diff --git a/rex_gym/util/pybullet_data/assets/urdf/openquadruped.urdf b/rex_gym/util/pybullet_data/assets/urdf/openquadruped.urdf
new file mode 100644
index 0000000..41467f8
--- /dev/null
+++ b/rex_gym/util/pybullet_data/assets/urdf/openquadruped.urdf
@@ -0,0 +1,710 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from spot.urdf.xacro                | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="spot" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <material name="orange">
+    <color rgba="1.0 0.5 0.0 1"/>
+  </material>
+  <material name="black">
+    <color rgba="0.1 0.1 0.1 1"/>
+  </material>
+  <material name="grey">
+    <color rgba="0.6 0.6 0.6 1"/>
+  </material>
+  <!-- Left Leg: prefix is front or rear -->
+  <!--   <xacro:macro name="LeftLeg" params="prefix reflect">
+    <link name="${prefix}_Left_Leg">
+        <visual>
+            <geometry>
+                <box size="${leglen} 0.1 0.2"/>
+            </geometry>
+            <origin xyz="0 0 -${leglen/2}" rpy="0 ${pi/2} 0"/>
+            <material name="white"/>
+        </visual>
+        <collision>
+            <geometry>
+                <box size="${leglen} 0.1 0.2"/>
+            </geometry>
+            <origin xyz="0 0 -${leglen/2}" rpy="0 ${pi/2} 0"/>
+        </collision>
+        <xacro:default_inertial mass="10"/>
+    </link>
+
+    <joint name="base_to_${prefix}_leg" type="fixed">
+        <parent link="base_link"/>
+        <child link="${prefix}_leg"/>
+        <origin xyz="0 ${reflect*(width+.02)} 0.25" />
+    </joint>
+</xacro:macro> -->
+  <!-- Robot description -->
+  <!-- STATIC Links -->
+  <link name="base_link">
+    <visual>
+      <origin rpy="0 0 1.57079632679" xyz="-0.16 0.035 -0.045"/>
+      <geometry>
+        <mesh filename="stl/OpenQuadruped/MAINBODY.stl" scale="1 1 1"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.114 0.2 0.1"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.6"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <!-- Inertial Axes -->
+      <inertia ixx="0.0025" ixy="0" ixz="0" iyx="0" iyy="0.0011498" iyz="0" izx="0" izy="0" izz="0.0026498"/>
+    </inertial>
+  </link>
+  <!-- m to mm -->
+  <link name="battery">
+    <visual>
+      <origin rpy="0 0 1.57079632679" xyz="-0.15 0.035 -0.022"/>
+      <geometry>
+        <mesh filename="stl/OpenQuadruped/Battery.stl" scale="1 1 1"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.048 0.145 0.026"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.4"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <!-- Inertial Axes -->
+      <inertia ixx="0.000723366666667" ixy="0" ixz="0" iyx="0" iyy="9.93333333333e-05" iyz="0" izx="0" izy="0" izz="0.000777633333333"/>
+    </inertial>
+  </link>
+  <!-- m to mm -->
+  <link name="chassis_left">
+    <visual>
+      <origin rpy="0 1.57079632679 -1.57079632679" xyz="0.016 0.003 0"/>
+      <geometry>
+        <mesh filename="stl/OpenQuadruped/Chassis_Left_Side.stl" scale="1 1 1"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.57079632679 -1.57079632679" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.06 0.15 0.006"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.01"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <!-- Inertial Axes -->
+      <inertia ixx="1.878e-05" ixy="0" ixz="0" iyx="0" iyy="3.03e-06" iyz="0" izx="0" izy="0" izz="2.175e-05"/>
+    </inertial>
+  </link>
+  <!-- m to mm -->
+  <link name="chassis_right">
+    <visual>
+      <origin rpy="0 1.57079632679 1.57079632679" xyz="-0.016 -0.003 0"/>
+      <geometry>
