
+        </inertial>
+    </link>
+	<link name="RightForeArm">
+        <inertial>
+            <mass value="1.424"/>
+			<!--COM origin wrt jRightElbow-->
+            <origin xyz="0    -0.12047           0" rpy="0 0 0" />
+            <inertia ixx="0.0070493" iyy="0.00032093" izz="0.0070493" ixy="0" ixz="0" iyz="0"/>
+        </inertial>
+
+        <visual>
+			<!--box origin wrt jRightElbow. RPY rotated of pi/2.-->
+            <origin xyz="0    -0.12047           0" rpy="1.5708 0 0" />
+            <geometry>
+                <cylinder length="0.24094" radius="0.021231"/>
+            </geometry>
+            <material name="color"/>
+        </visual>
+
+        <collision>
+			<!--box origin wrt jRightElbow. RPY rotated of pi/2.-->
+            <origin xyz="0    -0.12047           0" rpy="1.5708 0 0" />
+            <geometry>
+                <cylinder length="0.24094" radius="0.021231"/>
+            </geometry>
+        </collision>
+
+    </link>
+	<link name="RightHand_f1">
+        <inertial>
+            <mass value="0"/>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
+        </inertial>
+    </link>
+	<link name="RightHand">
+        <inertial>
+            <mass value="0.4272"/>
+			<!--COM origin wrt jRightWrist-->
+            <origin xyz="0   -0.090968           0" rpy="0 0 0" />
+            <inertia ixx="0.0012426" iyy="0.00058792" izz="0.0017021" ixy="0" ixz="0" iyz="0"/>
+        </inertial>
+
+        <visual>
+			<!--box origin wrt jRightWrist-->
+            <origin xyz="0   -0.090968           0" rpy="0 0 0" />
+            <geometry>
+                <box size="0.12129     0.18194    0.042461"/>
+            </geometry>
+            <material name="color"/>
+        </visual>
+
+        <collision>
+			<!--box origin wrt jRightWrist-->
+            <origin xyz="0   -0.090968           0" rpy="0 0 0" />
+            <geometry>
+                <box size="0.12129     0.18194    0.042461"/>
+            </geometry>
+        </collision>
+
+    </link>
+	<!--Chain from (12) to (15)-->
+	<link name="LeftShoulder">
+        <inertial>
+            <mass value="2.2072"/>
+			<!--COM origin wrt jLeftC7Shoulder-->
+            <origin xyz="0    0.078854           0" rpy="0 0 0" />
+            <inertia ixx="0.0050082" iyy="0.00086686" izz="0.0050082" ixy="0" ixz="0" iyz="0"/>
+        </inertial>
+
+        <visual>
+			<!--box origin wrt jLeftC7Shoulder. RPY rotated of pi/2.-->
+            <origin xyz="0    0.078854           0" rpy="1.5708 0 0" />
+            <geometry>
+                <cylinder length="0.15771" radius="0.028026"/>
+            </geometry>
+            <material name="color"/>
+        </visual>
+
+        <collision>
+			<!--box origin wrt jLeftC7Shoulder. RPY rotated of pi/2.-->
+            <origin xyz="0    0.078854           0" rpy="1.5708 0 0" />
+            <geometry>
+                <cylinder length="0.15771" radius="0.028026"/>
+            </geometry>
+        </collision>
+
+    </link>
+	<link name="LeftUpperArm_f1">
+        <inertial>
+            <mass value="0"/>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
+        </inertial>
+    </link>
+	<link name="LeftUpperArm_f2">
+        <inertial>
+            <mass value="0"/>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
+        </inertial>
+    </link>
+	<link name="LeftUpperArm">
+        <inertial>
+            <mass value="2.136"/>
+			<!--COM origin wrt jLeftShoulder-->
+            <origin xyz="0     0.14573           0" rpy="0 0 0" />
+            <inertia ixx="0.015663" iyy="0.0010831" izz="0.015663" ixy="0" ixz="0" iyz="0"/>
+        </inertial>
+
+        <visual>
+			<!--box origin wrt jLeftShoulder. RPY rotated of pi/2.-->
+            <origin xyz="0     0.14573           0" rpy="1.5708 0 0" />
+            <geometry>
+                <cylinder length="0.29147" radius="0.031846"/>
+            </geometry>
+            <material name="color"/>
+        </visual>
+
+        <collision>
+			<!--box origin wrt jLeftShoulder. RPY rotated of pi/2.-->
+            <origin xyz="0     0.14573           0" rpy="1.5708 0 0" />
+            <geometry>
+                <cylinder length="0.29147" radius="0.031846"/>
+            </geometry>
+        </collision>
+
+    </link>
+	<link name="LeftForeArm_f1">
+        <inertial>
+            <mass value="0"/>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
+        </inertial>
+    </link>
+	<link name="LeftForeArm">
+        <inertial>
+            <mass value="1.424"/>
+			<!--COM origin wrt jLeftElbow-->
+            <origin xyz="0     0.12047           0" rpy="0 0 0" />
+            <inertia ixx="0.0070493" iyy="0.00032093" izz="0.0070493" ixy="0" ixz="0" iyz="0"/>
+        </inertial>
+
+        <visual>
+			<!--box origin wrt jLeftElbow. RPY rotated of pi/2.-->
+            <origin xyz="0     0.12047           0" rpy="1.5708 0 0" />
+            <geometry>
+                <cylinder length="0.24094" radius="0.021231"/>
+            </geometry>
+            <material name="color"/>
+        </visual>
+
+        <collision>
+			<!--box origin wrt jLeftElbow. RPY rotated of pi/2.-->
+            <origin xyz="0     0.12047           0" rpy="1.5708 0 0" />
+            <geometry>
+                <cylinder length="0.24094" radius="0.021231"/>
+            </geometry>
+        </collision>
+
+    </link>
+	<link name="LeftHand_f1">
+        <inertial>
+            <mass value="0"/>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
+        </inertial>
+    </link>
+	<link name="LeftHand">
+        <inertial>
+            <mass value="0.4272"/>
+			<!--COM origin wrt jLeftWrist-->
+            <origin xyz="0    0.090968           0" rpy="0 0 0" />
+            <inertia ixx="0.0012426" iyy="0.00058792" izz="0.0017021" ixy="0" ixz="0" iyz="0"/>
+        </inertial>
+
+        <visual>
+			<!--COM origin wrt jLeftWrist-->
+            <origin xyz="0    0.090968           0" rpy="0 0 0" />
+            <geometry>
+                <box size="0.12129     0.18194    0.042461"/>
+            </geometry>
+            <material name="color"/>
+        </visual>
+
+        <collision>
+			<!--COM origin wrt jLeftWrist-->
+            <origin xyz="0    0.090968           0" rpy="0 0 0" />
+            <geometry>
+                <box size="0.12129     0.18194    0.042461"/>
+            </geometry>
+        </collision>
+
+    </link>
+	<!--Chain from (16) to (19)-->
+	<link name="RightUpperLeg_f1">
+        <inertial>
+            <mass value="0"/>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
