diff --git a/bebop_description/meshes/bebop_model.stl b/bebop_description/meshes/bebop_model.stl
new file mode 100644
index 0000000..c013256
Binary files /dev/null and b/bebop_description/meshes/bebop_model.stl differ
diff --git a/bebop_description/urdf/bebop_base.urdf.xacro b/bebop_description/urdf/bebop_base.urdf.xacro
index 0b7586d..0831a43 100644
--- a/bebop_description/urdf/bebop_base.urdf.xacro
+++ b/bebop_description/urdf/bebop_base.urdf.xacro
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
-<!-- Kinematic model only, no visuals, no collisions -->
+<!-- Kinematic model, simplified visual, no collisions -->
 <robot name="bebop" xmlns:xacro="http://www.ros.org/wiki/xacro">
   <xacro:property name="PI" value="3.1415926535897931" />
-  <xacro:property name="camera_offset_len" value="0.1" />
+  <xacro:property name="camera_offset_len" value="0.1651" />
   <xacro:property name="camera_offset_ver" value="0.0" />
   <!-- +- 35 degrees -->
   <xacro:property name="pan_range" value="0.6108652381980153" />
@@ -12,7 +12,14 @@
   <xacro:property name="tilt_vel" value="2.0" />
   <xacro:property name="joint_effort" value="50" />
 
-  <link name="base_link"></link>
+  <link name="base_link">
+   <visual>
+    	  <origin xyz="0 -.0225 -0.02" rpy="0 -0.0254 0"/>
+      <geometry>
+        <mesh filename="package://bebop_description/meshes/bebop_model.stl"/>
+      </geometry>
+   </visual>
+  </link>
   <link name="camera_base_link"></link>
   <link name="camera_pan_link"></link>
   <link name="camera_tilt_link"></link>
@@ -50,4 +57,4 @@
 
   <!-- [nice to have] -->
   <!-- xacro:include filename="bebop.gazebo" /-->
-</robot>
\ No newline at end of file
+</robot>