diff --git a/data/dinnerware/dinnerware.mtl b/data/dinnerware/dinnerware.mtl
new file mode 100644
index 000000000..245ad6b76
--- /dev/null
+++ b/data/dinnerware/dinnerware.mtl
@@ -0,0 +1,21 @@
+newmtl porcelain
+Ka 0.000000 0.000000 0.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.200000 0.200000 0.200000
+d 1.000000
+illum 2
+Ns 0.000000
+
+newmtl solid_color
+Ka 0.000000 0.000000 0.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.200000 0.200000 0.200000
+d 1.000000
+illum 2
+Ns 0.000000
+
+newmtl pan_tefal
+Ka 0.000000 0.000000 0.000000
+Kd 0.609804 0.494118 0.486275
+Ks 0.330000 0.330000 0.330000
+map_Kd pan_tefal.jpg
diff --git a/data/dinnerware/generate.py b/data/dinnerware/generate.py
new file mode 100644
index 000000000..d828dc2ec
--- /dev/null
+++ b/data/dinnerware/generate.py
@@ -0,0 +1,252 @@
+from __future__ import print_function
+import numpy as np
+
+class Obj:
+	def __init__(self, fn):
+		self.ind_v  = 0
+		self.ind_vt = 0
+		self.ind_vn = 0
+		self.fn = fn
+		self.out = open(fn + ".tmp", "w")
+		self.out.write("mtllib dinnerware.mtl\n")
+	def __del__(self):
+		self.out.close()
+		import shutil
+		shutil.move(self.fn + ".tmp", self.fn)
+	def push_v(self, v):
+		self.out.write("v %f %f %f\n" % (v[0],v[1],v[2]))
+		self.ind_v += 1
+		return self.ind_v
+	def push_vt(self, vt):
+		self.out.write("vt %f %f\n" % (vt[0],vt[1]))
+		self.ind_vt += 1
+		return self.ind_vt
+	def push_vn(self, vn):
+		vn /= np.linalg.norm(vn)
+		self.out.write("vn %f %f %f\n" % (vn[0],vn[1],vn[2]))
+		self.ind_vn += 1
+		return self.ind_vn
+
+
+def convex_hull(points, vind, nind, tind, obj):
+	"super ineffective"
+	cnt = len(points)
+	for a in range(cnt):
+		for b in range(a+1,cnt):
+			for c in range(b+1,cnt):
+				vec1 = points[a] - points[b]
+				vec2 = points[a] - points[c]
+				n  = np.cross(vec1, vec2)
+				n /= np.linalg.norm(n)
+				C = np.dot(n, points[a])
+				inner = np.inner(n, points)
+				pos = (inner <= C+0.0001).all()
+				neg = (inner >= C-0.0001).all()
+				if not pos and not neg: continue
+				obj.out.write("f %i//%i %i//%i %i//%i\n" % ( 
+					(vind[a], nind[a], vind[b], nind[b], vind[c], nind[c])
+					if (inner - C).sum() < 0 else
+					(vind[a], nind[a], vind[c], nind[c], vind[b], nind[b]) ) )
+				#obj.out.write("f %i/%i/%i %i/%i/%i %i/%i/%i\n" % ( 
+				#	(vind[a], tind[a], nind[a], vind[b], tind[b], nind[b], vind[c], tind[c], nind[c])
+				#	if (inner - C).sum() < 0 else
+				#	(vind[a], tind[a], nind[a], vind[c], tind[c], nind[c], vind[b], tind[b], nind[b]) ) )
+
+def test_convex_hull():
+	obj = Obj("convex_test.obj")
+	vlist = np.random.uniform( low=-0.1, high=+0.1, size=(100,3) )
+	nlist = vlist.copy()
+	tlist = np.random.uniform( low=0, high=+1, size=(100,2) )
+	vind = [obj.push_v(xyz) for xyz in vlist]
+	nind = [obj.push_vn(xyz) for xyz in nlist]
+	tind = [obj.push_vt(uv) for uv in tlist]
+	convex_hull(vlist, vind, nind, tind, obj)
+
+class Contour:
+	def __init__(self):