+        <mesh filename="stl/OpenQuadruped/Chassis_Right_Side.stl" scale="1 1 1"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.57079632679 1.57079632679" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.06 0.15 0.006"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.01"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <!-- Inertial Axes -->
+      <inertia ixx="1.878e-05" ixy="0" ixz="0" iyx="0" iyy="3.03e-06" iyz="0" izx="0" izy="0" izz="2.175e-05"/>
+    </inertial>
+  </link>
+  <!-- m to mm -->
+  <link name="front">
+    <visual>
+      <origin rpy="0 0 1.57079632679" xyz="-0.16 0.035 -0.045"/>
+      <geometry>
+        <mesh filename="stl/OpenQuadruped/Front.stl" scale="1 1 1"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 1.57079632679" xyz="0.16 0 0.006"/>
+      <geometry>
+        <box size="0.114 0.045 0.085"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.1"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <!-- Inertial Axes -->
+      <inertia ixx="7.70833333333e-05" ixy="0" ixz="0" iyx="0" iyy="0.000168508333333" iyz="0" izx="0" izy="0" izz="0.000125175"/>
+    </inertial>
+  </link>
+  <!-- m to mm -->
+  <link name="back">
+    <visual>
+      <origin rpy="0 0 1.57079632679" xyz="-0.16 0.035 -0.045"/>
+      <geometry>
+        <mesh filename="stl/OpenQuadruped/Back.stl" scale="1 1 1"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 1.57079632679" xyz="-0.16 0 0.006"/>
+      <geometry>
+        <box size="0.114 0.075 0.085"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.1"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <!-- Inertial Axes -->
+      <inertia ixx="0.000107083333333" ixy="0" ixz="0" iyx="0" iyy="0.000168508333333" iyz="0" izx="0" izy="0" izz="0.000155175"/>
+    </inertial>
+  </link>
+  <!-- m to mm -->
+  <link name="front_bracket">
+    <visual>
+      <origin rpy="0 0 1.57079632679" xyz="-0.16 0.035 -0.045"/>
+      <geometry>
+        <mesh filename="stl/OpenQuadruped/Front_Bracket.stl" scale="1 1 1"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 1.57079632679" xyz="0.1 0 0"/>
+      <geometry>
+        <box size="0.025 0.075 0.085"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.1"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <!-- Inertial Axes -->
+      <inertia ixx="0.000107083333333" ixy="0" ixz="0" iyx="0" iyy="6.54166666667e-05" iyz="0" izx="0" izy="0" izz="5.20833333333e-05"/>
+    </inertial>
+  </link>
+  <!-- m to mm -->
+  <link name="back_bracket">
+    <visual>
+      <origin rpy="0 0 1.57079632679" xyz="-0.16 0.035 -0.045"/>
+      <geometry>
+        <mesh filename="stl/OpenQuadruped/Back_Bracket.stl" scale="1 1 1"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 1.57079632679" xyz="-0.1 0 0"/>
+      <geometry>
+        <box size="0.025 0.075 0.085"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.1"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <!-- Inertial Axes -->
+      <inertia ixx="0.000107083333333" ixy="0" ixz="0" iyx="0" iyy="6.54166666667e-05" iyz="0" izx="0" izy="0" izz="5.20833333333e-05"/>
+    </inertial>
+  </link>
+  <!-- m to mm -->
+  <link name="front_left_hip">
+    <visual>
+      <origin rpy="0 0 1.57079632679" xyz="-0.25 -0.0044 -0.067"/>
+      <geometry>
+        <mesh filename="stl/OpenQuadruped/LEFT_HIP.stl" scale="1 1 1"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 1.57079632679" xyz="0.015 0.01 -0.01"/>
+      <geometry>
+        <box size="0.05 0.065 0.065"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.2"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <!-- Inertial Axes -->
+      <inertia ixx="0.000140833333333" ixy="0" ixz="0" iyx="0" iyy="0.000112083333333" iyz="0" izx="0" izy="0" izz="0.000112083333333"/>
+    </inertial>
+  </link>
+  <joint name="motor_front_left_hip" type="revolute">
+    <axis xyz="1 0 0"/>
+    <origin rpy="0 0 0" xyz="0.0915 0.0394 0.022"/>
