diff --git a/examples/RobotSimulator/MinitaurSetup.cpp b/examples/RobotSimulator/MinitaurSetup.cpp
index 13f6ddb0e..36cc05891 100644
--- a/examples/RobotSimulator/MinitaurSetup.cpp
+++ b/examples/RobotSimulator/MinitaurSetup.cpp
@@ -37,6 +37,126 @@ void MinitaurSetup::setDesiredMotorAngle(class b3RobotSimulatorClientAPI* sim, c
 	sim->setJointMotorControl(m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId[motorName],controlArgs);
 }
 
+//pick exactly 1 configuration of the following
+#define MINITAUR_RAINBOWDASH_V1
+//#define MINITAUR_RAINBOWDASH_V0
+//#define MINITAUR_V0
+
+
+
+#if defined(MINITAUR_RAINBOWDASH_V1)
+#define MINITAUR_HAS_DEFORMABLE_BRACKETS
+static const char* minitaurURDF="quadruped/minitaur_rainbow_dash_v1.urdf";
+
+	static const char* kneeNames[]={
+		"knee_front_leftL_joint",//1
+		"knee_front_leftR_joint",//3
+		"knee_back_leftL_joint",//5
+		"knee_back_leftR_joint",//7
+		"knee_front_rightL_joint",//9
+		"knee_back_rightL_joint",//10
+		"knee_back_rightR_joint",//13
+		"knee_front_rightR_joint",//15
+	};
+
+	static const char* motorNames[]={
+		"motor_front_leftL_joint",//0
+		"knee_front_leftL_joint",//1
+		"motor_front_leftR_joint",//2
+		"knee_front_leftR_joint",//3
+		"motor_back_leftL_joint",//4
+		"knee_back_leftL_joint",//5
+		"motor_back_leftR_joint",//6
+		"knee_back_leftR_joint",//7
+		"motor_front_rightL_joint",//8
+		"knee_front_rightL_joint",//9
+		"knee_back_rightL_joint",//10
+		"motor_back_rightL_joint",//11
+		"motor_back_rightR_joint",//12
+		"knee_back_rightR_joint",//13
+		"motor_front_rightR_joint",//14
+		"knee_front_rightR_joint",//15
+	};
+
+	static const char* bracketNames[] = {
+		"motor_front_rightR_bracket_joint",
+		"motor_front_leftL_bracket_joint",
+		"motor_back_rightR_bracket_joint",
+		"motor_back_leftL_bracket_joint",
+	};
+
+	static b3Vector3 KNEE_CONSTRAINT_POINT_LONG = b3MakeVector3(0, 0.0045, 0.088);
+	static b3Vector3 KNEE_CONSTRAINT_POINT_SHORT= b3MakeVector3(0, 0.0045, 0.100);
+#elif defined(MINITAUR_RAINBOWDASH_V0)
+	static const char* minitaurURDF="quadruped/minitaur_rainbow_dash.urdf";
+
+	static const char* kneeNames[]={
+		"knee_front_leftL_joint",//1
+		"knee_front_leftR_joint",//3
+		"knee_back_leftL_joint",//5
+		"knee_back_leftR_joint",//7
+		"knee_front_rightL_joint",//9
+		"knee_back_rightL_joint",//10
+		"knee_back_rightR_joint",//13
+		"knee_front_rightR_joint",//15
+	};
+
+	static const char* motorNames[]={
+		"motor_front_leftL_joint",//0
+		"knee_front_leftL_joint",//1
+		"motor_front_leftR_joint",//2
+		"knee_front_leftR_joint",//3
+		"motor_back_leftL_joint",//4
+		"knee_back_leftL_joint",//5
+		"motor_back_leftR_joint",//6
+		"knee_back_leftR_joint",//7
+		"motor_front_rightL_joint",//8
+		"knee_front_rightL_joint",//9
+		"knee_back_rightL_joint",//10
+		"motor_back_rightL_joint",//11
+		"motor_back_rightR_joint",//12
+		"knee_back_rightR_joint",//13
+		"motor_front_rightR_joint",//14
+		"knee_front_rightR_joint",//15
+	};
+	static b3Vector3 KNEE_CONSTRAINT_POINT_LONG = b3MakeVector3(0, 0.0045, 0.088);
+	static b3Vector3 KNEE_CONSTRAINT_POINT_SHORT= b3MakeVector3(0, 0.0045, 0.100);
+#elif defined(MINITAUR_V0)
+	static const char* minitaurURDF="quadruped/minitaur.urdf";
+
+	static const char* kneeNames[]={
+		"knee_front_leftL_link",
+		"knee_front_leftR_link",
+		"knee_back_leftL_link",
+		"knee_back_leftR_link",
+		"knee_front_rightL_link",
+		"knee_back_rightL_link",
+		"knee_back_rightR_link",
+		"knee_front_rightR_link",
+	};
+
+	static const char* motorNames[]={
+		"motor_front_leftL_joint",
+		"knee_front_leftL_link",
+		"motor_front_leftR_joint",
+		"knee_front_leftR_link",
+		"motor_back_leftL_joint",
+		"knee_back_leftL_link",
+		"motor_back_leftR_joint",
+		"knee_back_leftR_link",
+		"motor_front_rightL_joint",
+		"knee_front_rightL_link",
+		"knee_back_rightL_link",
+		"motor_back_rightL_joint",
+		"motor_back_rightR_joint",
+		"knee_back_rightR_link",
+		"motor_front_rightR_joint",
+		"knee_front_rightR_link",
+	};
+	static b3Vector3 KNEE_CONSTRAINT_POINT_LONG = b3MakeVector3(0, 0.005, 0.2);
+	static b3Vector3 KNEE_CONSTRAINT_POINT_SHORT= b3MakeVector3(0, 0.01, 0.2);
+#endif
+
 
