diff --git a/data/table/table.urdf b/data/table/table.urdf
index bff9395e8..5a923a700 100644
--- a/data/table/table.urdf
+++ b/data/table/table.urdf
@@ -24,6 +24,33 @@
 	 	<box size="1.5 1 0.05"/>
       </geometry>
     </collision>
+	<visual>
+      <origin rpy="0 0 0" xyz="-0.65 -0.4 0.29"/>
+      <geometry>
+	    <mesh filename="table.obj" scale="0.1 0.1 0.58"/>
+      </geometry>
+	  <material name="framemat0"/>	 
+    </visual>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.65 0.4 0.29"/>
+      <geometry>
+        <mesh filename="table.obj" scale="0.1 0.1 0.58"/>
+      </geometry>
+	  <material name="framemat0"/>
+	  </visual>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.65 -0.4 0.29"/>
+      <geometry>
+        <mesh filename="table.obj" scale="0.1 0.1 0.58"/>
+      </geometry>
+	  <material name="framemat0"/>
+	  </visual>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.65 0.4 0.29"/>
+      <geometry>
+        <mesh filename="table.obj" scale="0.1 0.1 0.58"/>
+      </geometry>
+    </visual>
   </link>
 </robot>
 
diff --git a/data/table_square/checker_grid.jpg b/data/table_square/checker_grid.jpg
new file mode 100644
index 000000000..416550484
Binary files /dev/null and b/data/table_square/checker_grid.jpg differ
diff --git a/data/table_square/table.mtl b/data/table_square/table.mtl
new file mode 100644
index 000000000..a3bc51659
--- /dev/null
+++ b/data/table_square/table.mtl
@@ -0,0 +1,16 @@
+newmtl table
+  Ns 10.0000
+  Ni 1.5000
+  d 1.0000
+  Tr 0.0000
+  Tf 1.0000 1.0000 1.0000 
+  illum 2
+  Ka 0.0000 0.0000 0.0000
+  Kd 0.5880 0.5880 0.5880
+  Ks 0.0000 0.0000 0.0000
+  Ke 0.0000 0.0000 0.0000
+  map_Ka table.tga
+  map_Kd checker_grid.jpg
+  
+  
+
diff --git a/data/table_square/table.obj b/data/table_square/table.obj
new file mode 100644
index 000000000..6ec6d9876
--- /dev/null
+++ b/data/table_square/table.obj
@@ -0,0 +1,48 @@
+# table.obj
+#
+
+o table
+mtllib table.mtl
+
+v -0.500000 -0.500000 0.500000
+v 0.500000 -0.500000 0.500000
+v -0.500000 0.500000 0.500000
+v 0.500000 0.500000 0.500000
+v -0.500000 0.500000 -0.500000
+v 0.500000 0.500000 -0.500000
+v -0.500000 -0.500000 -0.500000
+v 0.500000 -0.500000 -0.500000
+
+vt 0.000000 0.000000
+vt 1.000000 0.000000
+vt 0.000000 1.000000
+vt 1.000000 1.000000
+
+vn 0.000000 0.000000 1.000000
+vn 0.000000 1.000000 0.000000
+vn 0.000000 0.000000 -1.000000
+vn 0.000000 -1.000000 0.000000
+vn 1.000000 0.000000 0.000000
+vn -1.000000 0.000000 0.000000
+
+g table
+usemtl table
+s 1
+f 1/1/1 2/2/1 3/3/1
+f 3/3/1 2/2/1 4/4/1
+s 2
+f 3 4 5
+f 5 4 6
+s 3
+f 5 6 7
+f 7 6 8
+s 4
+f 7 8 1
+f 1 8 2
+s 5
+f 2 8 4
+f 4 8 6
+s 6
+f 7 1 5
+f 5 1 3
+
diff --git a/data/table_square/table_square.urdf b/data/table_square/table_square.urdf
new file mode 100644
index 000000000..920d979a5
--- /dev/null
+++ b/data/table_square/table_square.urdf
@@ -0,0 +1,61 @@
+<?xml version="0.0" ?>
+<robot name="urdf_table">
+ <link name="world"/>
+  <joint name="fixed" type="fixed">
+    <parent link="world"/>
+    <child link="baseLink"/>
+    <origin xyz="0 0 0"/>
+  </joint>
+
+  <link name="baseLink">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.6"/>
+       <mass value="0"/>
+       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0.6"/>
+      <geometry>
+	    <mesh filename="table.obj" scale="0.6 0.6 0.08"/>
+      </geometry>
+	   <material name="framemat0">
+      <color
+                    rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.25 -0.25 0.28"/>
+      <geometry>
+        <box size="0.05 0.05 0.56"/>
+      </geometry>
+	  <material name="framemat0"/>	 
+    </visual>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.25 0.25 0.28"/>
+      <geometry>
+        <box size="0.05 0.05 0.56"/>
+      </geometry>
+	  <material name="framemat0"/>
+	  </visual>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.25 -0.25 0.28"/>
+      <geometry>
+        <box size="0.05 0.05 0.56"/>
+      </geometry>
+	  <material name="framemat0"/>
+	  </visual>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.25 0.25 0.28"/>
+      <geometry>
+        <box size="0.05 0.05 0.56"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.6"/>
+      <geometry>
+      <box size="0.6 0.6 0.08"/>
+      </geometry>
+    </collision>    
+  </link>
+</robot>
+
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index cb4163c3c..37010d871 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -3110,7 +3110,7 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
 			// Table area
 			loadUrdf("table/table.urdf", objectWorldTr[0].getOrigin(), objectWorldTr[0].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
 			loadUrdf("tray.urdf", objectWorldTr[1].getOrigin(), objectWorldTr[1].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
-			//loadUrdf("cup_small.urdf", objectWorldTr[2].getOrigin(), objectWorldTr[2].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
+			loadUrdf("cup_small.urdf", objectWorldTr[2].getOrigin(), objectWorldTr[2].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
 			//loadUrdf("pitcher_small.urdf", objectWorldTr[3].getOrigin(), objectWorldTr[3].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
 			loadUrdf("teddy_vhacd.urdf", objectWorldTr[4].getOrigin(), objectWorldTr[4].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
 			loadUrdf("cube_small.urdf", objectWorldTr[5].getOrigin(), objectWorldTr[5].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
@@ -3124,13 +3124,13 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
 			loadUrdf("cube_small.urdf", btVector3(0.3, 0.6, 0.85), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
 			
