diff --git a/dart/utils/SkelParser.cpp b/dart/utils/SkelParser.cpp
index 3ca4512a6974a..251e9f545201e 100644
--- a/dart/utils/SkelParser.cpp
+++ b/dart/utils/SkelParser.cpp
@@ -869,7 +869,7 @@ dynamics::ShapePtr SkelParser::readShape(
     const aiScene* model = dynamics::MeshShape::loadMesh(meshUri, _retriever);
     if (model)
     {
-      newShape = std::make_shared<dynamics::MeshShape>(
+      newShape = Eigen::make_aligned_shared<dynamics::MeshShape>(
         scale, model, meshUri, _retriever);
     }
     else
diff --git a/dart/utils/sdf/SdfParser.cpp b/dart/utils/sdf/SdfParser.cpp
index 331e7209c9b05..051be06b9fec7 100644
--- a/dart/utils/sdf/SdfParser.cpp
+++ b/dart/utils/sdf/SdfParser.cpp
@@ -646,7 +646,7 @@ dynamics::ShapePtr SdfParser::readShape(
     const aiScene* model = dynamics::MeshShape::loadMesh(meshUri, _retriever);
 
     if (model)
-      newShape = std::make_shared<dynamics::MeshShape>(
+      newShape = Eigen::make_aligned_shared<dynamics::MeshShape>(
         scale, model, meshUri, _retriever);
     else
     {
diff --git a/data/sdf/test/mesh.sdf b/data/sdf/test/mesh.sdf
new file mode 100644
index 0000000000000..428df188bc51f
--- /dev/null
+++ b/data/sdf/test/mesh.sdf
@@ -0,0 +1,41 @@
+<sdf version='1.4'>
+  <model name='mesh_skeleton'>
+    <link name='pelvis'>
+      <pose>0 0 0 0 -0 0</pose>
+      <inertial>
+        <pose>0.0111 0 0.0271 0 -0 0</pose>
+        <mass>17.882</mass>
+        <inertia>
+          <ixx>0.1244</ixx>
+          <ixy>0.0008</ixy>
+          <ixz>-0.0007</ixz>
+          <iyy>0.0958</iyy>
+          <iyz>-0.0005</iyz>
+          <izz>0.1167</izz>
+        </inertia>
+      </inertial>
+      <collision name='pelvis_collision'>
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>pelvis.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='pelvis_visual'>
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>pelvis.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <velocity_decay>
+        <linear>0</linear>
+        <angular>0</angular>
+      </velocity_decay>
+    </link>
+  </model>
+</sdf>
diff --git a/data/sdf/test/pelvis.dae b/data/sdf/test/pelvis.dae
new file mode 100644
index 0000000000000..ca4a875cf7434
--- /dev/null
+++ b/data/sdf/test/pelvis.dae
@@ -0,0 +1,8727 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author></author>
+      <authoring_tool>FBX COLLADA exporter</authoring_tool>
+      <comments></comments>
+    </contributor>
+    <created>2013-04-12T18:24:49Z</created>
+    <keywords></keywords>
+    <modified>2013-04-12T18:24:49Z</modified>
+    <revision></revision>
+    <subject></subject>
+    <title></title>
+    <unit meter="1.000000" name="meter"></unit>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images>
+    <image id="drc_extremities_diffuse-image" name="drc_extremities_diffuse">
+      <init_from>../materials/textures/drc_extremities_diffuse.jpg</init_from>
+    </image>
+  </library_images>
+  <library_materials>
+    <material id="drc_extremities_diffuse" name="drc_extremities_diffuse">
+      <instance_effect url="#drc_extremities_diffuse-fx"/>
+    </material>
+  </library_materials>
+  <library_effects>
+    <effect id="drc_extremities_diffuse-fx" name="drc_extremities_diffuse">
+      <profile_COMMON>
+        <technique sid="standard">
+          <phong>
+            <emission>
+              <color sid="emission">0.000000  0.000000 0.000000 1.000000</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.588235  0.588235 0.588235 1.000000</color>
