diff --git a/examples/pybullet/gym/pybullet_data/laikago/laikago_toes_limits.urdf b/examples/pybullet/gym/pybullet_data/laikago/laikago_toes_limits.urdf
new file mode 100644
index 000000000..2e2fcabf4
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/laikago/laikago_toes_limits.urdf
@@ -0,0 +1,596 @@
+<?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="revolute">
+    <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" lower="-0.873" upper="1.0472"/>
+    <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="revolute">
+    <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" lower="-1.3" upper="3.4"/>
+    <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.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    </link>
+    <joint name="FR_lower_leg_2_upper_leg_joint" type="revolute">
+    <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" lower="-2.164" upper="0"/>
+    <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="revolute">
+    <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" lower="-0.873" upper="1.0472"/>
+    <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="revolute">
+    <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" lower="-1.3" upper="3.4"/>
+    <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.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+
+    </link>
+
+  <joint name="FL_lower_leg_2_upper_leg_joint" type="revolute">
+    <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" lower="-2.164" upper="0"/>
+    <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="revolute">
+    <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" lower="-0.873" upper="1.0472"/>
+    <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="revolute">
+    <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" lower="-1.3" upper="3.4"/>
+    <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.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+
+    </link>
+
+    <joint name="RR_lower_leg_2_upper_leg_joint" type="revolute">
+    <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" lower="-2.164" upper="0"/>
+    <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="revolute">
+    <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" lower="-0.873" upper="1.0472"/>
+    <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="revolute">
+    <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" lower="-1.3" upper="3.4"/>
+    <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.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+
+    </link>
+
+  <joint name="RL_lower_leg_2_upper_leg_joint" type="revolute">
+    <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" lower="-2.164" upper="0"/>
+    <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="0.0"/>
+      </geometry>
+      <material name="white"/>
+    </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="0.0"/>
+      </geometry>
+      <material name="white"/>
+    </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="0.0"/>
+      </geometry>
+      <material name="white"/>
+    </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="0.0"/>
+      </geometry>
+      <material name="white"/>
+    </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>
+