diff --git a/model.sdf b/model.sdf
new file mode 100755
index 0000000..ff643e2
--- /dev/null
+++ b/model.sdf
@@ -0,0 +1,62 @@
+<?xml version="1.0" ?>
+<sdf version='1.6'>
+  <model name='Brick'>
+    <link name='Brick'>
+      <pose frame=''>0 0 0 0 -0 0</pose>
+      <inertial>
+        <pose frame=''> 0 0 0.0 -0 0</pose>
+        <mass>0.1</mass>
+        <inertia>
+          <ixx>0.0017</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0017</iyy>
+          <iyz>0</iyz>
+          <izz>0</izz>
+        </inertia>
+      </inertial>
+      <collision name='Brick_collision'>
+        <pose frame=''>0 0 0 1.5708 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.192 0.062 0.086</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>100</mu>
+              <mu2>50</mu2>
+              <fdir1>0 0 1</fdir1>
+              <slip1>0.0</slip1>
+              <slip2>0.0</slip2>
+            </ode>
+          </friction>
+          <contact>
+            <ode>
+              <kp>100000.000000</kp>
+              <kd>10.00000</kd>
+              <max_vel>2.000000</max_vel>
+              <min_depth>0.0001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+      <visual name='Brick_visual'>
+        <pose frame=''>0 0 0 1.5708 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://Brick/meshes/Brick_1.STL</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>0.698 0.25 0.25 1</ambient>
+          <diffuse>0.698 0.25 0.25 1</diffuse>
+          <specular>0.1 0.1 0.1 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+    </link>
+  </model>
+</sdf>