diff --git a/examples/Atlas/Project.toml b/examples/Atlas/Project.toml
new file mode 100644
index 0000000..0f84fdd
--- /dev/null
+++ b/examples/Atlas/Project.toml
@@ -0,0 +1,15 @@
+[deps]
+ForwardDiff = "f6369f11-7733-5829-9624-2563aa707210"
+HSL_jll = "017b0a0e-03f4-516a-9b91-836bbd1904dd"
+Ipopt = "b6b21f68-93f8-5de0-b562-5493be1d77c9"
+JLD2 = "033835bb-8acc-5ee8-8aae-3f567f8a3819"
+JuMP = "4076af6c-e467-56ae-b986-b466b2749572"
+MathOptInterface = "b8f27783-ece8-5eb3-8dc8-9495eed66fee"
+MathProgIncidence = "892fab00-3092-4bd0-9c46-66676a93f84e"
+MeshCat = "283c5d60-a78f-5afe-a0af-af636b173e11"
+MeshCatMechanisms = "6ad125db-dd91-5488-b820-c1df6aab299d"
+Revise = "295af30f-e4ad-537b-8983-00126c2a3abe"
+RigidBodyDynamics = "366cf18f-59d5-5db9-a4de-86a9f6786172"
+Rotations = "6038ab10-8711-5258-84ad-4b1120ba62dc"
+SparseArrays = "2f01184e-e22b-5df5-ae63-d93ebab69eaf"
+StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"
diff --git a/examples/Atlas/atlas_balancing.jl b/examples/Atlas/atlas_balancing.jl
new file mode 100644
index 0000000..2f24177
--- /dev/null
+++ b/examples/Atlas/atlas_balancing.jl
@@ -0,0 +1,411 @@
+using Revise
+using JLD2
+using SparseArrays
+using MathOptInterface.Nonlinear.SymbolicAD
+import MathOptInterface as MOI
+using JuMP, Ipopt, HSL_jll
+using LinearAlgebra
+
+# include(joinpath(@__DIR__, "../mpc_utils.jl"))
+include(joinpath(@__DIR__, "atlas_utils.jl"))
+
+# Setup model and visualizer
+atlas = Atlas();
+vis = Visualizer();
+mvis = init_visualizer(atlas, vis)
+
+# Load balanced reference
+@load joinpath(@__DIR__, "atlas_ref.jld2") x_ref u_ref;
+visualize!(atlas, mvis, x_ref)
+
+# Calculate discrete dynamics for a balanced position
+# h = 0.01;
+# Ad = FD.jacobian(x->rk4(atlas, x, u_ref, h), x_ref);
+# Bd = FD.jacobian(u->rk4(atlas, x_ref, u, h), u_ref);
+
+h = 0.01
+@time rk4(atlas, x_ref, u_ref, h)
+
+# # Simulate
+N = 300;
+X = [zeros(atlas.nx) for _ = 1:N];
+U = zeros(atlas.nu)
+X[1] = deepcopy(x_ref);
+X[1][atlas.nq + 5] = 1.3; # Perturb i.c.
+
+# Run simulation
+@time for k = 1:N - 1
+    # Integrate
+    global X[k + 1] = rk4(atlas, X[k], u_ref, h)
+end
+
+animate!(atlas, mvis, X, Δt=h);
+
+
+"""
+    memoize_dynamics_and_jacobian(foo, n_in, n_out)
+
+Returns an array of length `n_out`, where each element is a tuple 
+`(scalar_fun, grad_fun!)`.
+
+- `scalar_fun(x...)` returns the i-th component of `foo(x...)` in normal calls (Float64). 
+- In Dual/AD mode, it returns the i-th component but triggers a single Jacobian evaluation and caches it.
+
+- `grad_fun!(g, x...)` writes into `g` the partial derivatives of that i-th component w.r.t. x.
+
+All `n_out` scalar functions share the same cached value of the *entire* vector `foo(x...)`
+and the *entire* Jacobian for the last input `x...`.
+"""
+function memoize_dynamics_and_jacobian(foo::Function, n_in::Int, n_out::Int)
+    # Cache for normal (Float64) evaluation
+    last_x_f   = nothing
+    last_f     = nothing  # Vector{Float64} from foo(x)
+
+    # Cache for AD (Dual) evaluation
+    last_x_J   = nothing
+    last_f_J   = nothing  # Vector{Dual} from foo(x)
+    last_J     = nothing  # Matrix of partials (size n_out x n_in)
+
+    # Optional: pre-make a JacobianConfig if you like:
+    # x0 = zeros(n_in)
+    # jac_cfg = ForwardDiff.JacobianConfig(foo, x0)
+
+    # This local function returns the i-th scalar output for the given x...
+    # In normal Float64 calls, it returns last_f[i].
+    # In AD calls (Dual etc.), it ensures last_J is computed and returns last_f_J[i].
+    function f_i(i, x::Vararg{T}) where {T<:Real}
+        if T == Float64
+            # Normal evaluation mode
+            if x !== last_x_f
+                last_x_f = x
+                last_f   = foo(x...)
+            end
+            return last_f[i]
+        else
+            # Dual/AD evaluation mode
+            if x !== last_x_J
+                last_x_J = x
+                # Evaluate all outputs
+                local x_vec = collect(x)
+                last_f_J    = foo(x_vec...)
+
+                # Evaluate the entire Jacobian in one pass
+                # last_J = ForwardDiff.jacobian(z -> foo(z...), x_vec, jac_cfg)
+                last_J = ForwardDiff.jacobian(z -> foo(z...), x_vec)
+            end
+            # Return the i-th output (primal part).
+            return last_f_J[i]
+        end
+    end
+
+    # Now build an array of (scalar_fun, gradient_callback!) for each output dimension
+    result = Vector{Tuple{Function, Function}}(undef, n_out)
+    for i in 1:n_out
+        # 1) The scalar function to pass to JuMP
+        scalar_fun = (args...) -> f_i(i, args...)
+
+        # 2) The gradient callback that JuMP/Ipopt calls: we fill `g` with partial derivatives
+        # grad_fun! = (g, args...) -> begin
+        #     # Make sure last_J is up to date for this x...
+        #     _ = f_i(i, args...)  # triggers AD if needed
+        #     # Now fill g with row i of last_J
+        #     @inbounds for col in 1:length(args)
+        #         g[col] = last_J[i, col]
+        #     end
+        #     return
+        # end
+        grad_fun! = (g, args...) -> begin
+        if last_J === nothing
+            # We haven't computed the Jacobian yet, or we are in reverse mode.
+            # Manually call ForwardDiff now with `args` to get it:
+            xvec = collect(args)
+            # Evaluate the function for the primal:
+            last_f_J = foo(xvec...)  # store if needed
+            last_J   = ForwardDiff.jacobian(z -> foo(z...), xvec)
+        end
+        # Now fill g with row i of last_J
+        @inbounds for col in 1:length(args)
+            g[col] = last_J[i, col]
+        end
+        return
+    end
+
+        result[i] = (scalar_fun, grad_fun!)
+    end
+    return result
+end
+
+
+function atlas_dynamics(xu::T...) where {T<:Real}
+    h = 0.01
+    x = collect(xu[1:atlas.nx])
+    u = collect(xu[atlas.nx+1:end])
+    #return rk4(atlas, x, u, h)
+    return explicit_euler(atlas, x, u, h)
+end
+
+# Lets define a jump model that solves the MPC problem
+# min ∑_t ||x_t - x_ref||_2^2
+# s.t. x_{t+1} = rk4(x_t, u_t) : this needs to be a jump operator for which we will need to define a method to calculate the jacobian and hessian
+#      u_min <= u_t <= u_max
+
+function build_and_solve_mpc(atlas_obj::Atlas, x_ref::Vector{Float64}, X_start::Vector{Float64}, N::Int; optimizer=optimizer_with_attributes(Ipopt.Optimizer, 
+        # "print_level" => 0,
+        "hsllib" => HSL_jll.libhsl_path,
+        "linear_solver" => "MA27",
+        "max_iter" => 20,
+    )
+)
+    model = Model()
+    set_optimizer(model, optimizer)
+
+    # For demonstration, let's define:
+    #   x[t=1:N, 1:atlas.nx]
+    #   u[t=1:N-1, 1:atlas.nu]
+    @variable(model, x[1:N, 1:atlas_obj.nx])
+    @variable(model, -atlas_obj.torque_limits[i] <= u[t=1:N-1,i=1:atlas.nu] <= atlas.torque_limits[i])
+    # ^ adapt the indexing if torque_limits is an array of length nu, etc.
+
+    # Objective: sum of squared error from x_ref
+    @objective(model, Min, sum( (x[t,j] - x_ref[j])^2 for t in 2:N for j in 1:atlas_obj.nx ) )
+
+    # Build the memoized function array for the multi-output dynamics
+    # so we can call the i-th dimension of next state individually
+    #dyn_ops = memoize_dynamics_and_jacobian(atlas_dynamics,
+    #                                        atlas_obj.nx + atlas_obj.nu,
+    #                                        atlas_obj.nx)
+
+    VNO_dim = 2*atlas_obj.nx + atlas_obj.nu
+    # The input variable to this function:
+    # [ x[t+1,:], x[t,:], u[t,:] ]
+    jacobian_structure = Tuple{Int,Int}[]
+    append!(jacobian_structure, map(i -> (i,i), 1:atlas_obj.nx))
+    for i in 1:atlas_obj.nx, j in 1:(atlas_obj.nx + atlas_obj.nu)
+        push!(jacobian_structure, (i, j + atlas_obj.nx))
+    end
+    hessian_lagrangian_structure = [
+        (i, j)
+        for i in atlas_obj.nx+1:VNO_dim
+        for j in atlas_obj.nx+1:VNO_dim
+    ]
+    VNO = MOI.VectorNonlinearOracle(;
+        dimension = VNO_dim,
+        l = zeros(atlas_obj.nx),
+        u = zeros(atlas_obj.nx),
+        eval_f = (ret, x) -> begin
+            ret[1:atlas_obj.nx] .= x[1:atlas_obj.nx] - atlas_dynamics(x[atlas_obj.nx + 1:VNO_dim]...)
+            return
+        end,
+        jacobian_structure,
+        eval_jacobian = (ret, x) -> begin
+            dyn_jac = ForwardDiff.jacobian(x -> atlas_dynamics(x...), x[atlas_obj.nx + 1:VNO_dim])
+            jnnz = length(jacobian_structure)
+            ret[1:atlas_obj.nx] .= ones(atlas_obj.nx)
+            nx = atlas_obj.nx; nu = atlas_obj.nu
+            ret[atlas_obj.nx+1:jnnz] .= - reshape(dyn_jac', nx * (nx + nu))
+            return
+        end,
+        hessian_lagrangian_structure,
+        eval_hessian_lagrangian = (ret, x, λ) -> begin
+            hess = ForwardDiff.hessian(x -> dot(λ, atlas_dynamics(x...)), x[atlas_obj.nx + 1:VNO_dim])
+            hnnz = length(hessian_lagrangian_structure)
+            ret[1:hnnz] .= - reshape(hess, hnnz)
+            return
+        end
+    )
+    for t in 1:(N-1)
+        vars = vcat(x[t+1,:], x[t, :], u[t, :])
+        JuMP.@constraint(model, vars in VNO)
+    end
+
+    # Add constraints: x[t+1] = f(x[t], u[t]) for t=1 to N-1
+    #for t in 1:(N-1), i in 1:atlas_obj.nx
+    #    scalar_fun, grad_fun! = dyn_ops[i]
+    #    op = add_nonlinear_operator(
+    #        model,
+    #        atlas_obj.nx + atlas_obj.nu,  # number of inputs
+    #        scalar_fun,                   # f_i
+    #        grad_fun!,                    # gradient callback
+    #        name = Symbol("dyn_$(t)_$(i)")
+    #    )
+    #    # Bind the operator to the constraint x[t+1, i] == f_i( [x[t,:]; u[t,:]]... )
+    #    @constraint(model, x[t+1,i] == op( [x[t, :]; u[t, :]]... ))
+    #end
+
+    # Possibly set an initial condition constraint: x[1, :] = x_ref
+    @constraint(model, [j in 1:atlas_obj.nx], x[1,j] == X_start[j])
+
+    # Solve
+    optimize!(model)
+    return model, value.(x), value.(u)
+end
+
+N = 10
+X_start = deepcopy(x_ref)
+X_start[atlas.nq + 5] = 1.3
+model, X_solve, U_solve = build_and_solve_mpc(atlas, x_ref, X_start, N; optimizer=optimizer_with_attributes(Ipopt.Optimizer, 
+        # "print_level" => 0,
+        "linear_solver" => "ma97",
+        #"hessian_approximation" => "limited-memory",
+        #"max_iter" => 20,
+        "mu_target" => 1e-8,
+        "print_user_options" => "yes",
+    )
+)
+termination_status(model)
+
+# Now we can simulate the system with the controls U_solve
+X = [zeros(atlas.nx) for _ = 1:N];
+X[1] = deepcopy(x_ref);
+X[1][atlas.nq + 5] = 1.3; # Perturb i.c.
+
+for k = 1:N - 1
+    X[k + 1] = rk4(atlas, X[k], U_solve[k, :], h)
+end
+
+animate!(atlas, mvis, X, Δt=h);
+
+error = sum( norm(X_solve[t,:] .- X[t]) for t in 1:N )
+
+# # Set up cost matrices (hand-tuned)
+# Q = spdiagm([1e3*ones(12); repeat([1e1; 1e1; 1e3], 3); 1e1*ones(8); 1e2*ones(12); repeat([1; 1; 1e2], 3); 1*ones(8)]);
+# R = spdiagm(1e-3*ones(atlas.nu));
+
+# # Calculate infinite-horizon LQR cost-to-go and gain matrices
+# K, Qf = ihlqr(Ad, Bd, Q, R, Q, max_iters = 1000);
+
+# # Define additional constraints for the QP (just torques for Atlas)
+# horizon = 2;
+# A_torque = kron(I(horizon), [I(atlas.nu) zeros(atlas.nu, atlas.nx)]);
+# l_torque = repeat(-atlas.torque_limits - u_ref, horizon);
+# u_torque = repeat(atlas.torque_limits - u_ref, horizon);
+
+# # Setup QP
+# H, g, A, l, u, g_x0, lu_x0 = gen_condensed_mpc_qp(Ad, Bd, Q, R, Qf, horizon, A_torque, l_torque, u_torque, K);
+
+# # Setup solver
+# m = ReLUQP.setup(H, g, A, l, u, verbose = false, eps_primal=1e-2, eps_dual=1e-2, max_iters=10, iters_btw_checks=1);
+
+# # Simulate
+# N = 300;
+# X = [zeros(atlas.nx) for _ = 1:N];
+# U = [zeros(atlas.nu) for _ = 1:N];
+# X[1] = deepcopy(x_ref);
+# X[1][atlas.nq + 5] = 1.3; # Perturb i.c.
+
+# # Warmstart solver
+# Δx = X[1] - x_ref;
+# ReLUQP.update!(m, g = g + g_x0*Δx, l = l + lu_x0*Δx, u = u + lu_x0*Δx);
+# m.opts.max_iters = 4000;
+# m.opts.check_convergence = false;
+# ReLUQP.solve(m);
+# m.opts.max_iters = 10;
+
+# Run simulation
+# for k = 1:N - 1
+    # Get error
+    # global Δx = X[k] - x_ref
+
+    # Update solver
+    # ReLUQP.update!(m, g = g + g_x0*Δx, l = l + lu_x0*Δx, u = u + lu_x0*Δx)
+
+    # Solve and get controls
+    # results = ReLUQP.solve(m)
+    # global U[k] = results.x[1:atlas.nu] - K*Δx
+
+    # Integrate
+    # global X[k + 1] = rk4(atlas, X[k], clamp.(u_ref + U[k], -atlas.torque_limits, atlas.torque_limits), h)
+# end
+
+#X = [value.(x[t,:]) for t=1:N]
+#X = [X_solve[t, :] for t=1:N]
+#
+#animate!(atlas, mvis, X, Δt=h);
+#readline()
+#
+#
+################
+#include(joinpath(@__DIR__, "rigidbodyutils.jl"))
+#include(joinpath(@__DIR__, "atlas_utils.jl"))
+#
+#model = Model()
+#optimizer=optimizer_with_attributes(Ipopt.Optimizer, 
+#    # "print_level" => 0,
+#    "hsllib" => HSL_jll.libhsl_path,
+#    "linear_solver" => "MA27"
+#)
+#set_optimizer(model, optimizer)
+#
+#@variable(model, x[1:N, 1:atlas.nx])
+#@variable(model, -atlas.torque_limits[i] <= u[t=1:N-1,i=1:atlas.nu] <= atlas.torque_limits[i])
+#
+#dyn_result = dynamics(atlas, convert.(NonlinearExpr, x[1, :]), convert.(NonlinearExpr,u[1, :]))
+#
+#function atlas_dynamics(x, u)
+#    h = 0.01
+#    return rk4(atlas, x, u, h)
+#end
+#
+##function build_and_solve_mpc(atlas_obj::Atlas, x_ref::Vector{Float64}, X_start::Vector{Float64}, N::Int; optimizer=optimizer_with_attributes(Ipopt.Optimizer, 
+##        # "print_level" => 0,
+##        "hsllib" => HSL_jll.libhsl_path,
+##        "linear_solver" => "MA27"
+##    )
+##)
+##    model = Model()
+##    set_optimizer(model, optimizer)
+##
+##    # For demonstration, let's define:
+##    #   x[t=1:N, 1:atlas.nx]
+##    #   u[t=1:N-1, 1:atlas.nu]
+##    @variable(model, x[1:N, 1:atlas_obj.nx])
+##    @variable(model, -atlas_obj.torque_limits[i] <= u[t=1:N-1,i=1:atlas.nu] <= atlas_obj.torque_limits[i])
+##    # ^ adapt the indexing if torque_limits is an array of length nu, etc.
+##
+##    # Objective: sum of squared error from x_ref
+##    @objective(model, Min, sum( (x[t,j] - x_ref[j])^2 for t in 2:N for j in 1:atlas_obj.nx ) )
+##
+##    for t in 1:(N-1)
+##        # Bindconstraint x[t+1, i] == f_i( [x[t,:]; u[t,:]]... )
+##        @constraint(model, x[t+1, :] == atlas_dynamics( convert.(NonlinearExpr, x[t, :]), convert.(NonlinearExpr,u[t, :])))
+##    end
+##
+##    # Possibly set an initial condition constraint: x[1, :] = x_ref
+##    @constraint(model, [j in 1:atlas_obj.nx], x[1,j] == X_start[j])
+##
+##    # Solve
+##    optimize!(model)
+##    return model, value.(x), value.(u)
+##end
+#
+#N = 2
+#X_start = deepcopy(x_ref)
+#X_start[atlas.nq + 5] = 1.3
+#model, X_solve, U_solve = build_and_solve_mpc(atlas, x_ref, X_start, N; optimizer=optimizer_with_attributes(Ipopt.Optimizer, 
+#        # "print_level" => 0,
+#        "linear_solver" => "ma97",
+#        "hessian_approximation" => "limited-memory",
+#        "max_iter" => 300,
+#        "mu_target" => 1e-8,
+#        "print_info_string" => "yes",
+#    )
+#)
+#termination_status(model)
+#
+## Now we can simulate the system with the controls U_solve
+#X = [zeros(atlas.nx) for _ = 1:N];
+#X[1] = deepcopy(x_ref);
+#X[1][atlas.nq + 5] = 1.3; # Perturb i.c.
+#
+#for k = 1:N - 1
+#    X[k + 1] = rk4(atlas, X[k], U_solve[k, :], h)
+#end
+#
+#animate!(atlas, mvis, X, Δt=h);
+#
+#error = sum( norm(X_solve[t,:] .- X[t]) for t in 1:N )
+#
+#
+#function foo!(q::AbstractVector{T}) where {T}
+#    q .= zero(T)
+#end
diff --git a/examples/Atlas/atlas_ref.jld2 b/examples/Atlas/atlas_ref.jld2
new file mode 100644
index 0000000..72cc873
Binary files /dev/null and b/examples/Atlas/atlas_ref.jld2 differ
diff --git a/examples/Atlas/atlas_utils.jl b/examples/Atlas/atlas_utils.jl
new file mode 100644
index 0000000..3370b9e
--- /dev/null
+++ b/examples/Atlas/atlas_utils.jl
@@ -0,0 +1,143 @@
+# Setup the dynamics and visualization for the Atlas model
+using RigidBodyDynamics
+using MeshCat
+using MeshCatMechanisms
+using Random
+using StaticArrays
+using Rotations
+using LinearAlgebra
+using ForwardDiff
+import ForwardDiff as FD
+
+const URDFPATH = joinpath(@__DIR__, "urdf", "atlas_all.urdf")
+
+struct Atlas
+    mech::Mechanism{Float64}
+    statecache::StateCache
+    dynrescache::DynamicsResultCache
+    nq::Int
+    nv::Int
+    nx::Int
+    nu::Int
+    joint_names
+    torque_limits::Vector{Float64}
+    function Atlas()
+        # Create the Mechanism (defaults to floating base)
+        mech = parse_urdf(URDFPATH, floating=true, remove_fixed_tree_joints=true)
+
+        ### Pin the left foot to the ground
+        foot_frame = findbody(mech, "l_foot")
+        pelvis_frame = findbody(mech, "pelvis")
+        world_frame = findbody(mech, "world")
+
+        state = MechanismState(mech)
+        pelvis_to_foot = translation(relative_transform(state, 
+                default_frame(pelvis_frame), default_frame(foot_frame)))
+
+        foot_location = @SVector [pelvis_to_foot[1], pelvis_to_foot[2], -0.08]
+
+        # add fixed joint to ground
+        foot_joint = Joint("foot_joint", Fixed{Float64}())
+        world_to_joint = Transform3D(frame_before(foot_joint), 
+                        default_frame(world_frame), 
+                        -foot_location)
+
+        attach!(mech, world_frame, foot_frame, foot_joint, joint_pose=world_to_joint)
+
+        remove_joint!(mech, findjoint(mech, "pelvis_to_world"))
+
+        ## Get mechanism details
+        nq = num_positions(mech)
+        nv = num_velocities(mech)
+        nx = nq + nv
+        nu = nq
+
+        joint_names = [joint.name for joint in joints(mech)[2:end]] # Exclude foot joint
+        limits_dict = Dict( # Torque TODO: lower, upper
+            "l_leg_akx" => [360.],
+ 		    "l_leg_aky" => [740.],
+ 		    "l_leg_kny" => [890.],
+ 		    "l_leg_hpy" => [840.],
+ 		    "l_leg_hpx" => [530.],
+ 		    "l_leg_hpz" => [275.],
+ 		    "back_bkz" => [106.],
+ 		    "r_leg_hpz" => [275.],
+ 		    "back_bky" => [445.],
+ 		    "r_leg_hpx" => [530.],
+ 		    "back_bkx" => [300.],
+ 		    "r_leg_hpy" => [840.],
+ 		    "l_arm_shz" => [87.],
+ 		    "r_arm_shz" => [87.],
+ 		    "r_leg_kny" => [890.],
+ 		    "l_arm_shx" => [99.],
+ 		    "r_arm_shx" => [99.],
+ 		    "r_leg_aky" => [740.],
+ 		    "l_arm_ely" => [63.],
+ 		    "r_arm_ely" => [63.],
+ 		    "r_leg_akx" => [360.],
+ 		    "l_arm_elx" => [112.],
+ 		    "r_arm_elx" => [112.],
+ 		    "l_arm_uwy" => [25.],
+ 		    "r_arm_uwy" => [25.],
+ 		    "l_arm_mwx" => [25.],
+ 		    "r_arm_mwx" => [25.],
+ 		    "l_arm_lwy" => [25.],
+ 		    "r_arm_lwy" => [25.]
