diff --git a/SubjuGator/simulation/subjugator_gazebo/models/woollett_pool_2024/WoollettPool.dae b/SubjuGator/simulation/subjugator_gazebo/models/woollett_pool_2024/WoollettPool.dae
new file mode 100644
index 000000000..4f3c97a22
--- /dev/null
+++ b/SubjuGator/simulation/subjugator_gazebo/models/woollett_pool_2024/WoollettPool.dae
@@ -0,0 +1,144 @@
+<?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 3.6.2 commit date:2023-08-16, commit time:16:43, hash:e53e55951e7a</authoring_tool>
+    </contributor>
+    <created>2024-07-02T12:19:43</created>
+    <modified>2024-07-02T12:19:43</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="PoolTexture-effect">
+      <profile_COMMON>
+        <newparam sid="WoollettPool_png-surface">
+          <surface type="2D">
+            <init_from>WoollettPool_png</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="WoollettPool_png-sampler">
+          <sampler2D>
+            <source>WoollettPool_png-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <texture texture="WoollettPool_png-sampler" texcoord="UVMap"/>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="PoolSurface-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.2568181 0.2568181 0.2568181 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images>
+    <image id="WoollettPool_png" name="WoollettPool_png">
+      <init_from>WoollettPool.png</init_from>
+    </image>
+  </library_images>
+  <library_materials>
+    <material id="PoolTexture-material" name="PoolTexture">
+      <instance_effect url="#PoolTexture-effect"/>
+    </material>
+    <material id="PoolSurface-material" name="PoolSurface">
+      <instance_effect url="#PoolSurface-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Cube_002-mesh" name="Cube.002">
+      <mesh>
+        <source id="Cube_002-mesh-positions">
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+          <technique_common>
+            <accessor source="#Cube_002-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_002-mesh-normals">
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+          <technique_common>
+            <accessor source="#Cube_002-mesh-normals-array" count="10" 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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+              <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 material="PoolTexture-material" count="10">
+          <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>
+        <triangles material="PoolSurface-material" count="18">
+          <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>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="WoollettPool" name="WoollettPool" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#Cube_002-mesh" name="WoollettPool">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="PoolTexture-material" target="#PoolTexture-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="PoolSurface-material" target="#PoolSurface-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>
diff --git a/SubjuGator/simulation/subjugator_gazebo/models/woollett_pool_2024/WoollettPool.png b/SubjuGator/simulation/subjugator_gazebo/models/woollett_pool_2024/WoollettPool.png
new file mode 100644
index 000000000..bd0e28ff8
Binary files /dev/null and b/SubjuGator/simulation/subjugator_gazebo/models/woollett_pool_2024/WoollettPool.png differ
diff --git a/SubjuGator/simulation/subjugator_gazebo/models/woollett_pool_2024/WoollettPool.sdf b/SubjuGator/simulation/subjugator_gazebo/models/woollett_pool_2024/WoollettPool.sdf
new file mode 100644
index 000000000..1f8b409b7
--- /dev/null
+++ b/SubjuGator/simulation/subjugator_gazebo/models/woollett_pool_2024/WoollettPool.sdf
@@ -0,0 +1,37 @@
+<?xml version="1.0"?>
+<sdf version='1.7'>
+  <model name='woollettpool_2024'>
+    <static>true</static>
+    <link name='base_link'>
+      <pose frame=''>0 0 0 0 -0 0</pose>
+      <inertial>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <mass>1</mass>
+        <inertia>
+          <ixx>0.166667</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.166667</iyy>
+          <iyz>0</iyz>
+          <izz>0.166667</izz>
+        </inertia>
+      </inertial>
+      <collision name='base_link_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>file://woollett_pool_2024/WoollettPool.dae</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='base_link_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>file://woollett_pool_2024/WoollettPool.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+  </model>
+</sdf>
diff --git a/SubjuGator/simulation/subjugator_gazebo/models/woollett_pool_2024/model.config b/SubjuGator/simulation/subjugator_gazebo/models/woollett_pool_2024/model.config
new file mode 100644
index 000000000..4a45f6671
--- /dev/null
+++ b/SubjuGator/simulation/subjugator_gazebo/models/woollett_pool_2024/model.config
@@ -0,0 +1,13 @@
+<model>
+  <name>Woollett Pool 2024</name>
+  <version>1.0</version>
+  <sdf version='1.0'>WoollettPool.sdf</sdf>
+
+  <author>
+    <name>Keith Khadar</name>
+  </author>
+
+  <description>
+    This is the model for pool for RoboSub 2024.
