diff --git a/examples/pybullet/gym/pybullet_data/laikago/laikago_toes.urdf b/examples/pybullet/gym/pybullet_data/laikago/laikago_toes.urdf
new file mode 100644
index 000000000..bc96ece28
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/laikago/laikago_toes.urdf
@@ -0,0 +1,606 @@
+<?xml version="1.0" ?>
+<robot name="plane">
+  <link name="chassis">
+  <contact>
+      <lateral_friction value="1"/>
+  </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0.03 0.043794"/>
+       <mass value="13.715"/>
+       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0.043794"/>
+      <geometry>
+      	
+				<mesh filename="chassis.stl" scale="1 1 1"/>
+      </geometry>
+       <material name="yellow">
+        <color rgba="0.95 0.75 0.05 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="-1.57 0 0" xyz="0 0 0.043794"/>
+      <geometry>
+      	
+				<mesh filename="chassis_vhacd_mod.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  
+ 
+	
+	 <link name="FR_hip_motor">
+  <contact>
+      <lateral_friction value="1"/>
+  </contact>
+    <inertial>
+       <origin rpy="0 0 0" xyz="0.02 0 0"/>
+       <mass value="1.095"/>
+       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+	
+	  <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
+      </geometry>
+       <material name="green"/>
+    </visual>
+    
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    </link>
+    
+    <joint name="FR_hip_motor_2_chassis_joint" type="continuous">
+		<axis xyz="0 0 -1"/>
+		<parent link="chassis"/>
+		<child link="FR_hip_motor"/>
+		<origin rpy="0 0 0" xyz="-0.0817145 0 0.242889"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	
+     <link name="FR_upper_leg">
+  <contact>
+      <lateral_friction value="1"/>
+  </contact>
+    <inertial>
+     <origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
+       <mass value="1.527"/>
+       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+       <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="upper_leg_mirror.stl" scale="1 1 1"/>
+      </geometry>
+       <material name="blue"/>
+    </visual>
+    
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="upper_leg_right_vhacd.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    
+    </link>
+    
+    <joint name="FR_upper_leg_2_hip_motor_joint" type="continuous">
+		<axis xyz="1 0 0"/>
+		<parent link="FR_hip_motor"/>
+		<child link="FR_upper_leg"/>
+		<origin rpy="0 0 0" xyz="-0.053565 0 0"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	
+     <link name="FR_lower_leg">
+  <contact>
+      <lateral_friction value="1"/>
+  </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
+       <mass value="0.241"/>
+       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+       <visual>
+      <origin rpy="0 1.57079 0" xyz="0 0.0 0"/>
+      <geometry>
+				<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
+      </geometry>
+       <material name="red"/>
+    </visual>
+    
+    <collision>
+      <origin rpy="0 1.57079 0" xyz="0 0.0 0"/>
+      <geometry>
+				<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    
+    </link>
+    
+    <joint name="FR_lower_leg_2_upper_leg_joint" type="continuous">
+		<axis xyz="1 0 0"/>
+		<parent link="FR_upper_leg"/>
+		<child link="FR_lower_leg"/>
+														
+		<origin rpy="0 0 0" xyz="0.02069  -0.20833  -0.1422"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	
+	
+	 <link name="FL_hip_motor">
+  <contact>
+      <lateral_friction value="1"/>
+  </contact>
+    <inertial>
+     <origin rpy="0 0 0" xyz="-.02 0 0"/>
+       <mass value="1.095"/>
+       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="hip_motor.stl" scale="1 1 1"/>
+      </geometry>
+       <material name="green">
+        <color rgba="0.23 0.73 0.33 1"/>
+      </material>
+    </visual>
+    
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="hip_motor.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    
+      </link>
+  
+   <joint name="FL_hip_motor_2_chassis_joint" type="continuous">
+		<axis xyz="0 0 1"/>
+		<parent link="chassis"/>
+		<child link="FL_hip_motor"/>
+		<origin rpy="0 0 0" xyz="0.0817145 0 0.242889"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	
+  <link name="FL_upper_leg">
+  <contact>
+      <lateral_friction value="1"/>
+  </contact>
+    <inertial>