+        </inertial>
+    </link>
+	<link name="RightUpperLeg_f2">
+        <inertial>
+            <mass value="0"/>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
+        </inertial>
+    </link>
+    <link name="RightUpperLeg">
+        <inertial>
+            <mass value="8.9"/>
+			<!--COM origin wrt jRightHip-->
+            <origin xyz="0           0    -0.26304" rpy="0 0 0" />
+            <inertia ixx="0.21503" iyy="0.21503" izz="0.019525" ixy="0" ixz="0" iyz="0"/>
+        </inertial>
+
+        <visual>
+			<!--box origin wrt jRightHip-->
+            <origin xyz="0           0    -0.26304" rpy="0 0 0" />
+            <geometry>
+                <cylinder length="0.52609" radius="0.066238"/>
+            </geometry>
+            <material name="color"/>
+        </visual>
+
+        <collision>
+			<!--box origin wrt jRightHip-->
+            <origin xyz="0           0    -0.26304" rpy="0 0 0" />
+            <geometry>
+                <cylinder length="0.52609" radius="0.066238"/>
+            </geometry>
+        </collision>
+
+    </link>
+	<link name="RightLowerLeg_f1">
+        <inertial>
+            <mass value="0"/>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
+        </inertial>
+    </link>
+    <link name="RightLowerLeg">
+        <inertial>
+            <mass value="2.5988"/>
+			<!--COM origin wrt jRightKnee-->
+            <origin xyz="0           0    -0.20614" rpy="0 0 0" />
+            <inertia ixx="0.037755" iyy="0.037755" izz="0.0018892" ixy="0" ixz="0" iyz="0"/>
+        </inertial>
+
+        <visual>
+			<!--box origin wrt jRightKnee-->
+            <origin xyz="0           0    -0.20614" rpy="0 0 0" />
+            <geometry>
+                <cylinder length="0.41228" radius="0.03813"/>
+            </geometry>
+            <material name="color"/>
+        </visual>
+
+        <collision>
+			<!--box origin wrt jRightKnee-->
+            <origin xyz="0           0    -0.20614" rpy="0 0 0" />
+            <geometry>
+                <cylinder length="0.41228" radius="0.03813"/>
+            </geometry>
+        </collision>
+
+    </link>
+	<link name="RightFoot_f1">
+        <inertial>
+            <mass value="0"/>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
+        </inertial>
+    </link>
+	<link name="RightFoot_f2">
+        <inertial>
+            <mass value="0"/>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
+        </inertial>
+    </link>
+    <link name="RightFoot">
+        <inertial>
+            <mass value="0.9256"/>
+			<!--COM origin wrt jRightAnkle-->
+            <origin xyz="0.061581           0   -0.040628" rpy="0 0 0" />
+            <inertia ixx="0.00095786" iyy="0.0038434" izz="0.0037827" ixy="0" ixz="0" iyz="0"/>
+        </inertial>
+
+        <visual>
+			<!--box origin wrt jRightAnkle-->
+	    	<origin xyz="0.061581           0   -0.040628" rpy="0 0 0" />
+            <geometry>
+                <box size="0.20791     0.07626    0.081257"/>
+            </geometry>
+            <material name="color"/>
+        </visual>
+
+        <collision>
+			<!--box origin wrt jRightAnkle-->
+		    <origin xyz="0.061581           0   -0.040628" rpy="0 0 0" />
+	            <geometry>
+	                <box size="0.20791     0.07626    0.081257"/>
+	            </geometry>
+        </collision>
+
+    </link>
+    <link name="RightToe">
+        <inertial>
+            <mass value="0.1068"/>
+			<!--COM origin wrt jRightBallFoot-->
+            <origin xyz="0.041044           0           0" rpy="0 0 0" />
+            <inertia ixx="5.4675e-05" iyy="6.289e-05" izz="0.00011173" ixy="0" ixz="0" iyz="0"/>
+        </inertial>
+
+        <visual>
+			<!--box origin wrt jRightBallFoot-->
+            <origin xyz="0.041044           0           0" rpy="0 0 0" />
+            <geometry>
+                <box size="0.082089     0.07626    0.018102"/>
+            </geometry>
+            <material name="color"/>
+        </visual>
+
+        <collision>
+			<!--box origin wrt jRightBallFoot-->
+            <origin xyz="0.041044           0           0" rpy="0 0 0" />
+            <geometry>
+                <box size="0.082089     0.07626    0.018102"/>
+            </geometry>
+        </collision>
+    </link>
+	<!--Chain from (20) to (23)-->
+	<link name="LeftUpperLeg_f1">
+        <inertial>
+            <mass value="0"/>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
+        </inertial>
+    </link>
+	<link name="LeftUpperLeg_f2">
+        <inertial>
+            <mass value="0"/>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
+        </inertial>
+    </link>
+    <link name="LeftUpperLeg">
+        <inertial>
+            <mass value="8.9"/>
+			<!--COM origin wrt jLeftHip-->
+            <origin xyz="0           0    -0.26304" rpy="0 0 0" />
+            <inertia ixx="0.21503" iyy="0.21503" izz="0.019525" ixy="0" ixz="0" iyz="0"/>
+        </inertial>
+
+        <visual>
+			<!--box origin wrt jLeftHip-->
+            <origin xyz="0           0    -0.26304" rpy="0 0 0" />
+            <geometry>
+                <cylinder length="0.52609" radius="0.066238"/>
+            </geometry>
+            <material name="color"/>
+        </visual>
+
+        <collision>
+			<!--box origin wrt jLeftHip-->
+            <origin xyz="0           0    -0.26304" rpy="0 0 0" />
+            <geometry>
+                <cylinder length="0.52609" radius="0.066238"/>
+            </geometry>
+        </collision>
+
+    </link>
+	<link name="LeftLowerLeg_f1">
+        <inertial>
+            <mass value="0"/>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
+        </inertial>
+    </link>
+	<link name="LeftLowerLeg">
+        <inertial>
+            <mass value="2.5988"/>
+			<!--COM origin wrt jLeftKnee-->
+            <origin xyz="0           0    -0.20614" rpy="0 0 0" />
+            <inertia ixx="0.037755" iyy="0.037755" izz="0.0018892" ixy="0" ixz="0" iyz="0"/>
+        </inertial>
+
+        <visual>
+			<!--box origin wrt jLeftKnee-->
+            <origin xyz="0           0    -0.20614" rpy="0 0 0" />
+            <geometry>
+		<cylinder length="0.41228" radius="0.03813"/>
+            </geometry>
+            <material name="color"/>
+        </visual>
+
+        <collision>
+			<!--box origin wrt jLeftKnee-->
+            <origin xyz="0           0    -0.20614" rpy="0 0 0" />
+            <geometry>
+		<cylinder length="0.41228" radius="0.03813"/>
+            </geometry>
+        </collision>
+
+    </link>
+	<link name="LeftFoot_f1">
