diff --git a/examples/pybullet/gym/pybullet_data/laikago/chassis.mtl b/examples/pybullet/gym/pybullet_data/laikago/chassis.mtl
index 70d3ba1da..2849e6fb6 100644
--- a/examples/pybullet/gym/pybullet_data/laikago/chassis.mtl
+++ b/examples/pybullet/gym/pybullet_data/laikago/chassis.mtl
@@ -1,10 +1,13 @@
 # Blender MTL File: 'None'
 # Material Count: 1
 
-newmtl None
-Ns 0
+newmtl None.003
+Ns 0.000000
 Ka 0.000000 0.000000 0.000000
-Kd 0.8 0.8 0.8
-Ks 0.8 0.8 0.8
-d 1
+Kd 0.800000 0.800000 0.800000
+Ks 0.800000 0.800000 0.800000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
 illum 2
+map_Kd laikago_tex.jpg
diff --git a/examples/pybullet/gym/pybullet_data/laikago/chassis.obj b/examples/pybullet/gym/pybullet_data/laikago/chassis.obj
index ad01c1f9d..0669f0d10 100644
--- a/examples/pybullet/gym/pybullet_data/laikago/chassis.obj
+++ b/examples/pybullet/gym/pybullet_data/laikago/chassis.obj
@@ -1,7 +1,135 @@
-# Blender v2.71 (sub 0) OBJ File: ''
+# Blender v2.78 (sub 0) OBJ File: ''
 # www.blender.org
 mtllib chassis.mtl
-o EXP_OTL_-_EXP_OTL_BDYR1_median
+o EXP_OTL_-_EXP_OTL_BDYR1_median.002
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 v 0.032901 -0.059779 0.141450
@@ -718,8 +846,8 @@ v 0.020690 -0.053279 0.105207
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 v 0.086001 0.053577 -0.180550
 v 0.086001 0.053577 -0.176550
 v 0.078377 -0.030545 -0.176550
@@ -729,19 +857,19 @@ v 0.078377 -0.030545 -0.180550
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diff --git a/examples/pybullet/gym/pybullet_data/laikago/chassis_vhacd.obj b/examples/pybullet/gym/pybullet_data/laikago/chassis_vhacd.obj
index f7b40610a..4d7bd44b3 100644
--- a/examples/pybullet/gym/pybullet_data/laikago/chassis_vhacd.obj
+++ b/examples/pybullet/gym/pybullet_data/laikago/chassis_vhacd.obj
@@ -1,1227 +1,1227 @@
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-o convex_11
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-o convex_12
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-o convex_14
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-o convex_15
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-o convex_16
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-o convex_17
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-o convex_18
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-o convex_19
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-o convex_20
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-o convex_21
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-o convex_22
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-o convex_23
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-o convex_24
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diff --git a/examples/pybullet/gym/pybullet_data/laikago/chassis_vhacd_mod.obj b/examples/pybullet/gym/pybullet_data/laikago/chassis_vhacd_mod.obj
index d48d250f8..a8bd05a1b 100644
--- a/examples/pybullet/gym/pybullet_data/laikago/chassis_vhacd_mod.obj
+++ b/examples/pybullet/gym/pybullet_data/laikago/chassis_vhacd_mod.obj
@@ -1,1644 +1,1644 @@
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-o convex_2
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-o convex_3
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-o convex_4
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-o convex_5
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-o convex_6
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-o convex_7
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-o convex_8
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-o convex_9
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-o convex_10
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-o convex_11
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-o convex_12
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-o convex_13
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-o convex_14
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-o convex_15
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-o convex_16
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-o convex_17
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-o convex_18
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-o convex_19
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-o convex_20
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-o convex_21
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-o convex_22
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-o convex_23
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-o convex_24
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-o convex_25
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-o convex_26
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-o convex_27
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-o convex_28
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-o convex_29
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-o convex_30
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-o convex_31
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-o convex_32
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-o convex_33
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-o convex_34
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-o convex_35
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-o convex_36
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-o convex_37
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-o convex_38
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-o convex_39
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-o convex_40
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-o convex_41
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-o convex_42
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-o convex_43
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diff --git a/examples/pybullet/gym/pybullet_data/laikago/hip_motor.mtl b/examples/pybullet/gym/pybullet_data/laikago/hip_motor.mtl
new file mode 100644
index 000000000..bb492f0a9
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/laikago/hip_motor.mtl
@@ -0,0 +1,11 @@
+# Blender MTL File: 'laikago_textured.blend'
+# Material Count: 1
+
+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 laikago_tex.jpg
diff --git a/examples/pybullet/gym/pybullet_data/laikago/hip_motor.obj b/examples/pybullet/gym/pybullet_data/laikago/hip_motor.obj
new file mode 100644
index 000000000..12c69621a
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/laikago/hip_motor.obj
@@ -0,0 +1,2233 @@
+# Blender v2.78 (sub 0) OBJ File: 'laikago_textured.blend'
+# www.blender.org
+mtllib hip_motor.mtl
+o Hip_Motor
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diff --git a/examples/pybullet/gym/pybullet_data/laikago/hip_motor_mirror.mtl b/examples/pybullet/gym/pybullet_data/laikago/hip_motor_mirror.mtl
new file mode 100644
index 000000000..bb492f0a9
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/laikago/hip_motor_mirror.mtl
@@ -0,0 +1,11 @@
+# Blender MTL File: 'laikago_textured.blend'
+# Material Count: 1
+
+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 laikago_tex.jpg
diff --git a/examples/pybullet/gym/pybullet_data/laikago/hip_motor_mirror.obj b/examples/pybullet/gym/pybullet_data/laikago/hip_motor_mirror.obj
new file mode 100644
index 000000000..ccfb40f92
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/laikago/hip_motor_mirror.obj
@@ -0,0 +1,2234 @@
+# Blender v2.78 (sub 0) OBJ File: 'laikago_textured.blend'
+# www.blender.org
+mtllib hip_motor_mirror.mtl
+o Hip_Motor_Mirror
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diff --git a/examples/pybullet/gym/pybullet_data/laikago/laikago.py b/examples/pybullet/gym/pybullet_data/laikago/laikago.py
index 638639f5d..149c67714 100644
--- a/examples/pybullet/gym/pybullet_data/laikago/laikago.py
+++ b/examples/pybullet/gym/pybullet_data/laikago/laikago.py
@@ -3,108 +3,95 @@ import time
 
 p.connect(p.GUI)
 plane = p.loadURDF("plane.urdf")
-p.setGravity(0, 0, -9.8)
-p.setTimeStep(1. / 500)
+p.setGravity(0,0,-9.8)
+p.setTimeStep(1./500)
 #p.setDefaultContactERP(0)
-#urdfFlags = p.URDF_USE_SELF_COLLISION+p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS
+#urdfFlags = p.URDF_USE_SELF_COLLISION+p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS 
 urdfFlags = p.URDF_USE_SELF_COLLISION
-quadruped = p.loadURDF("laikago.urdf", [0, 0, .5], [0, 0.5, 0.5, 0],
-                       flags=urdfFlags,
-                       useFixedBase=False)
+quadruped = p.loadURDF("laikago_toes.urdf",[0,0,.5],[0,0.5,0.5,0], flags = urdfFlags,useFixedBase=False)
 
