diff --git a/examples/pybullet/gym/pybullet_data/laikago/laikago_toes.urdf b/examples/pybullet/gym/pybullet_data/laikago/laikago_toes.urdf
index bc96ece28..abcf3e740 100644
--- a/examples/pybullet/gym/pybullet_data/laikago/laikago_toes.urdf
+++ b/examples/pybullet/gym/pybullet_data/laikago/laikago_toes.urdf
@@ -12,8 +12,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0.043794"/>
       <geometry>
-      	
-				<mesh filename="chassis.stl" scale="1 1 1"/>
+        <mesh filename="chassis.stl" scale="1 1 1"/>
       </geometry>
        <material name="yellow">
         <color rgba="0.95 0.75 0.05 1"/>
@@ -22,49 +21,45 @@
     <collision>
       <origin rpy="-1.57 0 0" xyz="0 0 0.043794"/>
       <geometry>
-      	
-				<mesh filename="chassis_vhacd_mod.obj" scale="1 1 1"/>
+        <mesh filename="chassis_vhacd_mod.obj" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
-  
- 
-	
-	 <link name="FR_hip_motor">
-  <contact>
+  <link name="FR_hip_motor">
+    <contact>
       <lateral_friction value="1"/>
-  </contact>
+    </contact>
     <inertial>
        <origin rpy="0 0 0" xyz="0.02 0 0"/>
        <mass value="1.095"/>
        <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
     </inertial>
-	
-	  <visual>
+
+    <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-				<mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
+        <mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
       </geometry>
        <material name="green"/>
     </visual>
-    
+
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-				<mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
+        <mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
       </geometry>
     </collision>
     </link>
-    
+
     <joint name="FR_hip_motor_2_chassis_joint" type="continuous">
-		<axis xyz="0 0 -1"/>
-		<parent link="chassis"/>
-		<child link="FR_hip_motor"/>
-		<origin rpy="0 0 0" xyz="-0.0817145 0 0.242889"/>
-		<limit effort="100" velocity="100"/>
-		<joint_properties damping=".0" friction=".0"/>
-	</joint>
-	
+    <axis xyz="0 0 -1"/>
+    <parent link="chassis"/>
+    <child link="FR_hip_motor"/>
+    <origin rpy="0 0 0" xyz="-0.0817145 0 0.242889"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping=".0" friction=".0"/>
+  </joint>
+
      <link name="FR_upper_leg">
   <contact>
       <lateral_friction value="1"/>
@@ -77,29 +72,29 @@
        <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-				<mesh filename="upper_leg_mirror.stl" scale="1 1 1"/>
+        <mesh filename="upper_leg_mirror.stl" scale="1 1 1"/>
       </geometry>
        <material name="blue"/>
     </visual>
-    
+
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-				<mesh filename="upper_leg_right_vhacd.obj" scale="1 1 1"/>
+        <mesh filename="upper_leg_right_vhacd.obj" scale="1 1 1"/>
       </geometry>
     </collision>
-    
+
     </link>
-    
+
     <joint name="FR_upper_leg_2_hip_motor_joint" type="continuous">
-		<axis xyz="1 0 0"/>
-		<parent link="FR_hip_motor"/>
-		<child link="FR_upper_leg"/>
-		<origin rpy="0 0 0" xyz="-0.053565 0 0"/>
-		<limit effort="100" velocity="100"/>
-		<joint_properties damping=".0" friction=".0"/>
-	</joint>
-	
+    <axis xyz="1 0 0"/>
+    <parent link="FR_hip_motor"/>
+    <child link="FR_upper_leg"/>
+    <origin rpy="0 0 0" xyz="-0.053565 0 0"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping=".0" friction=".0"/>
+  </joint>
+
      <link name="FR_lower_leg">
   <contact>
       <lateral_friction value="1"/>
@@ -112,32 +107,30 @@
        <visual>
       <origin rpy="0 1.57079 0" xyz="0 0.0 0"/>
       <geometry>
-				<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
+        <mesh filename="lower_leg_3.stl" scale="1 1 1"/>
       </geometry>
        <material name="red"/>
     </visual>
-    
+
     <collision>
       <origin rpy="0 1.57079 0" xyz="0 0.0 0"/>
       <geometry>
-				<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
+        <mesh filename="lower_leg_3.stl" scale="1 1 1"/>
       </geometry>
     </collision>
-    
     </link>
-    
     <joint name="FR_lower_leg_2_upper_leg_joint" type="continuous">
