diff --git a/data/prismatic.urdf b/data/prismatic.urdf
new file mode 100644
index 000000000..cf8c25dbe
--- /dev/null
+++ b/data/prismatic.urdf
@@ -0,0 +1,50 @@
+<?xml version="0.0" ?>
+<robot name="urdf_robot">
+  <link name="baseLink">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+       <mass value="0.0"/>
+       <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>
+      <box size="0.1 .1 .1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+	 <box size="0.1 .1 .1"/>
+      </geometry>
+    </collision>
+  </link>
+   <link name="childA">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 1 -1"/>
+      <mass value="10.0"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 1 -1"/>
+      <geometry>
+        <box size="0.1 .1 .1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 1 -1"/>
+      <geometry>
+        <box size="0.1 .1 .1"/>
+      </geometry>
+    </collision>
+  </link>
+   <joint name="joint_baseLink_childA" type="prismatic">
+    <parent link="baseLink"/>
+    <child link="childA"/>
+    <origin xyz="0 0 1.0"/>
+	<axis xyz="0 0 1"/>
+	<limit lower="-0.1" upper="0.2" />
+  </joint>
+ 
+</robot>
+
diff --git a/examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp b/examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp
index 236899847..76c3edd55 100644
--- a/examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp
+++ b/examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp
@@ -130,7 +130,7 @@ ImportUrdfSetup::ImportUrdfSetup(struct GUIHelperInterface* helper, int option,
 		
 		if (gFileNameArray.size()==0)
 		{
-			gFileNameArray.push_back("prismatic.urdf");
+			gFileNameArray.push_back("r2d2.urdf");
 
 		}