diff --git a/src/subjugator/simulation/urdf/meshes/Sub9.mtl b/src/subjugator/simulation/urdf/meshes/Sub9.mtl
deleted file mode 100644
index 2776a16..0000000
--- a/src/subjugator/simulation/urdf/meshes/Sub9.mtl
+++ /dev/null
@@ -1,140 +0,0 @@
-# WaveFront *.mtl file (generated by Autodesk ATF)
-
-newmtl Opaque(51,102,178)
-Kd 0.200000 0.400000 0.698039
-
-newmtl Opaque(202,209,238)
-Kd 0.792157 0.819608 0.933333
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-newmtl Opaque(0,192,192)
-Kd 0.000000 0.752941 0.752941
-
-newmtl Steel_-_Satin
-Kd 0.627451 0.627451 0.627451
-
-newmtl Opaque(255,255,255)
-Kd 1.000000 1.000000 1.000000
-
-newmtl Opaque(128,255,128)
-Kd 0.501961 1.000000 0.501961
-
-newmtl Opaque(128,128,255)
-Kd 0.501961 0.501961 1.000000
-
-newmtl Opaque(255,0,0)
-Kd 1.000000 0.000000 0.000000
-
-newmtl Opaque(63,63,63)
-Kd 0.250980 0.250980 0.250980
-
-newmtl Opaque(221,232,255)
-Kd 0.866667 0.909804 1.000000
-
-newmtl Opaque(229,235,237)
-Kd 0.898039 0.921569 0.929412
-
-newmtl Opaque(255,164,7)
-Kd 1.000000 0.643137 0.027451
-
-newmtl Opaque(128,128,128)
-Kd 0.501961 0.501961 0.501961
-
-newmtl Opaque(64,64,64)
-Kd 0.250980 0.250980 0.250980
-
-newmtl Opaque(112,160,252)
-Kd 0.439216 0.627451 0.988235
-
-newmtl Opaque(79,79,79)
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-
-newmtl Opaque(199,145,29)
-Kd 0.780392 0.568627 0.113725
-
-newmtl Opaque(211,170,33)
-Kd 0.827451 0.666667 0.129412
-
-newmtl Opaque(254,222,194)
-Kd 0.996078 0.870588 0.760784
-
-newmtl Opaque(232,113,8)
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-
-newmtl Opaque(75,75,75)
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-
-newmtl Opaque(230,233,236)
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-
-newmtl Opaque(82,82,82)
-Kd 0.321569 0.321569 0.321569
-
-newmtl Opaque(0,255,0)
-Kd 0.000000 1.000000 0.000000
-
-newmtl Opaque(53,53,53)
-Kd 0.207843 0.207843 0.207843
-
-newmtl Opaque(212,171,33)
-Kd 0.831373 0.670588 0.129412
-
-newmtl Opaque(163,163,169)
-Kd 0.639216 0.639216 0.662745
-
-newmtl Opaque(24,37,248)
-Kd 0.094118 0.145098 0.972549
-
-newmtl Opaque(198,144,28)
-Kd 0.776471 0.564706 0.109804
-
-newmtl Opaque(0,0,255)
-Kd 0.000000 0.000000 1.000000
-
-newmtl Opaque(234,160,87)
-Kd 0.917647 0.627451 0.341176
-
-newmtl Opaque(145,82,46)
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-
-newmtl Opaque(41,138,64)
-Kd 0.160784 0.541176 0.250980
-
-newmtl Opaque(199,23,18)
-Kd 0.780392 0.090196 0.070588
-
-newmtl Opaque(0,46,122)
-Kd 0.000000 0.180392 0.478431
-
-newmtl Opaque(66,66,66)
-Kd 0.258824 0.258824 0.258824
-
-newmtl Opaque(25,25,25)
-Kd 0.098039 0.098039 0.098039
-
-newmtl Opaque(38,153,208)
-Kd 0.149020 0.600000 0.815686
-
-newmtl Opaque(198,193,188)
-Kd 0.776471 0.756863 0.737255
-
-newmtl Opaque(244,244,244)
-Kd 0.956863 0.956863 0.956863
-
-newmtl Opaque(63,64,64)
-Kd 0.247059 0.250980 0.250980
-
-newmtl Opaque(49,52,52)
-Kd 0.192157 0.203922 0.203922
-
-newmtl Opaque(56,31,255)
-Kd 0.219608 0.121569 1.000000
-
-newmtl Opaque(0,0,223)
-Kd 0.000000 0.000000 0.874510
-
-newmtl Opaque(0,255,255)
-Kd 0.000000 1.000000 1.000000
-
-newmtl Opaque(255,255,0)
-Kd 1.000000 1.000000 0.000000
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diff --git a/src/subjugator/simulation/urdf/meshes/sub9.dae b/src/subjugator/simulation/urdf/meshes/sub9.dae
new file mode 100644
index 0000000..13150fd
--- /dev/null
+++ b/src/subjugator/simulation/urdf/meshes/sub9.dae
@@ -0,0 +1,2418 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.77.0 commit date:2016-04-05, commit time:18:12, hash:abf6f08</authoring_tool>
+    </contributor>
+    <created>2016-06-28T20:18:41</created>
+    <modified>2016-06-28T20:18:41</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images/>
+  <library_effects>
+    <effect id="Material_012-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.01024486 0.01024486 0.01024486 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.5 0.5 0.5 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
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+        <technique sid="common">
