diff --git a/examples/pybullet/gym/pybullet_envs/data/quadruped/LOG00076.TXT b/examples/pybullet/gym/pybullet_envs/data/quadruped/LOG00076.TXT
new file mode 100644
index 000000000..c1912b4e0
Binary files /dev/null and b/examples/pybullet/gym/pybullet_envs/data/quadruped/LOG00076.TXT differ
diff --git a/examples/pybullet/gym/pybullet_envs/data/quadruped/minitaur.urdf b/examples/pybullet/gym/pybullet_envs/data/quadruped/minitaur.urdf
new file mode 100644
index 000000000..fa4bc2d37
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+++ b/examples/pybullet/gym/pybullet_envs/data/quadruped/minitaur.urdf
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diff --git a/examples/pybullet/gym/pybullet_envs/data/quadruped/minitaur_fixed_all.urdf b/examples/pybullet/gym/pybullet_envs/data/quadruped/minitaur_fixed_all.urdf
new file mode 100644
index 000000000..68815043a
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/data/quadruped/minitaur_fixed_all.urdf
@@ -0,0 +1,913 @@
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diff --git a/examples/pybullet/gym/pybullet_envs/data/quadruped/minitaur_fixed_knees.urdf b/examples/pybullet/gym/pybullet_envs/data/quadruped/minitaur_fixed_knees.urdf
new file mode 100644
index 000000000..2c5903e1f
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/data/quadruped/minitaur_fixed_knees.urdf
@@ -0,0 +1,929 @@
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diff --git a/examples/pybullet/gym/pybullet_envs/data/quadruped/quadruped.urdf b/examples/pybullet/gym/pybullet_envs/data/quadruped/quadruped.urdf
new file mode 100644
index 000000000..8a6da709e
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/data/quadruped/quadruped.urdf
@@ -0,0 +1,712 @@
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diff --git a/examples/pybullet/gym/pybullet_envs/data/quadruped/t-motor.jpg b/examples/pybullet/gym/pybullet_envs/data/quadruped/t-motor.jpg
new file mode 100644
index 000000000..dbd5d1a6e
Binary files /dev/null and b/examples/pybullet/gym/pybullet_envs/data/quadruped/t-motor.jpg differ
diff --git a/examples/pybullet/gym/pybullet_envs/data/quadruped/tmotor.blend b/examples/pybullet/gym/pybullet_envs/data/quadruped/tmotor.blend
new file mode 100644
index 000000000..ba06c0075
Binary files /dev/null and b/examples/pybullet/gym/pybullet_envs/data/quadruped/tmotor.blend differ
diff --git a/examples/pybullet/gym/pybullet_envs/data/quadruped/tmotor3.mtl b/examples/pybullet/gym/pybullet_envs/data/quadruped/tmotor3.mtl
new file mode 100644
index 000000000..af216a1cc
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/data/quadruped/tmotor3.mtl
@@ -0,0 +1,19 @@
+# Blender MTL File: 'tmotor.blend'
+# Material Count: 2
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
+map_Kd t-motor.jpg
+
+newmtl None_NONE
+Ns 0
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+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
diff --git a/examples/pybullet/gym/pybullet_envs/data/quadruped/tmotor3.obj b/examples/pybullet/gym/pybullet_envs/data/quadruped/tmotor3.obj
new file mode 100644
index 000000000..366398a4b
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/data/quadruped/tmotor3.obj
@@ -0,0 +1,325 @@
+# Blender v2.78 (sub 0) OBJ File: 'tmotor.blend'
+# www.blender.org
+mtllib tmotor3.mtl
+o Cylinder
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