diff --git a/CustomRobots/CMakeLists.txt b/CustomRobots/CMakeLists.txt
index c8c6974be..224b8569e 100755
--- a/CustomRobots/CMakeLists.txt
+++ b/CustomRobots/CMakeLists.txt
@@ -111,7 +111,7 @@ install(
     # drone_assets/bridges above
     drone_cat_mouse/models
 
-    taxi_navigator/models
+    city_assets/models
     
     3d_reconstruction/models
     
diff --git a/CustomRobots/taxi_navigator/models/cityLarge_harmonic/meshes/Color.png b/CustomRobots/city_assets/models/large_basic_city/meshes/Color.png
similarity index 100%
rename from CustomRobots/taxi_navigator/models/cityLarge_harmonic/meshes/Color.png
rename to CustomRobots/city_assets/models/large_basic_city/meshes/Color.png
diff --git a/CustomRobots/taxi_navigator/models/cityLarge_harmonic/meshes/city.mtl b/CustomRobots/city_assets/models/large_basic_city/meshes/city.mtl
similarity index 100%
rename from CustomRobots/taxi_navigator/models/cityLarge_harmonic/meshes/city.mtl
rename to CustomRobots/city_assets/models/large_basic_city/meshes/city.mtl
diff --git a/CustomRobots/taxi_navigator/models/cityLarge_harmonic/meshes/city.obj b/CustomRobots/city_assets/models/large_basic_city/meshes/city.obj
similarity index 100%
rename from CustomRobots/taxi_navigator/models/cityLarge_harmonic/meshes/city.obj
rename to CustomRobots/city_assets/models/large_basic_city/meshes/city.obj
diff --git a/CustomRobots/taxi_navigator/models/cityLarge_harmonic/meshes/city_visual.mtl b/CustomRobots/city_assets/models/large_basic_city/meshes/city_visual.mtl
similarity index 100%
rename from CustomRobots/taxi_navigator/models/cityLarge_harmonic/meshes/city_visual.mtl
rename to CustomRobots/city_assets/models/large_basic_city/meshes/city_visual.mtl
diff --git a/CustomRobots/taxi_navigator/models/cityLarge_harmonic/meshes/city_visual.obj b/CustomRobots/city_assets/models/large_basic_city/meshes/city_visual.obj
similarity index 100%
rename from CustomRobots/taxi_navigator/models/cityLarge_harmonic/meshes/city_visual.obj
rename to CustomRobots/city_assets/models/large_basic_city/meshes/city_visual.obj
diff --git a/CustomRobots/taxi_navigator/models/cityLarge_harmonic/model.config b/CustomRobots/city_assets/models/large_basic_city/model.config
similarity index 89%
rename from CustomRobots/taxi_navigator/models/cityLarge_harmonic/model.config
rename to CustomRobots/city_assets/models/large_basic_city/model.config
index 405470137..0d992c4a0 100644
--- a/CustomRobots/taxi_navigator/models/cityLarge_harmonic/model.config
+++ b/CustomRobots/city_assets/models/large_basic_city/model.config
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 
 <model>
-  <name>CityLarge_harmonic</name>
+  <name>large_basic_city</name>
   <version>1.0</version>
   <sdf version='1.9'>model.sdf</sdf>
 
diff --git a/CustomRobots/taxi_navigator/models/cityLarge_harmonic/model.sdf b/CustomRobots/city_assets/models/large_basic_city/model.sdf
similarity index 89%
rename from CustomRobots/taxi_navigator/models/cityLarge_harmonic/model.sdf
rename to CustomRobots/city_assets/models/large_basic_city/model.sdf
index 30587bea5..1400b2c9d 100644
--- a/CustomRobots/taxi_navigator/models/cityLarge_harmonic/model.sdf
+++ b/CustomRobots/city_assets/models/large_basic_city/model.sdf
@@ -1,17 +1,17 @@
 <?xml version="1.0"?>
 <sdf version="1.9">
-    <model name="cityLarge_harmonic">
+    <model name="large_basic_city">
         <pose>0 0 0 0 0 0</pose>
         <static>true</static>
-        
+
         <link name="city">
             <pose>0 0 0 0 0 0</pose>
-            
+
             <collision name="collision">
                 <pose>0 0 0 1.5708 0 0</pose>
                 <geometry>
                     <mesh>
-                        <uri>model://cityLarge_harmonic/meshes/city.obj</uri>
+                        <uri>model://large_basic_city/meshes/city.obj</uri>
                         <scale>1 1 1</scale>
                     </mesh>
                 </geometry>
@@ -28,12 +28,12 @@
                     </friction>
                 </surface>
             </collision>
-            
+
             <visual name="visual">
                 <pose>0 0 0 1.5708 0 0</pose>
                 <geometry>
                     <mesh>
-                        <uri>model://cityLarge_harmonic/meshes/city.obj</uri>
+                        <uri>model://large_basic_city/meshes/city.obj</uri>
                         <scale>1 1 1</scale>
                     </mesh>
                 </geometry>
@@ -49,7 +49,7 @@
                     </pbr> -->
                 </material>
             </visual>
-            
+
             <inertial>
                 <mass>1000.0</mass>
                 <inertia>
diff --git a/CustomRobots/marker_visual_loc/models/Lake House/meshes/house.dae b/CustomRobots/marker_visual_loc/models/Lake House/meshes/house.dae
index 8d717660b..537a2adaa 100644
--- a/CustomRobots/marker_visual_loc/models/Lake House/meshes/house.dae	
+++ b/CustomRobots/marker_visual_loc/models/Lake House/meshes/house.dae	
@@ -16,9 +16,6 @@
     <up_axis>Z_UP</up_axis>
   </asset>
   <library_images>
-    <image id="MapFBXASC032FBXASC03511-image" name="MapFBXASC032FBXASC03511">
-      <init_from>../materials/textures/ConcreteTiles_Albedo.png</init_from>
-    </image>
     <image id="MapFBXASC032FBXASC03591-image" name="MapFBXASC032FBXASC03591">
       <init_from>../materials/textures/Siding_Albedo.png</init_from>
     </image>
@@ -37,15 +34,9 @@
     <image id="MapFBXASC032FBXASC03549-image" name="MapFBXASC032FBXASC03549">
       <init_from>../materials/textures/Brick_Albedo.png</init_from>
     </image>
-    <image id="MapFBXASC032FBXASC03544-image" name="MapFBXASC032FBXASC03544">
-      <init_from>../materials/textures/Asphalt_Albedo.png</init_from>
-    </image>
     <image id="MapFBXASC032FBXASC03544_ncl1_1-image" name="MapFBXASC032FBXASC03544_ncl1_1">
       <init_from>../materials/textures/Baseboard_Albedo.png</init_from>
     </image>
-    <image id="MapFBXASC032FBXASC03552-image" name="MapFBXASC032FBXASC03552">
-      <init_from>../materials/textures/Cobblestone_Albedo.png</init_from>
-    </image>
     <image id="MapFBXASC032FBXASC03576-image" name="MapFBXASC032FBXASC03576">
       <init_from>../materials/textures/Cabinets_Albedo.jpeg</init_from>
     </image>
@@ -144,17 +135,6 @@
             <ambient>
               <color sid="ambient">0.800000  0.800000 0.800000 1.000000</color>
             </ambient>
-            <diffuse>
-              <texture texture="MapFBXASC032FBXASC03511-image" texcoord="CHANNEL0">
-                <extra>
-                  <technique profile="MAYA">
-                    <wrapU sid="wrapU0">TRUE</wrapU>
-                    <wrapV sid="wrapV0">TRUE</wrapV>
-                    <blend_mode>ADD</blend_mode>
-                  </technique>
-                </extra>
-              </texture>
-            </diffuse>
             <specular>
               <color sid="specular">0.000000  0.000000 0.000000 1.000000</color>
             </specular>
@@ -382,17 +362,6 @@
             <ambient>
               <color sid="ambient">0.800000  0.800000 0.800000 1.000000</color>
             </ambient>
-            <diffuse>
-              <texture texture="MapFBXASC032FBXASC03544-image" texcoord="CHANNEL0">
-                <extra>
-                  <technique profile="MAYA">
-                    <wrapU sid="wrapU0">TRUE</wrapU>
-                    <wrapV sid="wrapV0">TRUE</wrapV>
-                    <blend_mode>ADD</blend_mode>
-                  </technique>
-                </extra>
-              </texture>
-            </diffuse>
             <specular>
               <color sid="specular">0.000000  0.000000 0.000000 1.000000</color>
             </specular>
@@ -450,17 +419,6 @@
             <ambient>
               <color sid="ambient">0.800000  0.800000 0.800000 1.000000</color>
             </ambient>
-            <diffuse>
-              <texture texture="MapFBXASC032FBXASC03552-image" texcoord="CHANNEL0">
-                <extra>
-                  <technique profile="MAYA">
-                    <wrapU sid="wrapU0">TRUE</wrapU>
-                    <wrapV sid="wrapV0">TRUE</wrapV>
-                    <blend_mode>ADD</blend_mode>
-                  </technique>
-                </extra>
-              </texture>
-            </diffuse>
             <specular>
               <color sid="specular">0.000000  0.000000 0.000000 1.000000</color>
             </specular>
diff --git a/Scenes/basic_city.world b/Scenes/basic_city.world
index 0b31223be..f719e1d50 100755
--- a/Scenes/basic_city.world
+++ b/Scenes/basic_city.world
@@ -56,7 +56,7 @@
         <!-- My city -->
         <include>
             <pose>0 0 -0.5 0 0 0</pose>
-            <uri>model://cityLarge_harmonic</uri>
+            <uri>model://large_basic_city</uri>
         </include>
 
     </world>
diff --git a/Scenes/3DReconstruction.glb b/Universes/3DReconstruction.glb
similarity index 100%
rename from Scenes/3DReconstruction.glb
rename to Universes/3DReconstruction.glb
diff --git a/Scenes/APSimpleInLine.glb b/Universes/APSimpleInLine.glb
similarity index 100%
rename from Scenes/APSimpleInLine.glb
rename to Universes/APSimpleInLine.glb
diff --git a/Scenes/AmazonWarehouse.glb b/Universes/AmazonWarehouse.glb
similarity index 100%
rename from Scenes/AmazonWarehouse.glb
rename to Universes/AmazonWarehouse.glb
diff --git a/Scenes/CityLarge.glb b/Universes/CityLarge.glb
similarity index 100%
rename from Scenes/CityLarge.glb
rename to Universes/CityLarge.glb
diff --git a/Scenes/FollowRoad.glb b/Universes/FollowRoad.glb
similarity index 100%
rename from Scenes/FollowRoad.glb
rename to Universes/FollowRoad.glb
diff --git a/Scenes/Hospital.glb b/Universes/Hospital.glb
similarity index 100%
rename from Scenes/Hospital.glb
rename to Universes/Hospital.glb
diff --git a/Scenes/LakeHouse.glb b/Universes/LakeHouse.glb
similarity index 100%
rename from Scenes/LakeHouse.glb
rename to Universes/LakeHouse.glb
diff --git a/Scenes/LaserMappingWarehouse.glb b/Universes/LaserMappingWarehouse.glb
similarity index 100%
rename from Scenes/LaserMappingWarehouse.glb
rename to Universes/LaserMappingWarehouse.glb
diff --git a/Scenes/Montmelo.glb b/Universes/Montmelo.glb
similarity index 100%
rename from Scenes/Montmelo.glb
rename to Universes/Montmelo.glb
diff --git a/Scenes/Montreal.glb b/Universes/Montreal.glb
similarity index 100%
rename from Scenes/Montreal.glb
rename to Universes/Montreal.glb
diff --git a/Scenes/Nurburgring.glb b/Universes/Nurburgring.glb
similarity index 100%
rename from Scenes/Nurburgring.glb
rename to Universes/Nurburgring.glb
diff --git a/Scenes/RescuePeople.glb b/Universes/RescuePeople.glb
similarity index 100%
rename from Scenes/RescuePeople.glb
rename to Universes/RescuePeople.glb
diff --git a/Scenes/Restaurant.glb b/Universes/Restaurant.glb
similarity index 100%
rename from Scenes/Restaurant.glb
rename to Universes/Restaurant.glb
diff --git a/Scenes/SimpleCircuit.glb b/Universes/SimpleCircuit.glb
similarity index 100%
rename from Scenes/SimpleCircuit.glb
rename to Universes/SimpleCircuit.glb
diff --git a/Scenes/SmallLaserWarehouse.glb b/Universes/SmallLaserWarehouse.glb
similarity index 100%
rename from Scenes/SmallLaserWarehouse.glb
rename to Universes/SmallLaserWarehouse.glb
diff --git a/Scenes/VacuumsHouse.glb b/Universes/VacuumsHouse.glb
similarity index 100%
rename from Scenes/VacuumsHouse.glb
rename to Universes/VacuumsHouse.glb
diff --git a/Universes/autopark_battery.urdf b/Universes/autopark_battery.urdf
index 71e2844a4..b8b92b4db 100644
--- a/Universes/autopark_battery.urdf
+++ b/Universes/autopark_battery.urdf
@@ -11,56 +11,6 @@
     </visual>
   </link>
 
-  <joint name="base_joint" type="fixed">
-    <parent link="autopark"/>
-    <child link="prius_autoparking" />
-    <origin rpy="0 0 1.54" xyz="-7 2.5 0"/>
-  </joint>
-
-  <link name="prius_autoparking">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://autonomous_car/models/autonomous_car/meshes/hybrid_body.obj" scale="0.01 0.01 0.01"/>
-      </geometry>
-    </visual>
-
-    <visual>
-      <origin xyz="0.793 1.45 0.3" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://autonomous_car/models/autonomous_car/meshes/wheel.obj" scale="0.01 0.01 0.01"/>
-      </geometry>
-    </visual>
-
-    <visual>
-      <origin xyz="-0.793 1.45 0.3" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://autonomous_car/models/autonomous_car/meshes/wheel.obj" scale="0.01 0.01 0.01"/>
-      </geometry>
-    </visual>
-
-    <visual>
-      <origin xyz="0.767 -1.41 0.3" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://autonomous_car/models/autonomous_car/meshes/wheel.obj" scale="0.01 0.01 0.01"/>
-      </geometry>
-    </visual>
-
-    <visual>
-      <origin xyz="-0.767 -1.41 0.3" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://autonomous_car/models/autonomous_car/meshes/wheel.obj" scale="0.01 0.01 0.01"/>
-      </geometry>
-    </visual>
-
-    <visual>
-      <origin xyz="0.357734 -0.627868 0.988243" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://autonomous_car/models/autonomous_car/meshes/steering_wheel.obj" scale="0.01 0.01 0.01"/>
-      </geometry>
-    </visual>
-  </link>
-
   <link name="opel_1">
     <visual>
       <origin rpy="0 0 0" xyz="-20 -4 0"/>
diff --git a/Universes/autopark_line.urdf b/Universes/autopark_line.urdf
index a9cfdcc0f..0448764aa 100644
--- a/Universes/autopark_line.urdf
+++ b/Universes/autopark_line.urdf
@@ -11,56 +11,6 @@
     </visual>
   </link>
 
-  <joint name="base_joint" type="fixed">
-    <parent link="autopark"/>
-    <child link="prius_autoparking" />
-    <origin rpy="0 0 1.54" xyz="-7 2.5 0"/>
-  </joint>
-  
-  <link name="prius_autoparking">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://taxi_navigator/models/prius/meshes/hybrid_body.obj" scale="0.01 0.01 0.01"/>
-      </geometry>
-    </visual>
-
-    <visual>
-      <origin xyz="0.793 1.45 0.3" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://taxi_navigator/models/prius/meshes/wheel.obj" scale="0.01 0.01 0.01"/>
-      </geometry>
-    </visual>
-
-    <visual>
-      <origin xyz="-0.793 1.45 0.3" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://taxi_navigator/models/prius/meshes/wheel.obj" scale="0.01 0.01 0.01"/>
-      </geometry>
-    </visual>
-
-    <visual>
-      <origin xyz="0.767 -1.41 0.3" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://taxi_navigator/models/prius/meshes/wheel.obj" scale="0.01 0.01 0.01"/>
-      </geometry>
-    </visual>
-
-    <visual>
-      <origin xyz="-0.767 -1.41 0.3" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://taxi_navigator/models/prius/meshes/wheel.obj" scale="0.01 0.01 0.01"/>
-      </geometry>
-    </visual>
-
-    <visual>
-      <origin xyz="0.357734 -0.627868 0.988243" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://taxi_navigator/models/prius/meshes/steering_wheel.obj" scale="0.01 0.01 0.01"/>
-      </geometry>
-    </visual>
-  </link>
-
   <link name="opel_1">
     <visual>
       <origin rpy="0 0 1.57" xyz="-20 -3 0"/>
diff --git a/Universes/autopark_line_lidar.urdf b/Universes/autopark_line_lidar.urdf
deleted file mode 100644
index a11dbe131..000000000
--- a/Universes/autopark_line_lidar.urdf
+++ /dev/null
@@ -1,197 +0,0 @@
-<?xml version="1.0" ?>
-<robot name="autopark_battery">
-
-  <link name="autopark">
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-    <visual>
-      <origin rpy="0 0 3.14" xyz="0 -1 0"/>
-      <geometry>
-        <mesh filename="package://autopark_harmonic/models/autopark_line/meshes/autopark_line.dae" scale="1 1 1"/>
-      </geometry>
-    </visual>
-  </link>
-
-  <joint name="base_joint" type="fixed">
-    <parent link="autopark"/>
-    <child link="prius_autoparking" />
-    <origin rpy="0 0 1.54" xyz="-7 2.5 0"/>
-  </joint>
-
-  <link name="prius_autoparking">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://taxi_navigator/models/prius/meshes/hybrid_body.obj" scale="0.01 0.01 0.01"/>
-      </geometry>
-    </visual>
-
-    <visual name="visual_lidar">
-      <origin xyz="0 0 1.54" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://autopark_harmonic/models/prius_autoparking_lidar/meshes/hokuyo.dae" scale="28 28 28"/>
-      </geometry>
-    </visual>
-
-    <visual>
-      <origin xyz="0.793 1.45 0.3" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://taxi_navigator/models/prius/meshes/wheel.obj" scale="0.01 0.01 0.01"/>
-      </geometry>
-    </visual>
-
-    <visual>
-      <origin xyz="-0.793 1.45 0.3" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://taxi_navigator/models/prius/meshes/wheel.obj" scale="0.01 0.01 0.01"/>
-      </geometry>
-    </visual>
-
-    <visual>
-      <origin xyz="0.767 -1.41 0.3" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://taxi_navigator/models/prius/meshes/wheel.obj" scale="0.01 0.01 0.01"/>
-      </geometry>
-    </visual>
-
-    <visual>
-      <origin xyz="-0.767 -1.41 0.3" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://taxi_navigator/models/prius/meshes/wheel.obj" scale="0.01 0.01 0.01"/>
-      </geometry>
-    </visual>
-
-    <visual>
-      <origin xyz="0.357734 -0.627868 0.988243" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://taxi_navigator/models/prius/meshes/steering_wheel.obj" scale="0.01 0.01 0.01"/>
-      </geometry>
-    </visual>
-  </link>
-
-  <link name="opel_1">
-    <visual>
-      <origin rpy="0 0 1.57" xyz="-20 -3 0"/>
-      <geometry>
-        <mesh filename="package://car_junction/models/opel/meshes/model.dae" scale="1 1 1"/>
-      </geometry>
-    </visual>
-  </link>
-
-  <link name="opel_2">
-    <visual>
-      <origin rpy="0 0 1.57" xyz="-13.5 -3 0"/>
-      <geometry>
-        <mesh filename="package://car_junction/models/opel/meshes/model.dae" scale="1 1 1"/>
-      </geometry>
-    </visual>
-  </link>
-
-  <link name="opel_3">
-    <visual>
-      <origin rpy="0 0 1.57" xyz="-7 -3 0"/>
-      <geometry>
-        <mesh filename="package://car_junction/models/opel/meshes/model.dae" scale="1 1 1"/>
-      </geometry>
-    </visual>
-  </link>
-
-  <link name="opel_4">
-    <visual>
-      <origin rpy="0 0 1.57" xyz="0.5 -3 0"/>
-      <geometry>
-        <mesh filename="package://car_junction/models/opel/meshes/model.dae" scale="1 1 1"/>
-      </geometry>
-    </visual>
-  </link>
-
-  <link name="opel_5">
-    <visual>
-      <origin rpy="0 0 1.57" xyz="14 -3 0"/>
-      <geometry>
-        <mesh filename="package://car_junction/models/opel/meshes/model.dae" scale="1 1 1"/>
-      </geometry>
-    </visual>
-  </link>
-
-  <link name="farola_0">
-    <visual>
-      <origin rpy="0 0 3.14" xyz="20 -5.2 0"/>
-      <geometry>
-        <mesh filename="package://autopark_harmonic/models/lamp_post/meshes/lamp_post.dae" scale="1 1 1"/>
-      </geometry>
-    </visual>
-  </link>
-
-  <link name="farola_1">
-    <visual>
-      <origin rpy="0 0 3.14" xyz="15 -5.2 0"/>
-      <geometry>
-        <mesh filename="package://autopark_harmonic/models/lamp_post/meshes/lamp_post.dae" scale="1 1 1"/>
-      </geometry>
-    </visual>
-  </link>
-
-  <link name="farola_2">
-    <visual>
-      <origin rpy="0 0 3.14" xyz="10 -5.2 0"/>
-      <geometry>
-        <mesh filename="package://autopark_harmonic/models/lamp_post/meshes/lamp_post.dae" scale="1 1 1"/>
-      </geometry>
-    </visual>
-  </link>
-
-  <link name="farola_3">
-    <visual>
-      <origin rpy="0 0 3.14" xyz="5 -5.2 0"/>
-      <geometry>
-        <mesh filename="package://autopark_harmonic/models/lamp_post/meshes/lamp_post.dae" scale="1 1 1"/>
-      </geometry>
-    </visual>
-  </link>
-
-  <link name="farola_4">
-    <visual>
-      <origin rpy="0 0 3.14" xyz="0 -5.2 0"/>
-      <geometry>
-        <mesh filename="package://autopark_harmonic/models/lamp_post/meshes/lamp_post.dae" scale="1 1 1"/>
-      </geometry>
-    </visual>
-  </link>
-
-  <link name="farola_5">
-    <visual>
-      <origin rpy="0 0 3.14" xyz="-5 -5.2 0"/>
-      <geometry>
-        <mesh filename="package://autopark_harmonic/models/lamp_post/meshes/lamp_post.dae" scale="1 1 1"/>
-      </geometry>
-    </visual>
-  </link>
-
-  <link name="farola_6">
-    <visual>
-      <origin rpy="0 0 3.14" xyz="-10 -5.2 0"/>
-      <geometry>
-        <mesh filename="package://autopark_harmonic/models/lamp_post/meshes/lamp_post.dae" scale="1 1 1"/>
-      </geometry>
-    </visual>
-  </link>
-
-  <link name="farola_7">
-    <visual>
-      <origin rpy="0 0 3.14" xyz="-15 -5.2 0"/>
-      <geometry>
-        <mesh filename="package://autopark_harmonic/models/lamp_post/meshes/lamp_post.dae" scale="1 1 1"/>
-      </geometry>
-    </visual>
-  </link>
-
-  <link name="farola_8">
-    <visual>
-      <origin rpy="0 0 3.14" xyz="-20 -5.2 0"/>
-      <geometry>
-        <mesh filename="package://autopark_harmonic/models/lamp_post/meshes/lamp_post.dae" scale="1 1 1"/>
-      </geometry>
-    </visual>
-  </link>
-
-</robot>
\ No newline at end of file
diff --git a/Universes/autopark_sideways.urdf b/Universes/autopark_sideways.urdf
index 3be236d33..acc1b7c46 100644
--- a/Universes/autopark_sideways.urdf
+++ b/Universes/autopark_sideways.urdf
@@ -11,56 +11,6 @@
     </visual>
   </link>
 
