From fe594ffcbe9c1b082762db7da444c9ad4d4439a6 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Alberto=20Le=C3=B3n=20Luengo?= <a.leon.2020@alumnos.urjc.es>
Date: Mon, 10 Nov 2025 18:38:36 +0100
Subject: [PATCH 1/3] Updating universes.sql

---
 database/universes.sql | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/database/universes.sql b/database/universes.sql
index 8147c3422..244f24cdf 100644
--- a/database/universes.sql
+++ b/database/universes.sql
@@ -198,7 +198,7 @@ COPY public.worlds (id, name, launch_file_path, tools_config, ros_version, type,
 21	Restaurant	/opt/jderobot/Launchers/restaurant.launch.py	None	ROS2	gazebo	{0.0,0.0,0.0,0.0,0.0,0.0}
 22	Simple Ackermann Circuit	/opt/jderobot/Launchers/simple_circuit_ackermann.launch.py	None	ROS2	gazebo	{0.0,0.0,0.0,0.0,0.0,0.0}
 23	Simple Circuit	/opt/jderobot/Launchers/simple_circuit.launch.py	None	ROS2	gazebo	{0.0,0.0,0.0,0.0,0.0,0.0}
-24	Vacuums House	/opt/jderobot/Launchers/vacuum_cleaner.launch.py	None	ROS2	gazebo	{0.0,0.0,0.0,0.0,0.0,0.0}
+24	Vacuums House	/opt/jderobot/Launchers/vacuum_cleaner.launch.py	None	ROS2	gz	{0.0,0.0,0.0,0.0,0.0,0.0}
 25	Vacuums House Markers	/opt/jderobot/Launchers/marker_visual_loc.launch.py	{"gzsim":"/opt/jderobot/Launchers/visualization/marker_visual_loc.config"}	ROS2	gz	{1,-1.5,0.6,0,0,0}
 26	Vacuums House Roof	/opt/jderobot/Launchers/montecarlo_visual_loc.launch.py	None	ROS2	gazebo	{0.0,0.0,0.0,0.0,0.0,0.0}
 27	Warehouse 1	/opt/jderobot/Launchers/amazon_robot.launch.py	None	ROS2	gazebo	{0.0,0.0,0.0,0.0,0.0,0.0}

From 95e43ac730e7bbb5202d7fd0af4fb14eb6a4bc38 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Alberto=20Le=C3=B3n=20Luengo?= <a.leon.2020@alumnos.urjc.es>
Date: Tue, 11 Nov 2025 12:20:33 +0100
Subject: [PATCH 2/3] Adding all models

---
 CustomRobots/CMakeLists.txt                   |   1 +
 .../roomba_robot/models/cama/meshes/model.dae |  69 +++
 .../roomba_robot/models/cama/model.config     |   9 +
 .../roomba_robot/models/cama/model.sdf        |  36 ++
 .../models/estanteria/meshes/model.dae        | 493 ++++++++++++++++++
 .../models/estanteria/meshes/wood.jpg         | Bin 0 -> 122826 bytes
 .../models/estanteria/model.config            |   9 +
 .../roomba_robot/models/estanteria/model.sdf  | 172 ++++++
 .../house_int2_harmonic/meshes/model.dae      | 261 ++++++++++
 .../house_int2_harmonic/meshes/wood.jpg       | Bin 0 -> 122826 bytes
 .../models/house_int2_harmonic/model.config   |   9 +
 .../models/house_int2_harmonic/model.sdf      |  90 ++++
 .../models/mesa_comedor/meshes/model.dae      | 441 ++++++++++++++++
 .../models/mesa_comedor/meshes/wood.jpg       | Bin 0 -> 122826 bytes
 .../models/mesa_comedor/model.config          |   9 +
 .../models/mesa_comedor/model.sdf             | 113 ++++
 .../models/mesa_salon/meshes/model.dae        | 331 ++++++++++++
 .../models/mesa_salon/meshes/wood.jpg         | Bin 0 -> 122826 bytes
 .../models/mesa_salon/model.config            |   9 +
 .../roomba_robot/models/mesa_salon/model.sdf  | 115 ++++
 .../models/mesita/meshes/model.dae            | 385 ++++++++++++++
 .../models/mesita/meshes/wood.jpg             | Bin 0 -> 122826 bytes
 .../roomba_robot/models/mesita/model.config   |   9 +
 .../roomba_robot/models/mesita/model.sdf      | 134 +++++
 .../models/roombaROS_harmonic/model.config    |  19 +
 .../models/roombaROS_harmonic/model.sdf       | 444 ++++++++++++++++
 .../models/silla/meshes/model.dae             | 369 +++++++++++++
 .../roomba_robot/models/silla/meshes/wood.jpg | Bin 0 -> 122826 bytes
 .../roomba_robot/models/silla/model.config    |   9 +
 .../roomba_robot/models/silla/model.sdf       | 128 +++++
 .../roomba_robot/models/sofa/meshes/model.dae | 207 ++++++++
 .../roomba_robot/models/sofa/model.config     |   9 +
 .../roomba_robot/models/sofa/model.sdf        |  84 +++
 .../models/sofa_largo/meshes/model.dae        | 207 ++++++++
 .../models/sofa_largo/model.config            |   9 +
 .../roomba_robot/models/sofa_largo/model.sdf  |  85 +++
 .../params/roombaROS_harmonic.yaml            |  39 ++
 .../spawn_robot.launch.py                     | 107 ++++
 Launchers/vacuum_cleaner.launch.py            | 134 +++--
 .../localized_vacuum_cleaner.config           |   0
 Worlds/roomba_1_house_harmonic.world          | 135 +++++
 41 files changed, 4623 insertions(+), 57 deletions(-)
 create mode 100755 CustomRobots/roomba_robot/models/cama/meshes/model.dae
 create mode 100755 CustomRobots/roomba_robot/models/cama/model.config
 create mode 100755 CustomRobots/roomba_robot/models/cama/model.sdf
 create mode 100755 CustomRobots/roomba_robot/models/estanteria/meshes/model.dae
 create mode 100755 CustomRobots/roomba_robot/models/estanteria/meshes/wood.jpg
 create mode 100755 CustomRobots/roomba_robot/models/estanteria/model.config
 create mode 100755 CustomRobots/roomba_robot/models/estanteria/model.sdf
 create mode 100755 CustomRobots/roomba_robot/models/house_int2_harmonic/meshes/model.dae
 create mode 100755 CustomRobots/roomba_robot/models/house_int2_harmonic/meshes/wood.jpg
 create mode 100755 CustomRobots/roomba_robot/models/house_int2_harmonic/model.config
 create mode 100755 CustomRobots/roomba_robot/models/house_int2_harmonic/model.sdf
 create mode 100755 CustomRobots/roomba_robot/models/mesa_comedor/meshes/model.dae
 create mode 100755 CustomRobots/roomba_robot/models/mesa_comedor/meshes/wood.jpg
 create mode 100755 CustomRobots/roomba_robot/models/mesa_comedor/model.config
 create mode 100755 CustomRobots/roomba_robot/models/mesa_comedor/model.sdf
 create mode 100755 CustomRobots/roomba_robot/models/mesa_salon/meshes/model.dae
 create mode 100755 CustomRobots/roomba_robot/models/mesa_salon/meshes/wood.jpg
 create mode 100755 CustomRobots/roomba_robot/models/mesa_salon/model.config
 create mode 100755 CustomRobots/roomba_robot/models/mesa_salon/model.sdf
 create mode 100755 CustomRobots/roomba_robot/models/mesita/meshes/model.dae
 create mode 100755 CustomRobots/roomba_robot/models/mesita/meshes/wood.jpg
 create mode 100755 CustomRobots/roomba_robot/models/mesita/model.config
 create mode 100755 CustomRobots/roomba_robot/models/mesita/model.sdf
 create mode 100755 CustomRobots/roomba_robot/models/roombaROS_harmonic/model.config
 create mode 100755 CustomRobots/roomba_robot/models/roombaROS_harmonic/model.sdf
 create mode 100755 CustomRobots/roomba_robot/models/silla/meshes/model.dae
 create mode 100755 CustomRobots/roomba_robot/models/silla/meshes/wood.jpg
 create mode 100755 CustomRobots/roomba_robot/models/silla/model.config
 create mode 100755 CustomRobots/roomba_robot/models/silla/model.sdf
 create mode 100755 CustomRobots/roomba_robot/models/sofa/meshes/model.dae
 create mode 100755 CustomRobots/roomba_robot/models/sofa/model.config
 create mode 100755 CustomRobots/roomba_robot/models/sofa/model.sdf
 create mode 100755 CustomRobots/roomba_robot/models/sofa_largo/meshes/model.dae
 create mode 100755 CustomRobots/roomba_robot/models/sofa_largo/model.config
 create mode 100755 CustomRobots/roomba_robot/models/sofa_largo/model.sdf
 create mode 100644 CustomRobots/roomba_robot/params/roombaROS_harmonic.yaml
 create mode 100644 Launchers/localized_vacuum_cleaner/spawn_robot.launch.py
 create mode 100644 Launchers/visualization/localized_vacuum_cleaner.config
 create mode 100644 Worlds/roomba_1_house_harmonic.world