+    <parent link="front_bracket"/>
+    <child link="front_left_hip"/>
+    <limit effort="1000.0" lower="-1.04" upper="1.04" velocity="0.7"/>
+    <joint_properties damping="0.0" friction="0.0"/>
+  </joint>
+  <link name="front_left_upper_leg">
+    <visual>
+      <origin rpy="0 0 1.57079632679" xyz="-0.252 -0.05 -0.055"/>
+      <geometry>
+        <mesh filename="stl/OpenQuadruped/LEFT_UPPER_LEG.stl" scale="1 1 1"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 1.57079632679" xyz="0 0.02 -0.05"/>
+      <geometry>
+        <box size="0.035 0.035 0.11"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.13"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <!-- Inertial Axes -->
+      <inertia ixx="0.000144354166667" ixy="0" ixz="0" iyx="0" iyy="0.000144354166667" iyz="0" izx="0" izy="0" izz="2.65416666667e-05"/>
+    </inertial>
+  </link>
+  <joint name="motor_front_left_upper_leg" type="revolute">
+    <axis xyz="0 1 0"/>
+    <origin rpy="0 0 0" xyz="0.0015 0.045 -0.0087"/>
+    <parent link="front_left_hip"/>
+    <child link="front_left_upper_leg"/>
+    <limit effort="1000.0" lower="-1.57079632679" upper="2.59" velocity="0.7"/>
+    <joint_properties damping="0.0" friction="0.0"/>
+  </joint>
+  <link name="front_left_lower_leg">
+    <visual>
+      <origin rpy="0 0 1.57079632679" xyz="-0.247 -0.068 0.0535"/>
+      <geometry>
+        <mesh filename="stl/OpenQuadruped/LEFT_LOWER_LEG.stl" scale="1 1 1"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 1.57079632679" xyz="0 0 -0.06"/>
+      <geometry>
+        <box size="0.035 0.035 0.12"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.05"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <!-- Inertial Axes -->
+      <inertia ixx="6.51041666667e-05" ixy="0" ixz="0" iyx="0" iyy="6.51041666667e-05" iyz="0" izx="0" izy="0" izz="1.02083333333e-05"/>
+    </inertial>
+  </link>
+  <joint name="motor_front_left_lower_leg" type="revolute">
+    <axis xyz="0 1 0"/>
+    <origin rpy="0 0 0" xyz="-0.005 0.018 -0.109"/>
+    <parent link="front_left_upper_leg"/>
+    <child link="front_left_lower_leg"/>
+    <limit effort="1000.0" lower="-2.9" upper="1.57079632679" velocity="0.7"/>
+    <joint_properties damping="0.0" friction="0.0"/>
+  </joint>
+  <link name="front_left_foot">
+    <visual>
+      <origin rpy="0 0 1.57079632679" xyz="-0.247 -0.068 0.18"/>
+      <geometry>
+        <mesh filename="stl/OpenQuadruped/LEFT_FOOT.stl" scale="1 1 1"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 1.57079632679" xyz="-0.247 -0.068 0.18"/>
+      <geometry>
+        <mesh filename="stl/OpenQuadruped/LEFT_FOOT.stl" scale="1 1 1"/>
+      </geometry>
+      <contact_coefficients mu="10.1"/>
+    </collision>
+    <inertial>
+      <mass value="0.005"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <!-- Inertial Axes -->
+      <inertia ixx="3.52083333333e-06" ixy="0" ixz="0" iyx="0" iyy="2.80208333333e-06" iyz="0" izx="0" izy="0" izz="2.80208333333e-06"/>
+    </inertial>
+  </link>
+  <joint name="front_left_leg_foot" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 -0.1265"/>
+    <parent link="front_left_lower_leg"/>
+    <child link="front_left_foot"/>
+  </joint>
+  <link name="back_left_hip">
+    <visual>
+      <origin rpy="0 0 1.57079632679" xyz="-0.25 -0.0044 -0.067"/>
+      <geometry>
+        <mesh filename="stl/OpenQuadruped/LEFT_HIP.stl" scale="1 1 1"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 1.57079632679" xyz="0.015 0.01 -0.01"/>
+      <geometry>
+        <box size="0.05 0.065 0.065"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.2"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <!-- Inertial Axes -->
