diff --git a/launch/description.launch b/launch/description.launch
new file mode 100644
index 0000000000000000000000000000000000000000..41f03fb20d01b5531c337fb2852a788ded2354a5
--- /dev/null
+++ b/launch/description.launch
@@ -0,0 +1,39 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+
+  <arg name="name" default="dabo"/>
+  <arg name="model"     default="dabo"/>
+
+  <group ns="$(arg name)">
+    
+    <param name="robot_description"
+          command="$(find xacro)/xacro --inorder '$(find iri_dabo_description)/urdf/$(arg model).xacro' name:=$(arg name)" />
+
+    <node pkg="robot_state_publisher" type="state_publisher" name="state_publisher">
+      <param name="tf_prefix" type="string" value="/$(arg name)"/>
+      <param name="publish_frequency" type="double" value="20.0"/>
+    </node>
+
+    <!--
+    <node pkg="joint_state_publisher"
+          type="joint_state_publisher"
+          name="joint_state_publisher">
+      <param name="use_gui"           value="true"/>
+      <remap from="$(arg name)/joint_states" to="$(arg name)/joint_states/"/>
+      <remap from="$(arg name)/robot_description" to="$(arg name)/robot_description/"/>
+    </node>
+    -->
+
+  </group>
+  
+  <!--
+  <include file="$(find iri_segway_rmp200_description)/launch/wheel_static_transform.launch">
+    <arg name="name" value="$(arg name)"/>
+  </include>
+  -->
+  
+  <include file="$(find iri_segway_rmp200_description)/launch/caster_wheels_static_transform.launch">
+    <arg name="name" value="$(arg name)"/>
+  </include>
+
+</launch>
\ No newline at end of file
diff --git a/meshes/body.dae b/meshes/body.dae
new file mode 100644
index 0000000000000000000000000000000000000000..a34af4595e60ada394dc89632283c95870464179
--- /dev/null
+++ b/meshes/body.dae
@@ -0,0 +1,268 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.79.0 commit date:2018-03-22, commit time:14:10, hash:f4dc9f9d68b</authoring_tool>
+    </contributor>
+    <created>2018-12-12T13:55:10</created>
+    <modified>2018-12-12T13:55:10</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <YF_dofdist sid="YF_dofdist" type="float">0</YF_dofdist>
+        </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">
+          <type sid="type" type="int">0</type>
+          <flag sid="flag" type="int">0</flag>
+          <mode sid="mode" type="int">8192</mode>
+          <gamma sid="blender_gamma" type="float">1</gamma>
+          <red sid="red" type="float">1</red>
+          <green sid="green" type="float">1</green>
+          <blue sid="blue" type="float">1</blue>
+          <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
+          <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
+          <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
+          <energy sid="blender_energy" type="float">1</energy>
+          <dist sid="blender_dist" type="float">29.99998</dist>
+          <spotsize sid="spotsize" type="float">75</spotsize>
+          <spotblend sid="spotblend" type="float">0.15</spotblend>
+          <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
+          <att1 sid="att1" type="float">0</att1>
+          <att2 sid="att2" type="float">1</att2>
+          <falloff_type sid="falloff_type" type="int">2</falloff_type>
+          <clipsta sid="clipsta" type="float">1.000799</clipsta>
+          <clipend sid="clipend" type="float">30.002</clipend>
+          <bias sid="bias" type="float">1</bias>
+          <soft sid="soft" type="float">3</soft>
+          <compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
+          <bufsize sid="bufsize" type="int">2880</bufsize>
+          <samp sid="samp" type="int">3</samp>
+          <buffers sid="buffers" type="int">1</buffers>
+          <filtertype sid="filtertype" type="int">0</filtertype>
+          <bufflag sid="bufflag" type="int">0</bufflag>
+          <buftype sid="buftype" type="int">2</buftype>
+          <ray_samp sid="ray_samp" type="int">1</ray_samp>
