update microtaur URDF and example, to be compatible with minitaur_rainbow_dash

2 files changed, 689 insertions, 763 deletions

diff --git a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/microtaur.urdf b/examples/pybullet/gym/pybullet_data/quadruped/microtaur/microtaur.urdf
index 6dcdf6f42..3d2afd832 100644
--- a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/microtaur.urdf
+++ b/examples/pybullet/gym/pybullet_data/quadruped/microtaur/microtaur.urdf
@@ -1,4 +1,4 @@
-<?xml version="0.0" ?>
+<?xml version="1.0"?>
 <!-- ======================================================================= -->
 <!--LICENSE:                                                                 -->
 <!--Copyright (c) 2019, Erwin Coumans                                        -->
@@ -53,9 +53,9 @@
 	 	<box size="0.092 0.105 0.045"/>
       </geometry>
     </collision>
-  </link>
-
-  <link name="plate0">
+  </link>	
+  
+   <link name="plate0">
     <contact>
       <lateral_friction value="0.3"/>
     </contact>
@@ -196,9 +196,7 @@
     <joint_properties damping="0.0" friction="0.0"/>
   </joint>
   
-  
-  
-  <link name="chassis_right">
+	<link name="chassis_right">
     <contact>
       <lateral_friction value="0.3"/>
     </contact>
@@ -232,8 +230,7 @@
     <limit effort="100" velocity="100"/>
     <joint_properties damping="0.0" friction="0.0"/>
   </joint>
-
-
+  
  <link name="chassis_front">
     <contact>
       <lateral_friction value="0.3"/>
@@ -658,8 +655,7 @@
     <limit effort="100" velocity="100"/>
     <joint_properties damping="0.0" friction="0.0"/>
   </joint>
-
-  <link name="chassis_left">
+ <link name="chassis_left">
    <contact>
       <lateral_friction value="0.3"/>
     </contact>
@@ -694,735 +690,667 @@
     <joint_properties damping="0.0" friction="0.0"/>
   </joint>
 