 void MinitaurSetup::resetPose(class b3RobotSimulatorClientAPI* sim)
 {
@@ -58,59 +178,80 @@ void MinitaurSetup::resetPose(class b3RobotSimulatorClientAPI* sim)
 	b3JointInfo jointInfo;
 	jointInfo.m_jointType = ePoint2PointType;
 		//left front leg
-	sim->resetJointState(m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId["motor_front_leftL_joint"],motorDirs[0] * startAngle);
-	sim->resetJointState(m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId["knee_front_leftL_link"],motorDirs[0]*kneeAngle);
-	sim->resetJointState(m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId["motor_front_leftR_joint"],motorDirs[1] * startAngle);
-	sim->resetJointState(m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId["knee_front_leftR_link"],motorDirs[1]*kneeAngle);
-	
-	jointInfo.m_parentFrame[0] = 0;	jointInfo.m_parentFrame[1] = 0.005;	jointInfo.m_parentFrame[2] = 0.2;
-	jointInfo.m_childFrame[0] = 0;	jointInfo.m_childFrame[1] = 0.01;	jointInfo.m_childFrame[2] = 0.2;
-	sim->createConstraint(m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId["knee_front_leftR_link"],
-		m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId["knee_front_leftL_link"],&jointInfo);
-	setDesiredMotorAngle(sim,"motor_front_leftL_joint", motorDirs[0] * startAngle);
-	setDesiredMotorAngle(sim,"motor_front_leftR_joint", motorDirs[1] * startAngle);
+	sim->resetJointState(m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId[motorNames[0]],motorDirs[0] * startAngle);
+	sim->resetJointState(m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId[kneeNames[0]],motorDirs[0]*kneeAngle);
+	sim->resetJointState(m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId[motorNames[2]],motorDirs[1] * startAngle);
+	sim->resetJointState(m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId[kneeNames[1]],motorDirs[1]*kneeAngle);
+
+	jointInfo.m_parentFrame[0] = KNEE_CONSTRAINT_POINT_SHORT[0];	jointInfo.m_parentFrame[1] = KNEE_CONSTRAINT_POINT_SHORT[1];	jointInfo.m_parentFrame[2] = KNEE_CONSTRAINT_POINT_SHORT[2];
+	jointInfo.m_childFrame[0] = KNEE_CONSTRAINT_POINT_LONG[0];	jointInfo.m_childFrame[1] = KNEE_CONSTRAINT_POINT_LONG[1];	jointInfo.m_childFrame[2] = KNEE_CONSTRAINT_POINT_LONG[2];
+
+	//jointInfo.m_parentFrame[0] = KNEE_CONSTRAINT_POINT_LONG[0];	jointInfo.m_parentFrame[1] = KNEE_CONSTRAINT_POINT_LONG[1];	jointInfo.m_parentFrame[2] = KNEE_CONSTRAINT_POINT_LONG[2];
+	//jointInfo.m_childFrame[0] = KNEE_CONSTRAINT_POINT_SHORT[0];	jointInfo.m_childFrame[1] = KNEE_CONSTRAINT_POINT_SHORT[1];	jointInfo.m_childFrame[2] = KNEE_CONSTRAINT_POINT_SHORT[2];
+	sim->createConstraint(m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId[kneeNames[1]],
+		m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId[kneeNames[0]],&jointInfo);
+	setDesiredMotorAngle(sim,motorNames[0], motorDirs[0] * startAngle);
+	setDesiredMotorAngle(sim,motorNames[2], motorDirs[1] * startAngle);
 	