+            </ambient>
+            <diffuse>
+              <texture texture="drc_extremities_diffuse-image" texcoord="CHANNEL0">
+                <extra>
+                  <technique profile="MAYA">
+                    <wrapU sid="wrapU0">TRUE</wrapU>
+                    <wrapV sid="wrapV0">TRUE</wrapV>
+                    <blend_mode>ADD</blend_mode>
+                  </technique>
+                </extra>
+              </texture>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.000000  0.000000 0.000000 1.000000</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">2.000000</float>
+            </shininess>
+            <reflective>
+              <color sid="reflective">0.000000  0.000000 0.000000 1.000000</color>
+            </reflective>
+            <reflectivity>
+              <float sid="reflectivity">1.000000</float>
+            </reflectivity>
+            <transparent opaque="RGB_ZERO">
+              <color sid="transparent">1.000000  1.000000 1.000000 1.000000</color>
+            </transparent>
+            <transparency>
+              <float sid="transparency">0.000000</float>
+            </transparency>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_geometries>
+    <geometry id="drc_pelvis-lib" name="drc_pelvisMesh">
+      <mesh>
+        <source id="drc_pelvis-POSITION">
+          <float_array id="drc_pelvis-POSITION-array" count="3327">
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5122 1159 1033 5123 1160 1033 5124 1160 1029 5125 1162 1028 5126 1161 1029 5127 1597 1033 5128 1600 1030 5129 1601 1030 5130 1601 1026 5131 1598 1029 5132 1597 1027 5133 1010 1031 5134 1020 1032 5135 1021 1032 5136 1021 1028 5137 1011 1027 5138 1010 1030 5139 1147 1034 5140 1149 1035 5141 1150 1035 5142 1150 1031 5143 1148 1030 5144 1147 1032 5145 1159 1036 5146 1157 1037 5147 1158 1037 5148 1158 1033 5149 1160 1032 5150 1159 1033 5151 1600 1037 5152 1604 1034 5153 1605 1034 5154 1605 1030 5155 1601 1033 5156 1600 1031 5157 1020 1035 5158 1027 1036 5159 1028 1036 5160 1028 1032 5161 1021 1031 5162 1020 1034 5163 1149 1038 5164 1151 1039 5165 1152 1039 5166 1152 1035 5167 1150 1034 5168 1149 1036 5169 1157 1040 5170 1155 1041 5171 1156 1041 5172 1156 1037 5173 1158 1036 5174 1157 1037 5175 1604 1041 5176 1611 1042 5177 1612 1042 5178 1612 1038 5179 1608 1037 5180 1604 1037 5181 1604 1038 5182 1608 1034 5183 1605 1035 5184 1027 1039 5185 1037 1043 5186 1038 1043 5187 1038 1040 5188 1033 1035 5189 1027 1035 5190 1027 1040 5191 1033 1036 5192 1028 1043 5193 1153 1039 5194 1152 1038 5195 1151 1038 5196 1151 1042 5197 1154 1043 5198 1153 1040 5199 1155 1043 5200 1153 1042 5201 1154 1042 5202 1154 1041 5203 1156 1040 5204 1155 1020 5205 1631 998 5206 1063 1000 5207 1060 1000 5208 1060 1021 5209 1634 1020 5210 1631 1019 5211 1629 1018 5212 1062 998 5213 1063 998 5214 1063 1020 5215 1631 1019 5216 1629 960 5217 1632 1023 5218 1633 1000 5219 1060 1000 5220 1060 996 5221 1630 960 5222 1632 1022 5223 1628 1023 5224 1626 1018 5225 1062 1018 5226 1062 1019 5227 1629 1022 5228 1628 1005 5229 1134 987 5230 1056 989 5231 1133 989 5232 1133 1014 5233 1132 1005 5234 1134 1016 5235 1116 942 5236 1117 940 5237 1112 940 5238 1112 1015 5239 1115 1016 5240 1116 942 5241 1040 1017 5242 1041 988 5243 1036 988 5244 1036 945 5245 204 942 5246 1040 1016 5247 1130 1015 5248 1131 1014 5249 1132 1014 5250 1132 989 5251 1133 1016 5252 1130 988 5253 1140 1044 5254 1141 1045 5255 1142 1045 5256 1142 989 5257 1133 988 5258 1140 989 5259 1127 1045 5260 