diff --git a/models/cover/model.sdf b/models/cover/model.sdf
index 35bde171..95bb950c 100644
--- a/models/cover/model.sdf
+++ b/models/cover/model.sdf
@@ -17,7 +17,7 @@
     <include>
       <pose>0 0 0 0 0 0</pose>
       <name>floor</name>
-      <uri>model://floor</uri>
+      <uri>model://ground_plane</uri>
     </include>
     <include>
       <pose>0.0 0.0 0 0 0 0</pose>
diff --git a/models/ddw/model.sdf b/models/ddw/model.sdf
index a43cd8f4..02ef158c 100644
--- a/models/ddw/model.sdf
+++ b/models/ddw/model.sdf
@@ -22,7 +22,7 @@
     <include>
       <pose>0 0 0 0 0 0</pose>
       <name>floor</name>
-      <uri>model://floor</uri>
+      <uri>model://ground_plane</uri>
     </include>
     <include>
       <pose>-0.4 -1.3 0 0 0 0</pose>
diff --git a/models/empty/model.sdf b/models/empty/model.sdf
index 9fd3cd96..940510d1 100644
--- a/models/empty/model.sdf
+++ b/models/empty/model.sdf
@@ -17,7 +17,7 @@
     <include>
       <pose>0 0 0 0 0 0</pose>
       <name>floor</name>
-      <uri>model://floor</uri>
+      <uri>model://ground_plane</uri>
     </include>
     <physics type="ode">
       <real_time_update_rate>333.0</real_time_update_rate>
diff --git a/models/impuls/model.sdf b/models/impuls/model.sdf
index 5559ba75..dcced552 100644
--- a/models/impuls/model.sdf
+++ b/models/impuls/model.sdf
@@ -9,7 +9,7 @@
     <include>
       <pose>0 0 0 0 0 0</pose>
       <name>floor</name>
-      <uri>model://floor</uri>
+      <uri>model://ground_plane</uri>
     </include>
     <include>
       <pose>1.882 -0.24 0 0 0 1.57079632679</pose>
diff --git a/models/learn_objects/model.sdf b/models/learn_objects/model.sdf
index bb34f799..da98a3f1 100644
--- a/models/learn_objects/model.sdf
+++ b/models/learn_objects/model.sdf
@@ -17,7 +17,7 @@
     <include>
       <pose>0 0 0 0 0 0</pose>
       <name>floor</name>
-      <uri>model://floor</uri>
+      <uri>model://ground_plane</uri>
     </include>
     <include>
       <pose>0 -1 0 0 0 1.57</pose>
diff --git a/models/perception_learning/model.sdf b/models/perception_learning/model.sdf
index d06350d2..c6ad96b0 100644
--- a/models/perception_learning/model.sdf
+++ b/models/perception_learning/model.sdf
@@ -17,7 +17,7 @@
     <include>
       <pose>0 0 0.74 0 0 0</pose>
       <name>infinite_table</name>
-      <uri>model://floor</uri>
+      <uri>model://ground_plane</uri>
     </include>
     <physics type="ode">
       <real_time_update_rate>333.0</real_time_update_rate>
diff --git a/models/rein_experiment/model.sdf b/models/rein_experiment/model.sdf
index 280e4df5..5a1dfb00 100644
--- a/models/rein_experiment/model.sdf
+++ b/models/rein_experiment/model.sdf
@@ -42,7 +42,7 @@
     <include>
       <pose>0 0 0 0 0 0</pose>
       <name>floor</name>
-      <uri>model://floor</uri>
+      <uri>model://ground_plane</uri>
     </include>
     <physics type="ode">
       <real_time_update_rate>333.0</real_time_update_rate>
diff --git a/models/rgo2015/model.sdf b/models/rgo2015/model.sdf
index 4440b9a0..5c6640b1 100644
--- a/models/rgo2015/model.sdf
+++ b/models/rgo2015/model.sdf
@@ -272,7 +272,7 @@
     <include>
       <pose>0 0 0 0 0 0</pose>
       <name>floor</name>
-      <uri>model://floor</uri>
+      <uri>model://ground_plane</uri>
     </include>
     <include>
       <pose>1.555 1.775 0 0 0 0</pose>
diff --git a/models/rgo2015_final/model.sdf b/models/rgo2015_final/model.sdf
index 8527735b..ecf730b4 100644
--- a/models/rgo2015_final/model.sdf
+++ b/models/rgo2015_final/model.sdf
@@ -176,7 +176,7 @@
     <include>
       <pose>0 0 0 0 0 0</pose>
       <name>floor</name>
-      <uri>model://floor</uri>
+      <uri>model://ground_plane</uri>
     </include>
     <include>
       <pose>1.555 1.775 0 0 0 0</pose>
diff --git a/models/rgo2017/model.sdf b/models/rgo2017/model.sdf
index 3751e1b5..8b6dae60 100644
--- a/models/rgo2017/model.sdf
+++ b/models/rgo2017/model.sdf
@@ -160,7 +160,7 @@
     <include>
       <pose>0 0 0 0 0 0</pose>
       <name>floor</name>
-      <uri>model://floor</uri>
+      <uri>model://ground_plane</uri>
     </include>
     <include>
       <pose>0 0 0 0 0 0</pose>
diff --git a/models/rgo2018/model.sdf b/models/rgo2018/model.sdf
index 92fcb38c..5b216fc8 100644
--- a/models/rgo2018/model.sdf
+++ b/models/rgo2018/model.sdf
@@ -197,7 +197,7 @@
     <include>
       <pose>0 0 0 0 0 0</pose>
       <name>floor</name>
-      <uri>model://floor</uri>
+      <uri>model://ground_plane</uri>
     </include>
     <include>
       <pose>0 0 0 0 0 0</pose>
diff --git a/models/rgo2019/model.sdf b/models/rgo2019/model.sdf
index 2e1a00e1..327c1eaa 100644
--- a/models/rgo2019/model.sdf
+++ b/models/rgo2019/model.sdf
@@ -139,7 +139,7 @@
     <include>
       <pose>0 0 0 0 0 0</pose>
       <name>floor</name>
-      <uri>model://floor</uri>
+      <uri>model://ground_plane</uri>
     </include>
     <include>
       <pose>0 0 0 0 0 0</pose>
diff --git a/models/robotics_testlab_B/model.sdf b/models/robotics_testlab_B/model.sdf
index 3940d100..d19239e5 100644
--- a/models/robotics_testlab_B/model.sdf
+++ b/models/robotics_testlab_B/model.sdf
@@ -102,7 +102,7 @@
     <include>
       <pose>0 0 0 0 0 0</pose>
       <name>floor</name>
-      <uri>model://floor</uri>
+      <uri>model://ground_plane</uri>
     </include>
     <include>
       <pose>4.05 2 0 0 0 0</pose>
diff --git a/models/robotics_testlabs/model.sdf b/models/robotics_testlabs/model.sdf
index 24113d77..edadc730 100644
--- a/models/robotics_testlabs/model.sdf
+++ b/models/robotics_testlabs/model.sdf
@@ -277,7 +277,7 @@
     <include>
       <pose>0 0 0 0 0 0</pose>
       <name>floor</name>
-      <uri>model://floor</uri>
+      <uri>model://ground_plane</uri>
     </include>
     <include>
       <pose>1.32 5.3 0 0 0 0</pose>
diff --git a/models/robotics_testlabs/r5cop/model.sdf b/models/robotics_testlabs/r5cop/model.sdf
index efbb7d9d..c11fe858 100644
--- a/models/robotics_testlabs/r5cop/model.sdf
+++ b/models/robotics_testlabs/r5cop/model.sdf
@@ -102,7 +102,7 @@
     <include>
       <pose>0 0 0 0 0 0</pose>
       <name>floor</name>
-      <uri>model://floor</uri>
+      <uri>model://ground_plane</uri>
     </include>
     <physics type="ode">
       <real_time_update_rate>333.0</real_time_update_rate>
diff --git a/models/robotics_testlabs_empty/model.sdf b/models/robotics_testlabs_empty/model.sdf
index b421bf8e..d1e6175e 100644
--- a/models/robotics_testlabs_empty/model.sdf
+++ b/models/robotics_testlabs_empty/model.sdf
@@ -74,7 +74,7 @@
     <include>
       <pose>0 0 0 0 0 0</pose>
       <name>floor</name>
-      <uri>model://floor</uri>
+      <uri>model://ground_plane</uri>
     </include>
     <physics type="ode">
       <real_time_update_rate>333.0</real_time_update_rate>
diff --git a/models/rosebv/model.sdf b/models/rosebv/model.sdf
index 0ba45ab5..4f999492 100644
--- a/models/rosebv/model.sdf
+++ b/models/rosebv/model.sdf
@@ -22,7 +22,7 @@
     <include>
       <pose>0 0 0 0 0 0</pose>
       <name>floor</name>
-      <uri>model://floor</uri>
+      <uri>model://ground_plane</uri>
     </include>
     <include>
       <pose>3 0 0 0 0 0</pose>
diff --git a/models/rpo2023/model.sdf b/models/rpo2023/model.sdf
index 1ef44ee1..23f9764c 100644
--- a/models/rpo2023/model.sdf
+++ b/models/rpo2023/model.sdf
@@ -9,7 +9,7 @@
     <include>
       <pose>0 0 0 0 0 0</pose>
       <name>floor</name>
-      <uri>model://floor</uri>
+      <uri>model://ground_plane</uri>
     </include>
     <include>
       <name>bed</name>
diff --git a/models/rwc2013/model.sdf b/models/rwc2013/model.sdf
index 6b417f7e..7cc318c2 100644
--- a/models/rwc2013/model.sdf
+++ b/models/rwc2013/model.sdf
@@ -22,7 +22,7 @@
     <include>
       <pose>0 0 0 0 0 0</pose>
       <name>floor</name>
-      <uri>model://floor</uri>
+      <uri>model://ground_plane</uri>
     </include>
     <include>
       <pose>3.105 -6.331 0 0 0 0</pose>
diff --git a/models/rwc2015/model.sdf b/models/rwc2015/model.sdf
index b78b9059..6f297247 100644
--- a/models/rwc2015/model.sdf
+++ b/models/rwc2015/model.sdf
@@ -182,7 +182,7 @@
     <include>
       <pose>0 0 0 0 0 0</pose>
       <name>floor</name>
-      <uri>model://floor</uri>
+      <uri>model://ground_plane</uri>
     </include>
     <include>
       <pose>0.925 -4.74 0 0 0 0</pose>
diff --git a/models/rwc2015_empty/model.sdf b/models/rwc2015_empty/model.sdf
index c901e088..d7ce3c41 100644
--- a/models/rwc2015_empty/model.sdf
+++ b/models/rwc2015_empty/model.sdf
@@ -170,7 +170,7 @@
     <include>
       <pose>0 0 0 0 0 0</pose>
       <name>floor</name>
-      <uri>model://floor</uri>
+      <uri>model://ground_plane</uri>
     </include>
     <physics type="ode">
       <real_time_update_rate>333.0</real_time_update_rate>
diff --git a/models/rwc2016a/model.sdf b/models/rwc2016a/model.sdf
index 90c48457..7d9fd4c8 100644
--- a/models/rwc2016a/model.sdf