diff --git a/CustomRobots/CMakeLists.txt b/CustomRobots/CMakeLists.txt
index b08432108..0d69f3659 100755
--- a/CustomRobots/CMakeLists.txt
+++ b/CustomRobots/CMakeLists.txt
@@ -86,6 +86,7 @@ install(
     f1/params
     # ROOMBA
     roomba_robot/models
+    roomba_robot/params
     # ACKERMAN CAR
     ackermann_cars/models
     # CARS
diff --git a/CustomRobots/roomba_robot/models/cama/meshes/model.dae b/CustomRobots/roomba_robot/models/cama/meshes/model.dae
new file mode 100755
index 000000000..9651699d7
--- /dev/null
+++ b/CustomRobots/roomba_robot/models/cama/meshes/model.dae
@@ -0,0 +1,69 @@
+<?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 3.1.2 commit date:2022-03-31, commit time:17:40, hash:cc66d1020c3b</authoring_tool>
+    </contributor>
+    <created>2025-02-18T09:46:44</created>
+    <modified>2025-02-18T09:46:44</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images/>
+  <library_geometries>
+    <geometry id="Cube_001-mesh" name="Cube.001">
+      <mesh>
+        <source id="Cube_001-mesh-positions">
+          <float_array id="Cube_001-mesh-positions-array" count="48">-1 -1 -1 -1 -1 1 -1 1 -1 -1 1 1 1 -1 -1 1 -1 1 1 1 -1 1 1 1 0.7142857 -1 1 0.7142857 -1 1.5 0.7142857 1 1 0.7142857 1 1.5 1 -1 1 1 -1 1.5 1 1 1 1 1 1.5</float_array>
+          <technique_common>
+            <accessor source="#Cube_001-mesh-positions-array" count="16" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Cube_001-mesh-normals">
+          <float_array id="Cube_001-mesh-normals-array" count="18">-1 0 0 0 1 0 1 0 0 0 -1 0 0 0 -1 0 0 1</float_array>
+          <technique_common>
+            <accessor source="#Cube_001-mesh-normals-array" count="6" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Cube_001-mesh-map-0">
+          <float_array id="Cube_001-mesh-map-0-array" count="144">0.625 0 0.375 0.25 0.375 0 0.625 0.25 0.375 0.5 0.375 0.25 0.625 0.5 0.375 0.75 0.375 0.5 0.625 0.75 0.375 1 0.375 0.75 0.375 0.5 0.125 0.75 0.125 0.5 0.875 0.5 0.625 0.75 0.625 0.5 0.625 0 0.375 0.25 0.375 0 0.625 0.25 0.375 0.5 0.375 0.25 0.625 0.5 0.375 0.75 0.375 0.5 0.625 0.75 0.375 1 0.375 0.75 0.375 0.5 0.125 0.75 0.125 0.5 0.875 0.5 0.625 0.75 0.625 0.5 0.625 0 0.625 0.25 0.375 0.25 0.625 0.25 0.625 0.5 0.375 0.5 0.625 0.5 0.625 0.75 0.375 0.75 0.625 0.75 0.625 1 0.375 1 0.375 0.5 0.375 0.75 0.125 0.75 0.875 0.5 0.875 0.75 0.625 0.75 0.625 0 0.625 0.25 0.375 0.25 0.625 0.25 0.625 0.5 0.375 0.5 0.625 0.5 0.625 0.75 0.375 0.75 0.625 0.75 0.625 1 0.375 1 0.375 0.5 0.375 0.75 0.125 0.75 0.875 0.5 0.875 0.75 0.625 0.75</float_array>
+          <technique_common>
+            <accessor source="#Cube_001-mesh-map-0-array" count="72" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Cube_001-mesh-vertices">
+          <input semantic="POSITION" source="#Cube_001-mesh-positions"/>
+        </vertices>
+        <triangles count="24">
+          <input semantic="VERTEX" source="#Cube_001-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cube_001-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Cube_001-mesh-map-0" offset="2" set="0"/>
+          <p>1 0 0 2 0 1 0 0 2 3 1 3 6 1 4 2 1 5 7 2 6 4 2 7 6 2 8 5 3 9 0 3 10 4 3 11 6 4 12 0 4 13 2 4 14 3 5 15 5 5 16 7 5 17 9 0 18 10 0 19 8 0 20 11 1 21 14 1 22 10 1 23 15 2 24 12 2 25 14 2 26 13 3 27 8 3 28 12 3 29 14 4 30 8 4 31 10 4 32 11 5 33 13 5 34 15 5 35 1 0 36 3 0 37 2 0 38 3 1 39 7 1 40 6 1 41 7 2 42 5 2 43 4 2 44 5 3 45 1 3 46 0 3 47 6 4 48 4 4 49 0 4 50 3 5 51 1 5 52 5 5 53 9 0 54 11 0 55 10 0 56 11 1 57 15 1 58 14 1 59 15 2 60 13 2 61 12 2 62 13 3 63 9 3 64 8 3 65 14 4 66 12 4 67 8 4 68 11 5 69 9 5 70 13 5 71</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="cama" name="cama" type="NODE">
+        <matrix sid="transform">1.05 0 0 0 0 0.75 0 0 0 0 0.2 0.2 0 0 0 1</matrix>
+        <instance_geometry url="#Cube_001-mesh" name="cama"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/CustomRobots/roomba_robot/models/cama/model.config b/CustomRobots/roomba_robot/models/cama/model.config
new file mode 100755
index 000000000..a6e5f3184
--- /dev/null
+++ b/CustomRobots/roomba_robot/models/cama/model.config
@@ -0,0 +1,9 @@
+<?xml version="1.0" ?>
+<model>
+  <name>cama</name>
+  <version>1.0</version>
+  <sdf version="1.8">model.sdf</sdf>
+  <author>
+    <name>Generated by blender SDF tools</name>
+  </author>
+</model>
diff --git a/CustomRobots/roomba_robot/models/cama/model.sdf b/CustomRobots/roomba_robot/models/cama/model.sdf
new file mode 100755
index 000000000..c38846523
--- /dev/null
+++ b/CustomRobots/roomba_robot/models/cama/model.sdf
@@ -0,0 +1,36 @@
+<?xml version="1.0" ?>
+<sdf version="1.8">
+  <model name="cama">
+    <static>true</static>
+    <link name="cama_link">
+      <visual name="cama_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/model.dae</uri>
+            <submesh>
+              <name>cama</name>
+            </submesh>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/White</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <collision name="cama_collision">
+        <geometry>
+          <mesh>
+            <uri>meshes/model.dae</uri>
+          </mesh>
+        </geometry>
+        <surface>
+          <contact>
+            <collide_bitmask>0x01</collide_bitmask>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+  </model>
+</sdf>
diff --git a/CustomRobots/roomba_robot/models/estanteria/meshes/model.dae b/CustomRobots/roomba_robot/models/estanteria/meshes/model.dae
new file mode 100755
index 000000000..187b683e7
--- /dev/null
+++ b/CustomRobots/roomba_robot/models/estanteria/meshes/model.dae
@@ -0,0 +1,493 @@
+<?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 3.1.2 commit date:2022-03-31, commit time:17:40, hash:cc66d1020c3b</authoring_tool>
+    </contributor>
+    <created>2025-02-18T09:17:04</created>
+    <modified>2025-02-18T09:17:04</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="Wood-effect">
+      <profile_COMMON>
+        <newparam sid="wood_jpg-surface">
+          <surface type="2D">
+            <init_from>wood_jpg</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="wood_jpg-sampler">
+          <sampler2D>
+            <source>wood_jpg-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <texture texture="wood_jpg-sampler" texcoord="UVMap"/>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images>
+    <image id="wood_jpg" name="wood_jpg">
+      <init_from>wood.jpg</init_from>
+    </image>
+  </library_images>
+  <library_materials>
+    <material id="Wood-material" name="Wood">
+      <instance_effect url="#Wood-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Cube_008-mesh" name="Cube.008">
+      <mesh>
+        <source id="Cube_008-mesh-positions">
+          <float_array id="Cube_008-mesh-positions-array" count="24">-1 -1 -1 -1 -1 1 -1 1 -1 -1 1 1 1 -1 -1 1 -1 1 1 1 -1 1 1 1</float_array>
+          <technique_common>
+            <accessor source="#Cube_008-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_008-mesh-normals">
+          <float_array id="Cube_008-mesh-normals-array" count="18">-1 0 0 0 1 0 1 0 0 0 -1 0 0 0 -1 0 0 1</float_array>
+          <technique_common>
+            <accessor source="#Cube_008-mesh-normals-array" count="6" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Cube_008-mesh-map-0">
+          <float_array id="Cube_008-mesh-map-0-array" count="72">0.625 0 0.375 0.25 0.375 0 0.625 0.25 0.375 0.5 0.375 0.25 0.625 0.5 0.375 0.75 0.375 0.5 0.625 0.75 0.375 1 0.375 0.75 0.375 0.5 0.125 0.75 0.125 0.5 0.875 0.5 0.625 0.75 0.625 0.5 0.625 0 0.625 0.25 0.375 0.25 0.625 0.25 0.625 0.5 0.375 0.5 0.625 0.5 0.625 0.75 0.375 0.75 0.625 0.75 0.625 1 0.375 1 0.375 0.5 0.375 0.75 0.125 0.75 0.875 0.5 0.875 0.75 0.625 0.75</float_array>
+          <technique_common>
+            <accessor source="#Cube_008-mesh-map-0-array" count="36" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Cube_008-mesh-vertices">
+          <input semantic="POSITION" source="#Cube_008-mesh-positions"/>
+        </vertices>
+        <triangles material="Wood-material" count="12">
+          <input semantic="VERTEX" source="#Cube_008-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cube_008-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Cube_008-mesh-map-0" offset="2" set="0"/>
+          <p>1 0 0 2 0 1 0 0 2 3 1 3 6 1 4 2 1 5 7 2 6 4 2 7 6 2 8 5 3 9 0 3 10 4 3 11 6 4 12 0 4 13 2 4 14 3 5 15 5 5 16 7 5 17 1 0 18 3 0 19 2 0 20 3 1 21 7 1 22 6 1 23 7 2 24 5 2 25 4 2 26 5 3 27 1 3 28 0 3 29 6 4 30 4 4 31 0 4 32 3 5 33 1 5 34 5 5 35</p>
+        </triangles>
+      </mesh>
+    </geometry>
+    <geometry id="Cube_007-mesh" name="Cube.007">
+      <mesh>
+        <source id="Cube_007-mesh-positions">
+          <float_array id="Cube_007-mesh-positions-array" count="24">-1 -1 -1 -1 -1 1 -1 1 -1 -1 1 1 1 -1 -1 1 -1 1 1 1 -1 1 1 1</float_array>
+          <technique_common>
+            <accessor source="#Cube_007-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_007-mesh-normals">
+          <float_array id="Cube_007-mesh-normals-array" count="18">-1 0 0 0 1 0 1 0 0 0 -1 0 0 0 -1 0 0 1</float_array>
+          <technique_common>
+            <accessor source="#Cube_007-mesh-normals-array" count="6" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
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+              <instance_material symbol="Wood-material" target="#Wood-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="estanteria" name="estanteria" type="NODE">
+        <matrix sid="transform">0.5 0 0 0 0 0.175 0 0 0 0 0.1 0.01 0 0 0 1</matrix>
+        <instance_geometry url="#Cube_001-mesh" name="estanteria">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Wood-material" target="#Wood-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_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/CustomRobots/roomba_robot/models/estanteria/meshes/wood.jpg b/CustomRobots/roomba_robot/models/estanteria/meshes/wood.jpg
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diff --git a/CustomRobots/roomba_robot/models/estanteria/model.config b/CustomRobots/roomba_robot/models/estanteria/model.config
new file mode 100755
index 000000000..341f27e1f
--- /dev/null
+++ b/CustomRobots/roomba_robot/models/estanteria/model.config
@@ -0,0 +1,9 @@
+<?xml version="1.0" ?>
+<model>
+  <name>estanteria</name>
+  <version>1.0</version>
+  <sdf version="1.8">model.sdf</sdf>
+  <author>
+    <name>Generated by blender SDF tools</name>
+  </author>
+</model>
diff --git a/CustomRobots/roomba_robot/models/estanteria/model.sdf b/CustomRobots/roomba_robot/models/estanteria/model.sdf
new file mode 100755
index 000000000..671a1cc4e
--- /dev/null
+++ b/CustomRobots/roomba_robot/models/estanteria/model.sdf
@@ -0,0 +1,172 @@
+<?xml version="1.0" ?>
+<sdf version="1.8">
+  <model name="estanteria">
+    <static>true</static>
+    <link name="estanteria_link">
+      <visual name="estanteria_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/model.dae</uri>
+            <submesh>
+              <name>estanteria</name>
+            </submesh>
+          </mesh>
+        </geometry>
+        <material>
+          <diffuse>1.0 1.0 1.0 1.0</diffuse>
+          <specular>0.0 0.0 0.0 1.0</specular>
+          <pbr>
+            <metal>
+              <albedo_map>meshes/wood.jpg</albedo_map>
+            </metal>
+          </pbr>
+        </material>
+      </visual>
+      <visual name="basal1_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/model.dae</uri>
+            <submesh>
+              <name>basal1</name>
+            </submesh>
+          </mesh>
+        </geometry>
+        <material>
+          <diffuse>1.0 1.0 1.0 1.0</diffuse>
+          <specular>0.0 0.0 0.0 1.0</specular>
+          <pbr>
+            <metal>
+              <albedo_map>meshes/wood.jpg</albedo_map>
+            </metal>
+          </pbr>
+        </material>
+      </visual>
+      <visual name="basal2_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/model.dae</uri>
+            <submesh>
+              <name>basal2</name>
+            </submesh>
+          </mesh>
+        </geometry>
+        <material>
+          <diffuse>1.0 1.0 1.0 1.0</diffuse>
+          <specular>0.0 0.0 0.0 1.0</specular>
+          <pbr>
+            <metal>
+              <albedo_map>meshes/wood.jpg</albedo_map>
+            </metal>
+          </pbr>
+        </material>
+      </visual>
+      <visual name="basal3_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/model.dae</uri>
+            <submesh>
+              <name>basal3</name>
+            </submesh>
+          </mesh>
+        </geometry>
+        <material>
+          <diffuse>1.0 1.0 1.0 1.0</diffuse>
+          <specular>0.0 0.0 0.0 1.0</specular>
+          <pbr>
+            <metal>
+              <albedo_map>meshes/wood.jpg</albedo_map>
+            </metal>
+          </pbr>
+        </material>
+      </visual>
+      <visual name="basal4_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/model.dae</uri>
+            <submesh>
+              <name>basal4</name>
+            </submesh>
+          </mesh>
+        </geometry>
+        <material>
+          <diffuse>1.0 1.0 1.0 1.0</diffuse>
+          <specular>0.0 0.0 0.0 1.0</specular>
+          <pbr>
+            <metal>
+              <albedo_map>meshes/wood.jpg</albedo_map>
+            </metal>
+          </pbr>
+        </material>
+      </visual>
+      <visual name="basal5_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/model.dae</uri>
+            <submesh>
+              <name>basal5</name>
+            </submesh>
+          </mesh>
+        </geometry>
+        <material>
+          <diffuse>1.0 1.0 1.0 1.0</diffuse>
+          <specular>0.0 0.0 0.0 1.0</specular>
+          <pbr>
+            <metal>
+              <albedo_map>meshes/wood.jpg</albedo_map>
+            </metal>
+          </pbr>
+        </material>
+      </visual>
+      <visual name="lateral1_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/model.dae</uri>
+            <submesh>
+              <name>lateral1</name>
+            </submesh>
+          </mesh>
+        </geometry>
+        <material>
+          <diffuse>1.0 1.0 1.0 1.0</diffuse>
+          <specular>0.0 0.0 0.0 1.0</specular>
+          <pbr>
+            <metal>
+              <albedo_map>meshes/wood.jpg</albedo_map>
+            </metal>
+          </pbr>
+        </material>
+      </visual>
+      <visual name="lateral2_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/model.dae</uri>
+            <submesh>
+              <name>lateral2</name>
+            </submesh>
+          </mesh>
+        </geometry>
+        <material>
+          <diffuse>1.0 1.0 1.0 1.0</diffuse>
+          <specular>0.0 0.0 0.0 1.0</specular>
+          <pbr>
+            <metal>
+              <albedo_map>meshes/wood.jpg</albedo_map>
+            </metal>
+          </pbr>
+        </material>
+      </visual>
+      <collision name="estanteria_collision">
+        <geometry>
+          <mesh>
+            <uri>meshes/model.dae</uri>
+          </mesh>
+        </geometry>
+        <surface>
+          <contact>
+            <collide_bitmask>0x01</collide_bitmask>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+  </model>
+</sdf>
diff --git a/CustomRobots/roomba_robot/models/house_int2_harmonic/meshes/model.dae b/CustomRobots/roomba_robot/models/house_int2_harmonic/meshes/model.dae
new file mode 100755
index 000000000..8116b9275
--- /dev/null
+++ b/CustomRobots/roomba_robot/models/house_int2_harmonic/meshes/model.dae
@@ -0,0 +1,261 @@
+<?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 3.1.2 commit date:2022-03-31, commit time:17:40, hash:cc66d1020c3b</authoring_tool>
+    </contributor>
+    <created>2025-02-18T21:44:32</created>
+    <modified>2025-02-18T21:44:32</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="Wood-effect">
+      <profile_COMMON>
+        <newparam sid="wood_jpg-surface">
+          <surface type="2D">
+            <init_from>wood_jpg</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="wood_jpg-sampler">
+          <sampler2D>
+            <source>wood_jpg-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <texture texture="wood_jpg-sampler" texcoord="UVMap"/>
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+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images>
+    <image id="wood_jpg" name="wood_jpg">
+      <init_from>wood.jpg</init_from>
+    </image>
+  </library_images>
+  <library_materials>
+    <material id="Wood-material" name="Wood">
+      <instance_effect url="#Wood-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Cube_023-mesh" name="Cube.023">
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diff --git a/CustomRobots/roomba_robot/models/house_int2_harmonic/model.config b/CustomRobots/roomba_robot/models/house_int2_harmonic/model.config
new file mode 100755
index 000000000..ed4750a83
--- /dev/null
+++ b/CustomRobots/roomba_robot/models/house_int2_harmonic/model.config
@@ -0,0 +1,9 @@
+<?xml version="1.0" ?>
+<model>
+  <name>house_int2_harmonic</name>
+  <version>1.0</version>
+  <sdf version="1.8">model.sdf</sdf>
+  <author>
+    <name>Generated by blender SDF tools</name>
+  </author>
+</model>
diff --git a/CustomRobots/roomba_robot/models/house_int2_harmonic/model.sdf b/CustomRobots/roomba_robot/models/house_int2_harmonic/model.sdf
new file mode 100755
index 000000000..df9145abe
--- /dev/null
+++ b/CustomRobots/roomba_robot/models/house_int2_harmonic/model.sdf
@@ -0,0 +1,90 @@
+<?xml version="1.0" ?>
+<sdf version="1.8">
+  <model name="house_int2_harmonic">
+    <static>true</static>
+    <link name="house_int_link">
+      <visual name="walls_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/model.dae</uri>
+            <submesh>
+              <name>walls</name>
+            </submesh>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Grey</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <visual name="encimera_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/model.dae</uri>
+            <submesh>
+              <name>encimera</name>
+            </submesh>
+          </mesh>
+        </geometry>
+        <material>
+          <diffuse>1.0 1.0 1.0 1.0</diffuse>
+          <specular>0.0 0.0 0.0 1.0</specular>
+          <pbr>
+            <metal>
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+            </metal>
+          </pbr>
+        </material>
+      </visual>
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+        <geometry>
+          <mesh>
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+            <submesh>
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+            </submesh>
+          </mesh>
+        </geometry>
+        <material>
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+          <specular>0.0 0.0 0.0 1.0</specular>
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+          </pbr>
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+      </visual>
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+            </submesh>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/White</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
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+        <geometry>
+          <mesh>
+            <uri>meshes/model.dae</uri>
+          </mesh>
+        </geometry>
+        <surface>
+          <contact>
+            <collide_bitmask>0x01</collide_bitmask>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+  </model>
+</sdf>
diff --git a/CustomRobots/roomba_robot/models/mesa_comedor/meshes/model.dae b/CustomRobots/roomba_robot/models/mesa_comedor/meshes/model.dae
new file mode 100755
index 000000000..d07a28fe5
--- /dev/null
+++ b/CustomRobots/roomba_robot/models/mesa_comedor/meshes/model.dae
@@ -0,0 +1,441 @@
+<?xml version="1.0" encoding="utf-8"?>
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+      <author>Blender User</author>
+      <authoring_tool>Blender 3.1.2 commit date:2022-03-31, commit time:17:40, hash:cc66d1020c3b</authoring_tool>
+    </contributor>
+    <created>2025-02-17T17:01:11</created>
+    <modified>2025-02-17T17:01:11</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
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+      <node id="Pata2" name="Pata2" type="NODE">
+        <matrix sid="transform">0.03 0 0 0.77 0 0.03 0 0.37 0 0 0.355 0.355 0 0 0 1</matrix>
+        <instance_geometry url="#Pata2-mesh" name="Pata2">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Wood_001-material" target="#Wood_001-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Pata1" name="Pata1" type="NODE">
+        <matrix sid="transform">0.03 0 0 0.77 0 0.03 0 -0.37 0 0 0.355 0.355 0 0 0 1</matrix>
+        <instance_geometry url="#Pata1-mesh" name="Pata1">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Wood-material" target="#Wood-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Mesa" name="Mesa" type="NODE">
+        <matrix sid="transform">0.8 0 0 0 0 0.4 0 0 0 0 0.015 0.725 0 0 0 1</matrix>
+        <instance_geometry url="#Mesa-mesh" name="Mesa">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Blue-material" target="#Blue-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_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/CustomRobots/roomba_robot/models/mesa_comedor/meshes/wood.jpg b/CustomRobots/roomba_robot/models/mesa_comedor/meshes/wood.jpg
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diff --git a/CustomRobots/roomba_robot/models/mesa_comedor/model.config b/CustomRobots/roomba_robot/models/mesa_comedor/model.config
new file mode 100755
index 000000000..b5496c56f
--- /dev/null
+++ b/CustomRobots/roomba_robot/models/mesa_comedor/model.config
@@ -0,0 +1,9 @@
+<?xml version="1.0" ?>
+<model>
+  <name>mesa_comedor</name>
+  <version>1.0</version>
+  <sdf version="1.8">model.sdf</sdf>
+  <author>
+    <name>Generated by blender SDF tools</name>
+  </author>
+</model>
diff --git a/CustomRobots/roomba_robot/models/mesa_comedor/model.sdf b/CustomRobots/roomba_robot/models/mesa_comedor/model.sdf
new file mode 100755
index 000000000..8e7a725ad
--- /dev/null
+++ b/CustomRobots/roomba_robot/models/mesa_comedor/model.sdf
@@ -0,0 +1,113 @@
+<?xml version="1.0" ?>
+<sdf version="1.8">
+  <model name="mesa_comedor">
+    <static>true</static>
+    <link name="mesa_link">
+      <visual name="mesa_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/model.dae</uri>
+            <submesh>
+              <name>Mesa</name>
+            </submesh>
+          </mesh>
+        </geometry>
+        <material>
+          <diffuse>0.0 0.0 1.0 1.0</diffuse>
+          <specular>0.0 0.0 0.0 1.0</specular>
+          <pbr>
+            <metal/>
+          </pbr>
+        </material>
+      </visual>
+      <visual name="pata1_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/model.dae</uri>
+            <submesh>
+              <name>Pata1</name>
+            </submesh>
+          </mesh>
+        </geometry>
+        <material>
+          <diffuse>1.0 1.0 1.0 1.0</diffuse>
+          <specular>0.0 0.0 0.0 1.0</specular>
+          <pbr>
+            <metal>
+              <albedo_map>meshes/wood.jpg</albedo_map>
+            </metal>
+          </pbr>
+        </material>
+      </visual>
+      <visual name="pata2_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/model.dae</uri>
+            <submesh>
+              <name>Pata2</name>
+            </submesh>
+          </mesh>
+        </geometry>
+        <material>
+          <diffuse>1.0 1.0 1.0 1.0</diffuse>
+          <specular>0.0 0.0 0.0 1.0</specular>
+          <pbr>
+            <metal>
+              <albedo_map>meshes/wood.jpg</albedo_map>
+            </metal>
+          </pbr>
+        </material>
+      </visual>
+      <visual name="pata3_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/model.dae</uri>
+            <submesh>
+              <name>Pata3</name>
+            </submesh>
+          </mesh>
+        </geometry>
+        <material>
+          <diffuse>1.0 1.0 1.0 1.0</diffuse>
+          <specular>0.0 0.0 0.0 1.0</specular>
+          <pbr>
+            <metal>
+              <albedo_map>meshes/wood.jpg</albedo_map>
+            </metal>
+          </pbr>
+        </material>
+      </visual>
+      <visual name="pata4_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/model.dae</uri>
+            <submesh>
+              <name>Pata4</name>
+            </submesh>
+          </mesh>
+        </geometry>
+        <material>
+          <diffuse>1.0 1.0 1.0 1.0</diffuse>
+          <specular>0.0 0.0 0.0 1.0</specular>
+          <pbr>
+            <metal>
+              <albedo_map>meshes/wood.jpg</albedo_map>
+            </metal>
+          </pbr>
+        </material>
+      </visual>
+      <collision name="mesa_collision">
+        <geometry>
+          <mesh>
+            <uri>meshes/model.dae</uri>
+          </mesh>
+        </geometry>
+        <surface>
+          <contact>
+            <collide_bitmask>0x01</collide_bitmask>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+  </model>
+</sdf>
diff --git a/CustomRobots/roomba_robot/models/mesa_salon/meshes/model.dae b/CustomRobots/roomba_robot/models/mesa_salon/meshes/model.dae
new file mode 100755
index 000000000..ea9a98210
--- /dev/null
+++ b/CustomRobots/roomba_robot/models/mesa_salon/meshes/model.dae
@@ -0,0 +1,331 @@
+<?xml version="1.0" encoding="utf-8"?>
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+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 3.1.2 commit date:2022-03-31, commit time:17:40, hash:cc66d1020c3b</authoring_tool>
+    </contributor>
+    <created>2025-02-17T19:47:40</created>
+    <modified>2025-02-17T19:47:40</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
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+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images>
+    <image id="wood_jpg" name="wood_jpg">
+      <init_from>wood.jpg</init_from>
+    </image>
+  </library_images>
+  <library_materials>
+    <material id="Wood-material" name="Wood">
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+        <source id="Cube_001-mesh-normals">
+          <float_array id="Cube_001-mesh-normals-array" count="18">-1 0 0 0 1 0 1 0 0 0 -1 0 0 0 -1 0 0 1</float_array>
+          <technique_common>
+            <accessor source="#Cube_001-mesh-normals-array" count="6" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Cube_001-mesh-map-0">
+          <float_array id="Cube_001-mesh-map-0-array" count="72">0.625 0 0.375 0.25 0.375 0 0.625 0.25 0.375 0.5 0.375 0.25 0.625 0.5 0.375 0.75 0.375 0.5 0.625 0.75 0.375 1 0.375 0.75 0.375 0.5 0.125 0.75 0.125 0.5 0.875 0.5 0.625 0.75 0.625 0.5 0.625 0 0.625 0.25 0.375 0.25 0.625 0.25 0.625 0.5 0.375 0.5 0.625 0.5 0.625 0.75 0.375 0.75 0.625 0.75 0.625 1 0.375 1 0.375 0.5 0.375 0.75 0.125 0.75 0.875 0.5 0.875 0.75 0.625 0.75</float_array>
+          <technique_common>
+            <accessor source="#Cube_001-mesh-map-0-array" count="36" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Cube_001-mesh-vertices">
+          <input semantic="POSITION" source="#Cube_001-mesh-positions"/>
+        </vertices>
+        <triangles material="Wood-material" count="12">
+          <input semantic="VERTEX" source="#Cube_001-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cube_001-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Cube_001-mesh-map-0" offset="2" set="0"/>
+          <p>1 0 0 2 0 1 0 0 2 3 1 3 6 1 4 2 1 5 7 2 6 4 2 7 6 2 8 5 3 9 0 3 10 4 3 11 6 4 12 0 4 13 2 4 14 3 5 15 5 5 16 7 5 17 1 0 18 3 0 19 2 0 20 3 1 21 7 1 22 6 1 23 7 2 24 5 2 25 4 2 26 5 3 27 1 3 28 0 3 29 6 4 30 4 4 31 0 4 32 3 5 33 1 5 34 5 5 35</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="pata4" name="pata4" type="NODE">
+        <matrix sid="transform">0.03 0 0 -0.42 0 0.03 0 0.245 0 0 0.2 0.2 0 0 0 1</matrix>
+        <instance_geometry url="#Cube_005-mesh" name="pata4">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Wood-material" target="#Wood-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="pata3" name="pata3" type="NODE">
+        <matrix sid="transform">0.03 0 0 -0.42 0 0.03 0 -0.245 0 0 0.2 0.2 0 0 0 1</matrix>
+        <instance_geometry url="#Cube_004-mesh" name="pata3">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Wood-material" target="#Wood-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="pata2" name="pata2" type="NODE">
+        <matrix sid="transform">0.03 0 0 0.42 0 0.03 0 -0.245 0 0 0.2 0.2 0 0 0 1</matrix>
+        <instance_geometry url="#Cube_003-mesh" name="pata2">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Wood-material" target="#Wood-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="pata1" name="pata1" type="NODE">
+        <matrix sid="transform">0.03 0 0 0.42 0 0.03 0 0.245 0 0 0.2 0.2 0 0 0 1</matrix>
+        <instance_geometry url="#Cube_002-mesh" name="pata1">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Wood-material" target="#Wood-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="mesa" name="mesa" type="NODE">
+        <matrix sid="transform">0.45 0 0 0 0 0.275 0 0 0 0 0.015 0.415 0 0 0 1</matrix>
+        <instance_geometry url="#Cube_001-mesh" name="mesa">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Wood-material" target="#Wood-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_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/CustomRobots/roomba_robot/models/mesa_salon/meshes/wood.jpg b/CustomRobots/roomba_robot/models/mesa_salon/meshes/wood.jpg
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diff --git a/CustomRobots/roomba_robot/models/mesa_salon/model.config b/CustomRobots/roomba_robot/models/mesa_salon/model.config
new file mode 100755
index 000000000..7595065ea
--- /dev/null
+++ b/CustomRobots/roomba_robot/models/mesa_salon/model.config
@@ -0,0 +1,9 @@
+<?xml version="1.0" ?>
+<model>
+  <name>mesa_salon</name>
+  <version>1.0</version>
+  <sdf version="1.8">model.sdf</sdf>
+  <author>
+    <name>Generated by blender SDF tools</name>
+  </author>
+</model>
diff --git a/CustomRobots/roomba_robot/models/mesa_salon/model.sdf b/CustomRobots/roomba_robot/models/mesa_salon/model.sdf
new file mode 100755
index 000000000..e01522f95
--- /dev/null
+++ b/CustomRobots/roomba_robot/models/mesa_salon/model.sdf
@@ -0,0 +1,115 @@
+<?xml version="1.0" ?>
+<sdf version="1.8">
+  <model name="mesa_salon">
+    <static>true</static>
+    <link name="testlink">
+      <visual name="mesa_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/model.dae</uri>
+            <submesh>
+              <name>mesa</name>
+            </submesh>
+          </mesh>
+        </geometry>
+        <material>
+          <diffuse>1.0 1.0 1.0 1.0</diffuse>
+          <specular>0.0 0.0 0.0 1.0</specular>
+          <pbr>
+            <metal>
+              <albedo_map>meshes/wood.jpg</albedo_map>
+            </metal>
+          </pbr>
+        </material>
+      </visual>
+      <visual name="pata1_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/model.dae</uri>
+            <submesh>
+              <name>pata1</name>
+            </submesh>
+          </mesh>
+        </geometry>
+        <material>
+          <diffuse>1.0 1.0 1.0 1.0</diffuse>
+          <specular>0.0 0.0 0.0 1.0</specular>
+          <pbr>
+            <metal>
+              <albedo_map>meshes/wood.jpg</albedo_map>
+            </metal>
+          </pbr>
+        </material>
+      </visual>
+      <visual name="pata2_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/model.dae</uri>
+            <submesh>
+              <name>pata2</name>
+            </submesh>
+          </mesh>
+        </geometry>
+        <material>
+          <diffuse>1.0 1.0 1.0 1.0</diffuse>
+          <specular>0.0 0.0 0.0 1.0</specular>
+          <pbr>
+            <metal>
+              <albedo_map>meshes/wood.jpg</albedo_map>
+            </metal>
+          </pbr>
+        </material>
+      </visual>
+      <visual name="pata3_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/model.dae</uri>
+            <submesh>
+              <name>pata3</name>
+            </submesh>
+          </mesh>
+        </geometry>
+        <material>
+          <diffuse>1.0 1.0 1.0 1.0</diffuse>
+          <specular>0.0 0.0 0.0 1.0</specular>
+          <pbr>
+            <metal>
+              <albedo_map>meshes/wood.jpg</albedo_map>
+            </metal>
+          </pbr>
+        </material>
+      </visual>
+      <visual name="pata4_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/model.dae</uri>
+            <submesh>
+              <name>pata4</name>
+            </submesh>
+          </mesh>
+        </geometry>
+        <material>
+          <diffuse>1.0 1.0 1.0 1.0</diffuse>
+          <specular>0.0 0.0 0.0 1.0</specular>
+          <pbr>
+            <metal>
+              <albedo_map>meshes/wood.jpg</albedo_map>
+            </metal>
+          </pbr>
+        </material>
+      </visual>
+      <collision name="collision">
+        <geometry>
+          <mesh>
+            <uri>meshes/model.dae</uri>
+          </mesh>
+        </geometry>
+        <surface>
+          <contact>
+            <collide_bitmask>0x01</collide_bitmask>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+  </model>