 	//left back leg
-	sim->resetJointState(m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId["motor_back_leftL_joint"],motorDirs[2] * startAngle);
-	sim->resetJointState(m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId["knee_back_leftL_link"],motorDirs[2] * kneeAngle);
-	sim->resetJointState(m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId["motor_back_leftR_joint"],motorDirs[3] * startAngle);
-	sim->resetJointState(m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId["knee_back_leftR_link"],motorDirs[3] * kneeAngle);
-	jointInfo.m_parentFrame[0] = 0;	jointInfo.m_parentFrame[1] = 0.005;	jointInfo.m_parentFrame[2] = 0.2;
-	jointInfo.m_childFrame[0] = 0;	jointInfo.m_childFrame[1] = 0.01;	jointInfo.m_childFrame[2] = 0.2;
-	sim->createConstraint(m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId["knee_back_leftR_link"],
-		m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId["knee_back_leftL_link"],&jointInfo);
-	setDesiredMotorAngle(sim,"motor_back_leftL_joint", motorDirs[2] * startAngle);
-	setDesiredMotorAngle(sim,"motor_back_leftR_joint", motorDirs[3] * startAngle);
+	sim->resetJointState(m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId[motorNames[4]],motorDirs[2] * startAngle);
+	sim->resetJointState(m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId[kneeNames[2]],motorDirs[2] * kneeAngle);
+	sim->resetJointState(m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId[motorNames[6]],motorDirs[3] * startAngle);
+	sim->resetJointState(m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId[kneeNames[3]],motorDirs[3] * kneeAngle);
+	jointInfo.m_parentFrame[0] = KNEE_CONSTRAINT_POINT_SHORT[0];	jointInfo.m_parentFrame[1] = KNEE_CONSTRAINT_POINT_SHORT[1];	jointInfo.m_parentFrame[2] = KNEE_CONSTRAINT_POINT_SHORT[2];
+	jointInfo.m_childFrame[0] = KNEE_CONSTRAINT_POINT_LONG[0];	jointInfo.m_childFrame[1] = KNEE_CONSTRAINT_POINT_LONG[1];	jointInfo.m_childFrame[2] = KNEE_CONSTRAINT_POINT_LONG[2];
+
+	//jointInfo.m_parentFrame[0] = KNEE_CONSTRAINT_POINT_LONG[0];	jointInfo.m_parentFrame[1] = KNEE_CONSTRAINT_POINT_LONG[1];	jointInfo.m_parentFrame[2] = KNEE_CONSTRAINT_POINT_LONG[2];
+	//jointInfo.m_childFrame[0] = KNEE_CONSTRAINT_POINT_SHORT[0];	jointInfo.m_childFrame[1] = KNEE_CONSTRAINT_POINT_SHORT[1];	jointInfo.m_childFrame[2] = KNEE_CONSTRAINT_POINT_SHORT[2];
+	sim->createConstraint(m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId[kneeNames[3]],
+		m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId[kneeNames[2]],&jointInfo);
+	setDesiredMotorAngle(sim,motorNames[4], motorDirs[2] * startAngle);
+	setDesiredMotorAngle(sim,motorNames[6], motorDirs[3] * startAngle);
 