-  
-  
-  <link name="motor_front_rightR_link">
-
- <visual>
+	<link name="motor_front_rightR_link">
+		<collision>
       <geometry>
         <cylinder length="0.003" radius="0.0134"/>
-      </geometry>
-      <material name="grey1">
-        <color rgba="0. 1. 0. 1"/>
-      </material>
-    </visual>
-    <collision>
-      <geometry>
-        <cylinder length="0.003" radius="0.0134"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.01"/>
-      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
-    </inertial>
-  </link>
-  <joint name="motor_front_rightR_joint" type="continuous">
-    <axis xyz="0 0 1"/>
-    <parent link="chassis_right"/>
-    <child link="motor_front_rightR_link"/>
-    <origin rpy="1.57075 0 0" xyz="0.1335 -0.035 -0.08"/>
-    <limit effort="100" velocity="100"/>
-    <joint_properties damping="0.0" friction="0.0"/>
-  </joint>
-
-
+      </geometry>		</collision>
+		<inertial>
+			<mass value=".002"/>
+			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
+		</inertial>
+	</link>
+	<joint name="motor_front_rightR_joint" type="continuous">
+		<axis xyz="0 0 1"/>
+		<parent link="chassis_right"/>
+		<child link="motor_front_rightR_link"/>
+		<origin rpy="1.57075 0 0" xyz="0.1335 -.0275 -0.08"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
 	<link name="motor_front_rightL_link">
-<collision>
+		<collision>
       <geometry>
         <cylinder length="0.003" radius="0.0134"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.01"/>
-      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
-    </inertial>
-   </link>
-  <joint name="motor_front_rightL_joint" type="continuous">
-    <axis xyz="0 0 1"/>
-    <parent link="chassis_right"/>
-    <child link="motor_front_rightL_link"/>
-    <origin rpy="1.57075 0 3.141592" xyz="0.1335 0.03 -0.08"/>
-    <limit effort="100" velocity="100"/>
-    <joint_properties damping="0.0" friction="0.0"/>
-  </joint>
-  
-  
-  <link name="motor_front_leftL_link">
-    <collision>
+      </geometry>		
+     </collision>
+		<inertial>
+			<mass value=".002"/>
+			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
+		</inertial>
+	</link>
+	<joint name="motor_front_rightL_joint" type="continuous">
+		<axis xyz="0 0 1"/>
+		<parent link="chassis_right"/>
+		<child link="motor_front_rightL_link"/>
+		<origin rpy="1.57075 0 3.141592" xyz="0.1335 .0275 -0.08"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="motor_front_leftL_link">
+		<collision>
       <geometry>
         <cylinder length="0.003" radius="0.0134"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.01"/>
-      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
-    </inertial>
-  </link>
-  <joint name="motor_front_leftL_joint" type="continuous">
-    <axis xyz="0 0 1"/>
-    <parent link="chassis_left"/>
-    <child link="motor_front_leftL_link"/>
-    <origin rpy="1.57075 0 3.141592" xyz="0.1335 0.035 -0.08"/>
-    <limit effort="100" velocity="100"/>
-    <joint_properties damping="0.0" friction="0.0"/>
-  </joint>
-
-
+      </geometry>		
+		</collision>
+		<inertial>
+			<mass value=".002"/>
+			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
+		</inertial>
+	</link>
+	<joint name="motor_front_leftL_joint" type="continuous">
+		<axis xyz="0 0 1"/>
+		<parent link="chassis_left"/>
+		<child link="motor_front_leftL_link"/>
+		<origin rpy="1.57075 0 3.141592" xyz="0.1335 .0275 -0.08"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
 	<link name="motor_front_leftR_link">
-    <collision>
+		<collision>
       <geometry>
         <cylinder length="0.003" radius="0.0134"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.01"/>
-      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
-    </inertial>
-  </link>
-  <joint name="motor_front_leftR_joint" type="continuous">
-    <axis xyz="0 0 1"/>
-    <parent link="chassis_left"/>
-    <child link="motor_front_leftR_link"/>
-    <origin rpy="1.57075 0 0" xyz="0.1335 -0.03 -0.08"/>
-    <limit effort="100" velocity="100"/>
-    <joint_properties damping="0.0" friction="0.0"/>
-  </joint>
-  
-  
-  <link name="motor_back_rightR_link">
-    <collision>
+      </geometry>		
+		</collision>
+		<inertial>
+			<mass value=".002"/>
+			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
+		</inertial>
+	</link>
+	<joint name="motor_front_leftR_joint" type="continuous">
+		<axis xyz="0 0 1"/>
+		<parent link="chassis_left"/>
+		<child link="motor_front_leftR_link"/>
+		<origin rpy="1.57075 0 0" xyz="0.1335 -.0275 -0.08"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="motor_back_rightR_link">
+		<collision>
       <geometry>
         <cylinder length="0.003" radius="0.0134"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.01"/>
-      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
-    </inertial>
-  </link>
-  <joint name="motor_back_rightR_joint" type="continuous">
-    <axis xyz="0 0 1"/>
-    <parent link="chassis_right"/>
-    <child link="motor_back_rightR_link"/>
-    <origin rpy="1.57075 0 0" xyz="-0.1335 -0.035 -0.08"/>
-    <limit effort="100" velocity="100"/>
-    <joint_properties damping="0.0" friction="0.0"/>
-  </joint>
-
-
+      </geometry>		
+		</collision>
+		<inertial>
+			<mass value=".002"/>
+			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
+		</inertial>
+	</link>
+	<joint name="motor_back_rightR_joint" type="continuous">
+		<axis xyz="0 0 1"/>
+		<parent link="chassis_right"/>
+		<child link="motor_back_rightR_link"/>
+		<origin rpy="1.57075 0 0" xyz="-0.1335 -.0275 -0.08"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
 	<link name="motor_back_rightL_link">
-    <collision>
+		<collision>
       <geometry>
         <cylinder length="0.003" radius="0.0134"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.01"/>
-      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
-    </inertial>
-  </link>
-  <joint name="motor_back_rightL_joint" type="continuous">
-    <axis xyz="0 0 1"/>
-    <parent link="chassis_right"/>
-    <child link="motor_back_rightL_link"/>
-    <origin rpy="1.57075 0 3.141592" xyz="-0.1335 0.03 -0.08"/>
-    <limit effort="100" velocity="100"/>
-    <joint_properties damping="0.0" friction="0.0"/>
-  </joint>
-  
-  
-  <link name="motor_back_leftL_link">
-    <collision>
-      <geometry>
+      </geometry>		
+		</collision>
+		<inertial>
+			<mass value=".002"/>
+			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
+		</inertial>
+	</link>
+	<joint name="motor_back_rightL_joint" type="continuous">
+		<axis xyz="0 0 1"/>
+		<parent link="chassis_right"/>
+		<child link="motor_back_rightL_link"/>
+		<origin rpy="1.57075 0 3.141592" xyz="-0.1335 .0275 -0.08"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="motor_back_leftL_link">
+		<collision>
+	      <geometry>
         <cylinder length="0.003" radius="0.0134"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.01"/>
-      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
-    </inertial>
-  </link>
-  <joint name="motor_back_leftL_joint" type="continuous">
-    <axis xyz="0 0 1"/>
-    <parent link="chassis_left"/>
-    <child link="motor_back_leftL_link"/>
-    <origin rpy="1.57075 0 3.141592" xyz="-0.1335 0.035 -0.08"/>
-    <limit effort="100" velocity="100"/>
-    <joint_properties damping="0.0" friction="0.0"/>
-  </joint>
-
-
+      </geometry>		
+	</collision>
+		<inertial>
+			<mass value=".002"/>
+			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
+		</inertial>
+	</link>
+	<joint name="motor_back_leftL_joint" type="continuous">
+		<axis xyz="0 0 1"/>
+		<parent link="chassis_left"/>
+		<child link="motor_back_leftL_link"/>
+		<origin rpy="1.57075 0 3.141592" xyz="-0.1335 .0275 -0.08"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
 	<link name="motor_back_leftR_link">
-    <collision>
+		<collision>
       <geometry>
         <cylinder length="0.003" radius="0.0134"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.01"/>
-      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
-    </inertial>
-  </link>
-  <joint name="motor_back_leftR_joint" type="continuous">
-    <axis xyz="0 0 1"/>
-    <parent link="chassis_left"/>
-    <child link="motor_back_leftR_link"/>
-    <origin rpy="1.57075 0 0" xyz="-0.1335 -0.03 -0.08"/>
-    <limit effort="100" velocity="100"/>
-    <joint_properties damping="0.0" friction="0.0"/>
-  </joint>
-
+      </geometry>		
+		</collision>
+		<inertial>
+			<mass value=".002"/>
+			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
+		</inertial>
+	</link>
+	<joint name="motor_back_leftR_joint" type="continuous">
+		<axis xyz="0 0 1"/>
+		<parent link="chassis_left"/>
+		<child link="motor_back_leftR_link"/>
