diff --git a/ionic_demo/models/breakfast_menu_convex_hull/materials/textures/breakfast_menu_diffuse.png b/ionic_demo/models/breakfast_menu_convex_hull/materials/textures/breakfast_menu_diffuse.png
new file mode 100644
index 0000000..6763247
Binary files /dev/null and b/ionic_demo/models/breakfast_menu_convex_hull/materials/textures/breakfast_menu_diffuse.png differ
diff --git a/ionic_demo/models/breakfast_menu_convex_hull/meshes/model.mtl b/ionic_demo/models/breakfast_menu_convex_hull/meshes/model.mtl
new file mode 100644
index 0000000..abc59b8
--- /dev/null
+++ b/ionic_demo/models/breakfast_menu_convex_hull/meshes/model.mtl
@@ -0,0 +1,12 @@
+# Copyright 2020 Google LLC.
+#
+# This work is licensed under the Creative Commons Attribution 4.0
+# International License. To view a copy of this license, visit
+# http://creativecommons.org/licenses/by/4.0/ or send a letter
+# to Creative Commons, PO Box 1866, Mountain View, CA 94042, USA.
+newmtl material_0
+# shader_type beckmann
+map_Kd ../materials/textures/breakfast_menu_diffuse.png
+
+# Kd: Diffuse reflectivity.
+Kd 1.000000 1.000000 1.000000
diff --git a/ionic_demo/models/breakfast_menu_convex_hull/meshes/model.obj b/ionic_demo/models/breakfast_menu_convex_hull/meshes/model.obj
new file mode 100644
index 0000000..b9645c1
--- /dev/null
+++ b/ionic_demo/models/breakfast_menu_convex_hull/meshes/model.obj
@@ -0,0 +1,30315 @@
+# Copyright 2020 Google LLC.
+#
+# This work is licensed under the Creative Commons Attribution 4.0
+# International License. To view a copy of this license, visit
+# http://creativecommons.org/licenses/by/4.0/ or send a letter
+# to Creative Commons, PO Box 1866, Mountain View, CA 94042, USA.
+# Generated by Katamari OBJ encoder.
+# Vertices: 5834
+# Faces: 11676
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diff --git a/ionic_demo/models/breakfast_menu_convex_hull/model.config b/ionic_demo/models/breakfast_menu_convex_hull/model.config
new file mode 100644
index 0000000..3d74e2d
--- /dev/null
+++ b/ionic_demo/models/breakfast_menu_convex_hull/model.config
@@ -0,0 +1,23 @@
+
+
+ Breakfast Menu Convex Hull
+
+ Google
+ scanned-objects@google.com
+
+
+ Ian Chen
+ ichen@openrobotics.org
+
+ 1.0
+ model.sdf
+ Breakfast menu- modified from the original breakfast menu model to feature mesh convex hull.
+The set includes 2 slices of bread, a bun, sausage, bacon, cheese, fried egg, boiled egg, salt and pepper that are served on a tray.