1128 1016 5261 1129 1016 5262 1116 1045 5263 1122 1044 5264 1123 1044 5265 1123 1017 5266 1119 1016 5267 1116 1017 5268 1041 1044 5269 1043 988 5270 1036 965 5271 1335 966 5272 1338 1025 5273 1332 1024 5274 1333 963 5275 1336 928 5276 1337 928 5277 1337 964 5278 1334 1024 5279 1333 1025 5280 1332 1024 5281 1333 964 5282 1334 964 5283 1334 965 5284 1335 1025 5285 1332 1046 5286 1541 1047 5287 1540 1048 5288 1542 1048 5289 1542 1049 5290 1543 1046 5291 1541 1050 5292 1544 1049 5293 1543 1051 5294 1545 1052 5295 1447 1053 5296 1449 1054 5297 1446 1055 5298 1511 1056 5299 1510 1057 5300 1512 1057 5301 1512 1058 5302 1513 1055 5303 1511 1059 5304 1494 1052 5305 1495 1050 5306 1496 1050 5307 1496 1052 5308 1495 1054 5309 1497 1054 5310 1497 1049 5311 1498 1050 5312 1496 1049 5313 1498 1054 5314 1497 1046 5315 1499 1060 5316 1504 1061 5317 1503 1062 5318 1502 1062 5319 1502 1063 5320 1505 1060 5321 1504 1064 5322 1506 1060 5323 1504 1063 5324 1505 1063 5325 1505 1065 5326 1507 1064 5327 1506 1059 5328 1494 1066 5329 1490 1067 5330 1493 1067 5331 1493 1052 5332 1495 1059 5333 1494 1062 5334 1454 1065 5335 1453 1063 5336 1455 1054 5337 1497 1068 5338 1500 1069 5339 1501 1069 5340 1501 1046 5341 1499 1054 5342 1497 1064 5343 1517 1061 5344 1521 1060 5345 1524 1068 5346 1500 1062 5347 1502 1061 5348 1503 1061 5349 1503 1069 5350 1501 1068 5351 1500 1069 5352 1516 1061 5353 1521 1064 5354 1517 1070 5355 1508 1064 5356 1506 1065 5357 1507 1065 5358 1507 1053 5359 1509 1070 5360 1508 1069 5361 1516 1071 5362 1514 1046 5363 1515 1071 5364 1514 1069 5365 1516 1070 5366 1518 1069 5367 1516 1064 5368 1517 1070 5369 1518 1068 5370 1450 1065 5371 1453 1062 5372 1454 1053 5373 1449 1068 5374 1450 1054 5375 1446 1065 5376 1453 1068 5377 1450 1053 5378 1449 1053 5379 1509 1056 5380 1510 1055 5381 1511 1055 5382 1511 1070 5383 1508 1053 5384 1509 1055 5385 1520 1058 5386 1522 1066 5387 1523 1066 5388 1523 1059 5389 1519 1055 5390 1520 1066 5391 1490 1058 5392 1491 1057 5393 1492 1057 5394 1492 1067 5395 1493 1066 5396 1490 1056 5397 1448 1053 5398 1449 1052 5399 1447 1067 5400 1451 1057 5401 1452 1056 5402 1448 1056 5403 1448 1052 5404 1447 1067 5405 1451 1059 5406 1519 1071 5407 1514 1070 5408 1518 1070 5409 1518 1055 5410 1520 1059 5411 1519 1059 5412 1536 1072 5413 1537 1073 5414 1538 1073 5415 1538 1071 5416 1539 1059 5417 1536 1051 5418 1545 1049 5419 1543 1048 5420 1542 1048 5421 1542 1074 5422 1547 1051 5423 1545 1071 5424 1539 1073 5425 1538 1047 5426 1540 1047 5427 1540 1046 5428 1541 1071 5429 1539 1075 5430 1546 1074 5431 1547 1048 5432 1542 1076 5433 1457 1077 5434 1459 1078 5435 1456 1079 5436 1486 1080 5437 1488 1081 5438 1489 1081 5439 1489 1082 5440 1487 1079 5441 1486 1072 5442 1471 1075 5443 1472 1078 5444 1470 1075 5445 1472 1048 5446 1473 1076 5447 1474 1076 5448 1474 1078 5449 1470 1075 5450 1472 1048 5451 1473 1047 5452 1475 1076 5453 1474 1083 5454 1481 1084 5455 1480 1085 5456 1479 1085 5457 1479 1086 5458 1478 1083 5459 1481 1087 5460 1483 1088 5461 1482 1084 5462 1480 1084 5463 1480 1083 5464 1481 1087 5465 1483 1072 5466 1471 1078 5467 1470 1089 5468 1466 1089 5469 1466 1090 5470 1469 1072 5471 1471 1085 5472 1464 1084 5473 1465 1088 5474 1461 1076 5475 1474 1047 5476 1475 1091 5477 1476 1091 5478 1476 1092 5479 1477 1076 5480 1474 1087 5481 1531 1083 5482 1535 1086 5483 1534 1092 5484 1477 1091 5485 1476 1086 5486 1478 1086 5487 1478 1085 5488 1479 1092 5489 1477 1091 5490 1525 1087 5491 1531 1086 5492 1534 1093 5493 1485 1077 5494 1484 1088 5495 