+		<origin rpy="1.57075 0 0" xyz="-0.1335 -.0275 -0.08"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
 	<link name="upper_leg_front_rightR_link">
-    <visual>
-      <geometry>
-        <box size=".01 0.01 .11"/>
-      </geometry>
-      <material name="grey">
-        <color rgba="0.65 0.65 0.75 1"/>
-      </material>
-    </visual>
-    <collision>
-      <geometry>
-        <box size=".01 0.01 .11"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.05"/>
-      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
-    </inertial>
-  </link>
-  <joint name="hip_front_rightR_link" type="fixed">
-    <axis xyz="0 0 1"/>
-    <parent link="motor_front_rightR_link"/>
-    <child link="upper_leg_front_rightR_link"/>
-    <origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
-    <limit effort="100" velocity="100"/>
-    <joint_properties damping="0.0" friction="0.0"/>
-  </joint>
-
+		<visual>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".034"/>
+			<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
+		</inertial>
+	</link>
+	<joint name="hip_front_rightR_joint" type="fixed">
+		<axis xyz="0 0 1"/>
+		<parent link="motor_front_rightR_link"/>
+		<child link="upper_leg_front_rightR_link"/>
+		<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
 	<link name="lower_leg_front_rightR_link">
-	<contact>
-		<friction_anchor/>
-		<stiffness value="30000.0"/>
-		<damping value="1000.0"/>
-		<spinning_friction value=".3"/>
-		<lateral_friction value="1"/>
-  </contact>
-
-    <visual>
-    	<origin rpy="0.0 0 0" xyz="0 0 .1"/>
-      <geometry>
-        <box size=".01 0.01 .2"/>
-      </geometry>
-      <material name="grey">
-        <color rgba="0.65 0.65 0.75 1"/>
-      </material>
-    </visual>
-    <collision>
-    	<origin rpy="0.0 0 0" xyz="0 0 .1"/>
-      <geometry>
-        <box size=".01 0.01 .2"/>
-      </geometry>
-    </collision>
-    <inertial>
-    	<origin rpy="0.0 0 0" xyz="0 0 .1"/>
-      <mass value="0.05"/>
-      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
-    </inertial>
-  </link>
-  <joint name="knee_front_rightR_link" type="continuous">
-    <axis xyz="0 1 0"/>
-    <parent link="upper_leg_front_rightR_link"/>
-    <child link="lower_leg_front_rightR_link"/>
-    <origin rpy="0 0 0" xyz="0.0 0.01 .055"/>
-    <limit effort="100" velocity="100"/>
-    <joint_properties damping="0.0" friction="0.0"/>
-  </joint>
-
-    
-  <link name="upper_leg_front_rightL_link">
-    <visual>
-      <geometry>
-        <box size=".01 0.01 .11"/>
-      </geometry>
-      <material name="grey">
-        <color rgba="0.65 0.65 0.75 1"/>
-      </material>
-    </visual>
-    <collision>
-      <geometry>
-        <box size=".01 0.01 .11"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.05"/>
-      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
-    </inertial>
-  </link>
-  <joint name="motor_front_rightL_link" type="fixed">
-    <axis xyz="0 0 1"/>
-    <parent link="motor_front_rightL_link"/>
-    <child link="upper_leg_front_rightL_link"/>
-    <origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
-    <limit effort="100" velocity="100"/>
-    <joint_properties damping="0.0" friction="0.0"/>
-  </joint>
-
-  
-
-  
-  <link name="lower_leg_front_rightL_link">
-	<contact>
-		<friction_anchor/>
-		<stiffness value="30000.0"/>
-		<damping value="1000.0"/>
-		<spinning_friction value=".3"/>
-		<lateral_friction value="1"/>
-  </contact>
-
-    <visual>
-    	<origin rpy="0.0 0 0" xyz="0 0 .1"/>
-      <geometry>
-        <box size=".01 0.01 .198"/>
-      </geometry>
-      <material name="grey">
-        <color rgba="0.65 0.65 0.75 1"/>
-      </material>
-    </visual>
-    <collision>
-    	<origin rpy="0.0 0 0" xyz="0 0 .1"/>
-      <geometry>
-        <box size=".01 0.01 .198"/>
-      </geometry>
-    </collision>
-    <inertial>
-    	<origin rpy="0.0 0 0" xyz="0 0 .1"/>
-      <mass value="0.05"/>
-      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
-    </inertial>
-  </link>
-  <joint name="knee_front_rightL_link" type="continuous">
-    <axis xyz="0 1 0"/>
-    <parent link="upper_leg_front_rightL_link"/>
-    <child link="lower_leg_front_rightL_link"/>
-    <origin rpy="0 0 0" xyz="0.0 0.01 .055"/>
-    <limit effort="100" velocity="100"/>
-    <joint_properties damping="0.0" friction="0.0"/>
-  </joint>
-
-
+		<contact>
+			<friction_anchor/>
+			<stiffness value="3000.0"/>
+			<damping value="100.0"/>
+			<spinning_friction value=".3"/>
+			<lateral_friction value="1"/>
+		</contact>
+		<visual>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<geometry>
+				<box size=".017 .009 .240"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<geometry>
+				<box size=".017 .009 .240"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<mass value=".086"/>
+			<inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
+		</inertial>
+	</link>
+	<joint name="knee_front_rightR_joint" type="continuous">
+		<axis xyz="0 1 0"/>
+		<parent link="upper_leg_front_rightR_link"/>
+		<child link="lower_leg_front_rightR_link"/>
+		<origin rpy="0 0 0" xyz="0 .0085 .056"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="upper_leg_front_rightL_link">
+		<visual>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".034"/>
+			<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
+		</inertial>
+	</link>
+	<joint name="hip_front_rightL_joint" type="fixed">
+		<axis xyz="0 0 1"/>
+		<parent link="motor_front_rightL_link"/>
+		<child link="upper_leg_front_rightL_link"/>
+		<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="lower_leg_front_rightL_link">
+		<contact>
+			<friction_anchor/>
+			<stiffness value="3000.0"/>
+			<damping value="100.0"/>
+			<spinning_friction value=".3"/>
+			<lateral_friction value="1"/>
+		</contact>
+		<visual>
+			<origin rpy="0 0 0" xyz="0 0 .108"/>
+			<geometry>
+				<box size=".017 .009 .216"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<origin rpy="0 0 0" xyz="0 0 .108"/>
+			<geometry>
+				<box size=".017 .009 .216"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<origin rpy="0 0 0" xyz="0 0 .1"/>
+			<mass value=".072"/>
+			<inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".00000198"/>
+		</inertial>
+	</link>
+	<joint name="knee_front_rightL_joint" type="continuous">
+		<axis xyz="0 1 0"/>
+		<parent link="upper_leg_front_rightL_link"/>
+		<child link="lower_leg_front_rightL_link"/>
+		<origin rpy="0 0 0" xyz="0 .0085 .056"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
 	<link name="upper_leg_front_leftR_link">
-    <visual>
-      <geometry>
-        <box size=".01 0.01 .11"/>
-      </geometry>
-      <material name="grey">
-        <color rgba="0.65 0.65 0.75 1"/>
-      </material>
-    </visual>
-    <collision>
-      <geometry>
-        <box size=".01 0.01 .11"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.05"/>
-      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
-    </inertial>
-  </link>
-  <joint name="hip_front_leftR_link" type="fixed">
-    <axis xyz="0 0 1"/>
-    <parent link="motor_front_leftR_link"/>
-    <child link="upper_leg_front_leftR_link"/>
-    <origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
-    <limit effort="100" velocity="100"/>
-    <joint_properties damping="0.0" friction="0.0"/>
-  </joint>
-
-
+		<visual>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".034"/>
+			<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
+		</inertial>
+	</link>
+	<joint name="hip_front_leftR_joint" type="fixed">
+		<axis xyz="0 0 1"/>
+		<parent link="motor_front_leftR_link"/>
+		<child link="upper_leg_front_leftR_link"/>
+		<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
 	<link name="lower_leg_front_leftR_link">
-	<contact>
-		<friction_anchor/>
-		<stiffness value="30000.0"/>
-		<damping value="1000.0"/>
-		<spinning_friction value=".3"/>
-		<lateral_friction value="1"/>
-  </contact>
-
-    <visual>
-    	<origin rpy="0.0 0.0 0" xyz="0 0 .1"/>
-      <geometry>
-        <box size=".01 0.01 .2"/>
-      </geometry>
-      <material name="grey">
-        <color rgba="0.65 0.65 0.75 1"/>
-      </material>
-    </visual>
-    <collision>
-    	<origin rpy="0.0 0.0 0" xyz="0 0 .1"/>
-      <geometry>
-        <box size=".01 0.01 .2"/>
-      </geometry>
-    </collision>
-    <inertial>
-    <origin rpy="0.0 0.0 0" xyz="0 0 .1"/>
-      <mass value="0.05"/>
-      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
-    </inertial>
-  </link>
-  <joint name="knee_front_leftR_link" type="continuous">
-    <axis xyz="0 1 0"/>
-    <parent link="upper_leg_front_leftR_link"/>
-    <child link="lower_leg_front_leftR_link"/>