+</sdf>
diff --git a/CustomRobots/roomba_robot/models/mesita/meshes/model.dae b/CustomRobots/roomba_robot/models/mesita/meshes/model.dae
new file mode 100755
index 000000000..cfff01cb7
--- /dev/null
+++ b/CustomRobots/roomba_robot/models/mesita/meshes/model.dae
@@ -0,0 +1,385 @@
+<?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 3.1.2 commit date:2022-03-31, commit time:17:40, hash:cc66d1020c3b</authoring_tool>
+    </contributor>
+    <created>2025-02-18T09:31:26</created>
+    <modified>2025-02-18T09:31:26</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="Wood-effect">
+      <profile_COMMON>
+        <newparam sid="wood_jpg-surface">
+          <surface type="2D">
+            <init_from>wood_jpg</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="wood_jpg-sampler">
+          <sampler2D>
+            <source>wood_jpg-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <texture texture="wood_jpg-sampler" texcoord="UVMap"/>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images>
+    <image id="wood_jpg" name="wood_jpg">
+      <init_from>wood.jpg</init_from>
+    </image>
+  </library_images>
+  <library_materials>
+    <material id="Wood-material" name="Wood">
+      <instance_effect url="#Wood-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Cube_006-mesh" name="Cube.006">
+      <mesh>
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+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
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+        <source id="Cube_003-mesh-normals">
+          <float_array id="Cube_003-mesh-normals-array" count="18">-1 0 0 0 1 0 1 0 0 0 -1 0 0 0 -1 0 0 1</float_array>
+          <technique_common>
+            <accessor source="#Cube_003-mesh-normals-array" count="6" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
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+        </source>
+        <source id="Cube_003-mesh-map-0">
+          <float_array id="Cube_003-mesh-map-0-array" count="72">0.625 0 0.375 0.25 0.375 0 0.625 0.25 0.375 0.5 0.375 0.25 0.625 0.5 0.375 0.75 0.375 0.5 0.625 0.75 0.375 1 0.375 0.75 0.375 0.5 0.125 0.75 0.125 0.5 0.875 0.5 0.625 0.75 0.625 0.5 0.625 0 0.625 0.25 0.375 0.25 0.625 0.25 0.625 0.5 0.375 0.5 0.625 0.5 0.625 0.75 0.375 0.75 0.625 0.75 0.625 1 0.375 1 0.375 0.5 0.375 0.75 0.125 0.75 0.875 0.5 0.875 0.75 0.625 0.75</float_array>
+          <technique_common>
+            <accessor source="#Cube_003-mesh-map-0-array" count="36" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Cube_003-mesh-vertices">
+          <input semantic="POSITION" source="#Cube_003-mesh-positions"/>
+        </vertices>
+        <triangles material="Wood-material" count="12">
+          <input semantic="VERTEX" source="#Cube_003-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cube_003-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Cube_003-mesh-map-0" offset="2" set="0"/>
+          <p>1 0 0 2 0 1 0 0 2 3 1 3 6 1 4 2 1 5 7 2 6 4 2 7 6 2 8 5 3 9 0 3 10 4 3 11 6 4 12 0 4 13 2 4 14 3 5 15 5 5 16 7 5 17 1 0 18 3 0 19 2 0 20 3 1 21 7 1 22 6 1 23 7 2 24 5 2 25 4 2 26 5 3 27 1 3 28 0 3 29 6 4 30 4 4 31 0 4 32 3 5 33 1 5 34 5 5 35</p>
+        </triangles>
+      </mesh>
+    </geometry>
+    <geometry id="Cube_002-mesh" name="Cube.002">
+      <mesh>
+        <source id="Cube_002-mesh-positions">
+          <float_array id="Cube_002-mesh-positions-array" count="24">-1 -1 -1 -1 -1 1 -1 1 -1 -1 1 1 1 -1 -1 1 -1 1 1 1 -1 1 1 1</float_array>
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+            <accessor source="#Cube_002-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_002-mesh-normals">
+          <float_array id="Cube_002-mesh-normals-array" count="18">-1 0 0 0 1 0 1 0 0 0 -1 0 0 0 -1 0 0 1</float_array>
+          <technique_common>
+            <accessor source="#Cube_002-mesh-normals-array" count="6" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Cube_002-mesh-map-0">
+          <float_array id="Cube_002-mesh-map-0-array" count="72">0.625 0 0.375 0.25 0.375 0 0.625 0.25 0.375 0.5 0.375 0.25 0.625 0.5 0.375 0.75 0.375 0.5 0.625 0.75 0.375 1 0.375 0.75 0.375 0.5 0.125 0.75 0.125 0.5 0.875 0.5 0.625 0.75 0.625 0.5 0.625 0 0.625 0.25 0.375 0.25 0.625 0.25 0.625 0.5 0.375 0.5 0.625 0.5 0.625 0.75 0.375 0.75 0.625 0.75 0.625 1 0.375 1 0.375 0.5 0.375 0.75 0.125 0.75 0.875 0.5 0.875 0.75 0.625 0.75</float_array>
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+            <accessor source="#Cube_002-mesh-map-0-array" count="36" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
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+        </source>
+        <vertices id="Cube_002-mesh-vertices">
+          <input semantic="POSITION" source="#Cube_002-mesh-positions"/>
+        </vertices>
+        <triangles material="Wood-material" count="12">
+          <input semantic="VERTEX" source="#Cube_002-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cube_002-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Cube_002-mesh-map-0" offset="2" set="0"/>
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+        </triangles>
+      </mesh>
+    </geometry>
+    <geometry id="Cube_001-mesh" name="Cube.001">
+      <mesh>
+        <source id="Cube_001-mesh-positions">
+          <float_array id="Cube_001-mesh-positions-array" count="24">-1 -1 -1 -1 -1 1 -1 1 -1 -1 1 1 1 -1 -1 1 -1 1 1 1 -1 1 1 1</float_array>
+          <technique_common>
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+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Cube_001-mesh-normals">
+          <float_array id="Cube_001-mesh-normals-array" count="18">-1 0 0 0 1 0 1 0 0 0 -1 0 0 0 -1 0 0 1</float_array>
+          <technique_common>
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+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Cube_001-mesh-map-0">
+          <float_array id="Cube_001-mesh-map-0-array" count="72">0.625 0 0.375 0.25 0.375 0 0.625 0.25 0.375 0.5 0.375 0.25 0.625 0.5 0.375 0.75 0.375 0.5 0.625 0.75 0.375 1 0.375 0.75 0.375 0.5 0.125 0.75 0.125 0.5 0.875 0.5 0.625 0.75 0.625 0.5 0.625 0 0.625 0.25 0.375 0.25 0.625 0.25 0.625 0.5 0.375 0.5 0.625 0.5 0.625 0.75 0.375 0.75 0.625 0.75 0.625 1 0.375 1 0.375 0.5 0.375 0.75 0.125 0.75 0.875 0.5 0.875 0.75 0.625 0.75</float_array>
+          <technique_common>
+            <accessor source="#Cube_001-mesh-map-0-array" count="36" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Cube_001-mesh-vertices">
+          <input semantic="POSITION" source="#Cube_001-mesh-positions"/>
+        </vertices>
+        <triangles material="Wood-material" count="12">
+          <input semantic="VERTEX" source="#Cube_001-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cube_001-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Cube_001-mesh-map-0" offset="2" set="0"/>
+          <p>1 0 0 2 0 1 0 0 2 3 1 3 6 1 4 2 1 5 7 2 6 4 2 7 6 2 8 5 3 9 0 3 10 4 3 11 6 4 12 0 4 13 2 4 14 3 5 15 5 5 16 7 5 17 1 0 18 3 0 19 2 0 20 3 1 21 7 1 22 6 1 23 7 2 24 5 2 25 4 2 26 5 3 27 1 3 28 0 3 29 6 4 30 4 4 31 0 4 32 3 5 33 1 5 34 5 5 35</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="lateral2" name="lateral2" type="NODE">
+        <matrix sid="transform">0.01 0 0 -0.185 0 0.175 0 0 0 0 0.3 0.3 0 0 0 1</matrix>
+        <instance_geometry url="#Cube_006-mesh" name="lateral2">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Wood-material" target="#Wood-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="lateral1" name="lateral1" type="NODE">
+        <matrix sid="transform">0.01 0 0 0.185 0 0.175 0 0 0 0 0.3 0.3 0 0 0 1</matrix>
+        <instance_geometry url="#Cube_005-mesh" name="lateral1">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Wood-material" target="#Wood-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="basal3" name="basal3" type="NODE">
+        <matrix sid="transform">0.175 0 0 0 0 0.175 0 0 0 0 0.01 0.59 0 0 0 1</matrix>
+        <instance_geometry url="#Cube_004-mesh" name="basal3">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Wood-material" target="#Wood-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="basal2" name="basal2" type="NODE">
+        <matrix sid="transform">0.175 0 0 0 0 0.175 0 0 0 0 0.01 0.39 0 0 0 1</matrix>
+        <instance_geometry url="#Cube_003-mesh" name="basal2">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Wood-material" target="#Wood-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="basal1" name="basal1" type="NODE">
+        <matrix sid="transform">0.175 0 0 0 0 0.175 0 0 0 0 0.01 0.19 0 0 0 1</matrix>
+        <instance_geometry url="#Cube_002-mesh" name="basal1">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Wood-material" target="#Wood-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="mesita" name="mesita" type="NODE">
+        <matrix sid="transform">0.175 0 0 0 0 0.175 0 0 0 0 0.1 0.01 0 0 0 1</matrix>
+        <instance_geometry url="#Cube_001-mesh" name="mesita">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Wood-material" target="#Wood-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_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/CustomRobots/roomba_robot/models/mesita/meshes/wood.jpg b/CustomRobots/roomba_robot/models/mesita/meshes/wood.jpg
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diff --git a/CustomRobots/roomba_robot/models/mesita/model.config b/CustomRobots/roomba_robot/models/mesita/model.config
new file mode 100755
index 000000000..0774a7871
--- /dev/null
+++ b/CustomRobots/roomba_robot/models/mesita/model.config
@@ -0,0 +1,9 @@
+<?xml version="1.0" ?>
+<model>
+  <name>mesita</name>
+  <version>1.0</version>
+  <sdf version="1.8">model.sdf</sdf>
+  <author>
+    <name>Generated by blender SDF tools</name>
+  </author>
+</model>
diff --git a/CustomRobots/roomba_robot/models/mesita/model.sdf b/CustomRobots/roomba_robot/models/mesita/model.sdf
new file mode 100755
index 000000000..a132e64c5
--- /dev/null
+++ b/CustomRobots/roomba_robot/models/mesita/model.sdf
@@ -0,0 +1,134 @@
+<?xml version="1.0" ?>
+<sdf version="1.8">
+  <model name="mesita">
+    <static>true</static>
+    <link name="mesita_link">
+      <visual name="mesita_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/model.dae</uri>
+            <submesh>
+              <name>mesita</name>
+            </submesh>
+          </mesh>
+        </geometry>
+        <material>
+          <diffuse>1.0 1.0 1.0 1.0</diffuse>
+          <specular>0.0 0.0 0.0 1.0</specular>
+          <pbr>
+            <metal>
+              <albedo_map>meshes/wood.jpg</albedo_map>
+            </metal>
+          </pbr>
+        </material>
+      </visual>
+      <visual name="basal1_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/model.dae</uri>
+            <submesh>
+              <name>basal1</name>
+            </submesh>
+          </mesh>
+        </geometry>
+        <material>
+          <diffuse>1.0 1.0 1.0 1.0</diffuse>
+          <specular>0.0 0.0 0.0 1.0</specular>
+          <pbr>
+            <metal>
+              <albedo_map>meshes/wood.jpg</albedo_map>
+            </metal>
+          </pbr>
+        </material>
+      </visual>
+      <visual name="basal2_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/model.dae</uri>
+            <submesh>
+              <name>basal2</name>
+            </submesh>
+          </mesh>
+        </geometry>
+        <material>
+          <diffuse>1.0 1.0 1.0 1.0</diffuse>
+          <specular>0.0 0.0 0.0 1.0</specular>
+          <pbr>
+            <metal>
+              <albedo_map>meshes/wood.jpg</albedo_map>
+            </metal>
+          </pbr>
+        </material>
+      </visual>
+      <visual name="basal3_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/model.dae</uri>
+            <submesh>
+              <name>basal3</name>
+            </submesh>
+          </mesh>
+        </geometry>
+        <material>
+          <diffuse>1.0 1.0 1.0 1.0</diffuse>
+          <specular>0.0 0.0 0.0 1.0</specular>
+          <pbr>
+            <metal>
+              <albedo_map>meshes/wood.jpg</albedo_map>
+            </metal>
+          </pbr>
+        </material>
+      </visual>
+      <visual name="lateral1_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/model.dae</uri>
+            <submesh>
+              <name>lateral1</name>
+            </submesh>
+          </mesh>
+        </geometry>
+        <material>
+          <diffuse>1.0 1.0 1.0 1.0</diffuse>
+          <specular>0.0 0.0 0.0 1.0</specular>
+          <pbr>
+            <metal>
+              <albedo_map>meshes/wood.jpg</albedo_map>
+            </metal>
+          </pbr>
+        </material>
+      </visual>
+      <visual name="lateral2_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/model.dae</uri>
+            <submesh>
+              <name>lateral2</name>
+            </submesh>
+          </mesh>
+        </geometry>
+        <material>
+          <diffuse>1.0 1.0 1.0 1.0</diffuse>
+          <specular>0.0 0.0 0.0 1.0</specular>
+          <pbr>
+            <metal>
+              <albedo_map>meshes/wood.jpg</albedo_map>
+            </metal>
+          </pbr>
+        </material>
+      </visual>
+      <collision name="mesita_collision">
+        <geometry>
+          <mesh>
+            <uri>meshes/model.dae</uri>
+          </mesh>
+        </geometry>
+        <surface>
+          <contact>
+            <collide_bitmask>0x01</collide_bitmask>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+  </model>
+</sdf>
diff --git a/CustomRobots/roomba_robot/models/roombaROS_harmonic/model.config b/CustomRobots/roomba_robot/models/roombaROS_harmonic/model.config
new file mode 100755
index 000000000..a7ff1fdb5
--- /dev/null
+++ b/CustomRobots/roomba_robot/models/roombaROS_harmonic/model.config
@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>roombaROS_harmonic</name>
+  <version>1.0</version>
+  <sdf version="1.5">model.sdf</sdf>
+
+  <author>
+    <name>Nate Koenig</name>
+    <email>nate@osrfoundation.org</email>
+  </author>
+
+  <description>
+    A model of the iRobot Create.
+  </description>
+
+  <depend>
+  </depend>
+</model>
diff --git a/CustomRobots/roomba_robot/models/roombaROS_harmonic/model.sdf b/CustomRobots/roomba_robot/models/roombaROS_harmonic/model.sdf
new file mode 100755
index 000000000..4fb18a33d
--- /dev/null
+++ b/CustomRobots/roomba_robot/models/roombaROS_harmonic/model.sdf
@@ -0,0 +1,444 @@
+<?xml version="1.0"?>
+<sdf version="1.5">
+  <model name="roombaROS_harmonic">
+    <plugin name="gz::sim::systems::Contact" filename="gz-sim-contact-system"></plugin>
+
+    <link name="base_footprint"/>
+
+    <link name="base">
+      <inertial>
+        <pose>0.001453 -0.000453 0.029787 0 0 0</pose>
+        <inertia>
+          <ixx>1.058640</ixx>
+          <ixy>0.000124</ixy> 
+          <ixz>0.000615</ixz>
+          <iyy>1.058786</iyy>
+          <iyz>0.000014</iyz>
+          <izz>1.532440</izz>
+        </inertia>
+        <mass>2.234000</mass>
+      </inertial>
+      <collision name="base_collision">
+        <pose>0 0 0.047800 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://roombaROS/meshes/create_body.dae</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name="base_visual">
+        <pose>0 0 0.047800 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://roombaROS/meshes/create_body.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <collision name="right_bumper_collision">
+        <pose>-0.01 0 0.03 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://roombaROS/meshes/right_bumper.dae</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <collision name="center_bumper_collision">
+        <pose>-0.01 0 0.03 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://roombaROS/meshes/center_bumper.dae</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <collision name="left_bumper_collision">
+        <pose>-0.01 0 0.03 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://roombaROS/meshes/left_bumper.dae</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <collision name="front_wheel_collision">
+        <pose>0.130000 0 0.017000 0 1.570700 1.570700</pose>
+        <geometry>
+          <sphere>
+            <radius>0.018000</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>0</mu>
+              <mu2>0</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="front_wheel_visual">
+        <pose>0.130000 0 0.017000 0 1.570700 1.570700</pose>
+        <geometry>
+          <sphere>
+            <radius>0.009000</radius>
+          </sphere>
+        </geometry>
+      </visual>
+      <collision name="rear_wheel_collision">
+        <pose>-0.13 0 0.017 0 1.5707 1.5707</pose>
+        <geometry>
+          <sphere>
+            <radius>0.015000</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>0</mu>
+              <mu2>0</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="rear_wheel_visual">
+        <pose>-0.130000 0 0.017000 0 1.570700 1.570700</pose>
+        <geometry>
+          <sphere>
+            <radius>0.007500</radius>
+          </sphere>
+        </geometry>
+      </visual>
+      <sensor name="left_cliff_sensor" type="gpu_lidar">
+        <pose>0.070000 0.140000 0.027000 0 1.570790 0</pose>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>1</samples>
+              <resolution>1.000000</resolution>
+              <min_angle>0</min_angle>
+              <max_angle>0</max_angle>
+            </horizontal>
+          </scan>
+          <range>
+            <min>0.010000</min>
+            <max>0.040000</max>
+            <resolution>0.100000</resolution>
+          </range>
+        </lidar>
+      </sensor>
+      <sensor name="leftfront_cliff_sensor" type="gpu_lidar">
+        <pose>0.150000 0.040000 0.027000 0 1.570790 0</pose>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>1</samples>
+              <resolution>1.000000</resolution>
+              <min_angle>0</min_angle>
+              <max_angle>0</max_angle>
+            </horizontal>
+          </scan>
+          <range>
+            <min>0.010000</min>
+            <max>0.040000</max>
+            <resolution>0.100000</resolution>
+          </range>
+        </lidar>
+      </sensor>
+      <sensor name="right_cliff_sensor" type="gpu_lidar">
+        <pose>0.070000 -0.140000 0.027000 0 1.570790 0</pose>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>1</samples>
+              <resolution>1.000000</resolution>
+              <min_angle>0</min_angle>
+              <max_angle>0</max_angle>
+            </horizontal>
+          </scan>
+          <range>
+            <min>0.010000</min>
+            <max>0.040000</max>
+            <resolution>0.100000</resolution>
+          </range>
+        </lidar>
+      </sensor>
+      <sensor name="rightfront_cliff_sensor" type="gpu_lidar">
+        <pose>0.150000 -0.040000 0.027000 0 1.570790 0</pose>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>1</samples>
+              <resolution>1.000000</resolution>
+              <min_angle>0</min_angle>
+              <max_angle>0</max_angle>
+            </horizontal>
+          </scan>
+          <range>
+            <min>0.010000</min>
+            <max>0.040000</max>
+            <resolution>0.100000</resolution>
+          </range>
+        </lidar>
+      </sensor>
+      <sensor name="wall_sensor" type="gpu_lidar">
+        <pose>0.090000 -0.120000 0.059000 0 0 -1.000000</pose>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>1</samples>
+              <resolution>1.000000</resolution>
+              <min_angle>0</min_angle>
+              <max_angle>0</max_angle>
+            </horizontal>
+          </scan>
+          <range>
+            <min>0.016000</min>
+            <max>0.040000</max>
+            <resolution>0.100000</resolution>
+          </range>
+        </lidar>
+      </sensor>
+      <sensor name="right_bumper" type="contact">
+        <always_on>true</always_on>
+        <update_rate>20.0</update_rate>
+        <contact>
+          <collision>right_bumper_collision</collision>
+          <topic>/roombaROS/events/right_bumper</topic>
+        </contact>
+      </sensor>
+      <sensor name="center_bumper" type="contact">
+        <always_on>true</always_on>
+        <update_rate>20.0</update_rate>
+        <contact>
+          <collision>center_bumper_collision</collision>
+          <topic>/roombaROS/events/center_bumper</topic>
+        </contact>
+      </sensor>
+      <sensor name="left_bumper" type="contact">
+        <always_on>true</always_on>
+        <update_rate>20.0</update_rate>
+        <contact>
+          <collision>left_bumper_collision</collision>
+          <topic>/roombaROS/events/left_bumper</topic>
+        </contact>
+      </sensor>
+    </link>
+
+    <link name="left_wheel">
+      <pose>0 0.130000 0.032000 0 0 0</pose>
+      <inertial>
+        <inertia>
+          <ixx>0.001000</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.001000</iyy>
+          <iyz>0</iyz>
+          <izz>0.001000</izz>
+        </inertia>
+        <mass>0.010000</mass>
+      </inertial>
+      <collision name="collision">
+        <pose>0 0 0 0 1.570700 1.570700</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.033000</radius>
+            <length>0.023000</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>10</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="visual">
+        <pose>0 0 0 0 1.570700 1.570700</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.033000</radius>
+            <length>0.023000</length>
+          </cylinder>
+        </geometry>
+      </visual>
+    </link>
+    <link name="right_wheel">
+      <pose>0 -0.130000 0.032000 0 0 0</pose>
+      <inertial>
+        <inertia>
+          <ixx>0.001000</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.001000</iyy>
+          <iyz>0</iyz>
+          <izz>0.001000</izz>
+        </inertia>
+        <mass>0.010000</mass>
+      </inertial>
+      <collision name="collision">
+        <pose>0 0 0 0 1.570700 1.570700</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.033000</radius>
+            <length>0.023000</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>10</mu>
+              <mu2>10</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="visual">
+        <pose>0 0 0 0 1.570700 1.570700</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.033000</radius>
+            <length>0.023000</length>
+          </cylinder>
+        </geometry>
+      </visual>
+    </link>
+    <link name='laser'>
+      <pose>0.139000 0.000000 0.0752000 0.000000 0.000000 0.000000</pose>
+      <gravity>0</gravity>
+      <inertial>
+        <mass>0.100000</mass>
+        <inertia>
+          <ixx>1.000000</ixx>
+          <ixy>0.000000</ixy>
+          <ixz>0.000000</ixz>
+          <iyy>1.000000</iyy>
+          <iyz>0.000000</iyz>
+          <izz>1.000000</izz>
+        </inertia>
+      </inertial>
+      <visual name='visual'>
+        <geometry>
+          <mesh>
+            <uri>model://roombaROS/meshes/hokuyo_roomba.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <collision name='collision-base'>
+        <pose>0.000000 0.000000 -0.014500 0.000000 0.000000 0.000000</pose>
+        <geometry>
+          <box>
+            <size>0.050000 0.050000 0.041000</size>
+          </box>
+        </geometry>
+        <max_contacts>10</max_contacts>
+      </collision>
+      <collision name='collision-top'>
+        <pose>0.000000 0.000000 0.020500 0.000000 0.000000 0.000000</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.021000</radius>
+            <length>0.029000</length>
+          </cylinder>
+        </geometry>
+        <max_contacts>10</max_contacts>
+      </collision>
+      <sensor name='laser' type='gpu_lidar'>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>180</samples>
+              <resolution>1.000000</resolution>
+              <min_angle>-1.570000</min_angle>
+              <max_angle>1.570000</max_angle>
+            </horizontal>
+          </scan>
+          <range>
+            <min>0.080000</min>
+            <max>10.000000</max>
+            <resolution>0.010000</resolution>
+          </range>
+        </lidar>
+        <update_rate>20.000000</update_rate>
+        <always_on>1</always_on>
+        <visualize>1</visualize>
+        <topic>/roombaROS/laser/scan</topic>
+        <gz_frame_id>laser</gz_frame_id>
+      </sensor>
+      <velocity_decay>
+        <linear>0.000000</linear>
+        <angular>0.000000</angular>
+      </velocity_decay>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+    </link>
+
+    <joint name="base_joint" type="fixed">
+      <parent>base_footprint</parent>
+      <child>base</child>
+    </joint>
+    <joint name="left_wheel_joint" type="revolute">
+      <parent>base</parent>
+      <child>left_wheel</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+      </axis>
+    </joint>
+    <joint name="right_wheel_joint" type="revolute">
+      <parent>base</parent>
+      <child>right_wheel</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+      </axis>
+    </joint>
+    <joint name='joint_laser' type='fixed'>
+      <parent>base</parent>
+      <child>laser</child>
+      <axis>
+        <xyz>0.000000 0.000000 1.000000</xyz>
+        <limit>
+          <lower>0.000000</lower>
+          <upper>0.000000</upper>
+        </limit>
+      </axis>
+    </joint>
+
+    <plugin filename="gz-sim-diff-drive-system" name="gz::sim::systems::DiffDrive">
+      <left_joint>left_wheel_joint</left_joint>
+      <right_joint>right_wheel_joint</right_joint>
+
+      <wheel_separation>0.5380</wheel_separation>
+      <wheel_radius>0.1205</wheel_radius>
+      <topic>/roombaROS/cmd_vel</topic>
+      <odom_topic>/roombaROS/odom</odom_topic>
+      <frame_id>odom</frame_id>
+      <odom_publisher_frequency>20.0</odom_publisher_frequency>
+
+      <child_frame_id>base</child_frame_id>
+    </plugin>
+
+    <plugin filename="gz-sim-pose-publisher-system" name="gz::sim::systems::PosePublisher">
+      <publish_link_pose>true</publish_link_pose>
+      <publish_sensor_pose>true</publish_sensor_pose>
+      <publish_collision_pose>false</publish_collision_pose>
+      <publish_visual_pose>false</publish_visual_pose>
+      <publish_nested_model_pose>true</publish_nested_model_pose>
+      <publish_model_pose>false</publish_model_pose>
+      <use_pose_vector_msg>true</use_pose_vector_msg>
+      <static_publisher>true</static_publisher>
+      <static_update_frequency>100</static_update_frequency>
+    </plugin>
+
+  </model>
+</sdf>
\ No newline at end of file
diff --git a/CustomRobots/roomba_robot/models/silla/meshes/model.dae b/CustomRobots/roomba_robot/models/silla/meshes/model.dae
new file mode 100755
index 000000000..d3aa722c4
--- /dev/null
+++ b/CustomRobots/roomba_robot/models/silla/meshes/model.dae
@@ -0,0 +1,369 @@
+<?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 3.1.2 commit date:2022-03-31, commit time:17:40, hash:cc66d1020c3b</authoring_tool>
+    </contributor>
+    <created>2025-02-17T19:20:41</created>
+    <modified>2025-02-17T19:20:41</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="Wood-effect">
+      <profile_COMMON>
+        <newparam sid="wood_jpg-surface">
+          <surface type="2D">
+            <init_from>wood_jpg</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="wood_jpg-sampler">
+          <sampler2D>
+            <source>wood_jpg-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <texture texture="wood_jpg-sampler" texcoord="UVMap"/>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images>
+    <image id="wood_jpg" name="wood_jpg">
+      <init_from>wood.jpg</init_from>
+    </image>
+  </library_images>
+  <library_materials>
+    <material id="Wood-material" name="Wood">
+      <instance_effect url="#Wood-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Cube_006-mesh" name="Cube.006">
+      <mesh>
+        <source id="Cube_006-mesh-positions">
+          <float_array id="Cube_006-mesh-positions-array" count="24">-1 -1 -1 -1 -1 1 -1 1 -1 -1 1 1 1 -1 -1 1 -1 1 1 1 -1 1 1 1</float_array>
+          <technique_common>
+            <accessor source="#Cube_006-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_006-mesh-normals">
+          <float_array id="Cube_006-mesh-normals-array" count="18">-1 0 0 0 1 0 1 0 0 0 -1 0 0 0 -1 0 0 1</float_array>
+          <technique_common>
+            <accessor source="#Cube_006-mesh-normals-array" count="6" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Cube_006-mesh-map-0">
+          <float_array id="Cube_006-mesh-map-0-array" count="72">0.625 0 0.375 0.25 0.375 0 0.625 0.25 0.375 0.5 0.375 0.25 0.625 0.5 0.375 0.75 0.375 0.5 0.625 0.75 0.375 1 0.375 0.75 0.375 0.5 0.125 0.75 0.125 0.5 0.875 0.5 0.625 0.75 0.625 0.5 0.625 0 0.625 0.25 0.375 0.25 0.625 0.25 0.625 0.5 0.375 0.5 0.625 0.5 0.625 0.75 0.375 0.75 0.625 0.75 0.625 1 0.375 1 0.375 0.5 0.375 0.75 0.125 0.75 0.875 0.5 0.875 0.75 0.625 0.75</float_array>
+          <technique_common>
+            <accessor source="#Cube_006-mesh-map-0-array" count="36" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Cube_006-mesh-vertices">
+          <input semantic="POSITION" source="#Cube_006-mesh-positions"/>
+        </vertices>
+        <triangles count="12">
+          <input semantic="VERTEX" source="#Cube_006-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cube_006-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Cube_006-mesh-map-0" offset="2" set="0"/>
+          <p>1 0 0 2 0 1 0 0 2 3 1 3 6 1 4 2 1 5 7 2 6 4 2 7 6 2 8 5 3 9 0 3 10 4 3 11 6 4 12 0 4 13 2 4 14 3 5 15 5 5 16 7 5 17 1 0 18 3 0 19 2 0 20 3 1 21 7 1 22 6 1 23 7 2 24 5 2 25 4 2 26 5 3 27 1 3 28 0 3 29 6 4 30 4 4 31 0 4 32 3 5 33 1 5 34 5 5 35</p>
+        </triangles>
+      </mesh>
+    </geometry>
+    <geometry id="Cube_005-mesh" name="Cube.005">
+      <mesh>
+        <source id="Cube_005-mesh-positions">
+          <float_array id="Cube_005-mesh-positions-array" count="24">-1 -1 -1 -1 -1 1 -1 1 -1 -1 1 1 1 -1 -1 1 -1 1 1 1 -1 1 1 1</float_array>
+          <technique_common>
+            <accessor source="#Cube_005-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_005-mesh-normals">
+          <float_array id="Cube_005-mesh-normals-array" count="18">-1 0 0 0 1 0 1 0 0 0 -1 0 0 0 -1 0 0 1</float_array>
+          <technique_common>
+            <accessor source="#Cube_005-mesh-normals-array" count="6" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Cube_005-mesh-map-0">
+          <float_array id="Cube_005-mesh-map-0-array" count="72">0.625 0 0.375 0.25 0.375 0 0.625 0.25 0.375 0.5 0.375 0.25 0.625 0.5 0.375 0.75 0.375 0.5 0.625 0.75 0.375 1 0.375 0.75 0.375 0.5 0.125 0.75 0.125 0.5 0.875 0.5 0.625 0.75 0.625 0.5 0.625 0 0.625 0.25 0.375 0.25 0.625 0.25 0.625 0.5 0.375 0.5 0.625 0.5 0.625 0.75 0.375 0.75 0.625 0.75 0.625 1 0.375 1 0.375 0.5 0.375 0.75 0.125 0.75 0.875 0.5 0.875 0.75 0.625 0.75</float_array>
+          <technique_common>
+            <accessor source="#Cube_005-mesh-map-0-array" count="36" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Cube_005-mesh-vertices">
+          <input semantic="POSITION" source="#Cube_005-mesh-positions"/>
+        </vertices>
+        <triangles material="Wood-material" count="12">
+          <input semantic="VERTEX" source="#Cube_005-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cube_005-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Cube_005-mesh-map-0" offset="2" set="0"/>
+          <p>1 0 0 2 0 1 0 0 2 3 1 3 6 1 4 2 1 5 7 2 6 4 2 7 6 2 8 5 3 9 0 3 10 4 3 11 6 4 12 0 4 13 2 4 14 3 5 15 5 5 16 7 5 17 1 0 18 3 0 19 2 0 20 3 1 21 7 1 22 6 1 23 7 2 24 5 2 25 4 2 26 5 3 27 1 3 28 0 3 29 6 4 30 4 4 31 0 4 32 3 5 33 1 5 34 5 5 35</p>
+        </triangles>
+      </mesh>
+    </geometry>
+    <geometry id="Cube_004-mesh" name="Cube.004">
+      <mesh>
+        <source id="Cube_004-mesh-positions">
+          <float_array id="Cube_004-mesh-positions-array" count="24">-1 -1 -1 -1 -1 1 -1 1 -1 -1 1 1 1 -1 -1 1 -1 1 1 1 -1 1 1 1</float_array>
+          <technique_common>
+            <accessor source="#Cube_004-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_004-mesh-normals">
+          <float_array id="Cube_004-mesh-normals-array" count="18">-1 0 0 0 1 0 1 0 0 0 -1 0 0 0 -1 0 0 1</float_array>
+          <technique_common>
+            <accessor source="#Cube_004-mesh-normals-array" count="6" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Cube_004-mesh-map-0">
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+          <technique_common>
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+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
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+          <float_array id="Cube_003-mesh-normals-array" count="18">-1 0 0 0 1 0 1 0 0 0 -1 0 0 0 -1 0 0 1</float_array>
+          <technique_common>
+            <accessor source="#Cube_003-mesh-normals-array" count="6" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
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+            <accessor source="#Cube_003-mesh-map-0-array" count="36" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