-  <joint name="base_joint" type="fixed">
-    <parent link="autopark"/>
-    <child link="prius_autoparking" />
-    <origin rpy="0 0 1.54" xyz="-7 2.5 0"/>
-  </joint>
-  
-  <link name="prius_autoparking">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://taxi_navigator/models/prius/meshes/hybrid_body.obj" scale="0.01 0.01 0.01"/>
-      </geometry>
-    </visual>
-
-    <visual>
-      <origin xyz="0.793 1.45 0.3" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://taxi_navigator/models/prius/meshes/wheel.obj" scale="0.01 0.01 0.01"/>
-      </geometry>
-    </visual>
-
-    <visual>
-      <origin xyz="-0.793 1.45 0.3" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://taxi_navigator/models/prius/meshes/wheel.obj" scale="0.01 0.01 0.01"/>
-      </geometry>
-    </visual>
-
-    <visual>
-      <origin xyz="0.767 -1.41 0.3" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://taxi_navigator/models/prius/meshes/wheel.obj" scale="0.01 0.01 0.01"/>
-      </geometry>
-    </visual>
-
-    <visual>
-      <origin xyz="-0.767 -1.41 0.3" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://taxi_navigator/models/prius/meshes/wheel.obj" scale="0.01 0.01 0.01"/>
-      </geometry>
-    </visual>
-
-    <visual>
-      <origin xyz="0.357734 -0.627868 0.988243" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://taxi_navigator/models/prius/meshes/steering_wheel.obj" scale="0.01 0.01 0.01"/>
-      </geometry>
-    </visual>
-  </link>
-
   <link name="opel_1">
     <visual>
       <origin rpy="0 0 0.349" xyz="-20 -4 0"/>
diff --git a/CustomRobots/taxi_navigator/models/cityLarge_harmonic/cityLargeHarmonic.urdf b/Universes/basic_city.urdf
similarity index 78%
rename from CustomRobots/taxi_navigator/models/cityLarge_harmonic/cityLargeHarmonic.urdf
rename to Universes/basic_city.urdf
index 409aa012a..e3b10edc9 100644
--- a/CustomRobots/taxi_navigator/models/cityLarge_harmonic/cityLargeHarmonic.urdf
+++ b/Universes/basic_city.urdf
@@ -1,11 +1,12 @@
 <?xml version="1.0" ?>
-<robot name="cityLarge_harmonic">
+<robot name="global_nav">
+
   <link name="city">
     <origin rpy="0 0 0" xyz="0 0 0"/>
     <visual>
       <origin rpy="1.5708 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://taxi_navigator/models/cityLarge_harmonic/meshes/city.obj" scale="1 1 1"/>
+        <mesh filename="package://city_assets/models/large_basic_city/meshes/city.obj" scale="1 1 1"/>
       </geometry>
       <material>
         <ambient>0.8 0.8 0.8 1.0</ambient>
@@ -18,4 +19,5 @@
       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
     </inertial>
   </link>
+
 </robot>
diff --git a/Universes/road_junction.urdf b/Universes/car_junction.urdf
similarity index 100%
rename from Universes/road_junction.urdf
rename to Universes/car_junction.urdf
diff --git a/Universes/detailed_house.urdf b/Universes/detailed_house.urdf
new file mode 100644
index 000000000..9ca6a0a3b
--- /dev/null
+++ b/Universes/detailed_house.urdf
@@ -0,0 +1,25 @@
+<?xml version="1.0" ?>
+<robot name="marker_visual_loc">
+
+  <link name="grass_link">
+    <visual>
+      <origin xyz="0 0 0.2" rpy="0 0 0"/>
+      <geometry>
+        <box size="15 15 0.01"/>
+      </geometry>
+      <material>
+        <texture filename="package://marker_visual_loc/models/grasspatch/materials/textures/grass_dry.png"/>
+      </material>
+    </visual>
+  </link>
+
+  <link name="marker_visual_loc_link">
+    <visual>
+      <origin xyz="0 0 -0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://marker_visual_loc/models/Lake House/meshes/house.dae" scale="0.1 0.1 0.1"/>
+      </geometry>
+    </visual>
+  </link>
+
+</robot>
diff --git a/Universes/hospital.urdf b/Universes/hospital.urdf
new file mode 100644
index 000000000..888c4209b
--- /dev/null
+++ b/Universes/hospital.urdf
@@ -0,0 +1,1232 @@
+<?xml version="1.0" ?>
+<robot name="hospital_follow_person">
+
+  <!-- Person to follow model -->
+
+  <link name="PersonToFollow">
+    <visual>
+      <origin xyz="4 10 0.2" rpy="0 0 3.14"/>
+      <geometry>
+        <mesh filename="package://follow_person_harmonic/models/PersonToControl_harmonic/meshes/standing.dae"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <!-- Hospital environment models -->
+
+  <link name="aws_robomaker_hospital_floor_01_floor_1">
+    <visual>
+      <origin xyz="0 0 0.2" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://amazon_hospital/models/aws_robomaker_hospital_floor_01_floor/meshes/aws_robomaker_hospital_floor_01_floor_visual.dae"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name="aws_robomaker_hospital_floor_01_walls">
+    <visual>
+      <origin xyz="0 0 0.2" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://amazon_hospital/models/aws_robomaker_hospital_floor_01_walls/meshes/aws_robomaker_hospital_floor_01_walls_visual.dae"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name="aws_robomaker_hospital_nursesstation_01_1">
+    <visual>
+      <origin xyz="0 1.5 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://amazon_hospital/models/aws_robomaker_hospital_nursesstation_01/meshes/aws_robomaker_hospital_nursesstation_01_low.dae"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name="aws_robomaker_hospital_elevator_01_portal_1">
+    <visual>
+      <origin xyz="-1.50654 19.4813 0.4" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://amazon_hospital/models/aws_robomaker_hospital_elevator_01_portal/meshes/aws_robomaker_hospital_elevator_01_portal_visual.dae"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name="aws_robomaker_hospital_elevator_01_portal_2">
+    <visual>
+      <origin xyz="1.50654 19.4813 0.4" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://amazon_hospital/models/aws_robomaker_hospital_elevator_01_portal/meshes/aws_robomaker_hospital_elevator_01_portal_visual.dae"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name="aws_robomaker_hospital_elevator_01_car_1">
+    <visual>
+      <origin xyz="-1.49587 19.35 0.4" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://amazon_hospital/models/aws_robomaker_hospital_elevator_01_car/meshes/aws_robomaker_hospital_elevator_01_car_visual.dae"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name="aws_robomaker_hospital_elevator_01_car_2">
+    <visual>
+      <origin xyz="1.49587 19.35 0.4" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://amazon_hospital/models/aws_robomaker_hospital_elevator_01_car/meshes/aws_robomaker_hospital_elevator_01_car_visual.dae"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name="aws_robomaker_hospital_elevator_01_door_1">
+    <visual>
+      <origin xyz="-1.51 19.35 0.4" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://amazon_hospital/models/aws_robomaker_hospital_elevator_01_door/meshes/aws_robomaker_hospital_elevator_01_door_visual.dae"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name="aws_robomaker_hospital_elevator_01_door_2">
+    <visual>
+      <origin xyz="1.51 19.35 0.4" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://amazon_hospital/models/aws_robomaker_hospital_elevator_01_door/meshes/aws_robomaker_hospital_elevator_01_door_visual.dae"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name="aws_robomaker_hospital_curtain_half_open_01_1">
+    <visual>
+      <origin xyz="-11.0216 -13.8069 0.2" rpy="0 -0 1.55358"/>
+      <geometry>
+        <mesh filename="package://amazon_hospital/models/aws_robomaker_hospital_curtain_half_open_01/meshes/aws_robomaker_hospital_curtain_half_open_01_visual.dae"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name="aws_robomaker_hospital_curtain_half_open_01_2">
+    <visual>
+      <origin xyz="11.1417 -21.4039 0.2" rpy="0 -0 -1.55358"/>
+      <geometry>
+        <mesh filename="package://amazon_hospital/models/aws_robomaker_hospital_curtain_half_open_01/meshes/aws_robomaker_hospital_curtain_half_open_01_visual.dae"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name="aws_robomaker_hospital_curtain_half_open_01_3">
+    <visual>
+      <origin xyz="11.1068 -17.8472 0.2" rpy="0 -0 -1.55358"/>
+      <geometry>
+        <mesh filename="package://amazon_hospital/models/aws_robomaker_hospital_curtain_half_open_01/meshes/aws_robomaker_hospital_curtain_half_open_01_visual.dae"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name="aws_robomaker_hospital_curtain_half_open_01_4">
+    <visual>
+      <origin xyz="11.1374 -14.1551 0.2" rpy="0 -0 -1.55358"/>
+      <geometry>
+        <mesh filename="package://amazon_hospital/models/aws_robomaker_hospital_curtain_half_open_01/meshes/aws_robomaker_hospital_curtain_half_open_01_visual.dae"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name="aws_robomaker_hospital_curtain_half_open_01_5">
+    <visual>
+      <origin xyz="-11.0332 -17.61 0.2" rpy="0 -0 1.55358"/>
+      <geometry>
+        <mesh filename="package://amazon_hospital/models/aws_robomaker_hospital_curtain_half_open_01/meshes/aws_robomaker_hospital_curtain_half_open_01_visual.dae"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name="aws_robomaker_hospital_curtain_half_open_01_6">
+    <visual>
+      <origin xyz="-11.0086 -21.7566 0.2" rpy="0 -0 1.55358"/>
+      <geometry>
+        <mesh filename="package://amazon_hospital/models/aws_robomaker_hospital_curtain_half_open_01/meshes/aws_robomaker_hospital_curtain_half_open_01_visual.dae"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name="aws_robomaker_hospital_curtain_closed_01_1">
+    <visual>
+      <origin xyz="-11.022 -7.27757 0.2" rpy="0 -0 1.57907"/>
+      <geometry>
+        <mesh filename="package://amazon_hospital/models/aws_robomaker_hospital_curtain_closed_01/meshes/aws_robomaker_hospital_curtain_closed_01_visual.dae"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name="CGMClassic_1">
+    <visual>
+      <origin xyz="11.1777 -18.4129 0.2" rpy="0 0 -3.13719"/>
+      <geometry>
+        <mesh filename="package://amazon_hospital/models/CGMClassic/meshes/CGMClassic.obj" scale="0.01 0.01 0.01"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name="CGMClassic_2">
+    <visual>
+      <origin xyz="11.1179 -14.6493 0.2" rpy="0 0 -3.13599"/>
+      <geometry>
+        <mesh filename="package://amazon_hospital/models/CGMClassic/meshes/CGMClassic.obj" scale="0.01 0.01 0.01"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name="CGMClassic_3">
+    <visual>
+      <origin xyz="-11.2304 -21.1134 0.2" rpy="0 0 -3.11834"/>
+      <geometry>
+        <mesh filename="package://amazon_hospital/models/CGMClassic/meshes/CGMClassic.obj" scale="0.01 0.01 0.01"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name="CGMClassic_4">
+    <visual>
+      <origin xyz="-11.0878 -7.00992 0.2" rpy="0 -0 3.1351"/>
+      <geometry>
+        <mesh filename="package://amazon_hospital/models/CGMClassic/meshes/CGMClassic.obj" scale="0.01 0.01 0.01"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name="CGMClassic_5">
+    <visual>
+      <origin xyz="-11.0106 8.9505 0.191797" rpy="-0.035019 -0.000392 3.13388"/>
+      <geometry>
+        <mesh filename="package://amazon_hospital/models/CGMClassic/meshes/CGMClassic.obj" scale="0.01 0.01 0.01"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name="CGMClassic_6">
+    <visual>
+      <origin xyz="-11.025 7.10335 0.2" rpy="-0.035021 1.8e-05 -3.13762"/>
+      <geometry>
+        <mesh filename="package://amazon_hospital/models/CGMClassic/meshes/CGMClassic.obj" scale="0.01 0.01 0.01"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name="CGMClassic_7">
+    <visual>
+      <origin xyz="10.6166 9.06291 0.191797" rpy="-0.03501 0.000885 -3.11285"/>
+      <geometry>
+        <mesh filename="package://amazon_hospital/models/CGMClassic/meshes/CGMClassic.obj" scale="0.01 0.01 0.01"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name="CGMClassic_8">
+    <visual>
+      <origin xyz="10.6006 6.90956 0.191797" rpy="-0.035003 0.001133 -3.10576"/>
+      <geometry>
+        <mesh filename="package://amazon_hospital/models/CGMClassic/meshes/CGMClassic.obj" scale="0.01 0.01 0.01"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name="CGMClassic_9">
+    <visual>
+      <origin xyz="11.3613 -21.8867 0.2" rpy="0 0 -3.12292"/>
+      <geometry>
+        <mesh filename="package://amazon_hospital/models/CGMClassic/meshes/CGMClassic.obj" scale="0.01 0.01 0.01"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name="StorageRack_1">
+    <visual>
+      <origin xyz="9.07005 -10.3582 0.2" rpy="-2e-06 0 0"/>
+      <geometry>
+        <mesh filename="package://amazon_hospital/models/StorageRack/meshes/StorageRack.obj"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name="StorageRackCovered_1">
+    <visual>
+      <origin xyz="0.546476 -18.3985 0.2" rpy="0 -0 1.56584"/>
+      <geometry>
+        <mesh filename="package://amazon_hospital/models/StorageRackCovered/meshes/StorageRackCovered.obj"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name="StorageRack_2">
+    <visual>
+      <origin xyz="-2.69866 -22.4178 0.2" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://amazon_hospital/models/StorageRack/meshes/StorageRack.obj"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name="StorageRackCoverOpen_1">
+    <visual>
+      <origin xyz="9.15016 3.44263 0.2" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://amazon_hospital/models/StorageRackCoverOpen/meshes/StorageRackCoverOpen.obj"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name="StorageRack_3">
+    <visual>
+      <origin xyz="-10.1178 -10.4694 0.2" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://amazon_hospital/models/StorageRack/meshes/StorageRack.obj"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name="StorageRack_4">
+    <visual>
+      <origin xyz="-9.91557 3.5644 0.2" rpy="0 0 -0.000273"/>
+      <geometry>
+        <mesh filename="package://amazon_hospital/models/StorageRack/meshes/StorageRack.obj"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name="StorageRackCovered_2">
+    <visual>
+      <origin xyz="10.294 -10.577 0.2" rpy="0 0 3.13389"/>
+      <geometry>
+        <mesh filename="package://amazon_hospital/models/StorageRackCovered/meshes/StorageRackCovered.obj"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name="Chair_1">
+    <visual>
+      <origin xyz="-0.603067 -0.77859 0.2" rpy="0 0 -1.54998"/>
+      <geometry>
+        <mesh filename="package://amazon_hospital/models/Chair/meshes/Chair.obj" scale="0.01 0.01 0.01"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name="Chair_2">
+    <visual>
+      <origin xyz="0.626494 -0.743667 0.2" rpy="0 0 -1.53446"/>
+      <geometry>
+        <mesh filename="package://amazon_hospital/models/Chair/meshes/Chair.obj" scale="0.01 0.01 0.01"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name="WhiteChipChair_1">
+    <visual>
+      <origin xyz="-8.87142 9.15707 0.2" rpy="0 -0.152685 0"/>
+      <geometry>
+        <mesh filename="package://amazon_hospital/models/WhiteChipChair/meshes/WhiteChipChair.obj"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name="PotatoChipChair_1">
+    <visual>
+      <origin xyz="-7.9025 6.49258 0.2" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://amazon_hospital/models/PotatoChipChair/meshes/PotatoChipChair.obj"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name="PotatoChipChair_2">
+    <visual>
+      <origin xyz="-7.89464 8.01997 0.2" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://amazon_hospital/models/PotatoChipChair/meshes/PotatoChipChair.obj"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name="PotatoChipChair_3">
+    <visual>
+      <origin xyz="-6.39087 6.45458 0.2" rpy="0 0 -3.13096"/>
+      <geometry>
+        <mesh filename="package://amazon_hospital/models/PotatoChipChair/meshes/PotatoChipChair.obj"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name="PotatoChipChair_4">
+    <visual>
+      <origin xyz="-6.41405 8.00716 0.2" rpy="0 0 -3.13096"/>
+      <geometry>
+        <mesh filename="package://amazon_hospital/models/PotatoChipChair/meshes/PotatoChipChair.obj"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name="PotatoChipChair_5">
+    <visual>
+      <origin xyz="-6.32415 6.47504 0.2" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://amazon_hospital/models/PotatoChipChair/meshes/PotatoChipChair.obj"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name="PotatoChipChair_6">
+    <visual>
+      <origin xyz="-6.32415 8.03277 0.2" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://amazon_hospital/models/PotatoChipChair/meshes/PotatoChipChair.obj"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name="PotatoChipChair_7">
+    <visual>
+      <origin xyz="-4.83084 6.47504 0.2" rpy="0 0 -3.13096"/>
+      <geometry>
+        <mesh filename="package://amazon_hospital/models/PotatoChipChair/meshes/PotatoChipChair.obj"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name="PotatoChipChair_8">
+    <visual>
+      <origin xyz="-4.85665 8.03277 0.2" rpy="0 0 -3.13096"/>
+      <geometry>
+        <mesh filename="package://amazon_hospital/models/PotatoChipChair/meshes/PotatoChipChair.obj"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name="PotatoChipChair_9">
+    <visual>
+      <origin xyz="8.18933 6.61196 0.2" rpy="0 0 3.13621"/>
+      <geometry>
+        <mesh filename="package://amazon_hospital/models/PotatoChipChair/meshes/PotatoChipChair.obj"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name="PotatoChipChair_10">
+    <visual>
+      <origin xyz="8.18939 8.16786 0.2" rpy="0 0 3.13621"/>
+      <geometry>
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+  </link>
+
+  <link name="VendingMachine_2">
+    <visual>
+      <origin xyz="8.35378 9.64852 0.2" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://amazon_hospital/models/VendingMachine/meshes/VendingMachine.obj"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name="Scrubs_1">
+    <visual>
+      <origin xyz="-9.61916 -12.5112 0.2" rpy="0 0 -3.12353"/>
+      <geometry>
+        <mesh filename="package://amazon_hospital/models/Scrubs/meshes/Scrubs.obj"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name="Scrubs_2">
+    <visual>
+      <origin xyz="0.054597 4.05849 0.2" rpy="0 0 3.12413"/>
+      <geometry>
+        <mesh filename="package://amazon_hospital/models/Scrubs/meshes/Scrubs.obj"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name="Scrubs_3">
+    <visual>
+      <origin xyz="-5.38513 1.82526 0.2" rpy="0 0 -1.63757"/>
+      <geometry>
+        <mesh filename="package://amazon_hospital/models/Scrubs/meshes/Scrubs.obj"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name="Scrubs_4">
+    <visual>
+      <origin xyz="-0.93616 -18.2252 0.2" rpy="0 0 1.62572"/>
+      <geometry>
+        <mesh filename="package://amazon_hospital/models/Scrubs/meshes/Scrubs.obj"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name="Scrubs_5">
+    <visual>
+      <origin xyz="-2.66657 -18.3733 0.2" rpy="-0.002221 -0.006608 -1.24025"/>
+      <geometry>
+        <mesh filename="package://amazon_hospital/models/Scrubs/meshes/Scrubs.obj"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name="Scrubs_6">
+    <visual>
+      <origin xyz="-1.29468 -20.4093 0.2" rpy="0 0 -1.51066"/>
+      <geometry>
+        <mesh filename="package://amazon_hospital/models/Scrubs/meshes/Scrubs.obj"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name="Scrubs_7">
+    <visual>
+      <origin xyz="-9.75875 -2.67552 0.2" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://amazon_hospital/models/Scrubs/meshes/Scrubs.obj"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name="PatientWheelChair_1">
+    <visual>
+      <origin xyz="-5.46091 1.23577 0.2" rpy="0 0 -1.54828"/>
+      <geometry>
+        <mesh filename="package://amazon_hospital/models/PatientWheelChair/meshes/PatientWheelChair_visual.obj"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name="VisitorKidSit_1">
+    <visual>
+      <origin xyz="-7.69163 6.9857 0.2" rpy="0 0 1.56778"/>
+      <geometry>
+        <mesh filename="package://amazon_hospital/models/VisitorKidSit/meshes/VisitorKidSit.obj"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name="FemaleVisitorSit_1">
+    <visual>
+      <origin xyz="-7.61435 7.50057 0.2" rpy="0 0 1.60052"/>
+      <geometry>
+        <mesh filename="package://amazon_hospital/models/FemaleVisitorSit/meshes/FemaleVisitorSit.obj"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name="MaleVisitorSit_1">
+    <visual>
+      <origin xyz="6.41259 8.18749 0.2" rpy="0.000578 0 -1.56624"/>
+      <geometry>
+        <mesh filename="package://amazon_hospital/models/MaleVisitorSit/meshes/MaleVisitorSit.obj"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name="ElderLadyPatient_1">
+    <visual>
+      <origin xyz="-10.9972 0.231354 0.201654" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://amazon_hospital/models/ElderLadyPatient/meshes/ElderFemale.obj"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name="ElderLadyPatient_2">
+    <visual>
+      <origin xyz="-10.8133 -13.5925 0.201657" rpy="0 0 -0.025052"/>
+      <geometry>
+        <mesh filename="package://amazon_hospital/models/ElderLadyPatient/meshes/ElderFemale.obj"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name="ElderMalePatient_1">
+    <visual>
+      <origin xyz="-11.1165 -17.2377 0.201656" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://amazon_hospital/models/ElderMalePatient/meshes/ElderMalePatient.obj"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name="PatientFSit_1">
+    <visual>
+      <origin xyz="-10.8902 9.18683 0.2" rpy="0 0 1.58161"/>
+      <geometry>
+        <mesh filename="package://amazon_hospital/models/PatientFSit/meshes/PatientFSit.obj"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name="MaleVisitorOnPhone_1">
+    <visual>
+      <origin xyz="-0.760316 7.58474 0.2" rpy="0 0 -1.14974"/>
+      <geometry>
+        <mesh filename="package://amazon_hospital/models/MaleVisitorOnPhone/meshes/MaleVisitorStatic.obj"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name="FemaleVisitor_1">
+    <visual>
+      <origin xyz="0.416835 7.44353 0.2" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://amazon_hospital/models/FemaleVisitor/meshes/FemaleVisitor.obj"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name="MaleVisitorSit_2">
+    <visual>
+      <origin xyz="-5.98588 6.41261 0.2" rpy="0 0 1.58808"/>
+      <geometry>
+        <mesh filename="package://amazon_hospital/models/MaleVisitorSit/meshes/MaleVisitorSit.obj"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name="MalePatientBed_1">
+    <visual>
+      <origin xyz="11.3771 -7.38891 0.2" rpy="-1e-06 1e-06 3.11598"/>
+      <geometry>
+        <mesh filename="package://amazon_hospital/models/MalePatientBed/meshes/MalePatientBed.obj"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name="FemaleVisitorSit_2">
+    <visual>
+      <origin xyz="7.85005 6.59766 0.2" rpy="0 0 -1.5621"/>
+      <geometry>
+        <mesh filename="package://amazon_hospital/models/FemaleVisitorSit/meshes/FemaleVisitorSit.obj"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name="ElderMalePatient_2">
+    <visual>
+      <origin xyz="-11.2471 -3.5813 0.2" rpy="0 0 -0.054192"/>
+      <geometry>
+        <mesh filename="package://amazon_hospital/models/ElderMalePatient/meshes/ElderMalePatient.obj"/>
+      </geometry>
+    </visual>
+  </link>
+
+</robot>
diff --git a/Universes/hospital_follow_person.urdf b/Universes/hospital_follow_person.urdf
deleted file mode 100644
index eba99e7cd..000000000
--- a/Universes/hospital_follow_person.urdf
+++ /dev/null
@@ -1,1482 +0,0 @@
-<?xml version="1.0" ?>
-<robot name="hospital_follow_person">
-
-<!-- Person to follow model -->
-
-<link name="PersonToFollow">
-  <visual>
-    <origin xyz="4 10 0.2" rpy="0 0 3.14"/>
-    <geometry>
-      <mesh filename="package://amazon_hospital/models/PersonToFollow/meshes/standing.dae"/>
-    </geometry>
-  </visual>
-</link>
-
-<!-- Turtlebot2 robot model -->
-
-<link name="base_footprint"/>
-
-<joint name="base_footprint_robot" type="fixed">
-  <parent link="base_footprint"/>
-  <child link="base_link"/>
-  <origin xyz="4 12 0.25" rpy="0 0 3.14"/>
-</joint>
-<link name="base_link">
-  <visual>
-    <origin xyz="0 0 0.02" rpy="0 0 3.14"/>
-    <geometry>
-      <mesh filename="package://Turtlebot2/turtlebot2_simulated/kobuki_description/meshes/main_body.dae"/>
-    </geometry>
-  </visual>
-</link>
-
-<joint name="wheel_left_joint" type="continuous">
-    <parent link="base_link"/>
-    <child link="wheel_left_link"/>
-    <origin rpy="-1.5707963267948966 0 0" xyz="0.00 0.115 0"/>
-    <axis xyz="0 0 1"/>
-</joint>
-<link name="wheel_left_link">
-  <visual>
-    <geometry>
-      <mesh filename="package://Turtlebot2/turtlebot2_simulated/kobuki_description/meshes/wheel.dae"/>
-    </geometry>
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-  </visual>
-</link>
-
-<joint name="wheel_right_joint" type="continuous">
-    <parent link="base_link"/>
-    <child link="wheel_right_link"/>
-    <origin rpy="-1.5707963267948966 0 0" xyz="0.00 -0.115 0"/>
-    <axis xyz="0 0 1"/>
-</joint>
-<link name="wheel_right_link">
-  <visual>
-    <geometry>
-      <mesh filename="package://Turtlebot2/turtlebot2_simulated/kobuki_description/meshes/wheel.dae"/>
-    </geometry>
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-  </visual>
-</link>
-
-<joint name="base_tick1_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0.08 0.14 0.25"/>
-    <parent link="base_link"/>
-    <child link="base_tick1_link"/>
-</joint>
-<link name="base_tick1_link">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <cylinder length="0.35" radius="0.005"/>
-      </geometry>
-      <material name="Gray">
-  <color rgba="0.5 0.5 0.5 1"/>
-</material>
-    </visual>
-</link>
-
-<joint name="base_tick2_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="-0.09 0.12 0.25"/>
-    <parent link="base_link"/>
-    <child link="base_tick2_link"/>
-</joint>
-<link name="base_tick2_link">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <cylinder length="0.35" radius="0.005"/>
-      </geometry>
-      <material name="Gray">
-  <color rgba="0.5 0.5 0.5 1"/>
-</material>
-    </visual>
-</link>
-
-<joint name="base_tick3_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="-0.09 -0.12 0.25"/>
-    <parent link="base_link"/>
-    <child link="base_tick3_link"/>
-</joint>
-<link name="base_tick3_link">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <cylinder length="0.35" radius="0.005"/>
-      </geometry>
-      <material name="Gray">
-  <color rgba="0.5 0.5 0.5 1"/>
-</material>
-    </visual>
-</link>
-
-<joint name="base_tick4_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0.08 -0.14 0.25"/>
-    <parent link="base_link"/>
-    <child link="base_tick4_link"/>
-</joint>
-<link name="base_tick4_link">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <cylinder length="0.35" radius="0.005"/>
-      </geometry>
-      <material name="Gray">
-  <color rgba="0.5 0.5 0.5 1"/>
-</material>
-    </visual>
-</link>
-
-<link name="base_tick5_link">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <cylinder length="0.15" radius="0.005"/>
-      </geometry>
-      <material name="Gray">
-  <color rgba="0.5 0.5 0.5 1"/>
-</material>
-    </visual>
-</link>
-<joint name="base_tick5_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0.15 0.0 0.14"/>