+          <ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
+          <ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
+          <ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
+          <area_shape sid="area_shape" type="int">1</area_shape>
+          <area_size sid="area_size" type="float">0.1</area_size>
+          <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
+          <area_sizez sid="area_sizez" type="float">1</area_sizez>
+          <adapt_thresh sid="adapt_thresh" type="float">0.000999987</adapt_thresh>
+          <ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
+          <shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
+          <sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
+          <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
+          <horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
+          <spread sid="spread" type="float">1</spread>
+          <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
+          <sun_size sid="sun_size" type="float">1</sun_size>
+          <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
+          <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
+          <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
+          <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
+          <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
+          <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
+          <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
+          <sky_colorspace sid="sky_colorspace" type="int">0</sky_colorspace>
+        </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 0.16 0.64 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="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">0.64 0.64 0.64 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="Material_003-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">8.2514e-4 8.2514e-4 8.2514e-4 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>
+  </library_effects>
+  <library_materials>
+    <material id="Material_001-material" name="Material_001">
+      <instance_effect url="#Material_001-effect"/>
+    </material>
+    <material id="Material_002-material" name="Material_002">
+      <instance_effect url="#Material_002-effect"/>
+    </material>
+    <material id="Material_003-material" name="Material_003">
+      <instance_effect url="#Material_003-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Body-mesh" name="Body">
+      <mesh>
+        <source id="Body-mesh-positions">
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55801 1932 55801 1932 55802 1930 55802 2742 55802 1932 55803 2742 55803 1926 55803 1926 55804 2742 55804 3023 55804 1926 55805 3023 55805 1923 55805 2043 55806 2042 55806 1934 55806 1933 55807 28244 55807 1934 55807 1934 55808 28244 55808 28245 55808 1934 55809 28245 55809 2043 55809 2043 55810 28245 55810 2065 55810 2065 55811 28245 55811 1930 55811 1930 55812 28245 55812 28244 55812 1930 55813 28244 55813 2742 55813 2742 55814 28244 55814 1933 55814 2742 55815 1933 55815 1941 55815</p>
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55283 10415 55283 10414 55283 28223 55284 10414 55284 10417 55284 10474 55285 10478 55285 28225 55285 10477 55286 10476 55286 10475 55286 10478 55287 28226 55287 28225 55287 28225 55288 28226 55288 10489 55288 28225 55289 10489 55289 10490 55289 10475 55290 10474 55290 10477 55290 10477 55291 10474 55291 28225 55291 10477 55292 28225 55292 10480 55292 10480 55293 28225 55293 10490 55293 10480 55294 10490 55294 10482 55294 10436 55295 10437 55295 28227 55295 28227 55296 10437 55296 10433 55296 28227 55297 10433 55297 10432 55297 10439 55298 10438 55298 10434 55298 10487 55299 10489 55299 10427 55299 10427 55300 10489 55300 28226 55300 10427 55301 28226 55301 10426 55301 10426 55302 28226 55302 28227 55302 10426 55303 28227 55303 10416 55303 10416 55304 