diff --git a/src/description/models/terrain_world/meshes/terrain.dae b/src/description/models/terrain_world/meshes/terrain.dae
new file mode 100644
index 0000000..8f82565
--- /dev/null
+++ b/src/description/models/terrain_world/meshes/terrain.dae
@@ -0,0 +1,120 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 4.5.4 LTS commit date:2025-10-27, commit time:12:46, hash:b3efe983cc58</authoring_tool>
+    </contributor>
+    <created>2025-11-16T14:39:15</created>
+    <modified>2025-11-16T14:39:15</modified>
+    <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</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">2097153</mode>
+          <red sid="red" type="float">1</red>
+          <green sid="green" type="float">1</green>
+          <blue sid="blue" type="float">1</blue>
+          <energy sid="blender_energy" type="float">1000</energy>
+          <spotsize sid="spotsize" type="float">75</spotsize>
+          <spotblend sid="spotblend" type="float">0.15</spotblend>
+          <clipsta sid="clipsta" type="float">0.04999995</clipsta>
+          <clipend sid="clipend" type="float">40</clipend>
+          <radius sid="radius" type="float">0.1</radius>
+          <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_images/>
+  <library_geometries>
+    <geometry id="DEM_002-mesh" name="DEM.002">
+      <mesh>
+        <source id="DEM_002-mesh-positions">
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63458 21365 63458 21478 63459 21435 63459 21434 63459 21436 63460 21435 63460 21478 63460 21509 63461 21303 63461 21437 63461 21626 63462 21542 63462 21371 63462 21625 63463 21291 63463 21369 63463 21632 63464 21477 63464 21631 63464 239 63465 240 63465 57 63465 21633 63466 21555 63466 21632 63466 21532 63467 21920 63467 21414 63467 21397 63468 21568 63468 21956 63468 21529 63469 21574 63469 21787 63469 21766 63470 21723 63470 21681 63470 21855 63471 21728 63471 21642 63471 21848 63472 21682 63472 21681 63472 21807 63473 21716 63473 21763 63473 21808 63474 21890 63474 21676 63474 21867 63475 21788 63475 21739 63475 21889 63476 21758 63476 21842 63476 22016 63477 21981 63477 21808 63477 22023 63478 21944 63478 21848 63478 22051 63479 22009 63479 21799 63479 22012 63480 21979 63480 21978 63480 22075 63481 22152 63481 21960 63481 22141 63482 21978 63482 21977 63482 22057 63483 21844 63483 21980 63483 22079 63484 22155 63484 21996 63484 22209 63485 22124 63485 22085 63485 22179 63486 22230 63486 22096 63486 22115 63487 22114 63487 22252 63487 22282 63488 22283 63488 22180 63488 22188 63489 22380 63489 22236 63489 22395 63490 22435 63490 22251 63490 22310 63491 22160 63491 22262 63491 22310 63492 22311 63492 22263 63492 22312 63493 22210 63493 22263 63493 22322 63494 22231 63494 22230 63494 22325 63495 22182 63495 22145 63495 22349 63496 22121 63496 22259 63496 22351 63497 22122 63497 22260 63497 22353 63498 22208 63498 22261 63498 22329 63499 22286 63499 22468 63499 22471 63500 22380 63500 22188 63500 22403 63501 22157 63501 22347 63501 22429 63502 22381 63502 22330 63502 22490 63503 22345 63503 22344 63503 22443 63504 22310 63504 22353 63504 22416 63505 22591 63505 22457 63505 22562 63506 22423 63506 22422 63506 22518 63507 22378 63507 22469 63507 22573 63508 22396 63508 22526 63508 22349 63509 22348 63509 22537 63509 22541 63510 22405 63510 22443 63510 22484 63511 22483 63511 22665 63511 22756 63512 22488 63512 22401 63512 22544 63513 22264 63513 22445 63513 22654 63514 22512 63514 22424 63514 22680 63515 22586 63515 22636 63515 22764 63516 22585 63516 22584 63516 22716 63517 22665 63517 22715 63517 22633 63518 22540 63518 22854 63518 22778 63519 22698 63519 22601 63519 22953 63520 22747 63520 22746 63520 22966 63521 23131 63521 22760 63521 22956 63522 22711 63522 22840 63522 23041 63523 22919 63523 22879 63523 23065 63524 23066 63524 22943 63524 23199 63525 23236 63525 22955 63525 23080 63526 23081 63526 22964 