diff --git a/data/Quadrotor/quadrotor.urdf b/data/Quadrotor/quadrotor.urdf
new file mode 100644
index 000000000..7158dc40a
--- /dev/null
+++ b/data/Quadrotor/quadrotor.urdf
@@ -0,0 +1,62 @@
+<?xml version="1.0" ?>
+
+<!-- adapted from Daniel Mellinger, Nathan Michael, Vijay Kumar, "Trajectory Generation and Control for Precise Aggressive Maneuvers with Quadrotors" -->
+
+<robot xmlns="http://drake.mit.edu"
+ xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+ xsi:schemaLocation="http://drake.mit.edu ../../../../pods/drake/doc/drakeURDF.xsd" name="quadrotor">
+  <link name="base_link">
+    <inertial>
+      <mass value="0.5"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.0023" ixy="0.0" ixz="0.0" iyy="0.0023" iyz="0.0" izz="0.004"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="quadrotor_base.obj" scale=".1 .1 .1"/>
+      </geometry>
+    </visual>
+    <!-- note: the original hector quadrotor urdf had a (simplified, but still complex) collision mesh, too -->
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder radius=".3" length=".1"/>
+      </geometry>
+    </collision>      
+  </link>
+  <frame link="base_link" name="body" rpy="0 0 0" xyz="0 0 0" />
+  <force_element name="prop1">
+    <propellor lower_limit="0" upper_limit="10" scale_factor_thrust="1.0" scale_factor_moment="0.0245">
+      <parent link="base_link"/>
+      <origin xyz=".1750 0 0"/>
+      <axis xyz="0 0 1"/>
+    </propellor>
+  </force_element>
+
+  <force_element name="prop2">
+    <propellor lower_limit="0" upper_limit="10" scale_factor_thrust="1.0" scale_factor_moment="-0.0245">
+      <parent link="base_link"/>
+      <origin xyz="0 .1750 0 "/>
+      <axis xyz="0 0 1"/>
+    </propellor>
+  </force_element>
+  
+  <force_element name="prop3">
+    <propellor lower_limit="0" upper_limit="10" scale_factor_thrust="1.0" scale_factor_moment="0.0245">
+      <parent link="base_link"/>
+      <origin xyz="-.1750 0 0"/>
+      <axis xyz="0 0 1"/>
+    </propellor>
+  </force_element>
+  
+  <force_element name="prop4">
+    <propellor lower_limit="0" upper_limit="10" scale_factor_thrust="1.0" scale_factor_moment="-0.0245">
+      <parent link="base_link"/>
+      <origin xyz="0 -.1750 0"/>
+      <axis xyz="0 0 1"/>
+    </propellor>
+  </force_element>
+  
+</robot>
+
diff --git a/data/Quadrotor/quadrotor_base.obj b/data/Quadrotor/quadrotor_base.obj
new file mode 100644
index 000000000..dc5129f4b
--- /dev/null
+++ b/data/Quadrotor/quadrotor_base.obj
@@ -0,0 +1,1696 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
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+#
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+#
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+f 155//155 160//160 159//159
+f 155//155 157//157 160//160
+f 154//154 157//157 155//155
+f 154//154 158//158 157//157
+f 118//118 132//132 131//131
+f 118//118 117//117 132//132
+f 131//131 132//132 129//129
+f 129//129 132//132 130//130
+f 129//129 130//130 127//127
+f 127//127 130//130 128//128
+f 127//127 128//128 125//125
+f 125//125 128//128 126//126
+f 125//125 126//126 123//123
+f 123//123 126//126 124//124
+f 123//123 122//122 121//121
+f 123//123 124//124 122//122
+f 121//121 120//120 119//119
+f 121//121 122//122 120//120
+f 117//117 119//119 120//120
+f 117//117 118//118 119//119
+f 103//103 101//101 115//115
+f 103//103 115//115 116//116
+f 113//113 114//114 116//116
+f 113//113 116//116 115//115
+f 111//111 112//112 114//114
+f 111//111 114//114 113//113
+f 109//109 110//110 111//111
+f 110//110 112//112 111//111
+f 107//107 108//108 109//109
+f 108//108 110//110 109//109
+f 105//105 106//106 107//107
+f 106//106 108//108 107//107
+f 100//100 104//104 105//105
+f 104//104 106//106 105//105
+f 101//101 103//103 104//104
+f 101//101 104//104 100//100
+f 82//82 96//96 95//95
+f 82//82 81//81 96//96
+f 95//95 96//96 93//93
+f 93//93 96//96 94//94
+f 93//93 94//94 91//91
+f 91//91 94//94 92//92
+f 91//91 92//92 89//89
+f 89//89 92//92 90//90
+f 89//89 90//90 87//87
+f 87//87 90//90 88//88
+f 87//87 86//86 85//85
+f 87//87 88//88 86//86
+f 85//85 84//84 83//83
+f 85//85 86//86 84//84
+f 81//81 83//83 84//84
