diff --git a/drone_assets/models/asphalt_plane/model.sdf b/drone_assets/models/asphalt_plane/model.sdf
index 5840316..c4ffd75 100644
--- a/drone_assets/models/asphalt_plane/model.sdf
+++ b/drone_assets/models/asphalt_plane/model.sdf
@@ -6,7 +6,7 @@
       <collision name="collision">
         <geometry>
           <box>
-            <size>200 200 .1</size>
+            <size>250 250 .1</size>
           </box>
         </geometry>
       </collision>
@@ -14,7 +14,7 @@
         <cast_shadows>false</cast_shadows>
         <geometry>
           <box>
-            <size>200 200 .1</size>
+            <size>250 250 .1</size>
           </box>
         </geometry>
         <material>
diff --git a/drone_assets/models/cylinder1/meshes/pared4.dae b/drone_assets/models/cylinder1/meshes/pared4.dae
new file mode 100644
index 0000000..b5a0b99
--- /dev/null
+++ b/drone_assets/models/cylinder1/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/drone_assets/models/cylinder1/model.config b/drone_assets/models/cylinder1/model.config
new file mode 100644
index 0000000..08bdc28
--- /dev/null
+++ b/drone_assets/models/cylinder1/model.config
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>cylinder1</name>
+  <version>1.0</version>
+  <sdf version="1.4">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/drone_assets/models/cylinder1/model.sdf b/drone_assets/models/cylinder1/model.sdf
new file mode 100644
index 0000000..af66cf2
--- /dev/null
+++ b/drone_assets/models/cylinder1/model.sdf
@@ -0,0 +1,107 @@
+<?xml version='1.0'?>
+<sdf version='1.6'>
+  <model name='cylinder1'>
+    <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>
+          <cylinder>
+              <radius>0.5</radius>
+              <length>1</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Grey</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+          <!-- Brown -->
+          <ambient>0.9 0.6 0.3 1</ambient>
+          <diffuse>0.698039 0.698039 0.698039 1</diffuse>
+          <specular>0.898039 0.898039 0.898039 1 20</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>
+          <cylinder>
+              <radius>0.5</radius>
+              <length>1</length>
+            </cylinder>
+        </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="cylinder1plugin" filename="libwall4plugin.so"/>
+  </model>
+</sdf>
diff --git a/drone_assets/models/cylinder2/meshes/pared4.dae b/drone_assets/models/cylinder2/meshes/pared4.dae
new file mode 100644
index 0000000..b5a0b99
--- /dev/null
+++ b/drone_assets/models/cylinder2/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/drone_assets/models/cylinder2/model.config b/drone_assets/models/cylinder2/model.config
new file mode 100644
index 0000000..d06f96d
--- /dev/null
+++ b/drone_assets/models/cylinder2/model.config
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>cylinder2</name>
+  <version>1.0</version>
+  <sdf version="1.4">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/drone_assets/models/cylinder2/model.sdf b/drone_assets/models/cylinder2/model.sdf
new file mode 100644
index 0000000..e9dcb7c
--- /dev/null
+++ b/drone_assets/models/cylinder2/model.sdf
@@ -0,0 +1,107 @@
+<?xml version='1.0'?>
+<sdf version='1.6'>
+  <model name='cylinder2'>
+    <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>
+          <cylinder>
+              <radius>0.5</radius>
+              <length>1</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Grey</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+          <!-- Grey -->
+          <ambient>0.4 0.6 0.3 1</ambient>
+          <diffuse>0.698039 0.698039 0.698039 1</diffuse>
+          <specular>0.898039 0.898039 0.898039 1 20</specular>
+          <emissive>0.1 0 0.1 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>
+          <cylinder>
+              <radius>0.5</radius>
+              <length>1</length>
+            </cylinder>
+        </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="cylinder2plugin" filename="libwall4plugin.so"/>
+  </model>
+</sdf>
diff --git a/drone_assets/models/cylinder3/meshes/pared4.dae b/drone_assets/models/cylinder3/meshes/pared4.dae
new file mode 100644
index 0000000..b5a0b99
--- /dev/null
+++ b/drone_assets/models/cylinder3/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/drone_assets/models/cylinder3/model.config b/drone_assets/models/cylinder3/model.config
new file mode 100644
index 0000000..00c2e5c
--- /dev/null
+++ b/drone_assets/models/cylinder3/model.config
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>cylinder3</name>
+  <version>1.0</version>