 #enable collision between lower legs
 
-for j in range(p.getNumJoints(quadruped)):
-  print(p.getJointInfo(quadruped, j))
+for j in range (p.getNumJoints(quadruped)):
+		print(p.getJointInfo(quadruped,j))
 
 #2,5,8 and 11 are the lower legs
-lower_legs = [2, 5, 8, 11]
+lower_legs = [2,5,8,11]
 for l0 in lower_legs:
-  for l1 in lower_legs:
-    if (l1 > l0):
-      enableCollision = 1
-      print("collision for pair", l0, l1,
-            p.getJointInfo(quadruped, l0)[12],
-            p.getJointInfo(quadruped, l1)[12], "enabled=", enableCollision)
-      p.setCollisionFilterPair(quadruped, quadruped, 2, 5, enableCollision)
+	for l1 in lower_legs:
+		if (l1>l0):
+			enableCollision = 1
+			print("collision for pair",l0,l1, p.getJointInfo(quadruped,l0)[12],p.getJointInfo(quadruped,l1)[12], "enabled=",enableCollision)
+			p.setCollisionFilterPair(quadruped, quadruped, 2,5,enableCollision)
 
-jointIds = []
-paramIds = []
-jointOffsets = []
-jointDirections = [-1, 1, 1, 1, 1, 1, -1, 1, 1, 1, 1, 1]
-jointAngles = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
+jointIds=[]
+paramIds=[]
+jointOffsets=[]
+jointDirections=[-1,1,1,1,1,1,-1,1,1,1,1,1]
+jointAngles=[0,0,0,0,0,0,0,0,0,0,0,0]
 
-for i in range(4):
-  jointOffsets.append(0)
-  jointOffsets.append(-0.7)
-  jointOffsets.append(0.7)
+for i in range (4):
+	jointOffsets.append(0)
+	jointOffsets.append(-0.7)
+	jointOffsets.append(0.7)
 
-maxForceId = p.addUserDebugParameter("maxForce", 0, 100, 20)
+maxForceId = p.addUserDebugParameter("maxForce",0,100,20)
 
-for j in range(p.getNumJoints(quadruped)):
-  p.changeDynamics(quadruped, j, linearDamping=0, angularDamping=0)
-  info = p.getJointInfo(quadruped, j)
-  #print(info)
-  jointName = info[1]
-  jointType = info[2]
-  if (jointType == p.JOINT_PRISMATIC or jointType == p.JOINT_REVOLUTE):
-    jointIds.append(j)
+for j in range (p.getNumJoints(quadruped)):
+        p.changeDynamics(quadruped,j,linearDamping=0, angularDamping=0)
+        info = p.getJointInfo(quadruped,j)
+        #print(info)
+        jointName = info[1]
+        jointType = info[2]
+        if (jointType==p.JOINT_PRISMATIC or jointType==p.JOINT_REVOLUTE):
+                jointIds.append(j)
 
-p.getCameraImage(480, 320)
+		
+p.getCameraImage(480,320)
 p.setRealTimeSimulation(0)
 
-joints = []
+joints=[]
 
-with open("data1.txt", "r") as filestream:
-  for line in filestream:
-    print("line=", line)
-    maxForce = p.readUserDebugParameter(maxForceId)
-    currentline = line.split(",")
-    #print (currentline)
-    #print("-----")
-    frame = currentline[0]
-    t = currentline[1]
-    #print("frame[",frame,"]")
-    joints = currentline[2:14]
-    #print("joints=",joints)
-    for j in range(12):
-      targetPos = float(joints[j])
-      p.setJointMotorControl2(quadruped,
-                              jointIds[j],
-                              p.POSITION_CONTROL,
-                              jointDirections[j] * targetPos + jointOffsets[j],
-                              force=maxForce)
-    p.stepSimulation()
-    for lower_leg in lower_legs:
-      #print("points for ", quadruped, " link: ", lower_leg)
-      pts = p.getContactPoints(quadruped, -1, lower_leg)
-      #print("num points=",len(pts))
-      #for pt in pts:
-      #	print(pt[9])
-    time.sleep(1. / 500.)
+with open("data1.txt","r") as filestream:
+	for line in filestream:
+		maxForce = p.readUserDebugParameter(maxForceId)
+		currentline = line.split(",")
+		frame = currentline[0]
+		t = currentline[1]
+		joints=currentline[2:14]
+		for j in range (12):
+			targetPos = float(joints[j])
+			p.setJointMotorControl2(quadruped,jointIds[j],p.POSITION_CONTROL,jointDirections[j]*targetPos+jointOffsets[j], force=maxForce)
+		p.stepSimulation()
+		for lower_leg in lower_legs:
+			#print("points for ", quadruped, " link: ", lower_leg)
+			pts = p.getContactPoints(quadruped,-1, lower_leg)
+			#print("num points=",len(pts))
+			#for pt in pts:
+			#	print(pt[9])
+		time.sleep(1./500.)
+
+
+index = 0
+for j in range (p.getNumJoints(quadruped)):
+        p.changeDynamics(quadruped,j,linearDamping=0, angularDamping=0)
+        info = p.getJointInfo(quadruped,j)
+        js = p.getJointState(quadruped,j)
+        #print(info)
+        jointName = info[1]
+        jointType = info[2]
+        if (jointType==p.JOINT_PRISMATIC or jointType==p.JOINT_REVOLUTE):
+                paramIds.append(p.addUserDebugParameter(jointName.decode("utf-8"),-4,4,(js[0]-jointOffsets[index])/jointDirections[index]))
+                index=index+1
 
-for j in range(p.getNumJoints(quadruped)):
-  p.changeDynamics(quadruped, j, linearDamping=0, angularDamping=0)
-  info = p.getJointInfo(quadruped, j)
-  js = p.getJointState(quadruped, j)
-  #print(info)
-  jointName = info[1]
-  jointType = info[2]
-  if (jointType == p.JOINT_PRISMATIC or jointType == p.JOINT_REVOLUTE):
-    paramIds.append(
-        p.addUserDebugParameter(jointName.decode("utf-8"), -4, 4,
-                                (js[0] - jointOffsets[j]) / jointDirections[j]))
 
 p.setRealTimeSimulation(1)
 
