Merge pull request #4099 from erwincoumans/master

replace mpl licensed meshes by hand-made textured ones

18 files changed, 12015 insertions, 545 deletions

diff --git a/examples/pybullet/gym/pybullet_data/aliengo/LICENSE b/examples/pybullet/gym/pybullet_data/aliengo/LICENSE
deleted file mode 100644
index a612ad981..000000000
--- a/examples/pybullet/gym/pybullet_data/aliengo/LICENSE
+++ /dev/null
@@ -1,373 +0,0 @@
-Mozilla Public License Version 2.0
-==================================
-
-1. Definitions
---------------
-
-1.1. "Contributor"
-    means each individual or legal entity that creates, contributes to
-    the creation of, or owns Covered Software.
-
-1.2. "Contributor Version"
-    means the combination of the Contributions of others (if any) used
-    by a Contributor and that particular Contributor's Contribution.
-
-1.3. "Contribution"
-    means Covered Software of a particular Contributor.
-
-1.4. "Covered Software"
-    means Source Code Form to which the initial Contributor has attached
-    the notice in Exhibit A, the Executable Form of such Source Code
-    Form, and Modifications of such Source Code Form, in each case
-    including portions thereof.
-
-1.5. "Incompatible With Secondary Licenses"
-    means
-
-    (a) that the initial Contributor has attached the notice described
-        in Exhibit B to the Covered Software; or
-
-    (b) that the Covered Software was made available under the terms of
-        version 1.1 or earlier of the License, but not also under the
-        terms of a Secondary License.
-
-1.6. "Executable Form"
-    means any form of the work other than Source Code Form.
-
-1.7. "Larger Work"
-    means a work that combines Covered Software with other material, in
-    a separate file or files, that is not Covered Software.
-
-1.8. "License"
-    means this document.
-
-1.9. "Licensable"
-    means having the right to grant, to the maximum extent possible,
-    whether at the time of the initial grant or subsequently, any and
-    all of the rights conveyed by this License.
-
-1.10. "Modifications"
-    means any of the following:
-
-    (a) any file in Source Code Form that results from an addition to,
-        deletion from, or modification of the contents of Covered
-        Software; or
-
-    (b) any new file in Source Code Form that contains any Covered
-        Software.
-
-1.11. "Patent Claims" of a Contributor
-    means any patent claim(s), including without limitation, method,
-    process, and apparatus claims, in any patent Licensable by such
-    Contributor that would be infringed, but for the grant of the
-    License, by the making, using, selling, offering for sale, having
-    made, import, or transfer of either its Contributions or its
-    Contributor Version.
-
-1.12. "Secondary License"
-    means either the GNU General Public License, Version 2.0, the GNU
-    Lesser General Public License, Version 2.1, the GNU Affero General
-    Public License, Version 3.0, or any later versions of those
-    licenses.
-
-1.13. "Source Code Form"
-    means the form of the work preferred for making modifications.
-
-1.14. "You" (or "Your")
-    means an individual or a legal entity exercising rights under this
-    License. For legal entities, "You" includes any entity that
-    controls, is controlled by, or is under common control with You. For
-    purposes of this definition, "control" means (a) the power, direct
-    or indirect, to cause the direction or management of such entity,
-    whether by contract or otherwise, or (b) ownership of more than
-    fifty percent (50%) of the outstanding shares or beneficial
-    ownership of such entity.
-
-2. License Grants and Conditions
---------------------------------
-
-2.1. Grants
-
-Each Contributor hereby grants You a world-wide, royalty-free,
-non-exclusive license:
-
-(a) under intellectual property rights (other than patent or trademark)
-    Licensable by such Contributor to use, reproduce, make available,
-    modify, display, perform, distribute, and otherwise exploit its
-    Contributions, either on an unmodified basis, with Modifications, or
-    as part of a Larger Work; and
-
-(b) under Patent Claims of such Contributor to make, use, sell, offer
-    for sale, have made, import, and otherwise transfer either its
-    Contributions or its Contributor Version.
