diff --git a/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp b/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
index 5478b5b7d..1350076e6 100644
--- a/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
+++ b/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
@@ -320,15 +320,12 @@ void ConvertURDF2BulletInternal(
                         cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointDamping = jointDamping;
                         cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointFriction= jointFriction;
                         creation.addLinkMapping(urdfLinkIndex,mbLinkIndex);
-						if (jointLowerLimit <= jointUpperLimit)
-						{
-							//std::string name = u2b.getLinkName(urdfLinkIndex);
-							//printf("create btMultiBodyJointLimitConstraint for revolute link name=%s urdf link index=%d (low=%f, up=%f)\n", name.c_str(), urdfLinkIndex, jointLowerLimit, jointUpperLimit);
-
-							btMultiBodyConstraint* con = new btMultiBodyJointLimitConstraint(cache.m_bulletMultiBody, mbLinkIndex, jointLowerLimit, jointUpperLimit);
-							world1->addMultiBodyConstraint(con);
-						}
-
+                        if (jointType == URDFRevoluteJoint && jointLowerLimit <= jointUpperLimit) {
+                          //std::string name = u2b.getLinkName(urdfLinkIndex);
+                          //printf("create btMultiBodyJointLimitConstraint for revolute link name=%s urdf link index=%d (low=%f, up=%f)\n", name.c_str(), urdfLinkIndex, jointLowerLimit, jointUpperLimit);
+                          btMultiBodyConstraint* con = new btMultiBodyJointLimitConstraint(cache.m_bulletMultiBody, mbLinkIndex, jointLowerLimit, jointUpperLimit);
+                          world1->addMultiBodyConstraint(con);
+                        }
                     } else
                     {