+++ b/models/rwc2016a/model.sdf
@@ -251,7 +251,7 @@
     <include>
       <pose>0 0 0 0 0 0</pose>
       <name>floor</name>
-      <uri>model://floor</uri>
+      <uri>model://ground_plane</uri>
     </include>
     <include>
       <pose>0 0 0 0 0 0</pose>
diff --git a/models/rwc2016b/model.sdf b/models/rwc2016b/model.sdf
index 3198601a..2fc9567c 100644
--- a/models/rwc2016b/model.sdf
+++ b/models/rwc2016b/model.sdf
@@ -237,7 +237,7 @@
     <include>
       <pose>0 0 0 0 0 0</pose>
       <name>floor</name>
-      <uri>model://floor</uri>
+      <uri>model://ground_plane</uri>
     </include>
     <include>
       <pose>0 0 0 0 0 0</pose>
diff --git a/models/rwc2017/model.sdf b/models/rwc2017/model.sdf
index e0b89be4..af9da429 100644
--- a/models/rwc2017/model.sdf
+++ b/models/rwc2017/model.sdf
@@ -188,7 +188,7 @@
     <include>
       <pose>0 0 0 0 0 0</pose>
       <name>floor</name>
-      <uri>model://floor</uri>
+      <uri>model://ground_plane</uri>
     </include>
     <include>
       <pose>5.075 -4.93 0.0 0 0 0.0</pose>
diff --git a/models/rwc2018/model.sdf b/models/rwc2018/model.sdf
index f2e597b0..5b20cd1c 100644
--- a/models/rwc2018/model.sdf
+++ b/models/rwc2018/model.sdf
@@ -147,7 +147,7 @@
     <include>
       <pose>0 0 0 0 0 0</pose>
       <name>floor</name>
-      <uri>model://floor</uri>
+      <uri>model://ground_plane</uri>
     </include>
     <include>
       <pose>0 0 0 0 0 0</pose>
diff --git a/models/rwc2019/model.sdf b/models/rwc2019/model.sdf
index add1b25d..85eb7055 100644
--- a/models/rwc2019/model.sdf
+++ b/models/rwc2019/model.sdf
@@ -17,7 +17,7 @@
     <include>
       <pose>0 0 0 0 0 0</pose>
       <name>floor</name>
-      <uri>model://floor</uri>
+      <uri>model://ground_plane</uri>
     </include>
     <include>
       <pose>0 0 0 0 0 0</pose>
diff --git a/models/rwc2022/model.sdf b/models/rwc2022/model.sdf
index cae7f3df..61b8b21b 100644
--- a/models/rwc2022/model.sdf
+++ b/models/rwc2022/model.sdf
@@ -9,7 +9,7 @@
     <include>
       <pose>0 0 0 0 0 0</pose>
       <name>floor</name>
-      <uri>model://floor</uri>
+      <uri>model://ground_plane</uri>
     </include>
     <include>
       <pose>5.61 6.12 0 0 0 0</pose>
diff --git a/models/rwc2023/model.sdf b/models/rwc2023/model.sdf
index 18baede3..fa205227 100644
--- a/models/rwc2023/model.sdf
+++ b/models/rwc2023/model.sdf
@@ -9,7 +9,7 @@
     <include>
       <pose>0 0 0 0 0 0</pose>
       <name>floor</name>
-      <uri>model://floor</uri>
+      <uri>model://ground_plane</uri>
     </include>
 
     <!-- bedroom -->
diff --git a/models/rwc2024/coat_hanger/model.config b/models/rwc2024/coat_hanger/model.config
new file mode 100644
index 00000000..023a7d0a
--- /dev/null
+++ b/models/rwc2024/coat_hanger/model.config
@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+  <name>rwc2024/coat_hanger</name>
+  <version>1.0</version>
+  <sdf version="1.6">model.sdf</sdf>
+  <author>
+    <name>AMIGO</name>
+    <email>todo@todo.nl</email>
+  </author>
+  <description>rwc2024/coat_hanger</description>
+</model>
diff --git a/models/rwc2024/coat_hanger/model.sdf b/models/rwc2024/coat_hanger/model.sdf
new file mode 100644
index 00000000..49708872
--- /dev/null
+++ b/models/rwc2024/coat_hanger/model.sdf
@@ -0,0 +1,41 @@
+<?xml version="1.0"?>
+<sdf version="1.6">
+  <model name="rwc2024/coat_hanger">
+    <link name="1_link">
+      <collision name="1_col">
+        <geometry>
+          <box>
+            <size>0.47 0.47 0.52</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="1_vis">
+        <geometry>
+          <box>
+            <size>0.47 0.47 0.52</size>
+          </box>
+        </geometry>
+      </visual>
+      <pose>0.0 0.0 0.26 0 0 0</pose>
+    </link>
+    <link name="2_link">
+      <collision name="2_col">
+        <geometry>
+          <cylinder>
+            <radius>0.045</radius>
+            <length>1.86</length>
+          </cylinder>
+        </geometry>
+      </collision>
+      <visual name="2_vis">
+        <geometry>
+          <cylinder>
+            <radius>0.045</radius>
+            <length>1.86</length>
+          </cylinder>
+        </geometry>
+      </visual>
+      <pose>0.0 0.0 0.93 0 0 0</pose>
+    </link>
+  </model>
+</sdf>
diff --git a/models/rwc2024/coffee_table/model.config b/models/rwc2024/coffee_table/model.config
new file mode 100644
index 00000000..d577101e
--- /dev/null
+++ b/models/rwc2024/coffee_table/model.config
@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+  <name>rwc2024/coffee_table</name>
+  <version>1.0</version>
+  <sdf version="1.6">model.sdf</sdf>
+  <author>
+    <name>AMIGO</name>
+    <email>todo@todo.nl</email>
+  </author>
+  <description>rwc2024/coffee_table</description>
+</model>
diff --git a/models/rwc2024/coffee_table/model.sdf b/models/rwc2024/coffee_table/model.sdf
new file mode 100644
index 00000000..3c6d357d
--- /dev/null
+++ b/models/rwc2024/coffee_table/model.sdf
@@ -0,0 +1,50 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name="rwc2024/coffee_table">
+    <static>true</static>
+    <link name="1_link">
+      <collision name="1_col">
+        <geometry>
+            <cylinder>
+                <radius>0.45</radius>
+                <length>0.08</length>
+            </cylinder>
+        </geometry>
+      </collision>
+      <visual name="1_vis">
+        <geometry>
+            <cylinder>
+                <radius>0.45</radius>
+                <length>0.08</length>
+            </cylinder>
+        </geometry>
+      </visual>
+      <pose>0.0 0.0 0.45 0 0 0</pose>
+    </link>
+    <link name="on_top_of">
+      <virtual_volume name="on_top_of_vv">
+        <geometry>
+          <cylinder>
+            <length>0.25</length>
+            <radius>0.44</radius>
+          </cylinder>
+        </geometry>
+      </virtual_volume>
+      <pose>0 0 0.575 0 0 0</pose>
+    </link>
+    <link name="in_front_of">
+      <virtual_volume name="in_front_of_vv">
+        <geometry>
+          <box>
+            <size>0.2 0.35 0.01</size>
+          </box>
+        </geometry>
+      </virtual_volume>
+      <pose>-0.9 0. 0.005 0 0 0</pose>
+    </link>
+    <static>true</static>
+
+
+
+  </model>
+</sdf>
diff --git a/models/rwc2024/couch/model.config b/models/rwc2024/couch/model.config
new file mode 100644
index 00000000..58f74af7
--- /dev/null
+++ b/models/rwc2024/couch/model.config
@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+  <name>rwc2024/couch</name>
+  <version>1.0</version>
+  <sdf version="1.6">model.sdf</sdf>
+  <author>
+    <name>AMIGO</name>
+    <email>todo@todo.nl</email>
+  </author>
+  <description>rwc2024/couch</description>
+</model>
diff --git a/models/rwc2024/couch/model.sdf b/models/rwc2024/couch/model.sdf
new file mode 100644
index 00000000..418d3cf5
--- /dev/null
+++ b/models/rwc2024/couch/model.sdf
@@ -0,0 +1,105 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name="rwc2024/couch">
+    <static>true</static>
+    <link name="base_link">
+      <collision name="base_col">
+        <geometry>
+          <box>
+            <size>0.6 1.56 0.2</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="base_vis">
+        <geometry>
+          <box>
+            <size>0.6 1.56 0.2</size>
+          </box>
+        </geometry>
+      </visual>
+      <pose>0.0 0.0 0.35 0 0 0</pose>
+    </link>
+    <link name="right_armrest_link">
+      <collision name="right_armrest_col">
+        <geometry>
+          <box>
+            <size>0.66 0.05 0.63</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="right_armrest_vis">
+        <geometry>
+          <box>
+            <size>0.66 0.05 0.63</size>
+          </box>
+        </geometry>
+      </visual>
+      <pose>0.0 0.805 0.315 0 0 0</pose>
+    </link>
+    <link name="left_armrest_link">
+      <collision name="left_armrest_col">
+        <geometry>
+          <box>
+            <size>0.66 0.05 0.63</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="left_armrest_vis">
+        <geometry>
+          <box>
+            <size>0.66 0.05 0.63</size>
+          </box>
+        </geometry>
+      </visual>
+      <pose>0.0 -0.805 0.315 0 0 0</pose>
+    </link>
+    <link name="back_link">
+      <collision name="back_col">
+        <geometry>
+          <box>
+            <size>0.15 1.56 0.69</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="back_vis">
+        <geometry>
+          <box>
+            <size>0.15 1.56 0.69</size>
+          </box>
+        </geometry>
+      </visual>
+      <pose>-0.24 0 0.485 0 -0.377766658 0</pose>
+    </link>
+    <link name="on_top_of_couch_left">
+      <virtual_volume name="on_top_of_vv">
+        <geometry>
+          <box>
+            <size>0.35 0.42 0.3</size>
+          </box>
+        </geometry>
+        <pose>0.075 0.34 0.65 0 0 0</pose>
