diff --git a/pyrobolearn/worlds/meshes/sports/basketball/BLENDSWAP_LICENSE.txt b/pyrobolearn/worlds/meshes/sports/basketball/BLENDSWAP_LICENSE.txt
new file mode 100755
index 0000000..215c5f3
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/basketball/BLENDSWAP_LICENSE.txt
@@ -0,0 +1,77 @@
+--------------------------------------------------------------------------------
+Thank you for downloading "Basketball" by SEspider
+Released under
+Creative Commons Zero (Public Domain)
+Downloaded from http://www.blendswap.com/blends/view/5106
+
+The following is important licensing information, please keep this file for
+archival and future reference when working with the file. It's important that
+you know, understand and follow any requirements stated in this file regarding
+the usage of the materials included.
+
+Some parts of this file are marked with [#], the corresponding numbered note is
+at the end of the file.
+
+--------------------------------------------------------------------------------
+################################################################################
+
+VERY IMPORTANT LICENSE INFORMATION:
+
+This blend has been released under
+Creative Commons Zero (Public Domain)
+
+This means that you can use it for any purpose you see fit, even commercially,
+as long as you respect these requirements:
+
+	--There are no requirements for CC-0 licensed blends.
+################################################################################
+--------------------------------------------------------------------------------
+
+ABOUT THE BLEND:
+
+Ready for Blender 2.52
+Published on: 2011-04-03 08:10:46
+
+--------------------------------------------------------------------------------
+
+HELP US MODERATE THIS BLEND:
+If you find anomalies in this blend or any of the contained files such as:
+
+	- Missing, unneeded or corrupted files.
+	- Inaccurate/mismatching preview image on the site.
+	- Illegal distribution of third party files.
+	- Ripping from a game or other 3D repository.
+	- Uncredited or incorrect use of other CC licensed works.
+	- Some other troubling issues[1].
+
+Please submit a report from  http://www.blendswap.com/blends/view/5106
+by pressing the red button with the flag, including links and details that serve
+as evidence and can help us to solve any conflicts or issues derived from the
+contents of this file.
+
+--------------------------------------------------------------------------------
+
+Thank you for using Blend Swap!
+
+Register to get tons of more blends! http://www.blendswap.com/register
+Share your own blends with the world from http://www.blendswap.com/blends/add
+
+Get answers to your questions and doubts: http://www.blendswap.com/page/faq
+If the site doesn't work for you try here: http://www.blendswap.com/page/issues
+For questions please contact us: http://www.blendswap.com/contact
+Check out our Terms Of Use: http://www.blendswap.com/tou
+Report website bugs: http://www.blendswap.com/bugs
+
+Consider getting an associate Membership to get some neat features and
+enhancements.
+
+--------------------------------------------------------------------------------
+
+NOTES:
+
+[1] Please make sure your problem is not derived from a setting in Blender (like
+hidden layers or objects) before submitting a report under the "Other" category.
+Issues arising from this type of problem will be ignored.
+
+--------------------------------------------------------------------------------
+######################    END OF BLEND SWAP LICENSE.txt    #####################
\ No newline at end of file
diff --git a/pyrobolearn/worlds/meshes/sports/basketball/Basketball-ColorMap.jpg b/pyrobolearn/worlds/meshes/sports/basketball/Basketball-ColorMap.jpg
new file mode 100644
index 0000000..ecf390d
Binary files /dev/null and b/pyrobolearn/worlds/meshes/sports/basketball/Basketball-ColorMap.jpg differ
diff --git a/pyrobolearn/worlds/meshes/sports/basketball/CHANGELOG.txt b/pyrobolearn/worlds/meshes/sports/basketball/CHANGELOG.txt
new file mode 100644
index 0000000..38863cd
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/basketball/CHANGELOG.txt
@@ -0,0 +1,2 @@
+
+Brian Delhaisse: Compared to the original, I rescaled and rotated the basketball net, board, and ball. I also converted the texture for the basketball net and board (from .jpg to .png).
diff --git a/pyrobolearn/worlds/meshes/sports/basketball/INFO.txt b/pyrobolearn/worlds/meshes/sports/basketball/INFO.txt
new file mode 100644
index 0000000..d589eef
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/basketball/INFO.txt
@@ -0,0 +1,3 @@
+
+- The license for the basketball net and board is the `LICENSE.TXT` file.
+- The license for the ball is the `BLENDSWAP_LICENSE.txt` file.
\ No newline at end of file
diff --git a/pyrobolearn/worlds/meshes/sports/basketball/LICENSE.TXT b/pyrobolearn/worlds/meshes/sports/basketball/LICENSE.TXT
new file mode 100644
index 0000000..7b5880a
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/basketball/LICENSE.TXT
@@ -0,0 +1,20 @@
+This file is under the Creative Commons Attribution 3.0 Unported license:
+	
+http://creativecommons.org/licenses/by/3.0/
+	
+Your are free to:
+	
+	Share - copy and redistribute the material in any medium or format
+	
+	Adapt - remix, transform, and build upon the material
+	
+	for any purpose, even commercially.
+	
+ 	The licensor cannot revoke these freedoms as long as you follow the license terms.
+	
+Under the following terms:
+	
+	Attribution: If you want distribute this work, or
+	derivates, you must attribute it to  
+        Emmanuel PUYBARET / eTeks <info@eteks.com>  and
+        Scopia Visual Interfaces Systems, s.l. (http://www.scopia.es)
diff --git a/pyrobolearn/worlds/meshes/sports/basketball/ball.mtl b/pyrobolearn/worlds/meshes/sports/basketball/ball.mtl
new file mode 100644
index 0000000..b70135e
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/basketball/ball.mtl
@@ -0,0 +1,13 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl Material.001
+Ns 19.607843
+Ka 0.000000 0.000000 0.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.200000 0.200000 0.200000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd Basketball-ColorMap.jpg
diff --git a/pyrobolearn/worlds/meshes/sports/basketball/ball.obj b/pyrobolearn/worlds/meshes/sports/basketball/ball.obj
new file mode 100644
index 0000000..5b8e50e
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/basketball/ball.obj
@@ -0,0 +1,4039 @@
+# Blender v2.76 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/pyrobolearn/worlds/meshes/sports/basketball/basketball.mtl b/pyrobolearn/worlds/meshes/sports/basketball/basketball.mtl
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diff --git a/pyrobolearn/worlds/meshes/sports/basketball/basketball.obj b/pyrobolearn/worlds/meshes/sports/basketball/basketball.obj
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+f 1867/34/1817 1866/35/1817 2020/36/1817 2022/37/1817
+f 1905/34/1815 1906/35/1815 2018/36/1815 2017/37/1815
diff --git a/pyrobolearn/worlds/meshes/sports/basketball/basketball_net_and_board_texture.png b/pyrobolearn/worlds/meshes/sports/basketball/basketball_net_and_board_texture.png
new file mode 100644
index 0000000..f7f75b9
Binary files /dev/null and b/pyrobolearn/worlds/meshes/sports/basketball/basketball_net_and_board_texture.png differ
diff --git a/pyrobolearn/worlds/meshes/sports/billiards/BLENDSWAP_LICENSE.txt b/pyrobolearn/worlds/meshes/sports/billiards/BLENDSWAP_LICENSE.txt
new file mode 100644
index 0000000..409264d
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/billiards/BLENDSWAP_LICENSE.txt
@@ -0,0 +1,77 @@
+--------------------------------------------------------------------------------
+Thank you for downloading "pool table" by jeffie
+Released under
+Creative Commons Zero (Public Domain)
+Downloaded from http://www.blendswap.com/blends/view/67131
+
+The following is important licensing information, please keep this file for
+archival and future reference when working with the file. It's important that
+you know, understand and follow any requirements stated in this file regarding
+the usage of the materials included.
+
+Some parts of this file are marked with [#], the corresponding numbered note is
+at the end of the file.
+
+--------------------------------------------------------------------------------
+################################################################################
+
+VERY IMPORTANT LICENSE INFORMATION:
+
+This blend has been released under
+Creative Commons Zero (Public Domain)
+
+This means that you can use it for any purpose you see fit, even commercially,
+as long as you respect these requirements:
+
+	--There are no requirements for CC-0 licensed blends.
+################################################################################
+--------------------------------------------------------------------------------
+
+ABOUT THE BLEND:
+
+Ready for Blender 2.61
+Published on: 2013-03-16 21:02:05
+
+--------------------------------------------------------------------------------
+
+HELP US MODERATE THIS BLEND:
+If you find anomalies in this blend or any of the contained files such as:
+
+	- Missing, unneeded or corrupted files.
+	- Inaccurate/mismatching preview image on the site.
+	- Illegal distribution of third party files.
+	- Ripping from a game or other 3D repository.
+	- Uncredited or incorrect use of other CC licensed works.
+	- Some other troubling issues[1].
+
+Please submit a report from  http://www.blendswap.com/blends/view/67131
+by pressing the red button with the flag, including links and details that serve
+as evidence and can help us to solve any conflicts or issues derived from the
+contents of this file.
+
+--------------------------------------------------------------------------------
+
+Thank you for using Blend Swap!
