From 9dde9f9d0f5df8e215dd6cfb77d42881038c6903 Mon Sep 17 00:00:00 2001
From: Brian Delhaisse <briandelhaisse@gmail.com>
Date: Wed, 31 Jul 2019 03:05:22 +0200
Subject: [PATCH] update anymal

---
 pyrobolearn/robots/anymal.py                  |     31 +-
 pyrobolearn/robots/urdfs/anymal/LICENSE       |     29 +
 pyrobolearn/robots/urdfs/anymal/anymal.urdf   |    606 +
 .../urdfs/anymal/meshes/anymal_base.obj       | 270853 +++++++++++++++
 .../urdfs/anymal/meshes/anymal_base.obj.mtl   |     14 +
 .../urdfs/anymal/meshes/anymal_foot.obj       |   9272 +
 .../urdfs/anymal/meshes/anymal_foot.obj.mtl   |     14 +
 .../urdfs/anymal/meshes/anymal_hip_l.obj      |  74422 ++++
 .../urdfs/anymal/meshes/anymal_hip_r.obj      |  74422 ++++
 .../urdfs/anymal/meshes/anymal_shank_l.obj    |  16075 +
 .../urdfs/anymal/meshes/anymal_shank_r.obj    |  16075 +
 .../urdfs/anymal/meshes/anymal_thigh_l.obj    |  78221 +++++
 .../urdfs/anymal/meshes/anymal_thigh_r.obj    |  78220 +++++
 .../urdfs/anymal/meshes/base_uv_texture.png   |    Bin 0 -> 30611 bytes
 .../urdfs/anymal/meshes/carbon_uv_texture.png |    Bin 0 -> 3624 bytes
 15 files changed, 618251 insertions(+), 3 deletions(-)
 create mode 100644 pyrobolearn/robots/urdfs/anymal/LICENSE
 create mode 100644 pyrobolearn/robots/urdfs/anymal/anymal.urdf
 create mode 100644 pyrobolearn/robots/urdfs/anymal/meshes/anymal_base.obj
 create mode 100644 pyrobolearn/robots/urdfs/anymal/meshes/anymal_base.obj.mtl
 create mode 100644 pyrobolearn/robots/urdfs/anymal/meshes/anymal_foot.obj
 create mode 100644 pyrobolearn/robots/urdfs/anymal/meshes/anymal_foot.obj.mtl
 create mode 100644 pyrobolearn/robots/urdfs/anymal/meshes/anymal_hip_l.obj
 create mode 100644 pyrobolearn/robots/urdfs/anymal/meshes/anymal_hip_r.obj
 create mode 100644 pyrobolearn/robots/urdfs/anymal/meshes/anymal_shank_l.obj
 create mode 100644 pyrobolearn/robots/urdfs/anymal/meshes/anymal_shank_r.obj
 create mode 100644 pyrobolearn/robots/urdfs/anymal/meshes/anymal_thigh_l.obj
 create mode 100644 pyrobolearn/robots/urdfs/anymal/meshes/anymal_thigh_r.obj
 create mode 100644 pyrobolearn/robots/urdfs/anymal/meshes/base_uv_texture.png
 create mode 100644 pyrobolearn/robots/urdfs/anymal/meshes/carbon_uv_texture.png

diff --git a/pyrobolearn/robots/anymal.py b/pyrobolearn/robots/anymal.py
index 4c5743d..a41b790 100644
--- a/pyrobolearn/robots/anymal.py
+++ b/pyrobolearn/robots/anymal.py
@@ -28,6 +28,9 @@ class ANYmal(QuadrupedRobot):
         - [2] "Learning agile and dynamic motor skills for legged robots", Hwangbo et al., 2019
         - [3] www.rsl.ethz.ch/robots-media/anymal.html
         - [4] www.anybotics.com/anymal
+        - [5] raisimLib: https://github.com/leggedrobotics/raisimLib
+        - [6] raisimOgre - Visualizer for raisim: https://github.com/leggedrobotics/raisimOgre
+        - [7] raisimGym - RL examples using raisim: https://github.com/leggedrobotics/raisimGym
     """
 
     def __init__(self, simulator, position=(0, 0, .6), orientation=(0, 0, 0, 1), fixed_base=False, scale=1.,
@@ -62,13 +65,34 @@ class ANYmal(QuadrupedRobot):
                                    ['LH_HIP', 'LH_THIGH', 'LH_SHANK'],
                                    ['RH_HIP', 'RH_THIGH', 'RH_SHANK']]]
 
-        self.feet = [self.get_link_ids(link) for link in ['LF_FOOT_MOUNT', 'RF_FOOT_MOUNT', 'LH_FOOT_MOUNT',
-                                                          'RH_FOOT_MOUNT'] if link in self.link_names]
+        # self.feet = [self.get_link_ids(link) for link in ['LF_FOOT_MOUNT', 'RF_FOOT_MOUNT', 'LH_FOOT_MOUNT',
+        #                                                   'RH_FOOT_MOUNT'] if link in self.link_names]
+        self.feet = [self.get_link_ids(link) for link in ['LF_FOOT', 'RF_FOOT', 'LH_FOOT', 'RH_FOOT']
+                     if link in self.link_names]
 
         # taken from "Learning agile and dynamic motor skills for legged robots", Hwangbo et al., 2019
         self.kp = 50. * np.ones(12)
         self.kd = 0.1 * np.ones(12)
 
+        # taken from "raisimGym/raisim_gym/env/env/ANYmal/Environment.hpp"
+        self.kp = 40. * np.ones(12)
+        self.kd = 1. * np.ones(12)
+
+        # init configuration
+        self.reset_joint_states(q=[0.03, 0.4, -0.8, -0.03, 0.4, -0.8, 0.03, -0.4, 0.8, -0.03, -0.4, 0.8])
+
+        # some values are taken from "raisimGym/raisim_gym/env/env/ANYmal/Environment.hpp"
+        self.base_height = 0.54
+        self.avg_height = 0.44
+
+    def get_home_joint_positions(self):
+        """Return the joint positions for the home position."""
