diff --git a/Shivam/Gazebo/my_robots/model.config b/Shivam/Gazebo/my_robots/model.config
new file mode 100644
index 0000000..3d21fee
--- /dev/null
+++ b/Shivam/Gazebo/my_robots/model.config
@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+<model>
+  <name>My Robot</name>
+  <version>1.0</version>
+  <sdf version='1.4'>model.sdf</sdf>
+
+  <author>
+   <name>My Name</name>
+   <email>me@my.email</email>
+  </author>
+
+  <description>
+    My awesome robot.
+  </description>
+</model>
diff --git a/Shivam/Gazebo/my_robots/model.sdf b/Shivam/Gazebo/my_robots/model.sdf
new file mode 100644
index 0000000..d2f9fc4
--- /dev/null
+++ b/Shivam/Gazebo/my_robots/model.sdf
@@ -0,0 +1,118 @@
+<?xml version='1.0'?>
+<sdf version='1.4'>
+  <model name="my_robot">
+  	<static>false</static>
+  		<link name='chassis'>
+  			<pose>0 0 0.1 0 0 0</pose>
+
+  			<visual name='visual'>
+  				<geometry>
+  					<box>
+  						<size>0.4 0.2 0.1</size>
+  					</box>
+  				</geometry>
+  			</visual>
+
+         <collision name='collision'>
+          <geometry>
+            <box>
+              <size>.4 .2 .1</size>
+            </box>
+          </geometry>
+        </collision>
+
+
+
+        <visual name='caster_visual'>
+          <pose>-0.15 0 -.05 0 0 0</pose>
+            <geometry>
+              <sphere>
+                <radius>0.05</radius>
+              </sphere>
+            </geometry>
+          </visual>
+
+       
+
+          <collision name='caster_collision'>
+          <pose>-0.15 0 -0.05 0 0 0</pose>
+            <geometry>
+              <sphere>
+                <radius>0.05</radius>
+              </sphere>
+            </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>0</mu>
+                <mu2>0</mu2>
+                <slip1>1.0</slip1>
+                <slip2>1.0</slip2>
+              </ode>
+            </friction>
+          </surface>
+        </collision>
+      </link>
+
+      <link name='left_wheel'>
+        <pose>0.1 0.13 0.1 0 1.5707 1.5707</pose>
+        <visual name="left_wheel_visual">
+          <geometry>
+            <cylinder>
+              <radius>0.1</radius>
+              <length>0.05</length>
+            </cylinder>
+          </geometry>
+        </visual>
+        <collision name="left_collision">
+          <geometry>
+            <cylinder>
+              <radius>0.1</radius>
+              <length>0.05</length>
+            </cylinder>
+          </geometry>
+        </collision>
+      </link>
+      <link name="right_wheel">
+    <pose>0.1 -0.13 0.1 0 1.5707 1.5707</pose>
+    <collision name="right_collision">
+      <geometry>
+        <cylinder>
+          <radius>0.1</radius>
+          <length>0.05</length>
+        </cylinder>
+      </geometry>
+    </collision>
+    <visual name="visual">
+      <geometry>
+        <cylinder>
+          <radius>.1</radius>
+          <length>.05</length>
+        </cylinder>
+      </geometry>
+    </visual>
+  </link>
+
+   <joint type="revolute" name="left_wheel_hinge">
+      <pose>0 0 -0.03 0 0 0</pose>
+      <child>left_wheel</child>
+      <parent>chassis</parent>
+      <axis>
+        <xyz>0 1 0</xyz>
+      </axis>
+    </joint>
+
+    <joint type="revolute" name="right_wheel_hinge">
+      <pose>0 0 0.03 0 0 0</pose>
+      <child>right_wheel</child>
+      <parent>chassis</parent>
+      <axis>
+        <xyz>0 1 0</xyz>
+      </axis>
+    </joint>
+
+
+  </model>
+</sdf>
+        
+  			
diff --git a/Shivam/Oops/Oops.cpp b/Shivam/Oops/Oops.cpp
new file mode 100644
index 0000000..aadb593
--- /dev/null
+++ b/Shivam/Oops/Oops.cpp
@@ -0,0 +1,398 @@
+#include <iostream>
+#include <opencv/highgui.h>
+#include <opencv/cv.h>
+#include <cstdlib>
+//#include "findCentroid.cpp"
+//#include "blobDetect.cpp"