-
-2.2. Effective Date
-
-The licenses granted in Section 2.1 with respect to any Contribution
-become effective for each Contribution on the date the Contributor first
-distributes such Contribution.
-
-2.3. Limitations on Grant Scope
-
-The licenses granted in this Section 2 are the only rights granted under
-this License. No additional rights or licenses will be implied from the
-distribution or licensing of Covered Software under this License.
-Notwithstanding Section 2.1(b) above, no patent license is granted by a
-Contributor:
-
-(a) for any code that a Contributor has removed from Covered Software;
-    or
-
-(b) for infringements caused by: (i) Your and any other third party's
-    modifications of Covered Software, or (ii) the combination of its
-    Contributions with other software (except as part of its Contributor
-    Version); or
-
-(c) under Patent Claims infringed by Covered Software in the absence of
-    its Contributions.
-
-This License does not grant any rights in the trademarks, service marks,
-or logos of any Contributor (except as may be necessary to comply with
-the notice requirements in Section 3.4).
-
-2.4. Subsequent Licenses
-
-No Contributor makes additional grants as a result of Your choice to
-distribute the Covered Software under a subsequent version of this
-License (see Section 10.2) or under the terms of a Secondary License (if
-permitted under the terms of Section 3.3).
-
-2.5. Representation
-
-Each Contributor represents that the Contributor believes its
-Contributions are its original creation(s) or it has sufficient rights
-to grant the rights to its Contributions conveyed by this License.
-
-2.6. Fair Use
-
-This License is not intended to limit any rights You have under
-applicable copyright doctrines of fair use, fair dealing, or other
-equivalents.
-
-2.7. Conditions
-
-Sections 3.1, 3.2, 3.3, and 3.4 are conditions of the licenses granted
-in Section 2.1.
-
-3. Responsibilities
--------------------
-
-3.1. Distribution of Source Form
-
-All distribution of Covered Software in Source Code Form, including any
-Modifications that You create or to which You contribute, must be under
-the terms of this License. You must inform recipients that the Source
-Code Form of the Covered Software is governed by the terms of this
-License, and how they can obtain a copy of this License. You may not
-attempt to alter or restrict the recipients' rights in the Source Code
-Form.
-
-3.2. Distribution of Executable Form
-
-If You distribute Covered Software in Executable Form then:
-
-(a) such Covered Software must also be made available in Source Code
-    Form, as described in Section 3.1, and You must inform recipients of
-    the Executable Form how they can obtain a copy of such Source Code
-    Form by reasonable means in a timely manner, at a charge no more
-    than the cost of distribution to the recipient; and
-
-(b) You may distribute such Executable Form under the terms of this
-    License, or sublicense it under different terms, provided that the
-    license for the Executable Form does not attempt to limit or alter
-    the recipients' rights in the Source Code Form under this License.
-
-3.3. Distribution of a Larger Work
-
-You may create and distribute a Larger Work under terms of Your choice,
-provided that You also comply with the requirements of this License for
-the Covered Software. If the Larger Work is a combination of Covered
-Software with a work governed by one or more Secondary Licenses, and the
-Covered Software is not Incompatible With Secondary Licenses, this
-License permits You to additionally distribute such Covered Software
-under the terms of such Secondary License(s), so that the recipient of
-the Larger Work may, at their option, further distribute the Covered
-Software under the terms of either this License or such Secondary
-License(s).
-
-3.4. Notices
-
-You may not remove or alter the substance of any license notices
-(including copyright notices, patent notices, disclaimers of warranty,
-or limitations of liability) contained within the Source Code Form of
-the Covered Software, except that You may alter any license notices to
-the extent required to remedy known factual inaccuracies.