+        return np.array([0.03, 0.4, -0.8, -0.03, 0.4, -0.8, 0.03, -0.4, 0.8, -0.03, -0.4, 0.8])
+
+    def get_joint_configurations(self, name=None):
+        if name == 'home' or name == 'init':
+            return np.array([0.03, 0.4, -0.8, -0.03, 0.4, -0.8, 0.03, -0.4, 0.8, -0.03, -0.4, 0.8])
+
 
 # Test
 if __name__ == "__main__":
@@ -87,11 +111,12 @@ if __name__ == "__main__":
 
     # print information about the robot
     robot.print_info()
-
+    print("BASE HEIGHT: {}".format(robot.base_height))
     # Position control using sliders
     # robot.add_joint_slider(robot.left_front_leg)
 
     # run simulator
     for _ in count():
         # robot.update_joint_slider()
+        print("BASE HEIGHT: {}".format(robot.get_base_position()[2]))
         world.step(sleep_dt=1./240)
diff --git a/pyrobolearn/robots/urdfs/anymal/LICENSE b/pyrobolearn/robots/urdfs/anymal/LICENSE
new file mode 100644
index 0000000..5d62a45
--- /dev/null
+++ b/pyrobolearn/robots/urdfs/anymal/LICENSE
@@ -0,0 +1,29 @@
+Copyright 2019, ANYbotics AG.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions
+are met:
+
+1. Redistributions of source code must retain the above copyright
+   notice, this list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright
+   notice, this list of conditions and the following disclaimer in
+   the documentation and/or other materials provided with the
+   distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived
+   from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/pyrobolearn/robots/urdfs/anymal/anymal.urdf b/pyrobolearn/robots/urdfs/anymal/anymal.urdf
new file mode 100644
index 0000000..5dfe960
--- /dev/null
+++ b/pyrobolearn/robots/urdfs/anymal/anymal.urdf
@@ -0,0 +1,606 @@
+<?xml version="1.0" encoding="utf-8" ?>
+<!-- =================================================================================== -->
+<!--   Copyright 2019 ANYbotics, https://www.anybotics.com                               -->
+<!-- =================================================================================== -->
+<!-- This file contains the description of the ANYmal B robot. -->
+<!-- <?xml version="1.0" ?> -->
+<robot name="anymal">
+
+    <!--
+      Material colors
+    -->
+
+    <!-- Basic colors -->
+    <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="light_grey">
+        <color rgba="0.4 0.4 0.4 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>
+
+    <!-- Material for the visual primitives -->
+    <material name="anymal_material">
+        <!-- <color rgba="0.7 0.7 0.7 1.0"/> -->
+        <color rgba="0.1 0.1 0.1 1.0"/>
+    </material>
+
+    <!--
+      Base
+    -->
+
+    <!-- KDL cannot have inertia on the base link so you might add a dummy inertia link -->
+    <!-- Base link -->
+    <link name="base">
+        <inertial>
+            <origin rpy="0 0 0" xyz="-0.001960558279 -0.001413217745 0.050207125344"/>
+            <mass value="16.793507758"/>
+            <inertia ixx="0.217391101503" ixy="-0.00132873239126" ixz="-0.00228200226173" iyy="0.639432546734" iyz="-0.00138078263145" izz="0.62414077654"/>
+        </inertial>
+        <visual>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="meshes/anymal_base.obj" scale="0.001 0.001 0.001"/>
+            </geometry>
+            <material name="anymal_material"/>
+        </visual>
+        <!-- Main Body -->
+        <collision>
+            <origin rpy="0 0 0" xyz="0 0 0.08"/>
+            <geometry>
+                <box size="0.531 0.27 0.24"/>
+            </geometry>
+        </collision>
+    </link>
+
+    <!--
+      Left-Fore leg
+    -->
+
+    <!-- high link -->
+    <link name="LF_HIP">
+        <visual>
+            <origin rpy="0 0 0.0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="meshes/anymal_hip_l.obj" scale="0.001 0.001 0.001"/>
+            </geometry>
+            <material name="anymal_material"/>
+        </visual>
+        <inertial>
