diff --git a/README.md b/README.md
index 0ba8c95..535a6c1 100644
--- a/README.md
+++ b/README.md
@@ -36,8 +36,5 @@ $ roslaunch jsk_mbzirc_common mbzirc_arena.launch
 
 initial pose is very necessary 
 
-
-- for developer
-
-models are the sdf files, put those files into :~/.gazebo/models/
-or you can create new world
+# for husky, please install as follow:
+sudo apt-get install ros-indigo-husky-simulator
diff --git a/gazebo_model/models/arena/meshes/arena.dae b/gazebo_model/models/arena/meshes/arena.dae
new file mode 100644
index 0000000..7248352
--- /dev/null
+++ b/gazebo_model/models/arena/meshes/arena.dae
@@ -0,0 +1,132 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.72.0 commit date:2014-10-21, commit time:11:38, hash:9e963ae</authoring_tool>
+    </contributor>
+    <created>2016-01-05T13:49:40</created>
+    <modified>2016-01-05T13:49:40</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images>
+    <image id="arena_png" name="arena_png">
+      <init_from>arena.png</init_from>
+    </image>
+  </library_images>
+  <library_effects>
+    <effect id="Material_001-effect">
+      <profile_COMMON>
+        <newparam sid="arena_png-surface">
+          <surface type="2D">
+            <init_from>arena_png</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="arena_png-sampler">
+          <sampler2D>
+            <source>arena_png-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0.9 0.9 0.9 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <texture texture="arena_png-sampler" texcoord="UVMap"/>
+            </diffuse>
+            <specular>
+              <color sid="specular">1 1 1 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">100</float>
+            </shininess>
+            <reflective>
+              <color>1 1 1 1</color>
+            </reflective>
+            <reflectivity>
+              <float>0</float>
+            </reflectivity>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="Material_001-material" name="Material_001">
+      <instance_effect url="#Material_001-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Arena-mesh" name="Arena">
+      <mesh>
+        <source id="Arena-mesh-positions">
+          <float_array id="Arena-mesh-positions-array" count="24">80 10 40 80 0 40 80 0 -40 80 10 -40 -80 10 40 -80 0 40 -80 10 -40 -80 0 -40</float_array>
+          <technique_common>
+            <accessor source="#Arena-mesh-positions-array" count="8" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Arena-mesh-normals">
+          <float_array id="Arena-mesh-normals-array" count="36">1 0 0 1 0 0 0 0 1 0 0 1 -1 0 0 -1 0 0 0 0 -1 0 0 -1 0 1 0 0 1 0 0 -1 0 0 -1 0</float_array>
+          <technique_common>
+            <accessor source="#Arena-mesh-normals-array" count="12" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Arena-mesh-map-0">
+          <float_array id="Arena-mesh-map-0-array" count="72">0.99006 0.5106102 0.934337 0.5106102 0.9343374 0.08976894 0.9343374 0.08976894 0.9900602 0.089769 0.99006 0.5106102 0.04277145 0.5632143 0.04277145 0.5106093 0.934337 0.5106102 0.934337 0.5106102 0.934337 0.5632153 0.04277145 0.5632143 -0.01295101 0.08976829 0.04277181 0.08976829 0.04277145 0.5106093 0.04277145 0.5106093 -0.01295137 0.5106093 -0.01295101 0.08976829 0.9343374 0.03716379 0.9343374 0.08976894 0.04277181 0.08976829 0.04277181 0.08976829 0.04277181 0.03716319 0.9343374 0.03716379 0.04277145 0.5632143 0.934337 0.5632153 0.9343367 0.9840568 0.9343367 0.9840568 0.0427711 0.9840563 0.04277145 0.5632143 0.04277181 0.08976829 0.9343374 0.08976894 0.934337 0.5106102 0.934337 0.5106102 0.04277145 0.5106093 0.04277181 0.08976829</float_array>
+          <technique_common>
+            <accessor source="#Arena-mesh-map-0-array" count="36" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Arena-mesh-vertices">
+          <input semantic="POSITION" source="#Arena-mesh-positions"/>
+        </vertices>
+        <polylist material="Material_001-material" count="12">
+          <input semantic="VERTEX" source="#Arena-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Arena-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Arena-mesh-map-0" offset="2" set="0"/>
+          <vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
+          <p>0 0 0 1 0 1 2 0 2 2 1 3 3 1 4 0 1 5 4 2 6 5 2 7 1 2 8 1 3 9 0 3 10 4 3 11 6 4 12 7 4 13 5 4 14 5 5 15 4 5 16 6 5 17 3 6 18 2 6 19 7 6 20 7 7 21 6 7 22 3 7 23 4 8 24 0 8 25 3 8 26 3 9 27 6 9 28 4 9 29 7 10 30 2 10 31 1 10 32 1 11 33 5 11 34 7 11 35</p>
+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Arena" name="Arena" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#Arena-mesh">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_001-material" target="#Material_001-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
diff --git a/gazebo_model/models/arena/meshes/arena.png b/gazebo_model/models/arena/meshes/arena.png
new file mode 100644
index 0000000..6401adc
Binary files /dev/null and b/gazebo_model/models/arena/meshes/arena.png differ
diff --git a/gazebo_model/models/arena/model.config b/gazebo_model/models/arena/model.config
index d461677..c13db02 100644
--- a/gazebo_model/models/arena/model.config
+++ b/gazebo_model/models/arena/model.config
@@ -2,10 +2,10 @@
 <model>
     <name>arena</name>
     <version>1.0</version>
-    <sdf version="1.5">model.sdf</sdf>
+    <sdf version="1.4">model.sdf</sdf>
     <author>
-        <name>xychen</name>
-        <email>xychen@jsk.imi.i.u-tokyo.ac.jp</email>
+        <name>chou</name>
+        <email>chou@jsk.imi.i.u-tokyo.ac.jp</email>
     </author>
     <description>mbzirc-jsk</description>
 </model>
diff --git a/gazebo_model/models/arena/model.sdf b/gazebo_model/models/arena/model.sdf
index dcda123..b8e4724 100644
--- a/gazebo_model/models/arena/model.sdf
+++ b/gazebo_model/models/arena/model.sdf
@@ -1,66 +1,23 @@
-<?xml version='1.0'?>
-<sdf version='1.5'>
+<?xml version="1.0"?>
+<sdf version="1.4">
   <model name='arena'>
-    <link name='link_arena'>
-      <pose>0 0 0 0 -0 0</pose>
-      <gravity>1</gravity>
-      <self_collide>0</self_collide>
-      <kinematic>0</kinematic>
-      <inertial>
-        <mass>10000</mass>
-        <pose>0 0 0 0 -0 0</pose>
-        <inertia>
-          <ixx>1</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>1</iyy>
-          <iyz>0</iyz>
-          <izz>1</izz>
-        </inertia>
-      </inertial>
-      <visual name='visual'>
-        <pose>0 0 0 0 -0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>model://arena/meshes/100x60.dae</uri>
-            <scale>0.001 0.001 0.001</scale>
-          </mesh>
-        </geometry>
-        <material>
-          <script>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
-          </script>
-          <shader type='pixel'>