 while (1):
-
-  for i in range(len(paramIds)):
-    c = paramIds[i]
-    targetPos = p.readUserDebugParameter(c)
-    maxForce = p.readUserDebugParameter(maxForceId)
-    p.setJointMotorControl2(quadruped,
-                            jointIds[i],
-                            p.POSITION_CONTROL,
-                            jointDirections[i] * targetPos + jointOffsets[i],
-                            force=maxForce)
+	
+	for i in range(len(paramIds)):
+		c = paramIds[i]
+		targetPos = p.readUserDebugParameter(c)
+		maxForce = p.readUserDebugParameter(maxForceId)
+		p.setJointMotorControl2(quadruped,jointIds[i],p.POSITION_CONTROL,jointDirections[i]*targetPos+jointOffsets[i], force=maxForce)
+	
diff --git a/examples/pybullet/gym/pybullet_data/laikago/laikago.urdf b/examples/pybullet/gym/pybullet_data/laikago/laikago.urdf
index 57b0a59b3..7b7f578f2 100644
--- a/examples/pybullet/gym/pybullet_data/laikago/laikago.urdf
+++ b/examples/pybullet/gym/pybullet_data/laikago/laikago.urdf
@@ -1,477 +1,474 @@
-<?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>
-	
-	
-	
-</robot>
-
+<?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.obj" scale="1 1 1"/>
+      </geometry>
+       <material name="white">
+        <color rgba="1 1 1 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.obj" scale="1 1 1"/>
+      </geometry>
+       <material name="white"/>
+    </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.obj" scale="1 1 1"/>
+      </geometry>
+      <material name="white"/>
+    </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_leg3.obj" scale="1 1 1"/>
+      </geometry>
+       <material name="white"/>
+    </visual>
+
+    <collision>
+      <origin rpy="0 1.57079 0" xyz="0 0.0 0"/>
+      <geometry>
+                <mesh filename="lower_leg_3_collision.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.obj" scale="1 1 1"/>
+      </geometry>
+       <material name="white">
+      </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_left.obj" scale="1 1 1"/>
+      </geometry>
+       <material name="white">
+      </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_leg3.obj" scale="1 1 1"/>
+      </geometry>
+       <material name="white">
+      </material>
+    </visual>
+
+     <collision>
+      <origin rpy="0 1.57079 0" xyz="0 0 0"/>
+      <geometry>
+                <mesh filename="lower_leg_3_collision.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.obj" scale="1 1 1"/>
+      </geometry>
+       <material name="white"/>
+    </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_mirror2.obj" scale="1 1 1"/>
+      </geometry>
+       <material name="white"/>
+    </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_leg3.obj" scale="1 1 1"/>
+      </geometry>
+       <material name="white"/>
+    </visual>
+
+     <collision>
+      <origin rpy="0 1.57079 0" xyz="0 0 0"/>
+      <geometry>
+                <mesh filename="lower_leg_3_collision.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.obj" scale="1 1 1"/>
+      </geometry>
+       <material name="white"/>
+    </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_left2.obj" scale="1 1 1"/>
+      </geometry>
+       <material name="white"/>
+    </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_leg3.obj" scale="1 1 1"/>
+      </geometry>
+       <material name="white"/>
+    </visual>
+
+    <collision>
+      <origin rpy="0 1.57079 0" xyz="0 0 0"/>
+      <geometry>
+                <mesh filename="lower_leg_3_collision.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>
+
+
+
+</robot>
+
diff --git a/examples/pybullet/gym/pybullet_data/laikago/laikago_tex.jpg b/examples/pybullet/gym/pybullet_data/laikago/laikago_tex.jpg
new file mode 100644
index 000000000..200848e0f
Binary files /dev/null and b/examples/pybullet/gym/pybullet_data/laikago/laikago_tex.jpg differ
diff --git a/examples/pybullet/gym/pybullet_data/laikago/laikago_toes.urdf b/examples/pybullet/gym/pybullet_data/laikago/laikago_toes.urdf
index abcf3e740..8268c3da3 100644
--- a/examples/pybullet/gym/pybullet_data/laikago/laikago_toes.urdf
+++ b/examples/pybullet/gym/pybullet_data/laikago/laikago_toes.urdf
@@ -12,10 +12,10 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0.043794"/>
       <geometry>
-        <mesh filename="chassis.stl" scale="1 1 1"/>
+        <mesh filename="chassis.obj" scale="1 1 1"/>
       </geometry>
-       <material name="yellow">
-        <color rgba="0.95 0.75 0.05 1"/>
+       <material name="white">
+        <color rgba="1 1 1 1"/>
       </material>
     </visual>
     <collision>
@@ -38,9 +38,9 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
+        <mesh filename="hip_motor_mirror.obj" scale="1 1 1"/>
       </geometry>
-       <material name="green"/>
+       <material name="white"/>
     </visual>
 
     <collision>
@@ -72,9 +72,9 @@
        <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="upper_leg_mirror.stl" scale="1 1 1"/>
+        <mesh filename="upper_leg_mirror.obj" scale="1 1 1"/>
       </geometry>
-       <material name="blue"/>
+       <material name="white"/>
     </visual>
 
     <collision>
@@ -107,9 +107,9 @@
        <visual>
       <origin rpy="0 1.57079 0" xyz="0 0.0 0"/>
       <geometry>
-        <mesh filename="lower_leg_3.stl" scale="1 1 1"/>
+        <mesh filename="lower_leg3.obj" scale="1 1 1"/>
       </geometry>
-       <material name="red"/>
+       <material name="white"/>
     </visual>
 
     <collision>
@@ -142,10 +142,9 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="hip_motor.stl" scale="1 1 1"/>
+        <mesh filename="hip_motor.obj" scale="1 1 1"/>
       </geometry>
-       <material name="green">
-        <color rgba="0.23 0.73 0.33 1"/>
+       <material name="white">
       </material>
     </visual>
 
@@ -180,10 +179,9 @@
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
 
-        <mesh filename="upper_leg.stl" scale="1 1 1"/>
+        <mesh filename="upper_leg_left.obj" scale="1 1 1"/>
       </geometry>
-       <material name="blue">
-        <color rgba="0.28 0.52 0.93 1"/>
+       <material name="white">
       </material>
     </visual>
 
@@ -219,11 +217,10 @@
    <visual>
       <origin rpy="0 1.57079 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="lower_leg_3.stl" scale="1 1 1"/>
+        <mesh filename="lower_leg3.obj" scale="1 1 1"/>
       </geometry>
-       <material name="red">
-        <color rgba="0.85 0.19 0.21 1"/>
-      </material>
+       <material name="white">
+       </material>
     </visual>
 
      <collision>
@@ -262,9 +259,9 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
+        <mesh filename="hip_motor_mirror.obj" scale="1 1 1"/>
       </geometry>
-       <material name="green"/>
+       <material name="white"/>
     </visual>
 
      <collision>
@@ -297,9 +294,9 @@
        <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="upper_leg_mirror.stl" scale="1 1 1"/>
+        <mesh filename="upper_leg_mirror2.obj" scale="1 1 1"/>
       </geometry>
-       <material name="blue"/>
+       <material name="white"/>
     </visual>
 
     <collision>
@@ -332,9 +329,9 @@
        <visual>
       <origin rpy="0 1.57079 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="lower_leg_3.stl" scale="1 1 1"/>
+        <mesh filename="lower_leg3.obj" scale="1 1 1"/>
       </geometry>
-       <material name="red"/>
+       <material name="white"/>
     </visual>
 
      <collision>
@@ -368,9 +365,9 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="hip_motor.stl" scale="1 1 1"/>
+        <mesh filename="hip_motor.obj" scale="1 1 1"/>
       </geometry>
-       <material name="green"/>
+       <material name="white"/>
     </visual>
 
     <collision>
@@ -404,9 +401,9 @@
      <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="upper_leg.stl" scale="1 1 1"/>
+        <mesh filename="upper_leg_left2.obj" scale="1 1 1"/>
       </geometry>
-       <material name="blue"/>
+       <material name="white"/>
     </visual>
 
     <collision>
@@ -441,9 +438,9 @@
    <visual>
       <origin rpy="0 1.57079 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="lower_leg_3.stl" scale="1 1 1"/>
+        <mesh filename="lower_leg3.obj" scale="1 1 1"/>
       </geometry>
-       <material name="red"/>
+       <material name="white"/>
     </visual>
 