+        <inertial>
+            <mass value="0"/>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
+        </inertial>
+    </link>
+	<link name="LeftFoot_f2">
+        <inertial>
+            <mass value="0"/>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
+        </inertial>
+    </link>
+    <link name="LeftFoot">
+        <inertial>
+            <mass value="0.9256"/>
+			<!--COM origin wrt jLeftAnkle-->
+            <origin xyz="0.061581           0   -0.040628" rpy="0 0 0" />
+            <inertia ixx="0.00095786" iyy="0.0038434" izz="0.0037827" ixy="0" ixz="0" iyz="0"/>
+        </inertial>
+
+        <visual>
+			<!--box origin wrt jLeftAnkle-->
+	   	 	<origin xyz="0.061581           0   -0.040628" rpy="0 0 0" />
+            <geometry>
+                <box size="0.20791     0.07626    0.081257"/>
+            </geometry>
+            <material name="color"/>
+        </visual>
+
+        <collision>
+			<!--box origin wrt jLeftAnkle-->
+		    <origin xyz="0.061581           0   -0.040628" rpy="0 0 0" />
+	            <geometry>
+	                <box size="0.20791     0.07626    0.081257"/>
+	            </geometry>
+        </collision>
+
+    </link>
+	<link name="LeftToe">
+        <inertial>
+            <mass value="0.1068"/>
+			<!--COM origin wrt jLeftBallFoot-->
+            <origin xyz="0.041044           0           0" rpy="0 0 0" />
+            <inertia ixx="5.4675e-05" iyy="6.289e-05" izz="0.00011173" ixy="0" ixz="0" iyz="0"/>
+        </inertial>
+
+        <visual>
+			<!--box origin wrt jLeftBallFoot-->
+            <origin xyz="0.041044           0           0" rpy="0 0 0" />
+            <geometry>
+                <box size="0.082089     0.07626    0.018102"/>
+            </geometry>
+            <material name="color"/>
+        </visual>
+
+        <collision>
+			<!--box origin wrt jLeftBallFoot-->
+            <origin xyz="0.041044           0           0" rpy="0 0 0" />
+            <geometry>
+                <box size="0.082089     0.07626    0.018102"/>
+            </geometry>
+        </collision>
+    </link>
+
+
+	<!--JOINTS-->
+	<!--Chain from (2) to (7)-->
+	<joint name="jL5S1_rotx" type="revolute">
+        <origin xyz="-0.000575           0     0.11552" rpy="0 0 0"/>
+        <parent link="Pelvis"/>
+        <child link="L5_f1"/>
+        <dynamics damping="0.1" friction="0.0"/>
+        <limit effort="30" velocity="1.0" lower="-0.610865" upper="0.610865" />
+        <axis xyz="1 0 0" />
+    </joint>
+	<joint name="jL5S1_roty" type="revolute">
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <parent link="L5_f1"/>
+        <child link="L5"/>
+        <dynamics damping="0.1" friction="0.0"/>
+        <limit effort="30" velocity="1.0" lower="-0.523599" upper="1.309" />
+        <axis xyz="0 1 0" />
+    </joint>
+	<joint name="jL4L3_rotx" type="revolute">
+        <origin xyz="0.001044           0    0.089762" rpy="0 0 0"/>
+        <parent link="L5"/>
+        <child link="L3_f1"/>
+        <dynamics damping="0.1" friction="0.0"/>
+        <limit effort="30" velocity="1.0" lower="-0.610865" upper="0.610865" />
+        <axis xyz="1 0 0" />
+    </joint>
+	<joint name="jL4L3_roty" type="revolute">
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <parent link="L3_f1"/>
+        <child link="L3"/>
+        <dynamics damping="0.1" friction="0.0"/>
+        <limit effort="30" velocity="1.0" lower="-0.523599" upper="1.309" />
+        <axis xyz="0 1 0" />
+    </joint>
+	<joint name="jL1T12_rotx" type="revolute">
+        <origin xyz="0           0    0.081071" rpy="0 0 0"/>
+        <parent link="L3"/>
+        <child link="T12_f1"/>
+        <dynamics damping="0.1" friction="0.0"/>
+        <limit effort="30" velocity="1.0" lower="-0.610865" upper="0.610865" />
+        <axis xyz="1 0 0" />
+    </joint>
+	<joint name="jL1T12_roty" type="revolute">
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <parent link="T12_f1"/>
+        <child link="T12"/>
+        <dynamics damping="0.1" friction="0.0"/>
+        <limit effort="30" velocity="1.0" lower="-0.523599" upper="1.309" />
+        <axis xyz="0 1 0" />
+    </joint>
+	<joint name="jT9T8_rotx" type="revolute">
+        <origin xyz="0           0    0.081071" rpy="0 0 0"/>
+        <parent link="T12"/>
+        <child link="T8_f1"/>
+        <dynamics damping="0.1" friction="0.0"/>
+        <limit effort="30" velocity="1.0" lower="-0.349066" upper="0.349066" />
+        <axis xyz="1 0 0" />
+    </joint>
+	<joint name="jT9T8_roty" type="revolute">
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <parent link="T8_f1"/>
+        <child link="T8_f2"/>
+        <dynamics damping="0.1" friction="0.0"/>
+        <limit effort="30" velocity="1.0" lower="-0.261799" upper="0.698132" />
+        <axis xyz="0 1 0" />
+    </joint>
+    <joint name="jT9T8_rotz" type="revolute">
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <parent link="T8_f2"/>
+        <child link="T8"/>
+        <dynamics damping="0.1" friction="0.0"/>
+        <limit effort="30" velocity="1.0" lower="-0.610865" upper="0.610865" />
+        <axis xyz="0 0 1" />
+    </joint>
+	<joint name="jT1C7_rotx" type="revolute">
+        <origin xyz="0           0     0.11612" rpy="0 0 0"/>
+        <parent link="T8"/>
+        <child link="Neck_f1"/>
+        <dynamics damping="0.1" friction="0.0"/>
+        <limit effort="30" velocity="1.0" lower="-0.610865" upper="0.610865" />
+        <axis xyz="1 0 0" />
+    </joint>
+	<joint name="jT1C7_roty" type="revolute">
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <parent link="Neck_f1"/>
+        <child link="Neck_f2"/>
+        <dynamics damping="0.1" friction="0.0"/>
+        <limit effort="30" velocity="1.0" lower="-0.959931" upper="1.5708" />
+        <axis xyz="0 1 0" />
+    </joint>
+    <joint name="jT1C7_rotz" type="revolute">
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <parent link="Neck_f2"/>
+        <child link="Neck"/>
+        <dynamics damping="0.1" friction="0.0"/>
+        <limit effort="30" velocity="1.0" lower="-1.22173" upper="1.22173" />
+        <axis xyz="0 0 1" />
+    </joint>
+	<joint name="jC1Head_rotx" type="revolute">
+        <origin xyz="0.000829           0    0.096353" rpy="0 0 0"/>
+        <parent link="Neck"/>
+        <child link="Head_f1"/>
+        <dynamics damping="0.1" friction="0.0"/>
+        <limit effort="30" velocity="1.0" lower="-0.610865" upper="0.610865" />
+        <axis xyz="1 0 0" />
+    </joint>
+	<joint name="jC1Head_roty" type="revolute">
