diff --git a/examples/pybullet/gym/pybullet_data/a1/LICENSE b/examples/pybullet/gym/pybullet_data/a1/LICENSE
new file mode 100644
index 000000000..b98a971d2
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/a1/LICENSE
@@ -0,0 +1,375 @@
+
+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/a1/a1.py b/examples/pybullet/gym/pybullet_data/a1/a1.py
new file mode 100644
index 000000000..e21b188a0
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/a1/a1.py
@@ -0,0 +1,58 @@
+import pybullet as p
+import time
+import pybullet_data as pd
+import numpy as np
+p.connect(p.GUI)
+p.setAdditionalSearchPath(pd.getDataPath())
+dt = 1./240.
+
+p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
+p.loadURDF("plane.urdf")
+robot = p.loadURDF("a1/a1.urdf",[0,0,0.5])
+p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
+p.setGravity(0,0,-9.8)
+
+A1_DEFAULT_ABDUCTION_ANGLE = 0
+A1_DEFAULT_HIP_ANGLE = 0.9
+A1_DEFAULT_KNEE_ANGLE = -1.8
+NUM_LEGS = 4
+INIT_MOTOR_ANGLES = np.array([
+    A1_DEFAULT_ABDUCTION_ANGLE,
+    A1_DEFAULT_HIP_ANGLE,
+    A1_DEFAULT_KNEE_ANGLE
+] * NUM_LEGS)
+
+MOTOR_NAMES = [
+    "FR_hip_joint",
+    "FR_upper_joint",
+    "FR_lower_joint",
+    "FL_hip_joint",
+    "FL_upper_joint",
+    "FL_lower_joint",
+    "RR_hip_joint",
+    "RR_upper_joint",
+    "RR_lower_joint",
+    "RL_hip_joint",
+    "RL_upper_joint",
+    "RL_lower_joint",
+]
+motor_ids = []
+
+for j in range (p.getNumJoints(robot)):
+  joint_info = p.getJointInfo(robot,j)
+  name = joint_info[1].decode('utf-8')
+  print("joint_info[1]=",name)
+  if name in MOTOR_NAMES:
+    motor_ids.append(j)
+
+for index in range (12):
+  joint_id = motor_ids[index]
+  p.setJointMotorControl2(robot, joint_id, p.POSITION_CONTROL, INIT_MOTOR_ANGLES[index])
+  p.resetJointState(robot, joint_id, INIT_MOTOR_ANGLES[index])
+  
+print("motor_ids=",motor_ids)
+while p.isConnected():
+  p.stepSimulation()
+  time.sleep(dt)
+
+
diff --git a/examples/pybullet/gym/pybullet_data/a1/a1.urdf b/examples/pybullet/gym/pybullet_data/a1/a1.urdf
new file mode 100644
index 000000000..f588aa8be
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/a1/a1.urdf
@@ -0,0 +1,688 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from robot.xacro                    | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="a1_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>
+  <material name="white">
+    <color rgba="1.0 1.0 1.0 1.0"/>
+  </material>
+  <link name="trunk">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/trunk.obj" scale="1 1 1"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.267 0.194 0.114"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.012731 0.002186 0.000515"/>
+      <mass value="4.713"/>
+      <inertia ixx="0.01683993" ixy="8.3902e-05" ixz="0.000597679" iyy="0.056579028" iyz="2.5134e-05" izz="0.064713601"/>
+    </inertial>
+  </link>
+  <joint name="imu_joint" type="fixed">
+    <parent link="trunk"/>
+    <child link="imu_link"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+  </joint>
+  <link name="imu_link">
+    <inertial>
+      <mass value="0.001"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="red"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size=".001 .001 .001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="FR_hip_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0.183 -0.047 0"/>
+    <parent link="trunk"/>
+    <child link="FR_hip"/>
+    <axis xyz="1 0 0"/>
+    <dynamics damping="0" friction="0"/>
+    <limit effort="20" lower="-0.802851455917" upper="0.802851455917" velocity="52.4"/>
+  </joint>
+  <link name="FR_hip">
+    <visual>
+      <origin rpy="3.14159265359 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/hip.obj" scale="1 1 1"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+    <collision>
+      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.04" radius="0.046"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.003311 -0.000635 3.1e-05"/>
+      <mass value="0.696"/>
+      <inertia ixx="0.000469246" ixy="9.409e-06" ixz="-3.42e-07" iyy="0.00080749" iyz="4.66e-07" izz="0.000552929"/>
+    </inertial>
+  </link>
+  <joint name="FR_hip_fixed" type="fixed">
+    <origin rpy="0 0 0" xyz="0 -0.081 0"/>
+    <parent link="FR_hip"/>
+    <child link="FR_upper_shoulder"/>
+  </joint>
+  <!-- this link is only for collision -->
+  <link name="FR_upper_shoulder">
+    <collision>
+      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.032" radius="0.041"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="FR_upper_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0 -0.08505 0"/>
+    <parent link="FR_hip"/>
+    <child link="FR_upper"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0" friction="0"/>
+    <limit effort="55" lower="-1.0471975512" upper="4.18879020479" velocity="28.6"/>
+  </joint>
+  <link name="FR_upper">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/thigh_mirror.obj" scale="1 1 1"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.57079632679 0" xyz="0 0 -0.1"/>
+      <geometry>
+        <box size="0.2 0.0245 0.034"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.003237 0.022327 -0.027326"/>
+      <mass value="1.013"/>
+      <inertia ixx="0.005529065" ixy="-4.825e-06" ixz="0.000343869" iyy="0.005139339" iyz="-2.2448e-05" izz="0.001367788"/>
+    </inertial>
+  </link>
+  <joint name="FR_lower_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 -0.2"/>
