diff --git a/data/pole.urdf b/data/pole.urdf
new file mode 100755
index 000000000..5932f221d
--- /dev/null
+++ b/data/pole.urdf
@@ -0,0 +1,140 @@
+<?xml version="1.0"?>
+<robot name="physics">
+
+    <link name="slideBar">
+    <visual>
+      <geometry>
+        <box size="30 0.05 0.05"/>
+      </geometry>
+      <origin xyz="0 0 0"/>
+      <material name="green">
+        <color rgba="0 0.8 .8 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <mass value="0"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+  </link>
+
+  <link name="pole">
+    <visual>
+      <geometry>
+        <box size="0.05 0.05 1.0"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <inertial>
+    <origin xyz="0 0 0"/>
+      <mass value="10"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+     <collision>
+      <geometry>
+        <box size="0.05 0.05 1.0"/>	
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+  </link>
+
+  <joint name="cart_to_pole" type="prismatic">
+    <axis xyz="1 0 0"/>
+    <origin xyz="0.0 0.0 0.5"/>
+    <parent link="slideBar"/>
+    <child link="pole"/>
+    <limit effort="1000.0" lower="-5" upper="5" velocity="0.5"/>
+  </joint>
+  
+   <link name="pole2">
+    <visual>
+      <geometry>
+        <box size="0.05 0.05 1.0"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.5"/>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <inertial>
+    <origin xyz="0 0 0.5"/>
+      <mass value="10"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+     <collision>
+      <geometry>
+        <box size="0.05 0.05 1.0"/>	
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.5"/>
+    </collision>
+  </link>
+
+  <joint name="pole_to_pole2" type="continuous">
+    <axis xyz="1 0 0"/>
+    <origin xyz="0.0 0.0 0.5"/>
+    <parent link="pole"/>
+    <child link="pole2"/>
+  </joint>
+  
+  <link name="pole3">
+    <visual>
+      <geometry>
+        <box size="0.05 0.05 1.0"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.5"/>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <inertial>
+    <origin xyz="0 0 0.5"/>
+      <mass value="10"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+     <collision>
+      <geometry>
+        <box size="0.05 0.05 1.0"/>	
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.5"/>
+    </collision>
+  </link>
+
+  <joint name="pole2_to_pole3" type="continuous">
+    <axis xyz="0 1 0"/>
+    <origin xyz="0.0 0.0 1"/>
+    <parent link="pole2"/>
+    <child link="pole3"/>
+  </joint>
+  
+   <link name="endeffector">
+    <visual>
+      <geometry>
+        <box size="0.06 0.06 .06"/>	
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <material name="red">
+        <color rgba="1 0 0 1"/>
+      </material>
+    </visual>
+    <inertial>
+    <origin xyz="0 0 0"/>
+      <mass value="10"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+     <collision>
+      <geometry>
+        <box size="0.06 0.06 .06"/>	
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+  </link>
+
+  <joint name="pole2_to_endeffector" type="fixed">
+    <origin xyz="0.0 0.0 1"/>
+    <parent link="pole3"/>
+    <child link="endeffector"/>
+  </joint>
+ 
+</robot>