+            <origin rpy="0 0 0" xyz="0.064516258147 -0.003787101702 -0.000152184388"/>
+            <mass value="1.42462064"/>
+            <inertia ixx="0.00243023349564" ixy="-1.53023971e-05" ixz="-2.1819095354e-05" iyy="0.00230257239103" iyz="2.6473021273e-05" izz="0.0019806759227"/>
+        </inertial>
+    </link>
+    <!-- Hip joint -->
+    <joint name="LF_HAA" type="revolute">
+        <parent link="base"/>
+        <child link="LF_HIP"/>
+        <origin xyz="0.277 0.116 0.0"/>
+        <axis xyz="1 0 0"/>
+        <limit effort="80" lower="-6.28" upper="6.28" velocity="15"/>
+        <dynamics damping="0.0" friction="0.0"/>
+    </joint>
+
+    <!-- Thigh link -->
+    <link name="LF_THIGH">
+        <visual>
+            <origin rpy="0 0 0.0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="meshes/anymal_thigh_l.obj" scale="0.001 0.001 0.001"/>
+            </geometry>
+            <material name="anymal_material"/>
+        </visual>
+        <collision>
+            <!-- KFE actuator -->
+            <origin rpy="1.57079632679 0 0" xyz="0.0 0.07205 -0.25"/>
+            <geometry>
+                <cylinder length="0.11" radius="0.06"/>
+            </geometry>
+        </collision>
+        <inertial>
+            <origin rpy="0 0 0" xyz="-0.003897968082 0.054226618537 -0.214583373795"/>
+            <mass value="1.634976467"/>
+            <inertia ixx="0.0120367944369" ixy="6.762065206e-05" ixz="0.000287806340448" iyy="0.0120643637939" iyz="-0.00140610131218" izz="0.00249422574881"/>
+        </inertial>
+    </link>
+    <!-- Thigh joint -->
+    <joint name="LF_HFE" type="revolute">
+        <parent link="LF_HIP"/>
+        <child link="LF_THIGH"/>
+        <origin xyz="0.0635                    0.041                    0.0"/>
+        <axis xyz="0 1 0"/>
+        <limit effort="80" lower="-6.28" upper="6.28" velocity="15"/>
+        <dynamics damping="0.0" friction="0.0"/>
+    </joint>
+
+    <!-- Shank link -->
+    <link name="LF_SHANK">
+        <visual>
+            <origin rpy="0 0 0.0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="meshes/anymal_shank_l.obj" scale="0.001 0.001 0.001"/>
+            </geometry>
+            <material name="anymal_material"/>
+        </visual>
+        <inertial>
+            <origin rpy="0 0 0" xyz="0.030816858139 -0.004617229294 0.000893125713"/>
+            <mass value="0.207204302"/>
+            <inertia ixx="0.0002104880248" ixy="-5.6750980345e-05" ixz="1.0127699391e-05" iyy="0.000676270210023" iyz="-8.22869024e-07" izz="0.000545032674924"/>
+        </inertial>
+    </link>
+    <!-- Shank joint -->
+    <joint name="LF_KFE" type="revolute">
+        <parent link="LF_THIGH"/>
+        <child link="LF_SHANK"/>
+        <origin xyz="0.0 0.109 -0.25"/>
+        <axis xyz="0 1 0"/>
+        <limit effort="80" lower="-6.28" upper="6.28" velocity="15"/>
+        <dynamics damping="0.0" friction="0.0"/>
+    </joint>
+    <!-- Shank to Adapter joint -->
+    <joint name="LF_SHANK_TO_ADAPTER" type="fixed">
+        <parent link="LF_SHANK"/>
+        <child link="LF_ADAPTER"/>
+        <origin rpy="0.0 0.0 0.0" xyz="0.1 -0.02 0.0"/>
+    </joint>
+
+    <!-- Adapter link -->
+    <link name="LF_ADAPTER">
+        <visual>
+            <origin rpy="0 0 0.0" xyz="0 0 0.032"/>
+            <geometry>
+                <mesh filename="meshes/anymal_foot.obj" scale="0.001 0.001 0.001"/>
+            </geometry>
+            <material name="anymal_material"/>
+        </visual>
+        <collision>
+            <origin rpy="0 0 0" xyz="0 0 -0.160625"/>
+            <geometry>
+                <cylinder length="0.22125" radius="0.015"/>
+            </geometry>
+        </collision>
+        <inertial>
+            <origin rpy="0 0 0" xyz="-8.66e-10 -1.472e-09 -0.244345749188"/>
+            <mass value="0.140170767"/>
+            <inertia ixx="0.00159938741862" ixy="-9.32e-13" ixz="1.039e-11" iyy="0.00159938741932" iyz="1.7563e-11" izz="5.4423177329e-05"/>
+        </inertial>