1482 1088 5496 1482 1087 5497 1483 1093 5498 1485 1091 5499 1525 1047 5500 1526 1073 5501 1527 1073 5502 1527 1093 5503 1529 1091 5504 1525 1091 5505 1525 1093 5506 1529 1087 5507 1531 1092 5508 1458 1085 5509 1464 1088 5510 1461 1077 5511 1459 1076 5512 1457 1092 5513 1458 1088 5514 1461 1077 5515 1459 1092 5516 1458 1077 5517 1484 1093 5518 1485 1079 5519 1486 1079 5520 1486 1082 5521 1487 1077 5522 1484 1079 5523 1528 1072 5524 1530 1090 5525 1532 1090 5526 1532 1080 5527 1533 1079 5528 1528 1090 5529 1469 1089 5530 1466 1081 5531 1467 1081 5532 1467 1080 5533 1468 1090 5534 1469 1082 5535 1460 1078 5536 1456 1077 5537 1459 1089 5538 1462 1078 5539 1456 1082 5540 1460 1082 5541 1460 1081 5542 1463 1089 5543 1462 1072 5544 1530 1079 5545 1528 1093 5546 1529 1093 5547 1529 1073 5548 1527 1072 5549 1530 1050 5550 1548 1051 5551 1545 1074 5552 1547 1074 5553 1547 1059 5554 1549 1050 5555 1548 1074 5556 1547 1075 5557 1550 1072 5558 1551 1072 5559 1551 1059 5560 1549 1074 5561 1547 1094 5562 1398 1095 5563 1399 1096 5564 1400 1096 5565 1400 1097 5566 1401 1094 5567 1398 1095 5568 1399 1098 5569 1402 1099 5570 1403 1099 5571 1403 1096 5572 1400 1095 5573 1399 1098 5574 1402 1100 5575 1404 1101 5576 1405 1101 5577 1405 1099 5578 1403 1098 5579 1402 1100 5580 1404 1102 5581 1406 1103 5582 1407 1103 5583 1407 1101 5584 1405 1100 5585 1404 1102 5586 1406 1104 5587 1408 1105 5588 1409 1105 5589 1409 1103 5590 1407 1102 5591 1406 1104 5592 1408 1094 5593 1410 1097 5594 1411 1097 5595 1411 1105 5596 1409 1104 5597 1408 1102 5598 1381 1100 5599 1382 1098 5600 1378 1098 5601 1378 1094 5602 1380 1102 5603 1381 1098 5604 1378 1095 5605 1379 1094 5606 1380 1104 5607 1383 1102 5608 1381 1094 5609 1380 1106 5610 1826 1107 5611 1827 1108 5612 1828</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="pelvis" name="pelvis">
+      <node name="g27" id="g27" sid="g27">
+        <matrix sid="matrix">1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000</matrix>
+        <extra>
+          <technique profile="FCOLLADA">
+            <visibility>1.000000</visibility>
+          </technique>
+        </extra>
+        <node name="pelvis_node" id="pelvis_node" sid="pelvis_node">
+          <matrix sid="matrix">1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000</matrix>
+          <extra>
+            <technique profile="FCOLLADA">
+              <visibility>1.000000</visibility>
+            </technique>
+          </extra>
+          <node name="f_2013-02-11_pelvis_asm_for_yeuhi" id="f_2013-02-11_pelvis_asm_for_yeuhi" sid="f_2013-02-11_pelvis_asm_for_yeuhi">
+            <matrix sid="matrix">1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000</matrix>
+            <extra>
+              <technique profile="FCOLLADA">
+                <visibility>1.000000</visibility>
+              </technique>
+            </extra>
+            <node name="drc_pelvis" id="drc_pelvis" sid="drc_pelvis">
+              <matrix sid="matrix">-0.000000 0.000000 1.010853 -0.014561 1.010853 0.000000 0.000000 -0.000357 0.000000 1.010853 -0.000000 -0.013599 0.000000 0.000000 0.000000 1.000000</matrix>
+              <instance_geometry url="#drc_pelvis-lib">
+                <bind_material>
+                  <technique_common>
+                    <instance_material symbol="drc_extremities_diffuse" target="#drc_extremities_diffuse"/>
+                  </technique_common>
+                </bind_material>
+              </instance_geometry>
+              <extra>