+		self.vprev_vind = None
+
+	def f(self, obj, vlist_vind, vlist_tind, vlist_nind):
+		cnt = len(vlist_vind)
+		for i1 in range(cnt):
+			i2 = i1-1
+			obj.out.write("f %i/%i/%i %i/%i/%i %i/%i/%i\n" % ( 
+				vlist_vind[i2], vlist_tind[i2], vlist_nind[i2],
+				vlist_vind[i1], vlist_tind[i1], vlist_nind[i1],
+				self.vprev_vind[i1], self.vprev_tind[i1], self.vprev_nind[i1],
+				) )
+			obj.out.write("f %i/%i/%i %i/%i/%i %i/%i/%i\n" % ( 
+				vlist_vind[i2], vlist_tind[i2], vlist_nind[i2],
+				self.vprev_vind[i1], self.vprev_tind[i1], self.vprev_nind[i1],
+				self.vprev_vind[i2], self.vprev_tind[i2], self.vprev_nind[i2],
+				) )
+
+	def belt(self, obj, vlist, nlist, tlist):
+		vlist_vind = [obj.push_v(xyz)  for xyz in vlist]
+		vlist_tind = [obj.push_vt(xyz) for xyz in tlist]
+		vlist_nind = [obj.push_vn(xyz) for xyz in nlist]
+		if self.vprev_vind:
+			self.f(obj, vlist_vind, vlist_tind, vlist_nind)
+		else:
+			self.first_vind = vlist_vind
+			self.first_tind = vlist_tind
+			self.first_nind = vlist_nind
+		self.vprev_vind = vlist_vind
+		self.vprev_tind = vlist_tind
+		self.vprev_nind = vlist_nind
+
+	def finish(self, obj):
+		self.f(obj, self.first_vind, self.first_tind, self.first_nind)
+
+def test_contour():
+	RAD1 = 2.0
+	RAD2 = 1.5
+	obj = Obj("torus.obj")
+	obj.out.write("usemtl porcelain\n")
+	contour = Contour()
+	for step in range(100):
+		angle = step/100.0*2*np.pi
+		belt_v = []
+		belt_n = []
+		belt_t = []
+		for b in range(50):
+			beta = b/50.0*2*np.pi
+			r = RAD2*np.cos(beta) + RAD1
+			z = RAD2*np.sin(beta)
+			belt_v.append( np.array( [
+				np.cos(angle)*r,
+				np.sin(angle)*r,
+				z] ) )
+			belt_n.append( np.array( [
+				np.cos(angle)*np.cos(beta),
+				np.sin(angle)*np.cos(beta),
+				np.sin(beta)] ) )
+			belt_t.append( (0,0) )
+		contour.belt(obj, belt_v, belt_n, belt_t)
+	contour.finish(obj)
+
+#test_convex_hull()
+#test_contour()
+
+class RotationFigureParams:
+	pass
+
+def generate_plate(p, obj, collision_prefix):
+	contour = Contour()
+	belt_vlist_3d_prev = None
+
+	for step in range(p.N_VIZ+1):
+		angle = step/float(p.N_VIZ)*2*np.pi
+
+		if step % p.COLLISION_EVERY == 0:
+			vlist_3d = []
+			for x,y in p.belt_simple:
+				vlist_3d.append( [
+					np.cos(angle)*x*1.06,
+					np.sin(angle)*x*1.06,
+					y
+					] )
+			if belt_vlist_3d_prev:
+				obj2 = Obj(collision_prefix % (step / p.COLLISION_EVERY))
+				obj2.out.write("usemtl pan_tefal\n")
+				vlist = np.array( vlist_3d + belt_vlist_3d_prev )
+				vlist[len(vlist_3d):] *= 1.01  # break points on one plane
+				vlist[0,0:2] += 0.01*vlist[len(vlist_3d),0:2]
+				vlist[len(vlist_3d),0:2] += 0.01*vlist[0,0:2]
+				nlist = np.random.uniform( low=-1, high=+1, size=vlist.shape )
+				tlist = np.random.uniform( low=0, high=+1, size=(len(vlist),2) )
+				vind = [obj2.push_v(xyz) for xyz in vlist]
+				nind = [obj2.push_vn(xyz) for xyz in nlist]
+				convex_hull(vlist, vind, nind, None, obj2)