+        )
+        torque_limits = [limits_dict[name][1] for name in joint_names]
+
+        new(mech, StateCache(mech), DynamicsResultCache(mech),
+            nq, nv, nx, nu,
+            joint_names, torque_limits)
+    end
+end
+
+function dynamics(model::Atlas, x::AbstractVector{T1}, u::AbstractVector{T2}) where {T1, T2}
+    T = promote_type(T1, T2)
+    state = model.statecache[T]
+    dyn_result = model.dynrescache[T]
+    #println("dyn_result.M: ", dyn_result.massmatrix)
+
+    # Set the mechanism state
+    copyto!(state, x)
+
+    # # Perform forward dynamics
+    dynamics!(dyn_result, state, u)
+
+    return [dyn_result.q̇; dyn_result.v̇]
+end
+
+function explicit_euler(model::Atlas, x, u, h)
+    return x + h * dynamics(model, x, u)
+end
+
+function rk4(model::Atlas, x, u, h)
+    k1 = dynamics(model, x, u)
+    k2 = dynamics(model, x + h/2*k1, u)
+    k3 = dynamics(model, x + h/2*k2, u)
+    k4 = dynamics(model, x + h*k3, u)
+    return x + h/6*(k1 + 2*k2 + 2*k3 + k4)
+end
+
+function init_visualizer(model::Atlas, vis::Visualizer)
+    delete!(vis)
+    meshes_path = joinpath(@__DIR__, "urdf")
+    mvis = MechanismVisualizer(model.mech, URDFVisuals(URDFPATH, package_path=[meshes_path]), vis)
+    return mvis
+end
+
+function visualize!(model::Atlas, mvis::MechanismVisualizer, q)
+    set_configuration!(mvis, q[1:model.nq])
+end
+
+function animate!(model::Atlas, mvis::MechanismVisualizer, qs; Δt=0.001)
+    anim = MeshCat.Animation(mvis.visualizer; fps=convert(Int, floor(1.0 / Δt)))
+    for (t, q) in enumerate(qs)
+        MeshCat.atframe(anim, t) do 
+            set_configuration!(mvis, q[1:model.nq])
+        end
+    end
+    MeshCat.setanimation!(mvis, anim)
+
+    return anim
+end
diff --git a/examples/Atlas/rigidbodyutils.jl b/examples/Atlas/rigidbodyutils.jl
new file mode 100644
index 0000000..42fa594
--- /dev/null
+++ b/examples/Atlas/rigidbodyutils.jl
@@ -0,0 +1,42 @@
+using JuMP
+using Ipopt, HSL_jll
+import Base: sincos, promote_type
+import RigidBodyDynamics: dynamics_solve!
+
+sincos(x::NonlinearExpr) = (sin(x), cos(x))
+promote_type(::Type{<:NonlinearExpr}, ::Type{<:NonlinearExpr}) = NonlinearExpr
+promote_type(::Type{<:NonlinearExpr}, ::Type{<:Real}) = NonlinearExpr
+NonlinearExpr(x::Int64) = convert(NonlinearExpr, x * AffExpr(1.0))  # Dummy conversion for NonlinearExpr
+Base.:*(x::NonlinearExpr, y::UniformScaling{Bool}) = convert(NonlinearExpr, x * AffExpr(y.λ))  # Dummy conversion for UniformScaling
+
+"""
+    function dynamics_solve!(v̇::AbstractVector, λ::AbstractVector,
+        G::Matrix{NonlinearExpr}, r::Vector{NonlinearExpr}
+    )
+
+Creates JuMP Constraints equivalent to the linear system.
+"""
+function RigidBodyDynamics.dynamics_solve!(_v̇::AbstractVector, λ::AbstractVector,
+    G::Matrix{NonlinearExpr}, _c::AbstractVector, k::AbstractVector, nv::Int, nl::Int, τ::AbstractVector
+)
+    println("Solving dynamics with nl = $nl, nv = $nv")
+    println("c: ", _c)
+    println("k: ", k)
+    println("τ: ", τ)
+    println("v̇: ", _v̇)
+    println("Λ: ", λ)
+    c = parent(_c)
+    r = [τ - c; -k]
+    v̇ = parent(_v̇)
+    model = owner_model(r[1])
+    
+    if nl == 0
+        aux_v̇ = @variable(model, [1:nv])
+        con = @constraint(model, G * aux_v̇ .== r)
+        println("Constraint: ", con)
+        v̇ .= aux_v̇
+    else
+        @constraint(model, G * [v̇; λ] .== r)
+    end
+    nothing
+end
diff --git a/examples/Atlas/test.jl b/examples/Atlas/test.jl
new file mode 100644
index 0000000..fc4228a
--- /dev/null
+++ b/examples/Atlas/test.jl
@@ -0,0 +1,62 @@
+using RigidBodyDynamics
+using LinearAlgebra
+using StaticArrays
+
+g = -9.81 # gravitational acceleration in z-direction
+world = RigidBody{Float64}("world")
+doublependulum = Mechanism(world; gravity = SVector(0, 0, g))
+
+axis = SVector(0., 1., 0.) # joint axis
+I_1 = 0.333 # moment of inertia about joint axis
+c_1 = -0.5 # center of mass location with respect to joint axis
+m_1 = 1. # mass
+frame1 = CartesianFrame3D("upper_link") # the reference frame in which the spatial inertia will be expressed
+inertia1 = SpatialInertia(frame1,
+    moment=I_1 * axis * axis',
+    com=SVector(0, 0, c_1),
+    mass=m_1
+)
+
+upperlink = RigidBody(inertia1)
+
+shoulder = Joint("shoulder", Revolute(axis))
+
+before_shoulder_to_world = one(Transform3D,
+    frame_before(shoulder), default_frame(world)
+)
+
+attach!(doublependulum, world, upperlink, shoulder,
+    joint_pose = before_shoulder_to_world
+)
+
+l_1 = -1. # length of the upper link
+I_2 = 0.333 # moment of inertia about joint axis
+c_2 = -0.5 # center of mass location with respect to joint axis
+m_2 = 1. # mass
+inertia2 = SpatialInertia(CartesianFrame3D("lower_link"),
+    moment=I_2 * axis * axis',
+    com=SVector(0, 0, c_2),
+    mass=m_2)
+lowerlink = RigidBody(inertia2)
+elbow = Joint("elbow", Revolute(axis))
+before_elbow_to_after_shoulder = Transform3D(
+    frame_before(elbow), frame_after(shoulder), SVector(0, 0, l_1))
+attach!(doublependulum, upperlink, lowerlink, elbow,
+    joint_pose = before_elbow_to_after_shoulder)
+
+# Now we can compute the dynamics of the system
+state = MechanismState(doublependulum)
+
+set_configuration!(state, shoulder, 0.3)
+set_configuration!(state, elbow, 0.4)
+set_velocity!(state, shoulder, 1.)
+set_velocity!(state, elbow, 2.);
+
+q = configuration(state)
+v = velocity(state)
+
+ts, qs, vs = simulate(state, 5., Δt = 1e-3);
+
+open_loop_dynamics = Dynamics(doublependulum)
+
+dynamics!(open_loop_dynamics.resultcache, state, open_loop_dynamics.τcache)
\ No newline at end of file
diff --git a/examples/Atlas/urdf/atlas.urdf b/examples/Atlas/urdf/atlas.urdf
new file mode 100644
index 0000000..6620a6d
--- /dev/null
+++ b/examples/Atlas/urdf/atlas.urdf
@@ -0,0 +1,840 @@
+<?xml version="1.0" ?>
+<robot name="drc_skeleton">
+  <link name="l_clav">
+    <inertial>
+      <mass value="3.45"/>
+      <origin rpy="0 0 0" xyz="0 0.048 -0.084"/>
+      <inertia ixx="0.011" ixy="0" ixz="0" iyy="0.009" iyz="-0.004" izz="0.004"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://atlas_description/meshes_unplugged/l_clav.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://atlas_description/meshes_unplugged/l_clav.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="l_foot">
+    <inertial>
+      <mass value="2.05"/>
+      <origin rpy="0 0 0" xyz="0.027 0 -0.067"/>
+      <inertia ixx="0.002" ixy="0" ixz="0" iyy="0.007" iyz="0" izz="0.008"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://atlas_description/meshes_unplugged/l_foot.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://atlas_description/meshes_unplugged/l_foot.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="l_hand">
+    <inertial>
+      <mass value="0.53"/>
+      <origin rpy="0 0 0" xyz="0 0.06 0"/>
+      <inertia ixx="0.00265" ixy="0" ixz="0" iyy="0.00446" iyz="0" izz="0.00446"/>
+    </inertial>
+  </link>
+  <link name="l_larm">
+    <inertial>
+      <mass value="2.509"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.00265" ixy="0" ixz="0" iyy="0.00446" iyz="0" izz="0.00446"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://atlas_description/meshes_unplugged/l_larm.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://atlas_description/meshes_unplugged/l_larm.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="l_lfarm">
+    <inertial>
+      <mass value="2.65"/>
+      <origin rpy="0 0 0" xyz="0 -0.07 0"/>
+      <inertia ixx="0.007" ixy="0" ixz="0" iyy="0.004" iyz="0" izz="0.007"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://atlas_description/meshes_unplugged/l_hand.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://atlas_description/meshes_unplugged/l_hand.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="l_lglut">
+    <inertial>
+      <mass value="0.866"/>
+      <origin rpy="0 0 0" xyz="0.0133341 0.0170484 -0.0312052"/>
+      <inertia ixx="0.000691326" ixy="-2.24344e-05" ixz="2.50508e-06" iyy="0.00126856" iyz="0.000137862" izz="0.00106487"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://atlas_description/meshes_unplugged/l_lglut.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://atlas_description/meshes_unplugged/l_lglut.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="l_lleg">
+    <inertial>
+      <mass value="5.479"/>
+      <origin rpy="0 0 0" xyz="0.001 0 -0.187"/>
+      <inertia ixx="0.077" ixy="0" ixz="-0.003" iyy="0.076" iyz="0" izz="0.01"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://atlas_description/meshes_unplugged/l_lleg.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://atlas_description/meshes_unplugged/l_lleg.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="l_scap">
+    <inertial>
+      <mass value="3.012"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.00319" ixy="0" ixz="0" iyy="0.00583" iyz="0" izz="0.00583"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://atlas_description/meshes_unplugged/l_scap.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://atlas_description/meshes_unplugged/l_scap.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="l_talus">
+    <inertial>
+      <mass value="0.125"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.01674e-05" ixy="0" ixz="0" iyy="8.42775e-06" iyz="0" izz="1.30101e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://atlas_description/meshes_unplugged/l_talus.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://atlas_description/meshes_unplugged/l_talus.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="l_uarm">
+    <inertial>
+      <mass value="3.388"/>
+      <origin rpy="0 0 0" xyz="0 -0.065 0"/>
+      <inertia ixx="0.00656" ixy="0" ixz="0" iyy="0.00358" iyz="0" izz="0.00656"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://atlas_description/meshes_unplugged/l_uarm.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://atlas_description/meshes_unplugged/l_uarm.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="l_ufarm">
+    <inertial>
+      <mass value="2.12"/>
+      <origin rpy="0 0 0" xyz="0 -0.2 0"/>
+      <inertia ixx="0.006" ixy="0" ixz="0" iyy="0.003" iyz="0" izz="0.006"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://atlas_description/meshes_unplugged/l_farm.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://atlas_description/meshes_unplugged/l_farm.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="l_uglut">
+    <inertial>
+      <mass value="0.648"/>
+      <origin rpy="0 0 0" xyz="0.00529262 -0.00344732 0.00313046"/>
+      <inertia ixx="0.00074276" ixy="-3.79607e-08" ixz="-2.79549e-05" iyy="0.000688179" iyz="-3.2735e-08" izz="0.00041242"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://atlas_description/meshes_unplugged/l_uglut.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://atlas_description/meshes_unplugged/l_uglut.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="l_uleg">
+    <inertial>
+      <mass value="9.209"/>
+      <origin rpy="0 0 0" xyz="0 0 -0.21"/>
+      <inertia ixx="0.09" ixy="0" ixz="0" iyy="0.09" iyz="0" izz="0.02"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://atlas_description/meshes_unplugged/l_uleg.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://atlas_description/meshes_unplugged/l_uleg.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="ltorso">
+    <inertial>
+      <mass value="2.409"/>
+      <origin rpy="0 0 0" xyz="-0.0112984 -3.15366e-06 0.0746835"/>
+      <inertia ixx="0.0039092" ixy="-5.04491e-08" ixz="-0.000342157" iyy="0.00341694" iyz="4.87119e-07" izz="0.00174492"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://atlas_description/meshes_unplugged/ltorso.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://atlas_description/meshes_unplugged/ltorso.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="mtorso">
+    <inertial>
+      <mass value="0.69"/>
+      <origin rpy="0 0 0" xyz="-0.00816266 -0.0131245 0.0305974"/>
+      <inertia ixx="0.000454181" ixy="-6.10764e-05" ixz="3.94009e-05" iyy="0.000483282" iyz="5.27463e-05" izz="0.000444215"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://atlas_description/meshes_unplugged/mtorso.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://atlas_description/meshes_unplugged/mtorso.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="pelvis">
+    <inertial>
+      <mass value="17.882"/>
+      <origin rpy="0 0 0" xyz="0.0111 0 0.0271"/>
+      <inertia ixx="0.1244" ixy="0.0008" ixz="-0.0007" iyy="0.0958" iyz="-0.0005" izz="0.1167"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://atlas_description/meshes_unplugged/pelvis.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://atlas_description/meshes_unplugged/pelvis.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="r_clav">
+    <inertial>
+      <mass value="3.45"/>
+      <origin rpy="0 0 0" xyz="0 -0.048 -0.084"/>
+      <inertia ixx="0.011" ixy="0" ixz="0" iyy="0.009" iyz="0.004" izz="0.004"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://atlas_description/meshes_unplugged/r_clav.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://atlas_description/meshes_unplugged/r_clav.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="r_foot">
+    <inertial>
+      <mass value="2.05"/>
+      <origin rpy="0 0 0" xyz="0.027 0 -0.067"/>
+      <inertia ixx="0.002" ixy="0" ixz="0" iyy="0.007" iyz="0" izz="0.008"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://atlas_description/meshes_unplugged/r_foot.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://atlas_description/meshes_unplugged/r_foot.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="r_hand">
+    <inertial>
+      <mass value="0.53"/>
+      <origin rpy="0 0 0" xyz="0 -0.06 0"/>
+      <inertia ixx="0.00265" ixy="0" ixz="0" iyy="0.00446" iyz="0" izz="0.00446"/>
+    </inertial>
+  </link>
+  <link name="r_larm">
+    <inertial>
+      <mass value="2.509"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.00265" ixy="0" ixz="0" iyy="0.00446" iyz="0" izz="0.00446"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://atlas_description/meshes_unplugged/r_larm.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://atlas_description/meshes_unplugged/r_larm.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="r_lfarm">
+    <inertial>
+      <mass value="2.65"/>
+      <origin rpy="0 0 0" xyz="0 0.07 0"/>
+      <inertia ixx="0.007" ixy="0" ixz="0" iyy="0.004" iyz="0" izz="0.007"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://atlas_description/meshes_unplugged/r_hand.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://atlas_description/meshes_unplugged/r_hand.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="r_lglut">
+    <inertial>
+      <mass value="0.866"/>
+      <origin rpy="0 0 0" xyz="0.0133341 -0.0170484 -0.0312052"/>
+      <inertia ixx="0.000691326" ixy="2.24344e-05" ixz="2.50508e-06" iyy="0.00126856" iyz="-0.000137862" izz="0.00106487"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://atlas_description/meshes_unplugged/r_lglut.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://atlas_description/meshes_unplugged/r_lglut.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="r_lleg">
+    <inertial>
+      <mass value="5.479"/>
+      <origin rpy="0 0 0" xyz="0.001 0 -0.187"/>
+      <inertia ixx="0.077" ixy="-0" ixz="-0.003" iyy="0.076" iyz="-0" izz="0.01"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://atlas_description/meshes_unplugged/r_lleg.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://atlas_description/meshes_unplugged/r_lleg.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="r_scap">
+    <inertial>
+      <mass value="3.012"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.00319" ixy="0" ixz="0" iyy="0.00583" iyz="0" izz="0.00583"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://atlas_description/meshes_unplugged/r_scap.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://atlas_description/meshes_unplugged/r_scap.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="r_talus">
+    <inertial>
+      <mass value="0.125"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.01674e-05" ixy="0" ixz="0" iyy="8.42775e-06" iyz="0" izz="1.30101e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://atlas_description/meshes_unplugged/r_talus.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://atlas_description/meshes_unplugged/r_talus.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="r_uarm">
+    <inertial>
+      <mass value="3.388"/>
+      <origin rpy="0 0 0" xyz="0 0.065 0"/>
+      <inertia ixx="0.00656" ixy="0" ixz="0" iyy="0.00358" iyz="0" izz="0.00656"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://atlas_description/meshes_unplugged/r_uarm.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://atlas_description/meshes_unplugged/r_uarm.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="r_ufarm">
+    <inertial>
+      <mass value="2.12"/>
+      <origin rpy="0 0 0" xyz="0 0.2 0"/>
+      <inertia ixx="0.006" ixy="0" ixz="0" iyy="0.003" iyz="0" izz="0.006"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://atlas_description/meshes_unplugged/r_farm.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://atlas_description/meshes_unplugged/r_farm.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="r_uglut">
+    <inertial>
+      <mass value="0.648"/>
+      <origin rpy="0 0 0" xyz="0.00529262 0.00344732 0.00313046"/>
+      <inertia ixx="0.00074276" ixy="3.79607e-08" ixz="-2.79549e-05" iyy="0.000688179" iyz="3.2735e-08" izz="0.00041242"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://atlas_description/meshes_unplugged/r_uglut.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://atlas_description/meshes_unplugged/r_uglut.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="r_uleg">
+    <inertial>
+      <mass value="9.209"/>
+      <origin rpy="0 0 0" xyz="0 0 -0.21"/>
+      <inertia ixx="0.09" ixy="0" ixz="0" iyy="0.09" iyz="0" izz="0.02"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://atlas_description/meshes_unplugged/r_uleg.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://atlas_description/meshes_unplugged/r_uleg.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="utorso">
+    <inertial>
+      <mass value="63.73"/>
+      <origin rpy="0 0 0" xyz="-0.0581 0 0.3056"/>
+      <inertia ixx="1.466" ixy="0.00362" ixz="0.336" iyy="1.51" iyz="0.001" izz="1.3"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://atlas_description/meshes_unplugged/utorso.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://atlas_description/meshes_unplugged/utorso.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="back_bkx" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 0.05"/>
+    <axis xyz="1 0 0"/>
+    <parent link="mtorso"/>
+    <child link="utorso"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="300" lower="-0.523599" upper="0.523599" velocity="12"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10.5236" soft_upper_limit="10.5236"/>
+  </joint>
+  <joint name="back_bky" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 0.162"/>
+    <axis xyz="0 1 0"/>
+    <parent link="ltorso"/>
+    <child link="mtorso"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="445" lower="-0.219388" upper="0.538783" velocity="9"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10.2194" soft_upper_limit="10.5388"/>
+  </joint>
+  <joint name="back_bkz" type="revolute">
+    <origin rpy="0 0 0" xyz="-0.0125 0 0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="pelvis"/>
+    <child link="ltorso"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="106" lower="-0.663225" upper="0.663225" velocity="12"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10.6632" soft_upper_limit="10.6632"/>
+  </joint>
+  <joint name="l_arm_elx" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0.119 0.0092"/>
+    <axis xyz="1 0 0"/>
+    <parent link="l_uarm"/>
+    <child link="l_larm"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="112" lower="0" upper="2.35619" velocity="12"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10" soft_upper_limit="12.3562"/>
+  </joint>
+  <joint name="l_arm_ely" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0.187 -0.016"/>
+    <axis xyz="0 1 0"/>
+    <parent link="l_scap"/>
+    <child link="l_uarm"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="63" lower="0" upper="3.14159" velocity="12"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10" soft_upper_limit="13.1416"/>
+  </joint>
+  <joint name="l_arm_shx" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0.11 -0.245"/>
+    <axis xyz="1 0 0"/>
+    <parent link="l_clav"/>
+    <child link="l_scap"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="99" lower="-1.5708" upper="1.5708" velocity="12"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-11.5708" soft_upper_limit="11.5708"/>
+  </joint>
+  <joint name="l_arm_shz" type="revolute">
+    <origin rpy="0 0 0" xyz="0.1406 0.2256 0.4776"/>
+    <axis xyz="0 0 1"/>
+    <parent link="utorso"/>
+    <child link="l_clav"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="87" lower="-1.5708" upper="0.785398" velocity="12"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-11.5708" soft_upper_limit="10.7854"/>
+  </joint>
+  <joint name="l_arm_wrx" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <parent link="l_ufarm"/>
+    <child link="l_lfarm"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="25" lower="-1.7628" upper="1.7628" velocity="10"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-11.7628" soft_upper_limit="11.7628"/>