63526 23170 63527 22850 63527 23169 63527 23023 63528 23022 63528 23063 63528 23333 63529 23016 63529 23095 63529 23249 63530 23316 63530 23440 63530 23377 63531 23282 63531 23260 63531 23418 63532 23287 63532 23342 63532 23428 63533 23394 63533 23241 63533 23458 63534 23459 63534 23288 63534 23396 63535 23206 63535 23473 63535 23544 63536 23706 63536 23426 63536 23621 63537 23481 63537 23442 63537 23765 63538 23606 63538 23497 63538 23674 63539 23508 63539 23546 63539 23855 63540 23590 63540 23649 63540 23788 63541 23649 63541 23787 63541 23721 63542 23749 63542 23826 63542 23792 63543 23683 63543 23721 63543 23938 63544 23842 63544 23771 63544 23755 63545 23830 63545 23893 63545 23866 63546 23766 63546 23740 63546 23924 63547 23925 63547 23796 63547 24056 63548 23791 63548 23989 63548 23907 63549 23867 63549 24008 63549 23977 63550 23877 63550 23817 63550 24055 63551 23887 63551 23825 63551 24134 63552 24033 63552 23861 63552 24075 63553 24008 63553 23906 63553 24019 63554 23921 63554 23718 63554 24026 63555 23990 63555 23923 63555 24243 63556 23950 63556 23981 63556 24077 63557 24076 63557 24271 63557 24219 63558 24185 63558 24096 63558 24268 63559 24300 63559 24167 63559 24089 63560 24051 63560 24313 63560 24396 63561 24367 63561 24295 63561 24456 63562 24240 63562 24306 63562 24409 63563 24308 63563 24408 63563 24507 63564 24367 63564 24396 63564 24522 63565 24380 63565 24410 63565 24281 63566 24313 63566 24692 63566 24431 63567 24519 63567 24617 63567 24557 63568 24522 63568 24590 63568 24771 63569 24807 63569 24718 63569 24758 63570 24734 63570 24733 63570 24819 63571 24668 63571 24634 63571 24760 63572 24670 63572 24954 63572 24761 63573 24705 63573 24786 63573 24894 63574 24818 63574 24703 63574 24906 63575 24716 63575 25037 63575 24963 63576 25074 63576 24983 63576 25135 63577 25155 63577 24948 63577 25196 63578 25043 63578 25005 63578 24992 63579 25112 63579 25264 63579 25253 63580 25194 63580 25069 63580 25154 63581 25133 63581 25260 63581 24995 63582 25023 63582 25296 63582 25354 63583 25260 63583 25317 63583 25332 63584 25333 63584 25244 63584 25364 63585 25269 63585 25246 63585 25401 63586 25449 63586 25236 63586 25572 63587 25394 63587 25489 63587 25430 63588 25409 63588 25554 63588 25694 63589 25605 63589 25557 63589 25703 63590 25523 63590 25660 63590 25923 63591 25813 63591 25812 63591 25928 63592 25883 63592 25715 63592 25838 63593 25925 63593 25815 63593 25854 63594 25855 63594 25786 63594 25881 63595 25738 63595 25864 63595 25998 63596 25974 63596 25938 63596 26106 63597 25918 63597 25952 63597 26070 63598 26069 63598 26110 63598 26225 63599 26169 63599 26056 63599 26201 63600 26129 63600 26200 63600 26258 63601 26109 63601 26205 63601 26381 63602 26336 63602 26144 63602 26552 63603 26240 63603 26326 63603 26510 63604 26539 63604 26391 63604 26642 63605 26615 63605 26559 63605 26682 63606 26641 63606 26492 63606 26648 63607 26579 63607 26710 63607 26695 63608 26848 63608 26755 63608 26711 63609 26771 63609 26961 63609 27008 63610 26927 63610 26885 63610 27137 63611 27032 63611 27005 63611 27159 63612 27033 63612 27069 63612 27248 63613 27169 63613 27126 63613 27324 63614 27113 63614 27305 63614 27395 63615 27297 63615 27339 63615 27464 63616 27560 63616 27444 63616 27392 63617 27276 63617 27532 63617 27637 63618 27526 63618 27733 63618 27710 63619 27685 63619 27827 63619 27848 63620 27728 63620 27657 63620 27731 63621 27888 63621 27889 63621 27991 63622 27919 63622 27831 63622 28105 63623 28051 63623 28003 63623 28025 63624 27948 63624 28243 63624 28144 63625 28273 63625 28083 63625 28217 63626 28239 63626 28199 63626 28217 63627 28198 63627 28307 63627 28526 63628 28471 63628 28422 63628 28508 63629 28382 63629 28404 63629 28393 63630 28494 63630 28546 63630 28498 63631 28497 63631 28649 63631 28470 63632 28421 63632 28727 63632 28795 63633 28695 63633 28794 63633 28921 63634 28758 63634 28873 