+
+Register to get tons of more blends! http://www.blendswap.com/register
+Share your own blends with the world from http://www.blendswap.com/blends/add
+
+Get answers to your questions and doubts: http://www.blendswap.com/page/faq
+If the site doesn't work for you try here: http://www.blendswap.com/page/issues
+For questions please contact us: http://www.blendswap.com/contact
+Check out our Terms Of Use: http://www.blendswap.com/tou
+Report website bugs: http://www.blendswap.com/bugs
+
+Consider getting an associate Membership to get some neat features and
+enhancements.
+
+--------------------------------------------------------------------------------
+
+NOTES:
+
+[1] Please make sure your problem is not derived from a setting in Blender (like
+hidden layers or objects) before submitting a report under the "Other" category.
+Issues arising from this type of problem will be ignored.
+
+--------------------------------------------------------------------------------
+######################    END OF BLEND SWAP LICENSE.txt    #####################
\ No newline at end of file
diff --git a/pyrobolearn/worlds/meshes/sports/billiards/CHANGELOG.txt b/pyrobolearn/worlds/meshes/sports/billiards/CHANGELOG.txt
new file mode 100644
index 0000000..67b7a55
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/billiards/CHANGELOG.txt
@@ -0,0 +1,2 @@
+
+Brian Delhaisse: Compared to the original, I split the various elements (cues, balls, triangle and table) into different OBJ files. I also removed the table legs. Finally, I rescaled, translated, and rotated everything.
diff --git a/pyrobolearn/worlds/meshes/sports/billiards/ball_0.mtl b/pyrobolearn/worlds/meshes/sports/billiards/ball_0.mtl
new file mode 100644
index 0000000..c707b3a
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/billiards/ball_0.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl ballCue
+Ns 94.117647
+Ka 0.000000 0.000000 0.000000
+Kd 0.900000 0.900000 0.900000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
diff --git a/pyrobolearn/worlds/meshes/sports/billiards/ball_0.obj b/pyrobolearn/worlds/meshes/sports/billiards/ball_0.obj
new file mode 100644
index 0000000..db08b99
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/billiards/ball_0.obj
@@ -0,0 +1,1996 @@
+# Blender v2.76 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/pyrobolearn/worlds/meshes/sports/billiards/ball_1.mtl b/pyrobolearn/worlds/meshes/sports/billiards/ball_1.mtl
new file mode 100644
index 0000000..69a3510
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/billiards/ball_1.mtl
@@ -0,0 +1,13 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl ballN1
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+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd n1.png
diff --git a/pyrobolearn/worlds/meshes/sports/billiards/ball_1.obj b/pyrobolearn/worlds/meshes/sports/billiards/ball_1.obj
new file mode 100644
index 0000000..8b571bd
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/billiards/ball_1.obj
@@ -0,0 +1,1996 @@
+# Blender v2.76 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/pyrobolearn/worlds/meshes/sports/billiards/ball_10.mtl b/pyrobolearn/worlds/meshes/sports/billiards/ball_10.mtl
new file mode 100644
index 0000000..6fe1a6d
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/billiards/ball_10.mtl
@@ -0,0 +1,13 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl ballN10
+Ns 94.117647
+Ka 0.000000 0.000000 0.000000
+Kd 0.640000 0.640000 0.640000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd n10.png
diff --git a/pyrobolearn/worlds/meshes/sports/billiards/ball_10.obj b/pyrobolearn/worlds/meshes/sports/billiards/ball_10.obj
new file mode 100644
index 0000000..e72d77f
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/billiards/ball_10.obj
@@ -0,0 +1,1996 @@
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diff --git a/pyrobolearn/worlds/meshes/sports/billiards/ball_11.mtl b/pyrobolearn/worlds/meshes/sports/billiards/ball_11.mtl
new file mode 100644
index 0000000..af13505
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/billiards/ball_11.mtl
@@ -0,0 +1,13 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl ballN11
+Ns 94.117647
+Ka 0.000000 0.000000 0.000000
+Kd 0.640000 0.640000 0.640000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd n11.png
diff --git a/pyrobolearn/worlds/meshes/sports/billiards/ball_11.obj b/pyrobolearn/worlds/meshes/sports/billiards/ball_11.obj
new file mode 100644
index 0000000..2e9e0b1
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/billiards/ball_11.obj
@@ -0,0 +1,1996 @@
+# Blender v2.76 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/pyrobolearn/worlds/meshes/sports/billiards/ball_12.mtl b/pyrobolearn/worlds/meshes/sports/billiards/ball_12.mtl
new file mode 100644
index 0000000..595273b
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/billiards/ball_12.mtl
@@ -0,0 +1,13 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl ballN12
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+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd n12.png
diff --git a/pyrobolearn/worlds/meshes/sports/billiards/ball_12.obj b/pyrobolearn/worlds/meshes/sports/billiards/ball_12.obj
new file mode 100644
index 0000000..9a7f5da
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/billiards/ball_12.obj
@@ -0,0 +1,1996 @@
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diff --git a/pyrobolearn/worlds/meshes/sports/billiards/ball_13.mtl b/pyrobolearn/worlds/meshes/sports/billiards/ball_13.mtl
new file mode 100644
index 0000000..6e0e556
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/billiards/ball_13.mtl
@@ -0,0 +1,13 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl ballN13
+Ns 94.117647
+Ka 0.000000 0.000000 0.000000
+Kd 0.640000 0.640000 0.640000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd n13.png
diff --git a/pyrobolearn/worlds/meshes/sports/billiards/ball_13.obj b/pyrobolearn/worlds/meshes/sports/billiards/ball_13.obj
new file mode 100644
index 0000000..88ba30b
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/billiards/ball_13.obj
@@ -0,0 +1,1996 @@
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+# www.blender.org
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diff --git a/pyrobolearn/worlds/meshes/sports/billiards/ball_14.mtl b/pyrobolearn/worlds/meshes/sports/billiards/ball_14.mtl
new file mode 100644
index 0000000..59ddd01
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/billiards/ball_14.mtl
@@ -0,0 +1,13 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl ballN14
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+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd n14.png
diff --git a/pyrobolearn/worlds/meshes/sports/billiards/ball_14.obj b/pyrobolearn/worlds/meshes/sports/billiards/ball_14.obj
new file mode 100644
index 0000000..f761cec
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/billiards/ball_14.obj
@@ -0,0 +1,1996 @@
+# Blender v2.76 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/pyrobolearn/worlds/meshes/sports/billiards/ball_15.mtl b/pyrobolearn/worlds/meshes/sports/billiards/ball_15.mtl
new file mode 100644
index 0000000..766546f
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/billiards/ball_15.mtl
@@ -0,0 +1,13 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl ballN15
+Ns 94.117647
+Ka 0.000000 0.000000 0.000000
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+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd n15.png
diff --git a/pyrobolearn/worlds/meshes/sports/billiards/ball_15.obj b/pyrobolearn/worlds/meshes/sports/billiards/ball_15.obj
new file mode 100644
index 0000000..ce6921b
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/billiards/ball_15.obj
@@ -0,0 +1,1996 @@
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diff --git a/pyrobolearn/worlds/meshes/sports/billiards/ball_2.mtl b/pyrobolearn/worlds/meshes/sports/billiards/ball_2.mtl
new file mode 100644
index 0000000..3ca2842
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/billiards/ball_2.mtl
@@ -0,0 +1,13 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl ballN2
+Ns 94.117647
+Ka 0.000000 0.000000 0.000000
+Kd 0.640000 0.640000 0.640000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd n2.png
diff --git a/pyrobolearn/worlds/meshes/sports/billiards/ball_2.obj b/pyrobolearn/worlds/meshes/sports/billiards/ball_2.obj
new file mode 100644
index 0000000..2995281
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/billiards/ball_2.obj
@@ -0,0 +1,1996 @@
+# Blender v2.76 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib ball_2.mtl
+o Sphere.013
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diff --git a/pyrobolearn/worlds/meshes/sports/billiards/ball_3.mtl b/pyrobolearn/worlds/meshes/sports/billiards/ball_3.mtl
new file mode 100644
index 0000000..0bb9cb3
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/billiards/ball_3.mtl
@@ -0,0 +1,13 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl ballN3
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+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd n3.png
diff --git a/pyrobolearn/worlds/meshes/sports/billiards/ball_3.obj b/pyrobolearn/worlds/meshes/sports/billiards/ball_3.obj
new file mode 100644
index 0000000..928d3b0
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/billiards/ball_3.obj
@@ -0,0 +1,1996 @@
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diff --git a/pyrobolearn/worlds/meshes/sports/billiards/ball_4.mtl b/pyrobolearn/worlds/meshes/sports/billiards/ball_4.mtl
new file mode 100644
index 0000000..d87a48e
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/billiards/ball_4.mtl
@@ -0,0 +1,13 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl ballN4
+Ns 94.117647
+Ka 0.000000 0.000000 0.000000
+Kd 0.640000 0.640000 0.640000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd n4.png
diff --git a/pyrobolearn/worlds/meshes/sports/billiards/ball_4.obj b/pyrobolearn/worlds/meshes/sports/billiards/ball_4.obj
new file mode 100644
index 0000000..060de11
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/billiards/ball_4.obj
@@ -0,0 +1,1996 @@
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diff --git a/pyrobolearn/worlds/meshes/sports/billiards/ball_5.mtl b/pyrobolearn/worlds/meshes/sports/billiards/ball_5.mtl
new file mode 100644
index 0000000..367f2b0
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/billiards/ball_5.mtl