+  <sdf version="1.4">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/drone_assets/models/cylinder3/model.sdf b/drone_assets/models/cylinder3/model.sdf
new file mode 100644
index 0000000..d2ebd1c
--- /dev/null
+++ b/drone_assets/models/cylinder3/model.sdf
@@ -0,0 +1,107 @@
+<?xml version='1.0'?>
+<sdf version='1.6'>
+  <model name='cylinder3'>
+    <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>
+          <cylinder>
+              <radius>0.5</radius>
+              <length>1</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Grey</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+          <!-- Yellow -->
+          <ambient>0.698039 0.698039 0.698039 1</ambient>
+          <diffuse>0.698039 0.698039 0.698039 1</diffuse>
+          <specular>0.898039 0.898039 0.898039 1 20</specular>
+          <emissive>1 1 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>
+          <cylinder>
+              <radius>0.5</radius>
+              <length>1</length>
+            </cylinder>
+        </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="cylinder3plugin" filename="libwall2plugin.so"/>
+  </model>
+</sdf>
diff --git a/drone_assets/models/package_box/materials/scripts/package_box.material b/drone_assets/models/package_box_01/materials/scripts/package_box_01.material
similarity index 65%
rename from drone_assets/models/package_box/materials/scripts/package_box.material
rename to drone_assets/models/package_box_01/materials/scripts/package_box_01.material
index 8b07c6c..f41f984 100644
--- a/drone_assets/models/package_box/materials/scripts/package_box.material
+++ b/drone_assets/models/package_box_01/materials/scripts/package_box_01.material
@@ -1,17 +1,17 @@
-material package_box
+material package_box_01
 {
     receive shadows off
     technique
     {
         pass
         {
-            ambient 0.8 1.0 0.8 1.0
-			diffuse 0.8 1.0 0.8 1.0
+            ambient 1.0 1.0 1.0 1.0
+			diffuse 1.0 1.0 1.0 1.0
 			specular 0.1 0.1 0.1 1.0 12.5
 
             texture_unit
             {
-                texture brown.png
+                texture package_box_01.png
                 filtering anistropic
                 max_anisotropy 16
             }
diff --git a/drone_assets/models/package_box/materials/textures/brown.png b/drone_assets/models/package_box_01/materials/textures/brown.png
similarity index 100%
rename from drone_assets/models/package_box/materials/textures/brown.png
rename to drone_assets/models/package_box_01/materials/textures/brown.png
diff --git a/drone_assets/models/package_box_01/materials/textures/package_box_01.png b/drone_assets/models/package_box_01/materials/textures/package_box_01.png
new file mode 100644
index 0000000..7afb35d
Binary files /dev/null and b/drone_assets/models/package_box_01/materials/textures/package_box_01.png differ
diff --git a/drone_assets/models/package_box/model.config b/drone_assets/models/package_box_01/model.config
similarity index 89%
rename from drone_assets/models/package_box/model.config
rename to drone_assets/models/package_box_01/model.config
index c4403cd..631e84a 100644
--- a/drone_assets/models/package_box/model.config
+++ b/drone_assets/models/package_box_01/model.config
@@ -1,6 +1,6 @@
 <?xml version="1.0" ?>
 <model>
-    <name>package_box</name>
+    <name>package_box_01</name>
     <version>1.0</version>
     <sdf version="1.7">model.sdf</sdf>
     <author>
diff --git a/drone_assets/models/package_box/model.sdf b/drone_assets/models/package_box_01/model.sdf
similarity index 74%
rename from drone_assets/models/package_box/model.sdf
rename to drone_assets/models/package_box_01/model.sdf
index 1f4eee3..e4f615c 100644
--- a/drone_assets/models/package_box/model.sdf
+++ b/drone_assets/models/package_box_01/model.sdf
@@ -1,7 +1,7 @@
 <?xml version='1.0'?>
 <sdf version='1.7'>
-  <model name='package_box'>
-    <link name='package_box_link'>
+  <model name='package_box_01'>
+    <link name='main'>
       <inertial>
         <mass>0.1</mass>
         <inertia>
@@ -15,7 +15,7 @@
       </inertial>
       <pose>0 0 0.055 0 -0 0</pose>
       <gravity>1</gravity>
-      <visual name='package_box_visual'>
+      <visual name='main_visual'>
         <geometry>
           <box>
             <size>0.14 0.12 0.11</size>
@@ -23,13 +23,13 @@
         </geometry>
         <material>
           <script>
-            <uri>model://package_box/materials/scripts</uri>
-            <uri>model://package_box/materials/textures</uri>
-            <name>package_box</name>
+            <uri>model://package_box_01/materials/scripts</uri>