+    <parent link="FR_upper"/>
+    <child link="FR_lower"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0" friction="0"/>
+    <limit effort="55" lower="-2.69653369433" upper="-0.916297857297" velocity="28.6"/>
+  </joint>
+  <link name="FR_lower">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/calf.obj" scale="1 1 1"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.57079632679 0" xyz="0 0 -0.1"/>
+      <geometry>
+        <box size="0.2 0.016 0.016"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.006435 0.0 -0.107388"/>
+      <mass value="0.166"/>
+      <inertia ixx="0.002997972" ixy="0.0" ixz="-0.000141163" iyy="0.003014022" iyz="0.0" izz="3.2426e-05"/>
+    </inertial>
+  </link>
+  <joint name="FR_toe_fixed" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 -0.2"/>
+    <parent link="FR_lower"/>
+    <child link="FR_toe"/>
+  </joint>
+  <link name="FR_toe">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.02"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.06"/>
+      <inertia ixx="9.6e-06" ixy="0.0" ixz="0.0" iyy="9.6e-06" iyz="0.0" izz="9.6e-06"/>
+    </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="0.183 0.047 0"/>
+    <parent link="trunk"/>
+    <child link="FL_hip"/>
+    <axis xyz="1 0 0"/>
+    <dynamics damping="0" friction="0"/>
+    <limit effort="20" lower="-0.802851455917" upper="0.802851455917" velocity="52.4"/>
+  </joint>
+  <link name="FL_hip">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/hip.obj" scale="1 1 1"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+    <collision>
+      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.04" radius="0.046"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.003311 0.000635 3.1e-05"/>
+      <mass value="0.696"/>
+      <inertia ixx="0.000469246" ixy="-9.409e-06" ixz="-3.42e-07" iyy="0.00080749" iyz="-4.66e-07" izz="0.000552929"/>
+    </inertial>
+  </link>
+  <joint name="FL_hip_fixed" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0.081 0"/>
+    <parent link="FL_hip"/>
+    <child link="FL_upper_shoulder"/>
+  </joint>
+  <!-- this link is only for collision -->
+  <link name="FL_upper_shoulder">
+    <collision>
+      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.032" radius="0.041"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="FL_upper_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0.08505 0"/>
+    <parent link="FL_hip"/>
+    <child link="FL_upper"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0" friction="0"/>
+    <limit effort="55" lower="-1.0471975512" upper="4.18879020479" velocity="28.6"/>
+  </joint>
+  <link name="FL_upper">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/thigh.obj" scale="1 1 1"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.57079632679 0" xyz="0 0 -0.1"/>
+      <geometry>
+        <box size="0.2 0.0245 0.034"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.003237 -0.022327 -0.027326"/>
+      <mass value="1.013"/>
+      <inertia ixx="0.005529065" ixy="4.825e-06" ixz="0.000343869" iyy="0.005139339" iyz="2.2448e-05" izz="0.001367788"/>
+    </inertial>
+  </link>
+  <joint name="FL_lower_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 -0.2"/>
+    <parent link="FL_upper"/>
+    <child link="FL_lower"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0" friction="0"/>
+    <limit effort="55" lower="-2.69653369433" upper="-0.916297857297" velocity="28.6"/>
+  </joint>
+  <link name="FL_lower">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/calf.obj" scale="1 1 1"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.57079632679 0" xyz="0 0 -0.1"/>
+      <geometry>
+        <box size="0.2 0.016 0.016"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.006435 0.0 -0.107388"/>
+      <mass value="0.166"/>
+      <inertia ixx="0.002997972" ixy="0.0" ixz="-0.000141163" iyy="0.003014022" iyz="0.0" izz="3.2426e-05"/>
+    </inertial>
+  </link>
+  <joint name="FL_toe_fixed" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 -0.2"/>
+    <parent link="FL_lower"/>
+    <child link="FL_toe"/>
+  </joint>
+  <link name="FL_toe">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.02"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.06"/>
+      <inertia ixx="9.6e-06" ixy="0.0" ixz="0.0" iyy="9.6e-06" iyz="0.0" izz="9.6e-06"/>
+    </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="-0.183 -0.047 0"/>
+    <parent link="trunk"/>
+    <child link="RR_hip"/>
+    <axis xyz="1 0 0"/>
+    <dynamics damping="0" friction="0"/>
+    <limit effort="20" lower="-0.802851455917" upper="0.802851455917" velocity="52.4"/>
+  </joint>
+  <link name="RR_hip">
+    <visual>
+      <origin rpy="3.14159265359 3.14159265359 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/hip.obj" scale="1 1 1"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+    <collision>
+      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.04" radius="0.046"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.003311 -0.000635 3.1e-05"/>
+      <mass value="0.696"/>
+      <inertia ixx="0.000469246" ixy="-9.409e-06" ixz="3.42e-07" iyy="0.00080749" iyz="4.66e-07" izz="0.000552929"/>
+    </inertial>
+  </link>
+  <joint name="RR_hip_fixed" type="fixed">
+    <origin rpy="0 0 0" xyz="0 -0.081 0"/>
+    <parent link="RR_hip"/>
+    <child link="RR_upper_shoulder"/>
+  </joint>