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <parent link="Head_f1"/>
+        <child link="Head"/>
+        <dynamics damping="0.1" friction="0.0"/>
+        <limit effort="30" velocity="1.0" lower="-0.436332" upper="0.174533" />
+        <axis xyz="0 1 0" />
+    </joint>
+	<!--Chain from (8) to (11)-->
+	<joint name="jRightC7Shoulder_rotx" type="revolute">
+        <origin xyz="0   -0.029713    0.065446" rpy="0 0 0"/>
+        <parent link="T8"/>
+        <child link="RightShoulder"/>
+        <dynamics damping="0.1" friction="0.0"/>
+        <limit effort="30" velocity="1.0" lower="-0.785398" upper="0.0872665" />
+        <axis xyz="1 0 0" />
+    </joint>
+	<joint name="jRightShoulder_rotx" type="revolute">
+        <origin xyz="0    -0.15771           0" rpy="0 0 0"/>
+        <parent link="RightShoulder"/>
+        <child link="RightUpperArm_f1"/>
+        <dynamics damping="0.1" friction="0.0"/>
+        <limit effort="30" velocity="1.0" lower="-2.35619" upper="1.5708" />
+        <axis xyz="1 0 0" />
+    </joint>
+	<joint name="jRightShoulder_roty" type="revolute">
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <parent link="RightUpperArm_f1"/>
+        <child link="RightUpperArm_f2"/>
+        <dynamics damping="0.1" friction="0.0"/>
+        <limit effort="30" velocity="1.0" lower="-1.5708" upper="1.5708" />
+        <axis xyz="0 1 0" />
+    </joint>
+    <joint name="jRightShoulder_rotz" type="revolute">
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <parent link="RightUpperArm_f2"/>
+        <child link="RightUpperArm"/>
+        <dynamics damping="0.1" friction="0.0"/>
+        <limit effort="30" velocity="1.0" lower="-0.785398" upper="3.14159" />
+        <axis xyz="0 0 1" />
+    </joint>
+	<joint name="jRightElbow_roty" type="revolute">
+        <origin xyz="0    -0.29147           0" rpy="0 0 0"/>
+        <parent link="RightUpperArm"/>
+        <child link="RightForeArm_f1"/>
+        <dynamics damping="0.1" friction="0.0"/>
+        <limit effort="30" velocity="1.0" lower="-1.5708" upper="1.48353" />
+        <axis xyz="0 1 0" />
+    </joint>
+	<joint name="jRightElbow_rotz" type="revolute">
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <parent link="RightForeArm_f1"/>
+        <child link="RightForeArm"/>
+        <dynamics damping="0.1" friction="0.0"/>
+        <limit effort="30" velocity="1.0" lower="0" upper="2.53073" />
+        <axis xyz="0 0 1" />
+    </joint>
+	<joint name="jRightWrist_rotx" type="revolute">
+        <origin xyz="0.000102    -0.24094           0" rpy="0 0 0"/>
+        <parent link="RightForeArm"/>
+        <child link="RightHand_f1"/>
+        <dynamics damping="0.1" friction="0.0"/>
+        <limit effort="30" velocity="1.0" lower="-0.872665" upper="1.0472" />
+        <axis xyz="1 0 0" />
+    </joint>
+	<joint name="jRightWrist_rotz" type="revolute">
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <parent link="RightHand_f1"/>
+        <child link="RightHand"/>
+        <dynamics damping="0.1" friction="0.0"/>
+        <limit effort="30" velocity="1.0" lower="-0.523599" upper="0.349066" />
+        <axis xyz="0 0 1" />
+    </joint>
+	<!--Chain from (12) to (15)-->
+	<joint name="jLeftC7Shoulder_rotx" type="revolute">
+        <origin xyz="0    0.029713    0.065446" rpy="0 0 0"/>
+        <parent link="T8"/>
+        <child link="LeftShoulder"/>
+        <dynamics damping="0.1" friction="0.0"/>
+        <limit effort="30" velocity="1.0" lower="-0.0872665" upper="0.785398" />
+        <axis xyz="1 0 0" />
+    </joint>
+	<joint name="jLeftShoulder_rotx" type="revolute">
+        <origin xyz="0     0.15771           0" rpy="0 0 0"/>
+        <parent link="LeftShoulder"/>
+        <child link="LeftUpperArm_f1"/>
+        <dynamics damping="0.1" friction="0.0"/>
+        <limit effort="30" velocity="1.0" lower="-1.5708" upper="2.35619" />
+        <axis xyz="1 0 0" />
+    </joint>
+	<joint name="jLeftShoulder_roty" type="revolute">
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <parent link="LeftUpperArm_f1"/>
+        <child link="LeftUpperArm_f2"/>
+        <dynamics damping="0.1" friction="0.0"/>
+        <limit effort="30" velocity="1.0" lower="-1.5708" upper="1.5708" />
+        <axis xyz="0 1 0" />
+    </joint>
+    <joint name="jLeftShoulder_rotz" type="revolute">
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <parent link="LeftUpperArm_f2"/>
+        <child link="LeftUpperArm"/>
+        <dynamics damping="0.1" friction="0.0"/>
+        <limit effort="30" velocity="1.0" lower="-3.14159" upper="0.785398" />
+        <axis xyz="0 0 1" />
+    </joint>
+    <joint name="jLeftElbow_roty" type="revolute">
+        <origin xyz="0     0.29147           0" rpy="0 0 0"/>
+        <parent link="LeftUpperArm"/>
+        <child link="LeftForeArm_f1"/>
+        <dynamics damping="0.1" friction="0.0"/>
+        <limit effort="30" velocity="1.0" lower="-1.5708" upper="1.48353" />
+        <axis xyz="0 1 0" />
+    </joint>
+    <joint name="jLeftElbow_rotz" type="revolute">
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <parent link="LeftForeArm_f1"/>
+        <child link="LeftForeArm"/>
+        <dynamics damping="0.1" friction="0.0"/>
+        <limit effort="30" velocity="1.0" lower="-2.53073" upper="0" />
+        <axis xyz="0 0 1" />
+    </joint>
+	<joint name="jLeftWrist_rotx" type="revolute">
+        <origin xyz="0.000102     0.24094           0" rpy="0 0 0"/>
+        <parent link="LeftForeArm"/>
+        <child link="LeftHand_f1"/>
+        <dynamics damping="0.1" friction="0.0"/>
+        <limit effort="30" velocity="1.0" lower="-1.0472" upper="0.872665" />
+        <axis xyz="1 0 0" />
+    </joint>
+	<joint name="jLeftWrist_rotz" type="revolute">
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <parent link="LeftHand_f1"/>
+        <child link="LeftHand"/>
+        <dynamics damping="0.1" friction="0.0"/>
+        <limit effort="30" velocity="1.0" lower="-0.349066" upper="0.523599" />
+        <axis xyz="0 0 1" />
+    </joint>
+	<!--Chain from (16) to (19)-->
+	<joint name="jRightHip_rotx" type="revolute">
+        <origin xyz="0.000287   -0.098388    0.002817" rpy="0 0 0"/>
+        <parent link="Pelvis"/>
+        <child link="RightUpperLeg_f1"/>
+        <dynamics damping="0.1" friction="0.0"/>
+        <limit effort="30" velocity="1.0" lower="-0.785398" upper="0.523599" />
+        <axis xyz="1 0 0" />
+    </joint>
+	<joint name="jRightHip_roty" type="revolute">
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <parent link="RightUpperLeg_f1"/>
