first pass of updated minitaur quadruped environment

5 files changed, 3203 insertions, 0 deletions

diff --git a/examples/pybullet/gym/pybullet_data/quadruped/minitaur_derpy.urdf b/examples/pybullet/gym/pybullet_data/quadruped/minitaur_derpy.urdf
new file mode 100644
index 000000000..a5fbcf033
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/quadruped/minitaur_derpy.urdf
@@ -0,0 +1,1073 @@
+<?xml version="0.0" ?>
+<!-- ======================================================================= -->
+<!--LICENSE:                                                                 -->
+<!--Copyright (c) 2017, Erwin Coumans                                        -->
+<!--Google Inc.                                                              -->
+<!--All rights reserved.                                                     -->
+<!--                                                                         -->
+<!--Redistribution and use in source and binary forms, with or without       -->
+<!--modification, are permitted provided that the following conditions are   -->
+<!--met:                                                                     -->
+<!--                                                                         -->
+<!--1. Redistributions or derived work must retain this copyright notice,    -->
+<!--   this list of conditions and the following disclaimer.                 -->
+<!--                                                                         -->
+<!--2. Redistributions in binary form must reproduce the above copyright     -->
+<!--   notice, this list of conditions and the following disclaimer in the   -->
+<!--   documentation and/or other materials provided with the distribution.  -->
+<!--                                                                         -->
+<!--THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS  -->
+<!--IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,-->
+<!--THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR   -->
+<!--PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR        -->
+<!--CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,    -->
+<!--EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,      -->
+<!--PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR       -->
+<!--PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF   -->
+<!--LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING     -->
+<!--NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS       -->
+<!--SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.             -->
+
+<robot name="quadruped">
+  <link name="base_chassis_link">
+    <visual>
+      <geometry>
+        <box size=".295 0.142 .078"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.3 0.3 0.3 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <box size=".295 0.142 .078"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0.0 0 0" xyz="0.05 0 0"/>
+      <mass value="1.81246"/>
+      <inertia ixx="0.00474833" ixy="0.0" ixz="0.0" iyy="0.01386899" iyz="0.0" izz="0.01577876"/>
+    </inertial>
+  </link>
+
+  <link name="chassis_right">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size=".156 0.091 .050"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.3 0.3 0.3 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0.0455 0"/>
+      <geometry>
+        <box size=".356 0.009 .050"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.65 0.65 0.75 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 -0.0455 0"/>
+      <geometry>
+        <box size=".356 0.009 .050"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.65 0.65 0.75 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.212 -0.05915 0"/>
+      <geometry>
+        <box size=".068 0.0373 .060"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.65 0.65 0.75 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.212 0.05915 0"/>
+      <geometry>
+        <box size=".068 0.0373 .060"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.65 0.65 0.75 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.212 -0.05915 0"/>
+      <geometry>
+        <box size=".068 0.0373 .060"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.65 0.65 0.75 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.212 0.05915 0"/>
+      <geometry>
+        <box size=".068 0.0373 .060"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.65 0.65 0.75 1"/>
+      </material>
+    </visual>
+
+
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0.1165 0"/>
+      <geometry>
+        <box size=".156 0.091 .050"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0.0455 0"/>
+      <geometry>
+        <box size=".356 0.009 .050"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 -0.0455 0"/>
+      <geometry>
+        <box size=".356 0.009 .050"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.212 -0.05915 0"/>
+      <geometry>
+        <box size=".068 0.0373 .060"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.212 0.05915 0"/>
+      <geometry>
+        <box size=".068 0.0373 .060"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.212 -0.05915 0"/>
+      <geometry>
+        <box size=".068 0.0373 .060"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.212 0.05915 0"/>
+      <geometry>
+        <box size=".068 0.0373 .060"/>
+      </geometry>
+    </collision>
+
+    <inertial>
+      <mass value="1.3668"/>
+      <inertia ixx="0.0038077" ixy="0.0" ixz="0.0" iyy="0.0328502" iyz="0.0" izz="0.03575585"/>
+    </inertial>
+  </link>
+
+  <joint name="chassis_right_center" type="fixed">
+    <axis xyz="0 0 1"/>
+    <parent link="base_chassis_link"/>
+    <child link="chassis_right"/>
+    <origin rpy="-0.0872665 0 0" xyz="0.0 -0.1165 -0.011"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping="0.0" friction="0.0"/>
+  </joint>
+
+  <link name="chassis_left">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size=".156 0.091 .050"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.3 0.3 0.3 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0.0455 0"/>
+      <geometry>
+        <box size=".356 0.009 .050"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.65 0.65 0.75 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 -0.0455 0"/>
+      <geometry>
+        <box size=".356 0.009 .050"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.65 0.65 0.75 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.212 -0.05915 0"/>
+      <geometry>
+        <box size=".068 0.0373 .060"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.65 0.65 0.75 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.212 0.05915 0"/>
+      <geometry>
+        <box size=".068 0.0373 .060"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.65 0.65 0.75 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.212 -0.05915 0"/>
+      <geometry>
+        <box size=".068 0.0373 .060"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.65 0.65 0.75 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.212 0.05915 0"/>
+      <geometry>
+        <box size=".068 0.0373 .060"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.65 0.65 0.75 1"/>
+      </material>
+    </visual>
+
+
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0.1165 0"/>
+      <geometry>
+        <box size=".156 0.091 .050"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0.0455 0"/>
+      <geometry>
+        <box size=".356 0.009 .050"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 -0.0455 0"/>
+      <geometry>
+        <box size=".356 0.009 .050"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.212 -0.05915 0"/>
+      <geometry>
+        <box size=".068 0.0373 .060"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.212 0.05915 0"/>
+      <geometry>
+        <box size=".068 0.0373 .060"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.212 -0.05915 0"/>
+      <geometry>
+        <box size=".068 0.0373 .060"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.212 0.05915 0"/>
+      <geometry>
+        <box size=".068 0.0373 .060"/>
+      </geometry>
+    </collision>
+
+    <inertial>
+      <mass value="1.3668"/>
+      <inertia ixx="0.0038077" ixy="0.0" ixz="0.0" iyy="0.0328502" iyz="0.0" izz="0.03575585"/>
+    </inertial>
+  </link>
+
+  <joint name="chassis_left_center" type="fixed">
+    <axis xyz="0 0 1"/>
+    <parent link="base_chassis_link"/>
+    <child link="chassis_left"/>
+    <origin rpy="0.0872665 0 0" xyz="0.0 0.1165 -0.011"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping="0.0" friction="0.0"/>
+  </joint>
+
+  <link name="motor_front_rightR_link">
+    <visual>
+      <geometry>
+        <mesh filename="tmotor3.obj" scale="1 1 1"/>
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <cylinder length="0.0165" radius="0.0425"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.241"/>
+      <inertia ixx="0.00011397" ixy="0.0" ixz="0.0" iyy="0.00011397" iyz="0.0" izz="0.00021765"/>
+    </inertial>
+  </link>
+  <joint name="motor_front_rightR_joint" type="continuous">
+    <axis xyz="0 0 1"/>
+    <parent link="chassis_right"/>
+    <child link="motor_front_rightR_link"/>
+    <origin rpy="1.57075 0 0" xyz="0.20268 -0.03275 0"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping="0.0" friction="0.0"/>
+  </joint>
+
+  <link name="motor_front_rightL_link">
+    <visual>
+      <geometry>
+        <mesh filename="tmotor3.obj" scale="1 1 1"/>
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <cylinder length="0.0165" radius="0.0425"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.241"/>
+      <inertia ixx="0.00011397" ixy="0.0" ixz="0.0" iyy="0.00011397" iyz="0.0" izz="0.00021765"/>
+    </inertial>
+  </link>
+  <joint name="motor_front_rightL_joint" type="continuous">
+    <axis xyz="0 0 1"/>
+    <parent link="chassis_right"/>
+    <child link="motor_front_rightL_link"/>