+      </virtual_volume>
+    </link>
+    <link name="on_top_of_couch_right">
+      <virtual_volume name="on_top_of_vv">
+        <geometry>
+          <box>
+            <size>0.35 0.42 0.3</size>
+          </box>
+        </geometry>
+        <pose>0.075 -0.34 0.65 0 0 0</pose>
+      </virtual_volume>
+    </link>
+
+    <link name="in_front_of">
+      <virtual_volume name="in_front_of_vv">
+        <geometry>
+          <box>
+            <size>0.2 1.22 0.01</size>
+          </box>
+        </geometry>
+        <pose>0.8 0.0 0.005 0 0 0</pose>
+      </virtual_volume>
+    </link>
+  </model>
+</sdf>
diff --git a/models/rwc2024/desk/model.config b/models/rwc2024/desk/model.config
new file mode 100644
index 00000000..8dae05a1
--- /dev/null
+++ b/models/rwc2024/desk/model.config
@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+  <name>rwc2024/desk</name>
+  <version>1.0</version>
+  <sdf version="1.6">model.sdf</sdf>
+  <author>
+    <name>AMIGO</name>
+    <email>todo@todo.nl</email>
+  </author>
+  <description>rwc2024/desk</description>
+</model>
diff --git a/models/rwc2024/desk/model.sdf b/models/rwc2024/desk/model.sdf
new file mode 100644
index 00000000..1d93402f
--- /dev/null
+++ b/models/rwc2024/desk/model.sdf
@@ -0,0 +1,111 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name="rwc2024/desk">
+    <static>true</static>
+    <link name="1_link">
+      <collision name="1_col">
+        <geometry>
+          <box>
+            <size>0.905 2.015 0.04</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="1_vis">
+        <geometry>
+          <box>
+            <size>0.905 2.015 0.04</size>
+          </box>
+        </geometry>
+      </visual>
+      <pose>0.0 0.0 0.725 0 0 0</pose>
+    </link>
+    <link name="2_link">
+      <collision name="2_col">
+        <geometry>
+          <box>
+            <size>0.1 0.1 0.705</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="2_vis">
+        <geometry>
+          <box>
+            <size>0.1 0.1 0.705</size>
+          </box>
+        </geometry>
+      </visual>
+      <pose>-0.3475 -0.9025 0.3525 0 0 0</pose>
+    </link>
+    <link name="3_link">
+      <collision name="3_col">
+        <geometry>
+          <box>
+            <size>0.1 0.1 0.705</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="3_vis">
+        <geometry>
+          <box>
+            <size>0.1 0.1 0.705</size>
+          </box>
+        </geometry>
+      </visual>
+      <pose>0.3475 -0.9025 0.3525 0 0 0</pose>
+    </link>
+    <link name="4_link">
+      <collision name="4_col">
+        <geometry>
+          <box>
+            <size>0.1 0.1 0.705</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="4_vis">
+        <geometry>
+          <box>
+            <size>0.1 0.1 0.705</size>
+          </box>
+        </geometry>
+      </visual>
+      <pose>-0.3475 0.9025 0.3525 0 0 0</pose>
+    </link>
+    <link name="5_link">
+      <collision name="5_col">
+        <geometry>
+          <box>
+            <size>0.1 0.1 0.705</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="5_vis">
+        <geometry>
+          <box>
+            <size>0.1 0.1 0.705</size>
+          </box>
+        </geometry>
+      </visual>
+      <pose>0.3475 0.9025 0.3525 0 0 0</pose>
+    </link>
+    <link name="on_top_of">
+      <virtual_volume name="on_top_of_vv">
+        <geometry>
+          <box>
+            <size>0.885 1.955 0.25</size>
+          </box>
+        </geometry>
+        <pose>0.0 0.0 0.89 0 0 0</pose>
+      </virtual_volume>
+    </link>
+    <link name="in_front_of">
+      <virtual_volume name="in_front_of_vv">
+        <geometry>
+          <box>
+            <size>0.2 1.815 0.01</size>
+          </box>
+        </geometry>
+        <pose>0.9525 0.0 0.005 0 0 0</pose>
+      </virtual_volume>
+    </link>
+  </model>
+</sdf>
diff --git a/models/rwc2024/dinner_table/model.config b/models/rwc2024/dinner_table/model.config
new file mode 100644
index 00000000..6b35526f
--- /dev/null
+++ b/models/rwc2024/dinner_table/model.config
@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+  <name>rwc2024/dinner_table</name>
+  <version>1.0</version>
+  <sdf version="1.6">model.sdf</sdf>
+  <author>
+    <name>AMIGO</name>
+    <email>todo@todo.nl</email>
+  </author>
+  <description>rwc2024/dinner_table</description>
+</model>
diff --git a/models/rwc2024/dinner_table/model.sdf b/models/rwc2024/dinner_table/model.sdf
new file mode 100644
index 00000000..e2772fbb
--- /dev/null
+++ b/models/rwc2024/dinner_table/model.sdf
@@ -0,0 +1,111 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name="rwc2024/dinner_table">
+    <static>true</static>
+    <link name="1_link">
+      <collision name="1_col">
+        <geometry>
+          <box>
+            <size>2.0 0.78 0.105</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="1_vis">
+        <geometry>
+          <box>
+            <size>2.0 0.78 0.105</size>
+          </box>
+        </geometry>
+      </visual>
+      <pose>0.0 0.0 0.7165 0 0 0</pose>
+    </link>
+    <link name="2_link">
+      <collision name="2_col">
+        <geometry>
+          <box>
+            <size>0.097 0.097 0.664</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="2_vis">
+        <geometry>
+          <box>
+            <size>0.097 0.097 0.664</size>
+          </box>
+        </geometry>
+      </visual>
+      <pose>-0.931 -0.323 0.332 0 0 0</pose>
+    </link>
+    <link name="3_link">
+      <collision name="3_col">
+        <geometry>
+          <box>
+            <size>0.097 0.097 0.664</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="3_vis">
+        <geometry>
+          <box>
+            <size>0.097 0.097 0.664</size>
+          </box>
+        </geometry>
+      </visual>
+      <pose>0.931 -0.323 0.332 0 0 0</pose>
+    </link>
+    <link name="4_link">
+      <collision name="4_col">
+        <geometry>
+          <box>
+            <size>0.097 0.097 0.664</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="4_vis">
+        <geometry>
+          <box>
+            <size>0.097 0.097 0.664</size>
+          </box>
+        </geometry>
+      </visual>
+      <pose>-0.931 0.323 0.332 0 0 0</pose>
+    </link>
+    <link name="5_link">
+      <collision name="5_col">
+        <geometry>
+          <box>
+            <size>0.097 0.097 0.664</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="5_vis">
+        <geometry>
+          <box>
+            <size>0.097 0.097 0.664</size>
+          </box>
+        </geometry>
+      </visual>
+      <pose>0.931 0.323 0.332 0 0 0</pose>
+    </link>
+    <link name="on_top_of">
+      <virtual_volume name="on_top_of_vv">
+        <geometry>
+          <box>
+            <size>1.939 0.683 0.25</size>
+          </box>
+        </geometry>
+        <pose>0.0 0.0 0.914 0 0 0</pose>
+      </virtual_volume>
+    </link>
+    <link name="in_front_of">
+      <virtual_volume name="in_front_of_vv">
+        <geometry>
+          <box>
+            <size>0.2 0.543 0.01</size>
+          </box>
+        </geometry>
+        <pose>1.4795 0.0 0.005 0 0 0</pose>
+      </virtual_volume>
+    </link>
+  </model>
+</sdf>
diff --git a/models/rwc2024/dishwasher/model.config b/models/rwc2024/dishwasher/model.config
new file mode 100644
index 00000000..8fd9c757
--- /dev/null
+++ b/models/rwc2024/dishwasher/model.config
@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+  <name>rwc2024/dishwasher</name>
+  <version>1.0</version>
+  <sdf version="1.6">model.sdf</sdf>
+  <author>
+    <name>AMIGO</name>
+    <email>todo@todo.nl</email>
+  </author>
+  <description>rwc2024/dishwasher</description>
+</model>
diff --git a/models/rwc2024/dishwasher/model.sdf b/models/rwc2024/dishwasher/model.sdf
new file mode 100644
index 00000000..9f1968d4
--- /dev/null
+++ b/models/rwc2024/dishwasher/model.sdf
@@ -0,0 +1,55 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name="rwc2024/dishwasher">
+    <static>true</static>
+    <link name="1_link">
+      <collision name="1_col">
+        <geometry>
+          <box>
+            <size>0.593 0.597 0.843</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="1_vis">
+        <geometry>
+          <box>
+            <size>0.593 0.597 0.843</size>
+          </box>
+        </geometry>
+      </visual>
+      <pose>0.0 0.0 0.4215 0 0 0</pose>
+    </link>
+    <link name="on_top_of">
+      <virtual_volume name="on_top_of_vv">
+        <geometry>
+          <box>
+            <size>0.573 0.537 0.25</size>
+          </box>
+        </geometry>
+        <pose>0.0 0.0 0.988 0 0 0</pose>
+      </virtual_volume>
+    </link>
+    <link name="in_front_of">
+      <virtual_volume name="in_front_of_vv">
+        <geometry>
+          <box>
+            <size>0.2 0.397 0.01</size>
+          </box>