+  </description>
+</model>
diff --git a/SubjuGator/simulation/subjugator_gazebo/worlds/robosub_2024.world b/SubjuGator/simulation/subjugator_gazebo/worlds/robosub_2024.world
index 07f06351c..ff1937f3f 100644
--- a/SubjuGator/simulation/subjugator_gazebo/worlds/robosub_2024.world
+++ b/SubjuGator/simulation/subjugator_gazebo/worlds/robosub_2024.world
@@ -140,50 +140,6 @@
         <kinematic>0</kinematic>
       </link>
     </model>
-    <model name='transdec'>
-      <pose>0 0 0.5 0 -0 0</pose>
-      <static>1</static>
-      <link name='ground'>
-        <visual name='visual'>
-          <geometry>
-            <mesh>
-              <uri>file://transdec/transdec.dae</uri>
-              <scale>0.5 0.5 0.5</scale>
-            </mesh>
-          </geometry>
-          <material>
-            <script>
-              <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/White</name>
-            </script>
-          </material>
-        </visual>
-        <collision name='collision'>
-          <geometry>
-            <mesh>
-              <uri>file://transdec/transdec.dae</uri>
-              <scale>0.5 0.5 0.5</scale>
-            </mesh>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-    </model>
     <model name='transdec_pinger'>
       <static>1</static>
       <pose>15 0 -2 0 -0 0</pose>
@@ -232,175 +188,145 @@
     <atmosphere type='adiabatic'/>
     <wind/>
     <state world_name='default'>
-      <sim_time>477 220000000</sim_time>
-      <real_time>329 985233669</real_time>
-      <wall_time>1718730942 520656736</wall_time>
-      <iterations>32992</iterations>
+      <sim_time>1190 310000000</sim_time>
+      <real_time>0 0</real_time>
+      <wall_time>1719939544 961559275</wall_time>
+      <iterations>2718</iterations>
       <model name='bin_2024'>
-        <pose>8.97082 -6.99519 -5 0 -0 0</pose>
+        <pose>18 2 -2.09 0 -0 1</pose>
         <scale>1 1 1</scale>
         <link name='base_link'>
-          <pose>8.97082 -6.99519 -5 0 -0 0</pose>
+          <pose>18 2 -2.09 0 -0 1</pose>
           <velocity>0 0 0 0 -0 0</velocity>
           <acceleration>0 0 0 0 -0 0</acceleration>
           <wrench>0 0 0 0 -0 0</wrench>
         </link>
       </model>
       <model name='buoy_2024'>
-        <pose>3.9843 -7.03992 -2 0 -0 0</pose>
+        <pose>23.5 -1 -0.9 3.14159 0.001592 3.14159</pose>
         <scale>1 1 1</scale>
         <link name='base_link'>
-          <pose>3.9843 -7.03992 -2 0 -0 0</pose>
+          <pose>23.5 -1 -0.9 3.14159 0.001592 3.14159</pose>
           <velocity>0 0 0 0 -0 0</velocity>
           <acceleration>0 0 0 0 -0 0</acceleration>
           <wrench>0 0 0 0 -0 0</wrench>
         </link>
       </model>
       <model name='collection_table_2024'>
-        <pose>7.58438 2.50827 -5 0 -0 0</pose>
+        <pose>22 9 -1.14 0 -0 0</pose>
         <scale>1 1 1</scale>
         <link name='base_link'>
-          <pose>7.58438 2.50827 -5 0 -0 0</pose>
+          <pose>22 9 -1.14 0 -0 0</pose>
           <velocity>0 0 0 0 -0 0</velocity>
           <acceleration>0 0 0 0 -0 0</acceleration>
           <wrench>0 0 0 0 -0 0</wrench>
         </link>
       </model>
       <model name='coral_2024'>
-        <pose>7.74088 2.39644 -5 0 -0 0</pose>
+        <pose>21.9 9.1 -1.23 0 0 -1.5708</pose>
         <scale>1 1 1</scale>
         <link name='base_link'>
-          <pose>7.74088 2.39644 -5 0 -0 0</pose>
-          <velocity>0 0 0 0 -0 0</velocity>
-          <acceleration>0 0 0 0 -0 0</acceleration>
-          <wrench>0 0 0 0 -0 0</wrench>
-        </link>
-      </model>
-      <model name='dock_2024'>