+    <origin rpy="1.57075 0 3.141592" xyz="0.20268 0.03275 0"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping="0.0" friction="0.0"/>
+  </joint>
+
+  <link name="motor_front_leftL_link">
+    <visual>
+      <geometry>
+        <mesh filename="tmotor3.obj" scale="1 1 1"/>
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <cylinder length="0.0165" radius="0.0425"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.241"/>
+      <inertia ixx="0.00011397" ixy="0.0" ixz="0.0" iyy="0.00011397" iyz="0.0" izz="0.00021765"/>
+    </inertial>
+  </link>
+  <joint name="motor_front_leftL_joint" type="continuous">
+    <axis xyz="0 0 1"/>
+    <parent link="chassis_left"/>
+    <child link="motor_front_leftL_link"/>
+    <origin rpy="1.57075 0 3.141592" xyz="0.20268 0.03275 0"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping="0.0" friction="0.0"/>
+  </joint>
+
+  <link name="motor_front_leftR_link">
+    <visual>
+      <geometry>
+        <mesh filename="tmotor3.obj" scale="1 1 1"/>
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <cylinder length="0.0165" radius="0.0425"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.241"/>
+      <inertia ixx="0.00011397" ixy="0.0" ixz="0.0" iyy="0.00011397" iyz="0.0" izz="0.00021765"/>
+    </inertial>
+  </link>
+  <joint name="motor_front_leftR_joint" type="continuous">
+    <axis xyz="0 0 1"/>
+    <parent link="chassis_left"/>
+    <child link="motor_front_leftR_link"/>
+    <origin rpy="1.57075 0 0" xyz="0.20268 -0.03275 0"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping="0.0" friction="0.0"/>
+  </joint>
+
+  <link name="motor_back_rightR_link">
+    <visual>
+      <geometry>
+        <mesh filename="tmotor3.obj" scale="1 1 1"/>
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <cylinder length="0.0165" radius="0.0425"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.241"/>
+      <inertia ixx="0.00011397" ixy="0.0" ixz="0.0" iyy="0.00011397" iyz="0.0" izz="0.00021765"/>
+    </inertial>
+  </link>
+  <joint name="motor_back_rightR_joint" type="continuous">
+    <axis xyz="0 0 1"/>
+    <parent link="chassis_right"/>
+    <child link="motor_back_rightR_link"/>
+    <origin rpy="1.57075 0 0" xyz="-0.20268 -0.03275 0"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping="0.0" friction="0.0"/>
+  </joint>
+
+  <link name="motor_back_rightL_link">
+    <visual>
+      <geometry>
+        <mesh filename="tmotor3.obj" scale="1 1 1"/>
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <cylinder length="0.0165" radius="0.0425"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.241"/>
+      <inertia ixx="0.00011397" ixy="0.0" ixz="0.0" iyy="0.00011397" iyz="0.0" izz="0.00021765"/>
+    </inertial>
+  </link>
+  <joint name="motor_back_rightL_joint" type="continuous">
+    <axis xyz="0 0 1"/>
+    <parent link="chassis_right"/>
+    <child link="motor_back_rightL_link"/>
+    <origin rpy="1.57075 0 3.141592" xyz="-0.20268 0.03275 0"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping="0.0" friction="0.0"/>
+  </joint>
+
+  <link name="motor_back_leftL_link">
+    <visual>
+      <geometry>
+        <mesh filename="tmotor3.obj" scale="1 1 1"/>
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <cylinder length="0.0165" radius="0.0425"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.241"/>
+      <inertia ixx="0.00011397" ixy="0.0" ixz="0.0" iyy="0.00011397" iyz="0.0" izz="0.00021765"/>
+    </inertial>
+  </link>
+  <joint name="motor_back_leftL_joint" type="continuous">
+    <axis xyz="0 0 1"/>
+    <parent link="chassis_left"/>
+    <child link="motor_back_leftL_link"/>
+    <origin rpy="1.57075 0 3.141592" xyz="-0.20268 0.03275 0"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping="0.0" friction="0.0"/>
+  </joint>
+
+  <link name="motor_back_leftR_link">
+    <visual>
+      <geometry>
+        <mesh filename="tmotor3.obj" scale="1 1 1"/>
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <cylinder length="0.0165" radius="0.0425"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.241"/>
+      <inertia ixx="0.00011397" ixy="0.0" ixz="0.0" iyy="0.00011397" iyz="0.0" izz="0.00021765"/>
+    </inertial>
+  </link>
+  <joint name="motor_back_leftR_joint" type="continuous">
+    <axis xyz="0 0 1"/>
+    <parent link="chassis_left"/>
+    <child link="motor_back_leftR_link"/>
+    <origin rpy="1.57075 0 0" xyz="-0.20268 -0.03275 0"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping="0.0" friction="0.0"/>
+  </joint>
+
+
+  <link name="upper_leg_front_rightR_link">
+    <visual>
+      <geometry>
+        <box size=".039 0.0064 .129"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.65 0.65 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <box size=".039 0.0064 .129"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.026"/>
+      <inertia ixx="0.000038770" ixy="0.0" ixz="0.0" iyy="0.000042198" iyz="0.0"
+          izz="0.0000036030"/>
+    </inertial>
+  </link>
+  <joint name="hip_front_rightR_joint" type="fixed">
+    <axis xyz="0 0 1"/>
+    <parent link="motor_front_rightR_link"/>
+    <child link="upper_leg_front_rightR_link"/>
+    <origin rpy="-1.57075 0 0" xyz="0.0 0.045 -0.01725"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping="0.0" friction="0.0"/>
+  </joint>
+
+  <link name="lower_leg_front_rightR_link">
+    <contact>
+      <friction_anchor/>
+      <stiffness value="30000.0"/>
+      <damping value="1000.0"/>
+      <spinning_friction value=".3"/>
+      <lateral_friction value="1"/>
+    </contact>
+
+    <visual>
+      <origin rpy="0.0 0 0" xyz="0 0 0.120"/>
+      <geometry>
+        <box size="0.017 0.0064 0.240"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.65 0.65 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0.0 0 0" xyz="0 0 0.120"/>
+      <geometry>
+        <box size="0.017 0.0064 0.240"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0.0 0 0" xyz="0 0 0.120"/>
+      <mass value="0.066"/>
+      <inertia ixx="0.00032459" ixy="0.0" ixz="0.0" iyy="0.00032637" iyz="0.0" izz="0.000002178"/>
+    </inertial>
+  </link>
+  <joint name="knee_front_rightR_joint" type="continuous">
+    <axis xyz="0 1 0"/>
+    <parent link="upper_leg_front_rightR_link"/>
+    <child link="lower_leg_front_rightR_link"/>
+    <origin rpy="0 0 0" xyz="0.0 0.01 .056"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping="0.0" friction="0.0"/>
+  </joint>
+
+  <link name="upper_leg_front_rightL_link">
+    <visual>
+      <geometry>
+        <box size=".039 0.0064 .129"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.65 0.65 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <box size=".039 0.0064 .129"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.026"/>
+      <inertia ixx="0.000038770" ixy="0.0" ixz="0.0" iyy="0.000042198" iyz="0.0"
+          izz="0.0000036030"/>
+    </inertial>
+  </link>
+  <joint name="hip_front_rightL_joint" type="fixed">
+    <axis xyz="0 0 1"/>
+    <parent link="motor_front_rightL_link"/>
+    <child link="upper_leg_front_rightL_link"/>
+    <origin rpy="-1.57075 0 0" xyz="0.0 0.045 -0.01725"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping="0.0" friction="0.0"/>
+  </joint>
+
+  <link name="lower_leg_front_rightL_link">
+    <contact>
+      <friction_anchor/>
+      <stiffness value="30000.0"/>
+      <damping value="1000.0"/>
+      <spinning_friction value=".3"/>
+      <lateral_friction value="1"/>
+    </contact>
+
+    <visual>
+      <origin rpy="0.0 0 0" xyz="0 0 .108"/>
+      <geometry>
+        <box size="0.017 0.0064 0.216"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.65 0.65 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0.0 0 0" xyz="0 0 .108"/>
+      <geometry>
+        <box size="0.017 0.0064 0.216"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0.0 0 0" xyz="0 0 .1"/>
+      <mass value="0.055"/>
+      <inertia ixx="0.00023166" ixy="0.0" ixz="0.0" iyy="0.00023325" iyz="0.0" izz="0.00000198"/>
+    </inertial>
+  </link>
+  <joint name="knee_front_rightL_joint" type="continuous">
+    <axis xyz="0 1 0"/>
+    <parent link="upper_leg_front_rightL_link"/>
+    <child link="lower_leg_front_rightL_link"/>
+    <origin rpy="0 0 0" xyz="0.0 0.01 .056"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping="0.0" friction="0.0"/>
+  </joint>
+
+
+  <link name="upper_leg_front_leftR_link">
+    <visual>
+      <geometry>
+        <box size=".039 0.0064 .129"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.65 0.65 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <box size=".039 0.0064 .129"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.026"/>
+      <inertia ixx="0.000038770" ixy="0.0" ixz="0.0" iyy="0.000042198" iyz="0.0"
+          izz="0.0000036030"/>
+    </inertial>
+  </link>
+  <joint name="hip_front_leftR_joint" type="fixed">
+    <axis xyz="0 0 1"/>
+    <parent link="motor_front_leftR_link"/>
+    <child link="upper_leg_front_leftR_link"/>
+    <origin rpy="-1.57075 0 0" xyz="0.0 0.045 -0.01725"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping="0.0" friction="0.0"/>
+  </joint>
+
+  <link name="lower_leg_front_leftR_link">
+    <contact>
+      <friction_anchor/>
+      <stiffness value="30000.0"/>
+      <damping value="1000.0"/>
+      <spinning_friction value=".3"/>
+      <lateral_friction value="1"/>
+    </contact>
+
+    <visual>
+      <origin rpy="0.0 0 0" xyz="0 0 .108"/>
+      <geometry>
+        <box size="0.017 0.0064 0.216"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.65 0.65 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0.0 0 0" xyz="0 0 .108"/>
+      <geometry>
+        <box size="0.017 0.0064 0.216"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0.0 0 0" xyz="0 0 .1"/>
+      <mass value="0.055"/>
+      <inertia ixx="0.00023166" ixy="0.0" ixz="0.0" iyy="0.00023325" iyz="0.0" izz="0.00000198"/>
+    </inertial>
+  </link>
+  <joint name="knee_front_leftR_joint" type="continuous">
+    <axis xyz="0 1 0"/>