+        </geometry>
+        <pose>0.7965 0.0 0.005 0 0 0</pose>
+      </virtual_volume>
+    </link>
+    <link name="in_front_of_ctt">
+      <virtual_volume name="in_front_of_vv">
+        <geometry>
+          <box>
+            <size>0.2 0.397 0.01</size>
+          </box>
+        </geometry>
+        <pose>1.69 0.0 0.005 0 0 0</pose>
+      </virtual_volume>
+    </link>
+  </model>
+</sdf>
+
+
diff --git a/models/rwc2024/hallway_cabinet/model.config b/models/rwc2024/hallway_cabinet/model.config
new file mode 100644
index 00000000..6fb0a23d
--- /dev/null
+++ b/models/rwc2024/hallway_cabinet/model.config
@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+  <name>rwc2024/hallway_cabinet</name>
+  <version>1.0</version>
+  <sdf version="1.6">model.sdf</sdf>
+  <author>
+    <name>AMIGO</name>
+    <email>todo@todo.nl</email>
+  </author>
+  <description>rwc2024/hallway_cabinet</description>
+</model>
diff --git a/models/rwc2024/hallway_cabinet/model.sdf b/models/rwc2024/hallway_cabinet/model.sdf
new file mode 100644
index 00000000..6e041edf
--- /dev/null
+++ b/models/rwc2024/hallway_cabinet/model.sdf
@@ -0,0 +1,111 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name="rwc2024/hallway_cabinet">
+    <static>true</static>
+    <link name="1_link">
+      <collision name="1_col">
+        <geometry>
+          <box>
+            <size>0.345 0.8 0.65</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="1_vis">
+        <geometry>
+          <box>
+            <size>0.345 0.8 0.65</size>
+          </box>
+        </geometry>
+      </visual>
+      <pose>0.0 0.0 0.485 0 0 0</pose>
+    </link>
+    <link name="2_link">
+      <collision name="2_col">
+        <geometry>
+          <box>
+            <size>0.04 0.04 0.16</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="2_vis">
+        <geometry>
+          <box>
+            <size>0.04 0.04 0.16</size>
+          </box>
+        </geometry>
+      </visual>
+      <pose>-0.1525 -0.38 0.08 0 0 0</pose>
+    </link>
+    <link name="3_link">
+      <collision name="3_col">
+        <geometry>
+          <box>
+            <size>0.04 0.04 0.16</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="3_vis">
+        <geometry>
+          <box>
+            <size>0.04 0.04 0.16</size>
+          </box>
+        </geometry>
+      </visual>
+      <pose>0.1525 -0.38 0.08 0 0 0</pose>
+    </link>
+    <link name="4_link">
+      <collision name="4_col">
+        <geometry>
+          <box>
+            <size>0.04 0.04 0.16</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="4_vis">
+        <geometry>
+          <box>
+            <size>0.04 0.04 0.16</size>
+          </box>
+        </geometry>
+      </visual>
+      <pose>-0.1525 0.38 0.08 0 0 0</pose>
+    </link>
+    <link name="5_link">
+      <collision name="5_col">
+        <geometry>
+          <box>
+            <size>0.04 0.04 0.16</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="5_vis">
+        <geometry>
+          <box>
+            <size>0.04 0.04 0.16</size>
+          </box>
+        </geometry>
+      </visual>
+      <pose>0.1525 0.38 0.08 0 0 0</pose>
+    </link>
+    <link name="on_top_of">
+      <virtual_volume name="on_top_of_vv">
+        <geometry>
+          <box>
+            <size>0.325 0.74 0.25</size>
+          </box>
+        </geometry>
+        <pose>0.0 0.0 0.955 0 0 0</pose>
+      </virtual_volume>
+    </link>
+    <link name="in_front_of">
+      <virtual_volume name="in_front_of_vv">
+        <geometry>
+          <box>
+            <size>0.2 0.6 0.01</size>
+          </box>
+        </geometry>
+        <pose>0.6725 0.0 0.005 0 0 0</pose>
+      </virtual_volume>
+    </link>
+  </model>
+</sdf>
diff --git a/models/rwc2024/kitchen_cabinet/model.config b/models/rwc2024/kitchen_cabinet/model.config
new file mode 100644
index 00000000..d42d1e94
--- /dev/null
+++ b/models/rwc2024/kitchen_cabinet/model.config
@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+  <name>rwc2024/kitchen_cabinet</name>
+  <version>1.0</version>
+  <sdf version="1.6">model.sdf</sdf>
+  <author>
+    <name>AMIGO</name>
+    <email>todo@todo.nl</email>
+  </author>
+  <description>rwc2024/kitchen_cabinet</description>
+</model>
diff --git a/models/rwc2024/kitchen_cabinet/model.sdf b/models/rwc2024/kitchen_cabinet/model.sdf
new file mode 100644
index 00000000..d1b19493
--- /dev/null
+++ b/models/rwc2024/kitchen_cabinet/model.sdf
@@ -0,0 +1,260 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name="rwc2024/kitchen_cabinet">
+    <static>true</static>
+    <link name="1_link">
+      <collision name="1_col">
+        <geometry>
+          <box>
+            <size>0.28 0.018 2.02</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="1_vis">
+        <geometry>
+          <box>
+            <size>0.28 0.018 2.02</size>
+          </box>
+        </geometry>
+      </visual>
+      <pose>0.0 -0.391 1.01 0 0 0</pose>
+    </link>
+    <link name="2_link">
+      <collision name="2_col">
+        <geometry>
+          <box>
+            <size>0.28 0.018 2.02</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="2_vis">
+        <geometry>
+          <box>
+            <size>0.28 0.018 2.02</size>
+          </box>
+        </geometry>
+      </visual>
+      <pose>0.0 0.391 1.01 0 0 0</pose>
+    </link>
+    <link name="3_link">
+      <collision name="3_col">
+        <geometry>
+          <box>
+            <size>0.018 0.8 2.02</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="3_vis">
+        <geometry>
+          <box>
+            <size>0.018 0.8 2.02</size>
+          </box>
+        </geometry>
+      </visual>
+      <pose>-0.131 0.0 1.01 0 0 0</pose>
+    </link>
+    <link name="4_link">
+      <collision name="4_col">
+        <geometry>
+          <box>
+            <size>0.262 0.764 0.018</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="4_vis">
+        <geometry>
+          <box>
+            <size>0.262 0.764 0.018</size>
+          </box>
+        </geometry>
+      </visual>
+      <pose>0.009 0.0 2.011 0 0 0</pose>
+    </link>
+    <link name="5_link">
+      <collision name="5_col">
+        <geometry>
+          <box>
+            <size>0.262 0.764 0.096</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="5_vis">
+        <geometry>
+          <box>
+            <size>0.262 0.764 0.096</size>
+          </box>
+        </geometry>
+      </visual>
+      <pose>0.009 0.0 0.048 0 0 0</pose>
+    </link>
+    <link name="6_link">
+      <collision name="6_col">
+        <geometry>
+          <box>
+            <size>0.262 0.764 0.048</size>
+          </box>
+        </geometry>
+        <pose>0.0 0.0 -0.015 0 0 0</pose>
+      </collision>
+      <visual name="6_vis">
+        <geometry>
+          <box>
+            <size>0.262 0.764 0.018</size>
+          </box>
+        </geometry>
+      </visual>
+      <pose>0.009 0.0 0.404 0 0 0</pose>
+    </link>
+    <link name="7_link">
+      <collision name="7_col">
+        <geometry>
+          <box>
+            <size>0.262 0.764 0.048</size>
+          </box>
+        </geometry>
+        <pose>0.0 0.0 -0.015 0 0 0</pose>
+      </collision>
+      <visual name="7_vis">
+        <geometry>
+          <box>
+            <size>0.262 0.764 0.018</size>
+          </box>
+        </geometry>
+      </visual>
+      <pose>0.009 0.0 0.724 0 0 0</pose>
+    </link>
+    <link name="8_link">
+      <collision name="8_col">
+        <geometry>
+          <box>
+            <size>0.262 0.764 0.048</size>
+          </box>
+        </geometry>
+        <pose>0.0 0.0 -0.015 0 0 0</pose>
+      </collision>
+      <visual name="8_vis">
+        <geometry>
+          <box>
+            <size>0.262 0.764 0.018</size>
+          </box>
+        </geometry>
+      </visual>
+      <pose>0.009 0.0 1.052 0 0 0</pose>
+    </link>
+    <link name="9_link">
+      <collision name="9_col">
+        <geometry>
+          <box>
+            <size>0.262 0.764 0.048</size>
+          </box>
+        </geometry>
+        <pose>0.0 0.0 -0.015 0 0 0</pose>
+      </collision>
+      <visual name="9_vis">
+        <geometry>
+          <box>
+            <size>0.262 0.764 0.018</size>
+          </box>
+        </geometry>
+      </visual>
+      <pose>0.009 0.0 1.4 0 0 0</pose>
+    </link>
+    <link name="10_link">
+      <collision name="10_col">
+        <geometry>
+          <box>
+            <size>0.262 0.764 0.02</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="10_vis">
+        <geometry>
+          <box>
+            <size>0.262 0.764 0.02</size>
+          </box>
+        </geometry>
+      </visual>
+      <pose>0.009 0.0 1.687 0 0 0</pose>
+    </link>
+    <link name="in_front_of">
+      <virtual_volume name="in_front_of_vv">