+			belt_vlist_3d_prev = vlist_3d
+		if step==p.N_VIZ: break
+
+		belt_v = []
+		belt_n = []
+		belt_t = []
+		for x,y,nx,ny in p.belt:
+			belt_v.append( np.array( [
+				np.cos(angle)*x,
+				np.sin(angle)*x,
+				y
+				] ) )
+			belt_n.append( np.array( [
+				np.cos(angle)*nx,
+				np.sin(angle)*nx,
+				ny
+				] ) )
+			if ny-nx >= 0:
+				belt_t.append( (
+					127.0/512 + np.cos(angle)*x/p.RAD_HIGH*105/512,
+					(512-135.0)/512 + np.sin(angle)*x/p.RAD_HIGH*105/512) )
+			else:
+				belt_t.append( (
+					382.0/512 + np.cos(angle)*x/p.RAD_HIGH*125/512,
+					(512-380.0)/512 + np.sin(angle)*x/p.RAD_HIGH*125/512) )
+		contour.belt(obj, belt_v, belt_n, belt_t)
+
+	contour.finish(obj)
+
+def tefal():
+	p = RotationFigureParams()
+	p.RAD_LOW  = 0.240/2
+	p.RAD_HIGH = 0.255/2
+	p.H   = 0.075
+	p.THICK = 0.005
+	p.N_VIZ = 30
+	p.COLLISION_EVERY = 5
+	p.belt = [
+		(p.RAD_HIGH-p.THICK, p.H,     -1,0),  # x y norm
+		(p.RAD_HIGH      , p.H,      0,1),
+		(p.RAD_HIGH+p.THICK, p.H,     +1,0),
+		(p.RAD_LOW+p.THICK, p.THICK,   +1,0),
+		(p.RAD_LOW      , 0,       0,-1),
+		(            0, 0,       0,-1),
+		(            0, p.THICK,   0,1),
+		(p.RAD_LOW-p.THICK, p.THICK,   0,1),
+		(p.RAD_LOW-p.THICK, 3*p.THICK,-1,0),
+		]
+	p.belt.reverse()
+	p.belt_simple = [
+		(p.RAD_HIGH-p.THICK, p.H),
+		(p.RAD_HIGH+p.THICK, p.H),
+		(p.RAD_LOW       , 0),
+		(p.RAD_LOW-p.THICK , 0)
+		]
+	obj = Obj("pan_tefal.obj")
+	obj.out.write("usemtl pan_tefal\n")
+	generate_plate(p, obj, "pan_tefal-collision%02i.obj")
+
+def plate():
+	p = RotationFigureParams()
+	p.RAD_LOW  = 0.110/2
+	p.RAD_HIGH = 0.190/2
+	p.H   = 0.060
+	p.THICK = 0.003
+	p.N_VIZ = 30
+	p.COLLISION_EVERY = 5
+	p.belt = [
+		(p.RAD_HIGH-p.THICK, p.H,     -0.9,0.5),  # x y norm
+		(p.RAD_HIGH      , p.H,      0,1),
+		(p.RAD_HIGH+p.THICK, p.H,     +1,0),
+		(p.RAD_LOW+p.THICK, p.THICK,   +1,0),
+		(p.RAD_LOW      , 0,       0,-1),
+		(            0, 0,       0,-1),
+		(            0, p.THICK,   0,1),
+		(p.RAD_LOW-3*p.THICK, p.THICK,   0,1),
+		(p.RAD_LOW-p.THICK, 3*p.THICK,-0.5,1.0),
+		]
+	p.belt.reverse()
+	p.belt_simple = [
+		(p.RAD_HIGH-p.THICK, p.H),
+		(p.RAD_HIGH+p.THICK, p.H),
+		(p.RAD_LOW       , 0),
+		(p.RAD_LOW-p.THICK , 0)
+		]
+	obj = Obj("plate.obj")
+	obj.out.write("usemtl solid_color\n")
+	generate_plate(p, obj, "plate-collision%02i.obj")
+
+plate()
+
+
diff --git a/data/dinnerware/pan_tefal-collision01.obj b/data/dinnerware/pan_tefal-collision01.obj
new file mode 100644
index 000000000..3a64c4c4e
--- /dev/null
+++ b/data/dinnerware/pan_tefal-collision01.obj
@@ -0,0 +1,36 @@
+mtllib dinnerware.mtl
+usemtl pan_tefal
+v 0.066236 0.112453 0.075000
+v 0.070225 0.121633 0.075000
+v 0.063600 0.110158 0.000000
+v 0.060950 0.105568 0.000000
+v 0.131811 0.001125 0.075750
+v 0.141855 0.000000 0.075750
+v 0.128472 0.000000 0.000000
+v 0.123119 0.000000 0.000000
+vn 0.166577 -0.705775 0.688573
+vn -0.727212 0.200240 0.656556