-		<axis xyz="1 0 0"/>
-		<parent link="FR_upper_leg"/>
-		<child link="FR_lower_leg"/>
-														
-		<origin rpy="0 0 0" xyz="0.02069  -0.20833  -0.1422"/>
-		<limit effort="100" velocity="100"/>
-		<joint_properties damping=".0" friction=".0"/>
-	</joint>
-	
-	
-	 <link name="FL_hip_motor">
+    <axis xyz="1 0 0"/>
+    <parent link="FR_upper_leg"/>
+    <child link="FR_lower_leg"/>
+
+    <origin rpy="0 0 0" xyz="0.02069  -0.20833  -0.1422"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping=".0" friction=".0"/>
+  </joint>
+
+
+   <link name="FL_hip_motor">
   <contact>
       <lateral_friction value="1"/>
   </contact>
@@ -149,31 +142,31 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-				<mesh filename="hip_motor.stl" scale="1 1 1"/>
+        <mesh filename="hip_motor.stl" scale="1 1 1"/>
       </geometry>
        <material name="green">
         <color rgba="0.23 0.73 0.33 1"/>
       </material>
     </visual>
-    
+
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-				<mesh filename="hip_motor.stl" scale="1 1 1"/>
+        <mesh filename="hip_motor.stl" scale="1 1 1"/>
       </geometry>
     </collision>
-    
+
       </link>
-  
+
    <joint name="FL_hip_motor_2_chassis_joint" type="continuous">
-		<axis xyz="0 0 1"/>
-		<parent link="chassis"/>
-		<child link="FL_hip_motor"/>
-		<origin rpy="0 0 0" xyz="0.0817145 0 0.242889"/>
-		<limit effort="100" velocity="100"/>
-		<joint_properties damping=".0" friction=".0"/>
-	</joint>
-	
+    <axis xyz="0 0 1"/>
+    <parent link="chassis"/>
+    <child link="FL_hip_motor"/>
+    <origin rpy="0 0 0" xyz="0.0817145 0 0.242889"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping=".0" friction=".0"/>
+  </joint>
+
   <link name="FL_upper_leg">
   <contact>
       <lateral_friction value="1"/>
@@ -186,34 +179,34 @@
      <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-      	
-				<mesh filename="upper_leg.stl" scale="1 1 1"/>
+
+        <mesh filename="upper_leg.stl" scale="1 1 1"/>
       </geometry>
        <material name="blue">
         <color rgba="0.28 0.52 0.93 1"/>
       </material>
     </visual>
-    
+
      <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-				<mesh filename="upper_leg_left_vhacd.obj" scale="1 1 1"/>
+        <mesh filename="upper_leg_left_vhacd.obj" scale="1 1 1"/>
       </geometry>
     </collision>
-    
+
     </link>
-  
-  
+
+
   <joint name="FL_upper_leg_2_hip_motor_joint" type="continuous">
-		<axis xyz="1 0 0"/>
-		<parent link="FL_hip_motor"/>
-		<child link="FL_upper_leg"/>
-		<origin rpy="0 0 0" xyz="0.055855  0 0"/>
-		<limit effort="100" velocity="100"/>
-		<joint_properties damping=".0" friction=".0"/>
-	</joint>
-	 
-  
+    <axis xyz="1 0 0"/>
+    <parent link="FL_hip_motor"/>
+    <child link="FL_upper_leg"/>
+    <origin rpy="0 0 0" xyz="0.055855  0 0"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping=".0" friction=".0"/>
+  </joint>
+
+
   <link name="FL_lower_leg">
   <contact>
       <lateral_friction value="1"/>
@@ -226,37 +219,37 @@
    <visual>
       <origin rpy="0 1.57079 0" xyz="0 0 0"/>
       <geometry>
-				<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
+        <mesh filename="lower_leg_3.stl" scale="1 1 1"/>
       </geometry>
        <material name="red">
         <color rgba="0.85 0.19 0.21 1"/>
       </material>
     </visual>
-    
+
      <collision>
       <origin rpy="0 1.57079 0" xyz="0 0 0"/>
       <geometry>
-				<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
+        <mesh filename="lower_leg_3.stl" scale="1 1 1"/>
       </geometry>
     </collision>
-    
+
     </link>
-    
+
   <joint name="FL_lower_leg_2_upper_leg_joint" type="continuous">
-		<axis xyz="1 0 0"/>
-		<parent link="FL_upper_leg"/>
-		<child link="FL_lower_leg"/>
-		<origin rpy="0 0 0" xyz="-0.02069  -0.20833  -0.1422"/>
-		<limit effort="100" velocity="100"/>
-		<joint_properties damping=".0" friction=".0"/>
-	</joint>
-	
-	
-	
-	
-	
-	
-	 <link name="RR_hip_motor">
+    <axis xyz="1 0 0"/>
+    <parent link="FL_upper_leg"/>
+    <child link="FL_lower_leg"/>