+      <inertia ixx="0.000140833333333" ixy="0" ixz="0" iyx="0" iyy="0.000112083333333" iyz="0" izx="0" izy="0" izz="0.000112083333333"/>
+    </inertial>
+  </link>
+  <joint name="motor_back_left_hip" type="revolute">
+    <axis xyz="1 0 0"/>
+    <origin rpy="0 0 0" xyz="-0.1365 0.0394 0.022"/>
+    <parent link="back_bracket"/>
+    <child link="back_left_hip"/>
+    <limit effort="1000.0" lower="-1.04" upper="1.04" velocity="0.7"/>
+    <joint_properties damping="0.0" friction="0.0"/>
+  </joint>
+  <link name="back_left_upper_leg">
+    <visual>
+      <origin rpy="0 0 1.57079632679" xyz="-0.252 -0.05 -0.055"/>
+      <geometry>
+        <mesh filename="stl/OpenQuadruped/LEFT_UPPER_LEG.stl" scale="1 1 1"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 1.57079632679" xyz="0 0.02 -0.05"/>
+      <geometry>
+        <box size="0.035 0.035 0.11"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.13"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <!-- Inertial Axes -->
+      <inertia ixx="0.000144354166667" ixy="0" ixz="0" iyx="0" iyy="0.000144354166667" iyz="0" izx="0" izy="0" izz="2.65416666667e-05"/>
+    </inertial>
+  </link>
+  <joint name="motor_back_left_upper_leg" type="revolute">
+    <axis xyz="0 1 0"/>
+    <origin rpy="0 0 0" xyz="0.0015 0.045 -0.0087"/>
+    <parent link="back_left_hip"/>
+    <child link="back_left_upper_leg"/>
+    <limit effort="1000.0" lower="-1.57079632679" upper="2.59" velocity="0.7"/>
+    <joint_properties damping="0.0" friction="0.0"/>
+  </joint>
+  <link name="back_left_lower_leg">
+    <visual>
+      <origin rpy="0 0 1.57079632679" xyz="-0.247 -0.068 0.0535"/>
+      <geometry>
+        <mesh filename="stl/OpenQuadruped/LEFT_LOWER_LEG.stl" scale="1 1 1"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 1.57079632679" xyz="0 0 -0.06"/>
+      <geometry>
+        <box size="0.035 0.035 0.12"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.05"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <!-- Inertial Axes -->
+      <inertia ixx="6.51041666667e-05" ixy="0" ixz="0" iyx="0" iyy="6.51041666667e-05" iyz="0" izx="0" izy="0" izz="1.02083333333e-05"/>
+    </inertial>
+  </link>
+  <joint name="motor_back_left_lower_leg" type="revolute">
+    <axis xyz="0 1 0"/>
+    <origin rpy="0 0 0" xyz="-0.005 0.018 -0.109"/>
+    <parent link="back_left_upper_leg"/>
+    <child link="back_left_lower_leg"/>
+    <limit effort="1000.0" lower="-2.9" upper="1.57079632679" velocity="0.7"/>
+    <joint_properties damping="0.0" friction="0.0"/>
+  </joint>
+  <link name="back_left_foot">
+    <visual>
+      <origin rpy="0 0 1.57079632679" xyz="-0.247 -0.068 0.18"/>
+      <geometry>
+        <mesh filename="stl/OpenQuadruped/LEFT_FOOT.stl" scale="1 1 1"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 1.57079632679" xyz="-0.247 -0.068 0.18"/>
+      <geometry>
+        <mesh filename="stl/OpenQuadruped/LEFT_FOOT.stl" scale="1 1 1"/>
+      </geometry>
+      <contact_coefficients mu="10.1"/>
+    </collision>
+    <inertial>
+      <mass value="0.005"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <!-- Inertial Axes -->
+      <inertia ixx="3.52083333333e-06" ixy="0" ixz="0" iyx="0" iyy="2.80208333333e-06" iyz="0" izx="0" izy="0" izz="2.80208333333e-06"/>
+    </inertial>
+  </link>
+  <joint name="back_left_leg_foot" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 -0.1265"/>
+    <parent link="back_left_lower_leg"/>
+    <child link="back_left_foot"/>
+  </joint>
+  <link name="front_right_hip">
+    <visual>
+      <origin rpy="0 0 1.57079632679" xyz="-0.25 0.074 -0.067"/>
+      <geometry>
+        <mesh filename="stl/OpenQuadruped/RIGHT_HIP.stl" scale="1 1 1"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 1.57079632679" xyz="0.015 -0.01 -0.01"/>