-            <normal_map>__default__</normal_map>
-          </shader>
-          <ambient>0.5 0.5 0.5 1</ambient>
-          <diffuse>0.5 0.5 0.5 1</diffuse>
-          <specular>0.01 0.01 0.01 1</specular>
-          <emissive>0 0 0 1</emissive>
-        </material>
-        <cast_shadows>1</cast_shadows>
-        <transparency>0</transparency>
-      </visual>
-      <collision name='collision'>
-        <laser_retro>0</laser_retro>
-        <max_contacts>10</max_contacts>
-        <pose>0 0 0 0 -0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>model://arena/meshes/100x60.dae</uri>
-          </mesh>
-        </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>1</mu2>
-              <fdir1>0 0 0</fdir1>
-              <slip1>0</slip1>
-              <slip2>0</slip2>
-            </ode>
-          </friction>
+      <static>1</static>
+      <link name='link_arena'>
+        <collision name='collision'>
+          <pose>0 0 0 0 -0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://arena/meshes/arena.dae</uri>
+              <scale>1 0.01 1</scale>
+            </mesh>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>100</mu>
+                <mu2>50</mu2>
+              </ode>
+            </friction>
           <bounce>
             <restitution_coefficient>0</restitution_coefficient>
             <threshold>1e+06</threshold>
@@ -85,10 +42,27 @@
               <kd>1</kd>
             </bullet>
           </contact>
-        </surface>
-      </collision>
-    </link>
-    <static>1</static>
-    <allow_auto_disable>1</allow_auto_disable>
+          </surface>
+          <max_contacts>10</max_contacts>
+          <laser_retro>0</laser_retro>
+        </collision>
+        <visual name='visual'>
+          <cast_shadows>1</cast_shadows>
+          <transparency>0</transparency>
+          <geometry>
+            <mesh>
+              <uri>model://arena/meshes/arena.dae</uri>
+              <scale>1 0.01 1</scale>
+            </mesh>
+          </geometry>
+        </visual>
+        <velocity_decay>
+          <linear>0</linear>
+          <angular>0</angular>
+        </velocity_decay>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+        <gravity>1</gravity>
+      </link>
   </model>
 </sdf>
diff --git a/gazebo_model/models/arena/meshes/100x60.dae b/gazebo_model/models/arena_old/meshes/100x60.dae
similarity index 100%
rename from gazebo_model/models/arena/meshes/100x60.dae
rename to gazebo_model/models/arena_old/meshes/100x60.dae
diff --git a/gazebo_model/models/arena_old/model.config b/gazebo_model/models/arena_old/model.config
new file mode 100644
index 0000000..d461677
--- /dev/null
+++ b/gazebo_model/models/arena_old/model.config
@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+    <name>arena</name>
+    <version>1.0</version>
+    <sdf version="1.5">model.sdf</sdf>
+    <author>
+        <name>xychen</name>
+        <email>xychen@jsk.imi.i.u-tokyo.ac.jp</email>
+    </author>
+    <description>mbzirc-jsk</description>
+</model>
diff --git a/gazebo_model/models/arena_old/model.sdf b/gazebo_model/models/arena_old/model.sdf
new file mode 100644
index 0000000..dcda123
--- /dev/null
+++ b/gazebo_model/models/arena_old/model.sdf
@@ -0,0 +1,94 @@
+<?xml version='1.0'?>
+<sdf version='1.5'>
+  <model name='arena'>
+    <link name='link_arena'>
+      <pose>0 0 0 0 -0 0</pose>
+      <gravity>1</gravity>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <inertial>
+        <mass>10000</mass>
+        <pose>0 0 0 0 -0 0</pose>
+        <inertia>
+          <ixx>1</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>1</iyy>
+          <iyz>0</iyz>
+          <izz>1</izz>
+        </inertia>
+      </inertial>
+      <visual name='visual'>
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://arena/meshes/100x60.dae</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+          <shader type='pixel'>
+            <normal_map>__default__</normal_map>
+          </shader>
+          <ambient>0.5 0.5 0.5 1</ambient>
+          <diffuse>0.5 0.5 0.5 1</diffuse>
+          <specular>0.01 0.01 0.01 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <collision name='collision'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://arena/meshes/100x60.dae</uri>
+          </mesh>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
+            </ode>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
+            </ode>
+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+    <static>1</static>
+    <allow_auto_disable>1</allow_auto_disable>
+  </model>
+</sdf>
diff --git a/gazebo_model/world/mbzirc_arena.world b/gazebo_model/world/mbzirc_arena.world
index 9ae22bb..e277a19 100644
--- a/gazebo_model/world/mbzirc_arena.world
+++ b/gazebo_model/world/mbzirc_arena.world
@@ -1,77 +1,14 @@
+<?xml version="1.0" ?>
 <sdf version='1.4'>
   <world name='default'>
-    <light name='sun' type='directional'>
-      <cast_shadows>1</cast_shadows>
-      <pose>0 0 10 0 -0 0</pose>
-      <diffuse>0.8 0.8 0.8 1</diffuse>
-      <specular>0.2 0.2 0.2 1</specular>
-      <attenuation>
-        <range>1000</range>
-        <constant>0.9</constant>
-        <linear>0.01</linear>
-        <quadratic>0.001</quadratic>
-      </attenuation>
-      <direction>-0.5 0.1 -0.9</direction>
-    </light>
-    <model name='ground_plane'>
-      <static>1</static>
-      <link name='link'>
-        <collision name='collision'>
-          <geometry>
-            <plane>
-              <normal>0 0 1</normal>
-              <size>100 160</size>
-            </plane>
-          </geometry>
-          <surface>
-            <friction>
-              <ode>
-                <mu>100</mu>
-                <mu2>50</mu2>
-              </ode>
-            </friction>
-            <bounce/>
-            <contact>
-              <ode/>
-            </contact>
-          </surface>
-          <max_contacts>10</max_contacts>
-        </collision>
-        <visual name='visual'>
-          <cast_shadows>0</cast_shadows>
-          <geometry>
-            <plane>
-              <normal>0 0 1</normal>
-              <size>100 160</size>
-            </plane>
-          </geometry>
-          <material>
-            <script>
-              <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
-            </script>
-          </material>
-        </visual>
-        <velocity_decay>
-          <linear>0</linear>
-          <angular>0</angular>
-        </velocity_decay>
-        <self_collide>0</self_collide>
-        <kinematic>0</kinematic>
-        <gravity>1</gravity>
-      </link>
-    </model>
+
     <physics type='ode'>
       <max_step_size>0.001</max_step_size>
       <real_time_factor>1</real_time_factor>
       <real_time_update_rate>1000</real_time_update_rate>
       <gravity>0 0 -9.8</gravity>