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+        </source>
+        <vertices id="Cube_003-mesh-vertices">
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+        <triangles material="Wood-material" count="12">
+          <input semantic="VERTEX" source="#Cube_003-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cube_003-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Cube_003-mesh-map-0" offset="2" set="0"/>
+          <p>1 0 0 2 0 1 0 0 2 3 1 3 6 1 4 2 1 5 7 2 6 4 2 7 6 2 8 5 3 9 0 3 10 4 3 11 6 4 12 0 4 13 2 4 14 3 5 15 5 5 16 7 5 17 1 0 18 3 0 19 2 0 20 3 1 21 7 1 22 6 1 23 7 2 24 5 2 25 4 2 26 5 3 27 1 3 28 0 3 29 6 4 30 4 4 31 0 4 32 3 5 33 1 5 34 5 5 35</p>
+        </triangles>
+      </mesh>
+    </geometry>
+    <geometry id="Cube_002-mesh" name="Cube.002">
+      <mesh>
+        <source id="Cube_002-mesh-positions">
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+          <technique_common>
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+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
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+        </source>
+        <source id="Cube_002-mesh-normals">
+          <float_array id="Cube_002-mesh-normals-array" count="18">-1 0 0 0 1 0 1 0 0 0 -1 0 0 0 -1 0 0 1</float_array>
+          <technique_common>
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+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
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+        <vertices id="Cube_002-mesh-vertices">
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+          <input semantic="NORMAL" source="#Cube_002-mesh-normals" offset="1"/>
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+      </mesh>
+    </geometry>
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+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
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+          <technique_common>
+            <accessor source="#Cube_001-mesh-normals-array" count="6" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
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+          <float_array id="Cube_001-mesh-map-0-array" count="72">0.625 0 0.375 0.25 0.375 0 0.625 0.25 0.375 0.5 0.375 0.25 0.625 0.5 0.375 0.75 0.375 0.5 0.625 0.75 0.375 1 0.375 0.75 0.375 0.5 0.125 0.75 0.125 0.5 0.875 0.5 0.625 0.75 0.625 0.5 0.625 0 0.625 0.25 0.375 0.25 0.625 0.25 0.625 0.5 0.375 0.5 0.625 0.5 0.625 0.75 0.375 0.75 0.625 0.75 0.625 1 0.375 1 0.375 0.5 0.375 0.75 0.125 0.75 0.875 0.5 0.875 0.75 0.625 0.75</float_array>
+          <technique_common>
+            <accessor source="#Cube_001-mesh-map-0-array" count="36" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Cube_001-mesh-vertices">
+          <input semantic="POSITION" source="#Cube_001-mesh-positions"/>
+        </vertices>
+        <triangles count="12">
+          <input semantic="VERTEX" source="#Cube_001-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cube_001-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Cube_001-mesh-map-0" offset="2" set="0"/>
+          <p>1 0 0 2 0 1 0 0 2 3 1 3 6 1 4 2 1 5 7 2 6 4 2 7 6 2 8 5 3 9 0 3 10 4 3 11 6 4 12 0 4 13 2 4 14 3 5 15 5 5 16 7 5 17 1 0 18 3 0 19 2 0 20 3 1 21 7 1 22 6 1 23 7 2 24 5 2 25 4 2 26 5 3 27 1 3 28 0 3 29 6 4 30 4 4 31 0 4 32 3 5 33 1 5 34 5 5 35</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="respaldo" name="respaldo" type="NODE">
+        <matrix sid="transform">0.01 0 0 0.215 0 0.225 0 0 0 0 0.225 0.655 0 0 0 1</matrix>
+        <instance_geometry url="#Cube_006-mesh" name="respaldo"/>
+      </node>
+      <node id="pata4" name="pata4" type="NODE">
+        <matrix sid="transform">0.02 0 0 -0.205 0 0.02 0 0.205 0 0 0.2 0.2 0 0 0 1</matrix>
+        <instance_geometry url="#Cube_005-mesh" name="pata4">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Wood-material" target="#Wood-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="pata3" name="pata3" type="NODE">
+        <matrix sid="transform">0.02 0 0 -0.205 0 0.02 0 -0.205 0 0 0.2 0.2 0 0 0 1</matrix>
+        <instance_geometry url="#Cube_004-mesh" name="pata3">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Wood-material" target="#Wood-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="pata2" name="pata2" type="NODE">
+        <matrix sid="transform">0.02 0 0 0.205 0 0.02 0 -0.205 0 0 0.2 0.2 0 0 0 1</matrix>
+        <instance_geometry url="#Cube_003-mesh" name="pata2">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Wood-material" target="#Wood-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="pata1" name="pata1" type="NODE">
+        <matrix sid="transform">0.02 0 0 0.205 0 0.02 0 0.205 0 0 0.2 0.2 0 0 0 1</matrix>
+        <instance_geometry url="#Cube_002-mesh" name="pata1">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Wood-material" target="#Wood-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="silla" name="silla" type="NODE">
+        <matrix sid="transform">0.225 0 0 0 0 0.225 0 0 0 0 0.015 0.415 0 0 0 1</matrix>
+        <instance_geometry url="#Cube_001-mesh" name="silla"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/CustomRobots/roomba_robot/models/silla/meshes/wood.jpg b/CustomRobots/roomba_robot/models/silla/meshes/wood.jpg
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diff --git a/CustomRobots/roomba_robot/models/silla/model.config b/CustomRobots/roomba_robot/models/silla/model.config
new file mode 100755
index 000000000..ca4d2c1cb
--- /dev/null
+++ b/CustomRobots/roomba_robot/models/silla/model.config
@@ -0,0 +1,9 @@
+<?xml version="1.0" ?>
+<model>
+  <name>silla</name>
+  <version>1.0</version>
+  <sdf version="1.8">model.sdf</sdf>
+  <author>
+    <name>Generated by blender SDF tools</name>
+  </author>
+</model>
diff --git a/CustomRobots/roomba_robot/models/silla/model.sdf b/CustomRobots/roomba_robot/models/silla/model.sdf
new file mode 100755
index 000000000..da5c3964e
--- /dev/null
+++ b/CustomRobots/roomba_robot/models/silla/model.sdf
@@ -0,0 +1,128 @@
+<?xml version="1.0" ?>
+<sdf version="1.8">
+  <model name="silla">
+    <static>true</static>
+    <link name="silla_link">
+      <visual name="silla_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/model.dae</uri>
+            <submesh>
+              <name>silla</name>
+            </submesh>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Grey</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <visual name="pata1_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/model.dae</uri>
+            <submesh>
+              <name>pata1</name>
+            </submesh>
+          </mesh>
+        </geometry>
+        <material>
+          <diffuse>1.0 1.0 1.0 1.0</diffuse>
+          <specular>0.0 0.0 0.0 1.0</specular>
+          <pbr>
+            <metal>
+              <albedo_map>meshes/wood.jpg</albedo_map>
+            </metal>
+          </pbr>
+        </material>
+      </visual>
+      <visual name="pata2_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/model.dae</uri>
+            <submesh>
+              <name>pata2</name>
+            </submesh>
+          </mesh>
+        </geometry>
+        <material>
+          <diffuse>1.0 1.0 1.0 1.0</diffuse>
+          <specular>0.0 0.0 0.0 1.0</specular>
+          <pbr>
+            <metal>
+              <albedo_map>meshes/wood.jpg</albedo_map>
+            </metal>
+          </pbr>
+        </material>
+      </visual>
+      <visual name="pata3_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/model.dae</uri>
+            <submesh>
+              <name>pata3</name>
+            </submesh>
+          </mesh>
+        </geometry>
+        <material>
+          <diffuse>1.0 1.0 1.0 1.0</diffuse>
+          <specular>0.0 0.0 0.0 1.0</specular>
+          <pbr>
+            <metal>
+              <albedo_map>meshes/wood.jpg</albedo_map>
+            </metal>
+          </pbr>
+        </material>
+      </visual>
+      <visual name="pata4_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/model.dae</uri>
+            <submesh>
+              <name>pata4</name>
+            </submesh>
+          </mesh>
+        </geometry>
+        <material>
+          <diffuse>1.0 1.0 1.0 1.0</diffuse>
+          <specular>0.0 0.0 0.0 1.0</specular>
+          <pbr>
+            <metal>
+              <albedo_map>meshes/wood.jpg</albedo_map>
+            </metal>
+          </pbr>
+        </material>
+      </visual>
+      <visual name="respaldo_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/model.dae</uri>
+            <submesh>
+              <name>respaldo</name>
+            </submesh>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Grey</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <collision name="collision">
+        <geometry>
+          <mesh>
+            <uri>meshes/model.dae</uri>
+          </mesh>
+        </geometry>
+        <surface>
+          <contact>
+            <collide_bitmask>0x01</collide_bitmask>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+  </model>
+</sdf>
diff --git a/CustomRobots/roomba_robot/models/sofa/meshes/model.dae b/CustomRobots/roomba_robot/models/sofa/meshes/model.dae
new file mode 100755
index 000000000..e58a5f483
--- /dev/null
+++ b/CustomRobots/roomba_robot/models/sofa/meshes/model.dae
@@ -0,0 +1,207 @@
+<?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 3.1.2 commit date:2022-03-31, commit time:17:40, hash:cc66d1020c3b</authoring_tool>
+    </contributor>
+    <created>2025-02-17T20:25:47</created>
+    <modified>2025-02-17T20:25:47</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images/>
+  <library_geometries>
+    <geometry id="Cube_004-mesh" name="Cube.004">
+      <mesh>
+        <source id="Cube_004-mesh-positions">
+          <float_array id="Cube_004-mesh-positions-array" count="24">-1 -1 -1 -1 -1 1 -1 1 -1 -1 1 1 1 -1 -1 1 -1 1 1 1 -1 1 1 1</float_array>
+          <technique_common>
+            <accessor source="#Cube_004-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_004-mesh-normals">
+          <float_array id="Cube_004-mesh-normals-array" count="18">-1 0 0 0 1 0 1 0 0 0 -1 0 0 0 -1 0 0 1</float_array>
+          <technique_common>
+            <accessor source="#Cube_004-mesh-normals-array" count="6" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Cube_004-mesh-map-0">
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+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
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+        <vertices id="Cube_004-mesh-vertices">
+          <input semantic="POSITION" source="#Cube_004-mesh-positions"/>
+        </vertices>
+        <triangles count="12">
+          <input semantic="VERTEX" source="#Cube_004-mesh-vertices" offset="0"/>
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+        </triangles>
+      </mesh>
+    </geometry>
+    <geometry id="Cube_003-mesh" name="Cube.003">
+      <mesh>
+        <source id="Cube_003-mesh-positions">
+          <float_array id="Cube_003-mesh-positions-array" count="24">-1 -1 -1 -1 -1 1 -1 1 -1 -1 1 1 1 -1 -1 1 -1 1 1 1 -1 1 1 1</float_array>
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+            <accessor source="#Cube_003-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_003-mesh-normals">
+          <float_array id="Cube_003-mesh-normals-array" count="18">-1 0 0 0 1 0 1 0 0 0 -1 0 0 0 -1 0 0 1</float_array>
+          <technique_common>
+            <accessor source="#Cube_003-mesh-normals-array" count="6" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
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+            <accessor source="#Cube_003-mesh-map-0-array" count="36" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
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+        </source>
+        <vertices id="Cube_003-mesh-vertices">
+          <input semantic="POSITION" source="#Cube_003-mesh-positions"/>
+        </vertices>
+        <triangles count="12">
+          <input semantic="VERTEX" source="#Cube_003-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cube_003-mesh-normals" offset="1"/>
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+        </triangles>
+      </mesh>
+    </geometry>
+    <geometry id="Cube_002-mesh" name="Cube.002">
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+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
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+          <float_array id="Cube_002-mesh-normals-array" count="18">-1 0 0 0 1 0 1 0 0 0 -1 0 0 0 -1 0 0 1</float_array>
+          <technique_common>
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+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
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+            <accessor source="#Cube_002-mesh-map-0-array" count="36" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Cube_002-mesh-vertices">
+          <input semantic="POSITION" source="#Cube_002-mesh-positions"/>
+        </vertices>
+        <triangles count="12">
+          <input semantic="VERTEX" source="#Cube_002-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cube_002-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Cube_002-mesh-map-0" offset="2" set="0"/>
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+        </triangles>
+      </mesh>
+    </geometry>
+    <geometry id="Cube_001-mesh" name="Cube.001">
+      <mesh>
+        <source id="Cube_001-mesh-positions">
+          <float_array id="Cube_001-mesh-positions-array" count="24">-1 -1 -1 -1 -1 1 -1 1 -1 -1 1 1 1 -1 -1 1 -1 1 1 1 -1 1 1 1</float_array>
+          <technique_common>
+            <accessor source="#Cube_001-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_001-mesh-normals">
+          <float_array id="Cube_001-mesh-normals-array" count="18">-1 0 0 0 1 0 1 0 0 0 -1 0 0 0 -1 0 0 1</float_array>
+          <technique_common>
+            <accessor source="#Cube_001-mesh-normals-array" count="6" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
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+          </technique_common>
+        </source>
+        <source id="Cube_001-mesh-map-0">
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+          <technique_common>
+            <accessor source="#Cube_001-mesh-map-0-array" count="36" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Cube_001-mesh-vertices">
+          <input semantic="POSITION" source="#Cube_001-mesh-positions"/>
+        </vertices>
+        <triangles count="12">
+          <input semantic="VERTEX" source="#Cube_001-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cube_001-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Cube_001-mesh-map-0" offset="2" set="0"/>
+          <p>1 0 0 2 0 1 0 0 2 3 1 3 6 1 4 2 1 5 7 2 6 4 2 7 6 2 8 5 3 9 0 3 10 4 3 11 6 4 12 0 4 13 2 4 14 3 5 15 5 5 16 7 5 17 1 0 18 3 0 19 2 0 20 3 1 21 7 1 22 6 1 23 7 2 24 5 2 25 4 2 26 5 3 27 1 3 28 0 3 29 6 4 30 4 4 31 0 4 32 3 5 33 1 5 34 5 5 35</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="respaldo" name="respaldo" type="NODE">
+        <matrix sid="transform">0.45 0 0 0 0 0.15 0 0.25 0 0 0.2 0.55 0 0 0 1</matrix>
+        <instance_geometry url="#Cube_004-mesh" name="respaldo"/>
+      </node>
+      <node id="brazo2" name="brazo2" type="NODE">
+        <matrix sid="transform">0.1 0 0 -0.35 0 0.35 0 -0.05 0 0 0.1 0.45 0 0 0 1</matrix>
+        <instance_geometry url="#Cube_003-mesh" name="brazo2"/>
+      </node>
+      <node id="brazo1" name="brazo1" type="NODE">
+        <matrix sid="transform">0.1 0 0 0.35 0 0.35 0 -0.05 0 0 0.1 0.45 0 0 0 1</matrix>
+        <instance_geometry url="#Cube_002-mesh" name="brazo1"/>
+      </node>
+      <node id="sofa" name="sofa" type="NODE">
+        <matrix sid="transform">0.45 0 0 0 0 0.4 0 0 0 0 0.175 0.175 0 0 0 1</matrix>
+        <instance_geometry url="#Cube_001-mesh" name="sofa"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/CustomRobots/roomba_robot/models/sofa/model.config b/CustomRobots/roomba_robot/models/sofa/model.config
new file mode 100755
index 000000000..1355f4097
--- /dev/null
+++ b/CustomRobots/roomba_robot/models/sofa/model.config
@@ -0,0 +1,9 @@
+<?xml version="1.0" ?>
+<model>
+  <name>sofa</name>
+  <version>1.0</version>
+  <sdf version="1.8">model.sdf</sdf>
+  <author>
+    <name>Generated by blender SDF tools</name>
+  </author>
+</model>
diff --git a/CustomRobots/roomba_robot/models/sofa/model.sdf b/CustomRobots/roomba_robot/models/sofa/model.sdf
new file mode 100755
index 000000000..961188c6c
--- /dev/null
+++ b/CustomRobots/roomba_robot/models/sofa/model.sdf
@@ -0,0 +1,84 @@
+<?xml version="1.0" ?>
+<sdf version="1.8">
+  <model name="sofa">
+    <static>true</static>
+    <link name="sofa_link">
+      <visual name="sofa_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/model.dae</uri>
+            <submesh>
+              <name>sofa</name>
+            </submesh>
+          </mesh>
+        </geometry>
+         <material>
+          <script>
+            <name>Gazebo/Grey</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <visual name="brazo1_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/model.dae</uri>
+            <submesh>
+              <name>brazo1</name>
+            </submesh>
+          </mesh>
+        </geometry>
+         <material>
+          <script>
+            <name>Gazebo/Grey</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <visual name="brazo2_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/model.dae</uri>
+            <submesh>
+              <name>brazo2</name>
+            </submesh>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Grey</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <visual name="respaldo_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/model.dae</uri>
+            <submesh>
+              <name>respaldo</name>
+            </submesh>
+          </mesh>
+        </geometry>
+         <material>
+          <script>
+            <name>Gazebo/Grey</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <collision name="sofa_collision">
+        <geometry>
+          <mesh>
+            <uri>meshes/model.dae</uri>
+          </mesh>
+        </geometry>
+        <surface>
+          <contact>
+            <collide_bitmask>0x01</collide_bitmask>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+  </model>
+</sdf>
diff --git a/CustomRobots/roomba_robot/models/sofa_largo/meshes/model.dae b/CustomRobots/roomba_robot/models/sofa_largo/meshes/model.dae
new file mode 100755
index 000000000..9eb237db7
--- /dev/null
+++ b/CustomRobots/roomba_robot/models/sofa_largo/meshes/model.dae
@@ -0,0 +1,207 @@
+<?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 3.1.2 commit date:2022-03-31, commit time:17:40, hash:cc66d1020c3b</authoring_tool>
+    </contributor>
+    <created>2025-02-17T20:04:55</created>
+    <modified>2025-02-17T20:04:55</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images/>
+  <library_geometries>
+    <geometry id="Cube_004-mesh" name="Cube.004">
+      <mesh>
+        <source id="Cube_004-mesh-positions">
+          <float_array id="Cube_004-mesh-positions-array" count="24">-1 -1 -1 -1 -1 1 -1 1 -1 -1 1 1 1 -1 -1 1 -1 1 1 1 -1 1 1 1</float_array>
+          <technique_common>
+            <accessor source="#Cube_004-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_004-mesh-normals">
+          <float_array id="Cube_004-mesh-normals-array" count="18">-1 0 0 0 1 0 1 0 0 0 -1 0 0 0 -1 0 0 1</float_array>
+          <technique_common>
+            <accessor source="#Cube_004-mesh-normals-array" count="6" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
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+          <technique_common>
+            <accessor source="#Cube_004-mesh-map-0-array" count="36" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
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+        </source>
+        <vertices id="Cube_004-mesh-vertices">
+          <input semantic="POSITION" source="#Cube_004-mesh-positions"/>
+        </vertices>
+        <triangles count="12">
+          <input semantic="VERTEX" source="#Cube_004-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cube_004-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Cube_004-mesh-map-0" offset="2" set="0"/>
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+        </triangles>
+      </mesh>
+    </geometry>
+    <geometry id="Cube_003-mesh" name="Cube.003">
+      <mesh>
+        <source id="Cube_003-mesh-positions">
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+        <source id="Cube_003-mesh-normals">
+          <float_array id="Cube_003-mesh-normals-array" count="18">-1 0 0 0 1 0 1 0 0 0 -1 0 0 0 -1 0 0 1</float_array>
+          <technique_common>
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+        </triangles>
+      </mesh>
+    </geometry>
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+          <float_array id="Cube_002-mesh-normals-array" count="18">-1 0 0 0 1 0 1 0 0 0 -1 0 0 0 -1 0 0 1</float_array>
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+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Cube_002-mesh-map-0">
+          <float_array id="Cube_002-mesh-map-0-array" count="72">0.625 0 0.375 0.25 0.375 0 0.625 0.25 0.375 0.5 0.375 0.25 0.625 0.5 0.375 0.75 0.375 0.5 0.625 0.75 0.375 1 0.375 0.75 0.375 0.5 0.125 0.75 0.125 0.5 0.875 0.5 0.625 0.75 0.625 0.5 0.625 0 0.625 0.25 0.375 0.25 0.625 0.25 0.625 0.5 0.375 0.5 0.625 0.5 0.625 0.75 0.375 0.75 0.625 0.75 0.625 1 0.375 1 0.375 0.5 0.375 0.75 0.125 0.75 0.875 0.5 0.875 0.75 0.625 0.75</float_array>
+          <technique_common>
+            <accessor source="#Cube_002-mesh-map-0-array" count="36" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Cube_002-mesh-vertices">
+          <input semantic="POSITION" source="#Cube_002-mesh-positions"/>
+        </vertices>
+        <triangles count="12">
+          <input semantic="VERTEX" source="#Cube_002-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cube_002-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Cube_002-mesh-map-0" offset="2" set="0"/>
+          <p>1 0 0 2 0 1 0 0 2 3 1 3 6 1 4 2 1 5 7 2 6 4 2 7 6 2 8 5 3 9 0 3 10 4 3 11 6 4 12 0 4 13 2 4 14 3 5 15 5 5 16 7 5 17 1 0 18 3 0 19 2 0 20 3 1 21 7 1 22 6 1 23 7 2 24 5 2 25 4 2 26 5 3 27 1 3 28 0 3 29 6 4 30 4 4 31 0 4 32 3 5 33 1 5 34 5 5 35</p>
+        </triangles>
+      </mesh>
+    </geometry>
+    <geometry id="Cube_001-mesh" name="Cube.001">
+      <mesh>
+        <source id="Cube_001-mesh-positions">
+          <float_array id="Cube_001-mesh-positions-array" count="24">-1 -1 -1 -1 -1 1 -1 1 -1 -1 1 1 1 -1 -1 1 -1 1 1 1 -1 1 1 1</float_array>
+          <technique_common>
+            <accessor source="#Cube_001-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_001-mesh-normals">
+          <float_array id="Cube_001-mesh-normals-array" count="18">-1 0 0 0 1 0 1 0 0 0 -1 0 0 0 -1 0 0 1</float_array>
+          <technique_common>
+            <accessor source="#Cube_001-mesh-normals-array" count="6" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Cube_001-mesh-map-0">
+          <float_array id="Cube_001-mesh-map-0-array" count="72">0.625 0 0.375 0.25 0.375 0 0.625 0.25 0.375 0.5 0.375 0.25 0.625 0.5 0.375 0.75 0.375 0.5 0.625 0.75 0.375 1 0.375 0.75 0.375 0.5 0.125 0.75 0.125 0.5 0.875 0.5 0.625 0.75 0.625 0.5 0.625 0 0.625 0.25 0.375 0.25 0.625 0.25 0.625 0.5 0.375 0.5 0.625 0.5 0.625 0.75 0.375 0.75 0.625 0.75 0.625 1 0.375 1 0.375 0.5 0.375 0.75 0.125 0.75 0.875 0.5 0.875 0.75 0.625 0.75</float_array>
+          <technique_common>
+            <accessor source="#Cube_001-mesh-map-0-array" count="36" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Cube_001-mesh-vertices">
+          <input semantic="POSITION" source="#Cube_001-mesh-positions"/>
+        </vertices>
+        <triangles count="12">
+          <input semantic="VERTEX" source="#Cube_001-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cube_001-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Cube_001-mesh-map-0" offset="2" set="0"/>
+          <p>1 0 0 2 0 1 0 0 2 3 1 3 6 1 4 2 1 5 7 2 6 4 2 7 6 2 8 5 3 9 0 3 10 4 3 11 6 4 12 0 4 13 2 4 14 3 5 15 5 5 16 7 5 17 1 0 18 3 0 19 2 0 20 3 1 21 7 1 22 6 1 23 7 2 24 5 2 25 4 2 26 5 3 27 1 3 28 0 3 29 6 4 30 4 4 31 0 4 32 3 5 33 1 5 34 5 5 35</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="respaldo" name="respaldo" type="NODE">
+        <matrix sid="transform">0.8 0 0 0 0 0.15 0 0.25 0 0 0.2 0.55 0 0 0 1</matrix>
+        <instance_geometry url="#Cube_004-mesh" name="respaldo"/>
+      </node>
+      <node id="brazo2" name="brazo2" type="NODE">
+        <matrix sid="transform">0.1 0 0 -0.7 0 0.35 0 -0.05 0 0 0.1 0.45 0 0 0 1</matrix>
+        <instance_geometry url="#Cube_003-mesh" name="brazo2"/>
+      </node>
+      <node id="brazo1" name="brazo1" type="NODE">
+        <matrix sid="transform">0.1 0 0 0.7 0 0.35 0 -0.05 0 0 0.1 0.45 0 0 0 1</matrix>
+        <instance_geometry url="#Cube_002-mesh" name="brazo1"/>
+      </node>
+      <node id="sofa" name="sofa" type="NODE">
+        <matrix sid="transform">0.8 0 0 0 0 0.4 0 0 0 0 0.175 0.175 0 0 0 1</matrix>
+        <instance_geometry url="#Cube_001-mesh" name="sofa"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/CustomRobots/roomba_robot/models/sofa_largo/model.config b/CustomRobots/roomba_robot/models/sofa_largo/model.config
new file mode 100755
index 000000000..62f2ea66d
--- /dev/null
+++ b/CustomRobots/roomba_robot/models/sofa_largo/model.config
@@ -0,0 +1,9 @@
+<?xml version="1.0" ?>
+<model>
+  <name>sofa_largo</name>
+  <version>1.0</version>
+  <sdf version="1.8">model.sdf</sdf>
+  <author>
+    <name>Generated by blender SDF tools</name>
+  </author>
+</model>
diff --git a/CustomRobots/roomba_robot/models/sofa_largo/model.sdf b/CustomRobots/roomba_robot/models/sofa_largo/model.sdf
new file mode 100755
index 000000000..220cc3233
--- /dev/null
+++ b/CustomRobots/roomba_robot/models/sofa_largo/model.sdf
@@ -0,0 +1,85 @@
+<?xml version="1.0" ?>
+<sdf version="1.8">
+  <model name="sofa_largo">
+    <static>true</static>
+    <link name="sofa_link">
+      <visual name="sofa_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/model.dae</uri>
+            <submesh>
+              <name>sofa</name>
+            </submesh>
+          </mesh>
+        </geometry>
+        <material>
+          <diffuse>1.0 1.0 1.0 1.0</diffuse>
+          <specular>0.0 0.0 0.0 1.0</specular>
+          <pbr>
+            <metal/>
+          </pbr>
+        </material>
+      </visual>
+      <visual name="brazo1_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/model.dae</uri>
+            <submesh>
+              <name>brazo1</name>
+            </submesh>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Grey</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <visual name="brazo2_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/model.dae</uri>
+            <submesh>
+              <name>brazo2</name>
+            </submesh>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Grey</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <visual name="respaldo_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/model.dae</uri>
+            <submesh>
+              <name>respaldo</name>
+            </submesh>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Grey</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <collision name="collision">
+        <geometry>
+          <mesh>
+            <uri>meshes/model.dae</uri>
+          </mesh>
+        </geometry>
+        <surface>
+          <contact>
+            <collide_bitmask>0x01</collide_bitmask>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+  </model>
+</sdf>
diff --git a/CustomRobots/roomba_robot/params/roombaROS_harmonic.yaml b/CustomRobots/roomba_robot/params/roombaROS_harmonic.yaml
new file mode 100644
index 000000000..d0dd5d8b4
--- /dev/null
+++ b/CustomRobots/roomba_robot/params/roombaROS_harmonic.yaml
@@ -0,0 +1,39 @@
+# gz topic published by DiffDrive plugin
+- ros_topic_name: "odom"
+  gz_topic_name: "/roombaROS/odom"
+  ros_type_name: "nav_msgs/msg/Odometry"
+  gz_type_name: "gz.msgs.Odometry"
+  direction: GZ_TO_ROS
+
+
+# gz topic subscribed to by DiffDrive plugin
+- ros_topic_name: "cmd_vel"
+  gz_topic_name: "/roombaROS/cmd_vel"
+  ros_type_name: "geometry_msgs/msg/Twist"
+  gz_type_name: "gz.msgs.Twist"
+  direction: ROS_TO_GZ
+
+# gz topic published by Sensors plugin (LIDAR)
+- ros_topic_name: "/roombaROS/laser/scan"
+  gz_topic_name: "/roombaROS/laser/scan"
+  ros_type_name: "sensor_msgs/msg/LaserScan"
+  gz_type_name: "gz.msgs.LaserScan"
+  direction: GZ_TO_ROS
+
+- ros_topic_name: "/roombaROS/events/center_bumper"
+  gz_topic_name: "/roombaROS/events/center_bumper"
+  ros_type_name: "ros_gz_interfaces/msg/Contacts"
+  gz_type_name: "gz.msgs.Contacts"
+  direction: GZ_TO_ROS
+
+- ros_topic_name: "/roombaROS/events/right_bumper"
+  gz_topic_name: "/roombaROS/events/right_bumper"
+  ros_type_name: "ros_gz_interfaces/msg/Contacts"
+  gz_type_name: "gz.msgs.Contacts"
+  direction: GZ_TO_ROS
+
+- ros_topic_name: "/roombaROS/events/left_bumper"
+  gz_topic_name: "/roombaROS/events/left_bumper"
+  ros_type_name: "ros_gz_interfaces/msg/Contacts"
+  gz_type_name: "gz.msgs.Contacts"
+  direction: GZ_TO_ROS
\ No newline at end of file
diff --git a/Launchers/localized_vacuum_cleaner/spawn_robot.launch.py b/Launchers/localized_vacuum_cleaner/spawn_robot.launch.py
new file mode 100644
index 000000000..eb67140e0
--- /dev/null
+++ b/Launchers/localized_vacuum_cleaner/spawn_robot.launch.py
@@ -0,0 +1,107 @@
+# Copyright 2019 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    # Get the urdf file
+    model_folder = "roombaROS_harmonic"
+    urdf_path = os.path.join(
+        get_package_share_directory("custom_robots"),
+        "models",
+        model_folder,
+        "model.sdf",
+    )
+
+    # Launch configuration variables specific to simulation
+    # x_pose = LaunchConfiguration('x_pose', default='1.0')
+    # y_pose = LaunchConfiguration('y_pose', default='-1.5')
+    # z_pose = LaunchConfiguration('z_pose', default='7.1')
+
+    # Declare the launch arguments
+    # declare_x_position_cmd = DeclareLaunchArgument(
+    #     'x_pose', default_value='1.0',
+    #     description='Specify namespace of the robot')
+
+    # declare_y_position_cmd = DeclareLaunchArgument(
+    #     'y_pose', default_value='-1.5',
+    #     description='Specify namespace of the robot')
+
+    # declare_z_position_cmd = DeclareLaunchArgument(
+    #     'z_pose', default_value='7.1',
+    #     description='Specify namespace of the robot')
+
+    # start_gazebo_ros_spawner_cmd = Node(
+    #     package='ros_gz_sim',
+    #     executable='create',
+    #     arguments=[
+    #         '-name', 'waffle',
+    #         '-file', urdf_path,
+    #         '-x', x_pose,
+    #         '-y', y_pose,
+    #         '-z', z_pose
+    #     ],
+    #     output='screen',
+    # )
+
+    bridge_params = os.path.join(
+        get_package_share_directory("custom_robots"), "params", "roombaROS_harmonic.yaml"
+    )
+
+    start_gazebo_ros_bridge_cmd = Node(
+        package="ros_gz_bridge",
+        executable="parameter_bridge",
+        arguments=[
+            "--ros-args",
+            "-p",
+            f"config_file:={bridge_params}",
+        ],
+        output="screen",
+    )
+
+    # start_gazebo_ros_image_bridge_cmd = Node(
+    #     package="ros_gz_image",
+    #     executable="image_bridge",
+    #     arguments=["/turtlebot3/camera/image_raw"],
+    #     output="screen",
+    # )
+
+    # start_gazebo_ros_depth_bridge_cmd = Node(
+    #     package="ros_gz_image",
+    #     executable="image_bridge",
+    #     arguments=["/turtlebot3/camera/depth"],
+    #     output="screen",
+    # )
+
+    ld = LaunchDescription()
+
+    # Declare the launch options
+    # ld.add_action(declare_x_position_cmd)
+    # ld.add_action(declare_y_position_cmd)
+    # ld.add_action(declare_z_position_cmd)
+
+    # Add any conditioned actions
+    # ld.add_action(start_gazebo_ros_spawner_cmd)
+    ld.add_action(start_gazebo_ros_bridge_cmd)
+    # ld.add_action(start_gazebo_ros_image_bridge_cmd)
+    # ld.add_action(start_gazebo_ros_depth_bridge_cmd)
+
+    return ld
\ No newline at end of file
diff --git a/Launchers/vacuum_cleaner.launch.py b/Launchers/vacuum_cleaner.launch.py
index d07ffd8f4..16e38ab96 100755
--- a/Launchers/vacuum_cleaner.launch.py
+++ b/Launchers/vacuum_cleaner.launch.py
@@ -1,85 +1,105 @@
-"""Launch file for starting the vacuum cleaner simulation in Gazebo."""
-
 import os
+
+from ament_index_python.packages import get_package_share_directory
+
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
-from launch.conditions import IfCondition
+from launch.actions import (
+    DeclareLaunchArgument,
+    IncludeLaunchDescription,
+    SetEnvironmentVariable,
+    AppendEnvironmentVariable,
+)
 from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration, Command
+from launch_ros.actions import Node
 from launch.substitutions import LaunchConfiguration
-from launch_ros.substitutions import FindPackageShare
+from launch_ros.actions import Node
 