+    </link>
+    <!-- Adapter to Foot joint -->
+    <joint name="LF_ADAPTER_TO_FOOT" type="fixed">
+        <parent link="LF_ADAPTER"/>
+        <child link="LF_FOOT"/>
+        <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.32125"/>
+    </joint>
+
+    <!-- Foot link -->
+    <link name="LF_FOOT">
+        <inertial>
+            <mass value="0.001"/>
+            <inertia ixx="4.90e-07" ixy="0.0" ixz="0.0" iyy="4.90e-07" iyz="0.0" izz="4.90e-07"/>  <!-- for a sphere: 2/5 m * r**2 -->
+        </inertial>
+        <collision>
+            <origin xyz="0 0 0.02325"/>
+            <geometry>
+                <sphere radius="0.035"/>
+            </geometry>
+        </collision>
+    </link>
+
+    <!--
+      Right-Fore leg
+    -->
+
+    <!-- Hip link -->
+    <link name="RF_HIP">
+        <visual>
+            <origin rpy="0 0 0.0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="meshes/anymal_hip_r.obj" scale="0.001 0.001 0.001"/>
+            </geometry>
+            <material name="anymal_material"/>
+        </visual>
+        <inertial>
+            <origin rpy="0 0 0" xyz="0.064516258147 0.003787101702 -0.000152184388"/>
+            <mass value="1.42462064"/>
+            <inertia ixx="0.00243023349564" ixy="1.53023971e-05" ixz="-2.1819095354e-05" iyy="0.00230257239103" iyz="-2.6473021273e-05" izz="0.0019806759227"/>
+        </inertial>
+    </link>
+    <!-- Hip joint -->
+    <joint name="RF_HAA" type="revolute">
+        <parent link="base"/>
+        <child link="RF_HIP"/>
+        <origin xyz="0.277 -0.116 0.0"/>
+        <axis xyz="1 0 0"/>
+        <limit effort="80" lower="-6.28" upper="6.28" velocity="15"/>
+        <dynamics damping="0.0" friction="0.0"/>
+    </joint>
+
+    <!-- Thigh link -->
+    <link name="RF_THIGH">
+        <visual>
+            <origin rpy="0 0 0.0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="meshes/anymal_thigh_r.obj" scale="0.001 0.001 0.001"/>
+            </geometry>
+            <material name="anymal_material"/>
+        </visual>
+        <collision>
+            <!-- KFE actuator -->
+            <origin rpy="1.57079632679 0 0" xyz="0.0 -0.07205 -0.25"/>
+            <geometry>
+                <cylinder length="0.11" radius="0.06"/>
+            </geometry>
+        </collision>
+        <inertial>
+            <origin rpy="0 0 0" xyz="-0.003897968082 -0.054226618537 -0.214583373795"/>
+            <mass value="1.634976467"/>
+            <inertia ixx="0.0120367944369" ixy="-6.762065206e-05" ixz="0.000287806340448" iyy="0.0120643637939" iyz="0.00140610131218" izz="0.00249422574881"/>
+        </inertial>
+    </link>
+    <!-- Thigh joint -->
+    <joint name="RF_HFE" type="revolute">
+        <parent link="RF_HIP"/>
+        <child link="RF_THIGH"/>
+        <origin xyz="0.0635                    -0.041                    0.0"/>
+        <axis xyz="0 1 0"/>
+        <limit effort="80" lower="-6.28" upper="6.28" velocity="15"/>
+        <dynamics damping="0.0" friction="0.0"/>
+    </joint>
+
+    <!-- Shank link -->
+    <link name="RF_SHANK">
+        <visual>
+            <origin rpy="0 0 0.0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="meshes/anymal_shank_r.obj" scale="0.001 0.001 0.001"/>
+            </geometry>
+            <material name="anymal_material"/>
+        </visual>
+        <inertial>
+            <origin rpy="0 0 0" xyz="0.030816858139 0.004617229294 0.000893125713"/>
+            <mass value="0.207204302"/>
+            <inertia ixx="0.0002104880248" ixy="5.6750980345e-05" ixz="1.0127699391e-05" iyy="0.000676270210023" iyz="8.22869024e-07" izz="0.000545032674924"/>
+        </inertial>
+    </link>
+    <!-- Shank joint -->
+    <joint name="RF_KFE" type="revolute">
+        <parent link="RF_THIGH"/>
+        <child link="RF_SHANK"/>
+        <origin xyz="0.0 -0.109 -0.25"/>
+        <axis xyz="0 1 0"/>
+        <limit effort="80" lower="-6.28" upper="6.28" velocity="15"/>
