diff --git a/scout_description/meshes/base_link_full.dae b/scout_description/meshes/base_link_full.dae
new file mode 100644
index 0000000..cbffae2
--- /dev/null
+++ b/scout_description/meshes/base_link_full.dae
@@ -0,0 +1,15 @@
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor />
+    <created>2020-03-27T18:56:12.965296</created>
+    <modified>2020-03-27T18:56:12.965305</modified>
+    <unit name="meter" meter="1.0" />
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_visual_scenes>
+    <visual_scene id="myscene" />
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#myscene" />
+  </scene>
+</COLLADA>
diff --git a/scout_description/urdf/scout_v2.xacro b/scout_description/urdf/scout_v2.xacro
index ca55b32..a6523f3 100644
--- a/scout_description/urdf/scout_v2.xacro
+++ b/scout_description/urdf/scout_v2.xacro
@@ -29,7 +29,7 @@
         <visual>
             <origin xyz="0 0 0" rpy="0 0 0" />
             <geometry>
-                <mesh filename="package://scout_description/meshes/base_link.dae" />
+                <mesh filename="package://scout_description/meshes/base_link_full.dae" />
             </geometry>
         </visual>
         <collision>
@@ -87,12 +87,12 @@
     </xacro:scout_wheel_type2>
 
     <!-- For testing, hang the robot up in the air -->
-    <link name="world" />
+    <!-- <link name="world" />
     <joint name="world_to_base_link=" type="fixed">
         <origin xyz="0 0 0.5" rpy="0 0 0" />
         <parent link="world"/>
         <child link="base_link"/>
-    </joint>
+    </joint> -->
 
     <!-- Additional definitions -->
     <xacro:include filename="$(arg urdf_extras)" />
diff --git a/scout_description/urdf/scout_wheel.gazebo b/scout_description/urdf/scout_wheel.gazebo
index b9eb14d..7ddce49 100644
--- a/scout_description/urdf/scout_wheel.gazebo
+++ b/scout_description/urdf/scout_wheel.gazebo
@@ -29,11 +29,20 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
 
     <xacro:macro name="scout_wheel_transmission" params="wheel_prefix">
         <gazebo reference="${wheel_prefix}_wheel_link">
+            <mu1 value="1.0"/>
+            <mu2 value="0.6"/>
+            <kp value="10000000.0" />
+            <kd value="1.0" />
+            <fdir1 value="1 0 0"/> 
+            <maxContacts value="64"/>
+        </gazebo> 
+
+        <!-- <gazebo reference="${wheel_prefix}_wheel_link">
             <mu1 value="1.0"/>
             <mu2 value="1.0"/>
             <kp value="10000000.0" />
             <kd value="1.0" />
-            <fdir1 value="1 0 0"/>
+            <fdir1 value="1 0 0"/> 
         </gazebo> -->
 
         <transmission name="${wheel_prefix}_wheel_trans" type="SimpleTransmission">
diff --git a/scout_description/urdf/scout_wheel_type1.xacro b/scout_description/urdf/scout_wheel_type1.xacro
index ebdb9fe..3b0cb4e 100644
--- a/scout_description/urdf/scout_wheel_type1.xacro
+++ b/scout_description/urdf/scout_wheel_type1.xacro
@@ -55,4 +55,5 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
             <axis xyz="0 -1 0" rpy="0 0 0" />
         </joint>
     </xacro:macro>
+    
 </robot>
diff --git a/scout_gazebo_sim/launch/playpen.launch b/scout_gazebo_sim/launch/playpen.launch
deleted file mode 100644
index 89e8109..0000000
--- a/scout_gazebo_sim/launch/playpen.launch
+++ /dev/null
@@ -1,37 +0,0 @@
-<?xml version="1.0"?>
-<!--
-Software License Agreement (BSD)
-
-\file      husky_playpen.launch
-\authors   Paul Bovbel <pbovbel@clearpathrobotics.com
-\copyright Copyright (c) 2015, Clearpath Robotics, Inc., All rights reserved.
-
-Redistribution and use in source and binary forms, with or without modification, are permitted provided that
-the following conditions are met:
- * Redistributions of source code must retain the above copyright notice, this list of conditions and the
-   following disclaimer.
- * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the
-   following disclaimer in the documentation and/or other materials provided with the distribution.
- * Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote
-   products derived from this software without specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR-
-RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
-PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN-
-DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
-OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
-ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
--->
-<launch>
-
-  <include file="$(find gazebo_ros)/launch/empty_world.launch">
-    <arg name="world_name" value="$(find husky_gazebo)/worlds/clearpath_playpen.world"/>
-    <arg name="paused" value="false"/>
-    <arg name="use_sim_time" value="true"/>
-    <arg name="gui" value="true"/>
-    <arg name="headless" value="false"/>
-    <arg name="debug" value="false"/>
-  </include>
-
-</launch>
diff --git a/scout_gazebo_sim/launch/husky_playpen.launch b/scout_gazebo_sim/launch/scout_playpen.launch
similarity index 65%
rename from scout_gazebo_sim/launch/husky_playpen.launch
rename to scout_gazebo_sim/launch/scout_playpen.launch
index b11cf59..00ede1d 100644
--- a/scout_gazebo_sim/launch/husky_playpen.launch
+++ b/scout_gazebo_sim/launch/scout_playpen.launch
@@ -2,8 +2,8 @@
 <!--
 Software License Agreement (BSD)
 
-\file      husky_playpen.launch
-\authors   Paul Bovbel <pbovbel@clearpathrobotics.com
+\file      husky_empty_world.launch
+\authors   Paul Bovbel <pbovbel@clearpathrobotics.com, Devon Ash <dash@clearpathrobotics.com>
 \copyright Copyright (c) 2015, Clearpath Robotics, Inc., All rights reserved.
 
 Redistribution and use in source and binary forms, with or without modification, are permitted provided that
@@ -25,14 +25,19 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
 -->
 <launch>
 
-  <arg name="laser_enabled" default="true"/>
-  <arg name="kinect_enabled" default="false"/>
+    <arg name="robot_namespace" default="/"/>
+    <arg name="world_name" default="$(find scout_gazebo_sim)/worlds/clearpath_playpen.world"/>
 
-  <include file="$(find husky_gazebo)/launch/playpen.launch" />
-
-  <include file="$(find husky_gazebo)/launch/spawn_husky.launch">
-    <arg name="laser_enabled" value="$(arg laser_enabled)"/>
-    <arg name="kinect_enabled" value="$(arg kinect_enabled)"/>
-  </include>
+    <include file="$(find gazebo_ros)/launch/empty_world.launch">
+        <arg name="world_name" value="$(arg world_name)"/>
+        <arg name="paused" value="false"/>
+        <arg name="use_sim_time" value="true"/>
+        <arg name="gui" value="true"/>
+        <arg name="headless" value="false"/>
+        <arg name="debug" value="false"/>
+    </include>
 
+    <include file="$(find scout_gazebo_sim)/launch/spawn_scout_v2.launch"></include>
+        
+    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find scout_description)/rviz/model_display.rviz" />
 </launch>