diff --git a/mobile_base/model.config b/mobile_base/model.config
new file mode 100644
index 00000000..8f0e9792
--- /dev/null
+++ b/mobile_base/model.config
@@ -0,0 +1,14 @@
+
+
+ mobile_base
+ 1.0
+ model.sdf
+
+ Your Name
+ your.email@example.com
+
+
+ A mobile base with 4 Segway-style wheels connected to 4 caster swivel mechanisms.
+ This model is designed for simulation in Gazebo.
+
+
diff --git a/mobile_base/model.sdf b/mobile_base/model.sdf
new file mode 100644
index 00000000..af5e5514
--- /dev/null
+++ b/mobile_base/model.sdf
@@ -0,0 +1,319 @@
+
+
+
+ false
+
+
+
+ 0 0 0.1 0 0 0
+
+ 10.0
+
+ 1.0
+ 1.0
+ 1.0
+ 0.0
+ 0.0
+ 0.0
+
+
+
+
+
+ 1.0 1.0 0.2
+
+
+
+
+
+
+ 1.0 1.0 0.2
+
+
+
+
+
+
+
+
+
+
+ -0.4 -0.4 0.0 0 0 0
+
+
+
+ 0.05
+ 0.2
+
+
+
+
+
+
+ 0.05
+ 0.2
+
+
+
+
+
+
+
+
+
+ base_link
+ caster1
+
+ 0 0 1
+
+
+
+
+ -0.4 -0.4 -0.05 0 1.5708 0
+
+
+
+ 0.05
+ 0.1
+
+
+
+
+
+
+ 0.05
+ 0.1
+
+
+
+
+
+
+
+
+
+ caster1
+ segway1_wheel
+
+ 1 0 0
+
+
+
+
+
+ 0.4 -0.4 0.0 0 0 0
+
+
+
+ 0.05
+ 0.2
+
+
+
+
+
+
+ 0.05
+ 0.2
+
+
+
+
+
+
+
+
+
+ base_link
+ caster2
+
+ 0 0 1
+
+
+
+
+ 0.4 -0.4 -0.05 0 1.5708 0
+
+
+
+ 0.05
+ 0.1
+
+
+
+
+
+
+ 0.05
+ 0.1
+
+
+
+
+
+
+
+
+
+ caster2
+ segway2_wheel
+
+ 1 0 0
+
+
+
+
+
+ -0.4 0.4 0.0 0 0 0
+
+
+
+ 0.05
+ 0.2
+
+
+
+
+
+
+ 0.05
+ 0.2
+
+
+
+
+
+
+
+
+
+ base_link
+ caster3
+
+ 0 0 1
+
+
+
+
+ -0.4 0.4 -0.05 0 1.5708 0
+
+
+
+ 0.05
+ 0.1
+
+
+
+
+
+
+ 0.05
+ 0.1
+
+
+
+
+
+
+
+
+
+ caster3
+ segway3_wheel
+
+ 1 0 0
+
+
+
+
+
+ 0.4 0.4 0.0 0 0 0
+
+
+
+ 0.05
+ 0.2
+
+
+
+
+
+
+ 0.05
+ 0.2
+
+
+
+
+
+
+
+
+
+ base_link
+ caster4
+
+ 0 0 1
+
+
+
+
+ 0.4 0.4 -0.05 0 1.5708 0
+
+
+
+ 0.05
+ 0.1
+
+
+
+
+
+
+ 0.05
+ 0.1
+
+
+
+
+
+
+
+
+
+ caster4
+ segway4_wheel
+
+ 1 0 0
+
+
+
+
+
diff --git a/my_robot/model.config b/my_robot/model.config
new file mode 100644
index 00000000..f1a158fe
--- /dev/null
+++ b/my_robot/model.config
@@ -0,0 +1,15 @@
+
+
+ My Robot
+ 1.0
+ model.sdf
+
+
+ My Name
+ me@my.email
+
+
+
+ My awesome robot.
+
+
\ No newline at end of file
diff --git a/my_robot/model.sdf b/my_robot/model.sdf
new file mode 100644
index 00000000..eb0da798
--- /dev/null
+++ b/my_robot/model.sdf
@@ -0,0 +1,108 @@
+
+
+
+ false
+
+ 0 0 .1 0 0 0
+
+
+
+
+ .4 .2 .1
+
+
+
+
+
+
+
+ .4 .2 .1
+
+
+
+
+ -0.15 0 -0.05 0 0 0
+
+
+ .05
+
+
+
+
+
+
+ 0
+ 0
+ 1.0
+ 1.0
+
+
+
+
+
+
+ -0.15 0 -0.05 0 0 0
+
+
+ .05
+
+
+
+
+
+ 0.1 -0.13 0.1 0 1.5707 1.5707
+
+
+
+ .1
+ .05
+
+
+
+
+
+
+ .1
+ .05
+
+
+
+
+
+ 0.1 0.13 0.1 0 1.5707 1.5707
+
+
+
+ .1
+ .05
+
+
+
+
+
+
+ .1
+ .05
+
+
+
+
+
+ 0 0 -0.03 0 0 0
+ left_wheel
+ chassis
+
+ 0 1 0
+
+
+
+
+ 0 0 0.03 0 0 0
+ right_wheel
+ chassis
+
+ 0 1 0
+
+
+
+
\ No newline at end of file
diff --git a/mymodel/box.sdf b/mymodel/box.sdf
new file mode 100644
index 00000000..0f4d1d3f
--- /dev/null
+++ b/mymodel/box.sdf
@@ -0,0 +1,35 @@
+
+
+
+ 0 0 0.5 0 0 0
+ true
+
+
+ 1.0
+
+
+ 0.083
+ 0.0
+ 0.0
+ 0.083
+ 0.0
+ 0.083
+
+
+
+
+
+ 1 1 1
+
+
+
+
+
+
+ 1 1 1
+
+
+
+
+
+
\ No newline at end of file
diff --git a/mymodel/model.config b/mymodel/model.config
new file mode 100644
index 00000000..ad9b4b21
--- /dev/null
+++ b/mymodel/model.config
@@ -0,0 +1,16 @@
+
+
+ Wedge juggler
+ 1.0
+ model.sdf
+ model-1.4.sdf
+
+
+ Zach Sampson
+ zsampson@byu.edu
+
+
+
+ A ball-in-wedge juggler.
+
+
\ No newline at end of file