+vn 0.637357 -0.756451 -0.146827
+vn -0.340753 -0.711716 0.614286
+vn 0.122979 0.860640 0.494141
+vn 0.770289 -0.238643 0.591358
+vn -0.635571 -0.120420 0.762594
+vn -0.070367 0.649517 -0.757084
+f 1//1 2//2 4//4
+f 1//1 5//5 2//2
+f 1//1 6//6 2//2
+f 1//1 4//4 5//5
+f 1//1 4//4 8//8
+f 1//1 5//5 6//6
+f 1//1 8//8 5//5
+f 2//2 3//3 4//4
+f 2//2 7//7 3//3
+f 2//2 5//5 6//6
+f 2//2 6//6 7//7
+f 3//3 7//7 4//4
+f 3//3 8//8 4//4
+f 3//3 7//7 8//8
+f 4//4 8//8 5//5
+f 4//4 7//7 8//8
+f 5//5 8//8 6//6
+f 6//6 8//8 7//7
diff --git a/data/dinnerware/pan_tefal-collision02.obj b/data/dinnerware/pan_tefal-collision02.obj
new file mode 100644
index 000000000..9c5e3673e
--- /dev/null
+++ b/data/dinnerware/pan_tefal-collision02.obj
@@ -0,0 +1,36 @@
+mtllib dinnerware.mtl
+usemtl pan_tefal
+v -0.064269 0.113589 0.075000
+v -0.070225 0.121633 0.075000
+v -0.063600 0.110158 0.000000
+v -0.060950 0.105568 0.000000
+v 0.064932 0.114714 0.075750
+v 0.070927 0.122850 0.075750
+v 0.064236 0.111260 0.000000
+v 0.061560 0.106624 0.000000
+vn -0.693799 -0.019731 0.719898
+vn -0.782132 -0.410509 0.468776
+vn 0.057085 0.837906 0.542821
+vn 0.549444 0.695908 -0.462410
+vn -0.488898 0.761278 -0.425951
+vn 0.527121 -0.833525 0.165465
+vn 0.764499 0.413217 0.494766
+vn -0.190845 -0.280421 -0.940714
+f 1//1 2//2 4//4
+f 1//1 5//5 2//2
+f 1//1 6//6 2//2
+f 1//1 4//4 5//5
+f 1//1 4//4 8//8
+f 1//1 5//5 6//6
+f 1//1 8//8 5//5
+f 2//2 3//3 4//4
+f 2//2 7//7 3//3
+f 2//2 5//5 6//6
+f 2//2 6//6 7//7
+f 3//3 7//7 4//4
+f 3//3 8//8 4//4
+f 3//3 7//7 8//8
+f 4//4 8//8 5//5
+f 4//4 7//7 8//8
+f 5//5 8//8 6//6
+f 6//6 8//8 7//7
diff --git a/data/dinnerware/pan_tefal-collision03.obj b/data/dinnerware/pan_tefal-collision03.obj
new file mode 100644
index 000000000..63df28dcc
--- /dev/null
+++ b/data/dinnerware/pan_tefal-collision03.obj
@@ -0,0 +1,36 @@
+mtllib dinnerware.mtl
+usemtl pan_tefal
+v -0.130506 0.001136 0.075000
+v -0.140450 0.000000 0.075000
+v -0.127200 0.000000 0.000000
+v -0.121900 0.000000 0.000000
+v -0.066879 0.113589 0.075750
+v -0.070927 0.122850 0.075750
+v -0.064236 0.111260 0.000000
+v -0.061559 0.106624 0.000000
+vn -0.005755 -0.840864 -0.541216
+vn -0.393829 -0.423425 0.815849
+vn 0.855454 0.357218 -0.374959
+vn -0.535483 -0.042852 -0.843458
+vn 0.593436 -0.341238 0.728966
+vn -0.684303 -0.643863 0.342301
+vn -0.543719 -0.112982 0.831628
+vn -0.432322 -0.733068 0.525080
+f 1//1 2//2 4//4
+f 1//1 5//5 2//2
+f 1//1 6//6 2//2
+f 1//1 4//4 5//5
+f 1//1 4//4 8//8
+f 1//1 5//5 6//6
+f 1//1 8//8 5//5
+f 2//2 3//3 4//4
+f 2//2 7//7 3//3
+f 2//2 5//5 6//6
+f 2//2 6//6 7//7
+f 3//3 7//7 4//4
+f 3//3 8//8 4//4
+f 3//3 7//7 8//8
+f 4//4 8//8 5//5
+f 4//4 7//7 8//8
+f 5//5 8//8 6//6
+f 6//6 8//8 7//7
diff --git a/data/dinnerware/pan_tefal-collision04.obj b/data/dinnerware/pan_tefal-collision04.obj
new file mode 100644
index 000000000..4531cb398
--- /dev/null
+++ b/data/dinnerware/pan_tefal-collision04.obj
@@ -0,0 +1,36 @@
+mtllib dinnerware.mtl
