From 3db4f2f574226d22963ec2d0b207ddeb75987aff Mon Sep 17 00:00:00 2001
From: AAAAA <aaaaaa@aaaaaa.com>
Date: Tue, 20 Mar 2018 12:12:58 -0700
Subject: [PATCH 1/9] added gymkhana world and plugins

---
 .../models/hangar/meshes/hangar.dae           | 1206 +++++++++++++++++
 .../gazeboserver/models/hangar/model.config   |   16 +
 .../gazeboserver/models/hangar/model.sdf      |   26 +
 .../models/wall1/meshes/pared1.dae            |   93 ++
 .../gazeboserver/models/wall1/model.config    |   16 +
 .../gazeboserver/models/wall1/model.sdf       |   22 +
 .../models/wall2/meshes/pared2.dae            |   93 ++
 .../gazeboserver/models/wall2/model.config    |   16 +
 .../gazeboserver/models/wall2/model.sdf       |   22 +
 .../models/wall3/meshes/pared3.dae            |   93 ++
 .../gazeboserver/models/wall3/model.config    |   16 +
 .../gazeboserver/models/wall3/model.sdf       |   22 +
 .../models/wall4/meshes/pared4.dae            |   93 ++
 .../gazeboserver/models/wall4/model.config    |   16 +
 .../gazeboserver/models/wall4/model.sdf       |   22 +
 .../plugins/gymkhana/CMakeLists.txt           |   39 +
 .../gazeboserver/plugins/gymkhana/wall1.cc    |   49 +
 .../gazeboserver/plugins/gymkhana/wall2.cc    |   49 +
 .../gazeboserver/plugins/gymkhana/wall3.cc    |   49 +
 .../gazeboserver/plugins/gymkhana/wall4.cc    |   49 +
 .../gazeboserver/worlds/gymkhana.world        |   14 +
 21 files changed, 2021 insertions(+)
 create mode 100755 src/drivers/gazeboserver/models/hangar/meshes/hangar.dae
 create mode 100644 src/drivers/gazeboserver/models/hangar/model.config
 create mode 100644 src/drivers/gazeboserver/models/hangar/model.sdf
 create mode 100644 src/drivers/gazeboserver/models/wall1/meshes/pared1.dae
 create mode 100644 src/drivers/gazeboserver/models/wall1/model.config
 create mode 100644 src/drivers/gazeboserver/models/wall1/model.sdf
 create mode 100644 src/drivers/gazeboserver/models/wall2/meshes/pared2.dae
 create mode 100644 src/drivers/gazeboserver/models/wall2/model.config
 create mode 100644 src/drivers/gazeboserver/models/wall2/model.sdf
 create mode 100644 src/drivers/gazeboserver/models/wall3/meshes/pared3.dae
 create mode 100644 src/drivers/gazeboserver/models/wall3/model.config
 create mode 100644 src/drivers/gazeboserver/models/wall3/model.sdf
 create mode 100644 src/drivers/gazeboserver/models/wall4/meshes/pared4.dae
 create mode 100644 src/drivers/gazeboserver/models/wall4/model.config
 create mode 100644 src/drivers/gazeboserver/models/wall4/model.sdf
 create mode 100644 src/drivers/gazeboserver/plugins/gymkhana/CMakeLists.txt
 create mode 100644 src/drivers/gazeboserver/plugins/gymkhana/wall1.cc
 create mode 100644 src/drivers/gazeboserver/plugins/gymkhana/wall2.cc
 create mode 100644 src/drivers/gazeboserver/plugins/gymkhana/wall3.cc
 create mode 100644 src/drivers/gazeboserver/plugins/gymkhana/wall4.cc
 create mode 100644 src/drivers/gazeboserver/worlds/gymkhana.world