+        <child link="RightUpperLeg_f2"/>
+        <dynamics damping="0.1" friction="0.0"/>
+        <limit effort="30" velocity="1.0" lower="-0.261799" upper="2.0944" />
+        <axis xyz="0 1 0" />
+    </joint>
+    <joint name="jRightHip_rotz" type="revolute">
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <parent link="RightUpperLeg_f2"/>
+        <child link="RightUpperLeg"/>
+        <dynamics damping="0.1" friction="0.0"/>
+        <limit effort="30" velocity="1.0" lower="-0.785398" upper="0.785398" />
+        <axis xyz="0 0 1" />
+    </joint>
+	<joint name="jRightKnee_roty" type="revolute">
+        <origin xyz="3e-05           0    -0.52609" rpy="0 0 0"/>
+        <parent link="RightUpperLeg"/>
+        <child link="RightLowerLeg_f1"/>
+        <dynamics damping="0.1" friction="0.0"/>
+        <limit effort="30" velocity="1.0" lower="0" upper="2.35619" />
+        <axis xyz="0 1 0" />
+    </joint>
+	<joint name="jRightKnee_rotz" type="revolute">
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <parent link="RightLowerLeg_f1"/>
+        <child link="RightLowerLeg"/>
+        <dynamics damping="0.1" friction="0.0"/>
+        <limit effort="30" velocity="1.0" lower="-0.698132" upper="0.523599" />
+        <axis xyz="0 0 1" />
+    </joint>
+	<joint name="jRightAnkle_rotx" type="revolute">
+        <origin xyz="-0.0001           0    -0.41228" rpy="0 0 0"/>
+        <parent link="RightLowerLeg"/>
+        <child link="RightFoot_f1"/>
+        <dynamics damping="0.1" friction="0.0"/>
+        <limit effort="30" velocity="1.0" lower="-0.610865" upper="0.785398" />
+        <axis xyz="1 0 0" />
+    </joint>
+	<joint name="jRightAnkle_roty" type="revolute">
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <parent link="RightFoot_f1"/>
+        <child link="RightFoot_f2"/>
+        <dynamics damping="0.1" friction="0.0"/>
+        <limit effort="30" velocity="1.0" lower="-0.523599" upper="0.872665" />
+        <axis xyz="0 1 0" />
+    </joint>
+    <joint name="jRightAnkle_rotz" type="revolute">
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <parent link="RightFoot_f2"/>
+        <child link="RightFoot"/>
+        <dynamics damping="0.1" friction="0.0"/>
+        <limit effort="30" velocity="1.0" lower="-0.436332" upper="0.872665" />
+        <axis xyz="0 0 1" />
+    </joint>
+	<joint name="jRightBallFoot_roty" type="revolute">
+        <origin xyz="0.16553           0   -0.067444" rpy="0 0 0"/>
+        <parent link="RightFoot"/>
+        <child link="RightToe"/>
+        <dynamics damping="0.1" friction="0.0"/>
+        <limit effort="30" velocity="1.0" lower="-0.174533" upper="1.5708" />
+        <axis xyz="0 1 0" />
+    </joint>
+	<!--Chain from (20) to (23)-->
+	<joint name="jLeftHip_rotx" type="revolute">
+        <origin xyz="0.000287    0.098388    0.002817" rpy="0 0 0"/>
+        <parent link="Pelvis"/>
+        <child link="LeftUpperLeg_f1"/>
+        <dynamics damping="0.1" friction="0.0"/>
+        <limit effort="30" velocity="1.0" lower="-0.523599" upper="0.785398" />
+        <axis xyz="1 0 0" />
+    </joint>
+	<joint name="jLeftHip_roty" type="revolute">
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <parent link="LeftUpperLeg_f1"/>
+        <child link="LeftUpperLeg_f2"/>
+        <dynamics damping="0.1" friction="0.0"/>
+        <limit effort="30" velocity="1.0" lower="-0.261799" upper="2.0944" />
+        <axis xyz="0 1 0" />
+    </joint>
+    <joint name="jLeftHip_rotz" type="revolute">
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <parent link="LeftUpperLeg_f2"/>
+        <child link="LeftUpperLeg"/>
+        <dynamics damping="0.1" friction="0.0"/>
+        <limit effort="30" velocity="1.0" lower="-0.785398" upper="0.785398" />
+        <axis xyz="0 0 1" />
+    </joint>
+	<joint name="jLeftKnee_roty" type="revolute">
+        <origin xyz="3e-05           0    -0.52609" rpy="0 0 0"/>
+        <parent link="LeftUpperLeg"/>
+        <child link="LeftLowerLeg_f1"/>
+        <dynamics damping="0.1" friction="0.0"/>
+        <limit effort="30" velocity="1.0" lower="0" upper="2.35619" />
+        <axis xyz="0 1 0" />
+    </joint>
+    <joint name="jLeftKnee_rotz" type="revolute">
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <parent link="LeftLowerLeg_f1"/>
+        <child link="LeftLowerLeg"/>
+        <dynamics damping="0.1" friction="0.0"/>
+        <limit effort="30" velocity="1.0" lower="-0.523599" upper="0.698132" />
+        <axis xyz="0 0 1" />
+    </joint>
+	<joint name="jLeftAnkle_rotx" type="revolute">
+        <origin xyz="-0.0001           0    -0.41228" rpy="0 0 0"/>
+        <parent link="LeftLowerLeg"/>
+        <child link="LeftFoot_f1"/>
+        <dynamics damping="0.1" friction="0.0"/>
+        <limit effort="30" velocity="1.0" lower="-0.785398" upper="0.610865" />
+        <axis xyz="1 0 0" />
+    </joint>
+	<joint name="jLeftAnkle_roty" type="revolute">
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <parent link="LeftFoot_f1"/>
+        <child link="LeftFoot_f2"/>
+        <dynamics damping="0.1" friction="0.0"/>
+        <limit effort="30" velocity="1.0" lower="-0.523599" upper="0.872665" />
+        <axis xyz="0 1 0" />
+    </joint>
+    <joint name="jLeftAnkle_rotz" type="revolute">
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <parent link="LeftFoot_f2"/>
+        <child link="LeftFoot"/>
+        <dynamics damping="0.1" friction="0.0"/>
+        <limit effort="30" velocity="1.0" lower="-0.872665" upper="0.436332" />
+        <axis xyz="0 0 1" />
+    </joint>
+	<joint name="jLeftBallFoot_roty" type="revolute">
+        <origin xyz="0.16553           0   -0.067444" rpy="0 0 0"/>
+        <parent link="LeftFoot"/>
+        <child link="LeftToe"/>
+        <dynamics damping="0.1" friction="0.0"/>
+        <limit effort="30" velocity="1.0" lower="-0.174533" upper="1.5708" />
+        <axis xyz="0 1 0" />
+    </joint>
+
+	<!-- Sensor  1-->
+<sensor name="Pelvis_gyro" type="gyroscope">
+<parent link="Pelvis"/>
+<origin xyz="-0.068488 -3.8658e-07     0.11696" rpy="-0.27051      1.3344      2.7093"/>
+</sensor>
+<sensor name="Pelvis_accelerometer" type="accelerometer">
+<parent link="Pelvis"/>
+<origin xyz="-0.068488 -3.8658e-07     0.11696" rpy="-0.27051      1.3344      2.7093"/>
+</sensor>
+<!-- Sensor  2-->
+<sensor name="T8_gyro" type="gyroscope">
+<parent link="T8"/>
+<origin xyz="0.12929  8.9756e-08    0.071108" rpy="0.38721      1.2683     0.24211"/>
+</sensor>
+<sensor name="T8_accelerometer" type="accelerometer">
+<parent link="T8"/>
