diff --git a/examples/pybullet/gym/pybullet_data/quadruped/vision60.urdf b/examples/pybullet/gym/pybullet_data/quadruped/vision60.urdf
new file mode 100644
index 000000000..31ebe9e78
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/quadruped/vision60.urdf
@@ -0,0 +1,568 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from vision60.urdf.xacro            | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<!-- 
+MIT License (modified)
+
+Copyright (c) 2018 Ghost Robotics
+Authors:
+Avik De <avik@ghostrobotics.io>
+Tom Jacobs <tom.jacobs@ghostrobotics.io>
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this **file** (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE. 
+-->
+<robot name="ngr" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <!-- Define parameters -->
+  <!-- Define materials -->
+  <material name="gray">
+    <color rgba="0.5 0.5 0.5 0.7"/>
+  </material>
+  <material name="darkgray">
+    <color rgba="0.3 0.3 0.3 1.0"/>
+  </material>
+  <material name="blue">
+    <color rgba="0 0 0.8 1"/>
+  </material>
+  <material name="black">
+    <color rgba="0 0 0 1"/>
+  </material>
+  <material name="purple">
+    <color rgba="0.5 0.0 0.5 1.0"/>
+  </material>
+  <material name="red">
+    <color rgba="0.8 0.0 0.2 1.0"/>
+  </material>
+  <!-- Body -->
+  <link name="body">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.88 0.25 0.19"/>
+      </geometry>
+      <material name="gray"/>
+    </visual>
+    <inertial>
+      <mass value="12"/>
+      <!-- Uniform box -->
+      <inertia ixx="0.0986" ixy="0" ixz="0" iyy="0.8105" iyz="0" izz="0.8369"/>
+    </inertial>
+    <!-- Just copy geometry for collision -->
+    <collision>
+      <geometry>
+        <box size="0.05 0.25 0.19"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Define our leg macro -->
+  <!-- red new legs -->
+  <!-- TODO: clean this, it should be part of main leg macro -->
+  <!-- Define our leg macro -->
+  <!-- Our four legs -->
+  <!-- Hip motor -->
+  <link name="hip0">
+    <visual>
+      <origin rpy="1.5707963268 0 0" xyz="0.0 -0.039 0"/>
+      <geometry>
+        <box size="0.195 0.1 0.17"/>
+      </geometry>
+      <material name="red"/>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963268 0 0" xyz="0.0 -0.039 0"/>
+      <geometry>
+        <box size="0.195 0.1 0.17"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="2.75"/>
+      <inertia ixx="0.00891458" ixy="0" ixz="0" iyy="0.0100573" iyz="0" izz="0.01533698"/>
+    </inertial>
+  </link>
+  <!-- Abduction joint. Joint names are: 8 9 10 11 -->
+  <joint name="8" type="revolute">
+    <parent link="body"/>
+    <child link="hip0"/>
+    <axis xyz="1 0 0"/>
+    <origin xyz="0.325 0.1575 0"/>
+    <limit effort="375" lower="-0.43" upper="0.43" velocity="8.6"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+  <!-- Upper leg -->
+  <link name="upper0">
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.125 0.0 0"/>
+      <geometry>
+        <box size="0.25 0.044 0.06"/>
+      </geometry>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.125 0 0"/>
+      <geometry>
+        <box size="0.25 0.044 0.06"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.625"/>
+      <inertia ixx="0.0003125" ixy="0" ixz="0" iyy="0.0040625" iyz="0" izz="0.0040625"/>
+    </inertial>
+  </link>
+  <!-- Hip joint. (Motor to upper leg). Joint names are: 0 2 4 6 -->
+  <joint name="0" type="revolute">
+    <parent link="hip0"/>
+    <child link="upper0"/>
+    <axis xyz="0 -1 0"/>
+    <origin xyz="0 0.068 0"/>
+    <!--  rpy="0 -0.3 0" -->
+    <limit effort="87.5" lower="-3.14159265359" upper="3.14159265359" velocity="30"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+  <!-- Lower leg -->
+  <link name="lower0">
+    <visual>
+      <origin rpy="0 1.5707963268 0" xyz="0.14 0 -0.0355"/>
+      <geometry>