+
diff --git a/ionic_demo/models/breakfast_menu_convex_hull/model.sdf b/ionic_demo/models/breakfast_menu_convex_hull/model.sdf
new file mode 100644
index 0000000..e6f72b6
--- /dev/null
+++ b/ionic_demo/models/breakfast_menu_convex_hull/model.sdf
@@ -0,0 +1,29 @@
+
+
+
+
+
+
+
+
+ meshes/model.obj
+
+
+
+
+
+
+ meshes/model.obj
+
+
+
+
+
+
diff --git a/ionic_demo/models/breakfast_menu_convex_hull/thumbnails/0.jpg b/ionic_demo/models/breakfast_menu_convex_hull/thumbnails/0.jpg
new file mode 100644
index 0000000..963c983
Binary files /dev/null and b/ionic_demo/models/breakfast_menu_convex_hull/thumbnails/0.jpg differ
diff --git a/ionic_demo/models/breakfast_menu_convex_hull/thumbnails/1.jpg b/ionic_demo/models/breakfast_menu_convex_hull/thumbnails/1.jpg
new file mode 100644
index 0000000..b659951
Binary files /dev/null and b/ionic_demo/models/breakfast_menu_convex_hull/thumbnails/1.jpg differ
diff --git a/ionic_demo/models/breakfast_menu_convex_hull/thumbnails/2.jpg b/ionic_demo/models/breakfast_menu_convex_hull/thumbnails/2.jpg
new file mode 100644
index 0000000..dbb582d
Binary files /dev/null and b/ionic_demo/models/breakfast_menu_convex_hull/thumbnails/2.jpg differ
diff --git a/ionic_demo/models/breakfast_menu_convex_hull/thumbnails/3.jpg b/ionic_demo/models/breakfast_menu_convex_hull/thumbnails/3.jpg
new file mode 100644
index 0000000..3552df3
Binary files /dev/null and b/ionic_demo/models/breakfast_menu_convex_hull/thumbnails/3.jpg differ
diff --git a/ionic_demo/models/breakfast_menu_convex_hull/thumbnails/4.jpg b/ionic_demo/models/breakfast_menu_convex_hull/thumbnails/4.jpg
new file mode 100644
index 0000000..935bea2
Binary files /dev/null and b/ionic_demo/models/breakfast_menu_convex_hull/thumbnails/4.jpg differ
diff --git a/ionic_demo/models/breakfast_menu_decomposed/materials/textures/breakfast_menu_diffuse.png b/ionic_demo/models/breakfast_menu_decomposed/materials/textures/breakfast_menu_diffuse.png
new file mode 100644
index 0000000..6763247
Binary files /dev/null and b/ionic_demo/models/breakfast_menu_decomposed/materials/textures/breakfast_menu_diffuse.png differ
diff --git a/ionic_demo/models/breakfast_menu_decomposed/meshes/model.mtl b/ionic_demo/models/breakfast_menu_decomposed/meshes/model.mtl
new file mode 100644
index 0000000..abc59b8
--- /dev/null
+++ b/ionic_demo/models/breakfast_menu_decomposed/meshes/model.mtl
@@ -0,0 +1,12 @@
+# Copyright 2020 Google LLC.
+#
+# This work is licensed under the Creative Commons Attribution 4.0
+# International License. To view a copy of this license, visit
+# http://creativecommons.org/licenses/by/4.0/ or send a letter
+# to Creative Commons, PO Box 1866, Mountain View, CA 94042, USA.
+newmtl material_0
+# shader_type beckmann
+map_Kd ../materials/textures/breakfast_menu_diffuse.png
+
+# Kd: Diffuse reflectivity.
+Kd 1.000000 1.000000 1.000000
diff --git a/ionic_demo/models/breakfast_menu_decomposed/meshes/model.obj b/ionic_demo/models/breakfast_menu_decomposed/meshes/model.obj
new file mode 100644
index 0000000..b9645c1
--- /dev/null
+++ b/ionic_demo/models/breakfast_menu_decomposed/meshes/model.obj
@@ -0,0 +1,30315 @@
+# Copyright 2020 Google LLC.
+#
+# This work is licensed under the Creative Commons Attribution 4.0
+# International License. To view a copy of this license, visit
+# http://creativecommons.org/licenses/by/4.0/ or send a letter
+# to Creative Commons, PO Box 1866, Mountain View, CA 94042, USA.
+# Generated by Katamari OBJ encoder.
+# Vertices: 5834
+# Faces: 11676
+mtllib model.mtl
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diff --git a/ionic_demo/models/breakfast_menu_decomposed/model.config b/ionic_demo/models/breakfast_menu_decomposed/model.config
new file mode 100644
index 0000000..b14cf12
--- /dev/null
+++ b/ionic_demo/models/breakfast_menu_decomposed/model.config
@@ -0,0 +1,23 @@
+
+
+ Breakfast Menu Decomposed
+
+ Google
+ scanned-objects@google.com
+
+
+ Ian Chen
+ ichen@openrobotics.org
+
+ 1.0
+ model.sdf
+ Breakfast Menu - modified from the original breakfast menu model to feature mesh convex decomposition.