+  <!-- this link is only for collision -->
+  <link name="RR_upper_shoulder">
+    <collision>
+      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.032" radius="0.041"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="RR_upper_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0 -0.08505 0"/>
+    <parent link="RR_hip"/>
+    <child link="RR_upper"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0" friction="0"/>
+    <limit effort="55" lower="-1.0471975512" upper="4.18879020479" velocity="28.6"/>
+  </joint>
+  <link name="RR_upper">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/thigh_mirror.obj" scale="1 1 1"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.57079632679 0" xyz="0 0 -0.1"/>
+      <geometry>
+        <box size="0.2 0.0245 0.034"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.003237 0.022327 -0.027326"/>
+      <mass value="1.013"/>
+      <inertia ixx="0.005529065" ixy="-4.825e-06" ixz="0.000343869" iyy="0.005139339" iyz="-2.2448e-05" izz="0.001367788"/>
+    </inertial>
+  </link>
+  <joint name="RR_lower_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 -0.2"/>
+    <parent link="RR_upper"/>
+    <child link="RR_lower"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0" friction="0"/>
+    <limit effort="55" lower="-2.69653369433" upper="-0.916297857297" velocity="28.6"/>
+  </joint>
+  <link name="RR_lower">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/calf.obj" scale="1 1 1"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.57079632679 0" xyz="0 0 -0.1"/>
+      <geometry>
+        <box size="0.2 0.016 0.016"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.006435 0.0 -0.107388"/>
+      <mass value="0.166"/>
+      <inertia ixx="0.002997972" ixy="0.0" ixz="-0.000141163" iyy="0.003014022" iyz="0.0" izz="3.2426e-05"/>
+    </inertial>
+  </link>
+  <joint name="RR_toe_fixed" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 -0.2"/>
+    <parent link="RR_lower"/>
+    <child link="RR_toe"/>
+  </joint>
+  <link name="RR_toe">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.02"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.06"/>
+      <inertia ixx="9.6e-06" ixy="0.0" ixz="0.0" iyy="9.6e-06" iyz="0.0" izz="9.6e-06"/>
+    </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="-0.183 0.047 0"/>
+    <parent link="trunk"/>
+    <child link="RL_hip"/>
+    <axis xyz="1 0 0"/>
+    <dynamics damping="0" friction="0"/>
+    <limit effort="20" lower="-0.802851455917" upper="0.802851455917" velocity="52.4"/>
+  </joint>
+  <link name="RL_hip">
+    <visual>
+      <origin rpy="0 3.14159265359 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/hip.obj" scale="1 1 1"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+    <collision>
+      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.04" radius="0.046"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.003311 0.000635 3.1e-05"/>
+      <mass value="0.696"/>
+      <inertia ixx="0.000469246" ixy="9.409e-06" ixz="3.42e-07" iyy="0.00080749" iyz="-4.66e-07" izz="0.000552929"/>
+    </inertial>
+  </link>
+  <joint name="RL_hip_fixed" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0.081 0"/>
+    <parent link="RL_hip"/>
+    <child link="RL_upper_shoulder"/>
+  </joint>
+  <!-- this link is only for collision -->
+  <link name="RL_upper_shoulder">
+    <collision>
+      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.032" radius="0.041"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="RL_upper_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0.08505 0"/>
+    <parent link="RL_hip"/>
+    <child link="RL_upper"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0" friction="0"/>
+    <limit effort="55" lower="-1.0471975512" upper="4.18879020479" velocity="28.6"/>
+  </joint>
+  <link name="RL_upper">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/thigh.obj" scale="1 1 1"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.57079632679 0" xyz="0 0 -0.1"/>
+      <geometry>
+        <box size="0.2 0.0245 0.034"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.003237 -0.022327 -0.027326"/>
+      <mass value="1.013"/>
+      <inertia ixx="0.005529065" ixy="4.825e-06" ixz="0.000343869" iyy="0.005139339" iyz="2.2448e-05" izz="0.001367788"/>
+    </inertial>
+  </link>
+  <joint name="RL_lower_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 -0.2"/>
+    <parent link="RL_upper"/>
+    <child link="RL_lower"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0" friction="0"/>
+    <limit effort="55" lower="-2.69653369433" upper="-0.916297857297" velocity="28.6"/>
+  </joint>
+  <link name="RL_lower">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/calf.obj" scale="1 1 1"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.57079632679 0" xyz="0 0 -0.1"/>
+      <geometry>
+        <box size="0.2 0.016 0.016"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.006435 0.0 -0.107388"/>
+      <mass value="0.166"/>
+      <inertia ixx="0.002997972" ixy="0.0" ixz="-0.000141163" iyy="0.003014022" iyz="0.0" izz="3.2426e-05"/>
+    </inertial>
+  </link>
+  <joint name="RL_toe_fixed" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 -0.2"/>
+    <parent link="RL_lower"/>
+    <child link="RL_toe"/>
+  </joint>
+  <link name="RL_toe">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.02"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.06"/>