+       <origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
+       <mass value="1.527"/>
+       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+     <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+      	
+				<mesh filename="upper_leg.stl" scale="1 1 1"/>
+      </geometry>
+       <material name="blue">
+        <color rgba="0.28 0.52 0.93 1"/>
+      </material>
+    </visual>
+    
+     <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="upper_leg_left_vhacd.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    
+    </link>
+  
+  
+  <joint name="FL_upper_leg_2_hip_motor_joint" type="continuous">
+		<axis xyz="1 0 0"/>
+		<parent link="FL_hip_motor"/>
+		<child link="FL_upper_leg"/>
+		<origin rpy="0 0 0" xyz="0.055855  0 0"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	 
+  
+  <link name="FL_lower_leg">
+  <contact>
+      <lateral_friction value="1"/>
+  </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
+       <mass value="0.241"/>
+       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+   <visual>
+      <origin rpy="0 1.57079 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
+      </geometry>
+       <material name="red">
+        <color rgba="0.85 0.19 0.21 1"/>
+      </material>
+    </visual>
+    
+     <collision>
+      <origin rpy="0 1.57079 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    
+    </link>
+    
+  <joint name="FL_lower_leg_2_upper_leg_joint" type="continuous">
+		<axis xyz="1 0 0"/>
+		<parent link="FL_upper_leg"/>
+		<child link="FL_lower_leg"/>
+		<origin rpy="0 0 0" xyz="-0.02069  -0.20833  -0.1422"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	
+	
+	
+	
+	
+	
+	 <link name="RR_hip_motor">
+  <contact>
+      <lateral_friction value="1"/>
+  </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.02 0 0"/>
+       <mass value="1.095"/>
+       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+	
+	  <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
+      </geometry>
+       <material name="green"/>
+    </visual>
+    
+     <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    
+    </link>
+    
+    <joint name="RR_hip_motor_2_chassis_joint" type="continuous">
+		<axis xyz="0 0 -1"/>
+		<parent link="chassis"/>
+		<child link="RR_hip_motor"/>
+		<origin rpy="0 0 0" xyz="-0.0817145 0 -0.194401"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	
+     <link name="RR_upper_leg">
+  <contact>
+      <lateral_friction value="1"/>
+  </contact>
+    <inertial>
+     <origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
+       <mass value="1.527"/>
+       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+       <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="upper_leg_mirror.stl" scale="1 1 1"/>
+      </geometry>
+       <material name="blue"/>
+    </visual>
+    
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="upper_leg_right_vhacd.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    
+    </link>
+    
+    <joint name="RR_upper_leg_2_hip_motor_joint" type="continuous">
+		<axis xyz="1 0 0"/>
+		<parent link="RR_hip_motor"/>
+		<child link="RR_upper_leg"/>
+		<origin rpy="0 0 0" xyz="-0.053565 0 0"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	
+     <link name="RR_lower_leg">
+  <contact>
+      <lateral_friction value="1"/>
+  </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
+       <mass value="0.241"/>
+       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+       <visual>
+      <origin rpy="0 1.57079 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
+      </geometry>
+       <material name="red"/>
+    </visual>
+    
+     <collision>
+      <origin rpy="0 1.57079 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    
+    </link>
+    
+    <joint name="RR_lower_leg_2_upper_leg_joint" type="continuous">
+		<axis xyz="1 0 0"/>
+		<parent link="RR_upper_leg"/>
+		<child link="RR_lower_leg"/>
+		<origin rpy="0 0 0" xyz="0.02069  -0.20833  -0.1422"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	
+	
+	 <link name="RL_hip_motor">
+  <contact>
+      <lateral_friction value="1"/>
+  </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-.02 0 0"/>
+       <mass value="1.095"/>
+       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="hip_motor.stl" scale="1 1 1"/>