diff --git a/src/drivers/gazeboserver/models/hangar/meshes/hangar.dae b/src/drivers/gazeboserver/models/hangar/meshes/hangar.dae
new file mode 100755
index 000000000..25b8a84a3
--- /dev/null
+++ b/src/drivers/gazeboserver/models/hangar/meshes/hangar.dae
@@ -0,0 +1,1206 @@
+<?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 2.79.0</authoring_tool>
+    </contributor>
+    <created>2018-03-20T09:08:21</created>
+    <modified>2018-03-20T09:08:21</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera_001-camera" name="Camera.001">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">109.7281</xfov>
+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+      <extra>
+        <technique profile="blender">
+          <YF_dofdist>0</YF_dofdist>
+          <shiftx>0</shiftx>
+          <shifty>0</shifty>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Lamp-light" name="Lamp">
+      <technique_common>
+        <point>
+          <color sid="color">1 1 1</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <adapt_thresh>0.000999987</adapt_thresh>
+          <area_shape>1</area_shape>
+          <area_size>0.1</area_size>
+          <area_sizey>0.1</area_sizey>
+          <area_sizez>1</area_sizez>
+          <atm_distance_factor>1</atm_distance_factor>
+          <atm_extinction_factor>1</atm_extinction_factor>
+          <atm_turbidity>2</atm_turbidity>
+          <att1>0</att1>
+          <att2>1</att2>
+          <backscattered_light>1</backscattered_light>
+          <bias>1</bias>
+          <blue>1</blue>
+          <buffers>1</buffers>
+          <bufflag>0</bufflag>
+          <bufsize>2880</bufsize>
+          <buftype>2</buftype>
+          <clipend>30.002</clipend>
+          <clipsta>1.000799</clipsta>
+          <compressthresh>0.04999995</compressthresh>
+          <dist sid="blender_dist">29.99998</dist>
+          <energy sid="blender_energy">1</energy>
+          <falloff_type>2</falloff_type>
+          <filtertype>0</filtertype>
+          <flag>0</flag>
+          <gamma sid="blender_gamma">1</gamma>
+          <green>1</green>
+          <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
+          <horizon_brightness>1</horizon_brightness>
+          <mode>8192</mode>
+          <ray_samp>1</ray_samp>
+          <ray_samp_method>1</ray_samp_method>
+          <ray_samp_type>0</ray_samp_type>
+          <ray_sampy>1</ray_sampy>
+          <ray_sampz>1</ray_sampz>
+          <red>1</red>
+          <samp>3</samp>
+          <shadhalostep>0</shadhalostep>
+          <shadow_b sid="blender_shadow_b">0</shadow_b>
+          <shadow_g sid="blender_shadow_g">0</shadow_g>
+          <shadow_r sid="blender_shadow_r">0</shadow_r>
+          <sky_colorspace>0</sky_colorspace>
+          <sky_exposure>1</sky_exposure>
+          <skyblendfac>1</skyblendfac>
+          <skyblendtype>1</skyblendtype>
+          <soft>3</soft>
+          <spotblend>0.15</spotblend>
+          <spotsize>75</spotsize>
+          <spread>1</spread>
+          <sun_brightness>1</sun_brightness>
+          <sun_effect_type>0</sun_effect_type>
+          <sun_intensity>1</sun_intensity>
+          <sun_size>1</sun_size>
+          <type>0</type>
+        </technique>
+      </extra>
+    </light>
+  </library_lights>
+  <library_images/>
+  <library_effects>
+    <effect id="Material_001-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.8 0.7291335 0.7291335 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.25 0.25 0.25 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Pilares-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.1435528 0.1268142 0.1615207 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.25 0.25 0.25 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Vigas-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.06400933 0 0 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.5 0.5 0.5 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Rojo-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.8 0.001992353 0 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.25 0.25 0.25 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Material_002-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.110787 0.09199851 0.08660051 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.1264715 0.1264715 0.1264715 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <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>
+    <material id="Pilares-material" name="Pilares">
+      <instance_effect url="#Pilares-effect"/>
+    </material>
+    <material id="Vigas-material" name="Vigas">
+      <instance_effect url="#Vigas-effect"/>
+    </material>
+    <material id="Rojo-material" name="Rojo">
+      <instance_effect url="#Rojo-effect"/>
+    </material>
+    <material id="Material_002-material" name="Material_002">
+      <instance_effect url="#Material_002-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Plane-mesh" name="Plane">
+      <mesh>
+        <source id="Plane-mesh-positions">
+          <float_array id="Plane-mesh-positions-array" count="18">-14.56851 -8.388399 0 -14.56851 12.06799 0 14.56851 -8.388399 0 14.56851 12.06799 0 0 -8.388399 0 0 12.06799 0</float_array>
+          <technique_common>
+            <accessor source="#Plane-mesh-positions-array" count="6" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Plane-mesh-normals">
+          <float_array id="Plane-mesh-normals-array" count="3">0 0 1</float_array>
+          <technique_common>
+            <accessor source="#Plane-mesh-normals-array" count="1" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Plane-mesh-vertices">
+          <input semantic="POSITION" source="#Plane-mesh-positions"/>
+        </vertices>
+        <triangles material="Material_001-material" count="4">
+          <input semantic="VERTEX" source="#Plane-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Plane-mesh-normals" offset="1"/>
+          <p>4 0 1 0 0 0 3 0 4 0 2 0 4 0 5 0 1 0 3 0 5 0 4 0</p>
+        </triangles>
+      </mesh>
+    </geometry>
+    <geometry id="Plane_001-mesh" name="Plane.001">
+      <mesh>
+        <source id="Plane_001-mesh-positions">
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+          </technique_common>
+        </source>
+        <vertices id="Plane_005-mesh-vertices">
+          <input semantic="POSITION" source="#Plane_005-mesh-positions"/>
+        </vertices>
+        <lines count="12">
+          <input semantic="VERTEX" source="#Plane_005-mesh-vertices" offset="0"/>
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+        </lines>
+        <triangles material="Vigas-material" count="1920">
+          <input semantic="VERTEX" source="#Plane_005-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Plane_005-mesh-normals" offset="1"/>
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11239 3105 11239 1118 11240 3105 11240 8877 11240 5248 11139 10114 11139 5110 11139 5110 3493 10115 3493 5250 3493 1119 11241 5289 11241 8856 11241 3082 11242 8869 11242 5295 11242 5295 11114 10108 11114 5103 11114 5103 11243 10103 11243 5289 11243 5305 11244 8846 11244 3059 11244 1120 11245 3059 11245 8836 11245 5304 11246 10093 11246 5096 11246 5096 11247 10097 11247 5305 11247 5259 11248 8974 11248 3316 11248 1121 11249 3316 11249 8995 11249 5302 11250 10172 11250 5180 11250 5180 11251 10161 11251 5259 11251 5244 11252 8997 11252 3293 11252 1122 11253 3293 11253 9004 11253 5293 11200 10176 11200 5172 11200 5172 11254 10174 11254 5244 11254 5306 11255 8984 11255 3270 11255 1123 11256 3270 11256 8986 11256 5284 11133 10167 11133 5165 11133 5165 11134 10166 11134 5306 11134 5299 11257 8952 11257 3201 11257 1124 11258 3201 11258 8942 11258 5238 3678 10145 3678 5143 3678 5143 11027 10150 11027 5299 11027 5291 11259 8834 11259 3132 11259 1125 11260 3132 11260 8855 11260 5307 11030 10102 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8886 11281 3117 11281 1133 11282 3117 11282 8876 11282 5214 11069 10113 11069 5115 11069 5115 11117 10117 11117 5222 11117 5270 11283 9042 11283 3351 11283 1134 11284 3351 11284 9038 11284 5310 3473 10193 3473 5192 3473 5192 11285 10195 11285 5270 11285 5314 11286 8975 11286 3282 11286 1135 11287 3282 11287 8992 11287 5313 11168 10170 11168 5169 11168 5169 11059 10162 11059 5314 11059 5211 11288 8894 11288 3190 11288 1136 11289 3190 11289 8915 11289 5312 11030 10132 11030 5139 11030 5139 11031 10121 11031 5211 11031 5262 11290 8917 11290 3167 11290 1137 11291 3167 11291 8924 11291 5303 11034 10136 11034 5131 11034 5131 11035 10134 11035 5262 11035 5226 2782 9767 2782 4447 2782 4447 2782 9762 2782 5315 2782 5200 2782 10199 2782 5226 2782 1139 11292 5213 11292 8889 11292 3121 11293 8891 11293 5300 11293 5300 11088 10119 11088 5116 11088 5116 11089 10118 11089 5213 11089 5307 11294 8855 11294 3098 11294 1140 11295 3098 11295 8872 11295 5207 11168 10110 11168 5109 11168 5109 11059 10102 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+          <technique_common>
+            <accessor source="#Plane_025-mesh-normals-array" count="1627" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
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+          <input semantic="POSITION" source="#Plane_025-mesh-positions"/>
+        </vertices>
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+          <input semantic="NORMAL" source="#Plane_025-mesh-normals" offset="1"/>
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+        <matrix sid="transform">0.467103 0 0 0.03141826 0 0.9505945 0 0.6049016 0 0 0.7785048 -0.001482248 0 0 0 1</matrix>
+        <instance_geometry url="#Plane_007-mesh" name="Plane_007">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Vigas-material" target="#Vigas-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Plane_012" name="Plane_012" type="NODE">
+        <matrix sid="transform">0.467103 0 0 5.182564 0 0.9505945 0 -6.860649 0 0 0.7785048 2.489923 0 0 0 1</matrix>
+        <instance_geometry url="#Plane_012-mesh" name="Plane_012">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Vigas-material" target="#Vigas-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Plane_014" name="Plane_014" type="NODE">
+        <matrix sid="transform">0.467103 0 0 3.404588 0 0.9505945 0 -6.501565 0 0 0.7785048 2.48938 0 0 0 1</matrix>
+        <instance_geometry url="#Plane_014-mesh" name="Plane_014">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Vigas-material" target="#Vigas-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Plane_015" name="Plane_015" type="NODE">
+        <matrix sid="transform">0.467103 0 0 4.775049 0 0.9505945 0 -6.676538 0 0 0.7785048 2.489923 0 0 0 1</matrix>
+        <instance_geometry url="#Plane_015-mesh" name="Plane_015">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Vigas-material" target="#Vigas-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Plane_011" name="Plane_011" type="NODE">
+        <matrix sid="transform">0.467103 0 0 0.03141826 0 0.9505945 0 0.6049016 0 0 0.7785048 -0.001482248 0 0 0 1</matrix>
+        <instance_geometry url="#Plane_017-mesh" name="Plane_011">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Pilares-material" target="#Pilares-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Plane_019" name="Plane_019" type="NODE">
+        <matrix sid="transform">0.467103 0 0 0.03141826 0 0.9505945 0 0.6049016 0 0 0.7785048 -0.001482248 0 0 0 1</matrix>
+        <instance_geometry url="#Plane_021-mesh" name="Plane_019">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Vigas-material" target="#Vigas-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Plane_020" name="Plane_020" type="NODE">
+        <matrix sid="transform">0.467103 0 0 0.03141826 0 0.9505945 0 0.6049016 0 0 0.7785048 -0.001482248 0 0 0 1</matrix>
+        <instance_geometry url="#Plane_022-mesh" name="Plane_020">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Rojo-material" target="#Rojo-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Plane_021" name="Plane_021" type="NODE">
+        <matrix sid="transform">0.467103 0 0 0.03141826 0 0.9505945 0 0.6049016 0 0 0.7785048 -0.001482248 0 0 0 1</matrix>
+        <instance_geometry url="#Plane_023-mesh" name="Plane_021">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Rojo-material" target="#Rojo-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Plane_023" name="Plane_023" type="NODE">
+        <matrix sid="transform">0.467103 0 0 0.03141826 0 0.9505945 0 0.6049016 0 0 0.7785048 -0.001482248 0 0 0 1</matrix>
+        <instance_geometry url="#Plane_025-mesh" name="Plane_023">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Rojo-material" target="#Rojo-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Cube_001" name="Cube_001" type="NODE">
+        <matrix sid="transform">0.467103 0 0 0.03141826 0 0.9505945 0 0.6049016 0 0 0.7785048 -0.001482248 0 0 0 1</matrix>
+        <instance_geometry url="#Cube_002-mesh" name="Cube_001">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_002-material" target="#Material_002-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Plane_022" name="Plane_022" type="NODE">
+        <matrix sid="transform">0.467103 0 0 -4.912462 0 0.9505945 0 -6.860649 0 0 0.7785048 2.489923 0 0 0 1</matrix>
+        <instance_geometry url="#Plane_032-mesh" name="Plane_022">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Vigas-material" target="#Vigas-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Plane_024" name="Plane_024" type="NODE">
+        <matrix sid="transform">0.467103 0 0 -4.486212 0 0.9505945 0 -6.676538 0 0 0.7785048 2.489923 0 0 0 1</matrix>
+        <instance_geometry url="#Plane_033-mesh" name="Plane_024">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Vigas-material" target="#Vigas-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Plane_025" name="Plane_025" type="NODE">
+        <matrix sid="transform">0.467103 0 0 -3.38193 0 0.9505945 0 -6.501565 0 0 0.7785048 2.48938 0 0 0 1</matrix>
+        <instance_geometry url="#Plane_034-mesh" name="Plane_025">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Vigas-material" target="#Vigas-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Plane_026" name="Plane_026" type="NODE">
+        <matrix sid="transform">0.467103 0 0 0.03141826 0 0.9505945 0 0.6049016 0 0 0.7785048 -0.001482248 0 0 0 1</matrix>
+        <instance_geometry url="#Plane_035-mesh" name="Plane_026">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_002-material" target="#Material_002-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Plane_027" name="Plane_027" type="NODE">
+        <matrix sid="transform">0.467103 0 0 0.03141826 0 0.9505945 0 0.6049016 0 0 0.7785048 -0.001482248 0 0 0 1</matrix>
+        <instance_geometry url="#Plane_036-mesh" name="Plane_027"/>
+      </node>
+      <node id="Camera_001" name="Camera_001" type="NODE">
+        <matrix sid="transform">0.2893339 -0.003723457 0.157836 7.952843 0.09107925 0.01182698 -0.5014019 -9.934359 3.03234e-7 0.4297046 0.01516801 5.731604 0 0 0 1</matrix>
+        <instance_camera url="#Camera_001-camera"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/src/drivers/gazeboserver/models/hangar/model.config b/src/drivers/gazeboserver/models/hangar/model.config
new file mode 100644
index 000000000..13add50d4
--- /dev/null
+++ b/src/drivers/gazeboserver/models/hangar/model.config
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>Hangar</name>
+  <version>1.0</version>
+  <sdf>model.sdf</sdf>
+
+  <author>
+    <name>Alvaro Villamil</name>
+    <email>a.villamil@hotmail.com</email>
+  </author>
+
+  <description>
+    The F1 Monaco track without elevations.
+  </description>
+</model>
diff --git a/src/drivers/gazeboserver/models/hangar/model.sdf b/src/drivers/gazeboserver/models/hangar/model.sdf
new file mode 100644
index 000000000..e804c2a49
--- /dev/null
+++ b/src/drivers/gazeboserver/models/hangar/model.sdf
@@ -0,0 +1,26 @@
+<?xml version='1.0'?>
+<sdf version="1.4">
+<model name="hangar">
+  <static>true</static>
+    <link name="hangar">
+    	<pose>0 0 0 0 0 0</pose>
+        <collision name="collision">
+            <geometry>
+               <!--<mesh>
+                  <uri>model://hangar/meshes/hangar.dae</uri>
+               </mesh>-->
+	       <plane>
+		   <size>100 100</size>
+    	       </plane>
+            </geometry>
+        </collision>
+        <visual name="visual">
+            <geometry>
+               <mesh>
+                  <uri>model://hangar/meshes/hangar.dae</uri>
+               </mesh>
+            </geometry>
+        </visual>
+     </link>
+</model>
+</sdf>
diff --git a/src/drivers/gazeboserver/models/wall1/meshes/pared1.dae b/src/drivers/gazeboserver/models/wall1/meshes/pared1.dae
new file mode 100644
index 000000000..9bf640f6f
--- /dev/null
+++ b/src/drivers/gazeboserver/models/wall1/meshes/pared1.dae
@@ -0,0 +1,93 @@
+<?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 2.79.0</authoring_tool>
+    </contributor>
+    <created>2018-03-20T09:39:40</created>
+    <modified>2018-03-20T09:39:40</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images/>
+  <library_effects>
+    <effect id="Pared1-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">1 0 0.00205001 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="Pared1-material" name="Pared1">
+      <instance_effect url="#Pared1-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Cube_003-mesh" name="Cube.003">
+      <mesh>
+        <source id="Cube_003-mesh-positions">
+          <float_array id="Cube_003-mesh-positions-array" count="24">1 1 -1 1 -1 -1 -1 -0.9999998 -1 -0.9999997 1 -1 1 0.9999995 1 0.9999994 -1.000001 1 -1 -0.9999997 1 -1 1 1</float_array>
+          <technique_common>
+            <accessor source="#Cube_003-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="Cube_003-mesh-normals">
+          <float_array id="Cube_003-mesh-normals-array" count="36">0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -4.76837e-7 -1 2.38419e-7 -1.49012e-7 2.68221e-7 1 2.38419e-7 0 0 -1 0 0 1 1 -5.96046e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.38419e-7 -1.19209e-7 2.08616e-7 1 0</float_array>
+          <technique_common>
+            <accessor source="#Cube_003-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>
+        <vertices id="Cube_003-mesh-vertices">
+          <input semantic="POSITION" source="#Cube_003-mesh-positions"/>
+        </vertices>
+        <triangles material="Pared1-material" count="12">
+          <input semantic="VERTEX" source="#Cube_003-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cube_003-mesh-normals" offset="1"/>
+          <p>0 0 2 0 3 0 7 1 5 1 4 1 4 2 1 2 0 2 5 3 2 3 1 3 2 4 7 4 3 4 0 5 7 5 4 5 0 6 1 6 2 6 7 7 6 7 5 7 4 8 5 8 1 8 5 9 6 9 2 9 2 10 6 10 7 10 0 11 3 11 7 11</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Cube_002" name="Cube_002" type="NODE">
+        <matrix sid="transform">1.027213 0 0 0 0 0.1027213 0 4 0 0 2.080106 2.2 0 0 0 1</matrix>
+        <instance_geometry url="#Cube_003-mesh" name="Cube_002">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Pared1-material" target="#Pared1-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/src/drivers/gazeboserver/models/wall1/model.config b/src/drivers/gazeboserver/models/wall1/model.config
new file mode 100644
index 000000000..ef6df6233
--- /dev/null
+++ b/src/drivers/gazeboserver/models/wall1/model.config
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>wall1</name>
+  <version>1.0</version>
+  <sdf>model.sdf</sdf>
+
+  <author>
+    <name>Alvaro Villamil</name>
+    <email>a.villamil@hotmail.com</email>
+  </author>
+
+  <description>
+    The F1 Monaco track without elevations.
+  </description>
+</model>
diff --git a/src/drivers/gazeboserver/models/wall1/model.sdf b/src/drivers/gazeboserver/models/wall1/model.sdf
new file mode 100644
index 000000000..312f6eaa4
--- /dev/null
+++ b/src/drivers/gazeboserver/models/wall1/model.sdf
@@ -0,0 +1,22 @@
+<?xml version='1.0'?>
+<sdf version="1.4">
+<model name="wall1">
+    <link name="pared1">
+        <collision name="collision">