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+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.0449028 0.0449028 0.0449028 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.5 0.5 0.5 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Material_001-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
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+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.01568458 0.01568458 0.01568458 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.5 0.5 0.5 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
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+        <technique sid="common">
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+            <ambient>
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+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.0449028 0.0449028 0.0449028 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.5 0.5 0.5 1</color>
+            </specular>
+            <shininess>
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+        </technique>
+      </profile_COMMON>
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+      <instance_effect url="#Material_013-effect"/>
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+        <matrix sid="transform">3.05052e-6 0.01068335 -0.03028221 0.2320129 -0.01108432 5.73836e-4 0.02108264 0.1934008 0.002179539 0.002903364 0.1072609 -0.1381099 0 0 0 1</matrix>
+        <instance_geometry url="#Cylinder_020-mesh" name="Cylinder_019">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_011-material" target="#Material_011-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Cylinder_020" name="Cylinder_020" type="NODE">
+        <matrix sid="transform">8.63048e-10 0.01143142 1.3163e-8 0.2660412 0 8.63048e-10 -0.1743489 -0.006929457 -0.01143142 8.63048e-10 9.93777e-16 0.2488845 0 0 0 1</matrix>
+        <instance_geometry url="#Cylinder_021-mesh" name="Cylinder_020">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_004-material" target="#Material_004-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Cylinder_021" name="Cylinder_021" type="NODE">
+        <matrix sid="transform">8.97331e-6 0.01069073 -0.03000809 0.232013 -0.01108165 -5.61029e-4 -0.02126004 -0.2044408 -0.002193109 0.002878588 0.1073029 -0.1381099 0 0 0 1</matrix>
+        <instance_geometry url="#Cylinder_022-mesh" name="Cylinder_021">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_004-material" target="#Material_004-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Cylinder_022" name="Cylinder_022" type="NODE">
+        <matrix sid="transform">8.63048e-10 0.01143142 1.3163e-8 0.2660412 0 8.63048e-10 -0.1743489 -0.006929457 -0.01143142 8.63048e-10 9.93777e-16 -0.2587247 0 0 0 1</matrix>
+        <instance_geometry url="#Cylinder_023-mesh" name="Cylinder_022">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_004-material" target="#Material_004-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Cube_016" name="Cube_016" type="NODE">
+        <matrix sid="transform">-1.26924e-9 -0.01938359 0 0.001930952 0.01681154 -1.46342e-9 0 0.2599767 0 0 0.01789601 0.08063351 0 0 0 1</matrix>
+        <instance_geometry url="#Cube_019-mesh" name="Cube_016">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_013-material" target="#Material_013-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Cube_017" name="Cube_017" type="NODE">
+        <matrix sid="transform">-1.26924e-9 -0.01938359 0 0.001930952 0.01681154 -1.46342e-9 0 0.2599767 0 0 0.01789601 -0.08540273 0 0 0 1</matrix>
+        <instance_geometry url="#Cube_020-mesh" name="Cube_017">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_013-material" target="#Material_013-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Cube_018" name="Cube_018" type="NODE">
+        <matrix sid="transform">-1.26924e-9 -0.01938359 0 0.001930922 0.01681154 -1.46342e-9 0 -0.2736199 0 0 0.01789601 -0.08540273 0 0 0 1</matrix>
+        <instance_geometry url="#Cube_021-mesh" name="Cube_018">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_013-material" target="#Material_013-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Cube_019" name="Cube_019" type="NODE">
+        <matrix sid="transform">-1.26924e-9 -0.01938359 0 0.001930922 0.01681154 -1.46342e-9 0 -0.2736199 0 0 0.01789601 0.08063351 0 0 0 1</matrix>