+        <cylinder length="0.28" radius="0.011"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.5707963268 0" xyz="0.14 0 -0.0355"/>
+      <geometry>
+        <cylinder length="0.28" radius="0.011"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.2"/>
+      <inertia ixx="0.00131075" ixy="0" ixz="0" iyy="0.00131075" iyz="0" izz="0.0001"/>
+    </inertial>
+  </link>
+  <!-- Knee joint. Joint names are: 1 3 5 7 -->
+  <joint name="1" type="revolute">
+    <parent link="upper0"/>
+    <child link="lower0"/>
+    <axis xyz="0 1 0"/>
+    <origin xyz="-0.25 0 0"/>
+    <!--rpy="0 0.5 0"-->
+    <limit effort="87.5" lower="0" upper="3.14159265359" velocity="30"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+  <!-- Toe -->
+  <link name="toe0">
+    <contact>
+      <friction_anchor/>
+      <stiffness value="30000.0"/>
+      <damping value="1000.0"/>
+      <spinning_friction value="0.3"/>
+      <lateral_friction value="3.0"/>
+    </contact>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.03"/>
+      </geometry>
+      <material name="darkgray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.03"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.15"/>
+      <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
+    </inertial>
+  </link>
+  <joint name="jtoe0" type="fixed">
+    <parent link="lower0"/>
+    <child link="toe0"/>
+    <origin xyz="0.28 0 -0.0461"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+  <!-- Hip motor -->
+  <link name="hip1">
+    <visual>
+      <origin rpy="1.5707963268 0 0" xyz="0.0 -0.039 0"/>
+      <geometry>
+        <box size="0.195 0.1 0.17"/>
+      </geometry>
+      <material name="purple"/>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963268 0 0" xyz="0.0 -0.039 0"/>
+      <geometry>
+        <box size="0.195 0.1 0.17"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="2.75"/>
+      <inertia ixx="0.00891458" ixy="0" ixz="0" iyy="0.0100573" iyz="0" izz="0.01533698"/>
+    </inertial>
+  </link>
+  <!-- Abduction joint. Joint names are: 8 9 10 11 -->
+  <joint name="9" type="revolute">
+    <parent link="body"/>
+    <child link="hip1"/>
+    <axis xyz="1 0 0"/>
+    <origin xyz="-0.325 0.1575 0"/>
+    <limit effort="375" lower="-0.43" upper="0.43" velocity="8.6"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+  <!-- Upper leg -->
+  <link name="upper1">
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.125 0.0 0"/>
+      <geometry>
+        <box size="0.25 0.044 0.06"/>
+      </geometry>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.125 0 0"/>
+      <geometry>
+        <box size="0.25 0.044 0.06"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.625"/>
+      <inertia ixx="0.0003125" ixy="0" ixz="0" iyy="0.0040625" iyz="0" izz="0.0040625"/>
+    </inertial>
+  </link>
+  <!-- Hip joint. (Motor to upper leg). Joint names are: 0 2 4 6 -->
+  <joint name="2" type="revolute">
+    <parent link="hip1"/>
+    <child link="upper1"/>
+    <axis xyz="0 -1 0"/>
+    <origin xyz="0 0.068 0"/>
+    <!--  rpy="0 -0.3 0" -->
+    <limit effort="87.5" lower="-3.14159265359" upper="3.14159265359" velocity="30"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+  <!-- Lower leg -->
+  <link name="lower1">
+    <visual>
+      <origin rpy="0 1.5707963268 0" xyz="0.14 0 -0.0355"/>
+      <geometry>
+        <cylinder length="0.28" radius="0.011"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.5707963268 0" xyz="0.14 0 -0.0355"/>
+      <geometry>
+        <cylinder length="0.28" radius="0.011"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.2"/>
+      <inertia ixx="0.00131075" ixy="0" ixz="0" iyy="0.00131075" iyz="0" izz="0.0001"/>
+    </inertial>
+  </link>
+  <!-- Knee joint. Joint names are: 1 3 5 7 -->
+  <joint name="3" type="revolute">
+    <parent link="upper1"/>
+    <child link="lower1"/>
+    <axis xyz="0 1 0"/>
+    <origin xyz="-0.25 0 0"/>
+    <!--rpy="0 0.5 0"-->