+usemtl pan_tefal
+v -0.066236 -0.112453 0.075000
+v -0.070225 -0.121633 0.075000
+v -0.063600 -0.110158 0.000000
+v -0.060950 -0.105568 0.000000
+v -0.131811 -0.001125 0.075750
+v -0.141855 0.000000 0.075750
+v -0.128472 0.000000 0.000000
+v -0.123119 0.000000 0.000000
+vn -0.706733 -0.191066 0.681192
+vn 0.444900 -0.691793 0.568758
+vn 0.088502 0.609907 0.787515
+vn -0.441942 -0.815296 0.374139
+vn -0.595750 0.064829 0.800549
+vn -0.683770 -0.459760 -0.566639
+vn -0.132581 -0.607583 0.783112
+vn -0.220415 -0.970551 0.097201
+f 1//1 2//2 4//4
+f 1//1 5//5 2//2
+f 1//1 6//6 2//2
+f 1//1 4//4 5//5
+f 1//1 4//4 8//8
+f 1//1 5//5 6//6
+f 1//1 8//8 5//5
+f 2//2 3//3 4//4
+f 2//2 7//7 3//3
+f 2//2 5//5 6//6
+f 2//2 6//6 7//7
+f 3//3 7//7 4//4
+f 3//3 8//8 4//4
+f 3//3 7//7 8//8
+f 4//4 8//8 5//5
+f 4//4 7//7 8//8
+f 5//5 8//8 6//6
+f 6//6 8//8 7//7
diff --git a/data/dinnerware/pan_tefal-collision05.obj b/data/dinnerware/pan_tefal-collision05.obj
new file mode 100644
index 000000000..ca2577ab5
--- /dev/null
+++ b/data/dinnerware/pan_tefal-collision05.obj
@@ -0,0 +1,36 @@
+mtllib dinnerware.mtl
+usemtl pan_tefal
+v 0.064269 -0.113589 0.075000
+v 0.070225 -0.121633 0.075000
+v 0.063600 -0.110158 0.000000
+v 0.060950 -0.105568 0.000000
+v -0.064932 -0.114714 0.075750
+v -0.070927 -0.122850 0.075750
+v -0.064236 -0.111260 0.000000
+v -0.061560 -0.106624 0.000000
+vn 0.337731 -0.812635 0.474934
+vn -0.151863 -0.910103 0.385551
+vn -0.786673 0.591186 -0.177887
+vn 0.661692 0.712532 0.233371
+vn -0.904799 0.159708 -0.394757
+vn 0.641963 -0.023667 -0.766370
+vn -0.472889 -0.878846 0.063294
+vn 0.722857 0.565784 -0.396694
+f 1//1 2//2 4//4
+f 1//1 5//5 2//2
+f 1//1 6//6 2//2
+f 1//1 4//4 5//5
+f 1//1 4//4 8//8
+f 1//1 5//5 6//6
+f 1//1 8//8 5//5
+f 2//2 3//3 4//4
+f 2//2 7//7 3//3
+f 2//2 5//5 6//6
+f 2//2 6//6 7//7
+f 3//3 7//7 4//4
+f 3//3 8//8 4//4
+f 3//3 7//7 8//8
+f 4//4 8//8 5//5
+f 4//4 7//7 8//8
+f 5//5 8//8 6//6
+f 6//6 8//8 7//7
diff --git a/data/dinnerware/pan_tefal-collision06.obj b/data/dinnerware/pan_tefal-collision06.obj
new file mode 100644
index 000000000..34ee73c58
--- /dev/null
+++ b/data/dinnerware/pan_tefal-collision06.obj
@@ -0,0 +1,36 @@
+mtllib dinnerware.mtl
+usemtl pan_tefal
+v 0.130506 -0.001136 0.075000
+v 0.140450 -0.000000 0.075000
+v 0.127200 -0.000000 0.000000
+v 0.121900 -0.000000 0.000000
+v 0.066879 -0.113589 0.075750
+v 0.070927 -0.122850 0.075750
+v 0.064236 -0.111260 0.000000
+v 0.061560 -0.106624 0.000000
+vn -0.793944 -0.586742 -0.159329
+vn 0.466324 0.641735 -0.608867
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diff --git a/data/dinnerware/pan_tefal.urdf b/data/dinnerware/pan_tefal.urdf
new file mode 100644
index 000000000..6e83dc83b
--- /dev/null
+++ b/data/dinnerware/pan_tefal.urdf
@@ -0,0 +1,84 @@
+<?xml version="1.0"?>
+<robot name="cube">
+  <!-- Frying pan model, Copyright (c) 2016 Oleg Klimov       -->
+  <!-- LICENSE: CC-SA                                         -->