+    <parent link="upper_leg_front_leftR_link"/>
+    <child link="lower_leg_front_leftR_link"/>
+    <origin rpy="0 0 0" xyz="0.0 0.01 .056"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping="0.0" friction="0.0"/>
+  </joint>
+
+  <link name="upper_leg_front_leftL_link">
+    <visual>
+      <geometry>
+        <box size=".039 0.0064 .129"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.65 0.65 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <box size=".039 0.0064 .129"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.026"/>
+      <inertia ixx="0.000038770" ixy="0.0" ixz="0.0" iyy="0.000042198" iyz="0.0"
+          izz="0.0000036030"/>
+    </inertial>
+  </link>
+  <joint name="hip_front_leftL_joint" type="fixed">
+    <axis xyz="0 0 1"/>
+    <parent link="motor_front_leftL_link"/>
+    <child link="upper_leg_front_leftL_link"/>
+    <origin rpy="-1.57075 0 0" xyz="0.0 0.045 -0.01725"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping="0.0" friction="0.0"/>
+  </joint>
+
+  <link name="lower_leg_front_leftL_link">
+    <contact>
+      <friction_anchor/>
+      <stiffness value="30000.0"/>
+      <damping value="1000.0"/>
+      <spinning_friction value=".3"/>
+      <lateral_friction value="1"/>
+    </contact>
+
+    <visual>
+      <origin rpy="0.0 0 0" xyz="0 0 0.120"/>
+      <geometry>
+        <box size="0.017 0.0064 0.240"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.65 0.65 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0.0 0 0" xyz="0 0 0.120"/>
+      <geometry>
+        <box size="0.017 0.0064 0.240"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0.0 0 0" xyz="0 0 0.120"/>
+      <mass value="0.066"/>
+      <inertia ixx="0.00032459" ixy="0.0" ixz="0.0" iyy="0.00032637" iyz="0.0" izz="0.000002178"/>
+    </inertial>
+  </link>
+  <joint name="knee_front_leftL_joint" type="continuous">
+    <axis xyz="0 1 0"/>
+    <parent link="upper_leg_front_leftL_link"/>
+    <child link="lower_leg_front_leftL_link"/>
+    <origin rpy="0 0 0" xyz="0.0 0.01 .056"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping="0.0" friction="0.0"/>
+  </joint>
+
+
+  <link name="upper_leg_back_rightR_link">
+    <visual>
+      <geometry>
+        <box size=".039 0.0064 .129"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.65 0.65 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <box size=".039 0.0064 .129"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.026"/>
+      <inertia ixx="0.000038770" ixy="0.0" ixz="0.0" iyy="0.000042198" iyz="0.0"
+          izz="0.0000036030"/>
+    </inertial>
+  </link>
+  <joint name="hip_back_rightR_joint" type="fixed">
+    <axis xyz="0 0 1"/>
+    <parent link="motor_back_rightR_link"/>
+    <child link="upper_leg_back_rightR_link"/>
+    <origin rpy="-1.57075 0 0" xyz="0.0 0.045 -0.01725"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping="0.0" friction="0.0"/>
+  </joint>
+
+  <link name="lower_leg_back_rightR_link">
+    <contact>
+      <friction_anchor/>
+      <stiffness value="30000.0"/>
+      <damping value="1000.0"/>
+      <spinning_friction value=".3"/>
+      <lateral_friction value="1"/>
+    </contact>
+
+    <visual>
+      <origin rpy="0.0 0 0" xyz="0 0 0.120"/>
+      <geometry>
+        <box size="0.017 0.0064 0.240"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.65 0.65 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0.0 0 0" xyz="0 0 0.120"/>
+      <geometry>
+        <box size="0.017 0.0064 0.240"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0.0 0 0" xyz="0 0 0.120"/>
+      <mass value="0.066"/>
+      <inertia ixx="0.00032459" ixy="0.0" ixz="0.0" iyy="0.00032637" iyz="0.0" izz="0.000002178"/>
+    </inertial>
+  </link>
+  <joint name="knee_back_rightR_joint" type="continuous">
+    <axis xyz="0 1 0"/>
+    <parent link="upper_leg_back_rightR_link"/>
+    <child link="lower_leg_back_rightR_link"/>
+    <origin rpy="0 0 0" xyz="0.0 0.01 .056"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping="0.0" friction="0.0"/>
+  </joint>
+
+  <link name="upper_leg_back_rightL_link">
+    <visual>
+      <geometry>
+        <box size=".039 0.0064 .129"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.65 0.65 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <box size=".039 0.0064 .129"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.026"/>
+      <inertia ixx="0.000038770" ixy="0.0" ixz="0.0" iyy="0.000042198" iyz="0.0"
+          izz="0.0000036030"/>
+    </inertial>
+  </link>
+  <joint name="hip_back_rightL_joint" type="fixed">
+    <axis xyz="0 0 1"/>
+    <parent link="motor_back_rightL_link"/>
+    <child link="upper_leg_back_rightL_link"/>
+    <origin rpy="-1.57075 0 0" xyz="0.0 0.045 -0.01725"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping="0.0" friction="0.0"/>
+  </joint>
+
+  <link name="lower_leg_back_rightL_link">
+    <contact>
+      <friction_anchor/>
+      <stiffness value="30000.0"/>
+      <damping value="1000.0"/>
+      <spinning_friction value=".3"/>
+      <lateral_friction value="1"/>
+    </contact>
+
+    <visual>
+      <origin rpy="0.0 0 0" xyz="0 0 .108"/>
+      <geometry>
+        <box size="0.017 0.0064 0.216"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.65 0.65 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0.0 0 0" xyz="0 0 .108"/>
+      <geometry>
+        <box size="0.017 0.0064 0.216"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0.0 0 0" xyz="0 0 .1"/>
+      <mass value="0.055"/>
+      <inertia ixx="0.00023166" ixy="0.0" ixz="0.0" iyy="0.00023325" iyz="0.0" izz="0.00000198"/>
+    </inertial>
+  </link>
+  <joint name="knee_back_rightL_joint" type="continuous">
+    <axis xyz="0 1 0"/>
+    <parent link="upper_leg_back_rightL_link"/>
+    <child link="lower_leg_back_rightL_link"/>
+    <origin rpy="0 0 0" xyz="0.0 0.01 .056"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping="0.0" friction="0.0"/>
+  </joint>
+
+
+  <link name="upper_leg_back_leftR_link">
+    <visual>
+      <geometry>
+        <box size=".039 0.0064 .129"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.65 0.65 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <box size=".039 0.0064 .129"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.026"/>
+      <inertia ixx="0.000038770" ixy="0.0" ixz="0.0" iyy="0.000042198" iyz="0.0"
+          izz="0.0000036030"/>
+    </inertial>
+  </link>
+  <joint name="hip_back_leftR_joint" type="fixed">
+    <axis xyz="0 0 1"/>
+    <parent link="motor_back_leftR_link"/>
+    <child link="upper_leg_back_leftR_link"/>
+    <origin rpy="-1.57075 0 0" xyz="0.0 0.045 -0.01725"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping="0.0" friction="0.0"/>
+  </joint>
+
+  <link name="lower_leg_back_leftR_link">
+    <contact>
+      <friction_anchor/>
+      <stiffness value="30000.0"/>
+      <damping value="1000.0"/>
+      <spinning_friction value=".3"/>
+      <lateral_friction value="1"/>
+    </contact>
+
+    <visual>
+      <origin rpy="0.0 0 0" xyz="0 0 .108"/>
+      <geometry>
+        <box size="0.017 0.0064 0.216"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.65 0.65 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0.0 0 0" xyz="0 0 .108"/>
+      <geometry>
+        <box size="0.017 0.0064 0.216"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0.0 0 0" xyz="0 0 .1"/>
+      <mass value="0.055"/>
+      <inertia ixx="0.00023166" ixy="0.0" ixz="0.0" iyy="0.00023325" iyz="0.0" izz="0.00000198"/>
+    </inertial>
+  </link>
+  <joint name="knee_back_leftR_joint" type="continuous">
+    <axis xyz="0 1 0"/>
+    <parent link="upper_leg_back_leftR_link"/>
+    <child link="lower_leg_back_leftR_link"/>
+    <origin rpy="0 0 0" xyz="0.0 0.01 .056"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping="0.0" friction="0.0"/>
+  </joint>
+
+  <link name="upper_leg_back_leftL_link">
+    <visual>
+      <geometry>
+        <box size=".039 0.0064 .129"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.65 0.65 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <box size=".039 0.0064 .129"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.026"/>
+      <inertia ixx="0.000038770" ixy="0.0" ixz="0.0" iyy="0.000042198" iyz="0.0"
+          izz="0.0000036030"/>
+    </inertial>
+  </link>
+  <joint name="hip_back_leftL_joint" type="fixed">
+    <axis xyz="0 0 1"/>
+    <parent link="motor_back_leftL_link"/>
+    <child link="upper_leg_back_leftL_link"/>
+    <origin rpy="-1.57075 0 0" xyz="0.0 0.045 -0.01725"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping="0.0" friction="0.0"/>
+  </joint>
+
+  <link name="lower_leg_back_leftL_link">
+    <contact>
+      <friction_anchor/>
+      <stiffness value="30000.0"/>
+      <damping value="1000.0"/>
+      <spinning_friction value=".3"/>
+      <lateral_friction value="1"/>
+    </contact>
+
+    <visual>
+      <origin rpy="0.0 0 0" xyz="0 0 0.120"/>
+      <geometry>
+        <box size="0.017 0.0064 0.240"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.65 0.65 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0.0 0 0" xyz="0 0 0.120"/>
+      <geometry>
+        <box size="0.017 0.0064 0.240"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0.0 0 0" xyz="0 0 0.120"/>
+      <mass value="0.066"/>
+      <inertia ixx="0.00032459" ixy="0.0" ixz="0.0" iyy="0.00032637" iyz="0.0" izz="0.000002178"/>
+    </inertial>
+  </link>
+  <joint name="knee_back_leftL_joint" type="continuous">
+    <axis xyz="0 1 0"/>
+    <parent link="upper_leg_back_leftL_link"/>
+    <child link="lower_leg_back_leftL_link"/>
+    <origin rpy="0 0 0" xyz="0.0 0.01 .056"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping="0.0" friction="0.0"/>
+  </joint>
+
+</robot>
diff --git a/examples/pybullet/gym/pybullet_data/quadruped/minitaur_rainbow_dash.urdf b/examples/pybullet/gym/pybullet_data/quadruped/minitaur_rainbow_dash.urdf
new file mode 100644
index 000000000..744f086a0
