diff --git a/README.md b/README.md
index f05c82e3b..529f5b583 100644
--- a/README.md
+++ b/README.md
@@ -6,7 +6,7 @@
 
 This is the official C++ source code repository of the Bullet Physics SDK: real-time collision detection and multi-physics simulation for VR, games, visual effects, robotics, machine learning etc.
 
-New in Bullet 2.85: pybullet Python bindings, improved support for robotics and VR
+New in Bullet 2.85: pybullet Python bindings, improved support for robotics and VR. Use pip install pybullet and see [PyBullet Quickstart Guide](https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA/edit#heading=h.2ye70wns7io3).
 
 The Bullet 2 API will stay default and up-to-date while slowly moving to a new API.
 The steps towards a new API is in a nutshell:
diff --git a/data/quadruped/minitaur_rainbow_dash.urdf b/data/quadruped/minitaur_rainbow_dash.urdf
index 4bc3e2683..744f086a0 100644
--- a/data/quadruped/minitaur_rainbow_dash.urdf
+++ b/data/quadruped/minitaur_rainbow_dash.urdf
@@ -97,7 +97,7 @@
 			</geometry>
 		</collision>
 		<inertial>
-			<mass value="0.644"/>
+			<mass value="1.32"/>
 			<inertia ixx=".004147" ixy=".0" ixz=".0" iyy=".040913" iyz=".0" izz=".041840"/>
 		</inertial>
 	</link>
@@ -171,7 +171,7 @@
 			</geometry>
 		</collision>
 		<inertial>
-			<mass value="0.644"/>
+			<mass value="1.32"/>
 			<inertia ixx=".004147" ixy=".0" ixz=".0" iyy=".040913" iyz=".0" izz=".041840"/>
 		</inertial>
 	</link>
@@ -198,7 +198,7 @@
 			</geometry>
 		</collision>
 		<inertial>
-			<mass value=".241"/>
+			<mass value=".072"/>
 			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
 		</inertial>
 	</link>
@@ -225,7 +225,7 @@
 			</geometry>
 		</collision>
 		<inertial>
-			<mass value=".241"/>
+			<mass value=".072"/>
 			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
 		</inertial>
 	</link>
@@ -252,7 +252,7 @@
 			</geometry>
 		</collision>
 		<inertial>
-			<mass value=".241"/>
+			<mass value=".072"/>
 			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
 		</inertial>
 	</link>
@@ -279,7 +279,7 @@
 			</geometry>
 		</collision>
 		<inertial>
-			<mass value=".241"/>
+			<mass value=".072"/>
 			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
 		</inertial>
 	</link>
@@ -306,7 +306,7 @@
 			</geometry>
 		</collision>
 		<inertial>
-			<mass value=".241"/>
+			<mass value=".072"/>
 			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
 		</inertial>
 	</link>
@@ -333,7 +333,7 @@
 			</geometry>
 		</collision>
 		<inertial>
-			<mass value=".241"/>
+			<mass value=".072"/>
 			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
 		</inertial>
 	</link>
@@ -360,7 +360,7 @@
 			</geometry>
 		</collision>
 		<inertial>
-			<mass value=".241"/>
+			<mass value=".072"/>
 			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
 		</inertial>
 	</link>
@@ -387,7 +387,7 @@
 			</geometry>
 		</collision>
 		<inertial>
-			<mass value=".241"/>
+			<mass value=".072"/>
 			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
 		</inertial>
 	</link>