-    <origin rpy="0 0 0" xyz="0.0 0.01 .055"/>
-    <limit effort="100" velocity="100"/>
-    <joint_properties damping="0.0" friction="0.0"/>
-  </joint>
-
-
-
-   <link name="upper_leg_front_leftL_link">
-    <visual>
-      <geometry>
-        <box size=".01 0.01 .11"/>
-      </geometry>
-      <material name="grey">
-        <color rgba="0.65 0.65 0.75 1"/>
-      </material>
-    </visual>
-    <collision>
-      <geometry>
-        <box size=".01 0.01 .11"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.05"/>
-      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
-    </inertial>
-  </link>
-  <joint name="motor_front_leftL_link" type="fixed">
-    <axis xyz="0 0 1"/>
-    <parent link="motor_front_leftL_link"/>
-    <child link="upper_leg_front_leftL_link"/>
-    <origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
-    <limit effort="100" velocity="100"/>
-    <joint_properties damping="0.0" friction="0.0"/>
-  </joint>
-
-
-  <link name="lower_leg_front_leftL_link">
-	<contact>
-		<friction_anchor/>
-		<stiffness value="30000.0"/>
-		<damping value="1000.0"/>
-		<spinning_friction value=".3"/>
-		<lateral_friction value="1"/>
-  </contact>
-
-    <visual>
-    	<origin rpy="0.0 0.0 0" xyz="0 0 .1"/>
-      <geometry>
-        <box size=".01 0.01 .198"/>
-      </geometry>
-      <material name="grey">
-        <color rgba="0.65 0.65 0.75 1"/>
-      </material>
-    </visual>
-    <collision>
-    	<origin rpy="0.0 0.0 0" xyz="0 0 .1"/>
-      <geometry>
-        <box size=".01 0.01 .198"/>
-      </geometry>
-    </collision>
-    <inertial>
-    <origin rpy="0.0 0.0 0" xyz="0 0 .1"/>
-      <mass value="0.05"/>
-      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
-    </inertial>
-  </link>
-  <joint name="knee_front_leftL_link" type="continuous">
-    <axis xyz="0 1 0"/>
-    <parent link="upper_leg_front_leftL_link"/>
-    <child link="lower_leg_front_leftL_link"/>
-    <origin rpy="0 0 0" xyz="0.0 0.01 .055"/>
-    <limit effort="100" velocity="100"/>
-    <joint_properties damping="0.0" friction="0.0"/>
-  </joint>
-  
+		<contact>
+			<friction_anchor/>
+			<stiffness value="3000.0"/>
+			<damping value="100.0"/>
+			<spinning_friction value=".3"/>
+			<lateral_friction value="1"/>
+		</contact>
+		<visual>
+			<origin rpy="0 0 0" xyz="0 0 .108"/>
+			<geometry>
+				<box size=".017 .009 .216"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<origin rpy="0 0 0" xyz="0 0 .108"/>
+			<geometry>
+				<box size=".017 .009 .216"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<origin rpy="0 0 0" xyz="0 0 .1"/>
+			<mass value=".072"/>
+			<inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".00000198"/>
+		</inertial>
+	</link>
+	<joint name="knee_front_leftR_joint" type="continuous">
+		<axis xyz="0 1 0"/>
+		<parent link="upper_leg_front_leftR_link"/>
+		<child link="lower_leg_front_leftR_link"/>
+		<origin rpy="0 0 0" xyz="0 .0085 .056"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="upper_leg_front_leftL_link">
+		<visual>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".034"/>
+			<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
+		</inertial>
+	</link>
+	<joint name="hip_front_leftL_joint" type="fixed">
+		<axis xyz="0 0 1"/>
+		<parent link="motor_front_leftL_link"/>
+		<child link="upper_leg_front_leftL_link"/>
+		<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="lower_leg_front_leftL_link">
+		<contact>
+			<friction_anchor/>
+			<stiffness value="3000.0"/>
+			<damping value="100.0"/>
+			<spinning_friction value=".3"/>
+			<lateral_friction value="1"/>
+		</contact>
+		<visual>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<geometry>
+				<box size=".017 .009 .240"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<geometry>
+				<box size=".017 .009 .240"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<mass value=".086"/>
+			<inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
+		</inertial>
+	</link>
+	<joint name="knee_front_leftL_joint" type="continuous">
+		<axis xyz="0 1 0"/>
+		<parent link="upper_leg_front_leftL_link"/>
+		<child link="lower_leg_front_leftL_link"/>
+		<origin rpy="0 0 0" xyz="0 .0085 .056"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
 	<link name="upper_leg_back_rightR_link">
-    <visual>
-      <geometry>
-        <box size=".01 0.01 .11"/>
-      </geometry>
-      <material name="grey">
-        <color rgba="0.65 0.65 0.75 1"/>
-      </material>
-    </visual>
-    <collision>
-      <geometry>
-        <box size=".01 0.01 .11"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.05"/>
-      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
-    </inertial>
-  </link>
-  <joint name="hip_rightR_link" type="fixed">
-    <axis xyz="0 0 1"/>
-    <parent link="motor_back_rightR_link"/>
-    <child link="upper_leg_back_rightR_link"/>
-    <origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
-    <limit effort="100" velocity="100"/>
-    <joint_properties damping="0.0" friction="0.0"/>
-  </joint>
-
+		<visual>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".034"/>
+			<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
+		</inertial>
+	</link>
+	<joint name="hip_back_rightR_joint" type="fixed">
+		<axis xyz="0 0 1"/>
+		<parent link="motor_back_rightR_link"/>
+		<child link="upper_leg_back_rightR_link"/>
+		<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
 	<link name="lower_leg_back_rightR_link">
-	<contact>
-		<friction_anchor/>
-		<stiffness value="30000.0"/>
-		<damping value="1000.0"/>
-		<spinning_friction value=".3"/>
-		<lateral_friction value="1"/>
-  </contact>
-
-    <visual>
-    	<origin rpy="0.0 0 0" xyz="0 0 .1"/>
-      <geometry>
-        <box size=".01 0.01 .2032"/>
-      </geometry>
-      <material name="grey">
-        <color rgba="0.65 0.65 0.75 1"/>
-      </material>
-    </visual>
-    <collision>
-    	<origin rpy="0.0 0 0" xyz="0 0 .1"/>
-      <geometry>
-        <box size=".01 0.01 .2032"/>
-      </geometry>
-    </collision>
-    <inertial>
-    <origin rpy="0.0 0 0" xyz="0 0 .1"/>
-      <mass value="0.05"/>
-      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
-    </inertial>
-  </link>
-  <joint name="knee_back_rightR_link" type="continuous">
-    <axis xyz="0 1 0"/>
-    <parent link="upper_leg_back_rightR_link"/>
-    <child link="lower_leg_back_rightR_link"/>
-    <origin rpy="0 0 0" xyz="0.0 0.01 .055"/>
-    <limit effort="100" velocity="100"/>
-    <joint_properties damping="0.0" friction="0.0"/>
-  </joint>
-
-    
-  <link name="upper_leg_back_rightL_link">
-    <visual>
-      <geometry>
-        <box size=".01 0.01 .11"/>
-      </geometry>
-      <material name="grey">
-        <color rgba="0.65 0.65 0.75 1"/>
-      </material>
-    </visual>
-    <collision>
-      <geometry>
-        <box size=".01 0.01 .11"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.05"/>
-      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
-    </inertial>
-  </link>
-  <joint name="motor_back_rightL_link" type="fixed">
-    <axis xyz="0 0 1"/>
-    <parent link="motor_back_rightL_link"/>
-    <child link="upper_leg_back_rightL_link"/>
-    <origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
-    <limit effort="100" velocity="100"/>
-    <joint_properties damping="0.0" friction="0.0"/>
-  </joint>
-
-  
-
-  
-  <link name="lower_leg_back_rightL_link">
-	<contact>
-		<friction_anchor/>
-		<stiffness value="30000.0"/>
-		<damping value="1000.0"/>
-		<spinning_friction value=".3"/>
-		<lateral_friction value="1"/>
-  </contact>
-  
-    <visual>
-    	<origin rpy="0.0 0 0" xyz="0 0 .1"/>
-      <geometry>
-        <box size=".01 0.01 .2"/>
-      </geometry>
-      <material name="grey">
-        <color rgba="0.65 0.65 0.75 1"/>
-      </material>
-    </visual>
-    <collision>
-    	<origin rpy="0.0 0 0" xyz="0 0 .1"/>
-      <geometry>
-        <box size=".01 0.01 .2"/>
-      </geometry>
-    </collision>
-    <inertial>
-    <origin rpy="0.0 0 0" xyz="0 0 .1"/>
-      <mass value="0.05"/>
-      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
-    </inertial>
-  </link>
-  <joint name="knee_back_rightL_link" type="continuous">
-    <axis xyz="0 1 0"/>
-    <parent link="upper_leg_back_rightL_link"/>
-    <child link="lower_leg_back_rightL_link"/>
-    <origin rpy="0 0 0" xyz="0.0 0.01 .055"/>
-    <limit effort="100" velocity="100"/>
-    <joint_properties damping="0.0" friction="0.0"/>
-  </joint>
-
-
-
+		<contact>
+			<friction_anchor/>
+			<stiffness value="3000.0"/>
+			<damping value="100.0"/>
+			<spinning_friction value=".3"/>
+			<lateral_friction value="1"/>
+		</contact>