+//#include "Oops_class.h"
+
+class pos
+    {
+     public:
+        pos()
+        {
+            x=0,y=0;colour=0;
+        }
+        int x;
+        int y;
+        int colour;
+    };
+
+struct node 
+{ public:
+    int x; 
+    int y; 
+    node *next; 
+};
+
+class queue
+{
+    node *front, *rear;
+public:
+    queue(){front=NULL; 
+            rear=NULL;}
+    int isEmpty();
+    void enqueue(int, int);
+    void queueFront(int*, int*);
+    void dequeue();
+
+};
+
+class image
+    {   int score1;
+        int score2;
+        pos currentpos1;
+        pos currentpos2;
+
+    public:
+        int count;
+        cv::Mat img;
+        cv::Mat img_bin;
+        int **visited;
+        image();
+        pos *centroid;
+        int bfs();
+        int updatepos1();
+        int updatepos2();
+        void findCentroid();
+        void printScore();
+    };
+
+image::image()
+    {    
+        score1=0,score2=0;
+        count=0;
+        score1=0;
+        score2=0;
+        
+
+    }   
+int image::bfs()
+{   
+    queue q;
+    int x=0,y=0;
+    int cols=img_bin.cols, rows=img_bin.rows;
+    int count=1;
+    for(int j=0;j<img_bin.rows;j++)
+        for(int i=0;i<img_bin.cols;i++)
+        {
+           if((img_bin.at<uchar>(j,i))==255)
+           {
+                if(visited[j][i]==-1)
+                {
+                    q.enqueue(j,i);
+                    q.queueFront(&y,&x);
+                    visited[j][i]=0;
+             
+                    while(!q.isEmpty())
+                    {   
+                        q.queueFront(&y,&x);
+                        q.dequeue();
+                        for(int l=y-1;l<=y+1;l++)
+                        for(int k=x-1;k<=x+1;k++)
+                        {
+                            if(k>0 && k<cols && l>0 && l<rows && visited[l][k]==-1 && img_bin.at<uchar>(l,k)==255)
+                            {   
+                                q.enqueue(l,k);
+                                visited[l][k]=count;
+
+                            }
+
+                        }
+                    visited[y][x]=count;
+                }
+                count++; 
+                }
+            
+
+            }
+        }
+    
+    return count;
+    
+}
+
+void image::findCentroid()
+{ 
+    int *pixels= new int[count];
+    int blobno=0;
+    int rows=img_bin.rows;
+    int cols=img_bin.cols;
+    for(int j=0;j<rows;j++)
+    {
+        for(int i=0;i<cols;i++)
+        {
+           if(visited[j][i]!=-1)
+           {
+                blobno=visited[j][i];
+                centroid[blobno].x +=i;
+                centroid[blobno].y +=j;
+                pixels[blobno]++;
+            
+           }
+        }
+    }
+    for(int i=0;i<count;i++)
+    {
+        centroid[i].x/= pixels[i];
+        centroid[i].y/=pixels[i];
+    }   
+    delete pixels;            
+
+    pos centre;
+    for(int i=0;i<count;i++)
+    {
+        centre=centroid[i];
+        cv::Vec3b point= img.at<cv::Vec3b>(centre.x,centre.y);
+        if(point[0]>1500 && point[1]<100 && point[2]<100)
+            (centroid[i]).colour= 0;
+        else if(point[0]<100 && point[1]>150 && point[2]<100)
+            (centroid[i]).colour= 1;
+        else if(point[0]<100 && point[1]<100 && point[2]>150)
+            (centroid[i]).colour= 2;
+    }                                                                           
+}
+ 
+
+float calcDist(pos a, pos b)  //Calculating only the square of the distance
+{
+    float dist=0;
+    dist= (a.x- b.x)*(a.x- b.x) + (a.y- b.y)*(a.y- b.y);
+    return dist;
+}
+int image::updatepos1()
+{   
+    float temp=0;
+    float minDist=2*(img.rows)*(img.cols)*(img.rows)*(img.cols);
+    pos nearestC;
+    int dice1=0;
+    std::cout<<"Enter throw "<<std::endl;
+    std::cin>>dice1;