 
 def generate_launch_description():
-    """Generate the launch description for the vacuum cleaner Gazebo simulation."""
 
-    # Set the path to the Gazebo ROS package
-    pkg_gazebo_ros = FindPackageShare(package="gazebo_ros").find("gazebo_ros")
+    x = LaunchConfiguration("x")
+    y = LaunchConfiguration("y")
+    z = LaunchConfiguration("z")
+    roll = LaunchConfiguration("R")
+    pitch = LaunchConfiguration("P")
+    yaw = LaunchConfiguration("Y")
+
+    package_dir = get_package_share_directory("custom_robots")
+    ros_gz_sim = get_package_share_directory("ros_gz_sim")
+
+    gazebo_models_path = os.path.join(package_dir, "models")
 
-    # Set the path to the Turtlebot2 ROS package
-    pkg_share_dir = FindPackageShare(package="custom_robots").find("custom_robots")
+    robot_launch_dir = "/opt/jderobot/Launchers/localized_vacuum_cleaner"
 
-    world_file_name = "roomba_1_house.world"
+    use_sim_time = LaunchConfiguration("use_sim_time", default="true")
+    x_pose = LaunchConfiguration("x_pose", default="1.0")
+    y_pose = LaunchConfiguration("y_pose", default="-1.5")
+    z_pose = LaunchConfiguration("z_pose", default="7.1")
+    world_file_name = "roomba_1_house_harmonic.world"
     worlds_dir = "/opt/jderobot/Worlds"
     world_path = os.path.join(worlds_dir, world_file_name)
 
-    # Set the path to the SDF model files
-    gazebo_models_path = os.path.join(pkg_share_dir, "models")
-    os.environ["GAZEBO_MODEL_PATH"] = (
-        f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}"
+    gazebo_server = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(ros_gz_sim, "launch", "gz_sim.launch.py")
+        ),
+        launch_arguments={
+            "gz_args": ["-r -s -v4 ", world_path],
+            "on_exit_shutdown": "true",
+        }.items(),
     )
 
-    ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ##############
-    # Launch configuration variables specific to simulation
-    headless = LaunchConfiguration("headless")
-    use_sim_time = LaunchConfiguration("use_sim_time")
-    use_simulator = LaunchConfiguration("use_simulator")
-    world = LaunchConfiguration("world")
-
-    declare_simulator_cmd = DeclareLaunchArgument(
-        name="headless",
-        default_value="False",
-        description="Whether to execute gzclient",
-    )
+    declare_x_cmd = DeclareLaunchArgument("x", default_value="1.0")
 
-    declare_use_sim_time_cmd = DeclareLaunchArgument(
-        name="use_sim_time",
-        default_value="true",
-        description="Use simulation (Gazebo) clock if true",
-    )
+    declare_y_cmd = DeclareLaunchArgument("y", default_value="-1.5")
 
-    declare_use_simulator_cmd = DeclareLaunchArgument(
-        name="use_simulator",
-        default_value="True",
-        description="Whether to start the simulator",
-    )
+    declare_z_cmd = DeclareLaunchArgument("z", default_value="7.1")
 
-    declare_world_cmd = DeclareLaunchArgument(
-        name="world",
-        default_value=world_path,
-        description="Full path to the world model file to load",
-    )
+    declare_roll_cmd = DeclareLaunchArgument("R", default_value="0.0")
+
+    declare_pitch_cmd = DeclareLaunchArgument("P", default_value="0.0")
+
+    declare_yaw_cmd = DeclareLaunchArgument("Y", default_value="1.57079")
 
-    # Specify the actions
+    # robot_state_publisher_cmd = IncludeLaunchDescription(
+    #     PythonLaunchDescriptionSource(
+    #         os.path.join(robot_launch_dir, "robot_state_publisher.launch.py")
+    #     ),
+    #     launch_arguments={"use_sim_time": use_sim_time}.items(),
+    # )
 
-    # Start Gazebo server
-    start_gazebo_server_cmd = IncludeLaunchDescription(
+    spawn_robot_cmd = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
-            os.path.join(pkg_gazebo_ros, "launch", "gzserver.launch.py")
+            os.path.join(robot_launch_dir, "spawn_robot.launch.py")
         ),
-        condition=IfCondition(use_simulator),
-        launch_arguments={"world": world, "pause": "true"}.items(),
+        launch_arguments={"x_pose": x_pose, "y_pose": y_pose, "z_pose": z_pose}.items(),
     )
 
-    # Create the launch description and populate
-    ld = LaunchDescription()
+    world_entity_cmd = Node(
+        package="ros_gz_sim",
+        executable="create",
+        arguments=["-name", "world", "-file", world_path],
+        output="screen",
+    )
 
-    # Declare the launch options
-    ld.add_action(declare_simulator_cmd)
-    ld.add_action(declare_use_sim_time_cmd)
-    ld.add_action(declare_use_simulator_cmd)
-    ld.add_action(declare_world_cmd)
+    ld = LaunchDescription()
 
-    # Add any actions
-    ld.add_action(start_gazebo_server_cmd)
+    ld.add_action(SetEnvironmentVariable("GZ_SIM_RESOURCE_PATH", gazebo_models_path))
+    set_env_vars_resources = AppendEnvironmentVariable(
+        "GZ_SIM_RESOURCE_PATH", os.path.join(package_dir, "models")
+    )
+    ld.add_action(set_env_vars_resources)
+    ld.add_action(gazebo_server)
+    # ld.add_action(gazebo_client)
+    ld.add_action(declare_x_cmd)
+    ld.add_action(declare_y_cmd)
+    ld.add_action(declare_z_cmd)
+    ld.add_action(declare_roll_cmd)
+    ld.add_action(declare_pitch_cmd)
+    ld.add_action(declare_yaw_cmd)
+    ld.add_action(world_entity_cmd)
+    # ld.add_action(robot_state_publisher_cmd)
+    ld.add_action(spawn_robot_cmd)
 
     return ld
diff --git a/Launchers/visualization/localized_vacuum_cleaner.config b/Launchers/visualization/localized_vacuum_cleaner.config
new file mode 100644
index 000000000..e69de29bb
diff --git a/Worlds/roomba_1_house_harmonic.world b/Worlds/roomba_1_house_harmonic.world
new file mode 100644
index 000000000..907b052a1
--- /dev/null
+++ b/Worlds/roomba_1_house_harmonic.world
@@ -0,0 +1,135 @@
+<?xml version="1.0" ?>
+
+<sdf version="1.8">
+  <world name="default">
+    <plugin
+      filename="gz-sim-physics-system"
+      name="gz::sim::systems::Physics">
+    </plugin>
+    <plugin
+      filename="gz-sim-user-commands-system"
+      name="gz::sim::systems::UserCommands">
+    </plugin>
+    <plugin
+      filename="gz-sim-scene-broadcaster-system"
+      name="gz::sim::systems::SceneBroadcaster">
+    </plugin>
+    <plugin
+      filename="gz-sim-sensors-system"
+      name="gz::sim::systems::Sensors">
+      <render_engine>ogre2</render_engine>
+    </plugin>
+
+    <light type="directional" name="sun">
+      <cast_shadows>1</cast_shadows>
+      <pose>0 0 10 0 0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.2 0.2 0.2 1</specular>
+      <direction>-0.5 0.1 -0.9</direction>
+      <visualize>false</visualize>
+    </light>
+
+    <include>
+      <uri>
+        https://fuel.gazebosim.org/1.0/OpenRobotics/models/Ground Plane
+      </uri>
+    </include>
+
+    <include>
+      <name>house_int2_harmonic</name>
+      <uri>model://house_int2_harmonic</uri>
+      <pose>0 0 0 0 0 0</pose>
+    </include>
+
+    <include>
+      <name>roombaROS_harmonic</name>
+      <uri>model://roombaROS_harmonic</uri>
+      <pose>-1 1.5 0 0 -0 0</pose>
+    </include>
+
+    <include>
+      <name>mesa_comedor</name>
+      <uri>model://mesa_comedor</uri>
+      <pose>-2.4 0.3 0 0 0 1.57</pose>
+    </include>
+
+    <include>
+      <name>silla_1</name>
+      <uri>model://silla</uri>
+      <pose>-2.1 -0.1 0 0 0 0</pose>
+    </include>
+
+    <include>
+      <name>silla_2</name>
+      <uri>model://silla</uri>
+      <pose>-2.1 0.7 0 0 0 0</pose>
+    </include>
+
+    <include>
+      <name>silla_3</name>
+      <uri>model://silla</uri>
+      <pose>-2.7 -0.1 0 0 0 3.14</pose>
+    </include>
+
+    <include>
+      <name>silla_4</name>
+      <uri>model://silla</uri>
+      <pose>-2.7 0.7 0 0 0 3.14</pose>
+    </include>
+
+    <include>
+      <name>mesa_salon</name>
+      <uri>model://mesa_salon</uri>
+      <pose>-0.8 4.4 0 0 0 0</pose>
+    </include>
+
+    <include>
+      <name>sofa_largo</name>
+      <uri>model://sofa_largo</uri>
+      <pose>-0.8 3.4 0 0 0 3.14</pose>
+    </include>
+
+    <include>
+      <name>sofa_1</name>
+      <uri>model://sofa</uri>
+      <pose>0.5 4.4 0 0 0 -1.57</pose>
+    </include>
+
+    <include>
+      <name>sofa_2</name>
+      <uri>model://sofa</uri>
+      <pose>-2.1 4.4 0 0 0 1.57</pose>
+    </include>
+
+    <include>
+      <name>estanteria_1</name>
+      <uri>model://estanteria</uri>
+      <pose>4.7 4.48 0 0 0 0</pose>
+    </include>
+
+    <include>
+      <name>estanteria_2</name>
+      <uri>model://estanteria</uri>
+      <pose>4.7 0.5 0 0 0 0</pose>
+    </include>
+
+    <include>
+      <name>mesita_1</name>
+      <uri>model://mesita</uri>
+      <pose>2.4 -3.28 0 0 0 0</pose>
+    </include>
+
+    <include>
+      <name>mesita_2</name>
+      <uri>model://mesita</uri>
+      <pose>4.4 -3.28 0 0 0 0</pose>
+    </include>
+
+    <include>
+      <name>cama</name>
+      <uri>model://cama</uri>
+      <pose>3.4 -2.41 0 0 0 -1.57</pose>
+    </include>
+
+  </world>
+</sdf>
\ No newline at end of file

From 29b215e9704b5a43c9581cff27056d8004dac183 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Alberto=20Le=C3=B3n=20Luengo?= <a.leon.2020@alumnos.urjc.es>
Date: Wed, 12 Nov 2025 15:11:51 +0100
Subject: [PATCH 3/3] Deleting and renaming files