+  </joint>
+  <joint name="l_arm_wry" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0.29955 -0.00921"/>
+    <axis xyz="0 1 0"/>
+    <parent link="l_larm"/>
+    <child link="l_ufarm"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="25" lower="-3.011" upper="3.011" velocity="10"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-13.011" soft_upper_limit="13.011"/>
+  </joint>
+  <joint name="l_arm_wry2" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <axis xyz="0 1 0"/>
+    <parent link="l_lfarm"/>
+    <child link="l_hand"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="25" lower="-2.9671" upper="2.9671" velocity="10"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-12.9671" soft_upper_limit="12.9671"/>
+  </joint>
+  <joint name="l_leg_akx" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <parent link="l_talus"/>
+    <child link="l_foot"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="360" lower="-0.8" upper="0.8" velocity="12"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10.8" soft_upper_limit="10.8"/>
+  </joint>
+  <joint name="l_leg_aky" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 -0.422"/>
+    <axis xyz="0 1 0"/>
+    <parent link="l_lleg"/>
+    <child link="l_talus"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="740" lower="-1" upper="0.7" velocity="12"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-11" soft_upper_limit="10.7"/>
+  </joint>
+  <joint name="l_leg_hpx" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <parent link="l_uglut"/>
+    <child link="l_lglut"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="530" lower="-0.523599" upper="0.523599" velocity="12"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10.5236" soft_upper_limit="10.5236"/>
+  </joint>
+  <joint name="l_leg_hpy" type="revolute">
+    <origin rpy="0 0 0" xyz="0.05 0.0225 -0.066"/>
+    <axis xyz="0 1 0"/>
+    <parent link="l_lglut"/>
+    <child link="l_uleg"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="840" lower="-1.61234" upper="0.65764" velocity="12"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-11.6123" soft_upper_limit="10.6576"/>
+  </joint>
+  <joint name="l_leg_hpz" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0.089 0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="pelvis"/>
+    <child link="l_uglut"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="275" lower="-0.174358" upper="0.786794" velocity="12"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10.1744" soft_upper_limit="10.7868"/>
+  </joint>
+  <joint name="l_leg_kny" type="revolute">
+    <origin rpy="0 0 0" xyz="-0.05 0 -0.374"/>
+    <axis xyz="0 1 0"/>
+    <parent link="l_uleg"/>
+    <child link="l_lleg"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="890" lower="0" upper="2.35637" velocity="12"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10" soft_upper_limit="12.3564"/>
+  </joint>
+  <joint name="neck_ry" type="revolute">
+    <origin rpy="0 0 0" xyz="0.2546 0 0.6215"/>
+    <axis xyz="0 1 0"/>
+    <parent link="utorso"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="25" lower="-0.602139" upper="1.14319" velocity="6.28"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10.6021" soft_upper_limit="11.1432"/>
+  </joint>
+  <joint name="r_arm_elx" type="revolute">
+    <origin rpy="0 0 0" xyz="0 -0.119 0.0092"/>
+    <axis xyz="1 0 0"/>
+    <parent link="r_uarm"/>
+    <child link="r_larm"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="112" lower="-2.35619" upper="0" velocity="12"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-12.3562" soft_upper_limit="10"/>
+  </joint>
+  <joint name="r_arm_ely" type="revolute">
+    <origin rpy="0 0 0" xyz="0 -0.187 -0.016"/>
+    <axis xyz="0 1 0"/>
+    <parent link="r_scap"/>
+    <child link="r_uarm"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="63" lower="0" upper="3.14159" velocity="12"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10" soft_upper_limit="13.1416"/>
+  </joint>
+  <joint name="r_arm_shx" type="revolute">
+    <origin rpy="0 0 0" xyz="0 -0.11 -0.245"/>
+    <axis xyz="1 0 0"/>
+    <parent link="r_clav"/>
+    <child link="r_scap"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="99" lower="-1.5708" upper="1.5708" velocity="12"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-11.5708" soft_upper_limit="11.5708"/>
+  </joint>
+  <joint name="r_arm_shz" type="revolute">
+    <origin rpy="0 0 0" xyz="0.1406 -0.2256 0.4776"/>
+    <axis xyz="0 0 1"/>
+    <parent link="utorso"/>
+    <child link="r_clav"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="87" lower="-0.785398" upper="1.5708" velocity="12"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10.7854" soft_upper_limit="11.5708"/>
+  </joint>
+  <joint name="r_arm_wrx" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <parent link="r_ufarm"/>
+    <child link="r_lfarm"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="25" lower="-1.7628" upper="1.7628" velocity="10"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-11.7628" soft_upper_limit="11.7628"/>
+  </joint>
+  <joint name="r_arm_wry" type="revolute">
+    <origin rpy="0 0 0" xyz="0 -0.29955 -0.00921"/>
+    <axis xyz="0 1 0"/>
+    <parent link="r_larm"/>
+    <child link="r_ufarm"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="25" lower="-3.011" upper="3.011" velocity="10"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-13.011" soft_upper_limit="13.011"/>
+  </joint>
+  <joint name="r_arm_wry2" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <axis xyz="0 1 0"/>
+    <parent link="r_lfarm"/>
+    <child link="r_hand"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="25" lower="-2.9671" upper="2.9671" velocity="10"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-12.9671" soft_upper_limit="12.9671"/>
+  </joint>
+  <joint name="r_leg_akx" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <parent link="r_talus"/>
+    <child link="r_foot"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="360" lower="-0.8" upper="0.8" velocity="12"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10.8" soft_upper_limit="10.8"/>
+  </joint>
+  <joint name="r_leg_aky" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 -0.422"/>
+    <axis xyz="0 1 0"/>
+    <parent link="r_lleg"/>
+    <child link="r_talus"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="740" lower="-1" upper="0.7" velocity="12"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-11" soft_upper_limit="10.7"/>
+  </joint>
+  <joint name="r_leg_hpx" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <parent link="r_uglut"/>
+    <child link="r_lglut"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="530" lower="-0.523599" upper="0.523599" velocity="12"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10.5236" soft_upper_limit="10.5236"/>
+  </joint>
+  <joint name="r_leg_hpy" type="revolute">
+    <origin rpy="0 0 0" xyz="0.05 -0.0225 -0.066"/>
+    <axis xyz="0 1 0"/>
+    <parent link="r_lglut"/>
+    <child link="r_uleg"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="840" lower="-1.61234" upper="0.65764" velocity="12"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-11.6123" soft_upper_limit="10.6576"/>
+  </joint>
+  <joint name="r_leg_hpz" type="revolute">
+    <origin rpy="0 0 0" xyz="0 -0.089 0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="pelvis"/>
+    <child link="r_uglut"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="275" lower="-0.786794" upper="0.174358" velocity="12"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10.7868" soft_upper_limit="10.1744"/>
+  </joint>
+  <joint name="r_leg_kny" type="revolute">
+    <origin rpy="0 0 0" xyz="-0.05 0 -0.374"/>
+    <axis xyz="0 1 0"/>
+    <parent link="r_uleg"/>
+    <child link="r_lleg"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="890" lower="0" upper="2.35637" velocity="12"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10" soft_upper_limit="12.3564"/>
+  </joint>
+  <link name="r_situational_awareness_camera_link">
+    <inertial>
+      <mass value="0.1"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.00001" ixy="0" ixz="0" iyy="0.00001" iyz="0" izz="0.00001"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.01 0.01"/>
+      </geometry>
+    </visual>
+  </link>
+  <joint name="r_situational_awareness_camera_joint" type="fixed">
+    <parent link="utorso"/>
+    <child link="r_situational_awareness_camera_link"/>
+    <!-- if camera points x-forward, bottom towards front of robot, 15 degree yaw forwards from
+           lateral (+y) view -->
+    <origin rpy="1.57079633 0 -1.30899694" xyz="0.216409 -0.121799 0.406759"/>
+  </joint>
+  <joint name="r_situational_awareness_camera_optical_frame_joint" type="fixed">
+    <origin rpy="-1.5708 0.0 -1.5708" xyz="0 0 0"/>
+    <parent link="r_situational_awareness_camera_link"/>
+    <child link="r_situational_awareness_camera_optical_frame"/>
+  </joint>
+  <link name="r_situational_awareness_camera_optical_frame"/>
+  <link name="l_situational_awareness_camera_link">
+    <inertial>
+      <mass value="0.1"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.00001" ixy="0" ixz="0" iyy="0.00001" iyz="0" izz="0.00001"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.01 0.01"/>
+      </geometry>
+    </visual>
+  </link>
+  <joint name="l_situational_awareness_camera_joint" type="fixed">
+    <parent link="utorso"/>
+    <child link="l_situational_awareness_camera_link"/>
+    <!-- if camera points x-forward, bottom towards front of robot, 15 degree yaw forwards from
+           lateral (+y) view -->
+    <origin rpy="-1.57079633 0 1.30899694" xyz="0.216409 0.121799 0.406759"/>
+  </joint>
+  <joint name="l_situational_awareness_camera_optical_frame_joint" type="fixed">
+    <origin rpy="-1.5708 0.0 -1.5708" xyz="0 0 0"/>
+    <parent link="l_situational_awareness_camera_link"/>
+    <child link="l_situational_awareness_camera_optical_frame"/>
+  </joint>
+  <link name="l_situational_awareness_camera_optical_frame"/>
+  <link name="rear_situational_awareness_camera_link">
+    <inertial>
+      <mass value="0.1"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.00001" ixy="0" ixz="0" iyy="0.00001" iyz="0" izz="0.00001"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.01 0.01"/>
+      </geometry>
+    </visual>
+  </link>
+  <joint name="rear_situational_awareness_camera_joint" type="fixed">
+    <parent link="utorso"/>
+    <child link="rear_situational_awareness_camera_link"/>
+    <!-- if camera points towards -X direction of the utorso link frame -->
+    <origin rpy="0 0 3.14159" xyz="-0.0026 0.0264 0.6649"/>
+  </joint>
+  <joint name="rear_situational_awareness_camera_optical_frame_joint" type="fixed">
+    <origin rpy="-1.5708 0.0 -1.5708" xyz="0 0 0"/>
+    <parent link="rear_situational_awareness_camera_link"/>
+    <child link="rear_situational_awareness_camera_optical_frame"/>
+  </joint>
+  <link name="rear_situational_awareness_camera_optical_frame"/>
+</robot>
+
diff --git a/examples/Atlas/urdf/atlas_all.urdf b/examples/Atlas/urdf/atlas_all.urdf
new file mode 100644
index 0000000..ffcf5c5
--- /dev/null
+++ b/examples/Atlas/urdf/atlas_all.urdf
@@ -0,0 +1,761 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from atlas_v5_convex_hull_open_hands.xacro | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="atlas" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <material name="dark_gray">
+    <color rgba="0.35 0.35 0.40 1"/>
+  </material>
+  <material name="white">
+    <color rgba="0.95 0.95 0.95 0.95"/>
+  </material>
+  <material name="orange">
+    <color rgba="0.9098 0.44314 0.031373 1"/>
+  </material>
+  <material name="metal">
+    <color rgba="0.8784 0.8745 0.8588 1"/>
+  </material>
+  <link name="l_clav">
+    <inertial>
+      <mass value="4.466"/>
+      <origin rpy="0 0 0" xyz="0 0 -0.084"/>
+      <inertia ixx="0.011" ixy="0" ixz="0" iyy="0.009" iyz="0.004" izz="0.004"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://mesh/r_clav.obj"/>
+      </geometry>
+      <material name="dark_gray"/>
+    </visual>
+  </link>
+  <link name="l_foot">
+    <inertial>
+      <mass value="2.410"/>
+      <origin rpy="0 0 0" xyz="0.027 0 -0.067"/>
+      <inertia ixx="0.002" ixy="0" ixz="0" iyy="0.007" iyz="0" izz="0.008"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://mesh/l_foot.obj"/>
+      </geometry>
+      <material name="dark_gray"/>
+    </visual>
+    <visual group="heel">
+      <origin rpy="0 0 0" xyz="-0.0876 0.066 -0.07645"/>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+    </visual>
+    <visual group="heel">
+      <origin rpy="0 0 0" xyz="-0.0876 -0.0626 -0.07645"/>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+    </visual>
+    <visual group="toe">
+      <origin rpy="0 0 0" xyz="0.1728 0.066 -0.07645"/>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+    </visual>
+    <visual group="toe">
+      <origin rpy="0 0 0" xyz="0.1728 -0.0626 -0.07645"/>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+    </visual>
+    <visual group="midfoot">
+      <origin rpy="0 0 0" xyz="-0.0426 0.066 -0.07645"/>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+    </visual>
+    <visual group="midfoot">
+      <origin rpy="0 0 0" xyz="-0.0426 -0.0626 -0.07645"/>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="l_hand">
+    <inertial>
+      <mass value="0.5839"/>
+      <origin rpy="0 0 0" xyz="0.00016 -0.08159 0.00002"/>
+      <inertia ixx="0.000388" ixy="0" ixz="0" iyy="0.000477" iyz="0" izz="0.000379"/>
+    </inertial>
+  </link>
+  <link name="l_larm">
+    <inertial>
+      <mass value="3.248"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.00265" ixy="0" ixz="0" iyy="0.00446" iyz="0" izz="0.00446"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://mesh/r_larm.obj"/>
+      </geometry>
+      <material name="dark_gray"/>
+    </visual>
+  </link>
+  <link name="l_lfarm">
+    <inertial>
+      <mass value="0.648"/>
+      <origin rpy="0 0 0" xyz="0.00017 -0.02515 0.00163"/>
+      <inertia ixx="0.000764" ixy="0" ixz="0" iyy="0.000429" iyz="0" izz="0.000825"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://mesh/r_hand.obj"/>
+      </geometry>
+      <material name="dark_gray"/>
+    </visual>
+  </link>
+  <link name="l_lglut">
+    <inertial>
+      <mass value="0.898"/>
+      <origin rpy="0 0 0" xyz="0.0133341 0.0170484 -0.0312052"/>
+      <inertia ixx="0.000691326" ixy="-2.24344e-05" ixz="2.50508e-06" iyy="0.00126856" iyz="0.000137862" izz="0.00106487"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://mesh/l_lglut.obj"/>
+      </geometry>
+      <material name="dark_gray"/>
+    </visual>
+  </link>
+  <link name="l_lleg">
+    <inertial>
+      <mass value="4.515"/>
+      <origin rpy="0 0 0" xyz="0.001 0 -0.187"/>
+      <inertia ixx="0.077" ixy="0" ixz="-0.003" iyy="0.076" iyz="0" izz="0.01"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://mesh/l_lleg.obj"/>
+      </geometry>
+      <material name="dark_gray"/>
+    </visual>
+  </link>
+  <link name="l_scap">
+    <inertial>
+      <mass value="3.899"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.00319" ixy="0" ixz="0" iyy="0.00583" iyz="0" izz="0.00583"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://mesh/r_scap.obj"/>
+      </geometry>
+      <material name="dark_gray"/>
+    </visual>
+  </link>
+  <link name="l_talus">
+    <inertial>
+      <mass value="0.125"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.01674e-05" ixy="0" ixz="0" iyy="8.42775e-06" iyz="0" izz="1.30101e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://mesh/l_talus.obj"/>
+      </geometry>
+      <material name="dark_gray"/>
+    </visual>
+  </link>
+  <link name="l_uarm">
+    <inertial>
+      <mass value="4.386"/>
+      <origin rpy="0 0 0" xyz="0 0.065 0"/>
+      <inertia ixx="0.00656" ixy="0" ixz="0" iyy="0.00358" iyz="0" izz="0.00656"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://mesh/r_uarm.obj"/>
+      </geometry>
+      <material name="dark_gray"/>
+    </visual>
+  </link>
+  <link name="l_ufarm">
+    <inertial>
+      <mass value="2.4798"/>
+      <origin rpy="0 0 0" xyz="0.00015 0.08296 0.00037"/>
+      <inertia ixx="0.012731" ixy="0" ixz="0" iyy="0.002857" iyz="0" izz="0.011948"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://mesh/r_farm.obj"/>
+      </geometry>
+      <material name="dark_gray"/>
+    </visual>
+  </link>
+  <link name="l_uglut">
+    <inertial>
+      <mass value="1.959"/>
+      <origin rpy="0 0 0" xyz="0.00529262 -0.00344732 0.00313046"/>
+      <inertia ixx="0.00074276" ixy="-3.79607e-08" ixz="-2.79549e-05" iyy="0.000688179" iyz="-3.2735e-08" izz="0.00041242"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://mesh/l_uglut.obj"/>
+      </geometry>
+      <material name="dark_gray"/>
+    </visual>
+  </link>
+  <link name="l_uleg">
+    <inertial>
+      <mass value="8.204"/>
+      <origin rpy="0 0 0" xyz="0 0 -0.21"/>
+      <inertia ixx="0.09" ixy="0" ixz="0" iyy="0.09" iyz="0" izz="0.02"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://mesh/l_uleg.obj"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+  </link>
+  <link name="ltorso">
+    <inertial>
+      <mass value="2.270"/>
+      <origin rpy="0 0 0" xyz="-0.0112984 -3.15366e-06 0.0746835"/>
+      <inertia ixx="0.0039092" ixy="-5.04491e-08" ixz="-0.000342157" iyy="0.00341694" iyz="4.87119e-07" izz="0.00174492"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://mesh/ltorso.obj"/>
+      </geometry>
+      <material name="dark_gray"/>
+    </visual>
+  </link>
+  <link name="mtorso">
+    <inertial>
+      <mass value="0.799"/>
+      <origin rpy="0 0 0" xyz="-0.00816266 -0.0131245 0.0305974"/>
+      <inertia ixx="0.000454181" ixy="-6.10764e-05" ixz="3.94009e-05" iyy="0.000483282" iyz="5.27463e-05" izz="0.000444215"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://mesh/mtorso.obj"/>
+      </geometry>
+      <material name="dark_gray"/>
+    </visual>
+  </link>
+  <link name="pelvis">
+    <inertial>
+      <mass value="9.509"/>
+      <origin rpy="0 0 0" xyz="0.0111 0 0.0271"/>
+      <inertia ixx="0.1244" ixy="0.0008" ixz="-0.0007" iyy="0.0958" iyz="-0.0005" izz="0.1167"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://mesh/pelvis.obj"/>
+      </geometry>
+      <material name="metal"/>
+    </visual>
+  </link>
+  <link name="r_clav">
+    <inertial>
+      <mass value="4.466"/>
+      <origin rpy="0 0 0" xyz="0 0 -0.084"/>
+      <inertia ixx="0.011" ixy="0" ixz="0" iyy="0.009" iyz="0.004" izz="0.004"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://mesh/r_clav.obj"/>
+      </geometry>
+      <material name="dark_gray"/>
+    </visual>
+  </link>
+  <link name="r_foot">
+    <inertial>
+      <mass value="2.41"/>
+      <origin rpy="0 0 0" xyz="0.027 0 -0.067"/>
+      <inertia ixx="0.002" ixy="0" ixz="0" iyy="0.007" iyz="0" izz="0.008"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://mesh/r_foot.obj"/>
+      </geometry>
+      <material name="dark_gray"/>
+    </visual>
+    <visual group="heel">
+      <origin rpy="0 0 0" xyz="-0.0876 0.0626 -0.07645"/>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+    </visual>
+    <visual group="heel">
+      <origin rpy="0 0 0" xyz="-0.0876 -0.066 -0.07645"/>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+    </visual>
+    <visual group="toe">
+      <origin rpy="0 0 0" xyz="0.1728 0.0626 -0.07645"/>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+    </visual>
+    <visual group="toe">
+      <origin rpy="0 0 0" xyz="0.1728 -0.066 -0.07645"/>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+    </visual>
+    <visual group="midfoot">
+      <origin rpy="0 0 0" xyz="0.0426 0.0626 -0.07645"/>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+    </visual>
+    <visual group="midfoot">
+      <origin rpy="0 0 0" xyz="0.0426 -0.066 -0.07645"/>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="r_hand">
+    <inertial>
+      <mass value="0.5839"/>
+      <origin rpy="0 0 0" xyz="0.00016 -0.08159 0.00002"/>
+      <inertia ixx="0.000388" ixy="0" ixz="0" iyy="0.000477" iyz="0" izz="0.000379"/>
+    </inertial>
+  </link>
+  <link name="r_larm">
+    <inertial>
+      <mass value="3.248"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.00265" ixy="0" ixz="0" iyy="0.00446" iyz="0" izz="0.00446"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://mesh/r_larm.obj"/>
+      </geometry>
+      <material name="dark_gray"/>
+    </visual>
+  </link>
+  <link name="r_lfarm">
+    <inertial>
+      <mass value="0.648"/>
+      <origin rpy="0 0 0" xyz="0.00017 -0.02515 0.00163"/>
+      <inertia ixx="0.000764" ixy="0" ixz="0" iyy="0.000429" iyz="0" izz="0.000825"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://mesh/r_hand.obj"/>
+      </geometry>
+      <material name="dark_gray"/>
+    </visual>
+  </link>
+  <link name="r_lglut">
+    <inertial>
+      <mass value="0.898"/>
+      <origin rpy="0 0 0" xyz="0.0133341 -0.0170484 -0.0312052"/>
+      <inertia ixx="0.000691326" ixy="2.24344e-05" ixz="2.50508e-06" iyy="0.00126856" iyz="-0.000137862" izz="0.00106487"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://mesh/r_lglut.obj"/>
+      </geometry>
+      <material name="dark_gray"/>
+    </visual>
+  </link>
+  <link name="r_lleg">
+    <inertial>
+      <mass value="4.515"/>