+    std::cout<<"Player 1's throw is "<<dice1<<std::endl;
+    if(dice1%2==0)
+        for(int i=0;i<count;i++)
+        {
+            if((centroid[i]).colour==0)
+            {
+                temp= calcDist(currentpos1,centroid[i]);
+                if(temp<minDist)
+                {
+                    minDist=temp;
+                    nearestC=centroid[i];
+                }
+                currentpos1=nearestC;
+                score1+= 2*dice1;
+            }
+        }
+    else if(dice1==1)
+    {
+        for(int i=0;i<count;i++)
+        {
+            if((centroid[i]).colour==2)
+            {
+                temp=calcDist(currentpos1,centroid[i]);
+                if(temp<minDist)
+                {
+                    minDist=temp;
+                    nearestC=centroid[i];
+                }
+                currentpos1=nearestC;
+                score1+=10;
+            }
+        }
+    }
+
+    else 
+    {
+        for(int i=0;i<count;i++)
+        {
+            if((centroid[i]).colour==1)
+            {
+                temp=calcDist(currentpos1,centroid[i]);
+                if(temp<minDist)
+                {
+                    minDist=temp;
+                    nearestC=centroid[i];
+                }
+                currentpos1=nearestC;
+                score1+=dice1;;
+            }
+        }
+    }
+    
+
+    if(currentpos1.x==nearestC.x && currentpos1.y==nearestC.y)
+        return 0;
+    std::cout<<"New position of player 1 is "<<"("<<currentpos1.x<<","<<currentpos1.y<<")";     
+    return 1;
+
+}
+
+int image::updatepos2()
+{
+    float temp=0;
+    float minDist=2*(img.rows)*(img.cols)*(img.rows)*(img.cols);
+    pos nearestC;
+    int dice2=0;
+    std::cout<<"Enter throw "<<std::endl;
+    std::cin>>dice2;
+    std::cout<<"Player 2's throw is "<<dice2<<std::endl;
+    if(dice2%2==0)
+        for(int i=0;i<count;i++)
+        {
+            if((centroid[i]).colour==0)
+            {
+                temp= calcDist(currentpos2,centroid[i]);
+                if(temp<minDist)
+                {
+                    minDist=temp;
+                    nearestC=centroid[i];
+                }
+            }
+            currentpos2=nearestC;
+            score2 += 2*dice2;
+        }
+    else if(dice2==1)
+    {
+        for(int i=0;i<count;i++)
+        {
+            if((centroid[i]).colour==2)
+            {
+                temp=calcDist(currentpos2,centroid[i]);
+                if(temp<minDist)
+                {
+                    minDist=temp;
+                    nearestC=centroid[i];
+                }
+                currentpos2=nearestC;
+                score2+=10;
+            }
+        }
+    }
+
+    else 
+    {
+        for(int i=0;i<count;i++)
+        {
+            if((centroid[i]).colour==1)
+            {
+                temp=calcDist(currentpos2,centroid[i]);
+                if(temp<minDist)
+                {
+                    minDist=temp;
+                    nearestC=centroid[i];
+                }
+                currentpos2=nearestC;
+                score2+=dice2;;
+            }
+        }
+    }
+    
+
+    if(currentpos2.x==nearestC.x && currentpos2.y==nearestC.y)
+        return 0;
+    std::cout<<"New position of player 2 is "<<"("<<currentpos2.x<<","<<currentpos2.y<<")"<<std::endl;
+    return 1;
+}
+
+void image::printScore()
+{
+    std::cout<<"Player 1's score= "<<score1<<std::endl;
+    std::cout<<"Player 2's score= "<<score2<<std::endl;
+}
+
+int queue::isEmpty()
+{ 
+    if(front==NULL) 
+        return 1; 
+    else return 0; 
+} 
+
+void queue::enqueue(int y, int x)
+{ 
+   
+    node *t=new node;
+    t->x=x; 
+    t->y=y; 
+    t->next=NULL; 
+    if(isEmpty()){ 
+        front=t; 
+        rear=front; 
+    } 