+      <inertia ixx="9.6e-06" ixy="0.0" ixz="0.0" iyy="9.6e-06" iyz="0.0" izz="9.6e-06"/>
+    </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/a1/meshes/calf.mtl b/examples/pybullet/gym/pybullet_data/a1/meshes/calf.mtl
new file mode 100644
index 000000000..5441bc8c5
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/a1/meshes/calf.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 材质
+Ns 96.078431
+Ka 1.000000 1.000000 1.000000
+Kd 0.900000 0.900000 0.900000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
diff --git a/examples/pybullet/gym/pybullet_data/a1/meshes/calf.obj b/examples/pybullet/gym/pybullet_data/a1/meshes/calf.obj
new file mode 100644
index 000000000..0eb9da144
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/a1/meshes/calf.obj
@@ -0,0 +1,13564 @@
+# Blender v2.79 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib calf.mtl
+o Calf
+v 0.017995 0.000067 -0.210736
+v 0.017101 0.000025 -0.212075
+v 0.016848 0.003656 -0.211934
+v 0.017629 0.002795 -0.211016
+v 0.017117 0.002134 -0.211898
+v -0.014013 0.004328 -0.184934
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diff --git a/examples/pybullet/gym/pybullet_data/a1/meshes/hip.mtl b/examples/pybullet/gym/pybullet_data/a1/meshes/hip.mtl
new file mode 100644
index 000000000..e5708b0ae
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/a1/meshes/hip.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 材质.001
+Ns 96.078431
+Ka 1.000000 1.000000 1.000000
+Kd 0.400000 0.400000 0.400000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
diff --git a/examples/pybullet/gym/pybullet_data/a1/meshes/hip.obj b/examples/pybullet/gym/pybullet_data/a1/meshes/hip.obj
new file mode 100644
index 000000000..7ec067876
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/a1/meshes/hip.obj
@@ -0,0 +1,5219 @@
+# Blender v2.79 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib hip.mtl
+o Hip
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diff --git a/examples/pybullet/gym/pybullet_data/a1/meshes/thigh.mtl b/examples/pybullet/gym/pybullet_data/a1/meshes/thigh.mtl
new file mode 100644
index 000000000..75c16c5af
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/a1/meshes/thigh.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 材质.002
+Ns 96.078431
+Ka 1.000000 1.000000 1.000000
+Kd 0.400000 0.400000 0.400000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
diff --git a/examples/pybullet/gym/pybullet_data/a1/meshes/thigh.obj b/examples/pybullet/gym/pybullet_data/a1/meshes/thigh.obj
new file mode 100644
index 000000000..f61eb3c82
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/a1/meshes/thigh.obj
@@ -0,0 +1,8971 @@
+# Blender v2.79 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib thigh.mtl
+o Thigh_Left
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diff --git a/examples/pybullet/gym/pybullet_data/a1/meshes/thigh_mirror.mtl b/examples/pybullet/gym/pybullet_data/a1/meshes/thigh_mirror.mtl
new file mode 100644
index 000000000..b11bd5932
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/a1/meshes/thigh_mirror.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 材质.003
+Ns 96.078431
+Ka 1.000000 1.000000 1.000000
+Kd 0.400000 0.400000 0.400000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
diff --git a/examples/pybullet/gym/pybullet_data/a1/meshes/thigh_mirror.obj b/examples/pybullet/gym/pybullet_data/a1/meshes/thigh_mirror.obj
new file mode 100644
index 000000000..f3e2b4691
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/a1/meshes/thigh_mirror.obj
@@ -0,0 +1,9318 @@
+# Blender v2.79 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib thigh_mirror.mtl
+o Thigh_Mirror
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diff --git a/examples/pybullet/gym/pybullet_data/a1/meshes/trunk.mtl b/examples/pybullet/gym/pybullet_data/a1/meshes/trunk.mtl
new file mode 100644
index 000000000..99461f759
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/a1/meshes/trunk.mtl
@@ -0,0 +1,13 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 材质.004
+Ns 96.078431
+Ka 1.000000 1.000000 1.000000
+Kd 0.640000 0.640000 0.640000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+map_Kd trunk_A1.png
diff --git a/examples/pybullet/gym/pybullet_data/a1/meshes/trunk.obj b/examples/pybullet/gym/pybullet_data/a1/meshes/trunk.obj
new file mode 100644
index 000000000..7eff8359f
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/a1/meshes/trunk.obj
@@ -0,0 +1,83622 @@
+# Blender v2.79 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib trunk.mtl
+o 机身组件2020(1)
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diff --git a/examples/pybullet/gym/pybullet_data/a1/meshes/trunk_A1.png b/examples/pybullet/gym/pybullet_data/a1/meshes/trunk_A1.png
new file mode 100644
index 000000000..3307d5826
Binary files /dev/null and b/examples/pybullet/gym/pybullet_data/a1/meshes/trunk_A1.png differ
diff --git a/examples/pybullet/gym/pybullet_data/quadruped/spirit40.py b/examples/pybullet/gym/pybullet_data/quadruped/spirit40.py
new file mode 100644
index 000000000..cb1d5ce9c
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/quadruped/spirit40.py
@@ -0,0 +1,63 @@
+from __future__ import print_function
+import time
+import numpy as np
+import argparse
+
+
+import pybullet as p
+import time
+import pybullet_data as pd
+p.connect(p.GUI)
+p.setAdditionalSearchPath(pd.getDataPath())
+dt = 1./240.
