diff --git a/examples/pybullet/gym/pybullet_data/sphere_small.urdf b/examples/pybullet/gym/pybullet_data/sphere_small.urdf
new file mode 100644
index 000000000..c5712bc35
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/sphere_small.urdf
@@ -0,0 +1,30 @@
+<?xml version="0.0" ?>
+<robot name="urdf_robot">
+  <link name="base_link">
+    <contact>
+      <rolling_friction value="0.001"/>
+      <spinning_friction value="0.001"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+       <mass value=".1"/>
+       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="textured_sphere_smooth.obj" scale="0.03 0.03 0.03"/>      
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+	 <sphere radius="0.03"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
+
diff --git a/examples/pybullet/gym/pybullet_envs/examples/vr_kuka_setup.py b/examples/pybullet/gym/pybullet_envs/examples/vr_kuka_setup.py
new file mode 100644
index 000000000..39403b97e
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/examples/vr_kuka_setup.py
@@ -0,0 +1,86 @@
+import pybullet as p
+#p.connect(p.UDP,"192.168.86.100")
+
+import pybullet_data
+
+cid = p.connect(p.SHARED_MEMORY)
+if (cid<0):
+	p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
+p.resetSimulation()
+
+objects = [p.loadURDF("plane.urdf", 0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,1.000000)]
+objects = [p.loadURDF("samurai.urdf", 0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,1.000000)]
+objects = [p.loadURDF("pr2_gripper.urdf", 0.500000,0.300006,0.700000,-0.000000,-0.000000,-0.000031,1.000000)]
+pr2_gripper = objects[0]
+print ("pr2_gripper=")
+print (pr2_gripper)
+
+jointPositions=[ 0.550569, 0.000000, 0.549657, 0.000000 ]
+for jointIndex in range (p.getNumJoints(pr2_gripper)):
+	p.resetJointState(pr2_gripper,jointIndex,jointPositions[jointIndex])
+
+pr2_cid = p.createConstraint(pr2_gripper,-1,-1,-1,p.JOINT_FIXED,[0,0,0],[0.2,0,0],[0.500000,0.300006,0.700000])
+print ("pr2_cid")
+print (pr2_cid)
+
+objects = [p.loadURDF("kuka_iiwa/model_vr_limits.urdf", 1.400000,-0.200000,0.600000,0.000000,0.000000,0.000000,1.000000)]
+kuka = objects[0]
+jointPositions=[ -0.000000, -0.000000, 0.000000, 1.570793, 0.000000, -1.036725, 0.000001 ]
+for jointIndex in range (p.getNumJoints(kuka)):
+	p.resetJointState(kuka,jointIndex,jointPositions[jointIndex])
+	p.setJointMotorControl2(kuka,jointIndex,p.POSITION_CONTROL,jointPositions[jointIndex],0)
+
+objects = [p.loadURDF("lego/lego.urdf", 1.000000,-0.200000,0.700000,0.000000,0.000000,0.000000,1.000000)]
+objects = [p.loadURDF("lego/lego.urdf", 1.000000,-0.200000,0.800000,0.000000,0.000000,0.000000,1.000000)]
+objects = [p.loadURDF("lego/lego.urdf", 1.000000,-0.200000,0.900000,0.000000,0.000000,0.000000,1.000000)]
+objects = p.loadSDF("gripper/wsg50_one_motor_gripper_new_free_base.sdf")
+kuka_gripper = objects[0]
+print ("kuka gripper=")
+print(kuka_gripper)
+
+p.resetBasePositionAndOrientation(kuka_gripper,[0.923103,-0.200000,1.250036],[-0.000000,0.964531,-0.000002,-0.263970])
+jointPositions=[ 0.000000, -0.011130, -0.206421, 0.205143, -0.009999, 0.000000, -0.010055, 0.000000 ]
+for jointIndex in range (p.getNumJoints(kuka_gripper)):
+	p.resetJointState(kuka_gripper,jointIndex,jointPositions[jointIndex])
+	p.setJointMotorControl2(kuka_gripper,jointIndex,p.POSITION_CONTROL,jointPositions[jointIndex],0)
+
+
+kuka_cid = p.createConstraint(kuka,   6,  kuka_gripper,0,p.JOINT_FIXED, [0,0,0], [0,0,0.05],[0,0,0])
+
+objects = [p.loadURDF("jenga/jenga.urdf", 1.300000,-0.700000,0.750000,0.000000,0.707107,0.000000,0.707107)]
+objects = [p.loadURDF("jenga/jenga.urdf", 1.200000,-0.700000,0.750000,0.000000,0.707107,0.000000,0.707107)]
+objects = [p.loadURDF("jenga/jenga.urdf", 1.100000,-0.700000,0.750000,0.000000,0.707107,0.000000,0.707107)]
+objects = [p.loadURDF("jenga/jenga.urdf", 1.000000,-0.700000,0.750000,0.000000,0.707107,0.000000,0.707107)]
+objects = [p.loadURDF("jenga/jenga.urdf", 0.900000,-0.700000,0.750000,0.000000,0.707107,0.000000,0.707107)]
+objects = [p.loadURDF("jenga/jenga.urdf", 0.800000,-0.700000,0.750000,0.000000,0.707107,0.000000,0.707107)]
+objects = [p.loadURDF("table/table.urdf", 1.000000,-0.200000,0.000000,0.000000,0.000000,0.707107,0.707107)]
+objects = [p.loadURDF("teddy_vhacd.urdf", 1.050000,-0.500000,0.700000,0.000000,0.000000,0.707107,0.707107)]
+objects = [p.loadURDF("cube_small.urdf", 0.950000,-0.100000,0.700000,0.000000,0.000000,0.707107,0.707107)]
+objects = [p.loadURDF("sphere_small.urdf", 0.850000,-0.400000,0.700000,0.000000,0.000000,0.707107,0.707107)]
+objects = [p.loadURDF("duck_vhacd.urdf", 0.850000,-0.400000,0.900000,0.000000,0.000000,0.707107,0.707107)]
+objects = p.loadSDF("kiva_shelf/model.sdf")
+ob = objects[0]
+p.resetBasePositionAndOrientation(ob,[0.000000,1.000000,1.204500],[0.000000,0.000000,0.000000,1.000000])
+objects = [p.loadURDF("teddy_vhacd.urdf", -0.100000,0.600000,0.850000,0.000000,0.000000,0.000000,1.000000)]
+objects = [p.loadURDF("sphere_small.urdf", -0.100000,0.955006,1.169706,0.633232,-0.000000,-0.000000,0.773962)]
+objects = [p.loadURDF("cube_small.urdf", 0.300000,0.600000,0.850000,0.000000,0.000000,0.000000,1.000000)]
+objects = [p.loadURDF("table_square/table_square.urdf", -1.000000,0.000000,0.000000,0.000000,0.000000,0.000000,1.000000)]
+ob = objects[0]
+jointPositions=[ 0.000000 ]
+for jointIndex in range (p.getNumJoints(ob)):
+	p.resetJointState(ob,jointIndex,jointPositions[jointIndex])
+
+objects = [p.loadURDF("husky/husky.urdf", 2.000000,-5.000000,1.000000,0.000000,0.000000,0.000000,1.000000)]
+ob = objects[0]
+jointPositions=[ 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000 ]
+for jointIndex in range (p.getNumJoints(ob)):
+	p.resetJointState(ob,jointIndex,jointPositions[jointIndex])
+
+p.setGravity(0.000000,0.000000,0.000000)
+p.setGravity(0,0,-10)
+
+for i in range (100000):
+	p.stepSimulation()
+
+p.disconnect()