     </physics>
-    <scene>
-      <ambient>0.4 0.4 0.4 1</ambient>
-      <background>0.7 0.7 0.7 1</background>
-      <shadows>1</shadows>
-    </scene>
+
     <spherical_coordinates>
       <surface_model>EARTH_WGS84</surface_model>
       <latitude_deg>0</latitude_deg>
@@ -79,648 +16,31 @@
       <elevation>0</elevation>
       <heading_deg>0</heading_deg>
     </spherical_coordinates>
-    <model name='arena'>
-      <link name='link_arena'>
-        <pose>0 0 0 0 -0 0</pose>
-        <gravity>1</gravity>
-        <self_collide>0</self_collide>
-        <kinematic>0</kinematic>
-        <inertial>
-          <mass>10000</mass>
-          <pose>0 0 0 0 -0 0</pose>
-          <inertia>
-            <ixx>1</ixx>
-            <ixy>0</ixy>
-            <ixz>0</ixz>
-            <iyy>1</iyy>
-            <iyz>0</iyz>
-            <izz>1</izz>
-          </inertia>
-        </inertial>
-        <visual name='visual'>
-          <pose>0 0 0 0 -0 0</pose>
-          <geometry>
-            <mesh>
-              <uri>model://arena/meshes/100x60.dae</uri>
-              <scale>0.001 0.001 0.001</scale>
-            </mesh>
-          </geometry>
-          <material>
-            <script>
-              <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
-            </script>
-            <shader type='pixel'>
-              <normal_map>__default__</normal_map>
-            </shader>
-            <ambient>0.5 0.5 0.5 1</ambient>
-            <diffuse>0.5 0.5 0.5 1</diffuse>
-            <specular>0.01 0.01 0.01 1</specular>
-            <emissive>0 0 0 1</emissive>
-          </material>
-          <cast_shadows>1</cast_shadows>
-          <transparency>0</transparency>
-        </visual>
-        <collision name='collision'>
-          <laser_retro>0</laser_retro>
-          <max_contacts>10</max_contacts>
-          <pose>0 0 0 0 -0 0</pose>
-          <geometry>
-            <mesh>
-              <uri>model://arena/meshes/100x60.dae</uri>
-            </mesh>
-          </geometry>
-          <surface>
-            <friction>
-              <ode>
-                <mu>1</mu>
-                <mu2>1</mu2>
-                <fdir1>0 0 0</fdir1>
-                <slip1>0</slip1>
-                <slip2>0</slip2>
-              </ode>
-            </friction>
-            <bounce>
-              <restitution_coefficient>0</restitution_coefficient>
-              <threshold>1e+06</threshold>
-            </bounce>
-            <contact>
-              <collide_without_contact>0</collide_without_contact>
-              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
-              <ode>
-                <soft_cfm>0</soft_cfm>
-                <soft_erp>0.2</soft_erp>
-                <kp>1e+13</kp>
-                <kd>1</kd>
-                <max_vel>0.01</max_vel>
-                <min_depth>0</min_depth>
-              </ode>
-              <bullet>
-                <split_impulse>1</split_impulse>
-                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
-                <soft_cfm>0</soft_cfm>
-                <soft_erp>0.2</soft_erp>
-                <kp>1e+13</kp>
-                <kd>1</kd>
-              </bullet>
-            </contact>
-          </surface>
-        </collision>
-        <velocity_decay>
-          <linear>0</linear>
-          <angular>0</angular>
-        </velocity_decay>
-      </link>
-      <static>1</static>
-      <allow_auto_disable>1</allow_auto_disable>
-      <pose>0 0 0 0 -0 0</pose>
-    </model>
-    <model name='eight'>
-      <link name='link_eight'>
-        <pose>0 0 0 0 -0 0</pose>
-        <gravity>1</gravity>
-        <self_collide>0</self_collide>
-        <kinematic>0</kinematic>
-        <inertial>
-          <mass>1000</mass>
-          <pose>0 0 0 0 -0 0</pose>
-          <inertia>
-            <ixx>1</ixx>
-            <ixy>0</ixy>
-            <ixz>0</ixz>
-            <iyy>1</iyy>
-            <iyz>0</iyz>
-            <izz>1</izz>
-          </inertia>
-        </inertial>
-        <visual name='visual'>
-          <pose>0 0 0 0 -0 0</pose>
-          <geometry>
-            <mesh>
-              <uri>model://eight/meshes/eight.dae</uri>
-              <scale>0.001 0.001 0.001</scale>
-            </mesh>
-          </geometry>
-          <material>
-            <script>
-              <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/White</name>
-            </script>
-            <shader type='pixel'>
-              <normal_map>__default__</normal_map>
-            </shader>
-            <ambient>0.9 0.9 0.9 1</ambient>
-            <diffuse>0.9 0.9 0.9 1</diffuse>
-            <specular>0.7 0.7 0.7 1</specular>
-            <emissive>0.2 0.2 0.2 1</emissive>
-          </material>
-          <cast_shadows>1</cast_shadows>
-          <transparency>0</transparency>
-        </visual>
-        <collision name='collision'>
-          <laser_retro>0</laser_retro>
-          <max_contacts>10</max_contacts>
-          <pose>0 0 0 0 -0 0</pose>
-          <geometry>
-            <mesh>
-              <uri>model://eight/meshes/eight.dae</uri>
-              <scale>0.001 0.001 0.001</scale>
-            </mesh>
-          </geometry>
-          <surface>
-            <friction>
-              <ode>
-                <mu>100</mu>
-                <mu2>50</mu2>
-              </ode>
-            </friction>
-            <bounce>
-              <restitution_coefficient>0</restitution_coefficient>
-              <threshold>1e+06</threshold>
-            </bounce>
-            <contact>
-              <ode/>
-            </contact>
-          </surface>
-        </collision>
-        <velocity_decay>
-          <linear>0</linear>
-          <angular>0</angular>
-        </velocity_decay>
-      </link>
-      <static>1</static>
-      <allow_auto_disable>1</allow_auto_disable>
-      <pose>0 0 0 0 -0 0</pose>
-    </model>
-    <model name='pad'>
-      <link name='link_pad'>
-        <pose>0 0 0 0 -0 0</pose>
-        <gravity>1</gravity>
-        <self_collide>0</self_collide>
-        <kinematic>0</kinematic>
-        <inertial>
-          <mass>100</mass>
-          <pose>0 0 0 0 -0 0</pose>
-          <inertia>
-            <ixx>1</ixx>
-            <ixy>0</ixy>
-            <ixz>0</ixz>
-            <iyy>1</iyy>
-            <iyz>0</iyz>
-            <izz>1</izz>
-          </inertia>
-        </inertial>
-        <visual name='visual'>
-          <pose>0 0 0 0 -0 0</pose>
-          <geometry>
-            <mesh>
-              <uri>model://pad/meshes/10x10.dae</uri>
-              <scale>0.001 0.001 0.001</scale>
-            </mesh>
-          </geometry>
-          <material>
-            <script>
-              <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/White</name>
-            </script>