     <collision>
@@ -475,9 +472,9 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <sphere radius="0.03"/>
+        <sphere radius="0.0"/>
       </geometry>
-      <material name="darkgray"/>
+      <material name="white"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
@@ -508,9 +505,9 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <sphere radius="0.03"/>
+        <sphere radius="0.0"/>
       </geometry>
-      <material name="darkgray"/>
+      <material name="white"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
@@ -541,9 +538,9 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <sphere radius="0.03"/>
+        <sphere radius="0.0"/>
       </geometry>
-      <material name="darkgray"/>
+      <material name="white"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
@@ -574,9 +571,9 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <sphere radius="0.03"/>
+        <sphere radius="0.0"/>
       </geometry>
-      <material name="darkgray"/>
+      <material name="white"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
diff --git a/examples/pybullet/gym/pybullet_data/laikago/lower_leg3.mtl b/examples/pybullet/gym/pybullet_data/laikago/lower_leg3.mtl
new file mode 100644
index 000000000..bb492f0a9
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/laikago/lower_leg3.mtl
@@ -0,0 +1,11 @@
+# Blender MTL File: 'laikago_textured.blend'
+# Material Count: 1
+
+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 laikago_tex.jpg
diff --git a/examples/pybullet/gym/pybullet_data/laikago/lower_leg3.obj b/examples/pybullet/gym/pybullet_data/laikago/lower_leg3.obj
new file mode 100644
index 000000000..1f0f14892
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/laikago/lower_leg3.obj
@@ -0,0 +1,11100 @@
+# Blender v2.78 (sub 0) OBJ File: 'laikago_textured.blend'
+# www.blender.org
+mtllib lower_leg3.mtl
+o Lower_Leg_3
+v -0.002805 -0.258186 0.005362
+v -0.002805 -0.258186 -0.005268
+v -0.003218 -0.258336 0.001906
+v -0.003218 -0.258336 -0.001812
+v 0.041145 -0.230073 -0.001812
+v 0.040835 -0.230384 -0.005268
+v 0.041145 -0.230073 0.001906
+v 0.040835 -0.230384 0.005362
+v -0.004163 -0.245558 0.009297
+v -0.004163 -0.245558 -0.009203
+v -0.004401 -0.248754 0.009297
+v -0.004401 -0.248754 -0.009203
+v -0.004351 -0.249820 0.009297
+v -0.004351 -0.249820 -0.009203
+v -0.004252 -0.251954 0.009297
+v -0.004252 -0.251954 -0.009203
+v -0.003895 -0.254061 0.009297
+v -0.003895 -0.254061 -0.009203
+v -0.003717 -0.255114 -0.009203
+v -0.002805 -0.258186 0.009297
+v -0.003717 -0.255114 0.009297
+v -0.002805 -0.258186 -0.009203
+v 0.004097 -0.170122 0.007047
+v 0.004097 -0.170122 -0.006953
+v 0.004097 -0.203122 0.007047
+v 0.004097 -0.203122 -0.006953
+v 0.005097 -0.203122 0.008047
+v 0.019096 -0.203122 0.008047
+v 0.005097 -0.170122 0.008047
+v 0.019489 -0.135122 0.008047
+v 0.004928 -0.155100 0.008047
+v 0.004480 -0.135122 0.008047
+v 0.004928 -0.155100 -0.007953
+v 0.004480 -0.135122 -0.007953
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+f 36/38/2518 170/2876/2518 168/2885/2518
diff --git a/examples/pybullet/gym/pybullet_data/laikago/lower_leg_3_collision.stl b/examples/pybullet/gym/pybullet_data/laikago/lower_leg_3_collision.stl
new file mode 100644
index 000000000..a6d56943c
Binary files /dev/null and b/examples/pybullet/gym/pybullet_data/laikago/lower_leg_3_collision.stl differ
diff --git a/examples/pybullet/gym/pybullet_data/laikago/upper_leg_left.mtl b/examples/pybullet/gym/pybullet_data/laikago/upper_leg_left.mtl
index 70d3ba1da..c1c1dc453 100644
--- a/examples/pybullet/gym/pybullet_data/laikago/upper_leg_left.mtl
+++ b/examples/pybullet/gym/pybullet_data/laikago/upper_leg_left.mtl
@@ -1,10 +1,13 @@
-# Blender MTL File: 'None'
+# Blender MTL File: 'laikago_textured.blend'
 # Material Count: 1
 
