-merge "scenes", "ivmodels", and "robot" directories with the
existing ones in MPK. After that you will still need geometric models for the
robot. Get that from the "Additional workcell and robot geometries" section of
the main download page: http://ai.stanford.edu/~mitul/mpk/download.html

-After you merge these with MPK: try a planning example: ./prog/fmstudio ./scenes/irb6_vwbody.iv