+            <uri>model://package_box_01/materials/textures</uri>
+            <name>package_box_01</name>
           </script>
         </material>
       </visual>
-      <collision name='package_box_collision'>
+      <collision name='main_collision'>
         <geometry>
           <box>
             <size>0.14 0.12 0.11</size>
diff --git a/drone_assets/models/package_box_02/materials/scripts/package_box_02.material b/drone_assets/models/package_box_02/materials/scripts/package_box_02.material
new file mode 100644
index 0000000..4129770
--- /dev/null
+++ b/drone_assets/models/package_box_02/materials/scripts/package_box_02.material
@@ -0,0 +1,21 @@
+material package_box_02
+{
+    receive shadows off
+    technique
+    {
+        pass
+        {
+            ambient 1.0 1.0 1.0 1.0
+			diffuse 1.0 1.0 1.0 1.0
+			specular 0.1 0.1 0.1 1.0 12.5
+
+            texture_unit
+            {
+                texture package_box_02.png
+                filtering anistropic
+                max_anisotropy 16
+            }
+
+        }
+    }
+}
\ No newline at end of file
diff --git a/drone_assets/models/package_box_02/materials/textures/brown.png b/drone_assets/models/package_box_02/materials/textures/brown.png
new file mode 100644
index 0000000..57a8480
Binary files /dev/null and b/drone_assets/models/package_box_02/materials/textures/brown.png differ
diff --git a/drone_assets/models/package_box_02/materials/textures/package_box_02.png b/drone_assets/models/package_box_02/materials/textures/package_box_02.png
new file mode 100644
index 0000000..65ff824
Binary files /dev/null and b/drone_assets/models/package_box_02/materials/textures/package_box_02.png differ
diff --git a/drone_assets/models/package_box_02/model.config b/drone_assets/models/package_box_02/model.config
new file mode 100644
index 0000000..17a8957
--- /dev/null
+++ b/drone_assets/models/package_box_02/model.config
@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+    <name>package_box_02</name>
+    <version>1.0</version>
+    <sdf version="1.7">model.sdf</sdf>
+    <author>
+        <name>Arka</name>
+        <email></email>
+    </author>
+    <description>Package Box for Package Delivery exercise in RoboticsAcademy</description>
+</model>
diff --git a/drone_assets/models/package_box_02/model.sdf b/drone_assets/models/package_box_02/model.sdf
new file mode 100644
index 0000000..8644f93
--- /dev/null
+++ b/drone_assets/models/package_box_02/model.sdf
@@ -0,0 +1,47 @@
+<?xml version='1.0'?>
+<sdf version='1.7'>
+  <model name='package_box_02'>
+    <link name='main'>
+      <inertial>
+        <mass>0.1</mass>
+        <inertia>
+          <ixx>0.000220833</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.000264167</iyy>
+          <iyz>0</iyz>
+          <izz>0.000283333</izz>
+        </inertia>
+      </inertial>
+      <pose>0 0 0.055 0 -0 0</pose>
+      <gravity>1</gravity>
+      <visual name='main_visual'>
+        <geometry>
+          <box>
+            <size>0.14 0.12 0.11</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>model://package_box_02/materials/scripts</uri>
+            <uri>model://package_box_02/materials/textures</uri>
+            <name>package_box_02</name>
+          </script>
+        </material>
+      </visual>
+      <collision name='main_collision'>
+        <geometry>
+          <box>
+            <size>0.14 0.12 0.11</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <collide_bitmask>0x01</collide_bitmask>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+    <static>0</static>
+  </model>
+</sdf>
diff --git a/drone_assets/models/package_box_03/materials/scripts/package_box_03.material b/drone_assets/models/package_box_03/materials/scripts/package_box_03.material
new file mode 100644
index 0000000..a7873ea
--- /dev/null
+++ b/drone_assets/models/package_box_03/materials/scripts/package_box_03.material
@@ -0,0 +1,21 @@
+material package_box_03
+{
+    receive shadows off
+    technique
+    {
+        pass
+        {
+            ambient 1.0 1.0 1.0 1.0
+			diffuse 1.0 1.0 1.0 1.0
+			specular 0.1 0.1 0.1 1.0 12.5
+
+            texture_unit
+            {
+                texture package_box_03.png
+                filtering anistropic
+                max_anisotropy 16
+            }
+
+        }
+    }
+}
\ No newline at end of file
diff --git a/drone_assets/models/package_box_03/materials/textures/brown.png b/drone_assets/models/package_box_03/materials/textures/brown.png
new file mode 100644
index 0000000..57a8480
