diff --git a/data/marble_cube.mtl b/data/marble_cube.mtl
new file mode 100644
index 000000000..c959d0c2a
--- /dev/null
+++ b/data/marble_cube.mtl
@@ -0,0 +1,11 @@
+# Blender MTL File: 'marble_cube.blend'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
+map_Kd tiles.jpg
diff --git a/data/marble_cube.obj b/data/marble_cube.obj
new file mode 100644
index 000000000..4f6c8a49a
--- /dev/null
+++ b/data/marble_cube.obj
@@ -0,0 +1,50 @@
+# Blender v2.68 (sub 0) OBJ File: 'marble_cube.blend'
+# www.blender.org
+mtllib marble_cube.mtl
+o Cube
+v -1.000000 -1.000000 1.000000
+v -1.000000 -1.000000 -1.000000
+v 1.000000 -1.000000 -1.000000
+v 1.000000 -1.000000 1.000000
+v -1.000000 1.000000 1.000000
+v -1.000000 1.000000 -1.000000
+v 1.000000 1.000000 -1.000000
+v 1.000000 1.000000 1.000000
+vt 0.900965 0.983117
+vt 0.607937 0.967373
+vt 0.920037 0.686085
+vt 0.327732 0.352741
+vt 0.031938 0.342703
+vt 0.332102 0.029274
+vt 0.618409 0.671643
+vt 0.324243 0.658970
+vt 0.630389 0.363047
+vt 0.919788 0.686473
+vt 0.618344 0.672098
+vt 0.939406 0.372060
+vt 0.039476 0.936128
+vt 0.319860 0.951754
+vt 0.036647 0.646397
+vt 0.642259 0.035851
+vt 0.630105 0.363646
+vt 0.332098 0.029351
+vt 0.617757 0.671237
+vt 0.027235 0.021626
+vt 0.327768 0.352473
+vt 0.630480 0.363422
+vt 0.325108 0.659325
+vt 0.327845 0.352523
+usemtl None
+s off
+f 5/1 6/2 1/3
+f 6/4 7/5 2/6
+f 7/7 8/8 3/9
+f 8/10 5/11 4/12
+f 1/13 2/14 4/15
+f 8/16 7/17 5/18
+f 6/2 2/19 1/3
+f 7/5 3/20 2/6
+f 8/8 4/21 3/9
+f 5/11 1/22 4/12
+f 2/14 3/23 4/15
+f 7/17 6/24 5/18
diff --git a/data/marble_cube.urdf b/data/marble_cube.urdf
new file mode 100644
index 000000000..831fcd3ba
--- /dev/null
+++ b/data/marble_cube.urdf
@@ -0,0 +1,32 @@
+<?xml version="0.0" ?>
+<robot name="cube">
+  <link name="baseLink">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+       <mass value="1.0"/>
+       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="marble_cube.obj" scale=".5 .5 .5"/>
+      </geometry>
+       <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+	 	<box size="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
+
diff --git a/data/quadruped/license.txt b/data/quadruped/license.txt
new file mode 100644
index 000000000..08f850007
--- /dev/null
+++ b/data/quadruped/license.txt
@@ -0,0 +1,27 @@
+LICENSE:                                                                 
+Copyright (c) 2017, Erwin Coumans                                        
+Google Inc.                                                              
+All rights reserved.                                                     
+                                                                         
+Redistribution and use in source and binary forms, with or without       
+modification, are permitted provided that the following conditions are   
+met:                                                                     
+                                                                         
+1. Redistributions or derived work must retain this copyright notice,    
+   this list of conditions and the following disclaimer.                 
+                                                                         
+2. Redistributions in binary form must reproduce the above copyright     
+   notice, this list of conditions and the following disclaimer in the   
+   documentation and/or other materials provided with the distribution.  
+                                                                         
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS  
+IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
+THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR   
+PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR        
+CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,    
+EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,      
+PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR       
+PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF   
+LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING     
+NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS       
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.             
\ No newline at end of file
diff --git a/data/table/license.txt b/data/table/license.txt
new file mode 100644
index 000000000..08f850007
--- /dev/null
+++ b/data/table/license.txt
@@ -0,0 +1,27 @@
+LICENSE:                                                                 
+Copyright (c) 2017, Erwin Coumans                                        
+Google Inc.                                                              
+All rights reserved.                                                     
+                                                                         
+Redistribution and use in source and binary forms, with or without       
+modification, are permitted provided that the following conditions are   
+met:                                                                     
+                                                                         
+1. Redistributions or derived work must retain this copyright notice,    
+   this list of conditions and the following disclaimer.                 
+                                                                         
+2. Redistributions in binary form must reproduce the above copyright     
+   notice, this list of conditions and the following disclaimer in the   
+   documentation and/or other materials provided with the distribution.  
+                                                                         
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS  
+IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
+THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR   
+PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR        
+CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,    
+EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,      
+PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR       
+PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF   
+LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING     
+NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS       
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.             
\ No newline at end of file
diff --git a/data/table/table2.mtl b/data/table/table2.mtl
new file mode 100644
index 000000000..2d80d819a
--- /dev/null
+++ b/data/table/table2.mtl
@@ -0,0 +1,11 @@
+# Blender MTL File: 'table1.blend'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
+map_Kd tabletop.jpg
diff --git a/data/table/table2.obj b/data/table/table2.obj
new file mode 100644
index 000000000..938020709
--- /dev/null
+++ b/data/table/table2.obj
@@ -0,0 +1,2050 @@
+# Blender v2.68 (sub 0) OBJ File: 'table1.blend'
+# www.blender.org
+mtllib table2.mtl
+o Cylinder_Cylinder.001
+v 0.000000 -0.005000 -0.500000
+v 0.000000 0.005000 -0.500000
+v 0.012271 -0.005000 -0.499849
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+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+	 	<cylinder length="0.01" radius="0.5"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
+
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diff --git a/data/tiles.jpg b/data/tiles.jpg
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