@@ -0,0 +1,13 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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+Ni 1.000000
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+illum 2
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diff --git a/pyrobolearn/worlds/meshes/sports/billiards/ball_5.obj b/pyrobolearn/worlds/meshes/sports/billiards/ball_5.obj
new file mode 100644
index 0000000..2a88e56
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/billiards/ball_5.obj
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diff --git a/pyrobolearn/worlds/meshes/sports/billiards/ball_6.mtl b/pyrobolearn/worlds/meshes/sports/billiards/ball_6.mtl
new file mode 100644
index 0000000..9abbde8
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/billiards/ball_6.mtl
@@ -0,0 +1,13 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl ballN6
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+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd n6.png
diff --git a/pyrobolearn/worlds/meshes/sports/billiards/ball_6.obj b/pyrobolearn/worlds/meshes/sports/billiards/ball_6.obj
new file mode 100644
index 0000000..0c1209b
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/billiards/ball_6.obj
@@ -0,0 +1,1996 @@
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diff --git a/pyrobolearn/worlds/meshes/sports/billiards/ball_7.mtl b/pyrobolearn/worlds/meshes/sports/billiards/ball_7.mtl
new file mode 100644
index 0000000..b754cf4
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/billiards/ball_7.mtl
@@ -0,0 +1,13 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl ballN7
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+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
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+illum 2
+map_Kd n7.png
diff --git a/pyrobolearn/worlds/meshes/sports/billiards/ball_7.obj b/pyrobolearn/worlds/meshes/sports/billiards/ball_7.obj
new file mode 100644
index 0000000..a72f7c2
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/billiards/ball_7.obj
@@ -0,0 +1,1996 @@
+# Blender v2.76 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/pyrobolearn/worlds/meshes/sports/billiards/ball_8.mtl b/pyrobolearn/worlds/meshes/sports/billiards/ball_8.mtl
new file mode 100644
index 0000000..3893d6e
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/billiards/ball_8.mtl
@@ -0,0 +1,13 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl ballN8
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+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd n8.png
diff --git a/pyrobolearn/worlds/meshes/sports/billiards/ball_8.obj b/pyrobolearn/worlds/meshes/sports/billiards/ball_8.obj
new file mode 100644
index 0000000..1fe82ca
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/billiards/ball_8.obj
@@ -0,0 +1,1996 @@
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diff --git a/pyrobolearn/worlds/meshes/sports/billiards/ball_9.mtl b/pyrobolearn/worlds/meshes/sports/billiards/ball_9.mtl
new file mode 100644
index 0000000..c4af57f
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/billiards/ball_9.mtl
@@ -0,0 +1,13 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl ballN9
+Ns 94.117647
+Ka 0.000000 0.000000 0.000000
+Kd 0.640000 0.640000 0.640000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd n9.png
diff --git a/pyrobolearn/worlds/meshes/sports/billiards/ball_9.obj b/pyrobolearn/worlds/meshes/sports/billiards/ball_9.obj
new file mode 100644
index 0000000..a6f87fa
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/billiards/ball_9.obj
@@ -0,0 +1,1996 @@
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diff --git a/pyrobolearn/worlds/meshes/sports/billiards/cue.mtl b/pyrobolearn/worlds/meshes/sports/billiards/cue.mtl
new file mode 100644
index 0000000..bed3201
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/billiards/cue.mtl
@@ -0,0 +1,74 @@
+# Blender MTL File: 'None'
+# Material Count: 7
+
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diff --git a/pyrobolearn/worlds/meshes/sports/billiards/cue.obj b/pyrobolearn/worlds/meshes/sports/billiards/cue.obj
new file mode 100644
index 0000000..21309b3
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/billiards/cue.obj
@@ -0,0 +1,1263 @@
+# Blender v2.76 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/pyrobolearn/worlds/meshes/sports/billiards/poolCueEnd.png b/pyrobolearn/worlds/meshes/sports/billiards/poolCueEnd.png
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diff --git a/pyrobolearn/worlds/meshes/sports/billiards/poolCueFront.png b/pyrobolearn/worlds/meshes/sports/billiards/poolCueFront.png
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diff --git a/pyrobolearn/worlds/meshes/sports/billiards/table_cloth.mtl b/pyrobolearn/worlds/meshes/sports/billiards/table_cloth.mtl
new file mode 100644
index 0000000..ca728fa
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/billiards/table_cloth.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl felt
+Ns 94.117647
+Ka 0.000000 0.000000 0.000000
+Kd 0.020000 0.350000 0.100000
+Ks 0.050000 0.050000 0.050000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
diff --git a/pyrobolearn/worlds/meshes/sports/billiards/table_cloth.obj b/pyrobolearn/worlds/meshes/sports/billiards/table_cloth.obj
new file mode 100644
index 0000000..c52aa37
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/billiards/table_cloth.obj
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diff --git a/pyrobolearn/worlds/meshes/sports/billiards/table_without_cloth.mtl b/pyrobolearn/worlds/meshes/sports/billiards/table_without_cloth.mtl
new file mode 100644
index 0000000..805467f
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/billiards/table_without_cloth.mtl
@@ -0,0 +1,42 @@
+# Blender MTL File: 'None'
+# Material Count: 4
+
+newmtl Material.001
+Ns 94.117647
+Ka 0.000000 0.000000 0.000000
+Kd 0.830000 0.850000 0.820000
+Ks 0.800000 0.800000 0.800000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+
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+Ns 94.117647
+Ka 0.000000 0.000000 0.000000
+Kd 0.230000 0.110000 0.080000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+
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+Ns 94.117647
+Ka 0.000000 0.000000 0.000000
+Kd 0.830000 0.850000 0.820000
+Ks 0.800000 0.800000 0.800000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+
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+Ns 94.117647
+Ka 0.000000 0.000000 0.000000
+Kd 0.020000 0.350000 0.100000
+Ks 0.050000 0.050000 0.050000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
diff --git a/pyrobolearn/worlds/meshes/sports/billiards/table_without_cloth.obj b/pyrobolearn/worlds/meshes/sports/billiards/table_without_cloth.obj
new file mode 100644
index 0000000..92fb624
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/billiards/table_without_cloth.obj
@@ -0,0 +1,38901 @@
+# Blender v2.76 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/pyrobolearn/worlds/meshes/sports/darts/CHANGELOG.txt b/pyrobolearn/worlds/meshes/sports/darts/CHANGELOG.txt
new file mode 100644
index 0000000..3eb7a46
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/darts/CHANGELOG.txt
@@ -0,0 +1,2 @@
+
+Brian Delhaisse: Compared to the original, I split the dartboard and dart into different OBJ files, and rescaled/translated/rotated them.
diff --git a/pyrobolearn/worlds/meshes/sports/darts/LICENSE.TXT b/pyrobolearn/worlds/meshes/sports/darts/LICENSE.TXT
new file mode 100644
index 0000000..7b5880a
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/darts/LICENSE.TXT
@@ -0,0 +1,20 @@
+This file is under the Creative Commons Attribution 3.0 Unported license:
+	
+http://creativecommons.org/licenses/by/3.0/
+	
+Your are free to:
+	
+	Share - copy and redistribute the material in any medium or format
+	
+	Adapt - remix, transform, and build upon the material
+	
+	for any purpose, even commercially.
+	
+ 	The licensor cannot revoke these freedoms as long as you follow the license terms.
+	
+Under the following terms:
+	
+	Attribution: If you want distribute this work, or
+	derivates, you must attribute it to  
+        Emmanuel PUYBARET / eTeks <info@eteks.com>  and
+        Scopia Visual Interfaces Systems, s.l. (http://www.scopia.es)
diff --git a/pyrobolearn/worlds/meshes/sports/darts/dart.mtl b/pyrobolearn/worlds/meshes/sports/darts/dart.mtl
new file mode 100644
index 0000000..faa8d79
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/darts/dart.mtl
@@ -0,0 +1,23 @@
+# Blender MTL File: 'None'
+# Material Count: 2
+
+newmtl green_dart
+Ns 0.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.182763 0.420022 0.096754
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+
+newmtl metal
+Ns 92.156863
+Ka 0.000000 0.000000 0.000000
+Kd 0.191640 0.191020 0.127262
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd dart_game_texture.jpg
diff --git a/pyrobolearn/worlds/meshes/sports/darts/dart.obj b/pyrobolearn/worlds/meshes/sports/darts/dart.obj
new file mode 100644
index 0000000..1494e2f
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/darts/dart.obj
@@ -0,0 +1,480 @@
+# Blender v2.76 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib dart.mtl
+o Cylinder.004
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diff --git a/pyrobolearn/worlds/meshes/sports/darts/dartboard.mtl b/pyrobolearn/worlds/meshes/sports/darts/dartboard.mtl
new file mode 100644
index 0000000..9bff437
--- /dev/null
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diff --git a/pyrobolearn/worlds/meshes/sports/darts/dartboard.obj b/pyrobolearn/worlds/meshes/sports/darts/dartboard.obj
new file mode 100644
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--- /dev/null
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diff --git a/pyrobolearn/worlds/meshes/sports/football/BLENDSWAP_LICENSE.txt b/pyrobolearn/worlds/meshes/sports/football/BLENDSWAP_LICENSE.txt
new file mode 100755
index 0000000..3c3b042
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/football/BLENDSWAP_LICENSE.txt
@@ -0,0 +1,79 @@
+--------------------------------------------------------------------------------
+Thank you for downloading "Soccer ball." by DooL
+Released under
+Creative Commons Attribution 3.0
+Downloaded from http://www.blendswap.com/blends/view/69175
+
+The following is important licensing information, please keep this file for
+archival and future reference when working with the file. It's important that
+you know, understand and follow any requirements stated in this file regarding
+the usage of the materials included.