+f 81//81 82//82 83//83
+f 71//71 63//63 70//70
+f 71//71 70//70 78//78
+f 69//69 77//77 78//78
+f 69//69 78//78 70//70
+f 68//68 76//76 77//77
+f 68//68 77//77 69//69
+f 67//67 75//75 68//68
+f 75//75 76//76 68//68
+f 66//66 74//74 67//67
+f 74//74 75//75 67//67
+f 65//65 73//73 66//66
+f 73//73 74//74 66//66
+f 64//64 72//72 65//65
+f 72//72 73//73 65//65
+f 63//63 71//71 72//72
+f 63//63 72//72 64//64
+f 23//23 21//21 35//35
+f 23//23 35//35 36//36
+f 33//33 34//34 36//36
+f 33//33 36//36 35//35
+f 31//31 32//32 34//34
+f 31//31 34//34 33//33
+f 29//29 30//30 32//32
+f 29//29 32//32 31//31
+f 27//27 28//28 30//30
+f 27//27 30//30 29//29
+f 25//25 26//26 28//28
+f 25//25 28//28 27//27
+f 20//20 24//24 26//26
+f 20//20 26//26 25//25
+f 24//24 20//20 21//21
+f 24//24 21//21 23//23
+f 2//2 1//1 16//16
+f 16//16 15//15 2//2
+f 15//15 14//14 13//13
+f 15//15 16//16 14//14
+f 13//13 12//12 11//11
+f 13//13 14//14 12//12
+f 11//11 10//10 9//9
+f 11//11 12//12 10//10
+f 9//9 8//8 7//7
+f 9//9 10//10 8//8
+f 7//7 6//6 5//5
+f 7//7 8//8 6//6
+f 5//5 4//4 3//3
+f 5//5 6//6 4//4
+f 1//1 3//3 4//4
+f 1//1 2//2 3//3
+f 138//138 137//137 136//136
+f 136//136 137//137 135//135
+f 138//138 140//140 139//139
+f 139//139 140//140 135//135
+f 138//138 142//142 141//141
+f 141//141 142//142 135//135
+f 138//138 144//144 143//143
+f 143//143 144//144 135//135
+f 138//138 146//146 145//145
+f 145//145 146//146 135//135
+f 138//138 148//148 147//147
+f 147//147 148//148 135//135
+f 138//138 150//150 149//149
+f 149//149 150//150 135//135
+f 138//138 152//152 151//151
+f 151//151 152//152 135//135
+f 179//179 181//181 180//180
+f 182//182 181//181 179//179
+f 184//184 183//183 180//180
+f 182//182 183//183 184//184
+f 186//186 185//185 180//180
+f 182//182 185//185 186//186
+f 188//188 187//187 180//180
+f 182//182 187//187 188//188
+f 190//190 189//189 180//180
+f 182//182 189//189 190//190
+f 192//192 191//191 180//180
+f 182//182 191//191 192//192
+f 194//194 193//193 180//180
+f 182//182 193//193 194//194
+f 196//196 195//195 180//180
+f 182//182 195//195 196//196
+f 200//200 201//201 198//198
+f 198//198 201//201 199//199
+f 200//200 203//203 202//202
+f 202//202 203//203 199//199
+f 200//200 205//205 204//204
+f 204//204 205//205 199//199
+f 200//200 207//207 206//206
+f 206//206 207//207 199//199
+f 200//200 209//209 208//208
+f 208//208 209//209 199//199
+f 200//200 211//211 210//210
+f 210//210 211//211 199//199
+f 200//200 213//213 212//212
+f 212//212 213//213 199//199
+f 200//200 197//197 214//214
+f 214//214 197//197 199//199
+f 267//267 269//269 268//268
+f 270//270 269//269 267//267
+f 272//272 271//271 268//268
+f 270//270 271//271 272//272
+f 274//274 273//273 268//268
+f 270//270 273//273 274//274
+f 276//276 275//275 268//268
+f 270//270 275//275 276//276
+f 278//278 277//277 268//268
+f 270//270 277//277 278//278
+f 280//280 279//279 268//268
+f 270//270 279//279 280//280
+f 282//282 281//281 268//268
+f 270//270 281//281 282//282
+f 284//284 283//283 268//268
+f 270//270 283//283 284//284
+# 1080 faces, 0 coords texture
+
+# End of File
\ No newline at end of file
diff --git a/data/checker_blue.png b/data/checker_blue.png
new file mode 100644
index 000000000..0894b91f1
Binary files /dev/null and b/data/checker_blue.png differ
diff --git a/data/husky/husky.urdf b/data/husky/husky.urdf
new file mode 100644
index 000000000..e9762701b
--- /dev/null
+++ b/data/husky/husky.urdf
@@ -0,0 +1,345 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from ../urdf/husky.urdf.xacro       | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<!--
+Software License Agreement (BSD)
+
+\file      husky.urdf.xacro
+\authors   Paul Bovbel <pbovbel@clearpathrobotics.com>
+\copyright Copyright (c) 2015, Clearpath Robotics, Inc., All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification, are permitted provided that
+the following conditions are met:
+ * Redistributions of source code must retain the above copyright notice, this list of conditions and the
+   following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the 
+   following disclaimer in the documentation and/or other materials provided with the distribution.
+ * Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote
+   products derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR-
+RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN-
+DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
+OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+-->
+<robot name="husky_robot" xmlns:xacro="http://ros.org/wiki/xacro">
+  <!-- Included URDF/XACRO Files -->
+  <material name="Black">
+    <color rgba="0.1 0.1 0.1 1.0"/>
+  </material>
+  <material name="Blue">
+    <color rgba="0.0 0.0 0.8 1.0"/>
+  </material>
+  <material name="Green">
+    <color rgba="0.0 0.8 0.0 1.0"/>
+  </material>
+  <material name="Grey">
+    <color rgba="0.7 0.7 0.7 1.0"/>
+  </material>
+  <material name="DarkGrey">
+    <color rgba="0.3 0.3 0.3 1.0"/>
+  </material>
+  <material name="Red">
+    <color rgba="0.8 0.0 0.0 1.0"/>
+  </material>
+  <material name="White">
+    <color rgba="1.0 1.0 1.0 1.0"/>
+  </material>
+  <material name="Yellow">
+    <color rgba="0.8 0.8 0.0 1.0"/>
+  </material>
+  <!-- Base Size -->
+  <!-- Wheel Mounting Positions -->
+  <!-- Wheel Properties -->
+  <!-- Base link is on the ground under the robot -->
+  <link name="base_footprint"/>
+  <gazebo reference="base_footprint">
+    <material>Gazebo/DarkGrey</material>
+  </gazebo>
+  <joint name="chassis_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0.14493"/>
+    <parent link="base_footprint"/>
+    <child link="base_link"/>
+  </joint>
+  <!-- Chassis link is the center of the robot's bottom plate -->
+  <link name="base_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/base_link.stl"/>
+      </geometry>
+      <material name="Black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.12498"/>
+      <geometry>
+        <!-- Make collision box slightly bigger in x and z directions. -->
+        <box size="1.0074 0.5709 0.2675"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="33.455"/>
+      <origin xyz="-0.08748 -0.00085 0.09947"/>
+      <inertia ixx="0.6022" ixy="-0.02364" ixz="-0.1197" iyy="1.7386" iyz="-0.001544" izz="2.0296"/>
+    </inertial>
+  </link>
+  <gazebo reference="base_link">
+    </gazebo>
+  <!-- IMU Link is the standard mounting position for the UM6 IMU.-->
+  <!-- Can be modified with environment variables in /etc/ros/setup.bash -->
+  <link name="imu_link"/>
+  <joint name="imu_joint" type="fixed">
+    <origin rpy="$(optenv HUSKY_IMU_RPY 0 -1.5708 3.1416)" xyz="$(optenv HUSKY_IMU_XYZ 0.19 0 0.149)"/>
+    <parent link="base_link"/>
+    <child link="imu_link"/>
+  </joint>
+  <gazebo reference="imu_link">
+    </gazebo>
+  <!-- Husky wheel macros -->
+  <link name="front_left_wheel_link">
+    <inertial>
+      <mass value="2.637"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/wheel.stl"/>
+      </geometry>
+      <material name="DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="1.570795 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.1143" radius="0.17775"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="front_left_wheel_link">
+    <mu1 value="1.0"/>
+    <mu2 value="1.0"/>
+    <kp value="10000000.0"/>
+    <kd value="1.0"/>
+    <fdir1 value="1 0 0"/>
+    <material>Gazebo/Grey</material>
+    <turnGravityOff>false</turnGravityOff>
+  </gazebo>
+  <joint name="front_left_wheel" type="continuous">
+    <parent link="base_link"/>
+    <child link="front_left_wheel_link"/>
+    <origin rpy="0 0 0" xyz="0.256 0.2854 0.03282"/>
+    <axis rpy="0 0 0" xyz="0 1 0"/>
+  </joint>
+  <transmission name="front_left_wheel_trans" type="SimpleTransmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <actuator name="front_left_wheel_motor">
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+    <joint name="front_left_wheel">
+      <hardwareInterface>VelocityJointInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <link name="front_right_wheel_link">
+    <inertial>
+      <mass value="2.637"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/wheel.stl"/>