+      <geometry>
+        <box size="0.05 0.065 0.065"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.2"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <!-- Inertial Axes -->
+      <inertia ixx="0.000140833333333" ixy="0" ixz="0" iyx="0" iyy="0.000112083333333" iyz="0" izx="0" izy="0" izz="0.000112083333333"/>
+    </inertial>
+  </link>
+  <joint name="motor_front_right_hip" type="revolute">
+    <axis xyz="1 0 0"/>
+    <origin rpy="0 0 0" xyz="0.0915 -0.0394 0.022"/>
+    <parent link="front_bracket"/>
+    <child link="front_right_hip"/>
+    <limit effort="1000.0" lower="-1.04" upper="1.04" velocity="0.7"/>
+    <joint_properties damping="0.0" friction="0.0"/>
+  </joint>
+  <link name="front_right_upper_leg">
+    <visual>
+      <origin rpy="0 0 1.57079632679" xyz="-0.252 0.12 -0.055"/>
+      <geometry>
+        <mesh filename="stl/OpenQuadruped/RIGHT_UPPER_LEG.stl" scale="1 1 1"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 1.57079632679" xyz="0 -0.02 -0.05"/>
+      <geometry>
+        <box size="0.035 0.035 0.11"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.13"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <!-- Inertial Axes -->
+      <inertia ixx="0.000144354166667" ixy="0" ixz="0" iyx="0" iyy="0.000144354166667" iyz="0" izx="0" izy="0" izz="2.65416666667e-05"/>
+    </inertial>
+  </link>
+  <joint name="motor_front_right_upper_leg" type="revolute">
+    <axis xyz="0 1 0"/>
+    <origin rpy="0 0 0" xyz="0.0015 -0.045 -0.0087"/>
+    <parent link="front_right_hip"/>
+    <child link="front_right_upper_leg"/>
+    <limit effort="1000.0" lower="-1.57079632679" upper="2.59" velocity="0.7"/>
+    <joint_properties damping="0.0" friction="0.0"/>
+  </joint>
+  <link name="front_right_lower_leg">
+    <visual>
+      <origin rpy="0 0 1.57079632679" xyz="-0.247 0.138 0.0535"/>
+      <geometry>
+        <mesh filename="stl/OpenQuadruped/RIGHT_LOWER_LEG.stl" scale="1 1 1"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 1.57079632679" xyz="0 0 -0.06"/>
+      <geometry>
+        <box size="0.035 0.035 0.12"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.05"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <!-- Inertial Axes -->
+      <inertia ixx="6.51041666667e-05" ixy="0" ixz="0" iyx="0" iyy="6.51041666667e-05" iyz="0" izx="0" izy="0" izz="1.02083333333e-05"/>
+    </inertial>
+  </link>
+  <joint name="motor_front_right_lower_leg" type="revolute">
+    <axis xyz="0 1 0"/>
+    <origin rpy="0 0 0" xyz="-0.005 -0.018 -0.109"/>
+    <parent link="front_right_upper_leg"/>
+    <child link="front_right_lower_leg"/>
+    <limit effort="1000.0" lower="-2.9" upper="1.57079632679" velocity="0.7"/>
+    <joint_properties damping="0.0" friction="0.0"/>
+  </joint>
+  <link name="front_right_foot">
+    <visual>
+      <origin rpy="0 0 1.57079632679" xyz="-0.247 0.138 0.18"/>
+      <geometry>
+        <mesh filename="stl/OpenQuadruped/RIGHT_FOOT.stl" scale="1 1 1"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 1.57079632679" xyz="-0.247 0.138 0.18"/>
+      <geometry>
+        <mesh filename="stl/OpenQuadruped/RIGHT_FOOT.stl" scale="1 1 1"/>
+      </geometry>
+      <contact_coefficients mu="10.1"/>
+    </collision>
+    <inertial>
+      <mass value="0.005"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <!-- Inertial Axes -->
+      <inertia ixx="3.52083333333e-06" ixy="0" ixz="0" iyx="0" iyy="2.80208333333e-06" iyz="0" izx="0" izy="0" izz="2.80208333333e-06"/>
+    </inertial>
+  </link>
+  <joint name="front_right_leg_foot" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 -0.1265"/>
+    <parent link="front_right_lower_leg"/>
