Merge pull request #2273 from erwincoumans/master

 simplify previous commit do/while

20 files changed, 125779 insertions, 2305 deletions

diff --git a/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp b/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
index 253a338e0..7f5b10106 100644
--- a/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
+++ b/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
@@ -1457,16 +1457,10 @@ bool BulletMJCFImporter::loadMJCF(const char* fileName, MJCFErrorLogger* logger,
 		int fileId = m_data->m_fileIO->fileOpen(relativeFileName,"r");
 
 		char destBuffer[8192];
-		char* line = 0;
-		do
+		while (m_data->m_fileIO->readLine(fileId, destBuffer, 8192))
 		{
-			line = m_data->m_fileIO->readLine(fileId, destBuffer, 8192);
-			if (line)
-			{
-				xml_string += (std::string(destBuffer) + "\n");
-			}
+			xml_string += (std::string(destBuffer) + "\n");
 		}
-		while (line);
 		m_data->m_fileIO->fileClose(fileId);
 
 		if (parseMJCFString(xml_string.c_str(), logger))
diff --git a/examples/pybullet/gym/pybullet_data/mini_cheetah/meshes/mini_abad.obj b/examples/pybullet/gym/pybullet_data/mini_cheetah/meshes/mini_abad.obj
new file mode 100644
index 000000000..483d9d567
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/mini_cheetah/meshes/mini_abad.obj
@@ -0,0 +1,10259 @@
+# Blender v2.76 (sub 0) OBJ File: ''
+# www.blender.org
+o abad_bracket
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diff --git a/examples/pybullet/gym/pybullet_data/mini_cheetah/meshes/mini_body.obj b/examples/pybullet/gym/pybullet_data/mini_cheetah/meshes/mini_body.obj
new file mode 100644
index 000000000..3d1a365dc
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/mini_cheetah/meshes/mini_body.obj
@@ -0,0 +1,37168 @@
+# Blender v2.79 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/examples/pybullet/gym/pybullet_data/mini_cheetah/meshes/mini_lower_link.obj b/examples/pybullet/gym/pybullet_data/mini_cheetah/meshes/mini_lower_link.obj
new file mode 100644
index 000000000..8da1ffc5d
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/mini_cheetah/meshes/mini_lower_link.obj
@@ -0,0 +1,32070 @@
+# Blender v2.76 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib l_link_mini.mtl
+o lower_link
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diff --git a/examples/pybullet/gym/pybullet_data/mini_cheetah/meshes/mini_upper_link.obj b/examples/pybullet/gym/pybullet_data/mini_cheetah/meshes/mini_upper_link.obj
new file mode 100644
index 000000000..7ab4d62bf
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/mini_cheetah/meshes/mini_upper_link.obj
@@ -0,0 +1,45910 @@
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+# www.blender.org
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diff --git a/examples/pybullet/gym/pybullet_data/mini_cheetah/mini_cheetah.urdf b/examples/pybullet/gym/pybullet_data/mini_cheetah/mini_cheetah.urdf
new file mode 100644
index 000000000..64c8391f3
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/mini_cheetah/mini_cheetah.urdf
@@ -0,0 +1,347 @@
+<?xml version="1.0" ?>
+<robot name="mini_cheetah" xmlns:xacro="http://ros.org/wiki/xacro">
+    <link name="body">
+        <inertial>
+            <mass value="3.3"/>
+            <origin xyz="0.0 0.0 0.0"/>
+            <inertia ixx="0.011253" ixy="0" ixz="0" iyy="0.362030" iyz="0" izz="0.042673"/>
+        </inertial>
+        <visual>
+            <geometry>
+                <mesh filename="meshes/mini_body.obj"/>
+            </geometry>
+            <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="meshes/mini_body.obj"/>
+            </geometry>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+        </collision>
+    </link>
+
+    <!--!!!!!!!!!!!! Front Right Leg !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!-->
+    <joint name="torso_to_abduct_fr_j" type="continuous">
+        <axis xyz="1 0 0"/>
+        <origin rpy="0 0 0" xyz="0.19 -0.049 0.0"/>
+        <parent link="body"/>
+        <child link="abduct_fr"/>
+    </joint>
+    <link name="abduct_fr">
+        <inertial>
+            <mass value="0.54"/>
+            <origin xyz="0.0 0.036 0."/>
+            <inertia ixx="0.000381" ixy="0.000058" ixz="0.00000045" 
+                iyy="0.000560" iyz="0.00000095" izz="0.000444"/>
+        </inertial>
+        <visual>
+            <geometry>
+                <mesh filename="meshes/mini_abad.obj"/>
+            </geometry>
+            <origin rpy="3.141592 0.0 1.5708" xyz="-0.055 0.0 0.0"/>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="meshes/mini_abad.obj"/>
+            </geometry>
+            <origin rpy="3.141592 0 1.5708" xyz="-0.055 0 0"/>
+        </collision>
+    </link>
+
+    <joint name="abduct_fr_to_thigh_fr_j" type="continuous">
+        <axis xyz="0 -1 0"/>
+        <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.062 0.00"/>
+        <parent link="abduct_fr"/>
+        <child link="thigh_fr"/>
+    </joint>
+    <link name="thigh_fr">
+        <inertial>
+            <mass value="0.634"/>
+            <origin xyz="0.0 0.016 -0.02"/>
+            <inertia ixx="0.001983" ixy="0.000245" ixz="0.000013" 
+                iyy="0.002103" iyz="0.0000015" izz="0.000408"/>
+        </inertial>
+        <visual>
+            <geometry>
+                <mesh filename="meshes/mini_upper_link.obj"/>
+            </geometry>
+            <origin rpy="0.0 -1.5708 0.0" xyz="0.0 0.0 0.0"/>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="meshes/mini_upper_link.obj"/>
+            </geometry>
+            <origin rpy="0 -1.5708 0" xyz="0 0 0"/>
+        </collision>
+    </link>
+
+    <joint name="thigh_fr_to_knee_fr_j" type="continuous">
+        <axis xyz="0 -1 0"/>
+        <origin rpy="0.0 0 0.0" xyz="0.0 0.0 -0.209"/>
+        <parent link="thigh_fr"/>
+        <child link="shank_fr"/>
+    </joint>
+    <link name="shank_fr">
+        <inertial>
+            <mass value="0.064"/>
+            <origin xyz="0.0 0.0 -0.209"/>
+            <inertia ixx="0.000245" ixy="0" ixz="0.0" iyy="0.000248" iyz="0" izz="0.000006"/>
+        </inertial>
+        <visual>
+            <geometry>
+                <mesh filename="meshes/mini_lower_link.obj"/>
+            </geometry>
+            <origin rpy="0.0 3.141592 0.0" xyz="0.0 0.0 0.0"/>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="meshes/mini_lower_link.obj"/>
+            </geometry>
+            <origin rpy="0 3.141592 0" xyz="0 0 0"/>
+        </collision>
+    </link>
+
+<!--!!!!!!!!!!!! Front Left Leg !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!-->
+    <joint name="torso_to_abduct_fl_j" type="continuous">
+        <axis xyz="1 0 0"/>
+        <origin rpy="0 0 0" xyz="0.19 0.049 0.0"/>
+        <parent link="body"/>
+        <child link="abduct_fl"/>
+    </joint>
+    <link name="abduct_fl">
+        <inertial>
+            <mass value="0.54"/>
+            <origin xyz="0.0 0.036 0."/>
+            <inertia ixx="0.000381" ixy="0.000058" ixz="0.00000045" 
+                iyy="0.000560" iyz="0.00000095" izz="0.000444"/>
+        </inertial>
+        <visual>
+            <geometry>
+                <mesh filename="meshes/mini_abad.obj"/>
+            </geometry>
+            <origin rpy="0. 0. -1.5708" xyz="-0.055 0.0 0.0"/>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="meshes/mini_abad.obj"/>
+            </geometry>
+            <origin rpy="0 0 -1.5708" xyz="-0.055 0 0"/>
+        </collision>
+    </link>
+
+    <joint name="abduct_fl_to_thigh_fl_j" type="continuous">
+        <axis xyz="0 -1 0"/>
+        <origin rpy="0.0 0.0 0.0" xyz="0.0 0.062 0.00"/>
+        <parent link="abduct_fl"/>
+        <child link="thigh_fl"/>
+    </joint>
+    <link name="thigh_fl">
+        <inertial>
+            <mass value="0.634"/>
+            <origin xyz="0.0 0.016 -0.02"/>
+            <inertia ixx="0.001983" ixy="0.000245" ixz="0.000013" 
+                iyy="0.002103" iyz="0.0000015" izz="0.000408"/>
+        </inertial>
+        <visual>
+            <geometry>
+                <mesh filename="meshes/mini_upper_link.obj"/>
+            </geometry>
+            <origin rpy="0.0 -1.5708 0.0" xyz="0.0 0.0 0.0"/>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="meshes/mini_upper_link.obj"/>
+            </geometry>
+            <origin rpy="0 -1.5708 0" xyz="0 0 0"/>
+        </collision>
+    </link>
+
+    <joint name="thigh_fl_to_knee_fl_j" type="continuous">
+        <axis xyz="0 -1 0"/>
+        <origin rpy="0.0 0 0.0" xyz="0.0 0.0 -0.209"/>
+        <parent link="thigh_fl"/>
+        <child link="shank_fl"/>
+    </joint>
+    <link name="shank_fl">
+        <inertial>
+            <mass value="0.064"/>
+            <origin xyz="0.0 0.0 -0.209"/>
+            <inertia ixx="0.000245" ixy="0" ixz="0.0" iyy="0.000248" iyz="0" izz="0.000006"/>