+      <origin rpy="0 0 0" xyz="0.001 0 -0.187"/>
+      <inertia ixx="0.077" ixy="-0" ixz="-0.003" iyy="0.076" iyz="-0" izz="0.01"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://mesh/r_lleg.obj"/>
+      </geometry>
+      <material name="dark_gray"/>
+    </visual>
+  </link>
+  <link name="r_scap">
+    <inertial>
+      <mass value="3.899"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.00319" ixy="0" ixz="0" iyy="0.00583" iyz="0" izz="0.00583"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://mesh/r_scap.obj"/>
+      </geometry>
+      <material name="dark_gray"/>
+    </visual>
+  </link>
+  <link name="r_talus">
+    <inertial>
+      <mass value="0.125"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.01674e-05" ixy="0" ixz="0" iyy="8.42775e-06" iyz="0" izz="1.30101e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://mesh/r_talus.obj"/>
+      </geometry>
+      <material name="dark_gray"/>
+    </visual>
+  </link>
+  <link name="r_uarm">
+    <inertial>
+      <mass value="4.386"/>
+      <origin rpy="0 0 0" xyz="0 0.065 0"/>
+      <inertia ixx="0.00656" ixy="0" ixz="0" iyy="0.00358" iyz="0" izz="0.00656"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://mesh/r_uarm.obj"/>
+      </geometry>
+      <material name="dark_gray"/>
+    </visual>
+  </link>
+  <link name="r_ufarm">
+    <inertial>
+      <mass value="2.4798"/>
+      <origin rpy="0 0 0" xyz="0.00015 0.08296 0.00037"/>
+      <inertia ixx="0.012731" ixy="0" ixz="0" iyy="0.002857" iyz="0" izz="0.011948"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://mesh/r_farm.obj"/>
+      </geometry>
+      <material name="dark_gray"/>
+    </visual>
+  </link>
+  <link name="r_uglut">
+    <inertial>
+      <mass value="1.959"/>
+      <origin rpy="0 0 0" xyz="0.00529262 0.00344732 0.00313046"/>
+      <inertia ixx="0.00074276" ixy="3.79607e-08" ixz="-2.79549e-05" iyy="0.000688179" iyz="3.2735e-08" izz="0.00041242"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://mesh/r_uglut.obj"/>
+      </geometry>
+      <material name="dark_gray"/>
+    </visual>
+  </link>
+  <link name="r_uleg">
+    <inertial>
+      <mass value="8.204"/>
+      <origin rpy="0 0 0" xyz="0 0 -0.21"/>
+      <inertia ixx="0.09" ixy="0" ixz="0" iyy="0.09" iyz="0" izz="0.02"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://mesh/r_uleg.obj"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+  </link>
+  <link name="utorso">
+    <inertial>
+      <mass value="84.409"/>
+      <origin rpy="0 0 0" xyz="-0.0622 0.0023 0.3157"/>
+      <inertia ixx="1.577" ixy="-0.032" ixz="0.102" iyy="1.602" iyz="0.047" izz="0.565"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://mesh/utorso.obj"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+  </link>
+  <joint name="back_bkx" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 0.05"/>
+    <axis xyz="1 0 0"/>
+    <parent link="mtorso"/>
+    <child link="utorso"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="300" lower="-0.523599" upper="0.523599" velocity="12"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10.5236" soft_upper_limit="10.5236"/>
+  </joint>
+  <joint name="back_bky" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 0.162"/>
+    <axis xyz="0 1 0"/>
+    <parent link="ltorso"/>
+    <child link="mtorso"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="445" lower="-0.219388" upper="0.538783" velocity="9"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10.2194" soft_upper_limit="10.5388"/>
+  </joint>
+  <joint name="back_bkz" type="revolute">
+    <origin rpy="0 0 0" xyz="-0.0125 0 0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="pelvis"/>
+    <child link="ltorso"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="106" lower="-0.663225" upper="0.663225" velocity="12"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10.6632" soft_upper_limit="10.6632"/>
+  </joint>
+  <joint name="l_arm_elx" type="revolute">
+    <origin rpy="0 0 0" xyz="0 -0.119 0.0092"/>
+    <axis xyz="-1.0 -0.0 -0.0"/>
+    <parent link="l_uarm"/>
+    <child link="l_larm"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="112" lower="0" upper="2.35619" velocity="12"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10" soft_upper_limit="12.3562"/>
+  </joint>
+  <joint name="l_arm_ely" type="revolute">
+    <origin rpy="0 0 0" xyz="0 -0.187 -0.016"/>
+    <axis xyz="-0.0 -1.0 -0.0"/>
+    <parent link="l_scap"/>
+    <child link="l_uarm"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="63" lower="0" upper="3.14159" velocity="12"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10" soft_upper_limit="13.1416"/>
+  </joint>
+  <joint name="l_arm_shx" type="revolute">
+    <origin rpy="0 0 0" xyz="0 -0.11 -0.245"/>
+    <axis xyz="-1.0 -0.0 -0.0"/>
+    <parent link="l_clav"/>
+    <child link="l_scap"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="99" lower="-1.5708" upper="1.5708" velocity="12"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-11.5708" soft_upper_limit="11.5708"/>
+  </joint>
+  <joint name="l_arm_shz" type="revolute">
+    <origin rpy="0 0 3.14159265359" xyz="0.1406 0.2256 0.4776"/>
+    <axis xyz="0 0 1"/>
+    <parent link="utorso"/>
+    <child link="l_clav"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="87" lower="-1.5708" upper="0.785398" velocity="12"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-11.5708" soft_upper_limit="10.7854"/>
+  </joint>
+  <joint name="l_arm_mwx" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <parent link="l_ufarm"/>
+    <child link="l_lfarm"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="25" lower="-1.7628" upper="1.7628" velocity="10"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-11.7628" soft_upper_limit="11.7628"/>
+  </joint>
+  <joint name="l_arm_uwy" type="revolute">
+    <origin rpy="0 3.14159265359 0" xyz="0 -0.29955 -0.00921"/>
+    <axis xyz="-0.0 -1.0 -0.0"/>
+    <parent link="l_larm"/>
+    <child link="l_ufarm"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="25" lower="-3.011" upper="3.011" velocity="10"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-13.011" soft_upper_limit="13.011"/>
+  </joint>
+  <joint name="l_arm_lwy" type="revolute">
+    <origin rpy="0 3.14159265359 0" xyz="0 0 0"/>
+    <axis xyz="-0.0 -1.0 -0.0"/>
+    <parent link="l_lfarm"/>
+    <child link="l_hand"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="25" lower="-2.9671" upper="2.9671" velocity="10"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-12.9671" soft_upper_limit="12.9671"/>
+  </joint>
+  <joint name="l_leg_akx" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <parent link="l_talus"/>
+    <child link="l_foot"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="360" lower="-0.8" upper="0.8" velocity="12"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10.8" soft_upper_limit="10.8"/>
+  </joint>
+  <joint name="l_leg_aky" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 -0.422"/>
+    <axis xyz="0 1 0"/>
+    <parent link="l_lleg"/>
+    <child link="l_talus"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="740" lower="-1" upper="0.7" velocity="12"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-11" soft_upper_limit="10.7"/>
+  </joint>
+  <joint name="l_leg_hpx" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <parent link="l_uglut"/>
+    <child link="l_lglut"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="530" lower="-0.523599" upper="0.523599" velocity="12"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10.5236" soft_upper_limit="10.5236"/>
+  </joint>
+  <joint name="l_leg_hpy" type="revolute">
+    <origin rpy="0 0 0" xyz="0.05 0.0225 -0.066"/>
+    <axis xyz="0 1 0"/>
+    <parent link="l_lglut"/>
+    <child link="l_uleg"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="840" lower="-1.61234" upper="0.65764" velocity="12"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-11.6123" soft_upper_limit="10.6576"/>
+  </joint>
+  <joint name="l_leg_hpz" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0.089 0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="pelvis"/>
+    <child link="l_uglut"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="275" lower="-0.174358" upper="0.786794" velocity="12"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10.1744" soft_upper_limit="10.7868"/>
+  </joint>
+  <joint name="l_leg_kny" type="revolute">
+    <origin rpy="0 0 0" xyz="-0.05 0 -0.374"/>
+    <axis xyz="0 1 0"/>
+    <parent link="l_uleg"/>
+    <child link="l_lleg"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="890" lower="0" upper="2.35637" velocity="12"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10" soft_upper_limit="12.3564"/>
+  </joint>
+  <joint name="neck_ay" type="fixed">
+    <origin rpy="0 0 0" xyz="0.2546 0 0.6215"/>
+    <axis xyz="0 1 0"/>
+    <parent link="utorso"/>
+    <child link="head"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="25" lower="-0.602139" upper="1.14319" velocity="6.28"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10.6021" soft_upper_limit="11.1432"/>
+  </joint>
+  <joint name="r_arm_elx" type="revolute">
+    <origin rpy="0 0 0" xyz="0 -0.119 0.0092"/>
+    <axis xyz="1 0 0"/>
+    <parent link="r_uarm"/>
+    <child link="r_larm"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="112" lower="-2.35619" upper="0" velocity="12"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-12.3562" soft_upper_limit="10"/>
+  </joint>
+  <joint name="r_arm_ely" type="revolute">
+    <origin rpy="0 0 0" xyz="0 -0.187 -0.016"/>
+    <axis xyz="0 1 0"/>
+    <parent link="r_scap"/>
+    <child link="r_uarm"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="63" lower="0" upper="3.14159" velocity="12"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10" soft_upper_limit="13.1416"/>
+  </joint>
+  <joint name="r_arm_shx" type="revolute">
+    <origin rpy="0 0 0" xyz="0 -0.11 -0.245"/>
+    <axis xyz="1 0 0"/>
+    <parent link="r_clav"/>
+    <child link="r_scap"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="99" lower="-1.5708" upper="1.5708" velocity="12"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-11.5708" soft_upper_limit="11.5708"/>
+  </joint>
+  <joint name="r_arm_shz" type="revolute">
+    <origin rpy="0 0 0" xyz="0.1406 -0.2256 0.4776"/>
+    <axis xyz="0 0 1"/>
+    <parent link="utorso"/>
+    <child link="r_clav"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="87" lower="-0.785398" upper="1.5708" velocity="12"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10.7854" soft_upper_limit="11.5708"/>
+  </joint>
+  <joint name="r_arm_mwx" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <parent link="r_ufarm"/>
+    <child link="r_lfarm"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="25" lower="-1.7628" upper="1.7628" velocity="10"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-11.7628" soft_upper_limit="11.7628"/>
+  </joint>
+  <joint name="r_arm_uwy" type="revolute">
+    <origin rpy="0 0 0" xyz="0 -0.29955 -0.00921"/>
+    <axis xyz="0 1 0"/>
+    <parent link="r_larm"/>
+    <child link="r_ufarm"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="25" lower="-3.011" upper="3.011" velocity="10"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-13.011" soft_upper_limit="13.011"/>
+  </joint>
+  <joint name="r_arm_lwy" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <axis xyz="0 1 0"/>
+    <parent link="r_lfarm"/>
+    <child link="r_hand"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="25" lower="-2.9671" upper="2.9671" velocity="10"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-12.9671" soft_upper_limit="12.9671"/>
+  </joint>
+  <joint name="r_leg_akx" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <parent link="r_talus"/>
+    <child link="r_foot"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="360" lower="-0.8" upper="0.8" velocity="12"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10.8" soft_upper_limit="10.8"/>
+  </joint>
+  <joint name="r_leg_aky" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 -0.422"/>
+    <axis xyz="0 1 0"/>
+    <parent link="r_lleg"/>
+    <child link="r_talus"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="740" lower="-1" upper="0.7" velocity="12"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-11" soft_upper_limit="10.7"/>
+  </joint>
+  <joint name="r_leg_hpx" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <parent link="r_uglut"/>
+    <child link="r_lglut"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="530" lower="-0.523599" upper="0.523599" velocity="12"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10.5236" soft_upper_limit="10.5236"/>
+  </joint>
+  <joint name="r_leg_hpy" type="revolute">
+    <origin rpy="0 0 0" xyz="0.05 -0.0225 -0.066"/>
+    <axis xyz="0 1 0"/>
+    <parent link="r_lglut"/>
+    <child link="r_uleg"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="840" lower="-1.61234" upper="0.65764" velocity="12"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-11.6123" soft_upper_limit="10.6576"/>
+  </joint>
+  <joint name="r_leg_hpz" type="revolute">
+    <origin rpy="0 0 0" xyz="0 -0.089 0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="pelvis"/>
+    <child link="r_uglut"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="275" lower="-0.786794" upper="0.174358" velocity="12"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10.7868" soft_upper_limit="10.1744"/>
+  </joint>
+  <joint name="r_leg_kny" type="revolute">
+    <origin rpy="0 0 0" xyz="-0.05 0 -0.374"/>
+    <axis xyz="0 1 0"/>
+    <parent link="r_uleg"/>
+    <child link="r_lleg"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="890" lower="0" upper="2.35637" velocity="12"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10" soft_upper_limit="12.3564"/>
+  </joint>
+  <link name="head">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.075493 3.3383E-05 0.02774"/>
+      <mass value="1.4199"/>
+      <inertia ixx="0.0039688" ixy="-1.5797E-06" ixz="-0.00089293" iyy="0.0041178" iyz="-6.8415E-07" izz="0.0035243"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://mesh/head.obj"/>
+      </geometry>
+      <material name="dark_gray"/>
+    </visual>
+  </link>
+
+  <!-- Own origin addition -->
+  <!-- <link name="base_link">	</link>
+  <joint name="toOrigin" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="base_link"/>
+    <child link="pelvis"/>
+  </joint> -->
+</robot>
diff --git a/examples/Atlas/urdf/atlas_arms_legs_only.urdf b/examples/Atlas/urdf/atlas_arms_legs_only.urdf
new file mode 100644
index 0000000..aee65a9
--- /dev/null
+++ b/examples/Atlas/urdf/atlas_arms_legs_only.urdf
@@ -0,0 +1,761 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from atlas_v5_convex_hull_open_hands.xacro | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="atlas" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <material name="dark_gray">
+    <color rgba="0.35 0.35 0.40 1"/>
+  </material>
+  <material name="white">
+    <color rgba="0.95 0.95 0.95 0.95"/>
+  </material>
+  <material name="orange">
+    <color rgba="0.9098 0.44314 0.031373 1"/>
+  </material>
+  <material name="metal">
+    <color rgba="0.8784 0.8745 0.8588 1"/>
+  </material>
+  <link name="l_clav">
+    <inertial>
+      <mass value="4.466"/>
+      <origin rpy="0 0 0" xyz="0 0 -0.084"/>
+      <inertia ixx="0.011" ixy="0" ixz="0" iyy="0.009" iyz="0.004" izz="0.004"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://mesh/r_clav.obj"/>
+      </geometry>
+      <material name="dark_gray"/>
+    </visual>
+  </link>
+  <link name="l_foot">
+    <inertial>
+      <mass value="2.410"/>
+      <origin rpy="0 0 0" xyz="0.027 0 -0.067"/>
+      <inertia ixx="0.002" ixy="0" ixz="0" iyy="0.007" iyz="0" izz="0.008"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://mesh/l_foot.obj"/>
+      </geometry>
+      <material name="dark_gray"/>
+    </visual>
+    <visual group="heel">
+      <origin rpy="0 0 0" xyz="-0.0876 0.066 -0.07645"/>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+    </visual>
+    <visual group="heel">
+      <origin rpy="0 0 0" xyz="-0.0876 -0.0626 -0.07645"/>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+    </visual>
+    <visual group="toe">
+      <origin rpy="0 0 0" xyz="0.1728 0.066 -0.07645"/>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+    </visual>
+    <visual group="toe">
+      <origin rpy="0 0 0" xyz="0.1728 -0.0626 -0.07645"/>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+    </visual>
+    <visual group="midfoot">
+      <origin rpy="0 0 0" xyz="-0.0426 0.066 -0.07645"/>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+    </visual>
+    <visual group="midfoot">
+      <origin rpy="0 0 0" xyz="-0.0426 -0.0626 -0.07645"/>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="l_hand">
+    <inertial>
+      <mass value="0.5839"/>
+      <origin rpy="0 0 0" xyz="0.00016 -0.08159 0.00002"/>
+      <inertia ixx="0.000388" ixy="0" ixz="0" iyy="0.000477" iyz="0" izz="0.000379"/>
+    </inertial>
+  </link>
+  <link name="l_larm">
+    <inertial>
+      <mass value="3.248"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.00265" ixy="0" ixz="0" iyy="0.00446" iyz="0" izz="0.00446"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://mesh/r_larm.obj"/>
+      </geometry>
+      <material name="dark_gray"/>
+    </visual>
+  </link>
+  <link name="l_lfarm">
+    <inertial>
+      <mass value="0.648"/>
+      <origin rpy="0 0 0" xyz="0.00017 -0.02515 0.00163"/>
+      <inertia ixx="0.000764" ixy="0" ixz="0" iyy="0.000429" iyz="0" izz="0.000825"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://mesh/r_hand.obj"/>
+      </geometry>
+      <material name="dark_gray"/>
+    </visual>
+  </link>
+  <link name="l_lglut">
+    <inertial>
+      <mass value="0.898"/>
+      <origin rpy="0 0 0" xyz="0.0133341 0.0170484 -0.0312052"/>
+      <inertia ixx="0.000691326" ixy="-2.24344e-05" ixz="2.50508e-06" iyy="0.00126856" iyz="0.000137862" izz="0.00106487"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://mesh/l_lglut.obj"/>
+      </geometry>
+      <material name="dark_gray"/>
+    </visual>
+  </link>
+  <link name="l_lleg">
+    <inertial>
+      <mass value="4.515"/>
+      <origin rpy="0 0 0" xyz="0.001 0 -0.187"/>
+      <inertia ixx="0.077" ixy="0" ixz="-0.003" iyy="0.076" iyz="0" izz="0.01"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://mesh/l_lleg.obj"/>
+      </geometry>
+      <material name="dark_gray"/>
+    </visual>
+  </link>
+  <link name="l_scap">
+    <inertial>
+      <mass value="3.899"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.00319" ixy="0" ixz="0" iyy="0.00583" iyz="0" izz="0.00583"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://mesh/r_scap.obj"/>
+      </geometry>
+      <material name="dark_gray"/>
+    </visual>
+  </link>
+  <link name="l_talus">
+    <inertial>
+      <mass value="0.125"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.01674e-05" ixy="0" ixz="0" iyy="8.42775e-06" iyz="0" izz="1.30101e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://mesh/l_talus.obj"/>
+      </geometry>
+      <material name="dark_gray"/>
+    </visual>
+  </link>
+  <link name="l_uarm">
+    <inertial>
+      <mass value="4.386"/>
+      <origin rpy="0 0 0" xyz="0 0.065 0"/>
+      <inertia ixx="0.00656" ixy="0" ixz="0" iyy="0.00358" iyz="0" izz="0.00656"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://mesh/r_uarm.obj"/>
+      </geometry>
+      <material name="dark_gray"/>
+    </visual>
+  </link>
+  <link name="l_ufarm">
+    <inertial>
+      <mass value="2.4798"/>
+      <origin rpy="0 0 0" xyz="0.00015 0.08296 0.00037"/>
+      <inertia ixx="0.012731" ixy="0" ixz="0" iyy="0.002857" iyz="0" izz="0.011948"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://mesh/r_farm.obj"/>
+      </geometry>
+      <material name="dark_gray"/>
+    </visual>
+  </link>
+  <link name="l_uglut">
+    <inertial>
+      <mass value="1.959"/>
+      <origin rpy="0 0 0" xyz="0.00529262 -0.00344732 0.00313046"/>
+      <inertia ixx="0.00074276" ixy="-3.79607e-08" ixz="-2.79549e-05" iyy="0.000688179" iyz="-3.2735e-08" izz="0.00041242"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://mesh/l_uglut.obj"/>
+      </geometry>
+      <material name="dark_gray"/>
+    </visual>
+  </link>
+  <link name="l_uleg">
+    <inertial>
+      <mass value="8.204"/>
+      <origin rpy="0 0 0" xyz="0 0 -0.21"/>
+      <inertia ixx="0.09" ixy="0" ixz="0" iyy="0.09" iyz="0" izz="0.02"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://mesh/l_uleg.obj"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+  </link>
+  <link name="ltorso">
+    <inertial>
+      <mass value="2.270"/>
+      <origin rpy="0 0 0" xyz="-0.0112984 -3.15366e-06 0.0746835"/>
+      <inertia ixx="0.0039092" ixy="-5.04491e-08" ixz="-0.000342157" iyy="0.00341694" iyz="4.87119e-07" izz="0.00174492"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://mesh/ltorso.obj"/>
+      </geometry>
+      <material name="dark_gray"/>
+    </visual>
+  </link>
+  <link name="mtorso">
+    <inertial>
+      <mass value="0.799"/>
+      <origin rpy="0 0 0" xyz="-0.00816266 -0.0131245 0.0305974"/>
+      <inertia ixx="0.000454181" ixy="-6.10764e-05" ixz="3.94009e-05" iyy="0.000483282" iyz="5.27463e-05" izz="0.000444215"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://mesh/mtorso.obj"/>
+      </geometry>
+      <material name="dark_gray"/>
