diff --git a/data/racecar/meshes/checker_blue.png b/data/racecar/meshes/checker_blue.png
new file mode 100644
index 000000000..0894b91f1
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diff --git a/data/racecar/meshes/cone.mtl b/data/racecar/meshes/cone.mtl
new file mode 100644
index 000000000..c6fd1f6cc
--- /dev/null
+++ b/data/racecar/meshes/cone.mtl
@@ -0,0 +1,11 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
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diff --git a/data/racecar/meshes/cone.obj b/data/racecar/meshes/cone.obj
new file mode 100644
index 000000000..0e32f038b
--- /dev/null
+++ b/data/racecar/meshes/cone.obj
@@ -0,0 +1,125 @@
+# Blender v2.71 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib cone.mtl
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diff --git a/data/racecar/meshes/hokuyo.mtl b/data/racecar/meshes/hokuyo.mtl
new file mode 100644
index 000000000..1d22ed29f
--- /dev/null
+++ b/data/racecar/meshes/hokuyo.mtl
@@ -0,0 +1,20 @@
+# Blender MTL File: 'None'
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+
+newmtl black-material
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diff --git a/data/racecar/meshes/hokuyo.obj b/data/racecar/meshes/hokuyo.obj
new file mode 100644
index 000000000..be1f55569
--- /dev/null
+++ b/data/racecar/meshes/hokuyo.obj
@@ -0,0 +1,2473 @@
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+# www.blender.org
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diff --git a/data/racecar/meshes/left_front_wheel.mtl b/data/racecar/meshes/left_front_wheel.mtl
new file mode 100644
index 000000000..2a3af6d81
--- /dev/null
+++ b/data/racecar/meshes/left_front_wheel.mtl
@@ -0,0 +1,11 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
+map_Kd wheel.jpg
diff --git a/data/racecar/meshes/left_front_wheel.obj b/data/racecar/meshes/left_front_wheel.obj
new file mode 100644
index 000000000..c08b16e24
--- /dev/null
+++ b/data/racecar/meshes/left_front_wheel.obj
@@ -0,0 +1,3978 @@
+# Blender v2.71 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/data/racecar/meshes/left_rear_wheel.mtl b/data/racecar/meshes/left_rear_wheel.mtl
new file mode 100644
index 000000000..2a3af6d81
--- /dev/null
+++ b/data/racecar/meshes/left_rear_wheel.mtl
@@ -0,0 +1,11 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
+map_Kd wheel.jpg
diff --git a/data/racecar/meshes/left_rear_wheel.obj b/data/racecar/meshes/left_rear_wheel.obj
new file mode 100644
index 000000000..a929491b5
--- /dev/null
+++ b/data/racecar/meshes/left_rear_wheel.obj
@@ -0,0 +1,3979 @@
+# Blender v2.71 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/data/racecar/meshes/right_front_wheel.mtl b/data/racecar/meshes/right_front_wheel.mtl
new file mode 100644
index 000000000..2a3af6d81
--- /dev/null
+++ b/data/racecar/meshes/right_front_wheel.mtl
@@ -0,0 +1,11 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
+map_Kd wheel.jpg
diff --git a/data/racecar/meshes/right_front_wheel.obj b/data/racecar/meshes/right_front_wheel.obj
new file mode 100644
index 000000000..0b1fe2446
--- /dev/null
+++ b/data/racecar/meshes/right_front_wheel.obj
@@ -0,0 +1,3625 @@
+# Blender v2.71 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib right_front_wheel.mtl
+o right_front_wheel
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diff --git a/data/racecar/meshes/right_rear_wheel.mtl b/data/racecar/meshes/right_rear_wheel.mtl
new file mode 100644
index 000000000..2a3af6d81
--- /dev/null
+++ b/data/racecar/meshes/right_rear_wheel.mtl
@@ -0,0 +1,11 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
+map_Kd wheel.jpg
diff --git a/data/racecar/meshes/right_rear_wheel.obj b/data/racecar/meshes/right_rear_wheel.obj
new file mode 100644
index 000000000..4b774696e
--- /dev/null
+++ b/data/racecar/meshes/right_rear_wheel.obj
@@ -0,0 +1,3625 @@
+# Blender v2.71 (sub 0) OBJ File: ''
+# www.blender.org
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+o right_rear_wheel
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diff --git a/data/racecar/meshes/wheel.jpg b/data/racecar/meshes/wheel.jpg
new file mode 100644
index 000000000..ab4536419
Binary files /dev/null and b/data/racecar/meshes/wheel.jpg differ
diff --git a/data/racecar/racecar.urdf b/data/racecar/racecar.urdf
index d5f17202e..c33450464 100644
--- a/data/racecar/racecar.urdf
+++ b/data/racecar/racecar.urdf
@@ -45,9 +45,9 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/left_rear_wheel.STL"/>
+        <mesh filename="meshes/left_rear_wheel.obj"/>
       </geometry>
-      <material name="black"/>
+      <material name="white"/>
     </visual>
     <collision>
       robot
@@ -85,9 +85,9 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/right_rear_wheel.STL"/>
+        <mesh filename="meshes/right_rear_wheel.obj"/>
       </geometry>
-      <material name="black"/>
+      <material name="white"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0.0225"/>
@@ -187,9 +187,9 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/left_front_wheel.STL"/>
+        <mesh filename="meshes/left_front_wheel.obj"/>
       </geometry>
-      <material name="black"/>
+      <material name="white"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 -0.0225"/>
@@ -225,9 +225,9 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/right_front_wheel.STL"/>
+        <mesh filename="meshes/right_front_wheel.obj"/>
       </geometry>
-      <material name="black"/>
+      <material name="white"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0.0225"/>
@@ -269,7 +269,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/hokuyo.dae"/>
+        <mesh filename="meshes/hokuyo.obj"/>
         <material name="grey"/>
       </geometry>
     </visual>
@@ -454,8 +454,11 @@
       </plugin>
     </sensor>
   </gazebo>
+  <material name="white">
+    <color rgba="1. 1. 1. 1.0"/>
+  </material>
   <material name="black">
-    <color rgba="0.0 0.0 0.0 1.0"/>
+    <color rgba="0. 0. 0. 1.0"/>
   </material>
   <material name="blue">
     <color rgba="0.0 0.0 0.8 1.0"/>