-            <shader type='pixel'>
-              <normal_map>__default__</normal_map>
-            </shader>
-            <ambient>0.9 0.9 0.9 1</ambient>
-            <diffuse>0.6 0.6 0.6 1</diffuse>
-            <specular>0.5 0.5 0.5 1</specular>
-            <emissive>0.2 0.2 0.2 1</emissive>
-          </material>
-          <cast_shadows>1</cast_shadows>
-          <transparency>0</transparency>
-        </visual>
-        <collision name='collision'>
-          <laser_retro>0</laser_retro>
-          <max_contacts>10</max_contacts>
-          <pose>0 0 0 0 -0 0</pose>
-          <geometry>
-            <mesh>
-              <uri>model://pad/meshes/10x10.dae</uri>
-            </mesh>
-          </geometry>
-          <surface>
-            <friction>
-              <ode>
-                <mu>1</mu>
-                <mu2>1</mu2>
-                <fdir1>0 0 0</fdir1>
-                <slip1>0</slip1>
-                <slip2>0</slip2>
-              </ode>
-            </friction>
-            <bounce>
-              <restitution_coefficient>0</restitution_coefficient>
-              <threshold>1e+06</threshold>
-            </bounce>
-            <contact>
-              <collide_without_contact>0</collide_without_contact>
-              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
-              <ode>
-                <soft_cfm>0</soft_cfm>
-                <soft_erp>0.2</soft_erp>
-                <kp>1e+13</kp>
-                <kd>1</kd>
-                <max_vel>0.01</max_vel>
-                <min_depth>0</min_depth>
-              </ode>
-              <bullet>
-                <split_impulse>1</split_impulse>
-                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
-                <soft_cfm>0</soft_cfm>
-                <soft_erp>0.2</soft_erp>
-                <kp>1e+13</kp>
-                <kd>1</kd>
-              </bullet>
-            </contact>
-          </surface>
-        </collision>
-        <velocity_decay>
-          <linear>0</linear>
-          <angular>0</angular>
-        </velocity_decay>
-      </link>
-      <static>1</static>
-      <allow_auto_disable>1</allow_auto_disable>
-      <pose>0 0 0 0 -0 0</pose>
-    </model>
-    <model name='startsign'>
-      <link name='link_startsign'>
-        <pose>0 0 0 0 -0 0</pose>
-        <gravity>1</gravity>
-        <self_collide>0</self_collide>
-        <kinematic>0</kinematic>
-        <inertial>
-          <mass>10</mass>
-          <pose>0 0 0 0 -0 0</pose>
-          <inertia>
-            <ixx>1</ixx>
-            <ixy>0</ixy>
-            <ixz>0</ixz>
-            <iyy>1</iyy>
-            <iyz>0</iyz>
-            <izz>1</izz>
-          </inertia>
-        </inertial>
-        <visual name='visual'>
-          <pose>0 0 0 0 -0 0</pose>
-          <geometry>
-            <mesh>
-              <uri>model://start/meshes/start.dae</uri>
-              <scale>0.001 0.001 0.001</scale>
-            </mesh>
-          </geometry>
-          <material>
-            <script>
-              <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Red</name>
-            </script>
-            <shader type='pixel'>
-              <normal_map>__default__</normal_map>
-            </shader>
-            <ambient>0.9 0.1 0.1 1</ambient>
-            <diffuse>0.9 0.1 0.1 1</diffuse>
-            <specular>0.7 0.7 0.7 1</specular>
-            <emissive>0.2 0.2 0.2 1</emissive>
-          </material>
-          <cast_shadows>1</cast_shadows>
-          <transparency>0</transparency>
-        </visual>
-        <collision name='collision'>
-          <laser_retro>0</laser_retro>
-          <max_contacts>10</max_contacts>
-          <pose>0 0 0 0 -0 0</pose>
-          <geometry>
-            <mesh>
-              <uri>model://start/meshes/start.dae</uri>
-            </mesh>
-          </geometry>
-          <surface>
-            <friction>
-              <ode>
-                <mu>100</mu>
-                <mu2>50</mu2>
-              </ode>
-            </friction>
-            <bounce>
-              <restitution_coefficient>0</restitution_coefficient>
-              <threshold>1e+06</threshold>
-            </bounce>
-            <contact>
-              <ode/>
-            </contact>
-          </surface>
-        </collision>
-        <velocity_decay>
-          <linear>0</linear>
-          <angular>0</angular>
-        </velocity_decay>
-      </link>
-      <static>1</static>
-      <allow_auto_disable>1</allow_auto_disable>
-      <pose>0 0 0 0 -0 0</pose>
-    </model>
-    <model name='pad_0'>
-      <link name='link_pad'>
-        <pose>0 0 0 0 -0 0</pose>
-        <gravity>1</gravity>
-        <self_collide>0</self_collide>
-        <kinematic>0</kinematic>
-        <inertial>
-          <mass>100</mass>
-          <pose>0 0 0 0 -0 0</pose>
-          <inertia>
-            <ixx>1</ixx>
-            <ixy>0</ixy>
-            <ixz>0</ixz>
-            <iyy>1</iyy>
-            <iyz>0</iyz>
-            <izz>1</izz>
-          </inertia>
-        </inertial>
-        <visual name='visual'>
-          <pose>0 0 0 0 -0 0</pose>
-          <geometry>
-            <mesh>
-              <uri>model://pad/meshes/10x10.dae</uri>
-              <scale>0.001 0.001 0.001</scale>
-            </mesh>
-          </geometry>
-          <material>
-            <script>
-              <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/White</name>
-            </script>
-            <shader type='pixel'>
-              <normal_map>__default__</normal_map>
-            </shader>
-            <ambient>0.9 0.9 0.9 1</ambient>
-            <diffuse>0.6 0.6 0.6 1</diffuse>
-            <specular>0.5 0.5 0.5 1</specular>
-            <emissive>0.2 0.2 0.2 1</emissive>
-          </material>
-          <cast_shadows>1</cast_shadows>
-          <transparency>0</transparency>
-        </visual>
-        <collision name='collision'>
-          <laser_retro>0</laser_retro>
-          <max_contacts>10</max_contacts>
-          <pose>0 0 0 0 -0 0</pose>
-          <geometry>
-            <mesh>
-              <uri>model://pad/meshes/10x10.dae</uri>
-            </mesh>
-          </geometry>
-          <surface>
-            <friction>
-              <ode>
-                <mu>100</mu>
-                <mu2>50</mu2>
-              </ode>
-            </friction>
-            <bounce>
-              <restitution_coefficient>0</restitution_coefficient>
-              <threshold>1e+06</threshold>
-            </bounce>
-            <contact>
-              <ode/>
-            </contact>
-          </surface>
-        </collision>
-        <velocity_decay>
-          <linear>0</linear>
-          <angular>0</angular>
-        </velocity_decay>
-      </link>
-      <static>1</static>