+
+p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
+p.loadURDF("plane.urdf")
+robot = p.loadURDF("quadruped/spirit40.urdf",[0,0,.5], useFixedBase=False)
+p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
+p.setGravity(0,0,-9.8)
+
+
+#j= (0, b'8', 0, 7, 6, 1, 0.0, 0.0, -0.707, 0.707, 40.0, 30.0, b'hip0', (1.0, 0.0, 0.0), (0.2263, 0.07, 0.0), (0.0, 0.0, 0.0, 1.0), -1)
+#j= (1, b'0', 0, 8, 7, 1, 0.0, 0.0, -6.28318530718, 6.28318530718, 40.0, 30.0, b'upper0', (0.0, -1.0, 0.0), (0.0, 0.10098, 0.0), (0.0, 0.0, 0.0, 1.0), 0)
+#j= (2, b'1', 0, 9, 8, 1, 0.0, 0.0, 0.0, 3.14159265359, 40.0, 30.0, b'lower0', (0.0, 1.0, 0.0), (-0.206, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), 1)
+#j= (3, b'jtoe0', 4, -1, -1, 0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, b'toe0', (0.0, 0.0, 0.0), (0.206, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), 2)
+#j= (4, b'9', 0, 10, 9, 1, 0.0, 0.0, -0.707, 0.707, 40.0, 30.0, b'hip1', (1.0, 0.0, 0.0), (-0.2263, 0.07, 0.0), (0.0, 0.0, 0.0, 1.0), -1)
+#j= (5, b'2', 0, 11, 10, 1, 0.0, 0.0, -6.28318530718, 6.28318530718, 40.0, 30.0, b'upper1', (0.0, -1.0, 0.0), (0.0, 0.10098, 0.0), (0.0, 0.0, 0.0, 1.0), 4)
+#j= (6, b'3', 0, 12, 11, 1, 0.0, 0.0, 0.0, 3.14159265359, 40.0, 30.0, b'lower1', (0.0, 1.0, 0.0), (-0.206, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), 5)
+#j= (7, b'jtoe1', 4, -1, -1, 0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, b'toe1', (0.0, 0.0, 0.0), (0.206, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), 6)
+#j= (8, b'10', 0, 13, 12, 1, 0.0, 0.0, -0.707, 0.707, 40.0, 30.0, b'hip2', (1.0, 0.0, 0.0), (0.2263, -0.07, 0.0), (0.0, 0.0, 0.0, 1.0), -1)
+#j= (9, b'4', 0, 14, 13, 1, 0.0, 0.0, -6.28318530718, 6.28318530718, 40.0, 30.0, b'upper2', (0.0, -1.0, 0.0), (0.0, -0.10098, 0.0), (0.0, 0.0, 0.0, 1.0), 8)
+#j= (10, b'5', 0, 15, 14, 1, 0.0, 0.0, 0.0, 3.14159265359, 40.0, 30.0, b'lower2', (0.0, 1.0, 0.0), (-0.206, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), 9)
+#j= (11, b'jtoe2', 4, -1, -1, 0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, b'toe2', (0.0, 0.0, 0.0), (0.206, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), 10)
+#j= (12, b'11', 0, 16, 15, 1, 0.0, 0.0, -0.707, 0.707, 40.0, 30.0, b'hip3', (1.0, 0.0, 0.0), (-0.2263, -0.07, 0.0), (0.0, 0.0, 0.0, 1.0), -1)
+#j= (13, b'6', 0, 17, 16, 1, 0.0, 0.0, -6.28318530718, 6.28318530718, 40.0, 30.0, b'upper3', (0.0, -1.0, 0.0), (0.0, -0.10098, 0.0), (0.0, 0.0, 0.0, 1.0), 12)
+#j= (14, b'7', 0, 18, 17, 1, 0.0, 0.0, 0.0, 3.14159265359, 40.0, 30.0, b'lower3', (0.0, 1.0, 0.0), (-0.206, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), 13)
+#j= (15, b'jtoe3', 4, -1, -1, 0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, b'toe3', (0.0, 0.0, 0.0), (0.206, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), 14)
+
+toes=[3,7,11,15]
+revolute_joints=[1,2, 5,6, 9,10, 13,14,  0, 4, 8, 12]
+
+joint_positions = [0.11321902,  0.1833849,   0.11935401,  0.1723926,   0.13162422,  0.2013433,
+  0.09736967,  0.16855788, -0.08001328, -0.140342,    0.0006392,   0.11989117]
+
+
+joint_positions = [0.74833727,  1.4664032,   0.76712584,  1.4589894,   0.74642015,  1.4782903,
+  0.7488482,   1.4464638 , -0.01239824 ,-0.02952504,  0.02939725,  0.05764484]
+
+for j in range (p.getNumJoints(robot)):
+  print("j=", p.getJointInfo(robot,j))
+
+for j in range (12):
+  joint_index = revolute_joints[j]
+  print("revolute_joint index=", joint_index)
+  p.resetJointState(robot, joint_index, joint_positions[j])  
+  p.setJointMotorControl(robot,joint_index,p.POSITION_CONTROL, joint_positions[j])
+  
+count = 0
+while p.isConnected():
+  count+=1
+  p.stepSimulation()
+  time.sleep(dt)
+print("sitting!")
+
diff --git a/examples/pybullet/gym/pybullet_data/quadruped/spirit40.urdf b/examples/pybullet/gym/pybullet_data/quadruped/spirit40.urdf
new file mode 100644
index 000000000..f9816856f
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/quadruped/spirit40.urdf
@@ -0,0 +1,580 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from spirit.urdf.xacro              | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<!-- 
+MIT License (modified)
+
+Copyright (c) 2020 Ghost Robotics
+Authors:
+Avik De <avik@ghostrobotics.io>
+Tom Jacobs <tom.jacobs@ghostrobotics.io>
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this **file** (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE. 