+      </geometry>
+       <material name="green"/>
+    </visual>
+    
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="hip_motor.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    
+      </link>
+  
+   <joint name="RL_hip_motor_2_chassis_joint" type="continuous">
+		<axis xyz="0 0 1"/>
+		<parent link="chassis"/>
+		<child link="RL_hip_motor"/>
+												
+		<origin rpy="0 0 0" xyz="0.0817145 0 -0.194401"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	
+  <link name="RL_upper_leg">
+  <contact>
+      <lateral_friction value="1"/>
+  </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
+       <mass value="1.527"/>
+       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+     <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="upper_leg.stl" scale="1 1 1"/>
+      </geometry>
+       <material name="blue"/>
+    </visual>
+    
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="upper_leg_left_vhacd.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    
+    </link>
+  
+  
+  <joint name="RL_upper_leg_2_hip_motor_joint" type="continuous">
+		<axis xyz="1 0 0"/>
+		<parent link="RL_hip_motor"/>
+		<child link="RL_upper_leg"/>
+		<origin rpy="0 0 0" xyz="0.055855  0 0"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	 
+  
+  <link name="RL_lower_leg">
+  <contact>
+      <lateral_friction value="1"/>
+  </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
+       <mass value="0.241"/>
+       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+   <visual>
+      <origin rpy="0 1.57079 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
+      </geometry>
+       <material name="red"/>
+    </visual>
+    
+    <collision>
+      <origin rpy="0 1.57079 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    
+    </link>
+    
+  <joint name="RL_lower_leg_2_upper_leg_joint" type="continuous">
+		<axis xyz="1 0 0"/>
+		<parent link="RL_upper_leg"/>
+		<child link="RL_lower_leg"/>
+		<origin rpy="0 0 0" xyz="-0.02069  -0.20833  -0.1422"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+
+   <link name="toeRL">
+    <contact>
+      <friction_anchor/>
+      <stiffness value="30000.0"/>
+      <damping value="1000.0"/>
+      <spinning_friction value="0.1"/>
+      <lateral_friction value="1.0"/>
+    </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="0.1"/>
+      <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
+    </inertial>
+  </link>
+  <joint name="jtoeRL" type="fixed">
+    <parent link="RL_lower_leg"/>
+    <child link="toeRL"/>
+    <origin xyz="0 -0.25 -0.022"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>	
+	
+	<link name="toeRR">
+    <contact>
+      <friction_anchor/>
+      <stiffness value="30000.0"/>
+      <damping value="1000.0"/>
+      <spinning_friction value="0.1"/>
+      <lateral_friction value="1.0"/>
+    </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="0.1"/>
+      <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
+    </inertial>
+  </link>
+  <joint name="jtoeRR" type="fixed">
+    <parent link="RR_lower_leg"/>
+    <child link="toeRR"/>
+    <origin xyz="0 -0.25 -0.022"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>	
+	
+	<link name="toeFL">
+    <contact>
+      <friction_anchor/>
+      <stiffness value="30000.0"/>
+      <damping value="1000.0"/>
+      <spinning_friction value="0.1"/>
+      <lateral_friction value="1.0"/>
+    </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="0.1"/>
+      <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
+    </inertial>
+  </link>
+  <joint name="jtoeFL" type="fixed">
+    <parent link="FL_lower_leg"/>
+    <child link="toeFL"/>
+    <origin xyz="0 -0.25 -0.022"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>	
+	
+	<link name="toeFR">
+    <contact>
+      <friction_anchor/>
+      <stiffness value="30000.0"/>
+      <damping value="1000.0"/>
+      <spinning_friction value="0.1"/>
+      <lateral_friction value="1.0"/>
+    </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="0.1"/>
+      <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
+    </inertial>
+  </link>
+  <joint name="jtoeFR" type="fixed">
+    <parent link="FR_lower_leg"/>
+    <child link="toeFR"/>
+    <origin xyz="0 -0.25 -0.022"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>	
+</robot>
+