+The set includes 2 slices of bread, a bun, sausage, bacon, cheese, fried egg, boiled egg, salt and pepper that are served on a tray.
+
diff --git a/ionic_demo/models/breakfast_menu_decomposed/model.sdf b/ionic_demo/models/breakfast_menu_decomposed/model.sdf
new file mode 100644
index 0000000..faf7e85
--- /dev/null
+++ b/ionic_demo/models/breakfast_menu_decomposed/model.sdf
@@ -0,0 +1,33 @@
+
+
+
+
+
+
+
+
+ meshes/model.obj
+
+
+
+
+
+
+
+ 32
+ 800000
+
+ meshes/model.obj
+
+
+
+
+
+
diff --git a/ionic_demo/models/breakfast_menu_decomposed/thumbnails/0.jpg b/ionic_demo/models/breakfast_menu_decomposed/thumbnails/0.jpg
new file mode 100644
index 0000000..963c983
Binary files /dev/null and b/ionic_demo/models/breakfast_menu_decomposed/thumbnails/0.jpg differ
diff --git a/ionic_demo/models/breakfast_menu_decomposed/thumbnails/1.jpg b/ionic_demo/models/breakfast_menu_decomposed/thumbnails/1.jpg
new file mode 100644
index 0000000..b659951
Binary files /dev/null and b/ionic_demo/models/breakfast_menu_decomposed/thumbnails/1.jpg differ
diff --git a/ionic_demo/models/breakfast_menu_decomposed/thumbnails/2.jpg b/ionic_demo/models/breakfast_menu_decomposed/thumbnails/2.jpg
new file mode 100644
index 0000000..dbb582d
Binary files /dev/null and b/ionic_demo/models/breakfast_menu_decomposed/thumbnails/2.jpg differ
diff --git a/ionic_demo/models/breakfast_menu_decomposed/thumbnails/3.jpg b/ionic_demo/models/breakfast_menu_decomposed/thumbnails/3.jpg
new file mode 100644
index 0000000..3552df3
Binary files /dev/null and b/ionic_demo/models/breakfast_menu_decomposed/thumbnails/3.jpg differ
diff --git a/ionic_demo/models/breakfast_menu_decomposed/thumbnails/4.jpg b/ionic_demo/models/breakfast_menu_decomposed/thumbnails/4.jpg
new file mode 100644
index 0000000..935bea2
Binary files /dev/null and b/ionic_demo/models/breakfast_menu_decomposed/thumbnails/4.jpg differ
diff --git a/ionic_demo/models/breakfast_menu_original/materials/textures/breakfast_menu_diffuse.png b/ionic_demo/models/breakfast_menu_original/materials/textures/breakfast_menu_diffuse.png
new file mode 100644
index 0000000..6763247
Binary files /dev/null and b/ionic_demo/models/breakfast_menu_original/materials/textures/breakfast_menu_diffuse.png differ
diff --git a/ionic_demo/models/breakfast_menu_original/meshes/model.mtl b/ionic_demo/models/breakfast_menu_original/meshes/model.mtl
new file mode 100644
index 0000000..abc59b8
--- /dev/null
+++ b/ionic_demo/models/breakfast_menu_original/meshes/model.mtl
@@ -0,0 +1,12 @@
+# Copyright 2020 Google LLC.
+#
+# This work is licensed under the Creative Commons Attribution 4.0
+# International License. To view a copy of this license, visit
+# http://creativecommons.org/licenses/by/4.0/ or send a letter
+# to Creative Commons, PO Box 1866, Mountain View, CA 94042, USA.
+newmtl material_0
+# shader_type beckmann
+map_Kd ../materials/textures/breakfast_menu_diffuse.png
+
+# Kd: Diffuse reflectivity.