28227 55304 10432 55304 10416 55305 10432 55305 10450 55305 10168 55306 10166 55306 10165 55306 10478 55307 10163 55307 28226 55307 28226 55308 10163 55308 10161 55308 28226 55309 10161 55309 10160 55309 10160 55310 10157 55310 10159 55310 10160 55311 10159 55311 28226 55311 28226 55312 10159 55312 10170 55312 28226 55313 10170 55313 10169 55313 10434 55314 10436 55314 10439 55314 10439 55315 10436 55315 28227 55315 10439 55316 28227 55316 10444 55316 10444 55317 28227 55317 28226 55317 10444 55318 28226 55318 10445 55318 10445 55319 28226 55319 28228 55319 10445 55320 28228 55320 10446 55320 10455 55321 10454 55321 10453 55321 10169 55322 10168 55322 28226 55322 28226 55323 10168 55323 10165 55323 28226 55324 10165 55324 28228 55324 28228 55325 10165 55325 10459 55325 28228 55326 10459 55326 10458 55326 10453 55327 10446 55327 10455 55327 10455 55328 10446 55328 28228 55328 10455 55329 28228 55329 10456 55329 10456 55330 28228 55330 10458 55330 10456 55331 10458 55331 10457 55331 10150 55332 10152 55332 10154 55332 10128 55333 10127 55333 10162 55333 10138 55334 10136 55334 28229 55334 28229 55335 10136 55335 10135 55335 10192 55336 10191 55336 28230 55336 28230 55337 10191 55337 10199 55337 10194 55338 28230 55338 10196 55338 10196 55339 28230 55339 10199 55339 10196 55340 10199 55340 10198 55340 10187 55341 10179 55341 10188 55341 10188 55342 10179 55342 28230 55342 10188 55343 28230 55343 10189 55343 10189 55344 28230 55344 10194 55344 10189 55345 10194 55345 10185 55345 10131 55346 10138 55346 10146 55346 10146 55347 10138 55347 28229 55347 10146 55348 28229 55348 10154 55348 10154 55349 28229 55349 28230 55349 10154 55350 28230 55350 10150 55350 10150 55351 28230 55351 10179 55351 10150 55352 10179 55352 10178 55352 10180 55353 10190 55353 28231 55353 10181 55354 10180 55354 10200 55354 10200 55355 10180 55355 28231 55355 10200 55356 28231 55356 10201 55356 10202 55357 10201 55357 10203 55357 10203 55358 10201 55358 28231 55358 10203 55359 28231 55359 28230 55359 28230 55360 28231 55360 10190 55360 28230 55361 10190 55361 10192 55361 10212 55362 28232 55362 10164 55362 10164 55363 28232 55363 28230 55363 10164 55364 28230 55364 10162 55364 10162 55365 28230 55365 28229 55365 10162 55366 28229 55366 10128 55366 10128 55367 28229 55367 10135 55367 10211 55368 10210 55368 10214 55368 10212 55369 10211 55369 28232 55369 28232 55370 10211 55370 10214 55370 28232 55371 10214 55371 28230 55371 28230 55372 10214 55372 10213 55372 28230 55373 10213 55373 10209 55373 10204 55374 10203 55374 10205 55374 10205 55375 10203 55375 28230 55375 10205 55376 28230 55376 10206 55376 10206 55377 28230 55377 10209 55377 10206 55378 10209 55378 10207 55378 10110 55379 10109 55379 28233 55379 10098 55380 10097 55380 10110 55380 10101 55381 10100 55381 28234 55381 28234 55382 10100 55382 10098 55382 10105 55383 10103 55383 10108 55383 10108 55384 10103 55384 28233 55384 10108 55385 28233 55385 10107 55385 10107 55386 28233 55386 10109 55386 10107 55387 10109 55387 10106 55387 28233 55388 28235 55388 10115 55388 10115 55389 28235 55389 10118 55389 10115 55390 10118 55390 10116 55390 10141 55391 10119 55391 28233 55391 28233 55392 10119 55392 10121 55392 28233 55393 10121 55393 28235 55393 28235 55394 10121 55394 10123 55394 28235 55395 10123 55395 10118 55395 10115 55396 10114 55396 28233 55396 28233 55397 10114 55397 10112 55397 28233 55398 10112 55398 10111 55398 10098 55399 10110 55399 28234 55399 28234 55400 10110 55400 28233 55400 28234 55401 28233 55401 10101 55401 10101 55402 28233 55402 10111 55402 10101 55403 10111 55403 10113 55403 10129 55404 10147 55404 28233 55404 28233 55405 10147 55405 10142 55405 28233 55406 10142 55406 10141 55406 10132 55407 10130 55407 10129 55407 10134 55408 10133 55408 28236 55408 28236 55409 10133 55409 10132 55409 10134 55410 28236 55410 10140 55410 10140 55411 28236 55411 10137 55411 10140 55412 10137 55412 10139 55412 10173 55413 10172 55413 28233 55413 10174 55414 10173 55414 10175 55414 10175 55415 10173 55415 28233 55415 10175 55416 28233 55416 10176 55416 10176 55417 28233 55417 10103 55417 10176 55418 10103 55418 10102 55418 10172 55419 10171 55419 28233 55419 28233 55420 10171 55420 10167 55420 28233 55421 10167 55421 10158 55421 10132 55422 10129 55422 28236 55422 28236 55423 10129 55423 28233 55423 28236 55424 28233 55424 10137 55424 10137 55425 28233 55425 10158 55425 10137 55426 10158 55426 10126 55426</p>
