Later Greek philosophers, observing the motions of the heavenly bodies, were concerned with developing models of the universe based more profoundly on empirical evidence. The first coherent model was proposed by Eudoxus of Cnidos, a student of Plato who followed Plato's idea that heavenly motions had to be circular. In order to account for the known complications of the planets' motions, particularly retrograde movement, Eudoxus' model included 27 different celestial spheres : four for each of the planets visible to the naked eye, three each for the Sun and the Moon, and one for the stars. All of these spheres were centered on the Earth, which remained motionless while they rotated eternally. Aristotle elaborated upon this model, increasing the number of spheres to 55 in order to account for further details of planetary motion. For Aristotle, normal matter was entirely contained within the terrestrial sphere, and it obeyed fundamentally different rules from heavenly material.