+
+Some parts of this file are marked with [#], the corresponding numbered note is
+at the end of the file.
+
+--------------------------------------------------------------------------------
+################################################################################
+
+VERY IMPORTANT LICENSE INFORMATION:
+
+This blend has been released under
+Creative Commons Attribution 3.0
+
+This means that you can use it for any purpose you see fit, even commercially,
+as long as you respect these requirements:
+
+	--You MUST give credit to DooL.
+
+
+################################################################################
+--------------------------------------------------------------------------------
+
+ABOUT THE BLEND:
+
+Ready for Blender 2.66
+Published on: 2013-07-12 07:26:09
+
+--------------------------------------------------------------------------------
+
+HELP US MODERATE THIS BLEND:
+If you find anomalies in this blend or any of the contained files such as:
+
+	- Missing, unneeded or corrupted files.
+	- Inaccurate/mismatching preview image on the site.
+	- Illegal distribution of third party files.
+	- Ripping from a game or other 3D repository.
+	- Uncredited or incorrect use of other CC licensed works.
+	- Some other troubling issues[1].
+
+Please submit a report from  http://www.blendswap.com/blends/view/69175
+by pressing the red button with the flag, including links and details that serve
+as evidence and can help us to solve any conflicts or issues derived from the
+contents of this file.
+
+--------------------------------------------------------------------------------
+
+Thank you for using Blend Swap!
+
+Register to get tons of more blends! http://www.blendswap.com/register
+Share your own blends with the world from http://www.blendswap.com/blends/add
+
+Get answers to your questions and doubts: http://www.blendswap.com/page/faq
+If the site doesn't work for you try here: http://www.blendswap.com/page/issues
+For questions please contact us: http://www.blendswap.com/contact
+Check out our Terms Of Use: http://www.blendswap.com/tou
+Report website bugs: http://www.blendswap.com/bugs
+
+Consider getting an associate Membership to get some neat features and
+enhancements.
+
+--------------------------------------------------------------------------------
+
+NOTES:
+
+[1] Please make sure your problem is not derived from a setting in Blender (like
+hidden layers or objects) before submitting a report under the "Other" category.
+Issues arising from this type of problem will be ignored.
+
+--------------------------------------------------------------------------------
+######################    END OF BLEND SWAP LICENSE.txt    #####################
\ No newline at end of file
diff --git a/pyrobolearn/worlds/meshes/sports/football/CHANGELOG.txt b/pyrobolearn/worlds/meshes/sports/football/CHANGELOG.txt
new file mode 100644
index 0000000..7371df5
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/football/CHANGELOG.txt
@@ -0,0 +1,2 @@
+
+Brian Delhaisse: Compared to the original, I rescaled and rotated the football/soccer goal.
diff --git a/pyrobolearn/worlds/meshes/sports/football/INFO.txt b/pyrobolearn/worlds/meshes/sports/football/INFO.txt
new file mode 100644
index 0000000..39a6e4b
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/football/INFO.txt
@@ -0,0 +1,3 @@
+
+- The license for the football/soccer goal is the `LICENSE.TXT` file.
+- The license for the ball is the `BLENDSWAP_LICENSE.txt` file.
\ No newline at end of file
diff --git a/pyrobolearn/worlds/meshes/sports/football/LICENSE.TXT b/pyrobolearn/worlds/meshes/sports/football/LICENSE.TXT
new file mode 100644
index 0000000..7b5880a
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/football/LICENSE.TXT
@@ -0,0 +1,20 @@
+This file is under the Creative Commons Attribution 3.0 Unported license:
+	
+http://creativecommons.org/licenses/by/3.0/
+	
+Your are free to:
+	
+	Share - copy and redistribute the material in any medium or format
+	
+	Adapt - remix, transform, and build upon the material
+	
+	for any purpose, even commercially.
+	
+ 	The licensor cannot revoke these freedoms as long as you follow the license terms.
+	
+Under the following terms:
+	
+	Attribution: If you want distribute this work, or
+	derivates, you must attribute it to  
+        Emmanuel PUYBARET / eTeks <info@eteks.com>  and
+        Scopia Visual Interfaces Systems, s.l. (http://www.scopia.es)
diff --git a/pyrobolearn/worlds/meshes/sports/football/ball.mtl b/pyrobolearn/worlds/meshes/sports/football/ball.mtl
new file mode 100644
index 0000000..287a11b
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/football/ball.mtl
@@ -0,0 +1,22 @@
+# Blender MTL File: 'None'
+# Material Count: 2
+
+newmtl Material.001
+Ns 94.117647
+Ka 0.000000 0.000000 0.000000
+Kd 0.900000 0.900000 1.000000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+
+newmtl Material.002
+Ns 94.117647
+Ka 0.000000 0.000000 0.000000
+Kd 0.017388 0.017388 0.017388
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
diff --git a/pyrobolearn/worlds/meshes/sports/football/ball.obj b/pyrobolearn/worlds/meshes/sports/football/ball.obj
new file mode 100644
index 0000000..5a833fc
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/football/ball.obj
@@ -0,0 +1,16023 @@
+# Blender v2.76 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/pyrobolearn/worlds/meshes/sports/football/footbalgoaltexture.png b/pyrobolearn/worlds/meshes/sports/football/footbalgoaltexture.png
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diff --git a/pyrobolearn/worlds/meshes/sports/football/goal.mtl b/pyrobolearn/worlds/meshes/sports/football/goal.mtl
new file mode 100644
index 0000000..e22e033
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/football/goal.mtl
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+# map_d footbalgoaltexture.png
diff --git a/pyrobolearn/worlds/meshes/sports/football/goal.obj b/pyrobolearn/worlds/meshes/sports/football/goal.obj
new file mode 100644
index 0000000..bb092cc
--- /dev/null
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diff --git a/pyrobolearn/worlds/meshes/sports/ping_pong/BLENDSWAP_LICENSE.txt b/pyrobolearn/worlds/meshes/sports/ping_pong/BLENDSWAP_LICENSE.txt
new file mode 100755
index 0000000..5af5ff9
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/ping_pong/BLENDSWAP_LICENSE.txt
@@ -0,0 +1,79 @@
+--------------------------------------------------------------------------------
+Thank you for downloading "Racket of Table Tennis" by BrunoMatheus
+Released under
+Creative Commons Attribution 3.0
+Downloaded from http://www.blendswap.com/blends/view/49333
+
+The following is important licensing information, please keep this file for
+archival and future reference when working with the file. It's important that
+you know, understand and follow any requirements stated in this file regarding
+the usage of the materials included.
+
+Some parts of this file are marked with [#], the corresponding numbered note is
+at the end of the file.
+
+--------------------------------------------------------------------------------
+################################################################################
+
+VERY IMPORTANT LICENSE INFORMATION:
+
+This blend has been released under
+Creative Commons Attribution 3.0
+
+This means that you can use it for any purpose you see fit, even commercially,
+as long as you respect these requirements:
+
+	--You MUST give credit to BrunoMatheus.
+
+
+################################################################################
+--------------------------------------------------------------------------------
+
+ABOUT THE BLEND:
+
+Ready for Blender 2.63
+Published on: 2012-07-14 08:22:34
+
+--------------------------------------------------------------------------------
+
+HELP US MODERATE THIS BLEND:
+If you find anomalies in this blend or any of the contained files such as:
+
+	- Missing, unneeded or corrupted files.
+	- Inaccurate/mismatching preview image on the site.
+	- Illegal distribution of third party files.
+	- Ripping from a game or other 3D repository.
+	- Uncredited or incorrect use of other CC licensed works.
+	- Some other troubling issues[1].
+
+Please submit a report from  http://www.blendswap.com/blends/view/49333
+by pressing the red button with the flag, including links and details that serve
+as evidence and can help us to solve any conflicts or issues derived from the
+contents of this file.
+
+--------------------------------------------------------------------------------
+
+Thank you for using Blend Swap!
+
+Register to get tons of more blends! http://www.blendswap.com/register
+Share your own blends with the world from http://www.blendswap.com/blends/add
+
+Get answers to your questions and doubts: http://www.blendswap.com/page/faq
+If the site doesn't work for you try here: http://www.blendswap.com/page/issues
+For questions please contact us: http://www.blendswap.com/contact
+Check out our Terms Of Use: http://www.blendswap.com/tou
+Report website bugs: http://www.blendswap.com/bugs
+
+Consider getting an associate Membership to get some neat features and
+enhancements.