+            <geometry>
+               <mesh>
+                  <uri>model://wall1/meshes/pared1.dae</uri>
+               </mesh>
+            </geometry>
+        </collision>
+        <visual name="visual">
+            <geometry>
+               <mesh>
+                  <uri>model://wall1/meshes/pared1.dae</uri>
+               </mesh>
+            </geometry>
+        </visual>
+     </link>
+     <plugin name="wall1plugin" filename="libwall1plugin.so"/>
+</model>
+</sdf>
diff --git a/src/drivers/gazeboserver/models/wall2/meshes/pared2.dae b/src/drivers/gazeboserver/models/wall2/meshes/pared2.dae
new file mode 100644
index 000000000..3c806fd26
--- /dev/null
+++ b/src/drivers/gazeboserver/models/wall2/meshes/pared2.dae
@@ -0,0 +1,93 @@
+<?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 2.79.0</authoring_tool>
+    </contributor>
+    <created>2018-03-20T11:36:30</created>
+    <modified>2018-03-20T11:36:30</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images/>
+  <library_effects>
+    <effect id="Pared2-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0 1 0 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="Pared2-material" name="Pared2">
+      <instance_effect url="#Pared2-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Cube_001-mesh" name="Cube.001">
+      <mesh>
+        <source id="Cube_001-mesh-positions">
+          <float_array id="Cube_001-mesh-positions-array" count="24">1 1 -1 1 -1 -1 -1 -0.9999998 -1 -0.9999997 1 -1 1 0.9999995 1 0.9999994 -1.000001 1 -1 -0.9999997 1 -1 1 1</float_array>
+          <technique_common>
+            <accessor source="#Cube_001-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="Cube_001-mesh-normals">
+          <float_array id="Cube_001-mesh-normals-array" count="36">0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -4.76837e-7 -1 2.38419e-7 -1.49012e-7 2.68221e-7 1 2.38419e-7 0 0 -1 0 0 1 1 -5.96046e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.38419e-7 -1.19209e-7 2.08616e-7 1 0</float_array>
+          <technique_common>
+            <accessor source="#Cube_001-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>
+        <vertices id="Cube_001-mesh-vertices">
+          <input semantic="POSITION" source="#Cube_001-mesh-positions"/>
+        </vertices>
+        <triangles material="Pared2-material" count="12">
+          <input semantic="VERTEX" source="#Cube_001-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cube_001-mesh-normals" offset="1"/>
+          <p>0 0 2 0 3 0 7 1 5 1 4 1 4 2 1 2 0 2 5 3 2 3 1 3 2 4 7 4 3 4 0 5 7 5 4 5 0 6 1 6 2 6 7 7 6 7 5 7 4 8 5 8 1 8 5 9 6 9 2 9 2 10 6 10 7 10 0 11 3 11 7 11</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Cube_001" name="Cube_001" type="NODE">
+        <matrix sid="transform">3.081639 0 0 0 0 0.1027213 0 -1 0 0 0.7704098 0.8400004 0 0 0 1</matrix>
+        <instance_geometry url="#Cube_001-mesh" name="Cube_001">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Pared2-material" target="#Pared2-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/src/drivers/gazeboserver/models/wall2/model.config b/src/drivers/gazeboserver/models/wall2/model.config
new file mode 100644
index 000000000..b777787be
--- /dev/null
+++ b/src/drivers/gazeboserver/models/wall2/model.config
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>wall2</name>
+  <version>1.0</version>
+  <sdf>model.sdf</sdf>
+
+  <author>
+    <name>Alvaro Villamil</name>
+    <email>a.villamil@hotmail.com</email>
+  </author>
+
+  <description>
+    The F1 Monaco track without elevations.
+  </description>
+</model>
diff --git a/src/drivers/gazeboserver/models/wall2/model.sdf b/src/drivers/gazeboserver/models/wall2/model.sdf
new file mode 100644
index 000000000..7cadd02bf
--- /dev/null
+++ b/src/drivers/gazeboserver/models/wall2/model.sdf
@@ -0,0 +1,22 @@
+<?xml version='1.0'?>
+<sdf version="1.4">
+<model name="wall2">
+    <link name="pared2">
+        <collision name="collision">
+            <geometry>
+               <mesh>
+                  <uri>model://wall2/meshes/pared2.dae</uri>
+               </mesh>
+            </geometry>
+        </collision>
+        <visual name="visual">
+            <geometry>
+               <mesh>
+                  <uri>model://wall2/meshes/pared2.dae</uri>
+               </mesh>
+            </geometry>
+        </visual>
+     </link>
+     <plugin name="wall2plugin" filename="libwall2plugin.so"/>
+</model>
+</sdf>
diff --git a/src/drivers/gazeboserver/models/wall3/meshes/pared3.dae b/src/drivers/gazeboserver/models/wall3/meshes/pared3.dae
new file mode 100644
index 000000000..d9ae639fe
--- /dev/null
+++ b/src/drivers/gazeboserver/models/wall3/meshes/pared3.dae
@@ -0,0 +1,93 @@
+<?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 2.79.0</authoring_tool>
+    </contributor>
+    <created>2018-03-20T11:39:09</created>
+    <modified>2018-03-20T11:39:09</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images/>
+  <library_effects>
+    <effect id="Pared3-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.003006209 0 1 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="Pared3-material" name="Pared3">
+      <instance_effect url="#Pared3-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Cube_004-mesh" name="Cube.004">
+      <mesh>
+        <source id="Cube_004-mesh-positions">
+          <float_array id="Cube_004-mesh-positions-array" count="24">1 1 -1 1 -1 -1 -1 -0.9999998 -1 -0.9999997 1 -1 1 0.9999995 1 0.9999994 -1.000001 1 -1 -0.9999997 1 -1 1 1</float_array>
+          <technique_common>
+            <accessor source="#Cube_004-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="Cube_004-mesh-normals">
+          <float_array id="Cube_004-mesh-normals-array" count="36">0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -4.76837e-7 -1 2.38419e-7 -1.49012e-7 2.68221e-7 1 2.38419e-7 0 0 -1 0 0 1 1 -5.96046e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.38419e-7 -1.19209e-7 2.08616e-7 1 0</float_array>
+          <technique_common>
+            <accessor source="#Cube_004-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>
+        <vertices id="Cube_004-mesh-vertices">
+          <input semantic="POSITION" source="#Cube_004-mesh-positions"/>
+        </vertices>
+        <triangles material="Pared3-material" count="12">
+          <input semantic="VERTEX" source="#Cube_004-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cube_004-mesh-normals" offset="1"/>
+          <p>0 0 2 0 3 0 7 1 5 1 4 1 4 2 1 2 0 2 5 3 2 3 1 3 2 4 7 4 3 4 0 5 7 5 4 5 0 6 1 6 2 6 7 7 6 7 5 7 4 8 5 8 1 8 5 9 6 9 2 9 2 10 6 10 7 10 0 11 3 11 7 11</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Cube_003" name="Cube_003" type="NODE">
+        <matrix sid="transform">1.027213 0 0 1.045155 0 0.1027213 0 -6 0 0 1.54082 1.6 0 0 0 1</matrix>
+        <instance_geometry url="#Cube_004-mesh" name="Cube_003">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Pared3-material" target="#Pared3-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/src/drivers/gazeboserver/models/wall3/model.config b/src/drivers/gazeboserver/models/wall3/model.config
new file mode 100644
index 000000000..fac17d5dd
--- /dev/null
+++ b/src/drivers/gazeboserver/models/wall3/model.config
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>wall3</name>
+  <version>1.0</version>
+  <sdf>model.sdf</sdf>
+
+  <author>
+    <name>Alvaro Villamil</name>
+    <email>a.villamil@hotmail.com</email>
+  </author>
+
+  <description>
+    The F1 Monaco track without elevations.
+  </description>
+</model>
diff --git a/src/drivers/gazeboserver/models/wall3/model.sdf b/src/drivers/gazeboserver/models/wall3/model.sdf
new file mode 100644
index 000000000..afa2d7bc9
--- /dev/null
+++ b/src/drivers/gazeboserver/models/wall3/model.sdf
@@ -0,0 +1,22 @@
+<?xml version='1.0'?>
+<sdf version="1.4">
+<model name="wall3">
+    <link name="pared3">
+        <collision name="collision">
+            <geometry>
+               <mesh>
+                  <uri>model://wall3/meshes/pared3.dae</uri>
+               </mesh>
+            </geometry>
+        </collision>
+        <visual name="visual">
+            <geometry>
+               <mesh>
+                  <uri>model://wall3/meshes/pared3.dae</uri>
+               </mesh>
+            </geometry>
+        </visual>
+     </link>
+     <plugin name="wall3plugin" filename="libwall3plugin.so"/>
+</model>
+</sdf>
diff --git a/src/drivers/gazeboserver/models/wall4/meshes/pared4.dae b/src/drivers/gazeboserver/models/wall4/meshes/pared4.dae
new file mode 100644
index 000000000..b5a0b9910
--- /dev/null
+++ b/src/drivers/gazeboserver/models/wall4/meshes/pared4.dae
@@ -0,0 +1,93 @@
+<?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 2.79.0</authoring_tool>
+    </contributor>
+    <created>2018-03-20T11:39:29</created>
+    <modified>2018-03-20T11:39:29</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images/>
+  <library_effects>
+    <effect id="Pared3-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.003006209 0 1 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="Pared3-material" name="Pared3">
+      <instance_effect url="#Pared3-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Cube-mesh" name="Cube">
+      <mesh>
+        <source id="Cube-mesh-positions">
+          <float_array id="Cube-mesh-positions-array" count="24">1 1 -1 1 -1 -1 -1 -0.9999998 -1 -0.9999997 1 -1 1 0.9999995 1 0.9999994 -1.000001 1 -1 -0.9999997 1 -1 1 1</float_array>
+          <technique_common>
+            <accessor source="#Cube-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="Cube-mesh-normals">
+          <float_array id="Cube-mesh-normals-array" count="36">0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -4.76837e-7 -1 2.38419e-7 -1.49012e-7 2.68221e-7 1 2.38419e-7 0 0 -1 0 0 1 1 -5.96046e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.38419e-7 -1.19209e-7 2.08616e-7 1 0</float_array>
+          <technique_common>
+            <accessor source="#Cube-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>
+        <vertices id="Cube-mesh-vertices">
+          <input semantic="POSITION" source="#Cube-mesh-positions"/>
+        </vertices>
+        <triangles material="Pared3-material" count="12">
+          <input semantic="VERTEX" source="#Cube-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cube-mesh-normals" offset="1"/>
+          <p>0 0 2 0 3 0 7 1 5 1 4 1 4 2 1 2 0 2 5 3 2 3 1 3 2 4 7 4 3 4 0 5 7 5 4 5 0 6 1 6 2 6 7 7 6 7 5 7 4 8 5 8 1 8 5 9 6 9 2 9 2 10 6 10 7 10 0 11 3 11 7 11</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Cube" name="Cube" type="NODE">
+        <matrix sid="transform">1.027213 0 0 -1.084647 0 0.1027213 0 -6 0 0 1.54082 1.6 0 0 0 1</matrix>
+        <instance_geometry url="#Cube-mesh" name="Cube">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Pared3-material" target="#Pared3-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/src/drivers/gazeboserver/models/wall4/model.config b/src/drivers/gazeboserver/models/wall4/model.config
new file mode 100644
index 000000000..4eacb03ed
--- /dev/null
+++ b/src/drivers/gazeboserver/models/wall4/model.config
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>wall4</name>
+  <version>1.0</version>
+  <sdf>model.sdf</sdf>
+
+  <author>
+    <name>Alvaro Villamil</name>
+    <email>a.villamil@hotmail.com</email>
+  </author>
+
+  <description>
+    The F1 Monaco track without elevations.
+  </description>
+</model>
diff --git a/src/drivers/gazeboserver/models/wall4/model.sdf b/src/drivers/gazeboserver/models/wall4/model.sdf
new file mode 100644
index 000000000..4ce9c80a2
--- /dev/null
+++ b/src/drivers/gazeboserver/models/wall4/model.sdf
@@ -0,0 +1,22 @@
+<?xml version='1.0'?>
+<sdf version="1.4">
+<model name="wall4">
+    <link name="pared4">
+        <collision name="collision">
+            <geometry>
+               <mesh>
+                  <uri>model://wall4/meshes/pared4.dae</uri>
+               </mesh>
+            </geometry>
+        </collision>
+        <visual name="visual">
+            <geometry>
+               <mesh>
+                  <uri>model://wall4/meshes/pared4.dae</uri>
+               </mesh>
+            </geometry>
+        </visual>
+     </link>
+     <plugin name="wall4plugin" filename="libwall4plugin.so"/>
+</model>
+</sdf>
diff --git a/src/drivers/gazeboserver/plugins/gymkhana/CMakeLists.txt b/src/drivers/gazeboserver/plugins/gymkhana/CMakeLists.txt
new file mode 100644
index 000000000..51ea8fa5b
--- /dev/null
+++ b/src/drivers/gazeboserver/plugins/gymkhana/CMakeLists.txt
@@ -0,0 +1,39 @@
+include_directories(
+	${GAZEBO_INCLUDE_DIRS}
+    ${INTERFACES_CPP_DIR}
+    ${LIBS_DIR}
+    ${CMAKE_CURRENT_SOURCE_DIR}
+)
+
+link_directories(
+    ${GAZEBO_LIBRARY_DIRS}
+)
+#boost_system 
+add_library(wall1plugin SHARED wall1.cc)
+target_link_libraries(wall1plugin 
+	${GAZEBO_libraries} 
+)
+
+add_library(wall2plugin SHARED wall2.cc)
+target_link_libraries(wall2plugin 
+	${GAZEBO_libraries} 
+)
+
+add_library(wall3plugin SHARED wall3.cc)
+target_link_libraries(wall3plugin 
+	${GAZEBO_libraries} 
+)
+
+add_library(wall4plugin SHARED wall4.cc)
+target_link_libraries(wall4plugin 
+	${GAZEBO_libraries} 
+)
+
+INSTALL (TARGETS wall1plugin wall2plugin wall3plugin wall4plugin DESTINATION share/jderobot/gazebo/plugins/gymkhana/ COMPONENT gazeboserver)
+FILE(GLOB_RECURSE CFG_FILES ${CMAKE_CURRENT_SOURCE_DIR}/*.cfg)
+INSTALL (FILES ${CFG_FILES} DESTINATION ${CMAKE_INSTALL_PREFIX}/share/jderobot/conf/ COMPONENT gazeboserver)
+
+
+
+
+
diff --git a/src/drivers/gazeboserver/plugins/gymkhana/wall1.cc b/src/drivers/gazeboserver/plugins/gymkhana/wall1.cc
new file mode 100644
index 000000000..5d3c868ee
--- /dev/null
+++ b/src/drivers/gazeboserver/plugins/gymkhana/wall1.cc
@@ -0,0 +1,49 @@
+#include <boost/bind.hpp>
+#include <gazebo/gazebo.hh>
+#include <gazebo/physics/physics.hh>
+#include <gazebo/common/common.hh>
+#include <stdio.h>
+#include <iostream>
+
+namespace gazebo
+{
+  	class Wall1 : public ModelPlugin {
+
+		private: math::Pose pose;
+  		private: bool flag;
+
+  		public: void Load(physics::ModelPtr _parent, sdf::ElementPtr ) {
+      			this->model = _parent;
+			flag = true;
+	  		this->updateConnection = event::Events::ConnectWorldUpdateBegin(
+          		boost::bind(&Wall1::OnUpdate, this, _1));
+			std::cout << "Loading wall 1" << std::endl;
+			
+		}
+
+    		public: void OnUpdate(const common::UpdateInfo & ) {
+			pose = this->model->GetWorldPose();
+
+			if  (flag) {
+				this->model->SetLinearVel(math::Vector3(1, 0, 0));
+			}
+			if ( pose.pos.x >=4 ) {
+			        pose.pos.x = 4;
+			        this->model->SetWorldPose(pose);
+				flag = false;
+			}
+			if (!flag) {
+				this->model->SetLinearVel(math::Vector3(-1, 0, 0));
+			}	
+			if ( pose.pos.x <=-4 ) {
+			        pose.pos.x = -4;
+			        this->model->SetWorldPose(pose);
+				flag = true;
+			}
+
+		}
+		private: physics::ModelPtr model;
+		private: event::ConnectionPtr updateConnection;
+  	};
+  	GZ_REGISTER_MODEL_PLUGIN(Wall1)
+}
diff --git a/src/drivers/gazeboserver/plugins/gymkhana/wall2.cc b/src/drivers/gazeboserver/plugins/gymkhana/wall2.cc
new file mode 100644
index 000000000..33988bcf8
--- /dev/null
+++ b/src/drivers/gazeboserver/plugins/gymkhana/wall2.cc
@@ -0,0 +1,49 @@
+#include <boost/bind.hpp>
+#include <gazebo/gazebo.hh>
+#include <gazebo/physics/physics.hh>
+#include <gazebo/common/common.hh>
+#include <stdio.h>
+#include <iostream>
+
+namespace gazebo
+{
+  	class Wall2 : public ModelPlugin {
+
+		private: math::Pose pose;
+  		private: bool flag;
+
+  		public: void Load(physics::ModelPtr _parent, sdf::ElementPtr ) {
+      			this->model = _parent;
+			flag = true;
+	  		this->updateConnection = event::Events::ConnectWorldUpdateBegin(
+          		boost::bind(&Wall2::OnUpdate, this, _1));
+			std::cout << "Loading wall 2" << std::endl;
+		}
+
+    		public: void OnUpdate(const common::UpdateInfo & ) {
+			pose = this->model->GetWorldPose();
+		
+  			
+  			if  (flag) {
+				this->model->SetLinearVel(math::Vector3(0, 0, 0.5));
+			}
+			if ( pose.pos.z >= 2 ) {
+			        pose.pos.z = 2;
+			        this->model->SetWorldPose(pose);
+				flag = false;
+			}
+			if (!flag) {
+				this->model->SetLinearVel(math::Vector3(0, 0, -0.5));
+			}	
+			if ( pose.pos.z <=0) {
+			        pose.pos.z = 0;
+			        this->model->SetWorldPose(pose);
+				flag = true;
+			}
+
+		}
+		private: physics::ModelPtr model;
+		private: event::ConnectionPtr updateConnection;
+  	};
+  	GZ_REGISTER_MODEL_PLUGIN(Wall2)
+}
diff --git a/src/drivers/gazeboserver/plugins/gymkhana/wall3.cc b/src/drivers/gazeboserver/plugins/gymkhana/wall3.cc
new file mode 100644
index 000000000..35c87ccaa
--- /dev/null
+++ b/src/drivers/gazeboserver/plugins/gymkhana/wall3.cc
@@ -0,0 +1,49 @@
+#include <boost/bind.hpp>
+#include <gazebo/gazebo.hh>
+#include <gazebo/physics/physics.hh>
+#include <gazebo/common/common.hh>
+#include <stdio.h>
+#include <iostream>
+
+namespace gazebo
+{
+  	class Wall3 : public ModelPlugin {
+
+		private: math::Pose pose;
+  		private: bool flag;
+
+  		public: void Load(physics::ModelPtr _parent, sdf::ElementPtr ) {
+      			this->model = _parent;
+			flag = true;
+	  		this->updateConnection = event::Events::ConnectWorldUpdateBegin(
+          		boost::bind(&Wall3::OnUpdate, this, _1));
+			std::cout << "Loading wall 3" << std::endl;
+			
+		}
+
+    		public: void OnUpdate(const common::UpdateInfo & ) {
+			pose = this->model->GetWorldPose();
+
+			if  (flag) {
+				this->model->SetLinearVel(math::Vector3(1, 0, 0));
+			}
+			if ( pose.pos.x >=4 ) {
+			        pose.pos.x = 4;
+			        this->model->SetWorldPose(pose);
+				flag = false;
+			}
+			if (!flag) {
+				this->model->SetLinearVel(math::Vector3(-1, 0, 0));
+			}	
+			if ( pose.pos.x <=0 ) {
+			        pose.pos.x = 0;
+			        this->model->SetWorldPose(pose);
+				flag = true;
+			}
+
+		}
+		private: physics::ModelPtr model;
+		private: event::ConnectionPtr updateConnection;
+  	};
+  	GZ_REGISTER_MODEL_PLUGIN(Wall3)
+}
diff --git a/src/drivers/gazeboserver/plugins/gymkhana/wall4.cc b/src/drivers/gazeboserver/plugins/gymkhana/wall4.cc
new file mode 100644
index 000000000..7ca87946a
--- /dev/null
+++ b/src/drivers/gazeboserver/plugins/gymkhana/wall4.cc
@@ -0,0 +1,49 @@
+#include <boost/bind.hpp>
+#include <gazebo/gazebo.hh>
+#include <gazebo/physics/physics.hh>
+#include <gazebo/common/common.hh>
+#include <stdio.h>
+#include <iostream>
+
+namespace gazebo
+{
+  	class Wall4 : public ModelPlugin {
+
+		private: math::Pose pose;
+  		private: bool flag;
+
+  		public: void Load(physics::ModelPtr _parent, sdf::ElementPtr ) {
+      			this->model = _parent;
+			flag = true;
+	  		this->updateConnection = event::Events::ConnectWorldUpdateBegin(
+          		boost::bind(&Wall4::OnUpdate, this, _1));
+			std::cout << "Loading wall 4" << std::endl;
+			
+		}
+
+    		public: void OnUpdate(const common::UpdateInfo & ) {
+			pose = this->model->GetWorldPose();
+
+			if  (flag) {
+				this->model->SetLinearVel(math::Vector3(-1, 0, 0));
+			}
+			if ( pose.pos.x <=-4 ) {
+			        pose.pos.x = -4;
+			        this->model->SetWorldPose(pose);
+				flag = false;
+			}
+			if (!flag) {
+				this->model->SetLinearVel(math::Vector3(1, 0, 0));
+			}	
+			if ( pose.pos.x >=0 ) {
+			        pose.pos.x = 0;
+			        this->model->SetWorldPose(pose);
+				flag = true;
+			}
+
+		}
+		private: physics::ModelPtr model;
+		private: event::ConnectionPtr updateConnection;
+  	};
+  	GZ_REGISTER_MODEL_PLUGIN(Wall4)
+}
diff --git a/src/drivers/gazeboserver/worlds/gymkhana.world b/src/drivers/gazeboserver/worlds/gymkhana.world
new file mode 100644
index 000000000..a242b0c97
--- /dev/null
+++ b/src/drivers/gazeboserver/worlds/gymkhana.world
@@ -0,0 +1,14 @@
+<?xml version="1.0" ?>
+<sdf version="1.4">
+  <world name="default">
+    <!-- Ground -->
+    <include>
+      <uri>model://hangar</uri>
+    </include>
+    <!-- My robots -->
+    <include>
+      <uri>model://sun</uri>
+    </include>
+
+  </world>
+</sdf>