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/quadruped/minitaur_rainbow_dash.urdf
@@ -0,0 +1,914 @@
+<?xml version="1.0"?>
+<robot name="quadruped">
+	<link name="base_chassis_link">
+		<visual>
+			<geometry>
+				<box size=".3 .13 .087"/>
+			</geometry>
+			<material name="black">
+				<color rgba=".3 .3 .3 1"/>
+			</material>
+		</visual>
+		<visual>
+			<origin rpy="0 0 0" xyz=".10 0 .08"/>
+			<geometry>
+				<box size=".08 .08 .08"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<box size=".3 .13 .087"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin rpy="0 0 0" xyz=".10 0 .08"/>
+			<geometry>
+				<box size=".08 .08 .08"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<origin rpy="0 0 0" xyz=".05 0 0"/>
+			<mass value="3.353"/>
+			<inertia ixx=".006837" ixy=".0" ixz=".0" iyy=".027262" iyz=".0" izz=".029870"/>
+		</inertial>
+	</link>
+	<link name="chassis_right">
+		<visual>
+			<origin rpy="0 0 0" xyz=".2375 -.054 0"/>
+			<geometry>
+				<box size=".068 .032 .050"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<visual>
+			<origin rpy="0 0 0" xyz=".2375 .054 0"/>
+			<geometry>
+				<box size=".068 .032 .050"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<visual>
+			<origin rpy="0 0 0" xyz="-.2375 -.054 0"/>
+			<geometry>
+				<box size=".068 .032 .050"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<visual>
+			<origin rpy="0 0 0" xyz="-.2375 .054 0"/>
+			<geometry>
+				<box size=".068 .032 .050"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<origin rpy="0 0 0" xyz=".2375 -.054 0"/>
+			<geometry>
+				<box size=".068 .032 .050"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin rpy="0 0 0" xyz=".2375 .054 0"/>
+			<geometry>
+				<box size=".068 .032 .050"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin rpy="0 0 0" xyz="-.2375 -.054 0"/>
+			<geometry>
+				<box size=".068 .032 .050"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin rpy="0 0 0" xyz="-.2375 .054 0"/>
+			<geometry>
+				<box size=".068 .032 .050"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value="1.32"/>
+			<inertia ixx=".004147" ixy=".0" ixz=".0" iyy=".040913" iyz=".0" izz=".041840"/>
+		</inertial>
+	</link>
+	<joint name="chassis_right_center" type="fixed">
+		<axis xyz="0 0 1"/>
+		<parent link="base_chassis_link"/>
+		<child link="chassis_right"/>
+		<origin rpy="0 0 0" xyz="0 -.1265 -.0185"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="chassis_left">
+		<visual>
+			<origin rpy="0 0 0" xyz=".2375 -.054 0"/>
+			<geometry>
+				<box size=".068 .032 .050"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<visual>
+			<origin rpy="0 0 0" xyz=".2375 .054 0"/>
+			<geometry>
+				<box size=".068 .032 .050"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<visual>
+			<origin rpy="0 0 0" xyz="-.2375 -.054 0"/>
+			<geometry>
+				<box size=".068 .032 .050"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<visual>
+			<origin rpy="0 0 0" xyz="-.2375 .054 0"/>
+			<geometry>
+				<box size=".068 .032 .050"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<origin rpy="0 0 0" xyz=".2375 -.054 0"/>
+			<geometry>
+				<box size=".068 .032 .050"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin rpy="0 0 0" xyz=".2375 .054 0"/>
+			<geometry>
+				<box size=".068 .032 .050"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin rpy="0 0 0" xyz="-.2375 -.054 0"/>
+			<geometry>
+				<box size=".068 .032 .050"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin rpy="0 0 0" xyz="-.2375 .054 0"/>
+			<geometry>
+				<box size=".068 .032 .050"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value="1.32"/>
+			<inertia ixx=".004147" ixy=".0" ixz=".0" iyy=".040913" iyz=".0" izz=".041840"/>
+		</inertial>
+	</link>
+	<joint name="chassis_left_center" type="fixed">
+		<axis xyz="0 0 1"/>
+		<parent link="base_chassis_link"/>
+		<child link="chassis_left"/>
+		<origin rpy="0 0 0" xyz="0 .1265 -.0185"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="motor_front_rightR_link">
+		<visual>
+			<geometry>
+				<mesh filename="tmotor3.obj" scale="1 1 1"/>
+			</geometry>
+			<material name="white">
+				<color rgba="1 1 1 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<cylinder length=".021" radius=".0425"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".072"/>
+			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
+		</inertial>
+	</link>
+	<joint name="motor_front_rightR_joint" type="continuous">
+		<axis xyz="0 0 1"/>
+		<parent link="chassis_right"/>
+		<child link="motor_front_rightR_link"/>
+		<origin rpy="1.57075 0 0" xyz=".2375 -.0275 0"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="motor_front_rightL_link">
+		<visual>
+			<geometry>
+				<mesh filename="tmotor3.obj" scale="1 1 1"/>
+			</geometry>
+			<material name="white">
+				<color rgba="1 1 1 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<cylinder length=".021" radius=".0425"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".072"/>
+			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
+		</inertial>
+	</link>
+	<joint name="motor_front_rightL_joint" type="continuous">
+		<axis xyz="0 0 1"/>
+		<parent link="chassis_right"/>
+		<child link="motor_front_rightL_link"/>
+		<origin rpy="1.57075 0 3.141592" xyz=".2375 .0275 0"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="motor_front_leftL_link">
+		<visual>
+			<geometry>
+				<mesh filename="tmotor3.obj" scale="1 1 1"/>
+			</geometry>
+			<material name="white">
+				<color rgba="1 1 1 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<cylinder length=".021" radius=".0425"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".072"/>
+			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
+		</inertial>
+	</link>
+	<joint name="motor_front_leftL_joint" type="continuous">
+		<axis xyz="0 0 1"/>
+		<parent link="chassis_left"/>
+		<child link="motor_front_leftL_link"/>
+		<origin rpy="1.57075 0 3.141592" xyz=".2375 .0275 0"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="motor_front_leftR_link">
+		<visual>
+			<geometry>
+				<mesh filename="tmotor3.obj" scale="1 1 1"/>
+			</geometry>
+			<material name="white">
+				<color rgba="1 1 1 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<cylinder length=".021" radius=".0425"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".072"/>
+			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
+		</inertial>
+	</link>
+	<joint name="motor_front_leftR_joint" type="continuous">
+		<axis xyz="0 0 1"/>
+		<parent link="chassis_left"/>
+		<child link="motor_front_leftR_link"/>
+		<origin rpy="1.57075 0 0" xyz=".2375 -.0275 0"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="motor_back_rightR_link">
+		<visual>
+			<geometry>
+				<mesh filename="tmotor3.obj" scale="1 1 1"/>
+			</geometry>
+			<material name="white">
+				<color rgba="1 1 1 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<cylinder length=".021" radius=".0425"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".072"/>
+			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
+		</inertial>
+	</link>
+	<joint name="motor_back_rightR_joint" type="continuous">
+		<axis xyz="0 0 1"/>
+		<parent link="chassis_right"/>
+		<child link="motor_back_rightR_link"/>
+		<origin rpy="1.57075 0 0" xyz="-.2375 -.0275 0"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="motor_back_rightL_link">
+		<visual>
+			<geometry>
+				<mesh filename="tmotor3.obj" scale="1 1 1"/>
+			</geometry>
+			<material name="white">
+				<color rgba="1 1 1 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<cylinder length=".021" radius=".0425"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".072"/>
+			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
+		</inertial>
+	</link>
+	<joint name="motor_back_rightL_joint" type="continuous">
+		<axis xyz="0 0 1"/>
+		<parent link="chassis_right"/>
+		<child link="motor_back_rightL_link"/>
+		<origin rpy="1.57075 0 3.141592" xyz="-.2375 .0275 0"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="motor_back_leftL_link">
+		<visual>
+			<geometry>
+				<mesh filename="tmotor3.obj" scale="1 1 1"/>
+			</geometry>
+			<material name="white">
+				<color rgba="1 1 1 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<cylinder length=".021" radius=".0425"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".072"/>
+			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
+		</inertial>
+	</link>
+	<joint name="motor_back_leftL_joint" type="continuous">
+		<axis xyz="0 0 1"/>
+		<parent link="chassis_left"/>
+		<child link="motor_back_leftL_link"/>
+		<origin rpy="1.57075 0 3.141592" xyz="-.2375 .0275 0"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="motor_back_leftR_link">
+		<visual>
+			<geometry>
+				<mesh filename="tmotor3.obj" scale="1 1 1"/>
+			</geometry>
+			<material name="white">
+				<color rgba="1 1 1 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<cylinder length=".021" radius=".0425"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".072"/>
+			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
+		</inertial>
+	</link>
+	<joint name="motor_back_leftR_joint" type="continuous">
+		<axis xyz="0 0 1"/>
+		<parent link="chassis_left"/>
+		<child link="motor_back_leftR_link"/>
+		<origin rpy="1.57075 0 0" xyz="-.2375 -.0275 0"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="upper_leg_front_rightR_link">
+		<visual>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".034"/>
+			<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
+		</inertial>
+	</link>
+	<joint name="hip_front_rightR_joint" type="fixed">
+		<axis xyz="0 0 1"/>
+		<parent link="motor_front_rightR_link"/>
+		<child link="upper_leg_front_rightR_link"/>
+		<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="lower_leg_front_rightR_link">
+		<contact>
+			<friction_anchor/>
+			<stiffness value="3000.0"/>
+			<damping value="100.0"/>
+			<spinning_friction value=".3"/>