+
+--------------------------------------------------------------------------------
+
+NOTES:
+
+[1] Please make sure your problem is not derived from a setting in Blender (like
+hidden layers or objects) before submitting a report under the "Other" category.
+Issues arising from this type of problem will be ignored.
+
+--------------------------------------------------------------------------------
+######################    END OF BLEND SWAP LICENSE.txt    #####################
\ No newline at end of file
diff --git a/pyrobolearn/worlds/meshes/sports/ping_pong/CHANGELOG.txt b/pyrobolearn/worlds/meshes/sports/ping_pong/CHANGELOG.txt
new file mode 100644
index 0000000..c6dd45f
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/ping_pong/CHANGELOG.txt
@@ -0,0 +1,2 @@
+
+Brian Delhaisse: Compared to the original, I rescaled and rotated the paddles.
diff --git a/pyrobolearn/worlds/meshes/sports/ping_pong/INFO.txt b/pyrobolearn/worlds/meshes/sports/ping_pong/INFO.txt
new file mode 100644
index 0000000..b1afdc0
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/ping_pong/INFO.txt
@@ -0,0 +1,3 @@
+
+- The license for the tennis table and net is the `LICENSE.TXT` file.
+- The license for the paddle is the `BLENDSWAP_LICENSE.txt` file.
diff --git a/pyrobolearn/worlds/meshes/sports/ping_pong/LICENSE.TXT b/pyrobolearn/worlds/meshes/sports/ping_pong/LICENSE.TXT
new file mode 100644
index 0000000..d900b7a
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/ping_pong/LICENSE.TXT
@@ -0,0 +1,17 @@
+This file is under the Creative Commons Attribution 4.0 International license:
+	
+http://creativecommons.org/licenses/by/4.0/
+	
+Your are free to:
+	
+	Share - copy and redistribute the material in any medium or format
+	
+	Adapt - remix, transform, and build upon the material
+	for any purpose, even commercially.
+	
+ 	The licensor cannot revoke these freedoms as long as you follow the license terms.
+	
+Under the following terms:
+	
+	Attribution: If you want distribute this work, or derivates, you must attribute it to  
+        Melissa Britelle
diff --git a/pyrobolearn/worlds/meshes/sports/pingpong/net.obj.mtl b/pyrobolearn/worlds/meshes/sports/ping_pong/net.mtl
similarity index 100%
rename from pyrobolearn/worlds/meshes/sports/pingpong/net.obj.mtl
rename to pyrobolearn/worlds/meshes/sports/ping_pong/net.mtl
diff --git a/pyrobolearn/worlds/meshes/sports/pingpong/net.obj b/pyrobolearn/worlds/meshes/sports/ping_pong/net.obj
similarity index 99%
rename from pyrobolearn/worlds/meshes/sports/pingpong/net.obj
rename to pyrobolearn/worlds/meshes/sports/ping_pong/net.obj
index e623b3a..ee4eabc 100644
--- a/pyrobolearn/worlds/meshes/sports/pingpong/net.obj
+++ b/pyrobolearn/worlds/meshes/sports/ping_pong/net.obj
@@ -9,7 +9,7 @@
 # Faces: 3680
 #
 ####
-mtllib ./net.obj.mtl
+mtllib ./net.mtl
 
 vn -4.712389 1.570796 -1.570796
 v -0.007473 -0.759247 0.041825 0.752941 0.752941 0.752941
diff --git a/pyrobolearn/worlds/meshes/sports/pingpong/net.png b/pyrobolearn/worlds/meshes/sports/ping_pong/net.png
similarity index 100%
rename from pyrobolearn/worlds/meshes/sports/pingpong/net.png
rename to pyrobolearn/worlds/meshes/sports/ping_pong/net.png
diff --git a/pyrobolearn/worlds/meshes/sports/ping_pong/paddle.mtl b/pyrobolearn/worlds/meshes/sports/ping_pong/paddle.mtl
new file mode 100644
index 0000000..a27dbeb
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/ping_pong/paddle.mtl
@@ -0,0 +1,52 @@
+# Blender MTL File: 'None'
+# Material Count: 5
+
+newmtl Material.001
+Ns 29.411765
+Ka 0.000000 0.000000 0.000000
+Kd 0.800000 0.048287 0.000000
+Ks 0.250000 0.250000 0.250000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+
+newmtl Material.002
+Ns 29.411765
+Ka 0.000000 0.000000 0.000000
+Kd 0.043541 0.043973 0.040816
+Ks 0.250000 0.250000 0.250000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+
+newmtl Material.003
+Ns 94.117647
+Ka 0.000000 0.000000 0.000000
+Kd 0.040000 0.040000 0.040000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+
+newmtl Wood_bareoak
+Ns 62.745098
+Ka 0.000000 0.000000 0.000000
+Kd 0.752375 0.689193 0.418304
+Ks 0.010000 0.010000 0.010000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+
+newmtl Wood_bareoak.001
+Ns 62.745098
+Ka 0.000000 0.000000 0.000000
+Kd 0.752375 0.637905 0.375820
+Ks 0.010000 0.010000 0.010000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
diff --git a/pyrobolearn/worlds/meshes/sports/ping_pong/paddle.obj b/pyrobolearn/worlds/meshes/sports/ping_pong/paddle.obj
new file mode 100644
index 0000000..2a28355
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/ping_pong/paddle.obj
@@ -0,0 +1,2771 @@
+# Blender v2.76 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib paddle.mtl
+o Circle
+v -0.005664 -0.000370 0.127906
+v -0.006100 -0.014721 0.126363
+v -0.006506 -0.028522 0.121782
+v -0.006865 -0.041244 0.114337
+v -0.007163 -0.052396 0.104315
+v -0.007389 -0.061552 0.092101
+v -0.007535 -0.068358 0.078164
+v -0.007566 -0.072184 0.059585
+v -0.007537 -0.073600 0.043855
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diff --git a/pyrobolearn/worlds/meshes/sports/pingpong/table.obj.mtl b/pyrobolearn/worlds/meshes/sports/ping_pong/table.mtl
similarity index 100%
rename from pyrobolearn/worlds/meshes/sports/pingpong/table.obj.mtl
rename to pyrobolearn/worlds/meshes/sports/ping_pong/table.mtl
diff --git a/pyrobolearn/worlds/meshes/sports/pingpong/table.obj b/pyrobolearn/worlds/meshes/sports/ping_pong/table.obj
similarity index 98%
rename from pyrobolearn/worlds/meshes/sports/pingpong/table.obj
rename to pyrobolearn/worlds/meshes/sports/ping_pong/table.obj
index 31d80b4..0e41a5d 100644
--- a/pyrobolearn/worlds/meshes/sports/pingpong/table.obj
+++ b/pyrobolearn/worlds/meshes/sports/ping_pong/table.obj
@@ -9,7 +9,7 @@
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 #
 ####
-mtllib ./table.obj.mtl
+mtllib ./table.mtl
 
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diff --git a/pyrobolearn/worlds/meshes/sports/pingpong/table.png b/pyrobolearn/worlds/meshes/sports/ping_pong/table.png
similarity index 100%
rename from pyrobolearn/worlds/meshes/sports/pingpong/table.png
rename to pyrobolearn/worlds/meshes/sports/ping_pong/table.png
diff --git a/pyrobolearn/worlds/meshes/sports/pingpong/net.mtl b/pyrobolearn/worlds/meshes/sports/pingpong/net.mtl
deleted file mode 100644
index 11fbf6d..0000000
--- a/pyrobolearn/worlds/meshes/sports/pingpong/net.mtl
+++ /dev/null
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diff --git a/pyrobolearn/worlds/meshes/sports/pingpong/paddle.jpg b/pyrobolearn/worlds/meshes/sports/pingpong/paddle.jpg
deleted file mode 100644
index bde352e..0000000
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diff --git a/pyrobolearn/worlds/meshes/sports/pingpong/paddle.mtl b/pyrobolearn/worlds/meshes/sports/pingpong/paddle.mtl
deleted file mode 100644
index c493eaa..0000000
--- a/pyrobolearn/worlds/meshes/sports/pingpong/paddle.mtl
+++ /dev/null
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diff --git a/pyrobolearn/worlds/meshes/sports/pingpong/paddle.obj b/pyrobolearn/worlds/meshes/sports/pingpong/paddle.obj
deleted file mode 100644
index f8dedf6..0000000
--- a/pyrobolearn/worlds/meshes/sports/pingpong/paddle.obj
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-# 8968 faces, 4993 coords texture
-
-# End of File
\ No newline at end of file
diff --git a/pyrobolearn/worlds/meshes/sports/pingpong/paddle.obj.mtl b/pyrobolearn/worlds/meshes/sports/pingpong/paddle.obj.mtl
deleted file mode 100644
index bcb755f..0000000
--- a/pyrobolearn/worlds/meshes/sports/pingpong/paddle.obj.mtl
+++ /dev/null
@@ -1,14 +0,0 @@
-#
-# Wavefront material file
-# Converted by Meshlab Group
-#
-
-newmtl material_0
-Ka 0.200000 0.200000 0.200000
-Kd 0.800000 0.800000 0.800000
-Ks 1.000000 1.000000 1.000000
-Tr 1.000000
-illum 2
-Ns 0.000000
-map_Kd paddle.jpg
-
diff --git a/pyrobolearn/worlds/meshes/sports/pingpong/table.mtl b/pyrobolearn/worlds/meshes/sports/pingpong/table.mtl
deleted file mode 100644
index b679bfb..0000000
--- a/pyrobolearn/worlds/meshes/sports/pingpong/table.mtl
+++ /dev/null
@@ -1,13 +0,0 @@
-# 
-# Wavefront material file
-# Created with Kaydara FBX
-# 
-
-newmtl Mat_1
-map_Kd table.png
-Ka 0.000000 0.000000 0.000000
-Kd 0.800000 0.800000 0.800000
-Ks 0.200000 0.200000 0.200000
-illum 2
-Ns 50.000000
-Tr 1.000000
diff --git a/pyrobolearn/worlds/meshes/sports/tennis/CHANGELOG.txt b/pyrobolearn/worlds/meshes/sports/tennis/CHANGELOG.txt
new file mode 100644
index 0000000..bed73a0
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/tennis/CHANGELOG.txt
@@ -0,0 +1,2 @@
+
+Brian Delhaisse: Compared to the original, I separated the various objects into separate OBJ files. I also rotated the various elements.