-
-3.5. Application of Additional Terms
-
-You may choose to offer, and to charge a fee for, warranty, support,
-indemnity or liability obligations to one or more recipients of Covered
-Software. However, You may do so only on Your own behalf, and not on
-behalf of any Contributor. You must make it absolutely clear that any
-such warranty, support, indemnity, or liability obligation is offered by
-You alone, and You hereby agree to indemnify every Contributor for any
-liability incurred by such Contributor as a result of warranty, support,
-indemnity or liability terms You offer. You may include additional
-disclaimers of warranty and limitations of liability specific to any
-jurisdiction.
-
-4. Inability to Comply Due to Statute or Regulation
----------------------------------------------------
-
-If it is impossible for You to comply with any of the terms of this
-License with respect to some or all of the Covered Software due to
-statute, judicial order, or regulation then You must: (a) comply with
-the terms of this License to the maximum extent possible; and (b)
-describe the limitations and the code they affect. Such description must
-be placed in a text file included with all distributions of the Covered
-Software under this License. Except to the extent prohibited by statute
-or regulation, such description must be sufficiently detailed for a
-recipient of ordinary skill to be able to understand it.
-
-5. Termination
---------------
-
-5.1. The rights granted under this License will terminate automatically
-if You fail to comply with any of its terms. However, if You become
-compliant, then the rights granted under this License from a particular
-Contributor are reinstated (a) provisionally, unless and until such
-Contributor explicitly and finally terminates Your grants, and (b) on an
-ongoing basis, if such Contributor fails to notify You of the
-non-compliance by some reasonable means prior to 60 days after You have
-come back into compliance. Moreover, Your grants from a particular
-Contributor are reinstated on an ongoing basis if such Contributor
-notifies You of the non-compliance by some reasonable means, this is the
-first time You have received notice of non-compliance with this License
-from such Contributor, and You become compliant prior to 30 days after
-Your receipt of the notice.
-
-5.2. If You initiate litigation against any entity by asserting a patent
-infringement claim (excluding declaratory judgment actions,
-counter-claims, and cross-claims) alleging that a Contributor Version
-directly or indirectly infringes any patent, then the rights granted to
-You by any and all Contributors for the Covered Software under Section
-2.1 of this License shall terminate.
-
-5.3. In the event of termination under Sections 5.1 or 5.2 above, all
-end user license agreements (excluding distributors and resellers) which
-have been validly granted by You or Your distributors under this License
-prior to termination shall survive termination.
-
-************************************************************************
-*                                                                      *
-*  6. Disclaimer of Warranty                                           *
-*  -------------------------                                           *
-*                                                                      *
-*  Covered Software is provided under this License on an "as is"       *
-*  basis, without warranty of any kind, either expressed, implied, or  *
-*  statutory, including, without limitation, warranties that the       *
-*  Covered Software is free of defects, merchantable, fit for a        *
-*  particular purpose or non-infringing. The entire risk as to the     *
-*  quality and performance of the Covered Software is with You.        *
-*  Should any Covered Software prove defective in any respect, You     *
-*  (not any Contributor) assume the cost of any necessary servicing,   *
-*  repair, or correction. This disclaimer of warranty constitutes an   *
-*  essential part of this License. No use of any Covered Software is   *
-*  authorized under this License except under this disclaimer.         *
-*                                                                      *
-************************************************************************
-
-************************************************************************
-*                                                                      *
-*  7. Limitation of Liability                                          *
-*  --------------------------                                          *
-*                                                                      *
-*  Under no circumstances and under no legal theory, whether tort      *
-*  (including negligence), contract, or otherwise, shall any           *
-*  Contributor, or anyone who distributes Covered Software as          *
-*  permitted above, be liable to You for any direct, indirect,         *
-*  special, incidental, or consequential damages of any character      *
-*  including, without limitation, damages for lost profits, loss of    *
-*  goodwill, work stoppage, computer failure or malfunction, or any    *
-*  and all other commercial damages or losses, even if such party      *
-*  shall have been informed of the possibility of such damages. This   *
-*  limitation of liability shall not apply to liability for death or   *
-*  personal injury resulting from such party's negligence to the       *
-*  extent applicable law prohibits such limitation. Some               *
-*  jurisdictions do not allow the exclusion or limitation of           *
-*  incidental or consequential damages, so this exclusion and          *
-*  limitation may not apply to You.                                    *
-*                                                                      *
-************************************************************************
-
-8. Litigation
--------------
-
-Any litigation relating to this License may be brought only in the
-courts of a jurisdiction where the defendant maintains its principal
-place of business and such litigation shall be governed by laws of that
-jurisdiction, without reference to its conflict-of-law provisions.