-      <allow_auto_disable>1</allow_auto_disable>
-      <pose>0 0 0 0 -0 0</pose>
-    </model>
-    <model name='panel'>
-      <link name='link_panel'>
-        <pose>0 0 0.375 0 1.57079 0</pose>
-        <gravity>1</gravity>
-        <self_collide>1</self_collide>
-        <kinematic>0</kinematic>
-        <inertial>
-          <mass>80</mass>
-          <inertia>
-            <ixx>0.07</ixx>
-            <ixy>0</ixy>
-            <ixz>0</ixz>
-            <iyy>0.08</iyy>
-            <iyz>0</iyz>
-            <izz>0.1</izz>
-          </inertia>
-        </inertial>
-        <visual name='visual'>
-          <pose>0 0 0 0 -0 0</pose>
-          <geometry>
-            <mesh>
-              <uri>model://panel/meshes/panel.dae</uri>
-              <scale>0.001 0.001 0.001</scale>
-            </mesh>
-          </geometry>
-          <material>
-            <script>
-              <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
-            </script>
-            <shader type='pixel'>
-              <normal_map>__default__</normal_map>
-            </shader>
-            <ambient>0.3 0.3 0.3 1</ambient>
-            <diffuse>0.7 0.7 0.7 1</diffuse>
-            <specular>0.01 0.01 0.01 1</specular>
-            <emissive>0 0 0 1</emissive>
-          </material>
-          <cast_shadows>1</cast_shadows>
-          <transparency>0</transparency>
-        </visual>
-        <collision name='collision'>
-          <laser_retro>0</laser_retro>
-          <max_contacts>10</max_contacts>
-          <pose>0 0 0 0 -0 0</pose>
-          <geometry>
-            <mesh>
-              <uri>model://panel/meshes/panel.dae</uri>
-              <scale>0.001 0.001 0.001</scale>
-            </mesh>
-          </geometry>
-          <surface>
-            <friction>
-              <ode>
-                <mu>100</mu>
-                <mu2>50</mu2>
-              </ode>
-            </friction>
-            <bounce>
-              <restitution_coefficient>0</restitution_coefficient>
-              <threshold>1e+06</threshold>
-            </bounce>
-            <contact>
-              <ode/>
-            </contact>
-          </surface>
-        </collision>
-        <velocity_decay>
-          <linear>0</linear>
-          <angular>0</angular>
-        </velocity_decay>
-      </link>
-      <link name='link_stem'>
-        <pose>0.31 -0.155 0.375 0 1.57079 0</pose>
-        <gravity>1</gravity>
-        <self_collide>0</self_collide>
-        <kinematic>0</kinematic>
-        <inertial>
-          <mass>1</mass>
-          <pose>0 0 0 0 -0 0</pose>
-          <inertia>
-            <ixx>0.07</ixx>
-            <ixy>0</ixy>
-            <ixz>0</ixz>
-            <iyy>0.08</iyy>
-            <iyz>0</iyz>
-            <izz>0.1</izz>
-          </inertia>
-        </inertial>
-        <visual name='visual'>
-          <pose>0 0 0 0 -0 0</pose>
-          <geometry>
-            <mesh>
-              <uri>model://stem/meshes/stem.dae</uri>
-              <scale>0.001 0.001 0.001</scale>
-            </mesh>
-          </geometry>
-          <material>
-            <script>
-              <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
-            </script>
-            <shader type='pixel'>
-              <normal_map>__default__</normal_map>
-            </shader>
-            <ambient>0.3 0.3 0.3 1</ambient>
-            <diffuse>0.7 0.7 0.7 1</diffuse>
-            <specular>0.01 0.01 0.01 1</specular>
-            <emissive>0 0 0 1</emissive>
-          </material>
-          <cast_shadows>1</cast_shadows>
-          <transparency>0</transparency>
-        </visual>
-        <collision name='collision'>
-          <laser_retro>0</laser_retro>
-          <max_contacts>10</max_contacts>
-          <pose>0 0 0 0 -0 0</pose>
-          <geometry>
-            <mesh>
-              <uri>model://stem/meshes/stem.dae</uri>
-              <scale>0.001 0.001 0.001</scale>
-            </mesh>
-          </geometry>
-          <surface>
-            <friction>
-              <ode>
-                <mu>100</mu>
-                <mu2>50</mu2>
-              </ode>
-            </friction>
-            <bounce>
-              <restitution_coefficient>0</restitution_coefficient>
-              <threshold>1e+06</threshold>
-            </bounce>
-            <contact>
-              <ode/>
-            </contact>
-          </surface>
-        </collision>
-        <velocity_decay>
-          <linear>0</linear>
-          <angular>0</angular>
-        </velocity_decay>
-      </link>
-      <static>1</static>
-      <allow_auto_disable>1</allow_auto_disable>
-      <pose>0 0 0 0 -0 0</pose>
-    </model>
+
+    <!-- A global light source -->
+   <scene>
+      <sky>
+        <clouds>
+          <speed>12</speed>
+        </clouds>
+      </sky>
+
+   </scene>
+
+    <include>
+      <uri>model://sun</uri>
+    </include>
+
+    <include>
+      <pose>0 0 0 1.57 -0 0</pose>
+      <uri>model://arena</uri>
+    </include>
+
+
     <state world_name='default'>
       <sim_time>164 424000000</sim_time>
       <real_time>52 127760967</real_time>
       <wall_time>1451208292 468673600</wall_time>
-      <model name='arena'>
-        <pose>0 0 0 0 -0 0</pose>
-        <link name='link_arena'>
-          <pose>0 0 0 0 -0 0</pose>
-          <velocity>0 0 0 0 -0 0</velocity>
-          <acceleration>0 0 0 0 -0 0</acceleration>
-          <wrench>0 0 0 0 -0 0</wrench>
-        </link>
-      </model>
-      <model name='eight'>
-        <pose>0 0 0 0 -0 0</pose>
-        <link name='link_eight'>
-          <pose>0 0 0 0 -0 0</pose>
-          <velocity>0 0 0 0 -0 0</velocity>
-          <acceleration>0 0 0 0 -0 0</acceleration>
-          <wrench>0 0 0 0 -0 0</wrench>
-        </link>
-      </model>
-      <model name='ground_plane'>
-        <pose>0 0 0 0 -0 0</pose>
-        <link name='link'>
-          <pose>0 0 0 0 -0 0</pose>
-          <velocity>0 0 0 0 -0 0</velocity>
-          <acceleration>0 0 0 0 -0 0</acceleration>
-          <wrench>0 0 0 0 -0 0</wrench>
-        </link>
-      </model>
-      <model name='pad'>
-        <pose>25 65 0 0 -0 0</pose>
-        <link name='link_pad'>
-          <pose>25 65 0 0 -0 0</pose>
-          <velocity>0 0 0 0 -0 0</velocity>
-          <acceleration>0 0 0 0 -0 0</acceleration>
-          <wrench>0 0 0 0 -0 0</wrench>
-        </link>
-      </model>
-      <model name='pad_0'>
-        <pose>-25 -65 0 0 -0 0</pose>
-        <link name='link_pad'>
-          <pose>-25 -65 0 0 -0 0</pose>
-          <velocity>0 0 0 0 -0 0</velocity>
-          <acceleration>0 0 0 0 -0 0</acceleration>
-          <wrench>0 0 0 0 -0 0</wrench>
-        </link>
-      </model>
-      <model name='panel'>
-        <pose>0 0 -0 0 -0 0</pose>
-        <link name='link_panel'>
