diff --git a/python/example_robot_data/robots_loader.py b/python/example_robot_data/robots_loader.py
index 80fe67706b903c31267328ec75542d6472eb4cb3..2a9a9299aac2788dfd3e3e36e6d328810e5d4f0c 100644
--- a/python/example_robot_data/robots_loader.py
+++ b/python/example_robot_data/robots_loader.py
@@ -182,6 +182,7 @@ class A1Loader(RobotLoader):
ref_posture = "standing"
free_flyer = True
+
class Z1Loader(RobotLoader):
path = "z1_description"
urdf_filename = "z1.urdf"
@@ -189,11 +190,13 @@ class Z1Loader(RobotLoader):
srdf_filename = "z1.srdf"
ref_posture = "arm_up"
+
class B1Z1Loader(B1Loader):
urdf_filename = "b1-z1.urdf"
srdf_filename = "b1-z1.srdf"
ref_posture = "standing_with_arm_home"
+
class ANYmalLoader(RobotLoader):
path = "anymal_b_simple_description"
urdf_filename = "anymal.urdf"
@@ -525,6 +528,7 @@ class IrisLoader(RobotLoader):
urdf_filename = "iris_simple.urdf"
free_flyer = True
+
ROBOTS = {
"b1": B1Loader,
"go1": Go1Loader,
diff --git a/robots/a1_description/meshes/calf.dae b/robots/a1_description/meshes/calf.dae
index 0579b68aecb69d247ef537b92389ec7529f322e7..32c82cc7170c2abad3340edcc07089d28fdeea3b 100644
--- a/robots/a1_description/meshes/calf.dae
+++ b/robots/a1_description/meshes/calf.dae
@@ -86,4 +86,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/a1_description/meshes/hip.dae b/robots/a1_description/meshes/hip.dae
index 5b60b386004bcfa682927c41b8f4064909e242b6..ae0f9c64c3bb154b9ca4070684bfbce965741652 100644
--- a/robots/a1_description/meshes/hip.dae
+++ b/robots/a1_description/meshes/hip.dae
@@ -86,4 +86,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/a1_description/meshes/thigh.dae b/robots/a1_description/meshes/thigh.dae
index 7f3755f085b08e91f2a85a47d247f06fa46001a7..64cd153846addfd0ed6c7e0bbdce34999e1e4d97 100644
--- a/robots/a1_description/meshes/thigh.dae
+++ b/robots/a1_description/meshes/thigh.dae
@@ -86,4 +86,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/a1_description/meshes/thigh_mirror.dae b/robots/a1_description/meshes/thigh_mirror.dae
index 89c709cee7a7fbf7f2965c04bc138517968f1dba..a33d08c1be26d02654b9187701a7c60ec5676920 100644
--- a/robots/a1_description/meshes/thigh_mirror.dae
+++ b/robots/a1_description/meshes/thigh_mirror.dae
@@ -86,4 +86,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/a1_description/meshes/trunk.dae b/robots/a1_description/meshes/trunk.dae
index f54036a338cf715e8f2e9ea459e31083e22df722..33f15a8d8eb09c7271b725cdd2837a2acd6743d0 100644
--- a/robots/a1_description/meshes/trunk.dae
+++ b/robots/a1_description/meshes/trunk.dae
@@ -98,4 +98,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/b1_description/meshes/thigh.dae b/robots/b1_description/meshes/thigh.dae
index b2c1452124c1cff5241534270ff2b965b81b0f0a..64cc7773b71e173ed50e6e18175e08373cb3da8e 100644
--- a/robots/b1_description/meshes/thigh.dae
+++ b/robots/b1_description/meshes/thigh.dae
@@ -86,4 +86,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/b1_description/meshes/thigh_mirror.dae b/robots/b1_description/meshes/thigh_mirror.dae
index be728931bc740079e8f3d7e75620a41f69e0bcf0..d59e29aa12a3b3c3c02e2caf5fe729ae8bc37c65 100644
--- a/robots/b1_description/meshes/thigh_mirror.dae
+++ b/robots/b1_description/meshes/thigh_mirror.dae
@@ -86,4 +86,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/b1_description/meshes/trunk.dae b/robots/b1_description/meshes/trunk.dae