+        </inertial>
+        <visual>
+            <geometry>
+                <mesh filename="meshes/mini_lower_link.obj"/>
+            </geometry>
+            <origin rpy="0.0 3.141592 0.0" xyz="0.0 0.0 0.0"/>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="meshes/mini_lower_link.obj"/>
+            </geometry>
+            <origin rpy="0 3.141592 0" xyz="0 0 0"/>
+        </collision>
+    </link>
+
+<!--!!!!!!!!!!!! Hind Right Leg !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!-->
+    <joint name="torso_to_abduct_hr_j" type="continuous">
+        <axis xyz="1 0 0"/>
+        <origin rpy="0 0 0" xyz="-0.19 -0.049 0.0"/>
+        <parent link="body"/>
+        <child link="abduct_hr"/>
+    </joint>
+    <link name="abduct_hr">
+        <inertial>
+            <mass value="0.54"/>
+            <origin xyz="0.0 0.036 0."/>
+            <inertia ixx="0.000381" ixy="0.000058" ixz="0.00000045" 
+                iyy="0.000560" iyz="0.00000095" izz="0.000444"/>
+        </inertial>
+        <visual>
+            <geometry>
+                <mesh filename="meshes/mini_abad.obj"/>
+            </geometry>
+            <origin rpy="0.0 0.0 1.5708" xyz="0.055 0.0 0.0"/>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="meshes/mini_abad.obj"/>
+            </geometry>
+            <origin rpy="0 0 1.5708" xyz="0.055 0 0"/>
+        </collision>
+    </link>
+
+    <joint name="abduct_hr_to_thigh_hr_j" type="continuous">
+        <axis xyz="0 -1 0"/>
+        <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.062 0.00"/>
+        <parent link="abduct_hr"/>
+        <child link="thigh_hr"/>
+    </joint>
+    <link name="thigh_hr">
+        <inertial>
+            <mass value="0.634"/>
+            <origin xyz="0.0 0.016 -0.02"/>
+            <inertia ixx="0.001983" ixy="0.000245" ixz="0.000013" 
+                iyy="0.002103" iyz="0.0000015" izz="0.000408"/>
+        </inertial>
+        <visual>
+            <geometry>
+                <mesh filename="meshes/mini_upper_link.obj"/>
+            </geometry>
+            <origin rpy="0.0 -1.5708 0.0" xyz="0.0 0.0 0.0"/>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="meshes/mini_upper_link.obj"/>
+            </geometry>
+            <origin rpy="0 -1.5708 0" xyz="0 0 0"/>
+        </collision>
+    </link>
+
+    <joint name="thigh_hr_to_knee_hr_j" type="continuous">
+        <axis xyz="0 -1 0"/>
+        <origin rpy="0.0 0 0.0" xyz="0.0 0.0 -0.209"/>
+        <parent link="thigh_hr"/>
+        <child link="shank_hr"/>
+    </joint>
+    <link name="shank_hr">
+        <inertial>
+            <mass value="0.064"/>
+            <origin xyz="0.0 0.0 -0.209"/>
+            <inertia ixx="0.000245" ixy="0" ixz="0.0" iyy="0.000248" iyz="0" izz="0.000006"/>
+        </inertial>
+        <visual>
+            <geometry>
+                <mesh filename="meshes/mini_lower_link.obj"/>
+            </geometry>
+            <origin rpy="0.0 3.141592 0.0" xyz="0.0 0.0 0.0"/>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="meshes/mini_lower_link.obj"/>
+            </geometry>
+            <origin rpy="0 3.141592 0" xyz="0 0 0"/>
+        </collision>
+    </link>
+
+<!--!!!!!!!!!!!! Hind Left Leg !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!-->
+    <joint name="torso_to_abduct_hl_j" type="continuous">
+        <axis xyz="1 0 0"/>
+        <origin rpy="0 0 0" xyz="-0.19 0.049 0.0"/>
+        <parent link="body"/>
+        <child link="abduct_hl"/>
+    </joint>
+    <link name="abduct_hl">
+        <inertial>
+            <mass value="0.54"/>
+            <origin xyz="0.0 0.036 0."/>
+            <inertia ixx="0.000381" ixy="0.000058" ixz="0.00000045" 
+                iyy="0.000560" iyz="0.00000095" izz="0.000444"/>
+        </inertial>
+        <visual>
+            <geometry>
+                <mesh filename="meshes/mini_abad.obj"/>
+            </geometry>
+            <origin rpy="3.141592 0.0 -1.5708" xyz="0.055 0.0 0.0"/>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="meshes/mini_abad.obj"/>
+            </geometry>
+            <origin rpy="3.141592 0 -1.5708" xyz="0.055 0 0"/>
+        </collision>
+    </link>
+
+    <joint name="abduct_hl_to_thigh_hl_j" type="continuous">
+        <axis xyz="0 -1 0"/>
+        <origin rpy="0.0 0.0 0.0" xyz="0.0 0.062 0.00"/>
+        <parent link="abduct_hl"/>
+        <child link="thigh_hl"/>
+    </joint>
+    <link name="thigh_hl">
+        <inertial>
+            <mass value="0.634"/>
+            <origin xyz="0.0 0.016 -0.02"/>
+            <inertia ixx="0.001983" ixy="0.000245" ixz="0.000013" 
+                iyy="0.002103" iyz="0.0000015" izz="0.000408"/>
+        </inertial>
+        <visual>
+            <geometry>
+                <mesh filename="meshes/mini_upper_link.obj"/>
+            </geometry>
+            <origin rpy="0.0 -1.5708 0.0" xyz="0.0 0.0 0.0"/>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="meshes/mini_upper_link.obj"/>
+            </geometry>
+            <origin rpy="0 -1.5708 0" xyz="0 0 0"/>
+        </collision>
+    </link>
+
+    <joint name="thigh_hl_to_knee_hl_j" type="continuous">
+        <axis xyz="0 -1 0"/>
+        <origin rpy="0.0 0 0.0" xyz="0.0 0.0 -0.209"/>
+        <parent link="thigh_hl"/>
+        <child link="shank_hl"/>
+    </joint>
+    <link name="shank_hl">
+        <inertial>
+            <mass value="0.064"/>
+            <origin xyz="0.0 0.0 -0.209"/>
+            <inertia ixx="0.000245" ixy="0" ixz="0.0" iyy="0.000248" iyz="0" izz="0.000006"/>
+        </inertial>
+        <visual>
+            <geometry>
+                <mesh filename="meshes/mini_lower_link.obj"/>
+            </geometry>
+            <origin rpy="0.0 3.141592 0.0" xyz="0.0 0.0 0.0"/>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="meshes/mini_lower_link.obj"/>
+            </geometry>
+            <origin rpy="0 3.141592 0" xyz="0 0 0"/>
+        </collision>
+    </link>
+
+</robot>
diff --git a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/channel.stl b/examples/pybullet/gym/pybullet_data/quadruped/microtaur/channel.stl
deleted file mode 100644
index 5bdce60d6..000000000
--- a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/channel.stl
+++ /dev/null
diff --git a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/channel.urdf b/examples/pybullet/gym/pybullet_data/quadruped/microtaur/channel.urdf
deleted file mode 100644
index 7fa546941..000000000
--- a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/channel.urdf
+++ /dev/null
@@ -1,29 +0,0 @@
-<?xml version="0.0" ?>
-<robot name="cube.urdf">
-  <link name="baseLink">
-    <contact>
-      <lateral_friction value="0.3"/>
-    </contact>
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-       <mass value="0.13"/>
-       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="-0.019 -0.019 -0.1502"/>
-      <geometry>
-				<mesh filename="channel.stl" scale="1.0 1.0 1.0"/>
-      </geometry>
-       <material name="white">
-        <color rgba="1 1 1 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-	 	<box size="0.038 0.038 0.305"/>
-      </geometry>
-    </collision>
-  </link>
-</robot>
-
diff --git a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/d435i.stl b/examples/pybullet/gym/pybullet_data/quadruped/microtaur/d435i.stl
deleted file mode 100644
index a00d3d25f..000000000
--- a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/d435i.stl
+++ /dev/null
diff --git a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/d435i.urdf b/examples/pybullet/gym/pybullet_data/quadruped/microtaur/d435i.urdf
deleted file mode 100644
index d519e1d3a..000000000
--- a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/d435i.urdf
+++ /dev/null
@@ -1,29 +0,0 @@
-<?xml version="0.0" ?>
-<robot name="cube.urdf">
-  <link name="baseLink">
-    <contact>
-      <lateral_friction value="0.3"/>
-    </contact>
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-       <mass value="0.081"/>
-       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0.0125"/>
-      <geometry>
-				<mesh filename="d435i.stl" scale="1.0 1.0 1.0"/>
-      </geometry>
-       <material name="white">
-        <color rgba="1 1 1 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-	 	<box size="0.09 0.025 0.025"/>
-      </geometry>
-    </collision>
-  </link>
-</robot>
-
diff --git a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/microtaur.urdf b/examples/pybullet/gym/pybullet_data/quadruped/microtaur/microtaur.urdf
deleted file mode 100644
index d111046ed..000000000
--- a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/microtaur.urdf
+++ /dev/null
@@ -1,1663 +0,0 @@
-<?xml version="1.0"?>
-<!-- ======================================================================= -->
-<!--LICENSE:                                                                 -->