From 5b81960e2038e7979e1988da90d5599f2e03223a Mon Sep 17 00:00:00 2001
From: AAAAA <aaaaaa@aaaaaa.com>
Date: Sat, 24 Mar 2018 07:04:42 -0700
Subject: [PATCH 2/9] Fixed world file

---
 .../gazeboserver/worlds/gymkhana.world        | 22 +++++++++++++++++++
 1 file changed, 22 insertions(+)

diff --git a/src/drivers/gazeboserver/worlds/gymkhana.world b/src/drivers/gazeboserver/worlds/gymkhana.world
index a242b0c97..fbbe06168 100644
--- a/src/drivers/gazeboserver/worlds/gymkhana.world
+++ b/src/drivers/gazeboserver/worlds/gymkhana.world
@@ -10,5 +10,27 @@
       <uri>model://sun</uri>
     </include>
 
+    <include>
+      <uri>model://wall1</uri>
+    </include>
+
+    <include>
+      <uri>model://wall2</uri>
+    </include>
+
+    <include>
+      <uri>model://wall3</uri>
+    </include>
+
+    <include>
+      <uri>model://wall4</uri>
+    </include>
+
+    <include>
+      <name>ardrone-black</name>
+      <uri>model://ArDrone2</uri>
+      <pose>0 10 0.1 0 0 -1.57</pose>
+    </include>
+	
   </world>
 </sdf>

From 0f780ac11e52708adb41c0efacbd8561c88f571f Mon Sep 17 00:00:00 2001
From: Abhay <abhayrawat2695@gmail.com>
Date: Thu, 29 Mar 2018 18:10:55 +0530
Subject: [PATCH 3/9] Modified wall models

---
 .../gazeboserver/models/wall1/model.sdf       | 122 ++++++++++++++---
 .../gazeboserver/models/wall2/model.sdf       | 123 +++++++++++++++---
 .../gazeboserver/models/wall3/model.sdf       | 122 ++++++++++++++---
 .../gazeboserver/models/wall4/model.sdf       | 122 ++++++++++++++---
 4 files changed, 409 insertions(+), 80 deletions(-)

diff --git a/src/drivers/gazeboserver/models/wall1/model.sdf b/src/drivers/gazeboserver/models/wall1/model.sdf
index 312f6eaa4..94be7e902 100644
--- a/src/drivers/gazeboserver/models/wall1/model.sdf
+++ b/src/drivers/gazeboserver/models/wall1/model.sdf
@@ -1,22 +1,104 @@
 <?xml version='1.0'?>
-<sdf version="1.4">
-<model name="wall1">
-    <link name="pared1">
-        <collision name="collision">
-            <geometry>
-               <mesh>
-                  <uri>model://wall1/meshes/pared1.dae</uri>
-               </mesh>
-            </geometry>
-        </collision>
-        <visual name="visual">
-            <geometry>
-               <mesh>
-                  <uri>model://wall1/meshes/pared1.dae</uri>
-               </mesh>
-            </geometry>
-        </visual>
-     </link>
-     <plugin name="wall1plugin" filename="libwall1plugin.so"/>
-</model>
+<sdf version='1.6'>
+  <model name='wall1'>
+    <link name='pared1'>
+      <pose frame=''>0 0 2.133 0 0 0</pose>
+      <inertial>
+        <mass>10000</mass>
+        <inertia>
+          <ixx>99999999999</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>99999999999</iyy>
+          <iyz>0</iyz>
+          <izz>99999999999</izz>
+        </inertia>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+      </inertial>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <gravity>1</gravity>
+      <visual name='visual'>
+        <geometry>
+          <box>
+            <size>2.5 0.150783 4.266</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Grey</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+          <ambient>0.3 0.9 0.3 1</ambient>
+          <diffuse>0.3 0.7 0.3 1</diffuse>
+          <specular>0.01 0.1 0.01 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <shader type='vertex'>
+            <normal_map>__default__</normal_map>
+          </shader>
+        </material>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <transparency>0</transparency>
+        <cast_shadows>1</cast_shadows>
+      </visual>
+      <collision name='collision'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>2.5 0.150783 4.266</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>100</mu>
+              <mu2>100</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
+            </ode>
+            <torsional>
+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
+            </torsional>
+          </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>
+            <collide_bitmask>1</collide_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>0</static>
+    <allow_auto_disable>1</allow_auto_disable>
+    <plugin name="wall1plugin" filename="libwall1plugin.so"/>
+  </model>
 </sdf>
diff --git a/src/drivers/gazeboserver/models/wall2/model.sdf b/src/drivers/gazeboserver/models/wall2/model.sdf
index 7cadd02bf..a483ec87b 100644
--- a/src/drivers/gazeboserver/models/wall2/model.sdf
+++ b/src/drivers/gazeboserver/models/wall2/model.sdf
@@ -1,22 +1,105 @@
 <?xml version='1.0'?>
-<sdf version="1.4">
-<model name="wall2">
-    <link name="pared2">
-        <collision name="collision">
-            <geometry>
-               <mesh>
-                  <uri>model://wall2/meshes/pared2.dae</uri>
-               </mesh>
-            </geometry>
-        </collision>
-        <visual name="visual">
-            <geometry>
-               <mesh>
-                  <uri>model://wall2/meshes/pared2.dae</uri>
-               </mesh>
-            </geometry>
-        </visual>
-     </link>
-     <plugin name="wall2plugin" filename="libwall2plugin.so"/>
-</model>
+<sdf version='1.6'>
+  <model name='wall3'>
+    <link name='pared1'>
+      <gravity>0</gravity>
+      <pose frame=''>0 0 1.2 0 0 0</pose>
+      <inertial>
+        <mass>10000</mass>
+        <inertia>
+          <ixx>99999999999</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>99999999999</iyy>
+          <iyz>0</iyz>
+          <izz>99999999999</izz>
+        </inertia>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+      </inertial>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <gravity>1</gravity>
+      <visual name='visual'>
+        <geometry>
+          <box>
+            <size>6.266 0.150783 2.4</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Grey</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+          <ambient>0.97 0.9 0.23 1</ambient>
+          <diffuse>0.77 0.7 0.22 1</diffuse>
+          <specular>0.1 0.1 0.005 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <shader type='vertex'>
+            <normal_map>__default__</normal_map>
+          </shader>
+        </material>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <transparency>0</transparency>
+        <cast_shadows>1</cast_shadows>
+      </visual>
+      <collision name='collision'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>6.266 0.150783 2.4</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>100</mu>
+              <mu2>100</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
+            </ode>
+            <torsional>
+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
+            </torsional>
+          </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>
+            <collide_bitmask>1</collide_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>0</static>
+    <allow_auto_disable>1</allow_auto_disable>
+    <plugin name="wall2plugin" filename="libwall2plugin.so"/>
+  </model>
 </sdf>
diff --git a/src/drivers/gazeboserver/models/wall3/model.sdf b/src/drivers/gazeboserver/models/wall3/model.sdf
index afa2d7bc9..fe789f566 100644
--- a/src/drivers/gazeboserver/models/wall3/model.sdf
+++ b/src/drivers/gazeboserver/models/wall3/model.sdf
@@ -1,22 +1,104 @@
 <?xml version='1.0'?>
-<sdf version="1.4">
-<model name="wall3">
-    <link name="pared3">
-        <collision name="collision">
-            <geometry>
-               <mesh>
-                  <uri>model://wall3/meshes/pared3.dae</uri>
-               </mesh>
-            </geometry>
-        </collision>
-        <visual name="visual">
-            <geometry>
-               <mesh>
-                  <uri>model://wall3/meshes/pared3.dae</uri>
-               </mesh>
-            </geometry>
-        </visual>
-     </link>
-     <plugin name="wall3plugin" filename="libwall3plugin.so"/>
-</model>
+<sdf version='1.6'>
+  <model name='wall3'>
+    <link name='pared1'>
+      <pose frame=''>0 0 2.133 0 0 0</pose>
+      <inertial>
+        <mass>10000</mass>
+        <inertia>
+          <ixx>99999999999</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>99999999999</iyy>
+          <iyz>0</iyz>
+          <izz>99999999999</izz>
+        </inertia>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+      </inertial>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <gravity>1</gravity>
+      <visual name='visual'>
+        <geometry>
+          <box>
+            <size>2.5 0.150783 4.266</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Grey</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+          <ambient>0.9 0.3 0.3 1</ambient>
+          <diffuse>0.7 0.3 0.3 1</diffuse>
+          <specular>0.1 0.01 0.01 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <shader type='vertex'>
+            <normal_map>__default__</normal_map>
+          </shader>
+        </material>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <transparency>0</transparency>
+        <cast_shadows>1</cast_shadows>
+      </visual>
+      <collision name='collision'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>2.5 0.150783 4.266</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>100</mu>
+              <mu2>100</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
+            </ode>
+            <torsional>
+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
+            </torsional>
+          </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>
+            <collide_bitmask>1</collide_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>0</static>
+    <allow_auto_disable>1</allow_auto_disable>
+    <plugin name="wall3plugin" filename="libwall3plugin.so"/>
+  </model>
 </sdf>
diff --git a/src/drivers/gazeboserver/models/wall4/model.sdf b/src/drivers/gazeboserver/models/wall4/model.sdf
index 4ce9c80a2..865a5db33 100644
--- a/src/drivers/gazeboserver/models/wall4/model.sdf
+++ b/src/drivers/gazeboserver/models/wall4/model.sdf
@@ -1,22 +1,104 @@
 <?xml version='1.0'?>
-<sdf version="1.4">
-<model name="wall4">
-    <link name="pared4">
-        <collision name="collision">
-            <geometry>
-               <mesh>
-                  <uri>model://wall4/meshes/pared4.dae</uri>
-               </mesh>
-            </geometry>
-        </collision>
-        <visual name="visual">
-            <geometry>
-               <mesh>
-                  <uri>model://wall4/meshes/pared4.dae</uri>
-               </mesh>
-            </geometry>
-        </visual>
-     </link>
-     <plugin name="wall4plugin" filename="libwall4plugin.so"/>
-</model>
+<sdf version='1.6'>
+  <model name='wall4'>
+    <link name='pared1'>
+      <pose frame=''>0 0 2.133 0 0 0</pose>
+      <inertial>
+        <mass>10000</mass>
+        <inertia>
+          <ixx>99999999999</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>99999999999</iyy>
+          <iyz>0</iyz>
+          <izz>99999999999</izz>
+        </inertia>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+      </inertial>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <gravity>1</gravity>
+      <visual name='visual'>
+        <geometry>
+          <box>
+            <size>2.5 0.150783 4.266</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Grey</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+          <ambient>0.9 0.3 0.3 1</ambient>
+          <diffuse>0.7 0.3 0.3 1</diffuse>
+          <specular>0.1 0.01 0.01 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <shader type='vertex'>
+            <normal_map>__default__</normal_map>
+          </shader>
+        </material>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <transparency>0</transparency>
+        <cast_shadows>1</cast_shadows>
+      </visual>
+      <collision name='collision'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>2.5 0.150783 4.266</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>100</mu>
+              <mu2>100</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
+            </ode>
+            <torsional>
+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
+            </torsional>
+          </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>
+            <collide_bitmask>1</collide_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>0</static>
+    <allow_auto_disable>1</allow_auto_disable>
+    <plugin name="wall4plugin" filename="libwall4plugin.so"/>
+  </model>
 </sdf>

From 19379a7618f017ad76d6f380031efa6319447a2e Mon Sep 17 00:00:00 2001
From: Abhay <abhayrawat2695@gmail.com>
Date: Thu, 29 Mar 2018 18:11:32 +0530
Subject: [PATCH 4/9] Modiified gymkhana world

---
 .../gazeboserver/worlds/gymkhana.world        | 36 ++++++++++++++++++-
 1 file changed, 35 insertions(+), 1 deletion(-)

diff --git a/src/drivers/gazeboserver/worlds/gymkhana.world b/src/drivers/gazeboserver/worlds/gymkhana.world
index a242b0c97..e04a3ca33 100644
--- a/src/drivers/gazeboserver/worlds/gymkhana.world
+++ b/src/drivers/gazeboserver/worlds/gymkhana.world
@@ -4,11 +4,45 @@
     <!-- Ground -->
     <include>
       <uri>model://hangar</uri>
+      <pose>0 -2 0 0 0 0</pose>
     </include>
-    <!-- My robots -->
+
     <include>
       <uri>model://sun</uri>
     </include>
+    
+    <include>
+      <name>ardrone-black</name>
+      <uri>model://ArDrone2</uri>
+      <pose>0 10 0.1 0 0 -1.57</pose>
+    </include>
+
+    <include>
+      <uri>model://wall1</uri>
+      <pose>0 4 0 0 0 0</pose>
+    </include>
+
+     <include>
+      <uri>model://wall1</uri>
+      <pose>0 8 0 0 0 0</pose>
+    </include>
+    
+    <include>
+      <uri>model://wall2</uri>
+      <pose>0 0 0 0 0 0</pose>
+    </include>
+    
+    <include>
+      <uri>model://wall3</uri>
+      <pose>0 -6 0 0 0 0</pose>
+    </include>
+    
+    <include>
+      <uri>model://wall4</uri>
+      <pose>0 -6 0 0 0 0</pose>
+    </include>
+
 
   </world>
 </sdf>
+

From d602f0acecb49b53a45ebc4e95595385fcaaac51 Mon Sep 17 00:00:00 2001
From: Abhay <abhayrawat2695@gmail.com>
Date: Thu, 29 Mar 2018 18:19:36 +0530
Subject: [PATCH 5/9] Walls move with random velocity

---
 .../gazeboserver/plugins/gymkhana/wall1.cc    |  34 +++---
 .../gazeboserver/plugins/gymkhana/wall2.cc    |  43 ++++----
 .../gazeboserver/plugins/gymkhana/wall3.cc    |  36 ++++---
 .../gazeboserver/plugins/gymkhana/wall4.cc    | 102 +++++++++---------
 4 files changed, 115 insertions(+), 100 deletions(-)

diff --git a/src/drivers/gazeboserver/plugins/gymkhana/wall1.cc b/src/drivers/gazeboserver/plugins/gymkhana/wall1.cc
index 5d3c868ee..2f9572433 100644
--- a/src/drivers/gazeboserver/plugins/gymkhana/wall1.cc
+++ b/src/drivers/gazeboserver/plugins/gymkhana/wall1.cc
@@ -7,43 +7,47 @@
 
 namespace gazebo
 {
-  	class Wall1 : public ModelPlugin {
+	class Wall1 : public ModelPlugin {
 
 		private: math::Pose pose;
-  		private: bool flag;
+		private: bool flag;
+		private: double vel1; 
+		private: double vel2; 
 