+    </visual>
+  </link>
+  <link name="pelvis">
+    <inertial>
+      <mass value="9.509"/>
+      <origin rpy="0 0 0" xyz="0.0111 0 0.0271"/>
+      <inertia ixx="0.1244" ixy="0.0008" ixz="-0.0007" iyy="0.0958" iyz="-0.0005" izz="0.1167"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://mesh/pelvis.obj"/>
+      </geometry>
+      <material name="metal"/>
+    </visual>
+  </link>
+  <link name="r_clav">
+    <inertial>
+      <mass value="4.466"/>
+      <origin rpy="0 0 0" xyz="0 0 -0.084"/>
+      <inertia ixx="0.011" ixy="0" ixz="0" iyy="0.009" iyz="0.004" izz="0.004"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://mesh/r_clav.obj"/>
+      </geometry>
+      <material name="dark_gray"/>
+    </visual>
+  </link>
+  <link name="r_foot">
+    <inertial>
+      <mass value="2.41"/>
+      <origin rpy="0 0 0" xyz="0.027 0 -0.067"/>
+      <inertia ixx="0.002" ixy="0" ixz="0" iyy="0.007" iyz="0" izz="0.008"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://mesh/r_foot.obj"/>
+      </geometry>
+      <material name="dark_gray"/>
+    </visual>
+    <visual group="heel">
+      <origin rpy="0 0 0" xyz="-0.0876 0.0626 -0.07645"/>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+    </visual>
+    <visual group="heel">
+      <origin rpy="0 0 0" xyz="-0.0876 -0.066 -0.07645"/>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+    </visual>
+    <visual group="toe">
+      <origin rpy="0 0 0" xyz="0.1728 0.0626 -0.07645"/>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+    </visual>
+    <visual group="toe">
+      <origin rpy="0 0 0" xyz="0.1728 -0.066 -0.07645"/>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+    </visual>
+    <visual group="midfoot">
+      <origin rpy="0 0 0" xyz="0.0426 0.0626 -0.07645"/>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+    </visual>
+    <visual group="midfoot">
+      <origin rpy="0 0 0" xyz="0.0426 -0.066 -0.07645"/>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="r_hand">
+    <inertial>
+      <mass value="0.5839"/>
+      <origin rpy="0 0 0" xyz="0.00016 -0.08159 0.00002"/>
+      <inertia ixx="0.000388" ixy="0" ixz="0" iyy="0.000477" iyz="0" izz="0.000379"/>
+    </inertial>
+  </link>
+  <link name="r_larm">
+    <inertial>
+      <mass value="3.248"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.00265" ixy="0" ixz="0" iyy="0.00446" iyz="0" izz="0.00446"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://mesh/r_larm.obj"/>
+      </geometry>
+      <material name="dark_gray"/>
+    </visual>
+  </link>
+  <link name="r_lfarm">
+    <inertial>
+      <mass value="0.648"/>
+      <origin rpy="0 0 0" xyz="0.00017 -0.02515 0.00163"/>
+      <inertia ixx="0.000764" ixy="0" ixz="0" iyy="0.000429" iyz="0" izz="0.000825"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://mesh/r_hand.obj"/>
+      </geometry>
+      <material name="dark_gray"/>
+    </visual>
+  </link>
+  <link name="r_lglut">
+    <inertial>
+      <mass value="0.898"/>
+      <origin rpy="0 0 0" xyz="0.0133341 -0.0170484 -0.0312052"/>
+      <inertia ixx="0.000691326" ixy="2.24344e-05" ixz="2.50508e-06" iyy="0.00126856" iyz="-0.000137862" izz="0.00106487"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://mesh/r_lglut.obj"/>
+      </geometry>
+      <material name="dark_gray"/>
+    </visual>
+  </link>
+  <link name="r_lleg">
+    <inertial>
+      <mass value="4.515"/>
+      <origin rpy="0 0 0" xyz="0.001 0 -0.187"/>
+      <inertia ixx="0.077" ixy="-0" ixz="-0.003" iyy="0.076" iyz="-0" izz="0.01"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://mesh/r_lleg.obj"/>
+      </geometry>
+      <material name="dark_gray"/>
+    </visual>
+  </link>
+  <link name="r_scap">
+    <inertial>
+      <mass value="3.899"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.00319" ixy="0" ixz="0" iyy="0.00583" iyz="0" izz="0.00583"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://mesh/r_scap.obj"/>
+      </geometry>
+      <material name="dark_gray"/>
+    </visual>
+  </link>
+  <link name="r_talus">
+    <inertial>
+      <mass value="0.125"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.01674e-05" ixy="0" ixz="0" iyy="8.42775e-06" iyz="0" izz="1.30101e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://mesh/r_talus.obj"/>
+      </geometry>
+      <material name="dark_gray"/>
+    </visual>
+  </link>
+  <link name="r_uarm">
+    <inertial>
+      <mass value="4.386"/>
+      <origin rpy="0 0 0" xyz="0 0.065 0"/>
+      <inertia ixx="0.00656" ixy="0" ixz="0" iyy="0.00358" iyz="0" izz="0.00656"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://mesh/r_uarm.obj"/>
+      </geometry>
+      <material name="dark_gray"/>
+    </visual>
+  </link>
+  <link name="r_ufarm">
+    <inertial>
+      <mass value="2.4798"/>
+      <origin rpy="0 0 0" xyz="0.00015 0.08296 0.00037"/>
+      <inertia ixx="0.012731" ixy="0" ixz="0" iyy="0.002857" iyz="0" izz="0.011948"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://mesh/r_farm.obj"/>
+      </geometry>
+      <material name="dark_gray"/>
+    </visual>
+  </link>
+  <link name="r_uglut">
+    <inertial>
+      <mass value="1.959"/>
+      <origin rpy="0 0 0" xyz="0.00529262 0.00344732 0.00313046"/>
+      <inertia ixx="0.00074276" ixy="3.79607e-08" ixz="-2.79549e-05" iyy="0.000688179" iyz="3.2735e-08" izz="0.00041242"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://mesh/r_uglut.obj"/>
+      </geometry>
+      <material name="dark_gray"/>
+    </visual>
+  </link>
+  <link name="r_uleg">
+    <inertial>
+      <mass value="8.204"/>
+      <origin rpy="0 0 0" xyz="0 0 -0.21"/>
+      <inertia ixx="0.09" ixy="0" ixz="0" iyy="0.09" iyz="0" izz="0.02"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://mesh/r_uleg.obj"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+  </link>
+  <link name="utorso">
+    <inertial>
+      <mass value="84.409"/>
+      <origin rpy="0 0 0" xyz="-0.0622 0.0023 0.3157"/>
+      <inertia ixx="1.577" ixy="-0.032" ixz="0.102" iyy="1.602" iyz="0.047" izz="0.565"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://mesh/utorso.obj"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+  </link>
+  <joint name="back_bkx" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0.05"/>
+    <axis xyz="1 0 0"/>
+    <parent link="mtorso"/>
+    <child link="utorso"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="300" lower="-0.523599" upper="0.523599" velocity="12"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10.5236" soft_upper_limit="10.5236"/>
+  </joint>
+  <joint name="back_bky" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0.162"/>
+    <axis xyz="0 1 0"/>
+    <parent link="ltorso"/>
+    <child link="mtorso"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="445" lower="-0.219388" upper="0.538783" velocity="9"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10.2194" soft_upper_limit="10.5388"/>
+  </joint>
+  <joint name="back_bkz" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.0125 0 0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="pelvis"/>
+    <child link="ltorso"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="106" lower="-0.663225" upper="0.663225" velocity="12"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10.6632" soft_upper_limit="10.6632"/>
+  </joint>
+  <joint name="l_arm_elx" type="revolute">
+    <origin rpy="0 0 0" xyz="0 -0.119 0.0092"/>
+    <axis xyz="-1.0 -0.0 -0.0"/>
+    <parent link="l_uarm"/>
+    <child link="l_larm"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="112" lower="0" upper="2.35619" velocity="12"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10" soft_upper_limit="12.3562"/>
+  </joint>
+  <joint name="l_arm_ely" type="revolute">
+    <origin rpy="0 0 0" xyz="0 -0.187 -0.016"/>
+    <axis xyz="-0.0 -1.0 -0.0"/>
+    <parent link="l_scap"/>
+    <child link="l_uarm"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="63" lower="0" upper="3.14159" velocity="12"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10" soft_upper_limit="13.1416"/>
+  </joint>
+  <joint name="l_arm_shx" type="revolute">
+    <origin rpy="0 0 0" xyz="0 -0.11 -0.245"/>
+    <axis xyz="-1.0 -0.0 -0.0"/>
+    <parent link="l_clav"/>
+    <child link="l_scap"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="99" lower="-1.5708" upper="1.5708" velocity="12"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-11.5708" soft_upper_limit="11.5708"/>
+  </joint>
+  <joint name="l_arm_shz" type="revolute">
+    <origin rpy="0 0 3.14159265359" xyz="0.1406 0.2256 0.4776"/>
+    <axis xyz="0 0 1"/>
+    <parent link="utorso"/>
+    <child link="l_clav"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="87" lower="-1.5708" upper="0.785398" velocity="12"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-11.5708" soft_upper_limit="10.7854"/>
+  </joint>
+  <joint name="l_arm_mwx" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <parent link="l_ufarm"/>
+    <child link="l_lfarm"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="25" lower="-1.7628" upper="1.7628" velocity="10"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-11.7628" soft_upper_limit="11.7628"/>
+  </joint>
+  <joint name="l_arm_uwy" type="revolute">
+    <origin rpy="0 3.14159265359 0" xyz="0 -0.29955 -0.00921"/>
+    <axis xyz="-0.0 -1.0 -0.0"/>
+    <parent link="l_larm"/>
+    <child link="l_ufarm"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="25" lower="-3.011" upper="3.011" velocity="10"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-13.011" soft_upper_limit="13.011"/>
+  </joint>
+  <joint name="l_arm_lwy" type="revolute">
+    <origin rpy="0 3.14159265359 0" xyz="0 0 0"/>
+    <axis xyz="-0.0 -1.0 -0.0"/>
+    <parent link="l_lfarm"/>
+    <child link="l_hand"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="25" lower="-2.9671" upper="2.9671" velocity="10"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-12.9671" soft_upper_limit="12.9671"/>
+  </joint>
+  <joint name="l_leg_akx" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <parent link="l_talus"/>
+    <child link="l_foot"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="360" lower="-0.8" upper="0.8" velocity="12"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10.8" soft_upper_limit="10.8"/>
+  </joint>
+  <joint name="l_leg_aky" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 -0.422"/>
+    <axis xyz="0 1 0"/>
+    <parent link="l_lleg"/>
+    <child link="l_talus"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="740" lower="-1" upper="0.7" velocity="12"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-11" soft_upper_limit="10.7"/>
+  </joint>
+  <joint name="l_leg_hpx" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <parent link="l_uglut"/>
+    <child link="l_lglut"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="530" lower="-0.523599" upper="0.523599" velocity="12"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10.5236" soft_upper_limit="10.5236"/>
+  </joint>
+  <joint name="l_leg_hpy" type="revolute">
+    <origin rpy="0 0 0" xyz="0.05 0.0225 -0.066"/>
+    <axis xyz="0 1 0"/>
+    <parent link="l_lglut"/>
+    <child link="l_uleg"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="840" lower="-1.61234" upper="0.65764" velocity="12"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-11.6123" soft_upper_limit="10.6576"/>
+  </joint>
+  <joint name="l_leg_hpz" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0.089 0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="pelvis"/>
+    <child link="l_uglut"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="275" lower="-0.174358" upper="0.786794" velocity="12"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10.1744" soft_upper_limit="10.7868"/>
+  </joint>
+  <joint name="l_leg_kny" type="revolute">
+    <origin rpy="0 0 0" xyz="-0.05 0 -0.374"/>
+    <axis xyz="0 1 0"/>
+    <parent link="l_uleg"/>
+    <child link="l_lleg"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="890" lower="0" upper="2.35637" velocity="12"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10" soft_upper_limit="12.3564"/>
+  </joint>
+  <joint name="neck_ay" type="fixed">
+    <origin rpy="0 0 0" xyz="0.2546 0 0.6215"/>
+    <axis xyz="0 1 0"/>
+    <parent link="utorso"/>
+    <child link="head"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="25" lower="-0.602139" upper="1.14319" velocity="6.28"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10.6021" soft_upper_limit="11.1432"/>
+  </joint>
+  <joint name="r_arm_elx" type="revolute">
+    <origin rpy="0 0 0" xyz="0 -0.119 0.0092"/>
+    <axis xyz="1 0 0"/>
+    <parent link="r_uarm"/>
+    <child link="r_larm"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="112" lower="-2.35619" upper="0" velocity="12"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-12.3562" soft_upper_limit="10"/>
+  </joint>
+  <joint name="r_arm_ely" type="revolute">
+    <origin rpy="0 0 0" xyz="0 -0.187 -0.016"/>
+    <axis xyz="0 1 0"/>
+    <parent link="r_scap"/>
+    <child link="r_uarm"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="63" lower="0" upper="3.14159" velocity="12"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10" soft_upper_limit="13.1416"/>
+  </joint>
+  <joint name="r_arm_shx" type="revolute">
+    <origin rpy="0 0 0" xyz="0 -0.11 -0.245"/>
+    <axis xyz="1 0 0"/>
+    <parent link="r_clav"/>
+    <child link="r_scap"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="99" lower="-1.5708" upper="1.5708" velocity="12"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-11.5708" soft_upper_limit="11.5708"/>
+  </joint>
+  <joint name="r_arm_shz" type="revolute">
+    <origin rpy="0 0 0" xyz="0.1406 -0.2256 0.4776"/>
+    <axis xyz="0 0 1"/>
+    <parent link="utorso"/>
+    <child link="r_clav"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="87" lower="-0.785398" upper="1.5708" velocity="12"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10.7854" soft_upper_limit="11.5708"/>
+  </joint>
+  <joint name="r_arm_mwx" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <parent link="r_ufarm"/>
+    <child link="r_lfarm"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="25" lower="-1.7628" upper="1.7628" velocity="10"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-11.7628" soft_upper_limit="11.7628"/>
+  </joint>
+  <joint name="r_arm_uwy" type="revolute">
+    <origin rpy="0 0 0" xyz="0 -0.29955 -0.00921"/>
+    <axis xyz="0 1 0"/>
+    <parent link="r_larm"/>
+    <child link="r_ufarm"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="25" lower="-3.011" upper="3.011" velocity="10"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-13.011" soft_upper_limit="13.011"/>
+  </joint>
+  <joint name="r_arm_lwy" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <axis xyz="0 1 0"/>
+    <parent link="r_lfarm"/>
+    <child link="r_hand"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="25" lower="-2.9671" upper="2.9671" velocity="10"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-12.9671" soft_upper_limit="12.9671"/>
+  </joint>
+  <joint name="r_leg_akx" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <parent link="r_talus"/>
+    <child link="r_foot"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="360" lower="-0.8" upper="0.8" velocity="12"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10.8" soft_upper_limit="10.8"/>
+  </joint>
+  <joint name="r_leg_aky" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 -0.422"/>
+    <axis xyz="0 1 0"/>
+    <parent link="r_lleg"/>
+    <child link="r_talus"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="740" lower="-1" upper="0.7" velocity="12"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-11" soft_upper_limit="10.7"/>
+  </joint>
+  <joint name="r_leg_hpx" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <parent link="r_uglut"/>
+    <child link="r_lglut"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="530" lower="-0.523599" upper="0.523599" velocity="12"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10.5236" soft_upper_limit="10.5236"/>
+  </joint>
+  <joint name="r_leg_hpy" type="revolute">
+    <origin rpy="0 0 0" xyz="0.05 -0.0225 -0.066"/>
+    <axis xyz="0 1 0"/>
+    <parent link="r_lglut"/>
+    <child link="r_uleg"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="840" lower="-1.61234" upper="0.65764" velocity="12"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-11.6123" soft_upper_limit="10.6576"/>
+  </joint>
+  <joint name="r_leg_hpz" type="revolute">
+    <origin rpy="0 0 0" xyz="0 -0.089 0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="pelvis"/>
+    <child link="r_uglut"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="275" lower="-0.786794" upper="0.174358" velocity="12"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10.7868" soft_upper_limit="10.1744"/>
+  </joint>
+  <joint name="r_leg_kny" type="revolute">
+    <origin rpy="0 0 0" xyz="-0.05 0 -0.374"/>
+    <axis xyz="0 1 0"/>
+    <parent link="r_uleg"/>
+    <child link="r_lleg"/>
+    <dynamics damping="0.1" friction="0"/>
+    <limit effort="890" lower="0" upper="2.35637" velocity="12"/>
+    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10" soft_upper_limit="12.3564"/>
+  </joint>
+  <link name="head">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.075493 3.3383E-05 0.02774"/>
+      <mass value="1.4199"/>
+      <inertia ixx="0.0039688" ixy="-1.5797E-06" ixz="-0.00089293" iyy="0.0041178" iyz="-6.8415E-07" izz="0.0035243"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://mesh/head.obj"/>
+      </geometry>
+      <material name="dark_gray"/>
+    </visual>
+  </link>
+
+  <!-- Own origin addition -->
+  <!-- <link name="base_link">	</link>
+  <joint name="toOrigin" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="base_link"/>
+    <child link="pelvis"/>
+  </joint> -->
+</robot>
diff --git a/examples/Atlas/urdf/mesh/GRIPPER_OPEN_chull.obj b/examples/Atlas/urdf/mesh/GRIPPER_OPEN_chull.obj
new file mode 100644
index 0000000..afb2832
--- /dev/null
+++ b/examples/Atlas/urdf/mesh/GRIPPER_OPEN_chull.obj
@@ -0,0 +1,60 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object GRIPPER_OPEN_chull.obj
+#
+# Vertices: 12
+# Faces: 20
+#
+####
+vn 0.786797 -0.050764 0.615120
+v -0.059683 0.006619 -0.157520
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+vn -0.041855 -0.734235 -0.677604
+v -0.091363 0.047651 0.059568
+vn 0.353793 0.857416 0.373723
+v -0.035825 -0.060884 -0.145542
+vn -0.281046 0.957985 -0.057255
+v 0.046467 -0.063704 -0.096671
+vn -0.804412 -0.583963 -0.109122
+v 0.121674 0.009207 0.054709
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+v 0.047817 0.041121 -0.153120
+vn -0.694394 0.279935 0.662913
+v 0.050376 -0.029320 -0.156672
+# 12 vertices, 0 vertices normals
+
+f 2//2 3//3 1//1
+f 4//4 10//10 2//2
+f 6//6 3//3 7//7
+f 2//2 10//10 5//5
+f 2//2 1//1 4//4
+f 3//3 6//6 1//1
+f 7//7 3//3 9//9
+f 9//9 3//3 5//5
+f 10//10 8//8 5//5
+f 9//9 8//8 7//7
+f 11//11 8//8 10//10
+f 8//8 9//9 5//5
+f 7//7 8//8 12//12
+f 4//4 11//11 10//10
+f 5//5 3//3 2//2
+f 12//12 8//8 11//11
+f 4//4 1//1 11//11
+f 12//12 6//6 7//7
+f 1//1 6//6 12//12
+f 1//1 12//12 11//11
+# 20 faces, 0 coords texture
+
+# End of File
\ No newline at end of file
diff --git a/examples/Atlas/urdf/mesh/head.obj b/examples/Atlas/urdf/mesh/head.obj
new file mode 100644
index 0000000..d8309a6
--- /dev/null
+++ b/examples/Atlas/urdf/mesh/head.obj
@@ -0,0 +1,4589 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object head.obj
+#
+# Vertices: 1737
+# Faces: 1099
+#
+####
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diff --git a/examples/Atlas/urdf/mesh/head_camera.obj b/examples/Atlas/urdf/mesh/head_camera.obj
new file mode 100644
index 0000000..6c083e4
--- /dev/null
+++ b/examples/Atlas/urdf/mesh/head_camera.obj
@@ -0,0 +1,1232 @@
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+v -0.045043 0.034013 0.096018
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+v -0.043443 0.035013 0.096418
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+v -0.044043 0.016913 0.113818
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+v -0.045043 0.038013 0.097618
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+v -0.045443 0.039413 0.080318
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+v -0.045443 0.039413 0.080318
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+v -0.045443 0.037313 0.080518
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+v -0.046643 0.037013 0.097218
+vn -0.555492 -0.816098 -0.159415
+v -0.045443 0.037313 0.080518
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+v -0.045043 0.034013 0.096018
+vn -0.551631 -0.818590 -0.160045
+v -0.046643 0.035013 0.096418
+vn -0.559342 -0.813588 -0.158781
+v -0.043843 0.036213 0.080518
+vn 0.553716 -0.829183 -0.076510
+v -0.043843 0.036213 0.080518
+vn 0.553716 -0.829183 -0.076510
+v -0.043443 0.035013 0.096418
+vn 0.542170 -0.836753 -0.076791
+v -0.045043 0.034013 0.096018
+vn 0.564880 -0.821645 -0.076222
+v -0.042243 0.037313 0.080518
+vn 0.997387 -0.010461 0.071481
+v -0.042243 0.037313 0.080518
+vn 0.997396 0.006837 0.071792
+v -0.042243 0.039413 0.080318
+vn 0.997387 -0.010461 0.071481
+v -0.043443 0.037013 0.097218
+vn 0.997061 -0.028454 0.071134
+v -0.043443 0.035013 0.096418
+vn 0.559651 0.814039 0.155342
+v -0.042243 0.039413 0.080318
+vn 0.555495 0.816755 0.156003
+v -0.043843 0.040513 0.080318
+vn 0.555495 0.816755 0.156003
+v -0.043443 0.037013 0.097218
