diff --git a/data/jenga/jenga.urdf b/data/jenga/jenga.urdf
index 6ca727c78..e78a13db5 100644
--- a/data/jenga/jenga.urdf
+++ b/data/jenga/jenga.urdf
@@ -2,13 +2,11 @@
 <robot name="jenga.urdf">
   <link name="baseLink">
     <contact>
-      <lateral_friction value="1.0"/>
-      <spinning_friction value="0.5"/>
-      <inertia_scaling value="3.0"/>
+      <lateral_friction value=".5"/>
     </contact>
     <inertial>
       <origin rpy="0 0 0" xyz="0 0 0"/>
-       <mass value="1.0"/>
+       <mass value=".05"/>
        <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
     </inertial>
     <visual>
diff --git a/data/table/table.mtl b/data/table/table.mtl
new file mode 100644
index 000000000..97d6457c5
--- /dev/null
+++ b/data/table/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 table.png
+  
+  
+
diff --git a/data/table/table.obj b/data/table/table.obj
new file mode 100644
index 000000000..1357e497c
--- /dev/null
+++ b/data/table/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 3/1/2 4/2/2 5/3/2
+f 5/3/2 4/2/2 6/4/2
+s 3
+f 5/4/3 6/3/3 7/2/3
+f 7/2/3 6/3/3 8/1/3
+s 4
+f 7/1/4 8/2/4 1/3/4
+f 1/3/4 8/2/4 2/4/4
+s 5
+f 2/1/5 8/2/5 4/3/5
+f 4/3/5 8/2/5 6/4/5
+s 6
+f 7/1/6 1/2/6 5/3/6
+f 5/3/6 1/2/6 3/4/6
+
diff --git a/data/table/table.png b/data/table/table.png
new file mode 100644
index 000000000..cdc391335
Binary files /dev/null and b/data/table/table.png differ
diff --git a/data/table/table.urdf b/data/table/table.urdf
new file mode 100644
index 000000000..bff9395e8
--- /dev/null
+++ b/data/table/table.urdf
@@ -0,0 +1,29 @@
+<?xml version="0.0" ?>
+<robot name="table.urdf">
+  <link name="baseLink">
+    <contact>
+      <lateral_friction value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+       <mass value=".0"/>
+       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0.6"/>
+      <geometry>
+				<mesh filename="table.obj" scale="1.5 1 0.05"/>
+      </geometry>
+       <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.6"/>
+      <geometry>
+	 	<box size="1.5 1 0.05"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
+
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index f07803694..9affdc873 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -3033,7 +3033,7 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
 				
 			for (int i = 0; i < 6; i++)
 			{
-				loadUrdf("jenga/jenga.urdf", btVector3(-1-0.1*i,-0.5,  .07), btQuaternion(btVector3(0,1,0),SIMD_HALF_PI), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
+				loadUrdf("jenga/jenga.urdf", btVector3(-.2-0.1*i,-2.,  .75), btQuaternion(btVector3(0,1,0),SIMD_HALF_PI), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
 			}
 
 			//loadUrdf("nao/nao.urdf", btVector3(2,5, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
@@ -3110,7 +3110,7 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
 			}
 
 			// Table area
-			loadUrdf("table.urdf", objectWorldTr[0].getOrigin(), objectWorldTr[0].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
+			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("pitcher_small.urdf", objectWorldTr[3].getOrigin(), objectWorldTr[3].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());