+			<lateral_friction value="1"/>
+		</contact>
+		<visual>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<geometry>
+				<box size=".017 .009 .240"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<geometry>
+				<box size=".017 .009 .240"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<mass value=".086"/>
+			<inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
+		</inertial>
+	</link>
+	<joint name="knee_front_rightR_joint" type="continuous">
+		<axis xyz="0 1 0"/>
+		<parent link="upper_leg_front_rightR_link"/>
+		<child link="lower_leg_front_rightR_link"/>
+		<origin rpy="0 0 0" xyz="0 .0085 .056"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="upper_leg_front_rightL_link">
+		<visual>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".034"/>
+			<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
+		</inertial>
+	</link>
+	<joint name="hip_front_rightL_joint" type="fixed">
+		<axis xyz="0 0 1"/>
+		<parent link="motor_front_rightL_link"/>
+		<child link="upper_leg_front_rightL_link"/>
+		<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="lower_leg_front_rightL_link">
+		<contact>
+			<friction_anchor/>
+			<stiffness value="3000.0"/>
+			<damping value="100.0"/>
+			<spinning_friction value=".3"/>
+			<lateral_friction value="1"/>
+		</contact>
+		<visual>
+			<origin rpy="0 0 0" xyz="0 0 .108"/>
+			<geometry>
+				<box size=".017 .009 .216"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<origin rpy="0 0 0" xyz="0 0 .108"/>
+			<geometry>
+				<box size=".017 .009 .216"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<origin rpy="0 0 0" xyz="0 0 .1"/>
+			<mass value=".072"/>
+			<inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".00000198"/>
+		</inertial>
+	</link>
+	<joint name="knee_front_rightL_joint" type="continuous">
+		<axis xyz="0 1 0"/>
+		<parent link="upper_leg_front_rightL_link"/>
+		<child link="lower_leg_front_rightL_link"/>
+		<origin rpy="0 0 0" xyz="0 .0085 .056"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="upper_leg_front_leftR_link">
+		<visual>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".034"/>
+			<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
+		</inertial>
+	</link>
+	<joint name="hip_front_leftR_joint" type="fixed">
+		<axis xyz="0 0 1"/>
+		<parent link="motor_front_leftR_link"/>
+		<child link="upper_leg_front_leftR_link"/>
+		<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="lower_leg_front_leftR_link">
+		<contact>
+			<friction_anchor/>
+			<stiffness value="3000.0"/>
+			<damping value="100.0"/>
+			<spinning_friction value=".3"/>
+			<lateral_friction value="1"/>
+		</contact>
+		<visual>
+			<origin rpy="0 0 0" xyz="0 0 .108"/>
+			<geometry>
+				<box size=".017 .009 .216"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<origin rpy="0 0 0" xyz="0 0 .108"/>
+			<geometry>
+				<box size=".017 .009 .216"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<origin rpy="0 0 0" xyz="0 0 .1"/>
+			<mass value=".072"/>
+			<inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".00000198"/>
+		</inertial>
+	</link>
+	<joint name="knee_front_leftR_joint" type="continuous">
+		<axis xyz="0 1 0"/>
+		<parent link="upper_leg_front_leftR_link"/>
+		<child link="lower_leg_front_leftR_link"/>
+		<origin rpy="0 0 0" xyz="0 .0085 .056"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="upper_leg_front_leftL_link">
+		<visual>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".034"/>
+			<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
+		</inertial>
+	</link>
+	<joint name="hip_front_leftL_joint" type="fixed">
+		<axis xyz="0 0 1"/>
+		<parent link="motor_front_leftL_link"/>
+		<child link="upper_leg_front_leftL_link"/>
+		<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="lower_leg_front_leftL_link">
+		<contact>
+			<friction_anchor/>
+			<stiffness value="3000.0"/>
+			<damping value="100.0"/>
+			<spinning_friction value=".3"/>
+			<lateral_friction value="1"/>
+		</contact>
+		<visual>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<geometry>
+				<box size=".017 .009 .240"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<geometry>
+				<box size=".017 .009 .240"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<mass value=".086"/>
+			<inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
+		</inertial>
+	</link>
+	<joint name="knee_front_leftL_joint" type="continuous">
+		<axis xyz="0 1 0"/>
+		<parent link="upper_leg_front_leftL_link"/>
+		<child link="lower_leg_front_leftL_link"/>
+		<origin rpy="0 0 0" xyz="0 .0085 .056"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="upper_leg_back_rightR_link">
+		<visual>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".034"/>
+			<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
+		</inertial>
+	</link>
+	<joint name="hip_back_rightR_joint" type="fixed">
+		<axis xyz="0 0 1"/>
+		<parent link="motor_back_rightR_link"/>
+		<child link="upper_leg_back_rightR_link"/>
+		<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="lower_leg_back_rightR_link">
+		<contact>
+			<friction_anchor/>
+			<stiffness value="3000.0"/>
+			<damping value="100.0"/>
+			<spinning_friction value=".3"/>
+			<lateral_friction value="1"/>
+		</contact>
+		<visual>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<geometry>
+				<box size=".017 .009 .240"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<geometry>
+				<box size=".017 .009 .240"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<mass value=".086"/>
+			<inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
+		</inertial>
+	</link>
+	<joint name="knee_back_rightR_joint" type="continuous">
+		<axis xyz="0 1 0"/>
+		<parent link="upper_leg_back_rightR_link"/>
+		<child link="lower_leg_back_rightR_link"/>
+		<origin rpy="0 0 0" xyz="0 .0085 .056"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="upper_leg_back_rightL_link">
+		<visual>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".034"/>
+			<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
+		</inertial>
+	</link>
+	<joint name="hip_back_rightL_joint" type="fixed">
+		<axis xyz="0 0 1"/>
+		<parent link="motor_back_rightL_link"/>
+		<child link="upper_leg_back_rightL_link"/>
+		<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="lower_leg_back_rightL_link">
+		<contact>
+			<friction_anchor/>
+			<stiffness value="3000.0"/>
+			<damping value="100.0"/>
+			<spinning_friction value=".3"/>
+			<lateral_friction value="1"/>
+		</contact>
+		<visual>
+			<origin rpy="0 0 0" xyz="0 0 .108"/>
+			<geometry>
+				<box size=".017 .009 .216"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<origin rpy="0 0 0" xyz="0 0 .108"/>
+			<geometry>
+				<box size=".017 .009 .216"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<origin rpy="0 0 0" xyz="0 0 .1"/>
+			<mass value=".072"/>
+			<inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".00000198"/>
+		</inertial>
+	</link>
+	<joint name="knee_back_rightL_joint" type="continuous">
+		<axis xyz="0 1 0"/>
+		<parent link="upper_leg_back_rightL_link"/>
+		<child link="lower_leg_back_rightL_link"/>
+		<origin rpy="0 0 0" xyz="0 .0085 .056"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="upper_leg_back_leftR_link">
+		<visual>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".034"/>
+			<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
+		</inertial>
+	</link>
+	<joint name="hip_back_leftR_joint" type="fixed">
+		<axis xyz="0 0 1"/>
+		<parent link="motor_back_leftR_link"/>
+		<child link="upper_leg_back_leftR_link"/>
+		<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="lower_leg_back_leftR_link">
+		<contact>
+			<friction_anchor/>
+			<stiffness value="3000.0"/>
+			<damping value="100.0"/>
+			<spinning_friction value=".3"/>
+			<lateral_friction value="1"/>
+		</contact>
+		<visual>
+			<origin rpy="0 0 0" xyz="0 0 .108"/>
+			<geometry>
+				<box size=".017 .009 .216"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<origin rpy="0 0 0" xyz="0 0 .108"/>
+			<geometry>
+				<box size=".017 .009 .216"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<origin rpy="0 0 0" xyz="0 0 .1"/>
+			<mass value=".072"/>
+			<inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".00000198"/>
+		</inertial>
+	</link>
+	<joint name="knee_back_leftR_joint" type="continuous">
+		<axis xyz="0 1 0"/>
+		<parent link="upper_leg_back_leftR_link"/>
+		<child link="lower_leg_back_leftR_link"/>
+		<origin rpy="0 0 0" xyz="0 .0085 .056"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="upper_leg_back_leftL_link">
+		<visual>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".034"/>
+			<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
+		</inertial>
+	</link>
+	<joint name="hip_back_leftL_joint" type="fixed">
+		<axis xyz="0 0 1"/>
+		<parent link="motor_back_leftL_link"/>
+		<child link="upper_leg_back_leftL_link"/>
+		<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="lower_leg_back_leftL_link">
+		<contact>
+			<friction_anchor/>
+			<stiffness value="3000.0"/>
+			<damping value="100.0"/>
+			<spinning_friction value=".3"/>
+			<lateral_friction value="1"/>
+		</contact>
+		<visual>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<geometry>
+				<box size=".017 .009 .240"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<geometry>
+				<box size=".017 .009 .240"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<mass value=".086"/>
+			<inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
+		</inertial>
+	</link>
+	<joint name="knee_back_leftL_joint" type="continuous">
+		<axis xyz="0 1 0"/>
+		<parent link="upper_leg_back_leftL_link"/>
+		<child link="lower_leg_back_leftL_link"/>
+		<origin rpy="0 0 0" xyz="0 .0085 .056"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+</robot>
diff --git a/examples/pybullet/gym/pybullet_data/quadruped/minitaur_rainbow_dash_v1.urdf b/examples/pybullet/gym/pybullet_data/quadruped/minitaur_rainbow_dash_v1.urdf