Binary files /dev/null and b/drone_assets/models/package_box_03/materials/textures/brown.png differ
diff --git a/drone_assets/models/package_box_03/materials/textures/package_box_03.png b/drone_assets/models/package_box_03/materials/textures/package_box_03.png
new file mode 100644
index 0000000..bb41076
Binary files /dev/null and b/drone_assets/models/package_box_03/materials/textures/package_box_03.png differ
diff --git a/drone_assets/models/package_box_03/model.config b/drone_assets/models/package_box_03/model.config
new file mode 100644
index 0000000..6a97619
--- /dev/null
+++ b/drone_assets/models/package_box_03/model.config
@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+    <name>package_box_03</name>
+    <version>1.0</version>
+    <sdf version="1.7">model.sdf</sdf>
+    <author>
+        <name>Arka</name>
+        <email></email>
+    </author>
+    <description>Package Box for Package Delivery exercise in RoboticsAcademy</description>
+</model>
diff --git a/drone_assets/models/package_box_03/model.sdf b/drone_assets/models/package_box_03/model.sdf
new file mode 100644
index 0000000..7b017c9
--- /dev/null
+++ b/drone_assets/models/package_box_03/model.sdf
@@ -0,0 +1,47 @@
+<?xml version='1.0'?>
+<sdf version='1.7'>
+  <model name='package_box_03'>
+    <link name='main'>
+      <inertial>
+        <mass>0.1</mass>
+        <inertia>
+          <ixx>0.000220833</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.000264167</iyy>
+          <iyz>0</iyz>
+          <izz>0.000283333</izz>
+        </inertia>
+      </inertial>
+      <pose>0 0 0.055 0 -0 0</pose>
+      <gravity>1</gravity>
+      <visual name='main_visual'>
+        <geometry>
+          <box>
+            <size>0.14 0.12 0.11</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>model://package_box_03/materials/scripts</uri>
+            <uri>model://package_box_03/materials/textures</uri>
+            <name>package_box_03</name>
+          </script>
+        </material>
+      </visual>
+      <collision name='main_collision'>
+        <geometry>
+          <box>
+            <size>0.14 0.12 0.11</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <collide_bitmask>0x01</collide_bitmask>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+    <static>0</static>
+  </model>
+</sdf>
diff --git a/drone_assets/models/simple_labyrinth_green/materials/scripts/simple_labyrinth_green.material b/drone_assets/models/simple_labyrinth_green/materials/scripts/simple_labyrinth_green.material
new file mode 100644
index 0000000..993db1f
--- /dev/null
+++ b/drone_assets/models/simple_labyrinth_green/materials/scripts/simple_labyrinth_green.material
@@ -0,0 +1,17 @@
+material simple_labyrinth_green
+{
+  technique
+  {
+    pass
+    {
+      lighting off
+      texture_unit
+      {
+        texture simple_labyrinth_green.png
+        filtering none none none
+        scale 1.0 1.0
+      }
+    }
+  }
+}
+
diff --git a/drone_assets/models/simple_labyrinth_green/materials/textures/simple_labyrinth_green.png b/drone_assets/models/simple_labyrinth_green/materials/textures/simple_labyrinth_green.png
new file mode 100644
index 0000000..1aec414
Binary files /dev/null and b/drone_assets/models/simple_labyrinth_green/materials/textures/simple_labyrinth_green.png differ
diff --git a/drone_assets/models/simple_labyrinth_green/model.sdf b/drone_assets/models/simple_labyrinth_green/model.sdf
index 55fa9c6..f5e64cc 100644
--- a/drone_assets/models/simple_labyrinth_green/model.sdf
+++ b/drone_assets/models/simple_labyrinth_green/model.sdf
@@ -21,8 +21,9 @@
         </geometry>
         <material>
           <script>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Green</name>
+            <uri>model://simple_labyrinth_green/materials/scripts</uri>
+            <uri>model://simple_labyrinth_green/materials/textures</uri>
+            <name>simple_labyrinth_green</name>
           </script>
         </material>
       </visual>
@@ -50,8 +51,9 @@
         </geometry>
         <material>
           <script>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Green</name>
+            <uri>model://simple_labyrinth_green/materials/scripts</uri>
+            <uri>model://simple_labyrinth_green/materials/textures</uri>
+            <name>simple_labyrinth_green</name>
           </script>
         </material>
       </visual>
@@ -79,8 +81,9 @@
         </geometry>
         <material>
           <script>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Green</name>
+            <uri>model://simple_labyrinth_green/materials/scripts</uri>
+            <uri>model://simple_labyrinth_green/materials/textures</uri>
