diff --git a/benchmark/sandbox/test1.cpp b/benchmark/sandbox/test1.cpp
new file mode 100644
index 0000000000..ea54b5f49e
--- /dev/null
+++ b/benchmark/sandbox/test1.cpp
@@ -0,0 +1,106 @@
+#include <iostream>
+#include <stdio.h>
+#include "pinocchio/parsers/sample-models.hpp"
+#include "pinocchio/algorithm/joint-configuration.hpp"
+#include "pinocchio/algorithm/rnea.hpp"
+#include <Eigen/Dense>
+
+
+using namespace std;
+using namespace pinocchio;
+
+class fun: serialization::Serializable<fun>{
+  
+  private:
+    int num1;
+    
+  public:
+   fun(int n):num1{n}{cout << "calling fun constructor!" << endl;};
+   void print_num1(){cout << "num1 = " << num1 << endl;}
+   void set_num1(int n){num1=n;};
+
+   ~fun(){cout << "calling fun destructor!" << endl;};
+
+};
+
+int main(){
+ 
+
+  pinocchio::Model model;
+  buildModels::humanoidRandom(model,true);
+  Data data(model);
+ 
+  Eigen::VectorXd q = pinocchio::neutral(model);
+  Eigen::VectorXd v = Eigen::VectorXd::Random(model.nv);
+  Eigen::VectorXd a = Eigen::VectorXd::Zero(model.nv);
+ 
+  const Eigen::VectorXd & tau = pinocchio::rnea(model,data,q,v,a);
+  std::cout << "tau = " << tau.transpose() << std::endl;
+
+  // ...Testing some data structures...
+  
+  // cout << "model njoints = " << model.njoints << endl;
+
+
+  // Testng serializable derived objects
+  fun f1{56};
+  f1.set_num1(12);
+  f1.print_num1();
+
+  serialization::Serializable<fun> f2;
+
+  // testing JointCollectionDefaultTpl
+
+  JointCollectionDefaultTpl<float,0> ::JointModelRX j1; 
+  auto data1 = j1.createData();
+  Eigen::VectorXd v1(3);
+
+  j1.calc(data1,v1);
+  cout << j1.classname() << endl;
+
+ // testing SE3 class objects
+  
+  cout << "---------------------------------" << endl;
+
+   SE3Tpl<double,0> s1;
+  
+   Eigen::Quaterniond quat(1.0,1.0,1.0,0.0);
+   Eigen::Vector3d trans(1.0,2.0,3.0);
+
+   SE3Tpl<double> s2(quat, trans);
+  
+   cout << "s2 rot = " << s2.rotation() << endl;
+   cout << "s2 trans = " << s2.translation() << endl;
+
+   cout << "s2 homo = " << s2.toHomogeneousMatrix() << endl;
+
+    pinocchio::traits< SE3Tpl<double,0>>::ActionMatrixType action_matrix = s2;
+    cout << "action_matrix-1 = " << action_matrix << endl;
+
+    cout << "to action matrix-2 =" << s2.toActionMatrix() << endl;
+    cout << "to action matrix-3 =" << s2.toActionMatrix_impl() << endl;
+
+   Eigen::Vector3d vec1{1.0,2.0,1.0};
+   cout << "action on vec1 = \n" << s2.actOnEigenObject(vec1) << endl;
+
+
+  cout << "------------------------- Testing ForceTpl------------------------" << endl;
+ 
+  // pinocchio::ForceBase<ForceDense<ForceTpl<double,0>>> f3; // causing error
+  pinocchio::ForceDense<ForceTpl<double,0>> f3;
+  f3.setRandom();
+  cout << "f3 linear part = \n" << f3.linear() << endl;
+    // cout << "f3 angular part =" << f3.angular() << endl;
+
+
+
+
+
+
+  
+
+
+return 0;
+
+
+}
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diff --git a/benchmark/sandbox/test1_c b/benchmark/sandbox/test1_c
new file mode 100755
index 0000000000..a0b4d5f3d1
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diff --git a/benchmark/sandbox/test2.cpp b/benchmark/sandbox/test2.cpp
new file mode 100644
index 0000000000..7e7b53d993
--- /dev/null
+++ b/benchmark/sandbox/test2.cpp
@@ -0,0 +1,64 @@
+#include <stdio.h>
+#include <iostream>
+