-        <pose>-1.39699 0.062958 0 0 -0 0</pose>
-        <scale>1 1 1</scale>
-        <link name='link_0'>
-          <pose>-1.39699 0.062958 0 0 -0 0</pose>
+          <pose>21.9 9.1 -1.23 0 0 -1.5708</pose>
           <velocity>0 0 0 0 -0 0</velocity>
           <acceleration>0 0 0 0 -0 0</acceleration>
           <wrench>0 0 0 0 -0 0</wrench>
         </link>
       </model>
       <model name='mapping_torpedoes_2024'>
-        <pose>9.01552 -2.0534 -5 0 -0 1.6</pose>
+        <pose>23.25 4 -1.41 0 -0 1.15</pose>
         <scale>1 1 1</scale>
         <link name='base_link'>
-          <pose>9.01552 -2.0534 -5 0 -0 1.6</pose>
+          <pose>23.25 4 -1.41 0 -0 1.15</pose>
           <velocity>0 0 0 0 -0 0</velocity>
           <acceleration>0 0 0 0 -0 0</acceleration>
           <wrench>0 0 0 0 -0 0</wrench>
         </link>
       </model>
       <model name='nautilus_2024_2'>
-        <pose>7.45014 2.5753 -5 0 -0 0</pose>
+        <pose>22.1 8.9 -1.195 0 -0 0</pose>
         <scale>1 1 1</scale>
         <link name='base_link'>
-          <pose>7.45014 2.5753 -5 0 -0 0</pose>
+          <pose>22.1 8.9 -1.195 0 -0 0</pose>
           <velocity>0 0 0 0 -0 0</velocity>
           <acceleration>0 0 0 0 -0 0</acceleration>
           <wrench>0 0 0 0 -0 0</wrench>
         </link>
       </model>
       <model name='octogon_2024'>
-        <pose>7.58438 2.44117 0 0 -0 0</pose>
+        <pose>22 9 0 0 -0 0</pose>
         <scale>1 1 1</scale>
         <link name='base_link'>
-          <pose>7.58438 2.44117 0 0 -0 0</pose>
+          <pose>22 9 0 0 -0 0</pose>
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           <acceleration>0 0 0 0 -0 0</acceleration>
           <wrench>0 0 0 0 -0 0</wrench>
         </link>
       </model>
       <model name='pathmarker_2024'>
-        <pose>3.96186 -3.93174 -5 0 -0 0</pose>
+        <pose>22.15 -6.35 -1.85 0 0 -0.25</pose>
         <scale>1 1 1</scale>
         <link name='base_link'>
-          <pose>3.96186 -3.93174 -5 0 -0 0</pose>
+          <pose>22.15 -6.35 -1.85 0 0 -0.25</pose>
           <velocity>0 0 0 0 -0 0</velocity>
           <acceleration>0 0 0 0 -0 0</acceleration>
           <wrench>0 0 0 0 -0 0</wrench>
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       </model>
       <model name='pathmarker_2024_0'>
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-        <scale>1 1 1</scale>
-        <link name='base_link'>
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-          <velocity>0 0 0 0 -0 0</velocity>
-          <acceleration>0 0 0 0 -0 0</acceleration>
-          <wrench>0 0 0 0 -0 0</wrench>
-        </link>
-      </model>
-      <model name='pathmarker_2024_1'>
-        <pose>8.97082 -4.60254 -5 0 -0 0</pose>
+        <pose>22.75 -0.5 -1.85 0 -0 1</pose>
         <scale>1 1 1</scale>
         <link name='base_link'>
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+          <pose>22.75 -0.5 -1.85 0 -0 1</pose>
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           <wrench>0 0 0 0 -0 0</wrench>
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       </model>
       <model name='startgate_2024'>
-        <pose>3.68827 -2.23337 -1 0 -0 0.45</pose>
+        <pose>22 -7 -0.4 0 -0 3.14</pose>
         <scale>1 1 1</scale>
         <link name='base_link'>
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       </model>
       <model name='sub8'>
-        <pose>0 0 -0.260368 0 -0 0</pose>
+        <pose>20 -11 -0.260368 0 -0 3.14</pose>
         <scale>1 1 1</scale>
         <link name='base_link'>