-<!--Copyright (c) 2019, Erwin Coumans                                        -->
-<!--Google Inc.                                                              -->
-<!--All rights reserved.                                                     -->
-<!--                                                                         -->
-<!--Redistribution and use in source and binary forms, with or without       -->
-<!--modification, are permitted provided that the following conditions are   -->
-<!--met:                                                                     -->
-<!--                                                                         -->
-<!--1. Redistributions or derived work must retain this copyright notice,    -->
-<!--   this list of conditions and the following disclaimer.                 -->
-<!--                                                                         -->
-<!--2. Redistributions in binary form must reproduce the above copyright     -->
-<!--   notice, this list of conditions and the following disclaimer in the   -->
-<!--   documentation and/or other materials provided with the distribution.  -->
-<!--                                                                         -->
-<!--THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS  -->
-<!--IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,-->
-<!--THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR   -->
-<!--PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR        -->
-<!--CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,    -->
-<!--EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,      -->
-<!--PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR       -->
-<!--PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF   -->
-<!--LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING     -->
-<!--NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS       -->
-<!--SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.             -->
-
-<robot name="microtaur">
-  <link name="base_chassis_link">
-    <contact>
-      <lateral_friction value="0.3"/>
-    </contact>
-    <inertial>
-      <origin rpy="0 0 -1.57079" xyz="0 0 0.036"/>
-       <mass value="0.64"/>
-       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 -1.57079" xyz="-0.045 0.045 0.018"/>
-      <geometry>
-				<mesh filename="xavier.stl" scale="1.0 1.0 1.0"/>
-      </geometry>
-       <material name="black">
-        <color rgba="0.3 0.3 0.3 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 -1.57079" xyz="0 0 0.033"/>
-      <geometry>
-	 	<box size="0.092 0.105 0.045"/>
-      </geometry>
-    </collision>
-  </link>	
-  
-   <link name="plate0">
-    <contact>
-      <lateral_friction value="0.3"/>
-    </contact>
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-       <mass value="0.08"/>
-       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="-0.037 0.0045 0"/>
-      <geometry>
-				<mesh filename="plate.stl" scale="1.0 1.0 1.0"/>
-      </geometry>
-       <material name="black1">
-        <color rgba="0.1 0.1 0.1 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-	 	<box size="0.074 0.009 0.138"/>
-      </geometry>
-    </collision>
-  </link>
-  
-  <joint name="plate0_center" type="fixed">
-    <axis xyz="0 0 1"/>
-    <parent link="base_chassis_link"/>
-    <child link="plate0"/>
-    <origin rpy="-1.57079 0 -1.57079" xyz="0.063 0.028 0.005"/>
-    <limit effort="100" velocity="100"/>
-    <joint_properties damping="0.0" friction="0.0"/>
-  </joint>
-  
-   <link name="plate1">
-    <contact>
-      <lateral_friction value="0.3"/>
-    </contact>
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-       <mass value="0.08"/>
-       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="-0.037 0.0045 0"/>
-      <geometry>
-				<mesh filename="plate.stl" scale="1.0 1.0 1.0"/>
-      </geometry>
-       <material name="black1">
-        <color rgba="0.1 0.1 0.1 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-	 	<box size="0.074 0.009 0.138"/>
-      </geometry>
-    </collision>
-  </link>
-  
-  <joint name="plate1_center" type="fixed">
-    <axis xyz="0 0 1"/>
-    <parent link="base_chassis_link"/>
-    <child link="plate1"/>
-    <origin rpy="-1.57079 0 -1.57079" xyz="-0.063 0.028 0.005"/>
-    <limit effort="100" velocity="100"/>
-    <joint_properties damping="0.0" friction="0.0"/>
-  </joint>
-  
-  
-  <link name="plate2">
-    <contact>
-      <lateral_friction value="0.3"/>
-    </contact>
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-       <mass value="0.08"/>
-       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="-0.037 0.0045 0"/>
-      <geometry>
-				<mesh filename="plate.stl" scale="1.0 1.0 1.0"/>
-      </geometry>
-       <material name="black1">
-        <color rgba="0.1 0.1 0.1 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-	 	<box size="0.074 0.009 0.138"/>
-      </geometry>
-    </collision>
-  </link>
-  
-  <joint name="plate2_center" type="fixed">
-    <axis xyz="0 0 1"/>
-    <parent link="base_chassis_link"/>
-    <child link="plate2"/>
-    <origin rpy="-1.57079 0 1.57079" xyz="0.063 -0.028 0.005"/>
-    <limit effort="100" velocity="100"/>
-    <joint_properties damping="0.0" friction="0.0"/>
-  </joint>
-  
-   <link name="plate3">
-    <contact>
-      <lateral_friction value="0.3"/>
-    </contact>
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-       <mass value="0.08"/>
-       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="-0.037 0.0045 0"/>
-      <geometry>
-				<mesh filename="plate.stl" scale="1.0 1.0 1.0"/>
-      </geometry>
-       <material name="black1">
-        <color rgba="0.1 0.1 0.1 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-	 	<box size="0.074 0.009 0.138"/>
-      </geometry>
-    </collision>
-  </link>
-  
-  <joint name="plate3_center" type="fixed">
-    <axis xyz="0 0 1"/>
-    <parent link="base_chassis_link"/>
-    <child link="plate3"/>
-    <origin rpy="-1.57079 0 1.57079" xyz="-0.063 -0.028 0.005"/>
-    <limit effort="100" velocity="100"/>
-    <joint_properties damping="0.0" friction="0.0"/>
-  </joint>
-  
-	<link name="chassis_right">
-    <contact>
-      <lateral_friction value="0.3"/>
-    </contact>
-    <inertial>
-      <origin rpy="-1.57079 0 -1.57079" xyz="0 0 0"/>
-       <mass value="0.13"/>
-       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
-    </inertial>
-    <visual>
-      <origin rpy="-1.57079 0 -1.57079" xyz="-0.1502 0.019 0.019 "/>
-      <geometry>
-				<mesh filename="channel.stl" scale="1.0 1.0 1.0"/>
-      </geometry>
-       <material name="white">
-        <color rgba="1 1 1 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="-1.57079 0 -1.57079" xyz="0 0 0"/>
-      <geometry>
-	 	<box size="0.038 0.038 0.305"/>
-      </geometry>
-    </collision>
-  </link>
-
-  <joint name="chassis_right_center" type="fixed">
-    <axis xyz="0 0 1"/>
-    <parent link="base_chassis_link"/>
-    <child link="chassis_right"/>
-    <origin rpy="0 0 0" xyz="0.0 -0.0955 0.019"/>
-    <limit effort="100" velocity="100"/>
-    <joint_properties damping="0.0" friction="0.0"/>
-  </joint>
-  
- <link name="chassis_front">
-    <contact>
-      <lateral_friction value="0.3"/>
-    </contact>
-    <inertial>
-      <origin rpy="-1.57079 0 0" xyz="0 0 0"/>
-       <mass value="0.13"/>
-       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
-    </inertial>
-    <visual>
-      <origin rpy="-1.57079 0 0" xyz="-0.019 -0.1502 0.019 "/>
-      <geometry>
-				<mesh filename="channel.stl" scale="1.0 1.0 1.0"/>
-      </geometry>
-       <material name="bla">
-        <color rgba="1 1 1 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="-1.57079 0 0" xyz="0 0 0"/>
-      <geometry>
-	 	<box size="0.038 0.038 0.305"/>
-      </geometry>
-    </collision>
-  </link>
-
-  <joint name="chassis_front_center" type="fixed">
-    <axis xyz="0 0 1"/>
-    <parent link="base_chassis_link"/>
-    <child link="chassis_front"/>
-    <origin rpy="0 0 0" xyz="0.1335 0.0 -0.019"/>
-    <limit effort="100" velocity="100"/>
-    <joint_properties damping="0.0" friction="0.0"/>
-  </joint>
-
-
-   <link name="dynamixel4">
-    <contact>
-      <lateral_friction value="0.3"/>
-    </contact>
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-       <mass value="0.082"/>
-       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0.011 0"/>
-      <geometry>
-				<mesh filename="xm430w210.stl" scale="1.0 1.0 1.0"/>
-      </geometry>
-       <material name="black">
-        <color rgba=".3 .3 .3 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-	 	<box size="0.024 0.047 0.034"/>
-      </geometry>
-    </collision>
-  </link>
-
-  <joint name="dynamixel4_chassis_front" type="fixed">
-    <axis xyz="0 0 1"/>
-    <parent link="chassis_front"/>