+		<visual>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<geometry>
+				<box size=".017 .009 .240"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<geometry>
+				<box size=".017 .009 .240"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<mass value=".086"/>
+			<inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
+		</inertial>
+	</link>
+	<joint name="knee_back_rightR_joint" type="continuous">
+		<axis xyz="0 1 0"/>
+		<parent link="upper_leg_back_rightR_link"/>
+		<child link="lower_leg_back_rightR_link"/>
+		<origin rpy="0 0 0" xyz="0 .0085 .056"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="upper_leg_back_rightL_link">
+		<visual>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".034"/>
+			<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
+		</inertial>
+	</link>
+	<joint name="hip_back_rightL_joint" type="fixed">
+		<axis xyz="0 0 1"/>
+		<parent link="motor_back_rightL_link"/>
+		<child link="upper_leg_back_rightL_link"/>
+		<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="lower_leg_back_rightL_link">
+		<contact>
+			<friction_anchor/>
+			<stiffness value="3000.0"/>
+			<damping value="100.0"/>
+			<spinning_friction value=".3"/>
+			<lateral_friction value="1"/>
+		</contact>
+		<visual>
+			<origin rpy="0 0 0" xyz="0 0 .108"/>
+			<geometry>
+				<box size=".017 .009 .216"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<origin rpy="0 0 0" xyz="0 0 .108"/>
+			<geometry>
+				<box size=".017 .009 .216"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<origin rpy="0 0 0" xyz="0 0 .1"/>
+			<mass value=".072"/>
+			<inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".00000198"/>
+		</inertial>
+	</link>
+	<joint name="knee_back_rightL_joint" type="continuous">
+		<axis xyz="0 1 0"/>
+		<parent link="upper_leg_back_rightL_link"/>
+		<child link="lower_leg_back_rightL_link"/>
+		<origin rpy="0 0 0" xyz="0 .0085 .056"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
 	<link name="upper_leg_back_leftR_link">
-    <visual>
-      <geometry>
-        <box size=".01 0.01 .11"/>
-      </geometry>
-      <material name="grey">
-        <color rgba="0.65 0.65 0.75 1"/>
-      </material>
-    </visual>
-    <collision>
-      <geometry>
-        <box size=".01 0.01 .11"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.05"/>
-      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
-    </inertial>
-  </link>
-  <joint name="hip_leftR_link" type="fixed">
-    <axis xyz="0 0 1"/>
-    <parent link="motor_back_leftR_link"/>
-    <child link="upper_leg_back_leftR_link"/>
-    <origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
-    <limit effort="100" velocity="100"/>
-    <joint_properties damping="0.0" friction="0.0"/>
-  </joint>
-
-<link name="lower_leg_back_leftR_link">
-	<contact>
-		<friction_anchor/>
-		<stiffness value="30000.0"/>
-		<damping value="1000.0"/>
-		<spinning_friction value=".3"/>
-		<lateral_friction value="1"/>
-  </contact>
-
-    <visual>
-    	<origin rpy="0.0 0 0" xyz="0 0 .1"/>
-      <geometry>
-        <box size=".01 0.01 .2032"/>
-      </geometry>
-      <material name="grey">
-        <color rgba="0.65 0.65 0.75 1"/>
-      </material>
-    </visual>
-    <collision>
-    	<origin rpy="0.0 0 0" xyz="0 0 .1"/>
-      <geometry>
-        <box size=".01 0.01 .2032"/>
-      </geometry>
-    </collision>
-    <inertial>
-    <origin rpy="0.0 0 0" xyz="0 0 .1"/>
-      <mass value="0.05"/>
-      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
-    </inertial>
-  </link>
-  <joint name="knee_back_leftR_link" type="continuous">
-    <axis xyz="0 1 0"/>
-    <parent link="upper_leg_back_leftR_link"/>
-    <child link="lower_leg_back_leftR_link"/>
-    <origin rpy="0 0 0" xyz="0.0 0.01 .055"/>
-    <limit effort="100" velocity="100"/>
-    <joint_properties damping="0.0" friction="0.0"/>
-  </joint>
-  
-   <link name="upper_leg_back_leftL_link">
-    <visual>
-      <geometry>
-        <box size=".01 0.01 .11"/>
-      </geometry>
-      <material name="grey">
-        <color rgba="0.65 0.65 0.75 1"/>
-      </material>
-    </visual>
-    <collision>
-      <geometry>
-        <box size=".01 0.01 .11"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.05"/>
-      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
-    </inertial>
-  </link>
-  <joint name="motor_back_leftL_link" type="fixed">
-    <axis xyz="0 0 1"/>
-    <parent link="motor_back_leftL_link"/>
-    <child link="upper_leg_back_leftL_link"/>
-    <origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
-    <limit effort="100" velocity="100"/>
-    <joint_properties damping="0.0" friction="0.0"/>
-  </joint>
-
- 
-  <link name="lower_leg_back_leftL_link">
-	<contact>
-		<friction_anchor/>
-		<stiffness value="30000.0"/>
-		<damping value="1000.0"/>
-		<spinning_friction value=".3"/>
-		<lateral_friction value="1"/>
-  </contact>
-
-    <visual>
-    	<origin rpy="0.0 0 0" xyz="0 0 .1"/>
-      <geometry>
-        <box size=".01 0.01 .2"/>
-      </geometry>
-      <material name="grey">
-        <color rgba="0.65 0.65 0.75 1"/>
-      </material>
-    </visual>
-    <collision>
-    	<origin rpy="0.0 0 0" xyz="0 0 .1"/>
-      <geometry>
-        <box size=".01 0.01 .2"/>
-      </geometry>
-    </collision>
-    <inertial>
-    <origin rpy="0.0 0 0" xyz="0 0 .1"/>
-      <mass value="0.05"/>
-      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
-    </inertial>
-  </link>
-  <joint name="knee_back_leftL_link" type="continuous">
-    <axis xyz="0 1 0"/>
-    <parent link="upper_leg_back_leftL_link"/>
-    <child link="lower_leg_back_leftL_link"/>
-    <origin rpy="0 0 0" xyz="0.0 0.01 .055"/>
-    <limit effort="100" velocity="100"/>
-    <joint_properties damping="0.0" friction="0.0"/>
-  </joint>
- 
+		<visual>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".034"/>
+			<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
+		</inertial>
+	</link>
+	<joint name="hip_back_leftR_joint" type="fixed">
+		<axis xyz="0 0 1"/>
+		<parent link="motor_back_leftR_link"/>
+		<child link="upper_leg_back_leftR_link"/>
+		<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="lower_leg_back_leftR_link">
+		<contact>
+			<friction_anchor/>
+			<stiffness value="3000.0"/>
+			<damping value="100.0"/>
+			<spinning_friction value=".3"/>
+			<lateral_friction value="1"/>
+		</contact>
+		<visual>
+			<origin rpy="0 0 0" xyz="0 0 .108"/>
+			<geometry>
+				<box size=".017 .009 .216"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<origin rpy="0 0 0" xyz="0 0 .108"/>
+			<geometry>
+				<box size=".017 .009 .216"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<origin rpy="0 0 0" xyz="0 0 .1"/>
+			<mass value=".072"/>
+			<inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".00000198"/>
+		</inertial>
+	</link>
+	<joint name="knee_back_leftR_joint" type="continuous">
+		<axis xyz="0 1 0"/>
+		<parent link="upper_leg_back_leftR_link"/>
+		<child link="lower_leg_back_leftR_link"/>
+		<origin rpy="0 0 0" xyz="0 .0085 .056"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="upper_leg_back_leftL_link">
+		<visual>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".034"/>
+			<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
+		</inertial>
+	</link>
+	<joint name="hip_back_leftL_joint" type="fixed">
+		<axis xyz="0 0 1"/>
+		<parent link="motor_back_leftL_link"/>
+		<child link="upper_leg_back_leftL_link"/>
+		<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="lower_leg_back_leftL_link">
+		<contact>
+			<friction_anchor/>
+			<stiffness value="3000.0"/>
+			<damping value="100.0"/>
+			<spinning_friction value=".3"/>
+			<lateral_friction value="1"/>
+		</contact>
+		<visual>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<geometry>
+				<box size=".017 .009 .240"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<geometry>
+				<box size=".017 .009 .240"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<mass value=".086"/>
+			<inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
+		</inertial>
+	</link>
+	<joint name="knee_back_leftL_joint" type="continuous">
+		<axis xyz="0 1 0"/>
+		<parent link="upper_leg_back_leftL_link"/>
+		<child link="lower_leg_back_leftL_link"/>
+		<origin rpy="0 0 0" xyz="0 .0085 .056"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
 </robot>
-
diff --git a/examples/pybullet/gym/pybullet_envs/examples/microtaur.py b/examples/pybullet/gym/pybullet_envs/examples/microtaur.py
index fa66814f7..2d5b843a3 100644
--- a/examples/pybullet/gym/pybullet_envs/examples/microtaur.py
+++ b/examples/pybullet/gym/pybullet_envs/examples/microtaur.py
@@ -161,28 +161,26 @@ for i in range(nJoints):
 
