diff --git a/data/multibody.bullet b/data/multibody.bullet
index 018d5eb52..33591c530 100644
Binary files a/data/multibody.bullet and b/data/multibody.bullet differ
diff --git a/examples/ExampleBrowser/CMakeLists.txt b/examples/ExampleBrowser/CMakeLists.txt
index 0e92aa203..c9c65b87c 100644
--- a/examples/ExampleBrowser/CMakeLists.txt
+++ b/examples/ExampleBrowser/CMakeLists.txt
@@ -384,6 +384,8 @@ SET(BulletExampleBrowser_SRCS
   ../DeformableDemo/MultibodyClothAnchor.h
   ../MultiBody/MultiDofDemo.cpp
   ../MultiBody/MultiDofDemo.h
+  ../MultiBody/HyunwooDemo.cpp
+  ../MultiBody/HyunwooDemo.h
   ../RigidBody/RigidBodySoftContact.cpp
   ../RigidBody/KinematicRigidBodyExample.cpp
   ../Constraints/TestHingeTorque.cpp
diff --git a/examples/ExampleBrowser/ExampleEntries.cpp b/examples/ExampleBrowser/ExampleEntries.cpp
index 9f8ab035c..eaacf251c 100644
--- a/examples/ExampleBrowser/ExampleEntries.cpp
+++ b/examples/ExampleBrowser/ExampleEntries.cpp
@@ -32,6 +32,7 @@
 #include "../MultiBody/MultiBodySoftContact.h"
 #include "../MultiBody/MultiBodyConstraintFeedback.h"
 #include "../MultiBody/MultiDofDemo.h"
+#include "../MultiBody/HyunwooDemo.h"
 #include "../MultiBody/InvertedPendulumPDControl.h"
 #include "../MultiBody/KinematicMultiBodyExample.h"
 
@@ -151,6 +152,7 @@ static ExampleEntry gDefaultExamples[] =
 
 		ExampleEntry(0, "MultiBody"),
 		ExampleEntry(1, "MultiDof", "Create a basic btMultiBody with 3-DOF spherical joints (mobilizers). The demo uses a fixed base or a floating base at restart.", MultiDofCreateFunc),
+		ExampleEntry(1, "hyunwoo", "Create a basic btMultiBody with 3-DOF spherical joints (mobilizers). The demo uses a fixed base or a floating base at restart.", HyunwooCreateFunc),
 		ExampleEntry(1, "TestJointTorque", "Apply a torque to a btMultiBody with 1-DOF joints (mobilizers). This setup is similar to API/TestHingeTorque.", TestJointTorqueCreateFunc),
 		ExampleEntry(1, "TestPendulum", "Simulate a pendulum using btMultiBody with a constant joint torque applied. The same code is also used as a unit test comparing Bullet with the numerical solution of second-order non-linear differential equation stored in pendulum_gold.h", TestPendulumCreateFunc),
 