-    <child link="dynamixel4"/>
-    <origin rpy="-1.57079 0 3.14159265359" xyz="0 0.135 -0.03"/>
-    <limit effort="100" velocity="100"/>
-    <joint_properties damping="0.0" friction="0.0"/>
-  </joint>
-
-<link name="dynamixel12">
-    <contact>
-      <lateral_friction value="0.3"/>
-    </contact>
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-       <mass value="0.082"/>
-       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0.011 0"/>
-      <geometry>
-				<mesh filename="xm430w210.stl" scale="1.0 1.0 1.0"/>
-      </geometry>
-       <material name="black">
-        <color rgba=".3 .3 .3 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-	 	<box size="0.024 0.047 0.034"/>
-      </geometry>
-    </collision>
-  </link>
-
-  <joint name="dynamixel12_chassis_front" type="fixed">
-    <axis xyz="0 0 1"/>
-    <parent link="chassis_front"/>
-    <child link="dynamixel12"/>
-    <origin rpy="-1.57079 0 0" xyz="0 0.055 -0.03"/>
-    <limit effort="100" velocity="100"/>
-    <joint_properties damping="0.0" friction="0.0"/>
-  </joint>
-  
-  
-   <link name="dynamixel3">
-    <contact>
-      <lateral_friction value="0.3"/>
-    </contact>
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-       <mass value="0.082"/>
-       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0.011 0"/>
-      <geometry>
-				<mesh filename="xm430w210.stl" scale="1.0 1.0 1.0"/>
-      </geometry>
-       <material name="black">
-        <color rgba=".3 .3 .3 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-	 	<box size="0.024 0.047 0.034"/>
-      </geometry>
-    </collision>
-  </link>
-
-  <joint name="dynamixel3_chassis_front" type="fixed">
-    <axis xyz="0 0 1"/>
-    <parent link="chassis_front"/>
-    <child link="dynamixel3"/>
-    <origin rpy="-1.57079 0 0" xyz="0 -0.135 -0.03"/>
-    <limit effort="100" velocity="100"/>
-    <joint_properties damping="0.0" friction="0.0"/>
-  </joint>
-
-<link name="dynamixel5">
-    <contact>
-      <lateral_friction value="0.3"/>
-    </contact>
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-       <mass value="0.082"/>
-       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0.011 0"/>
-      <geometry>
-				<mesh filename="xm430w210.stl" scale="1.0 1.0 1.0"/>
-      </geometry>
-       <material name="black">
-        <color rgba=".3 .3 .3 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-	 	<box size="0.024 0.047 0.034"/>
-      </geometry>
-    </collision>
-  </link>
-
-  <joint name="dynamixel5_chassis_front" type="fixed">
-    <axis xyz="0 0 1"/>
-    <parent link="chassis_front"/>
-    <child link="dynamixel5"/>
-    <origin rpy="-1.57079 0 3.14159265359" xyz="0 -0.055 -0.03"/>
-    <limit effort="100" velocity="100"/>
-    <joint_properties damping="0.0" friction="0.0"/>
-  </joint>
-  
-   <link name="dynamixel8">
-    <contact>
-      <lateral_friction value="0.3"/>
-    </contact>
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-       <mass value="0.082"/>
-       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0.011 0"/>
-      <geometry>
-				<mesh filename="xm430w210.stl" scale="1.0 1.0 1.0"/>
-      </geometry>
-       <material name="black">
-        <color rgba=".3 .3 .3 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-	 	<box size="0.024 0.047 0.034"/>
-      </geometry>
-    </collision>
-  </link>
-
-  <joint name="dynamixel8_chassis_rear" type="fixed">
-    <axis xyz="0 0 1"/>
-    <parent link="chassis_rear"/>
-    <child link="dynamixel8"/>
-    <origin rpy="-1.57079 0 3.14159265359" xyz="0 0.135 -0.03"/>
-    <limit effort="100" velocity="100"/>
-    <joint_properties damping="0.0" friction="0.0"/>
-  </joint>
-
-<link name="dynamixel10">
-    <contact>
-      <lateral_friction value="0.3"/>
-    </contact>
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-       <mass value="0.082"/>
-       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0.011 0"/>
-      <geometry>
-				<mesh filename="xm430w210.stl" scale="1.0 1.0 1.0"/>
-      </geometry>
-       <material name="black">
-        <color rgba=".3 .3 .3 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-	 	<box size="0.024 0.047 0.034"/>
-      </geometry>
-    </collision>
-  </link>
-
-  <joint name="dynamixel10_chassis_rear" type="fixed">
-    <axis xyz="0 0 1"/>
-    <parent link="chassis_rear"/>
-    <child link="dynamixel10"/>
-    <origin rpy="-1.57079 0 0" xyz="0 0.055 -0.03"/>
-    <limit effort="100" velocity="100"/>
-    <joint_properties damping="0.0" friction="0.0"/>
-  </joint>
-  
-  
-   <link name="dynamixel13">
-    <contact>
-      <lateral_friction value="0.3"/>
-    </contact>
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-       <mass value="0.082"/>
-       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0.011 0"/>
-      <geometry>
-				<mesh filename="xm430w210.stl" scale="1.0 1.0 1.0"/>
-      </geometry>
-       <material name="black">
-        <color rgba=".3 .3 .3 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-	 	<box size="0.024 0.047 0.034"/>
-      </geometry>
-    </collision>
-  </link>
-
-  <joint name="dynamixel13_chassis_rear" type="fixed">
-    <axis xyz="0 0 1"/>
-    <parent link="chassis_rear"/>
-    <child link="dynamixel13"/>
-    <origin rpy="-1.57079 0 0" xyz="0 -0.135 -0.03"/>
-    <limit effort="100" velocity="100"/>
-    <joint_properties damping="0.0" friction="0.0"/>
-  </joint>
-
-<link name="dynamixel7">
-    <contact>
-      <lateral_friction value="0.3"/>
-    </contact>
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-       <mass value="0.082"/>
-       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0.011 0"/>
-      <geometry>
-				<mesh filename="xm430w210.stl" scale="1.0 1.0 1.0"/>
-      </geometry>
-       <material name="black">
-        <color rgba=".3 .3 .3 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-	 	<box size="0.024 0.047 0.034"/>
-      </geometry>
-    </collision>
-  </link>
-
-  <joint name="dynamixel7_chassis_rear" type="fixed">
-    <axis xyz="0 0 1"/>
-    <parent link="chassis_rear"/>
-    <child link="dynamixel7"/>
-    <origin rpy="-1.57079 0 3.14159265359" xyz="0 -0.055 -0.03"/>
-    <limit effort="100" velocity="100"/>
-    <joint_properties damping="0.0" friction="0.0"/>
-  </joint>
-  
-  
-   <link name="dynamixel9">
-    <contact>
-      <lateral_friction value="0.3"/>
-    </contact>
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-       <mass value="0.082"/>
-       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0.011 0"/>
-      <geometry>
-				<mesh filename="xm430w210.stl" scale="1.0 1.0 1.0"/>
-      </geometry>
-       <material name="black">
-        <color rgba=".3 .3 .3 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-	 	<box size="0.024 0.047 0.034"/>
-      </geometry>
-    </collision>
-  </link>
-
-  <joint name="dynamixel9_chassis_front" type="fixed">
-    <axis xyz="0 0 1"/>
-    <parent link="chassis_front"/>
-    <child link="dynamixel9"/>
-    <origin rpy="1.57079 0 0" xyz="0 0 0.042"/>
-    <limit effort="100" velocity="100"/>
-    <joint_properties damping="0.0" friction="0.0"/>
-  </joint>
-  
-   <link name="d435">
-    <contact>
-      <lateral_friction value="0.3"/>
-    </contact>
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-       <mass value="0.081"/>
-       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0.0125"/>
-      <geometry>
-				<mesh filename="d435i.stl" scale="1.0 1.0 1.0"/>
-      </geometry>
-       <material name="white">
-        <color rgba="1 1 1 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-	 	<box size="0.09 0.025 0.025"/>
-      </geometry>
-    </collision>
-  </link>
-  
-  
-  <joint name="d435_dynamixel9" type="fixed">
-    <axis xyz="0 0 1"/>
-    <parent link="dynamixel9"/>
-    <child link="d435"/>
-    <origin rpy="0 1.57079 0" xyz="0 0.04 0"/>
-    <limit effort="100" velocity="100"/>
-    <joint_properties damping="0.0" friction="0.0"/>
-  </joint>
-  
- <link name="chassis_rear">
-    <contact>
-      <lateral_friction value="0.3"/>
-    </contact>
-    <inertial>
-      <origin rpy="-1.57079 0 0" xyz="0 0 0"/>
-       <mass value="0.13"/>
-       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
-    </inertial>
-    <visual>
-      <origin rpy="-1.57079 0 0" xyz="-0.019 -0.1502 0.019 "/>
-      <geometry>
-				<mesh filename="channel.stl" scale="1.0 1.0 1.0"/>
-      </geometry>
-       <material name="white">
-        <color rgba="1 1 1 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="-1.57079 0 0" xyz="0 0 0"/>
-      <geometry>
-	 	<box size="0.038 0.038 0.305"/>
-      </geometry>
-    </collision>
-  </link>
-
-  <joint name="chassis_rear_center" type="fixed">
-    <axis xyz="0 0 1"/>
-    <parent link="base_chassis_link"/>
-    <child link="chassis_rear"/>
-    <origin rpy="0 0 0" xyz="-0.1335 0.0 -0.019"/>
