diff --git a/docker/aichallenge/aichallenge_ws/src/aichallenge_submit/dallara_interface/dallara_launch/dallara_description/mesh/dallara.dae b/docker/aichallenge/aichallenge_ws/src/aichallenge_submit/dallara_interface/dallara_launch/dallara_description/mesh/dallara.dae
index 9ecfe4c..3d082c3 100755
--- a/docker/aichallenge/aichallenge_ws/src/aichallenge_submit/dallara_interface/dallara_launch/dallara_description/mesh/dallara.dae
+++ b/docker/aichallenge/aichallenge_ws/src/aichallenge_submit/dallara_interface/dallara_launch/dallara_description/mesh/dallara.dae
@@ -10,72 +10,7 @@
     <unit name="meter" meter="1"/>
     <up_axis>Z_UP</up_axis>
   </asset>
-  <library_cameras>
-    <camera id="Camera-camera" name="Camera">
-      <optics>
-        <technique_common>
-          <perspective>
-            <xfov sid="xfov">39.59775</xfov>
-            <aspect_ratio>1.777778</aspect_ratio>
-            <znear sid="znear">0.1</znear>
-            <zfar sid="zfar">100</zfar>
-          </perspective>
-        </technique_common>
-      </optics>
-      <extra>
-        <technique profile="blender">
-          <shiftx sid="shiftx" type="float">0</shiftx>
-          <shifty sid="shifty" type="float">0</shifty>
-          <dof_distance sid="dof_distance" type="float">10</dof_distance>
-        </technique>
-      </extra>
-    </camera>
-  </library_cameras>
-  <library_lights>
-    <light id="Light-light" name="Light">
-      <technique_common>
-        <point>
-          <color sid="color">1000 1000 1000</color>
-          <constant_attenuation>1</constant_attenuation>
-          <linear_attenuation>0</linear_attenuation>
-          <quadratic_attenuation>0.00111109</quadratic_attenuation>
-        </point>
-      </technique_common>
-      <extra>
-        <technique profile="blender">
-          <type sid="type" type="int">0</type>
-          <flag sid="flag" type="int">0</flag>
-          <mode sid="mode" type="int">1</mode>
-          <gamma sid="blender_gamma" type="float">1</gamma>
-          <red sid="red" type="float">1</red>
-          <green sid="green" type="float">1</green>
-          <blue sid="blue" type="float">1</blue>
-          <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
-          <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
-          <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
-          <energy sid="blender_energy" type="float">1000</energy>
-          <dist sid="blender_dist" type="float">29.99998</dist>
-          <spotsize sid="spotsize" type="float">75</spotsize>
-          <spotblend sid="spotblend" type="float">0.15</spotblend>
-          <att1 sid="att1" type="float">0</att1>
-          <att2 sid="att2" type="float">1</att2>
-          <falloff_type sid="falloff_type" type="int">2</falloff_type>
-          <clipsta sid="clipsta" type="float">0.04999995</clipsta>
-          <clipend sid="clipend" type="float">30.002</clipend>
-          <bias sid="bias" type="float">1</bias>
-          <soft sid="soft" type="float">3</soft>
-          <bufsize sid="bufsize" type="int">2880</bufsize>
-          <samp sid="samp" type="int">3</samp>
-          <buffers sid="buffers" type="int">1</buffers>
-          <area_shape sid="area_shape" type="int">1</area_shape>
-          <area_size sid="area_size" type="float">0.1</area_size>
-          <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
-          <area_sizez sid="area_sizez" type="float">1</area_sizez>
-        </technique>
-      </extra>
-    </light>
-  </library_lights>
-  <library_effects>
+    <library_effects>
     <effect id="DallaraIndyLightsMetalSmooth-effect">
       <profile_COMMON>
         <technique sid="common">
@@ -96,36 +31,6 @@
         </technique>
       </profile_COMMON>
     </effect>
-    <effect id="DallaraIndyLightsCarbonFiber-effect">
-      <profile_COMMON>
-        <newparam sid="file3-surface">
-          <surface type="2D">
-            <init_from>file3</init_from>
-          </surface>
-        </newparam>
-        <newparam sid="file3-sampler">
-          <sampler2D>
-            <source>file3-surface</source>
-          </sampler2D>
-        </newparam>
-        <technique sid="common">
-          <lambert>
-            <emission>
-              <color sid="emission">0 0 0 1</color>
-            </emission>
-            <diffuse>
-              <texture texture="file3-sampler" texcoord="map1"/>
-            </diffuse>
-            <reflectivity>
-              <float sid="specular">0.5</float>
-            </reflectivity>
-            <index_of_refraction>
-              <float sid="ior">1.45</float>
-            </index_of_refraction>
-          </lambert>
-        </technique>
-      </profile_COMMON>
-    </effect>
     <effect id="DallaraIndyLightsPlasticRough-effect">
       <profile_COMMON>
         <technique sid="common">
@@ -166,80 +71,7 @@
         </technique>
       </profile_COMMON>
     </effect>