+    <limit effort="87.5" lower="0" upper="3.14159265359" velocity="30"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+  <!-- Toe -->
+  <link name="toe1">
+    <contact>
+      <friction_anchor/>
+      <stiffness value="30000.0"/>
+      <damping value="1000.0"/>
+      <spinning_friction value="0.3"/>
+      <lateral_friction value="3.0"/>
+    </contact>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.03"/>
+      </geometry>
+      <material name="darkgray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.03"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.15"/>
+      <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
+    </inertial>
+  </link>
+  <joint name="jtoe1" type="fixed">
+    <parent link="lower1"/>
+    <child link="toe1"/>
+    <origin xyz="0.28 0 -0.0461"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+  <!-- Hip motor -->
+  <link name="hip2">
+    <visual>
+      <origin rpy="1.5707963268 0 0" xyz="0.0 0.039 0"/>
+      <geometry>
+        <box size="0.195 0.1 0.17"/>
+      </geometry>
+      <material name="red"/>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963268 0 0" xyz="0.0 0.039 0"/>
+      <geometry>
+        <box size="0.195 0.1 0.17"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="2.75"/>
+      <inertia ixx="0.00891458" ixy="0" ixz="0" iyy="0.0100573" iyz="0" izz="0.01533698"/>
+    </inertial>
+  </link>
+  <!-- Abduction joint. Joint names are: 8 9 10 11 -->
+  <joint name="10" type="revolute">
+    <parent link="body"/>
+    <child link="hip2"/>
+    <axis xyz="1 0 0"/>
+    <origin xyz="0.325 -0.1575 0"/>
+    <limit effort="375" lower="-0.43" upper="0.43" velocity="8.6"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+  <!-- Upper leg -->
+  <link name="upper2">
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.125 -0.0 0"/>
+      <geometry>
+        <box size="0.25 0.044 0.06"/>
+      </geometry>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.125 0 0"/>
+      <geometry>
+        <box size="0.25 0.044 0.06"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.625"/>
+      <inertia ixx="0.0003125" ixy="0" ixz="0" iyy="0.0040625" iyz="0" izz="0.0040625"/>
+    </inertial>
+  </link>
+  <!-- Hip joint. (Motor to upper leg). Joint names are: 0 2 4 6 -->
+  <joint name="4" type="revolute">
+    <parent link="hip2"/>
+    <child link="upper2"/>
+    <axis xyz="0 -1 0"/>
+    <origin xyz="0 -0.068 0"/>
+    <!--  rpy="0 -0.3 0" -->
+    <limit effort="87.5" lower="-3.14159265359" upper="3.14159265359" velocity="30"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+  <!-- Lower leg -->
+  <link name="lower2">
+    <visual>
+      <origin rpy="0 1.5707963268 0" xyz="0.14 0 -0.0355"/>
+      <geometry>
+        <cylinder length="0.28" radius="0.011"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.5707963268 0" xyz="0.14 0 -0.0355"/>
+      <geometry>
+        <cylinder length="0.28" radius="0.011"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.2"/>
+      <inertia ixx="0.00131075" ixy="0" ixz="0" iyy="0.00131075" iyz="0" izz="0.0001"/>
+    </inertial>
+  </link>
+  <!-- Knee joint. Joint names are: 1 3 5 7 -->
+  <joint name="5" type="revolute">
+    <parent link="upper2"/>
+    <child link="lower2"/>
+    <axis xyz="0 1 0"/>
+    <origin xyz="-0.25 0 0"/>
+    <!--rpy="0 0.5 0"-->
+    <limit effort="87.5" lower="0" upper="3.14159265359" velocity="30"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+  <!-- Toe -->
+  <link name="toe2">
+    <contact>
+      <friction_anchor/>
+      <stiffness value="30000.0"/>
+      <damping value="1000.0"/>
+      <spinning_friction value="0.3"/>
+      <lateral_friction value="3.0"/>
+    </contact>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.03"/>
+      </geometry>
+      <material name="darkgray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.03"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.15"/>
