diff --git a/NOTE.md b/NOTE.md
index ed4c858..5ede40f 100644
--- a/NOTE.md
+++ b/NOTE.md
@@ -1,3 +1,15 @@
```
$ rostopic pub -1 /scout_motor_fl_controller/command std_msgs/Float64 "data: 0.5"
+```
+
+Convert xacro to urdf
+
+```
+$ rosrun xacro xacro -o model.urdf model.urdf.xacro
+```
+
+Convert urdf to sdf
+
+```
+$ gz sdf -p scout_v2.urdf > scout_v2.sdf
```
\ No newline at end of file
diff --git a/scout_description/urdf/scout_v2.urdf b/scout_description/urdf/scout_v2.urdf
new file mode 100644
index 0000000..6031ca5
--- /dev/null
+++ b/scout_description/urdf/scout_v2.urdf
@@ -0,0 +1,277 @@
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+ transmission_interface/SimpleTransmission
+
+ 1
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+
+ hardware_interface/VelocityJointInterface
+
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+ transmission_interface/SimpleTransmission
+
+ 1
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+ hardware_interface/VelocityJointInterface
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+ transmission_interface/SimpleTransmission
+
+ 1
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+ hardware_interface/VelocityJointInterface
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+ transmission_interface/SimpleTransmission
+
+ 1
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+ hardware_interface/VelocityJointInterface
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+ /
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diff --git a/scout_description/urdf/scout_v2.xacro b/scout_description/urdf/scout_v2.xacro
index a6523f3..462bf1a 100644
--- a/scout_description/urdf/scout_v2.xacro
+++ b/scout_description/urdf/scout_v2.xacro
@@ -24,14 +24,30 @@
+
+
+
+
+
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+
+
-
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@@ -55,21 +71,6 @@
-
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diff --git a/scout_description/urdf/scout_wheel.gazebo b/scout_description/urdf/scout_wheel.gazebo
index 7ddce49..c867ce2 100644
--- a/scout_description/urdf/scout_wheel.gazebo
+++ b/scout_description/urdf/scout_wheel.gazebo
@@ -28,23 +28,17 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
+
-
+
+
-
-
transmission_interface/SimpleTransmission
diff --git a/scout_description/urdf/scout_wheel_type1.xacro b/scout_description/urdf/scout_wheel_type1.xacro
index 3b0cb4e..960acf6 100644
--- a/scout_description/urdf/scout_wheel_type1.xacro
+++ b/scout_description/urdf/scout_wheel_type1.xacro
@@ -30,9 +30,9 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
-
+
-
+
diff --git a/scout_description/urdf/scout_wheel_type2.xacro b/scout_description/urdf/scout_wheel_type2.xacro
index d8aa310..2435b5b 100644
--- a/scout_description/urdf/scout_wheel_type2.xacro
+++ b/scout_description/urdf/scout_wheel_type2.xacro
@@ -30,9 +30,9 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
-
+
-
+
diff --git a/scout_gazebo_sim/launch/scout_empty_world.launch b/scout_gazebo_sim/launch/scout_empty_world.launch
index 1467714..64be720 100644
--- a/scout_gazebo_sim/launch/scout_empty_world.launch
+++ b/scout_gazebo_sim/launch/scout_empty_world.launch
@@ -1,36 +1,10 @@
-
-
-
+
-
diff --git a/scout_gazebo_sim/launch/scout_playpen.launch b/scout_gazebo_sim/launch/scout_playpen.launch
index 00ede1d..afefa40 100644
--- a/scout_gazebo_sim/launch/scout_playpen.launch
+++ b/scout_gazebo_sim/launch/scout_playpen.launch
@@ -29,6 +29,7 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
+
diff --git a/scout_gazebo_sim/worlds/weston_robot_empty.world b/scout_gazebo_sim/worlds/weston_robot_empty.world
new file mode 100644
index 0000000..bb55236
--- /dev/null
+++ b/scout_gazebo_sim/worlds/weston_robot_empty.world
@@ -0,0 +1,29 @@
+
+
+
+
+
+ model://sun
+
+
+
+
+ model://ground_plane
+
+
+
+
+
+
\ No newline at end of file