-    <limit effort="100" velocity="100"/>
-    <joint_properties damping="0.0" friction="0.0"/>
-  </joint>
- <link name="chassis_left">
-   <contact>
-      <lateral_friction value="0.3"/>
-    </contact>
-    <inertial>
-      <origin rpy="-1.57079 0 -1.57079" xyz="0 0 0"/>
-       <mass value="0.13"/>
-       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
-    </inertial>
-    <visual>
-      <origin rpy="-1.57079 0 -1.57079" xyz="-0.1502 0.019 0.019 "/>
-      <geometry>
-				<mesh filename="channel.stl" scale="1.0 1.0 1.0"/>
-      </geometry>
-       <material name="white">
-        <color rgba="1 1 1 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="-1.57079 0 -1.57079" xyz="0 0 0"/>
-      <geometry>
-	 	<box size="0.038 0.038 0.305"/>
-      </geometry>
-    </collision>
-  </link>
-
-  <joint name="chassis_left_center" type="fixed">
-    <axis xyz="0 0 1"/>
-    <parent link="base_chassis_link"/>
-    <child link="chassis_left"/>
-    <origin rpy="0 0 0" xyz="0.0 0.0955 0.019"/>
-    <limit effort="100" velocity="100"/>
-    <joint_properties damping="0.0" friction="0.0"/>
-  </joint>
-
-  
-  <link name="motor_front_rightR_link">
-
- <visual>
-      <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>
-
-
-	<link name="motor_front_rightL_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_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>
-        <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>
-
-
-	<link name="motor_front_leftR_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_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>
-        <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>
-
-
-	<link name="motor_back_rightL_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_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>
-        <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>
-
-
-	<link name="motor_back_leftR_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_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>
-
-	
-	<link name="toe_lower_leg_front_rightR_link">
-    <contact>
-      <lateral_friction value="1.0"/>
-    </contact>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <sphere radius="0.01"/>
-      </geometry>
-      <material name="darkgray"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <sphere radius="0.01"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.01"/>
-      <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
-    </inertial>
-  </link>
-  <joint name="toe_lower_leg_front_rightR_joint" type="fixed">
-    <parent link="lower_leg_front_rightR_link"/>
-    <child link="toe_lower_leg_front_rightR_link"/>
-    <origin xyz="0 0 0.20"/>
-    <dynamics damping="0.0" friction="0.0"/>
-  </joint>
-  
-	
-	<link name="toe_lower_leg_front_rightL_link">
-    <contact>
-      <lateral_friction value="1.0"/>
-    </contact>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <sphere radius="0.01"/>
-      </geometry>
-      <material name="darkgray"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <sphere radius="0.01"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.01"/>
-      <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
-    </inertial>
-  </link>
-  <joint name="toe_lower_leg_front_rightL_joint" type="fixed">
-    <parent link="lower_leg_front_rightL_link"/>
-    <child link="toe_lower_leg_front_rightL_link"/>
-    <origin xyz="0 0 0.20"/>
-    <dynamics damping="0.0" friction="0.0"/>
-  </joint>
-  
-	
-	
-	<link name="toe_lower_leg_front_leftR_link">
-    <contact>
-      <lateral_friction value="1.0"/>
-    </contact>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <sphere radius="0.01"/>
-      </geometry>
-      <material name="darkgray"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <sphere radius="0.01"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.01"/>
-      <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
-    </inertial>
-  </link>
-  <joint name="toe_lower_leg_front_leftR_joint" type="fixed">
-    <parent link="lower_leg_front_leftR_link"/>
-    <child link="toe_lower_leg_front_leftR_link"/>
-    <origin xyz="0 0 0.20"/>
-    <dynamics damping="0.0" friction="0.0"/>
-  </joint>
-	
-		<link name="toe_lower_leg_front_leftL_link">
-    <contact>
-      <lateral_friction value="1.0"/>
-    </contact>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <sphere radius="0.01"/>
-      </geometry>
-      <material name="darkgray"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <sphere radius="0.01"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.01"/>
-      <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
-    </inertial>
-  </link>
-  <joint name="toe_lower_leg_front_leftL_joint" type="fixed">
-    <parent link="lower_leg_front_leftL_link"/>
-    <child link="toe_lower_leg_front_leftL_link"/>
-    <origin xyz="0 0 0.20"/>
-    <dynamics damping="0.0" friction="0.0"/>
-  </joint>
-	
-	
-	
-	<link name="toe_lower_leg_back_rightR_link">
-    <contact>
-      <lateral_friction value="1.0"/>
-    </contact>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <sphere radius="0.01"/>
-      </geometry>
-      <material name="darkgray"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <sphere radius="0.01"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.01"/>
-      <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
-    </inertial>
-  </link>
-  <joint name="toe_lower_leg_back_rightR_joint" type="fixed">
-    <parent link="lower_leg_back_rightR_link"/>
-    <child link="toe_lower_leg_back_rightR_link"/>
-    <origin xyz="0 0 0.20"/>
-    <dynamics damping="0.0" friction="0.0"/>
-  </joint>
-	
-	
-	<link name="toe_lower_leg_back_rightL_link">
-    <contact>
-      <lateral_friction value="1.0"/>
-    </contact>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <sphere radius="0.01"/>
-      </geometry>
-      <material name="darkgray"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <sphere radius="0.01"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.01"/>
-      <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
-    </inertial>
-  </link>
-  <joint name="toe_lower_leg_back_rightL_joint" type="fixed">
-    <parent link="lower_leg_back_rightL_link"/>
-    <child link="toe_lower_leg_back_rightL_link"/>
-    <origin xyz="0 0 0.20"/>
-    <dynamics damping="0.0" friction="0.0"/>
-  </joint>
-	
-	
-	
-	<link name="toe_lower_leg_back_leftR_link">
-    <contact>
-      <lateral_friction value="1.0"/>
-    </contact>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <sphere radius="0.01"/>
-      </geometry>
-      <material name="darkgray"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <sphere radius="0.01"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.01"/>
-      <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
-    </inertial>
-  </link>
-  <joint name="toe_lower_leg_back_leftR_joint" type="fixed">
-    <parent link="lower_leg_back_leftR_link"/>
-    <child link="toe_lower_leg_back_leftR_link"/>
-    <origin xyz="0 0 0.20"/>
-    <dynamics damping="0.0" friction="0.0"/>
-  </joint>
-	
-	
-	<link name="toe_lower_leg_back_leftL_link">
-    <contact>
-      <lateral_friction value="1.0"/>
-    </contact>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <sphere radius="0.01"/>
-      </geometry>
-      <material name="darkgray"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <sphere radius="0.01"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.01"/>
-      <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
-    </inertial>
-  </link>
-  <joint name="toe_lower_leg_back_leftL_joint" type="fixed">
-    <parent link="lower_leg_back_leftL_link"/>
-    <child link="toe_lower_leg_back_leftL_link"/>
-    <origin xyz="0 0 0.20"/>
-    <dynamics damping="0.0" friction="0.0"/>
-  </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_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="0.0 0.06 -0.015"/>
-    <limit effort="100" velocity="100"/>
-    <joint_properties damping="0.0" friction="0.0"/>
-  </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_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="0.0 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_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="0.0 0.01 .055"/>
-    <limit effort="100" velocity="100"/>
-    <joint_properties damping="0.0" friction="0.0"/>
-  </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_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="0.0 0.06 -0.015"/>
-    <limit effort="100" velocity="100"/>
-    <joint_properties damping="0.0" friction="0.0"/>
-  </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_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="0.0 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="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="0.0 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_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="0.0 0.01 .055"/>