+<origin xyz="0.12929  8.9756e-08    0.071108" rpy="0.38721      1.2683     0.24211"/>
+</sensor>
+<!-- Sensor  3-->
+<sensor name="Head_gyro" type="gyroscope">
+<parent link="Head"/>
+<origin xyz="-0.077436 -1.1223e-07    0.085116" rpy="-2.4386    -0.21231      1.6195"/>
+</sensor>
+<sensor name="Head_accelerometer" type="accelerometer">
+<parent link="Head"/>
+<origin xyz="-0.077436 -1.1223e-07    0.085116" rpy="-2.4386    -0.21231      1.6195"/>
+</sensor>
+<!-- Sensor  4-->
+<sensor name="RightShoulder_gyro" type="gyroscope">
+<parent link="RightShoulder"/>
+<origin xyz="-0.022421   -0.056053   -0.067264" rpy="1.2409      -0.251     -1.4752"/>
+</sensor>
+<sensor name="RightShoulder_accelerometer" type="accelerometer">
+<parent link="RightShoulder"/>
+<origin xyz="-0.022421   -0.056053   -0.067264" rpy="1.2409      -0.251     -1.4752"/>
+</sensor>
+<!-- Sensor  5-->
+<sensor name="RightUpperArm_gyro" type="gyroscope">
+<parent link="RightUpperArm"/>
+<origin xyz="-0.019597   -0.097988    0.019598" rpy="-0.023852    0.034416     -1.4836"/>
+</sensor>
+<sensor name="RightUpperArm_accelerometer" type="accelerometer">
+<parent link="RightUpperArm"/>
+<origin xyz="-0.019597   -0.097988    0.019598" rpy="-0.023852    0.034416     -1.4836"/>
+</sensor>
+<!-- Sensor  6-->
+<sensor name="RightForeArm_gyro" type="gyroscope">
+<parent link="RightForeArm"/>
+<origin xyz="0.0018228     -0.1988    0.019855" rpy="-0.23839    0.042417      -1.238"/>
+</sensor>
+<sensor name="RightForeArm_accelerometer" type="accelerometer">
+<parent link="RightForeArm"/>
+<origin xyz="0.0018228     -0.1988    0.019855" rpy="-0.23839    0.042417      -1.238"/>
+</sensor>
+<!-- Sensor  7-->
+<sensor name="RightHand_gyro" type="gyroscope">
+<parent link="RightHand"/>
+<origin xyz="3.4392e-08   -0.055431    0.020157" rpy="-0.1235    0.039699     -1.3751"/>
+</sensor>
+<sensor name="RightHand_accelerometer" type="accelerometer">
+<parent link="RightHand"/>
+<origin xyz="3.4392e-08   -0.055431    0.020157" rpy="-0.1235    0.039699     -1.3751"/>
+</sensor>
+<!-- Sensor  8-->
+<sensor name="LeftShoulder_gyro" type="gyroscope">
+<parent link="LeftShoulder"/>
+<origin xyz="-0.022421    0.056053   -0.067264" rpy="-1.3117     -0.3446      1.3956"/>
+</sensor>
+<sensor name="LeftShoulder_accelerometer" type="accelerometer">
+<parent link="LeftShoulder"/>
+<origin xyz="-0.022421    0.056053   -0.067264" rpy="-1.3117     -0.3446      1.3956"/>
+</sensor>
+<!-- Sensor  9-->
+<sensor name="LeftUpperArm_gyro" type="gyroscope">
+<parent link="LeftUpperArm"/>
+<origin xyz="-0.019597    0.097989    0.019598" rpy="0.10179    0.025936      1.4178"/>
+</sensor>
+<sensor name="LeftUpperArm_accelerometer" type="accelerometer">
+<parent link="LeftUpperArm"/>
+<origin xyz="-0.019597    0.097989    0.019598" rpy="0.10179    0.025936      1.4178"/>
+</sensor>
+<!-- Sensor  10-->
+<sensor name="LeftForeArm_gyro" type="gyroscope">
+<parent link="LeftForeArm"/>
+<origin xyz="0.0018196      0.1988    0.019876" rpy="0.33797   -0.011593      1.2119"/>
+</sensor>
+<sensor name="LeftForeArm_accelerometer" type="accelerometer">
+<parent link="LeftForeArm"/>
+<origin xyz="0.0018196      0.1988    0.019876" rpy="0.33797   -0.011593      1.2119"/>
+</sensor>
+<!-- Sensor  11-->
+<sensor name="LeftHand_gyro" type="gyroscope">
+<parent link="LeftHand"/>
+<origin xyz="1.4957e-06    0.055432    0.020158" rpy="0.20961    0.078707      1.2361"/>
+</sensor>
+<sensor name="LeftHand_accelerometer" type="accelerometer">
+<parent link="LeftHand"/>
+<origin xyz="1.4957e-06    0.055432    0.020158" rpy="0.20961    0.078707      1.2361"/>
+</sensor>
+<!-- Sensor  12-->
+<sensor name="RightUpperLeg_gyro" type="gyroscope">
+<parent link="RightUpperLeg"/>
+<origin xyz="0.015207   -0.053543    -0.31632" rpy="2.7056      1.3522      1.1266"/>
+</sensor>
+<sensor name="RightUpperLeg_accelerometer" type="accelerometer">
+<parent link="RightUpperLeg"/>
+<origin xyz="0.015207   -0.053543    -0.31632" rpy="2.7056      1.3522      1.1266"/>
+</sensor>
+<!-- Sensor  13-->
+<sensor name="RightLowerLeg_gyro" type="gyroscope">
+<parent link="RightLowerLeg"/>
+<origin xyz="0.031416   0.0071913    -0.13516" rpy="-3.0013      1.5099      -2.862"/>
+</sensor>
+<sensor name="RightLowerLeg_accelerometer" type="accelerometer">
+<parent link="RightLowerLeg"/>
+<origin xyz="0.031416   0.0071913    -0.13516" rpy="-3.0013      1.5099      -2.862"/>
+</sensor>
+<!-- Sensor  14-->
+<sensor name="RightFoot_gyro" type="gyroscope">
+<parent link="RightFoot"/>
+<origin xyz="0.094314   0.0015696   -0.013315" rpy="0.19638     0.42312    0.033114"/>
+</sensor>
+<sensor name="RightFoot_accelerometer" type="accelerometer">
+<parent link="RightFoot"/>
+<origin xyz="0.094314   0.0015696   -0.013315" rpy="0.19638     0.42312    0.033114"/>
+</sensor>
+<!-- Sensor  15-->
+<sensor name="LeftUpperLeg_gyro" type="gyroscope">
+<parent link="LeftUpperLeg"/>
+<origin xyz="0.015207    0.053543    -0.31632" rpy="2.7741      1.4429     -1.9595"/>
+</sensor>
+<sensor name="LeftUpperLeg_accelerometer" type="accelerometer">
+<parent link="LeftUpperLeg"/>
+<origin xyz="0.015207    0.053543    -0.31632" rpy="2.7741      1.4429     -1.9595"/>
+</sensor>
+<!-- Sensor  16-->
+<sensor name="LeftLowerLeg_gyro" type="gyroscope">
+<parent link="LeftLowerLeg"/>
+<origin xyz="0.031416  -0.0071914    -0.13516" rpy="2.5557      1.4555      2.3984"/>
+</sensor>
+<sensor name="LeftLowerLeg_accelerometer" type="accelerometer">
+<parent link="LeftLowerLeg"/>
+<origin xyz="0.031416  -0.0071914    -0.13516" rpy="2.5557      1.4555      2.3984"/>
+</sensor>
+<!-- Sensor  17-->
+<sensor name="LeftFoot_gyro" type="gyroscope">
+<parent link="LeftFoot"/>
+<origin xyz="0.094314  -0.0015696   -0.013315" rpy="-0.36816     0.44411     0.22503"/>
+</sensor>
+<sensor name="LeftFoot_accelerometer" type="accelerometer">
+<parent link="LeftFoot"/>
+<origin xyz="0.094314  -0.0015696   -0.013315" rpy="-0.36816     0.44411     0.22503"/>
+</sensor>
+
+
+</robot>
\ No newline at end of file
diff --git a/CM3020 Artificial Intelligence/Week 7/Files/starter.py b/CM3020 Artificial Intelligence/Week 7/Files/starter.py
new file mode 100644
index 0000000..da066c0
--- /dev/null
+++ b/CM3020 Artificial Intelligence/Week 7/Files/starter.py	
@@ -0,0 +1,9 @@
+import pybullet as p
+import pybullet_data as pd
+
+p.connect(p.GUI)
+p.setPhysicsEngineParameter(enableFileCaching = 0)
+p.configureDebugVisualizer(p.COV_ENABLE_GUI, 0)
+floor_shape = p.createCollisionShape(p.GEOM_PLANE)
+floor = p.createMultiBody(floor_shape, floor_shape)
+p.setGravity(0, 0, -10)