+        <geometry>
+          <box>
+            <size>0.25 0.4 0.01</size>
+          </box>
+        </geometry>
+        <pose>0.64 0.0 0.005 0 0 0</pose>
+      </virtual_volume>
+    </link>
+    <link name="shelf1">
+      <virtual_volume name="shelf1_vv">
+        <geometry>
+          <box>
+            <size>0.242 0.704 0.25</size>
+          </box>
+        </geometry>
+        <pose>0.009 0.0 0.241 0 0 0</pose>
+      </virtual_volume>
+    </link>
+    <link name="shelf2">
+      <virtual_volume name="shelf2_vv">
+        <geometry>
+          <box>
+            <size>0.242 0.704 0.25</size>
+          </box>
+        </geometry>
+        <pose>0.009 0.0 0.558 0 0 0</pose>
+      </virtual_volume>
+    </link>
+    <link name="shelf3">
+      <virtual_volume name="shelf3_vv">
+        <geometry>
+          <box>
+            <size>0.242 0.704 0.25</size>
+          </box>
+        </geometry>
+        <pose>0.009 0.0 0.878 0 0 0</pose>
+      </virtual_volume>
+    </link>
+    <link name="on_top_of">
+      <virtual_volume name="on_top_of_vv">
+        <geometry>
+          <box>
+            <size>0.242 0.704 0.25</size>
+          </box>
+        </geometry>
+        <pose>0.009 0.0 1.206 0 0 0</pose>
+      </virtual_volume>
+    </link>
+    <link name="shelf4">
+      <virtual_volume name="shelf4_vv">
+        <geometry>
+          <box>
+            <size>0.242 0.704 0.25</size>
+          </box>
+        </geometry>
+        <pose>0.009 0.0 1.206 0 0 0</pose>
+      </virtual_volume>
+    </link>
+    <link name="shelf5">
+      <virtual_volume name="shelf5_vv">
+        <geometry>
+          <box>
+            <size>0.242 0.704 0.25</size>
+          </box>
+        </geometry>
+        <pose>0.009 0.0 1.554 0 0 0</pose>
+      </virtual_volume>
+    </link>
+    <link name="shelf6">
+      <virtual_volume name="shelf6_vv">
+        <geometry>
+          <box>
+            <size>0.242 0.704 0.25</size>
+          </box>
+        </geometry>
+        <pose>0.009 0.0 1.842 0 0 0</pose>
+      </virtual_volume>
+    </link>
+  </model>
+</sdf>
diff --git a/models/rwc2024/kitchen_counter/model.config b/models/rwc2024/kitchen_counter/model.config
new file mode 100644
index 00000000..ceb14ee3
--- /dev/null
+++ b/models/rwc2024/kitchen_counter/model.config
@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+  <name>rwc2024/kitchen_counter</name>
+  <version>1.0</version>
+  <sdf version="1.6">model.sdf</sdf>
+  <author>
+    <name>AMIGO</name>
+    <email>todo@todo.nl</email>
+  </author>
+  <description>rwc2024/kitchen_counter</description>
+</model>
diff --git a/models/rwc2024/kitchen_counter/model.sdf b/models/rwc2024/kitchen_counter/model.sdf
new file mode 100644
index 00000000..558cfd75
--- /dev/null
+++ b/models/rwc2024/kitchen_counter/model.sdf
@@ -0,0 +1,43 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name="rwc2024/kitchen_counter">
+    <static>true</static>
+    <link name="1_link">
+      <collision name="1_col">
+        <geometry>
+          <box>
+            <size>0.595 1.795 0.908</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="1_vis">
+        <geometry>
+          <box>
+            <size>0.595 1.795 0.908</size>
+          </box>
+        </geometry>
+      </visual>
+      <pose>0.0 0.0 0.454 0 0 0</pose>
+    </link>
+    <link name="on_top_of">
+      <virtual_volume name="on_top_of_vv">
+        <geometry>
+          <box>
+            <size>0.575 1.735 0.25</size>
+          </box>
+        </geometry>
+        <pose>0.0 0.0 1.053 0 0 0</pose>
+      </virtual_volume>
+    </link>
+    <link name="in_front_of">
+      <virtual_volume name="in_front_of_vv">
+        <geometry>
+          <box>
+            <size>0.2 1.595 0.01</size>
+          </box>
+        </geometry>
+        <pose>0.7975 0.0 0.005 0 0 0</pose>
+      </virtual_volume>
+    </link>
+  </model>
+</sdf>
diff --git a/models/rwc2024/lamp/model.config b/models/rwc2024/lamp/model.config
new file mode 100644
index 00000000..38c6ef7e
--- /dev/null
+++ b/models/rwc2024/lamp/model.config
@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+  <name>rwc2024/lamp</name>
+  <version>1.0</version>
+  <sdf version="1.6">model.sdf</sdf>
+  <author>
+    <name>AMIGO</name>
+    <email>todo@todo.nl</email>
+  </author>
+  <description>rwc2024/lamp</description>
+</model>
diff --git a/models/rwc2024/lamp/model.sdf b/models/rwc2024/lamp/model.sdf
new file mode 100644
index 00000000..dac0a55e
--- /dev/null
+++ b/models/rwc2024/lamp/model.sdf
@@ -0,0 +1,44 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name="rwc2024/lamp">
+    <static>true</static>
+    <link name="1_link">
+      <collision name="1_col">
+        <geometry>
+            <cylinder>
+                <radius>0.15</radius>
+                <length>0.045</length>
+            </cylinder>
+        </geometry>
+      </collision>
+      <visual name="1_vis">
+        <geometry>
+            <cylinder>
+                <radius>0.15</radius>
+                <length>0.045</length>
+            </cylinder>
+        </geometry>
+      </visual>
+      <pose>0.0 0.0 0.0225 0 0 0</pose>
+    </link>
+        <link name="2_link">
+      <collision name="2_col">
+        <geometry>
+            <cylinder>
+                <radius>0.0275</radius>
+                <length>1.72</length>
+            </cylinder>
+        </geometry>
+      </collision>
+      <visual name="2_vis">
+        <geometry>
+            <cylinder>
+                <radius>0.0275</radius>
+                <length>1.72</length>
+            </cylinder>
+        </geometry>
+      </visual>
+      <pose>0.0 0.0 0.905 0 0 0</pose>
+    </link>
+  </model>
+</sdf>
diff --git a/models/rwc2024/lounge_chair/model.config b/models/rwc2024/lounge_chair/model.config
new file mode 100644
index 00000000..45cc164a
--- /dev/null
+++ b/models/rwc2024/lounge_chair/model.config
@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+  <name>rwc2024/lounge_chair</name>
+  <version>1.0</version>
+  <sdf version="1.6">model.sdf</sdf>
+  <author>
+    <name>AMIGO</name>
+    <email>todo@todo.nl</email>
+  </author>
+  <description>rwc2024/lounge_chair</description>
+</model>
diff --git a/models/rwc2024/lounge_chair/model.sdf b/models/rwc2024/lounge_chair/model.sdf
new file mode 100644
index 00000000..2af9c9b4
--- /dev/null
+++ b/models/rwc2024/lounge_chair/model.sdf
@@ -0,0 +1,94 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name="rwc2024/lounge_chair">
+    <static>true</static>
+    <link name="base_link">
+      <collision name="base_col">
+        <geometry>
+          <box>
+            <size>0.6 0.5 0.18</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="base_vis">
+        <geometry>
+          <box>
+            <size>0.6 0.5 0.18</size>
+          </box>
+        </geometry>
+      </visual>
+      <pose>0.0 0.0 0.34 0 0 0</pose>
+    </link>
+    <link name="right_armrest_link">
+      <collision name="right_armrest_col">
+        <geometry>
+          <box>
+            <size>0.66 0.1 0.36</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="right_armrest_vis">
+        <geometry>
+          <box>
+            <size>0.66 0.1 0.36</size>
+          </box>
+        </geometry>
+      </visual>
+      <pose>0.0 0.3 0.43 0 0 0</pose>
+    </link>
+    <link name="left_armrest_link">
+      <collision name="left_armrest_col">
+        <geometry>
+          <box>
+            <size>0.66 0.1 0.36</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="left_armrest_vis">
+        <geometry>
+          <box>
+            <size>0.66 0.1 0.36</size>
+          </box>
+        </geometry>
+      </visual>
+      <pose>0.0 -0.3 0.43 0 0 0</pose>
+    </link>
+    <link name="back_link">
+      <collision name="back_col">
+        <geometry>
+          <box>
+            <size>0.12 0.7 0.512</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="back_vis">
+        <geometry>
+          <box>
+            <size>0.12 0.7 0.512</size>
+          </box>
+        </geometry>
+      </visual>
+      <pose>-0.395 0 0.6475 0 -0.555493735 0</pose>
+    </link>
+    <link name="on_top_of">
+      <virtual_volume name="on_top_of_vv">
+        <geometry>
+          <box>
+            <size>0.4 0.4 0.35</size>
+          </box>
+        </geometry>
+        <pose>0.075 0.0 0.625 0 0 0</pose>
+      </virtual_volume>
+    </link>
+    <link name="in_front_of">
+      <virtual_volume name="in_front_of_vv">
+        <geometry>
+          <box>
+            <size>0.2 1.1 0.01</size>
+          </box>
+        </geometry>
+        <pose>0.9 0.0 0.005 0 0 0</pose>
+      </virtual_volume>
+    </link>
+  </model>
+</sdf>
diff --git a/models/rwc2024/model.config b/models/rwc2024/model.config
new file mode 100644
index 00000000..c3afb08a
--- /dev/null
