diff --git a/examples/Utils/RobotLoggingUtil.cpp b/examples/Utils/RobotLoggingUtil.cpp
new file mode 100644
index 000000000..0499a5aa9
--- /dev/null
+++ b/examples/Utils/RobotLoggingUtil.cpp
@@ -0,0 +1,253 @@
+#include "RobotLoggingUtil.h"
+#include <stdio.h>
+#include "LinearMath/btAlignedObjectArray.h"
+
+#include "../Importers/ImportURDFDemo/urdfStringSplit.h"
+
+
+static bool readLine(FILE* file, btAlignedObjectArray<char>& line)
+{
+	int c = 0;
+	for (c=fgetc(file);(c != EOF && c != '\n');c=fgetc(file))
+	{
+		line.push_back(c);
+	}
+	line.push_back(0);
+	return (c == EOF);
+}
+
+
+int readMinitaurLogFile(const char* fileName, btAlignedObjectArray<std::string>& structNames, std::string& structTypes, btAlignedObjectArray<MinitaurLogRecord>& logRecords, bool verbose)
+{
+
+	int retVal = 0;
+
+	FILE* f = fopen(fileName,"rb");
+	if (f)
+	{
+		if (verbose)
+		{
+			printf("Opened file %s\n", fileName);
+		}
+		btAlignedObjectArray<char> line0Buf;
+		bool eof = readLine(f,line0Buf);
+		btAlignedObjectArray<char> line1Buf;
+		eof |= readLine(f,line1Buf);
+		std::string line0 = &line0Buf[0];
+		structTypes = &line1Buf[0];
+		
+		btAlignedObjectArray<std::string> separators;
+		separators.push_back(",");
+		
+		urdfStringSplit(structNames,line0,separators);
+		if (verbose)
+		{
+			printf("Num Fields = %d\n",structNames.size());
+		}
+		btAssert(structTypes.size() == structNames.size());
+		if (structTypes.size() != structNames.size())
+		{
+			retVal = eCorruptHeader;
+		}
+		int numStructsRead  = 0;
+
+		if (structTypes.size() == structNames.size())
+		{
+			while (!eof)
+			{
+				unsigned char blaat[1024];
+				size_t s = fread(blaat,2,1,f);
+				if (s!=1)
+				{
+					eof=true;
+					retVal = eInvalidAABBAlignCheck;
+					break;
+				}
+				if ((blaat[0] != 0xaa) || (blaat[1] != 0xbb))
+				{
+					if (verbose)
+					{
+						printf("Expected 0xaa0xbb, terminating\n");
+					}
+				}
+
+				if (verbose)
+				{
+					printf("Reading structure %d\n",numStructsRead);
+				}
+				MinitaurLogRecord record;
+
+				for (int i=0;i<structNames.size();i++)
+				{
+					
+
+					switch (structTypes[i])
+					{
+					case 'I':
+					{
+						size_t s = fread(blaat,sizeof(int),1,f);
+						if (s != 1)
+						{
+							eof = true;
+							retVal = eCorruptValue;
+							break;
+
+						}
+						int v = *(int*)blaat;
+						if (s==1)
+						{
+							if (verbose)
+							{
+								printf("%s = %d\n",structNames[i].c_str(),v);
+							}
+							record.m_values.push_back(v);
+						}
+						break;
+					}
+					case 'f':
+					{
+						float v;
+						size_t s = fread(&v,sizeof(float),1,f);
+						if (s != 1)
+						{
+							eof = true;
+							break;
+						}
+
+						if (s==1)
+						{
+							if (verbose)
+							{
+								printf("%s = %f\n",structNames[i].c_str(),v);
+							}
+							record.m_values.push_back(v);
+						}
+						break;
+					}
+					case 'B':
+					{
+						char v;
+						size_t s = fread(&v,sizeof(char),1,f);
+						if (s != 1)
+						{
+							eof = true;
+							break;
+						}
+						if (s==1)
+						{
+							if (verbose)
+							{
+								printf("%s = %d\n",structNames[i].c_str(),v);
+							}
+							record.m_values.push_back(v);
+						}
+						break;
+					}
+					default:
+					{
+						if (verbose)
+						{
+							printf("Unknown type\n");
+						}
+						retVal = eUnknownType;
+						btAssert(0);
+					}
+					}
+					
+
+				}
+				logRecords.push_back(record);
+				numStructsRead++;
+			}
+			if (verbose)
+			{
+				printf("numStructsRead = %d\n",numStructsRead);
+			}
+			if (retVal==0)
+			{
+				retVal = numStructsRead;
+			}
+		}
+		
+		//read header and 
+	} else
+	{
+		if (verbose)
+		{
+			printf("Could not open file %s", fileName);
+		}
+		retVal = eMinitaurFileNotFound;
+	}
+	return retVal;
+}
+
+