-          <pose>0 0 0.375 0 1.57079 0</pose>
-          <velocity>0 0 0 0 -0 0</velocity>
-          <acceleration>0 0 0 0 -0 0</acceleration>
-          <wrench>0 0 0 0 -0 0</wrench>
-        </link>
-        <link name='link_stem'>
-          <pose>0.31 -0.155 0.375 0 1.57079 0</pose>
-          <velocity>0 0 0 0 -0 0</velocity>
-          <acceleration>0 0 0 0 -0 0</acceleration>
-          <wrench>0 0 0 0 -0 0</wrench>
-        </link>
-      </model>
-      <model name='startsign'>
-        <pose>21 72 0.03 0 -0 0</pose>
-        <link name='link_startsign'>
-          <pose>21 72 0.03 0 -0 0</pose>
-          <velocity>0 0 0 0 -0 0</velocity>
-          <acceleration>0 0 0 0 -0 0</acceleration>
-          <wrench>0 0 0 0 -0 0</wrench>
-        </link>
-      </model>
     </state>
     <gui fullscreen='0'>
       <camera name='user_camera'>
diff --git a/gazebo_model/world/mbzirc_arena_old.world b/gazebo_model/world/mbzirc_arena_old.world
new file mode 100644
index 0000000..8ea3bc6
--- /dev/null
+++ b/gazebo_model/world/mbzirc_arena_old.world
@@ -0,0 +1,732 @@
+<sdf version='1.4'>
+  <world name='default'>
+    <light name='sun' type='directional'>
+      <cast_shadows>1</cast_shadows>
+      <pose>0 0 10 0 -0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.2 0.2 0.2 1</specular>
+      <attenuation>
+        <range>1000</range>
+        <constant>0.9</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>-0.5 0.1 -0.9</direction>
+    </light>
+    <model name='ground_plane'>
+      <static>1</static>
+      <link name='link'>
+        <collision name='collision'>
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 160</size>
+            </plane>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>100</mu>
+                <mu2>50</mu2>
+              </ode>
+            </friction>
+            <bounce/>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+          <max_contacts>10</max_contacts>
+        </collision>
+        <visual name='visual'>
+          <cast_shadows>0</cast_shadows>
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 160</size>
+            </plane>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+        <velocity_decay>
+          <linear>0</linear>
+          <angular>0</angular>
+        </velocity_decay>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+        <gravity>1</gravity>
+      </link>
+    </model>
+    <physics type='ode'>
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1</real_time_factor>
+      <real_time_update_rate>1000</real_time_update_rate>
+      <gravity>0 0 -9.8</gravity>
+    </physics>
+    <scene>
+      <ambient>0.4 0.4 0.4 1</ambient>
+      <background>0.7 0.7 0.7 1</background>
+      <shadows>1</shadows>
+    </scene>
+    <spherical_coordinates>
+      <surface_model>EARTH_WGS84</surface_model>
+      <latitude_deg>0</latitude_deg>
+      <longitude_deg>0</longitude_deg>
+      <elevation>0</elevation>
+      <heading_deg>0</heading_deg>
+    </spherical_coordinates>
+    <model name='arena'>
+      <link name='link_arena'>
+        <pose>0 0 0 0 -0 0</pose>
+        <gravity>1</gravity>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+        <inertial>
+          <mass>10000</mass>
+          <pose>0 0 0 0 -0 0</pose>
+          <inertia>
+            <ixx>1</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>1</iyy>
+            <iyz>0</iyz>
+            <izz>1</izz>
+          </inertia>
+        </inertial>
+        <visual name='visual'>
+          <pose>0 0 0 0 -0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://arena_old/meshes/100x60.dae</uri>
+              <scale>0.001 0.001 0.001</scale>
+            </mesh>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <shader type='pixel'>
+              <normal_map>__default__</normal_map>
+            </shader>
+            <ambient>0.5 0.5 0.5 1</ambient>
+            <diffuse>0.5 0.5 0.5 1</diffuse>
+            <specular>0.01 0.01 0.01 1</specular>
+            <emissive>0 0 0 1</emissive>
+          </material>
+          <cast_shadows>1</cast_shadows>
+          <transparency>0</transparency>
+        </visual>
+        <collision name='collision'>
+          <laser_retro>0</laser_retro>
+          <max_contacts>10</max_contacts>
+          <pose>0 0 0 0 -0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://arena_old/meshes/100x60.dae</uri>
+            </mesh>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>1</mu>
+                <mu2>1</mu2>
+                <fdir1>0 0 0</fdir1>
+                <slip1>0</slip1>
+                <slip2>0</slip2>
+              </ode>
+            </friction>
+            <bounce>
+              <restitution_coefficient>0</restitution_coefficient>
+              <threshold>1e+06</threshold>
+            </bounce>
+            <contact>
+              <collide_without_contact>0</collide_without_contact>
+              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+              <ode>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+                <max_vel>0.01</max_vel>
+                <min_depth>0</min_depth>
+              </ode>
+              <bullet>
+                <split_impulse>1</split_impulse>
+                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+              </bullet>
+            </contact>
+          </surface>
+        </collision>
+        <velocity_decay>
+          <linear>0</linear>
+          <angular>0</angular>
+        </velocity_decay>
+      </link>
+      <static>1</static>
+      <allow_auto_disable>1</allow_auto_disable>
+      <pose>0 0 0 0 -0 0</pose>
+    </model>
+    <model name='eight'>
+      <link name='link_eight'>
+        <pose>0 0 0 0 -0 0</pose>
+        <gravity>1</gravity>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+        <inertial>
+          <mass>1000</mass>
+          <pose>0 0 0 0 -0 0</pose>
+          <inertia>
+            <ixx>1</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>1</iyy>
+            <iyz>0</iyz>
+            <izz>1</izz>
+          </inertia>
+        </inertial>
+        <visual name='visual'>
+          <pose>0 0 0 0 -0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://eight/meshes/eight.dae</uri>
+              <scale>0.001 0.001 0.001</scale>
+            </mesh>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/White</name>
+            </script>
+            <shader type='pixel'>
+              <normal_map>__default__</normal_map>
+            </shader>
+            <ambient>0.9 0.9 0.9 1</ambient>
+            <diffuse>0.9 0.9 0.9 1</diffuse>
+            <specular>0.7 0.7 0.7 1</specular>
+            <emissive>0.2 0.2 0.2 1</emissive>
+          </material>
+          <cast_shadows>1</cast_shadows>
+          <transparency>0</transparency>
+        </visual>