+            <name>simple_labyrinth_green</name>
           </script>
         </material>
       </visual>
@@ -108,8 +111,9 @@
         </geometry>
         <material>
           <script>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Green</name>
+            <uri>model://simple_labyrinth_green/materials/scripts</uri>
+            <uri>model://simple_labyrinth_green/materials/textures</uri>
+            <name>simple_labyrinth_green</name>
           </script>
         </material>
       </visual>
@@ -137,8 +141,9 @@
         </geometry>
         <material>
           <script>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Green</name>
+            <uri>model://simple_labyrinth_green/materials/scripts</uri>
+            <uri>model://simple_labyrinth_green/materials/textures</uri>
+            <name>simple_labyrinth_green</name>
           </script>
         </material>
       </visual>
@@ -166,8 +171,9 @@
         </geometry>
         <material>
           <script>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Green</name>
+            <uri>model://simple_labyrinth_green/materials/scripts</uri>
+            <uri>model://simple_labyrinth_green/materials/textures</uri>
+            <name>simple_labyrinth_green</name>
           </script>
         </material>
       </visual>
@@ -195,8 +201,9 @@
         </geometry>
         <material>
           <script>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Green</name>
+            <uri>model://simple_labyrinth_green/materials/scripts</uri>
+            <uri>model://simple_labyrinth_green/materials/textures</uri>
+            <name>simple_labyrinth_green</name>
           </script>
         </material>
       </visual>
@@ -224,8 +231,9 @@
         </geometry>
         <material>
           <script>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Green</name>
+            <uri>model://simple_labyrinth_green/materials/scripts</uri>
+            <uri>model://simple_labyrinth_green/materials/textures</uri>
+            <name>simple_labyrinth_green</name>
           </script>
         </material>
       </visual>
@@ -253,8 +261,9 @@
         </geometry>
         <material>
           <script>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Green</name>
+            <uri>model://simple_labyrinth_green/materials/scripts</uri>
+            <uri>model://simple_labyrinth_green/materials/textures</uri>
+            <name>simple_labyrinth_green</name>
           </script>
         </material>
       </visual>
@@ -282,8 +291,9 @@
         </geometry>
         <material>
           <script>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Green</name>
+            <uri>model://simple_labyrinth_green/materials/scripts</uri>
+            <uri>model://simple_labyrinth_green/materials/textures</uri>
+            <name>simple_labyrinth_green</name>
           </script>
         </material>
       </visual>
@@ -311,8 +321,9 @@
         </geometry>
         <material>
           <script>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Green</name>
+            <uri>model://simple_labyrinth_green/materials/scripts</uri>
+            <uri>model://simple_labyrinth_green/materials/textures</uri>
+            <name>simple_labyrinth_green</name>
           </script>
         </material>
       </visual>
@@ -340,8 +351,9 @@
         </geometry>
         <material>
           <script>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Green</name>
+            <uri>model://simple_labyrinth_green/materials/scripts</uri>
+            <uri>model://simple_labyrinth_green/materials/textures</uri>
+            <name>simple_labyrinth_green</name>
           </script>
         </material>
       </visual>
@@ -369,8 +381,9 @@
         </geometry>
         <material>
           <script>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Green</name>
+            <uri>model://simple_labyrinth_green/materials/scripts</uri>
+            <uri>model://simple_labyrinth_green/materials/textures</uri>
+            <name>simple_labyrinth_green</name>
           </script>
         </material>
       </visual>
@@ -398,8 +411,9 @@
         </geometry>
         <material>
           <script>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Green</name>
+            <uri>model://simple_labyrinth_green/materials/scripts</uri>
+            <uri>model://simple_labyrinth_green/materials/textures</uri>
+            <name>simple_labyrinth_green</name>
           </script>
         </material>
       </visual>
@@ -427,8 +441,9 @@