+-->
+<robot name="ngr" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <!-- Define parameters -->
+  <!-- bodyLength + hipdx should be equal to front to back hip distance -->
+  <!-- dy +  dPodAxisToEdge + upperLegWidth should be equal to the center to toe distance along y axis-->
+  <!-- guess -->
+  <!-- guess -->
+  <!-- guess -->
+  <!-- guess -->
+  <!-- guess -->
+  <!-- guess -->
+  <!--visual only-->
+  <!--center of pod cylinder to the ab axis-->
+  <!-- Define materials -->
+  <material name="darkgray">
+    <color rgba="0.1 0.1 0.1 1.0"/>
+  </material>
+  <material name="silver">
+    <color rgba="0.3 0.3 0.3 1.0"/>
+  </material>
+  <material name="red">
+    <color rgba="0.8 0.0 0.2 1.0"/>
+  </material>
+  <!-- Body -->
+  <link name="body">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.335 0.24 0.104"/>
+      </geometry>
+      <material name="darkgray"/>
+    </visual>
+    <inertial>
+      <mass value="5.75"/>
+      <!-- Uniform box -->
+      <!-- <inertia ixx="1/12*${bodyMass}*(${bodyWidth}*${bodyWidth} + ${bodyHeight}*${bodyHeight})"  ixy="0"  ixz="0" iyy="1/12*${bodyMass}*(${bodyLength}*${bodyLength} + ${bodyHeight}*${bodyHeight})" iyz="0" izz="1/12*${bodyMass}*(${bodyLength}*${bodyLength} + ${bodyWidth}*${bodyWidth})"/> -->
+      <inertia ixx="0.05" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
+    </inertial>
+    <!-- Just copy geometry for collision -->
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.335 0.24 0.104"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Define our leg macro -->
+  <!-- Our four legs -->
+  <!-- Hip motor -->
+  <link name="hip0">
+    <visual>
+      <origin rpy="1.5707963268 0 0" xyz="0.0 0.028 0"/>
+      <geometry>
+        <cylinder length="0.08" radius="0.055"/>
+      </geometry>
+      <material name="darkgray"/>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963268 0 0" xyz="0 0.028 0"/>
+      <geometry>
+        <cylinder length="0.08" radius="0.055"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.575"/>
+      <!-- <inertia ixx="1/12*${podMass}*${podLength}*${podLength} + 1/4*${podMass}*${podRadius}*${podRadius}"  ixy="0"  ixz="0" iyy="1/12*${podMass}*${podLength}*${podLength} + 1/4*${podMass}*${podRadius}*${podRadius}" iyz="0" izz="1/2*${podMass}*${podRadius}*$
+				{podRadius}" /> -->
+      <inertia ixx="0.00066963541" ixy="0" ixz="0" iyy="0.00066963541" iyz="0" izz="0.0008696875"/>
+    </inertial>
+  </link>
+  <!-- Abduction joint. Joint names are: 8 9 10 11 -->
+  <joint name="8" type="revolute">
+    <parent link="body"/>
+    <child link="hip0"/>
+    <axis xyz="1 0 0"/>
+    <origin xyz="0.2263 0.07 0"/>
+    <limit effort="40" lower="-0.707" upper="0.707" velocity="30"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+  <!-- Upper leg -->
+  <link name="upper0">
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.103 -0.022 0"/>
+      <geometry>
+        <box size="0.206 0.022 0.055"/>
+      </geometry>
+      <material name="silver"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.103 -0.022 0"/>
+      <geometry>
+        <box size="0.206 0.022 0.055"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.775"/>
+      <inertia ixx="5e-05" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+    </inertial>
+  </link>
+  <!-- Hip joint. (Motor to upper leg). Joint names are: 0 2 4 6 -->
+  <joint name="0" type="revolute">
+    <parent link="hip0"/>
+    <child link="upper0"/>
+    <axis xyz="0 -1 0"/>
+    <origin xyz="0.0 0.10098 0"/>
+    <!--  rpy="0 -0.3 0" -->
+    <limit effort="40" lower="-6.28318530718" upper="6.28318530718" velocity="30"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+  <!-- Lower leg -->
+  <link name="lower0">
+    <visual>
+      <origin rpy="0 1.5707963268 0" xyz="0.103 0 0"/>
+      <geometry>
+        <cylinder length="0.206" radius="0.013"/>
+      </geometry>
+      <material name="darkgray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.5707963268 0" xyz="0.103 0 0"/>
+      <geometry>
+        <cylinder length="0.206" radius="0.013"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.075"/>
+      <inertia ixx="5e-06" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
+    </inertial>
+  </link>
+  <!-- Knee joint. Joint names are: 1 3 5 7 -->
+  <joint name="1" type="revolute">
+    <parent link="upper0"/>
+    <child link="lower0"/>
+    <axis xyz="0 1 0"/>
+    <origin xyz="-0.206 0 0"/>
+    <!--rpy="0 0.5 0"-->
+    <limit effort="40" lower="0" upper="3.14159265359" velocity="30"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+  <!-- Toe -->
+  <link name="toe0">
+    <contact>
+      <friction_anchor/>
+      <stiffness value="30000.0"/>
+      <damping value="1000.0"/>
+      <spinning_friction value="0.3"/>
+      <lateral_friction value="3.0"/>
+    </contact>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.02"/>
+      </geometry>
+      <material name="darkgray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.02"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.015"/>
+      <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
+      <!-- <inertia ixx="2/5*${toeMass}*${toeRadius}*${toeRadius}"  ixy="0"  ixz="0" iyy="2/5*${toeMass}*${toeRadius}*${toeRadius}" iyz="0" izz="2/5*${toeMass}*${toeRadius}*${toeRadius}" /> -->
+    </inertial>
+  </link>
+  <joint name="jtoe0" type="fixed">
+    <parent link="lower0"/>
+    <child link="toe0"/>
+    <origin xyz="0.206 0 -0.0"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+  <!-- Hip motor -->
+  <link name="hip1">
+    <visual>
+      <origin rpy="1.5707963268 0 0" xyz="-0.0 0.028 0"/>
+      <geometry>
+        <cylinder length="0.08" radius="0.055"/>
+      </geometry>
+      <material name="darkgray"/>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963268 0 0" xyz="0 0.028 0"/>
+      <geometry>