+    <child link="front_right_foot"/>
+  </joint>
+  <link name="back_right_hip">
+    <visual>
+      <origin rpy="0 0 1.57079632679" xyz="-0.25 0.074 -0.067"/>
+      <geometry>
+        <mesh filename="stl/OpenQuadruped/RIGHT_HIP.stl" scale="1 1 1"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 1.57079632679" xyz="0.015 -0.01 -0.01"/>
+      <geometry>
+        <box size="0.05 0.065 0.065"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.2"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <!-- Inertial Axes -->
+      <inertia ixx="0.000140833333333" ixy="0" ixz="0" iyx="0" iyy="0.000112083333333" iyz="0" izx="0" izy="0" izz="0.000112083333333"/>
+    </inertial>
+  </link>
+  <joint name="motor_back_right_hip" type="revolute">
+    <axis xyz="1 0 0"/>
+    <origin rpy="0 0 0" xyz="-0.1365 -0.0394 0.022"/>
+    <parent link="back_bracket"/>
+    <child link="back_right_hip"/>
+    <limit effort="1000.0" lower="-1.04" upper="1.04" velocity="0.7"/>
+    <joint_properties damping="0.0" friction="0.0"/>
+  </joint>
+  <link name="back_right_upper_leg">
+    <visual>
+      <origin rpy="0 0 1.57079632679" xyz="-0.252 0.12 -0.055"/>
+      <geometry>
+        <mesh filename="stl/OpenQuadruped/RIGHT_UPPER_LEG.stl" scale="1 1 1"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 1.57079632679" xyz="0 -0.02 -0.05"/>
+      <geometry>
+        <box size="0.035 0.035 0.11"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.13"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <!-- Inertial Axes -->
+      <inertia ixx="0.000144354166667" ixy="0" ixz="0" iyx="0" iyy="0.000144354166667" iyz="0" izx="0" izy="0" izz="2.65416666667e-05"/>
+    </inertial>
+  </link>
+  <joint name="motor_back_right_upper_leg" type="revolute">
+    <axis xyz="0 1 0"/>
+    <origin rpy="0 0 0" xyz="0.0015 -0.045 -0.0087"/>
+    <parent link="back_right_hip"/>
+    <child link="back_right_upper_leg"/>
+    <limit effort="1000.0" lower="-1.57079632679" upper="2.59" velocity="0.7"/>
+    <joint_properties damping="0.0" friction="0.0"/>
+  </joint>
+  <link name="back_right_lower_leg">
+    <visual>
+      <origin rpy="0 0 1.57079632679" xyz="-0.247 0.138 0.0535"/>
+      <geometry>
+        <mesh filename="stl/OpenQuadruped/RIGHT_LOWER_LEG.stl" scale="1 1 1"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 1.57079632679" xyz="0 0 -0.06"/>
+      <geometry>
+        <box size="0.035 0.035 0.12"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.05"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <!-- Inertial Axes -->
+      <inertia ixx="6.51041666667e-05" ixy="0" ixz="0" iyx="0" iyy="6.51041666667e-05" iyz="0" izx="0" izy="0" izz="1.02083333333e-05"/>
+    </inertial>
+  </link>
+  <joint name="motor_back_right_lower_leg" type="revolute">
+    <axis xyz="0 1 0"/>
+    <origin rpy="0 0 0" xyz="-0.005 -0.018 -0.109"/>
+    <parent link="back_right_upper_leg"/>
+    <child link="back_right_lower_leg"/>
+    <limit effort="1000.0" lower="-2.9" upper="1.57079632679" velocity="0.7"/>
+    <joint_properties damping="0.0" friction="0.0"/>
+  </joint>
+  <link name="back_right_foot">
+    <visual>
+      <origin rpy="0 0 1.57079632679" xyz="-0.247 0.138 0.18"/>
+      <geometry>
+        <mesh filename="stl/OpenQuadruped/RIGHT_FOOT.stl" scale="1 1 1"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 1.57079632679" xyz="-0.247 0.138 0.18"/>
+      <geometry>
+        <mesh filename="stl/OpenQuadruped/RIGHT_FOOT.stl" scale="1 1 1"/>
+      </geometry>
+      <contact_coefficients mu="10.1"/>
+    </collision>
+    <inertial>
+      <mass value="0.005"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <!-- Inertial Axes -->
