diff --git a/clearpath_config/sample/j100/j100_default.yaml b/clearpath_config/sample/j100/j100_default.yaml
index 2bac380..18efec0 100644
--- a/clearpath_config/sample/j100/j100_default.yaml
+++ b/clearpath_config/sample/j100/j100_default.yaml
@@ -15,23 +15,12 @@ system:
 platform:
   controller: ps4
   attachments:
-    front_bumper:
+    front_fender:
       enabled: true
       model: default
-      xyz: [0.0, 0.0, 0.0]
-      rpy: [0.0, 0.0, 0.0]
-      extension: 0.0
-    rear_bumper:
+    rear_fender:
       enabled: true
       model: default
-      xyz: [0.0, 0.0, 0.0]
-      rpy: [0.0, 0.0, 0.0]
-      extension: 0.0
-    top_plate:
-      enabled: true
-      model: default
-      xyz: [0.0, 0.0, 0.0]
-      rpy: [0.0, 0.0, 0.0]
   extras:
     urdf: null
     ros_parameters: {}
diff --git a/clearpath_config/sample/j100/j100_dual_laser.yaml b/clearpath_config/sample/j100/j100_dual_laser.yaml
index 6ee024c..f624d2a 100644
--- a/clearpath_config/sample/j100/j100_dual_laser.yaml
+++ b/clearpath_config/sample/j100/j100_dual_laser.yaml
@@ -15,23 +15,12 @@ system:
 platform:
   controller: ps4
   attachments:
-    front_bumper:
+    front_fender:
       enabled: true
+      model: sensor
+    rear_fender:
+      enabled: false
       model: default
-      xyz: [0.0, 0.0, 0.0]
-      rpy: [0.0, 0.0, 0.0]
-      extension: 0.0
-    rear_bumper:
-      enabled: true
-      model: default
-      xyz: [0.0, 0.0, 0.0]
-      rpy: [0.0, 0.0, 0.0]
-      extension: 0.0
-    top_plate:
-      enabled: true
-      model: default
-      xyz: [0.0, 0.0, 0.0]
-      rpy: [0.0, 0.0, 0.0]
   extras:
     urdf: null
     control: null
diff --git a/clearpath_config/sample/j100/j100_sample.yaml b/clearpath_config/sample/j100/j100_sample.yaml
index 8a83eea..9231eee 100644
--- a/clearpath_config/sample/j100/j100_sample.yaml
+++ b/clearpath_config/sample/j100/j100_sample.yaml
@@ -15,18 +15,12 @@ system:
 platform:
   controller: ps4
   attachments:
-    front_bumper:
+    front_fender:
       enabled: true
       model: default
-      xyz: [0.0, 0.0, 0.0]
-      rpy: [0.0, 0.0, 0.0]
-      extension: 0.0
-    rear_bumper:
+    rear_fender:
       enabled: true
       model: default
-      xyz: [0.0, 0.0, 0.0]
-      rpy: [0.0, 0.0, 0.0]
-      extension: 0.0
   extras:
     urdf: null
     ros_parameters: {}
diff --git a/clearpath_config/sample/j100/j100_velodyne.yaml b/clearpath_config/sample/j100/j100_velodyne.yaml
index 6ff48cd..65e4ac5 100644
--- a/clearpath_config/sample/j100/j100_velodyne.yaml
+++ b/clearpath_config/sample/j100/j100_velodyne.yaml
@@ -15,18 +15,12 @@ system:
 platform:
   controller: ps4
   attachments:
-    front_bumper:
+    front_fender:
       enabled: true
       model: default
-      xyz: [0.0, 0.0, 0.0]
-      rpy: [0.0, 0.0, 0.0]
-      extension: 0.0
-    rear_bumper:
+    rear_fender:
       enabled: true
       model: default
-      xyz: [0.0, 0.0, 0.0]
-      rpy: [0.0, 0.0, 0.0]
-      extension: 0.0
   extras:
     urdf: null
     ros_parameters: {}
diff --git a/setup.py b/setup.py
index 32e1e46..5fcb517 100644
--- a/setup.py
+++ b/setup.py
@@ -35,6 +35,7 @@
     version="0.0.5",
     packages=[
         package_name,
+        package_name + ".common",
         package_name + ".platform",
         package_name + ".system",
         package_name + ".mounts",