diff --git a/pyrobolearn/worlds/meshes/sports/tennis/LICENSE.TXT b/pyrobolearn/worlds/meshes/sports/tennis/LICENSE.TXT
new file mode 100644
index 0000000..8c89716
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/tennis/LICENSE.TXT
@@ -0,0 +1,17 @@
+This file is under the Creative Commons Attribution 4.0 International license:
+	
+http://creativecommons.org/licenses/by/4.0/
+	
+Your are free to:
+	
+	Share - copy and redistribute the material in any medium or format
+	
+	Adapt - remix, transform, and build upon the material for any purpose, even commercially.
+	
+ 	The licensor cannot revoke these freedoms as long as you follow the license terms.
+	
+Under the following terms:
+	
+	Attribution: If you want distribute this work, or derivates, you must attribute it to  
+        Anthony Yanez <anthony.paul.yanez@gmail.com>. The model has been downloaded from:
+        https://sketchfab.com/3d-models/tennis-court-animation-fab5950b1b6f441da6a73c314f0cd04e
diff --git a/pyrobolearn/worlds/meshes/sports/tennis/Tennis Ball_Tex.jpg b/pyrobolearn/worlds/meshes/sports/tennis/Tennis Ball_Tex.jpg
new file mode 100644
index 0000000..fd54243
Binary files /dev/null and b/pyrobolearn/worlds/meshes/sports/tennis/Tennis Ball_Tex.jpg differ
diff --git a/pyrobolearn/worlds/meshes/sports/tennis/Tennis Court Texture.fw.png b/pyrobolearn/worlds/meshes/sports/tennis/Tennis Court Texture.fw.png
new file mode 100644
index 0000000..9573d70
Binary files /dev/null and b/pyrobolearn/worlds/meshes/sports/tennis/Tennis Court Texture.fw.png differ
diff --git a/pyrobolearn/worlds/meshes/sports/tennis/ball.mtl b/pyrobolearn/worlds/meshes/sports/tennis/ball.mtl
new file mode 100644
index 0000000..ae2bc99
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/tennis/ball.mtl
@@ -0,0 +1,13 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 09_-_Default
+Ns 19.607843
+Ka 1.000000 1.000000 1.000000
+Kd 0.470588 0.470588 0.470588
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 1
+map_Kd Tennis Ball_Tex.jpg
diff --git a/pyrobolearn/worlds/meshes/sports/tennis/ball.obj b/pyrobolearn/worlds/meshes/sports/tennis/ball.obj
new file mode 100644
index 0000000..23ab9b6
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/tennis/ball.obj
@@ -0,0 +1,2041 @@
+# Blender v2.76 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib ball.mtl
+o Tennis_Ball_Untitled
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diff --git a/pyrobolearn/worlds/meshes/sports/tennis/court.mtl b/pyrobolearn/worlds/meshes/sports/tennis/court.mtl
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diff --git a/pyrobolearn/worlds/meshes/sports/tennis/court.obj b/pyrobolearn/worlds/meshes/sports/tennis/court.obj
new file mode 100644
index 0000000..f523ef1
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diff --git a/pyrobolearn/worlds/meshes/sports/tennis/court_without_net.mtl b/pyrobolearn/worlds/meshes/sports/tennis/court_without_net.mtl
new file mode 100644
index 0000000..512a03b
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/tennis/court_without_net.mtl
@@ -0,0 +1,26 @@
+# Blender MTL File: 'None'
+# Material Count: 2
+
+newmtl 01_-_Default
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+illum 1
+map_Kd Tennis Court Texture.fw.png
+map_d Tennis Court Texture.fw.png
+
+newmtl 08_-_Default
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+map_Kd Tennis Court Texture.fw.png
+map_d Tennis Court Texture.fw.png
diff --git a/pyrobolearn/worlds/meshes/sports/tennis/court_without_net.obj b/pyrobolearn/worlds/meshes/sports/tennis/court_without_net.obj
new file mode 100644
index 0000000..db3958f
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/tennis/court_without_net.obj
@@ -0,0 +1,31 @@
+# Blender v2.76 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib court_without_net.mtl
+o Court_Untitled.001
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diff --git a/pyrobolearn/worlds/meshes/sports/tennis/net.mtl b/pyrobolearn/worlds/meshes/sports/tennis/net.mtl
new file mode 100644
index 0000000..f9901f2
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/tennis/net.mtl
@@ -0,0 +1,32 @@
+# Blender MTL File: 'None'
+# Material Count: 3
+
+newmtl 02_-_Default.001
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diff --git a/pyrobolearn/worlds/meshes/sports/tennis/net.obj b/pyrobolearn/worlds/meshes/sports/tennis/net.obj
new file mode 100644
index 0000000..d729847
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/tennis/net.obj
@@ -0,0 +1,4008 @@
+# Blender v2.76 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib net.mtl
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diff --git a/pyrobolearn/worlds/meshes/sports/tennis/racket.mtl b/pyrobolearn/worlds/meshes/sports/tennis/racket.mtl
new file mode 100644
index 0000000..17b2972
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/tennis/racket.mtl
@@ -0,0 +1,32 @@
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diff --git a/pyrobolearn/worlds/meshes/sports/tennis/racket.obj b/pyrobolearn/worlds/meshes/sports/tennis/racket.obj
new file mode 100644
index 0000000..f426abc
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/sports/tennis/racket.obj
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diff --git a/pyrobolearn/worlds/samples/sports/__init__.py b/pyrobolearn/worlds/samples/sports/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/pyrobolearn/worlds/samples/sports/basketball.py b/pyrobolearn/worlds/samples/sports/basketball.py
new file mode 100644
index 0000000..2f81460
--- /dev/null
+++ b/pyrobolearn/worlds/samples/sports/basketball.py
@@ -0,0 +1,70 @@
+#!/usr/bin/env python
+r"""Provide the basketball world.
+"""
+
+import os
+import numpy as np
+
+from pyrobolearn.worlds import BasicWorld
+
+
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2019, PyRoboLearn"
+__credits__ = ["Brian Delhaisse"]
+__license__ = "GNU GPLv3"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
+
+class BasketBallWorld(BasicWorld):
+    r"""Basketball world
+
+    """
+
+    def __init__(self, simulator, position=(3., 0., 2.), scale=(1., 1., 1.)):
+        """
+        Initialize the basketball world.
+
+        Args:
+            simulator (Simulator): the simulator instance.
+            position (tuple/list of 3 float, np.array[3]): position of the basketball hoop.
+            scale (tuple/list of 3 float): scale of the basket hoop.
+        """
+        super(BasketBallWorld, self).__init__(simulator)
+
+        mesh_path = os.path.dirname(os.path.abspath(__file__)) + '/../../meshes/sports/basketball/'
+        position = np.asarray(position)
+
+        # load basket hoop position
+        self.hoop = self.load_mesh(mesh_path + 'basketball.obj', position=position, scale=scale, mass=0, flags=1)
+
+        # load ball
+        # self.ball = self.load_sphere(position=[0., 0., 1.], radius=0.1193, mass=0.625)
+        # self.apply_texture(texture=mesh_path + 'Basketball-ColorMap.jpg', body_id=self.ball)
+        self.ball = self.load_mesh(mesh_path + 'ball.obj', position=[0., 0., 1.], scale=scale, mass=0.625, flags=0)
+
+        # set the restitution coefficient for the ball
+        # Ref: "Measure the coefficient of restitution for sports balls", Persson, 2012
+        self.change_dynamics(self.ball, restitution=0.87)
+        self.change_dynamics(restitution=1.)