+Kd 1.000000 1.000000 1.000000
diff --git a/ionic_demo/models/breakfast_menu_original/meshes/model.obj b/ionic_demo/models/breakfast_menu_original/meshes/model.obj
new file mode 100644
index 0000000..b9645c1
--- /dev/null
+++ b/ionic_demo/models/breakfast_menu_original/meshes/model.obj
@@ -0,0 +1,30315 @@
+# Copyright 2020 Google LLC.
+#
+# This work is licensed under the Creative Commons Attribution 4.0
+# International License. To view a copy of this license, visit
+# http://creativecommons.org/licenses/by/4.0/ or send a letter
+# to Creative Commons, PO Box 1866, Mountain View, CA 94042, USA.
+# Generated by Katamari OBJ encoder.
+# Vertices: 5834
+# Faces: 11676
+mtllib model.mtl
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diff --git a/ionic_demo/models/breakfast_menu_original/model.config b/ionic_demo/models/breakfast_menu_original/model.config
new file mode 100644
index 0000000..67a4d43
--- /dev/null
+++ b/ionic_demo/models/breakfast_menu_original/model.config
@@ -0,0 +1,23 @@
+
+
+ Breakfast Menu Original
+
+ Google
+ scanned-objects@google.com
+
+
+ Ian Chen
+ ichen@openrobotics.org
+
+ 1.0
+ model.sdf
+ Breakfast menu- copied from original breakfast menu model for Gazebo Ionic demo.
+The set includes 2 slices of bread, a bun, sausage, bacon, cheese, fried egg, boiled egg, salt and pepper that are served on a tray.
+
diff --git a/ionic_demo/models/breakfast_menu_original/model.sdf b/ionic_demo/models/breakfast_menu_original/model.sdf
new file mode 100644
index 0000000..bf255ee
--- /dev/null
+++ b/ionic_demo/models/breakfast_menu_original/model.sdf
@@ -0,0 +1,29 @@
+
+
+
+
+
+
+
+
+ meshes/model.obj
+
+
+
+
+
+
+ meshes/model.obj
+
+
+
+
+
+
diff --git a/ionic_demo/models/breakfast_menu_original/thumbnails/0.jpg b/ionic_demo/models/breakfast_menu_original/thumbnails/0.jpg
new file mode 100644
index 0000000..963c983
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diff --git a/ionic_demo/models/breakfast_menu_original/thumbnails/1.jpg b/ionic_demo/models/breakfast_menu_original/thumbnails/1.jpg
new file mode 100644
index 0000000..b659951
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diff --git a/ionic_demo/models/breakfast_menu_original/thumbnails/2.jpg b/ionic_demo/models/breakfast_menu_original/thumbnails/2.jpg
new file mode 100644
index 0000000..dbb582d
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diff --git a/ionic_demo/models/breakfast_menu_original/thumbnails/3.jpg b/ionic_demo/models/breakfast_menu_original/thumbnails/3.jpg
new file mode 100644
index 0000000..3552df3
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diff --git a/ionic_demo/models/breakfast_menu_original/thumbnails/4.jpg b/ionic_demo/models/breakfast_menu_original/thumbnails/4.jpg
new file mode 100644
index 0000000..935bea2
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diff --git a/ionic_demo/worlds/ionic.sdf b/ionic_demo/worlds/ionic.sdf
index b3f58d8..0816712 100644
--- a/ionic_demo/worlds/ionic.sdf
+++ b/ionic_demo/worlds/ionic.sdf
@@ -384,5 +384,29 @@
Interior
interior
+
+
+
+ false
+ Breakfast menu
+ -2.14 2.623 0.751 0 0 0.0
+ breakfast_menu_original
+
+
+
+ false
+ Breakfast menu decomposed
+ -1.73 2.623 0.751 0 0 0.0
+ breakfast_menu_decomposed
+
+
+
+ false
+ Breakfast menu convex hull
+ -1.73 2.85 0.751 0 0 0.0
+ breakfast_menu_convex_hull
+
+