+        <cylinder length="0.08" radius="0.055"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.575"/>
+      <!-- <inertia ixx="1/12*${podMass}*${podLength}*${podLength} + 1/4*${podMass}*${podRadius}*${podRadius}"  ixy="0"  ixz="0" iyy="1/12*${podMass}*${podLength}*${podLength} + 1/4*${podMass}*${podRadius}*${podRadius}" iyz="0" izz="1/2*${podMass}*${podRadius}*$
+				{podRadius}" /> -->
+      <inertia ixx="0.00066963541" ixy="0" ixz="0" iyy="0.00066963541" iyz="0" izz="0.0008696875"/>
+    </inertial>
+  </link>
+  <!-- Abduction joint. Joint names are: 8 9 10 11 -->
+  <joint name="9" type="revolute">
+    <parent link="body"/>
+    <child link="hip1"/>
+    <axis xyz="1 0 0"/>
+    <origin xyz="-0.2263 0.07 0"/>
+    <limit effort="40" lower="-0.707" upper="0.707" velocity="30"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+  <!-- Upper leg -->
+  <link name="upper1">
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.103 -0.022 0"/>
+      <geometry>
+        <box size="0.206 0.022 0.055"/>
+      </geometry>
+      <material name="silver"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.103 -0.022 0"/>
+      <geometry>
+        <box size="0.206 0.022 0.055"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.775"/>
+      <inertia ixx="5e-05" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+    </inertial>
+  </link>
+  <!-- Hip joint. (Motor to upper leg). Joint names are: 0 2 4 6 -->
+  <joint name="2" type="revolute">
+    <parent link="hip1"/>
+    <child link="upper1"/>
+    <axis xyz="0 -1 0"/>
+    <origin xyz="-0.0 0.10098 0"/>
+    <!--  rpy="0 -0.3 0" -->
+    <limit effort="40" lower="-6.28318530718" upper="6.28318530718" velocity="30"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+  <!-- Lower leg -->
+  <link name="lower1">
+    <visual>
+      <origin rpy="0 1.5707963268 0" xyz="0.103 0 0"/>
+      <geometry>
+        <cylinder length="0.206" radius="0.013"/>
+      </geometry>
+      <material name="darkgray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.5707963268 0" xyz="0.103 0 0"/>
+      <geometry>
+        <cylinder length="0.206" radius="0.013"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.075"/>
+      <inertia ixx="5e-06" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
+    </inertial>
+  </link>
+  <!-- Knee joint. Joint names are: 1 3 5 7 -->
+  <joint name="3" type="revolute">
+    <parent link="upper1"/>
+    <child link="lower1"/>
+    <axis xyz="0 1 0"/>
+    <origin xyz="-0.206 0 0"/>
+    <!--rpy="0 0.5 0"-->
+    <limit effort="40" lower="0" upper="3.14159265359" velocity="30"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+  <!-- Toe -->
+  <link name="toe1">
+    <contact>
+      <friction_anchor/>
+      <stiffness value="30000.0"/>
+      <damping value="1000.0"/>
+      <spinning_friction value="0.3"/>
+      <lateral_friction value="3.0"/>
+    </contact>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.02"/>
+      </geometry>
+      <material name="darkgray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.02"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.015"/>
+      <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
+      <!-- <inertia ixx="2/5*${toeMass}*${toeRadius}*${toeRadius}"  ixy="0"  ixz="0" iyy="2/5*${toeMass}*${toeRadius}*${toeRadius}" iyz="0" izz="2/5*${toeMass}*${toeRadius}*${toeRadius}" /> -->
+    </inertial>
+  </link>
+  <joint name="jtoe1" type="fixed">
+    <parent link="lower1"/>
+    <child link="toe1"/>
+    <origin xyz="0.206 0 -0.0"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+  <!-- Hip motor -->
+  <link name="hip2">
+    <visual>
+      <origin rpy="1.5707963268 0 0" xyz="0.0 -0.028 0"/>
+      <geometry>
+        <cylinder length="0.08" radius="0.055"/>
+      </geometry>
+      <material name="red"/>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963268 0 0" xyz="0 -0.028 0"/>
+      <geometry>
+        <cylinder length="0.08" radius="0.055"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.575"/>
+      <!-- <inertia ixx="1/12*${podMass}*${podLength}*${podLength} + 1/4*${podMass}*${podRadius}*${podRadius}"  ixy="0"  ixz="0" iyy="1/12*${podMass}*${podLength}*${podLength} + 1/4*${podMass}*${podRadius}*${podRadius}" iyz="0" izz="1/2*${podMass}*${podRadius}*$
+				{podRadius}" /> -->
+      <inertia ixx="0.00066963541" ixy="0" ixz="0" iyy="0.00066963541" iyz="0" izz="0.0008696875"/>
+    </inertial>
+  </link>
+  <!-- Abduction joint. Joint names are: 8 9 10 11 -->
+  <joint name="10" type="revolute">
+    <parent link="body"/>
+    <child link="hip2"/>
+    <axis xyz="1 0 0"/>
+    <origin xyz="0.2263 -0.07 0"/>
+    <limit effort="40" lower="-0.707" upper="0.707" velocity="30"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+  <!-- Upper leg -->
+  <link name="upper2">
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.103 0.022 0"/>
+      <geometry>
+        <box size="0.206 0.022 0.055"/>
+      </geometry>
+      <material name="silver"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.103 0.022 0"/>
+      <geometry>
+        <box size="0.206 0.022 0.055"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.775"/>
+      <inertia ixx="5e-05" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+    </inertial>
+  </link>
+  <!-- Hip joint. (Motor to upper leg). Joint names are: 0 2 4 6 -->
+  <joint name="4" type="revolute">
+    <parent link="hip2"/>
+    <child link="upper2"/>
+    <axis xyz="0 -1 0"/>
+    <origin xyz="0.0 -0.10098 0"/>
+    <!--  rpy="0 -0.3 0" -->
+    <limit effort="40" lower="-6.28318530718" upper="6.28318530718" velocity="30"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+  <!-- Lower leg -->
+  <link name="lower2">
+    <visual>
+      <origin rpy="0 1.5707963268 0" xyz="0.103 0 0"/>
+      <geometry>
+        <cylinder length="0.206" radius="0.013"/>
+      </geometry>