+        <dynamics damping="0.0" friction="0.0"/>
+    </joint>
+    <!-- Shank to Adapter joint -->
+    <joint name="RF_SHANK_TO_ADAPTER" type="fixed">
+        <parent link="RF_SHANK"/>
+        <child link="RF_ADAPTER"/>
+        <origin rpy="-0.0 0.0 -0.0" xyz="0.1 0.02 0.0"/>
+    </joint>
+
+    <!-- Adapter link -->
+    <link name="RF_ADAPTER">
+        <visual>
+            <origin rpy="0 0 0.0" xyz="0 0 0.032"/>
+            <geometry>
+                <mesh filename="meshes/anymal_foot.obj" scale="0.001 0.001 0.001"/>
+            </geometry>
+            <material name="anymal_material"/>
+        </visual>
+        <collision>
+            <origin rpy="0 0 0" xyz="0 0 -0.160625"/>
+            <geometry>
+                <cylinder length="0.22125" radius="0.015"/>
+            </geometry>
+        </collision>
+        <inertial>
+            <origin rpy="0 0 0" xyz="-8.66e-10 -1.472e-09 -0.244345749188"/>
+            <mass value="0.140170767"/>
+            <inertia ixx="0.00159938741862" ixy="-9.32e-13" ixz="1.039e-11" iyy="0.00159938741932" iyz="1.7563e-11" izz="5.4423177329e-05"/>
+        </inertial>
+    </link>
+    <!-- Adapter to Foot joint -->
+    <joint name="RF_ADAPTER_TO_FOOT" type="fixed">
+        <parent link="RF_ADAPTER"/>
+        <child link="RF_FOOT"/>
+        <origin rpy="-0.0 0.0 -0.0" xyz="0.0 -0.0 -0.32125"/>
+    </joint>
+
+    <!-- Foot link -->
+    <link name="RF_FOOT">
+        <inertial>
+            <mass value="0.001"/>
+            <inertia ixx="4.90e-07" ixy="0.0" ixz="0.0" iyy="4.90e-07" iyz="0.0" izz="4.90e-07"/>  <!-- for a sphere: 2/5 m * r**2 -->
+        </inertial>
+        <collision>
+            <origin xyz="0 0 0.02325"/>
+            <geometry>
+                <sphere radius="0.035"/>
+            </geometry>
+        </collision>
+    </link>
+
+
+    <!--
+      Left-Hind leg
+    -->
+
+    <!-- Hip link -->
+    <link name="LH_HIP">
+        <visual>
+            <origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="meshes/anymal_hip_r.obj" scale="0.001 0.001 0.001"/>
+            </geometry>
+            <material name="anymal_material"/>
+        </visual>
+        <inertial>
+            <origin rpy="0 0 0" xyz="-0.064516258147 -0.003787101702 -0.000152184388"/>
+            <mass value="1.42462064"/>
+            <inertia ixx="0.00243023349564" ixy="1.53023971e-05" ixz="2.1819095354e-05" iyy="0.00230257239103" iyz="2.6473021273e-05" izz="0.0019806759227"/>
+        </inertial>
+    </link>
+    <!-- Hip joint -->
+    <joint name="LH_HAA" type="revolute">
+        <parent link="base"/>
+        <child link="LH_HIP"/>
+        <origin xyz="-0.277 0.116 0.0"/>
+        <axis xyz="1 0 0"/>
+        <limit effort="80" lower="-6.28" upper="6.28" velocity="15"/>
+        <dynamics damping="0.0" friction="0.0"/>
+    </joint>
+
+    <!-- Thigh link -->
+    <link name="LH_THIGH">
+        <visual>
+            <origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="meshes/anymal_thigh_r.obj" scale="0.001 0.001 0.001"/>
+            </geometry>
+            <material name="anymal_material"/>
+        </visual>
+        <collision>
+            <!-- KFE actuator -->
+            <origin rpy="1.57079632679 0 0" xyz="0.0 0.07205 -0.25"/>
+            <geometry>
+                <cylinder length="0.11" radius="0.06"/>
+            </geometry>
+        </collision>
+        <inertial>
+            <origin rpy="0 0 0" xyz="0.003897968082 0.054226618537 -0.214583373795"/>
+            <mass value="1.634976467"/>
+            <inertia ixx="0.0120367944369" ixy="-6.762065206e-05" ixz="-0.000287806340448" iyy="0.0120643637939" iyz="-0.00140610131218" izz="0.00249422574881"/>
+        </inertial>
+    </link>
+    <!-- Thigh joint -->
+    <joint name="LH_HFE" type="revolute">
+        <parent link="LH_HIP"/>
+        <child link="LH_THIGH"/>
+        <origin xyz="-0.0635                    0.041                    0.0"/>
+        <axis xyz="0 1 0"/>