         </geometry>
         <material>
           <script>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Green</name>
+            <uri>model://simple_labyrinth_green/materials/scripts</uri>
+            <uri>model://simple_labyrinth_green/materials/textures</uri>
+            <name>simple_labyrinth_green</name>
           </script>
         </material>
       </visual>
@@ -456,8 +471,9 @@
         </geometry>
         <material>
           <script>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Green</name>
+            <uri>model://simple_labyrinth_green/materials/scripts</uri>
+            <uri>model://simple_labyrinth_green/materials/textures</uri>
+            <name>simple_labyrinth_green</name>
           </script>
         </material>
       </visual>
@@ -485,8 +501,9 @@
         </geometry>
         <material>
           <script>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Green</name>
+            <uri>model://simple_labyrinth_green/materials/scripts</uri>
+            <uri>model://simple_labyrinth_green/materials/textures</uri>
+            <name>simple_labyrinth_green</name>
           </script>
         </material>
       </visual>
diff --git a/drone_assets/models/wall1/model.sdf b/drone_assets/models/wall1/model.sdf
index cb671fb..fcc5b80 100644
--- a/drone_assets/models/wall1/model.sdf
+++ b/drone_assets/models/wall1/model.sdf
@@ -29,6 +29,7 @@
             <name>Gazebo/Grey</name>
             <uri>file://media/materials/scripts/gazebo.material</uri>
           </script>
+          <!-- Blue -->
           <ambient>0 0 1 1</ambient>
           <diffuse>0.3 0.3 0.8 1</diffuse>
           <specular>0.01 0.1 0.01 1</specular>
diff --git a/drone_assets/models/wall2/model.sdf b/drone_assets/models/wall2/model.sdf
index 259401d..b1e55e4 100644
--- a/drone_assets/models/wall2/model.sdf
+++ b/drone_assets/models/wall2/model.sdf
@@ -30,10 +30,11 @@
             <name>Gazebo/Grey</name>
             <uri>file://media/materials/scripts/gazebo.material</uri>
           </script>
-          <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>
+          <!-- Red -->
+          <ambient>0.3 0.1 0.1 1</ambient>
+          <diffuse>0.8 0.05 0.05 1</diffuse>
+          <specular>0.01 0.1 0.01 1</specular>
+          <emissive>0.1 0 0.1 1</emissive>
           <shader type='vertex'>
             <normal_map>__default__</normal_map>
           </shader>
diff --git a/drone_assets/models/wall3/model.sdf b/drone_assets/models/wall3/model.sdf
index eb31853..28b4524 100644
--- a/drone_assets/models/wall3/model.sdf
+++ b/drone_assets/models/wall3/model.sdf
@@ -29,10 +29,11 @@
             <name>Gazebo/Grey</name>
             <uri>file://media/materials/scripts/gazebo.material</uri>
           </script>
-          <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>
+          <!-- Cyan -->
+          <ambient>0.698039 0.698039 0.698039 1</ambient>
+          <diffuse>0.698039 0.698039 0.698039 1</diffuse>
+          <specular>0.898039 0.898039 0.898039 1 20</specular>
+          <emissive>0 0.945098 0.980392 1</emissive>
           <shader type='vertex'>
             <normal_map>__default__</normal_map>
           </shader>
diff --git a/drone_assets/models/wall4/model.sdf b/drone_assets/models/wall4/model.sdf
index f5fbf9e..48c0ede 100644
--- a/drone_assets/models/wall4/model.sdf
+++ b/drone_assets/models/wall4/model.sdf
@@ -20,19 +20,21 @@
       <gravity>1</gravity>
       <visual name='visual'>
         <geometry>
-          <box>
-            <size>2.5 0.150783 4.266</size>
-          </box>
+          <cylinder>
+              <radius>0.5</radius>
+              <length>1</length>
+          </cylinder>
         </geometry>
         <material>
           <script>
             <name>Gazebo/Grey</name>
             <uri>file://media/materials/scripts/gazebo.material</uri>
           </script>
-          <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>
+          <!-- Yellow -->
+          <ambient>0.698039 0.698039 0.698039 1</ambient>
+          <diffuse>0.698039 0.698039 0.698039 1</diffuse>
+          <specular>0.898039 0.898039 0.898039 1 20</specular>
+          <emissive>1 1 0 1</emissive>
           <shader type='vertex'>
             <normal_map>__default__</normal_map>
           </shader>
@@ -46,9 +48,10 @@
         <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>
+          <cylinder>
+              <radius>0.5</radius>
+              <length>1</length>
+            </cylinder>
         </geometry>
         <surface>
           <friction>