+      </geometry>
+      <material name="DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="1.570795 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.1143" radius="0.17775"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="front_right_wheel_link">
+    <mu1 value="1.0"/>
+    <mu2 value="1.0"/>
+    <kp value="10000000.0"/>
+    <kd value="1.0"/>
+    <fdir1 value="1 0 0"/>
+    <material>Gazebo/Grey</material>
+    <turnGravityOff>false</turnGravityOff>
+  </gazebo>
+  <joint name="front_right_wheel" type="continuous">
+    <parent link="base_link"/>
+    <child link="front_right_wheel_link"/>
+    <origin rpy="0 0 0" xyz="0.256 -0.2854 0.03282"/>
+    <axis rpy="0 0 0" xyz="0 1 0"/>
+  </joint>
+  <transmission name="front_right_wheel_trans" type="SimpleTransmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <actuator name="front_right_wheel_motor">
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+    <joint name="front_right_wheel">
+      <hardwareInterface>VelocityJointInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <link name="rear_left_wheel_link">
+    <inertial>
+      <mass value="2.637"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/wheel.stl"/>
+      </geometry>
+      <material name="DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="1.570795 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.1143" radius="0.17775"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="rear_left_wheel_link">
+    <mu1 value="1.0"/>
+    <mu2 value="1.0"/>
+    <kp value="10000000.0"/>
+    <kd value="1.0"/>
+    <fdir1 value="1 0 0"/>
+    <material>Gazebo/Grey</material>
+    <turnGravityOff>false</turnGravityOff>
+  </gazebo>
+  <joint name="rear_left_wheel" type="continuous">
+    <parent link="base_link"/>
+    <child link="rear_left_wheel_link"/>
+    <origin rpy="0 0 0" xyz="-0.256 0.2854 0.03282"/>
+    <axis rpy="0 0 0" xyz="0 1 0"/>
+  </joint>
+  <transmission name="rear_left_wheel_trans" type="SimpleTransmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <actuator name="rear_left_wheel_motor">
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+    <joint name="rear_left_wheel">
+      <hardwareInterface>VelocityJointInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <link name="rear_right_wheel_link">
+    <inertial>
+      <mass value="2.637"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/wheel.stl"/>
+      </geometry>
+      <material name="DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="1.570795 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.1143" radius="0.17775"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="rear_right_wheel_link">
+    <mu1 value="1.0"/>
+    <mu2 value="1.0"/>
+    <kp value="10000000.0"/>
+    <kd value="1.0"/>
+    <fdir1 value="1 0 0"/>
+    <material>Gazebo/Grey</material>
+    <turnGravityOff>false</turnGravityOff>
+  </gazebo>
+  <joint name="rear_right_wheel" type="continuous">
+    <parent link="base_link"/>
+    <child link="rear_right_wheel_link"/>
+    <origin rpy="0 0 0" xyz="-0.256 -0.2854 0.03282"/>
+    <axis rpy="0 0 0" xyz="0 1 0"/>
+  </joint>
+  <transmission name="rear_right_wheel_trans" type="SimpleTransmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <actuator name="rear_right_wheel_motor">
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+    <joint name="rear_right_wheel">
+      <hardwareInterface>VelocityJointInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <link name="top_plate_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/top_plate.stl"/>
+      </geometry>
+      <material name="Yellow"/>
+    </visual>
+  </link>
+  <joint name="top_plate" type="fixed">
+    <parent link="base_link"/>
+    <child link="top_plate_link"/>
+  </joint>
+  <gazebo reference="top_plate_link">
+    <material>Gazebo/Yellow</material>
+  </gazebo>
+  <link name="user_rail_link">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/user_rail.stl"/>