-Nothing in this Section shall prevent a party's ability to bring
-cross-claims or counter-claims.
-
-9. Miscellaneous
-----------------
-
-This License represents the complete agreement concerning the subject
-matter hereof. If any provision of this License is held to be
-unenforceable, such provision shall be reformed only to the extent
-necessary to make it enforceable. Any law or regulation which provides
-that the language of a contract shall be construed against the drafter
-shall not be used to construe this License against a Contributor.
-
-10. Versions of the License
----------------------------
-
-10.1. New Versions
-
-Mozilla Foundation is the license steward. Except as provided in Section
-10.3, no one other than the license steward has the right to modify or
-publish new versions of this License. Each version will be given a
-distinguishing version number.
-
-10.2. Effect of New Versions
-
-You may distribute the Covered Software under the terms of the version
-of the License under which You originally received the Covered Software,
-or under the terms of any subsequent version published by the license
-steward.
-
-10.3. Modified Versions
-
-If you create software not governed by this License, and you want to
-create a new license for such software, you may create and use a
-modified version of this License if you rename the license and remove
-any references to the name of the license steward (except to note that
-such modified license differs from this License).
-
-10.4. Distributing Source Code Form that is Incompatible With Secondary
-Licenses
-
-If You choose to distribute Source Code Form that is Incompatible With
-Secondary Licenses under the terms of this version of the License, the
-notice described in Exhibit B of this License must be attached.
-
-Exhibit A - Source Code Form License Notice
--------------------------------------------
-
-  This Source Code Form is subject to the terms of the Mozilla Public
-  License, v. 2.0. If a copy of the MPL was not distributed with this
-  file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-If it is not possible or desirable to put the notice in a particular
-file, then You may include the notice in a location (such as a LICENSE
-file in a relevant directory) where a recipient would be likely to look
-for such a notice.
-
-You may add additional accurate notices of copyright ownership.
-
-Exhibit B - "Incompatible With Secondary Licenses" Notice
----------------------------------------------------------
-
-  This Source Code Form is "Incompatible With Secondary Licenses", as
-  defined by the Mozilla Public License, v. 2.0.
diff --git a/examples/pybullet/gym/pybullet_data/aliengo/aliengo.urdf b/examples/pybullet/gym/pybullet_data/aliengo/aliengo.urdf
index dfab74701..0ead55fb2 100644
--- a/examples/pybullet/gym/pybullet_data/aliengo/aliengo.urdf
+++ b/examples/pybullet/gym/pybullet_data/aliengo/aliengo.urdf
@@ -1,30 +1,8 @@
 <?xml version="1.0" ?>
-<!-- =================================================================================== -->
-<!-- |    This document was autogenerated by xacro from robot.xacro                    | -->
-<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
-<!-- =================================================================================== -->
 <robot name="aliengo_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
-  <material name="black">
-    <color rgba="0.0 0.0 0.0 1.0"/>
-  </material>
-  <material name="blue">
-    <color rgba="0.0 0.0 0.8 1.0"/>
-  </material>
-  <material name="green">
-    <color rgba="0.0 0.8 0.0 1.0"/>
-  </material>
   <material name="grey">
     <color rgba="0.2 0.2 0.2 1.0"/>
   </material>
-  <material name="silver">
-    <color rgba="0.913725490196 0.913725490196 0.847058823529 1.0"/>
-  </material>
-  <material name="orange">
-    <color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
-  </material>
-  <material name="brown">
-    <color rgba="0.870588235294 0.811764705882 0.764705882353 1.0"/>
-  </material>