new file mode 100644
index 000000000..c69a224dc
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/quadruped/minitaur_rainbow_dash_v1.urdf
@@ -0,0 +1,980 @@
+<?xml version="1.0"?>
+<robot name="quadruped">
+	
+	<link name="base_chassis_link">
+		<visual>
+			<geometry>
+				<box size=".3 .13 .087"/>
+			</geometry>
+			<material name="black">
+				<color rgba=".3 .3 .3 1"/>
+			</material>
+		</visual>
+		
+		<collision>
+			<geometry>
+				<box size=".3 .13 .087"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<origin rpy="0 0 0" xyz=".05 0 0"/>
+			<mass value="3.353"/>
+			<inertia ixx=".006837" ixy=".0" ixz=".0" iyy=".027262" iyz=".0" izz=".029870"/>
+		</inertial>
+	</link>
+	
+	
+	<link name="chassis_right">
+		
+		<visual>
+			<origin rpy="0 0 0" xyz=".2375 .054 0"/>
+			<geometry>
+				<box size=".068 .032 .050"/>
+			</geometry>
+			<material name="blue">
+				<color rgba="0 0 1 1"/>
+			</material>
+		</visual>
+		
+		<visual>
+			<origin rpy="0 0 0" xyz="-.2375 .054 0"/>
+			<geometry>
+				<box size=".068 .032 .050"/>
+			</geometry>
+			<material name="yellow">
+				<color rgba="1 1 0 1"/>
+			</material>
+		</visual>
+		
+		<collision>
+			<origin rpy="0 0 0" xyz=".2375 .054 0"/>
+			<geometry>
+				<box size=".068 .032 .050"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin rpy="0 0 0" xyz="-.2375 .054 0"/>
+			<geometry>
+				<box size=".068 .032 .050"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value="0.322"/>
+			<inertia ixx=".004147" ixy=".0" ixz=".0" iyy=".040913" iyz=".0" izz=".041840"/>
+		</inertial>
+	</link>
+	<joint name="chassis_right_center" type="fixed">
+		<axis xyz="0 0 1"/>
+		<parent link="base_chassis_link"/>
+		<child link="chassis_right"/>
+		<origin rpy="0 0 0" xyz="0 -.1265 -.0185"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="chassis_left">
+		<visual>
+			<origin rpy="0 0 0" xyz=".2375 -.054 0"/>
+			<geometry>
+				<box size=".068 .032 .050"/>
+			</geometry>
+			<material name="green">
+				<color rgba="0 1 0 1"/>
+			</material>
+		</visual>
+		
+		<visual>
+			<origin rpy="0 0 0" xyz="-.2375 -.054 0"/>
+			<geometry>
+				<box size=".068 .032 .050"/>
+			</geometry>
+			<material name="green"/>
+		</visual>
+		
+		<collision>
+			<origin rpy="0 0 0" xyz=".2375 -.054 0"/>
+			<geometry>
+				<box size=".068 .032 .050"/>
+			</geometry>
+		</collision>
+	
+		<collision>
+			<origin rpy="0 0 0" xyz="-.2375 -.054 0"/>
+			<geometry>
+				<box size=".068 .032 .050"/>
+			</geometry>
+		</collision>
+		
+		<inertial>
+			<mass value="0.322"/>
+			<inertia ixx=".004147" ixy=".0" ixz=".0" iyy=".040913" iyz=".0" izz=".041840"/>
+		</inertial>
+	</link>
+	<joint name="chassis_left_center" type="fixed">
+		<axis xyz="0 0 1"/>
+		<parent link="base_chassis_link"/>
+		<child link="chassis_left"/>
+		<origin rpy="0 0 0" xyz="0 .1265 -.0185"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="motor_front_rightR_bracket_link">
+	<visual>
+			<origin rpy="0 0 0" xyz="0 -0.02 0"/>
+			<geometry>
+				<box size=".068 .032 .050"/>
+			</geometry>
+			<material name="red">
+				<color rgba="1 0 0 1"/>
+			</material>
+		</visual>
+		<collision>
+			<origin rpy="0 0 0" xyz="0 -0.02 0"/>
+			<geometry>
+				<box size=".068 .032 .050"/>
+			</geometry>
+		</collision>
+		
+		<inertial>
+			<origin rpy="0 0 0" xyz="0 -0.03 0"/>
+			<mass value=".16"/>
+			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
+		</inertial>
+	</link>
+	<joint name="motor_front_rightR_bracket_joint" type="prismatic">
+	  <axis xyz="0 0 1"/>
+		<parent link="base_chassis_link"/>
+		<child link="motor_front_rightR_bracket_link"/>
+		<origin rpy="0 0 0" xyz=".2375 -0.154 -.0185"/>
+		<limit effort="100" lower="-0.02" upper="0.02" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="motor_front_rightR_link">
+		<visual>
+			<geometry>
+				<mesh filename="tmotor3.obj" scale="1 1 1"/>
+			</geometry>
+			<material name="white">
+				<color rgba="1 1 1 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<cylinder length=".021" radius=".0425"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".241"/>
+			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
+		</inertial>
+	</link>
+	<joint name="motor_front_rightR_joint" type="continuous">
+		<axis xyz="0 0 1"/>
+		<parent link="motor_front_rightR_bracket_link"/>
+		<child link="motor_front_rightR_link"/>
+		<origin rpy="1.57075 0 0" xyz="0 0 0"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="motor_front_rightL_link">
+	
+		<visual>
+			<geometry>
+				<mesh filename="tmotor3.obj" scale="1 1 1"/>
+			</geometry>
+			<material name="white">
+				<color rgba="1 1 1 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<cylinder length=".021" radius=".0425"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".241"/>
+			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
+		</inertial>
+	</link>
+	<joint name="motor_front_rightL_joint" type="continuous">
+		<axis xyz="0 0 1"/>
+		<parent link="chassis_right"/>
+		<child link="motor_front_rightL_link"/>
+		<origin rpy="1.57075 0 3.141592" xyz=".2375 .0275 0"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	
+	<link name="motor_front_leftL_bracket_link">
+	<visual>
+			<origin rpy="0 0 0" xyz="0 0.02 0"/>
+			<geometry>
+				<box size=".068 .032 .050"/>
+			</geometry>
+			<material name="red">
+				<color rgba="1 0 0 1"/>
+			</material>
+		</visual>
+		<collision>
+			<origin rpy="0 0 0" xyz="0 0.02 0"/>
+			<geometry>
+				<box size=".068 .032 .050"/>
+			</geometry>
+		</collision>
+		
+		<inertial>
+			<origin rpy="0 0 0" xyz="0 0.02 0"/>
+			<mass value=".16"/>
+			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
+		</inertial>
+	</link>
+	<joint name="motor_front_leftL_bracket_joint" type="prismatic">
+	  <axis xyz="0 0 1"/>
+		<parent link="base_chassis_link"/>
+		<child link="motor_front_leftL_bracket_link"/>
+		<origin rpy="0 0 0" xyz=".2375 0.154 -.0185"/>
+		<limit effort="100" lower="-0.02" upper="0.02" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	
+	<link name="motor_front_leftL_link">
+		<visual>
+			<geometry>
+				<mesh filename="tmotor3.obj" scale="1 1 1"/>
+			</geometry>
+			<material name="white">
+				<color rgba="1 1 1 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<cylinder length=".021" radius=".0425"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".241"/>
+			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
+		</inertial>
+	</link>
+	<joint name="motor_front_leftL_joint" type="continuous">
+		<axis xyz="0 0 1"/>
+		<parent link="motor_front_leftL_bracket_link"/>
+		<child link="motor_front_leftL_link"/>
+		<origin rpy="1.57075 0 3.141592" xyz="0 0 0"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="motor_front_leftR_link">
+		<visual>
+			<geometry>
+				<mesh filename="tmotor3.obj" scale="1 1 1"/>
+			</geometry>
+			<material name="white">
+				<color rgba="1 1 1 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<cylinder length=".021" radius=".0425"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".241"/>
+			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
+		</inertial>
+	</link>
+	<joint name="motor_front_leftR_joint" type="continuous">
+		<axis xyz="0 0 1"/>
+		<parent link="chassis_left"/>
+		<child link="motor_front_leftR_link"/>
+		<origin rpy="1.57075 0 0" xyz=".2375 -.0275 0"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	
+	<link name="motor_back_rightR_bracket_link">
+	<visual>
+			<origin rpy="0 0 0" xyz="0 -0.02 0"/>
+			<geometry>
+				<box size=".068 .032 .050"/>
+			</geometry>
+			<material name="red">
+				<color rgba="1 0 0 1"/>
+			</material>
+		</visual>
+		<collision>
+			<origin rpy="0 0 0" xyz="0 -0.02 0"/>
+			<geometry>
+				<box size=".068 .032 .050"/>
+			</geometry>
+		</collision>
+		
+		<inertial>
+			<origin rpy="0 0 0" xyz="0 -0.03 0"/>
+			<mass value=".16"/>
+			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
+		</inertial>
+	</link>
+	<joint name="motor_back_rightR_bracket_joint" type="prismatic">
+	  <axis xyz="0 0 1"/>
+		<parent link="base_chassis_link"/>
+		<child link="motor_back_rightR_bracket_link"/>
+		<origin rpy="0 0 0" xyz="-.2375 -0.154 -.0185"/>
+		<limit effort="100" lower="-0.02" upper="0.02" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	
+	<link name="motor_back_rightR_link">
+		<visual>
+			<geometry>
+				<mesh filename="tmotor3.obj" scale="1 1 1"/>
+			</geometry>
+			<material name="white1">
+				<color rgba="1 0 0 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<cylinder length=".021" radius=".0425"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".241"/>
+			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
+		</inertial>
+	</link>
+	<joint name="motor_back_rightR_joint" type="continuous">
+		<axis xyz="0 0 1"/>
+		<parent link="motor_back_rightR_bracket_link"/>
+		<child link="motor_back_rightR_link"/>
+		<origin rpy="1.57075 0 0" xyz="0 0 0"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="motor_back_rightL_link">
+		<visual>
+			<geometry>
+				<mesh filename="tmotor3.obj" scale="1 1 1"/>
+			</geometry>
+			<material name="white">
+				<color rgba="1 1 1 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<cylinder length=".021" radius=".0425"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".241"/>
+			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
+		</inertial>
+	</link>
+	<joint name="motor_back_rightL_joint" type="continuous">
+		<axis xyz="0 0 1"/>
+		<parent link="chassis_right"/>
+		<child link="motor_back_rightL_link"/>
+		<origin rpy="1.57075 0 3.141592" xyz="-.2375 .0275 0"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	
+	<link name="motor_back_leftL_bracket_link">
+	<visual>
+			<origin rpy="0 0 0" xyz="0 0.02 0"/>
+			<geometry>
+				<box size=".068 .032 .050"/>
+			</geometry>
+			<material name="red">
+				<color rgba="1 0 0 1"/>
+			</material>
+		</visual>
+		<collision>