+      </geometry>
+      <material name="DarkGrey"/>
+    </visual>
+  </link>
+  <joint name="user_rail" type="fixed">
+    <origin rpy="0 0 0" xyz="0.272 0 0.245"/>
+    <parent link="base_link"/>
+    <child link="user_rail_link"/>
+  </joint>
+  <gazebo reference="user_rail_link">
+    <material>Gazebo/DarkGrey</material>
+  </gazebo>
+  <link name="front_bumper_link">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/bumper.stl"/>
+      </geometry>
+      <material name="DarkGrey"/>
+    </visual>
+  </link>
+  <joint name="front_bumper" type="fixed">
+    <origin rpy="0 0 0" xyz="0.48 0 0.091"/>
+    <parent link="base_link"/>
+    <child link="front_bumper_link"/>
+  </joint>
+  <gazebo reference="front_bumper_link">
+    <material>Gazebo/DarkGrey</material>
+  </gazebo>
+  <link name="rear_bumper_link">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/bumper.stl"/>
+      </geometry>
+      <material name="DarkGrey"/>
+    </visual>
+  </link>
+  <joint name="rear_bumper" type="fixed">
+    <origin rpy="0 0 3.14159" xyz="-0.48 0 0.091"/>
+    <parent link="base_link"/>
+    <child link="rear_bumper_link"/>
+  </joint>
+  <gazebo reference="rear_bumper_link">
+    <material>Gazebo/DarkGrey</material>
+  </gazebo>
+</robot>
+
diff --git a/data/husky/meshes/bumper.stl b/data/husky/meshes/bumper.stl
new file mode 100644
index 000000000..7cccf4b03
Binary files /dev/null and b/data/husky/meshes/bumper.stl differ
diff --git a/data/husky/meshes/top_plate.stl b/data/husky/meshes/top_plate.stl
new file mode 100644
index 000000000..ef4d137b5
Binary files /dev/null and b/data/husky/meshes/top_plate.stl differ
diff --git a/data/husky/meshes/user_rail.stl b/data/husky/meshes/user_rail.stl
new file mode 100644
index 000000000..7542c59bc
Binary files /dev/null and b/data/husky/meshes/user_rail.stl differ
diff --git a/data/husky/meshes/wheel.stl b/data/husky/meshes/wheel.stl
new file mode 100644
index 000000000..0e76151ca
Binary files /dev/null and b/data/husky/meshes/wheel.stl differ
diff --git a/data/plane.mtl b/data/plane.mtl
index 46c54e4be..cd101528d 100644
--- a/data/plane.mtl
+++ b/data/plane.mtl
@@ -10,6 +10,6 @@ newmtl Material
   Ks 0.0000 0.0000 0.0000
   Ke 0.0000 0.0000 0.0000
   map_Ka cube.tga
-  map_Kd checker_grid.jpg
+  map_Kd checker_blue.png
+  
   
-  
\ No newline at end of file
diff --git a/data/plane.obj b/data/plane.obj
index 61e8e047c..0b77a9912 100644
--- a/data/plane.obj
+++ b/data/plane.obj
@@ -7,9 +7,9 @@ v 5.000000 5.000000 0.000000
 v -5.000000 5.000000 0.000000
 v -5.000000  -5.000000 0.000000
 
-vt 1.000000 0.000000
-vt 1.000000 1.000000
-vt 0.000000 1.000000
+vt 5.000000 0.000000
+vt 5.000000 5.000000
+vt 0.000000 5.000000
 vt 0.000000 0.000000
 
 usemtl Material
diff --git a/data/plane100.obj b/data/plane100.obj
index c60a07b05..3a74f590b 100644
--- a/data/plane100.obj
+++ b/data/plane100.obj
@@ -2,11 +2,21 @@
 # www.blender.org
 mtllib plane.mtl
 o Plane
-v 100.000000 0.000000 -100.000000
-v 100.000000 0.000000 100.000000
-v -100.000000 0.000000 100.000000
-v -100.000000 0.000000 -100.000000
+v 100.000000 -100.000000 0.000000
+v 100.000000 100.000000 0.000000
+v -100.000000 100.000000 0.000000
+v -100.000000  -100.000000 0.000000
+
+vt 100.000000 0.000000
+vt 100.000000 100.000000
+vt 0.000000 100.000000
+vt 0.000000 0.000000
+
+
+
 usemtl Material
 s off
-f 3 2 1
-f 4 3 1
+f 1/1 2/2 3/3
+f 1/1 3/3 4/4
+
+
diff --git a/data/plane100.urdf b/data/plane100.urdf
new file mode 100644
index 000000000..1c6a01cc6
--- /dev/null
+++ b/data/plane100.urdf
@@ -0,0 +1,26 @@
+<?xml version="0.0" ?>
+<robot name="cube.urdf">
+  <link name="baseLink">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+       <mass value=".0"/>
+       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="plane100.obj" scale="1 1 1"/>
+      </geometry>
+       <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+	 	<box size="10 10 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
+