+vn 0.551322 0.819452 0.156660
+v -0.045043 0.038013 0.097618
+vn -0.569729 0.717350 -0.401020
+v -0.044343 0.032013 0.065518
+vn -0.569729 0.717350 -0.401020
+v -0.045843 0.031213 0.066218
+vn -0.569729 0.717350 -0.401020
+v -0.045443 0.039413 0.080318
+vn -0.515831 0.750298 -0.413488
+v -0.043843 0.040513 0.080318
+vn -0.515831 0.750298 -0.413488
+v -0.044343 0.032013 0.065518
+vn -0.999669 0.010742 0.023381
+v -0.045843 0.031213 0.066218
+vn -0.999669 0.010742 0.023381
+v -0.045443 0.037313 0.080518
+vn -0.999636 0.002559 0.026870
+v -0.045443 0.039413 0.080318
+vn -0.999625 0.018726 0.019974
+v -0.045843 0.029613 0.067718
+vn -0.548261 -0.705331 0.449352
+v -0.045843 0.029613 0.067718
+vn -0.593907 -0.673505 0.440074
+v -0.044343 0.028813 0.068518
+vn -0.548261 -0.705331 0.449352
+v -0.043843 0.036213 0.080518
+vn -0.503986 -0.733069 0.456736
+v -0.045443 0.037313 0.080518
+vn 0.538514 -0.729177 0.422260
+v -0.044343 0.028813 0.068518
+vn 0.563504 -0.717436 0.409571
+v -0.042743 0.029613 0.067718
+vn 0.538514 -0.729177 0.422260
+v -0.042243 0.037313 0.080518
+vn 0.509829 -0.741570 0.436059
+v -0.043843 0.036213 0.080518
+vn 0.999414 -0.023402 -0.024962
+v -0.042743 0.029613 0.067718
+vn 0.999483 -0.013425 -0.029220
+v -0.042743 0.031213 0.066218
+vn 0.999483 -0.013425 -0.029220
+v -0.042243 0.037313 0.080518
+vn 0.999431 -0.003198 -0.033581
+v -0.042243 0.039413 0.080318
+vn 0.547250 0.717668 -0.430662
+v -0.042743 0.031213 0.066218
+vn 0.547250 0.717668 -0.430662
+v -0.044343 0.032013 0.065518
+vn 0.547250 0.717668 -0.430662
+v -0.043843 0.040513 0.080318
+vn 0.506856 0.737246 -0.446727
+v -0.043843 0.040513 0.080318
+vn 0.506856 0.737246 -0.446727
+v -0.042243 0.039413 0.080318
+vn 0.506856 0.737246 -0.446727
+v -0.042743 0.031213 0.066218
+vn -0.975117 0.176101 0.134666
+v -0.048843 0.020113 0.058418
+vn -0.973370 0.202859 0.106768
+v -0.048843 0.019113 0.060318
+vn -0.975117 0.176101 0.134666
+v -0.045843 0.029613 0.067718
+vn -0.975428 0.150684 0.160730
+v -0.045843 0.031213 0.066218
+vn -0.572750 -0.356558 0.738122
+v -0.048843 0.019113 0.060318
+vn -0.576286 -0.354954 0.736140
+v -0.047243 0.018613 0.061318
+vn -0.576286 -0.354954 0.736140
+v -0.045843 0.029613 0.067718
+vn -0.579928 -0.353291 0.734077
+v -0.044343 0.028813 0.068518
+vn 0.578043 -0.573854 0.580137
+v -0.047243 0.018613 0.061318
+vn 0.577687 -0.573989 0.580357
+v -0.045743 0.019113 0.060318
+vn 0.577687 -0.573989 0.580357
+v -0.044343 0.028813 0.068518
+vn 0.577344 -0.574119 0.580570
+v -0.042743 0.029613 0.067718
+vn 0.975117 -0.176101 -0.134666
+v -0.045743 0.019113 0.060318
+vn 0.976035 -0.192572 -0.101353
+v -0.045743 0.020113 0.058418
+vn 0.975117 -0.176101 -0.134666
+v -0.042743 0.031213 0.066218
+vn 0.972723 -0.158653 -0.169231
+v -0.042743 0.029613 0.067718
+vn 0.000000 0.950853 0.309644
+v -0.065743 0.049013 0.123218
+vn -0.583241 -0.297541 -0.755843
+v -0.049543 -0.016487 0.128818
+vn -0.515831 0.750298 -0.413488
+v -0.045443 0.039413 0.080318
+# 480 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 1//1 4//4 2//2
+f 5//5 6//6 7//7
+f 5//5 8//8 6//6
+f 9//9 10//10 11//11
+f 9//9 12//12 10//10
+f 13//13 14//14 15//15
+f 13//13 16//16 14//14
+f 17//17 18//18 19//19
+f 17//17 20//20 18//18
+f 21//21 22//22 23//23
+f 21//21 24//24 22//22
+f 25//25 24//24 21//21
+f 25//25 26//26 24//24
+f 27//27 26//26 25//25
+f 27//27 28//28 26//26
+f 29//29 30//30 31//31
+f 29//29 32//32 30//30
+f 33//33 32//32 29//29
+f 33//33 34//34 32//32
+f 35//35 34//34 33//33
+f 35//35 36//36 34//34
+f 37//37 38//38 39//39
+f 37//37 40//40 38//38
+f 41//41 42//42 43//43
+f 41//41 44//44 42//42
+f 45//45 46//46 47//47
+f 45//45 48//48 46//46
+f 49//49 50//50 51//51
+f 49//49 52//52 50//50
+f 53//53 54//54 55//55
+f 53//53 56//56 54//54
+f 57//57 58//58 59//59
+f 57//57 60//60 58//58
+f 61//61 62//62 63//63
+f 61//61 64//64 62//62
+f 65//65 66//66 67//67
+f 65//65 68//68 66//66
+f 69//69 70//70 71//71
+f 69//69 72//72 70//70
+f 73//73 71//71 74//74
+f 73//73 69//69 71//71
+f 75//75 76//76 77//77
+f 75//75 78//78 76//76
+f 79//79 77//77 80//80
+f 79//79 75//75 77//77
+f 81//81 80//80 82//82
+f 81//81 79//79 80//80
+f 72//72 82//82 70//70
+f 72//72 81//81 82//82
+f 83//83 84//84 85//85
+f 83//83 86//86 84//84
+f 86//86 478//478 84//84
+f 86//86 87//87 478//478
+f 88//88 89//89 90//90
+f 88//88 91//91 89//89
+f 92//92 93//93 94//94
+f 92//92 95//95 93//93
+f 96//96 97//97 98//98
+f 96//96 99//99 97//97
+f 100//100 101//101 102//102
+f 100//100 103//103 101//101
+f 104//104 105//105 106//106
+f 104//104 107//107 105//105
+f 108//108 109//109 110//110
+f 108//108 111//111 109//109
+f 112//112 113//113 114//114
+f 112//112 115//115 113//113
+f 116//116 117//117 118//118
+f 116//116 119//119 117//117
+f 120//120 121//121 122//122
+f 120//120 123//123 121//121
+f 124//124 125//125 126//126
+f 124//124 127//127 125//125
+f 128//128 127//127 124//124
+f 128//128 129//129 127//127
+f 130//130 129//129 128//128
+f 130//130 131//131 129//129
+f 132//132 131//131 130//130
+f 132//132 133//133 131//131
+f 134//134 135//135 136//136
+f 134//134 137//137 135//135
+f 138//138 136//136 139//139
+f 138//138 134//134 136//136
+f 140//140 139//139 141//141
+f 140//140 138//138 139//139
+f 142//142 141//141 143//143
+f 142//142 140//140 141//141
+f 144//144 143//143 145//145
+f 144//144 142//142 143//143
+f 146//146 145//145 147//147
+f 146//146 144//144 145//145
+f 148//148 149//149 150//150
+f 150//150 151//151 148//148
+f 152//152 153//153 154//154
+f 154//154 155//155 152//152
+f 156//156 157//157 158//158
+f 158//158 159//159 156//156
+f 160//160 161//161 162//162
+f 162//162 163//163 160//160
+f 164//164 165//165 166//166
+f 166//166 167//167 164//164
+f 168//168 169//169 170//170
+f 170//170 171//171 168//168
+f 172//172 173//173 174//174
+f 172//172 175//175 173//173
+f 176//176 177//177 178//178
+f 176//176 179//179 177//177
+f 180//180 181//181 182//182
+f 180//180 183//183 181//181
+f 184//184 185//185 186//186
+f 184//184 187//187 185//185
+f 188//188 189//189 190//190
+f 188//188 191//191 189//189
+f 192//192 193//193 194//194
+f 195//195 193//193 192//192
+f 195//195 196//196 193//193
+f 195//195 192//192 197//197
+f 198//198 199//199 200//200
+f 200//200 201//201 198//198
+f 202//202 203//203 204//204
+f 204//204 205//205 202//202
+f 206//206 207//207 208//208
+f 209//209 207//207 206//206
+f 209//209 210//210 207//207
+f 209//209 206//206 211//211
+f 212//212 213//213 214//214
+f 212//212 215//215 213//213
+f 216//216 217//217 218//218
+f 218//218 219//219 216//216
+f 220//220 221//221 222//222
+f 222//222 223//223 220//220
+f 224//224 225//225 226//226
+f 224//224 227//227 225//225
+f 228//228 229//229 230//230
+f 228//228 231//231 229//229
+f 232//232 233//233 234//234
+f 234//234 235//235 232//232
+f 236//236 237//237 238//238
+f 238//238 239//239 236//236
+f 240//240 241//241 242//242
+f 240//240 243//243 241//241
+f 244//244 245//245 246//246
+f 244//244 247//247 245//245
+f 248//248 249//249 250//250
+f 248//248 251//251 249//249
+f 252//252 253//253 254//254
+f 252//252 255//255 253//253
+f 256//256 257//257 258//258
+f 256//256 259//259 257//257
+f 260//260 261//261 262//262
+f 260//260 263//263 261//261
+f 264//264 265//265 266//266
+f 266//266 267//267 264//264
+f 268//268 269//269 270//270
+f 270//270 271//271 268//268
+f 272//272 273//273 274//274
+f 274//274 275//275 272//272
+f 276//276 277//277 278//278
+f 278//278 279//279 276//276
+f 280//280 281//281 282//282
+f 282//282 283//283 280//280
+f 284//284 285//285 286//286
+f 286//286 287//287 284//284
+f 288//288 289//289 290//290
+f 290//290 291//291 288//288
+f 292//292 293//293 294//294
+f 292//292 295//295 293//293
+f 296//296 297//297 298//298
+f 296//296 299//299 297//297
+f 300//300 301//301 302//302
+f 300//300 303//303 301//301
+f 304//304 305//305 306//306
+f 304//304 307//307 305//305
+f 308//308 309//309 310//310
+f 310//310 311//311 308//308
+f 312//312 313//313 314//314
+f 315//315 316//316 317//317
+f 318//318 319//319 320//320
+f 320//320 321//321 318//318
+f 322//322 323//323 324//324
+f 322//322 325//325 323//323
+f 326//326 327//327 328//328
+f 328//328 329//329 326//326
+f 330//330 331//331 332//332
+f 332//332 333//333 330//330
+f 334//334 335//335 336//336
+f 336//336 337//337 334//334
+f 338//338 339//339 340//340
+f 338//338 341//341 339//339
+f 342//342 343//343 344//344
+f 344//344 345//345 342//342
+f 346//346 347//347 348//348
+f 346//346 349//349 347//347
+f 350//350 351//351 352//352
+f 350//350 353//353 351//351
+f 354//354 355//355 356//356
+f 356//356 357//357 354//354
+f 358//358 359//359 360//360
+f 360//360 361//361 358//358
+f 362//362 363//363 364//364
+f 364//364 365//365 362//362
+f 366//366 367//367 368//368
+f 368//368 369//369 366//366
+f 370//370 371//371 372//372
+f 479//479 373//373 374//374
+f 375//375 376//376 377//377
+f 375//375 378//378 376//376
+f 379//379 380//380 381//381
+f 381//381 382//382 379//379
+f 383//383 384//384 385//385
+f 385//385 384//384 386//386
+f 387//387 388//388 389//389
+f 389//389 390//390 387//387
+f 391//391 392//392 393//393
+f 391//391 394//394 392//392
+f 395//395 396//396 397//397
+f 397//397 398//398 395//395
+f 399//399 400//400 401//401
+f 401//401 402//402 399//399
+f 403//403 404//404 405//405
+f 403//403 406//406 404//404
+f 407//407 408//408 409//409
+f 409//409 410//410 407//407
+f 411//411 412//412 413//413
+f 411//411 414//414 412//412
+f 415//415 416//416 417//417
+f 417//417 418//418 415//415
+f 419//419 420//420 421//421
+f 419//419 422//422 420//420
+f 423//423 424//424 425//425
+f 423//423 426//426 424//424
+f 427//427 428//428 429//429
+f 429//429 430//430 427//427
+f 431//431 432//432 433//433
+f 433//433 432//432 434//434
+f 435//435 436//436 437//437
+f 480//480 438//438 439//439
+f 440//440 441//441 442//442
+f 440//440 443//443 441//441
+f 444//444 445//445 446//446
+f 446//446 447//447 444//444
+f 448//448 449//449 450//450
+f 450//450 451//451 448//448
+f 452//452 453//453 454//454
+f 454//454 453//453 455//455
+f 456//456 457//457 458//458
+f 459//459 460//460 461//461
+f 462//462 463//463 464//464
+f 464//464 465//465 462//462
+f 466//466 467//467 468//468
+f 468//468 467//467 469//469
+f 470//470 471//471 472//472
+f 472//472 471//471 473//473
+f 474//474 475//475 476//476
+f 476//476 477//477 474//474
+# 256 faces, 0 coords texture
+
+# End of File
\ No newline at end of file
diff --git a/examples/Atlas/urdf/mesh/head_camera_chull.obj b/examples/Atlas/urdf/mesh/head_camera_chull.obj
new file mode 100644
index 0000000..31a9e9a
--- /dev/null
+++ b/examples/Atlas/urdf/mesh/head_camera_chull.obj
@@ -0,0 +1,60 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object head_camera_chull.obj
+#
+# Vertices: 12
+# Faces: 20
+#
+####
+vn 0.571672 0.813078 -0.109976
+v 0.017261 0.042257 0.060150
+vn -0.631200 -0.743956 -0.219353
+v -0.063122 -0.053010 0.090709
+vn -0.358407 -0.391624 0.847452
+v -0.054695 -0.037141 0.132992
+vn 0.085056 0.996122 -0.022526
+v -0.071491 0.061612 0.090508
+vn -0.633971 0.232218 -0.737669
+v -0.071685 0.049703 0.053559
+vn -0.374922 -0.342795 -0.861351
+v -0.041643 -0.014687 0.040918
+vn -0.611521 0.555511 0.563426
+v -0.071853 0.051286 0.122934
+vn -0.210462 0.070071 0.975088
+v -0.029502 0.013844 0.141872
+vn 0.336222 0.659369 0.672448
+v 0.003657 0.013913 0.141918
+vn 0.477838 -0.861401 0.172215
+v 0.014964 -0.038497 0.124658
+vn 0.908385 -0.040045 0.416212
+v 0.017298 0.000976 0.137603
+vn 0.607889 -0.391643 -0.690715
+v 0.017270 -0.015643 0.040846
+# 12 vertices, 0 vertices normals
+
+f 6//6 12//12 2//2
+f 2//2 7//7 5//5
+f 12//12 1//1 11//11
+f 12//12 10//10 2//2
+f 5//5 7//7 4//4
+f 5//5 4//4 1//1
+f 5//5 1//1 12//12
+f 9//9 11//11 1//1
+f 3//3 11//11 9//9
+f 7//7 9//9 1//1
+f 7//7 1//1 4//4
+f 8//8 3//3 9//9
+f 6//6 2//2 5//5
+f 10//10 11//11 3//3
+f 3//3 2//2 10//10
+f 7//7 3//3 8//8
+f 2//2 3//3 7//7
+f 5//5 12//12 6//6
+f 9//9 7//7 8//8
+f 10//10 12//12 11//11
+# 20 faces, 0 coords texture
+
+# End of File
\ No newline at end of file
diff --git a/examples/Atlas/urdf/mesh/head_chull.obj b/examples/Atlas/urdf/mesh/head_chull.obj
new file mode 100644
index 0000000..8721d93
--- /dev/null
+++ b/examples/Atlas/urdf/mesh/head_chull.obj
@@ -0,0 +1,60 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object head_chull.obj
+#
+# Vertices: 12
+# Faces: 20
+#
+####
+vn 0.601828 -0.748699 -0.277942
+v -0.122043 0.091413 0.027918
+vn 0.322642 -0.648280 -0.689663
+v -0.103485 0.044761 0.133863
+vn -0.754201 0.469636 -0.458936
+v 0.017040 -0.039897 0.123666
+vn 0.465484 0.829009 -0.309950
+v -0.122043 -0.091487 0.027918
+vn 0.995520 -0.002028 -0.094530
+v -0.152817 -0.021109 0.034219
+vn -0.705624 -0.326670 -0.628794
+v 0.016668 0.010189 0.140757
+vn 0.311227 0.232691 0.921408
+v -0.121874 -0.091572 -0.031941
+vn 0.350520 -0.230470 0.907755
+v -0.121880 0.091522 -0.031931
+vn -0.464662 -0.882237 -0.075806
+v 0.019558 0.135075 -0.013253
+vn -0.377168 0.925873 -0.022451
+v 0.019675 -0.135853 -0.013632
+vn 0.288256 0.631821 -0.719521
+v -0.104376 -0.039239 0.134311
+vn -0.658352 -0.000953 0.752710
+v 0.021025 -0.000136 -0.031756
+# 12 vertices, 0 vertices normals
+
+f 1//1 2//2 5//5
+f 3//3 11//11 6//6
+f 7//7 8//8 5//5
+f 2//2 1//1 9//9
+f 8//8 1//1 5//5
+f 8//8 9//9 1//1
+f 11//11 5//5 2//2
+f 9//9 12//12 6//6
+f 3//3 12//12 10//10
+f 5//5 11//11 4//4
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\ No newline at end of file
diff --git a/examples/Atlas/urdf/mesh/l_foot.obj b/examples/Atlas/urdf/mesh/l_foot.obj
new file mode 100644
index 0000000..2778313
--- /dev/null
+++ b/examples/Atlas/urdf/mesh/l_foot.obj
@@ -0,0 +1,871 @@
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+
+# End of File
\ No newline at end of file
diff --git a/examples/Atlas/urdf/mesh/l_foot_chull.obj b/examples/Atlas/urdf/mesh/l_foot_chull.obj
new file mode 100644
index 0000000..f8fbdda
--- /dev/null
+++ b/examples/Atlas/urdf/mesh/l_foot_chull.obj
@@ -0,0 +1,93 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object l_foot_chull.obj
+#
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+# Faces: 50
+#
+####
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+
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+# 50 faces, 0 coords texture
+
+# End of File
\ No newline at end of file
diff --git a/examples/Atlas/urdf/mesh/l_lglut.obj b/examples/Atlas/urdf/mesh/l_lglut.obj
new file mode 100644
index 0000000..2676bb6
--- /dev/null
+++ b/examples/Atlas/urdf/mesh/l_lglut.obj
@@ -0,0 +1,1309 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object l_lglut.obj
+#
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+# Faces: 847
+#
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+# 847 faces, 0 coords texture
+
+# End of File
\ No newline at end of file
diff --git a/examples/Atlas/urdf/mesh/l_lglut_chull.obj b/examples/Atlas/urdf/mesh/l_lglut_chull.obj
new file mode 100644
index 0000000..2b18669
--- /dev/null
+++ b/examples/Atlas/urdf/mesh/l_lglut_chull.obj
@@ -0,0 +1,93 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object l_lglut_chull.obj
+#
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+# Faces: 50
+#
+####
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+v -0.061555 -0.011575 -0.021117
+v 0.082666 0.015243 0.012511
+# 27 vertices, 0 vertices normals
+
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+# 50 faces, 0 coords texture
+
+# End of File
\ No newline at end of file
diff --git a/examples/Atlas/urdf/mesh/l_lleg.obj b/examples/Atlas/urdf/mesh/l_lleg.obj
new file mode 100644
index 0000000..2531fd2
--- /dev/null
+++ b/examples/Atlas/urdf/mesh/l_lleg.obj
@@ -0,0 +1,2319 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
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+#
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+# Faces: 1494
+#
+####
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+# 1494 faces, 0 coords texture
+
+# End of File
\ No newline at end of file
diff --git a/examples/Atlas/urdf/mesh/l_lleg_chull.obj b/examples/Atlas/urdf/mesh/l_lleg_chull.obj
new file mode 100644
index 0000000..8732272
--- /dev/null
+++ b/examples/Atlas/urdf/mesh/l_lleg_chull.obj
@@ -0,0 +1,93 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object l_lleg_chull.obj
+#
+# Vertices: 27
+# Faces: 50
+#
+####
+v 0.005717 -0.057859 -0.032432
+v 0.071035 -0.050665 -0.021669
+v 0.021705 0.060052 -0.007531
+v 0.071030 0.050931 -0.021748
+v -0.000814 -0.047260 -0.310515
+v 0.043715 -0.060881 0.014841
+v -0.038900 0.050041 -0.139933
+v -0.041571 0.038541 -0.333141
+v -0.038900 -0.049773 -0.139933
+v -0.006041 0.046179 -0.353100
+v 0.042349 0.058126 -0.074754
+v 0.088630 -0.029596 -0.032856
+v 0.060798 -0.031624 -0.351242
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+v 0.050900 0.044824 -0.353980
+v 0.060798 0.031891 -0.351242
+v 0.088625 0.029867 -0.032878
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+v -0.001230 0.023728 -0.438277
+v -0.002300 -0.024724 -0.439154
+v -0.041639 -0.011187 -0.118129
+# 27 vertices, 0 vertices normals
+
+f 1 6 5
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+f 16 18 17
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+f 20 21 6
+f 27 23 22
+f 20 22 23
+f 25 8 26
+# 50 faces, 0 coords texture
+
+# End of File
\ No newline at end of file
diff --git a/examples/Atlas/urdf/mesh/l_talus.obj b/examples/Atlas/urdf/mesh/l_talus.obj
new file mode 100644
index 0000000..a3c1fe5
--- /dev/null
+++ b/examples/Atlas/urdf/mesh/l_talus.obj
@@ -0,0 +1,92 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object l_talus.obj
+#
+# Vertices: 28
+# Faces: 48
+#
+####
+v 0.006590 -0.015904 -0.008474
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+v -0.016413 -0.006858 -0.009229
+v 0.016238 -0.006858 -0.009229
+v 0.016238 -0.011254 -0.000100
+v -0.016413 -0.011254 -0.000100
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+v 0.016238 0.003020 0.011283
+v -0.016413 -0.006858 0.009028
+v 0.016238 -0.006858 0.009028
+# 28 vertices, 0 vertices normals
+
+f 3 4 1
+f 3 1 2
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+f 21 25 23
+f 25 21 18
+f 25 18 27
+f 28 22 24
+f 28 24 26
+f 16 22 28
+f 22 16 20
+f 16 28 17
+# 48 faces, 0 coords texture
+
+# End of File
\ No newline at end of file
diff --git a/examples/Atlas/urdf/mesh/l_uglut.obj b/examples/Atlas/urdf/mesh/l_uglut.obj
new file mode 100644
index 0000000..4934433
--- /dev/null
+++ b/examples/Atlas/urdf/mesh/l_uglut.obj
@@ -0,0 +1,740 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object l_uglut.obj
+#
+# Vertices: 238
+# Faces: 486
+#
+####
+v 0.033190 0.017127 0.011995
+v 0.049145 0.017127 0.011995
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+v -0.010665 0.024397 -0.011822
+# 238 vertices, 0 vertices normals
+
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+f 237 234 233
+f 237 233 238
+f 234 225 227
+f 225 234 237
+f 220 219 232
+f 219 236 232
+f 233 236 219
+f 234 227 218
+# 486 faces, 0 coords texture
+
+# End of File
\ No newline at end of file
diff --git a/examples/Atlas/urdf/mesh/l_uglut_chull.obj b/examples/Atlas/urdf/mesh/l_uglut_chull.obj
new file mode 100644
index 0000000..215151e
--- /dev/null
+++ b/examples/Atlas/urdf/mesh/l_uglut_chull.obj
@@ -0,0 +1,93 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object l_uglut_chull.obj
+#
+# Vertices: 27
+# Faces: 50
+#
+####
+v -0.010540 0.072586 -0.015884
+v 0.008666 -0.020440 -0.040398
+v -0.011564 0.066874 -0.026261
+v 0.029909 0.071825 -0.016749
+v 0.030404 0.068126 -0.025919
+v -0.015552 0.018895 -0.040910
+v 0.033903 0.017748 -0.040918
+v -0.012649 -0.016947 -0.040319
+v -0.021275 -0.003407 -0.040319
+v -0.033234 0.002679 0.127511
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+v -0.033234 -0.008348 0.125067
+v -0.033234 -0.016764 -0.011735
+v -0.033234 -0.014416 0.115541
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+v -0.033234 0.018549 0.071550
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+v -0.033234 -0.020190 0.003722
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+v 0.049145 -0.003410 -0.020242
+v 0.049145 -0.020190 0.003722
+v 0.049145 -0.016764 -0.011735
+# 27 vertices, 0 vertices normals
+
+f 1 24 20
+f 24 1 4
+f 16 3 18
+f 24 4 22
+f 1 5 4
+f 3 5 1
+f 1 18 3
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+f 21 12 11
+f 27 26 21
+f 21 25 27
+f 21 15 13
+f 12 21 13
+f 21 19 15
+f 21 26 19
+# 50 faces, 0 coords texture
+
+# End of File
\ No newline at end of file
diff --git a/examples/Atlas/urdf/mesh/l_uleg.obj b/examples/Atlas/urdf/mesh/l_uleg.obj
new file mode 100644
index 0000000..da133af
--- /dev/null
+++ b/examples/Atlas/urdf/mesh/l_uleg.obj
@@ -0,0 +1,3726 @@
+####
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+# 2464 faces, 0 coords texture
+
+# End of File
\ No newline at end of file
diff --git a/examples/Atlas/urdf/mesh/l_uleg_chull.obj b/examples/Atlas/urdf/mesh/l_uleg_chull.obj
new file mode 100644
index 0000000..9fd7187
--- /dev/null
+++ b/examples/Atlas/urdf/mesh/l_uleg_chull.obj
@@ -0,0 +1,93 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object l_uleg_chull.obj
+#
+# Vertices: 27
+# Faces: 50
+#
+####
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+v -0.040340 0.041827 -0.391602
+v -0.011042 0.049436 0.016944
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+# 27 vertices, 0 vertices normals
+
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+f 12 26 27
+# 50 faces, 0 coords texture
+
+# End of File
\ No newline at end of file
diff --git a/examples/Atlas/urdf/mesh/ltorso.obj b/examples/Atlas/urdf/mesh/ltorso.obj