+                <technique profile="FCOLLADA">
+                  <visibility>1.000000</visibility>
+                </technique>
+              </extra>
+            </node>
+          </node>
+        </node>
+      </node>
+      <extra>
+        <technique profile="MAX3D">
+          <frame_rate>30.000000</frame_rate>
+        </technique>
+        <technique profile="FCOLLADA">
+          <start_time>0.000000</start_time>
+          <end_time>3.333333</end_time>
+        </technique>
+      </extra>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#pelvis"></instance_visual_scene>
+  </scene>
+</COLLADA>
+
diff --git a/data/sdf/test/pelvis.stl b/data/sdf/test/pelvis.stl
new file mode 100644
index 0000000000000..eb3713966e713
Binary files /dev/null and b/data/sdf/test/pelvis.stl differ
diff --git a/data/skel/test/shapes.skel b/data/skel/test/shapes.skel
new file mode 100644
index 0000000000000..e5f55c325e90e
--- /dev/null
+++ b/data/skel/test/shapes.skel
@@ -0,0 +1,207 @@
+<?xml version="1.0" ?>
+<skel version="1.0">
+    <world name="world 1">
+        <physics>
+            <time_step>0.001</time_step>
+            <gravity>0 -9.81 0</gravity>
+            <collision_detector>fcl</collision_detector>
+        </physics>
+        
+        <skeleton name="grount skeleton">
+            <body name="ground">
+                <transformation>0 -0.375 0 0 0 0</transformation>
+                <visualization_shape>
+                    <transformation>0 -0.005 0 0 0 0</transformation>
+                    <geometry>
+                        <box>
+                            <size>10 0.01 10</size>
+                        </box>
+                    </geometry>
+                    <color>0.95 0.95 0.95</color>
+                </visualization_shape>
+                <collision_shape>
+                    <transformation>0 0 0 0 0 0</transformation>
+                    <geometry>
+                        <box>
+                            <size>10 0.01 10</size>
+                        </box>
+                    </geometry>
+                </collision_shape>                                
+            </body>
+            <joint type="weld" name="joint 1">
+                <parent>world</parent>
+                <child>ground</child>
+            </joint>
+        </skeleton> 
+        
+        <skeleton name="box skeleton">
+            <body name="box">
+                <gravity>1</gravity>
+                <transformation>-0.4 -0.0 0 1 2 3</transformation>
+                <inertia>
+                    <mass>1</mass>
+                    <offset>0 0 0</offset>
+                </inertia>
+                <visualization_shape>
+                    <transformation>0 0 0 0 0 0</transformation>
+                    <geometry>
+                        <box>
+                            <size>0.1 0.05 0.1</size>
+                        </box>
+                    </geometry>
+                    <color>0.8 0.3 0.3</color>
+                </visualization_shape>
+                <collision_shape>
+                    <transformation>0 0 0 0 0 0</transformation>
+                    <geometry>
+                        <box>
+                            <size>0.1 0.05 0.1</size>
+                        </box>
+                    </geometry>
+                </collision_shape>                                
+            </body>
+            
+            <joint type="free" name="joint 1">
+                <parent>world</parent>
+                <child>box</child>