index 41e65ff26fc9508f07eaff904d19ac8f5327c38f..de29964791a6e55d1cdf1cd11660d592d7e4f377 100644
--- a/robots/b1_description/meshes/trunk.dae
+++ b/robots/b1_description/meshes/trunk.dae
@@ -86,4 +86,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/b1_description/urdf/b1-z1.urdf b/robots/b1_description/urdf/b1-z1.urdf
index 94ec59a25c81d475da92b56a61f8382717a2d13f..844164f75008f20587d4c16ac0ff764d783e9766 100644
--- a/robots/b1_description/urdf/b1-z1.urdf
+++ b/robots/b1_description/urdf/b1-z1.urdf
@@ -1128,7 +1128,7 @@
<inertial>
<origin rpy="0 0 0" xyz="0.04764427 -0.00035819 -0.00249162"/>
<mass value="0.52603655"/>
- <inertia ixx="0.00038683" ixy="-0.00000359" ixz="0.00007662" iyy="0.00068614" iyz="0.00000209" izz="0.00066293"/>
+ <inertia ixx="0.00038683" ixy="-0.00000359" ixz="0.00007662" iyy="0.00068614" iyz="0.00000209" izz="0.00066293"/>
</inertial>
</link>
<joint name="jointGripper" type="revolute">
@@ -1154,7 +1154,7 @@
<inertial>
<origin rpy="0 0 0" xyz="0.01320633 0.00476708 0.00380534"/>
<mass value="0.27621302"/>
- <inertia ixx="0.00017716" ixy="0.00001683" ixz="-0.00001786" iyy="0.00026787" iyz="0.00000262" izz="0.00035728"/>
+ <inertia ixx="0.00017716" ixy="0.00001683" ixz="-0.00001786" iyy="0.00026787" iyz="0.00000262" izz="0.00035728"/>
</inertial>
</link>
diff --git a/robots/go1_description/meshes/calf.dae b/robots/go1_description/meshes/calf.dae
index b1f060670742bb5b006eeb4e6b70ceff27329548..06f7c9eac85bd7000794f8c6906a5d396016afff 100644
--- a/robots/go1_description/meshes/calf.dae
+++ b/robots/go1_description/meshes/calf.dae
@@ -86,4 +86,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/go1_description/meshes/hip.dae b/robots/go1_description/meshes/hip.dae
index 5352e3fbe72a43bbb6c9f963b25eb6be867acdaa..4d64df42a9dcfc267adb22f15db7789f86b67630 100644
--- a/robots/go1_description/meshes/hip.dae
+++ b/robots/go1_description/meshes/hip.dae
@@ -86,4 +86,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/go1_description/meshes/thigh.dae b/robots/go1_description/meshes/thigh.dae
index aead77c40cf52ea63ea23d96a974b6aa4e5c2286..dc0393ff73ff6056795d2837b33927274aa80cd3 100644
--- a/robots/go1_description/meshes/thigh.dae
+++ b/robots/go1_description/meshes/thigh.dae
@@ -86,4 +86,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/z1_description/meshes/visual/z1_GripperMover.dae b/robots/z1_description/meshes/visual/z1_GripperMover.dae
index 5f2de210246d7877c0f7292b41a7a35483bcec5a..56092a87c9b0637395cb373a31025f137b8579ca 100644
--- a/robots/z1_description/meshes/visual/z1_GripperMover.dae
+++ b/robots/z1_description/meshes/visual/z1_GripperMover.dae
@@ -86,4 +86,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/z1_description/meshes/visual/z1_GripperStator.dae b/robots/z1_description/meshes/visual/z1_GripperStator.dae
index 91b0cb176933e2b527ac5ff73bbcad6113e59653..8494418d0a7f6018636d81413d3c504e2ce0a129 100644
--- a/robots/z1_description/meshes/visual/z1_GripperStator.dae
+++ b/robots/z1_description/meshes/visual/z1_GripperStator.dae
@@ -86,4 +86,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/z1_description/meshes/visual/z1_Link00.dae b/robots/z1_description/meshes/visual/z1_Link00.dae
index 1484d65b1cdebe6f036011db859cad1be47e9a3e..e9bea8c4e7b341a565c4304869342e16fc1cd7b0 100644
--- a/robots/z1_description/meshes/visual/z1_Link00.dae
+++ b/robots/z1_description/meshes/visual/z1_Link00.dae
