diff --git a/construction_barrel/meshes/construction_barrel.dae b/construction_barrel/meshes/construction_barrel.dae
index 7c580e8..fc4ab31 100644
--- a/construction_barrel/meshes/construction_barrel.dae
+++ b/construction_barrel/meshes/construction_barrel.dae
@@ -39,7 +39,7 @@
               <color>0 0 0 1</color>
             </emission>
             <ambient>
-              <color>0.5882353 0.5882353 0.5882353 1</color>
+              <color>1.0 1.0 1.0 1</color>
             </ambient>
             <diffuse>
               <texture texture="Construction_Barrel_Diffuse_tga-sampler" texcoord="CHANNEL1"/>
diff --git a/construction_barrel/model.sdf b/construction_barrel/model.sdf
index c0c0f60..57a87e3 100644
--- a/construction_barrel/model.sdf
+++ b/construction_barrel/model.sdf
@@ -2,6 +2,17 @@
 <sdf version="1.4">
   <model name="Construction Barrel">
     <link name="link">
+      <inertial>
+        <pose>0 0 0.4 0 0 0</pose>
+        <mass>500</mass>
+        <inertia>
+          <ixx>51.2096</ixx>
+          <iyy>51.2096</iyy>
+          <izz>25</izz>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+        </inertia>
+      </inertial>
       <collision name="collision">
         <geometry>
           <mesh>
diff --git a/fast_food/model.sdf b/fast_food/model.sdf
index 925faee..fd2e9fd 100644
--- a/fast_food/model.sdf
+++ b/fast_food/model.sdf
@@ -3,7 +3,7 @@
   <model name="Fast Food">
     <static>true</static>
     <link name="link">
-      <pose>0 0 0 0 0 0</pose>
+      <pose>0 0 1.57965648 0 0 0</pose>
       <collision name="collision">
         <geometry>
           <mesh>
@@ -23,6 +23,10 @@
             <uri>model://fast_food/materials/textures</uri>
             <name>FastFood/Diffuse</name>
           </script>
+
+          <shader type="normal_map_object_space">
+            <normal_map>FastFood_Normal.tga</normal_map>
+          </shader>
         </material>
       </visual>
     </link>
diff --git a/gas_station/materials/textures/GasStation_Diffuse.tga b/gas_station/materials/textures/GasStation_Diffuse.tga
index 32d6825..b96cff6 100755
Binary files a/gas_station/materials/textures/GasStation_Diffuse.tga and b/gas_station/materials/textures/GasStation_Diffuse.tga differ
diff --git a/house_1/materials/scripts/house_1.material b/house_1/materials/scripts/house_1.material
index a322490..9c1eabd 100644
--- a/house_1/materials/scripts/house_1.material
+++ b/house_1/materials/scripts/house_1.material
@@ -9,6 +9,11 @@ material House_1/Diffuse
       {
         texture House_1_Diffuse.tga
       }
+
+      rtshader_system
+      {
+        lighting_stage normal_map House_1_Normal.tga tangent_space 0
+      }
     }
   }
 }
diff --git a/house_1/materials/textures/House_1_Normal.tga b/house_1/materials/textures/House_1_Normal.tga
index 7bd6bef..bb77dda 100755
Binary files a/house_1/materials/textures/House_1_Normal.tga and b/house_1/materials/textures/House_1_Normal.tga differ
diff --git a/house_1/meshes/house_1.dae b/house_1/meshes/house_1.dae
index b2507c0..add6dd0 100644
--- a/house_1/meshes/house_1.dae
+++ b/house_1/meshes/house_1.dae
@@ -161,4 +161,4 @@
   <scene>
     <instance_visual_scene url="#MaxScene"/>
   </scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/house_1/model.sdf b/house_1/model.sdf
index 0296285..7f69475 100644
--- a/house_1/model.sdf
+++ b/house_1/model.sdf
@@ -22,6 +22,7 @@
             <uri>model://house_1/materials/textures</uri>
             <name>House_1/Diffuse</name>
           </script>
+
           <shader type="normal_map_object_space">
             <normal_map>House_1_Normal.tga</normal_map>
           </shader>
diff --git a/house_2/model.sdf b/house_2/model.sdf
index 769d386..0ad1f6f 100644