-newmtl None
-Ns 0
+newmtl None.005
+Ns 0.000000
 Ka 0.000000 0.000000 0.000000
-Kd 0.8 0.8 0.8
-Ks 0.8 0.8 0.8
-d 1
+Kd 0.800000 0.800000 0.800000
+Ks 0.800000 0.800000 0.800000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
 illum 2
+map_Kd laikago_tex.jpg
diff --git a/examples/pybullet/gym/pybullet_data/laikago/upper_leg_left.obj b/examples/pybullet/gym/pybullet_data/laikago/upper_leg_left.obj
index 5c9264e54..271d2a3a9 100644
--- a/examples/pybullet/gym/pybullet_data/laikago/upper_leg_left.obj
+++ b/examples/pybullet/gym/pybullet_data/laikago/upper_leg_left.obj
@@ -1,7 +1,7 @@
-# Blender v2.71 (sub 0) OBJ File: ''
+# Blender v2.78 (sub 0) OBJ File: 'laikago_textured.blend'
 # www.blender.org
 mtllib upper_leg_left.mtl
-o EXP_OTL_-_EXP_OTL_FLA-1_EXP_OTL_FLA_FL2-1_median_joint_EXP_OTL_-_EXP_OTL_FLA-1_EXP_OTL_FLA_FL2-1_median_joint.001
+o EXP_OTL_-_EXP_OTL_FLA-1_EXP_OTL_FLA_FL2-1_median_joint_EXP_.001
 v 0.031162 -0.045909 -0.057156
 v -0.002420 -0.044895 -0.057156
 v 0.031691 -0.043831 -0.055541
@@ -1132,2263 +1132,6337 @@ v -0.029248 -0.212710 -0.138996
 v -0.029211 -0.211490 -0.137517
 v -0.029167 -0.210032 -0.136273
 v -0.028975 -0.203653 -0.145232
-usemtl None
-s off
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diff --git a/examples/pybullet/gym/pybullet_data/laikago/upper_leg_left2.mtl b/examples/pybullet/gym/pybullet_data/laikago/upper_leg_left2.mtl
new file mode 100644
index 000000000..2d254aecc
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/laikago/upper_leg_left2.mtl
@@ -0,0 +1,13 @@
+# Blender MTL File: 'laikago_textured.blend'
+# Material Count: 1
+
+newmtl None.004
+Ns 0.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.800000 0.800000 0.800000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd laikago_tex.jpg
diff --git a/examples/pybullet/gym/pybullet_data/laikago/upper_leg_left2.obj b/examples/pybullet/gym/pybullet_data/laikago/upper_leg_left2.obj
new file mode 100644
index 000000000..0071137a4
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/laikago/upper_leg_left2.obj
@@ -0,0 +1,7471 @@
+# Blender v2.78 (sub 0) OBJ File: 'laikago_textured.blend'
+# www.blender.org
+mtllib upper_leg_left2.mtl
+o EXP_OTL_-_EXP_OTL_FLA-1_EXP_OTL_FLA_FL2-1_median_joint_EXP_.000
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diff --git a/examples/pybullet/gym/pybullet_data/laikago/upper_leg_left_vhacd.obj b/examples/pybullet/gym/pybullet_data/laikago/upper_leg_left_vhacd.obj
index 833a4183b..3dbee5fe1 100644
--- a/examples/pybullet/gym/pybullet_data/laikago/upper_leg_left_vhacd.obj
+++ b/examples/pybullet/gym/pybullet_data/laikago/upper_leg_left_vhacd.obj
@@ -1,906 +1,906 @@
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diff --git a/examples/pybullet/gym/pybullet_data/laikago/upper_leg_mirror.mtl b/examples/pybullet/gym/pybullet_data/laikago/upper_leg_mirror.mtl
new file mode 100644
index 000000000..bb492f0a9
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/laikago/upper_leg_mirror.mtl
@@ -0,0 +1,11 @@
+# Blender MTL File: 'laikago_textured.blend'
+# Material Count: 1
+
+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 laikago_tex.jpg
diff --git a/examples/pybullet/gym/pybullet_data/laikago/upper_leg_mirror.obj b/examples/pybullet/gym/pybullet_data/laikago/upper_leg_mirror.obj
new file mode 100644
index 000000000..2953e2f97
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/laikago/upper_leg_mirror.obj
@@ -0,0 +1,6407 @@
+# Blender v2.78 (sub 0) OBJ File: 'laikago_textured.blend'
+# www.blender.org
+mtllib upper_leg_mirror.mtl
+o Upper_Leg_Mirror_Upper_Leg_Mirror.001
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diff --git a/examples/pybullet/gym/pybullet_data/laikago/upper_leg_mirror2.mtl b/examples/pybullet/gym/pybullet_data/laikago/upper_leg_mirror2.mtl
new file mode 100644
index 000000000..bb492f0a9
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/laikago/upper_leg_mirror2.mtl
@@ -0,0 +1,11 @@
+# Blender MTL File: 'laikago_textured.blend'
+# Material Count: 1
+
+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 laikago_tex.jpg
diff --git a/examples/pybullet/gym/pybullet_data/laikago/upper_leg_mirror2.obj b/examples/pybullet/gym/pybullet_data/laikago/upper_leg_mirror2.obj
new file mode 100644
index 000000000..c738dc2c5
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/laikago/upper_leg_mirror2.obj
@@ -0,0 +1,6407 @@
+# Blender v2.78 (sub 0) OBJ File: 'laikago_textured.blend'
+# www.blender.org
+mtllib upper_leg_mirror2.mtl
+o Upper_Leg_Mirror_Upper_Leg_Mirror.001
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diff --git a/examples/pybullet/gym/pybullet_data/laikago/upper_leg_right.mtl b/examples/pybullet/gym/pybullet_data/laikago/upper_leg_right.mtl
index 70d3ba1da..93637a7ef 100644
--- a/examples/pybullet/gym/pybullet_data/laikago/upper_leg_right.mtl
+++ b/examples/pybullet/gym/pybullet_data/laikago/upper_leg_right.mtl
@@ -1,10 +1,13 @@
-# Blender MTL File: 'None'
+# Blender MTL File: 'laikago_textured.blend'
 # Material Count: 1
 