@@ -86,4 +86,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/z1_description/meshes/visual/z1_Link01.dae b/robots/z1_description/meshes/visual/z1_Link01.dae
index 4f9a5b5b56db6b09288d71879d443b3bbd8bf6d5..43a5b487335de55b430583a171de43dcf01f5d5a 100644
--- a/robots/z1_description/meshes/visual/z1_Link01.dae
+++ b/robots/z1_description/meshes/visual/z1_Link01.dae
@@ -86,4 +86,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/z1_description/meshes/visual/z1_Link02.dae b/robots/z1_description/meshes/visual/z1_Link02.dae
index f26d298a239c4c58f1abaa47cc42676efdffa50f..b1b1d448c1bbc009fd76ea4bf8a94b2b8b2d62c7 100644
--- a/robots/z1_description/meshes/visual/z1_Link02.dae
+++ b/robots/z1_description/meshes/visual/z1_Link02.dae
@@ -86,4 +86,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/z1_description/meshes/visual/z1_Link03.dae b/robots/z1_description/meshes/visual/z1_Link03.dae
index db358b6e94698d72c475646f64e44cfecb83d785..56b735699a36f38652bd4f66f13305bfc35b13cf 100644
--- a/robots/z1_description/meshes/visual/z1_Link03.dae
+++ b/robots/z1_description/meshes/visual/z1_Link03.dae
@@ -86,4 +86,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/z1_description/meshes/visual/z1_Link04.dae b/robots/z1_description/meshes/visual/z1_Link04.dae
index c63cb8b1787d5ec6daaeff3a752c41818f32b216..a90aac45454d60930d8df550bb1e09aa213903fc 100644
--- a/robots/z1_description/meshes/visual/z1_Link04.dae
+++ b/robots/z1_description/meshes/visual/z1_Link04.dae
@@ -86,4 +86,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/z1_description/meshes/visual/z1_Link05.dae b/robots/z1_description/meshes/visual/z1_Link05.dae
index f8a8a90714ed61bb8faf1e3be5db2ce6efa22fbc..eae3417d7630fecd85890cef814a9020720798b5 100644
--- a/robots/z1_description/meshes/visual/z1_Link05.dae
+++ b/robots/z1_description/meshes/visual/z1_Link05.dae
@@ -86,4 +86,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/z1_description/meshes/visual/z1_Link06.dae b/robots/z1_description/meshes/visual/z1_Link06.dae
index 69424bcc05f1e8d577b824c62d53ff5a854ffba3..c929245a1de39179e235ae7d6348833d041234df 100644
--- a/robots/z1_description/meshes/visual/z1_Link06.dae
+++ b/robots/z1_description/meshes/visual/z1_Link06.dae
@@ -86,4 +86,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/z1_description/urdf/z1.urdf b/robots/z1_description/urdf/z1.urdf
index 19432f3945b0c6250692237d471a8fcbee9c635c..6999b3fdaaccc6ff0e748d40612e7b9b70d30e0b 100644
--- a/robots/z1_description/urdf/z1.urdf
+++ b/robots/z1_description/urdf/z1.urdf
@@ -245,7 +245,7 @@
<inertial>
<origin rpy="0 0 0" xyz="0.04764427 -0.00035819 -0.00249162"/>
<mass value="0.52603655"/>
- <inertia ixx="0.00038683" ixy="-0.00000359" ixz="0.00007662" iyy="0.00068614" iyz="0.00000209" izz="0.00066293"/>
+ <inertia ixx="0.00038683" ixy="-0.00000359" ixz="0.00007662" iyy="0.00068614" iyz="0.00000209" izz="0.00066293"/>
</inertial>
</link>
<joint name="jointGripper" type="revolute">
@@ -271,7 +271,7 @@
<inertial>
<origin rpy="0 0 0" xyz="0.01320633 0.00476708 0.00380534"/>
<mass value="0.27621302"/>
- <inertia ixx="0.00017716" ixy="0.00001683" ixz="-0.00001786" iyy="0.00026787" iyz="0.00000262" izz="0.00035728"/>
+ <inertia ixx="0.00017716" ixy="0.00001683" ixz="-0.00001786" iyy="0.00026787" iyz="0.00000262" izz="0.00035728"/>
</inertial>
</link>
<transmission name="JointTrans1">
@@ -335,4 +335,3 @@
</actuator>
</transmission>
</robot>
-