   <material name="red">
     <color rgba="0.8 0.0 0.0 1.0"/>
   </material>
@@ -35,9 +13,9 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/trunk.stl" scale="1 1 1"/>
+        <mesh filename="meshes/trunk.obj" scale="1 1 1"/>
       </geometry>
-      <material name="orange"/>
+      <material name="white"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
@@ -88,9 +66,9 @@
     <visual>
       <origin rpy="3.14159265359 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/hip.stl" scale="1 1 1"/>
+        <mesh filename="meshes/hip.obj" scale="1 1 1"/>
       </geometry>
-      <material name="orange"/>
+      <material name="grey"/>
     </visual>
     <collision>
       <origin rpy="1.57079632679 0 0" xyz="0 -0.083 0"/>
@@ -116,9 +94,9 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/thigh_mirror.stl" scale="1 1 1"/>
+        <mesh filename="meshes/thigh_mirror.obj" scale="1 1 1"/>
       </geometry>
-      <material name="orange"/>
+      <material name="white"/>
     </visual>
     <collision>
       <origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
@@ -144,9 +122,9 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/calf.stl" scale="1 1 1"/>
+        <mesh filename="meshes/calf.obj" scale="1 1 1"/>
       </geometry>
-      <material name="orange"/>
+      <material name="white"/>
     </visual>
     <collision>
       <origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
@@ -171,7 +149,7 @@
       <geometry>
         <sphere radius="0.0165"/>
       </geometry>
-      <material name="green"/>
+      <material name="grey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
@@ -184,36 +162,7 @@
       <inertia ixx="1.6854e-05" ixy="0.0" ixz="0.0" iyy="1.6854e-05" iyz="0.0" izz="1.6854e-05"/>
     </inertial>
   </link>
-  <transmission name="FR_hip_tran">
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="FR_hip_joint">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="FR_hip_motor">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-      <mechanicalReduction>1</mechanicalReduction>
-    </actuator>
-  </transmission>
-  <transmission name="FR_upper_tran">
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="FR_upper_joint">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="FR_upper_motor">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-      <mechanicalReduction>1</mechanicalReduction>
-    </actuator>
-  </transmission>
-  <transmission name="FR_lower_tran">
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="FR_lower_joint">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="FR_lower_motor">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-      <mechanicalReduction>1</mechanicalReduction>
-    </actuator>
-  </transmission>
+
   <joint name="FL_hip_joint" type="revolute">
     <origin rpy="0 0 0" xyz="0.2399 0.051 0"/>
     <parent link="trunk"/>
@@ -226,9 +175,9 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/hip.stl" scale="1 1 1"/>
+        <mesh filename="meshes/hip.obj" scale="1 1 1"/>
       </geometry>
-      <material name="orange"/>
+      <material name="grey"/>
     </visual>
     <collision>
       <origin rpy="1.57079632679 0 0" xyz="0 0.083 0"/>
@@ -254,9 +203,9 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/thigh.stl" scale="1 1 1"/>
+        <mesh filename="meshes/thigh.obj" scale="1 1 1"/>
       </geometry>
-      <material name="orange"/>
+      <material name="white"/>
     </visual>
     <collision>
       <origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
@@ -282,9 +231,9 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/calf.stl" scale="1 1 1"/>
+        <mesh filename="meshes/calf.obj" scale="1 1 1"/>
       </geometry>
-      <material name="orange"/>
+      <material name="white"/>
     </visual>
     <collision>
       <origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
@@ -309,7 +258,7 @@
       <geometry>
         <sphere radius="0.0165"/>
       </geometry>
-      <material name="green"/>
