diff --git a/src/gazebo/launch/mars_env.urdf b/src/gazebo/launch/mars_env.urdf
index c61ed2e..614ccde 100644
--- a/src/gazebo/launch/mars_env.urdf
+++ b/src/gazebo/launch/mars_env.urdf
@@ -73,4 +73,30 @@
         <origin xyz="0 0 0" rpy="0 0 0"/>
     </joint>
 
+    <!-- Pick Link -->
+    <link name="pick">
+        <visual>
+            <geometry>
+                <mesh filename="./pick.stl" scale="0.004 0.004 0.004"/>
+            </geometry>
+            <material>
+                <ambient>0.5 0.5 0.5 1</ambient>
+                <diffuse>0.75 0.75 0.75 1</diffuse>
+                <specular>0.9 0.9 0.9 1</specular>
+                 <emissive>0 0 0 1</emissive>
+            </material>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="./pick.stl" scale="0.004 0.004 0.004"/>
+            </geometry>
+        </collision>
+    </link>
+
+    <joint name="pick_joint" type="fixed">
+        <parent link="desert"/>
+        <child link="pick"/>
+        <origin xyz="0 1.2 -2" rpy="0 0 0"/>
+    </joint>
+
 </robot>
diff --git a/src/gazebo/launch/pick.stl b/src/gazebo/launch/pick.stl
new file mode 100644
index 0000000..97f3ca5
Binary files /dev/null and b/src/gazebo/launch/pick.stl differ
diff --git a/src/gazebo/launch/robot_env.sdf b/src/gazebo/launch/robot_env.sdf
index 8b0d497..7f1aa29 100644
--- a/src/gazebo/launch/robot_env.sdf
+++ b/src/gazebo/launch/robot_env.sdf
@@ -378,6 +378,35 @@
             </link>
         </model>
 
+        <model name="pick">
+            <static>true</static>
+            <link name="pick_link">
+                <visual name="visual">
+                    <geometry>
+                        <mesh>
+                            <uri>pick.stl</uri>
+                            <scale>0.004 0.004 0.004</scale>
+                        </mesh>
+                    </geometry>
+                    <material>
+                        <ambient>0.5 0.5 0.5 1</ambient>
+                        <diffuse>0.75 0.75 0.75 1</diffuse>
+                        <specular>0.9 0.9 0.9 1</specular>
+                        <emissive>0 0 0 1</emissive>
+                    </material>
+                    <pose>0 2 -1.2 0 0 3.14159</pose>
+                </visual>
+                <collision name="collision">
+                    <geometry>
+                    <mesh>
+                        <uri>pick.stl</uri>
+                        <scale>0.004 0.004 0.004</scale>
+                    </mesh>
+                    </geometry>
+                    <pose>0 2 -1.2 0 0 3.14159</pose>
+                </collision>
+            </link>
+        </model>
 
         <model name='robot' canonical_link='chassis'>
             <pose relative_to='world'>-6 0 1 0 0 0</pose>   <!--the pose is relative to the world by default-->