+    else
+        { 
+            rear->next=t; 
+            rear=t; 
+            rear->next=NULL; 
+        } 
+} 
+void queue::queueFront(int *y, int *x)
+{ 
+    *x=front->x; 
+    *y=front->y; 
+} 
+void queue::dequeue()
+{ 
+    node *t; 
+    if(isEmpty()){ 
+        std::cout<<"Queue Underflow"<<std::endl; 
+        return; 
+    } 
+    t=front; 
+    front=t->next; 
+    delete t; 
+}
+
+cv::Mat binary(cv::Mat img,float threshold)
+{   cv::Mat img_bin;
+    //img=cv::imread("/home/aries/Desktop/1.jpg",0);
+   // cvtColor(img,img_gray,CV_RGB2GRAY);
+    cv::threshold(img,img_bin,threshold,255.0,cv::THRESH_BINARY);  
+    cv::imwrite("img_bin3.jpg",img_bin);
+    return img_bin;
+}
+
+
+
+int main()
+{   
+    std::cout<<"Welcome!!"<<std::endl;
+    image img_class;
+    img_class.img = cv::imread("/home/aries/Desktop/images.jpg",1);
+    cv::imshow("img",img_class.img);
+    cv::waitKey(0);
+    img_class.img_bin= cv::imread("/home/aries/Desktop/images.jpg",0);
+    cv::waitKey(0);
+    //std::cout<<"Reading done"<<std::endl;
+    int rows=img_class.img.rows;
+    int cols=(img_class.img).cols;
+    img_class.visited= new int*[rows];
+    for(int j=0;j<rows;j++)
+      img_class.visited[j]= new int[cols];
+    for(int j=0;j<rows;j++)
+     for(int i=0;i<cols;i++)
+          img_class.visited[j][i]=-1;
+    int flag1=1, flag2=1;
+    int count=0;
+    img_class.img_bin=binary(img_class.img_bin,10.0);
+    cv::imshow("images",img_class.img_bin);
+    cv::waitKey(0);
+    img_class.count= img_class.bfs();
+    count= img_class.count;
+    img_class.centroid= new pos[img_class.count];
+    for(int i=0;i<count;i++)
+    {
+        img_class.centroid[i].x=0;
+        img_class.centroid[i].y=0;
+    }
+    img_class.findCentroid();
+    while (flag1==1 && flag2==1)
+    {
+    	flag1=img_class.updatepos1();
+    	flag2= img_class.updatepos2();
+    	img_class.printScore();
+    }
+
+    std::cout<<"GAME OVER"<<std::endl;
+    return 0;
+}
\ No newline at end of file
diff --git a/lane/curveFit.cpp b/lane/curveFit.cpp
new file mode 100644
index 0000000..43a45d8
--- /dev/null
+++ b/lane/curveFit.cpp
@@ -0,0 +1,59 @@
+#include <iostream>
+#include <opencv/cv.h>
+#include <opencv/highgui.h>
+#include <cstdlib>
+#include <queue>
+#include <vector>
+#include <math.h>
+
+const int threshDist=20, threshSlope=1;
+
+float distance(int x1, int y1, int x2, int y2)
+{
+	return sqrt((x1-x2)*(x1-x2) + (y1-y2)*(y1-y2));
+}
+
+int main()
+{
+	cv::Mat img= cv::imread("",1);
+	std::vector<Vec4i>lines;
+	int maxpoints=40, minpoints=10;
+	cv::HoughLinesP(img, lines,1,CV_PI/180,maxpoints,minpoints,40);
+	int count=lines.size();
+	visited[count];
+	for(int i=0;i<count;i++)
+		visited[i]=0;
+	float dist[6];
+	int blob=0, k=0;;
+
+	for(int i=0;i<count;i++)
+	{	
+		if(visited[i]!=-1)
+		visited[i]=++blob;
+		k=i;
+		while(k<count)
+		for(int j=0;j<count;j++)
+		{
+			if(!visited[j])
+			{
+				float m1=(lines[k][3]-lines[k][1])/(lines[k][2]- lines[k][0]), m2=(lines[j][3]- lines[j][1])/(lines[j][2]- lines[j][0]);
+				dist[0]=distance(lines[k][0],lines[k][1],lines[j][0], lines[j][1]);
+				dist[1]=distance(lines[k][0],lines[k][1],lines[j][2], lines[j][3]);
+				dist[2]=distance(lines[k][2],lines[k][3],lines[j][0], lines[j][1]);
+				dist[3]=distance(lines[k][2],lines[k][3],lines[j][2], lines[j][3]);
+				dist[4]=distance((lines[k][0]+lines[k][2])/2,(lines[k][1]+lines[k][3])/2,(lines[j][0]+lines[j][2])/2,(lines[j][1]+lines[j][3]/2);
+				dist[5]=fabs((m1-m2)/(1+m1*m2)); // Slope comparison seems problematic
+				if(dist[0]<threshDist || dist[1]<threshDist || dist[2]<threshDist || dist[3]< threshDist || dist[4]<threshDist || dist[5]<1)
+				{
+					visited[j]=blob;
+					k=j;
+				}
+			}
+
+		}
+
+
+	}
+
+	
+}
\ No newline at end of file