+			<origin rpy="0 0 0" xyz="0 0.02 0"/>
+			<geometry>
+				<box size=".068 .032 .050"/>
+			</geometry>
+		</collision>
+		
+		<inertial>
+			<origin rpy="0 0 0" xyz="0 0.02 0"/>
+			<mass value=".16"/>
+			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
+		</inertial>
+	</link>
+	<joint name="motor_back_leftL_bracket_joint" type="prismatic">
+	  <axis xyz="0 0 1"/>
+		<parent link="base_chassis_link"/>
+		<child link="motor_back_leftL_bracket_link"/>
+		<origin rpy="0 0 0" xyz="-.2375 0.154 -.0185"/>
+		<limit effort="100" lower="-0.02" upper="0.02" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	
+	
+	<link name="motor_back_leftL_link">
+		<visual>
+			<geometry>
+				<mesh filename="tmotor3.obj" scale="1 1 1"/>
+			</geometry>
+			<material name="white">
+				<color rgba="1 1 1 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<cylinder length=".021" radius=".0425"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".241"/>
+			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
+		</inertial>
+	</link>
+	<joint name="motor_back_leftL_joint" type="continuous">
+		<axis xyz="0 0 1"/>
+		<parent link="motor_back_leftL_bracket_link"/>
+		<child link="motor_back_leftL_link"/>
+		<origin rpy="1.57075 0 3.141592" xyz="0 0 0"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="motor_back_leftR_link">
+		<visual>
+			<geometry>
+				<mesh filename="tmotor3.obj" scale="1 1 1"/>
+			</geometry>
+			<material name="white">
+				<color rgba="1 1 1 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<cylinder length=".021" radius=".0425"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".241"/>
+			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
+		</inertial>
+	</link>
+	<joint name="motor_back_leftR_joint" type="continuous">
+		<axis xyz="0 0 1"/>
+		<parent link="chassis_left"/>
+		<child link="motor_back_leftR_link"/>
+		<origin rpy="1.57075 0 0" xyz="-.2375 -.0275 0"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="upper_leg_front_rightR_link">
+		<visual>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".034"/>
+			<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
+		</inertial>
+	</link>
+	<joint name="hip_front_rightR_joint" type="fixed">
+		<axis xyz="0 0 1"/>
+		<parent link="motor_front_rightR_link"/>
+		<child link="upper_leg_front_rightR_link"/>
+		<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="lower_leg_front_rightR_link">
+		<contact>
+			<friction_anchor/>
+			<stiffness value="3000.0"/>
+			<damping value="100.0"/>
+			<spinning_friction value=".05"/>
+			<lateral_friction value="1"/>
+		</contact>
+		<visual>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<geometry>
+				<box size=".017 .009 .240"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<geometry>
+				<box size=".017 .009 .240"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<mass value=".086"/>
+			<inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
+		</inertial>
+	</link>
+	<joint name="knee_front_rightR_joint" type="continuous">
+		<axis xyz="0 1 0"/>
+		<parent link="upper_leg_front_rightR_link"/>
+		<child link="lower_leg_front_rightR_link"/>
+		<origin rpy="0 0 0" xyz="0 .0085 .056"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="upper_leg_front_rightL_link">
+		<visual>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".034"/>
+			<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
+		</inertial>
+	</link>
+	<joint name="hip_front_rightL_joint" type="fixed">
+		<axis xyz="0 0 1"/>
+		<parent link="motor_front_rightL_link"/>
+		<child link="upper_leg_front_rightL_link"/>
+		<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="lower_leg_front_rightL_link">
+		<contact>
+			<friction_anchor/>
+			<stiffness value="3000.0"/>
+			<damping value="100.0"/>
+			<spinning_friction value=".05"/>
+			<lateral_friction value="1"/>
+		</contact>
+		<visual>
+			<origin rpy="0 0 0" xyz="0 0 .108"/>
+			<geometry>
+				<box size=".017 .009 .216"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<origin rpy="0 0 0" xyz="0 0 .108"/>
+			<geometry>
+				<box size=".017 .009 .216"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<origin rpy="0 0 0" xyz="0 0 .1"/>
+			<mass value=".072"/>
+			<inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".00000198"/>
+		</inertial>
+	</link>
+	<joint name="knee_front_rightL_joint" type="continuous">
+		<axis xyz="0 1 0"/>
+		<parent link="upper_leg_front_rightL_link"/>
+		<child link="lower_leg_front_rightL_link"/>
+		<origin rpy="0 0 0" xyz="0 .0085 .056"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="upper_leg_front_leftR_link">
+		<visual>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".034"/>
+			<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
+		</inertial>
+	</link>
+	<joint name="hip_front_leftR_joint" type="fixed">
+		<axis xyz="0 0 1"/>
+		<parent link="motor_front_leftR_link"/>
+		<child link="upper_leg_front_leftR_link"/>
+		<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="lower_leg_front_leftR_link">
+		<contact>
+			<friction_anchor/>
+			<stiffness value="3000.0"/>
+			<damping value="100.0"/>
+			<spinning_friction value=".05"/>
+			<lateral_friction value="1"/>
+		</contact>
+		<visual>
+			<origin rpy="0 0 0" xyz="0 0 .108"/>
+			<geometry>
+				<box size=".017 .009 .216"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<origin rpy="0 0 0" xyz="0 0 .108"/>
+			<geometry>
+				<box size=".017 .009 .216"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<origin rpy="0 0 0" xyz="0 0 .1"/>
+			<mass value=".072"/>
+			<inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".00000198"/>
+		</inertial>
+	</link>
+	<joint name="knee_front_leftR_joint" type="continuous">
+		<axis xyz="0 1 0"/>
+		<parent link="upper_leg_front_leftR_link"/>
+		<child link="lower_leg_front_leftR_link"/>
+		<origin rpy="0 0 0" xyz="0 .0085 .056"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="upper_leg_front_leftL_link">
+		<visual>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".034"/>
+			<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
+		</inertial>
+	</link>
+	<joint name="hip_front_leftL_joint" type="fixed">
+		<axis xyz="0 0 1"/>
+		<parent link="motor_front_leftL_link"/>
+		<child link="upper_leg_front_leftL_link"/>
+		<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="lower_leg_front_leftL_link">
+		<contact>
+			<friction_anchor/>
+			<stiffness value="3000.0"/>
+			<damping value="100.0"/>
+			<spinning_friction value=".05"/>
+			<lateral_friction value="1"/>
+		</contact>
+		<visual>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<geometry>
+				<box size=".017 .009 .240"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<geometry>
+				<box size=".017 .009 .240"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<mass value=".086"/>
+			<inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
+		</inertial>
+	</link>
+	<joint name="knee_front_leftL_joint" type="continuous">
+		<axis xyz="0 1 0"/>
+		<parent link="upper_leg_front_leftL_link"/>
+		<child link="lower_leg_front_leftL_link"/>
+		<origin rpy="0 0 0" xyz="0 .0085 .056"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="upper_leg_back_rightR_link">
+		<visual>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".034"/>
+			<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
+		</inertial>
+	</link>
+	<joint name="hip_back_rightR_joint" type="fixed">
+		<axis xyz="0 0 1"/>
+		<parent link="motor_back_rightR_link"/>
+		<child link="upper_leg_back_rightR_link"/>
+		<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="lower_leg_back_rightR_link">
+		<contact>
+			<friction_anchor/>
+			<stiffness value="3000.0"/>
+			<damping value="100.0"/>
+			<spinning_friction value=".05"/>
+			<lateral_friction value="1"/>
+		</contact>
+		<visual>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<geometry>
+				<box size=".017 .009 .240"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<geometry>
+				<box size=".017 .009 .240"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<mass value=".086"/>
+			<inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
+		</inertial>
+	</link>
+	<joint name="knee_back_rightR_joint" type="continuous">
+		<axis xyz="0 1 0"/>
+		<parent link="upper_leg_back_rightR_link"/>
+		<child link="lower_leg_back_rightR_link"/>
+		<origin rpy="0 0 0" xyz="0 .0085 .056"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="upper_leg_back_rightL_link">
+		<visual>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".034"/>
+			<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
+		</inertial>
+	</link>
+	<joint name="hip_back_rightL_joint" type="fixed">
+		<axis xyz="0 0 1"/>
+		<parent link="motor_back_rightL_link"/>
+		<child link="upper_leg_back_rightL_link"/>
+		<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="lower_leg_back_rightL_link">
+		<contact>
+			<friction_anchor/>
+			<stiffness value="3000.0"/>
+			<damping value="100.0"/>
+			<spinning_friction value=".05"/>
+			<lateral_friction value="1"/>
+		</contact>
+		<visual>
+			<origin rpy="0 0 0" xyz="0 0 .108"/>
+			<geometry>
+				<box size=".017 .009 .216"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<origin rpy="0 0 0" xyz="0 0 .108"/>
+			<geometry>
+				<box size=".017 .009 .216"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<origin rpy="0 0 0" xyz="0 0 .1"/>
+			<mass value=".072"/>
+			<inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".00000198"/>
+		</inertial>
+	</link>
+	<joint name="knee_back_rightL_joint" type="continuous">
+		<axis xyz="0 1 0"/>
+		<parent link="upper_leg_back_rightL_link"/>
+		<child link="lower_leg_back_rightL_link"/>
+		<origin rpy="0 0 0" xyz="0 .0085 .056"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="upper_leg_back_leftR_link">
+		<visual>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".034"/>
+			<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
+		</inertial>
+	</link>