+        <instance_geometry url="#Cube_022-mesh" name="Cube_019">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_013-material" target="#Material_013-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Cylinder_023" name="Cylinder_023" type="NODE">
+        <matrix sid="transform">8.63048e-10 0 0.2622901 -6.71744e-5 0 0.01143142 0 -0.1744592 -0.01143142 0 1.98023e-8 0.2488845 0 0 0 1</matrix>
+        <instance_geometry url="#Cylinder_024-mesh" name="Cylinder_023">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_004-material" target="#Material_004-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Cylinder_024" name="Cylinder_024" type="NODE">
+        <matrix sid="transform">8.63048e-10 0 0.2622901 -6.71744e-5 0 0.01143142 0 0.1580633 -0.01143142 0 1.98023e-8 0.2488845 0 0 0 1</matrix>
+        <instance_geometry url="#Cylinder_025-mesh" name="Cylinder_024">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_011-material" target="#Material_011-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Cylinder_025" name="Cylinder_025" type="NODE">
+        <matrix sid="transform">8.63048e-10 0 0.2622901 -6.71744e-5 0 0.01143142 0 0.1580633 -0.01143142 0 1.98023e-8 -0.245854 0 0 0 1</matrix>
+        <instance_geometry url="#Cylinder_026-mesh" name="Cylinder_025">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_004-material" target="#Material_004-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Cylinder_026" name="Cylinder_026" type="NODE">
+        <matrix sid="transform">8.63048e-10 0 0.2622901 -6.71744e-5 0 0.01143142 0 -0.1744592 -0.01143142 0 1.98023e-8 -0.245854 0 0 0 1</matrix>
+        <instance_geometry url="#Cylinder_027-mesh" name="Cylinder_026">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_001-material" target="#Material_001-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Cube_020" name="Cube_020" type="NODE">
+        <matrix sid="transform">1.24873e-8 -0.1255482 0 -6.71744e-5 0.1653988 9.47863e-9 0 -0.007793739 0 0 0.004323752 -0.2428824 0 0 0 1</matrix>
+        <instance_geometry url="#Cube_023-mesh" name="Cube_020">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_001-material" target="#Material_001-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Cube_021" name="Cube_021" type="NODE">
+        <matrix sid="transform">-3.50906e-9 0.01147279 0 0.2288498 -0.04647892 -8.66172e-10 0 -0.007793754 0 0 0.01300254 0.08306827 0 0 0 1</matrix>
+        <instance_geometry url="#Cube_024-mesh" name="Cube_021">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_005-material" target="#Material_005-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Cylinder_027" name="Cylinder_027" type="NODE">
+        <matrix sid="transform">2.05617e-9 1.19047e-9 0.02887841 0.2048584 0.02723481 0 -2.18026e-9 -0.04863587 0 0.02723481 -1.26232e-9 0.1564105 0 0 0 1</matrix>
+        <instance_geometry url="#Cylinder_028-mesh" name="Cylinder_027">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_006-material" target="#Material_006-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Cylinder_028" name="Cylinder_028" type="NODE">
+        <matrix sid="transform">2.05617e-9 1.19047e-9 0.02887841 0.2048584 0.02723481 0 -2.18026e-9 0.03579715 0 0.02723481 -1.26232e-9 0.1564105 0 0 0 1</matrix>
+        <instance_geometry url="#Cylinder_029-mesh" name="Cylinder_028">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_006-material" target="#Material_006-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/src/subjugator/simulation/urdf/sub9.urdf.xacro b/src/subjugator/simulation/urdf/sub9.urdf.xacro
index af8488c..f48d285 100644
--- a/src/subjugator/simulation/urdf/sub9.urdf.xacro
+++ b/src/subjugator/simulation/urdf/sub9.urdf.xacro
@@ -18,13 +18,13 @@
     <visual name="visual">
       <origin rpy="${pi/2} 0 ${pi}" xyz="${(0.915/2-0.009)} ${-(0.606/2)} ${-(0.381/2)}"/>
       <geometry>
-        <mesh filename="./meshes/Sub9"/>
+        <mesh filename="./meshes/sub9.dae"/>
       </geometry>
     </visual>
     <collision name="collision">
       <origin rpy="${pi/2} 0 ${pi}" xyz="${(0.915/2-0.009)} ${-(0.606/2)} ${-(0.381/2)}"/>
       <geometry>
-        <mesh filename="./meshes/Sub9"/>
+        <mesh filename="./meshes/sub9.dae"/>
       </geometry>
     </collision>
   </link>