---
 .../roomba_robot/models/cama/meshes/model.dae |  69 ---
 .../roomba_robot/models/cama/model.config     |   9 -
 .../roomba_robot/models/cama/model.sdf        |  36 --
 .../models/estanteria/meshes/model.dae        | 493 ------------------
 .../models/estanteria/meshes/wood.jpg         | Bin 122826 -> 0 bytes
 .../models/estanteria/model.config            |   9 -
 .../roomba_robot/models/estanteria/model.sdf  | 172 ------
 .../house_int2_harmonic/meshes/model.dae      | 261 ----------
 .../house_int2_harmonic/meshes/wood.jpg       | Bin 122826 -> 0 bytes
 .../models/house_int2_harmonic/model.config   |   9 -
 .../models/house_int2_harmonic/model.sdf      |  90 ----
 .../models/mesa_comedor/meshes/model.dae      | 441 ----------------
 .../models/mesa_comedor/meshes/wood.jpg       | Bin 122826 -> 0 bytes
 .../models/mesa_comedor/model.config          |   9 -
 .../models/mesa_comedor/model.sdf             | 113 ----
 .../models/mesa_salon/meshes/model.dae        | 331 ------------
 .../models/mesa_salon/meshes/wood.jpg         | Bin 122826 -> 0 bytes
 .../models/mesa_salon/model.config            |   9 -
 .../roomba_robot/models/mesa_salon/model.sdf  | 115 ----
 .../models/mesita/meshes/model.dae            | 385 --------------
 .../models/mesita/meshes/wood.jpg             | Bin 122826 -> 0 bytes
 .../roomba_robot/models/mesita/model.config   |   9 -
 .../roomba_robot/models/mesita/model.sdf      | 134 -----
 .../models/roombaROS_harmonic/model.config    |  19 -
 .../models/roombaROS_harmonic/model.sdf       | 444 ----------------
 .../models/silla/meshes/model.dae             | 369 -------------
 .../roomba_robot/models/silla/meshes/wood.jpg | Bin 122826 -> 0 bytes
 .../roomba_robot/models/silla/model.config    |   9 -
 .../roomba_robot/models/silla/model.sdf       | 128 -----
 .../roomba_robot/models/sofa/meshes/model.dae | 207 --------
 .../roomba_robot/models/sofa/model.config     |   9 -
 .../roomba_robot/models/sofa/model.sdf        |  84 ---
 .../models/sofa_largo/meshes/model.dae        | 207 --------
 .../models/sofa_largo/model.config            |   9 -
 .../roomba_robot/models/sofa_largo/model.sdf  |  85 ---
 ...roombaROS_harmonic.yaml => roombaROS.yaml} |   0
 .../spawn_robot.launch.py                     |   4 +-
 Worlds/roomba_1_house_harmonic.world          | 125 +----
 38 files changed, 24 insertions(+), 4369 deletions(-)
 delete mode 100755 CustomRobots/roomba_robot/models/cama/meshes/model.dae
 delete mode 100755 CustomRobots/roomba_robot/models/cama/model.config
 delete mode 100755 CustomRobots/roomba_robot/models/cama/model.sdf
 delete mode 100755 CustomRobots/roomba_robot/models/estanteria/meshes/model.dae
 delete mode 100755 CustomRobots/roomba_robot/models/estanteria/meshes/wood.jpg
 delete mode 100755 CustomRobots/roomba_robot/models/estanteria/model.config
 delete mode 100755 CustomRobots/roomba_robot/models/estanteria/model.sdf
 delete mode 100755 CustomRobots/roomba_robot/models/house_int2_harmonic/meshes/model.dae
 delete mode 100755 CustomRobots/roomba_robot/models/house_int2_harmonic/meshes/wood.jpg
 delete mode 100755 CustomRobots/roomba_robot/models/house_int2_harmonic/model.config
 delete mode 100755 CustomRobots/roomba_robot/models/house_int2_harmonic/model.sdf
 delete mode 100755 CustomRobots/roomba_robot/models/mesa_comedor/meshes/model.dae
 delete mode 100755 CustomRobots/roomba_robot/models/mesa_comedor/meshes/wood.jpg
 delete mode 100755 CustomRobots/roomba_robot/models/mesa_comedor/model.config
 delete mode 100755 CustomRobots/roomba_robot/models/mesa_comedor/model.sdf
 delete mode 100755 CustomRobots/roomba_robot/models/mesa_salon/meshes/model.dae
 delete mode 100755 CustomRobots/roomba_robot/models/mesa_salon/meshes/wood.jpg
 delete mode 100755 CustomRobots/roomba_robot/models/mesa_salon/model.config
 delete mode 100755 CustomRobots/roomba_robot/models/mesa_salon/model.sdf
 delete mode 100755 CustomRobots/roomba_robot/models/mesita/meshes/model.dae
 delete mode 100755 CustomRobots/roomba_robot/models/mesita/meshes/wood.jpg
 delete mode 100755 CustomRobots/roomba_robot/models/mesita/model.config
 delete mode 100755 CustomRobots/roomba_robot/models/mesita/model.sdf
 delete mode 100755 CustomRobots/roomba_robot/models/roombaROS_harmonic/model.config
 delete mode 100755 CustomRobots/roomba_robot/models/roombaROS_harmonic/model.sdf
 delete mode 100755 CustomRobots/roomba_robot/models/silla/meshes/model.dae
 delete mode 100755 CustomRobots/roomba_robot/models/silla/meshes/wood.jpg
 delete mode 100755 CustomRobots/roomba_robot/models/silla/model.config
 delete mode 100755 CustomRobots/roomba_robot/models/silla/model.sdf
 delete mode 100755 CustomRobots/roomba_robot/models/sofa/meshes/model.dae
 delete mode 100755 CustomRobots/roomba_robot/models/sofa/model.config
 delete mode 100755 CustomRobots/roomba_robot/models/sofa/model.sdf
 delete mode 100755 CustomRobots/roomba_robot/models/sofa_largo/meshes/model.dae
 delete mode 100755 CustomRobots/roomba_robot/models/sofa_largo/model.config
 delete mode 100755 CustomRobots/roomba_robot/models/sofa_largo/model.sdf
 rename CustomRobots/roomba_robot/params/{roombaROS_harmonic.yaml => roombaROS.yaml} (100%)