+        </triangles>
+        <triangles material="Material_003-material" count="22">
+          <input semantic="VERTEX" source="#Body-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Body-mesh-normals" offset="1"/>
+          <p>4192 47075 3931 47075 25482 47075 25482 47075 3931 47075 25523 47075 25482 47076 25523 47076 25480 47076 11540 47077 11539 47077 25537 47077 25537 47078 11539 47078 25465 47078 25537 47079 25465 47079 25538 47079 25465 47080 25467 47080 25538 47080 25538 47081 25467 47081 25469 47081 25538 47082 25469 47082 25542 47082 25542 47083 25469 47083 25470 47083 25542 47084 25470 47084 25535 47084 25535 47085 25470 47085 25472 47085 25535 47086 25472 47086 25533 47086 25533 47087 25472 47087 25474 47087 25533 47088 25474 47088 25531 47088 25531 47089 25474 47089 25476 47089 25531 47090 25476 47090 25529 47090 25529 47091 25476 47091 25478 47091 25529 47092 25478 47092 25527 47092 25527 47093 25478 47093 25480 47093 25527 47094 25480 47094 25522 47094 25522 47095 25480 47095 25523 47095</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6858805 -0.3173701 0.6548619 7.481132 0.7276338 0.3124686 -0.6106656 -6.50764 -0.01081678 0.8953432 0.4452454 5.343665 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Lamp" name="Lamp" type="NODE">
+        <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="Body" name="Body" 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="#Body-mesh" name="Body">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_001-material" target="#Material_001-material"/>
+              <instance_material symbol="Material_002-material" target="#Material_002-material"/>
+              <instance_material symbol="Material_003-material" target="#Material_003-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/meshes/body.stl b/meshes/body.stl
new file mode 100644
index 0000000000000000000000000000000000000000..c3b5417fdff2eeaa15e963d6507516cbd4854264
Binary files /dev/null and b/meshes/body.stl differ
diff --git a/meshes/body2.stl b/meshes/body2.stl
new file mode 100644
index 0000000000000000000000000000000000000000..12bbb1127d483e27293a4acc09fbdcc67e2b8121
Binary files /dev/null and b/meshes/body2.stl differ
diff --git a/meshes/body_tibi.dae b/meshes/body_tibi.dae
new file mode 100644
index 0000000000000000000000000000000000000000..c46b51d6811738e0120c02574fc40c73f4a181e6
--- /dev/null
+++ b/meshes/body_tibi.dae
@@ -0,0 +1,268 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.79.0 commit date:2018-03-22, commit time:14:10, hash:f4dc9f9d68b</authoring_tool>
+    </contributor>
+    <created>2018-12-12T13:56:27</created>
+    <modified>2018-12-12T13:56:27</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
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55801 1932 55801 1932 55802 1930 55802 2742 55802 1932 55803 2742 55803 1926 55803 1926 55804 2742 55804 3023 55804 1926 55805 3023 55805 1923 55805 2043 55806 2042 55806 1934 55806 1933 55807 28244 55807 1934 55807 1934 55808 28244 55808 28245 55808 1934 55809 28245 55809 2043 55809 2043 55810 28245 55810 2065 55810 2065 55811 28245 55811 1930 55811 1930 55812 28245 55812 28244 55812 1930 55813 28244 55813 2742 55813 2742 55814 28244 55814 1933 55814 2742 55815 1933 55815 1941 55815</p>