new file mode 100644
index 0000000..37cac55
--- /dev/null
+++ b/examples/Atlas/urdf/mesh/ltorso.obj
@@ -0,0 +1,392 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object ltorso.obj
+#
+# Vertices: 132
+# Faces: 244
+#
+####
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+# 132 vertices, 0 vertices normals
+
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+# 244 faces, 0 coords texture
+
+# End of File
\ No newline at end of file
diff --git a/examples/Atlas/urdf/mesh/mtorso.obj b/examples/Atlas/urdf/mesh/mtorso.obj
new file mode 100644
index 0000000..9349ad8
--- /dev/null
+++ b/examples/Atlas/urdf/mesh/mtorso.obj
@@ -0,0 +1,144 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object mtorso.obj
+#
+# Vertices: 44
+# Faces: 84
+#
+####
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+v 0.005997 0.012976 0.031540
+v -0.002938 -0.012943 0.021807
+v -0.002938 0.012976 0.021807
+# 44 vertices, 0 vertices normals
+
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+f 41 3 36
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+# 84 faces, 0 coords texture
+
+# End of File
\ No newline at end of file
diff --git a/examples/Atlas/urdf/mesh/pelvis.obj b/examples/Atlas/urdf/mesh/pelvis.obj
new file mode 100644
index 0000000..175a37f
--- /dev/null
+++ b/examples/Atlas/urdf/mesh/pelvis.obj
@@ -0,0 +1,3168 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object pelvis.obj
+#
+# Vertices: 1174
+# Faces: 1978
+#
+####
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diff --git a/examples/Atlas/urdf/mesh/pelvis_chull.obj b/examples/Atlas/urdf/mesh/pelvis_chull.obj
new file mode 100644
index 0000000..26b23f4
--- /dev/null
+++ b/examples/Atlas/urdf/mesh/pelvis_chull.obj
@@ -0,0 +1,93 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
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+#
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+# Faces: 50
+#
+####
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+# 50 faces, 0 coords texture
+
+# End of File
\ No newline at end of file
diff --git a/examples/Atlas/urdf/mesh/r_clav.obj b/examples/Atlas/urdf/mesh/r_clav.obj
new file mode 100644
index 0000000..7fcca21
--- /dev/null
+++ b/examples/Atlas/urdf/mesh/r_clav.obj
@@ -0,0 +1,898 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
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+#
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+# 556 faces, 0 coords texture
+
+# End of File
\ No newline at end of file
diff --git a/examples/Atlas/urdf/mesh/r_clav_chull.obj b/examples/Atlas/urdf/mesh/r_clav_chull.obj
new file mode 100644
index 0000000..6e63ded
--- /dev/null
+++ b/examples/Atlas/urdf/mesh/r_clav_chull.obj
@@ -0,0 +1,93 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object r_clav_chull.obj
+#
+# Vertices: 27
+# Faces: 50
+#
+####
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+v 0.066280 0.024404 -0.157071
+v -0.023397 0.017708 -0.113760
+v -0.023049 -0.023155 -0.113548
+# 27 vertices, 0 vertices normals
+
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+f 21 20 24
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+# 50 faces, 0 coords texture
+
+# End of File
\ No newline at end of file
diff --git a/examples/Atlas/urdf/mesh/r_farm.obj b/examples/Atlas/urdf/mesh/r_farm.obj
new file mode 100644
index 0000000..68300bb
--- /dev/null
+++ b/examples/Atlas/urdf/mesh/r_farm.obj
@@ -0,0 +1,312 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object r_farm.obj
+#
+# Vertices: 100
+# Faces: 196
+#
+####
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+v -0.054184 0.050635 0.030578
+v -0.059621 0.050635 -0.000153
+v -0.054184 0.050635 -0.030885
+# 100 vertices, 0 vertices normals
+
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+f 30 61 22
+f 61 52 22
+f 80 81 62
+f 64 72 70
+# 196 faces, 0 coords texture
+
+# End of File
\ No newline at end of file
diff --git a/examples/Atlas/urdf/mesh/r_farm_chull.obj b/examples/Atlas/urdf/mesh/r_farm_chull.obj
new file mode 100644
index 0000000..7a7f6a1
--- /dev/null
+++ b/examples/Atlas/urdf/mesh/r_farm_chull.obj
@@ -0,0 +1,93 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object r_farm_chull.obj
+#
+# Vertices: 27
+# Faces: 50
+#
+####
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+v 0.052578 -0.035395 -0.000153
+v -0.052730 -0.027968 -0.023012
+v 0.061658 -0.027693 -0.023158
+# 27 vertices, 0 vertices normals
+
+f 1 7 5
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+f 12 7 1
+f 1 5 6
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+f 16 1 6
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+f 20 22 21
+f 25 27 26
+f 26 24 25
+f 26 16 17
+f 26 27 16
+# 50 faces, 0 coords texture
+
+# End of File
\ No newline at end of file
diff --git a/examples/Atlas/urdf/mesh/r_foot.obj b/examples/Atlas/urdf/mesh/r_foot.obj
new file mode 100644
index 0000000..eb4490a
--- /dev/null
+++ b/examples/Atlas/urdf/mesh/r_foot.obj
@@ -0,0 +1,875 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object r_foot.obj
+#
+# Vertices: 319
+# Faces: 540
+#
+####
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+v 0.038830 0.032456 -0.001487
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+f 318 306 292
+f 292 305 318
+# 540 faces, 0 coords texture
+
+# End of File
\ No newline at end of file
diff --git a/examples/Atlas/urdf/mesh/r_foot_chull.obj b/examples/Atlas/urdf/mesh/r_foot_chull.obj
new file mode 100644
index 0000000..1c2a2db
--- /dev/null
+++ b/examples/Atlas/urdf/mesh/r_foot_chull.obj
@@ -0,0 +1,93 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object r_foot_chull.obj
+#
+# Vertices: 27
+# Faces: 50
+#
+####
+v 0.032478 0.032456 -0.000038
+v -0.030949 0.000206 0.012026
+v 0.029024 0.000680 0.011616
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+v 0.172760 0.033536 -0.076444
+v -0.063498 -0.066087 -0.076451
+v 0.110890 -0.066087 -0.076451
+# 27 vertices, 0 vertices normals
+
+f 2 5 23
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+f 9 1 20
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+f 27 21 22
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+f 14 27 26
+f 27 14 7
+f 27 25 24
+f 22 25 27
+# 50 faces, 0 coords texture
+
+# End of File
\ No newline at end of file
diff --git a/examples/Atlas/urdf/mesh/r_hand.obj b/examples/Atlas/urdf/mesh/r_hand.obj
new file mode 100644
index 0000000..d5553c0
--- /dev/null
+++ b/examples/Atlas/urdf/mesh/r_hand.obj
@@ -0,0 +1,456 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object r_hand.obj
+#
+# Vertices: 148
+# Faces: 292
+#
+####
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+# 292 faces, 0 coords texture
+
+# End of File
\ No newline at end of file
diff --git a/examples/Atlas/urdf/mesh/r_hand_chull.obj b/examples/Atlas/urdf/mesh/r_hand_chull.obj
new file mode 100644
index 0000000..23f3b0b
--- /dev/null
+++ b/examples/Atlas/urdf/mesh/r_hand_chull.obj
@@ -0,0 +1,93 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object r_hand_chull.obj
+#
+# Vertices: 27
+# Faces: 50
+#
+####
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+# 50 faces, 0 coords texture
+
+# End of File
\ No newline at end of file
diff --git a/examples/Atlas/urdf/mesh/r_larm.obj b/examples/Atlas/urdf/mesh/r_larm.obj
new file mode 100644
index 0000000..2ef7dfe
--- /dev/null
+++ b/examples/Atlas/urdf/mesh/r_larm.obj
@@ -0,0 +1,641 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object r_larm.obj
+#
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+# Faces: 408
+#
+####
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+# 408 faces, 0 coords texture
+
+# End of File
\ No newline at end of file
diff --git a/examples/Atlas/urdf/mesh/r_larm_chull.obj b/examples/Atlas/urdf/mesh/r_larm_chull.obj
new file mode 100644
index 0000000..1f4ea26
--- /dev/null
+++ b/examples/Atlas/urdf/mesh/r_larm_chull.obj
@@ -0,0 +1,93 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object r_larm_chull.obj
+#
+# Vertices: 27
+# Faces: 50
+#
+####
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+v -0.081890 -0.141295 -0.043010
+v -0.050287 -0.128425 -0.076246
+# 27 vertices, 0 vertices normals
+
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+# 50 faces, 0 coords texture
+
+# End of File
\ No newline at end of file
diff --git a/examples/Atlas/urdf/mesh/r_lglut.obj b/examples/Atlas/urdf/mesh/r_lglut.obj
new file mode 100644
index 0000000..e4ab0a9
--- /dev/null
+++ b/examples/Atlas/urdf/mesh/r_lglut.obj
@@ -0,0 +1,1309 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object r_lglut.obj
+#
+# Vertices: 446
+# Faces: 847
+#
+####
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+
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\ No newline at end of file
diff --git a/examples/Atlas/urdf/mesh/r_lglut_chull.obj b/examples/Atlas/urdf/mesh/r_lglut_chull.obj
new file mode 100644
index 0000000..e65fa9a
--- /dev/null
+++ b/examples/Atlas/urdf/mesh/r_lglut_chull.obj
@@ -0,0 +1,93 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object r_lglut_chull.obj
+#
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+# Faces: 50
+#
+####
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+
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+# 50 faces, 0 coords texture
+
+# End of File
\ No newline at end of file
diff --git a/examples/Atlas/urdf/mesh/r_lleg.obj b/examples/Atlas/urdf/mesh/r_lleg.obj
new file mode 100644
index 0000000..3d31de4
--- /dev/null
+++ b/examples/Atlas/urdf/mesh/r_lleg.obj
@@ -0,0 +1,2319 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
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+#
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+# Faces: 1494
+#
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+# 1494 faces, 0 coords texture
+
+# End of File
\ No newline at end of file
diff --git a/examples/Atlas/urdf/mesh/r_lleg_chull.obj b/examples/Atlas/urdf/mesh/r_lleg_chull.obj
new file mode 100644
index 0000000..8f45b19
--- /dev/null
+++ b/examples/Atlas/urdf/mesh/r_lleg_chull.obj
@@ -0,0 +1,93 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object r_lleg_chull.obj
+#
+# Vertices: 27
+# Faces: 50
+#
+####
+v 0.005717 0.057859 -0.032432
+v 0.071035 0.050665 -0.021669
+v 0.021705 -0.060052 -0.007531
+v 0.071030 -0.050931 -0.021748
+v -0.000814 0.047260 -0.310515
+v 0.043715 0.060881 0.014841
+v -0.038900 -0.050041 -0.139933
+v -0.041571 -0.038541 -0.333141
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+v 0.050900 0.044557 -0.353980
+v 0.050900 -0.044824 -0.353980
+v 0.060798 -0.031891 -0.351242
+v 0.088625 -0.029867 -0.032878
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+v 0.069972 -0.000133 -0.350335
+v 0.038932 -0.051877 0.020755
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+v -0.017081 -0.051836 0.019069
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+v -0.001230 -0.023728 -0.438277
+v -0.002300 0.024724 -0.439154
+v -0.041639 0.011187 -0.118129
+# 27 vertices, 0 vertices normals
+
+f 1 6 5
+f 8 10 7
+f 9 1 5
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+f 16 18 17
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+f 20 21 6
+f 27 23 22
+f 20 22 23
+f 25 8 26
+# 50 faces, 0 coords texture
+
+# End of File
\ No newline at end of file
diff --git a/examples/Atlas/urdf/mesh/r_scap.obj b/examples/Atlas/urdf/mesh/r_scap.obj
new file mode 100644
index 0000000..ff67469
--- /dev/null
+++ b/examples/Atlas/urdf/mesh/r_scap.obj
@@ -0,0 +1,1067 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object r_scap.obj
+#
+# Vertices: 380
+# Faces: 671
+#
+####
+v 0.049425 -0.000201 -0.027787
+v 0.049425 0.016688 -0.021211
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+f 378 377 369
+f 369 373 378
+f 379 378 373
+f 373 374 379
+f 380 379 374
+f 374 370 380
+f 375 380 370
+f 370 366 375
+# 671 faces, 0 coords texture
+
+# End of File
\ No newline at end of file
diff --git a/examples/Atlas/urdf/mesh/r_scap_chull.obj b/examples/Atlas/urdf/mesh/r_scap_chull.obj
new file mode 100644
index 0000000..2894e66
--- /dev/null
+++ b/examples/Atlas/urdf/mesh/r_scap_chull.obj
@@ -0,0 +1,93 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object r_scap_chull.obj
+#
+# Vertices: 27
+# Faces: 50
+#
+####
+v 0.072767 -0.155769 0.008194
+v 0.072767 -0.155779 -0.029458
+v 0.072767 -0.132839 0.024367
+v 0.071123 0.008312 0.033228
+v 0.069735 0.032030 0.016006
+v -0.087833 0.019014 -0.018184
+v 0.071172 0.011995 -0.046262
+v 0.072767 -0.132848 -0.045631
+v 0.007800 -0.167106 -0.071695
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+v -0.064560 0.029056 0.058354
+v -0.087576 0.029056 0.058354
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+v -0.064561 0.052433 0.044074
+v -0.087576 0.052433 0.044074
+v -0.080849 -0.048098 -0.052932
+v -0.082157 -0.151593 -0.042784
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+v -0.005239 -0.064393 -0.065714
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+v -0.082331 -0.150240 0.011210
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+v -0.032759 -0.223457 -0.044123
+v -0.020119 -0.224449 0.020600
+v -0.033510 -0.158027 -0.069712
+# 27 vertices, 0 vertices normals
+
+f 7 8 18
+f 13 3 23
+f 3 1 23
+f 4 3 13
+f 11 4 13
+f 4 5 18
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+f 22 2 8
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+f 1 3 18
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+f 20 15 6
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+f 18 20 7
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+f 18 2 1
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+f 7 20 6
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+f 14 11 12
+f 12 15 14
+f 17 27 16
+f 19 27 9
+f 6 12 21
+f 6 15 12
+f 25 23 22
+f 25 24 26
+f 25 26 23
+# 50 faces, 0 coords texture
+
+# End of File
\ No newline at end of file
diff --git a/examples/Atlas/urdf/mesh/r_talus.obj b/examples/Atlas/urdf/mesh/r_talus.obj
new file mode 100644
index 0000000..c826f21
--- /dev/null
+++ b/examples/Atlas/urdf/mesh/r_talus.obj
@@ -0,0 +1,92 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object r_talus.obj
+#
+# Vertices: 28
+# Faces: 48
+#
+####
+v 0.006590 0.015904 -0.008474
+v 0.006590 -0.016747 -0.008474
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+v -0.002471 -0.016747 0.010341
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+v 0.006590 -0.016747 0.008273
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+v 0.016238 0.006858 -0.009229
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+v -0.016413 0.011254 -0.000100
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+v 0.016238 -0.003020 0.011283
+v -0.016413 0.006858 0.009028
+v 0.016238 0.006858 0.009028
+# 28 vertices, 0 vertices normals
+
+f 1 4 3
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+f 23 25 18
+f 18 21 23
+f 25 27 18
+f 28 26 24
+f 24 22 28
+f 20 16 28
+f 28 22 20
+f 16 17 28
+# 48 faces, 0 coords texture
+
+# End of File
\ No newline at end of file
diff --git a/examples/Atlas/urdf/mesh/r_uarm.obj b/examples/Atlas/urdf/mesh/r_uarm.obj
new file mode 100644
index 0000000..92738e2
--- /dev/null
+++ b/examples/Atlas/urdf/mesh/r_uarm.obj
@@ -0,0 +1,850 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object r_uarm.obj
+#
+# Vertices: 288
+# Faces: 546
+#
+####
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+
+# End of File
\ No newline at end of file
diff --git a/examples/Atlas/urdf/mesh/r_uarm_chull.obj b/examples/Atlas/urdf/mesh/r_uarm_chull.obj
new file mode 100644
index 0000000..4b722f9
--- /dev/null
+++ b/examples/Atlas/urdf/mesh/r_uarm_chull.obj
@@ -0,0 +1,93 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object r_uarm_chull.obj
+#
+# Vertices: 27
+# Faces: 50
+#
+####
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+v -0.084203 -0.114878 -0.015979
+v -0.084287 -0.129736 0.030169
+# 27 vertices, 0 vertices normals
+
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+# 50 faces, 0 coords texture
+
+# End of File
\ No newline at end of file
diff --git a/examples/Atlas/urdf/mesh/r_uglut.obj b/examples/Atlas/urdf/mesh/r_uglut.obj
new file mode 100644
index 0000000..93246c2
--- /dev/null
+++ b/examples/Atlas/urdf/mesh/r_uglut.obj
@@ -0,0 +1,742 @@
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diff --git a/examples/Atlas/urdf/mesh/r_uglut_chull.obj b/examples/Atlas/urdf/mesh/r_uglut_chull.obj
new file mode 100644
index 0000000..230077a
--- /dev/null
+++ b/examples/Atlas/urdf/mesh/r_uglut_chull.obj
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diff --git a/examples/Atlas/urdf/mesh/r_uleg.obj b/examples/Atlas/urdf/mesh/r_uleg.obj
new file mode 100644
index 0000000..ba4c168
--- /dev/null
+++ b/examples/Atlas/urdf/mesh/r_uleg.obj
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+# 2464 faces, 0 coords texture
+
+# End of File
\ No newline at end of file
diff --git a/examples/Atlas/urdf/mesh/r_uleg_chull.obj b/examples/Atlas/urdf/mesh/r_uleg_chull.obj
new file mode 100644
index 0000000..33f2b84
--- /dev/null
+++ b/examples/Atlas/urdf/mesh/r_uleg_chull.obj
@@ -0,0 +1,93 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object r_uleg_chull.obj
+#
+# Vertices: 27
+# Faces: 50
+#
+####
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+v -0.040340 -0.041827 -0.391602
+v -0.011042 -0.049436 0.016944
+v -0.009904 0.049233 0.018210
+# 27 vertices, 0 vertices normals
+
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+f 2 25 4
+f 12 26 27
+# 50 faces, 0 coords texture
+
+# End of File
\ No newline at end of file
diff --git a/examples/Atlas/urdf/mesh/utorso.obj b/examples/Atlas/urdf/mesh/utorso.obj
new file mode 100644
index 0000000..6acd1df
--- /dev/null
+++ b/examples/Atlas/urdf/mesh/utorso.obj
@@ -0,0 +1,10874 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object utorso.obj
+#
+# Vertices: 3894
+# Faces: 6964
+#
+####
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+f 3852 3894 3873
+f 3894 3852 3851
+f 3851 3893 3894
+# 6964 faces, 0 coords texture
+
+# End of File
\ No newline at end of file
diff --git a/examples/Atlas/urdf/mesh/utorso_chull.obj b/examples/Atlas/urdf/mesh/utorso_chull.obj
new file mode 100644
index 0000000..71bab05
--- /dev/null
+++ b/examples/Atlas/urdf/mesh/utorso_chull.obj
@@ -0,0 +1,93 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object utorso_chull.obj
+#
+# Vertices: 27
+# Faces: 50
+#
+####
+v 0.032539 -0.156783 0.753842
+v -0.293741 -0.152667 0.679347
+v 0.017266 0.173258 0.000282
+v -0.288954 -0.167352 0.485234
+v 0.215929 -0.098697 0.825145
+v 0.314544 0.169152 0.635927
+v 0.017304 -0.173477 0.000797
+v -0.278758 -0.170369 0.007620
+v 0.254327 -0.050807 0.172335
+v 0.064651 -0.099192 0.829739
+v 0.237092 -0.256176 0.451440
+v 0.314624 -0.158811 0.634749
+v 0.213052 0.095372 0.829794
+v 0.178757 -0.292493 0.417514
+v 0.252567 0.044361 0.158183
+v -0.294428 0.149534 0.678421
+v 0.032113 0.157303 0.753814
+v 0.060147 0.098957 0.828936
+v -0.288857 0.170868 0.009706
+v 0.237091 0.256193 0.451472
+v 0.179044 0.292521 0.417914
+v -0.272395 0.172224 0.484290
+v -0.314709 0.000906 0.214023
+v 0.133763 0.081531 -0.030466
+v 0.144263 -0.068900 -0.036127
+v 0.133395 -0.266829 0.507198
+v 0.133143 0.266942 0.507079
+# 27 vertices, 0 vertices normals
+
+f 25 8 7
+f 10 1 2
+f 14 4 2
+f 2 26 14
+f 19 24 3
+f 8 23 4
+f 8 4 14
+f 1 26 2
+f 21 3 24
+f 11 25 14
+f 11 12 9
+f 7 14 25
+f 26 5 11
+f 24 15 20
+f 13 27 6
+f 27 20 6
+f 8 14 7
+f 25 19 8
+f 23 8 19
+f 12 6 9
+f 11 9 25
+f 23 2 4
+f 26 11 14
+f 5 26 1
+f 10 5 1
+f 12 11 5
+f 20 15 6
+f 5 13 6
+f 6 12 5
+f 16 23 19
+f 17 27 13
+f 17 13 18
+f 24 25 15
+f 6 15 9
+f 16 19 22
+f 17 16 27
+f 16 17 18
+f 21 19 3
+f 24 20 21
+f 21 20 27
+f 27 16 21
+f 21 16 22
+f 21 22 19
+f 24 19 25
+f 18 2 16
+f 18 10 2
+f 18 13 10
+f 13 5 10
+f 16 2 23
+f 15 25 9
+# 50 faces, 0 coords texture
+
+# End of File
\ No newline at end of file
diff --git a/examples/Go2/Project.toml b/examples/Go2/Project.toml
new file mode 100644
index 0000000..feb57ff
--- /dev/null
+++ b/examples/Go2/Project.toml
@@ -0,0 +1,4 @@
+[deps]
+MeshCat = "283c5d60-a78f-5afe-a0af-af636b173e11"
+MeshCatMechanisms = "6ad125db-dd91-5488-b820-c1df6aab299d"
+RigidBodyDynamics = "366cf18f-59d5-5db9-a4de-86a9f6786172"
diff --git a/examples/Go2/test.jl b/examples/Go2/test.jl
new file mode 100644
index 0000000..de8e624
--- /dev/null
+++ b/examples/Go2/test.jl
@@ -0,0 +1,66 @@
+using RigidBodyDynamics, MeshCat, MeshCatMechanisms
+using Random, StaticArrays, Rotations, LinearAlgebra
+using ForwardDiff; import ForwardDiff as FD   # alias for brevity
+
+const Δt   = 0.005                # 200 Hz simulation
+const N    = 300                  # 1.5 s horizon
+const nd   = 12                   # DoFs (Go2 has 3×4 legs)
+
+
+URDF_PATH = joinpath("urdf","go2.urdf")  # <-- change me
+isfile(URDF_PATH) || error("URDF file not found: $URDF_PATH")
+mech = parse_urdf(URDF_PATH)   
+root = RigidBodyDynamics.root_body(mech)  # helper to fetch the root body
+state       = MechanismState(mech)         # positions+velocities
+feet      = map(n -> findbody(mech, n),
+                ["FL_foot","FR_foot","RL_foot","RR_foot"]
+)  # foot bodies
+
+function rollout(u::AbstractVector)
+    X = zeros(nd*2, N+1)            # [q; q̇] trajectory
+    τ = reshape(u, nd, :)           # piecewise-constant torques
+    for k in 1:N
+        # set current state
+        set_configuration!(state,  X[1:nd,k])
+        set_velocity!(state,       X[nd+1:end,k])
+
+        # forward dynamics: q̈ = M⁻¹(τ - C(q, q̇))  ----------------
+        qdd = FDynamics(state, τ[:,k])   # alias to RBD.forward_dynamics!