-  		public: void Load(physics::ModelPtr _parent, sdf::ElementPtr ) {
-      			this->model = _parent;
+		public: void Load(physics::ModelPtr _parent, sdf::ElementPtr ) {
+			this->model = _parent;
 			flag = true;
-	  		this->updateConnection = event::Events::ConnectWorldUpdateBegin(
-          		boost::bind(&Wall1::OnUpdate, this, _1));
+			this->updateConnection = event::Events::ConnectWorldUpdateBegin(
+				boost::bind(&Wall1::OnUpdate, this, _1));
 			std::cout << "Loading wall 1" << std::endl;
+			this->vel1 = 0.5 + double(rand())/RAND_MAX*1.5;
+			this->vel2 = (0.5 + double(rand())/RAND_MAX*1.5)*-1;
 			
 		}
 
-    		public: void OnUpdate(const common::UpdateInfo & ) {
+		public: void OnUpdate(const common::UpdateInfo & ) {
 			pose = this->model->GetWorldPose();
 
 			if  (flag) {
-				this->model->SetLinearVel(math::Vector3(1, 0, 0));
+				this->model->SetLinearVel(math::Vector3(this->vel1, 0, 0));
 			}
 			if ( pose.pos.x >=4 ) {
-			        pose.pos.x = 4;
-			        this->model->SetWorldPose(pose);
+				pose.pos.x = 4;
+				this->model->SetWorldPose(pose);
 				flag = false;
 			}
 			if (!flag) {
-				this->model->SetLinearVel(math::Vector3(-1, 0, 0));
+				this->model->SetLinearVel(math::Vector3(this->vel2, 0, 0));
 			}	
 			if ( pose.pos.x <=-4 ) {
-			        pose.pos.x = -4;
-			        this->model->SetWorldPose(pose);
+				pose.pos.x = -4;
+				this->model->SetWorldPose(pose);
 				flag = true;
 			}
 
 		}
 		private: physics::ModelPtr model;
 		private: event::ConnectionPtr updateConnection;
-  	};
-  	GZ_REGISTER_MODEL_PLUGIN(Wall1)
+	};
+	GZ_REGISTER_MODEL_PLUGIN(Wall1)
 }
diff --git a/src/drivers/gazeboserver/plugins/gymkhana/wall2.cc b/src/drivers/gazeboserver/plugins/gymkhana/wall2.cc
index 33988bcf8..5b036c1a9 100644
--- a/src/drivers/gazeboserver/plugins/gymkhana/wall2.cc
+++ b/src/drivers/gazeboserver/plugins/gymkhana/wall2.cc
@@ -7,43 +7,46 @@
 
 namespace gazebo
 {
-  	class Wall2 : public ModelPlugin {
+	class Wall2 : public ModelPlugin {
 
 		private: math::Pose pose;
-  		private: bool flag;
+		private: bool flag;
+		private: double vel1; 
+		private: double vel2; 
 
-  		public: void Load(physics::ModelPtr _parent, sdf::ElementPtr ) {
-      			this->model = _parent;
+		public: void Load(physics::ModelPtr _parent, sdf::ElementPtr ) {
+			this->model = _parent;
 			flag = true;
-	  		this->updateConnection = event::Events::ConnectWorldUpdateBegin(
-          		boost::bind(&Wall2::OnUpdate, this, _1));
+			this->updateConnection = event::Events::ConnectWorldUpdateBegin(
+				boost::bind(&Wall2::OnUpdate, this, _1));
 			std::cout << "Loading wall 2" << std::endl;
+			this->vel1 = 0.5 + double(rand())/RAND_MAX*1.5;
+			this->vel2 = (0.5 + double(rand())/RAND_MAX*1.5)*-1;
 		}
 
-    		public: void OnUpdate(const common::UpdateInfo & ) {
+		public: void OnUpdate(const common::UpdateInfo & ) {
 			pose = this->model->GetWorldPose();
-		
-  			
-  			if  (flag) {
-				this->model->SetLinearVel(math::Vector3(0, 0, 0.5));
+
+			if  (flag) {
+				this->model->SetLinearVel(math::Vector3(0, 0, this->vel1));
 			}
-			if ( pose.pos.z >= 2 ) {
-			        pose.pos.z = 2;
-			        this->model->SetWorldPose(pose);
+			if ( pose.pos.z >= 2.8 ) {
+				pose.pos.z = 2.8;
+				this->model->SetWorldPose(pose);
 				flag = false;
 			}
 			if (!flag) {
-				this->model->SetLinearVel(math::Vector3(0, 0, -0.5));
+				this->model->SetLinearVel(math::Vector3(0, 0, this->vel2));
 			}	
-			if ( pose.pos.z <=0) {
-			        pose.pos.z = 0;
-			        this->model->SetWorldPose(pose);
+			if ( pose.pos.z <= 0) {
+				pose.pos.z = 0;
+				this->model->SetWorldPose(pose);
 				flag = true;
 			}
 
 		}
 		private: physics::ModelPtr model;
 		private: event::ConnectionPtr updateConnection;
-  	};
-  	GZ_REGISTER_MODEL_PLUGIN(Wall2)
+	};
+	GZ_REGISTER_MODEL_PLUGIN(Wall2)
 }
diff --git a/src/drivers/gazeboserver/plugins/gymkhana/wall3.cc b/src/drivers/gazeboserver/plugins/gymkhana/wall3.cc
index 35c87ccaa..a58cc9607 100644
--- a/src/drivers/gazeboserver/plugins/gymkhana/wall3.cc
+++ b/src/drivers/gazeboserver/plugins/gymkhana/wall3.cc
@@ -7,43 +7,47 @@
 
 namespace gazebo
 {
-  	class Wall3 : public ModelPlugin {
+	class Wall3 : public ModelPlugin {
 
 		private: math::Pose pose;
-  		private: bool flag;
+		private: bool flag;
+		private: double vel1; 
+		private: double vel2; 
 
-  		public: void Load(physics::ModelPtr _parent, sdf::ElementPtr ) {
-      			this->model = _parent;
+		public: void Load(physics::ModelPtr _parent, sdf::ElementPtr ) {
+			this->model = _parent;
 			flag = true;
-	  		this->updateConnection = event::Events::ConnectWorldUpdateBegin(
-          		boost::bind(&Wall3::OnUpdate, this, _1));
+			this->updateConnection = event::Events::ConnectWorldUpdateBegin(
+				boost::bind(&Wall3::OnUpdate, this, _1));
 			std::cout << "Loading wall 3" << std::endl;
+			this->vel1 = 0.5 + double(rand())/RAND_MAX*1.5;
+			this->vel2 = (0.5 + double(rand())/RAND_MAX*1.5)*-1;
 			
 		}
 
-    		public: void OnUpdate(const common::UpdateInfo & ) {
+		public: void OnUpdate(const common::UpdateInfo & ) {
 			pose = this->model->GetWorldPose();
 
 			if  (flag) {
-				this->model->SetLinearVel(math::Vector3(1, 0, 0));
+				this->model->SetLinearVel(math::Vector3(this->vel1, 0, 0));
 			}
 			if ( pose.pos.x >=4 ) {
-			        pose.pos.x = 4;
-			        this->model->SetWorldPose(pose);
+				pose.pos.x = 4;
+				this->model->SetWorldPose(pose);
 				flag = false;
 			}
 			if (!flag) {
-				this->model->SetLinearVel(math::Vector3(-1, 0, 0));
+				this->model->SetLinearVel(math::Vector3(this->vel2, 0, 0));
 			}	
-			if ( pose.pos.x <=0 ) {
-			        pose.pos.x = 0;
-			        this->model->SetWorldPose(pose);
+			if ( pose.pos.x <= 1.25 ) {
+				pose.pos.x = 1.25;
+				this->model->SetWorldPose(pose);
 				flag = true;
 			}
 
 		}
 		private: physics::ModelPtr model;
 		private: event::ConnectionPtr updateConnection;
-  	};
-  	GZ_REGISTER_MODEL_PLUGIN(Wall3)
+	};
+	GZ_REGISTER_MODEL_PLUGIN(Wall3)
 }
diff --git a/src/drivers/gazeboserver/plugins/gymkhana/wall4.cc b/src/drivers/gazeboserver/plugins/gymkhana/wall4.cc
index 7ca87946a..87f8ce9c5 100644
--- a/src/drivers/gazeboserver/plugins/gymkhana/wall4.cc
+++ b/src/drivers/gazeboserver/plugins/gymkhana/wall4.cc
@@ -1,49 +1,53 @@
-#include <boost/bind.hpp>
-#include <gazebo/gazebo.hh>
-#include <gazebo/physics/physics.hh>
-#include <gazebo/common/common.hh>
-#include <stdio.h>
-#include <iostream>
-
-namespace gazebo
-{
-  	class Wall4 : public ModelPlugin {
-
-		private: math::Pose pose;
-  		private: bool flag;
-
-  		public: void Load(physics::ModelPtr _parent, sdf::ElementPtr ) {
-      			this->model = _parent;
-			flag = true;
-	  		this->updateConnection = event::Events::ConnectWorldUpdateBegin(
-          		boost::bind(&Wall4::OnUpdate, this, _1));
-			std::cout << "Loading wall 4" << std::endl;
-			
-		}
-
-    		public: void OnUpdate(const common::UpdateInfo & ) {
-			pose = this->model->GetWorldPose();
-
-			if  (flag) {
-				this->model->SetLinearVel(math::Vector3(-1, 0, 0));
-			}
-			if ( pose.pos.x <=-4 ) {
-			        pose.pos.x = -4;
-			        this->model->SetWorldPose(pose);
-				flag = false;
-			}
-			if (!flag) {
-				this->model->SetLinearVel(math::Vector3(1, 0, 0));
-			}	
-			if ( pose.pos.x >=0 ) {
-			        pose.pos.x = 0;
-			        this->model->SetWorldPose(pose);
-				flag = true;
-			}
-
-		}
-		private: physics::ModelPtr model;
-		private: event::ConnectionPtr updateConnection;
-  	};
-  	GZ_REGISTER_MODEL_PLUGIN(Wall4)
-}
+#include <boost/bind.hpp>
+#include <gazebo/gazebo.hh>
+#include <gazebo/physics/physics.hh>
+#include <gazebo/common/common.hh>
+#include <stdio.h>
+#include <iostream>
+
+namespace gazebo
+{
+  	class Wall4 : public ModelPlugin {
+
+		private: math::Pose pose;
+  		private: bool flag;
+		private: double vel1; 
+		private: double vel2; 
+
+  		public: void Load(physics::ModelPtr _parent, sdf::ElementPtr ) {
+      			this->model = _parent;
+			flag = true;
+	  		this->updateConnection = event::Events::ConnectWorldUpdateBegin(
+          		boost::bind(&Wall4::OnUpdate, this, _1));
+			std::cout << "Loading wall 4" << std::endl;
+			this->vel1 = 0.5 + double(rand())/RAND_MAX*1.5;
+			this->vel2 = (0.5 + double(rand())/RAND_MAX*1.5)*-1;
+			
+		}
+
+    		public: void OnUpdate(const common::UpdateInfo & ) {
+			pose = this->model->GetWorldPose();
+
+			if  (flag) {
+				this->model->SetLinearVel(math::Vector3(this->vel2, 0, 0));
+			}
+			if ( pose.pos.x <=-4 ) {
+			        pose.pos.x = -4;
+			        this->model->SetWorldPose(pose);
+				flag = false;
+			}
+			if (!flag) {
+				this->model->SetLinearVel(math::Vector3(this->vel1, 0, 0));
+			}	
+			if ( pose.pos.x >= -1.25 ) {
+			        pose.pos.x = -1.25;
+			        this->model->SetWorldPose(pose);
+				flag = true;
+			}
+
+		}
+		private: physics::ModelPtr model;
+		private: event::ConnectionPtr updateConnection;
+  	};
+  	GZ_REGISTER_MODEL_PLUGIN(Wall4)
+}

From be77da1c4b9d09cb490e45cfbdff933b8235db51 Mon Sep 17 00:00:00 2001
From: Abhay <abhayrawat2695@gmail.com>
Date: Thu, 29 Mar 2018 18:20:07 +0530
Subject: [PATCH 6/9] Changed decription

---
 src/drivers/gazeboserver/models/hangar/model.config | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/drivers/gazeboserver/models/hangar/model.config b/src/drivers/gazeboserver/models/hangar/model.config
index 13add50d4..f883b1f97 100644
--- a/src/drivers/gazeboserver/models/hangar/model.config
+++ b/src/drivers/gazeboserver/models/hangar/model.config
@@ -11,6 +11,6 @@
   </author>
 
   <description>
-    The F1 Monaco track without elevations.
+    The gymkhana hanger for drone exercises.
   </description>
 </model>

From 2b525fcf76a29938c94cae88967e10188ee24c8c Mon Sep 17 00:00:00 2001
From: AAAAA <aaaaaa@aaaaaa.com>
Date: Wed, 11 Apr 2018 11:11:11 -0700
Subject: [PATCH 7/9] added collisions to hangar

---
 .../gazeboserver/models/hangar/model.sdf      | 71 ++++++++++++++++++-
 .../gazeboserver/worlds/gymkhana.world        | 25 +------
 2 files changed, 69 insertions(+), 27 deletions(-)

diff --git a/src/drivers/gazeboserver/models/hangar/model.sdf b/src/drivers/gazeboserver/models/hangar/model.sdf
index e804c2a49..80890eedc 100644
--- a/src/drivers/gazeboserver/models/hangar/model.sdf
+++ b/src/drivers/gazeboserver/models/hangar/model.sdf
@@ -6,9 +6,6 @@
     	<pose>0 0 0 0 0 0</pose>
         <collision name="collision">
             <geometry>
-               <!--<mesh>
-                  <uri>model://hangar/meshes/hangar.dae</uri>
-               </mesh>-->
 	       <plane>
 		   <size>100 100</size>
     	       </plane>
@@ -22,5 +19,73 @@
             </geometry>
         </visual>
      </link>
+
+     <link name="roof">
+	<collision name="collision2">
+            <pose>0 2 6 0 1.57 0</pose>
+            <geometry>
+	       <box>
+		   <size>0.1 20 14</size>
+    	       </box>
+            </geometry>
+        </collision>
+     </link>
+
+
+     <link name="hangar_wall5">
+	<collision name="collision2">
+            <pose>-4.9 -7.0 3 0 0 1.85</pose>
+            <geometry>
+	       <box>
+		   <size>0.1 4 6</size>
+    	       </box>
+            </geometry>
+        </collision>
+     </link>
+
+     <link name="hangar_wall4">
+	<collision name="collision2">
+            <pose>4.9 -7.0 3 0 0 1.35</pose>
+            <geometry>
+	       <box>
+		   <size>0.1 4 6</size>
+    	       </box>
+            </geometry>
+        </collision>
+     </link>
+
+     <link name="hangar_wall3">
+	<collision name="collision2">
+            <pose>0 12.3 3 0 0 1.57</pose>
+            <geometry>
+	       <box>
+		   <size>0.1 13.5 6</size>
+    	       </box>
+            </geometry>
+        </collision>
+     </link>
+
+
+     <link name="hangar_wall2">
+	<collision name="collision2">
+            <pose>-6.8 2.5 3 0 0 0 </pose>
+            <geometry>
+	       <box>
+		   <size>0.1 20 6</size>
+    	       </box>
+            </geometry>
+        </collision>
+     </link>
+
+     <link name="hangar_wall1">
+	<collision name="collision2">
+            <pose>6.8 2.5 3 0 0 0 </pose>
+            <geometry>
+	       <box>
+		   <size>0.1 20 6</size>
+    	       </box>
+            </geometry>
+        </collision>
+     </link>
 </model>
 </sdf>
diff --git a/src/drivers/gazeboserver/worlds/gymkhana.world b/src/drivers/gazeboserver/worlds/gymkhana.world
index c740a1649..f5eda057f 100644
--- a/src/drivers/gazeboserver/worlds/gymkhana.world
+++ b/src/drivers/gazeboserver/worlds/gymkhana.world
@@ -14,7 +14,7 @@
     <include>
       <name>ardrone-black</name>
       <uri>model://ArDrone2</uri>
-      <pose>0 10 0.1 0 0 -1.57</pose>
+      <pose>0 9.5 0.1 0 0 -1.57</pose>
     </include>
 