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55227 10405 55228 10403 55228 10404 55228 10405 55229 10404 55229 28217 55229 28217 55230 10404 55230 10401 55230 28217 55231 10401 55231 10400 55231 10397 55232 10396 55232 10398 55232 10398 55233 10396 55233 28217 55233 10398 55234 28217 55234 10399 55234 10399 55235 28217 55235 10400 55235 10683 55236 10682 55236 10685 55236 10687 55237 10688 55237 28220 55237 28220 55238 10688 55238 10683 55238 10685 55239 10684 55239 28221 55239 28221 55240 10684 55240 10679 55240 28221 55241 10679 55241 10680 55241 10680 55242 10681 55242 10678 55242 10695 55243 10694 55243 10693 55243 10692 55244 28221 55244 10693 55244 10693 55245 28221 55245 28222 55245 10693 55246 28222 55246 10695 55246 10695 55247 28222 55247 10696 55247 10692 55248 10691 55248 28221 55248 28221 55249 10691 55249 10690 55249 28221 55250 10690 55250 10689 55250 10683 55251 10685 55251 28220 55251 28220 55252 10685 55252 28221 55252 28220 55253 28221 55253 10687 55253 10687 55254 28221 55254 10689 55254 10687 55255 10689 55255 10686 55255 28221 55256 28223 55256 10422 55256 10422 55257 28223 55257 10417 55257 10422 55258 10417 55258 10423 55258 10422 55259 10421 55259 28221 55259 28221 55260 10421 55260 10420 55260 28221 55261 10420 55261 10419 55261 10696 55262 28222 55262 10697 55262 10697 55263 28222 55263 28221 55263 10697 55264 28221 55264 10411 55264 10411 55265 28221 55265 10419 55265 10411 55266 10419 55266 10418 55266 10680 55267 10678 55267 28221 55267 28221 55268 10678 55268 10486 55268 28221 55269 10486 55269 10485 55269 10485 55270 10484 55270 28221 55270 28221 55271 10484 55271 10479 55271 28221 55272 10479 55272 10481 55272 10491 55273 28224 55273 10492 55273 10492 55274 28224 55274 28221 55274 10492 55275 28221 55275 10483 55275 10483 55276 28221 55276 10481 55276 10488 55277 10425 55277 10424 55277 10491 55278 10488 55278 28224 55278 28224 55279 10488 55279 10424 55279 28224 55280 10424 55280 28221 55280 28221 55281 10424 55281 10415 55281 28221 55282 10415 55282 28223 55282 28223 55283 10415 55283 10414 55283 28223 55284 10414 55284 10417 55284 10474 55285 10478 55285 28225 55285 10477 55286 10476 55286 10475 55286 10478 55287 28226 55287 28225 55287 28225 55288 28226 55288 10489 55288 28225 55289 10489 55289 10490 55289 10475 55290 10474 55290 10477 55290 10477 55291 10474 55291 28225 55291 10477 55292 28225 55292 10480 55292 10480 55293 28225 55293 10490 55293 10480 55294 10490 55294 10482 55294 10436 55295 10437 55295 28227 55295 28227 55296 10437 55296 10433 55296 28227 55297 10433 55297 10432 55297 10439 55298 10438 55298 10434 55298 10487 55299 10489 55299 10427 55299 10427 55300 10489 55300 28226 55300 10427 55301 28226 55301 10426 55301 10426 55302 28226 55302 28227 55302 10426 55303 28227 55303 10416 55303 10416 55304 28227 55304 10432 55304 10416 55305 10432 55305 10450 55305 10168 55306 10166 55306 10165 55306 10478 55307 10163 55307 28226 55307 28226 55308 10163 55308 10161 55308 28226 55309 10161 55309 10160 55309 10160 55310 10157 55310 10159 55310 10160 55311 10159 55311 28226 55311 28226 55312 10159 55312 10170 55312 28226 55313 10170 55313 10169 55313 10434 55314 10436 55314 10439 55314 10439 55315 10436 55315 28227 55315 10439 55316 28227 55316 10444 55316 10444 55317 28227 55317 28226 55317 10444 55318 28226 55318 10445 55318 10445 55319 28226 55319 28228 55319 10445 55320 28228 55320 10446 55320 10455 55321 10454 55321 10453 55321 10169 55322 10168 55322 28226 55322 28226 55323 10168 55323 10165 55323 28226 55324 10165 55324 28228 55324 28228 55325 10165 55325 10459 55325 28228 55326 10459 55326 10458 55326 10453 55327 10446 55327 10455 55327 10455 55328 10446 55328 28228 55328 10455 55329 28228 55329 10456 55329 10456 55330 28228 55330 10458 55330 10456 55331 10458 55331 10457 55331 10150 55332 10152 55332 10154 55332 10128 55333 10127 55333 10162 55333 10138 55334 10136 55334 28229 55334 28229 55335 10136 55335 10135 55335 10192 55336 10191 55336 28230 55336 28230 55337 10191 55337 10199 55337 10194 55338 28230 55338 10196 55338 10196 55339 28230 55339 10199 55339 10196 55340 10199 55340 10198 55340 10187 55341 10179 55341 10188 