+  <link name="cube">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="pan_tefal.obj"/>
+      </geometry>
+    </visual>
+    <visual>  <!-- handle -->
+      <geometry>
+        <cylinder radius="0.011" length="0.185"/>
+      </geometry>
+      <origin rpy="0 1.4 0" xyz="0.22 0 0.07"/>
+      <material name="stainless">
+        <color rgba="0.3 0.3 .3 1"/>
+      </material>
+    </visual>
+
+    <collision>  <!-- handle -->
+      <geometry>
+        <cylinder radius="0.011" length="0.185"/>
+      </geometry>
+      <origin rpy="0 1.4 0" xyz="0.22 0 0.07"/>
+    </collision>
+    <collision>  <!-- bottom -->
+      <geometry>
+        <cylinder radius="0.12" length="0.01"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.005"/>
+    </collision>
+
+    <collision>
+      <geometry>
+        <mesh filename="pan_tefal-collision01.obj"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+
+    <collision>
+      <geometry>
+        <mesh filename="pan_tefal-collision02.obj"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+
+    <collision>
+      <geometry>
+        <mesh filename="pan_tefal-collision03.obj"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+
+    <collision>
+      <geometry>
+        <mesh filename="pan_tefal-collision04.obj"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+
+    <collision>
+      <geometry>
+        <mesh filename="pan_tefal-collision05.obj"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+
+    <collision>
+      <geometry>
+        <mesh filename="pan_tefal-collision06.obj"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+
+    <inertial>
+      <mass value="2."/>  <!-- mr^2 = 0.5*0.12^2 = 0.0072 for Z axis, lighter along other axis -->
+      <inertia ixx="0.005" iyy="0.005" izz="0.0072"/>
+    </inertial>
+  </link>
+
+</robot>
+
diff --git a/data/dinnerware/plate-collision01.obj b/data/dinnerware/plate-collision01.obj
new file mode 100644
index 000000000..33e691ab8
--- /dev/null
+++ b/data/dinnerware/plate-collision01.obj
@@ -0,0 +1,34 @@
+mtllib dinnerware.mtl
+usemtl pan_tefal
+v 0.049745 0.084455 0.060000
+v 0.051940 0.089963 0.060000
+v 0.029150 0.050489 0.000000
+v 0.027560 0.047735 0.000000
+v 0.098993 0.000845 0.060600
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new file mode 100644
index 000000000..fbe37c364
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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diff --git a/data/dinnerware/plate.urdf b/data/dinnerware/plate.urdf
new file mode 100644
index 000000000..57c9acdc6
--- /dev/null
+++ b/data/dinnerware/plate.urdf
@@ -0,0 +1,69 @@
+<?xml version="1.0"?>
+<robot name="cube">
+  <!-- Frying pan model, Copyright (c) 2016 Oleg Klimov       -->
+  <!-- LICENSE: CC-SA                                         -->
+  <link name="cube">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="plate.obj"/>
+      </geometry>