+        <collision name='collision'>
+          <laser_retro>0</laser_retro>
+          <max_contacts>10</max_contacts>
+          <pose>0 0 0 0 -0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://eight/meshes/eight.dae</uri>
+              <scale>0.001 0.001 0.001</scale>
+            </mesh>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>100</mu>
+                <mu2>50</mu2>
+              </ode>
+            </friction>
+            <bounce>
+              <restitution_coefficient>0</restitution_coefficient>
+              <threshold>1e+06</threshold>
+            </bounce>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+        <velocity_decay>
+          <linear>0</linear>
+          <angular>0</angular>
+        </velocity_decay>
+      </link>
+      <static>1</static>
+      <allow_auto_disable>1</allow_auto_disable>
+      <pose>0 0 0 0 -0 0</pose>
+    </model>
+    <model name='pad'>
+      <link name='link_pad'>
+        <pose>0 0 0 0 -0 0</pose>
+        <gravity>1</gravity>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+        <inertial>
+          <mass>100</mass>
+          <pose>0 0 0 0 -0 0</pose>
+          <inertia>
+            <ixx>1</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>1</iyy>
+            <iyz>0</iyz>
+            <izz>1</izz>
+          </inertia>
+        </inertial>
+        <visual name='visual'>
+          <pose>0 0 0 0 -0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://pad/meshes/10x10.dae</uri>
+              <scale>0.001 0.001 0.001</scale>
+            </mesh>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/White</name>
+            </script>
+            <shader type='pixel'>
+              <normal_map>__default__</normal_map>
+            </shader>
+            <ambient>0.9 0.9 0.9 1</ambient>
+            <diffuse>0.6 0.6 0.6 1</diffuse>
+            <specular>0.5 0.5 0.5 1</specular>
+            <emissive>0.2 0.2 0.2 1</emissive>
+          </material>
+          <cast_shadows>1</cast_shadows>
+          <transparency>0</transparency>
+        </visual>
+        <collision name='collision'>
+          <laser_retro>0</laser_retro>
+          <max_contacts>10</max_contacts>
+          <pose>0 0 0 0 -0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://pad/meshes/10x10.dae</uri>
+            </mesh>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>1</mu>
+                <mu2>1</mu2>
+                <fdir1>0 0 0</fdir1>
+                <slip1>0</slip1>
+                <slip2>0</slip2>
+              </ode>
+            </friction>
+            <bounce>
+              <restitution_coefficient>0</restitution_coefficient>
+              <threshold>1e+06</threshold>
+            </bounce>
+            <contact>
+              <collide_without_contact>0</collide_without_contact>
+              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+              <ode>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+                <max_vel>0.01</max_vel>
+                <min_depth>0</min_depth>
+              </ode>
+              <bullet>
+                <split_impulse>1</split_impulse>
+                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+              </bullet>
+            </contact>
+          </surface>
+        </collision>
+        <velocity_decay>
+          <linear>0</linear>
+          <angular>0</angular>
+        </velocity_decay>
+      </link>
+      <static>1</static>
+      <allow_auto_disable>1</allow_auto_disable>
+      <pose>0 0 0 0 -0 0</pose>
+    </model>
+    <model name='startsign'>
+      <link name='link_startsign'>
+        <pose>0 0 0 0 -0 0</pose>
+        <gravity>1</gravity>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+        <inertial>
+          <mass>10</mass>
+          <pose>0 0 0 0 -0 0</pose>
+          <inertia>
+            <ixx>1</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>1</iyy>
+            <iyz>0</iyz>
+            <izz>1</izz>
+          </inertia>
+        </inertial>
+        <visual name='visual'>
+          <pose>0 0 0 0 -0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://start/meshes/start.dae</uri>
+              <scale>0.001 0.001 0.001</scale>
+            </mesh>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Red</name>
+            </script>
+            <shader type='pixel'>
+              <normal_map>__default__</normal_map>
+            </shader>
+            <ambient>0.9 0.1 0.1 1</ambient>
+            <diffuse>0.9 0.1 0.1 1</diffuse>
+            <specular>0.7 0.7 0.7 1</specular>
+            <emissive>0.2 0.2 0.2 1</emissive>
+          </material>
+          <cast_shadows>1</cast_shadows>
+          <transparency>0</transparency>
+        </visual>
+        <collision name='collision'>
+          <laser_retro>0</laser_retro>
+          <max_contacts>10</max_contacts>
+          <pose>0 0 0 0 -0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://start/meshes/start.dae</uri>
+            </mesh>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>100</mu>
+                <mu2>50</mu2>
+              </ode>
+            </friction>
+            <bounce>
+              <restitution_coefficient>0</restitution_coefficient>
+              <threshold>1e+06</threshold>
+            </bounce>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+        <velocity_decay>
+          <linear>0</linear>
+          <angular>0</angular>
+        </velocity_decay>
+      </link>
+      <static>1</static>
+      <allow_auto_disable>1</allow_auto_disable>
+      <pose>0 0 0 0 -0 0</pose>
+    </model>
+    <model name='pad_0'>
+      <link name='link_pad'>
+        <pose>0 0 0 0 -0 0</pose>
+        <gravity>1</gravity>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+        <inertial>
+          <mass>100</mass>
+          <pose>0 0 0 0 -0 0</pose>
+          <inertia>
+            <ixx>1</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>1</iyy>
+            <iyz>0</iyz>
+            <izz>1</izz>
+          </inertia>
+        </inertial>
+        <visual name='visual'>
+          <pose>0 0 0 0 -0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://pad/meshes/10x10.dae</uri>
+              <scale>0.001 0.001 0.001</scale>
+            </mesh>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/White</name>
+            </script>
+            <shader type='pixel'>
+              <normal_map>__default__</normal_map>
+            </shader>
+            <ambient>0.9 0.9 0.9 1</ambient>
+            <diffuse>0.6 0.6 0.6 1</diffuse>
+            <specular>0.5 0.5 0.5 1</specular>
+            <emissive>0.2 0.2 0.2 1</emissive>
+          </material>
+          <cast_shadows>1</cast_shadows>
+          <transparency>0</transparency>
+        </visual>