diff --git a/CustomRobots/roomba_robot/models/cama/meshes/model.dae b/CustomRobots/roomba_robot/models/cama/meshes/model.dae
deleted file mode 100755
index 9651699d7..000000000
--- a/CustomRobots/roomba_robot/models/cama/meshes/model.dae
+++ /dev/null
@@ -1,69 +0,0 @@
-<?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 3.1.2 commit date:2022-03-31, commit time:17:40, hash:cc66d1020c3b</authoring_tool>
-    </contributor>
-    <created>2025-02-18T09:46:44</created>
-    <modified>2025-02-18T09:46:44</modified>
-    <unit name="meter" meter="1"/>
-    <up_axis>Z_UP</up_axis>
-  </asset>
-  <library_images/>
-  <library_geometries>
-    <geometry id="Cube_001-mesh" name="Cube.001">
-      <mesh>
-        <source id="Cube_001-mesh-positions">
-          <float_array id="Cube_001-mesh-positions-array" count="48">-1 -1 -1 -1 -1 1 -1 1 -1 -1 1 1 1 -1 -1 1 -1 1 1 1 -1 1 1 1 0.7142857 -1 1 0.7142857 -1 1.5 0.7142857 1 1 0.7142857 1 1.5 1 -1 1 1 -1 1.5 1 1 1 1 1 1.5</float_array>
-          <technique_common>
-            <accessor source="#Cube_001-mesh-positions-array" count="16" stride="3">
-              <param name="X" type="float"/>
-              <param name="Y" type="float"/>
-              <param name="Z" type="float"/>
-            </accessor>
-          </technique_common>
-        </source>
-        <source id="Cube_001-mesh-normals">
-          <float_array id="Cube_001-mesh-normals-array" count="18">-1 0 0 0 1 0 1 0 0 0 -1 0 0 0 -1 0 0 1</float_array>
-          <technique_common>
-            <accessor source="#Cube_001-mesh-normals-array" count="6" stride="3">
-              <param name="X" type="float"/>
-              <param name="Y" type="float"/>
-              <param name="Z" type="float"/>
-            </accessor>
-          </technique_common>
-        </source>
-        <source id="Cube_001-mesh-map-0">
-          <float_array id="Cube_001-mesh-map-0-array" count="144">0.625 0 0.375 0.25 0.375 0 0.625 0.25 0.375 0.5 0.375 0.25 0.625 0.5 0.375 0.75 0.375 0.5 0.625 0.75 0.375 1 0.375 0.75 0.375 0.5 0.125 0.75 0.125 0.5 0.875 0.5 0.625 0.75 0.625 0.5 0.625 0 0.375 0.25 0.375 0 0.625 0.25 0.375 0.5 0.375 0.25 0.625 0.5 0.375 0.75 0.375 0.5 0.625 0.75 0.375 1 0.375 0.75 0.375 0.5 0.125 0.75 0.125 0.5 0.875 0.5 0.625 0.75 0.625 0.5 0.625 0 0.625 0.25 0.375 0.25 0.625 0.25 0.625 0.5 0.375 0.5 0.625 0.5 0.625 0.75 0.375 0.75 0.625 0.75 0.625 1 0.375 1 0.375 0.5 0.375 0.75 0.125 0.75 0.875 0.5 0.875 0.75 0.625 0.75 0.625 0 0.625 0.25 0.375 0.25 0.625 0.25 0.625 0.5 0.375 0.5 0.625 0.5 0.625 0.75 0.375 0.75 0.625 0.75 0.625 1 0.375 1 0.375 0.5 0.375 0.75 0.125 0.75 0.875 0.5 0.875 0.75 0.625 0.75</float_array>
-          <technique_common>
-            <accessor source="#Cube_001-mesh-map-0-array" count="72" stride="2">
-              <param name="S" type="float"/>
-              <param name="T" type="float"/>
-            </accessor>
-          </technique_common>
-        </source>
-        <vertices id="Cube_001-mesh-vertices">
-          <input semantic="POSITION" source="#Cube_001-mesh-positions"/>
-        </vertices>
-        <triangles count="24">
-          <input semantic="VERTEX" source="#Cube_001-mesh-vertices" offset="0"/>
-          <input semantic="NORMAL" source="#Cube_001-mesh-normals" offset="1"/>
-          <input semantic="TEXCOORD" source="#Cube_001-mesh-map-0" offset="2" set="0"/>
-          <p>1 0 0 2 0 1 0 0 2 3 1 3 6 1 4 2 1 5 7 2 6 4 2 7 6 2 8 5 3 9 0 3 10 4 3 11 6 4 12 0 4 13 2 4 14 3 5 15 5 5 16 7 5 17 9 0 18 10 0 19 8 0 20 11 1 21 14 1 22 10 1 23 15 2 24 12 2 25 14 2 26 13 3 27 8 3 28 12 3 29 14 4 30 8 4 31 10 4 32 11 5 33 13 5 34 15 5 35 1 0 36 3 0 37 2 0 38 3 1 39 7 1 40 6 1 41 7 2 42 5 2 43 4 2 44 5 3 45 1 3 46 0 3 47 6 4 48 4 4 49 0 4 50 3 5 51 1 5 52 5 5 53 9 0 54 11 0 55 10 0 56 11 1 57 15 1 58 14 1 59 15 2 60 13 2 61 12 2 62 13 3 63 9 3 64 8 3 65 14 4 66 12 4 67 8 4 68 11 5 69 9 5 70 13 5 71</p>
-        </triangles>
-      </mesh>
-    </geometry>
-  </library_geometries>
-  <library_visual_scenes>
-    <visual_scene id="Scene" name="Scene">
-      <node id="cama" name="cama" type="NODE">
-        <matrix sid="transform">1.05 0 0 0 0 0.75 0 0 0 0 0.2 0.2 0 0 0 1</matrix>
-        <instance_geometry url="#Cube_001-mesh" name="cama"/>
-      </node>
-    </visual_scene>
-  </library_visual_scenes>
-  <scene>
-    <instance_visual_scene url="#Scene"/>
-  </scene>
-</COLLADA>
\ No newline at end of file
diff --git a/CustomRobots/roomba_robot/models/cama/model.config b/CustomRobots/roomba_robot/models/cama/model.config
deleted file mode 100755
index a6e5f3184..000000000
--- a/CustomRobots/roomba_robot/models/cama/model.config
+++ /dev/null
@@ -1,9 +0,0 @@
-<?xml version="1.0" ?>
-<model>
-  <name>cama</name>
-  <version>1.0</version>
-  <sdf version="1.8">model.sdf</sdf>
-  <author>
-    <name>Generated by blender SDF tools</name>
-  </author>
-</model>
diff --git a/CustomRobots/roomba_robot/models/cama/model.sdf b/CustomRobots/roomba_robot/models/cama/model.sdf
deleted file mode 100755
index c38846523..000000000
--- a/CustomRobots/roomba_robot/models/cama/model.sdf
+++ /dev/null
@@ -1,36 +0,0 @@
-<?xml version="1.0" ?>
-<sdf version="1.8">
-  <model name="cama">
-    <static>true</static>
-    <link name="cama_link">
-      <visual name="cama_visual">
-        <geometry>
-          <mesh>
-            <uri>meshes/model.dae</uri>
-            <submesh>
-              <name>cama</name>
-            </submesh>
-          </mesh>
-        </geometry>
-        <material>
-          <script>
-            <name>Gazebo/White</name>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-          </script>
-        </material>
-      </visual>
-      <collision name="cama_collision">
-        <geometry>
-          <mesh>
-            <uri>meshes/model.dae</uri>
-          </mesh>
-        </geometry>
-        <surface>
-          <contact>
-            <collide_bitmask>0x01</collide_bitmask>
-          </contact>
-        </surface>
-      </collision>
-    </link>
-  </model>
-</sdf>
diff --git a/CustomRobots/roomba_robot/models/estanteria/meshes/model.dae b/CustomRobots/roomba_robot/models/estanteria/meshes/model.dae
deleted file mode 100755
index 187b683e7..000000000
--- a/CustomRobots/roomba_robot/models/estanteria/meshes/model.dae
+++ /dev/null
@@ -1,493 +0,0 @@
-<?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 3.1.2 commit date:2022-03-31, commit time:17:40, hash:cc66d1020c3b</authoring_tool>
-    </contributor>
-    <created>2025-02-18T09:17:04</created>
-    <modified>2025-02-18T09:17:04</modified>
-    <unit name="meter" meter="1"/>
-    <up_axis>Z_UP</up_axis>
-  </asset>
-  <library_effects>
-    <effect id="Wood-effect">
-      <profile_COMMON>
-        <newparam sid="wood_jpg-surface">
-          <surface type="2D">
-            <init_from>wood_jpg</init_from>
-          </surface>
-        </newparam>
-        <newparam sid="wood_jpg-sampler">
-          <sampler2D>
-            <source>wood_jpg-surface</source>
-          </sampler2D>
-        </newparam>
-        <technique sid="common">
-          <lambert>
-            <emission>
-              <color sid="emission">0 0 0 1</color>
-            </emission>
-            <diffuse>
-              <texture texture="wood_jpg-sampler" texcoord="UVMap"/>
-            </diffuse>
-            <index_of_refraction>
-              <float sid="ior">1.45</float>
-            </index_of_refraction>
-          </lambert>
-        </technique>
-      </profile_COMMON>
-    </effect>
-  </library_effects>
-  <library_images>
-    <image id="wood_jpg" name="wood_jpg">
-      <init_from>wood.jpg</init_from>
-    </image>
-  </library_images>
-  <library_materials>
-    <material id="Wood-material" name="Wood">
-      <instance_effect url="#Wood-effect"/>
-    </material>
-  </library_materials>
-  <library_geometries>
-    <geometry id="Cube_008-mesh" name="Cube.008">
-      <mesh>
-        <source id="Cube_008-mesh-positions">
-          <float_array id="Cube_008-mesh-positions-array" count="24">-1 -1 -1 -1 -1 1 -1 1 -1 -1 1 1 1 -1 -1 1 -1 1 1 1 -1 1 1 1</float_array>
-          <technique_common>
-            <accessor source="#Cube_008-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_008-mesh-normals">
-          <float_array id="Cube_008-mesh-normals-array" count="18">-1 0 0 0 1 0 1 0 0 0 -1 0 0 0 -1 0 0 1</float_array>
-          <technique_common>
-            <accessor source="#Cube_008-mesh-normals-array" count="6" stride="3">
-              <param name="X" type="float"/>
-              <param name="Y" type="float"/>
-              <param name="Z" type="float"/>
-            </accessor>
-          </technique_common>
-        </source>
-        <source id="Cube_008-mesh-map-0">
-          <float_array id="Cube_008-mesh-map-0-array" count="72">0.625 0 0.375 0.25 0.375 0 0.625 0.25 0.375 0.5 0.375 0.25 0.625 0.5 0.375 0.75 0.375 0.5 0.625 0.75 0.375 1 0.375 0.75 0.375 0.5 0.125 0.75 0.125 0.5 0.875 0.5 0.625 0.75 0.625 0.5 0.625 0 0.625 0.25 0.375 0.25 0.625 0.25 0.625 0.5 0.375 0.5 0.625 0.5 0.625 0.75 0.375 0.75 0.625 0.75 0.625 1 0.375 1 0.375 0.5 0.375 0.75 0.125 0.75 0.875 0.5 0.875 0.75 0.625 0.75</float_array>
-          <technique_common>
-            <accessor source="#Cube_008-mesh-map-0-array" count="36" stride="2">
-              <param name="S" type="float"/>
-              <param name="T" type="float"/>
-            </accessor>
-          </technique_common>
-        </source>
-        <vertices id="Cube_008-mesh-vertices">
-          <input semantic="POSITION" source="#Cube_008-mesh-positions"/>
-        </vertices>
-        <triangles material="Wood-material" count="12">
-          <input semantic="VERTEX" source="#Cube_008-mesh-vertices" offset="0"/>
-          <input semantic="NORMAL" source="#Cube_008-mesh-normals" offset="1"/>
-          <input semantic="TEXCOORD" source="#Cube_008-mesh-map-0" offset="2" set="0"/>
-          <p>1 0 0 2 0 1 0 0 2 3 1 3 6 1 4 2 1 5 7 2 6 4 2 7 6 2 8 5 3 9 0 3 10 4 3 11 6 4 12 0 4 13 2 4 14 3 5 15 5 5 16 7 5 17 1 0 18 3 0 19 2 0 20 3 1 21 7 1 22 6 1 23 7 2 24 5 2 25 4 2 26 5 3 27 1 3 28 0 3 29 6 4 30 4 4 31 0 4 32 3 5 33 1 5 34 5 5 35</p>
-        </triangles>
-      </mesh>
-    </geometry>
-    <geometry id="Cube_007-mesh" name="Cube.007">
-      <mesh>
-        <source id="Cube_007-mesh-positions">
-          <float_array id="Cube_007-mesh-positions-array" count="24">-1 -1 -1 -1 -1 1 -1 1 -1 -1 1 1 1 -1 -1 1 -1 1 1 1 -1 1 1 1</float_array>
-          <technique_common>
-            <accessor source="#Cube_007-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_007-mesh-normals">
-          <float_array id="Cube_007-mesh-normals-array" count="18">-1 0 0 0 1 0 1 0 0 0 -1 0 0 0 -1 0 0 1</float_array>
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diff --git a/CustomRobots/roomba_robot/models/estanteria/model.config b/CustomRobots/roomba_robot/models/estanteria/model.config
deleted file mode 100755
index 341f27e1f..000000000
--- a/CustomRobots/roomba_robot/models/estanteria/model.config
+++ /dev/null
@@ -1,9 +0,0 @@
-<?xml version="1.0" ?>
-<model>
-  <name>estanteria</name>
-  <version>1.0</version>
-  <sdf version="1.8">model.sdf</sdf>
-  <author>
-    <name>Generated by blender SDF tools</name>
-  </author>
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diff --git a/CustomRobots/roomba_robot/models/estanteria/model.sdf b/CustomRobots/roomba_robot/models/estanteria/model.sdf
deleted file mode 100755
index 671a1cc4e..000000000
--- a/CustomRobots/roomba_robot/models/estanteria/model.sdf
+++ /dev/null
@@ -1,172 +0,0 @@
-<?xml version="1.0" ?>
-<sdf version="1.8">
-  <model name="estanteria">
-    <static>true</static>
-    <link name="estanteria_link">
-      <visual name="estanteria_visual">
-        <geometry>
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-            <uri>meshes/model.dae</uri>
-            <submesh>
-              <name>estanteria</name>
-            </submesh>
-          </mesh>
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-        <material>
-          <diffuse>1.0 1.0 1.0 1.0</diffuse>
-          <specular>0.0 0.0 0.0 1.0</specular>
-          <pbr>
-            <metal>
-              <albedo_map>meshes/wood.jpg</albedo_map>
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-      </visual>
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-      </visual>
-      <visual name="basal3_visual">
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-            </submesh>
-          </mesh>
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-          <diffuse>1.0 1.0 1.0 1.0</diffuse>
-          <specular>0.0 0.0 0.0 1.0</specular>
-          <pbr>
-            <metal>
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-          </pbr>
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-      </visual>
-      <visual name="basal5_visual">
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-            <submesh>
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-            </metal>
-          </pbr>
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-      </visual>
-      <visual name="lateral1_visual">
-        <geometry>
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-            <submesh>
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-            </submesh>
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-        <material>
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-          <pbr>
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-          </pbr>
-        </material>
-      </visual>
-      <collision name="estanteria_collision">
-        <geometry>
-          <mesh>
-            <uri>meshes/model.dae</uri>
-          </mesh>
-        </geometry>
-        <surface>
-          <contact>
-            <collide_bitmask>0x01</collide_bitmask>
-          </contact>
-        </surface>
-      </collision>
-    </link>
-  </model>
-</sdf>
diff --git a/CustomRobots/roomba_robot/models/house_int2_harmonic/meshes/model.dae b/CustomRobots/roomba_robot/models/house_int2_harmonic/meshes/model.dae
deleted file mode 100755
index 8116b9275..000000000
--- a/CustomRobots/roomba_robot/models/house_int2_harmonic/meshes/model.dae
+++ /dev/null
@@ -1,261 +0,0 @@
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-    </contributor>
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-    <modified>2025-02-18T21:44:32</modified>
-    <unit name="meter" meter="1"/>
-    <up_axis>Z_UP</up_axis>
-  </asset>
-  <library_effects>
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-      <profile_COMMON>
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-        </newparam>
-        <newparam sid="wood_jpg-sampler">
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-        </technique>
-      </profile_COMMON>
-    </effect>
-  </library_effects>
-  <library_images>
-    <image id="wood_jpg" name="wood_jpg">
-      <init_from>wood.jpg</init_from>
-    </image>
-  </library_images>
-  <library_materials>
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diff --git a/CustomRobots/roomba_robot/models/house_int2_harmonic/model.config b/CustomRobots/roomba_robot/models/house_int2_harmonic/model.config
deleted file mode 100755
index ed4750a83..000000000
--- a/CustomRobots/roomba_robot/models/house_int2_harmonic/model.config
+++ /dev/null
@@ -1,9 +0,0 @@
-<?xml version="1.0" ?>
-<model>
-  <name>house_int2_harmonic</name>
-  <version>1.0</version>
-  <sdf version="1.8">model.sdf</sdf>
-  <author>
-    <name>Generated by blender SDF tools</name>
-  </author>
-</model>
diff --git a/CustomRobots/roomba_robot/models/house_int2_harmonic/model.sdf b/CustomRobots/roomba_robot/models/house_int2_harmonic/model.sdf
deleted file mode 100755
index df9145abe..000000000
--- a/CustomRobots/roomba_robot/models/house_int2_harmonic/model.sdf
+++ /dev/null
@@ -1,90 +0,0 @@
-<?xml version="1.0" ?>
-<sdf version="1.8">
-  <model name="house_int2_harmonic">
-    <static>true</static>
-    <link name="house_int_link">
-      <visual name="walls_visual">
-        <geometry>
-          <mesh>
-            <uri>meshes/model.dae</uri>
-            <submesh>
-              <name>walls</name>
-            </submesh>
-          </mesh>
-        </geometry>
-        <material>
-          <script>
-            <name>Gazebo/Grey</name>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-          </script>
-        </material>
-      </visual>
-      <visual name="encimera_visual">
-        <geometry>
-          <mesh>
-            <uri>meshes/model.dae</uri>
-            <submesh>
-              <name>encimera</name>
-            </submesh>
-          </mesh>
-        </geometry>
-        <material>
-          <diffuse>1.0 1.0 1.0 1.0</diffuse>
-          <specular>0.0 0.0 0.0 1.0</specular>
-          <pbr>
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diff --git a/CustomRobots/roomba_robot/models/mesa_comedor/meshes/model.dae b/CustomRobots/roomba_robot/models/mesa_comedor/meshes/model.dae
deleted file mode 100755
index d07a28fe5..000000000
--- a/CustomRobots/roomba_robot/models/mesa_comedor/meshes/model.dae
+++ /dev/null
@@ -1,441 +0,0 @@
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diff --git a/CustomRobots/roomba_robot/models/mesa_comedor/model.config b/CustomRobots/roomba_robot/models/mesa_comedor/model.config
deleted file mode 100755
index b5496c56f..000000000
--- a/CustomRobots/roomba_robot/models/mesa_comedor/model.config
+++ /dev/null
@@ -1,9 +0,0 @@
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diff --git a/CustomRobots/roomba_robot/models/mesa_comedor/model.sdf b/CustomRobots/roomba_robot/models/mesa_comedor/model.sdf
deleted file mode 100755
index 8e7a725ad..000000000
--- a/CustomRobots/roomba_robot/models/mesa_comedor/model.sdf
+++ /dev/null
@@ -1,113 +0,0 @@
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diff --git a/CustomRobots/roomba_robot/models/mesa_salon/meshes/model.dae b/CustomRobots/roomba_robot/models/mesa_salon/meshes/model.dae
deleted file mode 100755
index ea9a98210..000000000
--- a/CustomRobots/roomba_robot/models/mesa_salon/meshes/model.dae
+++ /dev/null
@@ -1,331 +0,0 @@
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diff --git a/CustomRobots/roomba_robot/models/mesa_salon/model.config b/CustomRobots/roomba_robot/models/mesa_salon/model.config
deleted file mode 100755
index 7595065ea..000000000
--- a/CustomRobots/roomba_robot/models/mesa_salon/model.config
+++ /dev/null
@@ -1,9 +0,0 @@
-<?xml version="1.0" ?>
-<model>
-  <name>mesa_salon</name>
-  <version>1.0</version>
-  <sdf version="1.8">model.sdf</sdf>
-  <author>
-    <name>Generated by blender SDF tools</name>
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diff --git a/CustomRobots/roomba_robot/models/mesa_salon/model.sdf b/CustomRobots/roomba_robot/models/mesa_salon/model.sdf
deleted file mode 100755
index e01522f95..000000000
--- a/CustomRobots/roomba_robot/models/mesa_salon/model.sdf
+++ /dev/null
@@ -1,115 +0,0 @@
-<?xml version="1.0" ?>
-<sdf version="1.8">
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-    <static>true</static>
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-      </visual>
-      <visual name="pata3_visual">
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-            </submesh>
-          </mesh>
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-          <pbr>
-            <metal>
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-            </metal>
-          </pbr>
-        </material>
-      </visual>
-      <collision name="collision">
-        <geometry>
-          <mesh>
-            <uri>meshes/model.dae</uri>
-          </mesh>
-        </geometry>
-        <surface>
-          <contact>
-            <collide_bitmask>0x01</collide_bitmask>
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-        </surface>
-      </collision>
-    </link>
-  </model>
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diff --git a/CustomRobots/roomba_robot/models/mesita/meshes/model.dae b/CustomRobots/roomba_robot/models/mesita/meshes/model.dae
deleted file mode 100755
index cfff01cb7..000000000
--- a/CustomRobots/roomba_robot/models/mesita/meshes/model.dae
+++ /dev/null
@@ -1,385 +0,0 @@
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-    <modified>2025-02-18T09:31:26</modified>
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-    <up_axis>Z_UP</up_axis>
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-            </index_of_refraction>
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-        </technique>
-      </profile_COMMON>
-    </effect>
-  </library_effects>
-  <library_images>
-    <image id="wood_jpg" name="wood_jpg">
-      <init_from>wood.jpg</init_from>
-    </image>
-  </library_images>
-  <library_materials>
-    <material id="Wood-material" name="Wood">
-      <instance_effect url="#Wood-effect"/>
-    </material>
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diff --git a/CustomRobots/roomba_robot/models/mesita/model.config b/CustomRobots/roomba_robot/models/mesita/model.config
deleted file mode 100755
index 0774a7871..000000000
--- a/CustomRobots/roomba_robot/models/mesita/model.config
+++ /dev/null
@@ -1,9 +0,0 @@
-<?xml version="1.0" ?>
-<model>
-  <name>mesita</name>
-  <version>1.0</version>
-  <sdf version="1.8">model.sdf</sdf>
-  <author>
-    <name>Generated by blender SDF tools</name>
-  </author>
-</model>
diff --git a/CustomRobots/roomba_robot/models/mesita/model.sdf b/CustomRobots/roomba_robot/models/mesita/model.sdf
deleted file mode 100755
index a132e64c5..000000000
--- a/CustomRobots/roomba_robot/models/mesita/model.sdf
+++ /dev/null
@@ -1,134 +0,0 @@
-<?xml version="1.0" ?>
-<sdf version="1.8">
-  <model name="mesita">
-    <static>true</static>
-    <link name="mesita_link">
-      <visual name="mesita_visual">
-        <geometry>
-          <mesh>
-            <uri>meshes/model.dae</uri>
-            <submesh>
-              <name>mesita</name>
-            </submesh>
-          </mesh>
-        </geometry>
-        <material>
-          <diffuse>1.0 1.0 1.0 1.0</diffuse>
-          <specular>0.0 0.0 0.0 1.0</specular>
-          <pbr>
-            <metal>
-              <albedo_map>meshes/wood.jpg</albedo_map>
-            </metal>
-          </pbr>
-        </material>
-      </visual>
-      <visual name="basal1_visual">
-        <geometry>
-          <mesh>
-            <uri>meshes/model.dae</uri>
-            <submesh>
-              <name>basal1</name>
-            </submesh>
-          </mesh>
-        </geometry>
-        <material>
-          <diffuse>1.0 1.0 1.0 1.0</diffuse>
-          <specular>0.0 0.0 0.0 1.0</specular>
-          <pbr>
-            <metal>
-              <albedo_map>meshes/wood.jpg</albedo_map>
-            </metal>
-          </pbr>
-        </material>
-      </visual>
-      <visual name="basal2_visual">
-        <geometry>
-          <mesh>
-            <uri>meshes/model.dae</uri>
-            <submesh>
-              <name>basal2</name>
-            </submesh>
-          </mesh>
-        </geometry>
-        <material>
-          <diffuse>1.0 1.0 1.0 1.0</diffuse>
-          <specular>0.0 0.0 0.0 1.0</specular>
-          <pbr>
-            <metal>
-              <albedo_map>meshes/wood.jpg</albedo_map>
-            </metal>
-          </pbr>
-        </material>
-      </visual>
-      <visual name="basal3_visual">
-        <geometry>
-          <mesh>
-            <uri>meshes/model.dae</uri>
-            <submesh>
-              <name>basal3</name>
-            </submesh>
-          </mesh>
-        </geometry>
-        <material>
-          <diffuse>1.0 1.0 1.0 1.0</diffuse>
-          <specular>0.0 0.0 0.0 1.0</specular>
-          <pbr>
-            <metal>
-              <albedo_map>meshes/wood.jpg</albedo_map>
-            </metal>
-          </pbr>
-        </material>
-      </visual>
-      <visual name="lateral1_visual">
-        <geometry>
-          <mesh>
-            <uri>meshes/model.dae</uri>
-            <submesh>
-              <name>lateral1</name>
-            </submesh>
-          </mesh>
-        </geometry>
-        <material>
-          <diffuse>1.0 1.0 1.0 1.0</diffuse>
-          <specular>0.0 0.0 0.0 1.0</specular>
-          <pbr>
-            <metal>
-              <albedo_map>meshes/wood.jpg</albedo_map>
-            </metal>
-          </pbr>
-        </material>
-      </visual>
-      <visual name="lateral2_visual">
-        <geometry>
-          <mesh>
-            <uri>meshes/model.dae</uri>
-            <submesh>
-              <name>lateral2</name>
-            </submesh>
-          </mesh>
-        </geometry>
-        <material>
-          <diffuse>1.0 1.0 1.0 1.0</diffuse>
-          <specular>0.0 0.0 0.0 1.0</specular>
-          <pbr>
-            <metal>
-              <albedo_map>meshes/wood.jpg</albedo_map>
-            </metal>
-          </pbr>
-        </material>
-      </visual>
-      <collision name="mesita_collision">
-        <geometry>
-          <mesh>
-            <uri>meshes/model.dae</uri>
-          </mesh>
-        </geometry>
-        <surface>
-          <contact>
-            <collide_bitmask>0x01</collide_bitmask>
-          </contact>
-        </surface>
-      </collision>
-    </link>
-  </model>
-</sdf>
diff --git a/CustomRobots/roomba_robot/models/roombaROS_harmonic/model.config b/CustomRobots/roomba_robot/models/roombaROS_harmonic/model.config
deleted file mode 100755
index a7ff1fdb5..000000000
--- a/CustomRobots/roomba_robot/models/roombaROS_harmonic/model.config
+++ /dev/null
@@ -1,19 +0,0 @@
-<?xml version="1.0"?>
-
-<model>
-  <name>roombaROS_harmonic</name>
-  <version>1.0</version>
-  <sdf version="1.5">model.sdf</sdf>
-
-  <author>
-    <name>Nate Koenig</name>
-    <email>nate@osrfoundation.org</email>
-  </author>
-
-  <description>
-    A model of the iRobot Create.
-  </description>
-
-  <depend>
-  </depend>
-</model>
diff --git a/CustomRobots/roomba_robot/models/roombaROS_harmonic/model.sdf b/CustomRobots/roomba_robot/models/roombaROS_harmonic/model.sdf
deleted file mode 100755
index 4fb18a33d..000000000
--- a/CustomRobots/roomba_robot/models/roombaROS_harmonic/model.sdf
+++ /dev/null
@@ -1,444 +0,0 @@
-<?xml version="1.0"?>
-<sdf version="1.5">
-  <model name="roombaROS_harmonic">
-    <plugin name="gz::sim::systems::Contact" filename="gz-sim-contact-system"></plugin>
-
-    <link name="base_footprint"/>
-
-    <link name="base">
-      <inertial>
-        <pose>0.001453 -0.000453 0.029787 0 0 0</pose>
-        <inertia>
-          <ixx>1.058640</ixx>
-          <ixy>0.000124</ixy> 
-          <ixz>0.000615</ixz>
-          <iyy>1.058786</iyy>
-          <iyz>0.000014</iyz>
-          <izz>1.532440</izz>
-        </inertia>
-        <mass>2.234000</mass>
-      </inertial>
-      <collision name="base_collision">
-        <pose>0 0 0.047800 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>model://roombaROS/meshes/create_body.dae</uri>
-          </mesh>
-        </geometry>
-      </collision>
-      <visual name="base_visual">
-        <pose>0 0 0.047800 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>model://roombaROS/meshes/create_body.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <collision name="right_bumper_collision">
-        <pose>-0.01 0 0.03 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>model://roombaROS/meshes/right_bumper.dae</uri>
-          </mesh>
-        </geometry>
-      </collision>
-      <collision name="center_bumper_collision">
-        <pose>-0.01 0 0.03 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>model://roombaROS/meshes/center_bumper.dae</uri>
-          </mesh>
-        </geometry>
-      </collision>
-      <collision name="left_bumper_collision">
-        <pose>-0.01 0 0.03 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>model://roombaROS/meshes/left_bumper.dae</uri>
-          </mesh>
-        </geometry>
-      </collision>
-      <collision name="front_wheel_collision">
-        <pose>0.130000 0 0.017000 0 1.570700 1.570700</pose>
-        <geometry>
-          <sphere>
-            <radius>0.018000</radius>
-          </sphere>
-        </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>0</mu>
-              <mu2>0</mu2>
-              <fdir1>0 0 0</fdir1>
-              <slip1>0</slip1>
-              <slip2>0</slip2>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <visual name="front_wheel_visual">
-        <pose>0.130000 0 0.017000 0 1.570700 1.570700</pose>
-        <geometry>
-          <sphere>
-            <radius>0.009000</radius>
-          </sphere>
-        </geometry>
-      </visual>
-      <collision name="rear_wheel_collision">
-        <pose>-0.13 0 0.017 0 1.5707 1.5707</pose>
-        <geometry>
-          <sphere>
-            <radius>0.015000</radius>
-          </sphere>
-        </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>0</mu>
-              <mu2>0</mu2>
-              <fdir1>0 0 0</fdir1>
-              <slip1>0</slip1>
-              <slip2>0</slip2>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <visual name="rear_wheel_visual">
-        <pose>-0.130000 0 0.017000 0 1.570700 1.570700</pose>
-        <geometry>
-          <sphere>
-            <radius>0.007500</radius>
-          </sphere>
-        </geometry>
-      </visual>
-      <sensor name="left_cliff_sensor" type="gpu_lidar">
-        <pose>0.070000 0.140000 0.027000 0 1.570790 0</pose>
-        <lidar>
-          <scan>
-            <horizontal>
-              <samples>1</samples>
-              <resolution>1.000000</resolution>
-              <min_angle>0</min_angle>
-              <max_angle>0</max_angle>
-            </horizontal>
-          </scan>
-          <range>
-            <min>0.010000</min>
-            <max>0.040000</max>
-            <resolution>0.100000</resolution>
-          </range>
-        </lidar>
-      </sensor>
-      <sensor name="leftfront_cliff_sensor" type="gpu_lidar">
-        <pose>0.150000 0.040000 0.027000 0 1.570790 0</pose>
-        <lidar>
-          <scan>
-            <horizontal>
-              <samples>1</samples>
-              <resolution>1.000000</resolution>
-              <min_angle>0</min_angle>
-              <max_angle>0</max_angle>
-            </horizontal>
-          </scan>
-          <range>
-            <min>0.010000</min>
-            <max>0.040000</max>
-            <resolution>0.100000</resolution>
-          </range>
-        </lidar>
-      </sensor>
-      <sensor name="right_cliff_sensor" type="gpu_lidar">
-        <pose>0.070000 -0.140000 0.027000 0 1.570790 0</pose>
-        <lidar>
-          <scan>
-            <horizontal>
-              <samples>1</samples>
-              <resolution>1.000000</resolution>
-              <min_angle>0</min_angle>
-              <max_angle>0</max_angle>
-            </horizontal>
-          </scan>
-          <range>
-            <min>0.010000</min>
-            <max>0.040000</max>
-            <resolution>0.100000</resolution>
-          </range>
-        </lidar>
-      </sensor>
-      <sensor name="rightfront_cliff_sensor" type="gpu_lidar">
-        <pose>0.150000 -0.040000 0.027000 0 1.570790 0</pose>
-        <lidar>
-          <scan>
-            <horizontal>
-              <samples>1</samples>
-              <resolution>1.000000</resolution>
-              <min_angle>0</min_angle>
-              <max_angle>0</max_angle>
-            </horizontal>
-          </scan>
-          <range>
-            <min>0.010000</min>
-            <max>0.040000</max>
-            <resolution>0.100000</resolution>
-          </range>
-        </lidar>
-      </sensor>
-      <sensor name="wall_sensor" type="gpu_lidar">
-        <pose>0.090000 -0.120000 0.059000 0 0 -1.000000</pose>
-        <lidar>
-          <scan>
-            <horizontal>
-              <samples>1</samples>
-              <resolution>1.000000</resolution>
-              <min_angle>0</min_angle>
-              <max_angle>0</max_angle>
-            </horizontal>
-          </scan>
-          <range>
-            <min>0.016000</min>
-            <max>0.040000</max>
-            <resolution>0.100000</resolution>
-          </range>
-        </lidar>
-      </sensor>
-      <sensor name="right_bumper" type="contact">
-        <always_on>true</always_on>
-        <update_rate>20.0</update_rate>
-        <contact>
-          <collision>right_bumper_collision</collision>
-          <topic>/roombaROS/events/right_bumper</topic>
-        </contact>
-      </sensor>
-      <sensor name="center_bumper" type="contact">
-        <always_on>true</always_on>
-        <update_rate>20.0</update_rate>
-        <contact>
-          <collision>center_bumper_collision</collision>
-          <topic>/roombaROS/events/center_bumper</topic>
-        </contact>
-      </sensor>
-      <sensor name="left_bumper" type="contact">
-        <always_on>true</always_on>
-        <update_rate>20.0</update_rate>
-        <contact>
-          <collision>left_bumper_collision</collision>
-          <topic>/roombaROS/events/left_bumper</topic>
-        </contact>
-      </sensor>
-    </link>
-
-    <link name="left_wheel">
-      <pose>0 0.130000 0.032000 0 0 0</pose>
-      <inertial>
-        <inertia>
-          <ixx>0.001000</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.001000</iyy>
-          <iyz>0</iyz>
-          <izz>0.001000</izz>
-        </inertia>
-        <mass>0.010000</mass>
-      </inertial>
-      <collision name="collision">
-        <pose>0 0 0 0 1.570700 1.570700</pose>
-        <geometry>
-          <cylinder>
-            <radius>0.033000</radius>
-            <length>0.023000</length>
-          </cylinder>
-        </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>10</mu>
-              <mu2>10</mu2>
-              <fdir1>0 0 0</fdir1>
-              <slip1>0</slip1>
-              <slip2>0</slip2>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <visual name="visual">
-        <pose>0 0 0 0 1.570700 1.570700</pose>
-        <geometry>
-          <cylinder>
-            <radius>0.033000</radius>
-            <length>0.023000</length>
-          </cylinder>
-        </geometry>
-      </visual>
-    </link>
-    <link name="right_wheel">
-      <pose>0 -0.130000 0.032000 0 0 0</pose>
-      <inertial>
-        <inertia>
-          <ixx>0.001000</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.001000</iyy>
-          <iyz>0</iyz>
-          <izz>0.001000</izz>
-        </inertia>
-        <mass>0.010000</mass>
-      </inertial>
-      <collision name="collision">
-        <pose>0 0 0 0 1.570700 1.570700</pose>
-        <geometry>
-          <cylinder>
-            <radius>0.033000</radius>
-            <length>0.023000</length>
-          </cylinder>
-        </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>10</mu>
-              <mu2>10</mu2>
-              <fdir1>0 0 0</fdir1>
-              <slip1>0</slip1>
-              <slip2>0</slip2>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <visual name="visual">
-        <pose>0 0 0 0 1.570700 1.570700</pose>
-        <geometry>
-          <cylinder>
-            <radius>0.033000</radius>
-            <length>0.023000</length>
-          </cylinder>
-        </geometry>
-      </visual>
-    </link>
-    <link name='laser'>
-      <pose>0.139000 0.000000 0.0752000 0.000000 0.000000 0.000000</pose>
-      <gravity>0</gravity>
-      <inertial>
-        <mass>0.100000</mass>
-        <inertia>
-          <ixx>1.000000</ixx>
-          <ixy>0.000000</ixy>
-          <ixz>0.000000</ixz>
-          <iyy>1.000000</iyy>
-          <iyz>0.000000</iyz>
-          <izz>1.000000</izz>
-        </inertia>
-      </inertial>
-      <visual name='visual'>
-        <geometry>
-          <mesh>
-            <uri>model://roombaROS/meshes/hokuyo_roomba.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <collision name='collision-base'>
-        <pose>0.000000 0.000000 -0.014500 0.000000 0.000000 0.000000</pose>
-        <geometry>
-          <box>
-            <size>0.050000 0.050000 0.041000</size>
-          </box>
-        </geometry>
-        <max_contacts>10</max_contacts>
-      </collision>
-      <collision name='collision-top'>
-        <pose>0.000000 0.000000 0.020500 0.000000 0.000000 0.000000</pose>
-        <geometry>
-          <cylinder>
-            <radius>0.021000</radius>
-            <length>0.029000</length>
-          </cylinder>
-        </geometry>
-        <max_contacts>10</max_contacts>
-      </collision>
-      <sensor name='laser' type='gpu_lidar'>
-        <lidar>
-          <scan>
-            <horizontal>
-              <samples>180</samples>
-              <resolution>1.000000</resolution>
-              <min_angle>-1.570000</min_angle>
-              <max_angle>1.570000</max_angle>
-            </horizontal>
-          </scan>
-          <range>
-            <min>0.080000</min>
-            <max>10.000000</max>
-            <resolution>0.010000</resolution>
-          </range>
-        </lidar>
-        <update_rate>20.000000</update_rate>
-        <always_on>1</always_on>
-        <visualize>1</visualize>
-        <topic>/roombaROS/laser/scan</topic>
-        <gz_frame_id>laser</gz_frame_id>
-      </sensor>
-      <velocity_decay>
-        <linear>0.000000</linear>
-        <angular>0.000000</angular>
-      </velocity_decay>
-      <self_collide>0</self_collide>
-      <kinematic>0</kinematic>
-    </link>
-
-    <joint name="base_joint" type="fixed">
-      <parent>base_footprint</parent>
-      <child>base</child>
-    </joint>
-    <joint name="left_wheel_joint" type="revolute">
-      <parent>base</parent>
-      <child>left_wheel</child>
-      <axis>
-        <xyz>0 1 0</xyz>
-      </axis>
-    </joint>
-    <joint name="right_wheel_joint" type="revolute">
-      <parent>base</parent>
-      <child>right_wheel</child>
-      <axis>
-        <xyz>0 1 0</xyz>
-      </axis>
-    </joint>
-    <joint name='joint_laser' type='fixed'>
-      <parent>base</parent>
-      <child>laser</child>
-      <axis>
-        <xyz>0.000000 0.000000 1.000000</xyz>
-        <limit>
-          <lower>0.000000</lower>
-          <upper>0.000000</upper>
-        </limit>
-      </axis>
-    </joint>
-
-    <plugin filename="gz-sim-diff-drive-system" name="gz::sim::systems::DiffDrive">
-      <left_joint>left_wheel_joint</left_joint>
-      <right_joint>right_wheel_joint</right_joint>
-
-      <wheel_separation>0.5380</wheel_separation>
-      <wheel_radius>0.1205</wheel_radius>
-      <topic>/roombaROS/cmd_vel</topic>
-      <odom_topic>/roombaROS/odom</odom_topic>
-      <frame_id>odom</frame_id>
-      <odom_publisher_frequency>20.0</odom_publisher_frequency>
-
-      <child_frame_id>base</child_frame_id>
-    </plugin>
-
-    <plugin filename="gz-sim-pose-publisher-system" name="gz::sim::systems::PosePublisher">
-      <publish_link_pose>true</publish_link_pose>
-      <publish_sensor_pose>true</publish_sensor_pose>
-      <publish_collision_pose>false</publish_collision_pose>
-      <publish_visual_pose>false</publish_visual_pose>
-      <publish_nested_model_pose>true</publish_nested_model_pose>
-      <publish_model_pose>false</publish_model_pose>
-      <use_pose_vector_msg>true</use_pose_vector_msg>
-      <static_publisher>true</static_publisher>
-      <static_update_frequency>100</static_update_frequency>
-    </plugin>
-
-  </model>
-</sdf>
\ No newline at end of file
diff --git a/CustomRobots/roomba_robot/models/silla/meshes/model.dae b/CustomRobots/roomba_robot/models/silla/meshes/model.dae
deleted file mode 100755
index d3aa722c4..000000000
--- a/CustomRobots/roomba_robot/models/silla/meshes/model.dae
+++ /dev/null
@@ -1,369 +0,0 @@
-<?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 3.1.2 commit date:2022-03-31, commit time:17:40, hash:cc66d1020c3b</authoring_tool>
-    </contributor>
-    <created>2025-02-17T19:20:41</created>
-    <modified>2025-02-17T19:20:41</modified>
-    <unit name="meter" meter="1"/>
-    <up_axis>Z_UP</up_axis>
-  </asset>
-  <library_effects>
-    <effect id="Wood-effect">
-      <profile_COMMON>
-        <newparam sid="wood_jpg-surface">
-          <surface type="2D">
-            <init_from>wood_jpg</init_from>
-          </surface>
-        </newparam>
-        <newparam sid="wood_jpg-sampler">
-          <sampler2D>
-            <source>wood_jpg-surface</source>
-          </sampler2D>
-        </newparam>
-        <technique sid="common">
-          <lambert>
-            <emission>
-              <color sid="emission">0 0 0 1</color>
-            </emission>
-            <diffuse>
-              <texture texture="wood_jpg-sampler" texcoord="UVMap"/>
-            </diffuse>
-            <index_of_refraction>
-              <float sid="ior">1.45</float>
-            </index_of_refraction>
-          </lambert>
-        </technique>
-      </profile_COMMON>
-    </effect>
-  </library_effects>
-  <library_images>
-    <image id="wood_jpg" name="wood_jpg">
-      <init_from>wood.jpg</init_from>
-    </image>
-  </library_images>
-  <library_materials>
-    <material id="Wood-material" name="Wood">
-      <instance_effect url="#Wood-effect"/>
-    </material>
-  </library_materials>
-  <library_geometries>
-    <geometry id="Cube_006-mesh" name="Cube.006">
-      <mesh>
-        <source id="Cube_006-mesh-positions">
-          <float_array id="Cube_006-mesh-positions-array" count="24">-1 -1 -1 -1 -1 1 -1 1 -1 -1 1 1 1 -1 -1 1 -1 1 1 1 -1 1 1 1</float_array>
-          <technique_common>
-            <accessor source="#Cube_006-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_006-mesh-normals">
-          <float_array id="Cube_006-mesh-normals-array" count="18">-1 0 0 0 1 0 1 0 0 0 -1 0 0 0 -1 0 0 1</float_array>
-          <technique_common>
-            <accessor source="#Cube_006-mesh-normals-array" count="6" stride="3">
-              <param name="X" type="float"/>
-              <param name="Y" type="float"/>
-              <param name="Z" type="float"/>
-            </accessor>
-          </technique_common>
-        </source>
-        <source id="Cube_006-mesh-map-0">
-          <float_array id="Cube_006-mesh-map-0-array" count="72">0.625 0 0.375 0.25 0.375 0 0.625 0.25 0.375 0.5 0.375 0.25 0.625 0.5 0.375 0.75 0.375 0.5 0.625 0.75 0.375 1 0.375 0.75 0.375 0.5 0.125 0.75 0.125 0.5 0.875 0.5 0.625 0.75 0.625 0.5 0.625 0 0.625 0.25 0.375 0.25 0.625 0.25 0.625 0.5 0.375 0.5 0.625 0.5 0.625 0.75 0.375 0.75 0.625 0.75 0.625 1 0.375 1 0.375 0.5 0.375 0.75 0.125 0.75 0.875 0.5 0.875 0.75 0.625 0.75</float_array>
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-            <accessor source="#Cube_006-mesh-map-0-array" count="36" stride="2">
-              <param name="S" type="float"/>
-              <param name="T" type="float"/>
-            </accessor>
-          </technique_common>
-        </source>
-        <vertices id="Cube_006-mesh-vertices">
-          <input semantic="POSITION" source="#Cube_006-mesh-positions"/>
-        </vertices>
-        <triangles count="12">
-          <input semantic="VERTEX" source="#Cube_006-mesh-vertices" offset="0"/>
-          <input semantic="NORMAL" source="#Cube_006-mesh-normals" offset="1"/>
-          <input semantic="TEXCOORD" source="#Cube_006-mesh-map-0" offset="2" set="0"/>
-          <p>1 0 0 2 0 1 0 0 2 3 1 3 6 1 4 2 1 5 7 2 6 4 2 7 6 2 8 5 3 9 0 3 10 4 3 11 6 4 12 0 4 13 2 4 14 3 5 15 5 5 16 7 5 17 1 0 18 3 0 19 2 0 20 3 1 21 7 1 22 6 1 23 7 2 24 5 2 25 4 2 26 5 3 27 1 3 28 0 3 29 6 4 30 4 4 31 0 4 32 3 5 33 1 5 34 5 5 35</p>
-        </triangles>
-      </mesh>
-    </geometry>
-    <geometry id="Cube_005-mesh" name="Cube.005">
-      <mesh>
-        <source id="Cube_005-mesh-positions">
-          <float_array id="Cube_005-mesh-positions-array" count="24">-1 -1 -1 -1 -1 1 -1 1 -1 -1 1 1 1 -1 -1 1 -1 1 1 1 -1 1 1 1</float_array>
-          <technique_common>
-            <accessor source="#Cube_005-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_005-mesh-normals">
-          <float_array id="Cube_005-mesh-normals-array" count="18">-1 0 0 0 1 0 1 0 0 0 -1 0 0 0 -1 0 0 1</float_array>
-          <technique_common>
-            <accessor source="#Cube_005-mesh-normals-array" count="6" stride="3">
-              <param name="X" type="float"/>
-              <param name="Y" type="float"/>
-              <param name="Z" type="float"/>
-            </accessor>
-          </technique_common>
-        </source>
-        <source id="Cube_005-mesh-map-0">
-          <float_array id="Cube_005-mesh-map-0-array" count="72">0.625 0 0.375 0.25 0.375 0 0.625 0.25 0.375 0.5 0.375 0.25 0.625 0.5 0.375 0.75 0.375 0.5 0.625 0.75 0.375 1 0.375 0.75 0.375 0.5 0.125 0.75 0.125 0.5 0.875 0.5 0.625 0.75 0.625 0.5 0.625 0 0.625 0.25 0.375 0.25 0.625 0.25 0.625 0.5 0.375 0.5 0.625 0.5 0.625 0.75 0.375 0.75 0.625 0.75 0.625 1 0.375 1 0.375 0.5 0.375 0.75 0.125 0.75 0.875 0.5 0.875 0.75 0.625 0.75</float_array>
-          <technique_common>
-            <accessor source="#Cube_005-mesh-map-0-array" count="36" stride="2">
-              <param name="S" type="float"/>
-              <param name="T" type="float"/>
-            </accessor>
-          </technique_common>
-        </source>
-        <vertices id="Cube_005-mesh-vertices">
-          <input semantic="POSITION" source="#Cube_005-mesh-positions"/>
-        </vertices>
-        <triangles material="Wood-material" count="12">
-          <input semantic="VERTEX" source="#Cube_005-mesh-vertices" offset="0"/>
-          <input semantic="NORMAL" source="#Cube_005-mesh-normals" offset="1"/>
-          <input semantic="TEXCOORD" source="#Cube_005-mesh-map-0" offset="2" set="0"/>
-          <p>1 0 0 2 0 1 0 0 2 3 1 3 6 1 4 2 1 5 7 2 6 4 2 7 6 2 8 5 3 9 0 3 10 4 3 11 6 4 12 0 4 13 2 4 14 3 5 15 5 5 16 7 5 17 1 0 18 3 0 19 2 0 20 3 1 21 7 1 22 6 1 23 7 2 24 5 2 25 4 2 26 5 3 27 1 3 28 0 3 29 6 4 30 4 4 31 0 4 32 3 5 33 1 5 34 5 5 35</p>
-        </triangles>
-      </mesh>
-    </geometry>
-    <geometry id="Cube_004-mesh" name="Cube.004">
-      <mesh>
-        <source id="Cube_004-mesh-positions">
-          <float_array id="Cube_004-mesh-positions-array" count="24">-1 -1 -1 -1 -1 1 -1 1 -1 -1 1 1 1 -1 -1 1 -1 1 1 1 -1 1 1 1</float_array>
-          <technique_common>
-            <accessor source="#Cube_004-mesh-positions-array" count="8" stride="3">
-              <param name="X" type="float"/>
-              <param name="Y" type="float"/>
-              <param name="Z" type="float"/>
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-          </technique_common>
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-        <source id="Cube_004-mesh-normals">
-          <float_array id="Cube_004-mesh-normals-array" count="18">-1 0 0 0 1 0 1 0 0 0 -1 0 0 0 -1 0 0 1</float_array>
-          <technique_common>
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-              <param name="X" type="float"/>
-              <param name="Y" type="float"/>
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diff --git a/CustomRobots/roomba_robot/models/silla/model.config b/CustomRobots/roomba_robot/models/silla/model.config
deleted file mode 100755
index ca4d2c1cb..000000000
--- a/CustomRobots/roomba_robot/models/silla/model.config
+++ /dev/null
@@ -1,9 +0,0 @@
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-<model>
-  <name>silla</name>
-  <version>1.0</version>
-  <sdf version="1.8">model.sdf</sdf>
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diff --git a/CustomRobots/roomba_robot/models/silla/model.sdf b/CustomRobots/roomba_robot/models/silla/model.sdf
deleted file mode 100755
index da5c3964e..000000000
--- a/CustomRobots/roomba_robot/models/silla/model.sdf
+++ /dev/null
@@ -1,128 +0,0 @@
-<?xml version="1.0" ?>
-<sdf version="1.8">
-  <model name="silla">
-    <static>true</static>
-    <link name="silla_link">
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-          <specular>0.0 0.0 0.0 1.0</specular>
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-        <geometry>
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-        <material>
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-          </pbr>
-        </material>
-      </visual>
-      <visual name="respaldo_visual">
-        <geometry>
-          <mesh>
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-            <submesh>
-              <name>respaldo</name>
-            </submesh>
-          </mesh>
-        </geometry>
-        <material>
-          <script>
-            <name>Gazebo/Grey</name>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-          </script>
-        </material>
-      </visual>
-      <collision name="collision">
-        <geometry>
-          <mesh>
-            <uri>meshes/model.dae</uri>
-          </mesh>
-        </geometry>
-        <surface>
-          <contact>
-            <collide_bitmask>0x01</collide_bitmask>
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-      </collision>
-    </link>
-  </model>
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diff --git a/CustomRobots/roomba_robot/models/sofa/meshes/model.dae b/CustomRobots/roomba_robot/models/sofa/meshes/model.dae
deleted file mode 100755
index e58a5f483..000000000
--- a/CustomRobots/roomba_robot/models/sofa/meshes/model.dae
+++ /dev/null
@@ -1,207 +0,0 @@
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-    </contributor>
-    <created>2025-02-17T20:25:47</created>
-    <modified>2025-02-17T20:25:47</modified>
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-    <up_axis>Z_UP</up_axis>
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-  <library_images/>
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-          <technique_common>
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-          </technique_common>
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-        <source id="Cube_004-mesh-normals">
-          <float_array id="Cube_004-mesh-normals-array" count="18">-1 0 0 0 1 0 1 0 0 0 -1 0 0 0 -1 0 0 1</float_array>
-          <technique_common>
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diff --git a/CustomRobots/roomba_robot/models/sofa/model.config b/CustomRobots/roomba_robot/models/sofa/model.config
deleted file mode 100755
index 1355f4097..000000000
--- a/CustomRobots/roomba_robot/models/sofa/model.config
+++ /dev/null
@@ -1,9 +0,0 @@
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deleted file mode 100755
index 961188c6c..000000000
--- a/CustomRobots/roomba_robot/models/sofa/model.sdf
+++ /dev/null
@@ -1,84 +0,0 @@
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diff --git a/CustomRobots/roomba_robot/models/sofa_largo/meshes/model.dae b/CustomRobots/roomba_robot/models/sofa_largo/meshes/model.dae
deleted file mode 100755
index 9eb237db7..000000000
--- a/CustomRobots/roomba_robot/models/sofa_largo/meshes/model.dae
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-              <param name="Y" type="float"/>
-              <param name="Z" type="float"/>
-            </accessor>
-          </technique_common>
-        </source>
-        <source id="Cube_002-mesh-map-0">
-          <float_array id="Cube_002-mesh-map-0-array" count="72">0.625 0 0.375 0.25 0.375 0 0.625 0.25 0.375 0.5 0.375 0.25 0.625 0.5 0.375 0.75 0.375 0.5 0.625 0.75 0.375 1 0.375 0.75 0.375 0.5 0.125 0.75 0.125 0.5 0.875 0.5 0.625 0.75 0.625 0.5 0.625 0 0.625 0.25 0.375 0.25 0.625 0.25 0.625 0.5 0.375 0.5 0.625 0.5 0.625 0.75 0.375 0.75 0.625 0.75 0.625 1 0.375 1 0.375 0.5 0.375 0.75 0.125 0.75 0.875 0.5 0.875 0.75 0.625 0.75</float_array>
-          <technique_common>
-            <accessor source="#Cube_002-mesh-map-0-array" count="36" stride="2">
-              <param name="S" type="float"/>
-              <param name="T" type="float"/>
-            </accessor>
-          </technique_common>
-        </source>
-        <vertices id="Cube_002-mesh-vertices">
-          <input semantic="POSITION" source="#Cube_002-mesh-positions"/>
-        </vertices>
-        <triangles count="12">
-          <input semantic="VERTEX" source="#Cube_002-mesh-vertices" offset="0"/>
-          <input semantic="NORMAL" source="#Cube_002-mesh-normals" offset="1"/>
-          <input semantic="TEXCOORD" source="#Cube_002-mesh-map-0" offset="2" set="0"/>
-          <p>1 0 0 2 0 1 0 0 2 3 1 3 6 1 4 2 1 5 7 2 6 4 2 7 6 2 8 5 3 9 0 3 10 4 3 11 6 4 12 0 4 13 2 4 14 3 5 15 5 5 16 7 5 17 1 0 18 3 0 19 2 0 20 3 1 21 7 1 22 6 1 23 7 2 24 5 2 25 4 2 26 5 3 27 1 3 28 0 3 29 6 4 30 4 4 31 0 4 32 3 5 33 1 5 34 5 5 35</p>
-        </triangles>
-      </mesh>
-    </geometry>
-    <geometry id="Cube_001-mesh" name="Cube.001">
-      <mesh>
-        <source id="Cube_001-mesh-positions">
-          <float_array id="Cube_001-mesh-positions-array" count="24">-1 -1 -1 -1 -1 1 -1 1 -1 -1 1 1 1 -1 -1 1 -1 1 1 1 -1 1 1 1</float_array>
-          <technique_common>
-            <accessor source="#Cube_001-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_001-mesh-normals">
-          <float_array id="Cube_001-mesh-normals-array" count="18">-1 0 0 0 1 0 1 0 0 0 -1 0 0 0 -1 0 0 1</float_array>
-          <technique_common>
-            <accessor source="#Cube_001-mesh-normals-array" count="6" stride="3">
-              <param name="X" type="float"/>
-              <param name="Y" type="float"/>
-              <param name="Z" type="float"/>
-            </accessor>
-          </technique_common>
-        </source>
-        <source id="Cube_001-mesh-map-0">
-          <float_array id="Cube_001-mesh-map-0-array" count="72">0.625 0 0.375 0.25 0.375 0 0.625 0.25 0.375 0.5 0.375 0.25 0.625 0.5 0.375 0.75 0.375 0.5 0.625 0.75 0.375 1 0.375 0.75 0.375 0.5 0.125 0.75 0.125 0.5 0.875 0.5 0.625 0.75 0.625 0.5 0.625 0 0.625 0.25 0.375 0.25 0.625 0.25 0.625 0.5 0.375 0.5 0.625 0.5 0.625 0.75 0.375 0.75 0.625 0.75 0.625 1 0.375 1 0.375 0.5 0.375 0.75 0.125 0.75 0.875 0.5 0.875 0.75 0.625 0.75</float_array>
-          <technique_common>
-            <accessor source="#Cube_001-mesh-map-0-array" count="36" stride="2">
-              <param name="S" type="float"/>
-              <param name="T" type="float"/>
-            </accessor>
-          </technique_common>
-        </source>
-        <vertices id="Cube_001-mesh-vertices">
-          <input semantic="POSITION" source="#Cube_001-mesh-positions"/>
-        </vertices>
-        <triangles count="12">
-          <input semantic="VERTEX" source="#Cube_001-mesh-vertices" offset="0"/>
-          <input semantic="NORMAL" source="#Cube_001-mesh-normals" offset="1"/>
-          <input semantic="TEXCOORD" source="#Cube_001-mesh-map-0" offset="2" set="0"/>
-          <p>1 0 0 2 0 1 0 0 2 3 1 3 6 1 4 2 1 5 7 2 6 4 2 7 6 2 8 5 3 9 0 3 10 4 3 11 6 4 12 0 4 13 2 4 14 3 5 15 5 5 16 7 5 17 1 0 18 3 0 19 2 0 20 3 1 21 7 1 22 6 1 23 7 2 24 5 2 25 4 2 26 5 3 27 1 3 28 0 3 29 6 4 30 4 4 31 0 4 32 3 5 33 1 5 34 5 5 35</p>
-        </triangles>
-      </mesh>
-    </geometry>
-  </library_geometries>
-  <library_visual_scenes>
-    <visual_scene id="Scene" name="Scene">
-      <node id="respaldo" name="respaldo" type="NODE">
-        <matrix sid="transform">0.8 0 0 0 0 0.15 0 0.25 0 0 0.2 0.55 0 0 0 1</matrix>
-        <instance_geometry url="#Cube_004-mesh" name="respaldo"/>
-      </node>
-      <node id="brazo2" name="brazo2" type="NODE">
-        <matrix sid="transform">0.1 0 0 -0.7 0 0.35 0 -0.05 0 0 0.1 0.45 0 0 0 1</matrix>
-        <instance_geometry url="#Cube_003-mesh" name="brazo2"/>
-      </node>
-      <node id="brazo1" name="brazo1" type="NODE">
-        <matrix sid="transform">0.1 0 0 0.7 0 0.35 0 -0.05 0 0 0.1 0.45 0 0 0 1</matrix>
-        <instance_geometry url="#Cube_002-mesh" name="brazo1"/>
-      </node>
-      <node id="sofa" name="sofa" type="NODE">
-        <matrix sid="transform">0.8 0 0 0 0 0.4 0 0 0 0 0.175 0.175 0 0 0 1</matrix>
-        <instance_geometry url="#Cube_001-mesh" name="sofa"/>
-      </node>
-    </visual_scene>
-  </library_visual_scenes>
-  <scene>
-    <instance_visual_scene url="#Scene"/>
-  </scene>
-</COLLADA>
\ No newline at end of file
diff --git a/CustomRobots/roomba_robot/models/sofa_largo/model.config b/CustomRobots/roomba_robot/models/sofa_largo/model.config
deleted file mode 100755
index 62f2ea66d..000000000
--- a/CustomRobots/roomba_robot/models/sofa_largo/model.config
+++ /dev/null
@@ -1,9 +0,0 @@
-<?xml version="1.0" ?>
-<model>
-  <name>sofa_largo</name>
-  <version>1.0</version>
-  <sdf version="1.8">model.sdf</sdf>
-  <author>
-    <name>Generated by blender SDF tools</name>
-  </author>
-</model>
diff --git a/CustomRobots/roomba_robot/models/sofa_largo/model.sdf b/CustomRobots/roomba_robot/models/sofa_largo/model.sdf
deleted file mode 100755
index 220cc3233..000000000
--- a/CustomRobots/roomba_robot/models/sofa_largo/model.sdf
+++ /dev/null
@@ -1,85 +0,0 @@
-<?xml version="1.0" ?>
-<sdf version="1.8">
-  <model name="sofa_largo">
-    <static>true</static>
-    <link name="sofa_link">
-      <visual name="sofa_visual">
-        <geometry>
-          <mesh>
-            <uri>meshes/model.dae</uri>
-            <submesh>
-              <name>sofa</name>
-            </submesh>
-          </mesh>
-        </geometry>
-        <material>
-          <diffuse>1.0 1.0 1.0 1.0</diffuse>
-          <specular>0.0 0.0 0.0 1.0</specular>
-          <pbr>
-            <metal/>
-          </pbr>
-        </material>
-      </visual>
-      <visual name="brazo1_visual">
-        <geometry>
-          <mesh>
-            <uri>meshes/model.dae</uri>
-            <submesh>
-              <name>brazo1</name>
-            </submesh>
-          </mesh>
-        </geometry>
-        <material>
-          <script>
-            <name>Gazebo/Grey</name>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-          </script>
-        </material>
-      </visual>
-      <visual name="brazo2_visual">
-        <geometry>
-          <mesh>
-            <uri>meshes/model.dae</uri>
-            <submesh>
-              <name>brazo2</name>
-            </submesh>
-          </mesh>
-        </geometry>
-        <material>
-          <script>
-            <name>Gazebo/Grey</name>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-          </script>
-        </material>
-      </visual>
-      <visual name="respaldo_visual">
-        <geometry>
-          <mesh>
-            <uri>meshes/model.dae</uri>
-            <submesh>
-              <name>respaldo</name>
-            </submesh>
-          </mesh>
-        </geometry>
-        <material>
-          <script>
-            <name>Gazebo/Grey</name>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-          </script>
-        </material>
-      </visual>
-      <collision name="collision">
-        <geometry>
-          <mesh>
-            <uri>meshes/model.dae</uri>
-          </mesh>
-        </geometry>
-        <surface>
-          <contact>
-            <collide_bitmask>0x01</collide_bitmask>
-          </contact>
-        </surface>
-      </collision>
-    </link>
-  </model>
-</sdf>
diff --git a/CustomRobots/roomba_robot/params/roombaROS_harmonic.yaml b/CustomRobots/roomba_robot/params/roombaROS.yaml
similarity index 100%
rename from CustomRobots/roomba_robot/params/roombaROS_harmonic.yaml
rename to CustomRobots/roomba_robot/params/roombaROS.yaml
diff --git a/Launchers/localized_vacuum_cleaner/spawn_robot.launch.py b/Launchers/localized_vacuum_cleaner/spawn_robot.launch.py
index eb67140e0..f90a8b557 100644
--- a/Launchers/localized_vacuum_cleaner/spawn_robot.launch.py
+++ b/Launchers/localized_vacuum_cleaner/spawn_robot.launch.py
@@ -23,7 +23,7 @@
 