 
 	//right front leg
-	sim->resetJointState(m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId["motor_front_rightL_joint"],motorDirs[4] * startAngle);
-	sim->resetJointState(m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId["knee_front_rightL_link"],motorDirs[4] * kneeAngle);
-	sim->resetJointState(m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId["motor_front_rightR_joint"],motorDirs[5]*startAngle);
-	sim->resetJointState(m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId["knee_front_rightR_link"],motorDirs[5] * kneeAngle);
+	sim->resetJointState(m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId[motorNames[8]],motorDirs[4] * startAngle);
+	sim->resetJointState(m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId[kneeNames[4]],motorDirs[4] * kneeAngle);
+	sim->resetJointState(m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId[motorNames[14]],motorDirs[5]*startAngle);
+	sim->resetJointState(m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId[kneeNames[7]],motorDirs[5] * kneeAngle);
 
 	
 	
-	jointInfo.m_parentFrame[0] = 0;	jointInfo.m_parentFrame[1] = 0.005;	jointInfo.m_parentFrame[2] = 0.2;
-	jointInfo.m_childFrame[0] = 0;	jointInfo.m_childFrame[1] = 0.01;	jointInfo.m_childFrame[2] = 0.2;
-	sim->createConstraint(m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId["knee_front_rightR_link"],
-		m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId["knee_front_rightL_link"],&jointInfo);
-	setDesiredMotorAngle(sim,"motor_front_rightL_joint",motorDirs[4] * startAngle);
-	setDesiredMotorAngle(sim,"motor_front_rightR_joint",motorDirs[5] * startAngle);
+	jointInfo.m_parentFrame[0] = KNEE_CONSTRAINT_POINT_LONG[0];	jointInfo.m_parentFrame[1] = KNEE_CONSTRAINT_POINT_LONG[1];	jointInfo.m_parentFrame[2] = KNEE_CONSTRAINT_POINT_LONG[2];
+	jointInfo.m_childFrame[0] = KNEE_CONSTRAINT_POINT_SHORT[0];	jointInfo.m_childFrame[1] = KNEE_CONSTRAINT_POINT_SHORT[1];	jointInfo.m_childFrame[2] = KNEE_CONSTRAINT_POINT_SHORT[2];
+	sim->createConstraint(m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId[kneeNames[7]],
+		m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId[kneeNames[4]],&jointInfo);
+	setDesiredMotorAngle(sim,motorNames[8],motorDirs[4] * startAngle);
+	setDesiredMotorAngle(sim,motorNames[14],motorDirs[5] * startAngle);
 
 
 	//right back leg
-	sim->resetJointState(m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId["motor_back_rightL_joint"],motorDirs[6] * startAngle);
-	sim->resetJointState(m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId["knee_back_rightL_link"],motorDirs[6] * kneeAngle);
-  	sim->resetJointState(m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId["motor_back_rightR_joint"],motorDirs[7] * startAngle);
-	sim->resetJointState(m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId["knee_back_rightR_link"],motorDirs[7] * kneeAngle);
+	sim->resetJointState(m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId[motorNames[11]],motorDirs[6] * startAngle);
+	sim->resetJointState(m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId[kneeNames[5]],motorDirs[6] * kneeAngle);
+  	sim->resetJointState(m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId[motorNames[12]],motorDirs[7] * startAngle);
+	sim->resetJointState(m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId[kneeNames[6]],motorDirs[7] * kneeAngle);
 
-	jointInfo.m_parentFrame[0] = 0;	jointInfo.m_parentFrame[1] = 0.005;	jointInfo.m_parentFrame[2] = 0.2;
-	jointInfo.m_childFrame[0] = 0;	jointInfo.m_childFrame[1] = 0.01;	jointInfo.m_childFrame[2] = 0.2;
-	sim->createConstraint(m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId["knee_back_rightR_link"],
-		m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId["knee_back_rightL_link"],&jointInfo);
-	setDesiredMotorAngle(sim,"motor_back_rightL_joint", motorDirs[6] * startAngle);
-	setDesiredMotorAngle(sim,"motor_back_rightR_joint", motorDirs[7] * startAngle);
+	jointInfo.m_parentFrame[0] = KNEE_CONSTRAINT_POINT_LONG[0];	jointInfo.m_parentFrame[1] = KNEE_CONSTRAINT_POINT_LONG[1];	jointInfo.m_parentFrame[2] = KNEE_CONSTRAINT_POINT_LONG[2];
+	jointInfo.m_childFrame[0] = KNEE_CONSTRAINT_POINT_SHORT[0];	jointInfo.m_childFrame[1] = KNEE_CONSTRAINT_POINT_SHORT[1];	jointInfo.m_childFrame[2] = KNEE_CONSTRAINT_POINT_SHORT[2];
+	sim->createConstraint(m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId[kneeNames[6]],
+		m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId[kneeNames[5]],&jointInfo);
+	setDesiredMotorAngle(sim,motorNames[11], motorDirs[6] * startAngle);
+	setDesiredMotorAngle(sim,motorNames[12], motorDirs[7] * startAngle);
+
+#ifdef MINITAUR_HAS_DEFORMABLE_BRACKETS
+	b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
+	controlArgs.m_maxTorqueValue = 6;
+	controlArgs.m_kd = 1;
+	controlArgs.m_kp = 0;
+	controlArgs.m_targetPosition = 0;
+	for (int i=0;i<4;i++)
+	{
+		const char* bracketName = bracketNames[i];
+		int* bracketId =m_data->m_jointNameToId[bracketName];
+		sim->setJointMotorControl(m_data->m_quadrupedUniqueId,*bracketId,controlArgs);
+	}
+
+#endif
 