+        <collision name='collision'>
+          <laser_retro>0</laser_retro>
+          <max_contacts>10</max_contacts>
+          <pose>0 0 0 0 -0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://pad/meshes/10x10.dae</uri>
+            </mesh>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>100</mu>
+                <mu2>50</mu2>
+              </ode>
+            </friction>
+            <bounce>
+              <restitution_coefficient>0</restitution_coefficient>
+              <threshold>1e+06</threshold>
+            </bounce>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+        <velocity_decay>
+          <linear>0</linear>
+          <angular>0</angular>
+        </velocity_decay>
+      </link>
+      <static>1</static>
+      <allow_auto_disable>1</allow_auto_disable>
+      <pose>0 0 0 0 -0 0</pose>
+    </model>
+    <model name='panel'>
+      <link name='link_panel'>
+        <pose>0 0 0.375 0 1.57079 0</pose>
+        <gravity>1</gravity>
+        <self_collide>1</self_collide>
+        <kinematic>0</kinematic>
+        <inertial>
+          <mass>80</mass>
+          <inertia>
+            <ixx>0.07</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>0.08</iyy>
+            <iyz>0</iyz>
+            <izz>0.1</izz>
+          </inertia>
+        </inertial>
+        <visual name='visual'>
+          <pose>0 0 0 0 -0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://panel/meshes/panel.dae</uri>
+              <scale>0.001 0.001 0.001</scale>
+            </mesh>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <shader type='pixel'>
+              <normal_map>__default__</normal_map>
+            </shader>
+            <ambient>0.3 0.3 0.3 1</ambient>
+            <diffuse>0.7 0.7 0.7 1</diffuse>
+            <specular>0.01 0.01 0.01 1</specular>
+            <emissive>0 0 0 1</emissive>
+          </material>
+          <cast_shadows>1</cast_shadows>
+          <transparency>0</transparency>
+        </visual>
+        <collision name='collision'>
+          <laser_retro>0</laser_retro>
+          <max_contacts>10</max_contacts>
+          <pose>0 0 0 0 -0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://panel/meshes/panel.dae</uri>
+              <scale>0.001 0.001 0.001</scale>
+            </mesh>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>100</mu>
+                <mu2>50</mu2>
+              </ode>
+            </friction>
+            <bounce>
+              <restitution_coefficient>0</restitution_coefficient>
+              <threshold>1e+06</threshold>
+            </bounce>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+        <velocity_decay>
+          <linear>0</linear>
+          <angular>0</angular>
+        </velocity_decay>
+      </link>
+      <link name='link_stem'>
+        <pose>0.31 -0.155 0.375 0 1.57079 0</pose>
+        <gravity>1</gravity>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+        <inertial>
+          <mass>1</mass>
+          <pose>0 0 0 0 -0 0</pose>
+          <inertia>
+            <ixx>0.07</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>0.08</iyy>
+            <iyz>0</iyz>
+            <izz>0.1</izz>
+          </inertia>
+        </inertial>
+        <visual name='visual'>
+          <pose>0 0 0 0 -0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://stem/meshes/stem.dae</uri>
+              <scale>0.001 0.001 0.001</scale>
+            </mesh>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <shader type='pixel'>
+              <normal_map>__default__</normal_map>
+            </shader>
+            <ambient>0.3 0.3 0.3 1</ambient>
+            <diffuse>0.7 0.7 0.7 1</diffuse>
+            <specular>0.01 0.01 0.01 1</specular>
+            <emissive>0 0 0 1</emissive>
+          </material>
+          <cast_shadows>1</cast_shadows>
+          <transparency>0</transparency>
+        </visual>
+        <collision name='collision'>
+          <laser_retro>0</laser_retro>
+          <max_contacts>10</max_contacts>
+          <pose>0 0 0 0 -0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://stem/meshes/stem.dae</uri>
+              <scale>0.001 0.001 0.001</scale>
+            </mesh>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>100</mu>
+                <mu2>50</mu2>
+              </ode>
+            </friction>
+            <bounce>
+              <restitution_coefficient>0</restitution_coefficient>
+              <threshold>1e+06</threshold>
+            </bounce>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+        <velocity_decay>
+          <linear>0</linear>
+          <angular>0</angular>
+        </velocity_decay>
+      </link>
+      <static>1</static>
+      <allow_auto_disable>1</allow_auto_disable>
+      <pose>0 0 0 0 -0 0</pose>
+    </model>
+    <state world_name='default'>
+      <sim_time>164 424000000</sim_time>
+      <real_time>52 127760967</real_time>
+      <wall_time>1451208292 468673600</wall_time>
+      <model name='arena'>
+        <pose>0 0 0 0 -0 0</pose>
+        <link name='link_arena'>
+          <pose>0 0 0 0 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='eight'>
+        <pose>0 0 0 0 -0 0</pose>
+        <link name='link_eight'>
+          <pose>0 0 0 0 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='ground_plane'>
+        <pose>0 0 0 0 -0 0</pose>
+        <link name='link'>
+          <pose>0 0 0 0 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='pad'>
+        <pose>25 65 0 0 -0 0</pose>
+        <link name='link_pad'>
+          <pose>25 65 0 0 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='pad_0'>
+        <pose>-25 -65 0 0 -0 0</pose>
+        <link name='link_pad'>
+          <pose>-25 -65 0 0 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='panel'>
+        <pose>0 0 -0 0 -0 0</pose>
+        <link name='link_panel'>
+          <pose>0 0 0.375 0 1.57079 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+        <link name='link_stem'>
+          <pose>0.31 -0.155 0.375 0 1.57079 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='startsign'>
+        <pose>21 72 0.03 0 -0 0</pose>
+        <link name='link_startsign'>
+          <pose>21 72 0.03 0 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+    </state>
+    <gui fullscreen='0'>
+      <camera name='user_camera'>
+        <pose>159.908 -1.39949 83.4967 0 0.559643 -3.11099</pose>
+        <view_controller>orbit</view_controller>
+      </camera>
+    </gui>
+  </world>
+</sdf>
diff --git a/mbzirc/package.xml b/mbzirc/package.xml
index d25d444..59869ed 100644
--- a/mbzirc/package.xml
+++ b/mbzirc/package.xml
@@ -1,6 +1,6 @@
 <package>
   <name>mbzirc</name>
-  <version>1.0.0</version>
+  <version>0.3.4</version>
   <description>
       Software of JSK lab in mbzirc challenge.
   </description>