+      <material name="grey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
@@ -322,36 +271,6 @@
       <inertia ixx="1.6854e-05" ixy="0.0" ixz="0.0" iyy="1.6854e-05" iyz="0.0" izz="1.6854e-05"/>
     </inertial>
   </link>
-  <transmission name="FL_hip_tran">
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="FL_hip_joint">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="FL_hip_motor">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-      <mechanicalReduction>1</mechanicalReduction>
-    </actuator>
-  </transmission>
-  <transmission name="FL_upper_tran">
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="FL_upper_joint">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="FL_upper_motor">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-      <mechanicalReduction>1</mechanicalReduction>
-    </actuator>
-  </transmission>
-  <transmission name="FL_lower_tran">
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="FL_lower_joint">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="FL_lower_motor">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-      <mechanicalReduction>1</mechanicalReduction>
-    </actuator>
-  </transmission>
   <joint name="RR_hip_joint" type="revolute">
     <origin rpy="0 0 0" xyz="-0.2399 -0.051 0"/>
     <parent link="trunk"/>
@@ -364,9 +283,9 @@
     <visual>
       <origin rpy="3.14159265359 3.14159265359 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/hip.stl" scale="1 1 1"/>
+        <mesh filename="meshes/hip.obj" scale="1 1 1"/>
       </geometry>
-      <material name="orange"/>
+      <material name="grey"/>
     </visual>
     <collision>
       <origin rpy="1.57079632679 0 0" xyz="0 -0.083 0"/>
@@ -392,9 +311,9 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/thigh_mirror.stl" scale="1 1 1"/>
+        <mesh filename="meshes/thigh_mirror.obj" scale="1 1 1"/>
       </geometry>
-      <material name="orange"/>
+      <material name="white"/>
     </visual>
     <collision>
       <origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
@@ -420,9 +339,9 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/calf.stl" scale="1 1 1"/>
+        <mesh filename="meshes/calf.obj" scale="1 1 1"/>
       </geometry>
-      <material name="orange"/>
+      <material name="white"/>
     </visual>
     <collision>
       <origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
@@ -447,7 +366,7 @@
       <geometry>
         <sphere radius="0.0165"/>
       </geometry>
-      <material name="green"/>
+      <material name="grey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
@@ -460,36 +379,7 @@
       <inertia ixx="1.6854e-05" ixy="0.0" ixz="0.0" iyy="1.6854e-05" iyz="0.0" izz="1.6854e-05"/>
     </inertial>
   </link>
-  <transmission name="RR_hip_tran">
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="RR_hip_joint">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="RR_hip_motor">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-      <mechanicalReduction>1</mechanicalReduction>
-    </actuator>
-  </transmission>
-  <transmission name="RR_upper_tran">
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="RR_upper_joint">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="RR_upper_motor">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-      <mechanicalReduction>1</mechanicalReduction>
-    </actuator>
-  </transmission>
-  <transmission name="RR_lower_tran">
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="RR_lower_joint">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="RR_lower_motor">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-      <mechanicalReduction>1</mechanicalReduction>
-    </actuator>
-  </transmission>
+
   <joint name="RL_hip_joint" type="revolute">
     <origin rpy="0 0 0" xyz="-0.2399 0.051 0"/>
     <parent link="trunk"/>
@@ -502,9 +392,9 @@
     <visual>
       <origin rpy="0 3.14159265359 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/hip.stl" scale="1 1 1"/>
+        <mesh filename="meshes/hip.obj" scale="1 1 1"/>
       </geometry>