63634 28922 63635 28762 63635 28761 63635 28871 63636 28851 63636 28950 63636 28984 63637 28771 63637 28801 63637 28883 63638 28908 63638 29020 63638 29092 63639 28866 63639 28966 63639 29265 63640 29212 63640 29192 63640 29194 63641 29163 63641 29335 63641 29488 63642 29435 63642 29289 63642 29587 63643 29462 63643 29441 63643 29511 63644 29386 63644 29431 63644 29475 63645 29553 63645 29623 63645 29838 63646 29790 63646 29791 63646 29574 63647 29500 63647 29820 63647 29834 63648 29895 63648 29763 63648 29854 63649 29853 63649 29831 63649 29918 63650 29760 63650 29891 63650 30066 63651 29859 63651 29873 63651 30071 63652 29992 63652 29950 63652 30202 63653 30076 63653 30075 63653 30641 63654 30489 63654 30576 63654 30852 63655 30853 63655 30649 63655 30733 63656 30732 63656 30671 63656 30963 63657 30851 63657 30795 63657 30949 63658 30950 63658 30861 63658 30931 63659 30864 63659 30908 63659 31071 63660 31043 63660 30954 63660 31192 63661 31002 63661 31035 63661 31175 63662 31088 63662 31112 63662 31147 63663 31114 63663 31318 63663 31144 63664 31111 63664 31282 63664 31227 63665 31366 63665 31148 63665 31149 63666 31228 63666 31367 63666 31261 63667 31262 63667 31233 63667 31395 63668 31426 63668 31343 63668 31382 63669 31273 63669 31438 63669 31507 63670 31395 63670 31425 63670 31895 63671 31896 63671 31800 63671 31852 63672 31853 63672 31755 63672 31939 63673 31708 63673 31785 63673 31827 63674 31889 63674 31791 63674 31792 63675 31791 63675 31919 63675 31969 63676 31921 63676 31829 63676 31931 63677 31872 63677 31871 63677 32051 63678 31933 63678 31958 63678</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="north_site800m" name="north_site800m" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 -1400 0 0 0 1</matrix>
+        <instance_geometry url="#DEM_002-mesh" name="north_site800m"/>
+      </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>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/src/description/models/terrain_world/model.config b/src/description/models/terrain_world/model.config
new file mode 100644
index 0000000..42841bd
--- /dev/null
+++ b/src/description/models/terrain_world/model.config
@@ -0,0 +1,10 @@
+<?xml version="1.0"?>
+<model>
+  <name>terrain_world</name>
+  <version>1.0</version>
+  <sdf version="1.7">model.sdf</sdf>
+  <author>
+    <name>Rishav Nair</name>
+  </author>
+  <description>Terrain imported from Blender (.glb)</description>
+</model>
\ No newline at end of file
diff --git a/src/description/models/terrain_world/model.sdf b/src/description/models/terrain_world/model.sdf
new file mode 100644
index 0000000..3312471
--- /dev/null
+++ b/src/description/models/terrain_world/model.sdf
@@ -0,0 +1,34 @@
+<?xml version="1.0"?>
+<sdf version="1.7">
+  <model name="terrain_world">
+    <static>true</static>
+    <link name="terrain_world_link">
+      <visual name="terrain_world_visual">
+        <geometry>
+          <mesh>
+            <uri>model://terrain_world/meshes/terrain.dae</uri>
+          </mesh>
+        </geometry>
+        <!-- <material>
+          <script>
+            <uri>model://terrain/meshes/scripts</uri>
+            <name>RepeatedSand/Diffuse</name>
+          </script> 
+        </material> -->
+        <material>
+          <ambient>0.85 0.76 0.52 1</ambient>
+          <diffuse>0.85 0.76 0.52 1</diffuse>
+          <specular>0.0 0.0 0.0 1</specular>
+        </material>
+        
+      </visual>
+      <collision name="terrain_world_collision">
+        <geometry>
+          <mesh>
+            <uri>model://terrain_world/meshes/terrain.dae</uri>
+          </mesh>
+        </geometry>
+      </collision>
+    </link>
+  </model>
+</sdf>
\ No newline at end of file
diff --git a/src/description/urdf/athena_drive.urdf.xacro b/src/description/urdf/athena_drive.urdf.xacro
index a58ef05..dbce67b 100644
--- a/src/description/urdf/athena_drive.urdf.xacro