-    <limit effort="100" velocity="100"/>
-    <joint_properties damping="0.0" friction="0.0"/>
-  </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_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="0.0 0.06 -0.015"/>
-    <limit effort="100" velocity="100"/>
-    <joint_properties damping="0.0" friction="0.0"/>
-  </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_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="0.0 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="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="0.0 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_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="0.0 0.01 .055"/>
-    <limit effort="100" velocity="100"/>
-    <joint_properties damping="0.0" friction="0.0"/>
-  </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_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="0.0 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_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="0.0 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="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="0.0 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_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="0.0 0.01 .055"/>
-    <limit effort="100" velocity="100"/>
-    <joint_properties damping="0.0" friction="0.0"/>
-  </joint>
-</robot>
diff --git a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/plate.stl b/examples/pybullet/gym/pybullet_data/quadruped/microtaur/plate.stl
deleted file mode 100644
index 5b6a098df..000000000
--- a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/plate.stl
+++ /dev/null
diff --git a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/plate.urdf b/examples/pybullet/gym/pybullet_data/quadruped/microtaur/plate.urdf
deleted file mode 100644
index 704e9802c..000000000
--- a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/plate.urdf
+++ /dev/null
@@ -1,29 +0,0 @@
-<?xml version="0.0" ?>
-<robot name="cube.urdf">
-  <link name="baseLink">
-    <contact>
-      <lateral_friction value="0.3"/>
-    </contact>
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-       <mass value="0.13"/>
-       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="-0.037 0.0045 0"/>
-      <geometry>
-				<mesh filename="plate.stl" scale="1.0 1.0 1.0"/>
-      </geometry>
-       <material name="white">
-        <color rgba="1 1 1 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-	 	<box size="0.074 0.009 0.138"/>
-      </geometry>
-    </collision>
-  </link>
-</robot>
-
diff --git a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/quadru.py b/examples/pybullet/gym/pybullet_data/quadruped/microtaur/quadru.py
deleted file mode 100644
index 252ee1c09..000000000
--- a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/quadru.py
+++ /dev/null
@@ -1,22 +0,0 @@
-import pybullet as p
-cin = p.connect(p.SHARED_MEMORY)
-if (cin < 0):
-    cin = p.connect(p.GUI)
-objects = [p.loadURDF("plane.urdf", 0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,1.000000)]
-objects = [p.loadURDF("quadruped/microtaur/microtaur.urdf", 0.858173,-0.698485,0.227967,-0.002864,0.000163,0.951778,0.306776)]
-ob = objects[0]
-jointPositions=[ 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 1.568555, 0.000000, -2.177277, 1.570089, 0.000000, -2.184705, 1.570229, 0.000000, -2.182261, 1.570008, 0.000000, -2.184197, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, -1.569978, 0.000000, 2.184092, -1.569669, 0.000000, 2.186906, -1.570584, 0.000000, 2.181503, -1.568404, 0.000000, 2.178427 ]
-for jointIndex in range (p.getNumJoints(ob)):
-	p.resetJointState(ob,jointIndex,jointPositions[jointIndex])
-
-cid0 = p.createConstraint(1,35,1,32,p.JOINT_POINT2POINT,[0.000000,0.000000,0.000000],[0.000000,0.005000,0.100000],[0.000000,0.010000,0.100000],[0.000000,0.000000,0.000000,1.000000],[0.000000,0.000000,0.000000,1.000000])
-p.changeConstraint(cid0,maxForce=1000.000000)
-cid1 = p.createConstraint(1,7,1,10,p.JOINT_POINT2POINT,[0.000000,0.000000,0.000000],[0.000000,0.005000,0.100000],[0.000000,0.010000,0.100000],[0.000000,0.000000,0.000000,1.000000],[0.000000,0.000000,0.000000,1.000000])
-p.changeConstraint(cid1,maxForce=1000.000000)
-cid2 = p.createConstraint(1,41,1,38,p.JOINT_POINT2POINT,[0.000000,0.000000,0.000000],[0.000000,0.005000,0.100000],[0.000000,0.010000,0.100000],[0.000000,0.000000,0.000000,1.000000],[0.000000,0.000000,0.000000,1.000000])
-p.changeConstraint(cid2,maxForce=1000.000000)
-cid3 = p.createConstraint(1,13,1,16,p.JOINT_POINT2POINT,[0.000000,0.000000,0.000000],[0.000000,0.005000,0.100000],[0.000000,0.010000,0.100000],[0.000000,0.000000,0.000000,1.000000],[0.000000,0.000000,0.000000,1.000000])
-p.changeConstraint(cid3,maxForce=1000.000000)
-p.setGravity(0.000000,0.000000,-10.000000)
-p.stepSimulation()
-p.disconnect()
diff --git a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/xavier.stl b/examples/pybullet/gym/pybullet_data/quadruped/microtaur/xavier.stl
deleted file mode 100644
index 7df3364e5..000000000
--- a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/xavier.stl
+++ /dev/null
diff --git a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/xavier.urdf b/examples/pybullet/gym/pybullet_data/quadruped/microtaur/xavier.urdf
deleted file mode 100644
index 47b58a758..000000000
--- a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/xavier.urdf
+++ /dev/null
@@ -1,29 +0,0 @@
-<?xml version="0.0" ?>
-<robot name="xavier">
-  <link name="baseLink">
-    <contact>
-      <lateral_friction value="0.3"/>
-    </contact>
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-       <mass value="0.64"/>
-       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="-0.045 -0.045 -0.018"/>
-      <geometry>
-				<mesh filename="xavier.stl" scale="1.0 1.0 1.0"/>
-      </geometry>
-       <material name="white">
-        <color rgba="1 1 1 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-	 	<box size="0.092 0.105 0.045"/>
-      </geometry>
-    </collision>
-  </link>
-</robot>
-
diff --git a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/xm430w210.stl b/examples/pybullet/gym/pybullet_data/quadruped/microtaur/xm430w210.stl
deleted file mode 100644
index 10a55eaaf..000000000
--- a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/xm430w210.stl
+++ /dev/null
diff --git a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/xm430w210.urdf b/examples/pybullet/gym/pybullet_data/quadruped/microtaur/xm430w210.urdf
deleted file mode 100644
index cba3b292d..000000000
--- a/examples/pybullet/gym/pybullet_data/quadruped/microtaur/xm430w210.urdf
+++ /dev/null
@@ -1,29 +0,0 @@
-<?xml version="0.0" ?>
-<robot name="cube.urdf">
-  <link name="baseLink">
-    <contact>
-      <lateral_friction value="0.3"/>
-    </contact>
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-       <mass value="0.082"/>
-       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0.011 0"/>
-      <geometry>
-				<mesh filename="xm430w210.stl" scale="1.0 1.0 1.0"/>
-      </geometry>
-       <material name="black">
-        <color rgba=".3 .3 .3 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-	 	<box size="0.024 0.047 0.034"/>
-      </geometry>
-    </collision>
-  </link>
-</robot>
-
diff --git a/examples/pybullet/gym/pybullet_envs/examples/microtaur.py b/examples/pybullet/gym/pybullet_envs/examples/microtaur.py
deleted file mode 100644
index 2d5b843a3..000000000
--- a/examples/pybullet/gym/pybullet_envs/examples/microtaur.py
+++ /dev/null
@@ -1,467 +0,0 @@
-import pybullet as p
-import pybullet_data as pd
-
-import time
-import math
-
-
-def drawInertiaBox(parentUid, parentLinkIndex, color):
-  return
-  dyn = p.getDynamicsInfo(parentUid, parentLinkIndex)
-  mass = dyn[0]
-  frictionCoeff = dyn[1]
-  inertia = dyn[2]
-  if (mass > 0):
-    Ixx = inertia[0]
-    Iyy = inertia[1]
-    Izz = inertia[2]
-    boxScaleX = 0.5 * math.sqrt(6 * (Izz + Iyy - Ixx) / mass)
-    boxScaleY = 0.5 * math.sqrt(6 * (Izz + Ixx - Iyy) / mass)
-    boxScaleZ = 0.5 * math.sqrt(6 * (Ixx + Iyy - Izz) / mass)
-
-    halfExtents = [boxScaleX, boxScaleY, boxScaleZ]
-    pts = [[halfExtents[0], halfExtents[1], halfExtents[2]],
-           [-halfExtents[0], halfExtents[1], halfExtents[2]],
-           [halfExtents[0], -halfExtents[1], halfExtents[2]],
-           [-halfExtents[0], -halfExtents[1], halfExtents[2]],
-           [halfExtents[0], halfExtents[1], -halfExtents[2]],
-           [-halfExtents[0], halfExtents[1], -halfExtents[2]],
-           [halfExtents[0], -halfExtents[1], -halfExtents[2]],
-           [-halfExtents[0], -halfExtents[1], -halfExtents[2]]]
-
-    p.addUserDebugLine(pts[0],
-                       pts[1],
-                       color,