-    <parent link="base_link"/>
-    <child link="base_tick5_link"/>
-</joint>
-
-<joint name="camera_support_tick2_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0.13 -0.05 0.05"/>
-    <parent link="middle_base_link"/>
-    <child link="camera_support_tick2_link"/>
-</joint>
-<link name="camera_support_tick2_link">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <cylinder length="0.1" radius="0.005"/>
-      </geometry>
-      <material name="Gray">
-  <color rgba="0.5 0.5 0.5 1"/>
-</material>
-    </visual>
-</link>
-
-<joint name="lower_base_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0.0 0.0 0.155"/>
-    <parent link="base_link"/>
-    <child link="lower_base_link"/>
-</joint>
-<link name="lower_base_link">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <cylinder length="0.01" radius="0.18"/>
-      </geometry>
-      <material name="DarkGray">
-  <color rgba="0.1 0.1 0.1 0.5"/>
-</material>
-    </visual>
-</link>
-
-<joint name="middle_base_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0.0 0.0 0.208"/>
-    <parent link="base_link"/>
-    <child link="middle_base_link"/>
-</joint>
-<link name="middle_base_link">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <cylinder length="0.01" radius="0.18"/>
-      </geometry>
-      <material name="DarkGray">
-  <color rgba="0.1 0.1 0.1 0.5"/>
-</material>
-    </visual>
-</link>
-
-<joint name="upper_base_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0.0 0.0 0.42"/>
-    <parent link="base_link"/>
-    <child link="upper_base_link"/>
-</joint>
-<link name="upper_base_link">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <cylinder length="0.01" radius="0.18"/>
-      </geometry>
-      <material name="DarkGray">
-  <color rgba="0.1 0.1 0.1 0.5"/>
-</material>
-    </visual>
-</link>
-
-<joint name="camera_support_base_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0.13 0 0.0975"/>
-    <parent link="middle_base_link"/>
-    <child link="camera_support_base_link"/>
-</joint>
-<link name="camera_support_base_link">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <box size="0.0175 0.15 0.005"/>
-      </geometry>
-      <material name="DarkGray">
-  <color rgba="0.1 0.1 0.1 0.5"/>
-</material>
-    </visual>
-</link>
-
-<joint name="camera_joint" type="fixed">
-    <parent link="base_link"/>
-    <child link="camera_link"/>
-    <origin rpy="0 -0.32 0" xyz="0.13 0 0.32"/>
-</joint>
-<link name="camera_link">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <box size="0.015 0.130 0.022"/>
-      </geometry>
-      <material name="DarkGray">
-  <color rgba="0 0 0 1"/>
-</material>
-    </visual>
-</link>
-
-<joint name="lidar_joint" type="fixed">
-    <parent link="upper_base_link"/>
-    <child link="lidar_link"/>
-    <origin rpy="0 0 0" xyz="0 0 0.0275"/>
-</joint>
-<link name="lidar_link">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <cylinder length="0.055" radius="0.0508"/>
-        <material>Black</material>
-      </geometry>
-    </visual>
-</link>
-
-<!-- Hospital environment models -->
-
-<link name="aws_robomaker_hospital_floor_01_floor_1">
-  <visual>
-  <origin xyz="0 0 0.2" rpy="0 0 0"/>
-    <geometry>
-      <mesh filename="package://amazon_hospital/models/aws_robomaker_hospital_floor_01_floor/meshes/aws_robomaker_hospital_floor_01_floor_visual.dae"/>
-    </geometry>
-  </visual>
-</link>
-
-<link name="aws_robomaker_hospital_floor_01_walls">
-  <visual>
-  <origin xyz="0 0 0.2" rpy="0 0 0"/>
-    <geometry>
-      <mesh filename="package://amazon_hospital/models/aws_robomaker_hospital_floor_01_walls/meshes/aws_robomaker_hospital_floor_01_walls_visual.dae"/>
-    </geometry>
-  </visual>
-</link>
-
-<link name="aws_robomaker_hospital_nursesstation_01_1">
-  <visual>
-  <origin xyz="0 1.5 0.2" rpy="0 0 0"/>
-    <geometry>
-      <mesh filename="package://amazon_hospital/models/aws_robomaker_hospital_nursesstation_01/meshes/aws_robomaker_hospital_nursesstation_01_visual.dae"/>
-    </geometry>
-  </visual>
-</link>
-
-<link name="aws_robomaker_hospital_elevator_01_portal_1">
-  <visual>
-  <origin xyz="-1.50654 19.4813 0.4" rpy="0 0 0"/>
-    <geometry>
-      <mesh filename="package://amazon_hospital/models/aws_robomaker_hospital_elevator_01_portal/meshes/aws_robomaker_hospital_elevator_01_portal_visual.dae"/>
-    </geometry>
-  </visual>
-</link>
-
-<link name="aws_robomaker_hospital_elevator_01_portal_2">
-  <visual>
-  <origin xyz="1.50654 19.4813 0.4" rpy="0 0 0"/>
-    <geometry>
-      <mesh filename="package://amazon_hospital/models/aws_robomaker_hospital_elevator_01_portal/meshes/aws_robomaker_hospital_elevator_01_portal_visual.dae"/>
-    </geometry>
-  </visual>
-</link>
-
-<link name="aws_robomaker_hospital_elevator_01_car_1">
-  <visual>
-  <origin xyz="-1.49587 19.35 0.4" rpy="0 0 0"/>
-    <geometry>
-      <mesh filename="package://amazon_hospital/models/aws_robomaker_hospital_elevator_01_car/meshes/aws_robomaker_hospital_elevator_01_car_visual.dae"/>
-    </geometry>
-  </visual>
-</link>
-
-<link name="aws_robomaker_hospital_elevator_01_car_2">
-  <visual>
-  <origin xyz="1.49587 19.35 0.4" rpy="0 0 0"/>
-    <geometry>
-      <mesh filename="package://amazon_hospital/models/aws_robomaker_hospital_elevator_01_car/meshes/aws_robomaker_hospital_elevator_01_car_visual.dae"/>
-    </geometry>
-  </visual>
-</link>
-
-<link name="aws_robomaker_hospital_elevator_01_door_1">
-  <visual>
-  <origin xyz="-1.51 19.35 0.4" rpy="0 0 0"/>
-    <geometry>
-      <mesh filename="package://amazon_hospital/models/aws_robomaker_hospital_elevator_01_door/meshes/aws_robomaker_hospital_elevator_01_door_visual.dae"/>
-    </geometry>
-  </visual>
-</link>
-
-<link name="aws_robomaker_hospital_elevator_01_door_2">
-  <visual>
-  <origin xyz="1.51 19.35 0.4" rpy="0 0 0"/>
-    <geometry>
-      <mesh filename="package://amazon_hospital/models/aws_robomaker_hospital_elevator_01_door/meshes/aws_robomaker_hospital_elevator_01_door_visual.dae"/>
-    </geometry>
-  </visual>
-</link>
-
-<link name="aws_robomaker_hospital_curtain_half_open_01_1">
-  <visual>
-  <origin xyz="-11.0216 -13.8069 0.2" rpy="0 -0 1.55358"/>
-    <geometry>
-      <mesh filename="package://amazon_hospital/models/aws_robomaker_hospital_curtain_half_open_01/meshes/aws_robomaker_hospital_curtain_half_open_01_visual.dae"/>
-    </geometry>
-  </visual>
-</link>
-
-<link name="aws_robomaker_hospital_curtain_half_open_01_2">
-  <visual>
-  <origin xyz="11.1417 -21.4039 0.2" rpy="0 -0 -1.55358"/>
-    <geometry>
-      <mesh filename="package://amazon_hospital/models/aws_robomaker_hospital_curtain_half_open_01/meshes/aws_robomaker_hospital_curtain_half_open_01_visual.dae"/>
-    </geometry>
-  </visual>
-</link>
-
-<link name="aws_robomaker_hospital_curtain_half_open_01_3">
-  <visual>
-  <origin xyz="11.1068 -17.8472 0.2" rpy="0 -0 -1.55358"/>
-    <geometry>
-      <mesh filename="package://amazon_hospital/models/aws_robomaker_hospital_curtain_half_open_01/meshes/aws_robomaker_hospital_curtain_half_open_01_visual.dae"/>
-    </geometry>
-  </visual>
-</link>
-
-<link name="aws_robomaker_hospital_curtain_half_open_01_4">
-  <visual>
-  <origin xyz="11.1374 -14.1551 0.2" rpy="0 -0 -1.55358"/>
-    <geometry>
-      <mesh filename="package://amazon_hospital/models/aws_robomaker_hospital_curtain_half_open_01/meshes/aws_robomaker_hospital_curtain_half_open_01_visual.dae"/>
-    </geometry>
-  </visual>
-</link>
-
-<link name="aws_robomaker_hospital_curtain_half_open_01_5">
-  <visual>
-  <origin xyz="-11.0332 -17.61 0.2" rpy="0 -0 1.55358"/>
-    <geometry>
-      <mesh filename="package://amazon_hospital/models/aws_robomaker_hospital_curtain_half_open_01/meshes/aws_robomaker_hospital_curtain_half_open_01_visual.dae"/>
-    </geometry>
-  </visual>
-</link>
-
-<link name="aws_robomaker_hospital_curtain_half_open_01_6">
-  <visual>
-  <origin xyz="-11.0086 -21.7566 0.2" rpy="0 -0 1.55358"/>
-    <geometry>
-      <mesh filename="package://amazon_hospital/models/aws_robomaker_hospital_curtain_half_open_01/meshes/aws_robomaker_hospital_curtain_half_open_01_visual.dae"/>
-    </geometry>
-  </visual>
-</link>
-
-<link name="aws_robomaker_hospital_curtain_closed_01_1">
-  <visual>
-  <origin xyz="-11.022 -7.27757 0.2" rpy="0 -0 1.57907"/>
-    <geometry>
-      <mesh filename="package://amazon_hospital/models/aws_robomaker_hospital_curtain_closed_01/meshes/aws_robomaker_hospital_curtain_closed_01_visual.dae"/>
-    </geometry>
-  </visual>
-</link>
-
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-<link name="MalePatientBed_1">
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-    <geometry>
-      <mesh filename="package://amazon_hospital/models/MalePatientBed/meshes/MalePatientBed.obj"/>
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-<link name="FemaleVisitorSit_2">
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-    <geometry>
-      <mesh filename="package://amazon_hospital/models/FemaleVisitorSit/meshes/FemaleVisitorSit.obj"/>
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-
-<link name="ElderMalePatient_2">
-  <visual>
-    <origin xyz="-11.2471 -3.5813 0.2" rpy="0 0 -0.054192"/>
-    <geometry>
-      <mesh filename="package://amazon_hospital/models/ElderMalePatient/meshes/ElderMalePatient.obj"/>
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-</link>
-
-</robot>
diff --git a/Universes/kobuki_1_reconstruction3d.urdf b/Universes/kobuki_1_reconstruction3d.urdf
new file mode 100644
index 000000000..9d8d3bf23
--- /dev/null
+++ b/Universes/kobuki_1_reconstruction3d.urdf
@@ -0,0 +1,40 @@
+<?xml version="1.0" ?>
+<robot name="3d_reconstruction">
+
+  <link name="duck">
+    <visual>
+      <origin xyz="4.7 3 0" rpy="1.57 0 1.57"/>
+      <geometry>
+        <mesh filename="package://3d_reconstruction/models/duck/meshes/duck.dae"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name="cereales">
+    <visual>
+      <origin xyz="5.3 2.3 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://3d_reconstruction/models/cereales/meshes/cereales.dae" scale="10 10 10"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name="charactersMario">
+    <visual>
+      <origin xyz="4.1 0.5 0" rpy="0 0 -1.57"/>
+      <geometry>
+        <mesh filename="package://3d_reconstruction/models/charactersMario/models/characters.dae" scale="0.01 0.01 0.01"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name="blocks">
+    <visual>
+      <origin xyz="4.66 -4 0" rpy="0 0 1.57"/>
+      <geometry>
+        <mesh filename="package://3d_reconstruction/models/blocks/models/blocks.dae" scale="10 10 10"/>
+      </geometry>
+    </visual>
+  </link>
+
+</robot>
diff --git a/Universes/kobuki_3d_reconstruction.urdf b/Universes/kobuki_3d_reconstruction.urdf
deleted file mode 100644
index 9fa6b1834..000000000
--- a/Universes/kobuki_3d_reconstruction.urdf
+++ /dev/null
@@ -1,308 +0,0 @@
-<?xml version="1.0" ?>
-<robot name="3d_reconstruction">
-
-  <link name="base_link"/>
-
-  <joint name="base_to_base_footprint" type="fixed">
-    <parent link="base_link"/>
-    <child link="base_footprint"/>
-    <origin xyz="0 0 0" rpy="0 0 0"/>
-  </joint>
-
-  <!-- ================= BASE ================= -->
-  <link name="base_footprint">
-    <visual>
-      <origin xyz="0.001 0 0.06219"/>
-      <geometry>
-        <mesh filename="package://Turtlebot2/model/turtlebot2/meshes/main_body.dae"/>
-      </geometry>
-    </visual>
-    <visual>
-      <origin xyz="-0.118 0 0.2812" rpy="0 0 -1.5708"/>
-      <geometry>
-        <mesh filename="package://Turtlebot2/model/turtlebot2/meshes/sensors/kinect.dae"/>
-      </geometry>
-    </visual>
-    <visual>
-      <origin xyz="0.02364 0 0.1408" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://Turtlebot2/model/turtlebot2/meshes/stacks/hexagons/plate_bottom.dae"/>
-      </geometry>
-    </visual>
-    <visual>
-      <origin xyz="-0.01364 0 0.1976" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://Turtlebot2/model/turtlebot2/meshes/stacks/hexagons/plate_middle.dae"/>
-      </geometry>
-    </visual>
-    <visual>
-      <origin xyz="-0.01364 0 0.4068" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://Turtlebot2/model/turtlebot2/meshes/stacks/hexagons/plate_top.dae"/>
-      </geometry>
-    </visual>
-    <visual>
-      <origin xyz="0.12 0.082 0.113" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://Turtlebot2/model/turtlebot2/meshes/stacks/hexagons/pole_bottom.dae"/>
-      </geometry>
-    </visual>
-    <visual>
-      <origin xyz="0.055 0.12 0.113" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://Turtlebot2/model/turtlebot2/meshes/stacks/hexagons/pole_bottom.dae"/>
-      </geometry>
-    </visual>
-    <visual>
-      <origin xyz="-0.055 0.12 0.113" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://Turtlebot2/model/turtlebot2/meshes/stacks/hexagons/pole_bottom.dae"/>
-      </geometry>
-    </visual>
-    <visual>
-      <origin xyz="0.12 -0.082 0.113" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://Turtlebot2/model/turtlebot2/meshes/stacks/hexagons/pole_bottom.dae"/>
-      </geometry>
-    </visual>
-    <visual>
-      <origin xyz="0.055 -0.12 0.113" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://Turtlebot2/model/turtlebot2/meshes/stacks/hexagons/pole_bottom.dae"/>
-      </geometry>
-    </visual>
-    <visual>
-      <origin xyz="-0.055 -0.12 0.113" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://Turtlebot2/model/turtlebot2/meshes/stacks/hexagons/pole_bottom.dae"/>
-      </geometry>
-    </visual>
-    <visual>
-      <origin xyz="-0.1024 0.098 0.2374" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://Turtlebot2/model/turtlebot2/meshes/sensors/sensor_pole.dae"/>
-      </geometry>
-    </visual>
-    <visual>
-      <origin xyz="-0.1024 -0.098 0.2374" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://Turtlebot2/model/turtlebot2/meshes/sensors/sensor_pole.dae"/>
-      </geometry>
-    </visual>
-    <visual>
-      <origin xyz="0.0381 0.1505 0.1742" rpy="3.14159 0 3.14159"/>
-      <geometry>
-        <mesh filename="package://Turtlebot2/model/turtlebot2/meshes/stacks/hexagons/pole_middle.dae"/>
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-    <visual>
-      <origin xyz="0.0381 -0.1505 0.1742" rpy="3.14159 0 3.14159"/>
-      <geometry>
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-      <origin xyz="0.0381 0.1505 0.3022" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://Turtlebot2/model/turtlebot2/meshes/stacks/hexagons/pole_top.dae"/>
-      </geometry>
-    </visual>
-    <visual>
-      <origin xyz="0.0381 -0.1505 0.3022" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://Turtlebot2/model/turtlebot2/meshes/stacks/hexagons/pole_top.dae"/>
-      </geometry>
-    </visual>
-    <visual>
-      <origin xyz="-0.0381 0.1505 0.3022" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://Turtlebot2/model/turtlebot2/meshes/stacks/hexagons/pole_top.dae"/>
-      </geometry>
-    </visual>
-    <visual>
-      <origin xyz="-0.0381 -0.1505 0.3022" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://Turtlebot2/model/turtlebot2/meshes/stacks/hexagons/pole_top.dae"/>
-      </geometry>
-    </visual>
-  </link>
-
-  <!-- ================= LEFT WHEEL ================= -->
-  <link name="wheel_left_link">
-    <visual>
-      <geometry>
-        <mesh filename="package://Turtlebot2/model/turtlebot2/meshes/wheel.dae"/>
-      </geometry>
-    </visual>
-  </link>
-
-  <joint name="wheel_left_joint" type="continuous">
-    <parent link="base_footprint"/>
-    <child link="wheel_left_link"/>
-    <origin xyz="0 0.115 0.0352" rpy="-1.5708 0 0"/>
-    <axis xyz="0 1 0"/>
-  </joint>
-
-  <!-- ================= RIGHT WHEEL ================= -->
-  <link name="wheel_right_link">
-    <visual>
-      <geometry>
-        <mesh filename="package://Turtlebot2/model/turtlebot2/meshes/wheel.dae"/>
-      </geometry>
-    </visual>
-  </link>
-
-  <joint name="wheel_right_joint" type="continuous">
-    <parent link="base_footprint"/>
-    <child link="wheel_right_link"/>
-    <origin xyz="0 -0.115 0.0352" rpy="-1.5708 0 0"/>
-    <axis xyz="0 1 0"/>
-  </joint>
-
-  <!-- ================= LASER ================= -->
-  <link name="laser">
-    <visual>
-      <geometry>
-        <mesh filename="package://f1/models/f1/meshes/hokuyo.dae"/>
-      </geometry>
-    </visual>
-  </link>
-
-  <joint name="joint_laser" type="fixed">
-    <parent link="base_footprint"/>
-    <child link="laser"/>
-    <origin xyz="0.16 0 0.112"/>
-  </joint>
-
-  <!-- ================= LEFT CAMERA STRUCTURE ================= -->
-  <link name="camera_bottom_body_left">
-    <visual>
-      <geometry>
-        <mesh filename="package://Turtlebot2/model/turtlebot2/meshes/sonyvid30/sonyvid30_bottom.dae" scale="4 3 3"/>
-      </geometry>
-    </visual>
-  </link>
-
-  <joint name="camera_left" type="fixed">
-    <parent link="base_footprint"/>
-    <child link="camera_bottom_body_left"/>
-    <origin xyz="-0.03 0.076 0.2324" rpy="-1.57 0 0"/>
-  </joint>
-
-  <link name="camera_column_body_left">
-    <visual>
-      <geometry>
-        <mesh filename="package://Turtlebot2/model/turtlebot2/meshes/sonyvid30/sonyvid30_mid.dae" scale="0.6 1 1"/>
-      </geometry>
-    </visual>
-  </link>
-
-  <joint name="tilt_joint_left" type="fixed">
-    <parent link="camera_bottom_body_left"/>
-    <child link="camera_column_body_left"/>
-  </joint>
-
-  <link name="camera_top_body_left">
-    <visual>
-      <geometry>
-        <mesh filename="package://Turtlebot2/model/turtlebot2/meshes/sonyvid30/sonyvid30_top.dae" scale="2 2 1.3"/>
-      </geometry>
-    </visual>
-  </link>
-
-  <joint name="pan_joint_left" type="fixed">
-    <parent link="camera_column_body_left"/>
-    <child link="camera_top_body_left"/>
-  </joint>
-
-  <!-- ================= RIGHT CAMERA STRUCTURE ================= -->
-  <link name="camera_bottom_body_right">
-    <visual>
-      <geometry>
-        <mesh filename="package://Turtlebot2/model/turtlebot2/meshes/sonyvid30/sonyvid30_bottom.dae" scale="4 3 3"/>
-      </geometry>
-    </visual>
-  </link>
-
-  <joint name="camera_right" type="fixed">
-    <parent link="base_footprint"/>
-    <child link="camera_bottom_body_right"/>
-    <origin xyz="-0.03 -0.076 0.2324" rpy="-1.57 0 0"/>
-  </joint>
-
-  <link name="camera_column_body_right">
-    <visual>
-      <geometry>
-        <mesh filename="package://Turtlebot2/model/turtlebot2/meshes/sonyvid30/sonyvid30_mid.dae" scale="0.6 1 1"/>
-      </geometry>
-    </visual>
-  </link>
-
-  <joint name="tilt_joint_right" type="fixed">
-    <parent link="camera_bottom_body_right"/>
-    <child link="camera_column_body_right"/>
-  </joint>
-
-  <link name="camera_top_body_right">
-    <visual>
-      <geometry>
-        <mesh filename="package://Turtlebot2/model/turtlebot2/meshes/sonyvid30/sonyvid30_top.dae" scale="2 2 1.3"/>
-      </geometry>
-    </visual>
-  </link>
-
-  <joint name="pan_joint_right" type="fixed">
-    <parent link="camera_column_body_right"/>
-    <child link="camera_top_body_right"/>
-  </joint>
-
-
-  <link name="duck">
-    <visual>
-      <origin xyz="4.7 3 0" rpy="1.57 0 1.57"/>
-      <geometry>
-        <mesh filename="package://3d_reconstruction/models/duck/meshes/duck.dae"/>
-      </geometry>
-    </visual>
-  </link>
-
-  <link name="cereales">
-    <visual>
-      <origin xyz="5.3 2.3 0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://3d_reconstruction/models/cereales/meshes/cereales.dae" scale="10 10 10"/>
-      </geometry>
-    </visual>
-  </link>
-
-  <link name="charactersMario">
-    <visual>
-      <origin xyz="4.1 0.5 0" rpy="0 0 -1.57"/>
-      <geometry>
-        <mesh filename="package://3d_reconstruction/models/charactersMario/models/characters.dae" scale="0.01 0.01 0.01"/>
-      </geometry>
-    </visual>
-  </link>
-
-  <link name="blocks">
-    <visual>
-      <origin xyz="4.66 -4 0" rpy="0 0 1.57"/>
-      <geometry>
-        <mesh filename="package://3d_reconstruction/models/blocks/models/blocks.dae" scale="10 10 10"/>
-      </geometry>
-    </visual>
-  </link>
-
-</robot>
diff --git a/Universes/large_basic_city/meshes/Color.png b/Universes/large_basic_city/meshes/Color.png
new file mode 100644
index 000000000..9fc4bdf4e
Binary files /dev/null and b/Universes/large_basic_city/meshes/Color.png differ
diff --git a/Universes/large_basic_city/meshes/city.mtl b/Universes/large_basic_city/meshes/city.mtl
new file mode 100644
index 000000000..922c7320a
--- /dev/null
+++ b/Universes/large_basic_city/meshes/city.mtl
@@ -0,0 +1,22 @@
+# Blender 4.5.3 LTS MTL File: 'None'
+# www.blender.org
+
+newmtl Buildings
+Ns 10.000005
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.400000 0.400000 0.400000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+
+newmtl Road
+Ns 22.073469
+Ka 1.000000 1.000000 1.000000
+Ks 0.400000 0.400000 0.400000
+Ke 0.000000 0.000000 0.000000
+Ni 6.400000
+d 1.000000
+illum 2
+map_Kd Color.png
diff --git a/Universes/large_basic_city/meshes/city.obj b/Universes/large_basic_city/meshes/city.obj
new file mode 100644
index 000000000..77f22b067
--- /dev/null
+++ b/Universes/large_basic_city/meshes/city.obj
@@ -0,0 +1,32441 @@
+# Blender 4.5.3 LTS
+# www.blender.org
+mtllib city.mtl
+o city
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diff --git a/Universes/large_basic_city/meshes/city_visual.mtl b/Universes/large_basic_city/meshes/city_visual.mtl
new file mode 100644
index 000000000..922c7320a
--- /dev/null
+++ b/Universes/large_basic_city/meshes/city_visual.mtl
@@ -0,0 +1,22 @@
+# Blender 4.5.3 LTS MTL File: 'None'
+# www.blender.org
+
+newmtl Buildings
+Ns 10.000005
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+illum 2
+
+newmtl Road
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+illum 2
+map_Kd Color.png
diff --git a/Universes/large_basic_city/meshes/city_visual.obj b/Universes/large_basic_city/meshes/city_visual.obj
new file mode 100644
index 000000000..01cff7b1c
--- /dev/null
+++ b/Universes/large_basic_city/meshes/city_visual.obj
@@ -0,0 +1,32438 @@
+# Blender 4.5.3 LTS
+# www.blender.org
+mtllib city.mtl
+o city
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diff --git a/Universes/large_basic_city/model.config b/Universes/large_basic_city/model.config
new file mode 100644
index 000000000..0d992c4a0
--- /dev/null
+++ b/Universes/large_basic_city/model.config
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>large_basic_city</name>
+  <version>1.0</version>
+  <sdf version='1.9'>model.sdf</sdf>
+
+  <author>
+    <name>Samuek Rey</name>
+    <email>samuel.rey.escudero@gmail.com</email>
+  </author>
+
+  <description>
+    A large city for navigation algorithm.
+  </description>
+</model>
diff --git a/Universes/large_basic_city/model.sdf b/Universes/large_basic_city/model.sdf
new file mode 100644
index 000000000..c6e3a53af
--- /dev/null
+++ b/Universes/large_basic_city/model.sdf
@@ -0,0 +1,66 @@
+<?xml version="1.0"?>
+<sdf version="1.9">
+    <model name="large_basic_city">
+        <pose>0 0 0 0 0 0</pose>
+        <static>true</static>
+
+        <link name="city">
+            <pose>0 0 0 0 0 0</pose>
+
+            <collision name="collision">
+                <pose>0 0 0 1.5708 0 0</pose>
+                <geometry>
+                    <mesh>
+                        <uri>model://large_basic_city/meshes/city.obj</uri>
+                        <scale>1 1 1</scale>
+                    </mesh>
+                </geometry>
+                <surface>
+                    <contact>
+                        <collide_without_contact>false</collide_without_contact>
+                        <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+                    </contact>
+                    <friction>
+                        <ode>
+                            <mu>1.0</mu>
+                            <mu2>1.0</mu2>
+                        </ode>
+                    </friction>
+                </surface>
+            </collision>
+
+            <visual name="visual">
+                <pose>0 0 0 1.5708 0 0</pose>
+                <geometry>
+                    <mesh>
+                        <uri>model://large_basic_city/meshes/city.obj</uri>
+                        <scale>1 1 1</scale>
+                    </mesh>
+                </geometry>
+                <material>
+                    <ambient>0.8 0.8 0.8 1.0</ambient>
+                    <diffuse>0.8 0.8 0.8 1.0</diffuse>
+                    <specular>0.1 0.1 0.1 1.0</specular>
+                    <!-- <emissive>0.0 0.0 0.0 1.0</emissive>
+                    <pbr>
+                        <metal>
+                        <albedo_map>model://large_basic_city/Imgs/cityLarge_harmonic.png</albedo_map>
+                        </metal>
+                    </pbr> -->
+                </material>
+            </visual>
+
+            <inertial>
+                <mass>1000.0</mass>
+                <inertia>
+                    <ixx>1.0</ixx>
+                    <ixy>0.0</ixy>
+                    <ixz>0.0</ixz>
+                    <iyy>1.0</iyy>
+                    <iyz>0.0</iyz>
+                    <izz>1.0</izz>
+                </inertia>
+            </inertial>
+        </link>
+    </model>
+</sdf>
\ No newline at end of file
diff --git a/Universes/laser_map.urdf b/Universes/laser_map.urdf
index 6ed731a0b..7c521e883 100644
--- a/Universes/laser_map.urdf
+++ b/Universes/laser_map.urdf
@@ -1,270 +1,46 @@
 <?xml version="1.0"?>
-<robot name="warehouse_world" xmlns:xacro="http://ros.org/wiki/xacro">
-
-  <material name="black"><color rgba="0 0 0 1"/></material>
-  <material name="dark"><color rgba="0.3 0.3 0.3 1"/></material>
-  <material name="light_black"><color rgba="0.4 0.4 0.4 1"/></material>
-  <material name="blue"><color rgba="0 0 0.8 1"/></material>
-  <material name="green"><color rgba="0 0.8 0 1"/></material>
-  <material name="grey"><color rgba="0.5 0.5 0.5 1"/></material>
-  <material name="orange"><color rgba="1 0.4235 0.0392 1"/></material>
-  <material name="brown"><color rgba="0.8706 0.8118 0.7647 1"/></material>
-  <material name="red"><color rgba="0.8 0 0 1"/></material>
-  <material name="white"><color rgba="1 1 1 1"/></material>
-  <material name="half_transparent"><color rgba="0 0 0 0"/></material>
-  <material name="ground_mat"><color rgba="0.8 0.8 0.8 1"/></material>
+<robot name="warehouse_world"
+  xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <material name="black">
+    <color rgba="0 0 0 1"/>
+  </material>
+  <material name="dark">
+    <color rgba="0.3 0.3 0.3 1"/>
+  </material>
+  <material name="light_black">
+    <color rgba="0.4 0.4 0.4 1"/>
+  </material>
+  <material name="blue">
+    <color rgba="0 0 0.8 1"/>
+  </material>
+  <material name="green">
+    <color rgba="0 0.8 0 1"/>
+  </material>
+  <material name="grey">
+    <color rgba="0.5 0.5 0.5 1"/>
+  </material>
+  <material name="orange">
+    <color rgba="1 0.4235 0.0392 1"/>
+  </material>
+  <material name="brown">
+    <color rgba="0.8706 0.8118 0.7647 1"/>
+  </material>
+  <material name="red">
+    <color rgba="0.8 0 0 1"/>
+  </material>
+  <material name="white">
+    <color rgba="1 1 1 1"/>
+  </material>
+  <material name="half_transparent">
+    <color rgba="0 0 0 0"/>
+  </material>
+  <material name="ground_mat">
+    <color rgba="0.8 0.8 0.8 1"/>
+  </material>
 