 def generate_launch_description():
     # Get the urdf file
-    model_folder = "roombaROS_harmonic"
+    model_folder = "roombaROS"
     urdf_path = os.path.join(
         get_package_share_directory("custom_robots"),
         "models",
@@ -63,7 +63,7 @@ def generate_launch_description():
     # )
 
     bridge_params = os.path.join(
-        get_package_share_directory("custom_robots"), "params", "roombaROS_harmonic.yaml"
+        get_package_share_directory("custom_robots"), "params", "roombaROS.yaml"
     )
 
     start_gazebo_ros_bridge_cmd = Node(
diff --git a/Worlds/roomba_1_house_harmonic.world b/Worlds/roomba_1_house_harmonic.world
index 907b052a1..666c85161 100644
--- a/Worlds/roomba_1_house_harmonic.world
+++ b/Worlds/roomba_1_house_harmonic.world
@@ -20,116 +20,35 @@
       <render_engine>ogre2</render_engine>
     </plugin>
 
-    <light type="directional" name="sun">
-      <cast_shadows>1</cast_shadows>
-      <pose>0 0 10 0 0 0</pose>
-      <diffuse>0.8 0.8 0.8 1</diffuse>
-      <specular>0.2 0.2 0.2 1</specular>
-      <direction>-0.5 0.1 -0.9</direction>
-      <visualize>false</visualize>
-    </light>
-
+    <scene>
+      <ambient>0.4 0.4 0.4 1</ambient>
+      <background>0.7 0.7 0.7 1</background>
+      <shadows>true</shadows>
+      <grid>false</grid>
+    </scene>
+    
     <include>
-      <uri>
-        https://fuel.gazebosim.org/1.0/OpenRobotics/models/Ground Plane
-      </uri>
+      <uri>model://roombaROS</uri>
+      <pose>-1 1.5 0 0 0 0</pose>
     </include>
-
+    
     <include>
-      <name>house_int2_harmonic</name>
-      <uri>model://house_int2_harmonic</uri>
+      <uri>model://house_int2</uri>
       <pose>0 0 0 0 0 0</pose>
     </include>
-
-    <include>
-      <name>roombaROS_harmonic</name>
-      <uri>model://roombaROS_harmonic</uri>
-      <pose>-1 1.5 0 0 -0 0</pose>
-    </include>
-
+    	
     <include>
-      <name>mesa_comedor</name>
-      <uri>model://mesa_comedor</uri>
-      <pose>-2.4 0.3 0 0 0 1.57</pose>
-    </include>
-
-    <include>
-      <name>silla_1</name>
-      <uri>model://silla</uri>
-      <pose>-2.1 -0.1 0 0 0 0</pose>
-    </include>
-
-    <include>
-      <name>silla_2</name>
-      <uri>model://silla</uri>
-      <pose>-2.1 0.7 0 0 0 0</pose>
-    </include>
-
-    <include>
-      <name>silla_3</name>
-      <uri>model://silla</uri>
-      <pose>-2.7 -0.1 0 0 0 3.14</pose>
-    </include>
-
-    <include>
-      <name>silla_4</name>
-      <uri>model://silla</uri>
-      <pose>-2.7 0.7 0 0 0 3.14</pose>
-    </include>
-
-    <include>
-      <name>mesa_salon</name>
-      <uri>model://mesa_salon</uri>
-      <pose>-0.8 4.4 0 0 0 0</pose>
-    </include>
-
-    <include>
-      <name>sofa_largo</name>
-      <uri>model://sofa_largo</uri>
-      <pose>-0.8 3.4 0 0 0 3.14</pose>
-    </include>
-
-    <include>
-      <name>sofa_1</name>
-      <uri>model://sofa</uri>
-      <pose>0.5 4.4 0 0 0 -1.57</pose>
-    </include>
-
-    <include>
-      <name>sofa_2</name>
-      <uri>model://sofa</uri>
-      <pose>-2.1 4.4 0 0 0 1.57</pose>
-    </include>
-
-    <include>
-      <name>estanteria_1</name>
-      <uri>model://estanteria</uri>
-      <pose>4.7 4.48 0 0 0 0</pose>
-    </include>
-
-    <include>
-      <name>estanteria_2</name>
-      <uri>model://estanteria</uri>
-      <pose>4.7 0.5 0 0 0 0</pose>
-    </include>
-
-    <include>
-      <name>mesita_1</name>
-      <uri>model://mesita</uri>
-      <pose>2.4 -3.28 0 0 0 0</pose>
-    </include>
-
-    <include>
-      <name>mesita_2</name>
-      <uri>model://mesita</uri>
-      <pose>4.4 -3.28 0 0 0 0</pose>
-    </include>
-
-    <include>
-      <name>cama</name>
-      <uri>model://cama</uri>
-      <pose>3.4 -2.41 0 0 0 -1.57</pose>
+      <uri>model://ground_plane_sincolor</uri>
     </include>
 
+    <light type="directional" name="sun">
+      <cast_shadows>1</cast_shadows>
+      <pose>0 0 10 0 0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.2 0.2 0.2 1</specular>
+      <direction>-0.5 0.1 -0.9</direction>
+      <visualize>false</visualize>
+    </light>
+    
   </world>
 </sdf>
\ No newline at end of file