# Description

This MR started with fixing the Unitree A1 environment configuration.
The asset has the name "trunk" instead of "base" so had to be adapted in
the code.

Additionally, all the ANYmal environments were following a different
hierarchy system. This MR makes the inheritance tree more consistent
across all environments.

## Type of change

- Bug fix (non-breaking change which fixes an issue)

## Screenshots

All the new quadrupeds together:

![leg-suite](https://github.com/isaac-orbit/orbit/assets/12863862/3721e66b-249d-4bee-9ec5-2026c7654bc5)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there