+	<joint name="hip_back_leftR_joint" type="fixed">
+		<axis xyz="0 0 1"/>
+		<parent link="motor_back_leftR_link"/>
+		<child link="upper_leg_back_leftR_link"/>
+		<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="lower_leg_back_leftR_link">
+		<contact>
+			<friction_anchor/>
+			<stiffness value="3000.0"/>
+			<damping value="100.0"/>
+			<spinning_friction value=".05"/>
+			<lateral_friction value="1"/>
+		</contact>
+		<visual>
+			<origin rpy="0 0 0" xyz="0 0 .108"/>
+			<geometry>
+				<box size=".017 .009 .216"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<origin rpy="0 0 0" xyz="0 0 .108"/>
+			<geometry>
+				<box size=".017 .009 .216"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<origin rpy="0 0 0" xyz="0 0 .1"/>
+			<mass value=".072"/>
+			<inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".00000198"/>
+		</inertial>
+	</link>
+	<joint name="knee_back_leftR_joint" type="continuous">
+		<axis xyz="0 1 0"/>
+		<parent link="upper_leg_back_leftR_link"/>
+		<child link="lower_leg_back_leftR_link"/>
+		<origin rpy="0 0 0" xyz="0 .0085 .056"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="upper_leg_back_leftL_link">
+		<visual>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".034"/>
+			<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
+		</inertial>
+	</link>
+	<joint name="hip_back_leftL_joint" type="fixed">
+		<axis xyz="0 0 1"/>
+		<parent link="motor_back_leftL_link"/>
+		<child link="upper_leg_back_leftL_link"/>
+		<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="lower_leg_back_leftL_link">
+		<contact>
+			<friction_anchor/>
+			<stiffness value="3000.0"/>
+			<damping value="100.0"/>
+			<spinning_friction value=".05"/>
+			<lateral_friction value="1"/>
+		</contact>
+		<visual>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<geometry>
+				<box size=".017 .009 .240"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<geometry>
+				<box size=".017 .009 .240"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<mass value=".086"/>
+			<inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
+		</inertial>
+	</link>
+	<joint name="knee_back_leftL_joint" type="continuous">
+		<axis xyz="0 1 0"/>
+		<parent link="upper_leg_back_leftL_link"/>
+		<child link="lower_leg_back_leftL_link"/>
+		<origin rpy="0 0 0" xyz="0 .0085 .056"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+</robot>
diff --git a/examples/pybullet/gym/pybullet_data/quadruped/minitaur_single_motor.urdf b/examples/pybullet/gym/pybullet_data/quadruped/minitaur_single_motor.urdf
new file mode 100644
index 000000000..7911c6555
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/quadruped/minitaur_single_motor.urdf
@@ -0,0 +1,203 @@
+<?xml version="0.0" ?>
+<!-- ======================================================================= -->
+<!--LICENSE:                                                                 -->
+<!--Copyright (c) 2017, Erwin Coumans                                        -->
+<!--Google Inc.                                                              -->
+<!--All rights reserved.                                                     -->
+<!--                                                                         -->
+<!--Redistribution and use in source and binary forms, with or without       -->
+<!--modification, are permitted provided that the following conditions are   -->
+<!--met:                                                                     -->
+<!--                                                                         -->
+<!--1. Redistributions or derived work must retain this copyright notice,    -->
+<!--   this list of conditions and the following disclaimer.                 -->
+<!--                                                                         -->
+<!--2. Redistributions in binary form must reproduce the above copyright     -->
+<!--   notice, this list of conditions and the following disclaimer in the   -->
+<!--   documentation and/or other materials provided with the distribution.  -->
+<!--                                                                         -->
+<!--THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS  -->
+<!--IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,-->
+<!--THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR   -->
+<!--PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR        -->
+<!--CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,    -->
+<!--EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,      -->
+<!--PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR       -->
+<!--PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF   -->
+<!--LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING     -->
+<!--NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS       -->
+<!--SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.             -->
+
+<robot name="quadruped">
+  <link name="base_chassis_link">
+    <visual>
+      <geometry>
+        <box size=".33 0.10 .07"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.3 0.3 0.3 1"/>
+      </material>
+    </visual>
+    <visual>
+			<origin rpy="0 0 0" xyz="0 0.10 0"/>
+      <geometry>
+        <box size=".17 0.10 .05"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.3 0.3 0.3 1"/>
+      </material>
+    </visual>
+		<visual>
+			<origin rpy="0 0 0" xyz="0 -0.10 0"/>
+      <geometry>
+        <box size=".17 0.10 .05"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.3 0.3 0.3 1"/>
+      </material>
+    </visual>
+
+    <collision>
+      <geometry>
+       <box size=".33 0.10 .07"/>
+      </geometry>
+    </collision>
+    <collision>
+			<origin rpy="0 0 0" xyz="0 0.10 0"/>
+      <geometry>
+       <box size=".17 0.10 .05"/>
+      </geometry>
+    </collision>
+    <collision>
+			<origin rpy="0 0 0" xyz="0 -0.10 0"/>
+      <geometry>
+       <box size=".17 0.10 .05"/>
+      </geometry>
+    </collision>
+
+    <inertial>
+      <mass value="3"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+  </link>
+
+  <link name="chassis_right">
+    <visual>
+			<origin rpy="0 0 0" xyz="0 0.035 0"/>
+      <geometry>
+       <box size=".34 0.01 .04"/>
+      </geometry>
+			<material name="grey">
+        <color rgba="0.65 0.65 0.75 1"/>
+      </material>    </visual>
+    <visual>
+			<origin rpy="0 0 0" xyz="0 -0.035 0"/>
+      <geometry>
+       <box size=".34 0.01 .04"/>
+      </geometry>
+			<material name="grey">
+        <color rgba="0.65 0.65 0.75 1"/>
+      </material>    </visual>
+    <collision>
+			<origin rpy="0 0 0" xyz="0 0.035 0"/>
+      <geometry>
+       <box size=".34 0.01 .04"/>
+      </geometry>
+    </collision>
+    <collision>
+			<origin rpy="0 0 0" xyz="0 -0.035 0"/>
+      <geometry>
+       <box size=".34 0.01 .04"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value=".1"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+  </link>
+
+  <joint name="chassis_right_center" type="fixed">
+    <axis xyz="0 0 1"/>
+    <parent link="base_chassis_link"/>
+    <child link="chassis_right"/>
+    <origin rpy="-0.0872665 0 0" xyz="0.0 -0.10 0.0"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping="0.0" friction="0.0"/>
+  </joint>
+
+  <link name="chassis_left">
+    <visual>
+			<origin rpy="0 0 0" xyz="0 0.035 0"/>
+      <geometry>
+       <box size=".34 0.01 .04"/>
+      </geometry>
+			<material name="grey">
+        <color rgba="0.65 0.65 0.75 1"/>
+      </material>    </visual>
+    <visual>
+			<origin rpy="0 0 0" xyz="0 -0.035 0"/>
+      <geometry>
+       <box size=".34 0.01 .04"/>
+      </geometry>
+			<material name="grey">
+        <color rgba="0.65 0.65 0.75 1"/>
+      </material>    </visual>
+    <collision>
+			<origin rpy="0 0 0" xyz="0 0.035 0"/>
+      <geometry>
+       <box size=".34 0.01 .04"/>
+      </geometry>
+    </collision>
+    <collision>
+			<origin rpy="0 0 0" xyz="0 -0.035 0"/>
+      <geometry>
+       <box size=".34 0.01 .04"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value=".1"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+  </link>
+
+  <joint name="chassis_left_center" type="fixed">
+    <axis xyz="0 0 1"/>
+    <parent link="base_chassis_link"/>
+    <child link="chassis_left"/>
+    <origin rpy="0.0872665 0 0" xyz="0.0 0.10 0.0"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping="0.0" friction="0.0"/>
+  </joint>
+
+  
+  
+  <link name="motor_front_rightR_link">
+    <visual>
+      <geometry>
+        <mesh filename="tmotor3.obj" scale="1 1 1"/>
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <cylinder length="0.026" radius="0.0434"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.25"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+  </link>
+  <joint name="motor_front_rightR_joint" type="continuous">
+    <axis xyz="0 0 1"/>
+    <parent link="chassis_right"/>
+    <child link="motor_front_rightR_link"/>
+    <origin rpy="1.57075 0 0" xyz="0.21 -0.025 0"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping="0.0" friction="0.0"/>
+  </joint>
+
+</robot>
+
diff --git a/examples/pybullet/gym/pybullet_data/sphere_with_restitution.urdf b/examples/pybullet/gym/pybullet_data/sphere_with_restitution.urdf
new file mode 100644
index 000000000..63a6682a5
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/sphere_with_restitution.urdf
@@ -0,0 +1,33 @@
+<?xml version="0.0" ?>
+<robot name="urdf_robot">
+  <link name="baseLink">
+  	<contact>
+      <restitution value="0.5" />
+      <rolling_friction value="0.001"/>
+      <spinning_friction value="0.001"/>
+      
+    </contact>
+
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+       <mass value="10.0"/>
+       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="textured_sphere_smooth.obj" scale="0.5 0.5 0.5"/>      
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+	 <sphere radius="0.5"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
+