-      <material name="orange"/>
+      <material name="grey"/>
     </visual>
     <collision>
       <origin rpy="1.57079632679 0 0" xyz="0 0.083 0"/>
@@ -530,9 +420,9 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/thigh.stl" scale="1 1 1"/>
+        <mesh filename="meshes/thigh.obj" scale="1 1 1"/>
       </geometry>
-      <material name="orange"/>
+      <material name="white"/>
     </visual>
     <collision>
       <origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
@@ -558,9 +448,9 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/calf.stl" scale="1 1 1"/>
+        <mesh filename="meshes/calf.obj" scale="1 1 1"/>
       </geometry>
-      <material name="orange"/>
+      <material name="white"/>
     </visual>
     <collision>
       <origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
@@ -585,7 +475,7 @@
       <geometry>
         <sphere radius="0.0165"/>
       </geometry>
-      <material name="green"/>
+      <material name="grey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
@@ -598,35 +488,6 @@
       <inertia ixx="1.6854e-05" ixy="0.0" ixz="0.0" iyy="1.6854e-05" iyz="0.0" izz="1.6854e-05"/>
     </inertial>
   </link>
-  <transmission name="RL_hip_tran">
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="RL_hip_joint">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="RL_hip_motor">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-      <mechanicalReduction>1</mechanicalReduction>
-    </actuator>
-  </transmission>
-  <transmission name="RL_upper_tran">
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="RL_upper_joint">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="RL_upper_motor">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-      <mechanicalReduction>1</mechanicalReduction>
-    </actuator>
-  </transmission>
-  <transmission name="RL_lower_tran">
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="RL_lower_joint">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="RL_lower_motor">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-      <mechanicalReduction>1</mechanicalReduction>
-    </actuator>
-  </transmission>
+
 </robot>
 
diff --git a/examples/pybullet/gym/pybullet_data/aliengo/meshes/aliengo.png b/examples/pybullet/gym/pybullet_data/aliengo/meshes/aliengo.png
new file mode 100644
index 000000000..402498707
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/aliengo/meshes/aliengo.png
diff --git a/examples/pybullet/gym/pybullet_data/aliengo/meshes/calf.mtl b/examples/pybullet/gym/pybullet_data/aliengo/meshes/calf.mtl
new file mode 100644
index 000000000..42050802a
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/aliengo/meshes/calf.mtl
@@ -0,0 +1,11 @@
+# Blender MTL File: 'aliengo.blend'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
+map_Kd aliengo.png
diff --git a/examples/pybullet/gym/pybullet_data/aliengo/meshes/calf.obj b/examples/pybullet/gym/pybullet_data/aliengo/meshes/calf.obj
new file mode 100644
index 000000000..141bbbc78
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/aliengo/meshes/calf.obj
@@ -0,0 +1,2940 @@
+# Blender v2.79 (sub 0) OBJ File: 'aliengo.blend'
+# www.blender.org
+mtllib calf.mtl
+o Sphere
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diff --git a/examples/pybullet/gym/pybullet_data/aliengo/meshes/calf.stl b/examples/pybullet/gym/pybullet_data/aliengo/meshes/calf.stl
deleted file mode 100644
index fd3738853..000000000
--- a/examples/pybullet/gym/pybullet_data/aliengo/meshes/calf.stl
+++ /dev/null
diff --git a/examples/pybullet/gym/pybullet_data/aliengo/meshes/hip.mtl b/examples/pybullet/gym/pybullet_data/aliengo/meshes/hip.mtl
new file mode 100644
index 000000000..ce94ec194
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/aliengo/meshes/hip.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'aliengo.blend'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
diff --git a/examples/pybullet/gym/pybullet_data/aliengo/meshes/hip.obj b/examples/pybullet/gym/pybullet_data/aliengo/meshes/hip.obj
new file mode 100644