     <include>
@@ -41,29 +41,6 @@
       <uri>model://wall4</uri>
       <pose>0 -6 0 0 0 0</pose>
     </include>
-
-
-    <include>
-      <uri>model://wall1</uri>
-    </include>
-
-    <include>
-      <uri>model://wall2</uri>
-    </include>
-
-    <include>
-      <uri>model://wall3</uri>
-    </include>
-
-    <include>
-      <uri>model://wall4</uri>
-    </include>
-
-    <include>
-      <name>ardrone-black</name>
-      <uri>model://ArDrone2</uri>
-      <pose>0 10 0.1 0 0 -1.57</pose>
-    </include>
 	
   </world>
 </sdf>

From 50ab994d9496df365802eaa2147971b0f7c62ac4 Mon Sep 17 00:00:00 2001
From: AAAAA <aaaaaa@aaaaaa.com>
Date: Wed, 11 Apr 2018 11:13:22 -0700
Subject: [PATCH 8/9] deleted extra wall

---
 src/drivers/gazeboserver/worlds/gymkhana.world | 5 -----
 1 file changed, 5 deletions(-)

diff --git a/src/drivers/gazeboserver/worlds/gymkhana.world b/src/drivers/gazeboserver/worlds/gymkhana.world
index f5eda057f..0aed00da2 100644
--- a/src/drivers/gazeboserver/worlds/gymkhana.world
+++ b/src/drivers/gazeboserver/worlds/gymkhana.world
@@ -17,11 +17,6 @@
       <pose>0 9.5 0.1 0 0 -1.57</pose>
     </include>
 
-    <include>
-      <uri>model://wall1</uri>
-      <pose>0 4 0 0 0 0</pose>
-    </include>
-
      <include>
       <uri>model://wall1</uri>
       <pose>0 8 0 0 0 0</pose>

From f9dab85e4f86fb5f0824025a49c6ac64af3f072f Mon Sep 17 00:00:00 2001
From: Francisco Perez <f.perez475@gmail.com>
Date: Wed, 18 Apr 2018 10:26:44 -0700
Subject: [PATCH 9/9] Completing gymkhana world with lights and stuff

---
 .../models/hangar/meshes/hangar.dae           |  233 +-
 .../tree/materials/textures/coke_can.png      |  Bin 1189011 -> 0 bytes
 .../gazeboserver/models/tree/meshes/tree.dae  | 3545 ++++++++++++++++-
 .../gazeboserver/models/tree/model.sdf        |    1 +
 .../gazeboserver/models/wall1/model.sdf       |    4 +-
 .../gazeboserver/models/wall2/model.sdf       |    4 +-
 .../gazeboserver/models/wall3/model.sdf       |    4 +-
 .../gazeboserver/models/wall4/model.sdf       |    4 +-
 .../gazeboserver/worlds/gymkhana-simple.world |  235 ++
 .../gazeboserver/worlds/gymkhana.world        |  195 +-
 10 files changed, 3998 insertions(+), 227 deletions(-)
 delete mode 100644 src/drivers/gazeboserver/models/tree/materials/textures/coke_can.png
 create mode 100644 src/drivers/gazeboserver/worlds/gymkhana-simple.world

