diff --git a/examples/pybullet/gym/pybullet_data/sphere8cube.urdf b/examples/pybullet/gym/pybullet_data/sphere8cube.urdf
new file mode 100644
index 000000000..54f114d9d
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/sphere8cube.urdf
@@ -0,0 +1,63 @@
+<?xml version="0.0" ?>
+<robot name="urdf_robot">
+  <link name="baseLink">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+       <mass value="10.0"/>
+       <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="cube.obj" scale="1 1 1"/>      
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+        <specular rgb="11 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.4 0.4 0.4"/>
+      <geometry>
+	 		<sphere radius="0.1"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.4 0.4 0.4"/>
+      <geometry>
+	 		<sphere radius="0.1"/>
+      </geometry>
+    </collision><collision>
+      <origin rpy="0 0 0" xyz="0.4 -0.4 0.4"/>
+      <geometry>
+	 		<sphere radius="0.1"/>
+      </geometry>
+    </collision><collision>
+      <origin rpy="0 0 0" xyz="-0.4 -0.4 0.4"/>
+      <geometry>
+	 		<sphere radius="0.1"/>
+      </geometry>
+    </collision><collision>
+      <origin rpy="0 0 0" xyz="0.4 0.4 -0.4"/>
+      <geometry>
+	 		<sphere radius="0.1"/>
+      </geometry>
+    </collision><collision>
+      <origin rpy="0 0 0" xyz="-0.4 0.4 -0.4"/>
+      <geometry>
+	 		<sphere radius="0.1"/>
+      </geometry>
+    </collision><collision>
+      <origin rpy="0 0 0" xyz="0.4 -0.4 -0.4"/>
+      <geometry>
+	 		<sphere radius="0.1"/>
+      </geometry>
+    </collision><collision>
+      <origin rpy="0 0 0" xyz="-0.4 -0.4 -0.4"/>
+      <geometry>
+	 		<sphere radius="0.1"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
+