+    <origin rpy="0 0 0" xyz="-0.02069  -0.20833  -0.1422"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping=".0" friction=".0"/>
+  </joint>
+
+
+
+
+
+
+   <link name="RR_hip_motor">
   <contact>
       <lateral_friction value="1"/>
   </contact>
@@ -265,33 +258,33 @@
        <mass value="1.095"/>
        <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
     </inertial>
-	
-	  <visual>
+
+    <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-				<mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
+        <mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
       </geometry>
        <material name="green"/>
     </visual>
-    
+
      <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-				<mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
+        <mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
       </geometry>
     </collision>
-    
+
     </link>
-    
+
     <joint name="RR_hip_motor_2_chassis_joint" type="continuous">
-		<axis xyz="0 0 -1"/>
-		<parent link="chassis"/>
-		<child link="RR_hip_motor"/>
-		<origin rpy="0 0 0" xyz="-0.0817145 0 -0.194401"/>
-		<limit effort="100" velocity="100"/>
-		<joint_properties damping=".0" friction=".0"/>
-	</joint>
-	
+    <axis xyz="0 0 -1"/>
+    <parent link="chassis"/>
+    <child link="RR_hip_motor"/>
+    <origin rpy="0 0 0" xyz="-0.0817145 0 -0.194401"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping=".0" friction=".0"/>
+  </joint>
+
      <link name="RR_upper_leg">
   <contact>
       <lateral_friction value="1"/>
@@ -304,29 +297,29 @@
        <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-				<mesh filename="upper_leg_mirror.stl" scale="1 1 1"/>
+        <mesh filename="upper_leg_mirror.stl" scale="1 1 1"/>
       </geometry>
        <material name="blue"/>
     </visual>
-    
+
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-				<mesh filename="upper_leg_right_vhacd.obj" scale="1 1 1"/>
+        <mesh filename="upper_leg_right_vhacd.obj" scale="1 1 1"/>
       </geometry>
     </collision>
-    
+
     </link>
-    
+
     <joint name="RR_upper_leg_2_hip_motor_joint" type="continuous">
-		<axis xyz="1 0 0"/>
-		<parent link="RR_hip_motor"/>
-		<child link="RR_upper_leg"/>
-		<origin rpy="0 0 0" xyz="-0.053565 0 0"/>
-		<limit effort="100" velocity="100"/>
-		<joint_properties damping=".0" friction=".0"/>
-	</joint>
-	
+    <axis xyz="1 0 0"/>
+    <parent link="RR_hip_motor"/>
+    <child link="RR_upper_leg"/>
+    <origin rpy="0 0 0" xyz="-0.053565 0 0"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping=".0" friction=".0"/>
+  </joint>
+
      <link name="RR_lower_leg">
   <contact>
       <lateral_friction value="1"/>
@@ -339,31 +332,31 @@
        <visual>
       <origin rpy="0 1.57079 0" xyz="0 0 0"/>
       <geometry>
-				<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
+        <mesh filename="lower_leg_3.stl" scale="1 1 1"/>
       </geometry>
        <material name="red"/>
     </visual>
-    
+
      <collision>
       <origin rpy="0 1.57079 0" xyz="0 0 0"/>
       <geometry>
-				<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
+        <mesh filename="lower_leg_3.stl" scale="1 1 1"/>
       </geometry>
     </collision>
-    
+
     </link>
-    
+
     <joint name="RR_lower_leg_2_upper_leg_joint" type="continuous">
-		<axis xyz="1 0 0"/>
-		<parent link="RR_upper_leg"/>
-		<child link="RR_lower_leg"/>
-		<origin rpy="0 0 0" xyz="0.02069  -0.20833  -0.1422"/>
-		<limit effort="100" velocity="100"/>
-		<joint_properties damping=".0" friction=".0"/>
-	</joint>
-	
-	
-	 <link name="RL_hip_motor">
+    <axis xyz="1 0 0"/>
+    <parent link="RR_upper_leg"/>
+    <child link="RR_lower_leg"/>
+    <origin rpy="0 0 0" xyz="0.02069  -0.20833  -0.1422"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping=".0" friction=".0"/>
+  </joint>
+
+
+   <link name="RL_hip_motor">
   <contact>
       <lateral_friction value="1"/>
   </contact>
@@ -375,30 +368,30 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-				<mesh filename="hip_motor.stl" scale="1 1 1"/>
+        <mesh filename="hip_motor.stl" scale="1 1 1"/>
       </geometry>
        <material name="green"/>
     </visual>
-    
+