-newmtl None
-Ns 0
+newmtl None.002
+Ns 0.000000
 Ka 0.000000 0.000000 0.000000
-Kd 0.8 0.8 0.8
-Ks 0.8 0.8 0.8
-d 1
+Kd 0.800000 0.800000 0.800000
+Ks 0.800000 0.800000 0.800000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
 illum 2
+map_Kd laikago_tex.jpg
diff --git a/examples/pybullet/gym/pybullet_data/laikago/upper_leg_right.obj b/examples/pybullet/gym/pybullet_data/laikago/upper_leg_right.obj
index 99f3d4f84..a0ea8996d 100644
--- a/examples/pybullet/gym/pybullet_data/laikago/upper_leg_right.obj
+++ b/examples/pybullet/gym/pybullet_data/laikago/upper_leg_right.obj
@@ -1,4 +1,4 @@
-# Blender v2.71 (sub 0) OBJ File: ''
+# Blender v2.78 (sub 0) OBJ File: 'laikago_textured.blend'
 # www.blender.org
 mtllib upper_leg_right.mtl
 o EXP_OTL_-_EXP_OTL_FLA-1_EXP_OTL_FLA_FL2-1_median_joint_mirror
@@ -1132,2263 +1132,5921 @@ v 0.029248 -0.212710 -0.138996
 v 0.029211 -0.211490 -0.137517
 v 0.029167 -0.210032 -0.136273
 v 0.028975 -0.203653 -0.145232
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diff --git a/examples/pybullet/gym/pybullet_data/laikago/upper_leg_right_vhacd.obj b/examples/pybullet/gym/pybullet_data/laikago/upper_leg_right_vhacd.obj
index 9e818aba6..aeaa8f2a3 100644
--- a/examples/pybullet/gym/pybullet_data/laikago/upper_leg_right_vhacd.obj
+++ b/examples/pybullet/gym/pybullet_data/laikago/upper_leg_right_vhacd.obj
@@ -20,44 +20,44 @@ v 0.003614 -0.115745 -0.077244
 v 0.007393 -0.146926 -0.140543
 v 0.002668 -0.084581 -0.087637
 v 0.003614 -0.069461 -0.077244
-f 15 7 21 
-f 2 6 9 
-f 6 4 9 
-f 4 6 12 
-f 8 4 12 
-f 6 10 12 
-f 10 8 12 
-f 1 7 13 
-f 13 8 14 
-f 8 10 14 
-f 10 11 14 
-f 1 13 14 
-f 13 7 15 
-f 3 2 16 
-f 2 9 16 
-f 9 4 16 
-f 15 3 16 
-f 4 8 17 
-f 8 5 17 
-f 16 4 17 
-f 5 16 17 
-f 6 2 18 
-f 10 6 18 
-f 2 11 18 
-f 11 10 18 
-f 5 8 19 
-f 8 13 19 
-f 13 15 19 
-f 15 16 19 
-f 16 5 19 
-f 7 1 20 
-f 11 7 20 
-f 1 14 20 
-f 14 11 20 
-f 2 3 21 
-f 11 2 21 
-f 7 11 21 
-f 3 15 21 
+f 15 7 21
+f 2 6 9
+f 6 4 9
+f 4 6 12
+f 8 4 12
+f 6 10 12
+f 10 8 12
+f 1 7 13
+f 13 8 14
+f 8 10 14
+f 10 11 14
+f 1 13 14
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+f 3 2 16
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+f 9 4 16
+f 15 3 16
+f 4 8 17
+f 8 5 17
+f 16 4 17
+f 5 16 17
+f 6 2 18
+f 10 6 18
+f 2 11 18
+f 11 10 18
+f 5 8 19
+f 8 13 19
+f 13 15 19
+f 15 16 19
+f 16 5 19
+f 7 1 20
+f 11 7 20
+f 1 14 20
+f 14 11 20
+f 2 3 21
+f 11 2 21
+f 7 11 21
+f 3 15 21
 o convex_1
 v 0.036685 -0.165849 -0.153774
 v 0.031019 -0.215919 -0.149048
@@ -93,70 +93,70 @@ v 0.029128 -0.165849 -0.110311
 v 0.030073 -0.180967 -0.165114
 v 0.028184 -0.196076 -0.135830
 v 0.035740 -0.199851 -0.161332
-f 41 51 55 
-f 22 32 35 
-f 32 25 35 
-f 31 26 37 
-f 30 27 38 
-f 34 30 38 
-f 26 31 39 
-f 31 28 39 
-f 32 26 39 
-f 25 32 39 
-f 29 33 40 
-f 22 35 40 
-f 35 29 40 
-f 24 23 41 
-f 36 24 41 
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-f 28 31 42 
-f 29 30 43 
-f 30 34 43 
-f 40 33 44 
-f 27 30 45 
-f 30 29 45 
-f 29 35 45 
-f 34 38 46 
-f 28 42 46 
-f 46 42 47 
-f 23 24 47 
-f 42 23 47 
-f 43 34 47 
-f 24 43 47 
-f 34 46 47 
-f 35 25 48 
-f 25 38 48 
-f 38 27 48 
-f 27 45 48 
-f 45 35 48 
-f 24 36 49 
-f 36 29 49 
-f 29 43 49 
-f 43 24 49 
-f 32 22 50 
-f 26 32 50 
-f 22 40 50 
-f 44 26 50 
-f 40 44 50 
-f 23 31 51 
-f 31 37 51 
-f 41 23 51 
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-f 29 36 55 
-f 37 33 55 
-f 36 41 55 
-f 51 37 55 
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+f 31 23 42
+f 28 31 42
+f 29 30 43
+f 30 34 43
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+f 27 30 45
+f 30 29 45
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+f 23 24 47
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+f 36 29 49
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+f 40 44 50
+f 23 31 51
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+f 37 33 55
+f 36 41 55
+f 51 37 55
 o convex_2
 v 0.014008 -0.162046 -0.144318
 v 0.029127 -0.068517 -0.077237
@@ -187,60 +187,60 @@ v 0.014008 -0.164895 -0.115040
 v 0.020624 -0.164895 -0.109367
 v 0.014008 -0.161103 -0.149999
 v 0.031016 -0.163933 -0.154725
-f 69 83 84 
-f 56 59 62 
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+f 65 79 84
+f 79 66 84
 o convex_3
 v 0.002668 -0.091180 -0.055507
 v -0.036076 -0.039221 -0.051726
@@ -263,44 +263,44 @@ v -0.003006 -0.065670 -0.075344
 v -0.025681 -0.077003 -0.074399
 v -0.027569 -0.069445 -0.077232
 v 0.002668 -0.073227 -0.077232
-f 94 103 105 
-f 85 88 89 
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-f 100 97 103 
-f 94 100 103 
-f 91 86 104 
-f 88 91 104 
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-f 93 95 104 
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-f 96 93 104 
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-f 88 94 105 
-f 103 91 105 
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+f 85 88 89
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+f 88 91 104
+f 95 88 104
+f 93 95 104
+f 86 96 104
+f 96 93 104
+f 91 88 105
+f 88 94 105
+f 103 91 105
 o convex_4
 v 0.031014 -0.103466 -0.050778
 v 0.002668 -0.094022 -0.051726
@@ -327,52 +327,52 @@ v 0.003617 -0.115750 -0.063066
 v 0.031014 -0.098730 -0.050778
 v 0.030071 -0.114806 -0.061176
 v 0.004560 -0.112910 -0.058340
-f 127 112 130 
-f 108 106 109 
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-f 111 110 112 
-f 110 111 113 
-f 108 109 114 
-f 111 108 114 
-f 106 108 115 
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-f 117 109 118 
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-f 114 109 120 
-f 111 114 120 
-f 109 117 120 
-f 106 110 121 
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-f 113 118 121 
-f 106 115 122 
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-f 108 107 124 
-f 111 112 124 
-f 119 111 125 
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-f 107 111 126 
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-f 108 124 127 
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-f 110 106 129 
-f 116 110 129 
-f 106 122 129 
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-f 112 123 130 
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+f 116 110 129
+f 106 122 129
+f 122 116 129
+f 122 115 130
+f 116 122 130