   <link name="base_footprint"/>
 
-  <joint name="base_footprint_robot" type="fixed">
-    <parent link="base_footprint"/>
-    <child link="base_link"/>
-    <origin xyz="14.25 -10.75 0.02" rpy="0 -0 3.14"/>
-  </joint>
-
-  <link name="base_link">
-    <visual>
-      <origin xyz="-0.064 0 0.0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://turtlebot3/models/turtlebot3_common/meshes/waffle_base.dae" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="light_black"/>
-    </visual>
-
-    <collision>
-      <origin xyz="-0.064 0 0.047" rpy="0 0 0"/>
-      <geometry>
-        <box size="0.266 0.266 0.094"/>
-      </geometry>
-    </collision>
-
-    <inertial>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <mass value="1.3729096e+00"/>
-      <inertia ixx="8.7002718e-03" ixy="-4.7576583e-05" ixz="1.1160499e-04"
-               iyy="8.6195418e-03" iyz="-3.5422299e-06"
-               izz="1.4612727e-02" />
-    </inertial>
-  </link>
-
-  <joint name="wheel_left_joint" type="continuous">
-    <parent link="base_link"/>
-    <child link="wheel_left_link"/>
-    <origin xyz="0.0 0.144 0.023" rpy="-1.57 0 0"/>
-    <axis xyz="0 0 1"/>
-  </joint>
-
-  <link name="wheel_left_link">
-    <visual>
-      <origin xyz="0 0 0" rpy="1.57 0 0"/>
-      <geometry>
-        <mesh filename="package://turtlebot3/models/turtlebot3_common/meshes/tire.dae" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="dark"/>
-    </visual>
-
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <cylinder length="0.018" radius="0.033"/>
-      </geometry>
-    </collision>
-
-    <inertial>
-      <origin xyz="0 0 0" />
-      <mass value="2.8498940e-02" />
-      <inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09"
-               iyy="1.1192413e-05" iyz="-1.4400107e-11"
-               izz="2.0712558e-05" />
-      </inertial>
-  </link>
-
-  <joint name="wheel_right_joint" type="continuous">
-    <parent link="base_link"/>
-    <child link="wheel_right_link"/>
-    <origin xyz="0.0 -0.144 0.023" rpy="-1.57 0 0"/>
-    <axis xyz="0 0 1"/>
-  </joint>
-
-  <link name="wheel_right_link">
-    <visual>
-      <origin xyz="0 0 0" rpy="1.57 0 0"/>
-      <geometry>
-        <mesh filename="package://turtlebot3/models/turtlebot3_common/meshes/tire.dae" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="dark"/>
-    </visual>
-
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <cylinder length="0.018" radius="0.033"/>
-      </geometry>
-    </collision>
-
-    <inertial>
-      <origin xyz="0 0 0" />
-      <mass value="2.8498940e-02" />
-      <inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09"
-               iyy="1.1192413e-05" iyz="-1.4400107e-11"
-               izz="2.0712558e-05" />
-      </inertial>
-  </link>
-
-  <joint name="caster_back_right_joint" type="fixed">
-    <parent link="base_link"/>
-    <child link="caster_back_right_link"/>
-    <origin xyz="-0.177 -0.064 -0.004" rpy="-1.57 0 0"/>
-  </joint>
-
-  <link name="caster_back_right_link">
-    <collision>
-      <origin xyz="0 0.001 0" rpy="0 0 0"/>
-      <geometry>
-        <box size="0.030 0.009 0.020"/>
-      </geometry>
-    </collision>
-
-    <inertial>
-      <origin xyz="0 0 0" />
-      <mass value="0.005" />
-      <inertia ixx="0.001" ixy="0.0" ixz="0.0"
-               iyy="0.001" iyz="0.0"
-               izz="0.001" />
-    </inertial>
-  </link>
-
-  <joint name="caster_back_left_joint" type="fixed">
-    <parent link="base_link"/>
-    <child link="caster_back_left_link"/>
-    <origin xyz="-0.177 0.064 -0.004" rpy="-1.57 0 0"/>
-  </joint>
-
-  <link name="caster_back_left_link">
-    <collision>
-      <origin xyz="0 0.001 0" rpy="0 0 0"/>
-      <geometry>
-        <box size="0.030 0.009 0.020"/>
-      </geometry>
-    </collision>
-
-    <inertial>
-      <origin xyz="0 0 0" />
-      <mass value="0.005" />
-      <inertia ixx="0.001" ixy="0.0" ixz="0.0"
-               iyy="0.001" iyz="0.0"
-               izz="0.001" />
-    </inertial>
-  </link>
-
-  <joint name="imu_joint" type="fixed">
-    <parent link="base_link"/>
-    <child link="imu_link"/>
-    <origin xyz="0.0 0 0.068" rpy="0 0 0"/>
-  </joint>
-
-  <link name="imu_link"/>
-
-  <joint name="scan_joint" type="fixed">
-    <parent link="base_link"/>
-    <child link="base_scan"/>
-    <origin xyz="-0.064 0 0.122" rpy="0 0 0"/>
-  </joint>
-
-  <link name="base_scan">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://turtlebot3/models/turtlebot3_common/meshes/lds.dae" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="dark"/>
-    </visual>
-
-    <collision>
-      <origin xyz="0.015 0 -0.0065" rpy="0 0 0"/>
-      <geometry>
-        <cylinder length="0.0315" radius="0.055"/>
-      </geometry>
-    </collision>
-
-    <inertial>
-      <mass value="0.114" />
-      <origin xyz="0 0 0" />
-      <inertia ixx="0.001" ixy="0.0" ixz="0.0"
-               iyy="0.001" iyz="0.0"
-               izz="0.001" />
-    </inertial>
-  </link>
-
-  <joint name="camera_joint" type="fixed">
-    <origin xyz="0.064 -0.065 0.094" rpy="0 0 0"/>
-    <parent link="base_link"/>
-    <child link="camera_link"/>
-  </joint>
-
-  <link name="camera_link">
-    <visual>
-     <origin xyz="0 0 0" rpy="1.57 0 1.57"/>
-      <geometry>
-       <mesh filename="package://turtlebot3/models/turtlebot3_common/meshes/r200.dae" />
-      </geometry>
-    </visual>
-    <collision>
-      <origin xyz="0.003 0.065 0.007" rpy="0 0 0"/>
-      <geometry>
-        <box size="0.012 0.132 0.020"/>
-      </geometry>
-    </collision>
-
-    <!-- This inertial field needs doesn't contain reliable data!! -->
-<!--   <inertial>
-      <mass value="0.564" />
-      <origin xyz="0 0 0" />
-      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0"
-               iyy="0.000498940" iyz="0.0"
-               izz="0.003879257" />
-    </inertial>-->
-  </link>
-
-  <joint name="camera_rgb_joint" type="fixed">
-    <origin xyz="0.005 0.018 0.013" rpy="0 0 0"/>
-    <!-- <origin xyz="${r200_cam_rgb_px} ${r200_cam_rgb_py} ${r200_cam_rgb_pz}" rpy="0 0 0"/> -->
-    <parent link="camera_link"/>
-    <child link="camera_rgb_frame"/>
-  </joint>
-  <link name="camera_rgb_frame"/>
-
-  <joint name="camera_depth_joint" type="fixed">
-    <origin xyz="0.005 0.018 0.013" rpy="0 0 0"/>
-    <!-- <origin xyz="${r200_cam_rgb_px} ${r200_cam_rgb_py} ${r200_cam_rgb_pz}" rpy="0 0 0"/> -->
-    <parent link="camera_link"/>
-    <child link="camera_depth_frame"/>
-  </joint>
-  <link name="camera_depth_frame"/>
-
-  <joint name="camera_rgb_optical_joint" type="fixed">
-    <origin xyz="0 0 0" rpy="-1.57 0 -1.57"/>
-    <parent link="camera_rgb_frame"/>
-    <child link="camera_rgb_optical_frame"/>
-  </joint>
-  <link name="camera_rgb_optical_frame"/>
-
-  <joint name="camera_depth_optical_joint" type="fixed">
-    <origin xyz="0 0 0" rpy="-1.57 0 -1.57"/>
-    <parent link="camera_depth_frame"/>
-    <child link="camera_depth_optical_frame"/>
-  </joint>
-  <link name="camera_depth_optical_frame"/>
-
-
-
-
-
-
-
-
-
-
   <joint name="ground_plane_fixed" type="fixed">
     <parent link="base_footprint"/>
     <child link="ground_plane"/>
@@ -569,7 +345,7 @@
       </geometry>
     </visual>
   </link>
-  
+
   <joint name="shelf_9_fixed" type="fixed">
     <parent link="base_footprint"/>
     <child link="shelf_9"/>
diff --git a/Universes/marker_visual_loc.urdf b/Universes/marker_visual_loc.urdf
deleted file mode 100644
index 18aa6823a..000000000
--- a/Universes/marker_visual_loc.urdf
+++ /dev/null
@@ -1,109 +0,0 @@
-<?xml version="1.0" ?>
-<robot name="marker_visual_loc">
-
-  <link name="grass_link">
-    <visual>
-      <origin xyz="0 0 0.2" rpy="0 0 0"/>
-      <geometry>
-        <box size="15 15 0.01"/>
-      </geometry>
-      <material>
-        <texture filename="package://marker_visual_loc/models/grasspatch/materials/textures/grass_dry.png"/>
-      </material>
-    </visual>
-  </link>
-
-  <link name="marker_visual_loc_link">
-    <visual>
-      <origin xyz="0 0 -0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://marker_visual_loc/models/Lake House/meshes/house.dae" scale="0.1 0.1 0.1"/>
-      </geometry>
-    </visual>
-  </link>
-
-
-  <link name="base_footprint"/>
-
-  <joint name="base_footprint_robot" type="fixed">
-    <parent link="base_footprint"/>
-    <child link="base_link"/>
-    <origin xyz="0 0 0.35" rpy="0 -0 0"/>
-  </joint>
-
-  <link name="base_link">
-    <visual>
-      <origin xyz="-0.064 0 -0.0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://turtlebot3/models/turtlebot3_common/meshes/waffle_base.dae" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="light_black"/>
-    </visual>
-  </link>
-
-  <joint name="wheel_left_joint" type="continuous">
-    <parent link="base_link"/>
-    <child link="wheel_left_link"/>
-    <origin xyz="0.0 0.144 0.023" rpy="-1.57 0 0"/>
-    <axis xyz="0 0 1"/>
-  </joint>
-
-  <link name="wheel_left_link">
-    <visual>
-      <origin xyz="0 0 0" rpy="1.57 0 0"/>
-      <geometry>
-        <mesh filename="package://turtlebot3/models/turtlebot3_common/meshes/tire.dae" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="dark"/>
-    </visual>
-  </link>
-
-  <joint name="wheel_right_joint" type="continuous">
-    <parent link="base_link"/>
-    <child link="wheel_right_link"/>
-    <origin xyz="0.0 -0.144 0.023" rpy="-1.57 0 0"/>
-    <axis xyz="0 0 1"/>
-  </joint>
-
-  <link name="wheel_right_link">
-    <visual>
-      <origin xyz="0 0 0" rpy="1.57 0 0"/>
-      <geometry>
-        <mesh filename="package://turtlebot3/models/turtlebot3_common/meshes/tire.dae" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="dark"/>
-    </visual>
-  </link>
-
-  <joint name="scan_joint" type="fixed">
-    <parent link="base_link"/>
-    <child link="base_scan"/>
-    <origin xyz="-0.064 0 0.122" rpy="0 0 0"/>
-  </joint>
-
-  <link name="base_scan">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://turtlebot3/models/turtlebot3_common/meshes/lds.dae" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="dark"/>
-    </visual>
-  </link>
-
-  <joint name="camera_joint" type="fixed">
-    <origin xyz="0.064 -0.065 0.094" rpy="0 0 0"/>
-    <parent link="base_link"/>
-    <child link="camera_link"/>
-  </joint>
-
-  <link name="camera_link">
-    <visual>
-      <origin xyz="0 0 0" rpy="1.57 0 1.57"/>
-      <geometry>
-        <mesh filename="package://turtlebot3/models/turtlebot3_common/meshes/r200.dae" />
-      </geometry>
-    </visual>
-  </link>
-
-</robot>
diff --git a/Universes/rescue_people.urdf b/Universes/rescue_people.urdf
index cd694bfe5..5e810dd81 100644
--- a/Universes/rescue_people.urdf
+++ b/Universes/rescue_people.urdf
@@ -1,10 +1,9 @@
 <?xml version="1.0" ?>
 <robot name="rescue_people">
 
-
   <link name="face1">
     <visual>
-    <origin xyz="35 -35 0" rpy="0 0 -1.57"/>
+      <origin xyz="35 -35 0" rpy="0 0 -1.57"/>
       <geometry>
         <box size="1.5 3 0.01"/>
       </geometry>
@@ -16,7 +15,7 @@
 
   <link name="face2">
     <visual>
-    <origin xyz="42 -40 0" rpy="0 0 0.57"/>
+      <origin xyz="42 -40 0" rpy="0 0 0.57"/>
       <geometry>
         <box size="1.5 3 0.01"/>
       </geometry>
@@ -28,7 +27,7 @@
 
   <link name="face3">
     <visual>
-    <origin xyz="32 -39 0" rpy="0 0 2.57"/>
+      <origin xyz="32 -39 0" rpy="0 0 2.57"/>
       <geometry>
         <box size="1.5 3 0.01"/>
       </geometry>
@@ -40,7 +39,7 @@
 
   <link name="face4">
     <visual>
-    <origin xyz="40 -34 0" rpy="0 0 0"/>
+      <origin xyz="40 -34 0" rpy="0 0 0"/>
       <geometry>
         <box size="1.5 3 0.01"/>
       </geometry>
@@ -52,7 +51,7 @@
 
   <link name="face5">
     <visual>
-    <origin xyz="25 -35 0" rpy="0 0 1.11"/>
+      <origin xyz="25 -35 0" rpy="0 0 1.11"/>
       <geometry>
         <box size="1.5 3 0.01"/>
       </geometry>
@@ -64,7 +63,7 @@
 
   <link name="face6">
     <visual>
-    <origin xyz="37 -31 0" rpy="0 0 -1.0"/>
+      <origin xyz="37 -31 0" rpy="0 0 -1.0"/>
       <geometry>
         <box size="1.5 3 0.01"/>
       </geometry>
@@ -76,35 +75,35 @@
 
   <link name="boat_beacon">
     <visual>
-    <origin xyz="0 0 0" rpy="0 0 0"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://drone_assets/models/boat_beacon/meshes/body.dae"/>
       </geometry>
     </visual>
 
     <visual>
-    <origin xyz="0 -0.03 0" rpy="0 0 0"/>
+      <origin xyz="0 -0.03 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://drone_assets/models/boat_beacon/meshes/battery.dae"/>
       </geometry>
     </visual>
 
     <visual>
-    <origin xyz="0 -2.03 0" rpy="0 0 0"/>
+      <origin xyz="0 -2.03 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://drone_assets/models/boat_beacon/meshes/battery.dae"/>
       </geometry>
     </visual>
 
     <visual>
-    <origin xyz="-2.37378 -1.02713 0.318237" rpy="0 0 0"/>
+      <origin xyz="-2.37378 -1.02713 0.318237" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://drone_assets/models/boat_beacon/meshes/engine.dae"/>
       </geometry>
     </visual>
 
     <visual>
-    <origin xyz="-2.37378 1.02713 0.318237" rpy="0 0 0"/>
+      <origin xyz="-2.37378 1.02713 0.318237" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://drone_assets/models/boat_beacon/meshes/engine.dae"/>
       </geometry>
@@ -113,16 +112,13 @@
 
   <link name="ocean">
     <visual>
-    <origin xyz="0 0 -0.02" rpy="0 0 -1.57"/>
+      <origin xyz="0 0 -0.01" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://drone_assets/models/ocean/meshes/waterlow.dae"/>
-      </geometry>
-    </visual>
-    <visual>
-    <origin xyz="0 0 -0.02" rpy="0 0 -1.57"/>
-      <geometry>
-        <mesh filename="package://drone_assets/models/ocean/waterlow.png"/>
+        <box size="150 150 0.01"/>
       </geometry>
+      <material>
+        <texture filename="package://drone_assets/models/ocean/waterlow.png"/>
+      </material>
     </visual>
   </link>
 