index 000000000..7f243503f
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/aliengo/meshes/hip.obj
@@ -0,0 +1,1666 @@
+# Blender v2.79 (sub 0) OBJ File: 'aliengo.blend'
+# www.blender.org
+mtllib hip.mtl
+o Cylinder
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diff --git a/examples/pybullet/gym/pybullet_data/aliengo/meshes/hip.stl b/examples/pybullet/gym/pybullet_data/aliengo/meshes/hip.stl
deleted file mode 100644
index 9773ff712..000000000
--- a/examples/pybullet/gym/pybullet_data/aliengo/meshes/hip.stl
+++ /dev/null
diff --git a/examples/pybullet/gym/pybullet_data/aliengo/meshes/thigh.mtl b/examples/pybullet/gym/pybullet_data/aliengo/meshes/thigh.mtl
new file mode 100644
index 000000000..42050802a
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/aliengo/meshes/thigh.mtl
@@ -0,0 +1,11 @@
+# Blender MTL File: 'aliengo.blend'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
+map_Kd aliengo.png
diff --git a/examples/pybullet/gym/pybullet_data/aliengo/meshes/thigh.obj b/examples/pybullet/gym/pybullet_data/aliengo/meshes/thigh.obj
new file mode 100644
index 000000000..903504958
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/aliengo/meshes/thigh.obj
@@ -0,0 +1,1221 @@
+# Blender v2.79 (sub 0) OBJ File: 'aliengo.blend'
+# www.blender.org
+mtllib thigh.mtl
+o Cube_Cube.010
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diff --git a/examples/pybullet/gym/pybullet_data/aliengo/meshes/thigh.stl b/examples/pybullet/gym/pybullet_data/aliengo/meshes/thigh.stl
deleted file mode 100644
index e8646303d..000000000
--- a/examples/pybullet/gym/pybullet_data/aliengo/meshes/thigh.stl
+++ /dev/null
diff --git a/examples/pybullet/gym/pybullet_data/aliengo/meshes/thigh_mirror.mtl b/examples/pybullet/gym/pybullet_data/aliengo/meshes/thigh_mirror.mtl
new file mode 100644
index 000000000..42050802a
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/aliengo/meshes/thigh_mirror.mtl
@@ -0,0 +1,11 @@
+# Blender MTL File: 'aliengo.blend'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
+map_Kd aliengo.png
diff --git a/examples/pybullet/gym/pybullet_data/aliengo/meshes/thigh_mirror.obj b/examples/pybullet/gym/pybullet_data/aliengo/meshes/thigh_mirror.obj
new file mode 100644
index 000000000..bf965336e
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/aliengo/meshes/thigh_mirror.obj
@@ -0,0 +1,1221 @@
+# Blender v2.79 (sub 0) OBJ File: 'aliengo.blend'
+# www.blender.org
+mtllib thigh_mirror.mtl
+o Cube_Cube.010
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diff --git a/examples/pybullet/gym/pybullet_data/aliengo/meshes/thigh_mirror.stl b/examples/pybullet/gym/pybullet_data/aliengo/meshes/thigh_mirror.stl
deleted file mode 100644
index 7d7be0fd9..000000000
--- a/examples/pybullet/gym/pybullet_data/aliengo/meshes/thigh_mirror.stl
+++ /dev/null
diff --git a/examples/pybullet/gym/pybullet_data/aliengo/meshes/trunk.mtl b/examples/pybullet/gym/pybullet_data/aliengo/meshes/trunk.mtl
new file mode 100644
index 000000000..0aeaa583c
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/aliengo/meshes/trunk.mtl
@@ -0,0 +1,13 @@
+# Blender MTL File: 'aliengo.blend'
+# Material Count: 1
+
+newmtl None
+Ns 0.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.800000 0.800000 0.800000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd aliengo.png
diff --git a/examples/pybullet/gym/pybullet_data/aliengo/meshes/trunk.obj b/examples/pybullet/gym/pybullet_data/aliengo/meshes/trunk.obj
new file mode 100644
index 000000000..d54263bc6
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/aliengo/meshes/trunk.obj
@@ -0,0 +1,4878 @@
+# Blender v2.79 (sub 0) OBJ File: 'aliengo.blend'
+# www.blender.org
+mtllib trunk.mtl
+o Cube.001_Cube.002
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diff --git a/examples/pybullet/gym/pybullet_data/aliengo/meshes/trunk.stl b/examples/pybullet/gym/pybullet_data/aliengo/meshes/trunk.stl
deleted file mode 100644
index e22aaabc1..000000000
--- a/examples/pybullet/gym/pybullet_data/aliengo/meshes/trunk.stl
+++ /dev/null