+++ b/models/rwc2024/model.config
@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+  <name>rwc2024</name>
+  <version>1.0</version>
+  <sdf version="1.6">model.sdf</sdf>
+  <author>
+    <name>AMIGO</name>
+    <email>todo@todo.nl</email>
+  </author>
+  <description>rwc2024</description>
+</model>
diff --git a/models/rwc2024/model.sdf b/models/rwc2024/model.sdf
new file mode 100644
index 00000000..c5144364
--- /dev/null
+++ b/models/rwc2024/model.sdf
@@ -0,0 +1,451 @@
+<?xml version="1.0"?>
+<sdf version="1.6">
+  <world name="rwc2024">
+    <include>
+      <name>walls</name>
+      <uri>model://rwc2024/walls</uri>
+      <pose>0 0 0 0 0 -1.57079632679</pose>
+    </include>
+    <include>
+      <pose>0 0 0 0 0 0</pose>
+      <name>floor</name>
+      <uri>model://ground_plane</uri>
+    </include>
+
+    <!-- rooms -->
+    <model name="hallway" type="room">
+      <link name="in">
+        <virtual_volume name="in_vv">
+          <geometry>
+            <box>
+              <size>3.4 4 2.5</size>
+            </box>
+          </geometry>
+          <pose>0.0 0.0 0.0 0 0 0</pose>
+        </virtual_volume>
+      </link>
+      <link name="on_top_of">
+        <virtual_volume name="on_top_of_vv">
+          <geometry>
+            <box>
+              <size>2.0 1.5 0.25</size>
+            </box>
+          </geometry>
+          <pose>0.3 -0.75 -1.09 0 0 0</pose>
+        </virtual_volume>
+      </link>
+      <link name="on_top_of_nav">
+        <virtual_volume name="on_top_of_nav_vv">
+          <geometry>
+            <box>
+              <size>1.0 1.0 2.5</size>
+            </box>
+          </geometry>
+          <pose>0.75 0.75 0 0 0 0</pose>
+        </virtual_volume>
+      </link>
+      <link name="on_top_of2">
+        <virtual_volume name="on_top_of2_vv">
+          <geometry>
+            <box>
+              <size>1.15 2.0 0.25</size>
+            </box>
+          </geometry>
+          <pose>-0.3 0.3 -1.09 0 0 0</pose>
+        </virtual_volume>
+      </link>
+      <link name="on_top_of2_nav">
+        <virtual_volume name="on_top_of2_nav_vv">
+          <geometry>
+            <box>
+              <size>1.0 1.0 2.5</size>
+            </box>
+          </geometry>
+          <pose>0.75 0.75 0 0 0 0</pose>
+        </virtual_volume>
+      </link>
+      <link name="on_top_of3">
+        <virtual_volume name="on_top_of3_vv">
+          <geometry>
+            <box>
+              <size>1.5 1.8 0.25</size>
+            </box>
+          </geometry>
+          <pose>0.85 0.42 -1.09 0 0 0</pose>
+        </virtual_volume>
+      </link>
+      <link name="on_top_of3_nav">
+        <virtual_volume name="on_top_of3_nav_vv">
+          <geometry>
+            <box>
+              <size>0.75 0.75 2.5</size>
+            </box>
+          </geometry>
+          <pose>-1.0 -1.0 0 0 0 0</pose>
+        </virtual_volume>
+      </link>
+      <pose>1.7 -0.95 1.25 0 0 0</pose>
+      <static>true</static>
+    </model>
+    <model name="living_room" type="room">
+      <link name="in">
+        <virtual_volume name="in_vv">
+          <geometry>
+            <box>
+              <size>5.45 4 2.5</size>
+            </box>
+          </geometry>
+          <pose>0.0 -0.45 0.0 0 0 0</pose>
+        </virtual_volume>
+      </link>
+      <link name="on_top_of">
+        <virtual_volume name="on_top_of_vv">
+          <geometry>
+            <box>
+              <size>2.5 1.75 0.25</size>
+            </box>
+          </geometry>
+          <pose>-0.7 -1.4 -1.09 0 0 0</pose>
+        </virtual_volume>
+      </link>
+      <link name="on_top_of_nav">
+        <virtual_volume name="on_top_of_nav_vv">
+          <geometry>
+            <box>
+              <size>1 1 2.5</size>
+            </box>
+          </geometry>
+          <pose>-1.25 -1.5 0 0 0 0</pose>
+        </virtual_volume>
+      </link>
+      <link name="on_top_of2">
+        <virtual_volume name="on_top_of2_vv">
+          <geometry>
+            <box>
+              <size>2.5 1.25 0.25</size>
+            </box>
+          </geometry>
+          <pose>1.25 1 -1.09 0 0 0</pose>
+        </virtual_volume>
+      </link>
+      <link name="on_top_of2_nav">
+        <virtual_volume name="on_top_of2_nav_vv">
+          <geometry>
+            <box>
+              <size>1 1 2.5</size>
+            </box>
+          </geometry>
+          <pose>1.75 1 0 0 0 0</pose>
+        </virtual_volume>
+      </link>
+      <link name="on_top_of3">
+        <virtual_volume name="on_top_of3_vv">
+          <geometry>
+            <box>
+              <size>2.5 1.75 0.25</size>
+            </box>
+          </geometry>
+          <pose>-1 0.3 -1.09 0 0 0</pose>
+        </virtual_volume>
+      </link>
+      <link name="on_top_of3_nav">
+        <virtual_volume name="on_top_of3_nav_vv">
+          <geometry>
+            <box>
+              <size>1 1 2.5</size>
+            </box>
+          </geometry>
+          <pose>-1.5 0.3 0 0 0 0</pose>
+        </virtual_volume>
+      </link>
+      <pose>6.225 -0.5 1.25 0 0 0</pose>
+      <static>true</static>
+    </model>
+    <model name="office" type="room">
+      <link name="in">
+        <virtual_volume name="in_vv">
+          <geometry>
+            <box>
+              <size>3.4 4.85 2.5</size>
+            </box>
+          </geometry>
+          <pose>0.0 0.0 0.0 0 0 0</pose>
+        </virtual_volume>
+      </link>
+      <link name="on_top_of">
+        <virtual_volume name="on_top_of_vv">
+          <geometry>
+            <box>
+              <size>2.8 3.3 0.25</size>
+            </box>
+          </geometry>
+          <pose>0.15 0.3 -1.09 0 0 0</pose>
+        </virtual_volume>
+      </link>
+      <pose>1.7 3.525 1.25 0 0 0</pose>
+      <static>true</static>
+    </model>
+    <model name="kitchen" type="room">
+      <link name="in">
+        <virtual_volume name="in_vv">
+          <geometry>
+            <box>
+              <size>5.45 4.85 2.5</size>
+            </box>
+          </geometry>
+          <pose>0.0 0.0 0.0 0 0 0</pose>
+        </virtual_volume>
+      </link>
+      <link name="on_top_of">
+        <virtual_volume name="on_top_of_vv">
+          <geometry>
+            <box>
+              <size>1.5 4.5 0.25</size>
+            </box>
+          </geometry>
+          <pose>1 0 -1.09 0 0 0</pose>
+        </virtual_volume>
+      </link>
+      <link name="on_top_of_nav">
+        <virtual_volume name="on_top_of_nav_vv">
+          <geometry>
+            <box>
+              <size>1 1 2.5</size>
+            </box>
+          </geometry>
+          <pose>1 -1.5 0 0 0 0</pose>
+        </virtual_volume>
+      </link>
+      <link name="on_top_of2">
+        <virtual_volume name="on_top_of2_vv">
+          <geometry>
+            <box>
+              <size>4 1.5 0.25</size>
+            </box>
+          </geometry>
+          <pose>0 -1.5 -1.09 0 0 0</pose>
+        </virtual_volume>
+      </link>
+      <link name="on_top_of2_nav">
+        <virtual_volume name="on_top_of_nav2_vv">
+          <geometry>
+            <box>
+              <size>1 1 2.5</size>
+            </box>
+          </geometry>
+          <pose>1 -1.5 0 0 0 0</pose>
+        </virtual_volume>
+      </link>
+      <link name="on_top_of3">
+        <virtual_volume name="on_top_of3_vv">
+          <geometry>
+            <box>
+              <size>1.5 4 0.25</size>
+            </box>
+          </geometry>
+          <pose>-1.5 0.25 -1.09 0 0 0</pose>
+        </virtual_volume>
+      </link>
+      <link name="on_top_of3_nav">
+        <virtual_volume name="on_top_of3_nav_vv">
+          <geometry>
+            <box>
+              <size>1 1 2.5</size>
+            </box>
+          </geometry>
+          <pose>-1.5 -1.5 0 0 0 0</pose>
+        </virtual_volume>
+      </link>
+      <pose>6.225 3.525 1.25 0 0 0</pose>
+      <static>true</static>
+    </model>
+
+
+    <!-- office -->
+    <include>
+      <name>shelf</name>
+      <uri>model://rwc2024/shelf</uri>
+      <pose>0.135 4.10 0 0 0 0</pose>
+    </include>
+
+    <include>
+      <name>desk</name>
+      <uri>model://rwc2024/desk</uri>
+      <pose>1.3625 1.55 0 0 0 1.57079632679</pose>
+    </include>
+
+    <!-- hallway -->
+    <include>
+      <name>coat_hanger</name>
+      <uri>model://rwc2024/coat_hanger</uri>
+      <pose>1.85 0.8 0 0 0 0</pose>
+    </include>
+
+    <include>
+      <name>hallway_cabinet</name>
+      <uri>model://rwc2024/hallway_cabinet</uri>
+      <pose>0.2075 -1.6 0 0 0 0</pose>
+    </include>
+
+    <!-- living room -->
+    <include>
+      <name>lamp</name>
+      <uri>model://rwc2024/lamp</uri>
+      <pose>8.545 -2.5425 0 0 0 0</pose>
+    </include>
+
+    <include>
+      <name>coffee_table</name>
+      <uri>model://rwc2024/coffee_table</uri>