+FILE* createMinitaurLogFile(const char* fileName, btAlignedObjectArray<std::string>& structNames, std::string& structTypes)
+{
+	FILE* f = fopen(fileName,"wb");
+	if (f)
+	{
+		for (int i=0;i<structNames.size();i++)
+		{
+			int len = strlen(structNames[i].c_str());
+			fwrite(structNames[i].c_str(),len,1,f);
+			if (i<structNames.size()-1)
+			{
+				fwrite(",",1,1,f);
+			}
+		}
+		int sz = sizeof("\n");
+		fwrite("\n",sz-1,1,f);
+		fwrite(structTypes.c_str(),strlen(structTypes.c_str()),1,f);
+		fwrite("\n",sz-1,1,f);
+
+	}
+	
+
+	return f;
+}
+
+void appendMinitaurLogData(FILE* f, std::string& structTypes, const MinitaurLogRecord& logData)
+{
+	if (f)
+	{
+		unsigned char buf[2] = {0xaa,0xbb};
+		fwrite(buf,2,1,f);
+		if (structTypes.length() == logData.m_values.size())
+		{
+			for (int i=0;i<logData.m_values.size();i++)
+			{
+				switch(structTypes[i])
+				{
+				case 'I':
+				{
+					fwrite(&logData.m_values[i].m_intVal,sizeof(int),1,f);
+					break;
+				}
+				case 'f':
+				{
+					fwrite(&logData.m_values[i].m_floatVal,sizeof(float),1,f);
+					break;
+				}
+				case 'B':
+				{
+					fwrite(&logData.m_values[i].m_charVal,sizeof(char),1,f);
+					break;
+				}
+				default:
+				{
+
+				}
+				}
+			}
+		}
+	}
+}
+
+void closeMinitaurLogFile(FILE* f)
+{
+	if (f)
+	{
+		fclose(f);
+	}
+}
diff --git a/examples/Utils/RobotLoggingUtil.h b/examples/Utils/RobotLoggingUtil.h
new file mode 100644
index 000000000..ab88a0dae
--- /dev/null
+++ b/examples/Utils/RobotLoggingUtil.h
@@ -0,0 +1,54 @@
+#ifndef ROBOT_LOGGING_UTIL_H
+#define ROBOT_LOGGING_UTIL_H
+
+#include "LinearMath/btAlignedObjectArray.h"
+#include <string>
+
+struct MinitaurLogValue
+{
+	MinitaurLogValue()
+	:m_intVal(0xcdcdcdcd)
+	{
+	}
+	MinitaurLogValue(int iv)
+	:m_intVal(iv)
+	{
+	}
+	MinitaurLogValue(float fv)
+		:m_floatVal(fv)
+	{
+	}
+	MinitaurLogValue(char fv)
+		:m_charVal(fv)
+	{
+	}
+
+	union
+	{
+		char m_charVal;
+		int m_intVal;
+		float m_floatVal;
+	};
+};
+
+struct MinitaurLogRecord
+{
+	btAlignedObjectArray<MinitaurLogValue> m_values;
+};
+
+enum MINITAUR_LOG_ERROR
+{
+	eMinitaurFileNotFound = -1,
+	eCorruptHeader = -2,
+	eUnknownType = -3,
+	eCorruptValue = -4,
+	eInvalidAABBAlignCheck = -5,
+};
+
+int readMinitaurLogFile(const char* fileName, btAlignedObjectArray<std::string>& structNames, std::string& structTypes, btAlignedObjectArray<MinitaurLogRecord>& logRecords, bool verbose);
+
+FILE* createMinitaurLogFile(const char* fileName, btAlignedObjectArray<std::string>& structNames, std::string& structTypes);
+void appendMinitaurLogData(FILE* f, std::string& structTypes, const MinitaurLogRecord& logData);
+void closeMinitaurLogFile(FILE* f);
+
+#endif //ROBOT_LOGGING_UTIL_H
diff --git a/examples/pybullet/rollPitchYaw.py b/examples/pybullet/rollPitchYaw.py
new file mode 100644
index 000000000..d807fb845
--- /dev/null
+++ b/examples/pybullet/rollPitchYaw.py
@@ -0,0 +1,26 @@
+import pybullet as p
+import time
+
+cid = p.connect(p.SHARED_MEMORY)
+if (cid<0):
+	p.connect(p.GUI)
+q = p.loadURDF("quadruped/quadruped.urdf",useFixedBase=True)
+rollId = p.addUserDebugParameter("roll",-1.5,1.5,0)
+pitchId = p.addUserDebugParameter("pitch",-1.5,1.5,0)
+yawId = p.addUserDebugParameter("yaw",-1.5,1.5,0)
+fwdxId = p.addUserDebugParameter("fwd_x",-1,1,0)
+fwdyId = p.addUserDebugParameter("fwd_y",-1,1,0)
+fwdzId = p.addUserDebugParameter("fwd_z",-1,1,0)
+
+while True:
+	roll = p.readUserDebugParameter(rollId)
+	pitch = p.readUserDebugParameter(pitchId)
+	yaw = p.readUserDebugParameter(yawId)
+	x = p.readUserDebugParameter(fwdxId)
+	y = p.readUserDebugParameter(fwdyId)
+	z = p.readUserDebugParameter(fwdzId)
+
+	orn = p.getQuaternionFromEuler([roll,pitch,yaw])
+	p.resetBasePositionAndOrientation(q,[x,y,z],orn)
+	#p.stepSimulation()#not really necessary for this demo, no physics used
+