diff --git a/Universes/roomba_1_house_followingcam_visual_loc.urdf b/Universes/roomba_1_house_followingcam_visual_loc.urdf
deleted file mode 100644
index ba88a2b96..000000000
--- a/Universes/roomba_1_house_followingcam_visual_loc.urdf
+++ /dev/null
@@ -1,1609 +0,0 @@
-<?xml version="1.0" ?>
-<robot name="roomba_house">
-
-  <link name="floor">
-    <visual>
-    <origin rpy="0 -0 0" xyz="0.5 1.5 0"/>
-      <geometry>
-        <box size="20 20 0.01"/>
-      </geometry>
-      <material name="gray">
-        <color rgba="0.5 0.5 0.5 1"/>
-      </material>
-    </visual>
-  </link>
-
-  <link name="base">
-    <visual>
-      <origin rpy="1.57 0 0" xyz="-1 1.5 0"/>
-      <geometry>
-        <mesh filename="package://vacuum_cleaner/models/vacuum_cleaner/meshes/create_body.dae" scale="0.25 0.25 0.25"/>
-      </geometry>
-    </visual>
-  </link>
-
-  <link name="RoCKIn"/>
-
-  <link name="Roof">
-
-  <visual name="Roof_Visual_0">
-    <origin xyz="2.15 1.8 2.6" rpy="0 0 0"/>
-    <geometry>
-      <box size="4.3 3.8 0.2"/>
-    </geometry>
-    <material>
-      <texture filename="package://roomba_robot/models/house_int2_roof/materials/textures/Roof0.png"/>
-    </material>
-  </visual>
-
-  <visual name="Roof_Visual_1">
-    <origin xyz="3.925 4.95 2.6" rpy="0 0 0"/>
-    <geometry>
-      <box size="3.1 2.5 0.2"/>
-    </geometry>
-    <material>
-      <texture filename="package://roomba_robot/models/house_int2_roof/materials/textures/Roof1.png"/>
-    </material>
-  </visual>
-
-  <visual name="Roof_Visual_2">
-    <origin xyz="3.925 7.85 2.6" rpy="0 0 0"/>
-    <geometry>
-      <box size="3.1 3.3 0.2"/>
-    </geometry>
-    <material>
-      <texture filename="package://roomba_robot/models/house_int2_roof/materials/textures/Roof2.png"/>
-    </material>
-  </visual>
-
-  <visual name="Roof_Visual_3">
-    <origin xyz="7.5 6 2.6" rpy="0 0 0"/>
-    <geometry>
-      <box size="4.05 4.6 0.2"/>
-    </geometry>
-    <material>
-      <texture filename="package://roomba_robot/models/house_int2_roof/materials/textures/Roof3.png"/>
-    </material>
-  </visual>
-
-  <visual name="Roof_Visual_4">
-    <origin xyz="6.1 1.2 2.6" rpy="0 0 0"/>
-    <geometry>
-      <box size="3.6 2.6 0.2"/>
-    </geometry>
-    <material>
-      <texture filename="package://roomba_robot/models/house_int2_roof/materials/textures/Roof4.png"/>
-    </material>
-  </visual>
-
-  <visual name="Roof_Visual_5">
-    <origin xyz="6.1 3.1 2.6" rpy="0 0 0"/>
-    <geometry>
-      <box size="3.6 1.2 0.2"/>
-    </geometry>
-    <material>
-      <texture filename="package://roomba_robot/models/house_int2_roof/materials/textures/Roof5.png"/>
-    </material>
-  </visual>
-
-  <visual name="Roof_Visual_6">
-    <origin xyz="8.8 1.8 2.6" rpy="0 0 0"/>
-    <geometry>
-      <box size="1.8 3.8 0.2"/>
-    </geometry>
-    <material>
-      <texture filename="package://roomba_robot/models/house_int2_roof/materials/textures/Roof6.png"/>
-    </material>
-  </visual>
-
-</link>
-
-<joint name="roof_joint" type="fixed">
-  <parent link="RoCKIn"/>
-  <child link="Roof"/>
-  <origin rpy="0 -0 0" xyz="0 0 0"/>
-</joint>
-
-
-<link name="Ceiling_Lamp_0">
-  <visual>
-    <origin xyz="0 0 0" rpy="0 0 0"/>
-    <geometry>
-      <cylinder length="0.05" radius="0.2"/>
-    </geometry>
-    <material name="lamp0">
-      <color rgba="1 1 1 1"/>
-    </material>
-  </visual>
-</link>
-
-<joint name="Ceiling_Lamp_0_joint" type="fixed">
-  <parent link="RoCKIn"/>
-  <child link="Ceiling_Lamp_0"/>
-  <origin rpy="0 -0 0" xyz="3.925 4.95 2.45"/>
-</joint>
-
-<link name="Ceiling_Lamp_1">
-  <visual>
-    <origin xyz="0 0 0" rpy="0 0 0"/>
-    <geometry>
-      <cylinder length="0.05" radius="0.2"/>
-    </geometry>
-    <material name="lamp0">
-      <color rgba="1 1 1 1"/>
-    </material>
-  </visual>
-</link>
-
-<joint name="Ceiling_Lamp_1_joint" type="fixed">
-  <parent link="RoCKIn"/>
-  <child link="Ceiling_Lamp_1"/>
-  <origin rpy="0 -0 0" xyz="7.5 6 2.2"/>
-</joint>
-
-<link name="Ceiling_Lamp_2">
-
-  <visual>
-    <origin xyz="0 0 0" rpy="0 0 0"/>
-    <geometry>
-      <box size="0.5 0.5 0.1"/>
-    </geometry>
-    <material name="lamp2_base">
-      <color rgba="0 0 1 1"/>
-    </material>
-  </visual>
-
-  <visual>
-    <origin xyz="0 0 -0.05" rpy="0 0 0"/>
-    <geometry>
-      <box size="0.1 0.1 0.1"/>
-    </geometry>
-    <material name="lamp2_light">
-      <color rgba="1 1 1 1"/>
-    </material>
-  </visual>
-
-</link>
-
-<joint name="Ceiling_Lamp_2_joint" type="fixed">
-  <parent link="RoCKIn"/>
-  <child link="Ceiling_Lamp_2"/>
-  <origin rpy="0 -0 0" xyz="3.925 7.85 2.4"/>
-</joint>
-
-<link name="Ceiling_Lamp_3">
-
-  <visual>
-    <origin xyz="0 0 0" rpy="0 0 0"/>
-    <geometry>
-      <cylinder length="0.2" radius="0.2"/>
-    </geometry>
-    <material name="lamp3_body">
-      <color rgba="1 1 0 1"/>
-    </material>
-  </visual>
-
-  <visual>
-    <origin xyz="0 0 -0.1" rpy="0 0 0"/>
-    <geometry>
-      <sphere radius="0.1"/>
-    </geometry>
-    <material name="lamp3_light">
-      <color rgba="1 1 1 1"/>
-    </material>
-  </visual>
-
-</link>
-
-<joint name="Ceiling_Lamp_3_joint" type="fixed">
-  <parent link="RoCKIn"/>
-  <child link="Ceiling_Lamp_3"/>
-  <origin rpy="0 -0 0" xyz="6.1 1.2 2.4"/>
-</joint>
-
-<link name="Ceiling_Lamp_4">
-  <visual>
-    <origin xyz="0 0 0" rpy="0 0 0"/>
-    <geometry>
-      <box size="0.1 1 0.1"/>
-    </geometry>
-    <material name="lamp4">
-      <color rgba="1 1 1 1"/>
-    </material>
-  </visual>
-</link>
-
-<joint name="Ceiling_Lamp_4_joint" type="fixed">
-  <parent link="RoCKIn"/>
-  <child link="Ceiling_Lamp_4"/>
-  <origin rpy="0 -0 0" xyz="8.6 1.8 2.4"/>
-</joint>
-
-<link name="Ceiling_Lamp_5">
-
-  <visual>
-    <origin xyz="0 0 0" rpy="0 0 0"/>
-    <geometry><sphere radius="0.05"/></geometry>
-    <material name="lamp5_0"><color rgba="0.8 0.8 0.8 1"/></material>
-  </visual>
-
-  <visual>
-    <origin xyz="-1 0 0" rpy="0 0 0"/>
-    <geometry><sphere radius="0.05"/></geometry>
-    <material name="lamp5_1"><color rgba="0.5 0.5 0.5 1"/></material>
-  </visual>
-
-  <visual>
-    <origin xyz="1 0 0" rpy="0 0 0"/>
-    <geometry><sphere radius="0.05"/></geometry>
-    <material name="lamp5_2"><color rgba="1 1 1 1"/></material>
-  </visual>
-
-</link>
-
-<joint name="Ceiling_Lamp_5_joint" type="fixed">
-  <parent link="RoCKIn"/>
-  <child link="Ceiling_Lamp_5"/>
-  <origin rpy="0 -0 0" xyz="6.1 3.1 2.4"/>
-</joint>
-
-<link name="Ceiling_Lamp_6">
-  <visual>
-    <origin xyz="0 0 0" rpy="0 0 0"/>
-    <geometry>
-      <box size="0.5 0.5 0.2"/>
-    </geometry>
-    <material name="lamp6">
-      <color rgba="1 1 0.7 1"/>
-    </material>
-  </visual>
-</link>
-
-<joint name="Ceiling_Lamp_6_joint" type="fixed">
-  <parent link="RoCKIn"/>
-  <child link="Ceiling_Lamp_6"/>
-  <origin rpy="0 -0 0.7854" xyz="2.15 1.8 2.4"/>
-</joint>
-
-
-
-  <link name="mesa_link">
-      <origin rpy="0 -0 0" xyz="0.3 0 0"/>
-      <inertial>
-        <origin rpy="0 -0 0" xyz="1.58603e-17 0 0.513571"/>
-        <mass value="70"/>
-        <inertia ixx="1.28229" ixy="0" ixz="5.70179e-17" iyy="3.10629" iyz="0" izz="3.4192"/>
-      </inertial>
-      <visual>
-        <origin rpy="0 -0 0" xyz="0 0 0.725"/>
-        <geometry>
-          <box size="1.6 0.8 0.03"/>
-        </geometry>
-        <material>
-          <color rgba="0 0 1 0.5"/>
-        </material>
-      </visual>
-      <visual>
-        <origin rpy="0 -0 0" xyz="0.77 0.37 0.355"/>
-        <geometry>
-          <box size="0.06 0.06 0.71"/>
-        </geometry>
-        <material>
-          <color rgba="0.55 0.27 0.07 1"/>
-        </material>
-      </visual>
-      <visual>
-        <origin rpy="0 -0 0" xyz="0.77 -0.37 0.355"/>
-        <geometry>
-          <box size="0.06 0.06 0.71"/>
-        </geometry>
-        <material>
-          <color rgba="0.55 0.27 0.07 1"/>
-        </material>
-      </visual>
-      <visual>
-        <origin rpy="0 -0 0" xyz="-0.77 -0.37 0.355"/>
-        <geometry>
-          <box size="0.06 0.06 0.71"/>
-        </geometry>
-        <material>
-          <color rgba="0.55 0.27 0.07 1"/>
-        </material>
-      </visual>
-      <visual>
-        <origin rpy="0 -0 0" xyz="-0.77 0.37 0.355"/>
-        <geometry>
-          <box size="0.06 0.06 0.71"/>
-        </geometry>
-        <material>
-          <color rgba="0.55 0.27 0.07 1"/>
-        </material>
-      </visual>
-      <kinematic>0</kinematic>
-    </link>
-
-  <joint name="mesa_joint" type="fixed">
-    <parent link="floor"/>
-    <child link="mesa_link"/>
-    <origin rpy="0 -0 1.57" xyz="-2.4 0 0"/>
-  </joint>
-
-
-
-<joint name="RoCKIn_joint" type="fixed">
-  <parent link="floor"/>
-  <child link="RoCKIn"/>
-  <origin rpy="0 -0 1.57" xyz="5.4 -3.6 0"/>
-</joint>
-
-    <link name="Wall_12">
-      <visual>
-        <origin rpy="0 -0 0" xyz="0 0 1.25"/>
-        <geometry>
-          <box size="2.6 0.2 2.5"/>
-        </geometry>
-        <material name="Gazebo/Grey"/>
-      </visual>
-      <kinematic>0</kinematic>
-    </link>
-
-    <joint name="Wall_12_joint" type="fixed">
-      <parent link="RoCKIn"/>
-      <child link="Wall_12"/>
-      <origin rpy="0 -0 1.5708" xyz="7.8 1.205 0"/>
-    </joint>
-
-    <link name="Wall_14">
-      <visual>
-        <origin rpy="0 -0 0" xyz="-1.20789 0 1.25"/>
-        <geometry>
-          <box size="1.18422 0.2 2.5"/>
-        </geometry>
-        <material name="Gazebo/Grey"/>
-      </visual>
-      <visual>
-        <origin rpy="0 -0 3.14159" xyz="1.09211 0 1.25"/>
-        <geometry>
-          <box size="1.41579 0.2 2.5"/>
-        </geometry>
-        <material name="Gazebo/Grey"/>
-      </visual>
-      <visual>
-        <origin rpy="0 -0 3.14159" xyz="-0.115785 0 2.25"/>
-        <geometry>
-          <box size="1 0.2 0.5"/>
-        </geometry>
-        <material name="Gazebo/Grey"/>
-      </visual>
-      <kinematic>0</kinematic>
-    </link>
-
-    <joint name="Wall_14_joint" type="fixed">
-      <parent link="RoCKIn"/>
-      <child link="Wall_14"/>
-      <origin rpy="0 -0 3.14159" xyz="6.0996 2.4048 0"/>
-    </joint>
-
-    <link name="Wall_16">
-      <visual>
-        <origin rpy="0 -0 0" xyz="0 0 1.25"/>
-        <geometry>
-          <box size="2.60492 0.2 2.5"/>
-        </geometry>
-        <material name="Gazebo/Grey"/>
-      </visual>
-      <kinematic>0</kinematic>
-    </link>
-
-    <joint name="Wall_16_joint" type="fixed">
-      <parent link="RoCKIn"/>
-      <child link="Wall_16"/>
-      <origin rpy="0 -0 1.5708" xyz="4.39903 1.20277 0"/>
-    </joint>
-
-    <link name="Wall_18">
-      <visual>
-        <origin rpy="0 -0 0" xyz="0 0 1.25"/>
-        <geometry>
-          <box size="3.8 0.2 2.5"/>
-        </geometry>
-        <material name="Gazebo/Grey"/>
-      </visual>
-      <kinematic>0</kinematic>
-    </link>
-
-    <joint name="Wall_18_joint" type="fixed">
-      <parent link="RoCKIn"/>
-      <child link="Wall_18"/>
-      <origin rpy="0 -0 1.5708" xyz="0.024876 1.80003 0"/>
-    </joint>
-
-    <link name="Wall_2">
-      <visual>
-        <origin rpy="0 -0 0" xyz="-0.649274 0 1.25"/>
-        <geometry>
-          <box size="9.599997 0.2 2.5"/>
-        </geometry>
-        <material name="Gazebo/Grey"/>
-      </visual>
-      <kinematic>0</kinematic>
-    </link>
-
-    <joint name="Wall_2_joint" type="fixed">
-      <parent link="RoCKIn"/>
-      <child link="Wall_2"/>
-      <origin rpy="0 -0 0" xyz="5.50266 0 0"/>
-    </joint>
-
-    <link name="Wall_20">
-      <visual>
-        <origin rpy="0 -0 0" xyz="-2.67396 0 1.25"/>
-        <geometry>
-          <box size="0.251208 0.2 2.5"/>
-        </geometry>
-        <material name="Gazebo/Grey"/>
-      </visual>
-      <visual>
-        <origin rpy="0 -0 0" xyz="1.1766 0 1.25"/>
-        <geometry>
-          <box size="3.24591 0.2 2.5"/>
-        </geometry>
-        <material name="Gazebo/Grey"/>
-      </visual>
-      <visual>
-        <origin rpy="0 -0 0" xyz="-1.49735 0 2.25"/>
-        <geometry>
-          <box size="2.102 0.2 0.5"/>
-        </geometry>
-        <material name="Gazebo/Grey"/>
-      </visual>
-      <visual>
-        <origin rpy="0 -0 0" xyz="-1.49735 0 0.35"/>
-        <geometry>
-          <box size="2.102 0.2 0.7"/>
-        </geometry>
-        <material name="Gazebo/Grey"/>
-      </visual>
-      <kinematic>0</kinematic>
-    </link>
-
-    <joint name="Wall_20_joint" type="fixed">
-      <parent link="RoCKIn"/>
-      <child link="Wall_20"/>
-      <origin rpy="0 -0 0" xyz="2.72456 3.60059 0"/>
-    </joint>
-
-    <link name="Wall_22">
-      <visual>
-        <origin rpy="0 -0 0" xyz="-0.601085 0 1.25"/>
-        <geometry>
-          <box size="0.194709 0.2 2.5"/>
-        </geometry>
-        <material name="Gazebo/Grey"/>
-      </visual>
-      <visual>
-        <origin rpy="0 -0 0" xyz="0.597355 0 1.25"/>
-        <geometry>
-          <box size="0.202171 0.2 2.5"/>
-        </geometry>
-        <material name="Gazebo/Grey"/>
-      </visual>
-      <visual>
-        <origin rpy="0 -0 0" xyz="-0.003731 0 2.25"/>
-        <geometry>
-          <box size="1 0.2 0.5"/>
-        </geometry>
-        <material name="Gazebo/Grey"/>
-      </visual>
-      <kinematic>0</kinematic>
-    </link>
-
-    <joint name="Wall_22_joint" type="fixed">
-      <parent link="RoCKIn"/>
-      <child link="Wall_22"/>
-      <origin rpy="0 -0 1.5708" xyz="4.39856 3.00206 0"/>
-    </joint>
-
-    <link name="Wall_24">
-      <visual>
-        <origin rpy="0 -0 0" xyz="-1.97924 0 1.25"/>
-        <geometry>
-          <box size="0.241529 0.2 2.5"/>
-        </geometry>
-        <material name="Gazebo/Grey"/>
-      </visual>
-      <visual>
-        <origin rpy="0 -0 0" xyz="1.97395 0 1.25"/>
-        <geometry>
-          <box size="0.252091 0.2 2.5"/>
-        </geometry>
-        <material name="Gazebo/Grey"/>
-      </visual>
-      <visual>
-        <origin rpy="0 -0 0" xyz="-0.005281 0 2.25"/>
-        <geometry>
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-          <color rgba="0.3 0.3 0.3 1"/>
-        </material>
-      </visual>
-      <kinematic>0</kinematic>
-    </link>
-
-    <joint name="sofa2_joint" type="fixed">
-      <parent link="floor"/>
-      <child link="sofa_link2"/>
-      <origin rpy="0 -0 1.57" xyz="-2.1 4.4 0"/>
-    </joint>
-
-    <link name="encimera_link">
-      <origin rpy="0 -0 0" xyz="0 0 0"/>
-      <inertial>
-        <origin rpy="0 -0 0" xyz="0 0 0.425"/>
-        <mass value="500"/>
-        <inertia ixx="5" ixy="0" ixz="0" iyy="5" iyz="0" izz="5"/>
-      </inertial>
-      <visual>
-        <origin rpy="0 -0 0" xyz="0 0 0.425"/>
-        <geometry>
-          <box size="2.1 0.6 0.85"/>
-        </geometry>
-        <material>
-          <color rgba="0.55 0.27 0.07 1"/>
-        </material>
-      </visual>
-      <kinematic>0</kinematic>
-    </link>
-
-    <joint name="encimera_joint" type="fixed">
-      <parent link="floor"/>
-      <child link="encimera_link"/>
-      <origin rpy="0 -0 1.57" xyz="1.4 0.61 0"/>
-    </joint>
-
-    <link name="barra_link">
-      <origin rpy="0 -0 0" xyz="0 0 0"/>
-      <inertial>
-        <origin rpy="0 -0 0" xyz="0 0 0.5"/>
-        <mass value="500"/>
-        <inertia ixx="5" ixy="0" ixz="0" iyy="5" iyz="0" izz="5"/>
-      </inertial>
-      <visual>
-        <origin rpy="0 -0 0" xyz="0 0 0.5"/>
-        <geometry>
-          <box size="1.8 0.6 1"/>
-        </geometry>
-        <material>
-          <color rgba="0.55 0.27 0.07 1"/>
-        </material>
-      </visual>
-      <kinematic>0</kinematic>
-    </link>
-
-    <joint name="barra_joint" type="fixed">
-      <parent link="floor"/>
-      <child link="barra_link"/>
-      <origin rpy="0 -0 1.57" xyz="-0.6 -0.16 0"/>
-    </joint>
-
-    <link name="frigo_link">
-      <origin rpy="0 -0 0" xyz="0 0 0"/>
-      <inertial>
-        <origin rpy="0 -0 0" xyz="0 0 0.9"/>
-        <mass value="500"/>
-        <inertia ixx="5" ixy="0" ixz="0" iyy="5" iyz="0" izz="5"/>
-      </inertial>
-      <visual>
-        <origin rpy="0 -0 0" xyz="0 0 0.9"/>
-        <geometry>
-          <box size="0.6 0.6 1.8"/>
-        </geometry>
-        <material>
-          <color rgba="1 1 1 1"/>
-        </material>
-      </visual>
-      <kinematic>0</kinematic>
-    </link>
-
-    <joint name="frigo_joint" type="fixed">
-      <parent link="floor"/>
-      <child link="frigo_link"/>
-      <origin rpy="0 -0 0" xyz="1.4 -0.75 0"/>
-    </joint>
-
-    <link name="estanteria_link">
-      <origin rpy="0 -0 0" xyz="0 0 0"/>
-      <inertial>
-        <origin rpy="0 -0 0" xyz="0 0 1.046"/>
-        <mass value="100"/>
-        <inertia ixx="3.12544" ixy="0" ixz="0" iyy="4.16584" iyz="0" izz="1.1204"/>
-      </inertial>
-      <visual>
-        <origin rpy="0 -0 0" xyz="0 0 0.01"/>
-        <geometry>
-          <box size="1 0.35 0.2"/>
-        </geometry>
-        <material>
-          <color rgba="0.55 0.27 0.07 1"/>
-        </material>
-      </visual>
-      <visual>
-        <origin rpy="0 -0 0" xyz="0 0 0.41"/>
-        <geometry>
-          <box size="1 0.35 0.02"/>
-        </geometry>
-        <material>
-          <color rgba="0.55 0.27 0.07 1"/>
-        </material>
-      </visual>
-      <visual>
-        <origin rpy="0 -0 0" xyz="0 0 0.83"/>
-        <geometry>
-          <box size="1 0.35 0.02"/>
-        </geometry>
-        <material>
-          <color rgba="0.55 0.27 0.07 1"/>
-        </material>
-      </visual>
-      <visual>
-        <origin rpy="0 -0 0" xyz="0 0 1.25"/>
-        <geometry>
-          <box size="1 0.35 0.02"/>
-        </geometry>
-        <material>
-          <color rgba="0.55 0.27 0.07 1"/>
-        </material>
-      </visual>
-      <visual>
-        <origin rpy="0 -0 0" xyz="0 0 1.67"/>
-        <geometry>
-          <box size="1 0.35 0.02"/>
-        </geometry>
-        <material>
-          <color rgba="0.55 0.27 0.07 1"/>
-        </material>
-      </visual>
-      <visual>
-        <origin rpy="0 -0 0" xyz="0 0 2.09"/>
-        <geometry>
-          <box size="1 0.35 0.02"/>
-        </geometry>
-        <material>
-          <color rgba="0.55 0.27 0.07 1"/>
-        </material>
-      </visual>
-      <visual>
-        <origin rpy="0 -0 0" xyz="0.51 0 1.05"/>
-        <geometry>
-          <box size="0.02 0.35 2.1"/>
-        </geometry>
-        <material>
-          <color rgba="0.55 0.27 0.07 1"/>
-        </material>
-      </visual>
-      <visual>
-        <origin rpy="0 -0 0" xyz="-0.51 0 1.05"/>
-        <geometry>
-          <box size="0.02 0.35 2.1"/>
-        </geometry>
-        <material>
-          <color rgba="0.55 0.27 0.07 1"/>
-        </material>
-      </visual>
-      <kinematic>0</kinematic>
-    </link>
-
-    <joint name="estanteria_joint" type="fixed">
-      <parent link="floor"/>
-      <child link="estanteria_link"/>
-      <origin rpy="0 -0 0" xyz="4.7 4.48 0"/>
-    </joint>
-
-    <link name="estanteria_link">
-      <origin rpy="0 -0 0" xyz="0 0 0"/>
-      <inertial>
-        <origin rpy="0 -0 0" xyz="0 0 1.046"/>
-        <mass value="100"/>
-        <inertia ixx="3.12544" ixy="0" ixz="0" iyy="4.16584" iyz="0" izz="1.1204"/>
-      </inertial>
-      <visual>
-        <origin rpy="0 -0 0" xyz="0 0 0.01"/>
-        <geometry>
-          <box size="1 0.35 0.2"/>
-        </geometry>
-        <material>
-          <color rgba="0.55 0.27 0.07 1"/>
-        </material>
-      </visual>
-      <visual>
-        <origin rpy="0 -0 0" xyz="0 0 0.41"/>
-        <geometry>
-          <box size="1 0.35 0.02"/>
-        </geometry>
-        <material>
-          <color rgba="0.55 0.27 0.07 1"/>
-        </material>
-      </visual>
-      <visual>
-        <origin rpy="0 -0 0" xyz="0 0 0.83"/>
-        <geometry>
-          <box size="1 0.35 0.02"/>
-        </geometry>
-        <material>
-          <color rgba="0.55 0.27 0.07 1"/>
-        </material>
-      </visual>
-      <visual>
-        <origin rpy="0 -0 0" xyz="0 0 1.25"/>
-        <geometry>
-          <box size="1 0.35 0.02"/>
-        </geometry>
-        <material>
-          <color rgba="0.55 0.27 0.07 1"/>
-        </material>
-      </visual>
-      <visual>
-        <origin rpy="0 -0 0" xyz="0 0 1.67"/>
-        <geometry>
-          <box size="1 0.35 0.02"/>
-        </geometry>
-        <material>
-          <color rgba="0.55 0.27 0.07 1"/>
-        </material>
-      </visual>
-      <visual>
-        <origin rpy="0 -0 0" xyz="0 0 2.09"/>
-        <geometry>
-          <box size="1 0.35 0.02"/>
-        </geometry>
-        <material>
-          <color rgba="0.55 0.27 0.07 1"/>
-        </material>
-      </visual>
-      <visual>
-        <origin rpy="0 -0 0" xyz="0.51 0 1.05"/>
-        <geometry>
-          <box size="0.02 0.35 2.1"/>
-        </geometry>
-        <material>
-          <color rgba="0.55 0.27 0.07 1"/>
-        </material>
-      </visual>
-      <visual>
-        <origin rpy="0 -0 0" xyz="-0.51 0 1.05"/>
-        <geometry>
-          <box size="0.02 0.35 2.1"/>
-        </geometry>
-        <material>
-          <color rgba="0.55 0.27 0.07 1"/>
-        </material>
-      </visual>
-      <kinematic>0</kinematic>
-    </link>
-
-    <joint name="estanteria1_joint" type="fixed">
-      <parent link="floor"/>
-      <child link="estanteria_link"/>
-      <origin rpy="0 -0 0" xyz="4.7 0.5 0"/>
-    </joint>
-
-    <link name="mesita_link">
-      <origin rpy="0 -0 0" xyz="0 0 0"/>
-      <inertial>
-        <origin rpy="0 -0 0" xyz="0 0 0.2975"/>
-        <mass value="80"/>
-        <inertia ixx="0.24835" ixy="0" ixz="0" iyy="0.38525" iyz="0" izz="0.1969"/>
-      </inertial>
-      <visual>
-        <origin rpy="0 -0 0" xyz="0 0 0.01"/>
-        <geometry>
-          <box size="0.35 0.35 0.2"/>
-        </geometry>
-        <material>
-          <color rgba="0.55 0.27 0.07 1"/>
-        </material>
-      </visual>
-      <visual>
-        <origin rpy="0 -0 0" xyz="0 0 0.19"/>
-        <geometry>
-          <box size="0.35 0.35 0.02"/>
-        </geometry>
-        <material>
-          <color rgba="0.55 0.27 0.07 1"/>
-        </material>
-      </visual>
-      <visual>
-        <origin rpy="0 -0 0" xyz="0 0 0.39"/>
-        <geometry>
-          <box size="0.35 0.35 0.02"/>
-        </geometry>
-        <material>
-          <color rgba="0.55 0.27 0.07 1"/>
-        </material>
-      </visual>
-      <visual>
-        <origin rpy="0 -0 0" xyz="0 0 0.59"/>
-        <geometry>
-          <box size="0.35 0.35 0.02"/>
-        </geometry>
-        <material>
-          <color rgba="0.55 0.27 0.07 1"/>
-        </material>
-      </visual>
-      <visual>
-        <origin rpy="0 -0 0" xyz="0.185 0 0.3"/>
-        <geometry>
-          <box size="0.02 0.35 0.6"/>
-        </geometry>
-        <material>
-          <color rgba="0.55 0.27 0.07 1"/>
-        </material>
-      </visual>
-      <visual>
-        <origin rpy="0 -0 0" xyz="-0.185 0 0.3"/>
-        <geometry>
-          <box size="0.02 0.35 0.6"/>
-        </geometry>
-        <material>
-          <color rgba="0.55 0.27 0.07 1"/>
-        </material>
-      </visual>
-      <kinematic>0</kinematic>
-    </link>
-
-    <joint name="mesita_joint" type="fixed">
-      <parent link="floor"/>
-      <child link="mesita_link"/>
-      <origin rpy="0 -0 0" xyz="2.4 -3.28 0"/>
-    </joint>
-
-    <link name="cama_link">
-      <origin rpy="0 -0 0" xyz="0 0 0"/>
-      <inertial>
-        <origin rpy="0 -0 0" xyz="0.0176471 0 0.204902"/>
-        <mass value="510"/>
-        <inertia ixx="10.1613" ixy="0" ixz="-0.220588" iyy="10.9554" iyz="0" izz="10.8941"/>
-      </inertial>
-      <visual>
-        <origin rpy="0 -0 0" xyz="0 0 0.2"/>
-        <geometry>
-          <box size="2.1 1.5 0.4"/>
-        </geometry>
-        <material>
-          <color rgba="1 1 1 1"/>
-        </material>
-      </visual>
-      <visual>
-        <origin rpy="0 -0 0" xyz="0.9 0 0.45"/>
-        <geometry>
-          <box size="0.3 1.5 0.1"/>
-        </geometry>
-        <material>
-          <color rgba="1 1 1 1"/>
-        </material>
-      </visual>
-      <kinematic>0</kinematic>
-    </link>
-
-    <joint name="cama_joint" type="fixed">
-      <parent link="floor"/>
-      <child link="cama_link"/>
-      <origin rpy="0 0 -1.57" xyz="3.4 -2.41 0"/>
-    </joint>
-
-    <link name="mesita_link1">
-      <origin rpy="0 -0 0" xyz="0 0 0"/>
-      <inertial>
-        <origin rpy="0 -0 0" xyz="0 0 0.2975"/>
-        <mass value="80"/>
-        <inertia ixx="0.24835" ixy="0" ixz="0" iyy="0.38525" iyz="0" izz="0.1969"/>
-      </inertial>
-      <visual>
-        <origin rpy="0 -0 0" xyz="0 0 0.01"/>
-        <geometry>
-          <box size="0.35 0.35 0.2"/>
-        </geometry>
-        <material>
-          <color rgba="0.55 0.27 0.07 1"/>
-        </material>
-      </visual>
-      <visual>
-        <origin rpy="0 -0 0" xyz="0 0 0.19"/>
-        <geometry>
-          <box size="0.35 0.35 0.02"/>
-        </geometry>
-        <material>
-          <color rgba="0.55 0.27 0.07 1"/>
-        </material>
-      </visual>
-      <visual>
-        <origin rpy="0 -0 0" xyz="0 0 0.39"/>
-        <geometry>
-          <box size="0.35 0.35 0.02"/>
-        </geometry>
-        <material>
-          <color rgba="0.55 0.27 0.07 1"/>
-        </material>
-      </visual>
-      <visual>
-        <origin rpy="0 -0 0" xyz="0 0 0.59"/>
-        <geometry>
-          <box size="0.35 0.35 0.02"/>
-        </geometry>
-        <material>
-          <color rgba="0.55 0.27 0.07 1"/>
-        </material>
-      </visual>
-      <visual>
-        <origin rpy="0 -0 0" xyz="0.185 0 0.3"/>
-        <geometry>
-          <box size="0.02 0.35 0.6"/>
-        </geometry>
-        <material>
-          <color rgba="0.55 0.27 0.07 1"/>
-        </material>
-      </visual>
-      <visual>
-        <origin rpy="0 -0 0" xyz="-0.185 0 0.3"/>
-        <geometry>
-          <box size="0.02 0.35 0.6"/>
-        </geometry>
-        <material>
-          <color rgba="0.55 0.27 0.07 1"/>
-        </material>
-      </visual>
-      <kinematic>0</kinematic>
-    </link>
-
-    <joint name="mesita1_joint" type="fixed">
-      <parent link="floor"/>
-      <child link="mesita_link1"/>
-      <origin rpy="0 -0 0" xyz="4.4 -3.28 0"/>
-    </joint>
-
-</robot>
diff --git a/Universes/rover4wd_warehouse.urdf b/Universes/rover4wd_warehouse.urdf
new file mode 100644
index 000000000..cd95671d7
--- /dev/null
+++ b/Universes/rover4wd_warehouse.urdf
@@ -0,0 +1,145 @@
+<?xml version="1.0"?>
+<sdf version="1.8">
+  <world name="default">
+
+    <!-- Suelo -->
+    <model name="ground_plane">
+      <static>true</static>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+
+
+
+
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <material>
+            <ambient>0.8 0.8 0.8 1</ambient>
+            <diffuse>0.8 0.8 0.8 1</diffuse>
+            <specular>0.8 0.8 0.8 1</specular>
+          </material>
+        </visual>
+      </link>
+    </model>
+
+    <!-- Base del almacén -->
+    <include>
+      <name>warehouse</name>
+      <pose>0 0 -0.09 0 0 0</pose>
+      <uri>model://open_warehouse</uri>
+    </include>
+
+    <!-- Estanterías pequeñas -->
+    <include>
+      <name>shelf_0</name>
+      <pose>-4.41528 2.30697 0 0 0 0</pose>
+      <uri>model://shelf</uri>
+    </include>
+    <include>
+      <name>shelf_1</name>
+      <pose>-4.41528 5.30708 0 0 0 0</pose>
+      <uri>model://shelf</uri>
+    </include>
+    <include>
+      <name>shelf_2</name>
+      <pose>-4.41528 8.34352 0 0 0 0</pose>
+      <uri>model://shelf</uri>
+    </include>
+    <include>
+      <name>shelf_3</name>
+      <pose>5.60144 8.34352 0 0 0 0</pose>
+      <uri>model://shelf</uri>
+    </include>
+    <include>
+      <name>shelf_4</name>
+      <pose>5.60144 5.30708 0 0 0 0</pose>
+      <uri>model://shelf</uri>
+    </include>
+    <include>
+      <name>shelf_6</name>