-                       1,
-                       parentObjectUniqueId=parentUid,
-                       parentLinkIndex=parentLinkIndex)
-    p.addUserDebugLine(pts[1],
-                       pts[3],
-                       color,
-                       1,
-                       parentObjectUniqueId=parentUid,
-                       parentLinkIndex=parentLinkIndex)
-    p.addUserDebugLine(pts[3],
-                       pts[2],
-                       color,
-                       1,
-                       parentObjectUniqueId=parentUid,
-                       parentLinkIndex=parentLinkIndex)
-    p.addUserDebugLine(pts[2],
-                       pts[0],
-                       color,
-                       1,
-                       parentObjectUniqueId=parentUid,
-                       parentLinkIndex=parentLinkIndex)
-
-    p.addUserDebugLine(pts[0],
-                       pts[4],
-                       color,
-                       1,
-                       parentObjectUniqueId=parentUid,
-                       parentLinkIndex=parentLinkIndex)
-    p.addUserDebugLine(pts[1],
-                       pts[5],
-                       color,
-                       1,
-                       parentObjectUniqueId=parentUid,
-                       parentLinkIndex=parentLinkIndex)
-    p.addUserDebugLine(pts[2],
-                       pts[6],
-                       color,
-                       1,
-                       parentObjectUniqueId=parentUid,
-                       parentLinkIndex=parentLinkIndex)
-    p.addUserDebugLine(pts[3],
-                       pts[7],
-                       color,
-                       1,
-                       parentObjectUniqueId=parentUid,
-                       parentLinkIndex=parentLinkIndex)
-
-    p.addUserDebugLine(pts[4 + 0],
-                       pts[4 + 1],
-                       color,
-                       1,
-                       parentObjectUniqueId=parentUid,
-                       parentLinkIndex=parentLinkIndex)
-    p.addUserDebugLine(pts[4 + 1],
-                       pts[4 + 3],
-                       color,
-                       1,
-                       parentObjectUniqueId=parentUid,
-                       parentLinkIndex=parentLinkIndex)
-    p.addUserDebugLine(pts[4 + 3],
-                       pts[4 + 2],
-                       color,
-                       1,
-                       parentObjectUniqueId=parentUid,
-                       parentLinkIndex=parentLinkIndex)
-    p.addUserDebugLine(pts[4 + 2],
-                       pts[4 + 0],
-                       color,
-                       1,
-                       parentObjectUniqueId=parentUid,
-                       parentLinkIndex=parentLinkIndex)
-
-
-toeConstraint = True
-useMaximalCoordinates = False
-useRealTime = 1
-
-#the fixedTimeStep and numSolverIterations are the most important parameters to trade-off quality versus performance
-fixedTimeStep = 1. / 100
-numSolverIterations = 50
-
-if (useMaximalCoordinates):
-  fixedTimeStep = 1. / 500
-  numSolverIterations = 200
-
-speed = 10
-amplitude = 0.8
-jump_amp = 0.5
-maxForce = 3.5
-kneeFrictionForce = 0
-kp = 1
-kd = .5
-maxKneeForce = 1000
-
-physId = p.connect(p.SHARED_MEMORY)
-
-if (physId < 0):
-  p.connect(p.GUI)
-#p.resetSimulation()
-p.setAdditionalSearchPath(pd.getDataPath())
-angle = 0  # pick in range 0..0.2 radians
-orn = p.getQuaternionFromEuler([0, angle, 0])
-p.loadURDF("plane.urdf", [0, 0, 0], orn)
-p.setPhysicsEngineParameter(numSolverIterations=numSolverIterations)
-p.startStateLogging(p.STATE_LOGGING_GENERIC_ROBOT,
-                    "genericlogdata.bin",
-                    maxLogDof=16,
-                    logFlags=p.STATE_LOG_JOINT_TORQUES)
-p.setTimeOut(4000000)
-
-p.setGravity(0, 0, 0)
-p.setTimeStep(fixedTimeStep)
-
-orn = p.getQuaternionFromEuler([0, 0, 0.4])
-p.setRealTimeSimulation(0)
-quadruped = p.loadURDF("quadruped/microtaur/microtaur.urdf", [1, -1, .3],
-                       orn,
-                       useFixedBase=False,
-                       useMaximalCoordinates=useMaximalCoordinates,
-                       flags=p.URDF_USE_IMPLICIT_CYLINDER)
-nJoints = p.getNumJoints(quadruped)
-
-jointNameToId = {}
-for i in range(nJoints):
-  jointInfo = p.getJointInfo(quadruped, i)
-  jointNameToId[jointInfo[1].decode('UTF-8')] = jointInfo[0]
-
-motor_front_rightR_joint = jointNameToId['motor_front_rightR_joint']
-motor_front_rightL_joint = jointNameToId['motor_front_rightL_joint']
-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_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']
-knee_front_leftL_joint = jointNameToId['knee_front_leftL_joint']
-motor_back_rightR_joint = jointNameToId['motor_back_rightR_joint']
-knee_back_rightR_joint = jointNameToId['knee_back_rightR_joint']
-motor_back_rightL_joint = jointNameToId['motor_back_rightL_joint']
-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']
-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']
-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])
-
-motordir = [-1, -1, -1, -1, 1, 1, 1, 1]
-halfpi = 1.57079632679
-twopi = 4 * halfpi
-kneeangle = -2.1834
-
-dyn = p.getDynamicsInfo(quadruped, -1)
-mass = dyn[0]
-friction = dyn[1]
-localInertiaDiagonal = dyn[2]
-
-print("localInertiaDiagonal", localInertiaDiagonal)
-
-#this is a no-op, just to show the API
-p.changeDynamics(quadruped, -1, localInertiaDiagonal=localInertiaDiagonal)
-
-#for i in range (nJoints):
-#	p.changeDynamics(quadruped,i,localInertiaDiagonal=[0.000001,0.000001,0.000001])
-
-drawInertiaBox(quadruped, -1, [1, 0, 0])
-#drawInertiaBox(quadruped,motor_front_rightR_joint, [1,0,0])
-
-for i in range(nJoints):
-  drawInertiaBox(quadruped, i, [0, 1, 0])
-
-if (useMaximalCoordinates):
-  steps = 400
-  for aa in range(steps):
-    p.setJointMotorControl2(quadruped, motor_front_leftL_joint, p.POSITION_CONTROL,
-                            motordir[0] * halfpi * float(aa) / steps)
-    p.setJointMotorControl2(quadruped, motor_front_leftR_joint, p.POSITION_CONTROL,
-                            motordir[1] * halfpi * float(aa) / steps)
-    p.setJointMotorControl2(quadruped, motor_back_leftL_joint, p.POSITION_CONTROL,
-                            motordir[2] * halfpi * float(aa) / steps)
-    p.setJointMotorControl2(quadruped, motor_back_leftR_joint, p.POSITION_CONTROL,
-                            motordir[3] * halfpi * float(aa) / steps)
-    p.setJointMotorControl2(quadruped, motor_front_rightL_joint, p.POSITION_CONTROL,
-                            motordir[4] * halfpi * float(aa) / steps)
-    p.setJointMotorControl2(quadruped, motor_front_rightR_joint, p.POSITION_CONTROL,
-                            motordir[5] * halfpi * float(aa) / steps)
-    p.setJointMotorControl2(quadruped, motor_back_rightL_joint, p.POSITION_CONTROL,
-                            motordir[6] * halfpi * float(aa) / steps)
-    p.setJointMotorControl2(quadruped, motor_back_rightR_joint, p.POSITION_CONTROL,
-                            motordir[7] * halfpi * float(aa) / steps)
-
-    p.setJointMotorControl2(quadruped, knee_front_leftL_joint, p.POSITION_CONTROL,
-                            motordir[0] * (kneeangle + twopi) * float(aa) / steps)
-    p.setJointMotorControl2(quadruped, knee_front_leftR_joint, p.POSITION_CONTROL,
-                            motordir[1] * kneeangle * float(aa) / steps)
-    p.setJointMotorControl2(quadruped, knee_back_leftL_joint, p.POSITION_CONTROL,
-                            motordir[2] * kneeangle * float(aa) / steps)
-    p.setJointMotorControl2(quadruped, knee_back_leftR_joint, p.POSITION_CONTROL,
-                            motordir[3] * (kneeangle + twopi) * float(aa) / steps)
-    p.setJointMotorControl2(quadruped, knee_front_rightL_joint, p.POSITION_CONTROL,
-                            motordir[4] * (kneeangle) * float(aa) / steps)
-    p.setJointMotorControl2(quadruped, knee_front_rightR_joint, p.POSITION_CONTROL,
-                            motordir[5] * (kneeangle + twopi) * float(aa) / steps)
-    p.setJointMotorControl2(quadruped, knee_back_rightL_joint, p.POSITION_CONTROL,
-                            motordir[6] * (kneeangle + twopi) * float(aa) / steps)
-    p.setJointMotorControl2(quadruped, knee_back_rightR_joint, p.POSITION_CONTROL,
-                            motordir[7] * kneeangle * float(aa) / steps)
-
-    p.stepSimulation()
-    #time.sleep(fixedTimeStep)
-else:
-
-  p.resetJointState(quadruped, motor_front_leftL_joint, motordir[0] * halfpi)
-  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_joint, motordir[1] * kneeangle)
-
-  p.resetJointState(quadruped, motor_back_leftL_joint, motordir[2] * halfpi)
-  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_joint, motordir[3] * kneeangle)
-
-  p.resetJointState(quadruped, motor_front_rightL_joint, motordir[4] * halfpi)