 			// Chess area
-			loadUrdf("table_square.urdf", btVector3(-1.0, 0, 0.0), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
-			//loadUrdf("pawn.urdf", btVector3(-0.8, -0.1, 0.7), btQuaternion(btVector3(1, 0, 0), SIMD_HALF_PI), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
-			//loadUrdf("queen.urdf", btVector3(-0.9, -0.2, 0.7), btQuaternion(btVector3(1, 0, 0), SIMD_HALF_PI), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
-			//loadUrdf("king.urdf", btVector3(-1.0, 0, 0.7), btQuaternion(btVector3(1, 0, 0), SIMD_HALF_PI), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
-			//loadUrdf("bishop.urdf", btVector3(-1.1, 0.1, 0.7), btQuaternion(btVector3(1, 0, 0), SIMD_HALF_PI), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
-			//loadUrdf("rook.urdf", btVector3(-1.2, 0, 0.7), btQuaternion(btVector3(1, 0, 0), SIMD_HALF_PI), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
-			//loadUrdf("knight.urdf", btVector3(-1.2, 0.2, 0.7), btQuaternion(btVector3(1, 0, 0), SIMD_HALF_PI), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
+			loadUrdf("table_square/table_square.urdf", btVector3(-1.0, 0, 0.0), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
+			loadUrdf("pawn.urdf", btVector3(-0.8, -0.1, 0.7), btQuaternion(btVector3(1, 0, 0), SIMD_HALF_PI), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
+			loadUrdf("queen.urdf", btVector3(-0.9, -0.2, 0.7), btQuaternion(btVector3(1, 0, 0), SIMD_HALF_PI), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
+			loadUrdf("king.urdf", btVector3(-1.0, 0, 0.7), btQuaternion(btVector3(1, 0, 0), SIMD_HALF_PI), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
+			loadUrdf("bishop.urdf", btVector3(-1.1, 0.1, 0.7), btQuaternion(btVector3(1, 0, 0), SIMD_HALF_PI), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
+			loadUrdf("rook.urdf", btVector3(-1.2, 0, 0.7), btQuaternion(btVector3(1, 0, 0), SIMD_HALF_PI), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
+			loadUrdf("knight.urdf", btVector3(-1.2, 0.2, 0.7), btQuaternion(btVector3(1, 0, 0), SIMD_HALF_PI), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
 
 			loadUrdf("husky/husky.urdf", btVector3(2, -5, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
 			m_data->m_huskyId = bodyId;