+      <pose>5.60144 2.30697 0 0 0 0</pose>
+      <uri>model://shelf</uri>
+    </include>
+    <include>
+      <name>shelf_7</name>
+      <pose>13.3818 -21.2416 0 0 0 0</pose>
+      <uri>model://shelf</uri>
+    </include>
+    <include>
+      <name>shelf_8</name>
+      <pose>13.3818 -19.0028 0 0 0 0</pose>
+      <uri>model://shelf</uri>
+    </include>
+    <include>
+      <name>shelf_9</name>
+      <pose>13.3818 -16.4478 0 0 0 0</pose>
+      <uri>model://shelf</uri>
+    </include>
+    <include>
+      <name>shelf_10</name>
+      <pose>13.3818 -14.1028 0 0 0 0</pose>
+      <uri>model://shelf</uri>
+    </include>
+
+    <!-- Estanterías grandes -->
+    <include>
+      <name>shelf_big_0</name>
+      <pose>-13.0718 -8.2974 0 0 0 1.5708</pose>
+      <uri>model://shelf_big_2</uri>
+    </include>
+    <include>
+      <name>shelf_big_1</name>
+      <pose>13.0 15.8265 0 0 0 1.5708</pose>
+      <uri>model://shelf_big_2</uri>
+    </include>
+    <include>
+      <name>shelf_big_3</name>
+      <pose>3.7349 -8.6599 0 0 0 1.5708</pose>
+      <uri>model://shelf_big_2</uri>
+    </include>
+    <include>
+      <name>shelf_big_4</name>
+      <pose>-3.4279 -8.2115 0 0 0 1.5708</pose>
+      <uri>model://shelf_big_2</uri>
+    </include>
+    <include>
+      <name>shelf_big_5</name>
+      <pose>0.0306 -23.2429 0 0 0 0</pose>
+      <uri>model://shelf_big_2</uri>
+    </include>
+
+    <!-- Pallets -->
+    <include>
+      <name>pallet_0</name>
+      <pose>-4.9821 20.319 0 0 0 1.5708</pose>
+      <uri>model://Euro_pallet_w_stacked_boxes</uri>
+    </include>
+    <include>
+      <name>pallet_1</name>
+      <pose>-4.9821 17.319 0 0 0 1.0</pose>
+      <uri>model://Euro_pallet_w_stacked_boxes</uri>
+    </include>
+    <include>
+      <name>pallet_2</name>
+      <pose>4.9821 19.319 0 0 0 0.4</pose>
+      <uri>model://Euro_pallet_w_stacked_boxes</uri>
+    </include>
+    <include>
+      <name>pallet_3</name>
+      <pose>2.9821 21.319 0 0 0 2.5708</pose>
+      <uri>model://Euro_pallet_w_stacked_boxes</uri>
+    </include>
+  </world>
+</sdf>
diff --git a/Universes/small_house.urdf b/Universes/small_house.urdf
new file mode 100644
index 000000000..64446e454
--- /dev/null
+++ b/Universes/small_house.urdf
@@ -0,0 +1,997 @@
+<?xml version="1.0" ?>
+<robot name="roomba_house">
+  <link name="floor"/>
+
+  <link name="base">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://roomba_robot/models/house_int2/meshes/model.dae"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name="mesa_link">
+    <origin rpy="0 -0 0" xyz="0.3 0 0"/>
+    <inertial>
+      <origin rpy="0 -0 0" xyz="1.58603e-17 0 0.513571"/>
+      <mass value="70"/>
+      <inertia ixx="1.28229" ixy="0" ixz="5.70179e-17" iyy="3.10629" iyz="0" izz="3.4192"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 -0 0" xyz="0 0 0.725"/>
+      <geometry>
+        <box size="1.6 0.8 0.03"/>
+      </geometry>
+      <material>
+        <color rgba="0 0 1 0.5"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 -0 0" xyz="0.77 0.37 0.355"/>
+      <geometry>
+        <box size="0.06 0.06 0.71"/>
+      </geometry>
+      <material>
+        <color rgba="0.55 0.27 0.07 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 -0 0" xyz="0.77 -0.37 0.355"/>
+      <geometry>
+        <box size="0.06 0.06 0.71"/>
+      </geometry>
+      <material>
+        <color rgba="0.55 0.27 0.07 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 -0 0" xyz="-0.77 -0.37 0.355"/>
+      <geometry>
+        <box size="0.06 0.06 0.71"/>
+      </geometry>
+      <material>
+        <color rgba="0.55 0.27 0.07 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 -0 0" xyz="-0.77 0.37 0.355"/>
+      <geometry>
+        <box size="0.06 0.06 0.71"/>
+      </geometry>
+      <material>
+        <color rgba="0.55 0.27 0.07 1"/>
+      </material>
+    </visual>
+    <kinematic>0</kinematic>
+  </link>
+
+  <joint name="mesa_joint" type="fixed">
+    <parent link="floor"/>
+    <child link="mesa_link"/>
+    <origin rpy="0 -0 1.57" xyz="-2.4 0 0"/>
+  </joint>
+
+  <link name="silla_link1">
+    <origin rpy="0 -0 0" xyz="0 0.3 0"/>
+    <inertial>
+      <origin rpy="0 -0 0" xyz="0.0215 0 0.353"/>
+      <mass value="20"/>
+      <inertia ixx="0.674432" ixy="0" ixz="-0.012986" iyy="0.682753" iyz="0" izz="0.675561"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 -0 0" xyz="0 0 0.415"/>
+      <geometry>
+        <box size="0.45 0.45 0.03"/>
+      </geometry>
+      <material>
+        <color rgba="0.3 0.3 0.3 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 -0 0" xyz="0.205 0.205 0.2"/>
+      <geometry>
+        <box size="0.04 0.04 0.4"/>
+      </geometry>
+      <material>
+        <color rgba="0.55 0.27 0.07 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 -0 0" xyz="0.205 -0.205 0.2"/>
+      <geometry>
+        <box size="0.04 0.04 0.4"/>
+      </geometry>
+      <material>
+        <color rgba="0.55 0.27 0.07 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 -0 0" xyz="-0.205 -0.205 0.2"/>
+      <geometry>
+        <box size="0.04 0.04 0.4"/>
+      </geometry>
+      <material>
+        <color rgba="0.55 0.27 0.07 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 -0 0" xyz="-0.205 0.205 0.2"/>
+      <geometry>
+        <box size="0.04 0.04 0.4"/>
+      </geometry>
+      <material>
+        <color rgba="0.55 0.27 0.07 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 -0 0" xyz="0.215 0 0.655"/>
+      <geometry>
+        <box size="0.02 0.45 0.45"/>
+      </geometry>
+      <material>
+        <color rgba="0.3 0.3 0.3 1"/>
+      </material>
+    </visual>
+    <kinematic>0</kinematic>
+  </link>
+
+  <joint name="silla_joint" type="fixed">
+    <parent link="floor"/>
+    <child link="silla_link1"/>
+    <origin rpy="0 -0 0" xyz="-2.1 -0.4 0"/>
+  </joint>
+
+  <link name="silla_link2">
+    <origin rpy="0 -0 0" xyz="0 0.3 0"/>
+    <inertial>
+      <origin rpy="0 -0 0" xyz="0.0215 0 0.353"/>
+      <mass value="20"/>
+      <inertia ixx="0.674432" ixy="0" ixz="-0.012986" iyy="0.682753" iyz="0" izz="0.675561"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 -0 0" xyz="0 0 0.415"/>
+      <geometry>
+        <box size="0.45 0.45 0.03"/>
+      </geometry>
+      <material>
+        <color rgba="0.3 0.3 0.3 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 -0 0" xyz="0.205 0.205 0.2"/>
+      <geometry>
+        <box size="0.04 0.04 0.4"/>
+      </geometry>
+      <material>
+        <color rgba="0.55 0.27 0.07 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 -0 0" xyz="0.205 -0.205 0.2"/>
+      <geometry>
+        <box size="0.04 0.04 0.4"/>
+      </geometry>
+      <material>
+        <color rgba="0.55 0.27 0.07 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 -0 0" xyz="-0.205 -0.205 0.2"/>
+      <geometry>
+        <box size="0.04 0.04 0.4"/>
+      </geometry>
+      <material>
+        <color rgba="0.55 0.27 0.07 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 -0 0" xyz="-0.205 0.205 0.2"/>
+      <geometry>
+        <box size="0.04 0.04 0.4"/>
+      </geometry>
+      <material>
+        <color rgba="0.55 0.27 0.07 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 -0 0" xyz="0.215 0 0.655"/>
+      <geometry>
+        <box size="0.02 0.45 0.45"/>
+      </geometry>
+      <material>
+        <color rgba="0.3 0.3 0.3 1"/>
+      </material>
+    </visual>
+    <kinematic>0</kinematic>
+  </link>
+
+  <joint name="silla_joint" type="fixed">
+    <parent link="floor"/>
+    <child link="silla_link2"/>
+    <origin rpy="0 -0 0" xyz="-2.1 0.4 0"/>
+  </joint>
+
+  <link name="silla_link3">
+    <origin rpy="0 -0 0" xyz="0 -0.3 0"/>
+    <inertial>
+      <origin rpy="0 -0 0" xyz="0.0215 0 0.353"/>
+      <mass value="20"/>
+      <inertia ixx="0.674432" ixy="0" ixz="-0.012986" iyy="0.682753" iyz="0" izz="0.675561"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 -0 0" xyz="0 0 0.415"/>
+      <geometry>
+        <box size="0.45 0.45 0.03"/>
+      </geometry>
+      <material>
+        <color rgba="0.3 0.3 0.3 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 -0 0" xyz="0.205 0.205 0.2"/>
+      <geometry>
+        <box size="0.04 0.04 0.4"/>
+      </geometry>
+      <material>
+        <color rgba="0.55 0.27 0.07 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 -0 0" xyz="0.205 -0.205 0.2"/>
+      <geometry>
+        <box size="0.04 0.04 0.4"/>
+      </geometry>
+      <material>
+        <color rgba="0.55 0.27 0.07 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 -0 0" xyz="-0.205 -0.205 0.2"/>
+      <geometry>
+        <box size="0.04 0.04 0.4"/>
+      </geometry>
+      <material>
+        <color rgba="0.55 0.27 0.07 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 -0 0" xyz="-0.205 0.205 0.2"/>
+      <geometry>
+        <box size="0.04 0.04 0.4"/>
+      </geometry>
+      <material>
+        <color rgba="0.55 0.27 0.07 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 -0 0" xyz="0.215 0 0.655"/>
+      <geometry>
+        <box size="0.02 0.45 0.45"/>
+      </geometry>
+      <material>
+        <color rgba="0.3 0.3 0.3 1"/>
+      </material>
+    </visual>
+    <kinematic>0</kinematic>
+  </link>
+
+  <joint name="silla_joint" type="fixed">
+    <parent link="floor"/>
+    <child link="silla_link3"/>
+    <origin rpy="0 -0 3.14" xyz="-2.7 -0.4 0"/>
+  </joint>
+
+  <link name="silla_link4">
+    <origin rpy="0 -0 0" xyz="0 -0.3 0"/>
+    <inertial>
+      <origin rpy="0 -0 0" xyz="0.0215 0 0.353"/>
+      <mass value="20"/>
+      <inertia ixx="0.674432" ixy="0" ixz="-0.012986" iyy="0.682753" iyz="0" izz="0.675561"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 -0 0" xyz="0 0 0.415"/>
+      <geometry>
+        <box size="0.45 0.45 0.03"/>
+      </geometry>
+      <material>
+        <color rgba="0.3 0.3 0.3 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 -0 0" xyz="0.205 0.205 0.2"/>
+      <geometry>
+        <box size="0.04 0.04 0.4"/>
+      </geometry>
+      <material>
+        <color rgba="0.55 0.27 0.07 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 -0 0" xyz="0.205 -0.205 0.2"/>
+      <geometry>
+        <box size="0.04 0.04 0.4"/>
+      </geometry>
+      <material>
+        <color rgba="0.55 0.27 0.07 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 -0 0" xyz="-0.205 -0.205 0.2"/>
+      <geometry>
+        <box size="0.04 0.04 0.4"/>
+      </geometry>
+      <material>
+        <color rgba="0.55 0.27 0.07 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 -0 0" xyz="-0.205 0.205 0.2"/>
+      <geometry>
+        <box size="0.04 0.04 0.4"/>
+      </geometry>
+      <material>
+        <color rgba="0.55 0.27 0.07 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 -0 0" xyz="0.215 0 0.655"/>
+      <geometry>
+        <box size="0.02 0.45 0.45"/>
+      </geometry>
+      <material>
+        <color rgba="0.3 0.3 0.3 1"/>
+      </material>
+    </visual>
+    <kinematic>0</kinematic>
+  </link>
+
+  <joint name="silla_joint" type="fixed">
+    <parent link="floor"/>
+    <child link="silla_link4"/>
+    <origin rpy="0 -0 3.14" xyz="-2.7 0.4 0"/>
+  </joint>
+
+  <link name="mesa_link2">
+    <origin rpy="0 -0 0" xyz="0 0 0"/>
+    <inertial>
+      <origin rpy="0 -0 0" xyz="1.38778e-17 3.46945e-18 0.3075"/>
+      <mass value="40"/>
+      <inertia ixx="0.666275" ixy="1.92593e-34" ixz="1.70697e-17" iyy="0.899025" iyz="4.26742e-18" izz="0.97285"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 -0 0" xyz="0 0 0.415"/>
+      <geometry>
+        <box size="0.9 0.55 0.03"/>
+      </geometry>
+      <material>
+        <color rgba="0.55 0.27 0.07 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 -0 0" xyz="0.42 0.245 0.2"/>
+      <geometry>
+        <box size="0.06 0.06 0.4"/>
+      </geometry>
+      <material>
+        <color rgba="0.55 0.27 0.07 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 -0 0" xyz="0.42 -0.245 0.2"/>
+      <geometry>
+        <box size="0.06 0.06 0.4"/>
+      </geometry>
+      <material>
+        <color rgba="0.55 0.27 0.07 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 -0 0" xyz="-0.42 -0.245 0.2"/>
+      <geometry>
+        <box size="0.06 0.06 0.4"/>
+      </geometry>
+      <material>
+        <color rgba="0.55 0.27 0.07 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 -0 0" xyz="-0.42 0.245 0.2"/>
+      <geometry>
+        <box size="0.06 0.06 0.4"/>
+      </geometry>
+      <material>
+        <color rgba="0.55 0.27 0.07 1"/>
+      </material>
+    </visual>
+    <kinematic>0</kinematic>
+  </link>
+
+  <joint name="mesa_joint2" type="fixed">
+    <parent link="floor"/>
+    <child link="mesa_link2"/>
+    <origin rpy="0 -0 0" xyz="-0.8 4.4 0"/>
+  </joint>
+
+  <link name="sofa_link">
+    <origin rpy="0 -0 0" xyz="0 0 0"/>
+    <inertial>
+      <origin rpy="0 -0 0" xyz="0 0.0115385 0.257692"/>
+      <mass value="130"/>
+      <inertia ixx="0.7625" ixy="0" ixz="0" iyy="1.67673" iyz="-0.0463462" izz="1.44577"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 -0 0" xyz="0 0 0.175"/>
+      <geometry>
+        <box size="1.6 0.8 0.35"/>
+      </geometry>
+      <material>
+        <color rgba="0.3 0.3 0.3 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 -0 0" xyz="0.7 -0.05 0.45"/>
+      <geometry>
+        <box size="0.2 0.7 0.2"/>
+      </geometry>
+      <material>
+        <color rgba="0.3 0.3 0.3 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 -0 0" xyz="-0.7 -0.05 0.45"/>
+      <geometry>
+        <box size="0.2 0.7 0.2"/>
+      </geometry>
+      <material>
+        <color rgba="0.3 0.3 0.3 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 -0 0" xyz="0 0.25 0.55"/>
+      <geometry>
+        <box size="1.6 0.3 0.4"/>
+      </geometry>
+      <material>
+        <color rgba="0.3 0.3 0.3 1"/>
+      </material>
+    </visual>
+    <kinematic>0</kinematic>
+  </link>
+
+  <joint name="sofa_joint" type="fixed">
+    <parent link="floor"/>
+    <child link="sofa_link"/>
+    <origin rpy="0 -0 3.14" xyz="-0.8 3.4 0"/>
+  </joint>
+
+  <link name="sofa_link1">
+    <origin rpy="0 -0 0" xyz="0 0 0"/>
+    <inertial>
+      <origin rpy="0 -0 0" xyz="0 0.01875 0.309375"/>
+      <mass value="80"/>
+      <inertia ixx="0.705859" ixy="0" ixz="0" iyy="0.886172" iyz="-0.0385938" izz="0.709687"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 -0 0" xyz="0 0 0.175"/>
+      <geometry>
+        <box size="0.9 0.8 0.35"/>
+      </geometry>
+      <material>
+        <color rgba="0.3 0.3 0.3 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 -0 0" xyz="0.35 -0.05 0.45"/>
+      <geometry>
+        <box size="0.2 0.7 0.2"/>
+      </geometry>
+      <material>
+        <color rgba="0.3 0.3 0.3 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 -0 0" xyz="-0.35 -0.05 0.45"/>
+      <geometry>
+        <box size="0.2 0.7 0.2"/>
+      </geometry>
+      <material>
+        <color rgba="0.3 0.3 0.3 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 -0 0" xyz="0 0.25 0.55"/>
+      <geometry>
+        <box size="0.9 0.3 0.4"/>
+      </geometry>
+      <material>
+        <color rgba="0.3 0.3 0.3 1"/>
+      </material>
+    </visual>
+    <kinematic>0</kinematic>
+  </link>
+
+  <joint name="sofa1_joint" type="fixed">
+    <parent link="floor"/>
+    <child link="sofa_link1"/>
+    <origin rpy="0 0 -1.57" xyz="0.5 4.4 0"/>
+  </joint>
+
+  <link name="sofa_link2">
+    <origin rpy="0 -0 0" xyz="0 0 0"/>
+    <inertial>
+      <origin rpy="0 -0 0" xyz="0 0.01875 0.309375"/>
+      <mass value="80"/>
+      <inertia ixx="0.705859" ixy="0" ixz="0" iyy="0.886172" iyz="-0.0385938" izz="0.709687"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 -0 0" xyz="0 0 0.175"/>
+      <geometry>
+        <box size="0.9 0.8 0.35"/>
+      </geometry>
+      <material>
+        <color rgba="0.3 0.3 0.3 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 -0 0" xyz="0.35 -0.05 0.45"/>
+      <geometry>
+        <box size="0.2 0.7 0.2"/>
+      </geometry>
+      <material>
+        <color rgba="0.3 0.3 0.3 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 -0 0" xyz="-0.35 -0.05 0.45"/>
+      <geometry>
+        <box size="0.2 0.7 0.2"/>
+      </geometry>
+      <material>
+        <color rgba="0.3 0.3 0.3 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 -0 0" xyz="0 0.25 0.55"/>
+      <geometry>
+        <box size="0.9 0.3 0.4"/>
+      </geometry>
+      <material>
+        <color rgba="0.3 0.3 0.3 1"/>
+      </material>
+    </visual>
+    <kinematic>0</kinematic>
+  </link>
+
+  <joint name="sofa2_joint" type="fixed">
+    <parent link="floor"/>
+    <child link="sofa_link2"/>
+    <origin rpy="0 -0 1.57" xyz="-2.1 4.4 0"/>
+  </joint>
+
+  <link name="encimera_link">
+    <origin rpy="0 -0 0" xyz="0 0 0"/>
+    <inertial>
+      <origin rpy="0 -0 0" xyz="0 0 0.425"/>
+      <mass value="500"/>
+      <inertia ixx="5" ixy="0" ixz="0" iyy="5" iyz="0" izz="5"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 -0 0" xyz="0 0 0.425"/>
+      <geometry>
+        <box size="2.1 0.6 0.85"/>
+      </geometry>
+      <material>
+        <color rgba="0.55 0.27 0.07 1"/>
+      </material>
+    </visual>
+    <kinematic>0</kinematic>
+  </link>
+
+  <joint name="encimera_joint" type="fixed">
+    <parent link="floor"/>
+    <child link="encimera_link"/>
+    <origin rpy="0 -0 1.57" xyz="1.4 0.61 0"/>
+  </joint>
+
+  <link name="barra_link">
+    <origin rpy="0 -0 0" xyz="0 0 0"/>
+    <inertial>
+      <origin rpy="0 -0 0" xyz="0 0 0.5"/>
+      <mass value="500"/>
+      <inertia ixx="5" ixy="0" ixz="0" iyy="5" iyz="0" izz="5"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 -0 0" xyz="0 0 0.5"/>
+      <geometry>
+        <box size="1.8 0.6 1"/>
+      </geometry>
+      <material>
+        <color rgba="0.55 0.27 0.07 1"/>
+      </material>
+    </visual>
+    <kinematic>0</kinematic>
+  </link>
+
+  <joint name="barra_joint" type="fixed">
+    <parent link="floor"/>
+    <child link="barra_link"/>
+    <origin rpy="0 -0 1.57" xyz="-0.6 -0.16 0"/>
+  </joint>
+
+  <link name="frigo_link">
+    <origin rpy="0 -0 0" xyz="0 0 0"/>
+    <inertial>
+      <origin rpy="0 -0 0" xyz="0 0 0.9"/>
+      <mass value="500"/>
+      <inertia ixx="5" ixy="0" ixz="0" iyy="5" iyz="0" izz="5"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 -0 0" xyz="0 0 0.9"/>
+      <geometry>
+        <box size="0.6 0.6 1.8"/>
+      </geometry>
+      <material>
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <kinematic>0</kinematic>
+  </link>
+
+  <joint name="frigo_joint" type="fixed">
+    <parent link="floor"/>
+    <child link="frigo_link"/>
+    <origin rpy="0 -0 0" xyz="1.4 -0.75 0"/>
+  </joint>
+
+  <link name="estanteria_link">
+    <origin rpy="0 -0 0" xyz="0 0 0"/>
+    <inertial>
+      <origin rpy="0 -0 0" xyz="0 0 1.046"/>
+      <mass value="100"/>
+      <inertia ixx="3.12544" ixy="0" ixz="0" iyy="4.16584" iyz="0" izz="1.1204"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 -0 0" xyz="0 0 0.01"/>
+      <geometry>
+        <box size="1 0.35 0.2"/>
+      </geometry>
+      <material>
+        <color rgba="0.55 0.27 0.07 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 -0 0" xyz="0 0 0.41"/>
+      <geometry>
+        <box size="1 0.35 0.02"/>
+      </geometry>
+      <material>
+        <color rgba="0.55 0.27 0.07 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 -0 0" xyz="0 0 0.83"/>
+      <geometry>
+        <box size="1 0.35 0.02"/>
+      </geometry>
+      <material>
+        <color rgba="0.55 0.27 0.07 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 -0 0" xyz="0 0 1.25"/>
+      <geometry>
+        <box size="1 0.35 0.02"/>
+      </geometry>
+      <material>
+        <color rgba="0.55 0.27 0.07 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 -0 0" xyz="0 0 1.67"/>
+      <geometry>
+        <box size="1 0.35 0.02"/>
+      </geometry>
+      <material>
+        <color rgba="0.55 0.27 0.07 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 -0 0" xyz="0 0 2.09"/>
+      <geometry>
+        <box size="1 0.35 0.02"/>
+      </geometry>
+      <material>
+        <color rgba="0.55 0.27 0.07 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 -0 0" xyz="0.51 0 1.05"/>
+      <geometry>
+        <box size="0.02 0.35 2.1"/>
+      </geometry>
+      <material>
+        <color rgba="0.55 0.27 0.07 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 -0 0" xyz="-0.51 0 1.05"/>
+      <geometry>
+        <box size="0.02 0.35 2.1"/>
+      </geometry>
+      <material>
+        <color rgba="0.55 0.27 0.07 1"/>
+      </material>
+    </visual>
+    <kinematic>0</kinematic>
+  </link>
+
+  <joint name="estanteria_joint" type="fixed">
+    <parent link="floor"/>
+    <child link="estanteria_link"/>
+    <origin rpy="0 -0 0" xyz="4.7 4.48 0"/>
+  </joint>
+
+  <link name="estanteria_link">
+    <origin rpy="0 -0 0" xyz="0 0 0"/>
+    <inertial>
+      <origin rpy="0 -0 0" xyz="0 0 1.046"/>
+      <mass value="100"/>
+      <inertia ixx="3.12544" ixy="0" ixz="0" iyy="4.16584" iyz="0" izz="1.1204"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 -0 0" xyz="0 0 0.01"/>
+      <geometry>
+        <box size="1 0.35 0.2"/>
+      </geometry>
+      <material>
+        <color rgba="0.55 0.27 0.07 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 -0 0" xyz="0 0 0.41"/>
+      <geometry>
+        <box size="1 0.35 0.02"/>
+      </geometry>
+      <material>
+        <color rgba="0.55 0.27 0.07 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 -0 0" xyz="0 0 0.83"/>
+      <geometry>
+        <box size="1 0.35 0.02"/>
+      </geometry>
+      <material>
+        <color rgba="0.55 0.27 0.07 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 -0 0" xyz="0 0 1.25"/>
+      <geometry>
+        <box size="1 0.35 0.02"/>
+      </geometry>
+      <material>
+        <color rgba="0.55 0.27 0.07 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 -0 0" xyz="0 0 1.67"/>
+      <geometry>
+        <box size="1 0.35 0.02"/>
+      </geometry>
+      <material>
+        <color rgba="0.55 0.27 0.07 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 -0 0" xyz="0 0 2.09"/>
+      <geometry>
+        <box size="1 0.35 0.02"/>
+      </geometry>
+      <material>
+        <color rgba="0.55 0.27 0.07 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 -0 0" xyz="0.51 0 1.05"/>
+      <geometry>
+        <box size="0.02 0.35 2.1"/>
+      </geometry>
+      <material>
+        <color rgba="0.55 0.27 0.07 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 -0 0" xyz="-0.51 0 1.05"/>
+      <geometry>
+        <box size="0.02 0.35 2.1"/>
+      </geometry>
+      <material>
+        <color rgba="0.55 0.27 0.07 1"/>
+      </material>
+    </visual>
+    <kinematic>0</kinematic>
+  </link>
+
+  <joint name="estanteria1_joint" type="fixed">
+    <parent link="floor"/>
+    <child link="estanteria_link"/>
+    <origin rpy="0 -0 0" xyz="4.7 0.5 0"/>
+  </joint>
+
+  <link name="mesita_link">
+    <origin rpy="0 -0 0" xyz="0 0 0"/>
+    <inertial>
+      <origin rpy="0 -0 0" xyz="0 0 0.2975"/>
+      <mass value="80"/>
+      <inertia ixx="0.24835" ixy="0" ixz="0" iyy="0.38525" iyz="0" izz="0.1969"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 -0 0" xyz="0 0 0.01"/>
+      <geometry>
+        <box size="0.35 0.35 0.2"/>
+      </geometry>
+      <material>
+        <color rgba="0.55 0.27 0.07 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 -0 0" xyz="0 0 0.19"/>
+      <geometry>
+        <box size="0.35 0.35 0.02"/>
+      </geometry>
+      <material>
+        <color rgba="0.55 0.27 0.07 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 -0 0" xyz="0 0 0.39"/>
+      <geometry>
+        <box size="0.35 0.35 0.02"/>
+      </geometry>
+      <material>
+        <color rgba="0.55 0.27 0.07 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 -0 0" xyz="0 0 0.59"/>
+      <geometry>
+        <box size="0.35 0.35 0.02"/>
+      </geometry>
+      <material>
+        <color rgba="0.55 0.27 0.07 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 -0 0" xyz="0.185 0 0.3"/>
+      <geometry>
+        <box size="0.02 0.35 0.6"/>
+      </geometry>
+      <material>
+        <color rgba="0.55 0.27 0.07 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 -0 0" xyz="-0.185 0 0.3"/>
+      <geometry>
+        <box size="0.02 0.35 0.6"/>
+      </geometry>
+      <material>
+        <color rgba="0.55 0.27 0.07 1"/>
+      </material>
+    </visual>
+    <kinematic>0</kinematic>
+  </link>
+
+  <joint name="mesita_joint" type="fixed">
+    <parent link="floor"/>
+    <child link="mesita_link"/>
+    <origin rpy="0 -0 0" xyz="2.4 -3.28 0"/>
+  </joint>
+
+  <link name="cama_link">
+    <origin rpy="0 -0 0" xyz="0 0 0"/>
+    <inertial>
+      <origin rpy="0 -0 0" xyz="0.0176471 0 0.204902"/>
+      <mass value="510"/>
+      <inertia ixx="10.1613" ixy="0" ixz="-0.220588" iyy="10.9554" iyz="0" izz="10.8941"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 -0 0" xyz="0 0 0.2"/>
+      <geometry>
+        <box size="2.1 1.5 0.4"/>
+      </geometry>
+      <material>
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 -0 0" xyz="0.9 0 0.45"/>
+      <geometry>
+        <box size="0.3 1.5 0.1"/>
+      </geometry>
+      <material>
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <kinematic>0</kinematic>
+  </link>
+
+  <joint name="cama_joint" type="fixed">
+    <parent link="floor"/>
+    <child link="cama_link"/>
+    <origin rpy="0 0 -1.57" xyz="3.4 -2.41 0"/>
+  </joint>
+
+  <link name="mesita_link1">
+    <origin rpy="0 -0 0" xyz="0 0 0"/>
+    <inertial>
+      <origin rpy="0 -0 0" xyz="0 0 0.2975"/>
+      <mass value="80"/>
+      <inertia ixx="0.24835" ixy="0" ixz="0" iyy="0.38525" iyz="0" izz="0.1969"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 -0 0" xyz="0 0 0.01"/>
+      <geometry>
+        <box size="0.35 0.35 0.2"/>
+      </geometry>
+      <material>
+        <color rgba="0.55 0.27 0.07 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 -0 0" xyz="0 0 0.19"/>
+      <geometry>
+        <box size="0.35 0.35 0.02"/>
+      </geometry>
+      <material>
+        <color rgba="0.55 0.27 0.07 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 -0 0" xyz="0 0 0.39"/>
+      <geometry>
+        <box size="0.35 0.35 0.02"/>
+      </geometry>
+      <material>
+        <color rgba="0.55 0.27 0.07 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 -0 0" xyz="0 0 0.59"/>
+      <geometry>
+        <box size="0.35 0.35 0.02"/>
+      </geometry>
+      <material>
+        <color rgba="0.55 0.27 0.07 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 -0 0" xyz="0.185 0 0.3"/>
+      <geometry>
+        <box size="0.02 0.35 0.6"/>
+      </geometry>
+      <material>
+        <color rgba="0.55 0.27 0.07 1"/>
+      </material>
+    </visual>
+    <visual>
+      <origin rpy="0 -0 0" xyz="-0.185 0 0.3"/>
+      <geometry>
+        <box size="0.02 0.35 0.6"/>
+      </geometry>
+      <material>
+        <color rgba="0.55 0.27 0.07 1"/>
+      </material>
+    </visual>
+    <kinematic>0</kinematic>
+  </link>
+
+  <joint name="mesita1_joint" type="fixed">
+    <parent link="floor"/>
+    <child link="mesita_link1"/>
+    <origin rpy="0 -0 0" xyz="4.4 -3.28 0"/>
+  </joint>
+
+</robot>
diff --git a/Universes/roomba_1_house.urdf b/Universes/small_house_roof.urdf
similarity index 75%
rename from Universes/roomba_1_house.urdf
rename to Universes/small_house_roof.urdf
index e22b10391..99145bd06 100644
--- a/Universes/roomba_1_house.urdf
+++ b/Universes/small_house_roof.urdf
@@ -1,442 +1,265 @@
 <?xml version="1.0" ?>
 <robot name="roomba_house">
-
-  <link name="floor">
-    <visual>
-      <origin rpy="0 -0 0" xyz="0.5 1.5 0"/>
-      <geometry>
-        <box size="20 20 0.01"/>
-      </geometry>
-      <material name="gray">
-        <color rgba="0.5 0.5 0.5 1"/>
-      </material>
-    </visual>
-  </link>
+  <link name="floor"/>
 