+
+    def reset(self, world_state=None):
+        super(BasketBallWorld, self).reset(world_state)
+
+    def step(self, sleep_dt=None):
+        super(BasketBallWorld, self).step(sleep_dt)
+
+
+# Test
+if __name__ == '__main__':
+    from itertools import count
+    import pyrobolearn as prl
+
+    sim = prl.simulators.Bullet()
+
+    world = BasketBallWorld(sim)
+
+    for t in count():
+       world.step(sim.dt)
diff --git a/pyrobolearn/worlds/samples/sports/billiard.py b/pyrobolearn/worlds/samples/sports/billiard.py
new file mode 100644
index 0000000..1d99b11
--- /dev/null
+++ b/pyrobolearn/worlds/samples/sports/billiard.py
@@ -0,0 +1,102 @@
+#!/usr/bin/env python
+r"""Provide the billiard world.
+"""
+
+import os
+import numpy as np
+
+from pyrobolearn.worlds import BasicWorld
+
+
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2019, PyRoboLearn"
+__credits__ = ["Brian Delhaisse"]
+__license__ = "GNU GPLv3"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
+
+class BilliardWorld(BasicWorld):
+    r"""Billiard world
+
+    """
+
+    def __init__(self, simulator, position=(0., 0., 0.5), scale=(1., 1., 1.)):
+        """
+        Initialize the Billiard world.
+
+        Args:
+            simulator (Simulator): the simulator instance.
+            position (tuple/list of 3 float, np.array[3]): position of the billiard table.
+            scale (tuple/list of 3 float): scale of the billiard table.
+        """
+        super(BilliardWorld, self).__init__(simulator)
+
+        mesh_path = os.path.dirname(os.path.abspath(__file__)) + '/../../meshes/sports/billiards/'
+        position = np.asarray(position)
+
+        # load table
+        table = self.load_mesh(mesh_path + 'table_without_cloth.obj', position=position, scale=scale, mass=0,
+                               color=(133/255., 94/255., 66/255., 1), flags=1)
+        table_cloth = self.load_mesh(mesh_path + 'table_cloth.obj', position=position, scale=scale, mass=0,
+                                     color=(0.039, 0.424, 0.012, 1), flags=0)  # color=(0.21, 0.35, 0.29, 1)
+        # table = self.load_mesh(mesh_path + 'table.obj', position=position, scale=(1., 1., 1.), mass=0, flags=1)
+
+        # load cue
+        self.cue1 = self.load_mesh(mesh_path + 'cue.obj', position=position + np.array([-0.5, 0.4, 0.4]), mass=0.595,
+                                   scale=(1.5, 1., 1.), flags=0, return_body=True)
+
+        # load balls
+        # the order is based on: https://www.wikihow.com/Rack-a-Pool-Table
+        balls = [1, 9, 2, 10, 8, 3, 11, 7, 14, 4, 5, 13, 15, 6, 12]
+        z = 0.785       # height
+        r = 0.028575    # radius
+        d = 2*r         # diameter
+        x, y = 0.6, 0.  # x, y positions
+        depth = 0       # depth in the triangle when racking the balls
+        b = 0           # use to count the number of ball at a particular level in the triangle
+
+        self.balls = []
+        self.removed_balls = []
+
+        # load white ball
+        ball = self.load_mesh(mesh_path + 'ball_0.obj', position=(-x, 0, z), mass=0.170, flags=0, return_body=True)
+        self.balls.append(ball)
+
+        # load color balls
+        for ball_id in balls:
+            pos = (x + depth*d, y - depth * (r + 0.001) + b * (d + 0.001 * 2), z)
+            ball = self.load_mesh(mesh_path + 'ball_' + str(ball_id) + '.obj', position=pos, mass=0.170, flags=0,
+                                  return_body=True)
+            b += 1
+            if depth == (b-1):
+                b = 0
+                depth += 1
+            self.balls.append(ball)
+
+    def reset(self, world_state=None):
+        # reset the billiard
+        super(BilliardWorld, self).reset(world_state)
+
+    def step(self, sleep_dt=None):
+        # check if a ball has entered in a pocket by checking their position
+
+        # if white replace it
+
+        # call the parent step
+        super(BilliardWorld, self).step(sleep_dt=sleep_dt)
+
+
+# Test
+if __name__ == '__main__':
+    from itertools import count
+    import pyrobolearn as prl
+
+    sim = prl.simulators.Bullet()
+
+    world = BilliardWorld(sim)
+
+    for t in count():
+        world.step(sim.dt)
diff --git a/pyrobolearn/worlds/samples/sports/darts.py b/pyrobolearn/worlds/samples/sports/darts.py
new file mode 100644
index 0000000..761b35c
--- /dev/null
+++ b/pyrobolearn/worlds/samples/sports/darts.py
@@ -0,0 +1,76 @@
+#!/usr/bin/env python
+r"""Provide the darts world.
+"""
+
+import os
+import numpy as np
+
+from pyrobolearn.worlds import BasicWorld
+
+
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2019, PyRoboLearn"
+__credits__ = ["Brian Delhaisse"]
+__license__ = "GNU GPLv3"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
+
+class DartsWorld(BasicWorld):
+    r"""Darts world
+
+    """
+
+    def __init__(self, simulator, position=(2.37, 0., 1.73), scale=(1., 1., 1.)):
+        """
+        Initialize the Dart world.
+
+        Args:
+            simulator (Simulator): the simulator instance.
+            position (tuple/list of 3 float, np.array[3]): position of the dart board.
+            scale (tuple/list of 3 float): scaling factors in the (x,y,z) directions.
+        """
+        super(DartsWorld, self).__init__(simulator)
+
+        mesh_path = os.path.dirname(os.path.abspath(__file__)) + '/../../meshes/sports/darts/'
+        position = np.asarray(position)
+
+        # dartboard
+        self.dartboard = self.load_mesh(mesh_path + 'dartboard.obj', position=position, scale=scale, mass=0, flags=0)
+
+        # load a table
+        table_position = np.array([0., 1., 0.])
+        self.table = self.load_table(position=table_position)
+
+        # load darts
+        # From wikipedia: "a dart cannot weigh more than 50g including the shaft and flight and cannot exceed a total
+        # length of 300mm"
+        num_darts = 3
+        pos_x = -int(num_darts / 2) * 0.1
+        self.darts = []
+        for i in range(num_darts):
+            dart = self.load_mesh(mesh_path + 'dart.obj',
+                                  position=table_position + np.array([pos_x + i*0.1, -0.35, 0.65]),
+                                  orientation=(0., 0., -0.707, 0.707), mass=0.020, flags=0)
+            self.darts.append(dart)
+
+    def reset(self, world_state=None):
+        super(DartsWorld, self).reset(world_state)
+
+    def step(self, sleep_dt=None):
+        super(DartsWorld, self).step(sleep_dt)
+
+
+# Test
+if __name__ == '__main__':
+    from itertools import count
+    import pyrobolearn as prl
+
+    sim = prl.simulators.Bullet()
+
+    world = DartsWorld(sim)
+
+    for t in count():
+       world.step(sim.dt)
diff --git a/pyrobolearn/worlds/samples/sports/football.py b/pyrobolearn/worlds/samples/sports/football.py
new file mode 100644
index 0000000..84cf865
--- /dev/null
+++ b/pyrobolearn/worlds/samples/sports/football.py
@@ -0,0 +1,73 @@
+#!/usr/bin/env python
+r"""Provide the football/soccer world.
+"""
+
+import os
+import numpy as np
+
+from pyrobolearn.worlds import BasicWorld
+
+
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2019, PyRoboLearn"
+__credits__ = ["Brian Delhaisse"]
+__license__ = "GNU GPLv3"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
+
+class FootballWorld(BasicWorld):
+    r"""Football/Soccer world
+
+    """
+
+    def __init__(self, simulator, position=(3., 0., 0.), scale=(1., 1., 1.)):
+        """
+        Initialize the football/soccer world.
+
+        Args:
+            simulator (Simulator): the simulator instance.
+            position (tuple/list of 3 float, np.array[3]): position of the goal.
+            scale (tuple/list of 3 float): scaling factors in the (x,y,z) directions.
+        """
+        super(FootballWorld, self).__init__(simulator)
+
+        mesh_path = os.path.dirname(os.path.abspath(__file__)) + '/../../meshes/sports/football/'
+        position = np.asarray(position)
+
+        # load the goal
+        self.goal = self.load_mesh(mesh_path + 'goal.obj', position=position, scale=scale, mass=0, flags=1)
+
+        # load the ball
+        self.ball = self.load_sphere(position=[0., 0., 1.], radius=0.11, mass=0.450)
+        # self.ball = self.load_mesh(mesh_path + 'ball.obj', position=[0., 0., 1.], scale=scale, mass=0.450, flags=0)
+
+        # set the restitution coefficient for the ball
+        # Ref: https://www.physics.hku.hk/~phys0607/lectures/chap05.html
+        self.change_dynamics(self.ball, restitution=0.8)
+        self.change_dynamics(restitution=1.)
