diff --git a/tor_description/urdf/leg/leg.urdf.xacro b/tor_description/urdf/leg/leg.urdf.xacro
index 4e9087749b19f054e0b4317b4bcb8ccbf4216af1..65f54bfdaf0560b7f71e73114f5954b3b50da94b 100644
--- a/tor_description/urdf/leg/leg.urdf.xacro
+++ b/tor_description/urdf/leg/leg.urdf.xacro
@@ -1,72 +1,12 @@
<?xml version="1.0"?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="tor">
+<robot name="tor" xmlns:xacro="http://ros.org/wiki/xacro" >
- <!--
- <link name="base_link">
- <inertial>
- <origin xyz="0.0 0.0 0.36" rpy="0 0 0"/>
- <mass value="34.0" />
- <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
- </inertial>
-
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://tor_description/meshes/torso_dummy.stl" scale="1 1 1"/>
- </geometry>
- </visual>
-
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0.05"/>
- <geometry>
- <box size="0.1 0.3 0.1"/>
- </geometry>
- </collision>
-
- </link>
-
- -->
-
- <!--
- <link name="torso_link">
- <inertial>
- <origin xyz="0.0 0.0 0.4" rpy="0 0 0"/>
- <mass value="50.0" />
- <inertia ixx="0.03" ixy="0.0" ixz="0.0" iyy="0.03" iyz="0.0" izz="0.03" />
- </inertial>
-
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0.3"/>
- <geometry>
- <box size="0.1 0.1 0.45"/>
- </geometry>
-
- </visual>
-
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0.3"/>
- <geometry>
- <box size="0.1 0.1 0.45"/>
- </geometry>
- </collision>
-
- </link>
-
- <joint name="torso_fixed_joint" type="fixed">
- <parent link="base_link" />
- <child link="torso_link" />
- <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
- <axis xyz="0 0 1" />
- </joint>
- -->
-
- <xacro:include filename="$(find tor_description)/urdf/leg/leg.transmission.xacro" />
- <xacro:property name="leg_reduction" value="1.0" />
+ <xacro:include filename="$(find tor_description)/urdf/leg/leg.transmission.xacro" />
+ <xacro:property name="leg_reduction" value="1.0" />
+ <xacro:property name="leg_friction" value="0.0" />
+ <xacro:property name="leg_damping" value="0.0" />
<xacro:macro name="tor_leg" params="prefix reflect">
-
- <xacro:property name="leg_friction" value="0.0" />
- <xacro:property name="leg_damping" value="0.0" />
<link name="leg_${prefix}_1_link">
<inertial>