   <link name="base">
     <visual>
-      <origin rpy="1.57 0 0" xyz="-1 1.5 0"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://vacuum_cleaner/models/vacuum_cleaner/meshes/create_body.dae" scale="0.25 0.25 0.25"/>
+        <mesh filename="package://roomba_robot/models/house_int2/meshes/model.dae"/>
       </geometry>
     </visual>
   </link>
 
-  <link name="mesa_link">
-    <origin rpy="0 -0 0" xyz="0.3 0 0"/>
-    <inertial>
-      <origin rpy="0 -0 0" xyz="1.58603e-17 0 0.513571"/>
-      <mass value="70"/>
-      <inertia ixx="1.28229" ixy="0" ixz="5.70179e-17" iyy="3.10629" iyz="0" izz="3.4192"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 -0 0" xyz="0 0 0.725"/>
+  <link name='roof'>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+
+    <visual name='Roof_Visual_0'>
+      <origin xyz="2.15 1.8 2.6" rpy="0 0 0"/>
       <geometry>
-        <box size="1.6 0.8 0.03"/>
+        <box size="4.3 3.8 0.2"/>
       </geometry>
       <material>
-        <color rgba="0 0 1 0.5"/>
+        <texture filename="package://roomba_robot/models/house_int2_roof/materials/textures/Roof0.png"/>
       </material>
     </visual>
-    <visual>
-      <origin rpy="0 -0 0" xyz="0.77 0.37 0.355"/>
+
+    <visual name='Roof_Visual_1'>
+      <origin xyz="3.925 4.95 2.6" rpy="0 0 0"/>
       <geometry>
-        <box size="0.06 0.06 0.71"/>
+        <box size="3.1 2.5 0.2"/>
       </geometry>
       <material>
-        <color rgba="0.55 0.27 0.07 1"/>
+        <texture filename="package://roomba_robot/models/house_int2_roof/materials/textures/Roof1.png"/>
       </material>
     </visual>
-    <visual>
-      <origin rpy="0 -0 0" xyz="0.77 -0.37 0.355"/>
+
+    <visual name='Roof_Visual_2'>
+      <origin xyz="3.925 7.85 2.6" rpy="0 0 0"/>
       <geometry>
-        <box size="0.06 0.06 0.71"/>
+        <box size="3.1 3.3 0.2"/>
       </geometry>
       <material>
-        <color rgba="0.55 0.27 0.07 1"/>
+        <texture filename="package://roomba_robot/models/house_int2_roof/materials/textures/Roof2.png"/>
       </material>
     </visual>
-    <visual>
-      <origin rpy="0 -0 0" xyz="-0.77 -0.37 0.355"/>
+
+    <visual name='Roof_Visual_3'>
+      <origin xyz="7.5 6 2.6" rpy="0 0 0"/>
       <geometry>
-        <box size="0.06 0.06 0.71"/>
+        <box size="4.05 4.6 0.2"/>
       </geometry>
       <material>
-        <color rgba="0.55 0.27 0.07 1"/>
+        <texture filename="package://roomba_robot/models/house_int2_roof/materials/textures/Roof3.png"/>
       </material>
     </visual>
-    <visual>
-      <origin rpy="0 -0 0" xyz="-0.77 0.37 0.355"/>
+
+    <visual name='Roof_Visual_4'>
+      <origin xyz="6.1 1.2 2.6" rpy="0 0 0"/>
       <geometry>
-        <box size="0.06 0.06 0.71"/>
+        <box size="3.6 2.6 0.2"/>
       </geometry>
       <material>
-        <color rgba="0.55 0.27 0.07 1"/>
+        <texture filename="package://roomba_robot/models/house_int2_roof/materials/textures/Roof4.png"/>
       </material>
     </visual>
-    <kinematic>0</kinematic>
-  </link>
-
-  <joint name="mesa_joint" type="fixed">
-    <parent link="floor"/>
-    <child link="mesa_link"/>
-    <origin rpy="0 -0 1.57" xyz="-2.4 0 0"/>
-  </joint>
-
-  <link name="RoCKIn"/>
-
-  <joint name="RoCKIn_joint" type="fixed">
-    <parent link="floor"/>
-    <child link="RoCKIn"/>
-    <origin rpy="0 -0 1.57" xyz="5.4 -3.6 0"/>
-  </joint>
 
-  <link name="Wall_12">
-    <visual>
-      <origin rpy="0 -0 0" xyz="0 0 1.25"/>
+    <visual name='Roof_Visual_5'>
+      <origin xyz="6.1 3.1 2.6" rpy="0 0 0"/>
       <geometry>
-        <box size="2.6 0.2 2.5"/>
+        <box size="3.6 1.2 0.2"/>
       </geometry>
-      <material name="Gazebo/Grey"/>
+      <material>
+        <texture filename="package://roomba_robot/models/house_int2_roof/materials/textures/Roof5.png"/>
+      </material>
     </visual>
-    <kinematic>0</kinematic>
-  </link>
 
-  <joint name="Wall_12_joint" type="fixed">
-    <parent link="RoCKIn"/>
-    <child link="Wall_12"/>
-    <origin rpy="0 -0 1.5708" xyz="7.8 1.205 0"/>
-  </joint>
-
-  <link name="Wall_14">
-    <visual>
-      <origin rpy="0 -0 0" xyz="-1.20789 0 1.25"/>
+    <visual name='Roof_Visual_6'>
+      <origin xyz="8.8 1.8 2.6" rpy="0 0 0"/>
       <geometry>
-        <box size="1.18422 0.2 2.5"/>
+        <box size="1.8 3.8 0.2"/>
       </geometry>
-      <material name="Gazebo/Grey"/>
-    </visual>
-    <visual>
-      <origin rpy="0 -0 3.14159" xyz="1.09211 0 1.25"/>
-      <geometry>
-        <box size="1.41579 0.2 2.5"/>
-      </geometry>
-      <material name="Gazebo/Grey"/>
-    </visual>
-    <visual>
-      <origin rpy="0 -0 3.14159" xyz="-0.115785 0 2.25"/>
-      <geometry>
-        <box size="1 0.2 0.5"/>
-      </geometry>
-      <material name="Gazebo/Grey"/>
+      <material>
+        <texture filename="package://roomba_robot/models/house_int2_roof/materials/textures/Roof6.png"/>
+      </material>
     </visual>
-    <kinematic>0</kinematic>
-  </link>
 
-  <joint name="Wall_14_joint" type="fixed">
-    <parent link="RoCKIn"/>
-    <child link="Wall_14"/>
-    <origin rpy="0 -0 3.14159" xyz="6.0996 2.4048 0"/>
-  </joint>
-
-  <link name="Wall_16">
-    <visual>
-      <origin rpy="0 -0 0" xyz="0 0 1.25"/>
+    <visual name='Ceiling_Lamp_Visual_0'>
+      <origin xyz="3.925 4.95 2.45" rpy="0 0 0"/>
       <geometry>
-        <box size="2.60492 0.2 2.5"/>
+        <cylinder length="0.05" radius="0.2"/>
       </geometry>
-      <material name="Gazebo/Grey"/>
+      <material>
+        <color rgba="1 1 1 1"/>
+      </material>
     </visual>
-    <kinematic>0</kinematic>
-  </link>
-
-  <joint name="Wall_16_joint" type="fixed">
-    <parent link="RoCKIn"/>
-    <child link="Wall_16"/>
-    <origin rpy="0 -0 1.5708" xyz="4.39903 1.20277 0"/>
-  </joint>
 
-  <link name="Wall_18">
-    <visual>
-      <origin rpy="0 -0 0" xyz="0 0 1.25"/>
+    <visual name='Ceiling_Lamp_Visual_1'>
+      <origin xyz="7.5 6 2.4" rpy="0 0 0"/>
       <geometry>
-        <box size="3.8 0.2 2.5"/>
+        <sphere radius="0.2"/>
       </geometry>
-      <material name="Gazebo/Grey"/>
+      <material>
+        <color rgba="1 1 1 1"/>
+      </material>
     </visual>
-    <kinematic>0</kinematic>
-  </link>
 
-  <joint name="Wall_18_joint" type="fixed">
-    <parent link="RoCKIn"/>
-    <child link="Wall_18"/>
-    <origin rpy="0 -0 1.5708" xyz="0.024876 1.80003 0"/>
-  </joint>
-
-  <link name="Wall_2">
-    <visual>
-      <origin rpy="0 -0 0" xyz="-0.649274 0 1.25"/>
+    <visual name='Ceiling_Lamp_Visual_2_0'>
+      <origin xyz="3.925 7.85 2.4" rpy="0 0 0"/>
       <geometry>
-        <box size="9.599997 0.2 2.5"/>
+        <box size="0.5 0.5 0.1"/>
       </geometry>
-      <material name="Gazebo/Grey"/>
+      <material>
+        <color rgba="1 1 1 1"/>
+      </material>
     </visual>
-    <kinematic>0</kinematic>
-  </link>
 
-  <joint name="Wall_2_joint" type="fixed">
-    <parent link="RoCKIn"/>
-    <child link="Wall_2"/>
-    <origin rpy="0 -0 0" xyz="5.50266 0 0"/>
-  </joint>
-
-  <link name="Wall_20">
-    <visual>
-      <origin rpy="0 -0 0" xyz="-2.67396 0 1.25"/>
-      <geometry>
-        <box size="0.251208 0.2 2.5"/>
-      </geometry>
-      <material name="Gazebo/Grey"/>
-    </visual>
-    <visual>
-      <origin rpy="0 -0 0" xyz="1.1766 0 1.25"/>
+    <visual name='Ceiling_Lamp_Visual_2_1'>
+      <origin xyz="3.925 7.85 2.35" rpy="0 0 0"/>
       <geometry>
-        <box size="3.24591 0.2 2.5"/>
+        <box size="0.1 0.1 0.1"/>
       </geometry>
-      <material name="Gazebo/Grey"/>
-    </visual>
-    <visual>
-      <origin rpy="0 -0 0" xyz="-1.49735 0 2.25"/>
-      <geometry>
-        <box size="2.102 0.2 0.5"/>
-      </geometry>
-      <material name="Gazebo/Grey"/>
-    </visual>
-    <visual>
-      <origin rpy="0 -0 0" xyz="-1.49735 0 0.35"/>
-      <geometry>
-        <box size="2.102 0.2 0.7"/>
-      </geometry>
-      <material name="Gazebo/Grey"/>
+      <material>
+        <color rgba="1 1 1 1"/>
+      </material>
     </visual>
-    <kinematic>0</kinematic>
-  </link>
-
-  <joint name="Wall_20_joint" type="fixed">
-    <parent link="RoCKIn"/>
-    <child link="Wall_20"/>
-    <origin rpy="0 -0 0" xyz="2.72456 3.60059 0"/>
-  </joint>
 
-  <link name="Wall_22">
-    <visual>
-      <origin rpy="0 -0 0" xyz="-0.601085 0 1.25"/>
-      <geometry>
-        <box size="0.194709 0.2 2.5"/>
-      </geometry>
-      <material name="Gazebo/Grey"/>
-    </visual>
-    <visual>
-      <origin rpy="0 -0 0" xyz="0.597355 0 1.25"/>
-      <geometry>
-        <box size="0.202171 0.2 2.5"/>
-      </geometry>
-      <material name="Gazebo/Grey"/>
-    </visual>
-    <visual>
-      <origin rpy="0 -0 0" xyz="-0.003731 0 2.25"/>
+    <visual name='Ceiling_Lamp_Visual_3_0'>
+      <origin xyz="6.1 1.2 2.4" rpy="0 0 0"/>
       <geometry>
-        <box size="1 0.2 0.5"/>
+        <cylinder length="0.2" radius="0.2"/>
       </geometry>
-      <material name="Gazebo/Grey"/>
+      <material>
+        <color rgba="1 1 1 1"/>
+      </material>
     </visual>
-    <kinematic>0</kinematic>
-  </link>
-
-  <joint name="Wall_22_joint" type="fixed">
-    <parent link="RoCKIn"/>
-    <child link="Wall_22"/>
-    <origin rpy="0 -0 1.5708" xyz="4.39856 3.00206 0"/>
-  </joint>
 
-  <link name="Wall_24">
-    <visual>
-      <origin rpy="0 -0 0" xyz="-1.97924 0 1.25"/>
-      <geometry>
-        <box size="0.241529 0.2 2.5"/>
-      </geometry>
-      <material name="Gazebo/Grey"/>
-    </visual>
-    <visual>
-      <origin rpy="0 -0 0" xyz="1.97395 0 1.25"/>
+    <visual name='Ceiling_Lamp_Visual_3_1'>
+      <origin xyz="6.1 1.2 2.3" rpy="0 0 0"/>
       <geometry>
-        <box size="0.252091 0.2 2.5"/>
+        <sphere radius="0.1"/>
       </geometry>
-      <material name="Gazebo/Grey"/>
-    </visual>
-    <visual>
-      <origin rpy="0 -0 0" xyz="-0.005281 0 2.25"/>
-      <geometry>
-        <box size="3.70638 0.2 0.5"/>
-      </geometry>
-      <material name="Gazebo/Grey"/>
-    </visual>
-    <visual>
-      <origin rpy="0 -0 0" xyz="-0.005281 0 0.35"/>
-      <geometry>
-        <box size="3.70638 0.2 0.7"/>
-      </geometry>
-      <material name="Gazebo/Grey"/>
+      <material>
+        <color rgba="1 1 1 1"/>
+      </material>
     </visual>
-    <kinematic>0</kinematic>
-  </link>
-
-  <joint name="Wall_24_joint" type="fixed">
-    <parent link="RoCKIn"/>
-    <child link="Wall_24"/>
-    <origin rpy="0 -0 3.14159" xyz="7.42703 8.20242 0"/>
-  </joint>
 
-  <link name="Wall_28">
-    <visual>
-      <origin rpy="0 -0 0" xyz="0 0 1.25"/>
+    <visual name='Ceiling_Lamp_Visual_4'>
+      <origin xyz="8.6 1.8 2.5" rpy="0 0 0"/>
       <geometry>
-        <box size="3.2 0.2 2.5"/>
+        <box size="0.1 1 0.1"/>
       </geometry>
-      <material name="Gazebo/Grey"/>
+      <material>
+        <color rgba="1 1 1 1"/>
+      </material>
     </visual>
-    <origin rpy="0 -0 3.14159" xyz="3.92571 9.40229 0"/>
-    <kinematic>0</kinematic>
-  </link>
 
-  <joint name="Wall_28_joint" type="fixed">
-    <parent link="RoCKIn"/>
-    <child link="Wall_28"/>
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-  </joint>
-
-  <link name="Wall_30">
-    <visual>
-      <origin rpy="0 -0 0" xyz="-2.363 0 1.25"/>
+    <visual name='Ceiling_Lamp_Visual_5_0'>
+      <origin xyz="6.1 3.1 2.5" rpy="0 0 0"/>
       <geometry>
-        <box size="1.27269 0.2 2.5"/>
+        <sphere radius="0.05"/>
       </geometry>
-      <material name="Gazebo/Grey"/>
-    </visual>
-    <visual>
-      <origin rpy="0 -0 0" xyz="0.636346 0 0.35"/>
-      <geometry>
-        <box size="4.726 0.2 0.7"/>
-      </geometry>
-      <material name="Gazebo/Grey"/>
-    </visual>
-    <visual>
-      <origin rpy="0 -0 0" xyz="0.36359 0 1.6"/>
-      <geometry>
-        <box size="1.38049 0.2 1.8"/>
-      </geometry>
-      <material name="Gazebo/Grey"/>
-    </visual>
-    <visual>
-      <origin rpy="0 -0 0" xyz="2.42659 0 1.6"/>
-      <geometry>
-        <box size="1.14551 0.2 1.8"/>
-      </geometry>
-      <material name="Gazebo/Grey"/>
+      <material>
+        <color rgba="1 1 0.7 1"/>
+      </material>
     </visual>
-    <visual>
-      <origin rpy="0 -0 0" xyz="-1.02665 0 2.35"/>
+
+    <visual name='Ceiling_Lamp_Visual_5_1'>
+      <origin xyz="5.1 3.1 2.5" rpy="0 0 0"/>
       <geometry>
-        <box size="1.4 0.2 0.3"/>
+        <sphere radius="0.05"/>
       </geometry>
-      <material name="Gazebo/Grey"/>
+      <material>
+        <color rgba="0.5 0.5 0.5 1"/>
+      </material>
     </visual>
-    <visual>
-      <origin rpy="0 -0 0" xyz="1.45383 0 2.35"/>
+
+    <visual name='Ceiling_Lamp_Visual_5_2'>
+      <origin xyz="7.1 3.1 2.5" rpy="0 0 0"/>
       <geometry>
-        <box size="0.8 0.2 0.3"/>
+        <sphere radius="0.05"/>
       </geometry>
-      <material name="Gazebo/Grey"/>
+      <material>
+        <color rgba="1 1 1 1"/>
+      </material>
     </visual>
-    <kinematic>0</kinematic>
-  </link>
 
-  <joint name="Wall_30_joint" type="fixed">
-    <parent link="RoCKIn"/>
-    <child link="Wall_30"/>
-    <origin rpy="0 0 -1.5708" xyz="2.42541 6.50159 0"/>
-  </joint>
-
-  <link name="Wall_32">
-    <visual>
-      <origin rpy="0 -0 0" xyz="0 0 1.25"/>
+    <visual name='Ceiling_Lamp_Visual_5_2'>
+      <origin xyz="2.15 1.8 2.4" rpy="0 0 0.7854"/>
       <geometry>
-        <box size="1.20 0.2 2.5"/>
+        <box size="0.5 0.5 0.2"/>
       </geometry>
-      <material name="Gazebo/Grey"/>
+      <material>
+        <color rgba="1 1 0.7 1"/>
+      </material>
     </visual>
   </link>
 