+        <limit effort="80" lower="-6.28" upper="6.28" velocity="15"/>
+        <dynamics damping="0.0" friction="0.0"/>
+    </joint>
+
+    <!-- Shank link -->
+    <link name="LH_SHANK">
+        <visual>
+            <origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="meshes/anymal_shank_r.obj" scale="0.001 0.001 0.001"/>
+            </geometry>
+            <material name="anymal_material"/>
+        </visual>
+        <inertial>
+            <origin rpy="0 0 0" xyz="-0.030816858139 -0.004617229294 0.000893125713"/>
+            <mass value="0.207204302"/>
+            <inertia ixx="0.0002104880248" ixy="5.6750980345e-05" ixz="-1.0127699391e-05" iyy="0.000676270210023" iyz="-8.22869024e-07" izz="0.000545032674924"/>
+        </inertial>
+    </link>
+    <!-- Shank joint -->
+    <joint name="LH_KFE" type="revolute">
+        <parent link="LH_THIGH"/>
+        <child link="LH_SHANK"/>
+        <origin xyz="-0.0 0.109 -0.25"/>
+        <axis xyz="0 1 0"/>
+        <limit effort="80" lower="-6.28" upper="6.28" velocity="15"/>
+        <dynamics damping="0.0" friction="0.0"/>
+    </joint>
+    <!-- Shank to Adapter joint -->
+    <joint name="LH_SHANK_TO_ADAPTER" type="fixed">
+        <parent link="LH_SHANK"/>
+        <child link="LH_ADAPTER"/>
+        <origin rpy="0.0 -0.0 -0.0" xyz="-0.1 -0.02 0.0"/>
+    </joint>
+
+    <!-- Adapter link -->
+    <link name="LH_ADAPTER">
+        <visual>
+            <origin rpy="0 0 -3.14159265359" xyz="0 0 0.032"/>
+            <geometry>
+                <mesh filename="meshes/anymal_foot.obj" scale="0.001 0.001 0.001"/>
+            </geometry>
+            <material name="anymal_material"/>
+        </visual>
+        <collision>
+            <origin rpy="0 0 0" xyz="0 0 -0.160625"/>
+            <geometry>
+                <cylinder length="0.22125" radius="0.015"/>
+            </geometry>
+        </collision>
+        <inertial>
+            <origin rpy="0 0 0" xyz="-8.66e-10 -1.472e-09 -0.244345749188"/>
+            <mass value="0.140170767"/>
+            <inertia ixx="0.00159938741862" ixy="-9.32e-13" ixz="1.039e-11" iyy="0.00159938741932" iyz="1.7563e-11" izz="5.4423177329e-05"/>
+        </inertial>
+    </link>
+    <!-- Adapter to Foot joint -->
+    <joint name="LH_ADAPTER_TO_FOOT" type="fixed">
+        <parent link="LH_ADAPTER"/>
+        <child link="LH_FOOT"/>
+        <origin rpy="0.0 -0.0 -0.0" xyz="-0.0 0.0 -0.32125"/>
+    </joint>
+
+    <!-- Foot link -->
+    <link name="LH_FOOT">
+        <inertial>
+            <mass value="0.001"/>
+            <inertia ixx="4.90e-07" ixy="0.0" ixz="0.0" iyy="4.90e-07" iyz="0.0" izz="4.90e-07"/>  <!-- for a sphere: 2/5 m * r**2 -->
+        </inertial>
+        <collision>
+            <origin xyz="0 0 0.02325"/>
+            <geometry>
+                <sphere radius="0.035"/>
+            </geometry>
+        </collision>
+    </link>
+
+    <!--
+      Right-Hind leg
+    -->
+
+    <!-- Hip link -->
+    <link name="RH_HIP">
+        <visual>
+            <origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="meshes/anymal_hip_l.obj" scale="0.001 0.001 0.001"/>
+            </geometry>
+            <material name="anymal_material"/>
+        </visual>
+        <inertial>
+            <origin rpy="0 0 0" xyz="-0.064516258147 0.003787101702 -0.000152184388"/>
+            <mass value="1.42462064"/>
+            <inertia ixx="0.00243023349564" ixy="-1.53023971e-05" ixz="2.1819095354e-05" iyy="0.00230257239103" iyz="-2.6473021273e-05" izz="0.0019806759227"/>
+        </inertial>
+    </link>
+    <!-- Hip joint -->
+    <joint name="RH_HAA" type="revolute">
+        <parent link="base"/>
+        <child link="RH_HIP"/>
+        <origin xyz="-0.277 -0.116 0.0"/>
+        <axis xyz="1 0 0"/>
+        <limit effort="80" lower="-6.28" upper="6.28" velocity="15"/>
+        <dynamics damping="0.0" friction="0.0"/>
+    </joint>
+
+    <!-- Thigh link -->
+    <link name="RH_THIGH">