+            </joint>
+        </skeleton>
+        
+        <skeleton name="sphere skeleton">
+            <body name="sphere">
+                <gravity>1</gravity>
+                <transformation>-0.2 -0.0 0 1 2 3</transformation>
+                <inertia>
+                    <mass>1</mass>
+                    <offset>0 0 0</offset>
+                </inertia>
+                <visualization_shape>
+                    <transformation>0 0 0 0 0 0</transformation>
+                    <geometry>
+                        <ellipsoid>
+                            <size>0.1 0.1 0.1</size>
+                        </ellipsoid>
+                    </geometry>
+                    <color>0.3 0.8 0.3</color>
+                </visualization_shape>
+                <collision_shape>
+                    <transformation>0 0 0 0 0 0</transformation>
+                    <geometry>
+                        <ellipsoid>
+                            <size>0.1 0.1 0.1</size>
+                        </ellipsoid>
+                    </geometry>
+                </collision_shape>                                
+            </body>
+            
+            <joint type="free" name="joint 1">
+                <parent>world</parent>
+                <child>sphere</child>
+            </joint>
+        </skeleton>
+        
+        <skeleton name="ellipsoid skeleton">
+            <body name="ellipsoid">
+                <gravity>1</gravity>
+                <transformation>-0.0 -0.0 0 1 2 3</transformation>
+                <inertia>
+                    <mass>1</mass>
+                    <offset>0 0 0</offset>
+                </inertia>
+                <visualization_shape>
+                    <transformation>0 0 0 0 0 0</transformation>
+                    <geometry>
+                        <ellipsoid>
+                            <size>0.05 0.10 0.15</size>
+                        </ellipsoid>
+                    </geometry>
+                    <color>0.8 0.8 0.4</color>
+                </visualization_shape>
+                <collision_shape>
+                    <transformation>0 0 0 0 0 0</transformation>
+                    <geometry>
+                        <ellipsoid>
+                            <size>0.05 0.10 0.15</size>
+                        </ellipsoid>
+                    </geometry>
+                </collision_shape>                                
+            </body>
+            
+            <joint type="free" name="joint 1">
+                <parent>world</parent>
+                <child>ellipsoid</child>
+            </joint>
+        </skeleton>
+
+        <skeleton name="cylinder skeleton">
+            <body name="cylinder">
+                <gravity>1</gravity>
+                <transformation>0.2 -0.0 0 1 2 3</transformation>
+                <inertia>
+                    <mass>1</mass>
+                    <offset>0 0 0</offset>
+                </inertia>
+                <visualization_shape>
+                    <transformation>0 0 0 0 0 0</transformation>
+                    <geometry>
+                        <cylinder>
+                            <height>0.1</height>
+                            <radius>0.05</radius>
+                        </cylinder>
+                    </geometry>
+                    <color>0.6 0.6 0.8</color>
+                </visualization_shape>
+                <collision_shape>
+                    <transformation>0 0 0 0 0 0</transformation>
+                    <geometry>