+    </visual>
+
+    <collision>  <!-- bottom -->
+      <geometry>
+        <cylinder radius="0.05" length="0.005"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0025"/>
+    </collision>
+
+    <collision>
+      <geometry>
+        <mesh filename="plate-collision01.obj"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+
+    <collision>
+      <geometry>
+        <mesh filename="plate-collision02.obj"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+
+    <collision>
+      <geometry>
+        <mesh filename="plate-collision03.obj"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+
+    <collision>
+      <geometry>
+        <mesh filename="plate-collision04.obj"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+
+    <collision>
+      <geometry>
+        <mesh filename="plate-collision05.obj"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+
+    <collision>
+      <geometry>
+        <mesh filename="plate-collision06.obj"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+
+    <inertial>
+      <mass value="0.5"/>  <!-- mr^2 = 0.5*0.12^2 = 0.0072 for Z axis, lighter along other axis -->
+      <inertia ixx="0.005" iyy="0.005" izz="0.0072"/>
+    </inertial>
+  </link>
+
+</robot>
+
diff --git a/data/sphere_1cm.urdf b/data/sphere_1cm.urdf
new file mode 100644
index 000000000..b44069877
--- /dev/null
+++ b/data/sphere_1cm.urdf
@@ -0,0 +1,30 @@
+<?xml version="0.0" ?>
+<robot name="urdf_robot">
+  <link name="base_link">
+    <contact>
+      <rolling_friction value="0.0001"/>
+      <spinning_friction value="0.0001"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+       <mass value=".1"/>
+       <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="textured_sphere_smooth.obj" scale="0.005 0.005 0.005"/>      
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+	 <sphere radius="0.005"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
+
diff --git a/examples/pybullet/manyspheres.py b/examples/pybullet/manyspheres.py
new file mode 100644
index 000000000..c06a477ab
--- /dev/null
+++ b/examples/pybullet/manyspheres.py
@@ -0,0 +1,25 @@
+import pybullet as p
+import time
+
+p.connect(p.GUI)
+p.loadURDF("plane.urdf",useMaximalCoordinates=True)
+p.loadURDF("tray/traybox.urdf",useMaximalCoordinates=True)
+
+gravXid = p.addUserDebugParameter("gravityX",-10,10,0)
+gravYid = p.addUserDebugParameter("gravityY",-10,10,0)
+gravZid = p.addUserDebugParameter("gravityZ",-10,10,0)
+p.setPhysicsEngineParameter(numSolverIterations=10)
+
+for i in range (10):
+    for j in range (10):
+        for k in range (5):
+            ob = p.loadURDF("sphere_1cm.urdf",[0.02*i,0.02*j,0.2+0.02*k],useMaximalCoordinates=True)
+p.setGravity(0,0,-10)
+p.setRealTimeSimulation(1)
+while True:
+    gravX = p.readUserDebugParameter(gravXid)
+    gravY = p.readUserDebugParameter(gravYid)
+    gravZ = p.readUserDebugParameter(gravZid)
+    p.setGravity(gravX,gravY,gravZ)
+    time.sleep(1)
+