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-          <velocity>0 0 0 0 -0 0</velocity>
-          <acceleration>0 0 0 0 -0 0</acceleration>
-          <wrench>0 0 0 0 -0 0</wrench>
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-      </model>
-      <model name='transdec'>
-        <pose>0 0 0.5 0 -0 0</pose>
-        <scale>1 1 1</scale>
-        <link name='ground'>
-          <pose>0 0 0.5 0 -0 0</pose>
+          <pose>20 -11 -0.260368 0 -0 3.14</pose>
           <velocity>0 0 0 0 -0 0</velocity>
           <acceleration>0 0 0 0 -0 0</acceleration>
           <wrench>0 0 0 0 -0 0</wrench>
         </link>
       </model>
       <model name='transdec_pinger'>
-        <pose>8.98653 -2 -4.48724 0 -0 0</pose>
+        <pose>23 3 -1.719 0 -0 0</pose>
         <scale>1 1 1</scale>
         <link name='link'>
-          <pose>8.98653 -2 -4.48724 0 -0 0</pose>
+          <pose>23 3 -1.719 0 -0 0</pose>
           <velocity>0 0 0 0 -0 0</velocity>
           <acceleration>0 0 0 0 -0 0</acceleration>
           <wrench>0 0 0 0 -0 0</wrench>
         </link>
       </model>
       <model name='transdec_pinger2'>
-        <pose>7.5 2.5 -2 0 -0 0</pose>
+        <pose>22 9 -1.719 0 -0 0</pose>
         <scale>1 1 1</scale>
         <link name='link'>
-          <pose>7.5 2.5 -2 0 -0 0</pose>
+          <pose>22 9 -1.719 0 -0 0</pose>
           <velocity>0 0 0 0 -0 0</velocity>
           <acceleration>0 0 0 0 -0 0</acceleration>
           <wrench>0 0 0 0 -0 0</wrench>
         </link>
       </model>
       <model name='tubeworm_2024'>
-        <pose>7.45014 2.35172 -5 0 -0 0</pose>
+        <pose>21.85 8.85 -1.145 0 -0 0</pose>
         <scale>1 1 1</scale>
         <link name='base_link'>
-          <pose>7.45014 2.35172 -5 0 -0 0</pose>
+          <pose>21.85 8.85 -1.145 0 -0 0</pose>
           <velocity>0 0 0 0 -0 0</velocity>
           <acceleration>0 0 0 0 -0 0</acceleration>
           <wrench>0 0 0 0 -0 0</wrench>
@@ -416,6 +342,16 @@
           <wrench>0 0 0 0 -0 0</wrench>
         </link>
       </model>
+      <model name='woollettpool_2024'>
+        <pose>0 0 -0.4 0 -0 1.5708</pose>
+        <scale>1 1 1</scale>
+        <link name='base_link'>
+          <pose>0 0 -0.4 0 -0 1.5708</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
       <light name='illum'>
         <pose>-4 18 9 0 -0.75 0</pose>
       </light>
@@ -437,7 +373,7 @@
     </state>
     <gui fullscreen='0'>
       <camera name='user_camera'>
-        <pose>4.55208 -21.9902 20.6932 -0 1.056 2.24839</pose>
+        <pose>17.4113 0.346242 16.003 -3.05093 1.57079 1.66145</pose>
         <view_controller>orbit</view_controller>
         <projection_type>perspective</projection_type>
       </camera>
@@ -1355,7 +1291,7 @@
       </link>
       <pose>5.39304 -6.99519 0 0 -0 0</pose>
     </model>
-    <model name='pathmarker_2024_1'>
+    <model name='woollettpool_2024'>
       <static>1</static>
       <link name='base_link'>
         <pose>0 0 0 0 -0 0</pose>
@@ -1375,7 +1311,7 @@
           <pose>0 0 0 0 -0 0</pose>
           <geometry>
             <mesh>
-              <uri>file://pathmarker_2024/pathmarker.dae</uri>
+              <uri>file://woollett_pool_2024/WoollettPool.dae</uri>
             </mesh>
           </geometry>
           <max_contacts>10</max_contacts>
@@ -1396,7 +1332,7 @@
           <pose>0 0 0 0 -0 0</pose>
           <geometry>
             <mesh>
-              <uri>file://pathmarker_2024/pathmarker.dae</uri>
+              <uri>file://woollett_pool_2024/WoollettPool.dae</uri>
             </mesh>
           </geometry>
         </visual>
@@ -1404,110 +1340,7 @@