-  <joint name="Wall_32_joint" type="fixed">
-    <parent link="RoCKIn"/>
-    <child link="Wall_32"/>
-    <origin rpy="0 0 -1.5708" xyz="5.42654 8.80216 0"/>
+  <joint name="roof_joint" type="fixed">
+    <parent link="floor"/>
+    <child link="roof"/>
+    <origin xyz="5.5 -3.6 0" rpy="0 0 1.57"/>
   </joint>
 
-  <link name="Wall_35">
+  <link name="mesa_link">
+    <origin rpy="0 -0 0" xyz="0.3 0 0"/>
+    <inertial>
+      <origin rpy="0 -0 0" xyz="1.58603e-17 0 0.513571"/>
+      <mass value="70"/>
+      <inertia ixx="1.28229" ixy="0" ixz="5.70179e-17" iyy="3.10629" iyz="0" izz="3.4192"/>
+    </inertial>
     <visual>
-      <origin rpy="0 -0 0" xyz="0 0 1.25"/>
+      <origin rpy="0 -0 0" xyz="0 0 0.725"/>
       <geometry>
-        <box size="0.8 0.2 2.5"/>
+        <box size="1.6 0.8 0.03"/>
       </geometry>
-      <material name="Gazebo/Grey"/>
+      <material>
+        <color rgba="0 0 1 0.5"/>
+      </material>
     </visual>
-    <origin rpy="0 -0 1.5708" xyz="5.42451 3.90082 0"/>
-    <kinematic>0</kinematic>
-  </link>
-
-  <joint name="Wall_35_joint" type="fixed">
-    <parent link="RoCKIn"/>
-    <child link="Wall_35"/>
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-  </joint>
-
-  <link name="Wall_8">
     <visual>
-      <origin rpy="0 -0 0" xyz="-1.48935 0 1.25"/>
+      <origin rpy="0 -0 0" xyz="0.77 0.37 0.355"/>
       <geometry>
-        <box size="5.42201 0.2 2.5"/>
+        <box size="0.06 0.06 0.71"/>
       </geometry>
-      <material name="Gazebo/Grey"/>
+      <material>
+        <color rgba="0.55 0.27 0.07 1"/>
+      </material>
     </visual>
     <visual>
-      <origin rpy="0 -0 0" xyz="4.07465 0 1.25"/>
+      <origin rpy="0 -0 0" xyz="0.77 -0.37 0.355"/>
       <geometry>
-        <box size="0.251416 0.2 2.5"/>
+        <box size="0.06 0.06 0.71"/>
       </geometry>
-      <material name="Gazebo/Grey"/>
+      <material>
+        <color rgba="0.55 0.27 0.07 1"/>
+      </material>
     </visual>
     <visual>
-      <origin rpy="0 -0 0" xyz="2.5853 0 2.25"/>
+      <origin rpy="0 -0 0" xyz="-0.77 -0.37 0.355"/>
       <geometry>
-        <box size="2.72728 0.2 0.5"/>
+        <box size="0.06 0.06 0.71"/>
       </geometry>
-      <material name="Gazebo/Grey"/>
+      <material>
+        <color rgba="0.55 0.27 0.07 1"/>
+      </material>
     </visual>
     <visual>
-      <origin rpy="0 -0 0" xyz="2.5853 0 0.35"/>
+      <origin rpy="0 -0 0" xyz="-0.77 0.37 0.355"/>
       <geometry>
-        <box size="2.72728 0.2 0.7"/>
+        <box size="0.06 0.06 0.71"/>
       </geometry>
-      <material name="Gazebo/Grey"/>
+      <material>
+        <color rgba="0.55 0.27 0.07 1"/>
+      </material>
     </visual>
     <kinematic>0</kinematic>
   </link>
 
-  <joint name="Wall_8_joint" type="fixed">
-    <parent link="RoCKIn"/>
-    <child link="Wall_8"/>
-    <origin rpy="0 -0 1.5708" xyz="9.42875 4.1026 0"/>
+  <joint name="mesa_joint" type="fixed">
+    <parent link="floor"/>
+    <child link="mesa_link"/>
+    <origin rpy="0 -0 1.57" xyz="-2.4 0 0"/>
   </joint>
 
   <link name="silla_link1">
diff --git a/Universes/no_roof_small_warehouse_with_robot.urdf b/Universes/warehouse1.urdf
similarity index 53%
rename from Universes/no_roof_small_warehouse_with_robot.urdf
rename to Universes/warehouse1.urdf
index c710e1840..08567fc08 100644
--- a/Universes/no_roof_small_warehouse_with_robot.urdf
+++ b/Universes/warehouse1.urdf
@@ -37,284 +37,6 @@
     <color rgba="1.0 1.0 1.0 1.0"/>
   </material>
 
-  <link name="base_footprint"/>
-
-  <joint name="base_joint" type="fixed">
-    <parent link="base_footprint"/>
-    <child link="base_link" />
-    <origin xyz="0 0 0.1" rpy="0 0 0"/>
-  </joint>
-
-  <link name="base_link">
-    <visual>
-      <origin xyz="-0.064 0 0.0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://logistic_holonomic_robot/models/logistic_holonomic_robot/meshes/waffle_pi_base.stl" scale="0.002 0.002 0.002"/>
-      </geometry>
-      <material name="orange"/>
-    </visual>
-
-    <collision>
-      <origin xyz="-0.064 0 0.047" rpy="0 0 0"/>
-      <geometry>
-        <box size="0.532 0.532 0.188"/>
-      </geometry>
-    </collision>
-
-    <inertial>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <mass value="1.3729096e+00"/>
-      <inertia ixx="8.7002718e-03" ixy="-4.7576583e-05" ixz="1.1160499e-04" iyy="8.6195418e-03" iyz="-3.5422299e-06" izz="1.4612727e-02" />
-    </inertial>
-  </link>
-
-  <joint name="wheel_left_joint" type="continuous">
-    <parent link="base_link"/>
-    <child link="wheel_left_link"/>
-    <origin xyz="0.0 0.288 0.023" rpy="-1.57 0 0"/>
-    <axis xyz="0 0 1"/>
-  </joint>
-
-  <link name="wheel_left_link">
-    <visual>
-      <origin xyz="0 0 0" rpy="1.57 0 0"/>
-      <geometry>
-        <mesh filename="package://logistic_holonomic_robot/models/logistic_holonomic_robot/meshes/left_tire.stl" scale="0.002 0.002 0.002"/>
-      </geometry>
-      <material name="dark"/>
-    </visual>
-
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <cylinder length="0.020" radius="0.072"/>
-      </geometry>
-    </collision>
-
-    <inertial>
-      <origin xyz="0 0 0" />
-      <mass value="2.8498940e-02" />
-      <inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09" iyy="1.1192413e-05" iyz="-1.4400107e-11" izz="2.0712558e-05" />
-    </inertial>
-  </link>
-
-  <joint name="wheel_right_joint" type="continuous">
-    <parent link="base_link"/>
-    <child link="wheel_right_link"/>
-    <origin xyz="0.0 -0.288 0.023" rpy="-1.57 0 0"/>
-    <axis xyz="0 0 1"/>
-  </joint>
-
-  <link name="wheel_right_link">
-    <visual>
-      <origin xyz="0 0 0" rpy="1.57 0 0"/>
-      <geometry>
-        <mesh filename="package://logistic_holonomic_robot/models/logistic_holonomic_robot/meshes/right_tire.stl" scale="0.002 0.002 0.002"/>
-      </geometry>
-      <material name="dark"/>
-    </visual>
-
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <cylinder length="0.020" radius="0.072"/>
-      </geometry>
-    </collision>
-
-    <inertial>
-      <origin xyz="0 0 0" />
-      <mass value="2.8498940e-02" />
-      <inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09" iyy="1.1192413e-05" iyz="-1.4400107e-11" izz="2.0712558e-05" />
-    </inertial>
-  </link>
-
-
-
-  <joint name="caster_back_right_joint" type="fixed">
-    <parent link="base_link"/>
-    <child link="caster_back_right_link"/>
-    <origin xyz="-0.268 -0.064 -0.016" rpy="-1.57 0 0"/>
-  </joint>
-
-  <link name="caster_back_right_link">
-    <collision>
-      <origin xyz="0 0.001 0" rpy="0 0 0"/>
-      <geometry>
-        <box size="0.060 0.018 0.040"/>
-      </geometry>
-    </collision>
-
-    <inertial>
-      <origin xyz="0 0 0" />
-      <mass value="0.005" />
-      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
-    </inertial>
-  </link>
-
-  <joint name="caster_back_left_joint" type="fixed">
-    <parent link="base_link"/>
-    <child link="caster_back_left_link"/>
-    <origin xyz="-0.268 0.064 -0.016" rpy="-1.57 0 0"/>
-  </joint>
-
-  <link name="caster_back_left_link">
-    <collision>
-      <origin xyz="0 0.001 0" rpy="0 0 0"/>
-      <geometry>
-        <box size="0.060 0.018 0.040"/>
-      </geometry>
-    </collision>
-
-    <inertial>
-      <origin xyz="0 0 0" />
-      <mass value="0.005" />
-      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
-    </inertial>
-  </link>
-
-  <joint name="imu_joint" type="fixed">
-    <parent link="base_link"/>
-    <child link="imu_link"/>
-    <origin xyz="0.0 0 0.136" rpy="0 0 0"/>
-  </joint>
-
-  <link name="imu_link"/>
-
-  <joint name="scan_joint" type="fixed">
-    <parent link="base_link"/>
-    <child link="base_scan"/>
-    <origin xyz="-0.064 0 0.244" rpy="0 0 0"/>
-  </joint>
-
-  <link name="base_scan">
-    <visual>
-      <origin xyz="0 0 0.0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://logistic_holonomic_robot/models/logistic_holonomic_robot/meshes/lds.stl" scale="0.002 0.002 0.002"/>
-      </geometry>
-      <material name="dark"/>
-    </visual>
-
-    <collision>
-      <origin xyz="0.015 0 -0.0065" rpy="0 0 0"/>
-      <geometry>
-        <cylinder length="0.0315" radius="0.055"/>
-      </geometry>
-    </collision>
-
-    <inertial>
-      <mass value="0.114" />
-      <origin xyz="0 0 0" />
-      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
-    </inertial>
-  </link>
-
-
-  <joint name="camera_joint" type="fixed">
-    <origin xyz="0.064 -0.065 0.094" rpy="0 0 0"/>
-    <parent link="base_link"/>
-    <child link="camera_link"/>
-  </joint>
-
-
-  <link name="link_platform_mid">
-    <origin xyz="0 0 0.0" rpy="0 0 0"/>
-
-    <visual>
-      <geometry>
-        <box size="0.02 0.02 0.10" />
-      </geometry>
-      <material name="blue"/>
-    </visual>
-    <collision>
-      <geometry>
-        <box size="0.02 0.02 0.10" />
-      </geometry>
-    </collision>
-
-    <inertial>
-      <mass value="1"/>
-      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
-    </inertial>
-
-  </link>
-  <joint name="platform_joint" type="fixed">
-    <parent link="base_link" />
-    <child link="link_platform_mid" />
-    <origin xyz="0.0 0 0.20" rpy="0. 0. 0."/>
-  </joint>
-
-  <joint name="lift_joint" type="prismatic">
-    <origin xyz="0 0 0.16" rpy="0. 0. 0."/>
-    <child link="lift_link" />
-    <parent link="link_platform_mid" />
-    <axis xyz="0 0 1" rpy="0 0 0"/>
-    <limit effort="10000.0" lower="-0.05" upper="0.24" velocity="0.5"/>
-    <!--    <inertia ixx="0" ixy="0.0" ixz="1" iyy="0" iyz="0" izz="0"/>-->
-  </joint>
-
-
-
-
-  <link name="camera_link">
-    <visual>
-      <origin xyz="0 0 0" rpy="1.57 0 1.57"/>
-      <geometry>
-        <box size="0.01 0.03 0.01" />
-      </geometry>
-    </visual>
-    <collision>
-      <origin xyz="0.003 0.065 0.007" rpy="0 0 0"/>
-      <geometry>
-        <box size="0.012 0.132 0.020"/>
-      </geometry>
-    </collision>
-
-    <!-- This inertial field needs doesn't contain reliable data!! -->
-    <!--   <inertial>
-      <mass value="0.564" />
-      <origin xyz="0 0 0" />
-      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257" />
-    </inertial>-->
-  </link>
-
-  <joint name="camera_rgb_joint" type="fixed">
-    <origin xyz="0.005 0.018 0.013" rpy="0 0 0"/>
-    <!-- <origin xyz="${r200_cam_rgb_px} ${r200_cam_rgb_py} ${r200_cam_rgb_pz}" rpy="0 0 0"/> -->
-    <parent link="camera_link"/>
-    <child link="camera_rgb_frame"/>
-  </joint>
-  <link name="camera_rgb_frame"/>
-
-  <joint name="camera_rgb_optical_joint" type="fixed">
-    <origin xyz="0 0 0" rpy="-1.57 0 -1.57"/>
-    <parent link="camera_rgb_frame"/>
-    <child link="camera_rgb_optical_frame"/>
-  </joint>
-  <link name="camera_rgb_optical_frame"/>
-
-  <joint name="camera_depth_joint" type="fixed">
-    <origin xyz="0.005 0.028 0.013" rpy="-1.57 0 -1.57"/>
-    <!-- <origin xyz="${r200_cam_rgb_px} ${r200_cam_rgb_py + r200_cam_depth_offset} ${r200_cam_rgb_pz}" rpy="0 0 0"/> -->
-    <parent link="camera_link"/>
-    <child link="camera_depth_frame"/>
-  </joint>
-  <link name="camera_depth_frame"/>
-
-  <joint name="camera_depth_optical_joint" type="fixed">
-    <origin xyz="0 0 0" rpy="0 0 0"/>
-    <parent link="camera_depth_frame"/>
-    <child link="camera_depth_optical_frame"/>
-  </joint>
-  <link name="camera_depth_optical_frame"/>
-
-
-
-
-
-
-
-
   <link name="aws_robomaker_warehouse_ShelfF_01">
     <visual>
       <origin rpy="0 0 0" xyz="-5.795143 -0.956635 0"/>
diff --git a/Universes/pallet_warehouse_with_robot.urdf b/Universes/warehouse2.urdf
similarity index 93%
rename from Universes/pallet_warehouse_with_robot.urdf
rename to Universes/warehouse2.urdf
index 445e32a20..f51cc2724 100644
--- a/Universes/pallet_warehouse_with_robot.urdf
+++ b/Universes/warehouse2.urdf
@@ -46,233 +46,7 @@
   <material name="color_suelo">
     <color rgba="1 0.35 0 1"/>
   </material>
-  <link name="base_footprint"/>
-  <joint name="base_joint" type="fixed">
-    <parent link="base_footprint"/>
-    <child link="base_link"/>
-    <origin rpy="0 0 0" xyz="0 0 0.1"/>
-  </joint>
-  <link name="base_link">
-    <visual>
-      <origin rpy="0 0 0" xyz="-0.064 0 0.0"/>
-      <geometry>
-        <mesh filename="package://logistic_holonomic_robot/models/logistic_holonomic_robot/meshes/waffle_pi_base.stl" scale="0.002 0.002 0.002"/>
-      </geometry>
-      <material name="orange"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="-0.064 0 0.047"/>
-      <geometry>
-        <box size="0.532 0.532 0.188"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="1.3729096e+00"/>
-      <inertia ixx="8.7002718e-03" ixy="-4.7576583e-05" ixz="1.1160499e-04" iyy="8.6195418e-03" iyz="-3.5422299e-06" izz="1.4612727e-02"/>
-    </inertial>
-  </link>
-  <joint name="wheel_left_joint" type="continuous">
-    <parent link="base_link"/>
-    <child link="wheel_left_link"/>
-    <origin rpy="-1.57 0 0" xyz="0.0 0.288 0.023"/>
-    <axis xyz="0 0 1"/>
-  </joint>
-  <link name="wheel_left_link">
-    <visual>
-      <origin rpy="1.57 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://logistic_holonomic_robot/models/logistic_holonomic_robot/meshes/left_tire.stl" scale="0.002 0.002 0.002"/>
-      </geometry>
-      <material name="dark"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <cylinder length="0.020" radius="0.072"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <origin xyz="0 0 0"/>
-      <mass value="2.8498940e-02"/>
-      <inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09" iyy="1.1192413e-05" iyz="-1.4400107e-11" izz="2.0712558e-05"/>
-    </inertial>
-  </link>
-  <joint name="wheel_right_joint" type="continuous">
-    <parent link="base_link"/>
-    <child link="wheel_right_link"/>
-    <origin rpy="-1.57 0 0" xyz="0.0 -0.288 0.023"/>
-    <axis xyz="0 0 1"/>
-  </joint>
-  <link name="wheel_right_link">
-    <visual>
-      <origin rpy="1.57 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://logistic_holonomic_robot/models/logistic_holonomic_robot/meshes/right_tire.stl" scale="0.002 0.002 0.002"/>
-      </geometry>
-      <material name="dark"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <cylinder length="0.020" radius="0.072"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <origin xyz="0 0 0"/>
-      <mass value="2.8498940e-02"/>
-      <inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09" iyy="1.1192413e-05" iyz="-1.4400107e-11" izz="2.0712558e-05"/>
-    </inertial>
-  </link>
-  <joint name="caster_back_right_joint" type="fixed">
-    <parent link="base_link"/>
-    <child link="caster_back_right_link"/>
-    <origin rpy="-1.57 0 0" xyz="-0.268 -0.064 -0.016"/>
-  </joint>
-  <link name="caster_back_right_link">
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0.001 0"/>
-      <geometry>
-        <box size="0.060 0.018 0.040"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <origin xyz="0 0 0"/>
-      <mass value="0.005"/>
-      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
-    </inertial>
-  </link>
-  <joint name="caster_back_left_joint" type="fixed">
-    <parent link="base_link"/>
-    <child link="caster_back_left_link"/>
-    <origin rpy="-1.57 0 0" xyz="-0.268 0.064 -0.016"/>
-  </joint>
-  <link name="caster_back_left_link">
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0.001 0"/>
-      <geometry>
-        <box size="0.060 0.018 0.040"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <origin xyz="0 0 0"/>
-      <mass value="0.005"/>
-      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
-    </inertial>
-  </link>
-  <joint name="imu_joint" type="fixed">
-    <parent link="base_link"/>
-    <child link="imu_link"/>
-    <origin rpy="0 0 0" xyz="0.0 0 0.136"/>
-  </joint>
-  <link name="imu_link"/>
-  <joint name="scan_joint" type="fixed">
-    <parent link="base_link"/>
-    <child link="base_scan"/>
-    <origin rpy="0 0 0" xyz="-0.064 0 0.244"/>
-  </joint>
-  <link name="base_scan">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0.0"/>
-      <geometry>
-        <mesh filename="package://logistic_holonomic_robot/models/logistic_holonomic_robot/meshes/lds.stl" scale="0.002 0.002 0.002"/>
-      </geometry>
-      <material name="dark"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0.015 0 -0.0065"/>
-      <geometry>
-        <cylinder length="0.0315" radius="0.055"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.114"/>
-      <origin xyz="0 0 0"/>
-      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
-    </inertial>
-  </link>
-  <joint name="camera_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0.064 -0.065 0.094"/>
-    <parent link="base_link"/>
-    <child link="camera_link"/>
-  </joint>
-  <link name="link_platform_mid">
-    <origin rpy="0 0 0" xyz="0 0 0.0"/>
-    <visual>
-      <geometry>
-        <box size="0.02 0.02 0.10"/>
-      </geometry>
-      <material name="blue"/>
-    </visual>
-    <collision>
-      <geometry>
-        <box size="0.02 0.02 0.10"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="1"/>
-      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
-    </inertial>
-  </link>
-  <joint name="platform_joint" type="fixed">
-    <parent link="base_link"/>
-    <child link="link_platform_mid"/>
-    <origin rpy="0. 0. 0." xyz="0.0 0 0.20"/>
-  </joint>
-  <joint name="lift_joint" type="prismatic">
-    <origin rpy="0. 0. 0." xyz="0 0 0.16"/>
-    <child link="lift_link"/>
-    <parent link="link_platform_mid"/>
-    <axis rpy="0 0 0" xyz="0 0 1"/>
-    <limit effort="10000.0" lower="-0.05" upper="0.24" velocity="0.5"/>
-    <!--    <inertia ixx="0" ixy="0.0" ixz="1" iyy="0" iyz="0" izz="0"/>-->
-  </joint>
-  <link name="camera_link">
-    <visual>
-      <origin rpy="1.57 0 1.57" xyz="0 0 0"/>
-      <geometry>
-        <box size="0.01 0.03 0.01"/>
-      </geometry>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0.003 0.065 0.007"/>
-      <geometry>
-        <box size="0.012 0.132 0.020"/>
-      </geometry>
-    </collision>
-    <!-- This inertial field needs doesn't contain reliable data!! -->
-    <!--   <inertial>
-      <mass value="0.564" />
-      <origin xyz="0 0 0" />
-      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257" />
-    </inertial>-->
-  </link>
-  <joint name="camera_rgb_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0.005 0.018 0.013"/>
-    <!-- <origin xyz="${r200_cam_rgb_px} ${r200_cam_rgb_py} ${r200_cam_rgb_pz}" rpy="0 0 0"/> -->
-    <parent link="camera_link"/>
-    <child link="camera_rgb_frame"/>
-  </joint>
-  <link name="camera_rgb_frame"/>
-  <joint name="camera_rgb_optical_joint" type="fixed">
-    <origin rpy="-1.57 0 -1.57" xyz="0 0 0"/>
-    <parent link="camera_rgb_frame"/>
-    <child link="camera_rgb_optical_frame"/>
-  </joint>
-  <link name="camera_rgb_optical_frame"/>
-  <joint name="camera_depth_joint" type="fixed">
-    <origin rpy="-1.57 0 -1.57" xyz="0.005 0.028 0.013"/>
-    <!-- <origin xyz="${r200_cam_rgb_px} ${r200_cam_rgb_py + r200_cam_depth_offset} ${r200_cam_rgb_pz}" rpy="0 0 0"/> -->
-    <parent link="camera_link"/>
-    <child link="camera_depth_frame"/>
-  </joint>
-  <link name="camera_depth_frame"/>
-  <joint name="camera_depth_optical_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-    <parent link="camera_depth_frame"/>
-    <child link="camera_depth_optical_frame"/>
-  </joint>
-  <link name="camera_depth_optical_frame"/>
+
   <link name="warehouse_walls">
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
@@ -285,7 +59,7 @@
 
   <link name="wall0_link0">
     <visual>
-      <origin xyz="-10 2 0" rpy="0 0 1.57"/>
+      <origin xyz="-10 2 1.4" rpy="0 0 1.57"/>
       <geometry>
         <box size="24 0.2 2.8"/>
       </geometry>
@@ -295,7 +69,7 @@
 
   <link name="wall1_link0">
     <visual>
-      <origin xyz="8 -10 0" rpy="0 0 0"/>
+      <origin xyz="8 -10 1.4" rpy="0 0 0"/>
       <geometry>
         <box size="8 0.2 2.8"/>
       </geometry>
@@ -305,7 +79,7 @@
 
   <link name="wall1_link1">
     <visual>
-      <origin xyz="4 -13.5 0" rpy="0 0 1.57"/>
+      <origin xyz="4 -13.5 1.4" rpy="0 0 1.57"/>
       <geometry>
         <box size="7 0.2 2.8"/>
       </geometry>
@@ -315,7 +89,7 @@
 
   <link name="wall1_link2">
     <visual>
-      <origin xyz="0 -17 0" rpy="0 0 0"/>
+      <origin xyz="0 -17 1.4" rpy="0 0 0"/>
       <geometry>
         <box size="8 0.2 2.8"/>
       </geometry>
@@ -325,7 +99,7 @@
 
   <link name="wall1_link3">
     <visual>
-      <origin xyz="-4 -13.5 0" rpy="0 0 1.57"/>
+      <origin xyz="-4 -13.5 1.4" rpy="0 0 1.57"/>
       <geometry>
         <box size="7 0.2 2.8"/>
       </geometry>
@@ -335,7 +109,7 @@
 
   <link name="wall1_link4">
     <visual>
-      <origin xyz="-7 -10 0" rpy="0 0 0"/>
+      <origin xyz="-7 -10 1.4" rpy="0 0 0"/>
       <geometry>
         <box size="6 0.2 2.8"/>
       </geometry>
@@ -345,7 +119,7 @@
 
   <link name="wall2_link0">
     <visual>
-      <origin xyz="8 14 0" rpy="0 0 0"/>
+      <origin xyz="8 14 1.4" rpy="0 0 0"/>
       <geometry>
         <box size="8 0.2 2.8"/>
       </geometry>
@@ -355,7 +129,7 @@
 
   <link name="wall2_link1">
     <visual>
-      <origin xyz="4 17.5 0" rpy="0 0 1.57"/>
+      <origin xyz="4 17.5 1.4" rpy="0 0 1.57"/>
       <geometry>
         <box size="7 0.2 2.8"/>
       </geometry>
@@ -365,7 +139,7 @@
 
   <link name="wall2_link2">
     <visual>
-      <origin xyz="0 21 0" rpy="0 0 0"/>
+      <origin xyz="0 21 1.4" rpy="0 0 0"/>
       <geometry>
         <box size="8 0.2 2.8"/>
       </geometry>
@@ -375,7 +149,7 @@
 
   <link name="wall2_link3">
     <visual>
-      <origin xyz="-4 17.5 0" rpy="0 0 1.57"/>
+      <origin xyz="-4 17.5 1.4" rpy="0 0 1.57"/>
       <geometry>
         <box size="7 0.2 2.8"/>
       </geometry>
@@ -385,7 +159,7 @@
 
   <link name="wall2_link4">
     <visual>
-      <origin xyz="-7 14 0" rpy="0 0 0"/>
+      <origin xyz="-7 14 1.4" rpy="0 0 0"/>
       <geometry>
         <box size="6 0.2 2.8"/>
       </geometry>
@@ -395,7 +169,7 @@
 
   <link name="wall3_link0">
     <visual>
-      <origin xyz="12 2 0" rpy="0 0 1.57"/>
+      <origin xyz="12 2 1.4" rpy="0 0 1.57"/>
       <geometry>
         <box size="24 0.2 2.8"/>
       </geometry>