 motor_front_rightR_joint = jointNameToId['motor_front_rightR_joint']
 motor_front_rightL_joint = jointNameToId['motor_front_rightL_joint']
-knee_front_rightL_link = jointNameToId['knee_front_rightL_link']
-hip_front_rightR_link = jointNameToId['hip_front_rightR_link']
-knee_front_rightR_link = jointNameToId['knee_front_rightR_link']
-motor_front_rightL_link = jointNameToId['motor_front_rightL_link']
+knee_front_rightL_joint = jointNameToId['knee_front_rightL_joint']
+hip_front_rightR_joint = jointNameToId['hip_front_rightR_joint']
+knee_front_rightR_joint = jointNameToId['knee_front_rightR_joint']
+motor_front_rightL_joint = jointNameToId['motor_front_rightL_joint']
 motor_front_leftR_joint = jointNameToId['motor_front_leftR_joint']
-hip_front_leftR_link = jointNameToId['hip_front_leftR_link']
-knee_front_leftR_link = jointNameToId['knee_front_leftR_link']
+hip_front_leftR_joint = jointNameToId['hip_front_leftR_joint']
+knee_front_leftR_joint = jointNameToId['knee_front_leftR_joint']
+motor_front_leftL_joint = jointNameToId['motor_front_leftL_joint']
 motor_front_leftL_joint = jointNameToId['motor_front_leftL_joint']
-motor_front_leftL_link = jointNameToId['motor_front_leftL_link']
-knee_front_leftL_link = jointNameToId['knee_front_leftL_link']
+knee_front_leftL_joint = jointNameToId['knee_front_leftL_joint']
 motor_back_rightR_joint = jointNameToId['motor_back_rightR_joint']
-hip_rightR_link = jointNameToId['hip_rightR_link']
-knee_back_rightR_link = jointNameToId['knee_back_rightR_link']
+knee_back_rightR_joint = jointNameToId['knee_back_rightR_joint']
 motor_back_rightL_joint = jointNameToId['motor_back_rightL_joint']
-motor_back_rightL_link = jointNameToId['motor_back_rightL_link']
-knee_back_rightL_link = jointNameToId['knee_back_rightL_link']
+motor_back_rightL_joint = jointNameToId['motor_back_rightL_joint']
+knee_back_rightL_joint = jointNameToId['knee_back_rightL_joint']
 motor_back_leftR_joint = jointNameToId['motor_back_leftR_joint']
-hip_leftR_link = jointNameToId['hip_leftR_link']
-knee_back_leftR_link = jointNameToId['knee_back_leftR_link']
+knee_back_leftR_joint = jointNameToId['knee_back_leftR_joint']
+motor_back_leftL_joint = jointNameToId['motor_back_leftL_joint']
 motor_back_leftL_joint = jointNameToId['motor_back_leftL_joint']
-motor_back_leftL_link = jointNameToId['motor_back_leftL_link']
-knee_back_leftL_link = jointNameToId['knee_back_leftL_link']
+knee_back_leftL_joint = jointNameToId['knee_back_leftL_joint']
 