--- a/house_2/model.sdf
+++ b/house_2/model.sdf
@@ -20,8 +20,13 @@
           <script>
             <uri>model://house_2/materials/scripts</uri>
             <uri>model://house_2/materials/textures</uri>
+            <uri>model://house_1/materials/textures</uri>
             <name>House_2/Diffuse</name>
           </script>
+
+          <shader type="normal_map_object_space">
+            <normal_map>model://house_1/materials/textures/House_1_Normal.tga</normal_map>
+          </shader>
         </material>
       </visual>
     </link>
diff --git a/house_3/meshes/house_3.dae b/house_3/meshes/house_3.dae
index 1e183c4..16f3314 100755
--- a/house_3/meshes/house_3.dae
+++ b/house_3/meshes/house_3.dae
@@ -105,13 +105,13 @@
               <color sid="emission">0 0 0 1</color>
             </emission>
             <ambient>
-              <color sid="ambient">0 0 0 1</color>
+              <color sid="ambient">1 1 1 1</color>
             </ambient>
             <diffuse>
-              <color sid="diffuse">0.8 0.8 0.8 1</color>
+              <color sid="diffuse">1.0 1.0 1.0 1</color>
             </diffuse>
             <specular>
-              <color sid="specular">8.999999 8.999999 8.999999 1</color>
+              <color sid="specular">0.999999 0.999999 0.999999 1</color>
             </specular>
             <shininess>
               <float sid="shininess">50</float>
@@ -232,4 +232,4 @@
   <scene>
     <instance_visual_scene url="#Scene"/>
   </scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/house_3/model.sdf b/house_3/model.sdf
index a48a143..548effa 100644
--- a/house_3/model.sdf
+++ b/house_3/model.sdf
@@ -20,8 +20,14 @@
           <script>
             <uri>model://house_3/materials/scripts</uri>
             <uri>model://house_3/materials/textures</uri>
+            <uri>model://house_1/materials/textures</uri>
             <name>House_3/Diffuse</name>
           </script>
+
+          <shader type="normal_map_object_space">
+            <normal_map>model://house_1/materials/textures/House_1_Normal.tga</normal_map>
+          </shader>
+
         </material>
       </visual>
     </link>
diff --git a/speed_limit_sign/meshes/speed_limit_sign.dae b/speed_limit_sign/meshes/speed_limit_sign.dae
index 98d9b58..a801022 100644
--- a/speed_limit_sign/meshes/speed_limit_sign.dae
+++ b/speed_limit_sign/meshes/speed_limit_sign.dae
@@ -36,10 +36,10 @@
         <technique sid="common">
           <phong>
             <emission>
-              <color>0 0 0 1</color>
+              <color>.4 .4 .4 1</color>
             </emission>
             <ambient>
-              <color>0.5882353 0.5882353 0.5882353 1</color>
+              <color>1.0 1.0 1.0 1</color>
             </ambient>
             <diffuse>
               <texture texture="StopSign_Diffuse_tga-sampler" texcoord="CHANNEL1"/>
@@ -116,7 +116,7 @@
         <technique sid="common">
           <phong>
             <emission>
-              <color>0 0 0 1</color>
+              <color>.4 .4 .4 1</color>
             </emission>
             <ambient>
               <color>0.588 0.588 0.588 1</color>
diff --git a/starting_pen/materials/scripts/starting_pen.material b/starting_pen/materials/scripts/starting_pen.material
new file mode 100644
index 0000000..3ae404b
--- /dev/null
+++ b/starting_pen/materials/scripts/starting_pen.material
@@ -0,0 +1,41 @@
+material StartingPen/Floor
+{
+  receive_shadows on
+  technique
+  {
+    pass
+    {
+      ambient 1 1 1 1
+      diffuse 1 1 1 1
+
+      texture_unit
+      {
+        texture metal_ripped.jpg
+        filtering anistorpic
+        max_anisotropy 16
+        scale 0.1 0.1
+      }
+    }
+  }
+}
+
+material StartingPen/OSRF
+{