+        X[1:nd,   k+1] = X[1:nd,k]   + Δt*X[nd+1:end,k]
+        X[nd+1:end,k+1] = X[nd+1:end,k] + Δt*qdd
+    end
+    return X
+end
+
+hip_body = findbody(mech, "trunk")          # Go2 torso link name
+apex_k   = 180                              # ≈0.9 s
+
+function cost(u)
+    X = rollout(u)
+    q_apex = X[1:nd, apex_k]
+    com_z  = center_of_mass(mech, q_apex)[3]  # height of CoM
+
+    J  = -com_z                               # higher ⇒ lower cost
+    J += 1e-4*sum(abs2, u)                    # torque regularizer
+    return J
+end
+
+nx = nd*2
+nu = nd*(N)               # control vector length
+
+u   = randn(nu) * 0.1      # random seed torques
+lr  = 2e-2                 # learning rate
+for iter in 1:350
+    g  = FD.gradient(cost, u)     # ForwardDiff dual propagation
+    u -= lr .* g                  # vanilla GD step
+    if iter % 25 == 0
+        @info "iter $iter  cost=$(cost(u))  ‖∇‖=$(norm(g))"
+    end
+end
+X_opt = rollout(u)
+
+vis = MechanismVisualizer(mech, URDFVisuals(urdf_path))
+open(vis)                         # launches WebGL viewer
+
+fps = Int(1/Δt)
+setanimation!(vis, X_opt[1:nd,:], fps = fps)  # live replay
\ No newline at end of file
diff --git a/examples/Go2/urdf/go2.urdf b/examples/Go2/urdf/go2.urdf
new file mode 100644
index 0000000..0c91557
--- /dev/null
+++ b/examples/Go2/urdf/go2.urdf
@@ -0,0 +1,1375 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by
+Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot
+  name="go2_description">
+  <link
+    name="base">
+    <inertial>
+      <origin
+        xyz="0.021112 0 -0.005366"
+        rpy="0 0 0" />
+      <mass
+        value="6.921" />
+      <inertia
+        ixx="0.02448"
+        ixy="0.00012166"
+        ixz="0.0014849"
+        iyy="0.098077"
+        iyz="-3.12E-05"
+        izz="0.107" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://go2_description/dae/base.dae" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <box size="0.3762 0.0935 0.114" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="Head_upper">
+    <inertial>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <mass
+        value="0.001" />
+      <inertia
+        ixx="9.6e-06"
+        ixy="0"
+        ixz="0"
+        iyy="9.6e-06"
+        iyz="0"
+        izz="9.6e-06" />
+    </inertial>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.05" length="0.09" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="Head_upper_joint"
+    type="fixed" dont_collapse="true">
+    <origin
+      xyz="0.285 0 0.01"
+      rpy="0 0 0" />
+    <parent
+      link="base" />
+    <child
+      link="Head_upper" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="Head_lower">
+    <inertial>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <mass
+        value="0.001" />
+      <inertia
+        ixx="9.6e-06"
+        ixy="0"
+        ixz="0"
+        iyy="9.6e-06"
+        iyz="0"
+        izz="9.6e-06" />
+    </inertial>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.047" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="Head_lower_joint"
+    type="fixed" dont_collapse="true">
+    <origin
+      xyz="0.008 0 -0.07"
+      rpy="0 0 0" />
+    <parent
+      link="Head_upper" />
+    <child
+      link="Head_lower" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="FL_hip">
+    <inertial>
+      <origin
+        xyz="-0.0054 0.00194 -0.000105"
+        rpy="0 0 0" />
+      <mass
+        value="0.678" />
+      <inertia
+        ixx="0.00048"
+        ixy="-3.01E-06"
+        ixz="1.11E-06"
+        iyy="0.000884"
+        iyz="-1.42E-06"
+        izz="0.000596" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://go2_description/dae/hip.dae" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0.08 0" />
+      <geometry>
+        <cylinder length="0.04" radius="0.046" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="FL_hip_joint"
+    type="revolute">
+    <origin
+      xyz="0.1934 0.0465 0"
+      rpy="0 0 0" />
+    <parent
+      link="base" />
+    <child
+      link="FL_hip" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-1.0472"
+      upper="1.0472"
+      effort="23.7"
+      velocity="30.1" />
+  </joint>
+  <link name="FL_hip_rotor">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="0.089"/>
+      <inertia ixx="0.000111842" ixy="0.0" ixz="0.0" iyy="0.000059647" iyz="0.0" izz="0.000059647"/>
+    </inertial>
+  </link>
+  <joint name="FL_hip_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.11215 0.04675 0"/>
+    <parent link="base"/>
+    <child link="FL_hip_rotor"/>
+  </joint>
+  <link
+    name="FL_thigh">
+    <inertial>
+      <origin
+        xyz="-0.00374 -0.0223 -0.0327"
+        rpy="0 0 0" />
+      <mass
+        value="1.152" />
+      <inertia
+        ixx="0.00584"
+        ixy="8.72E-05"
+        ixz="-0.000289"
+        iyy="0.0058"
+        iyz="0.000808"
+        izz="0.00103" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://go2_description/dae/thigh.dae" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065" />
+      <geometry>
+        <box size="0.213 0.0245 0.034" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="FL_thigh_joint"
+    type="revolute">
+    <origin
+      xyz="0 0.0955 0"
+      rpy="0 0 0" />
+    <parent
+      link="FL_hip" />
+    <child
+      link="FL_thigh" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-1.5708"
+      upper="3.4907"
+      effort="23.7"
+      velocity="30.1" />
+  </joint>
+  <link name="FL_thigh_rotor">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="0.089"/>
+      <inertia ixx="0.000059647" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="0.000059647"/>
+    </inertial>
+  </link>
+  <joint name="FL_thigh_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 -0.00015 0"/>
+    <parent link="FL_hip"/>
+    <child link="FL_thigh_rotor"/>
+  </joint>
+  <link
+    name="FL_calf">
+    <inertial>
+      <origin
+        xyz="0.00548 -0.000975 -0.115"
+        rpy="0 0 0" />
+      <mass
+        value="0.154" />
+      <inertia
+        ixx="0.00108"
+        ixy="3.4E-07"
+        ixz="1.72E-05"
+        iyy="0.0011"
+        iyz="8.28E-06"
+        izz="3.29E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://go2_description/dae/calf.dae" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 -0.21 0" xyz="0.008 0 -0.06" />
+      <geometry>
+        <cylinder length="0.12" radius="0.012" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="FL_calf_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.213"
+      rpy="0 0 0" />
+    <parent
+      link="FL_thigh" />
+    <child
+      link="FL_calf" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-2.7227"
+      upper="-0.83776"
+      effort="45.43"
+      velocity="15.70" />
+  </joint>
+  <link
+    name="FL_calflower">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <cylinder length="0.065" radius="0.011" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="FL_calflower_joint"
+    type="fixed">
+    <origin
+      xyz="0.020 0 -0.148"
+      rpy="0 0.05 0" />
+    <parent
+      link="FL_calf" />
+    <child
+      link="FL_calflower" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="FL_calflower1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <cylinder length="0.03" radius="0.0155" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="FL_calflower1_joint"
+    type="fixed">
+    <origin
+      xyz="-0.01 0 -0.04"
+      rpy="0 0.48 0" />
+    <parent
+      link="FL_calflower" />
+    <child
+      link="FL_calflower1" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link name="FL_calf_rotor">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="0.089"/>
+      <inertia ixx="0.000059647" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="0.000059647"/>
+    </inertial>
+  </link>
+  <joint name="FL_calf_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 -0.03235 0"/>
+    <parent link="FL_thigh"/>
+    <child link="FL_calf_rotor"/>
+  </joint>
+  <link
+    name="FL_foot">
+    <inertial>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <mass
+        value="0.04" />
+      <inertia
+        ixx="9.6e-06"
+        ixy="0"
+        ixz="0"
+        iyy="9.6e-06"
+        iyz="0"
+        izz="9.6e-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://go2_description/dae/foot.dae" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.002 0 0" />
+      <geometry>
+        <sphere radius="0.022" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="FL_foot_joint"
+    type="fixed" dont_collapse="true">
+    <origin
+      xyz="0 0 -0.213"
+      rpy="0 0 0" />
+    <parent
+      link="FL_calf" />
+    <child
+      link="FL_foot" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="FR_hip">
+    <inertial>
+      <origin
+        xyz="-0.0054 -0.00194 -0.000105"
+        rpy="0 0 0" />
+      <mass
+        value="0.678" />
+      <inertia
+        ixx="0.00048"
+        ixy="3.01E-06"
+        ixz="1.11E-06"
+        iyy="0.000884"
+        iyz="1.42E-06"
+        izz="0.000596" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="3.1415 0 0" />
+      <geometry>
+        <mesh
+          filename="package://go2_description/dae/hip.dae" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 -0.08 0" />
+      <geometry>
+        <cylinder length="0.04" radius="0.046" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="FR_hip_joint"
+    type="revolute">
+    <origin
+      xyz="0.1934 -0.0465 0"
+      rpy="0 0 0" />
+    <parent
+      link="base" />
+    <child
+      link="FR_hip" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-1.0472"
+      upper="1.0472"
+      effort="23.7"
+      velocity="30.1" />
+  </joint>
+  <link name="FR_hip_rotor">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="0.089"/>
+      <inertia ixx="0.000111842" ixy="0.0" ixz="0.0" iyy="0.000059647" iyz="0.0" izz="0.000059647"/>
+    </inertial>
+  </link>
+  <joint name="FR_hip_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.11215 -0.04675 0"/>
+    <parent link="base"/>
+    <child link="FR_hip_rotor"/>
+  </joint>
+  <link
+    name="FR_thigh">
+    <inertial>
+      <origin
+        xyz="-0.00374 0.0223 -0.0327"
+        rpy="0 0 0" />
+      <mass
+        value="1.152" />
+      <inertia
+        ixx="0.00584"
+        ixy="-8.72E-05"
+        ixz="-0.000289"
+        iyy="0.0058"
+        iyz="-0.000808"
+        izz="0.00103" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://go2_description/dae/thigh_mirror.dae" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065" />
+      <geometry>
+        <box size="0.213 0.0245 0.034" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="FR_thigh_joint"
+    type="revolute">
+    <origin
+      xyz="0 -0.0955 0"
+      rpy="0 0 0" />
+    <parent
+      link="FR_hip" />
+    <child
+      link="FR_thigh" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-1.5708"
+      upper="3.4907"
+      effort="23.7"
+      velocity="30.1" />
+  </joint>
+  <link name="FR_thigh_rotor">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="0.089"/>
+      <inertia ixx="0.000059647" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="0.000059647"/>
+    </inertial>
+  </link>
+  <joint name="FR_thigh_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0.00015 0"/>
+    <parent link="FR_hip"/>
+    <child link="FR_thigh_rotor"/>
+  </joint>
+  <link
+    name="FR_calf">
+    <inertial>
+      <origin
+        xyz="0.00548 0.000975 -0.115"
+        rpy="0 0 0" />
+      <mass
+        value="0.154" />
+      <inertia
+        ixx="0.00108"
+        ixy="-3.4E-07"
+        ixz="1.72E-05"
+        iyy="0.0011"
+        iyz="-8.28E-06"
+        izz="3.29E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://go2_description/dae/calf_mirror.dae" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 -0.2 0" xyz="0.01 0 -0.06" />
+      <geometry>
+        <cylinder length="0.12" radius="0.013" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="FR_calf_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.213"
+      rpy="0 0 0" />
+    <parent
+      link="FR_thigh" />
+    <child
+      link="FR_calf" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-2.7227"
+      upper="-0.83776"
+      effort="45.43"
+      velocity="15.70" />
+  </joint>
+  <link
+    name="FR_calflower">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <cylinder length="0.065" radius="0.011" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="FR_calflower_joint"
+    type="fixed">
+    <origin
+      xyz="0.020 0 -0.148"
+      rpy="0 0.05 0" />
+    <parent
+      link="FR_calf" />
+    <child
+      link="FR_calflower" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="FR_calflower1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <cylinder length="0.03" radius="0.0155" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="FR_calflower1_joint"
+    type="fixed">
+    <origin
+      xyz="-0.01 0 -0.04"
+      rpy="0 0.48 0" />
+    <parent
+      link="FR_calflower" />
+    <child
+      link="FR_calflower1" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link name="FR_calf_rotor">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="0.089"/>
+      <inertia ixx="0.000059647" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="0.000059647"/>
+    </inertial>
+  </link>
+  <joint name="FR_calf_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0.03235 0"/>
+    <parent link="FR_thigh"/>
+    <child link="FR_calf_rotor"/>
+  </joint>
+  <link
+    name="FR_foot">
+    <inertial>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <mass
+        value="0.04" />
+      <inertia
+        ixx="9.6e-06"
+        ixy="0"
+        ixz="0"
+        iyy="9.6e-06"
+        iyz="0"
+        izz="9.6e-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://go2_description/dae/foot.dae" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.002 0 0" />
+      <geometry>
+        <sphere radius="0.022" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="FR_foot_joint"
+    type="fixed" dont_collapse="true">
+    <origin
+      xyz="0 0 -0.213"
+      rpy="0 0 0" />
+    <parent
+      link="FR_calf" />
+    <child
+      link="FR_foot" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="RL_hip">
+    <inertial>
+      <origin
+        xyz="0.0054 0.00194 -0.000105"
+        rpy="0 0 0" />
+      <mass
+        value="0.678" />
+      <inertia
+        ixx="0.00048"
+        ixy="3.01E-06"
+        ixz="-1.11E-06"
+        iyy="0.000884"
+        iyz="-1.42E-06"
+        izz="0.000596" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 3.1415 0" />
+      <geometry>
+        <mesh
+          filename="package://go2_description/dae/hip.dae" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0.08 0" />
+      <geometry>
+        <cylinder length="0.04" radius="0.046" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="RL_hip_joint"
+    type="revolute">
+    <origin
+      xyz="-0.1934 0.0465 0"
+      rpy="0 0 0" />
+    <parent
+      link="base" />
+    <child
+      link="RL_hip" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-1.0472"
+      upper="1.0472"
+      effort="23.7"
+      velocity="30.1" />
+  </joint>
+  <link name="RL_hip_rotor">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="0.089"/>
+      <inertia ixx="0.000111842" ixy="0.0" ixz="0.0" iyy="0.000059647" iyz="0.0" izz="0.000059647"/>
+    </inertial>
+  </link>
+  <joint name="RL_hip_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.11215 0.04675 0"/>
+    <parent link="base"/>
+    <child link="RL_hip_rotor"/>
+  </joint>
+  <link
+    name="RL_thigh">
+    <inertial>
+      <origin
+        xyz="-0.00374 -0.0223 -0.0327"
+        rpy="0 0 0" />
+      <mass
+        value="1.152" />
+      <inertia
+        ixx="0.00584"
+        ixy="8.72E-05"
+        ixz="-0.000289"
+        iyy="0.0058"
+        iyz="0.000808"
+        izz="0.00103" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://go2_description/dae/thigh.dae" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065" />
+      <geometry>
+        <box size="0.213 0.0245 0.034" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="RL_thigh_joint"
+    type="revolute">
+    <origin
+      xyz="0 0.0955 0"
+      rpy="0 0 0" />
+    <parent
+      link="RL_hip" />
+    <child
+      link="RL_thigh" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-0.5236"
+      upper="4.5379"
+      effort="23.7"
+      velocity="30.1" />
+  </joint>
+  <link name="RL_thigh_rotor">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="0.089"/>
+      <inertia ixx="0.000059647" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="0.000059647"/>
+    </inertial>
+  </link>
+  <joint name="RL_thigh_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 -0.00015 0"/>
+    <parent link="RL_hip"/>
+    <child link="RL_thigh_rotor"/>
+  </joint>
+  <link
+    name="RL_calf">
+    <inertial>
+      <origin
+        xyz="0.00548 -0.000975 -0.115"
+        rpy="0 0 0" />
+      <mass
+        value="0.154" />
+      <inertia
+        ixx="0.00108"
+        ixy="3.4E-07"
+        ixz="1.72E-05"
+        iyy="0.0011"
+        iyz="8.28E-06"
+        izz="3.29E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://go2_description/dae/calf.dae" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 -0.2 0" xyz="0.01 0 -0.06" />
+      <geometry>
+        <cylinder length="0.12" radius="0.013" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="RL_calf_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.213"
+      rpy="0 0 0" />
+    <parent
+      link="RL_thigh" />
+    <child
+      link="RL_calf" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-2.7227"
+      upper="-0.83776"
+      effort="45.43"
+      velocity="15.70" />
+  </joint>
+  <link
+    name="RL_calflower">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <cylinder length="0.065" radius="0.011" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="RL_calflower_joint"
+    type="fixed">
+    <origin
+      xyz="0.020 0 -0.148"
+      rpy="0 0.05 0" />
+    <parent
+      link="RL_calf" />
+    <child
+      link="RL_calflower" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="RL_calflower1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <cylinder length="0.03" radius="0.0155" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="RL_calflower1_joint"
+    type="fixed">
+    <origin
+      xyz="-0.01 0 -0.04"
+      rpy="0 0.48 0" />
+    <parent
+      link="RL_calflower" />
+    <child
+      link="RL_calflower1" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link name="RL_calf_rotor">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="0.089"/>
+      <inertia ixx="0.000059647" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="0.000059647"/>
+    </inertial>
+  </link>
+  <joint name="RL_calf_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 -0.03235 0"/>
+    <parent link="RL_thigh"/>
+    <child link="RL_calf_rotor"/>
+  </joint>
+  <link
+    name="RL_foot">
+    <inertial>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <mass
+        value="0.04" />
+      <inertia
+        ixx="9.6e-06"
+        ixy="0"
+        ixz="0"
+        iyy="9.6e-06"
+        iyz="0"
+        izz="9.6e-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://go2_description/dae/foot.dae" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.002 0 0" />
+      <geometry>
+        <sphere radius="0.022" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="RL_foot_joint"
+    type="fixed" dont_collapse="true">
+    <origin
+      xyz="0 0 -0.213"
+      rpy="0 0 0" />
+    <parent
+      link="RL_calf" />
+    <child
+      link="RL_foot" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="RR_hip">
+    <inertial>
+      <origin
+        xyz="0.0054 -0.00194 -0.000105"
+        rpy="0 0 0" />
+      <mass
+        value="0.678" />
+      <inertia
+        ixx="0.00048"
+        ixy="-3.01E-06"
+        ixz="-1.11E-06"
+        iyy="0.000884"
+        iyz="1.42E-06"
+        izz="0.000596" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="3.1415 3.1415 0" />
+      <geometry>
+        <mesh
+          filename="package://go2_description/dae/hip.dae" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 -0.08 0" />
+      <geometry>
+        <cylinder length="0.04" radius="0.046" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="RR_hip_joint"
+    type="revolute">
+    <origin
+      xyz="-0.1934 -0.0465 0"
+      rpy="0 0 0" />
+    <parent
+      link="base" />
+    <child
+      link="RR_hip" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-1.0472"
+      upper="1.0472"
+      effort="23.7"
+      velocity="30.1" />
+  </joint>
+  <link name="RR_hip_rotor">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="0.089"/>
+      <inertia ixx="0.000111842" ixy="0.0" ixz="0.0" iyy="0.000059647" iyz="0.0" izz="0.000059647"/>
+    </inertial>
+  </link>
+  <joint name="RR_hip_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.11215 -0.04675 0"/>
+    <parent link="base"/>
+    <child link="RR_hip_rotor"/>
+  </joint>
+  <link
+    name="RR_thigh">
+    <inertial>
+      <origin
+        xyz="-0.00374 0.0223 -0.0327"
+        rpy="0 0 0" />
+      <mass
+        value="1.152" />
+      <inertia
+        ixx="0.00584"
+        ixy="-8.72E-05"
+        ixz="-0.000289"
+        iyy="0.0058"
+        iyz="-0.000808"
+        izz="0.00103" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://go2_description/dae/thigh_mirror.dae" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065" />
+      <geometry>
+        <box size="0.213 0.0245 0.034" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="RR_thigh_joint"
+    type="revolute">
+    <origin
+      xyz="0 -0.0955 0"
+      rpy="0 0 0" />
+    <parent
+      link="RR_hip" />
+    <child
+      link="RR_thigh" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-0.5236"
+      upper="4.5379"
+      effort="23.7"
+      velocity="30.1" />
+  </joint>
+  <link name="RR_thigh_rotor">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="0.089"/>
+      <inertia ixx="0.000059647" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="0.000059647"/>
+    </inertial>
+  </link>
+  <joint name="RR_thigh_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0.00015 0"/>
+    <parent link="RR_hip"/>
+    <child link="RR_thigh_rotor"/>
+  </joint>
+  <link
+    name="RR_calf">
+    <inertial>
+      <origin
+        xyz="0.00548 0.000975 -0.115"
+        rpy="0 0 0" />
+      <mass
+        value="0.154" />
+      <inertia
+        ixx="0.00108"
+        ixy="-3.4E-07"
+        ixz="1.72E-05"
+        iyy="0.0011"
+        iyz="-8.28E-06"
+        izz="3.29E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://go2_description/dae/calf_mirror.dae" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 -0.2 0" xyz="0.01 0 -0.06" />
+      <geometry>
+        <cylinder length="0.12" radius="0.013" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="RR_calf_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.213"
+      rpy="0 0 0" />
+    <parent
+      link="RR_thigh" />
+    <child
+      link="RR_calf" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-2.7227"
+      upper="-0.83776"
+      effort="45.43"
+      velocity="15.70" />
+  </joint>
+  <link
+    name="RR_calflower">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <cylinder length="0.065" radius="0.011" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="RR_calflower_joint"
+    type="fixed">
+    <origin
+      xyz="0.020 0 -0.148"
+      rpy="0 0.05 0" />
+    <parent
+      link="RR_calf" />
+    <child
+      link="RR_calflower" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="RR_calflower1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <cylinder length="0.03" radius="0.0155" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="RR_calflower1_joint"
+    type="fixed">
+    <origin
+      xyz="-0.01 0 -0.04"
+      rpy="0 0.48 0" />
+    <parent
+      link="RR_calflower" />
+    <child
+      link="RR_calflower1" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link name="RR_calf_rotor">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="0.089"/>
+      <inertia ixx="0.000059647" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="0.000059647"/>
+    </inertial>
+  </link>
+  <joint name="RR_calf_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0.03235 0"/>
+    <parent link="RR_thigh"/>
+    <child link="RR_calf_rotor"/>
+  </joint>
+  <link
+    name="RR_foot">
+    <inertial>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <mass
+        value="0.04" />
+      <inertia
+        ixx="9.6e-06"
+        ixy="0"
+        ixz="0"
+        iyy="9.6e-06"
+        iyz="0"
+        izz="9.6e-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://go2_description/dae/foot.dae" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.002 0 0" />
+      <geometry>
+        <sphere radius="0.022" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="RR_foot_joint"
+    type="fixed" dont_collapse="true">
+    <origin
+      xyz="0 0 -0.213"
+      rpy="0 0 0" />
+    <parent
+      link="RR_calf" />
+    <child
+      link="RR_foot" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="imu">
+    <inertial>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <mass
+        value="0" />
+      <inertia
+        ixx="0"
+        ixy="0"
+        ixz="0"
+        iyy="0"
+        iyz="0"
+        izz="0" />
+    </inertial>
+  </link>
+  <joint
+    name="imu_joint"
+    type="fixed">
+    <origin
+      xyz="-0.02557 0 0.04232"
+      rpy="0 0 0" />
+    <parent
+      link="base" />
+    <child
+      link="imu" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="radar">
+    <inertial>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <mass
+        value="0" />
+      <inertia
+        ixx="0"
+        ixy="0"
+        ixz="0"
+        iyy="0"
+        iyz="0"
+        izz="0" />
+    </inertial>
+  </link>
+  <joint
+    name="radar_joint"
+    type="fixed">
+    <origin
+      xyz="0.28945 0 -0.046825"
+      rpy="0 2.8782 0" />
+    <parent
+      link="base" />
+    <child
+      link="radar" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <joint 
+    name="front_camera_joint" 
+    type="fixed">
+    <origin 
+      rpy="0 0 0" 
+      xyz="0.32715 -0.00003 0.04297"/>
+      <parent 
+        link="base"/>
+      <child 
+      link="front_camera"/>
+  </joint>
+  <link 
+    name="front_camera">
+  </link>
+</robot>
\ No newline at end of file