\ No newline at end of file
diff --git a/CM3020 Artificial Intelligence/Week 7/Files/steven-chiu.urdf b/CM3020 Artificial Intelligence/Week 7/Files/steven-chiu.urdf
new file mode 100644
index 0000000..70d040a
--- /dev/null
+++ b/CM3020 Artificial Intelligence/Week 7/Files/steven-chiu.urdf	
@@ -0,0 +1,69 @@
+<?xml version="1.0"?>
+<robot name="myfirst">
+<link name="base_link">
+<visual>
+    <geometry>
+        <cylinder length="1" radius="0.2"/>
+    </geometry>
+    <origin xyz="0 0 0"/>
+</visual>
+<collision>
+    <geometry>
+        <cylinder length="1" radius="0.2"/>
+    </geometry>
+    
+</collision>
+<inertial>
+    <mass value="0.25"/>
+    <inertia ixx="0.0003" iyy="0.0003" izz="0.0003" ixy="0" ixz="0" iyz="0"/>
+</inertial>
+</link>
+<link name="sub_link">
+<visual>
+<geometry>
+    <cylinder length=".5" radius="0.2"/>
+</geometry>
+<origin xyz="0 0 0"/>
+</visual>
+<collision>
+<geometry>
+    <cylinder length=".5" radius="0.2"/>
+</geometry>
+</collision>
+<inertial>
+<mass value="0.25"/>
+<inertia ixx="0.0003" iyy="0.0003" izz="0.0003" ixy="0" ixz="0" iyz="0"/>
+</inertial>
+</link>
+<link name="sub_link2">
+<visual>
+<geometry>
+    <cylinder length=".5" radius="0.2"/>
+</geometry>
+<origin xyz="0 0 0"/>
+</visual>
+<collision>
+<geometry>
+    <cylinder length=".5" radius="0.2"/>
+</geometry>
+</collision>
+<inertial>
+<mass value="0.25"/>
+<inertia ixx="0.0003" iyy="0.0003" izz="0.0003" ixy="0" ixz="0" iyz="0"/>
+</inertial>
+</link>
+<joint name="base_to_sub" type="revolute">
+    <parent link="base_link"/>
+    <child link="sub_link"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="10" upper="0" lower="10" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0 0.5 0"/>
+</joint>
+<joint name="base_to_sub2" type="revolute">
+    <parent link="base_link"/>
+    <child link="sub_link2"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="10" upper="0" lower="10" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0 -0.5 0"/>
+</joint>
+</robot>
\ No newline at end of file
diff --git a/CM3020 Artificial Intelligence/Week 7/Files/test.urdf b/CM3020 Artificial Intelligence/Week 7/Files/test.urdf
new file mode 100644
index 0000000..9d0d4f2
--- /dev/null
+++ b/CM3020 Artificial Intelligence/Week 7/Files/test.urdf	
@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<robot name="physics">
+  <link name="base_link">
+    <visual>
+      <geometry>
+        <cylinder length="0.6" radius="0.2"/>
+      </geometry>
+      <material name="blue">
+        <color rgba="0 0 .8 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <cylinder length="0.6" radius="0.17"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="10"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+  </link>
+</robot>
diff --git a/CM3020 Artificial Intelligence/Week 7/Files/test2.urdf b/CM3020 Artificial Intelligence/Week 7/Files/test2.urdf
new file mode 100644
index 0000000..13e0b00
--- /dev/null
+++ b/CM3020 Artificial Intelligence/Week 7/Files/test2.urdf	
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<robot name="physics">
+  <link name="base_link">
+    <visual>
+      <geometry>
+        <cylinder length="0.6" radius="0.2"/>
+      </geometry>
+      <material name="blue">
+        <color rgba="0 0 .8 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <cylinder length="0.6" radius="0.2"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/CM3020 Artificial Intelligence/Week 7/Files/test3.urdf b/CM3020 Artificial Intelligence/Week 7/Files/test3.urdf
new file mode 100644
index 0000000..e77cb35
--- /dev/null
+++ b/CM3020 Artificial Intelligence/Week 7/Files/test3.urdf	
@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<robot name="physics">
+  <link name="base_link">
+    <visual>
+      <geometry>
+        <cylinder length="0.6" radius="0.2"/>
+      </geometry>
+      <material name="blue">
+        <color rgba="0 0 .8 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <cylinder length="0.6" radius="0.2"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="2"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+  </link>
+</robot>
diff --git a/CM3020 Artificial Intelligence/Week 7/Files/test4.urdf b/CM3020 Artificial Intelligence/Week 7/Files/test4.urdf
new file mode 100644
index 0000000..1272ee1
--- /dev/null
+++ b/CM3020 Artificial Intelligence/Week 7/Files/test4.urdf	
@@ -0,0 +1,48 @@
+<?xml version="1.0"?>
+<robot name="physics">
+  <link name="base_link">
+    <visual>
+      <geometry>
+        <cylinder length="0.6" radius="0.2"/>
+      </geometry>
+      <material name="blue">
+        <color rgba="0 0 .8 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <cylinder length="0.6" radius="0.2"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="2"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+  </link>
+  <link name="sub_link">
+    <visual>
+      <geometry>
+        <cylinder length="0.8" radius="0.1"/>
+      </geometry>
+      <material name="red">
+        <color rgba=".8 0 0 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <cylinder length="0.8" radius="0.1"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="2"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+  </link>
+  <joint name="base_to_sub" type="fixed">
+      <parent link="base_link"/>
+      <child link="sub_link"/>
+      <axis xyz="1 0 0"/>
+      <limit effor="10" upper="0" lower="10" velocity="1"/>
+      <origin rpy="0 0 0" xyz="0 0 0.6"/>
+  </joint>
+</robot>
diff --git a/CM3020 Artificial Intelligence/Week 7/Files/test5.urdf b/CM3020 Artificial Intelligence/Week 7/Files/test5.urdf
new file mode 100644
index 0000000..fad2f5f
--- /dev/null
+++ b/CM3020 Artificial Intelligence/Week 7/Files/test5.urdf	
@@ -0,0 +1,48 @@
+<?xml version="1.0"?>
+<robot name="physics">
+  <link name="base_link">
+    <visual>
+      <geometry>
+        <cylinder length="0.6" radius="0.2"/>
+      </geometry>
+      <material name="blue">
+        <color rgba="0 0 .8 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <cylinder length="0.6" radius="0.2"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="2"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+  </link>
+  <link name="sub_link">
+    <visual>
+      <geometry>
+        <cylinder length="0.8" radius="0.1"/>
+      </geometry>
+      <material name="red">
+        <color rgba=".8 0 0 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <cylinder length="0.8" radius="0.1"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="2"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+  </link>