+      <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
+    </inertial>
+  </link>
+  <joint name="jtoe2" type="fixed">
+    <parent link="lower2"/>
+    <child link="toe2"/>
+    <origin xyz="0.28 0 -0.0461"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+  <!-- Hip motor -->
+  <link name="hip3">
+    <visual>
+      <origin rpy="1.5707963268 0 0" xyz="0.0 0.039 0"/>
+      <geometry>
+        <box size="0.195 0.1 0.17"/>
+      </geometry>
+      <material name="purple"/>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963268 0 0" xyz="0.0 0.039 0"/>
+      <geometry>
+        <box size="0.195 0.1 0.17"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="2.75"/>
+      <inertia ixx="0.00891458" ixy="0" ixz="0" iyy="0.0100573" iyz="0" izz="0.01533698"/>
+    </inertial>
+  </link>
+  <!-- Abduction joint. Joint names are: 8 9 10 11 -->
+  <joint name="11" type="revolute">
+    <parent link="body"/>
+    <child link="hip3"/>
+    <axis xyz="1 0 0"/>
+    <origin xyz="-0.325 -0.1575 0"/>
+    <limit effort="375" lower="-0.43" upper="0.43" velocity="8.6"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+  <!-- Upper leg -->
+  <link name="upper3">
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.125 -0.0 0"/>
+      <geometry>
+        <box size="0.25 0.044 0.06"/>
+      </geometry>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.125 0 0"/>
+      <geometry>
+        <box size="0.25 0.044 0.06"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.625"/>
+      <inertia ixx="0.0003125" ixy="0" ixz="0" iyy="0.0040625" iyz="0" izz="0.0040625"/>
+    </inertial>
+  </link>
+  <!-- Hip joint. (Motor to upper leg). Joint names are: 0 2 4 6 -->
+  <joint name="6" type="revolute">
+    <parent link="hip3"/>
+    <child link="upper3"/>
+    <axis xyz="0 -1 0"/>
+    <origin xyz="0 -0.068 0"/>
+    <!--  rpy="0 -0.3 0" -->
+    <limit effort="87.5" lower="-3.14159265359" upper="3.14159265359" velocity="30"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+  <!-- Lower leg -->
+  <link name="lower3">
+    <visual>
+      <origin rpy="0 1.5707963268 0" xyz="0.14 0 -0.0355"/>
+      <geometry>
+        <cylinder length="0.28" radius="0.011"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.5707963268 0" xyz="0.14 0 -0.0355"/>
+      <geometry>
+        <cylinder length="0.28" radius="0.011"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.2"/>
+      <inertia ixx="0.00131075" ixy="0" ixz="0" iyy="0.00131075" iyz="0" izz="0.0001"/>
+    </inertial>
+  </link>
+  <!-- Knee joint. Joint names are: 1 3 5 7 -->
+  <joint name="7" type="revolute">
+    <parent link="upper3"/>
+    <child link="lower3"/>
+    <axis xyz="0 1 0"/>
+    <origin xyz="-0.25 0 0"/>
+    <!--rpy="0 0.5 0"-->
+    <limit effort="87.5" lower="0" upper="3.14159265359" velocity="30"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+  <!-- Toe -->
+  <link name="toe3">
+    <contact>
+      <friction_anchor/>
+      <stiffness value="30000.0"/>
+      <damping value="1000.0"/>
+      <spinning_friction value="0.3"/>
+      <lateral_friction value="3.0"/>
+    </contact>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.03"/>
+      </geometry>
+      <material name="darkgray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.03"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.15"/>
+      <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
+    </inertial>
+  </link>
+  <joint name="jtoe3" type="fixed">
+    <parent link="lower3"/>
+    <child link="toe3"/>
+    <origin xyz="0.28 0 -0.0461"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+</robot>
+
diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs.zip b/examples/pybullet/gym/pybullet_data/random_urdfs.zip
new file mode 100644
index 000000000..6f100bde0
Binary files /dev/null and b/examples/pybullet/gym/pybullet_data/random_urdfs.zip differ