 }
 
@@ -121,8 +262,8 @@ int MinitaurSetup::setupMinitaur(class b3RobotSimulatorClientAPI* sim, const b3V
 	args.m_startPosition = startPos;
 	args.m_startOrientation = startOrn;
 
-	m_data->m_quadrupedUniqueId = sim->loadURDF("quadruped/minitaur.urdf",args);
-
+	m_data->m_quadrupedUniqueId = sim->loadURDF(minitaurURDF,args);
+	
 	int numJoints = sim->getNumJoints(m_data->m_quadrupedUniqueId);
 	for (int i=0;i<numJoints;i++)
 	{
@@ -138,3 +279,17 @@ int MinitaurSetup::setupMinitaur(class b3RobotSimulatorClientAPI* sim, const b3V
 
 	return m_data->m_quadrupedUniqueId;
 }
+
+int MinitaurSetup::getToeForces(class b3RobotSimulatorClientAPI* sim, int groundid, b3Vector3 normalForcesOut[4])
+{
+	sim->getContactNormalForce(m_data->m_quadrupedUniqueId, *m_data->m_jointNameToId[kneeNames[0]], groundid, -1, &normalForcesOut[0]);
+	sim->getContactNormalForce(m_data->m_quadrupedUniqueId, *m_data->m_jointNameToId[kneeNames[2]], groundid, -1, &normalForcesOut[1]);
+	sim->getContactNormalForce(m_data->m_quadrupedUniqueId, *m_data->m_jointNameToId[kneeNames[4]], groundid, -1, &normalForcesOut[2]);
+	sim->getContactNormalForce(m_data->m_quadrupedUniqueId, *m_data->m_jointNameToId[kneeNames[5]], groundid, -1, &normalForcesOut[3]);
+	sim->getContactNormalForce(m_data->m_quadrupedUniqueId, *m_data->m_jointNameToId[kneeNames[1]], groundid, -1, &normalForcesOut[4]);
+	sim->getContactNormalForce(m_data->m_quadrupedUniqueId, *m_data->m_jointNameToId[kneeNames[3]], groundid, -1, &normalForcesOut[5]);
+	sim->getContactNormalForce(m_data->m_quadrupedUniqueId, *m_data->m_jointNameToId[kneeNames[6]], groundid, -1, &normalForcesOut[6]);
+	sim->getContactNormalForce(m_data->m_quadrupedUniqueId, *m_data->m_jointNameToId[kneeNames[7]], groundid, -1, &normalForcesOut[7]);
+
+	return 0;
+}
diff --git a/examples/RobotSimulator/MinitaurSetup.h b/examples/RobotSimulator/MinitaurSetup.h
index 02cd0014d..e6b994077 100644
--- a/examples/RobotSimulator/MinitaurSetup.h
+++ b/examples/RobotSimulator/MinitaurSetup.h
@@ -16,6 +16,8 @@ public:
 
 	void setDesiredMotorAngle(class b3RobotSimulatorClientAPI* sim, const char* motorName, double desiredAngle, double maxTorque=3,double kp=0.1, double kd=0.9);
 
+	// Added for testing
+	int getToeForces(class b3RobotSimulatorClientAPI* sim, int groundid, b3Vector3 normalForcesOut[4]);
 };
 #endif //MINITAUR_SIMULATION_SETUP_H
  
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