-  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_joint, motordir[5] * kneeangle)
-
-  p.resetJointState(quadruped, motor_back_rightL_joint, motordir[6] * halfpi)
-  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_joint, motordir[7] * kneeangle)
-
-#p.getNumJoints(1)
-
-if (toeConstraint):
-  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_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_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_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_joint, p.VELOCITY_CONTROL, 0,
-                         kneeFrictionForce)
-  p.setJointMotorControl(quadruped, knee_front_leftR_joint, p.VELOCITY_CONTROL, 0,
-                         kneeFrictionForce)
-  p.setJointMotorControl(quadruped, knee_front_rightL_joint, p.VELOCITY_CONTROL, 0,
-                         kneeFrictionForce)
-  p.setJointMotorControl(quadruped, knee_front_rightR_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_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_joint, p.VELOCITY_CONTROL, 0,
-                         kneeFrictionForce)
-
-p.setGravity(0, 0, -10)
-
-legnumbering = [
-    motor_front_leftL_joint, motor_front_leftR_joint, motor_back_leftL_joint,
-    motor_back_leftR_joint, motor_front_rightL_joint, motor_front_rightR_joint,
-    motor_back_rightL_joint, motor_back_rightR_joint
-]
-
-for i in range(8):
-  print(legnumbering[i])
-#use the Minitaur leg numbering
-p.setJointMotorControl2(bodyIndex=quadruped,
-                        jointIndex=legnumbering[0],
-                        controlMode=p.POSITION_CONTROL,
-                        targetPosition=motordir[0] * 1.57,
-                        positionGain=kp,
-                        velocityGain=kd,
-                        force=maxForce)
-p.setJointMotorControl2(bodyIndex=quadruped,
-                        jointIndex=legnumbering[1],
-                        controlMode=p.POSITION_CONTROL,
-                        targetPosition=motordir[1] * 1.57,
-                        positionGain=kp,
-                        velocityGain=kd,
-                        force=maxForce)
-p.setJointMotorControl2(bodyIndex=quadruped,
-                        jointIndex=legnumbering[2],
-                        controlMode=p.POSITION_CONTROL,
-                        targetPosition=motordir[2] * 1.57,
-                        positionGain=kp,
-                        velocityGain=kd,
-                        force=maxForce)
-p.setJointMotorControl2(bodyIndex=quadruped,
-                        jointIndex=legnumbering[3],
-                        controlMode=p.POSITION_CONTROL,
-                        targetPosition=motordir[3] * 1.57,
-                        positionGain=kp,
-                        velocityGain=kd,
-                        force=maxForce)
-p.setJointMotorControl2(bodyIndex=quadruped,
-                        jointIndex=legnumbering[4],
-                        controlMode=p.POSITION_CONTROL,
-                        targetPosition=motordir[4] * 1.57,
-                        positionGain=kp,
-                        velocityGain=kd,
-                        force=maxForce)
-p.setJointMotorControl2(bodyIndex=quadruped,
-                        jointIndex=legnumbering[5],
-                        controlMode=p.POSITION_CONTROL,
-                        targetPosition=motordir[5] * 1.57,
-                        positionGain=kp,
-                        velocityGain=kd,
-                        force=maxForce)
-p.setJointMotorControl2(bodyIndex=quadruped,
-                        jointIndex=legnumbering[6],
-                        controlMode=p.POSITION_CONTROL,
-                        targetPosition=motordir[6] * 1.57,
-                        positionGain=kp,
-                        velocityGain=kd,
-                        force=maxForce)
-p.setJointMotorControl2(bodyIndex=quadruped,
-                        jointIndex=legnumbering[7],
-                        controlMode=p.POSITION_CONTROL,
-                        targetPosition=motordir[7] * 1.57,
-                        positionGain=kp,
-                        velocityGain=kd,
-                        force=maxForce)
-#stand still
-p.setRealTimeSimulation(useRealTime)
-
-t = 0.0
-t_end = t + 5
-ref_time = time.time()
-while (t < t_end):
-  p.setGravity(0, 0, -10)
-  if (useRealTime):
-    t = time.time() - ref_time
-  else:
-    t = t + fixedTimeStep
-  if (useRealTime == 0):
-    p.stepSimulation()
-    time.sleep(fixedTimeStep)
-
-print("quadruped Id = ")
-print(quadruped)
-p.saveWorld("quadru.py")
-logId = p.startStateLogging(p.STATE_LOGGING_MINITAUR, "quadrupedLog.bin", [quadruped])
-
-#jump
-t = 0.0
-t_end = t + 100
-i = 0
-ref_time = time.time()
-
-while (1):
-  if (useRealTime):
-    t = time.time() - ref_time
-  else:
-    t = t + fixedTimeStep
-  if (True):
-
-    target = math.sin(t * speed) * jump_amp + 1.57
-    p.setJointMotorControl2(bodyIndex=quadruped,
-                            jointIndex=legnumbering[0],
-                            controlMode=p.POSITION_CONTROL,
-                            targetPosition=motordir[0] * target,
-                            positionGain=kp,
-                            velocityGain=kd,
-                            force=maxForce)
-    p.setJointMotorControl2(bodyIndex=quadruped,
-                            jointIndex=legnumbering[1],
-                            controlMode=p.POSITION_CONTROL,
-                            targetPosition=motordir[1] * target,
-                            positionGain=kp,
-                            velocityGain=kd,
-                            force=maxForce)
-    p.setJointMotorControl2(bodyIndex=quadruped,
-                            jointIndex=legnumbering[2],
-                            controlMode=p.POSITION_CONTROL,
-                            targetPosition=motordir[2] * target,
-                            positionGain=kp,
-                            velocityGain=kd,
-                            force=maxForce)
-    p.setJointMotorControl2(bodyIndex=quadruped,
-                            jointIndex=legnumbering[3],
-                            controlMode=p.POSITION_CONTROL,
-                            targetPosition=motordir[3] * target,
-                            positionGain=kp,
-                            velocityGain=kd,
-                            force=maxForce)
-    p.setJointMotorControl2(bodyIndex=quadruped,
-                            jointIndex=legnumbering[4],
-                            controlMode=p.POSITION_CONTROL,
-                            targetPosition=motordir[4] * target,
-                            positionGain=kp,
-                            velocityGain=kd,
-                            force=maxForce)
-    p.setJointMotorControl2(bodyIndex=quadruped,
-                            jointIndex=legnumbering[5],
-                            controlMode=p.POSITION_CONTROL,
-                            targetPosition=motordir[5] * target,
-                            positionGain=kp,
-                            velocityGain=kd,
-                            force=maxForce)
-    p.setJointMotorControl2(bodyIndex=quadruped,
-                            jointIndex=legnumbering[6],
-                            controlMode=p.POSITION_CONTROL,
-                            targetPosition=motordir[6] * target,
-                            positionGain=kp,
-                            velocityGain=kd,
-                            force=maxForce)
-    p.setJointMotorControl2(bodyIndex=quadruped,
-                            jointIndex=legnumbering[7],
-                            controlMode=p.POSITION_CONTROL,
-                            targetPosition=motordir[7] * target,
-                            positionGain=kp,
-                            velocityGain=kd,
-                            force=maxForce)
-
-  if (useRealTime == 0):
-    p.stepSimulation()
-    time.sleep(fixedTimeStep)
diff --git a/examples/pybullet/gym/pybullet_envs/examples/mini_cheetah_test.py b/examples/pybullet/gym/pybullet_envs/examples/mini_cheetah_test.py
new file mode 100644
index 000000000..c30c981ff
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/examples/mini_cheetah_test.py
@@ -0,0 +1,23 @@
+import pybullet as p
+import pybullet_data as pd
+import time
+
+p.connect(p.GUI)
+p.setGravity(0,0,-9.8)
+p.setAdditionalSearchPath(pd.getDataPath())
+floor = p.loadURDF("plane.urdf")
+startPos = [0,0,0.5]
+robot = p.loadURDF("mini_cheetah/mini_cheetah.urdf",startPos)
+numJoints = p.getNumJoints(robot)
+p.changeVisualShape(robot,-1,rgbaColor=[1,1,1,1])
+for j in range (numJoints):
+	p.changeVisualShape(robot,j,rgbaColor=[1,1,1,1])
+	force=200
+	pos=0
+	p.setJointMotorControl2(robot,j,p.POSITION_CONTROL,pos,force=force)
+dt = 1./240.
+p.setTimeStep(dt)
+while (1):
+  p.stepSimulation()
+  time.sleep(dt)
+