         <enable_wind>0</enable_wind>
         <kinematic>0</kinematic>
       </link>
-      <pose>8.97082 -4.60254 0 0 -0 0</pose>
-    </model>
-    <model name='dock_2024'>
-      <link name='link_0'>
-        <inertial>
-          <mass>1</mass>
-          <inertia>
-            <ixx>0.166667</ixx>
-            <ixy>0</ixy>
-            <ixz>0</ixz>
-            <iyy>0.166667</iyy>
-            <iyz>0</iyz>
-            <izz>0.166667</izz>
-          </inertia>
-          <pose>0 0 0 0 -0 0</pose>
-        </inertial>
-        <pose>0 0 0 0 -0 0</pose>
-        <gravity>0</gravity>
-        <self_collide>0</self_collide>
-        <kinematic>0</kinematic>
-        <enable_wind>0</enable_wind>
-        <visual name='visual'>
-          <pose>0 0 0 0 -0 0</pose>
-          <geometry>
-            <box>
-              <size>1 5 1</size>
-            </box>
-          </geometry>
-          <material>
-            <lighting>1</lighting>
-            <script>
-              <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
-            </script>
-            <shader type='pixel'>
-              <normal_map>__default__</normal_map>
-            </shader>
-            <ambient>0.3 0.3 0.3 1</ambient>
-            <diffuse>0.7 0.7 0.7 1</diffuse>
-            <specular>0.01 0.01 0.01 1</specular>
-            <emissive>0 0 0 1</emissive>
-          </material>
-          <transparency>0</transparency>
-          <cast_shadows>1</cast_shadows>
-        </visual>
-        <collision name='collision'>
-          <laser_retro>0</laser_retro>
-          <max_contacts>10</max_contacts>
-          <pose>0 0 0 0 -0 0</pose>
-          <geometry>
-            <box>
-              <size>1 4.9 1</size>
-            </box>
-          </geometry>
-          <surface>
-            <friction>
-              <ode>
-                <mu>1</mu>
-                <mu2>1</mu2>
-                <fdir1>0 0 0</fdir1>
-                <slip1>0</slip1>
-                <slip2>0</slip2>
-              </ode>
-              <torsional>
-                <coefficient>1</coefficient>
-                <patch_radius>0</patch_radius>
-                <surface_radius>0</surface_radius>
-                <use_patch_radius>1</use_patch_radius>
-                <ode>
-                  <slip>0</slip>
-                </ode>
-              </torsional>
-            </friction>
-            <bounce>
-              <restitution_coefficient>0</restitution_coefficient>
-              <threshold>1e+06</threshold>
-            </bounce>
-            <contact>
-              <collide_without_contact>0</collide_without_contact>
-              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
-              <collide_bitmask>1</collide_bitmask>
-              <ode>
-                <soft_cfm>0</soft_cfm>
-                <soft_erp>0.2</soft_erp>
-                <kp>1e+13</kp>
-                <kd>1</kd>
-                <max_vel>0.01</max_vel>
-                <min_depth>0</min_depth>
-              </ode>
-              <bullet>
-                <split_impulse>1</split_impulse>
-                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
-                <soft_cfm>0</soft_cfm>
-                <soft_erp>0.2</soft_erp>
-                <kp>1e+13</kp>
-                <kd>1</kd>
-              </bullet>
-            </contact>
-          </surface>
-        </collision>
-      </link>
-      <static>1</static>
-      <allow_auto_disable>1</allow_auto_disable>
-      <pose>-0.993413 -0.371515 0 0 -0 0</pose>
+      <pose>-2.81281 -11.073 0 0 -0 0</pose>
     </model>
   </world>
 </sdf>