+        <visual>
+            <origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="meshes/anymal_thigh_l.obj" scale="0.001 0.001 0.001"/>
+            </geometry>
+            <material name="anymal_material"/>
+        </visual>
+        <collision>
+            <!-- KFE actuator -->
+            <origin rpy="1.57079632679 0 0" xyz="0.0 -0.07205 -0.25"/>
+            <geometry>
+                <cylinder length="0.11" radius="0.06"/>
+            </geometry>
+        </collision>
+        <inertial>
+            <origin rpy="0 0 0" xyz="0.003897968082 -0.054226618537 -0.214583373795"/>
+            <mass value="1.634976467"/>
+            <inertia ixx="0.0120367944369" ixy="6.762065206e-05" ixz="-0.000287806340448" iyy="0.0120643637939" iyz="0.00140610131218" izz="0.00249422574881"/>
+        </inertial>
+    </link>
+    <!-- Thigh joint -->
+    <joint name="RH_HFE" type="revolute">
+        <parent link="RH_HIP"/>
+        <child link="RH_THIGH"/>
+        <origin xyz="-0.0635                    -0.041                    0.0"/>
+        <axis xyz="0 1 0"/>
+        <limit effort="80" lower="-6.28" upper="6.28" velocity="15"/>
+        <dynamics damping="0.0" friction="0.0"/>
+    </joint>
+
+    <!-- Shank link -->
+    <link name="RH_SHANK">
+        <visual>
+            <origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="meshes/anymal_shank_l.obj" scale="0.001 0.001 0.001"/>
+            </geometry>
+            <material name="anymal_material"/>
+        </visual>
+        <inertial>
+            <origin rpy="0 0 0" xyz="-0.030816858139 0.004617229294 0.000893125713"/>
+            <mass value="0.207204302"/>
+            <inertia ixx="0.0002104880248" ixy="-5.6750980345e-05" ixz="-1.0127699391e-05" iyy="0.000676270210023" iyz="8.22869024e-07" izz="0.000545032674924"/>
+        </inertial>
+    </link>
+    <!-- Shank joint -->
+    <joint name="RH_KFE" type="revolute">
+        <parent link="RH_THIGH"/>
+        <child link="RH_SHANK"/>
+        <origin xyz="-0.0 -0.109 -0.25"/>
+        <axis xyz="0 1 0"/>
+        <limit effort="80" lower="-6.28" upper="6.28" velocity="15"/>
+        <dynamics damping="0.0" friction="0.0"/>
+    </joint>
+    <!-- Shank to Adapter joint -->
+    <joint name="RH_SHANK_TO_ADAPTER" type="fixed">
+        <parent link="RH_SHANK"/>
+        <child link="RH_ADAPTER"/>
+        <origin rpy="-0.0 -0.0 0.0" xyz="-0.1 0.02 0.0"/>
+    </joint>
+
+    <!-- Adapter link -->
+    <link name="RH_ADAPTER">
+        <visual>
+            <origin rpy="0 0 -3.14159265359" xyz="0 0 0.032"/>
+            <geometry>
+                <mesh filename="meshes/anymal_foot.obj" scale="0.001 0.001 0.001"/>
+            </geometry>
+            <material name="anymal_material"/>
+        </visual>
+        <collision>
+            <origin rpy="0 0 0" xyz="0 0 -0.160625"/>
+            <geometry>
+                <cylinder length="0.22125" radius="0.015"/>
+            </geometry>
+        </collision>
+        <inertial>
+            <origin rpy="0 0 0" xyz="-8.66e-10 -1.472e-09 -0.244345749188"/>
+            <mass value="0.140170767"/>
+            <inertia ixx="0.00159938741862" ixy="-9.32e-13" ixz="1.039e-11" iyy="0.00159938741932" iyz="1.7563e-11" izz="5.4423177329e-05"/>
+        </inertial>
+    </link>
+    <!-- Adapter to Foot joint -->
+    <joint name="RH_ADAPTER_TO_FOOT" type="fixed">
+        <parent link="RH_ADAPTER"/>
+        <child link="RH_FOOT"/>
+        <origin rpy="-0.0 -0.0 0.0" xyz="-0.0 -0.0 -0.32125"/>
+    </joint>
+
+    <!-- Foot link -->
+    <link name="RH_FOOT">
+        <inertial>
+            <mass value="0.001"/>
+            <inertia ixx="4.90e-07" ixy="0.0" ixz="0.0" iyy="4.90e-07" iyz="0.0" izz="4.90e-07"/>  <!-- for a sphere: 2/5 m * r**2 -->
+        </inertial>
+        <collision>
+            <origin xyz="0 0 0.02325"/>
+            <geometry>
+                <sphere radius="0.035"/>
+            </geometry>
+        </collision>