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-				<mesh filename="hip_motor.stl" scale="1 1 1"/>
+        <mesh filename="hip_motor.stl" scale="1 1 1"/>
       </geometry>
     </collision>
-    
+
       </link>
-  
+
    <joint name="RL_hip_motor_2_chassis_joint" type="continuous">
-		<axis xyz="0 0 1"/>
-		<parent link="chassis"/>
-		<child link="RL_hip_motor"/>
-												
-		<origin rpy="0 0 0" xyz="0.0817145 0 -0.194401"/>
-		<limit effort="100" velocity="100"/>
-		<joint_properties damping=".0" friction=".0"/>
-	</joint>
-	
+    <axis xyz="0 0 1"/>
+    <parent link="chassis"/>
+    <child link="RL_hip_motor"/>
+
+    <origin rpy="0 0 0" xyz="0.0817145 0 -0.194401"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping=".0" friction=".0"/>
+  </joint>
+
   <link name="RL_upper_leg">
   <contact>
       <lateral_friction value="1"/>
@@ -411,31 +404,31 @@
      <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-				<mesh filename="upper_leg.stl" scale="1 1 1"/>
+        <mesh filename="upper_leg.stl" scale="1 1 1"/>
       </geometry>
        <material name="blue"/>
     </visual>
-    
+
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-				<mesh filename="upper_leg_left_vhacd.obj" scale="1 1 1"/>
+        <mesh filename="upper_leg_left_vhacd.obj" scale="1 1 1"/>
       </geometry>
     </collision>
-    
+
     </link>
-  
-  
+
+
   <joint name="RL_upper_leg_2_hip_motor_joint" type="continuous">
-		<axis xyz="1 0 0"/>
-		<parent link="RL_hip_motor"/>
-		<child link="RL_upper_leg"/>
-		<origin rpy="0 0 0" xyz="0.055855  0 0"/>
-		<limit effort="100" velocity="100"/>
-		<joint_properties damping=".0" friction=".0"/>
-	</joint>
-	 
-  
+    <axis xyz="1 0 0"/>
+    <parent link="RL_hip_motor"/>
+    <child link="RL_upper_leg"/>
+    <origin rpy="0 0 0" xyz="0.055855  0 0"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping=".0" friction=".0"/>
+  </joint>
+
+
   <link name="RL_lower_leg">
   <contact>
       <lateral_friction value="1"/>
@@ -448,28 +441,28 @@
    <visual>
       <origin rpy="0 1.57079 0" xyz="0 0 0"/>
       <geometry>
-				<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
+        <mesh filename="lower_leg_3.stl" scale="1 1 1"/>
       </geometry>
        <material name="red"/>
     </visual>
-    
+
     <collision>
       <origin rpy="0 1.57079 0" xyz="0 0 0"/>
       <geometry>
-				<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
+        <mesh filename="lower_leg_3.stl" scale="1 1 1"/>
       </geometry>
     </collision>
-    
+
     </link>
-    
+
   <joint name="RL_lower_leg_2_upper_leg_joint" type="continuous">
-		<axis xyz="1 0 0"/>
-		<parent link="RL_upper_leg"/>
-		<child link="RL_lower_leg"/>
-		<origin rpy="0 0 0" xyz="-0.02069  -0.20833  -0.1422"/>
-		<limit effort="100" velocity="100"/>
-		<joint_properties damping=".0" friction=".0"/>
-	</joint>
+    <axis xyz="1 0 0"/>
+    <parent link="RL_upper_leg"/>
+    <child link="RL_lower_leg"/>
+    <origin rpy="0 0 0" xyz="-0.02069  -0.20833  -0.1422"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping=".0" friction=".0"/>
+  </joint>
 
    <link name="toeRL">
     <contact>
@@ -502,9 +495,9 @@
     <child link="toeRL"/>
     <origin xyz="0 -0.25 -0.022"/>
     <dynamics damping="0.0" friction="0.0"/>
-  </joint>	
-	
-	<link name="toeRR">
+  </joint>
+
+  <link name="toeRR">
     <contact>
       <friction_anchor/>
       <stiffness value="30000.0"/>
@@ -535,9 +528,9 @@
     <child link="toeRR"/>
     <origin xyz="0 -0.25 -0.022"/>
     <dynamics damping="0.0" friction="0.0"/>
-  </joint>	
-	
-	<link name="toeFL">
+  </joint>
+
+  <link name="toeFL">
     <contact>
       <friction_anchor/>
       <stiffness value="30000.0"/>
@@ -568,9 +561,9 @@
     <child link="toeFL"/>
     <origin xyz="0 -0.25 -0.022"/>
     <dynamics damping="0.0" friction="0.0"/>
-  </joint>	
-	
-	<link name="toeFR">
+  </joint>
+
+  <link name="toeFR">
     <contact>
       <friction_anchor/>
       <stiffness value="30000.0"/>
@@ -601,6 +594,6 @@
     <child link="toeFR"/>
     <origin xyz="0 -0.25 -0.022"/>
     <dynamics damping="0.0" friction="0.0"/>
-  </joint>	
+  </joint>
 </robot>