+  receive_shadows off
+  technique
+  {
+    pass
+    {
+      ambient 1 1 1 1
+      diffuse 1 1 1 1
+      emissive .5 .5 .5 1.0
+
+      texture_unit
+      {
+        texture osrf.png
+        filtering anistorpic
+        max_anisotropy 16
+      }
+    }
+  }
+}
diff --git a/starting_pen/materials/textures/metal_ripped.jpg b/starting_pen/materials/textures/metal_ripped.jpg
new file mode 100644
index 0000000..886f17a
Binary files /dev/null and b/starting_pen/materials/textures/metal_ripped.jpg differ
diff --git a/starting_pen/materials/textures/osrf.png b/starting_pen/materials/textures/osrf.png
new file mode 100644
index 0000000..78f1209
Binary files /dev/null and b/starting_pen/materials/textures/osrf.png differ
diff --git a/starting_pen/meshes/starting_pen.dae b/starting_pen/meshes/starting_pen.dae
index cdb3bdf..77f36b1 100644
--- a/starting_pen/meshes/starting_pen.dae
+++ b/starting_pen/meshes/starting_pen.dae
@@ -40,7 +40,7 @@
               <color>0 0 0 1</color>
             </emission>
             <ambient>
-              <color>0.588 0.588 0.588 1</color>
+              <color>1.0 1.0 1.0 1</color>
             </ambient>
             <diffuse>
               <texture texture="Starting_Pen_Diffuse_tga-sampler" texcoord="CHANNEL1"/>
@@ -147,7 +147,7 @@
     <light id="EnvironmentAmbientLight" name="EnvironmentAmbientLight">
       <technique_common>
         <ambient>
-          <color>0 0 0</color>
+          <color>1 1 1</color>
         </ambient>
       </technique_common>
     </light>
diff --git a/starting_pen/model.sdf b/starting_pen/model.sdf
index 4b2e3f3..1dae503 100644
--- a/starting_pen/model.sdf
+++ b/starting_pen/model.sdf
@@ -10,6 +10,63 @@
           </mesh>
         </geometry>
       </collision>
+
+      <collision name="collision_floor">
+        <pose>-3.31 7.19 0 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>18.8 14.68 0.01</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="visual_floor_hall">
+        <pose>-3.31 7.19 0 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>18.8 14.68 0.01</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>model://starting_pen/materials/scripts</uri>
+            <uri>model://starting_pen/materials/textures</uri>
+            <name>StartingPen/Floor</name>
+          </script>
+        </material>
+      </visual>
+
+      <visual name="visual_osrf">
+        <pose>-5.74 4.99 3 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.01 6 1.0</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>model://starting_pen/materials/scripts</uri>
+            <uri>model://starting_pen/materials/textures</uri>
+            <name>StartingPen/OSRF</name>
+          </script>
+        </material>
+      </visual>
+
+      <visual name="visual_osrf_2">
+        <pose>5.74 4.99 3 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.01 6 1.0</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>model://starting_pen/materials/scripts</uri>
+            <uri>model://starting_pen/materials/textures</uri>
+            <name>StartingPen/OSRF</name>
+          </script>
+        </material>
+      </visual>
+
       <visual name="visual">
         <geometry>
           <mesh>
diff --git a/sun/model.sdf b/sun/model.sdf
index 2811095..b769d89 100644
--- a/sun/model.sdf
+++ b/sun/model.sdf
@@ -6,7 +6,7 @@
 
     <pose>0 0 10 0 0 0</pose>
     <diffuse>0.8 0.8 0.8 1</diffuse>
-    <specular>0.1 0.1 0.1 1</specular>
+    <specular>0.2 0.2 0.2 1</specular>
 
     <attenuation>
       <range>1000</range>
@@ -15,6 +15,6 @@
       <quadratic>0.001</quadratic>
     </attenuation>
 
-    <direction>-0.5 0.5 -1.0</direction>
+    <direction>0.5 0.1 -0.9</direction>
   </light>
 </sdf>