55341 10188 55342 10179 55342 28230 55342 10188 55343 28230 55343 10189 55343 10189 55344 28230 55344 10194 55344 10189 55345 10194 55345 10185 55345 10131 55346 10138 55346 10146 55346 10146 55347 10138 55347 28229 55347 10146 55348 28229 55348 10154 55348 10154 55349 28229 55349 28230 55349 10154 55350 28230 55350 10150 55350 10150 55351 28230 55351 10179 55351 10150 55352 10179 55352 10178 55352 10180 55353 10190 55353 28231 55353 10181 55354 10180 55354 10200 55354 10200 55355 10180 55355 28231 55355 10200 55356 28231 55356 10201 55356 10202 55357 10201 55357 10203 55357 10203 55358 10201 55358 28231 55358 10203 55359 28231 55359 28230 55359 28230 55360 28231 55360 10190 55360 28230 55361 10190 55361 10192 55361 10212 55362 28232 55362 10164 55362 10164 55363 28232 55363 28230 55363 10164 55364 28230 55364 10162 55364 10162 55365 28230 55365 28229 55365 10162 55366 28229 55366 10128 55366 10128 55367 28229 55367 10135 55367 10211 55368 10210 55368 10214 55368 10212 55369 10211 55369 28232 55369 28232 55370 10211 55370 10214 55370 28232 55371 10214 55371 28230 55371 28230 55372 10214 55372 10213 55372 28230 55373 10213 55373 10209 55373 10204 55374 10203 55374 10205 55374 10205 55375 10203 55375 28230 55375 10205 55376 28230 55376 10206 55376 10206 55377 28230 55377 10209 55377 10206 55378 10209 55378 10207 55378 10110 55379 10109 55379 28233 55379 10098 55380 10097 55380 10110 55380 10101 55381 10100 55381 28234 55381 28234 55382 10100 55382 10098 55382 10105 55383 10103 55383 10108 55383 10108 55384 10103 55384 28233 55384 10108 55385 28233 55385 10107 55385 10107 55386 28233 55386 10109 55386 10107 55387 10109 55387 10106 55387 28233 55388 28235 55388 10115 55388 10115 55389 28235 55389 10118 55389 10115 55390 10118 55390 10116 55390 10141 55391 10119 55391 28233 55391 28233 55392 10119 55392 10121 55392 28233 55393 10121 55393 28235 55393 28235 55394 10121 55394 10123 55394 28235 55395 10123 55395 10118 55395 10115 55396 10114 55396 28233 55396 28233 55397 10114 55397 10112 55397 28233 55398 10112 55398 10111 55398 10098 55399 10110 55399 28234 55399 28234 55400 10110 55400 28233 55400 28234 55401 28233 55401 10101 55401 10101 55402 28233 55402 10111 55402 10101 55403 10111 55403 10113 55403 10129 55404 10147 55404 28233 55404 28233 55405 10147 55405 10142 55405 28233 55406 10142 55406 10141 55406 10132 55407 10130 55407 10129 55407 10134 55408 10133 55408 28236 55408 28236 55409 10133 55409 10132 55409 10134 55410 28236 55410 10140 55410 10140 55411 28236 55411 10137 55411 10140 55412 10137 55412 10139 55412 10173 55413 10172 55413 28233 55413 10174 55414 10173 55414 10175 55414 10175 55415 10173 55415 28233 55415 10175 55416 28233 55416 10176 55416 10176 55417 28233 55417 10103 55417 10176 55418 10103 55418 10102 55418 10172 55419 10171 55419 28233 55419 28233 55420 10171 55420 10167 55420 28233 55421 10167 55421 10158 55421 10132 55422 10129 55422 28236 55422 28236 55423 10129 55423 28233 55423 28236 55424 28233 55424 10137 55424 10137 55425 28233 55425 10158 55425 10137 55426 10158 55426 10126 55426</p>
+        </triangles>
+        <triangles material="Material_003-material" count="22">
+          <input semantic="VERTEX" source="#Body-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Body-mesh-normals" offset="1"/>
+          <p>4192 47075 3931 47075 25482 47075 25482 47075 3931 47075 25523 47075 25482 47076 25523 47076 25480 47076 11540 47077 11539 47077 25537 47077 25537 47078 11539 47078 25465 47078 25537 47079 25465 47079 25538 47079 25465 47080 25467 47080 25538 47080 25538 47081 25467 47081 25469 47081 25538 47082 25469 47082 25542 47082 25542 47083 25469 47083 25470 47083 25542 47084 25470 47084 25535 47084 25535 47085 25470 47085 25472 47085 25535 47086 25472 47086 25533 47086 25533 47087 25472 47087 25474 47087 25533 47088 25474 47088 25531 47088 25531 47089 25474 47089 25476 47089 25531 47090 25476 47090 25529 47090 25529 47091 25476 47091 25478 47091 25529 47092 25478 47092 25527 47092 25527 47093 25478 47093 25480 47093 25527 47094 25480 47094 25522 47094 25522 47095 25480 47095 25523 47095</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6858805 -0.3173701 0.6548619 7.481132 0.7276338 0.3124686 -0.6106656 -6.50764 -0.01081678 0.8953432 0.4452454 5.343665 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Lamp" name="Lamp" type="NODE">
