diff --git a/tor_description/meshes/torso/base_link.STL b/tor_description/meshes/torso/base_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..cecb7b204000f1c99b0e3dc9dcfc1255e0bfb088
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diff --git a/tor_description/meshes/torso/base_link_collision.STL b/tor_description/meshes/torso/base_link_collision.STL
new file mode 100644
index 0000000000000000000000000000000000000000..8c343eee474583d835306871314afb50c329a18b
Binary files /dev/null and b/tor_description/meshes/torso/base_link_collision.STL differ
diff --git a/tor_description/meshes/torso/torso_1.STL b/tor_description/meshes/torso/torso_1.STL
new file mode 100644
index 0000000000000000000000000000000000000000..f7418ca280b5a368c02ebf15c71d034eb475d44f
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diff --git a/tor_description/meshes/torso/torso_2.STL b/tor_description/meshes/torso/torso_2.STL
new file mode 100644
index 0000000000000000000000000000000000000000..ec8b51a60f800c301f26da8e721f49aa4f271205
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diff --git a/tor_description/meshes/torso/torso_2_collision.STL b/tor_description/meshes/torso/torso_2_collision.STL
new file mode 100644
index 0000000000000000000000000000000000000000..44f199081dfd9cd7665254f49723e43571726639
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diff --git a/tor_description/robots/tor_torso.urdf.xacro b/tor_description/robots/tor_torso.urdf.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..0d8b8dd6ff434d2e94c44394e8b0eabe57120c96
--- /dev/null
+++ b/tor_description/robots/tor_torso.urdf.xacro
@@ -0,0 +1,25 @@
+<?xml version="1.0"?>
+<!--
+
+ Copyright (c) 2016, PAL Robotics, S.L.
+ All rights reserved.
+
+ This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
+ To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
+ Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
+-->
+<robot name="tor" xmlns:xacro="http://www.ros.org/wiki/xacro"
+ xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+ xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+ xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
+
+ <xacro:include filename="$(find tor_description)/urdf/torso/torso.urdf.xacro" />
+
+ <xacro:tor_torso name="torso" />
+
+ <!-- Generic simulator_gazebo plugins -->
+ <xacro:include filename="$(find tor_description)/gazebo/gazebo.urdf.xacro" />
+ <!-- Materials for visualization -->
+ <xacro:include filename="$(find tor_description)/urdf/materials.urdf.xacro" />
+
+</robot>
diff --git a/tor_description/robots/upload_torso.launch b/tor_description/robots/upload_torso.launch
new file mode 100644
index 0000000000000000000000000000000000000000..535338e38226092f91849b2facf8c3b1934dc7a0
--- /dev/null
+++ b/tor_description/robots/upload_torso.launch
@@ -0,0 +1,6 @@
+<launch>
+
+ <!-- Robot description -->
+ <param name="robot_description" command="$(find xacro)/xacro.py '$(find tor_description)/robots/tor_torso.urdf.xacro'" />
+
+</launch>
diff --git a/tor_description/urdf/deg_to_rad.xacro b/tor_description/urdf/deg_to_rad.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..a662ea2ac383747232abbddd6ec6948c65b816c6
--- /dev/null
+++ b/tor_description/urdf/deg_to_rad.xacro
@@ -0,0 +1,5 @@
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+ <property name="deg_to_rad" value="0.01745329251994329577" />
+
+</robot>
diff --git a/tor_description/urdf/torso/torso.transmission.xacro b/tor_description/urdf/torso/torso.transmission.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..db7414e3ed1ac0b908f5c21e4703de0aadfb882f
--- /dev/null
+++ b/tor_description/urdf/torso/torso.transmission.xacro
@@ -0,0 +1,43 @@
+<?xml version="1.0"?>
+<!--
+
+ Copyright (c) 2016, PAL Robotics, S.L.
+ All rights reserved.
+
+ This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
+ To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
+ Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
+-->
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+ <xacro:macro name="tor_torso_differential_transmission"
+ params="name number1 number2 act_reduction1 act_reduction2 jnt_reduction1 jnt_reduction2" >
+ <transmission name="torso_trans">
+ <type>transmission_interface/DifferentialTransmission</type>
+ <actuator name="${name}_${number1}_motor">
+ <role>actuator1</role>
+ <mechanicalReduction>${act_reduction1}</mechanicalReduction>
+ </actuator>
+ <actuator name="${name}_${number2}_motor">
+ <role>actuator2</role>
+ <mechanicalReduction>${act_reduction2}</mechanicalReduction>
+ </actuator>
+ <joint name="${name}_${number1}_joint">
+ <role>joint1</role>
+ <offset>0.0</offset>
+ <mechanicalReduction>${jnt_reduction1}</mechanicalReduction>
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ <joint name="${name}_${number2}_joint">
+ <role>joint2</role>
+ <offset>0.0</offset>
+ <mechanicalReduction>${jnt_reduction2}</mechanicalReduction>
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ </xacro:macro>
+
+
+</robot>
diff --git a/tor_description/urdf/torso/torso.urdf.xacro b/tor_description/urdf/torso/torso.urdf.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..feca5282a6b4e031a7d21d785dd1f2287b81380b
--- /dev/null
+++ b/tor_description/urdf/torso/torso.urdf.xacro
@@ -0,0 +1,174 @@
+<?xml version="1.0"?>
+<!--
+
+ Copyright (c) 2016, PAL Robotics, S.L.