-    <effect id="DallaraIndyLightsCaliper-effect">
-      <profile_COMMON>
-        <newparam sid="Dallara_IL_15_2015_obj_caliper1F1-surface">
-          <surface type="2D">
-            <init_from>Dallara_IL_15_2015_obj_caliper1F1</init_from>
-          </surface>
-        </newparam>
-        <newparam sid="Dallara_IL_15_2015_obj_caliper1F1-sampler">
-          <sampler2D>
-            <source>Dallara_IL_15_2015_obj_caliper1F1-surface</source>
-          </sampler2D>
-        </newparam>
-        <technique sid="common">
-          <lambert>
-            <emission>
-              <color sid="emission">0 0 0 1</color>
-            </emission>
-            <diffuse>
-              <texture texture="Dallara_IL_15_2015_obj_caliper1F1-sampler" texcoord="map1"/>
-            </diffuse>
-            <reflectivity>
-              <float sid="specular">0.5</float>
-            </reflectivity>
-            <index_of_refraction>
-              <float sid="ior">1.45</float>
-            </index_of_refraction>
-          </lambert>
-        </technique>
-      </profile_COMMON>
-    </effect>
-    <effect id="DallaraIndyLightsMetalRough-effect">
-      <profile_COMMON>
-        <technique sid="common">
-          <lambert>
-            <emission>
-              <color sid="emission">0 0 0 1</color>
-            </emission>
-            <diffuse>
-              <color sid="diffuse">0.451 0.451 0.451 1</color>
-            </diffuse>
-            <reflectivity>
-              <float sid="specular">0.901345</float>
-            </reflectivity>
-            <index_of_refraction>
-              <float sid="ior">1.45</float>
-            </index_of_refraction>
-          </lambert>
-        </technique>
-      </profile_COMMON>
-    </effect>
-    <effect id="DallaraIndyLightsGlass-effect">
-      <profile_COMMON>
-        <technique sid="common">
-          <lambert>
-            <emission>
-              <color sid="emission">0 0 0 1</color>
-            </emission>
-            <diffuse>
-              <color sid="diffuse">0 0 0 1</color>
-            </diffuse>
-            <reflectivity>
-              <float sid="specular">1</float>
-            </reflectivity>
-            <transparent opaque="A_ONE">
-              <color sid="alpha">0 0 0 0.2296875</color>
-            </transparent>
-            <index_of_refraction>
-              <float sid="ior">1.45</float>
-            </index_of_refraction>
-          </lambert>
-        </technique>
-      </profile_COMMON>
-    </effect>
-    <effect id="DallaraIndyLightsPlasticSmooth-effect">
+     <effect id="DallaraIndyLightsPlasticSmooth-effect">
       <profile_COMMON>
         <technique sid="common">
           <lambert>
@@ -321,26 +153,16 @@
     </effect>
     <effect id="DallaraIndyLightsTire-effect">
       <profile_COMMON>
-        <newparam sid="Dallara_IL_15_2015_obj_tire_front1F1-surface">
-          <surface type="2D">
-            <init_from>Dallara_IL_15_2015_obj_tire_front1F1</init_from>
-          </surface>
-        </newparam>
-        <newparam sid="Dallara_IL_15_2015_obj_tire_front1F1-sampler">
-          <sampler2D>
-            <source>Dallara_IL_15_2015_obj_tire_front1F1-surface</source>
-          </sampler2D>
-        </newparam>
         <technique sid="common">
           <lambert>
             <emission>
               <color sid="emission">0 0 0 1</color>
             </emission>
             <diffuse>
-              <texture texture="Dallara_IL_15_2015_obj_tire_front1F1-sampler" texcoord="map1"/>
+              <color sid="diffuse">0.9 0.9 0.9 1</color>
             </diffuse>
             <reflectivity>
-              <float sid="specular">0.5</float>
+              <float sid="specular">0.9</float>
             </reflectivity>
             <index_of_refraction>
               <float sid="ior">1.45</float>
@@ -349,7 +171,7 @@
         </technique>
       </profile_COMMON>
     </effect>
-    <effect id="DallaraIndyLightsLightBrake-effect">
+     <effect id="DallaraIndyLightsLightBrake-effect">
       <profile_COMMON>
         <technique sid="common">
           <lambert>
@@ -369,7 +191,7 @@
         </technique>
       </profile_COMMON>
     </effect>
-  </library_effects>
+   </library_effects>
   <library_images/>
   <library_materials>
     <material id="DallaraIndyLightsMetalSmooth-material" name="DallaraIndyLightsMetalSmooth">
@@ -932,14 +754,6 @@
           </instance_geometry>
         </node>
       </node>
-      <node id="Camera" name="Camera" type="NODE">
-        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 0 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
-        <instance_camera url="#Camera-camera"/>
-      </node>
-      <node id="Light" name="Light" type="NODE">
-        <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
-        <instance_light url="#Light-light"/>
-      </node>
     </visual_scene>
   </library_visual_scenes>
   <scene>