diff --git a/examples/icra2012/Challenge1.order.xml b/examples/icra2012/Challenge1.order.xml
new file mode 100644
index 0000000..e25a74c
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+++ b/examples/icra2012/Challenge1.order.xml
@@ -0,0 +1 @@
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diff --git a/examples/icra2012/Challenge2.order.xml b/examples/icra2012/Challenge2.order.xml
new file mode 100644
index 0000000..c20c122
--- /dev/null
+++ b/examples/icra2012/Challenge2.order.xml
@@ -0,0 +1 @@
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diff --git a/examples/icra2012/packlist_R1.xml b/examples/icra2012/packlist_R1.xml
new file mode 100644
index 0000000..2270bf5
--- /dev/null
+++ b/examples/icra2012/packlist_R1.xml
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/examples/icra2012/packlist_R2.xml b/examples/icra2012/packlist_R2.xml
new file mode 100644
index 0000000..5e687b7
--- /dev/null
+++ b/examples/icra2012/packlist_R2.xml
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\ No newline at end of file
diff --git a/examples/icra2012/packlist_R3.xml b/examples/icra2012/packlist_R3.xml
new file mode 100644
index 0000000..4a03e14
--- /dev/null
+++ b/examples/icra2012/packlist_R3.xml
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diff --git a/examples/icra2012/scorecog.xml b/examples/icra2012/scorecog.xml
new file mode 100644
index 0000000..2c40e0a
--- /dev/null
+++ b/examples/icra2012/scorecog.xml
@@ -0,0 +1,52 @@
+<?xml version="1.0"?>
+<scoreAsPlanned
+  xmlns="urn:Palletizing"
+  xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+  xsi:schemaLocation="urn:Palletizing ../schemaNew/scoreAsPlanned.xsd">
+  <rightStuff>
+    <isAdditive>false</isAdditive>
+    <weight>1</weight>
+  </rightStuff>
+  <overhang>
+    <isAdditive>false</isAdditive>
+    <weight>1</weight>
+    <valueFunction>
+      <bestValue>0.000000</bestValue>
+      <width>0.000000</width>
+      <taper>0.010000</taper>
+      <taperSide>plus</taperSide>
+    </valueFunction>
+  </overhang>
+  <volumeDensity>
+    <isAdditive>false</isAdditive>
+    <weight>1</weight>
+  </volumeDensity>
+  <overlapFraction>
+    <isAdditive>false</isAdditive>
+    <weight>1</weight>
+  </overlapFraction>
+  <connectionsBelow>
+    <isAdditive>false</isAdditive>
+    <weight>1</weight>
+    <valueFunction>
+      <bestValue>3.000000</bestValue>
+      <width>0.000000</width>
+      <taper>3.000000</taper>
+      <taperSide>minus</taperSide>
+    </valueFunction>
+  </connectionsBelow>
+  <cogInverseRelativeHeight>
+    <isAdditive>true</isAdditive>
+    <weight>1</weight>
+  </cogInverseRelativeHeight>
+  <cogRelativeOffset>
+    <isAdditive>true</isAdditive>
+    <weight>1</weight>
+    <valueFunction>
+      <bestValue>1.000000</bestValue>
+      <width>0.100000</width>
+      <taper>1.000000</taper>
+      <taperSide>both</taperSide>
+    </valueFunction>
+  </cogRelativeOffset>
+</scoreAsPlanned>
diff --git a/examples/icra2012/scorecogoverlap.xml b/examples/icra2012/scorecogoverlap.xml
new file mode 100644
index 0000000..f819b60
--- /dev/null
+++ b/examples/icra2012/scorecogoverlap.xml
@@ -0,0 +1,52 @@
+<?xml version="1.0"?>
+<scoreAsPlanned
+  xmlns="urn:Palletizing"
+  xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+  xsi:schemaLocation="urn:Palletizing ../schemaNew/scoreAsPlanned.xsd">
+  <rightStuff>
+    <isAdditive>false</isAdditive>
+    <weight>1</weight>
+  </rightStuff>
+  <overhang>
+    <isAdditive>false</isAdditive>
+    <weight>1</weight>
+    <valueFunction>
+      <bestValue>0.000000</bestValue>
+      <width>0.000000</width>
+      <taper>0.010000</taper>
+      <taperSide>plus</taperSide>
+    </valueFunction>
+  </overhang>
+  <volumeDensity>
+    <isAdditive>false</isAdditive>
+    <weight>1</weight>
+  </volumeDensity>
+  <overlapFraction>
+    <isAdditive>true</isAdditive>
+    <weight>1</weight>
+  </overlapFraction>
+  <connectionsBelow>
+    <isAdditive>true</isAdditive>
+    <weight>1</weight>
+    <valueFunction>
+      <bestValue>3.000000</bestValue>
+      <width>0.000000</width>
+      <taper>3.000000</taper>
+      <taperSide>minus</taperSide>
+    </valueFunction>
+  </connectionsBelow>
+  <cogInverseRelativeHeight>
+    <isAdditive>true</isAdditive>
+    <weight>1</weight>
+  </cogInverseRelativeHeight>
+  <cogRelativeOffset>
+    <isAdditive>true</isAdditive>
+    <weight>1</weight>
+    <valueFunction>
+      <bestValue>1.000000</bestValue>
+      <width>0.100000</width>
+      <taper>1.000000</taper>
+      <taperSide>both</taperSide>
+    </valueFunction>
+  </cogRelativeOffset>
+</scoreAsPlanned>