+
+    def reset(self, world_state=None):
+        super(FootballWorld, self).reset(world_state)
+
+    def step(self, sleep_dt=None):
+        super(FootballWorld, self).step(sleep_dt)
+
+
+# alias
+SoccerWorld = FootballWorld
+
+
+# Test
+if __name__ == '__main__':
+    from itertools import count
+    import pyrobolearn as prl
+
+    sim = prl.simulators.Bullet()
+
+    world = FootballWorld(sim)
+
+    for t in count():
+       world.step(sim.dt)
diff --git a/pyrobolearn/worlds/samples/sports/ping_pong.py b/pyrobolearn/worlds/samples/sports/ping_pong.py
index aad2847..b62bf3c 100644
--- a/pyrobolearn/worlds/samples/sports/ping_pong.py
+++ b/pyrobolearn/worlds/samples/sports/ping_pong.py
@@ -1,5 +1,5 @@
 #!/usr/bin/env python
-r"""Provide the ping pong (table tennis) self.
+r"""Provide the ping pong (table tennis) world.
 """
 
 import os
@@ -23,25 +23,89 @@ class PingPongWorld(BasicWorld):
 
     """
 
-    def __init__(self, simulator, table_position=(0., 0., 0.76), dimensions=(1., 1., 1.)):
+    def __init__(self, simulator, position=(0., 0., 0.76), scale=(1., 1., 1.)):
+        """
+        Initialize the ping pong world.
+
+        Args:
+            simulator (Simulator): the simulator instance.
+            position (tuple/list of 3 float, np.array[3]): position of the tennis table.
+            scale (tuple/list of 3 float): scaling factors in the (x,y,z) directions.
+        """
         super(PingPongWorld, self).__init__(simulator)
 
-        mesh_path = os.path.dirname(os.path.abspath(__file__)) + '/../../meshes/sports/pingpong/'
+        mesh_path = os.path.dirname(os.path.abspath(__file__)) + '/../../meshes/sports/ping_pong/'
 
         # ping pong
-        table = self.load_mesh(mesh_path + 'table.obj', position=table_position, scale=dimensions, mass=0,
+        table = self.load_mesh(mesh_path + 'table.obj', position=position, scale=scale, mass=0,
                                flags=1)
-        self.change_dynamics(table, restitution=0.3)
 
-        net_position = np.asarray(table_position) + np.array([0., 0., 0.01])
-        net = self.load_mesh(mesh_path + 'net.obj', position=net_position, scale=dimensions, mass=0, flags=1)
+        net_position = np.asarray(position) + np.array([0., 0., 0.01])
+        net = self.load_mesh(mesh_path + 'net.obj', position=net_position, scale=scale, mass=0, flags=1)
 
-        paddle1 = self.load_mesh(mesh_path + 'paddle.obj', position=(1.1, 0.4, 0.9), scale=dimensions, mass=0.08,
-                                 flags=0)
-        paddle2 = self.load_mesh(mesh_path + 'paddle.obj', position=(-1.1, -0.4, 0.9), orientation=(0., -1., 0., 0.),
-                                 scale=dimensions, mass=0.08, flags=0, return_body=False)
-        ball = self.load_sphere(position=(1., 0.35, 1.2), mass=0.0027, radius=0.020, color=None, return_body=True)
-        ball.restitution = 2.5
+        self.paddle1 = self.load_mesh(mesh_path + 'paddle.obj', position=(1.1, 0.4, 0.9),
+                                      orientation=(0., -0.707, 0., 0.707), scale=scale, mass=0.08,
+                                      color=(0.2, 0.2, 0.2, 1), flags=0, return_body=True)
+        self.paddle2 = self.load_mesh(mesh_path + 'paddle.obj', position=(-1.1, -0.4, 0.9),
+                                      orientation=(0., 0.707, 0., 0.707), scale=scale,
+                                      mass=0.08, flags=0, color=(0.8, 0.2, 0.2, 1), return_body=True)
+
+        # load ping pong ball
+        # self.ball = self.load_mesh(mesh_path + 'ball.obj', position=(.9, 0.35, 1.2), scale=scale, mass=0.0027,
+        #                            flags=0, return_body=True)
+        self.ball = self.load_sphere(position=(.9, 0.35, 1.2), mass=0.0027, radius=0.020, color=None, return_body=True)
+
+        # set the restitution coefficient for the ball
+        # Ref: "Measure the coefficient of restitution for sports balls", Persson, 2012
+        self.ball.restitution = 0.89
+        self.change_dynamics(table, restitution=1.)
+
+    def reset(self, world_state=None):
+        super(PingPongWorld, self).reset(world_state)
+
+    def step(self, sleep_dt=None):
+        super(PingPongWorld, self).step(sleep_dt)
+
+
+class BallOnPaddleWorld(BasicWorld):
+    r"""Ball on a paddle
+
+    """
+
+    def __init__(self, simulator, position=(0., 0., 0.), orientation=(0., 0.707, 0., 0.707), scale=(1., 1., 1.)):
+        """
+        Initialize the ball on paddle world.
+
+        Args:
+            simulator (Simulator): the simulator instance.
+            position (tuple/list of 3 float, np.array[3]): position of the tennis table paddle.
+            orientation (tuple/list of 4 float, np.array[4]): orientation of the tennis table paddle (expressed as
+                a quaternion)
+            scale (tuple/list of 3 float): scaling factors in the (x,y,z) directions.
+        """
+        super(BallOnPaddleWorld, self).__init__(simulator)
+
+        mesh_path = os.path.dirname(os.path.abspath(__file__)) + '/../../meshes/sports/ping_pong/'
+        position = np.asarray(position)
+
+        # load paddle
+        self.paddle = self.load_mesh(mesh_path + 'paddle.obj', position=position, orientation=orientation, scale=scale,
+                                     mass=0.08, flags=0, color=(0.8, 0.2, 0.2, 1), return_body=True)
+
+        # load ping pong ball
+        self.ball = self.load_sphere(position=position + np.array([0., 0., 0.4]), mass=0.0027, radius=0.020,
+                                     return_body=True)
+
+        # set the restitution coefficient for the ball
+        # Ref: "Measure the coefficient of restitution for sports balls", Persson, 2012
+        self.ball.restitution = 0.89
+        self.paddle.restitution = 1.
+
+    def reset(self, world_state=None):
+        super(BallOnPaddleWorld, self).reset(world_state)
+
+    def step(self, sleep_dt=None):
+        super(BallOnPaddleWorld, self).step(sleep_dt)
 
 
 # Test
@@ -52,6 +116,7 @@ if __name__ == '__main__':
     sim = prl.simulators.Bullet()
 
     world = PingPongWorld(sim)
+    # world = BallOnPaddleWorld(sim)
 
     for t in count():
         world.step(sim.dt)
diff --git a/pyrobolearn/worlds/samples/sports/tennis.py b/pyrobolearn/worlds/samples/sports/tennis.py
new file mode 100644
index 0000000..041a0ce
--- /dev/null
+++ b/pyrobolearn/worlds/samples/sports/tennis.py
@@ -0,0 +1,70 @@
+#!/usr/bin/env python
+r"""Provide the tennis world.
+"""
+
+# TODO: the terrain is not in the correct dimensions; fix it!
+
+import os
+import numpy as np
+
+from pyrobolearn.worlds import BasicWorld
+
+
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2019, PyRoboLearn"
+__credits__ = ["Brian Delhaisse"]
+__license__ = "GNU GPLv3"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
+
+class TennisWorld(BasicWorld):
+    r"""Tennis world
+
+    """
+
+    def __init__(self, simulator, position=(0., 0., 0.), scale=(1., 1., 1.)):
+        super(TennisWorld, self).__init__(simulator)
+
+        mesh_path = os.path.dirname(os.path.abspath(__file__)) + '/../../meshes/sports/tennis/'
+        position = np.asarray(position)
+
+        # load terrain
+        terrain = self.load_mesh(mesh_path + 'court_without_net.obj', position=position, scale=scale, mass=0, flags=1)
+        net = self.load_mesh(mesh_path + 'net.obj', position=position, scale=scale, mass=0, flags=1)
+
+        # load rackets
+        self.racket1 = self.load_mesh(mesh_path + 'racket.obj', position=(-6., 0., 1.), scale=scale, mass=0, flags=0,
+                                      return_body=True)
+        self.racket2 = self.load_mesh(mesh_path + 'racket.obj', position=(6., 0., 1.), scale=scale, mass=0, flags=0,
+                                      return_body=True)
+
+        # load ball
+        self.ball = self.load_mesh(mesh_path + 'ball.obj', position=(2, 0., 1.), scale=scale, mass=0.0585, flags=0,
+                                   return_body=True)
+
+        # set the restitution coefficient for the ball
+        # Ref: "Measure the coefficient of restitution for sports balls", Persson, 2012
+        self.change_dynamics(self.ball, restitution=0.87)
+        self.change_dynamics(restitution=1.)
+
+    def reset(self, world_state=None):
+        super(TennisWorld, self).reset(world_state)
+
+    def step(self, sleep_dt=None):
+        super(TennisWorld, self).step(sleep_dt)
+
+
+# Test
+if __name__ == '__main__':
+    from itertools import count
+    import pyrobolearn as prl
+
+    sim = prl.simulators.Bullet()
+
+    world = TennisWorld(sim)
+
+    for t in count():
+        world.step(sim.dt)