+      <pose>7.335 -1.0725 0 0 0 -0.523598775</pose>
+    </include>
+
+    <include>
+      <name>couch</name>
+      <uri>model://rwc2024/couch</uri>
+      <pose>8.535 -1.0925 0 0 0 -3.14</pose>
+    </include>
+
+    <include>
+      <name>tv_table</name>
+      <uri>model://rwc2024/tv_table</uri>
+      <pose>3.813 -1.623 0 0 0 0</pose>
+    </include>
+
+    <include>
+      <name>lounge_chair</name>
+      <uri>model://rwc2024/lounge_chair</uri>
+      <pose>7.335 -2.25 0 0 0 2.355</pose>
+    </include>
+
+    <!-- kitchen -->
+    <include>
+      <name>trashcan</name>
+      <uri>model://rwc2024/trashcan</uri>
+      <pose>3.75 1.3775 0 0 0 0.785398163</pose>
+    </include>
+
+    <include>
+      <name>dinner_table</name>
+      <uri>model://rwc2024/dinner_table</uri>
+      <pose>5.95 3.94 0 0 0 1.57079632679</pose>
+    </include>
+
+    <include>
+      <name>kitchen_counter</name>
+      <uri>model://rwc2024/kitchen_counter</uri>
+      <pose>8.496 5.0525 0 0 0 3.14159265359</pose>
+    </include>
+
+    <include>
+      <name>dishwasher</name>
+      <uri>model://rwc2024/dishwasher</uri>
+      <pose>8.5285 3.8565 0 0 0 3.14159265359</pose>
+    </include>
+
+    <include>
+      <name>kitchen_cabinet</name>
+      <uri>model://rwc2024/kitchen_cabinet</uri>
+      <pose>3.65 5.07 0 0 0 0</pose>
+    </include>
+
+    <!-- Light for Gazebo -->
+    <light type="directional" name="sun">
+        <cast_shadows>true</cast_shadows>
+        <pose>0 0 10 0 0 0</pose>
+        <diffuse>0.8 0.8 0.8 1</diffuse>
+        <specular>0.2 0.2 0.2 1</specular>
+        <direction>0.5 0.1 -0.9</direction>
+        <attenuation>
+            <range>1000</range>
+            <constant>0.9</constant>
+            <linear>0.01</linear>
+            <quadratic>0.001</quadratic>
+        </attenuation>
+    </light>
+
+    <!-- waypoints -->
+    <model name="initial_pose" type="waypoint">
+      <pose>0.0 0.0 0 0 0 0</pose>
+      <static>true</static>
+    </model>
+
+    <model name="initial_pose_receptionist" type="waypoint">
+      <pose>1.75 0.0 0 0 0 -3.14</pose>
+      <static>true</static>
+    </model>
+
+    <model name="initial_pose_stickler_for_the_rules" type="waypoint">
+      <pose>1.75 0.0 0 0 0 0</pose>
+      <static>true</static>
+    </model>
+
+    <model name="forbidden_room_waypoint" type="waypoint">
+      <pose>3 2.7 0 0 0 1.8</pose>
+      <static>true</static>
+    </model>
+
+    <model name="entrance" type="waypoint">
+      <pose>0.78 0.0 0 0 0 -3.14</pose>
+      <static>true</static>
+    </model>
+
+    <model name="receptionist_living_room" type="waypoint">
+      <pose>6 -1 0 0 0 0</pose>
+      <static>true</static>
+    </model>
+
+    <model name="instruction_pose_gpsr" type="waypoint">
+        <pose>4.25 0.5 0 0 0 -0.785</pose>
+        <static>true</static>
+    </model>
+
+    <model name="rips_point_1" type="waypoint">
+      <pose>4.25 0.25 0 0 0 0.78539816339</pose>
+      <static>true</static>
+    </model>
+    <model name="rips_point_2" type="waypoint">
+      <pose>4.5 0.0 0 0 0 0.78539816339</pose>
+      <static>true</static>
+    </model>
+    <model name="rips_point_3" type="waypoint">
+      <pose>4.0 -0.5 0 0 0 0.78539816339</pose>
+      <static>true</static>
+    </model>
+    <model name="exit_1_rips" type="waypoint">
+      <pose>3 6.75 0 0 0 1.57079632679</pose>
+      <static>true</static>
+    </model>
+    <model name="exit_2_rips" type="waypoint">
+      <pose>3 6.0 0 0 0 1.57079632679</pose>
+      <static>true</static>
+    </model>
+    <model name="exit_3_rips" type="waypoint">
+      <pose>3 5.25 0 0 0 1.57079632679</pose>
+      <static>true</static>
+    </model>
+    <model name="initial_pose_serve_breakfast" type="waypoint">
+      <pose>-0.75 0.0 0 0 0 0</pose>
+      <static>true</static>
+    </model>
+
+    <model name="test_pose_serve_breakfast" type="waypoint">
+      <pose>5 5.07 0 0 0 0</pose>
+      <static>true</static>
+    </model>
+
+    <physics type="ode">
+      <real_time_update_rate>333.0</real_time_update_rate>
+      <max_step_size>0.003</max_step_size>
+      <ode>
+        <solver>
+          <type>quick</type>
+          <iters>100</iters>
+        </solver>
+        <constraints>
+          <cfm>0.0001</cfm>
+        </constraints>
+      </ode>
+    </physics>
+  </world>
+</sdf>
diff --git a/models/rwc2024/shelf/model.config b/models/rwc2024/shelf/model.config
new file mode 100644
index 00000000..6380b139
--- /dev/null
+++ b/models/rwc2024/shelf/model.config
@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+  <name>rwc2024/shelf</name>
+  <version>1.0</version>
+  <sdf version="1.6">model.sdf</sdf>
+  <author>
+    <name>AMIGO</name>
+    <email>todo@todo.nl</email>
+  </author>
+  <description>rwc2024/shelf</description>
+</model>
diff --git a/models/rwc2024/shelf/model.sdf b/models/rwc2024/shelf/model.sdf
new file mode 100644
index 00000000..33703b68
--- /dev/null
+++ b/models/rwc2024/shelf/model.sdf
@@ -0,0 +1,202 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name="rwc2024/shelf">
+    <static>true</static>
+    <link name="1_link">
+      <collision name="1_col">
+        <geometry>
+          <box>
+            <size>0.27 0.6 0.015</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="1_vis">
+        <geometry>
+          <box>
+            <size>0.27 0.6 0.015</size>
+          </box>
+        </geometry>
+      </visual>
+      <pose>0.0 0.0 1.3925 0 0 0</pose>
+    </link>
+    <link name="2_link">
+      <collision name="2_col">
+        <geometry>
+          <box>
+            <size>0.025 0.025 1.385</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="2_vis">
+        <geometry>
+          <box>
+            <size>0.025 0.025 1.385</size>
+          </box>
+        </geometry>
+      </visual>
+      <pose>-0.1225 -0.2875 0.6925 0 0 0</pose>
+    </link>
+    <link name="3_link">
+      <collision name="3_col">
+        <geometry>
+          <box>
+            <size>0.025 0.025 1.385</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="3_vis">
+        <geometry>
+          <box>
+            <size>0.025 0.025 1.385</size>
+          </box>
+        </geometry>
+      </visual>
+      <pose>0.1225 -0.2875 0.6925 0 0 0</pose>
+    </link>
+    <link name="4_link">
+      <collision name="4_col">
+        <geometry>
+          <box>
+            <size>0.025 0.025 1.385</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="4_vis">
+        <geometry>
+          <box>
+            <size>0.025 0.025 1.385</size>
+          </box>
+        </geometry>
+      </visual>
+      <pose>-0.1225 0.2875 0.6925 0 0 0</pose>
+    </link>
+    <link name="5_link">
+      <collision name="5_col">
+        <geometry>
+          <box>
+            <size>0.025 0.025 1.385</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="5_vis">
+        <geometry>
+          <box>
+            <size>0.025 0.025 1.385</size>
+          </box>
+        </geometry>
+      </visual>
+      <pose>0.1225 0.2875 0.6925 0 0 0</pose>
+    </link>
+    <link name="shelf_1">
+      <collision name="shelf_1_col">
+        <geometry>
+          <box>
+            <size>0.27 0.6 0.015</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="shelf_1_vis">
+        <geometry>
+          <box>
+            <size>0.27 0.6 0.015</size>
+          </box>
+        </geometry>
+      </visual>
+      <pose>0.0 0.0 0.1025 0 0 0</pose>
+    </link>
+    <link name="shelf_2">
+      <collision name="shelf_2_col">
+        <geometry>
+          <box>
+            <size>0.27 0.6 0.015</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="shelf_2_vis">
+        <geometry>
+          <box>
+            <size>0.27 0.6 0.015</size>
+          </box>
+        </geometry>
+      </visual>
+      <pose>0.0 0.0 0.5325 0 0 0</pose>
+    </link>
+    <link name="shelf_3">
+      <collision name="shelf_3_col">
+        <geometry>
+          <box>
+            <size>0.27 0.6 0.015</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="shelf_3_vis">
+        <geometry>
+          <box>
+            <size>0.27 0.6 0.015</size>
+          </box>
+        </geometry>
+      </visual>
+      <pose>0.0 0.0 0.9625 0 0 0</pose>
+    </link>
+    <link name="shelf1">
+      <virtual_volume name="shelf1_vv">
+        <geometry>
+          <box>
+            <size>0.25 0.54 0.3</size>
+          </box>
+        </geometry>
+        <pose>0.0 0.0 0.28 0 0 0</pose>
+      </virtual_volume>
+    </link>
+    <link name="shelf2">
+      <virtual_volume name="shelf2_vv">
+        <geometry>
+          <box>
+            <size>0.25 0.54 0.3</size>
+          </box>
+        </geometry>
+        <pose>0.0 0.0 0.71 0 0 0</pose>
+      </virtual_volume>
+    </link>
+    <link name="shelf3">
+      <virtual_volume name="shelf3_vv">
