diff --git a/Simulation/Lewis_Crawler/model.config b/Simulation/Lewis_Crawler/model.config
index 7e278dc..d54c738 100644
--- a/Simulation/Lewis_Crawler/model.config
+++ b/Simulation/Lewis_Crawler/model.config
@@ -1,6 +1,6 @@
-<?xml version="1.0" ?>
+<?xml version="1.0"?>
 <model>
-    <name>Lewis Crawler</name>
+    <name>Lewis_Crawler</name>
     <version>1.0</version>
     <sdf version="1.7">model.sdf</sdf>
     <author>
@@ -8,4 +8,4 @@
         <email>kenwood364@gmail.com</email>
     </author>
     <description></description>
-</model>
+</model>
\ No newline at end of file
diff --git a/Simulation/Lewis_Crawler/model.sdf b/Simulation/Lewis_Crawler/model.sdf
index afd1bbc..aca5640 100644
--- a/Simulation/Lewis_Crawler/model.sdf
+++ b/Simulation/Lewis_Crawler/model.sdf
@@ -1,26 +1,109 @@
 <?xml version='1.0'?>
-<sdf version='1.4'>
-  <model name="Lewis_Crawler">
-    <static>true</static>
+<sdf version='1.7'>
+  <model name='Lewis_Crawler'>
 
     <link name='chassis'>
-      <pose>0 0 .1 0 0 0</pose>
 
-      <collision name='collision'>
-        <geometry>
-          <box>
-            <size>.4 .2 .1</size>
-          </box>
-        </geometry>
-      </collision>
+      <pose>-0.1524 -0.1 0.0508 0 0 0</pose>
 
       <visual name='visual'>
+        <pose>0 0 0 0 0 0</pose>
+
         <geometry>
-          <box>
-            <size>.4 .2 .1</size>
-          </box>
+          <mesh>
+            <uri>/home/joe/git/lewis-crawler/Simulation/Meshes/LCFrame.dae</uri>
+            <scale>1 1 1</scale>
+          </mesh>
+        </geometry>
+
+        <material>
+          <lighting>1</lighting>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+          <shader type='pixel' />
+        </material>
+
+        <transparency>0</transparency>
+        <cast_shadows>1</cast_shadows>
+      </visual>
+
+      <collision name='collision'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose>0 0 0 0 -0 0</pose>
+
+        <geometry>
+          <mesh>
+            <uri>/home/joe/git/lewis-crawler/Simulation/Meshes/LCFrame.dae</uri>
+            <scale>1 1 1</scale>
+          </mesh>
+        </geometry>
+
+      </collision>
+
+    </link>
+
+    <link name="port_wheel">
+      <pose>0.1524 0 0.1016 0 1.5707 0</pose>
+      <collision name="collision">
+        <geometry>
+          <cylinder>
+            <radius>.1</radius>
+            <length>.05</length>
+          </cylinder>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <cylinder>
+            <radius>.1</radius>
+            <length>.05</length>
+          </cylinder>
         </geometry>
       </visual>
     </link>
+
+    <link name="starboard_wheel">
+      <pose>-0.1524 0 0.1016 0 1.5707 0</pose>
+      <collision name="collision">
+        <geometry>
+          <cylinder>
+            <radius>.1</radius>
+            <length>.05</length>
+          </cylinder>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <cylinder>
+            <radius>.1</radius>
+            <length>.05</length>
+          </cylinder>
+        </geometry>
+      </visual>
+    </link>
+
+    <joint type="port_wheel" name="port_wheel_axle">
+      <pose>0 0 -0.03 0 0 0</pose>
+      <child>left_wheel</child>
+      <parent>chassis</parent>
+      <axis>
+        <xyz>0 1 0</xyz>
+      </axis>
+    </joint>
+
+    <joint type="starboard_wheel" name="starboard_wheel_axle">
+      <pose>0 0 0.03 0 0 0</pose>
+      <child>right_wheel</child>
+      <parent>chassis</parent>
+      <axis>
+        <xyz>0 1 0</xyz>
+      </axis>
+    </joint>
+
+    <static>0</static>
+    <allow_auto_disable>1</allow_auto_disable>
   </model>
 </sdf>
\ No newline at end of file