+f 123 116 130
+f 112 123 130
+f 115 127 130
 o convex_5
 v -0.037967 -0.027862 -0.050778
 v -0.038912 0.006135 0.047499
@@ -438,130 +438,130 @@ v -0.036076 0.022197 0.038033
 v -0.039857 -0.023129 0.043718
 v -0.051195 0.025984 -0.034703
 v -0.046470 -0.015576 0.046547
-f 192 156 194 
-f 136 133 137 
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-f 146 138 150 
-f 133 132 156 
-f 142 135 157 
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-f 139 146 158 
-f 151 143 161 
-f 158 151 161 
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-f 141 149 164 
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-f 137 144 169 
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-f 157 153 170 
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-f 153 169 170 
-f 137 133 171 
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-f 156 144 171 
-f 154 136 172 
-f 136 154 173 
-f 164 136 173 
-f 173 154 174 
-f 139 155 175 
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-f 166 137 176 
-f 148 166 176 
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-f 149 141 180 
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-f 133 149 191 
-f 149 162 191 
-f 179 133 191 
-f 162 179 191 
-f 140 144 192 
-f 144 156 192 
-f 145 138 193 
-f 138 146 193 
-f 146 139 193 
-f 142 157 193 
-f 157 145 193 
-f 139 175 193 
-f 175 142 193 
-f 168 145 194 
-f 156 168 194 
-f 182 140 194 
-f 145 182 194 
-f 140 192 194 
+f 192 156 194
+f 136 133 137
+f 136 137 143
+f 143 137 147
+f 133 136 149
+f 146 138 150
+f 133 132 156
+f 142 135 157
+f 135 153 157
+f 139 146 158
+f 151 143 161
+f 158 151 161
+f 149 136 164
+f 141 149 164
+f 147 148 165
+f 147 137 166
+f 148 147 166
+f 150 138 167
+f 138 152 167
+f 160 150 167
+f 141 160 167
+f 156 132 168
+f 163 145 168
+f 132 163 168
+f 137 144 169
+f 144 140 170
+f 140 157 170
+f 157 153 170
+f 169 144 170
+f 153 169 170
+f 137 133 171
+f 144 137 171
+f 133 156 171
+f 156 144 171
+f 154 136 172
+f 136 154 173
+f 164 136 173
+f 173 154 174
+f 139 155 175
+f 165 142 175
+f 135 148 176
+f 153 135 176
+f 166 137 176
+f 148 166 176
+f 137 169 176
+f 169 153 176
+f 158 146 177
+f 151 158 177
+f 146 159 177
+f 172 151 177
+f 159 172 177
+f 135 142 178
+f 148 135 178
+f 142 165 178
+f 165 148 178
+f 132 133 179
+f 162 152 179
+f 152 163 179
+f 163 132 179
+f 149 141 180
+f 162 149 180
+f 152 162 180
+f 167 152 180
+f 141 167 180
+f 160 141 181
+f 141 164 181
+f 164 173 181
+f 157 140 182
+f 145 157 182
+f 146 134 183
+f 159 146 183
+f 154 172 183
+f 172 159 183
+f 134 174 183
+f 174 154 183
+f 136 143 184
+f 143 151 184
+f 172 136 184
+f 151 172 184
+f 134 146 185
+f 146 150 185
+f 174 134 185
+f 174 185 186
+f 150 160 186
+f 173 174 186
+f 160 181 186
+f 181 173 186
+f 185 150 186
+f 138 145 187
+f 152 138 187
+f 163 152 187
+f 145 163 187
+f 131 147 188
+f 155 131 188
+f 147 165 188
+f 175 155 188
+f 165 175 188
+f 147 131 189
+f 143 147 189
+f 131 155 189
+f 161 143 189
+f 161 189 190
+f 155 139 190
+f 139 158 190
+f 158 161 190
+f 189 155 190
+f 133 149 191
+f 149 162 191
+f 179 133 191
+f 162 179 191
+f 140 144 192
+f 144 156 192
+f 145 138 193
+f 138 146 193
+f 146 139 193
+f 142 157 193
+f 157 145 193
+f 139 175 193
+f 175 142 193
+f 168 145 194
+f 156 168 194
+f 182 140 194
+f 145 182 194
+f 140 192 194
 o convex_6
 v -0.035131 -0.044875 -0.050778
 v -0.001112 0.002351 0.044664
@@ -627,130 +627,130 @@ v 0.031016 0.008974 -0.041323
 v 0.031962 0.002351 0.038984
 v -0.027568 0.042985 -0.006355
 v -0.026623 -0.095892 -0.047938
-f 195 212 258 
-f 201 200 203 
-f 200 201 207 
-f 203 200 209 
-f 201 203 211 
-f 207 201 215 
-f 212 205 217 
-f 196 215 220 
-f 200 207 221 
-f 195 211 223 
-f 211 203 223 
-f 212 195 223 
-f 205 212 223 
-f 218 208 225 
-f 203 218 225 
-f 224 214 226 
-f 210 222 227 
-f 198 217 228 
-f 201 211 229 
-f 211 202 229 
-f 213 201 229 
-f 197 196 230 
-f 196 220 230 
-f 215 196 231 
-f 207 215 231 
-f 224 204 232 
-f 217 224 232 
-f 228 217 232 
-f 226 206 233 
-f 206 216 234 
-f 216 221 234 
-f 219 233 234 
-f 233 206 234 
-f 216 206 235 
-f 206 226 235 
-f 226 210 235 
-f 210 227 235 
-f 227 216 235 
-f 202 212 236 
-f 212 217 236 
-f 229 202 236 
-f 214 217 237 
-f 199 218 238 
-f 218 209 238 
-f 209 222 238 
-f 196 197 239 
-f 219 207 239 
-f 231 196 239 
-f 207 231 239 
-f 209 200 240 
-f 222 209 240 
-f 201 213 241 
-f 232 204 241 
-f 203 209 242 
-f 218 203 242 
-f 209 218 242 
-f 210 226 243 
-f 226 214 243 
-f 237 208 243 
-f 214 237 243 
-f 213 228 244 
-f 228 232 244 
-f 241 213 244 
-f 232 241 244 
-f 222 210 245 
-f 199 238 245 
-f 238 222 245 
-f 243 199 245 
-f 210 243 245 
-f 217 198 246 
-f 198 228 246 
-f 228 213 246 
-f 213 229 246 
-f 236 217 246 
-f 229 236 246 
-f 233 219 247 
-f 226 233 247 
-f 239 197 247 
-f 219 239 247 
-f 200 221 248 
-f 221 216 248 
-f 227 200 248 
-f 216 227 248 
-f 207 219 249 
-f 221 207 249 
-f 219 234 249 
-f 234 221 249 
-f 223 203 250 
-f 205 223 250 
-f 203 225 250 
-f 225 205 250 
-f 217 214 251 
-f 214 224 251 
-f 224 217 251 
-f 204 224 252 
-f 230 220 252 
-f 241 204 252 
-f 220 241 252 
-f 215 201 253 
-f 220 215 253 
-f 201 241 253 
-f 241 220 253 
-f 218 199 254 
-f 208 218 254 
-f 199 243 254 
-f 243 208 254 
-f 217 205 255 
-f 205 225 255 
-f 225 208 255 
-f 208 237 255 
-f 237 217 255 
-f 224 226 256 
-f 197 230 256 
-f 247 197 256 
-f 226 247 256 
-f 252 224 256 
-f 230 252 256 
-f 200 227 257 
-f 227 222 257 
-f 240 200 257 
-f 222 240 257 
-f 202 211 258 
-f 211 195 258 
-f 212 202 258 
+f 195 212 258
+f 201 200 203
+f 200 201 207
+f 203 200 209
+f 201 203 211
+f 207 201 215
+f 212 205 217
+f 196 215 220
+f 200 207 221
+f 195 211 223
+f 211 203 223
+f 212 195 223
+f 205 212 223
+f 218 208 225
+f 203 218 225
+f 224 214 226
+f 210 222 227
+f 198 217 228
+f 201 211 229
+f 211 202 229
+f 213 201 229
+f 197 196 230
+f 196 220 230
+f 215 196 231
+f 207 215 231
+f 224 204 232
+f 217 224 232
+f 228 217 232
+f 226 206 233
+f 206 216 234
+f 216 221 234
+f 219 233 234
+f 233 206 234
+f 216 206 235
+f 206 226 235
+f 226 210 235
+f 210 227 235
+f 227 216 235
+f 202 212 236
+f 212 217 236
+f 229 202 236
+f 214 217 237
+f 199 218 238
+f 218 209 238
+f 209 222 238
+f 196 197 239
+f 219 207 239
+f 231 196 239
+f 207 231 239