diff --git a/src/drivers/gazeboserver/models/hangar/meshes/hangar.dae b/src/drivers/gazeboserver/models/hangar/meshes/hangar.dae
index 25b8a84a3..d25fe4c37 100755
--- a/src/drivers/gazeboserver/models/hangar/meshes/hangar.dae
+++ b/src/drivers/gazeboserver/models/hangar/meshes/hangar.dae
@@ -5,12 +5,31 @@
       <author>Blender User</author>
       <authoring_tool>Blender 2.79.0</authoring_tool>
     </contributor>
-    <created>2018-03-20T09:08:21</created>
-    <modified>2018-03-20T09:08:21</modified>
+    <created>2018-04-18T10:09:22</created>
+    <modified>2018-04-18T10:09:22</modified>
     <unit name="meter" meter="1"/>
     <up_axis>Z_UP</up_axis>
   </asset>
   <library_cameras>
+    <camera id="Camera-camera" name="Camera">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">49.13434</xfov>
+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+      <extra>
+        <technique profile="blender">
+          <YF_dofdist>0</YF_dofdist>
+          <shiftx>0</shiftx>
+          <shifty>0</shifty>
+        </technique>
+      </extra>
+    </camera>
     <camera id="Camera_001-camera" name="Camera.001">
       <optics>
         <technique_common>
@@ -100,6 +119,74 @@
         </technique>
       </extra>
     </light>
+    <light id="Lamp_001-light" name="Lamp.001">
+      <technique_common>
+        <point>
+          <color sid="color">1 1 1</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <adapt_thresh>9.99987e-4</adapt_thresh>
+          <area_shape>1</area_shape>
+          <area_size>0.1</area_size>
+          <area_sizey>0.1</area_sizey>
+          <area_sizez>1</area_sizez>
+          <atm_distance_factor>1</atm_distance_factor>
+          <atm_extinction_factor>1</atm_extinction_factor>
+          <atm_turbidity>2</atm_turbidity>
+          <att1>0</att1>
+          <att2>1</att2>
+          <backscattered_light>1</backscattered_light>
+          <bias>1</bias>
+          <blue>1</blue>
+          <buffers>1</buffers>
+          <bufflag>0</bufflag>
+          <bufsize>2880</bufsize>
+          <buftype>2</buftype>
+          <clipend>30.002</clipend>
+          <clipsta>1.000799</clipsta>
+          <compressthresh>0.04999995</compressthresh>
+          <dist sid="blender_dist">29.99998</dist>
+          <energy sid="blender_energy">1</energy>
+          <falloff_type>2</falloff_type>
+          <filtertype>0</filtertype>
+          <flag>0</flag>
+          <gamma sid="blender_gamma">1</gamma>
+          <green>1</green>
+          <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
+          <horizon_brightness>1</horizon_brightness>
+          <mode>8192</mode>
+          <ray_samp>1</ray_samp>
+          <ray_samp_method>1</ray_samp_method>
+          <ray_samp_type>0</ray_samp_type>
+          <ray_sampy>1</ray_sampy>
+          <ray_sampz>1</ray_sampz>
+          <red>1</red>
+          <samp>3</samp>
+          <shadhalostep>0</shadhalostep>
+          <shadow_b sid="blender_shadow_b">0</shadow_b>
+          <shadow_g sid="blender_shadow_g">0</shadow_g>
+          <shadow_r sid="blender_shadow_r">0</shadow_r>
+          <sky_colorspace>0</sky_colorspace>
+          <sky_exposure>1</sky_exposure>
+          <skyblendfac>1</skyblendfac>
+          <skyblendtype>1</skyblendtype>
+          <soft>3</soft>
+          <spotblend>0.15</spotblend>
+          <spotsize>75</spotsize>
+          <spread>1</spread>
+          <sun_brightness>1</sun_brightness>
+          <sun_effect_type>0</sun_effect_type>
+          <sun_intensity>1</sun_intensity>
+          <sun_size>1</sun_size>
+          <type>0</type>
+        </technique>
+      </extra>
+    </light>
   </library_lights>
   <library_images/>
   <library_effects>
@@ -117,7 +204,7 @@
               <color sid="diffuse">0.8 0.7291335 0.7291335 1</color>
             </diffuse>
             <specular>
-              <color sid="specular">0.25 0.25 0.25 1</color>
+              <color sid="specular">0.125 0.125 0.125 1</color>
             </specular>
             <shininess>
               <float sid="shininess">50</float>
@@ -143,7 +230,7 @@
               <color sid="diffuse">0.1435528 0.1268142 0.1615207 1</color>
             </diffuse>
             <specular>
-              <color sid="specular">0.25 0.25 0.25 1</color>
+              <color sid="specular">0.125 0.125 0.125 1</color>
             </specular>
             <shininess>
               <float sid="shininess">50</float>
@@ -169,7 +256,7 @@
               <color sid="diffuse">0.06400933 0 0 1</color>
             </diffuse>
             <specular>
-              <color sid="specular">0.5 0.5 0.5 1</color>
+              <color sid="specular">0.25 0.25 0.25 1</color>
             </specular>
             <shininess>
               <float sid="shininess">50</float>
@@ -192,10 +279,10 @@
               <color sid="ambient">0 0 0 1</color>
             </ambient>
             <diffuse>
-              <color sid="diffuse">0.8 0.001992353 0 1</color>
+              <color sid="diffuse">0.3040144 0.3040144 0.3040144 1</color>
             </diffuse>
             <specular>
-              <color sid="specular">0.25 0.25 0.25 1</color>
+              <color sid="specular">0.125 0.125 0.125 1</color>
             </specular>
             <shininess>
               <float sid="shininess">50</float>
@@ -221,7 +308,7 @@
               <color sid="diffuse">0.110787 0.09199851 0.08660051 1</color>
             </diffuse>
             <specular>
-              <color sid="specular">0.1264715 0.1264715 0.1264715 1</color>
+              <color sid="specular">0.06323575 0.06323575 0.06323575 1</color>
             </specular>
             <shininess>
               <float sid="shininess">50</float>
@@ -255,7 +342,7 @@
     <geometry id="Plane-mesh" name="Plane">
       <mesh>
         <source id="Plane-mesh-positions">
-          <float_array id="Plane-mesh-positions-array" count="18">-14.56851 -8.388399 0 -14.56851 12.06799 0 14.56851 -8.388399 0 14.56851 12.06799 0 0 -8.388399 0 0 12.06799 0</float_array>
+          <float_array id="Plane-mesh-positions-array" count="18">-14.56851 -8.3884 0 -14.56851 12.06799 0 14.56851 -8.3884 0 14.56851 12.06799 0 0 -8.3884 0 0 12.06799 0</float_array>
           <technique_common>
             <accessor source="#Plane-mesh-positions-array" count="6" stride="3">
               <param name="X" type="float"/>
@@ -287,7 +374,7 @@
     <geometry id="Plane_001-mesh" name="Plane.001">
       <mesh>
         <source id="Plane_001-mesh-positions">
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           <technique_common>
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@@ -344,14 +431,14 @@
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           <technique_common>
-            <accessor source="#Plane_004-mesh-normals-array" count="618" stride="3">
+            <accessor source="#Plane_004-mesh-normals-array" count="645" stride="3">
               <param name="X" type="float"/>
               <param name="Y" type="float"/>
               <param name="Z" type="float"/>
@@ -412,14 +499,14 @@
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           <input semantic="VERTEX" source="#Plane_004-mesh-vertices" offset="0"/>
           <input semantic="NORMAL" source="#Plane_004-mesh-normals" offset="1"/>
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           <technique_common>
-            <accessor source="#Plane_006-mesh-normals-array" count="852" stride="3">
+            <accessor source="#Plane_006-mesh-normals-array" count="855" stride="3">
               <param name="X" type="float"/>
               <param name="Y" type="float"/>
               <param name="Z" type="float"/>
@@ -480,14 +567,14 @@
         <triangles material="Vigas-material" count="1440">
           <input semantic="VERTEX" source="#Plane_006-mesh-vertices" offset="0"/>
           <input semantic="NORMAL" source="#Plane_006-mesh-normals" offset="1"/>
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           <technique_common>
-            <accessor source="#Plane_022-mesh-normals-array" count="8345" stride="3">
+            <accessor source="#Plane_022-mesh-normals-array" count="8460" stride="3">
               <param name="X" type="float"/>
               <param name="Y" type="float"/>
               <param name="Z" type="float"/>
@@ -712,14 +799,14 @@
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           <input semantic="VERTEX" source="#Plane_022-mesh-vertices" offset="0"/>
           <input semantic="NORMAL" source="#Plane_022-mesh-normals" offset="1"/>
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+            <accessor source="#Plane_023-mesh-normals-array" count="15050" stride="3">
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@@ -744,14 +831,14 @@
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11276 8834 11276 3132 11276 1125 11277 3132 11277 8855 11277 5307 11042 10102 11042 5120 11042 5120 11278 10091 11278 5291 11278 5308 11279 8864 11279 3086 11279 1126 11280 3086 11280 8866 11280 5290 11281 10107 11281 5105 11281 5105 11197 10106 11197 5308 11197 1127 11282 5309 11282 8849 11282 3063 11283 8851 11283 5292 11283 5292 11103 10099 11103 5097 11103 5097 11222 10098 11222 5309 11222 5301 11284 9012 11284 3297 11284 1128 11285 3297 11285 9002 11285 5245 3480 10175 3480 5174 3480 5174 11039 10180 11039 5301 11039 5296 11286 8956 11286 3228 11286 1129 11287 3228 11287 8969 11287 5298 11130 10158 11130 5151 11130 5151 11260 10153 11260 5296 11260 5310 11288 9038 11288 3347 11288 1130 11289 3347 11289 9035 11289 5256 11290 10192 11290 5190 11290 5190 11291 10193 11291 5310 11291 5209 11292 8964 11292 3232 11292 1131 11293 3232 11293 8966 11293 5297 11068 10157 11068 5153 11068 5153 11069 10156 11069 5209 11069 5312 11294 8915 11294 3186 11294 1132 11295 3186 11295 8932 11295 5311 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11353 1155 11354 5316 11354 10207 11354 1155 11355 5338 11355 10216 11355 5340 11356 10217 11356 5339 11356 5342 11357 10204 11357 5317 11357 1156 11358 5317 11358 10201 11358 5341 11359 10218 11359 5343 11359 1156 11360 5343 11360 10219 11360 1157 11361 5317 11361 10204 11361 5345 7599 10221 7599 2324 7599 2324 38 10220 38 5344 38 5344 11362 10201 11362 5317 11362 5351 11363 10231 11363 5358 11363 1158 11364 5358 11364 10230 11364 5350 11365 10225 11365 5349 11365 1158 11366 5349 11366 10228 11366 1159 11367 5361 11367 10233 11367 5353 11368 10228 11368 5349 11368 5349 11369 10225 11369 5352 11369 5352 11370 10232 11370 5361 11370 5355 11371 10237 11371 5367 11371 1160 11372 5367 11372 10236 11372 5354 11373 10227 11373 5348 11373 1160 11374 5348 11374 10224 11374 5357 11375 10241 11375 5373 11375 1161 11376 5373 11376 10240 11376 5356 11377 10230 11377 5358 11377 1161 11378 5358 11378 10231 11378 1162 11379 5364 11379 10235 11379 5360 11380 10233 11380 5361 11380 1162 11381 5361 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@@ -783,7 +870,7 @@
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@@ -976,10 +1063,18 @@
   <library_controllers/>
   <library_visual_scenes>
     <visual_scene id="Scene" name="Scene">
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.481132 0.7276763 0.3054208 -0.6141704 -6.50764 0 0.8953956 0.4452714 5.343665 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
       <node id="Lamp" name="Lamp" type="NODE">
-        <matrix sid="transform">-0.1559234 -0.6729019 0.5237099 3.374842 0.5120373 -0.1744284 0.2019333 -0.3396926 -0.02958512 0.5275391 0.7347859 5.921404 0 0 0 1</matrix>
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
         <instance_light url="#Lamp-light"/>
       </node>
+      <node id="Lamp_001" name="Lamp_001" type="NODE">
+        <matrix sid="transform">-0.1559234 -0.672902 0.5237099 3.374842 0.5120373 -0.1744284 0.2019333 -0.3396926 -0.02958517 0.5275391 0.7347859 5.921404 0 0 0 1</matrix>
+        <instance_light url="#Lamp_001-light"/>
+      </node>
       <node id="Plane" name="Plane" type="NODE">
         <matrix sid="transform">0.467103 0 0 0.03141826 0 0.9505945 0 0.6049016 0 0 0.7785048 -0.001482248 0 0 0 1</matrix>
         <instance_geometry url="#Plane-mesh" name="Plane">
@@ -1195,7 +1290,7 @@
         <instance_geometry url="#Plane_036-mesh" name="Plane_027"/>
       </node>
       <node id="Camera_001" name="Camera_001" type="NODE">
-        <matrix sid="transform">0.2893339 -0.003723457 0.157836 7.952843 0.09107925 0.01182698 -0.5014019 -9.934359 3.03234e-7 0.4297046 0.01516801 5.731604 0 0 0 1</matrix>
+        <matrix sid="transform">0.2893339 -0.003723458 0.157836 7.952843 0.09107925 0.01182703 -0.5014019 -9.934359 2.92718e-7 0.4297046 0.01516808 5.731604 0 0 0 1</matrix>
         <instance_camera url="#Camera_001-camera"/>
       </node>
     </visual_scene>
diff --git a/src/drivers/gazeboserver/models/tree/materials/textures/coke_can.png b/src/drivers/gazeboserver/models/tree/materials/textures/coke_can.png
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diff --git a/src/drivers/gazeboserver/models/tree/meshes/tree.dae b/src/drivers/gazeboserver/models/tree/meshes/tree.dae
index 75eedeccf..6f5542c28 100644
--- a/src/drivers/gazeboserver/models/tree/meshes/tree.dae
+++ b/src/drivers/gazeboserver/models/tree/meshes/tree.dae
@@ -1,149 +1,3396 @@
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42234 36014 42237 36014 42238 36014 42241 36015 42242 36015 42243 36015 42240 36016 42243 36016 42244 36016 42246 36017 42247 36017 42248 36017 42249 36018 42250 36018 42251 36018 42252 36019 42253 36019 42254 36019 42252 36020 42255 36020 42256 36020 42258 36021 42259 36021 42260 36021 42261 36022 42262 36022 42263 36022 42264 36023 42265 36023 42266 36023 42264 36024 42267 36024 42268 36024 42270 36025 42271 36025 42272 36025 42273 36026 42274 36026 42275 36026 42276 36027 42277 36027 42278 36027 42279 36028 42280 36028 42281 36028 42283 36029 42284 36029 42285 36029 42285 36030 42286 36030 42287 36030 42288 36031 42289 36031 42290 36031 42288 36032 42291 36032 42292 36032 42295 36033 42296 36033 42297 36033 42297 36034 42298 36034 42299 36034 42301 36035 42302 36035 42303 36035 42303 36036 42304 36036 42305 36036 42307 36037 42308 36037 42309 36037 42306 36038 42309 36038 42310 36038 42312 36039 42313 36039 42314 36039 42312 36040 42315 36040 42316 36040 42319 36041 42320 36041 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-      </mesh>
-      <extra><technique profile="MAYA"><double_sided>1</double_sided></technique></extra>
-    </geometry>
-  </library_geometries>
-  <library_controllers/>
-  <library_visual_scenes>
-    <visual_scene id="Scene" name="Scene">
-      <node id="tree" name="tree" 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="#Mesh-mesh" name="tree">
-          <bind_material>
-            <technique_common>
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-              <instance_material symbol="Leaf-material" target="#Leaf-material"/>
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-      </node>
-    </visual_scene>
-  </library_visual_scenes>
-  <scene>
-    <instance_visual_scene url="#Scene"/>
-  </scene>
-</COLLADA>
\ No newline at end of file
+<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+    <asset>
+        <contributor>
+            <authoring_tool>SketchUp 17.0.18899</authoring_tool>
+        </contributor>
+        <created>2018-04-18T10:50:17Z</created>
+        <modified>2018-04-18T10:50:17Z</modified>
+        <unit meter="0.0254" name="inch" />
+        <up_axis>Z_UP</up_axis>
+    </asset>
+    <library_cameras>
+        <camera id="ID1" name="skp_camera_Last_Saved_SketchUp_View">
+            <optics>
+                <technique_common>
+                    <perspective>
+                        <yfov>35</yfov>
+                        <aspect_ratio>0</aspect_ratio>
+                        <znear>1</znear>
+                        <zfar>1000</zfar>
+                    </perspective>
+                </technique_common>
+            </optics>
+        </camera>
+    </library_cameras>
+    <library_visual_scenes>
+        <visual_scene id="ID2">
+            <node name="SketchUp">
+                <node name="skp_camera_Last_Saved_SketchUp_View">
+                    <matrix>0.7513876 0.4182329 -0.51039 -269.6561 -0.6598611 0.4762442 -0.581184 -364.3496 1.94289e-16 0.773481 0.6338196 340.783 0 0 0 1</matrix>
+                    <instance_camera url="#ID1" />
+                </node>
+                <node id="ID3" name="instance_0">
+                    <matrix>1 0 0 -0.4274344 0 1 0 0.5539341 0 0 1 34.25197 0 0 0 1</matrix>
+                    <node id="ID4" name="instance_1">
+                        <matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+                        <instance_geometry url="#ID20">
+                            <bind_material>
+                                <technique_common>
+                                    <instance_material symbol="Material2" target="#ID21">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                    <instance_material symbol="Material3" target="#ID26">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                </technique_common>
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+                            <bind_material>
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+                                    </instance_material>
+                                    <instance_material symbol="Material3" target="#ID26">
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+                                    </instance_material>
+                                </technique_common>
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+                                <technique_common>
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+                                    </instance_material>
+                                    <instance_material symbol="Material3" target="#ID26">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                </technique_common>
+                            </bind_material>
+                        </instance_geometry>
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+                            <bind_material>
+                                <technique_common>
+                                    <instance_material symbol="Material2" target="#ID21">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                    <instance_material symbol="Material3" target="#ID26">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                </technique_common>
+                            </bind_material>
+                        </instance_geometry>
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+                            <bind_material>
+                                <technique_common>
+                                    <instance_material symbol="Material2" target="#ID21">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                    <instance_material symbol="Material3" target="#ID26">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                </technique_common>
+                            </bind_material>
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+                        <instance_geometry url="#ID54">
+                            <bind_material>
+                                <technique_common>
+                                    <instance_material symbol="Material2" target="#ID21">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                    <instance_material symbol="Material3" target="#ID26">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                </technique_common>
+                            </bind_material>
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+                            <bind_material>
+                                <technique_common>
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+                                    </instance_material>
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+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                </technique_common>
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+                        </instance_geometry>
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+                            <bind_material>
+                                <technique_common>
+                                    <instance_material symbol="Material2" target="#ID21">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                    <instance_material symbol="Material3" target="#ID26">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                </technique_common>
+                            </bind_material>
+                        </instance_geometry>
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+                            <bind_material>
+                                <technique_common>
+                                    <instance_material symbol="Material2" target="#ID21">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                    <instance_material symbol="Material3" target="#ID26">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                </technique_common>
+                            </bind_material>
+                        </instance_geometry>
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+                            <bind_material>
+                                <technique_common>
+                                    <instance_material symbol="Material2" target="#ID21">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                    <instance_material symbol="Material3" target="#ID26">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                </technique_common>
+                            </bind_material>
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+                            <bind_material>
+                                <technique_common>
+                                    <instance_material symbol="Material2" target="#ID21">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                    <instance_material symbol="Material3" target="#ID26">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                </technique_common>
+                            </bind_material>
+                        </instance_geometry>
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+                            <bind_material>
+                                <technique_common>
+                                    <instance_material symbol="Material2" target="#ID21">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                    <instance_material symbol="Material3" target="#ID26">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                </technique_common>
+                            </bind_material>
+                        </instance_geometry>
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+                            <bind_material>
+                                <technique_common>
+                                    <instance_material symbol="Material2" target="#ID21">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                    <instance_material symbol="Material3" target="#ID26">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                </technique_common>
+                            </bind_material>
+                        </instance_geometry>
+                        <instance_geometry url="#ID102">
+                            <bind_material>
+                                <technique_common>
+                                    <instance_material symbol="Material2" target="#ID21">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                    <instance_material symbol="Material3" target="#ID26">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                </technique_common>
+                            </bind_material>
+                        </instance_geometry>
+                        <instance_geometry url="#ID108">
+                            <bind_material>
+                                <technique_common>
+                                    <instance_material symbol="Material2" target="#ID21">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                    <instance_material symbol="Material3" target="#ID26">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                </technique_common>
+                            </bind_material>
+                        </instance_geometry>
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+                            <bind_material>
+                                <technique_common>
+                                    <instance_material symbol="Material2" target="#ID21">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                    <instance_material symbol="Material3" target="#ID26">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                </technique_common>
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+                            <bind_material>
+                                <technique_common>
+                                    <instance_material symbol="Material2" target="#ID21">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                    <instance_material symbol="Material3" target="#ID26">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                </technique_common>
+                            </bind_material>
+                        </instance_geometry>
+                        <instance_geometry url="#ID126">
+                            <bind_material>
+                                <technique_common>
+                                    <instance_material symbol="Material2" target="#ID21">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                    <instance_material symbol="Material3" target="#ID26">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
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+                                </technique_common>
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+                            <bind_material>
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+                                    </instance_material>
+                                    <instance_material symbol="Material3" target="#ID26">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
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+                                    </instance_material>
+                                    <instance_material symbol="Material3" target="#ID26">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
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+                                </technique_common>
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+                            <bind_material>
+                                <technique_common>
+                                    <instance_material symbol="Material2" target="#ID21">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                    <instance_material symbol="Material3" target="#ID26">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
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+                                </technique_common>
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+                            <bind_material>
+                                <technique_common>
+                                    <instance_material symbol="Material2" target="#ID21">
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+                                    <instance_material symbol="Material3" target="#ID26">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
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+                                </technique_common>
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+                                    </instance_material>
+                                    <instance_material symbol="Material3" target="#ID26">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
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+                            <bind_material>
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+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
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+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
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+                            <float>1</float>
+                        </transparency>
+                    </constant>
+                </technique>
+            </profile_COMMON>
+        </effect>
+    </library_effects>
+    <scene>
+        <instance_visual_scene url="#ID2" />
+    </scene>
+</COLLADA>
diff --git a/src/drivers/gazeboserver/models/tree/model.sdf b/src/drivers/gazeboserver/models/tree/model.sdf
index ecfdc5a10..c119ad144 100644
--- a/src/drivers/gazeboserver/models/tree/model.sdf
+++ b/src/drivers/gazeboserver/models/tree/model.sdf
@@ -1,6 +1,7 @@
 <?xml version="1.0" ?>
 <sdf version="1.5">
   <model name="tree">
+    <static>true</static>
     <pose>0 0 1 0 0 0</pose>
     <link name="link">
       <inertial>
diff --git a/src/drivers/gazeboserver/models/wall1/model.sdf b/src/drivers/gazeboserver/models/wall1/model.sdf
index 94be7e902..cb671fbb0 100644
--- a/src/drivers/gazeboserver/models/wall1/model.sdf
+++ b/src/drivers/gazeboserver/models/wall1/model.sdf
@@ -29,8 +29,8 @@
             <name>Gazebo/Grey</name>
             <uri>file://media/materials/scripts/gazebo.material</uri>
           </script>
-          <ambient>0.3 0.9 0.3 1</ambient>
-          <diffuse>0.3 0.7 0.3 1</diffuse>
+          <ambient>0 0 1 1</ambient>
+          <diffuse>0.3 0.3 0.8 1</diffuse>
           <specular>0.01 0.1 0.01 1</specular>
           <emissive>0 0 0 1</emissive>
           <shader type='vertex'>
diff --git a/src/drivers/gazeboserver/models/wall2/model.sdf b/src/drivers/gazeboserver/models/wall2/model.sdf
index a483ec87b..2af7f3511 100644
--- a/src/drivers/gazeboserver/models/wall2/model.sdf
+++ b/src/drivers/gazeboserver/models/wall2/model.sdf
@@ -30,8 +30,8 @@
             <name>Gazebo/Grey</name>
             <uri>file://media/materials/scripts/gazebo.material</uri>
           </script>
-          <ambient>0.97 0.9 0.23 1</ambient>
-          <diffuse>0.77 0.7 0.22 1</diffuse>
+          <ambient>0 0 1 1</ambient>
+          <diffuse>0.3 0.3 0.8 1</diffuse>
           <specular>0.1 0.1 0.005 1</specular>
           <emissive>0 0 0 1</emissive>
           <shader type='vertex'>
diff --git a/src/drivers/gazeboserver/models/wall3/model.sdf b/src/drivers/gazeboserver/models/wall3/model.sdf
index fe789f566..eb3185324 100644
--- a/src/drivers/gazeboserver/models/wall3/model.sdf
+++ b/src/drivers/gazeboserver/models/wall3/model.sdf
@@ -29,8 +29,8 @@
             <name>Gazebo/Grey</name>
             <uri>file://media/materials/scripts/gazebo.material</uri>
           </script>
-          <ambient>0.9 0.3 0.3 1</ambient>
-          <diffuse>0.7 0.3 0.3 1</diffuse>
+          <ambient>0 0 1 1</ambient>
+          <diffuse>0.3 0.3 0.8 1</diffuse>
           <specular>0.1 0.01 0.01 1</specular>
           <emissive>0 0 0 1</emissive>
           <shader type='vertex'>
diff --git a/src/drivers/gazeboserver/models/wall4/model.sdf b/src/drivers/gazeboserver/models/wall4/model.sdf
index 865a5db33..f5fbf9ecf 100644
--- a/src/drivers/gazeboserver/models/wall4/model.sdf
+++ b/src/drivers/gazeboserver/models/wall4/model.sdf
@@ -29,8 +29,8 @@
             <name>Gazebo/Grey</name>
             <uri>file://media/materials/scripts/gazebo.material</uri>
           </script>
-          <ambient>0.9 0.3 0.3 1</ambient>
-          <diffuse>0.7 0.3 0.3 1</diffuse>
+          <ambient>0 0 1 1</ambient>
+          <diffuse>0.3 0.3 0.8 1</diffuse>
           <specular>0.1 0.01 0.01 1</specular>
           <emissive>0 0 0 1</emissive>
           <shader type='vertex'>
diff --git a/src/drivers/gazeboserver/worlds/gymkhana-simple.world b/src/drivers/gazeboserver/worlds/gymkhana-simple.world
new file mode 100644
index 000000000..749b805bb
--- /dev/null
+++ b/src/drivers/gazeboserver/worlds/gymkhana-simple.world
@@ -0,0 +1,235 @@
+<?xml version="1.0" ?>
+<sdf version="1.4">
+  <world name="default">
+    <!-- Ground -->
+    <include>
+      <uri>model://hangar</uri>
+      <pose>0 -2 0 0 0 0</pose>
+    </include>
+
+    <include>
+      <uri>model://sun</uri>
+    </include>
+
+    <include>
+      <uri>model://grass_plane</uri>
+    </include>
+
+    <!-- Black ArDrone -->   
+    <include>
+      <name>ardrone-black</name>
+      <uri>model://ArDrone2</uri>
+      <pose>0 9.5 0.1 0 0 -1.57</pose>
+    </include>
+
+    <!-- Red ArDrone -->
+    <include>
+      <name>ardrone-red</name>
+      <uri>model://RedArDrone2</uri>
+      <pose>0 -10 0.1 0 0 0</pose>
+     </include>
+
+     <include>
+      <uri>model://wall1</uri>
+      <pose>0 8 0 0 0 0</pose>
+    </include>
+    
+    <include>
+      <uri>model://wall2</uri>
+      <pose>0 0 0 0 0 0</pose>
+    </include>
+    
+    <include>
+      <uri>model://wall3</uri>
+      <pose>0 -6 0 0 0 0</pose>
+    </include>
+    
+    <include>
+      <uri>model://wall4</uri>
+      <pose>0 -6 0 0 0 0</pose>
+    </include>
+
+    <light name='user_point_light_0' type='point'>
+      <pose frame=''>7.53258 -10.5204 1 0 -0 0</pose>
+      <diffuse>0.5 0.5 0.5 1</diffuse>
+      <specular>0.1 0.1 0.1 1</specular>
+      <attenuation>
+        <range>37</range>
+        <constant>1</constant>
+        <linear>0.05</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <cast_shadows>0</cast_shadows>
+      <direction>0 0 -1</direction>
+    </light>
+    <light name='user_point_light_0_clone' type='point'>
+      <pose frame=''>-13.5592 -18.4336 10 0 -0 0</pose>
+      <diffuse>0.498039 0.498039 0.498039 1</diffuse>
+      <specular>0 0 0 1</specular>
+      <direction>0 0 -1</direction>
+      <attenuation>
+        <range>37</range>
+        <constant>1</constant>
+        <linear>0.05</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <cast_shadows>1</cast_shadows>
+    </light>
+    <light name='user_point_light_1' type='point'>
+      <pose frame=''>-11.0322 15.4092 1 0 -0 0</pose>
+      <diffuse>0.5 0.5 0.5 1</diffuse>
+      <specular>0.1 0.1 0.1 1</specular>
+      <attenuation>
+        <range>20</range>
+        <constant>0.5</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <cast_shadows>0</cast_shadows>
+      <direction>0 0 -1</direction>
+    </light>
+    <light name='user_point_light_2' type='point'>
+      <pose frame=''>7.67436 15.2643 1 0 -0 0</pose>
+      <diffuse>0.5 0.5 0.5 1</diffuse>
+      <specular>0.1 0.1 0.1 1</specular>
+      <attenuation>
+        <range>20</range>
+        <constant>0.5</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <cast_shadows>0</cast_shadows>
+      <direction>0 0 -1</direction>
+    </light>
+    <light name='user_point_light_3' type='point'>
+      <pose frame=''>-13.7195 0.042174 1 0 -0 0</pose>
+      <diffuse>0.5 0.5 0.5 1</diffuse>
+      <specular>0.1 0.1 0.1 1</specular>
+      <attenuation>
+        <range>20</range>
+        <constant>0.5</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <cast_shadows>0</cast_shadows>
+      <direction>0 0 -1</direction>
+    </light>
+    <light name='user_point_light_4' type='point'>
+      <pose frame=''>12.95 2.24523 1 0 -0 0</pose>
+      <diffuse>0.5 0.5 0.5 1</diffuse>
+      <specular>0.1 0.1 0.1 1</specular>
+      <attenuation>
+        <range>20</range>
+        <constant>0.5</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <cast_shadows>0</cast_shadows>
+      <direction>0 0 -1</direction>
+    </light>
+    <state world_name='default'>
+      
+      <light name='sun'>
+        <pose frame=''>0 0 10 0 -0 0</pose>
+      </light>
+      <light name='user_point_light_0'>
+        <pose frame=''>10 -30 10 0 -0 0</pose>
+      </light>
+      <light name='user_point_light_0_clone'>
+        <pose frame=''>-10 -30 10 0 -0 0</pose>
+      </light>
+      <light name='user_point_light_1'>
+        <pose frame=''>-11.0322 15.4092 1 0 -0 0</pose>
+      </light>
+      <light name='user_point_light_2'>
+        <pose frame=''>7.67436 15.2643 1 0 -0 0</pose>
+      </light>
+      <light name='user_point_light_3'>
+        <pose frame=''>-13.7195 0.042174 1 0 -0 0</pose>
+      </light>
+      <light name='user_point_light_4'>
+        <pose frame=''>12.95 2.24523 1 0 -0 0</pose>
+      </light>
+    </state>
+    <gui fullscreen='0'>
+      <camera name='user_camera'>
+        <pose frame=''>-10.5394 -103.514 31.8675 0 0.275642 1.23938</pose>
+        <view_controller>orbit</view_controller>
+        <projection_type>perspective</projection_type>
+      </camera>
+    </gui>
+
+    <scene>
+	<sky>
+	    <clouds>
+		<speed>12</speed>
+	    </clouds>
+        </sky>
+     </scene>
+
+    <population name="tree_population1">
+       <include>
+          <static>true</static>
+          <uri>model://tree</uri>
+       </include>
+      <pose>-75 0 -0.5 0 0 0</pose>
+      <box>
+        <size>30 100 .01</size>
+      </box>
+      <model_count>10</model_count>
+      <distribution>
+        <type>random</type>
+      </distribution>
+    </population>
+
+<!-- Testing the automatic population of objects -->
+    <population name="tree_population1">
+       <include>
+          <static>true</static>
+          <uri>model://tree</uri>
+       </include>
+      <pose>0 75 -0.5 0 0 0</pose>
+      <box>
+        <size>100 30 .01</size>
+      </box>
+      <model_count>10</model_count>
+      <distribution>
+        <type>random</type>
+      </distribution>
+    </population>
+
+<!-- Testing the automatic population of objects -->
+    <population name="tree_population1">
+       <include>
+          <static>true</static>
+          <uri>model://tree</uri>
+       </include>
+      <pose>75 0 -0.5 0 0 0</pose>
+      <box>
+        <size>30 100 .01</size>
+      </box>
+      <model_count>10</model_count>
+      <distribution>
+        <type>random</type>
+      </distribution>
+    </population>
+
+<!-- Testing the automatic population of objects -->
+    <population name="tree_population1">
+       <include>
+          <static>true</static>
+          <uri>model://tree</uri>
+       </include>
+      <pose>0 -75 -0.5 0 0 0</pose>
+      <box>
+        <size>100 30 .01</size>
+      </box>
+      <model_count>10</model_count>
+      <distribution>
+        <type>random</type>
+      </distribution>
+    </population>
+	
+  </world>
+</sdf>
+
diff --git a/src/drivers/gazeboserver/worlds/gymkhana.world b/src/drivers/gazeboserver/worlds/gymkhana.world
index 0aed00da2..5fba26129 100644
--- a/src/drivers/gazeboserver/worlds/gymkhana.world
+++ b/src/drivers/gazeboserver/worlds/gymkhana.world
@@ -10,13 +10,25 @@
     <include>
       <uri>model://sun</uri>
     </include>
-    
+
+    <include>
+      <uri>model://grass_plane</uri>
+    </include>
+
+    <!-- Black ArDrone -->   
     <include>
       <name>ardrone-black</name>
       <uri>model://ArDrone2</uri>
       <pose>0 9.5 0.1 0 0 -1.57</pose>
     </include>
 