+++ b/src/description/urdf/athena_drive.urdf.xacro
@@ -52,4 +52,4 @@
   </xacro:unless>
 
   
-</robot>
+</robot>
\ No newline at end of file
diff --git a/src/description/urdf/athena_drive_description.urdf.xacro b/src/description/urdf/athena_drive_description.urdf.xacro
index 1069ebd..8049c9c 100644
--- a/src/description/urdf/athena_drive_description.urdf.xacro
+++ b/src/description/urdf/athena_drive_description.urdf.xacro
@@ -116,7 +116,7 @@
             <parent link="swerve_mount_1_link" />
             <child link="steer_1_link" />
             <axis xyz="0 1 0" />
-            <limit lower="0" upper="6.2832" effort="200" velocity="3" />
+            <limit lower="-3.1416" upper="3.1416" effort="200" velocity="3" />
         </joint>
 
         <link name="wheel_bracket_1_link">
@@ -237,7 +237,7 @@
             <parent link="swerve_mount_4_link" />
             <child link="steer_4_link" />
             <axis xyz="0 1 0" />
-            <limit lower="0" upper="6.2832" effort="200" velocity="3" />
+            <limit lower="-3.1416" upper="3.1416" effort="200" velocity="3" />
         </joint>
 
         <link name="wheel_bracket_4_link">
@@ -389,7 +389,7 @@
             <parent link="swerve_mount_2_link" />
             <child link="steer_2_link" />
             <axis xyz="0 1 0" />
-            <limit lower="0" upper="6.2832" effort="200" velocity="3" />
+            <limit lower="-3.1416" upper="3.1416" effort="200" velocity="3" />
         </joint>
 
         <link name="wheel_bracket_2_link">
@@ -510,7 +510,7 @@
             <parent link="swerve_mount_3_link" />
             <child link="steer_3_link" />
             <axis xyz="0 1 0" />
-            <limit lower="0" upper="6.28318530718" effort="200" velocity="3" />
+            <limit lower="-3.1416" upper="3.1416" effort="200" velocity="3" />
         </joint>
 
         <link name="wheel_bracket_3_link">
diff --git a/src/description/worlds/terrain_world.sdf b/src/description/worlds/terrain_world.sdf
new file mode 100644
index 0000000..2e28087
--- /dev/null
+++ b/src/description/worlds/terrain_world.sdf
@@ -0,0 +1,32 @@
+<?xml version="1.0" ?>
+<sdf version="1.7">
+  <world name="default">
+    <spherical_coordinates>
+      <surface_model>EARTH_WGS84</surface_model>
+      <world_frame_orientation>ENU</world_frame_orientation>
+
+      <latitude_deg>38.42391162772634</latitude_deg>
+      <longitude_deg>-110.78490558433397</longitude_deg>
+
+      <elevation>0.0</elevation>
+
+      <heading_deg>0.0</heading_deg>
+    </spherical_coordinates>
+    <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>
+      <attenuation>
+          <range>1000</range>
+          <constant>0.9</constant>
+          <linear>0.01</linear>
+          <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>-0.5 0.1 -0.9</direction>
+    </light>
+    <include>
+      <uri>model://terrain_world</uri>
+    </include>
+  </world>
+</sdf>
\ No newline at end of file
diff --git a/src/simulation/launch/bringup.launch.py b/src/simulation/launch/bringup.launch.py
index 5aecec4..b6fd24e 100644
--- a/src/simulation/launch/bringup.launch.py
+++ b/src/simulation/launch/bringup.launch.py
@@ -27,6 +27,11 @@
         default_value='empty.sdf',
         description='Gazebo world file to load'
     ),
+    DeclareLaunchArgument(
+        'world_name',
+        default_value='default',  
+        description='Name of the world inside Gazebo'
+    ),
 ]
 
 def generate_launch_description():
@@ -54,7 +59,8 @@ def generate_launch_description():
         launch_arguments=[
             ('namespace', LaunchConfiguration('namespace')),
             ('rviz', LaunchConfiguration('rviz')),
-            ('use_sim_time', LaunchConfiguration('use_sim_time'))
+            ('use_sim_time', LaunchConfiguration('use_sim_time')),
+            ('world_name', LaunchConfiguration('world_name'))
         ]
     )