diff --git a/drc_practice_angled_barrier_135/model.config b/drc_practice_angled_barrier_135/model.config
new file mode 100644
index 0000000..6e7f7f7
--- /dev/null
+++ b/drc_practice_angled_barrier_135/model.config
@@ -0,0 +1,22 @@
+
+
+
+ DRC Practice: 135 degree barriers
+ 1.0
+ model.sdf
+
+
+ Nate Koenig
+ nate@osrfoundation.com
+
+
+
+ Christina Gomez
+ @swri.org
+
+
+
+ An series of jersey barriers angled toward 135 degrees, used in DRC Practice.
+
+
+
diff --git a/drc_practice_angled_barrier_135/model.sdf b/drc_practice_angled_barrier_135/model.sdf
new file mode 100644
index 0000000..06b4f7b
--- /dev/null
+++ b/drc_practice_angled_barrier_135/model.sdf
@@ -0,0 +1,57 @@
+
+
+
+ true
+
+ one
+ model://drc_practice_orange_jersey_barrier
+ 0 0 0 0 0 -1.5707
+
+
+ two
+ model://drc_practice_white_jersey_barrier
+ 1.7646 -0.008563 0 0 0 -1.5707
+
+
+ three
+ model://drc_practice_orange_jersey_barrier
+ 3.529222 -0.016171 0 0 0 -1.5707
+
+
+
+ four
+ model://drc_practice_white_jersey_barrier
+ 5.134312 0.54837 0 0 0 -0.785398163
+
+
+ five
+ model://drc_practice_orange_jersey_barrier
+ 6.388405 1.790741 0 0 0 -0.785398163
+
+
+ six
+ model://drc_practice_white_jersey_barrier
+ 7.642301 3.032578 0 0 0 -0.785398163
+
+
+ seven
+ model://drc_practice_orange_jersey_barrier
+ 8.896112 4.275286 0 0 0 -0.785398163
+
+
+ eight
+ model://drc_practice_white_jersey_barrier
+ 10.149623 5.51614 0 0 0 -0.785398163
+
+
+ nine
+ model://drc_practice_blue_cylinder
+ 11.028822 6.442031 0 0 0 0
+
+
+ ten
+ model://drc_practice_blue_cylinder
+ 11.028822 6.442031 0.866 0 0 0
+
+
+
diff --git a/drc_practice_angled_barrier_45/model.config b/drc_practice_angled_barrier_45/model.config
new file mode 100644
index 0000000..653686d
--- /dev/null
+++ b/drc_practice_angled_barrier_45/model.config
@@ -0,0 +1,22 @@
+
+
+
+ DRC Practice: 45 degree barriers
+ 1.0
+ model.sdf
+
+
+ Nate Koenig
+ nate@osrfoundation.com
+
+
+
+ Christina Gomez
+ @swri.org
+
+
+
+ An series of jersey barriers angled toward 45 degrees, used in DRC Practice.
+
+
+
diff --git a/drc_practice_angled_barrier_45/model.sdf b/drc_practice_angled_barrier_45/model.sdf
new file mode 100644
index 0000000..4ef00ab
--- /dev/null
+++ b/drc_practice_angled_barrier_45/model.sdf
@@ -0,0 +1,56 @@
+
+
+
+ true
+
+ one
+ model://drc_practice_orange_jersey_barrier
+ 0 0 0 0 0 -1.5707
+
+
+ two
+ model://drc_practice_white_jersey_barrier
+ 1.7646 -0.008563 0 0 0 -1.5707
+
+
+ three
+ model://drc_practice_orange_jersey_barrier
+ 3.529222 -0.016171 0 0 0 -1.5707
+
+
+ four
+ model://drc_practice_white_jersey_barrier
+ 5.2559 -0.59667 0 0 0 -2.356196
+
+
+ five
+ model://drc_practice_orange_jersey_barrier
+ 6.498182 -1.850039 0 0 0 -2.356196
+
+
+ six
+ model://drc_practice_white_jersey_barrier
+ 7.740308 -3.102611 0 0 0 -2.356196
+
+
+ seven
+ model://drc_practice_orange_jersey_barrier
+ 8.982557 -4.356097 0 0 0 -2.356196
+
+
+ eight
+ model://drc_practice_white_jersey_barrier
+ 10.22479 -5.609784 0 0 0 -2.356196
+
+
+ nine
+ model://drc_practice_blue_cylinder
+ 11.028822 -6.442031 0 0 0 0
+
+
+ ten
+ model://drc_practice_blue_cylinder
+ 11.028822 -6.442031 0.866 0 0 0
+
+
+