+      <material name="darkgray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.5707963268 0" xyz="0.103 0 0"/>
+      <geometry>
+        <cylinder length="0.206" radius="0.013"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.075"/>
+      <inertia ixx="5e-06" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
+    </inertial>
+  </link>
+  <!-- Knee joint. Joint names are: 1 3 5 7 -->
+  <joint name="5" type="revolute">
+    <parent link="upper2"/>
+    <child link="lower2"/>
+    <axis xyz="0 1 0"/>
+    <origin xyz="-0.206 0 0"/>
+    <!--rpy="0 0.5 0"-->
+    <limit effort="40" lower="0" upper="3.14159265359" velocity="30"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+  <!-- Toe -->
+  <link name="toe2">
+    <contact>
+      <friction_anchor/>
+      <stiffness value="30000.0"/>
+      <damping value="1000.0"/>
+      <spinning_friction value="0.3"/>
+      <lateral_friction value="3.0"/>
+    </contact>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.02"/>
+      </geometry>
+      <material name="darkgray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.02"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.015"/>
+      <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
+      <!-- <inertia ixx="2/5*${toeMass}*${toeRadius}*${toeRadius}"  ixy="0"  ixz="0" iyy="2/5*${toeMass}*${toeRadius}*${toeRadius}" iyz="0" izz="2/5*${toeMass}*${toeRadius}*${toeRadius}" /> -->
+    </inertial>
+  </link>
+  <joint name="jtoe2" type="fixed">
+    <parent link="lower2"/>
+    <child link="toe2"/>
+    <origin xyz="0.206 0 -0.0"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+  <!-- Hip motor -->
+  <link name="hip3">
+    <visual>
+      <origin rpy="1.5707963268 0 0" xyz="-0.0 -0.028 0"/>
+      <geometry>
+        <cylinder length="0.08" radius="0.055"/>
+      </geometry>
+      <material name="darkgray"/>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963268 0 0" xyz="0 -0.028 0"/>
+      <geometry>
+        <cylinder length="0.08" radius="0.055"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.575"/>
+      <!-- <inertia ixx="1/12*${podMass}*${podLength}*${podLength} + 1/4*${podMass}*${podRadius}*${podRadius}"  ixy="0"  ixz="0" iyy="1/12*${podMass}*${podLength}*${podLength} + 1/4*${podMass}*${podRadius}*${podRadius}" iyz="0" izz="1/2*${podMass}*${podRadius}*$
+				{podRadius}" /> -->
+      <inertia ixx="0.00066963541" ixy="0" ixz="0" iyy="0.00066963541" iyz="0" izz="0.0008696875"/>
+    </inertial>
+  </link>
+  <!-- Abduction joint. Joint names are: 8 9 10 11 -->
+  <joint name="11" type="revolute">
+    <parent link="body"/>
+    <child link="hip3"/>
+    <axis xyz="1 0 0"/>
+    <origin xyz="-0.2263 -0.07 0"/>
+    <limit effort="40" lower="-0.707" upper="0.707" velocity="30"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+  <!-- Upper leg -->
+  <link name="upper3">
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.103 0.022 0"/>
+      <geometry>
+        <box size="0.206 0.022 0.055"/>
+      </geometry>
+      <material name="silver"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.103 0.022 0"/>
+      <geometry>
+        <box size="0.206 0.022 0.055"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.775"/>
+      <inertia ixx="5e-05" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+    </inertial>
+  </link>
+  <!-- Hip joint. (Motor to upper leg). Joint names are: 0 2 4 6 -->
+  <joint name="6" type="revolute">
+    <parent link="hip3"/>
+    <child link="upper3"/>
+    <axis xyz="0 -1 0"/>
+    <origin xyz="-0.0 -0.10098 0"/>
+    <!--  rpy="0 -0.3 0" -->
+    <limit effort="40" lower="-6.28318530718" upper="6.28318530718" velocity="30"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+  <!-- Lower leg -->
+  <link name="lower3">
+    <visual>
+      <origin rpy="0 1.5707963268 0" xyz="0.103 0 0"/>
+      <geometry>
+        <cylinder length="0.206" radius="0.013"/>
+      </geometry>
+      <material name="darkgray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.5707963268 0" xyz="0.103 0 0"/>
+      <geometry>
+        <cylinder length="0.206" radius="0.013"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.075"/>
+      <inertia ixx="5e-06" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
+    </inertial>
+  </link>
+  <!-- Knee joint. Joint names are: 1 3 5 7 -->
+  <joint name="7" type="revolute">
+    <parent link="upper3"/>
+    <child link="lower3"/>
+    <axis xyz="0 1 0"/>
+    <origin xyz="-0.206 0 0"/>
+    <!--rpy="0 0.5 0"-->
+    <limit effort="40" lower="0" upper="3.14159265359" velocity="30"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+  <!-- Toe -->
+  <link name="toe3">
+    <contact>
+      <friction_anchor/>
+      <stiffness value="30000.0"/>
+      <damping value="1000.0"/>
+      <spinning_friction value="0.3"/>
+      <lateral_friction value="3.0"/>
+    </contact>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.02"/>
+      </geometry>
+      <material name="darkgray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.02"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.015"/>
+      <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
+      <!-- <inertia ixx="2/5*${toeMass}*${toeRadius}*${toeRadius}"  ixy="0"  ixz="0" iyy="2/5*${toeMass}*${toeRadius}*${toeRadius}" iyz="0" izz="2/5*${toeMass}*${toeRadius}*${toeRadius}" /> -->
+    </inertial>
+  </link>
+  <joint name="jtoe3" type="fixed">
+    <parent link="lower3"/>
+    <child link="toe3"/>
+    <origin xyz="0.206 0 -0.0"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+</robot>
+
diff --git a/setup.py b/setup.py
index 459fe0797..2b045ab43 100644
--- a/setup.py
+++ b/setup.py
@@ -501,7 +501,7 @@ if 'BT_USE_EGL' in EGL_CXX_FLAGS:
 
 setup(
     name='pybullet',
-    version='2.9.0',
+    version='2.9.3',
     description=
     'Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning',
     long_description=