 #fixtorso = p.createConstraint(-1,-1,quadruped,-1,p.JOINT_FIXED,[0,0,0],[0,0,0],[0,0,0])
 
@@ -230,21 +228,21 @@ if (useMaximalCoordinates):
     p.setJointMotorControl2(quadruped, motor_back_rightR_joint, p.POSITION_CONTROL,
                             motordir[7] * halfpi * float(aa) / steps)
 
-    p.setJointMotorControl2(quadruped, knee_front_leftL_link, p.POSITION_CONTROL,
+    p.setJointMotorControl2(quadruped, knee_front_leftL_joint, p.POSITION_CONTROL,
                             motordir[0] * (kneeangle + twopi) * float(aa) / steps)
-    p.setJointMotorControl2(quadruped, knee_front_leftR_link, p.POSITION_CONTROL,
+    p.setJointMotorControl2(quadruped, knee_front_leftR_joint, p.POSITION_CONTROL,
                             motordir[1] * kneeangle * float(aa) / steps)
-    p.setJointMotorControl2(quadruped, knee_back_leftL_link, p.POSITION_CONTROL,
+    p.setJointMotorControl2(quadruped, knee_back_leftL_joint, p.POSITION_CONTROL,
                             motordir[2] * kneeangle * float(aa) / steps)
-    p.setJointMotorControl2(quadruped, knee_back_leftR_link, p.POSITION_CONTROL,
+    p.setJointMotorControl2(quadruped, knee_back_leftR_joint, p.POSITION_CONTROL,
                             motordir[3] * (kneeangle + twopi) * float(aa) / steps)
-    p.setJointMotorControl2(quadruped, knee_front_rightL_link, p.POSITION_CONTROL,
+    p.setJointMotorControl2(quadruped, knee_front_rightL_joint, p.POSITION_CONTROL,
                             motordir[4] * (kneeangle) * float(aa) / steps)
-    p.setJointMotorControl2(quadruped, knee_front_rightR_link, p.POSITION_CONTROL,
+    p.setJointMotorControl2(quadruped, knee_front_rightR_joint, p.POSITION_CONTROL,
                             motordir[5] * (kneeangle + twopi) * float(aa) / steps)
-    p.setJointMotorControl2(quadruped, knee_back_rightL_link, p.POSITION_CONTROL,
+    p.setJointMotorControl2(quadruped, knee_back_rightL_joint, p.POSITION_CONTROL,
                             motordir[6] * (kneeangle + twopi) * float(aa) / steps)
-    p.setJointMotorControl2(quadruped, knee_back_rightR_link, p.POSITION_CONTROL,
+    p.setJointMotorControl2(quadruped, knee_back_rightR_joint, p.POSITION_CONTROL,
                             motordir[7] * kneeangle * float(aa) / steps)
 