+        <geometry>
+          <box>
+            <size>0.25 0.54 0.30</size>
+          </box>
+        </geometry>
+        <pose>0.0 0.0 1.14 0 0 0</pose>
+      </virtual_volume>
+    </link>
+    <link name="on_top_of">
+      <virtual_volume name="on_top_of_vv">
+        <geometry>
+          <box>
+            <size>0.25 0.54 0.25</size>
+          </box>
+        </geometry>
+        <pose>0.0 0.0 1.115 0 0 0</pose>
+      </virtual_volume>
+    </link>
+    <link name="shelf4">
+      <virtual_volume name="shelf4_vv">
+        <geometry>
+          <box>
+            <size>0.25 0.54 0.25</size>
+          </box>
+        </geometry>
+        <pose>0.0 0.0 1.545 0 0 0</pose>
+      </virtual_volume>
+    </link>
+    <link name="in_front_of">
+      <virtual_volume name="in_front_of_vv">
+        <geometry>
+          <box>
+            <size>0.2 0.4 0.01</size>
+          </box>
+        </geometry>
+        <pose>0.635 0.0 0.005 0 0 0</pose>
+      </virtual_volume>
+    </link>
+  </model>
+</sdf>
diff --git a/models/rwc2024/trashcan/model.config b/models/rwc2024/trashcan/model.config
new file mode 100644
index 00000000..87f76831
--- /dev/null
+++ b/models/rwc2024/trashcan/model.config
@@ -0,0 +1,12 @@
+<?xml version="1.0" ?>
+<model>
+  <name>rwc2024/trashcan</name>
+  <version>1.0</version>
+  <sdf version="1.6">model.sdf</sdf>
+  <author>
+    <name>AMIGO</name>
+    <email>todo@todo.nl</email>
+  </author>
+  <description>rwc2024/trashcan</description>
+</model>
+
diff --git a/models/rwc2024/trashcan/model.sdf b/models/rwc2024/trashcan/model.sdf
new file mode 100644
index 00000000..2791dec6
--- /dev/null
+++ b/models/rwc2024/trashcan/model.sdf
@@ -0,0 +1,50 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name="rwc2024/trashcan">
+    <static>true</static>
+    <link name="1_link">
+      <collision name="1_col">
+        <geometry>
+            <cylinder>
+                <radius>0.195</radius>
+                <length>0.7</length>
+            </cylinder>
+        </geometry>
+      </collision>
+      <visual name="1_vis">
+        <geometry>
+            <cylinder>
+                <radius>0.195</radius>
+                <length>0.7</length>
+            </cylinder>
+        </geometry>
+      </visual>
+      <pose>0.0 0.0 0.35 0 0 0</pose>
+    </link>
+    <link name="on_top_of">
+      <virtual_volume name="on_top_of_vv">
+        <geometry>
+          <cylinder>
+            <length>0.25</length>
+            <radius>0.19</radius>
+          </cylinder>
+        </geometry>
+      </virtual_volume>
+      <pose>0 0 0.825 0 0 0</pose>
+    </link>
+    <link name="in_front_of">
+      <virtual_volume name="in_front_of_vv">
+        <geometry>
+          <box>
+            <size>0.2 0.35 0.01</size>
+          </box>
+        </geometry>
+      </virtual_volume>
+      <pose>0.8 0. 0.005 0 0 0</pose>
+    </link>
+    <static>true</static>
+
+
+
+  </model>
+</sdf>
diff --git a/models/rwc2024/tv_table/model.config b/models/rwc2024/tv_table/model.config
new file mode 100644
index 00000000..9298a0ec
--- /dev/null
+++ b/models/rwc2024/tv_table/model.config
@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+  <name>rwc2024/tv_table</name>
+  <version>1.0</version>
+  <sdf version="1.6">model.sdf</sdf>
+  <author>
+    <name>AMIGO</name>
+    <email>todo@todo.nl</email>
+  </author>
+  <description>rwc2024/tv_table</description>
+</model>
diff --git a/models/rwc2024/tv_table/model.sdf b/models/rwc2024/tv_table/model.sdf
new file mode 100644
index 00000000..26e469bd
--- /dev/null
+++ b/models/rwc2024/tv_table/model.sdf
@@ -0,0 +1,111 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name="rwc2024/tv_table">
+    <static>true</static>
+    <link name="1_link">
+      <collision name="1_col">
+        <geometry>
+          <box>
+            <size>0.415 1.2 0.64</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="1_vis">
+        <geometry>
+          <box>
+            <size>0.415 1.2 0.64</size>
+          </box>
+        </geometry>
+      </visual>
+      <pose>0.0 0.0 0.42 0 0 0</pose>
+    </link>
+    <link name="2_link">
+      <collision name="2_col">
+        <geometry>
+          <box>
+            <size>0.045 0.045 0.1</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="2_vis">
+        <geometry>
+          <box>
+            <size>0.045 0.045 0.1</size>
+          </box>
+        </geometry>
+      </visual>
+      <pose>-0.16 -0.5775 0.05 0 0 0</pose>
+    </link>
+    <link name="3_link">
+      <collision name="3_col">
+        <geometry>
+          <box>
+            <size>0.045 0.045 0.1</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="3_vis">
+        <geometry>
+          <box>
+            <size>0.045 0.045 0.1</size>
+          </box>
+        </geometry>
+      </visual>
+      <pose>0.16 -0.5775 0.05 0 0 0</pose>
+    </link>
+    <link name="4_link">
+      <collision name="4_col">
+        <geometry>
+          <box>
+            <size>0.045 0.045 0.1</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="4_vis">
+        <geometry>
+          <box>
+            <size>0.045 0.045 0.1</size>
+          </box>
+        </geometry>
+      </visual>
+      <pose>-0.16 0.5775 0.05 0 0 0</pose>
+    </link>
+    <link name="5_link">
+      <collision name="5_col">
+        <geometry>
+          <box>
+            <size>0.045 0.045 0.1</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="5_vis">
+        <geometry>
+          <box>
+            <size>0.045 0.045 0.1</size>
+          </box>
+        </geometry>
+      </visual>
+      <pose>0.16 0.5775 0.05 0 0 0</pose>
+    </link>
+    <link name="on_top_of">
+      <virtual_volume name="on_top_of_vv">
+        <geometry>
+          <box>
+            <size>0.395 1.14 0.25</size>
+          </box>
+        </geometry>
+        <pose>0.0 0.0 0.885 0 0 0</pose>
+      </virtual_volume>
+    </link>
+    <link name="in_front_of">
+      <virtual_volume name="in_front_of_vv">
+        <geometry>
+          <box>
+            <size>0.2 1.0 0.01</size>
+          </box>
+        </geometry>
+        <pose>0.7075 0.0 0.005 0 0 0</pose>
+      </virtual_volume>
+    </link>
+  </model>
+</sdf>
diff --git a/models/rwc2024/walls/model.config b/models/rwc2024/walls/model.config
new file mode 100644
index 00000000..de65867b
--- /dev/null
+++ b/models/rwc2024/walls/model.config
@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+  <name>rwc2024/walls</name>
+  <version>1.0</version>
+  <sdf version="1.6">model.sdf</sdf>
+  <author>
+    <name>AMIGO</name>
+    <email>todo@todo.nl</email>
+  </author>
+  <description>rwc2024/walls</description>
+</model>
diff --git a/models/rwc2024/walls/model.sdf b/models/rwc2024/walls/model.sdf
new file mode 100644
index 00000000..a0943299
--- /dev/null
+++ b/models/rwc2024/walls/model.sdf
@@ -0,0 +1,23 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name="rwc2024/walls">
+    <static>true</static>
+    <link name="1_link">
+      <collision name="1_col">
+        <geometry>
+          <mesh>
+            <uri>model://rwc2024/walls/walls.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name="1_vis">
+        <geometry>
+          <mesh>
+            <uri>model://rwc2024/walls/walls.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <pose>0 0 0 0 0 0</pose>
+    </link>
+  </model>
+</sdf>
diff --git a/models/rwc2024/walls/walls.stl b/models/rwc2024/walls/walls.stl
new file mode 100644
index 00000000..64222295
Binary files /dev/null and b/models/rwc2024/walls/walls.stl differ
diff --git a/models/tue_library/model.sdf b/models/tue_library/model.sdf
index eba85c9f..5661c6ed 100644
--- a/models/tue_library/model.sdf
+++ b/models/tue_library/model.sdf
@@ -17,7 +17,7 @@
     <include>
       <pose>0 0 0 0 0 0</pose>
       <name>floor</name>
-      <uri>model://floor</uri>
+      <uri>model://ground_plane</uri>
     </include>
     <include>
       <pose>0 0 0 0 0 0</pose>
diff --git a/models/wonderland/model.sdf b/models/wonderland/model.sdf
index faec39cd..ad8b1250 100644
--- a/models/wonderland/model.sdf
+++ b/models/wonderland/model.sdf
@@ -22,7 +22,7 @@
     <include>
       <pose>0 0 0 0 0 0</pose>
       <name>floor</name>
-      <uri>model://floor</uri>
+      <uri>model://ground_plane</uri>
     </include>
     <include>
       <pose>10 9 0 0 0 1.57</pose>
diff --git a/models/world_model_illustration/model.sdf b/models/world_model_illustration/model.sdf
index 68d18718..ec39b26e 100644
--- a/models/world_model_illustration/model.sdf
+++ b/models/world_model_illustration/model.sdf
@@ -17,7 +17,7 @@
     <include>
       <pose>0 0 0 0 0 0</pose>
       <name>floor</name>
-      <uri>model://floor</uri>
+      <uri>model://ground_plane</uri>
     </include>
     <include>
       <pose>0.1 1.7 0 0 0 0</pose>