+    <!-- Red ArDrone -->
+    <include>
+      <name>ardrone-red</name>
+      <uri>model://RedArDrone2</uri>
+      <pose>0 -10 0.1 0 0 0</pose>
+     </include>
+
      <include>
       <uri>model://wall1</uri>
       <pose>0 8 0 0 0 0</pose>
@@ -36,6 +48,187 @@
       <uri>model://wall4</uri>
       <pose>0 -6 0 0 0 0</pose>
     </include>
+
+    <light name='user_point_light_0' type='point'>
+      <pose frame=''>7.53258 -10.5204 1 0 -0 0</pose>
+      <diffuse>0.5 0.5 0.5 1</diffuse>
+      <specular>0.1 0.1 0.1 1</specular>
+      <attenuation>
+        <range>37</range>
+        <constant>1</constant>
+        <linear>0.05</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <cast_shadows>0</cast_shadows>
+      <direction>0 0 -1</direction>
+    </light>
+    <light name='user_point_light_0_clone' type='point'>
+      <pose frame=''>-13.5592 -18.4336 10 0 -0 0</pose>
+      <diffuse>0.498039 0.498039 0.498039 1</diffuse>
+      <specular>0 0 0 1</specular>
+      <direction>0 0 -1</direction>
+      <attenuation>
+        <range>37</range>
+        <constant>1</constant>
+        <linear>0.05</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <cast_shadows>1</cast_shadows>
+    </light>
+    <light name='user_point_light_1' type='point'>
+      <pose frame=''>-11.0322 15.4092 1 0 -0 0</pose>
+      <diffuse>0.5 0.5 0.5 1</diffuse>
+      <specular>0.1 0.1 0.1 1</specular>
+      <attenuation>
+        <range>20</range>
+        <constant>0.5</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <cast_shadows>0</cast_shadows>
+      <direction>0 0 -1</direction>
+    </light>
+    <light name='user_point_light_2' type='point'>
+      <pose frame=''>7.67436 15.2643 1 0 -0 0</pose>
+      <diffuse>0.5 0.5 0.5 1</diffuse>
+      <specular>0.1 0.1 0.1 1</specular>
+      <attenuation>
+        <range>20</range>
+        <constant>0.5</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <cast_shadows>0</cast_shadows>
+      <direction>0 0 -1</direction>
+    </light>
+    <light name='user_point_light_3' type='point'>
+      <pose frame=''>-13.7195 0.042174 1 0 -0 0</pose>
+      <diffuse>0.5 0.5 0.5 1</diffuse>
+      <specular>0.1 0.1 0.1 1</specular>
+      <attenuation>
+        <range>20</range>
+        <constant>0.5</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <cast_shadows>0</cast_shadows>
+      <direction>0 0 -1</direction>
+    </light>
+    <light name='user_point_light_4' type='point'>
+      <pose frame=''>12.95 2.24523 1 0 -0 0</pose>
+      <diffuse>0.5 0.5 0.5 1</diffuse>
+      <specular>0.1 0.1 0.1 1</specular>
+      <attenuation>
+        <range>20</range>
+        <constant>0.5</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <cast_shadows>0</cast_shadows>
+      <direction>0 0 -1</direction>
+    </light>
+    <state world_name='default'>
+      
+      <light name='sun'>
+        <pose frame=''>0 0 10 0 -0 0</pose>
+      </light>
+      <light name='user_point_light_0'>
+        <pose frame=''>10 -30 10 0 -0 0</pose>
+      </light>
+      <light name='user_point_light_0_clone'>
+        <pose frame=''>-10 -30 10 0 -0 0</pose>
+      </light>
+      <light name='user_point_light_1'>
+        <pose frame=''>-11.0322 15.4092 1 0 -0 0</pose>
+      </light>
+      <light name='user_point_light_2'>
+        <pose frame=''>7.67436 15.2643 1 0 -0 0</pose>
+      </light>
+      <light name='user_point_light_3'>
+        <pose frame=''>-13.7195 0.042174 1 0 -0 0</pose>
+      </light>
+      <light name='user_point_light_4'>
+        <pose frame=''>12.95 2.24523 1 0 -0 0</pose>
+      </light>
+    </state>
+    <gui fullscreen='0'>
+      <camera name='user_camera'>
+        <pose frame=''>-10.5394 -103.514 31.8675 0 0.275642 1.23938</pose>
+        <view_controller>orbit</view_controller>
+        <projection_type>perspective</projection_type>
+      </camera>
+    </gui>
+
+    <scene>
+	<sky>
+	    <clouds>
+		<speed>12</speed>
+	    </clouds>
+        </sky>
+     </scene>
+
+    <population name="tree_population1">
+       <include>
+          <static>true</static>
+          <uri>model://tree</uri>
+       </include>
+      <pose>-75 0 -0.5 0 0 0</pose>
+      <box>
+        <size>30 100 .01</size>
+      </box>
+      <model_count>60</model_count>
+      <distribution>
+        <type>random</type>
+      </distribution>
+    </population>
+
+<!-- Testing the automatic population of objects -->
+    <population name="tree_population1">
+       <include>
+          <static>true</static>
+          <uri>model://tree</uri>
+       </include>
+      <pose>0 75 -0.5 0 0 0</pose>
+      <box>
+        <size>100 30 .01</size>
+      </box>
+      <model_count>60</model_count>
+      <distribution>
+        <type>random</type>
+      </distribution>
+    </population>
+
+<!-- Testing the automatic population of objects -->
+    <population name="tree_population1">
+       <include>
+          <static>true</static>
+          <uri>model://tree</uri>
+       </include>
+      <pose>75 0 -0.5 0 0 0</pose>
+      <box>
+        <size>30 100 .01</size>
+      </box>
+      <model_count>60</model_count>
+      <distribution>
+        <type>random</type>
+      </distribution>
+    </population>
+
+<!-- Testing the automatic population of objects -->
+    <population name="tree_population1">
+       <include>
+          <static>true</static>
+          <uri>model://tree</uri>
+       </include>
+      <pose>0 -75 -0.5 0 0 0</pose>
+      <box>
+        <size>100 30 .01</size>
+      </box>
+      <model_count>60</model_count>
+      <distribution>
+        <type>random</type>
+      </distribution>
+    </population>
 	
   </world>
 </sdf>