+      <inertia ixx="3.52083333333e-06" ixy="0" ixz="0" iyx="0" iyy="2.80208333333e-06" iyz="0" izx="0" izy="0" izz="2.80208333333e-06"/>
+    </inertial>
+  </link>
+  <joint name="back_right_leg_foot" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 -0.1265"/>
+    <parent link="back_right_lower_leg"/>
+    <child link="back_right_foot"/>
+  </joint>
+  <joint name="base_battery" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.01 0 -0.0225"/>
+    <parent link="base_link"/>
+    <child link="battery"/>
+  </joint>
+  <joint name="base_left" type="fixed">
+    <origin rpy="0 0 0" xyz="0.00 0.052 0"/>
+    <parent link="base_link"/>
+    <child link="chassis_left"/>
+  </joint>
+  <joint name="base_right" type="fixed">
+    <origin rpy="0 0 0" xyz="0.00 -0.052 0"/>
+    <parent link="base_link"/>
+    <child link="chassis_right"/>
+  </joint>
+  <joint name="base_front" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="base_link"/>
+    <child link="front"/>
+  </joint>
+  <joint name="base_back" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="base_link"/>
+    <child link="back"/>
+  </joint>
+  <joint name="base_front_bracket" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="base_link"/>
+    <child link="front_bracket"/>
+  </joint>
+  <joint name="base_back_bracket" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="base_link"/>
+    <child link="back_bracket"/>
+  </joint>
+</robot>
diff --git a/rex_gym/util/pybullet_data/assets/urdf/stl/OpenQuadruped/BACK.stl b/rex_gym/util/pybullet_data/assets/urdf/stl/OpenQuadruped/BACK.stl
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diff --git a/rex_gym/util/pybullet_data/assets/urdf/stl/OpenQuadruped/BATTERY.stl b/rex_gym/util/pybullet_data/assets/urdf/stl/OpenQuadruped/BATTERY.stl
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diff --git a/rex_gym/util/pybullet_data/assets/urdf/stl/OpenQuadruped/Back_Bracket.stl b/rex_gym/util/pybullet_data/assets/urdf/stl/OpenQuadruped/Back_Bracket.stl
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diff --git a/rex_gym/util/pybullet_data/assets/urdf/stl/OpenQuadruped/Battery.stl b/rex_gym/util/pybullet_data/assets/urdf/stl/OpenQuadruped/Battery.stl
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diff --git a/rex_gym/util/pybullet_data/assets/urdf/stl/OpenQuadruped/Chassis_Left_Side.stl b/rex_gym/util/pybullet_data/assets/urdf/stl/OpenQuadruped/Chassis_Left_Side.stl
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diff --git a/rex_gym/util/pybullet_data/assets/urdf/stl/OpenQuadruped/Chassis_Right_Side.stl b/rex_gym/util/pybullet_data/assets/urdf/stl/OpenQuadruped/Chassis_Right_Side.stl
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diff --git a/rex_gym/util/pybullet_data/assets/urdf/stl/OpenQuadruped/FRONT.stl b/rex_gym/util/pybullet_data/assets/urdf/stl/OpenQuadruped/FRONT.stl
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diff --git a/rex_gym/util/pybullet_data/assets/urdf/stl/OpenQuadruped/Front_Bracket.stl b/rex_gym/util/pybullet_data/assets/urdf/stl/OpenQuadruped/Front_Bracket.stl
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diff --git a/rex_gym/util/pybullet_data/assets/urdf/stl/OpenQuadruped/LEFT_FOOT.stl b/rex_gym/util/pybullet_data/assets/urdf/stl/OpenQuadruped/LEFT_FOOT.stl
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diff --git a/rex_gym/util/pybullet_data/assets/urdf/stl/OpenQuadruped/LEFT_UPPER_LEG.stl b/rex_gym/util/pybullet_data/assets/urdf/stl/OpenQuadruped/LEFT_UPPER_LEG.stl
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diff --git a/rex_gym/util/pybullet_data/assets/urdf/stl/OpenQuadruped/MAINBODY.stl b/rex_gym/util/pybullet_data/assets/urdf/stl/OpenQuadruped/MAINBODY.stl
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