+f 209 200 240
+f 222 209 240
+f 201 213 241
+f 232 204 241
+f 203 209 242
+f 218 203 242
+f 209 218 242
+f 210 226 243
+f 226 214 243
+f 237 208 243
+f 214 237 243
+f 213 228 244
+f 228 232 244
+f 241 213 244
+f 232 241 244
+f 222 210 245
+f 199 238 245
+f 238 222 245
+f 243 199 245
+f 210 243 245
+f 217 198 246
+f 198 228 246
+f 228 213 246
+f 213 229 246
+f 236 217 246
+f 229 236 246
+f 233 219 247
+f 226 233 247
+f 239 197 247
+f 219 239 247
+f 200 221 248
+f 221 216 248
+f 227 200 248
+f 216 227 248
+f 207 219 249
+f 221 207 249
+f 219 234 249
+f 234 221 249
+f 223 203 250
+f 205 223 250
+f 203 225 250
+f 225 205 250
+f 217 214 251
+f 214 224 251
+f 224 217 251
+f 204 224 252
+f 230 220 252
+f 241 204 252
+f 220 241 252
+f 215 201 253
+f 220 215 253
+f 201 241 253
+f 241 220 253
+f 218 199 254
+f 208 218 254
+f 199 243 254
+f 243 208 254
+f 217 205 255
+f 205 225 255
+f 225 208 255
+f 208 237 255
+f 237 217 255
+f 224 226 256
+f 197 230 256
+f 247 197 256
+f 226 247 256
+f 252 224 256
+f 230 252 256
+f 200 227 257
+f 227 222 257
+f 240 200 257
+f 222 240 257
+f 202 211 258
+f 211 195 258
+f 212 202 258
 o convex_7
 v 0.000779 -0.166794 -0.155662
 v 0.002669 -0.216863 -0.149048
@@ -784,66 +784,66 @@ v 0.001724 -0.181912 -0.165114
 v 0.008336 -0.212139 -0.155662
 v -0.000165 -0.214027 -0.141489
 v 0.006446 -0.166794 -0.110311
-f 285 283 290 
-f 263 259 269 
-f 262 266 270 
-f 266 268 270 
-f 269 262 270 
-f 265 264 271 
-f 269 259 271 
-f 262 269 271 
-f 264 267 272 
-f 259 263 275 
-f 268 263 276 
-f 263 269 276 
-f 270 268 276 
-f 269 270 276 
-f 264 265 277 
-f 267 264 277 
-f 265 273 278 
-f 274 265 278 
-f 263 268 279 
-f 278 273 279 
-f 262 271 280 
-f 271 264 280 
-f 260 261 281 
-f 265 274 282 
-f 277 265 282 
-f 278 260 282 
-f 274 278 282 
-f 260 281 282 
-f 281 266 283 
-f 272 281 283 
-f 261 268 284 
-f 268 266 284 
-f 281 261 284 
-f 266 281 284 
-f 264 272 285 
-f 262 280 285 
-f 280 264 285 
-f 272 283 285 
-f 271 259 286 
-f 265 271 286 
-f 259 275 286 
-f 286 275 287 
-f 273 265 287 
-f 275 263 287 
-f 263 279 287 
-f 279 273 287 
-f 265 286 287 
-f 261 260 288 
-f 268 261 288 
-f 260 278 288 
-f 279 268 288 
-f 278 279 288 
-f 272 267 289 
-f 267 277 289 
-f 281 272 289 
-f 277 282 289 
-f 282 281 289 
-f 266 262 290 
-f 283 266 290 
-f 262 285 290 
+f 285 283 290
+f 263 259 269
+f 262 266 270
+f 266 268 270
+f 269 262 270
+f 265 264 271
+f 269 259 271
+f 262 269 271
+f 264 267 272
+f 259 263 275
+f 268 263 276
+f 263 269 276
+f 270 268 276
+f 269 270 276
+f 264 265 277
+f 267 264 277
+f 265 273 278
+f 274 265 278
+f 263 268 279
+f 278 273 279
+f 262 271 280
+f 271 264 280
+f 260 261 281
+f 265 274 282
+f 277 265 282
+f 278 260 282
+f 274 278 282
+f 260 281 282
+f 281 266 283
+f 272 281 283
+f 261 268 284
+f 268 266 284
+f 281 261 284
+f 266 281 284
+f 264 272 285
+f 262 280 285
+f 280 264 285
+f 272 283 285
+f 271 259 286
+f 265 271 286
+f 259 275 286
+f 286 275 287
+f 273 265 287
+f 275 263 287
+f 263 279 287
+f 279 273 287
+f 265 286 287
+f 261 260 288
+f 268 261 288
+f 260 278 288
+f 279 268 288
+f 278 279 288
+f 272 267 289
+f 267 277 289
+f 281 272 289
+f 277 282 289
+f 282 281 289
+f 266 262 290
+f 283 266 290
+f 262 285 290
 o convex_8
 v -0.000167 -0.165837 -0.152826
 v 0.014008 -0.151666 -0.099916
@@ -866,41 +866,41 @@ v 0.001723 -0.163948 -0.108430
 v -0.001112 -0.165837 -0.150938
 v 0.014008 -0.152613 -0.099916
 v 0.014008 -0.163948 -0.125435
-f 300 298 311 
-f 293 292 294 
-f 294 292 295 
-f 294 295 298 
-f 291 297 299 
-f 296 291 300 
-f 294 298 300 
-f 296 300 302 
-f 300 295 302 
-f 301 297 303 
-f 293 294 304 
-f 294 299 304 
-f 299 294 305 
-f 291 299 305 
-f 300 291 305 
-f 294 300 305 
-f 299 297 306 
-f 301 293 306 
-f 297 301 306 
-f 293 304 306 
-f 304 299 306 
-f 293 301 307 
-f 303 296 307 
-f 301 303 307 
-f 302 295 308 
-f 296 302 308 
-f 293 307 308 
-f 307 296 308 
-f 291 296 309 
-f 297 291 309 
-f 296 303 309 
-f 303 297 309 
-f 292 293 310 
-f 295 292 310 
-f 293 308 310 
-f 308 295 310 
-f 298 295 311 
-f 295 300 311 
+f 300 298 311
+f 293 292 294
+f 294 292 295
+f 294 295 298
+f 291 297 299
+f 296 291 300
+f 294 298 300
+f 296 300 302
+f 300 295 302
+f 301 297 303
+f 293 294 304
+f 294 299 304
+f 299 294 305
+f 291 299 305
+f 300 291 305
+f 294 300 305
+f 299 297 306
+f 301 293 306
+f 297 301 306
+f 293 304 306
+f 304 299 306
+f 293 301 307
+f 303 296 307
+f 301 303 307
+f 302 295 308
+f 296 302 308
+f 293 307 308
+f 307 296 308
+f 291 296 309
+f 297 291 309
+f 296 303 309
+f 303 297 309
+f 292 293 310
+f 295 292 310
+f 293 308 310
+f 308 295 310
+f 298 295 311
+f 295 300 311
diff --git a/examples/pybullet/gym/pybullet_envs/examples/laikago.py b/examples/pybullet/gym/pybullet_envs/examples/laikago.py
index d0774761b..bb7220754 100644
--- a/examples/pybullet/gym/pybullet_envs/examples/laikago.py
+++ b/examples/pybullet/gym/pybullet_envs/examples/laikago.py
@@ -12,7 +12,7 @@ p.setTimeStep(1. / 500)
 #p.setDefaultContactERP(0)
 #urdfFlags = p.URDF_USE_SELF_COLLISION+p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS
 urdfFlags = p.URDF_USE_SELF_COLLISION
-quadruped = p.loadURDF("laikago/laikago.urdf", [0, 0, .5], [0, 0.5, 0.5, 0],
+quadruped = p.loadURDF("laikago/laikago_toes.urdf", [0, 0, .5], [0, 0.5, 0.5, 0],
                        flags=urdfFlags,
                        useFixedBase=False)
 
@@ -87,6 +87,7 @@ with open(pd.getDataPath() + "/laikago/data1.txt", "r") as filestream:
       # print(pt[9])
     time.sleep(1. / 500.)
 
+index = 0
 for j in range(p.getNumJoints(quadruped)):
   p.changeDynamics(quadruped, j, linearDamping=0, angularDamping=0)
   info = p.getJointInfo(quadruped, j)
@@ -95,9 +96,10 @@ for j in range(p.getNumJoints(quadruped)):
   jointName = info[1]
   jointType = info[2]
   if (jointType == p.JOINT_PRISMATIC or jointType == p.JOINT_REVOLUTE):
-    paramIds.append(
-        p.addUserDebugParameter(jointName.decode("utf-8"), -4, 4,
-                                (js[0] - jointOffsets[j]) / jointDirections[j]))
+    paramIds.append(p.addUserDebugParameter(jointName.decode("utf-8"), -4, 4,
+                                (js[0] - jointOffsets[index]) / jointDirections[index]))
+    index = index+1
+                       
 
 p.setRealTimeSimulation(1)