+  <joint name="base_to_sub" type="revolute">
+      <parent link="base_link"/>
+      <child link="sub_link"/>
+      <axis xyz="1 0 0"/>
+      <limit effor="10" upper="0" lower="10" velocity="1"/>
+      <origin rpy="0 0 0" xyz="0 0 0.6"/>
+  </joint>
+</robot>
diff --git a/CM3020 Artificial Intelligence/Week 7/Files/test6.urdf b/CM3020 Artificial Intelligence/Week 7/Files/test6.urdf
new file mode 100644
index 0000000..235f5c2
--- /dev/null
+++ b/CM3020 Artificial Intelligence/Week 7/Files/test6.urdf	
@@ -0,0 +1,74 @@
+<?xml version="1.0"?>
+<robot name="physics">
+  <link name="base_link">
+    <visual>
+      <geometry>
+        <cylinder length="0.6" radius="0.2"/>
+      </geometry>
+      <material name="blue">
+        <color rgba="0 0 .8 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <cylinder length="0.6" radius="0.2"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="2"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+  </link>
+  <link name="sub_link">
+    <visual>
+      <geometry>
+        <cylinder length="0.8" radius="0.1"/>
+      </geometry>
+      <material name="red">
+        <color rgba=".8 0 0 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <cylinder length="0.8" radius="0.1"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="2"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+  </link>
+    <link name="sub_link2">
+    <visual>
+      <geometry>
+        <cylinder length="1" radius="0.5"/>
+      </geometry>
+      <material name="green">
+        <color rgba="0 .8 0 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <cylinder length="1" radius="0.5"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="2"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+  </link>
+  <joint name="base_to_sub" type="revolute">
+      <parent link="base_link"/>
+      <child link="sub_link"/>
+      <axis xyz="1 0 0"/>
+      <limit effor="10" upper="0" lower="10" velocity="1"/>
+      <origin rpy="0 0 0" xyz="0 0 0.6"/>
+  </joint>
+  <joint name="base_to_sub2" type="revolute">
+      <parent link="base_link"/>
+      <child link="sub_link2"/>
+      <axis xyz="1 0 0"/>
+      <limit effor="10" upper="0" lower="10" velocity="1"/>
+      <origin rpy="0 0 0" xyz="0 0 1.2"/>
+  </joint>
+</robot>
diff --git a/CM3020 Artificial Intelligence/Week 7/Files/zalalem-alemu.urdf b/CM3020 Artificial Intelligence/Week 7/Files/zalalem-alemu.urdf
new file mode 100644
index 0000000..c025944
--- /dev/null
+++ b/CM3020 Artificial Intelligence/Week 7/Files/zalalem-alemu.urdf	
@@ -0,0 +1,71 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<robot name="robot_with_four_legs">
+  <link name="body">
+    <inertial>
+      <mass value="0.5" />
+      <inertia ixx="0.0003" ixy="0.0" ixz="0.0" iyy="0.0003" iyz="0.0" izz="0.0003" />
+    </inertial>
+    <visual name="">
+      <origin xyz="0.0 0.0 1.25" rpy="0.0 0.0 0.0" />
+      <geometry>
+        <box size="2 0.5 1" />
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0.0 0.0 1.25" rpy="0.0 0.0 0.0" />
+      <geometry>
+        <box size="2 0.5 1" />
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="left_front_leg">
+    <inertial>
+      <mass value="0.5" />
+      <inertia ixx="0.0003" ixy="0.0" ixz="0.0" iyy="0.0003" iyz="0.0" izz="0.0003" />
+    </inertial>
+    <visual name="">
+      <geometry>
+        <box size="0.25 0.25 1" />
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.25 0.25 1" />
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="right_front_leg">
+    <inertial>
+      <mass value="0.5" />
+      <inertia ixx="0.0003" ixy="0.0" ixz="0.0" iyy="0.0003" iyz="0.0" izz="0.0003" />
+    </inertial>
+    <visual name="">
+      <geometry>
+        <box size="0.25 0.25 1" />
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.25 0.25 1" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="left_front_leg_joint" type="revolute">
+    <origin xyz="0.0 0.5 1.0" rpy="0.0 0.0 0.0"/>
+    <parent link="body"/>
+    <child link="left_front_leg"/>
+    <axis xyz="0.0 1 0.0"/>
+    <limit lower="10.0" upper="10" effort="10" velocity="10.0"/>
+  </joint>
+
+  <joint name="rgiht_front_leg_joint" type="revolute">
+    <origin xyz="0.0 -0.5 1.0" rpy="0.0 0.0 0.0"/>
+    <parent link="body"/>
+    <child link="right_front_leg"/>
+    <axis xyz="0.0 1 0.0"/>
+    <limit lower="10.0" upper="10" effort="10" velocity="10.0"/>
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/CM3020 Artificial Intelligence/Week 7/Week 7 Notes.md b/CM3020 Artificial Intelligence/Week 7/Week 7 Notes.md
new file mode 100644
index 0000000..45019b3
--- /dev/null
+++ b/CM3020 Artificial Intelligence/Week 7/Week 7 Notes.md	
@@ -0,0 +1,66 @@
+# Key components in the creatures system
+Genetic Algorithms (GA) has 3 phases
+1. Varied population with heredity
+2. Some sort of test (selection)
+3. Variations of the winners/survivors (breeding)
+
+> The most creative and challenging parts of programming a GA are usually the problem specific aspects - Hervey, Inman (2009)
+
+We will roughly follow Sims, but with simplifications
+
+We'll use the URDF format
+
+We don't have a CM-5 handy, or access to the original Sims code, we'll use an alternative physics engine.
+
+### Genotype
+We'll follow Sims somewhat, but with simplifications.
+
+### Fitness function
+How far does it move?
+But... they are going to cheat!
+
+### Population model
+Roulette wheel selection etc.
+
+### Compute in parallel
+We can gain a lot of speed by computing in parallel
+
+### Technology stack
+* Python
+* Pybullet
+* URDF format
+
+# Introduction to pybullet
+### What is bullet
+It's a rigid and soft body physics engine originally developed by Erwin Coumans.
+
+### Demo
+It's written in C and C++. It's been translated to JS in ammo.js
+http://kripken.github.io/ammo.js/
+
+### Install pybullet
+* Create the virtual env and install pybullet
+
+# The URDR file format
+
+Stands for Unified Robot Description Format
+
+It's an XML-based file format for building robot models, including their motors and other dynamics.
+
+To generate a model programmatically is too complex when the problem has a currently viable solution.
+
+Using URDF makes it easier to share the models.
+
+Links are the parts, joints are the points where the parts meet and interact.
+
+# Moving a URDF robot
+
+There are 3 types of joints available in pybullet, though the URDF standard supports more. These are:
+* JOINT_REVOLUTE: rotate
+* JOINT_PRISMATIC: move along an axis
+* JOINT_FIXED: does not move
+
+# Mving a preset robot
+Joint info
+* getNumJoints
+* getJointInfo