+                        <cylinder>
+                            <height>0.1</height>
+                            <radius>0.05</radius>
+                        </cylinder>
+                    </geometry>
+                </collision_shape>                                
+            </body>
+            
+            <joint type="free" name="joint 1">
+                <parent>world</parent>
+                <child>cylinder</child>
+            </joint>
+        </skeleton>
+
+        <skeleton name="mesh skeleton">
+            <body name="mesh">
+                <gravity>1</gravity>
+                <transformation>0.4 -0.0 0 1 2 3</transformation>
+                <inertia>
+                    <mass>1</mass>
+                    <offset>0 0 0</offset>
+                </inertia>
+                <visualization_shape>
+                    <transformation>0 0 0 0 0 0</transformation>
+                    <geometry>
+                        <mesh>
+                            <file_name>../../obj/foot.obj</file_name>
+                            <scale>1.0 1.0 1.0</scale>
+                        </mesh>
+                    </geometry>
+                    <color>0.6 0.6 0.8</color>
+                </visualization_shape>
+                <collision_shape>
+                    <transformation>0 0 0 0 0 0</transformation>
+                    <geometry>
+                        <mesh>
+                            <file_name>../../obj/foot.obj</file_name>
+                            <scale>1.0 1.0 1.0</scale>
+                        </mesh>
+                    </geometry>
+                </collision_shape>                                
+            </body>
+            
+            <joint type="free" name="joint 1">
+                <parent>world</parent>
+                <child>mesh</child>
+            </joint>
+        </skeleton> 
+
+    </world>
+</skel>
diff --git a/unittests/testSdfParser.cpp b/unittests/testSdfParser.cpp
index 51077562b370c..d18c6a232e659 100644
--- a/unittests/testSdfParser.cpp
+++ b/unittests/testSdfParser.cpp
@@ -75,6 +75,19 @@ TEST(SdfParser, SDFSingleBodyWithoutJoint)
   EXPECT_EQ(joint->getType(), FreeJoint::getStaticType());
 }
 
+//==============================================================================
+TEST(SdfParser, LoadMesh)
+{
+  // Check if the parser can load mesh shape without any problems and the
+  // world can simulate it successfully.
+  auto world(new World);
+  auto skel = SdfParser::readSkeleton(DART_DATA_PATH"/sdf/test/mesh.sdf");
+  world->addSkeleton(skel);
+
+  for (auto i = 0u; i < 100; ++i)
+    world->step();
+}
+
 //==============================================================================
 int main(int argc, char* argv[])
 {
diff --git a/unittests/testSkelParser.cpp b/unittests/testSkelParser.cpp
index 0bb8c38671f70..4e4082473804a 100644
--- a/unittests/testSkelParser.cpp
+++ b/unittests/testSkelParser.cpp
@@ -153,6 +153,18 @@ TEST(SkelParser, SerialChain)
   world->step();
 }
 
+//==============================================================================
+TEST(SkelParser, VariousShapes)
+{
+  // Check if the parser can load various shapes without any problems and the
+  // world can simulate it successfully.
+
+  WorldPtr world = SkelParser::readWorld(DART_DATA_PATH"skel/test/shapes.skel");
+
+  for (auto i = 0u; i < 100; ++i)
+    world->step();
+}
+
 //==============================================================================
 TEST(SkelParser, RigidAndSoftBodies)
 {