     p.stepSimulation()
@@ -252,57 +250,57 @@ if (useMaximalCoordinates):
 else:
 
   p.resetJointState(quadruped, motor_front_leftL_joint, motordir[0] * halfpi)
-  p.resetJointState(quadruped, knee_front_leftL_link, motordir[0] * kneeangle)
+  p.resetJointState(quadruped, knee_front_leftL_joint, motordir[0] * kneeangle)
   p.resetJointState(quadruped, motor_front_leftR_joint, motordir[1] * halfpi)
-  p.resetJointState(quadruped, knee_front_leftR_link, motordir[1] * kneeangle)
+  p.resetJointState(quadruped, knee_front_leftR_joint, motordir[1] * kneeangle)
 
   p.resetJointState(quadruped, motor_back_leftL_joint, motordir[2] * halfpi)
-  p.resetJointState(quadruped, knee_back_leftL_link, motordir[2] * kneeangle)
+  p.resetJointState(quadruped, knee_back_leftL_joint, motordir[2] * kneeangle)
   p.resetJointState(quadruped, motor_back_leftR_joint, motordir[3] * halfpi)
-  p.resetJointState(quadruped, knee_back_leftR_link, motordir[3] * kneeangle)
+  p.resetJointState(quadruped, knee_back_leftR_joint, motordir[3] * kneeangle)
 
   p.resetJointState(quadruped, motor_front_rightL_joint, motordir[4] * halfpi)
-  p.resetJointState(quadruped, knee_front_rightL_link, motordir[4] * kneeangle)
+  p.resetJointState(quadruped, knee_front_rightL_joint, motordir[4] * kneeangle)
   p.resetJointState(quadruped, motor_front_rightR_joint, motordir[5] * halfpi)
-  p.resetJointState(quadruped, knee_front_rightR_link, motordir[5] * kneeangle)
+  p.resetJointState(quadruped, knee_front_rightR_joint, motordir[5] * kneeangle)
 
   p.resetJointState(quadruped, motor_back_rightL_joint, motordir[6] * halfpi)
-  p.resetJointState(quadruped, knee_back_rightL_link, motordir[6] * kneeangle)
+  p.resetJointState(quadruped, knee_back_rightL_joint, motordir[6] * kneeangle)
   p.resetJointState(quadruped, motor_back_rightR_joint, motordir[7] * halfpi)
-  p.resetJointState(quadruped, knee_back_rightR_link, motordir[7] * kneeangle)
+  p.resetJointState(quadruped, knee_back_rightR_joint, motordir[7] * kneeangle)
 
 #p.getNumJoints(1)
 
 if (toeConstraint):
-  cid = p.createConstraint(quadruped, knee_front_leftR_link, quadruped, knee_front_leftL_link,
+  cid = p.createConstraint(quadruped, knee_front_leftR_joint, quadruped, knee_front_leftL_joint,
                            p.JOINT_POINT2POINT, [0, 0, 0], [0, 0.005, 0.1], [0, 0.01, 0.1])
   p.changeConstraint(cid, maxForce=maxKneeForce)
-  cid = p.createConstraint(quadruped, knee_front_rightR_link, quadruped, knee_front_rightL_link,
+  cid = p.createConstraint(quadruped, knee_front_rightR_joint, quadruped, knee_front_rightL_joint,
                            p.JOINT_POINT2POINT, [0, 0, 0], [0, 0.005, 0.1], [0, 0.01, 0.1])
   p.changeConstraint(cid, maxForce=maxKneeForce)
-  cid = p.createConstraint(quadruped, knee_back_leftR_link, quadruped, knee_back_leftL_link,
+  cid = p.createConstraint(quadruped, knee_back_leftR_joint, quadruped, knee_back_leftL_joint,
                            p.JOINT_POINT2POINT, [0, 0, 0], [0, 0.005, 0.1], [0, 0.01, 0.1])
   p.changeConstraint(cid, maxForce=maxKneeForce)
-  cid = p.createConstraint(quadruped, knee_back_rightR_link, quadruped, knee_back_rightL_link,
+  cid = p.createConstraint(quadruped, knee_back_rightR_joint, quadruped, knee_back_rightL_joint,
                            p.JOINT_POINT2POINT, [0, 0, 0], [0, 0.005, 0.1], [0, 0.01, 0.1])
   p.changeConstraint(cid, maxForce=maxKneeForce)
 
 if (1):
-  p.setJointMotorControl(quadruped, knee_front_leftL_link, p.VELOCITY_CONTROL, 0,
+  p.setJointMotorControl(quadruped, knee_front_leftL_joint, p.VELOCITY_CONTROL, 0,
                          kneeFrictionForce)
-  p.setJointMotorControl(quadruped, knee_front_leftR_link, p.VELOCITY_CONTROL, 0,
+  p.setJointMotorControl(quadruped, knee_front_leftR_joint, p.VELOCITY_CONTROL, 0,
                          kneeFrictionForce)
-  p.setJointMotorControl(quadruped, knee_front_rightL_link, p.VELOCITY_CONTROL, 0,
+  p.setJointMotorControl(quadruped, knee_front_rightL_joint, p.VELOCITY_CONTROL, 0,
                          kneeFrictionForce)
-  p.setJointMotorControl(quadruped, knee_front_rightR_link, p.VELOCITY_CONTROL, 0,
+  p.setJointMotorControl(quadruped, knee_front_rightR_joint, p.VELOCITY_CONTROL, 0,
                          kneeFrictionForce)
-  p.setJointMotorControl(quadruped, knee_back_leftL_link, p.VELOCITY_CONTROL, 0, kneeFrictionForce)
-  p.setJointMotorControl(quadruped, knee_back_leftR_link, p.VELOCITY_CONTROL, 0, kneeFrictionForce)
-  p.setJointMotorControl(quadruped, knee_back_leftL_link, p.VELOCITY_CONTROL, 0, kneeFrictionForce)
-  p.setJointMotorControl(quadruped, knee_back_leftR_link, p.VELOCITY_CONTROL, 0, kneeFrictionForce)
-  p.setJointMotorControl(quadruped, knee_back_rightL_link, p.VELOCITY_CONTROL, 0,
+  p.setJointMotorControl(quadruped, knee_back_leftL_joint, p.VELOCITY_CONTROL, 0, kneeFrictionForce)
+  p.setJointMotorControl(quadruped, knee_back_leftR_joint, p.VELOCITY_CONTROL, 0, kneeFrictionForce)
+  p.setJointMotorControl(quadruped, knee_back_leftL_joint, p.VELOCITY_CONTROL, 0, kneeFrictionForce)
+  p.setJointMotorControl(quadruped, knee_back_leftR_joint, p.VELOCITY_CONTROL, 0, kneeFrictionForce)
+  p.setJointMotorControl(quadruped, knee_back_rightL_joint, p.VELOCITY_CONTROL, 0,
                          kneeFrictionForce)
-  p.setJointMotorControl(quadruped, knee_back_rightR_link, p.VELOCITY_CONTROL, 0,
+  p.setJointMotorControl(quadruped, knee_back_rightR_joint, p.VELOCITY_CONTROL, 0,
                          kneeFrictionForce)
 
 p.setGravity(0, 0, -10)
@@ -376,7 +374,7 @@ p.setJointMotorControl2(bodyIndex=quadruped,
 p.setRealTimeSimulation(useRealTime)
 
 t = 0.0
-t_end = t + 115
+t_end = t + 5
 ref_time = time.time()
 while (t < t_end):
   p.setGravity(0, 0, -10)