diff --git a/data/plane.urdf b/data/plane.urdf
index 480b0752f..ad10aeedf 100644
--- a/data/plane.urdf
+++ b/data/plane.urdf
@@ -2,7 +2,7 @@
 <robot name="cube.urdf">
   <link name="planeLink">
   <contact>
-      <lateral_friction value="1.5"/>
+      <lateral_friction value="2"/>
   </contact>
     <inertial>
       <origin rpy="0 0 0" xyz="0 0 0"/>
diff --git a/data/quadruped/quadruped.urdf b/data/quadruped/quadruped.urdf
index 32e9c131c..8a6da709e 100644
--- a/data/quadruped/quadruped.urdf
+++ b/data/quadruped/quadruped.urdf
@@ -15,7 +15,7 @@
       </geometry>
     </collision>
     <inertial>
-      <mass value="1."/>
+      <mass value="3.2"/>
       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
     </inertial>
   </link>
diff --git a/examples/pybullet/minitaur.py b/examples/pybullet/minitaur.py
index 39827071c..5364d8124 100644
--- a/examples/pybullet/minitaur.py
+++ b/examples/pybullet/minitaur.py
@@ -1,4 +1,5 @@
 import pybullet as p
+import numpy as np
 
 class Minitaur:
   def __init__(self):
@@ -8,7 +9,8 @@ class Minitaur:
     self.quadruped = p.loadURDF("quadruped/quadruped.urdf",0,0,.3)
     self.kp = 1
     self.kd = 0.1
-    self.maxForce = 100
+    self.maxForce = 3.5
+    self.motorDir = [1, -1, 1, -1, -1, 1, -1, 1]
     nJoints = p.getNumJoints(self.quadruped)
     self.jointNameToId = {}
     for i in range(nJoints):
@@ -73,11 +75,12 @@ class Minitaur:
     return orientation
 
   def applyAction(self, motorCommands):
-    self.setMotorAngleByName('motor_front_rightR_joint', motorCommands[0])
-    self.setMotorAngleByName('motor_front_rightL_joint', motorCommands[1])
-    self.setMotorAngleByName('motor_front_leftR_joint', motorCommands[2])
-    self.setMotorAngleByName('motor_front_leftL_joint', motorCommands[3])
-    self.setMotorAngleByName('motor_back_rightR_joint', motorCommands[4])
-    self.setMotorAngleByName('motor_back_rightL_joint', motorCommands[5])
-    self.setMotorAngleByName('motor_back_leftR_joint', motorCommands[6])
-    self.setMotorAngleByName('motor_back_leftL_joint', motorCommands[7])
+    motorCommandsWithDir = np.multiply(motorCommands, self.motorDir)
+    self.setMotorAngleByName('motor_front_leftR_joint', motorCommandsWithDir[0])
+    self.setMotorAngleByName('motor_front_leftL_joint', motorCommandsWithDir[1])
+    self.setMotorAngleByName('motor_back_leftR_joint', motorCommandsWithDir[2])
+    self.setMotorAngleByName('motor_back_leftL_joint', motorCommandsWithDir[3])
+    self.setMotorAngleByName('motor_front_rightL_joint', motorCommandsWithDir[4])
+    self.setMotorAngleByName('motor_front_rightR_joint', motorCommandsWithDir[5])
+    self.setMotorAngleByName('motor_back_rightL_joint', motorCommandsWithDir[6])
+    self.setMotorAngleByName('motor_back_rightR_joint', motorCommandsWithDir[7])
diff --git a/examples/pybullet/minitaur_test.py b/examples/pybullet/minitaur_test.py
index 8f4591086..ddc2ac136 100644
--- a/examples/pybullet/minitaur_test.py
+++ b/examples/pybullet/minitaur_test.py
@@ -21,7 +21,7 @@ def main(unused_args):
   for i in range(1000):
     a1 = math.sin(i*speed)*amplitude+1.57
     a2 = math.sin(i*speed+3.14)*amplitude+1.57
-    joint_values = [a1, -1.57, a1, -1.57, a2, -1.57, a2, -1.57]
+    joint_values = [a1, 1.57, a2, 1.57, 1.57, a1, 1.57, a2]
     minitaur.applyAction(joint_values)
 
     p.stepSimulation()