+ All rights reserved.
+
+ This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
+ To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
+ Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
+-->
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+ <!--File includes-->
+ <xacro:include filename="$(find tor_description)/urdf/deg_to_rad.xacro" />
+ <xacro:include filename="$(find tor_description)/urdf/torso/torso.transmission.xacro" />
+
+ <!--Constant parameters-->
+ <xacro:property name="torso_max_vel" value="5.4" />
+ <xacro:property name="torso_max_effort" value="78.0" />
+ <xacro:property name="torso_eps" value="0.02" />
+
+ <xacro:macro name="tor_torso" params="name">
+ <!--************************-->
+ <!-- TORSO_2 -->
+ <!--************************-->
+ <link name="${name}_2_link">
+ <inertial>
+ <origin xyz="-0.04551 -0.00053 0.16386" rpy="0.00000 0.00000 0.00000"/>
+ <mass value="17.55011"/>
+ <inertia ixx="0.37376900000" ixy="0.00063900000" ixz="0.01219600000"
+ iyy="0.24790200000" iyz="0.00000700000"
+ izz="0.28140400000"/>
+ </inertial>
+
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://tor_description/meshes/torso/torso_2.STL" scale="1 1 1"/>
+ </geometry>
+ <material name="LightGrey" />
+ </visual>
+
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://tor_description/meshes/torso/torso_2_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+
+
+ <!--************************-->
+ <!-- TORSO_1 -->
+ <!--************************-->
+ <link name="${name}_1_link">
+ <inertial>
+ <origin xyz="0.00013 -0.00001 -0.01306" rpy="0.00000 0.00000 0.00000"/>
+ <mass value="3.02433"/>
+ <inertia ixx="0.00759400000" ixy="0.00000100000" ixz="-0.00004800000"
+ iyy="0.00429200000" iyz="-0.00000100000"
+ izz="0.00749700000"/>
+ </inertial>
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://tor_description/meshes/torso/torso_1.STL" scale="1 1 1"/>
+ </geometry>
+ <material name="LightGrey" />
+ </visual>
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://tor_description/meshes/torso/torso_1.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+
+ <joint name="${name}_1_joint" type="revolute">
+ <parent link="${name}_2_link"/>
+ <child link="${name}_1_link"/>
+ <origin xyz="0.02000 0.00000 0.0"
+ rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
+ <axis xyz="0 1 0" />
+ <limit lower="${-75.00000 * deg_to_rad}" upper="${75.00000 * deg_to_rad}"
+ effort="${torso_max_effort}" velocity="${torso_max_vel}"/>
+ <dynamics damping="1.0" friction="1.0"/>
+
+ <!-- <safety_controller k_position="20"
+ k_velocity="20"
+ soft_lower_limit="${-75.0 * deg_to_rad + torso_eps}"
+ soft_upper_limit="${ 75.0 * deg_to_rad - torso_eps}" /> -->
+ </joint>
+
+ <!--************************-->
+ <!-- BASE_LINK -->
+ <!--************************-->
+ <link name="base_link">
+ <inertial>
+ <origin xyz="-0.06071 0.00861 0.06368" rpy="0.00000 0.00000 0.00000"/>
+ <mass value="13.34865"/>
+ <inertia ixx="0.06652900000" ixy="-0.00035700000" ixz="0.00027600000"
+ iyy="0.03746500000" iyz="-0.00125400000"
+ izz="0.07895100000"/>
+ </inertial>
+
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://tor_description/meshes/torso/base_link.STL" scale="1 1 1"/>
+ </geometry>
+ <material name="LightGrey" />
+ </visual>
+
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://tor_description/meshes/torso/base_link_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+
+ <joint name="${name}_2_joint" type="revolute">
+ <parent link="${name}_1_link"/>
+ <child link="base_link"/>
+ <!-- <child link="${name}_2_link"/> -->
+ <origin xyz="0.0 0.0 -0.2012"
+ rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
+ <axis xyz="0 0 1" />
+ <limit lower="${-75.00000 * deg_to_rad}" upper="${75.00000 * deg_to_rad}"
+ effort="${torso_max_effort}" velocity="${torso_max_vel}" />
+ <dynamics friction="1.0" damping="1.0"/>
+
+ <!-- <safety_controller k_position="20"
+ k_velocity="20"
+ soft_lower_limit="${-75.00000 * deg_to_rad + eps_radians}"
+ soft_upper_limit="${75.00000 * deg_to_rad - eps_radians}" /> -->
+
+ </joint>
+
+
+<!-- <joint name="torso_1_to_base_link" type="fixed">
+ <parent link="${name}_1_link"/>
+ <child link="base_link"/>
+ <origin xyz="0.0 0.0 0.0"
+ rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
+ <axis xyz="0 0 0" />
+ </joint> -->
+
+ <gazebo reference="${name}_1_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <gazebo reference="${name}_2_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+
+ <gazebo reference="${name}_1_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="${name}_2_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <provideFeedback>1</provideFeedback>
+ </gazebo>
+
+
+ <!-- extensions -->
+ <xacro:tor_torso_differential_transmission name="${name}" number1="1" number2="2"
+ act_reduction1="1.0" act_reduction2="1.0"
+ jnt_reduction1="1.0" jnt_reduction2="1.0" />
+ </xacro:macro>
+
+</robot>
+