+    </link>
+</robot>
diff --git a/pyrobolearn/robots/urdfs/anymal/meshes/anymal_base.obj b/pyrobolearn/robots/urdfs/anymal/meshes/anymal_base.obj
new file mode 100644
index 0000000..7d042d4
--- /dev/null
+++ b/pyrobolearn/robots/urdfs/anymal/meshes/anymal_base.obj
@@ -0,0 +1,270853 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object anymal_base.obj
+#
+# Vertices: 65648
+# Faces: 130044
+#
+####
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diff --git a/pyrobolearn/robots/urdfs/anymal/meshes/anymal_base.obj.mtl b/pyrobolearn/robots/urdfs/anymal/meshes/anymal_base.obj.mtl
new file mode 100644
index 0000000..b779564
--- /dev/null
+++ b/pyrobolearn/robots/urdfs/anymal/meshes/anymal_base.obj.mtl
@@ -0,0 +1,14 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+Tr 1.000000
+illum 2
+Ns 0.000000
+map_Kd base_uv_texture.png
+
diff --git a/pyrobolearn/robots/urdfs/anymal/meshes/anymal_foot.obj b/pyrobolearn/robots/urdfs/anymal/meshes/anymal_foot.obj
new file mode 100644
index 0000000..843b330
--- /dev/null
+++ b/pyrobolearn/robots/urdfs/anymal/meshes/anymal_foot.obj
@@ -0,0 +1,9272 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
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+#
+# Vertices: 2304
+# Faces: 4604
+#
+####
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\ No newline at end of file
diff --git a/pyrobolearn/robots/urdfs/anymal/meshes/anymal_foot.obj.mtl b/pyrobolearn/robots/urdfs/anymal/meshes/anymal_foot.obj.mtl
new file mode 100644
index 0000000..0327f95
--- /dev/null
+++ b/pyrobolearn/robots/urdfs/anymal/meshes/anymal_foot.obj.mtl
@@ -0,0 +1,14 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+Tr 1.000000
+illum 2
+Ns 0.000000
+map_Kd carbon_uv_texture.png
+
diff --git a/pyrobolearn/robots/urdfs/anymal/meshes/anymal_hip_l.obj b/pyrobolearn/robots/urdfs/anymal/meshes/anymal_hip_l.obj
new file mode 100644
index 0000000..d852ad7
--- /dev/null
+++ b/pyrobolearn/robots/urdfs/anymal/meshes/anymal_hip_l.obj
@@ -0,0 +1,74422 @@
+####
+#
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+#
+####
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+
+# End of File
\ No newline at end of file
diff --git a/pyrobolearn/robots/urdfs/anymal/meshes/anymal_hip_r.obj b/pyrobolearn/robots/urdfs/anymal/meshes/anymal_hip_r.obj
new file mode 100644
index 0000000..31910ad
--- /dev/null
+++ b/pyrobolearn/robots/urdfs/anymal/meshes/anymal_hip_r.obj
@@ -0,0 +1,74422 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
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+#
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+#
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+
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\ No newline at end of file
diff --git a/pyrobolearn/robots/urdfs/anymal/meshes/anymal_shank_l.obj b/pyrobolearn/robots/urdfs/anymal/meshes/anymal_shank_l.obj
new file mode 100644
index 0000000..758d2aa
--- /dev/null
+++ b/pyrobolearn/robots/urdfs/anymal/meshes/anymal_shank_l.obj
@@ -0,0 +1,16075 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
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+#
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+# Faces: 7959
+#
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index 0000000..4b1d3bc
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diff --git a/pyrobolearn/robots/urdfs/anymal/meshes/anymal_thigh_l.obj b/pyrobolearn/robots/urdfs/anymal/meshes/anymal_thigh_l.obj
new file mode 100644
index 0000000..2381d61
--- /dev/null
+++ b/pyrobolearn/robots/urdfs/anymal/meshes/anymal_thigh_l.obj
@@ -0,0 +1,78221 @@
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diff --git a/pyrobolearn/robots/urdfs/anymal/meshes/anymal_thigh_r.obj b/pyrobolearn/robots/urdfs/anymal/meshes/anymal_thigh_r.obj
new file mode 100644
index 0000000..8566c11
--- /dev/null
+++ b/pyrobolearn/robots/urdfs/anymal/meshes/anymal_thigh_r.obj
@@ -0,0 +1,78220 @@
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