+        <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="Body" name="Body" 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="#Body-mesh" name="Body">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_001-material" target="#Material_001-material"/>
+              <instance_material symbol="Material_002-material" target="#Material_002-material"/>
+              <instance_material symbol="Material_003-material" target="#Material_003-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/urdf/body.xacro b/urdf/body.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..5f7d75320a950762f59c44639321123c2bcd8afb
--- /dev/null
+++ b/urdf/body.xacro
@@ -0,0 +1,33 @@
+<?xml version="1.0"?>
+
+<root xmlns:xacro="http://ros.org/wiki/xacro">
+  
+  <xacro:macro name="body" params="name parent">
+
+    <link name="body">
+      <visual>
+        <origin xyz="0 0 -0.48" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://iri_dabo_description/meshes/body.dae"/>
+        </geometry>
+      </visual>
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <mass value="1"/>
+        <inertia 
+          ixx="0.001" ixy="0.0" ixz="0.0" 
+          iyy="0.001" iyz="0.0" 
+          izz="0.001"/>
+      </inertial>
+    </link>
+
+    <joint name="${parent}2body_joint" type="fixed">
+      <parent link="${parent}"/>
+      <child link="body"/>
+      <origin rpy="0 0 0" xyz="0 0 0.0"/>
+      <axis xyz="0 0 1"/>
+    </joint>
+
+  </xacro:macro>
+
+</root>
diff --git a/urdf/dabo.xacro b/urdf/dabo.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..ef2880a92c8ab405ef8b6a687942e632c3495a2c
--- /dev/null
+++ b/urdf/dabo.xacro
@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+
+<robot name="dabo" xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <xacro:arg name="name" default="dabo"/>
+
+  <xacro:include filename="$(find iri_segway_rmp200_description)/urdf/segway_rmp200.xacro" />
+  <xacro:segway_rmp200 name="$(arg name)" sim_config="$(find iri_dabo_gazebo)/config/dabo_sim_config.yaml"/>
+  
+  <xacro:include filename="$(find iri_segway_rmp200_description)/urdf/caster_support_wheels.xacro" />
+  <xacro:caster_support_wheels/>
+  
+  <xacro:include filename="$(find iri_dabo_description)/urdf/body.xacro" />
+  <xacro:body name="$(arg name)" parent="top_plate"/>
+  
+  <xacro:include filename="$(find iri_dabo_description)/urdf/sensors.xacro" />
+  <xacro:sensors name="$(arg name)" parent="base_link"/>
+
+</robot>
\ No newline at end of file
diff --git a/urdf/sensors.xacro b/urdf/sensors.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..b48b552cc1522c4c91e8f4780aa5e1b0388b55cb
--- /dev/null
+++ b/urdf/sensors.xacro
@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+
+<root xmlns:xacro="http://ros.org/wiki/xacro">
+  
+  <xacro:include filename="$(find iri_hokuyo_laser2d_description)/urdf/hokuyo_laser2d.xacro" />
+
+
+  <xacro:macro name="sensors" params="name parent">
+    
+    <xacro:property name="laser_config" value="$(find iri_dabo_gazebo)/config/hokuyo_utm30lx.yaml"/>
+
+    <xacro:hokuyo_laser2d name="front" prefix="${name}" parent="${parent}" mesh_resolution="low_res" model="utm30lx" config_file="${laser_config}">
+      <origin xyz="0.28 0.0 0.15" rpy="0 0 0" />
+    </xacro:hokuyo_laser2d>
+    
+    <xacro:hokuyo_laser2d name="rear" prefix="${name}" parent="${parent}" mesh_resolution="low_res" model="utm30lx" config_file="${laser_config}">
+      <origin xyz="-0.28 0.0 0.15" rpy="0 0 3.14159" />
+    </xacro:hokuyo_laser2d>
+
+  </xacro:macro>
+
+</root>