+using namespace std;
+
+template <typename T>
+class Ability{
+
+ public:
+   T strength, hit;
+   Ability(T n, T m):strength{n}, hit{m}{};
+   void get_ability(){
+    cout <<  "strength , hit  =" << strength << ", " << hit << endl;
+   }
+
+
+};
+
+template <typename T>
+class Warrior{
+ 
+ public:
+  T power, health;
+  Warrior(T n,T m):power{n},health{m}{};
+  void print_stat(){
+    cout << "power, health = " << power << ", " << health << endl;
+  }
+  static void fun1(){
+    cout << "this is inside the fun1" << endl;
+  }
+  ~Warrior(){};
+   
+   typedef Ability<T> ability;
+  
+};
+
+
+
+int main(){
+  
+  typedef Warrior<float> Saint;
+  typedef Warrior<int> Archer;
+  typedef Warrior<double> Sepoy;
+
+  Saint s{12.4,5.4};
+  Archer a{34,67};
+  Sepoy b{12.3,54.1};
+
+  s.print_stat();
+  a.print_stat();
+  b.print_stat();
+
+  s.fun1();
+  Warrior<float>::fun1();
+
+  Saint::ability s_ab(23.1,45.1);
+  s_ab.get_ability();
+
+
+
+
+
+    return 0;
+}
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diff --git a/benchmark/sandbox/test2_c b/benchmark/sandbox/test2_c
new file mode 100755
index 0000000000..da5833f9e8
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diff --git a/benchmark/sandbox/test3 b/benchmark/sandbox/test3
new file mode 100755
index 0000000000..c1fc445028
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diff --git a/benchmark/sandbox/test3.cpp b/benchmark/sandbox/test3.cpp
new file mode 100644
index 0000000000..8ece4a991b
--- /dev/null
+++ b/benchmark/sandbox/test3.cpp
@@ -0,0 +1,44 @@
+// template specialization
+
+#include <iostream>
+#include <stdio.h>
+using namespace std;
+
+template <typename T>
+class Nums{
+
+ public:
+  T num1, num2;
+  Nums(){};
+  void print_nums(){
+    cout << "type of num1 and num2 = " << typeid(num1).name() << endl;
+  }
+
+};
+
+// class template specialization for int
+template <>
+class Nums<int>{
+    public:
+     int num1, num2;
+     Nums(int n, int m):num1{n},num2{m}{};
+    void print_nums(){
+    cout << "type of num1 and num2 is integer " << endl;
+  }
+
+};
+
+int main(){
+
+  Nums<double> n;
+  n.print_nums();
+
+  Nums<float> m;
+  m.print_nums();
+
+  Nums<int> p(12,4);
+  p.print_nums();
+
+
+    return 0;
+}
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diff --git a/benchmark/sandbox/test4 b/benchmark/sandbox/test4
new file mode 100755
index 0000000000..6cbde5150c
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diff --git a/benchmark/sandbox/test4.cpp b/benchmark/sandbox/test4.cpp
new file mode 100644
index 0000000000..52ba749302
--- /dev/null
+++ b/benchmark/sandbox/test4.cpp
@@ -0,0 +1,40 @@
+#include <stdio.h>
+#include <iostream>
+using namespace std;
+
+template <typename T>
+class test{
+
+ public:
+ template <typename U>
+ void myfun(U var)
+ {
+    std::cout << "value of var is = " << var << endl;
+ }
+ 
+
+
+};
+
+// template specialization
+template<>
+template<> // need 2 template keywords since specialized for the class and function
+void test<int>::myfun<double>(double var){
+    std::cout << "Value of var for double now is " << var << endl;
+}
+
+
+int main(){
+
+ 
+ test<int> intstance;
+ test<double> doubstance;
+
+ intstance.myfun(12);
+ intstance.myfun(34.1);
+
+ intstance.template myfun(56.1);
+
+
+
+}
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